JPH04250934A - Machining or assembling method for work and device therefor - Google Patents

Abstract

PURPOSE:To improve the operation rate of a work robot, to facilitate the change of work or assembly work stage as well, also to reduce the reduction in the production efficiency of a work accompanied by the trouble of a truck, etc., in planning the automation of the work or assembly work on the work transferred by being mounted on a truck with its execution by utilizing the work robot. CONSTITUTION:A work piece 1 is mounted on a truck 5 as well as work robots 8A, 8B are installed and the work or assembly work on the work piece is executed by the work robot, under the state of the work robot and work being transferred by a common truck.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention is a method for processing or assembling a workpiece, in which the processing or assembly work on the workpiece is automatically carried out using a work robot when the workpiece is transported, and a method used for carrying out the method. Regarding equipment.

0002

2. Description of the Related Art In a car body production line in a vehicle manufacturing process, for example, a car body is formed by joining together a plurality of members, and a door disposed in a passenger compartment forming part is temporarily fixed to form an integrated car body. In the painting line division, the car body is coated with a sealant and then painted as necessary from undercoat to topcoat, and then the doors etc. are removed and the car body and doors etc. are separated from each other. After being put into the work line divisions, processed or assembled by assembling various parts in each work line division,
The vehicle body is completed by attaching a door, etc., which has been processed or assembled with various parts, to the vehicle body which has been processed or assembled with various parts.

[0003] In the work line division for car bodies in such a car body production line, the car body is placed on a trolley or supported and conveyed by a conveyor, and the car body is Generally, processing or assembly by assembling various parts is performed by a combination of work by workers and work by installed work robots. In order to achieve further automation, for example, as shown in Japanese Utility Model Application Publication No. 62-108183 or Japanese Patent Application Laid-open No. 63-265779, the vehicle body is combined with a plurality of vehicle body components, such as an upper vehicle body component. Element,
The floor component or the lower vehicle body component including the floor component is divided into parts, and each vehicle body component is pre-processed or assembled by assembling various parts, and then joined together to form the vehicle body. It is proposed to form a

0004

[Problems to be Solved by the Invention] In processing each of the plurality of vehicle body structural members that are interconnected to form the vehicle body as described above or assembling them by assembling various parts, it is necessary to A plurality of work line sections are provided corresponding to each of the vehicle body constituent members, and each vehicle body constituent member can perform, for example,
While placed on a trolley and transported, a work robot fixedly installed in the work line section is used to process or assemble previously prepared parts. Therefore, in each work line division, when each of the plurality of vehicle body components sequentially introduced therein is transported to the position of a fixedly installed work robot, the work robot processes the vehicle body components or assembles the parts. Since assembly is performed by attaching the vehicle body components to each other, it is difficult to position each vehicle body component relative to the work robot with sufficient accuracy. In addition, each work robot will be required to perform intermittent work while waiting for the vehicle body components to be transported within the work line section. This has the disadvantage that the robot is not operated efficiently.

[0005] Furthermore, when a change is made to the machining or assembly work process for a specific car body component, a change in the work process is effected on the entire work line section that is set up corresponding to that specific car body component. Therefore, there is a problem in that the machining or assembly process for each vehicle body component cannot be easily changed. Furthermore, in the event that a failure occurs in one of the plurality of carts that transport the plurality of vehicle body components, or in a work robot that performs processing or assembly work on the vehicle body components, the vehicle will be transported by the malfunctioning trolley. In multiple work line divisions related to a car body that includes a car body component, or a car body that includes a car body component that is to be processed or assembled by a working robot in which a failure has occurred. There is a risk that work may be stopped, resulting in a significant drop in production efficiency.

[0006] In view of the above, the present invention aims to automate the processing or assembly work of workpieces such as vehicle body structural members placed on a trolley and transported by using a work robot. The operating rate of the working robot can be effectively improved, and when a change is made to the machining or assembly work process, it is possible to flexibly respond to the changed machining or assembly work process, and, for example,
A method for processing or assembling a workpiece, and a method used to implement the method, which is said to be able to reduce the decrease in workpiece production efficiency caused by a failure in the case of a failure in the trolley that transports the mounted workpiece. The purpose is to provide equipment.

[0007]

[Means for Solving the Problems] In order to achieve the above-mentioned object, a method for processing or assembling a workpiece according to the present invention includes installing a working robot on a trolley and placing the workpiece thereon, and transporting the working robot and the workpiece by the trolley. The work robot is supposed to perform processing or assembly work on the work while it is being transported.

Further, the workpiece processing or assembly apparatus according to the present invention includes a trolley for transporting the workpiece placed thereon, and a workpiece processing or assembly apparatus installed on the trolley and transported together with the workpiece. It is configured with a work robot that performs the work.

[0009]

[Operation] In the workpiece processing or assembly method or workpiece processing or assembly apparatus according to the present invention as described above, a workpiece and a working robot that performs processing or assembly work on the workpiece are connected. The workpieces are transported by a common trolley, and during the transport, the workpieces are worked on by a working robot, thereby efficiently automating the processing or assembly work on the workpieces. Specifically, by transporting the workpiece and the work robot on a common trolley, the positioning of the workpiece with respect to the work robot can be performed with high accuracy, reducing the work load on the work robot. , the waiting time during which the working robot waits for the arrival of a workpiece is eliminated, and the operating rate of the working robot is improved. Furthermore, if a malfunction occurs in the trolley or the work robot, this will prevent the impact from affecting the entire work line where the trolley is installed, suppressing a decline in workpiece production efficiency, and reducing the processing speed of the workpiece. Alternatively, the assembly work process can be easily changed without causing any inconvenience to the work line on which the trolley is disposed, and the degree of freedom is improved.

0010

[Embodiment] Figs. 1 and 2 show an example of an apparatus used to carry out the method for processing or assembling a work according to the present invention, together with a work placed on the apparatus, and the work placed on the apparatus is the body of a vehicle. The upper vehicle body member constitutes a part of the vehicle body.

The upper vehicle body member 1 shown in FIGS. 1 and 2 is carried out from the painting line by a conveying means (not shown), and is laid down in the parts assembly work line section of the vehicle body component assembly line to convey the workpiece. It is placed on a self-propelled cart 5 that runs on a pair of rails 3 forming a road. This upper vehicle body member 1 has a cabin forming portion A.
1. It has an engine room forming part A2, a trunk space forming part A3, etc., and a floor part opening K1 and a center pillar 1a are provided at the bottom and left and right sides of the cabin forming part A1, respectively. A front door partial opening K2 and a rear door partial opening K3 are provided which are sandwiched between each other, and an engine room partial opening K4 is provided in the engine room forming part A2, and a trunk space forming part A3 is provided. is provided with a trunk space partial opening K5.

For example, the vehicle body component assembly line is shown in FIG.
As shown in , the line includes parts assembly work line sections LP1 and LP2, a floor unit assembly work line section LF, and a vehicle body exterior member assembly work line section LE. In parts assembly work line classification LP1,
An annular workpiece conveyance path R1 is formed by a pair of rails 3, and a plurality of self-propelled carts 5 move on the workpiece conveyance path R1, and the upper vehicle body member shown in FIGS. 1 and 2 1 is placed on each of the plurality of self-propelled carts 5. In addition, in the parts assembly work line section LP2, an annular workpiece conveyance path R2 is formed by a pair of rails;
It is assumed that a plurality of self-propelled carts 4 move on the top.

At one end of the portion R1a of the workpiece conveyance path R1, there is provided an upper body member carrying-in section BO into which a plurality of upper body members 1 carried out from the coating line CL are successively and intermittently carried. The other end of R1a is connected to one end of portion R2a of workpiece conveyance path R2 via hanger conveyor H1. The other end of portion R2a is connected to one end of portion R2b of workpiece conveyance path R2, and the other end of portion R2b is connected to one end of portion R1b of workpiece conveyance path R1 via hanger conveyor H2. ing. The other end of the portion R1b is connected to the floor unit assembly work line section LF via the hanger conveyor H3, and the floor unit assembly work line section LF is connected to the vehicle body exterior member assembly work line section LF. Connected to LE.

[0014] In such a vehicle body component assembly line,
Each of the upper car body members 1 sequentially carried out from the painting line CL is introduced into the parts assembly work line section LP1 from the upper car body member carry-in section BO, and is transferred to the part R1a of the workpiece conveyance path R1.
It is placed on the self-propelled trolley 5 at one end. and,
The upper vehicle body member 1 placed on the self-propelled trolley 5 is
Various parts such as wire harnesses, grommets, and clips are assembled while the workpiece is being transported in the direction of the arrow X1 from one end to the other end of the portion R1a of the workpiece transport path R1. Portion R1a of workpiece conveyance path R1
The upper vehicle body member 1 to which various parts are assembled is
At the other end of the portion R1a, it is transferred from the self-propelled cart 5 to the hanger conveyor H1 to be transferred to the parts assembly work line section LP2, and via the hanger conveyor H1,
Workpiece conveyance path R in parts assembly work line section LP2
2 is placed on the self-propelled trolley 4 at one end of the portion R2a.

[0015] The upper body member 1 placed on the self-propelled trolley 4 is moved to the portion R of the workpiece conveyance path R2 by the self-propelled trolley 4.
2a is conveyed from one end to the other end, and further, the part R2b of the workpiece conveyance path R2 is conveyed from the one end to the other end in the direction of arrow X2. Various parts such as the unit, rear seat, front and rear windshield glass will be assembled. Subsequently, the upper car body member 1 on which various parts have been assembled in parts R2a and R2b of the workpiece transport path R2 is again transferred from the self-propelled cart 4 to the parts assembly work line section LP1 at the other end of part R2b. The parts assembly work line section LP1 is transferred to the hanger conveyor H2 through the hanger conveyor H2.
The workpiece is placed on the self-propelled cart 5 at one end of the portion R1b of the workpiece transport path R1.

The upper body member 1 placed on the self-propelled cart 5 again is moved to the portion R1b of the workpiece conveyance path R1 by the self-propelled cart 5.
While being transported from one end to the other end, the screw members that attach the various assembled parts to the upper vehicle body member 1 are retightened, and then at the other end of portion R1b. , it is transferred from the self-propelled cart 5 to the hanger conveyor H3 to be transferred to the floor unit assembly work line section LF, and is carried into the floor unit assembly work line section LF via the hanger conveyor H3.

Part assembly work line sections LP1 and LP2 carried into floor unit assembly work line section LF
The upper vehicle body member 1, on which various parts have been assembled in the floor unit assembly work line section LF, is then assembled with a floor unit introduced therein. The upper vehicle body member 1 to which the floor unit has been assembled is located in the floor unit assembly work line section LF.
are transferred to the vehicle body exterior parts assembly work line division LE, where vehicle body exterior parts such as front shroud members, front fender members, trunk lids, bonnets, left and right doors are assembled. The assembly is considered complete.

Note that at the other end of the portion R1a of the workpiece conveyance path R1 in the parts assembly work line section LP1,
The self-propelled cart 5 from which the upper body member 1 placed thereon has been removed moves along the workpiece conveyance path R1 from the other end of the portion R1a to one end of the portion R1b, and also moves the parts At the other end of the portion R2b of the workpiece conveyance path R2 in the assembly work line section LP2, the self-propelled cart 5' from which the upper body member 1 placed thereon has been removed, moves along the workpiece conveyance path R2. From the other end of the portion R2b to the portion R2a
The self-propelled cart 5 moves to one end, and further, at the other end of the portion R1b of the workpiece conveyance path R1 in the parts assembly work line section LP1, the upper car body member 1 placed thereon is removed. moves along the workpiece transport path R1 from the other end of the portion R1b to one end of the portion R1a.

As shown in FIGS. 1 and 2, the self-propelled trolley 5 on which the upper body member 1 is placed runs on a pair of rails 3 with its wheels driven by a motor 6 attached thereto. It is considered a thing. A main pallet 7 for positioning the upper vehicle body member 1 to be placed on the mounting surface 5A of the self-propelled trolley 5, and a first and a first pallet for performing work on the upper vehicle body member 1 positioned by the main pallet 7. 2 working robots 8A and 8B, two robot tool placement tables 9A and 9B provided for the first and second working robots 8A and 8B, respectively, and the first and second working robots 8A and 8B. Two control units 10A and 10B are installed to control the operation of 8B.

The main pallet 7 is formed into a frame shape, and has columnar support members 22 erected at a plurality of locations, and an engaging pin 21 provided at the top of each columnar support member 22 is connected to the upper vehicle body. The upper vehicle body member 1 is supported and positioned by the columnar support member 22 in a state where it is engaged with an engagement hole provided in the bottom surface of the member 1 .

The first working robot 8A has a rotating part 15A attached to a base 14A which is fixed on the mounting surface 5A of the self-propelled cart 5 in a state surrounded by the central part of the main pallet 7. The movable arm part 16A, which is placed in the recess 14AG provided in the recess 14AG and supported by the rotating part 15A, is moved to the floor part opening provided in the bottom part of the cabin forming part A1 of the upper vehicle body member 1. It is said that it is made to enter the inside of the cabin forming part A1 through K1. A rotating portion 15A that supports the movable arm portion 16A is movable along the longitudinal direction of the upper vehicle body member 1 within a recess 14AG provided in the base 14A. In this way, on the base 14A on which the rotating part 15A of the first working robot 8A is arranged, the first and second sub-pallets 12A and 12B on which parts are placed are placed between the recessed part 14AG. They are arranged in opposing positions, and various parts P such as grommets and wire harnesses, which are to be assembled mainly inside the cabin forming part A1 of the upper vehicle body member 1, are arranged in a predetermined manner on the upper surface of each part. .

The second working robot 8B is rotatably attached to a base 14B fixed on the mounting surface 5A of the self-propelled cart 5 in a state partially surrounded by the U-shaped end of the main pallet 7. The movable arm part 16B, which is installed with the part 15B disposed in the recess 14BG provided in the base 14B and supported by the rotating part 15B, is provided in the engine room forming part A2 of the upper vehicle body member 1. It is supposed to be inserted into the engine room partial opening K4. The rotating part 15B that supports the movable arm part 16B moves the upper vehicle body member 1 inside the recess 14BG provided in the base 14B.
is movable along the longitudinal direction. In this way, on the base 14B on which the rotating part 15B of the second working robot 8B is arranged, the third sub-pallet 12C on which parts are placed is located at a position corresponding to the inside of the engine room partial opening K4. Various parts P' such as grommets and wire harnesses, which are to be assembled mainly inside the engine room forming part A2 of the upper vehicle body member 1, are arranged in a predetermined manner on the upper surface of each part.

[0023] First and second working robots 8A and 8B
is an articulated robot, and each movable arm part 16
A or 16B is the rotating part 15A or 15, respectively.
It can be rotated by B and can bend and stretch at multiple locations, and has a wrist part 17 at its tip.
A or 17B is provided.

The robot tool placement table 9A is a wrist portion 17A provided on the movable arm portion 16A of the first working robot 8A outside the cabin forming portion A1 of the upper vehicle body member 1 supported by the main pallet 7. Various tools Q, which are removably attached to the wrist portion 17A of the first working robot 8A, are arranged on the tool mounting surface in a predetermined manner. Further, the robot tool placement table 9B is placed in the vicinity of the engine room forming part A2 of the upper vehicle body member 1 supported by the main pallet 7.
The various tools Q' are arranged in a position that can be reached by the wrist part 17B provided on the movable arm part 16B of robot B, and are removably attached to the wrist part 17B of the second working robot 8B on the tool mounting surface. are arranged in a predetermined manner.

The two control units 10A and 10B are
It is disposed at the end of the mounting surface 5A of the self-propelled trolley 5, and supplies operation control signals according to a preset control program to each of the first and second working robots 8A and 8B, for example. and control their operations.

Based on the above-described structure, there is a self-propelled truck 5 on which the upper vehicle body member 1 is placed, and a self-propelled vehicle 5 that is installed on the self-propelled vehicle 5 and is transported together with the upper vehicle body member 1 by the self-propelled vehicle 5. An example of the workpiece processing or assembly apparatus according to the present invention is formed with the first and second working robots 8A and 8B operating under the operation control of the control units 10A and 10B as main components. be.

When assembling the upper vehicle body member 1 by assembling various parts using an example of such a work processing or assembly apparatus, first, the upper body member 1 is carried out from the painting line CL and the upper Vehicle body parts loading section B
The upper car body member 1 carried into O is placed on one of a plurality of self-propelled carts 5 that run on a pair of rails 3 that constitute a workpiece conveyance path R1 in the parts assembly work line section LP1. Place it from above. At that time, the first working robot 8A installed on the mounting surface 5A of the self-propelled trolley 5
The movable arm portion 16A enters into the interior of the cabin forming portion A1 through the floor portion opening K1 provided in the cabin forming portion A1 of the upper vehicle body member 1, and similarly, the movable arm portion 16A enters into the interior of the cabin forming portion A1. The movable arm portion 16B of the second working robot 8B installed in the upper vehicle body member 1 is configured to enter into the engine room partial opening K4 provided in the engine room forming portion A2 of the upper vehicle body member 1. The engine room of the upper vehicle body member 1 is formed on the engagement pins 21 provided on each of the plurality of columnar support members 22 planted on the main panel 7 installed on the mounting surface 5A of the self-propelled trolley 5. By fitting the engagement holes provided in the portion A2 and the trunk space forming portion A3, the upper vehicle body member 1 is supported and positioned by the plurality of columnar support members 22, as shown in FIGS. 1 and 2. state.

Next, the self-propelled trolley 5 on which the upper body member 1 is placed is moved along the parts assembly work line section L at a predetermined speed on the pair of rails 3 with its motor 6 activated.
It travels in the direction toward P2, and is in a state of transporting the upper vehicle body member 1 together with the first and second working robots 8A and 8B toward the parts assembly work line section LP2.

Next, an operation control signal sent from the control unit 10A installed on the running self-propelled cart 5 according to a preset control program is supplied to the first working robot 8A, and the first working robot 8A 8A, the rotating part 15A moves as necessary within the range of the recess 14AG provided in the base 14A fixed on the mounting surface part 5A of the self-propelled trolley 5, and the movable arm part 16A moves as necessary. , the wrist portion 17A provided thereon is connected to the front door partial opening K provided in the cabin forming portion A1 of the upper vehicle body member 1.
2, or the position of the robot tool placement table 9A is reached through the rear door partial opening K3, and one of the tools Q placed on the robot tool placement table 9A is attached to the wrist portion 17A. After that, the installed tool Q
using the first and second sub-palettes 12A and 12
The various parts P arranged in B are brought into a state in which they are mainly sequentially assembled inside the cabin forming part A1 of the upper vehicle body member 1. In such a state, the first working robot 8A uses the tool Q attached to the wrist part 17A to pick up various parts P placed on the first sub-pallet 12A, as shown by the solid line in FIG. Select and hold a specific item from the list and assemble it to the area around the first sub-pallet 12A in the cabin forming part A1 of the upper vehicle body member 1, and as shown by the dashed line in FIG. A tool Q attached to the tool Q selects and holds a specific part from among the various parts P arranged on the second sub-pallet 12B, and transfers it to the second sub-pallet in the cabin forming part A1 of the upper vehicle body member 1. Assemble it around the part around 12B. Then, such an upper vehicle body member 1
When assembling various parts P to the upper vehicle body member 1, the first working robot 8A is equipped with a tool Q attached to its wrist part 17A, depending on the part P to be assembled to the upper vehicle body member 1. The robot also performs the operation of replacing the new one as appropriate.

[0030] At the same time, the self-propelled trolley 5
An operation control signal sent from the control unit 10B installed in the control unit 10B according to a preset control program is supplied to the second working robot 8B, and the rotating part 15B of the second working robot 8B is connected to the self-propelled cart 5. The movable arm part 1 moves as necessary within the range of the recess 14BG provided in the base 14B fixed on the mounting surface part 5A of the
6B causes the wrist portion 17B provided thereon to reach the position of the robot tool placement table 9B, and one of the tools Q' placed on the robot tool placement table 9B is attached to the wrist portion 17B. After setting the state, the installed tool Q'
, the various parts P' arranged on the third sub-pallet 12C are brought into a state in which the various parts P' arranged on the third sub-pallet 12C are mainly assembled one after another inside the engine room forming part A2 of the upper vehicle body member 1. When assembling various parts P' to the upper vehicle body member 1, the second working robot 8B uses a tool Q' attached to its wrist part 17B to assemble the parts P' to the upper vehicle body member 1. Depending on the situation, an operation is also performed to replace it with something suitable for handling it.

As described above, it is possible to obtain the upper car body member 1 in which the various parts P and P' have been assembled. The workpiece is transferred to one of the plurality of self-propelled carts 4 that travel on the workpiece conveyance path R2 in the attached work line section LP2.

In this way, as shown in FIG. 5, the upper vehicle body member 1 and the first to third subpallets 12A to 12
C, first and second working robots 8A and 8B, control units 10A and 10B, and robot tool placement table 9
A and 9B are installed on a common self-propelled cart 5 and transported, while the first to third sub-pallets 1 are delivered to the upper vehicle body member 1 by the first and second working robots 8A and 8B.
The various parts P and P' arranged in 2A to 12C are assembled to assemble the upper vehicle body member 1, and at this time, the first working robot 8A mainly works in the cabin of the upper vehicle body member 1. The assembly of various parts P to the inside of the forming part A1 is carried out by its movable arm part 16A.
The second work robot 8B is designed to carry out various parts P mainly on the inside of the engine room forming part A2 in the upper vehicle body member 1. ' is to be assembled with the movable arm portion 16B disposed within the engine compartment opening K4, so that during the parts assembly work by the first and second work robots 8A and 8B. , the positioning of the upper vehicle body member 1 with respect to the first and second working robots 8A and 8B is maintained with high accuracy, the work load of the first and second working robots 8A and 8B is reduced, and , the waiting time during which the first and second working robots 8A and 8B would have to wait for the arrival of the upper vehicle body member 1 is eliminated, and in addition, the requirements for the first and second working robots 8A and 8B, respectively, are eliminated. Tools can be replaced in a very short time, and the operating rates of the first and second working robots 8A and 8B are significantly improved.

Furthermore, the self-propelled cart 5 or the first and second
When a failure occurs in at least one of the working robots 8A and 8B, the self-propelled cart 5 is evacuated from the workpiece transport path R1 in the parts assembly work line section LP1. This prevents the influence of a failure of at least one of the first and second working robots 8A and 8B from affecting the entire parts assembly work line section LP1, suppressing a decrease in production efficiency of the upper vehicle body member 1, and , the change in the assembly work process for the upper vehicle body member 1 on the self-propelled trolley 5 is in the parts assembly work line classification LP.
1, the degree of freedom is improved.

In the above example, the upper vehicle body member 1, on which various parts are assembled by the first and second working robots 8A and 8B installed on the self-propelled cart 5, is placed on the floor of the cabin forming portion A1. Although the partial opening K1 is provided and the engine room forming part A2 is not assembled with the front shroud member, it is used in the workpiece processing or assembly method and its implementation according to the present invention. The device can also be applied to the assembly of an upper vehicle body member in which a floor opening is not provided in the cabin forming part and a front shroud member is assembled in the engine room forming part, and FIG. Another example of the apparatus used to carry out the method for processing or assembling a workpiece according to the present invention is shown.

In the example shown in FIG.
', a first one with control units 10A' and 10B'
and second working robots 8A' and 8B' are installed, and an upper vehicle body member 1' constituting the vehicle body is placed. The self-propelled trolley 5' is constructed in the same manner as the self-propelled trolley 5 in the example shown in FIG. 1, and runs on a pair of rails 3. In the same manner as when the upper vehicle body member 1 shown in FIG. The first and second working robots 8A' and 8B' have the same configuration as the first and second working robots 8A and 8B with control units 10A and 10B, respectively, in the example shown in FIG. It is said that the same operation is performed using the same function.

[0036] The upper vehicle body member 1' has a cabin forming part A1.
', an engine room forming part A2' and a trunk space forming part A3', no floor opening is formed in the cabin forming part A1', and the engine room forming part A2' is a front shroud member. AS is installed.

In the self-propelled cart 5', the first working robot 8A' is located outside the cabin forming part A1' of the upper vehicle body member 1' placed thereon, and the second working robot 8B' is It is located outside the engine room forming portion A2' of the mounted upper vehicle body member 1', and the upper vehicle body member 1' is sandwiched between the two. Then, on the mounting surface portion 5A' of the self-propelled cart 5', a robot tool placement table 9A' on which a robot tool QA is placed is installed near the first working robot 8A', and a second A robot tool placement stand 9B' on which a robot tool QB is placed is also installed near the working robot 8B'.

Furthermore, a first working robot 8 is provided at the end of the mounting surface 5A' of the self-propelled cart 5' on the first working robot 8A' side and the end on the second working robot 8B' side.
A first section where various parts PA, such as a shift lever, to be assembled to the upper vehicle body member 1' by A' are arranged.
sub-pallet 12A' and second work robot 8
Second sub-pallets 12B' are provided with various parts PB, such as wipers, to be assembled to the upper vehicle body member 1' by B'.

When assembling the upper car body member 1' by assembling various parts using such an example of the work processing or assembly apparatus, the self-propelled cart 5' is connected to a pair of The first and second working robots 8A' move on the rails 3 and move the mounted upper vehicle body member 1'.
and 8B', an operation control signal sent from the control unit 10A' according to a preset control program is sent to the first working robot 8A.
selectively attaching and replacing the robot tool QA placed on the robot tool placement table 9A' to the wrist part of the first working robot 8A';
Various parts PA placed on the first sub-pallet 12A'
Each of these is mainly assembled to the cabin forming portion A1' of the upper vehicle body member 1', and
An operation control signal sent from the control unit 10B' according to a preset control program is supplied to the second working robot 8B', and the second working robot 8B' is provided with a robot tool for its wrist section. Selective mounting and mounting exchange of robot tool QB placed on placement table 9B',
Then, each of the various parts PB arranged on the second sub-pallet 12B' is mainly assembled to the engine room forming part A2' of the upper vehicle body member 1'.

[0040] Also in such a case, the upper vehicle body member 1', the first
and second sub-pallets 12A' and 12B', first and second working robots 8A' and 8B', control units 10A' and 10B', and robot tool placement table 9
A' and 9B' are installed on a common self-propelled cart 5' and transported, while the first and second working robots 8A' and 8
The various parts PA and PB arranged on the first and second sub-pallets 12A' and 12B' are assembled to the upper vehicle body member 1' by B', and the upper vehicle body member 1
' By assembling the first and second
During the parts assembly work by the working robots 8A' and 8B', the first and second working robots 8A of the upper vehicle body member 1'
The state in which the positioning with respect to ' and 8B' is performed with high accuracy is maintained, the workload of the first and second working robots 8A' and 8B' is reduced, and the first and second working robots 8A' and 8B' waiting for the arrival of the upper body member 1', and in addition, tools can be changed as necessary for each of the first and second working robots 8A' and 8B'. The first and second working robots 8A' and 8B'
The operating rate of the system will be significantly improved.

Furthermore, other advantages similar to those obtained in the case of the example shown in FIG. 5 described above are obtained.

[0042]

[Effects of the Invention] As is clear from the above description, according to the method for processing or assembling a workpiece according to the present invention or the apparatus for processing or assembling a workpiece according to the present invention, a workpiece that is, for example, a vehicle body component The work robot that processes or assembles the work is transported by a common trolley, and during the transport, the work robot performs various tasks such as assembling parts to the work, thereby determining the position of the work relative to the work robot. is performed and maintained with high accuracy, which reduces the work load on the work robot, eliminates the waiting time that the work robot has to wait for the arrival of the work, and increases the operation rate of the work robot. be made to improve. Furthermore, if a malfunction occurs in the trolley or the work robot, this will prevent the impact from affecting the entire work line where the trolley is installed, suppressing a decline in workpiece production efficiency, and reducing the processing speed of the workpiece. Alternatively, changes in the assembly work process can be easily made without causing any inconvenience to the work line on which the trolley is disposed, and the degree of freedom is improved. Therefore, automation of processing or assembly work on the workpiece can be efficiently achieved.

[Brief explanation of the drawing]

FIG. 1 is a side view showing an example of a workpiece machining or assembling apparatus used to carry out a workpiece machining or assembling method according to the present invention, together with a workpiece.

FIG. 2 is a plan view showing an example of a workpiece machining or assembling apparatus used to carry out the workpiece machining or assembling method according to the present invention, together with the workpiece.

FIG. 3 is a conceptual diagram for explaining a vehicle body component assembly line to which the example shown in FIGS. 1 and 2 is applied.

FIG. 4 is a sectional view used to explain the operation of the example shown in FIG. 1;

FIG. 5 is a perspective view used to explain the operation of the example shown in FIG. 1;

FIG. 6 is a perspective view showing another example of a workpiece processing or assembling apparatus used to carry out the workpiece processing or assembling method according to the present invention, together with the workpiece.

[Explanation of symbols]

1 Upper body parts 1’　　　　Upper body parts 5 Self-propelled trolley 5’ Self-propelled trolley 8A First working robot 8A' First working robot 8B Second working robot 8B' Second working robot 10A control unit 10B Control unit 10A’ control unit 10B’ control unit

Claims (8)

[Claims] Claim 1: A work robot is installed on a trolley and a workpiece is placed thereon, and the work robot performs processing or assembly work on the workpiece while the work robot and the workpiece are transported by the trolley. The method of processing or assembling the workpiece to be performed. 2. The method for processing or assembling a workpiece according to claim 1, wherein a working robot is installed at a position inside the workpiece on the cart. 3. The method for processing or assembling a workpiece according to claim 1, wherein the work robot is adapted to replace tools attached to the workpiece depending on the contents of the processing or assembly work for the workpiece. 4. A workpiece to be placed on a cart is a car body, and parts to be assembled in addition to the car body are placed on the cart, and the work robot is moved to an opening in a floor portion and an engine room portion provided in the car body. The method for processing or assembling a workpiece according to claim 1, wherein the workpiece is placed inside the vehicle body through at least one of the openings. 5. A work robot comprising: a trolley for transporting a workpiece placed thereon; and a work robot installed on the trolley and performing processing or assembly work on the workpiece while being transported together with the workpiece. Workpiece processing or assembly equipment consisting of 6. The apparatus for processing or assembling a workpiece according to claim 5, wherein a working robot is installed at a position inside the workpiece on the cart. 7. The workpiece machining or assembling apparatus according to claim 5, wherein the work robot is configured to replace tools attached to the workpiece according to the contents of the machining or assembling work on the workpiece. 8. A workpiece placed on a truck is a car body, and in addition to the car body, parts to be assembled thereon are placed on the truck, and the work robot is installed in a floor opening provided in the car body. 6. The workpiece processing or assembly apparatus according to claim 5, wherein the workpiece processing or assembly apparatus is disposed inside the vehicle body through at least one of the engine compartment opening and the engine compartment opening.