JPH0419024A - Car lid member mounting device - Google Patents

Abstract

PURPOSE:To install two lid members to a car body effectively by equipping No.1 robot with a No.1 lid member transporting function and a fastening function for a hinge member at one of its sides, and by giving No.2 robot a No.2 lid member transporting function and a fastening function for hinge member at the other side. CONSTITUTION:No.1 robot 30 is given a transporting function for a bonnet 1 and a fastening function for the lefthand hinge member, while No.2 robot 91 is given a transporting function for a trunk lid 2 and a fastening function for a hinge member on the right side of the bonnet 1. In this way, the two robots 30, 91 are used effectively to enable transport of the bonnet 1 and trunk lid 2 and fastening of the hinge member, and it becomes favorable in terms of facility economy and in terms of installation space for a lid member mounting device, and bonnet 1 and trunk lid 2 can be mounted easily on the car body 6 despite variation in the type only through updating the control data in control units 32, 95 which controls the No.1 and No.2 robots 30, 91.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to an automobile lid member attachment device, and particularly to an apparatus for transferring and attaching a lid member such as a bonnet or trunk lid to a predetermined position on a vehicle body.

[Prior art]

1C, cover members such as bonnets and trunk lids,
They are attached in the metal line process, where metal parts such as doors and front fenders are attached to the car body assembled in the floor main process and main body assembly process.

Normally, the above-mentioned lid member is manufactured by manually placing the lid member in the mounting position of the opening of the vehicle body, and positioning the hinge member assembled at a predetermined position of the lid member in the hinge mounting portion provided on the vehicle body. However, since the weight of lid members such as bonnets is relatively large, the installation work to the vehicle body is very complicated.

Therefore, recently, in order to automate the installation work of the lid member,
For example, as described in Japanese Utility Model Application Publication No. 56-28826,
A stoker that stores a plurality of lid members, a conveyance device that takes out the lid members one by one from the stoker and transports them to a predetermined position, and a stoker that transports and positions the lid members that have been transported to the predetermined position to a mounting position in the opening of the vehicle body. A lid member attaching device is described that includes a positioning and conveying device for setting the lid member, and a fastening device for fastening a hinge member that has been previously attached to the vehicle body to the positioned lid member.

[Problem to be solved by the invention]

The lid member attachment device described in the above publication can automatically attach the same type of lid member to the vehicle body, but in order to attach different types of lid members (for example, a bonnet and a trunk lid) to the vehicle body, A lid member attachment device is required for each, which requires a large installation space, and is also very disadvantageous in terms of equipment economy.

In addition, when different types of vehicle bodies are mixed, a drive unit is provided to move the fastening device in the vehicle width direction and longitudinal direction, and multiple stockers are provided to store the lid members for each vehicle type. necessary, and is not well suited for mixed flow production.

SUMMARY OF THE INVENTION An object of the present invention is to provide an automobile lid member attachment device that efficiently utilizes two robots to efficiently attach two lid members to a vehicle body.

[Means to solve the problem]

The lid member attachment device for an automobile according to the first aspect is provided in an exception of a vehicle body, and includes a first lid member that is conveyed by a conveying device to a predetermined attachment position in a first opening of the vehicle body. one robot, and a second robot that is provided on the other side row of the vehicle body and that transfers the second lid member that has been transferred by the transfer device to a predetermined position, and the first robot is provided with an example of the first M member. The second robot is provided with fastening means for fastening the hinge member on the other side of the first M member to the vehicle body.

The lid member mounting device for an automobile according to the second claim is the lid member mounting device according to the first claim, in which the conveying device transports the first M member and the second lid member for one vehicle body as a pair. It is something to do.

[Effect]

In the automobile lid member attachment device according to the first claim,
A tenth pound provided outside one side of the vehicle body transports the first lid member transported by the transport device to a predetermined mounting position in the first opening of the vehicle body, and the first lid member is mounted on the first robot. The hinge member on one side of the first lid member is fastened to the vehicle body by the fastening means, and the second M member transported by the transport device is moved to a predetermined position by a second robot provided outside the other side of the vehicle body. At the same time, the hinge member on the other side of the first lid member is fastened to the vehicle body by fastening means provided on the second robot. However, it is also possible for the second robot to transfer the second lid member to a predetermined mounting position in the opening of the vehicle body, and for the fastening means of the first robot to
Fasten the hinge member on one side of the second lid member to the vehicle body, and
It is also possible to fasten the hinge member on the other side of the second lid member to the vehicle body using the fastening means of the robot.

As described above, the first robot is provided with the function of transferring the first lid member and the function of fastening the hinge member of at least one example of the first lid member, and the second robot is provided with the function of transporting the first lid member. transport function and at least the first I! Since it has a function to fasten the hinge member on the other side of the member, it is possible to transfer the two lid members and fasten the hinge members by effectively using two robots, which saves installation space and equipment economy. It will be very advantageous. Moreover, the first robot and the 20th robot
By simply changing the bond control data, it is possible to attach the lid member to the bodies of different vehicle models, making it easily applicable to mixed production.

In the automobile lid member attachment device according to the second claim,
The same effect as in the first claim can be obtained. In addition, since the first lid member and second lid member for one vehicle body are transported as a pair by the transport device, it is possible to transport the first lid member and second lid member of various vehicle models. The present invention can be applied to mixed flow production without changing the configuration of the transport device, and the first and second lid members can be efficiently handled by the first and second robots.

[Effects of the Invention] The automobile lid member attaching device according to the first claim is provided with a tenth robot and a second robot, and a fastening means is provided thereon, as detailed in the above [Operation] section. Therefore, it is possible to obtain effects such as being very advantageous in terms of installation space and equipment economy, and being easily applicable to mixed flow production.

According to the lid member attachment device for an automobile according to the second aspect, the same effects as the lid member attachment device according to the first aspect can be obtained. In addition, since a transport device is provided to transport the first and second lid members for one car body as a pair, it can be used for mixed production without changing the configuration of the transport device. It is possible to obtain effects such as being able to perform handling efficiently and improve work efficiency.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

In this embodiment, the present invention is applied to a lid member attachment device for attaching a bonnet and a trunk lid to a vehicle body assembled in a floor main process and a main body assembly process. In this embodiment, the front, rear, left, and right sides of the vehicle body will be defined and explained based on the front, rear, left, and right sides of the vehicle body.

As shown in FIGS. 1 and 2, the bonnet 1 and the trunk lint 2 are carried to the mounting station 4 along the transport rail 7 while being suspended from the hanger 3 of the transport device, and are installed at the mounting station 4. The lid member attachment device is used to attach the cover members to the vehicle body 6 which has been carried into the attachment station 4 by the shuttle compare (the path shown in the figure) and positioned.

The above-mentioned lid member attaching device includes a bonnet attaching device that carries the bonnet 1 into the first opening 8 at the front of the vehicle body 6 and attaches it, and a bonnet attaching device that attaches the bonnet 1 to the first opening 8 at the front of the vehicle body 6. and a trunk lid transfer device for transferring the trunk lid to a predetermined position.

Here, before explaining the bonnet attachment device and the trunk lid transfer device, let us explain the bonnet 1 and the vehicle body 6.
I will briefly explain about.

As shown in FIGS. 3 to 5, the above-mentioned bonnet 1 is basically composed of an outer panel 10, an inner panel 11, and a reinforcing panel 19. A reinforcing frame 12 with a closed cross section is formed, and a pair of reference holes 13a and 1 are formed in the inner panel 11.
A pair of left and right hinge members 14 are fixed to the side walls of the reinforcing frame 12 near the rear end of the bonnet 1, and a hinge member 16 is attached to the rear end of the hinge member 14 via a hinge pin 15. The hinge member 16 is rotatably supported, and is provided to project outward from the outer panel 10, and the hinge member 16 is formed with a pair of front and rear bolt insertion holes I7.

At the front part of the vehicle body 6, as shown in FIGS. 1 and 2,
A pair of left and right front fender aprons 20 extending in the front-rear direction is provided, an engine room 21 is formed between the left and right fender aprons 20, and a first opening of the engine room 21 is formed in the earthen wall of the right fender apron 20. Reference holes 23 and 24 are formed at positions corresponding to both the front and rear ends of the left and right fender aprons 20, and a pair of front and rear hinge mounting holes 25 are formed at the rear ends of the earthen walls of the left and right fender aprons 20, respectively. A nut (see FIG. 4) is fixed to the lower end surface of the upper wall of the fender apron 20 corresponding to the hole 25, and a nut (see FIG. 4) is fixed to the engine room 21 between the radiator support 27 and the front cross member 28 at the front end of the vehicle body 6. A series of openings 29
is formed.

The above-mentioned bonnet mounting device attaches the first opening 8 after the bonnet 1 taken out from the hanger 3 is brought into a closed state and transferred to a posture switching position slightly higher than the upper end of the fender apron 20 corresponding to the first opening B. A transfer device that carries the bonnet 1 to the position, a posture switching device that rotates the left and right hinge members 16 of the bonnet 1 transferred to the posture switching position to the sitting posture (closed posture), and a bonnet 1 carried to the installation value 1 as a reference. It basically consists of a positioning device that accurately positions the vehicle body 6 based on the holes 23 and 24, and a fastening bag 1 that fastens the positioned hinge member 16 of the bonnet 1 to the vehicle body 6.

The transfer device includes a first transfer device that holds and transfers the bonnet 1.
A robot 30 and two CCDs that detect the reference holes 13a and 13b of the bonnet 1 held by the first robot 30.
Camera 31, preset teaching data and C
Output from the CD camera 31 and the CCD camera 55 described later
- A control unit 32 that controls the first robot 30 based on the output from the robot 56.

The tenth bond 30 is a six-axis articulated robot, and the tenth bond 30 is a six-axis articulated robot.
As shown in Figures 2, 6, and 7, it is installed on the left side of the vehicle body 6 that has been brought in, and a frame 34 is provided at the tip of the hand 33. A vacuum type suction device 36 having four suction pads 35 for holding the bonnet 1 is provided.

The above-mentioned two CCD cameras 31 have an existing and well-known configuration, and as shown in FIGS. The image signals including the reference holes 13a13b formed in the inner panel 11 are output to the husband control unit 32.

The control unit 32 is mainly composed of a computer, and also includes an image processing device that processes image signals from the CCD camera 31 to detect the positions of the reference holes 3a and 13b. The first robot 30 is controlled by the control signal from the unit 32, and the bonnet 1 is carried in and positioned at a predetermined position above the vehicle body 6 by the hanger 3. The bonnet 1 is held by the suction band 35 and taken out from the hanger 3, and then moved to the correction station. 3
7 and placed in a predetermined position of the correction station 37 in a closed state, and is temporarily held at the posture switching position based on the output from the CCD cameras 31, 55, 56 and teaching data, and the left and right hinge members 16 are After being switched to the sitting position, it is carried into the mounting position of the first opening 8 of the vehicle body 6 with high precision.

The above-mentioned positioning device is for positioning the bonnet 1 carried into the mounting position with respect to the vehicle body 6 with more precision.The first positioning robot 51 is equipped with a positioning pin 50 that fits into the reference hole 13a of the bonnet. , a second positioning robot 53 equipped with a positioning head 52 capable of locking the bonnet l-1 from the right side, and a second positioning robot 53 equipped with a positioning head 52 capable of locking the bonnet l-1 from the right side;
A pressing robot 54 that presses and rotates, and two CCDs that respectively detect a pair of reference holes 23 and 24 formed in the vehicle body 6.
It is equipped with cameras 55 and 56, and a control unit 57 that controls the positioning robots 51 and 53 and the pressing robot 54 based on preset teaching data and image signals from the CCD cameras 55 and 56.

The first positioning robot 51 is a 4-axis articulated robot 7.
・As shown in FIGS. 8 and 9, the hand 60 is installed to the right of the front end of the vehicle body 6 that has been positioned for delivery
At its tip end, there is a rotating arm 6 which is shaped like an oval in plan view and is driven to rotate approximately horizontally around a vertically oriented rotating shaft 60a.
A support rod 62 extending upward is provided at the tip of the rotating arm 6, and a support plate 62 is provided at the upper end of the support rod 62 to support the bonnet) l carried into the mounting position from below. The support plate 63 has a positioning pin 5° that fits into the reference hole 13a of the bonnet 1 carried into the mounting position and positions one point of the bonnet 1 on the vehicle body 6. The positioning bin 50 is fixed in a protruding manner upward, and is moved from the opening 29 at the front end of the vehicle body 6 to the engine room 2 by rotation of a rotation arm 61.
1 and moved upward in this state, it is set at a predetermined position at the front right end of the engine room 21 in a state where it protrudes a predetermined distance from the engine room 21.

will be played.

The second positioning robot 53 is installed behind the first positioning robot 51, and as shown in FIG. 10 and FIG. A base 66 is provided, and a movable plate 69 that is driven up and down by a cylinder 67 along a guide rail 68 is provided on the rear side of the movable head 66, and a support plate 70 that extends rearward is fixed to the rear end surface of the movable plate 69. At the front of the support play) 70 is the vehicle body 6.
A support plate 7I extending substantially horizontally toward is fixed to the support plate 7I.
A positioning head 52 having an inclined guide surface 52a that guides the right end of the bonnet 1 in the vehicle width direction is fixed to the left end of the bonnet 1. It is set in a predetermined position above.

The pressing robot 54 is installed on the left side of the vehicle body 6 facing the second positioning robot 53, and as shown in FIGS.
A movable base 77 is provided which is driven to move in the left and right direction by a cylinder 78, and a movable plate 80 which is driven up and down by a cylinder 78 along a guide rail 79 is provided on the rear side of the movable base 77. A support plate 81 is fixed to the support plate 81 extending substantially horizontally to the rear, an air cylinder 82 is fixed to the front part of the support plate 81, and a piston rod 82a of the air cylinder 82 extends substantially horizontally toward the vehicle body 6. The pressing head 83 is fixed, and the pressing head 8
3 is formed with an inclined guide surface 83a that guides the left end of the bonnet 1 in the vehicle width direction, and the pressing head 83 is moved to a predetermined position above the fender apron 20 by driving the cylinders 76 and 78. Set. The setting position of the pressing head 83 is set such that the distance between the pressing head 83 and the positioning head 52 is slightly larger than the width of the bonnet 1.

The CCD cameras 55 and 56 have the same configuration as the CCD camera 31, and as shown in FIGS. 1 and 10,
The CCD camera 56 is supported so as to be movable in the left-right direction via an air cylinder 85 provided at the rear of the support plate 70 of the second positioning robot 53, and the CCD camera 55 is mounted at the upper end of a support frame 86 erected on the work floor. C
The CD cameras 55 and 56 output image signals containing a pair of front and rear reference holes 23 and 24 formed in the upper wall of the fender apron 20 to the control unit 57.

The control unit 57 is mainly composed of a computer, and also includes an image processing device that processes image signals from the CCD cameras 55 and 56 to detect the positions of the reference holes 23 and 24. Then, the positioning robots 51 and 53 and the pressing robot 54 are controlled based on the teaching data and image signals to accurately position the positioning bin 50 and the positioning rod 52 with respect to the vehicle body 6, and then the pressing head 83 is
The bonnet 1 carried into the mounting position is pressed and rotated from the left around the positioning pin 50, the right end of the bonnet 1 is brought into contact with the positioning head 52, and the bonnet 1 is fixed by the positioning pin 50 and the positioning head 52. To accurately position the mounting position of a vehicle body 6.

The fastening device is for fastening the hinge member 16 of the bonnet 1 positioned at the mounting position to the vehicle body 6,
As shown in FIGS. 1, 6, 7, 14, and 15, a bolt runner 90 is provided on the frame 34 provided on the hand 33 of the first robot 30, and A second robot 91 with six axes is provided on the right side, a frame 93 is provided at the tip of a hand 92 of the second robot 91, and a bolt runner 94 having the same configuration as the bolt runner 90 is provided in the frame 93. It is being Note that, like the first robot 30, the second robot 91 is also controlled by the control unit 95 based on teaching data and the like.

As shown in FIGS. 16 and 17, the bolt runners 90 and 94 have a head portion 96 that holds the bolt 18, a drive mechanism 97 that rotates the throat portion 96, and a drive mechanism 97 that rotates the throat portion 96 in a predetermined manner. Positioning machine [9
It has a general configuration with 8 etc. 1. Furthermore, this bolt runner 94 is provided with a pressing mechanism 103 consisting of a cylinder 100, a guide rod 101, and a pressing plate 102 for pressing the hinge member 16 against the fender apron 20 when fastening the hinge member 16 to the vehicle body 6. It is being

The above posture switching device includes left and right hinge members 16 of the bonnet 1 held at a posture switching position by the first robot 30.
As shown in FIGS. 1, 10, 12, and 18, the pressing robot 54
A receiving plate 81a extending substantially horizontally toward the vehicle body 6 is fixed to the rear part of the supporting plate 81 of the second positioning robot 53.
A receiving plate 70a extending substantially horizontally toward the vehicle body 6 is fixed to the rear of the support plate 70, and the receiving plates 81a and 70a are driven to move by the pressing robot 54 and the second positioning robot 53, respectively. As shown, before the bonnet l is carried into the attitude switching position, it is placed at positions corresponding to the left and right hinge members I6 of the bonnet 1 at the attitude switching position, and when the bonnet 1 is carried into the attitude switching position, the upper The hinge member 16 is rotated to the seated position (closed position) on its upper surface, and then moved substantially horizontally to the outside of the lower side of the hinge member 16. Note that when the connection between the hinge member 16 and the hinge bin 15 is relatively soft, the receiving plate 81a
- When the hinge member 70a moves outward from the bottom of the hinge member 16, the hinge member [6] which has been rotated to the closed position rotates again to the open position due to its own weight, but in this case, the hinge member 16 rotates toward the container. Therefore, even if the bonnet l-1 is carried into the vehicle body 6 in the second state, the vehicle body 6 will not be damaged by the hinge member 16.

To explain the above-mentioned trunk lid transfer device, the second robot 91 of the bonnet attaching device is also used as the trunk lid transfer device, and as shown in FIGS. 14 and 15, the frame 93 of the second robot 91 is Four (4) (7) nine vacuum attachment devices 36A having D suction pads 35A are provided for holding the trunk lid 2;
Based on the control signal from the control unit 95, the second robot 91 takes out the trunk lid 2 from the hanger 3 that has been transported to a predetermined position on the right side of the mounting station 4, and moves it to the assembly station on the rear right side of the mounting station 4.
Transfer to. The trunk lid 2 is assembled manually into the vehicle body 6 after the hinge members are attached at the assembly station 5.
It is carried into the attachment position of the second opening 9 at the rear. However, it may be transferred to the attachment position of the second opening 9 by the second robot 91.

The conveyance device has a conveyance rail 7 and a hanger 3 that runs on its own along the conveyance rail 7, and as shown in FIGS. 19 and 20,
1 of the vehicle body 6 at the front (transfer direction side) and rear of the hanger 3.
A bonnet holding frame 105 and a trunk lid holding frame 106 are respectively provided for transporting the bonnet 1 and trunk lid 2 for the vehicle as a pair, and the bonnet 1 is placed so that its vehicle width direction is along the transport rail 7 and afterward. The trunk lid 2 is held in an inclined manner so that its side faces downward, and the trunk lid 2 is held in an inclined manner so that its vehicle width direction is perpendicular to the transport rail 7 and its rear part faces upward.

Next, the operation of the above-mentioned bonnet mounting device will be explained.

When the vehicle body 6 is transported to a predetermined position of the mounting station 4 by the shuttle compare and positioned, the reference holes 23 and 24 of the vehicle body 6 are detected by the CCD cameras 55 and 56, and the control unit 3 is detected by the CCD cameras 55 and 56.
The image signal is output on 2.57.

On the other hand, the bonnet 1 and trunk sono F are transported by the transport device.
' 2 is transported to a predetermined position on the right side of the mounting station 4 and positioned, and the trunk lid 2 is attached to the 20th bond 9.
After the bonnet 1 is taken out from the hanger 3 by the 10th bond 3o, only the bonnet 1 is transported to a predetermined position on the left side of the mounting station 4 by the transport device and positioned, and the bonnet 1 is taken out from the hanger 3 by the 10th bond 3o.

The trunk lid 2 taken out by the second robot 91 is placed at an assembly station 5 at the rear right side of the attachment station 4.
The trowel hinge member (not shown) is attached to the assembly station 5B.

On the other hand, the bonnet 1 taken out by the first robot 30
C is held in the first robot 3o and placed in a predetermined position of the correction station 37 in a closed state.
After the CD camera 31 detects the holding position by the suction pad 35, the teaching data and the CCD camera 31
- The left hinge member 16 is held at the posture switching position above the first opening 8 based on the image signals from 55 and 56, and the left hinge member 16 is rotated to the sitting posture by the receiving plate 81a of the pressing robot 54, and the second After the right hinge member 16 is rotated to the sitting position by the receiving plate 70a of the positioning robot 53, it is carried into the attachment position of the first opening 8 in a closed state with relatively high accuracy.

On the other hand, the positioning robots 51 and 53 and the pressing robot 5
4 is controlled based on teaching data and image signals from CCD cameras 55 and 56, and the first positioning robot 51 rotates the rotary arm 61 to move the positioning bin 5.
0 is inserted into the engine room 21 through the opening 29 at the front of the vehicle body 6, the positioning bin 50 is precisely positioned and set relative to the vehicle body 6, and the positioning head 52 is set relative to the vehicle body 6 by the second positioning robot 53. The press head 83 is positioned and set with high accuracy, and the pressing head 83 is further set at a predetermined position. Then, when the bonnet 1 is carried to the mounting position by the first robot 30, both left and right ends of the rear part of the bonnet 1 are guided in the vehicle width direction by the guide surfaces 52a and 83a of the positioning pad 52 and the pressing head 83, and the bonnet 1 is mounted. In addition to being positioned with relatively high accuracy,
The positioning pin 50 is inserted into the reference hole 13a of the bonnet 1, and the positioning pin 50 positions one point of the bonnet 1 on the vehicle body 6 with high accuracy. Next, bonnet 1
is transferred from the hand 33 of the first robot 30 to the vehicle body 6, the air cylinder 82 is driven, and the pressing head 83 presses and rotates the Bonsunto 1 around the positioning bin 50 toward the positioning rod 52. , the right end portion of the bonnet 1 is locked by the positioning head 52, and the bonnet 1 is positioned with respect to the vehicle body 6 with high precision by the positioning pin 50 and the positioning head 52. After that, robot 30/9I
Bolt runners 90 and 9 installed in the hands 33 and 92 of
4, the left and right hinge members 16 are attached to the fender apron 2.
The bonnet 1 is fastened to the vehicle body 6 while being pressed at zero, and the bonnet 1 is attached to the vehicle body 6. The hinge member of the trunk lid 2 also connects the trunk lint 2 to the second opening 9.
After manually transporting the hinge member 16 to the mounting position, the hinge member 16 may be fastened to the vehicle body 6 using a fastening device that fastens the hinge member 16 to the vehicle body 6.

As described above, the bonnet 1
The second robot 91 is provided with a transfer function of the trunk lid 2 and a function of fastening the right hinge member 16 of the bonnet 1. It becomes possible to transfer the bonnet 1 and the trunk lid 2 and to fasten the hinge member 16 by effectively utilizing the robots 30 and 91, which is very advantageous in terms of installation space and equipment economy for the lid member attachment device.

Furthermore, by simply changing the control data of the control units 32 and 95 that control the first robot 30 and the 20th bond 91, the bonnet 1 and trunk lid 2 can be easily attached to the vehicle body 6 of different vehicle models. .

In addition, the bonnet 1 of one vehicle body 6 is transported by the conveyance device.
Since the bonnet 1 and trunk lint 2 are transported in pairs, it is possible to transport the bonnet 1 and trunk lint 2 for each vehicle type, and mixed production is easily possible without making any changes to the transport device. Also, the second robot 91 can efficiently handle the bonnet 1 and trunk lid 2.

Furthermore, since the bonnet 1 is attached to the vehicle body 1 with the bonnet 1 in the closed state, the bonnet 1 is not affected by manufacturing errors of the hinge members 14, I6 and the hinge bin 15 or the attachment of the hinge member 14 to the bonnet 1. The bonnet 1 can be mounted in the closed position, and by accurately mounting the rear left and right fenders to the vehicle body 6, the gap between the bonnet 1 and the left and right fenders in the closed state can be made uniform. Moreover, since the bonnet is positioned on the vehicle body 6 at 7 via the positioning pin 50 and the positioning head 52 which are precisely positioned with respect to the vehicle body 6, the bonnet can be attached to the vehicle body 6 with high accuracy.

In addition, since the hinge member 16 is once changed to the sitting position, the hinge member 16 can be seated without damaging the upper surface of the fender apron 20 when the bonnet 1 is carried into the mounting position.

Furthermore, since the positioning bin 50 is attached to the tip of the rotating arm 61 that rotates around the rotating shaft 60a,
Rotating arm 6 that effectively utilizes the opening 29 at the front end of the vehicle body 6
The positioning bin 50 can be set with one simple operation, and the required space for setting the positioning bin 50 is a relatively small space whose radius is the length of the rotating arm 61, so that it can be transported. Front and rear body 6
There is no need to widen the interval.

In addition, the CCD camera 56 is supported so as to be able to rotate substantially horizontally toward the vehicle body 6 side, and the CCD camera is provided at a predetermined position on the support plate 81 facing the CCD camera 56, and both CCD cameras are connected to the left and right hinge members. 6 may be detected, respectively, and only the hinge member 16 on the side held in the open position may be rotated to the seated position using the receiving plates 81a and 70a.

Incidentally, the posture switching device may have a configuration as shown in FIG. 21. That is, a pair of lever members 110 that can press the rear end of the hinge member 16 forward are rotatably provided at the rear end of the frame 34 of the first robot 30, and the lever member 1
A pair of cylinders 111 for rotating the lever 10 are provided on the upper part of the frame 34, and when the first robot 30 holds the bonnet i, the lever member 110 is rotated to move the hinge member 16 to the closed position. It may be possible to switch.

If the positioning head 52 is configured to position at least two points in the front and rear of the bonnet 1, the first positioning robot 51 can be omitted with relatively high accuracy (the bonnet 1 can be positioned at the mounting position). I can do it.

Note that the CCD camera 55 is connected to the first positioning robot 5.
It is also possible to attach it to one hand 60.

In addition, in this embodiment, the bonnet 1 and trunk lint 2
Although the present invention has been applied to a lid member attachment device for attaching a lid member to a vehicle body 6, it is also possible to apply the present invention to an attachment device for attaching a lid member other than the bonnet 1 or trunk lid 2 to a predetermined position on the vehicle body 60.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is a plan view of the bonnet mounting device, FIG. 2 is a front view of the bonnet mounting device, FIG. 3 is a perspective view of the bonnet, and FIG. 4 is a bonnet mounting device.
), Fig. 5 is a sectional view taken from line v to V in Fig. 4, Fig. 6 is a plan view of the main part of
The figure is a plan view of the bonnet and frame at the correction station, FIG. 7 is a side view of the same, FIG. 8 is a plan view of the rotating arm and main parts of the vehicle body, and FIG. 9 is a sectional view taken along the line IX-IX in FIG. FIG. 10 is a plan view of the second positioning robot and the main parts of the vehicle body;
Fig. 1I is a front view of the same, Fig. 12 is a plan view of the pushing robot and main parts of the vehicle body, Fig. 13 is a front view of the same, Fig. 14 is a plan view of the trunk lid and frame, and Fig. 15 is a front view of the same. , 1st
Figure 6 is a side view of the bolt runner, Figure 17 is a front view of the bolt runner, Figure 18 is an illustration of the operation of the attitude switching device, Figure 1
9 is a side view of the hanger, FIG. 20 is a front view of the hanger, and FIG. 21 is a side view of a posture switching device according to a modification. 1...bonnet, 2...trunk lid, 3...
Hanger, 6...Car body, 7...Transportation rail, 8
...first opening, 16..hinge member, 30..first robot, 91..second robot, 90.94.
・Bolt runner, 105...bonnet holding frame, frame. 106... Trunk lid holding diagram Figure 1-1 Figure Ib ±'' I Figure 1' Figure 14 Figure 15 Figure 16 Figure 17

Claims (2)

[Claims] (1) A first robot that is provided outside one side of the vehicle body and transports the first lid member transported by the transport device to a predetermined mounting position in the first opening of the vehicle body; and outside the other side of the vehicle body. and a second robot for transferring the second lid member transported by the transport device to a predetermined position, the first robot fastening a hinge member on one side of the first lid member to the vehicle body. A lid member attachment device for an automobile, characterized in that the second robot is provided with a fastening means for fastening the hinge member on the other side of the first lid member to the vehicle body. (2) The automobile lid member attaching device according to claim 1, wherein the conveyance device conveys the first lid member and the second lid member for one vehicle body as a pair.