JPH04275841A - Workpiece assembly method and device used to the practice - Google Patents

Abstract

PURPOSE:To improve the working ration of a working robot by carrying workpieces which are components of car bodies and small articles to be mounted on the components of the car bodies by means of a truck which travels along a workpiece conveying path together with the working robot. CONSTITUTION:With small articles, a working robot and upper side car body members 24 conveyed by a truck 5 which is common to them, the working robot is made to mount the small articles on the workpiece 24. In addition, when the upper side car body members 24 are carried to assembling work station forming sections ES1 to ES6 by the truck 5, large components 40, 28, 23 and 26 are mounted on the upper side car body members 24 by the working robot.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention is an assembly method for automatically performing assembly work on a workpiece using a work robot when the workpiece is in an intermittent transfer state along a workpiece conveyance path. The present invention relates to a method and an apparatus used for its implementation.

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 and assembled by assembling various parts in each work line division, the various parts or members are assembled again onto the body body to which the various parts or members have been assembled. The car body is completed by attaching the attached doors and the like.

[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, assembly by assembling various parts or members is performed by a combination of work by workers and work by installed work robots. For example, in order to achieve further automation,
As shown in Publication No. 265779, the vehicle body is divided into a plurality of vehicle body components, for example, an upper vehicle body component and a floor member or a lower vehicle body component including the floor member, and each vehicle body component is divided into It has been proposed that various parts or members be assembled in advance and then joined together to form a vehicle body.

0004

[Problems to be Solved by the Invention] When performing assembly by assembling various parts or members for each of the plurality of vehicle body component members that are interconnected to form the vehicle body body as described above, it is necessary to assemble the plurality of vehicle body component members. A plurality of work line divisions are provided corresponding to each of the
In the corresponding work line division, for example, parts or members prepared in advance are assembled by a work robot fixedly installed in the work line division while being placed on a trolley and being transported. shall be carried out. Therefore, in each work line division, when each of the plurality of car body structural members sequentially introduced therein is transported to the position of a fixedly installed work robot, the work robot assembles the parts or parts of the car body structural member. Since assembly is carried out by attaching parts, each work robot has to wait for the vehicle body components to be transported within the work line section and perform intermittent work.
This has the disadvantage that the work robot is not operated efficiently.

[0005] For example, in the case of vehicle body components in which small parts such as wire harnesses and grommets and large parts such as bumpers and doors are assembled, there is a work in which small parts are supplied during the work line division. In a work area, small parts are assembled by a work robot fixedly installed in that work area, and then large parts in the work line division are supplied by a work robot fixedly installed in that work area. Since the assembly of large parts is required, there is an inconvenience that a relatively long time is required for the assembly work, and furthermore,
In the work area where small parts are assembled, there is a relatively complex system designed to appropriately supply various small parts to be handled by the work robot fixedly installed there, depending on the work content. There is a problem in that a parts supply system is required to be provided.

[0006] In view of the above, the present invention aims to automate the assembly work of workpieces such as vehicle body components placed on a trolley and transported by using a work robot. In addition, it is possible to efficiently assemble small parts and large parts in assembly work for workpieces, and to supply small parts relatively easily and appropriately. It is an object of the present invention to provide a method for assembling a workpiece and a device used for carrying out the method.

[0007]

[Means for Solving the Problems] In order to achieve the above-mentioned object, the method for assembling a workpiece according to the present invention includes installing a working robot on a cart, placing the workpiece and small parts to be assembled thereon, and moving the cart. The work robot is moved along a work transport path provided with an assembly work station section where large parts to be assembled to the work are supplied, and the work robot, work, and small parts are transported by a trolley. At the same time, the large members are assembled to the work while the work is positioned at the assembly work station by means of a cart.

Further, the workpiece assembly apparatus according to the present invention includes:
There is a cart on which a workpiece and small parts to be assembled on the workpiece are placed and which transports the workpiece and small parts along the workpiece transport path. A work robot that assembles small parts and large parts that are installed on the workpiece conveyance path and are to be assembled on the workpiece are supplied.
and an assembly work station section where large members are assembled to a workpiece positioned by a trolley.

[0009]

[Operation] A method for assembling a workpiece according to the present invention as described above,
Alternatively, in the workpiece assembly apparatus according to the present invention,
A workpiece, small parts to be assembled on the workpiece, and a work robot that performs the work of assembling small parts on the workpiece are transported along a workpiece transport route by a common trolley,
Further, an assembly work station portion is provided on the workpiece conveyance path to which large members to be assembled on the workpiece are supplied. Then, while the workpiece and the small parts to be assembled on it are transported together with the work robot by a trolley, the work robot assembles the small parts onto the workpiece, and as a result, the work robot waits for the workpiece to arrive. This eliminates the waiting time and improves the operating rate of the working robot. Furthermore, when the workpiece is transported by a trolley and brought into the assembly work station section, the large member is assembled to the workpiece by the assembly means installed in the assembly work station section. Not only the assembly of small parts but also the assembly of large members to a workpiece can be efficiently carried out without the need for work such as changing the workpiece onto a cart.

Furthermore, by placing the small parts to be assembled on the work on the trolley on which the work is placed, small parts can be supplied each time the work robot assembles the small parts onto the work. Another advantage is that there is no need to do so.

[0011]

[Example] Fig. 1 schematically shows the arrangement of an example of a car body assembly line in which an example of the work assembly method according to the present invention is carried out and an example of the work assembly apparatus according to the present invention is installed. In the example of the vehicle body assembly line shown in FIG. shall constitute the workpiece to which assembly work is performed in accordance with the following.

The vehicle body assembly line shown in FIG. 1 includes a vehicle body loading path forming section T1, an upper vehicle body member conveying path forming section T2, a floor member conveying path forming section T3, and a large exterior member conveying path forming section T.
4. Floor component processing line division LF, large exterior component processing line divisions LE1 to LE6, work stations S1 and S2, small parts supply station forming section SP, parts/member assembly work line division LPA, floor component assembly work line division LFA and large parts assembly work line classification LE
It is said to include A. The floor member processing line section LF is provided along the floor member conveyance path forming section T3, and the large exterior member processing line sections LE1 to LE6 are provided along each of the six branched large object exterior member conveyance path forming sections T4. It is provided.

[0013] The parts/member assembly work line division LPA is as follows:
A workpiece conveyance path RA is formed, and a plurality of self-propelled carts 5 travel on the workpiece conveyance path RA. The workpiece conveyance path RA consists of portions Ra, Rb, and Rc, and the starting end of the portion Ra to which the end of the upper vehicle body member conveyance path forming portion T2 is connected is connected to the end of the portion Rc, and the portion Rb The starting and ending parts are part R
It is connected to the terminal end and the starting end of a and Rc, respectively, to form an annular body as a whole.

[0014] To the portion Rb of the workpiece conveyance path RA, the terminal ends of each of the three large-sized exterior member conveyance path forming portions T4 are connected, and the respective terminal ends of the three large-sized object assembly member conveyance path forming portions T5 are connected. The terminal ends are connected, and a predetermined location on the terminal end side of the portion Rc is connected to the floor member assembly work line section LFA via a hanger conveyor H. Further, the floor member assembly work line section LFA is connected to the large member assembly work line section LEA. Further, the floor member assembly work line segment LFA is connected to the terminal end of the floor member conveyance path forming section T3, and similarly, the large member assembly work line segment LEA is connected to the three large exterior member transport lines. The respective terminal ends of the path forming portion T4 are connected, and
The terminal ends of one large assembly member conveyance path forming portion T5 are connected.

In the vehicle body entrance path forming portion T1, as shown in FIG.
The car body 20, which is constructed by integrating various structural members including large exterior parts such as the engine hood 22 and trunk lid 23, is coated with a sealant in the painting line section, and then the necessary parts from undercoat to topcoat are applied. The equipment will be delivered with the appropriate paint applied. Then, the vehicle body 20 carried into the vehicle body loading path forming part T1 is transported to the work station S1, and at the work station S1,
As shown in FIG. 3, an upper vehicle body member 24 and a floor member 2 are equipped with large exterior members such as a front door 21F, a rear door 21R, an engine hood 22, and a trunk lid 23.
It is divided into 5. The upper vehicle body member 24 obtained by such division includes a cabin forming part A1 in which the front door 21F and rear door 21R are arranged, an engine room forming part A2 in which the engine hood 22 is arranged, and a trunk lid 2.
The trunk space forming part A3 has a trunk space forming part A3 in which a floor member 2 is arranged.
5 has been removed, it is assumed that a floor partial opening has been provided.

The upper car body member 24 and the floor member 25 obtained at the work station S1 are sent to the upper car body member conveyance path forming section T2 and the floor member conveyance path forming section T3, respectively, so that the upper car body member 24 is transferred to the upper car body member conveyance path forming section T2 and the floor member conveyance path forming section T3. The floor member 25 is transported to the work station S2 provided in the path forming section T2, and is also carried into the floor member processing line section LF through the floor member transport path forming section T3. In the floor component processing line section LF, the floor component 25 is subjected to various treatments such as sealing treatment, secondary anti-corrosion treatment, and parts installation, etc. The member 25 is again transported to the floor member assembly work line section LFA through the floor member transport path forming section T3.

At the work station S2, as shown in FIG. 4, the upper vehicle body member 24 carried in from the work station S1 is removed from the cabin forming part A1 with the front door 21F and rear door 21R removed, and is removed from the engine room forming part A2. The engine hood 22, front fender 26, and front shroud 27 are removed, and the trunk lid 23 and rear panel 28 are also removed from the trunk space forming portion A3. Thereby,
At the work station S2, the upper vehicle body member 24
On the bottom part and both left and right sides of the cabin forming part A1,
Floor opening K1 and center pillar 1, respectively.
A front door partial opening K2 and a rear door partial opening K3 are provided in the engine room forming part A2, and a trunk opening K4 is provided in the trunk space forming part A3. A space portion opening K5 is provided.

[0018] Then, a floor opening K is formed in the cabin forming part A1 obtained at the work station S2.
The upper vehicle body member 24 provided with
The front door 21F was transported to the PA and removed from the upper vehicle body member 24 at the work station S2.
and various large exterior members such as the rear door 21R, engine hood 22, trunk lid 23, front fender 26, front shroud 27, and rear panel 28,
The large item exterior member processing line sections LE1 to LE6 are respectively transported through the large item exterior member transport path forming section T4 which branches into six parts.

In the large exterior parts processing line section LE1, the front shroud 27 is subjected to the necessary treatments, in the large exterior parts processing line section LE2, the trunk lid 23 is subjected to the necessary treatments, and in the large exterior parts processing line section LE3, the necessary treatments are applied to the trunk lid 23. The processing and parts installation necessary for the rear panel 28 are carried out on the large exterior parts processing line section L.
In E4, the necessary processing is carried out on the engine hood 22, in the large exterior parts processing line division LE5, the necessary processing and parts installation are carried out on the front door 21F and rear door 21R, and in addition, in the large exterior parts processing line division LE6. The front fender 26 has undergone the necessary processing and parts installation, and the front shroud 27, the trunk lid 23, the rear panel 28, the engine hood 22, the front door 21F, and the rear door 21R, which have undergone the necessary processing or additional parts installation.
The front fender 26 is then transported to the parts/component assembly work line segment LPA and the large exterior member assembly work line segment LEA through the six large exterior member transport path forming sections T4. In addition, parts/components assembly work line section LPA and large exterior member assembly work line section LEA include rear bumpers and instruments that have undergone the necessary processing in the large assembly parts processing line section (not shown). The panel, rear seat, and front seat are each transported through the large assembly member transport path forming section T5.

[0020] Regarding the upper vehicle body member 24 transported to the parts/component assembly work line section LPA through the upper vehicle body member transport path forming section T2 as described above, an assembly operation is performed according to an example of the workpiece assembly method according to the present invention. is carried out through the parts/components assembly work line section LPA, and in this case, first, the upper car body member 24 is moved to the part Ra of the workpiece conveyance path RA in the parts/members assembly work line section LPA.
The workpiece is placed on the self-propelled cart 5 at the workpiece placement section Pa provided at the starting end of the workpiece. Then, while the upper body member 24 placed on the self-propelled trolley 5 is transported by the self-propelled trolley 5 in the direction of the arrow X along the portion Ra of the workpiece conveyance path RA from its starting end toward the terminal end of the portion Rb, While assembling various small parts such as wire harnesses, grommets, and clips to the upper vehicle body member 24, when the self-propelled trolley 5 passes through the portion Rb, the assembly work station forming portions ES1 to ES1 provided in the portion Rb are used. In each of the ES6, the upper body member 2
4, a rear bumper introduced into the assembly work station forming section ES1 through the large assembly member conveyance path forming section T5;
The rear panel 28 is introduced into the assembly work station forming part ES2 through the large exterior member transport path forming part T4, the trunk lid 23 is introduced into the assembly work station forming part ES3 through the large exterior member transport path forming part T4, and the assembly work The front fender 26 is introduced into the station forming part ES4 through the large exterior member transport path forming part T4, the instrument panel is introduced into the assembly work station forming part ES5 through the large assembly member transport path forming part T5, and the assembly The rear seats introduced into the attachment work station forming section ES6 through the large assembly member transport path forming section T5 are sequentially assembled.

[0021] In this way, various small parts and various large parts of the rear bumper, rear panel 28, trunk lid 23, front fender 26, instrument panel, and rear seat are located in the parts Ra and Rb of the workpiece conveyance path RA. The assembled upper body member 24 is moved by the self-propelled cart 5 to the portion Rc on the workpiece conveyance path RA.
is transported from the starting end to the terminal end thereof, and during this time, the assembly screws of various large components assembled to the upper vehicle body member 24 are tightened, etc., and the assembly of the upper vehicle body member 24 is completed. Complete the work. Thereafter, the upper car body member 24 is evacuated from the self-propelled trolley 5 at a work retraction part Pb provided at a predetermined location on the terminal end side of the portion Rc, and is transferred to a hanger to be transferred to the floor member assembly work line section LFA. It is transferred to the conveyor H and conveyed via the hanger conveyor H to the upper vehicle body member loading section WS provided in the floor member assembly work line section LFA.

[0022] In the parts/component assembly work line section LPA, the assembled upper vehicle body member 24 is assembled by assembling various small parts, assembling various large components, and tightening such as retightening, and is transferred to the upper vehicle body member loading section WS. In the floor member assembly work line section LFA carried in from the floor member assembly work line section LFA, the floor member 25 introduced from the floor member carry-in section FS through the floor member conveyance path forming section T3 is assembled to the upper vehicle body member 24. Then, the upper vehicle body member 24 to which the floor member 25 has been assembled is placed in the floor member assembly work line section L.
It is transferred from the FA to the large parts assembly work line section LEA.

[0023] The large component assembly work line section LEA is provided with assembly work station forming parts ES7 to ES10, and in the large component assembly work line section LEA, the floor member assembly work line section LFA is A front shroud 27 is introduced into the upper vehicle body member 24 on which the floor member 25 is assembled through the large exterior member conveyance path forming portion T4 to the assembly work station forming portion ES7.
The front seat is introduced into the assembly work station forming part ES8 through the large assembly member transport path forming part T5, the engine hood 22 is introduced into the assembly work station forming part ES9 through the large exterior member transport path forming part T4, and The front door 21 is introduced into the assembly work station forming section ES10 through the large exterior member conveyance path forming section T4.
The vehicle body is assembled by sequentially assembling the F and rear door 21R.

[0024] In addition, parts/member assembly work line division LP
The self-propelled cart 5 from which the upper body member 24 placed thereon has been removed in the workpiece retraction section Pb disposed in the portion Rc of the workpiece transport path RA in A is moved to the workpiece transport path RA.
, the workpiece is moved from the workpiece retracting section Pb to the workpiece mounting section Pa disposed at the starting end of the portion Ra.

When assembling the upper vehicle body member 24 as described above, the parts/member assembly work line section L
The self-propelled trolley 5 that moves along the workpiece conveyance path RA in PA and on which the upper body member 24 is placed is,
A motor 6 attached thereto as shown in FIG.
The wheels are driven to run on a pair of rails 3 forming a workpiece transport path RA. On the mounting surface 5A of the self-propelled trolley 5, there is a main pallet 7 for positioning the upper car body member 24 to be placed, and a working robot 8A that performs work on the upper car body member 24 positioned by the main pallet 7. 8B and work robot 8
Two robot tool placement stands 9A and 9B provided for robots A and 8B, respectively, and two control units 10A and 10 that control the operation of work robots 8A and 8B, respectively.
B is installed.

The main pallet 7 is formed into a frame shape, and has columnar support members 32 erected at a plurality of locations, and an engaging pin 31 provided at the top of each columnar support member 32 is connected to the upper vehicle body. The upper vehicle body member 24 is supported and positioned by the columnar support member 32 in a state where it is engaged with an engagement hole provided in the bottom surface of the member 24 .

The working robot 8A has a rotating part 15A installed on a base 14A 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. Movable arm section 16 supported by 15A
A is inserted into the interior of the cabin forming part A1 through a floor opening K1 provided in the cabin forming part A1 of the upper vehicle body member 24 positioned by the main pallet 7. And the movable arm part 1
The rotating portion 15A supporting the rotary member 6A is movable along the longitudinal direction of the upper vehicle body member 24 on the base 14A. In this way, the rotating part 15A of the working robot 8A
A sub-pallet 12A is arranged on the base 14A on which the sub-pallet 12A is arranged, and various small parts such as grommets and wire harnesses to be mainly assembled inside the cabin forming part A1 of the upper vehicle body member 24 are placed on the upper surface of the sub-pallet 12A. P is arranged in a predetermined manner. The sub-pallet 12A on which the various small parts P are arranged is
The work piece is placed on the self-propelled cart 5 at the small parts supply station forming part SP provided on the workpiece transport path RA.

The working robot 8B has the rotary unit 1 mounted on a base 14B that is fixed on the mounting surface 5A of the self-propelled cart 5 so as to be partially surrounded by the U-shaped end of the main pallet 7.
5B is installed and the movable arm portion 16B supported by the rotating portion 15B is inserted into the engine room partial opening K4 provided in the engine room forming portion A2 of the upper vehicle body member 24 positioned by the main pallet 7. It is said that it is possible to And the movable arm part 1
The rotating portion 15B supporting the rotary member 6B is movable along the longitudinal direction of the upper vehicle body member 24 on the base 14B. In this way, the rotating part 15B of the working robot 8B
On the base 14B on which small parts are placed, a sub-pallet 12B on which small parts are placed is placed at a position corresponding to the engine compartment opening K4, and on its upper surface, the main parts of the upper vehicle body member 24 are placed. Various small parts P' such as grommets and wire harnesses to be assembled inside the engine room forming part A2 are arranged in a predetermined manner. Then, the sub-pallet 12B on which the various small parts P' are arranged is placed on the self-propelled trolley 5 at the small parts supply station formation part SP provided on the workpiece transport path RA.

The working robots 8A and 8B are multi-jointed robots, and have movable arm portions 16A and 16, respectively.
B can be rotated by a rotating part 15A or 15B and can perform bending and stretching operations at multiple locations, and has a wrist part 17A or 17 at its tip.
B is provided.

The robot tool placement table 9A can be reached by a wrist portion 17A provided on the movable arm portion 16A of the working robot 8A outside the cabin forming portion A1 of the upper vehicle body member 24 supported by the main pallet 7. Various tools Q, which are detachably attached to the wrist portion 17A of the working robot 8A, are arranged on the tool mounting surface in a predetermined manner. Further, the robot tool placement table 9B is located at a position that can be reached by the wrist portion 17B provided on the movable arm portion 16B of the working robot 8B in the vicinity of the engine room forming portion A2 of the upper vehicle body member 24 supported by the main pallet 7. The work robot 8B is placed on the tool mounting surface.
Various tools Q' that are detachably attached to the wrist portion 17B 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 cart 5, and supplies operation control signals to each of the work robots 8A and 8B according to a preset control program, for example, to control their operations. Take control.

The self-propelled truck 5 on which the upper vehicle body member 24 as described above is placed, and the control units 10A and 10B installed on the self-propelled vehicle 5 and transported together with the upper vehicle body member 24 by the self-propelled vehicle 5. Parts or parts according to an example of the method for assembling a workpiece according to the present invention for the upper vehicle body member 24 using an assembling means whose main components are working robots 8A and 8B that operate under the operation control of When performing assembly by assembling and tightening components such as retightening, the upper car body member 24 is configured as a workpiece transport path RA in the parts/members assembly work line section LPA at the workpiece placement section Pa. The working robot 8A is placed on one of the plurality of self-propelled carts 5 that run on a pair of rails 3 from above, and at that time, the working robot 8A is installed on the mounting surface 5A of the self-propelled cart 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 24, and similarly, the movable arm portion 16A enters into the interior of the cabin forming portion A1. Work robot 8B installed in 5A
, the movable arm portion 16B enters into the engine room portion opening K4 provided in the engine room forming portion A2 of the upper vehicle body member 24, and the movable arm portion 16B is placed on the mounting surface portion 5A of the self-propelled trolley 5. The engagement pins 31 provided on each of the plurality of columnar support members 32 installed on the main panel 7 installed in The upper vehicle body member 24 is supported and positioned by the plurality of columnar support members 32 as shown in FIG. 5 by fitting the engagement holes.

Next, the motor 6 of the self-propelled cart 5 on which the upper body member 24 is placed is activated, and the self-propelled cart 5 moves at a predetermined speed on the pair of rails 3 toward the portion Rb of the workpiece transport path RA. the upper vehicle body member 24;
Then, the sub-pallets 12A and 12B on which various small parts P and P' are arranged, respectively, are transported together with the working robots 8A and 8B toward the portion Rb.

Subsequently, the control unit 10A installed on the running self-propelled cart 5 supplies the working robot 8A with an operation control signal sent out according to a preset control program, and controls the rotating robot 8A. The part 15A moves as necessary on the base 14A fixed on the mounting surface part 5A of the self-propelled trolley 5, and its movable arm part 16A
However, the wrist portion 17A provided thereon reaches the position of the robot tool placement table 9A through the front door partial opening K2 or the rear door partial opening K3 provided in the cabin forming portion A1 of the upper vehicle body member 24. and one of the tools Q placed on the robot tool placement table 9A.
After the pieces are attached to the wrist part 17A, the attached tool Q is used to move the various small parts P placed on the sub-pallet 12A mainly to the inside of the cabin forming part A1 of the upper vehicle body member 24. The robot is made to take a state where it performs the operation of sequentially assembling the robot. In such a state, the working robot 8A uses the tool Q attached to the wrist part 17A to select a specific part P from among the various small parts P arranged on the sub-pallet 12A, as shown by solid lines and broken lines in FIG. Select and hold the item and move it to the upper body member 24
It is assembled around the sub-pallet 12A in the cabin forming part A1. When assembling various small parts P to the upper car body member 24, the work robot 8A moves the tool Q attached to its wrist part 17A according to the small parts P to be assembled to the upper car body member 24. Then, the robot also performs an operation to replace it with something suitable for handling it.

[0035] At the same time, the self-propelled trolley 5
An operation control signal sent from a control unit 10B installed at The movable arm portion 16B moves the wrist portion 17B provided thereon as necessary on the base 14B fixed to the base 14B.
After reaching the position of the robot tool placement table 9B and setting one of the tools Q' placed on the robot tool placement table 9B to be attached to the wrist part 17B, the attached tool Q' is Using this mechanism, various small parts P' arranged on the sub-pallet 12B are brought into a state in which the various small parts P' arranged on the sub-pallet 12B are mainly sequentially assembled inside the engine room forming part A2 of the upper vehicle body member 24. Such upper vehicle body member 2
When assembling various small parts P' to 4,
The work robot 8B is also caused to perform an operation of appropriately replacing the tool Q' attached to its wrist part 17B with a tool suitable for handling the small part P' to be assembled to the upper vehicle body member 24.

In this way, the sub-pallet 12 on which the upper vehicle body member 24 and various small parts P and P' are arranged, respectively.
A and 12B, working robots 8A and 8B, control units 10A and 10B, and robot tool placement table 9A
and 9B are installed on a common self-propelled trolley 5 and transported, while the upper body member 24 is moved by the working robots 8A and 8B.
At this time, the work robot 8A mainly assembles the various small parts P to the inside of the cabin forming part A1 of the upper vehicle body member 24. Movable arm part 16A
The work robot 8B mainly moves various small parts P' to the inside of the engine room forming part A2 in the upper vehicle body member 24. Since the assembly is performed with the movable arm portion 16B disposed within the engine compartment opening K4, the work on the upper vehicle body member 24 is performed while the work robots 8A and 8B are assembling small parts. Robots 8A and 8B
The state in which the positioning for the upper vehicle body member 24 is accurately maintained is maintained, the work load on the working robots 8A and 8B is reduced, and the time required for the working robots 8A and 8B to wait for the arrival of the upper vehicle body member 24 is eliminated. In addition, tools can be exchanged as needed for each of the working robots 8A and 8B in an extremely short time, thereby significantly improving the movability of the working robots 8A and 8B.

Further, various small parts P and P' to be assembled to the upper body member 24 by the working robots 8A and 8B are arranged on the self-propelled cart 5 in a predetermined manner, and the small parts of the working robots 8A and 8B are Since it is not supplied each time depending on the parts assembly work,
In addition to eliminating the need for a complicated small parts supply system,
The supply efficiency of various small parts P and P' will be improved.

As described above, various small parts P are transferred to the upper body member 24 by the working robots 8A and 8B on the self-propelled cart 5 which is driven along the workpiece transport path RA.
and P', when the self-propelled trolley 5 sequentially reaches each of the assembly work station formation parts ES1 to ES6 provided in the portion Rb of the workpiece conveyance path RA,
A large member that has been subjected to various necessary processes is assembled to the upper vehicle body member 24 using the work robots provided in each of the assembly work station forming sections ES1 to ES6. Therefore, an example of the workpiece assembly apparatus according to the present invention is constructed by adding the assembly work station forming parts ES1 to ES6 to the self-propelled cart 5 and the working robots 8A and 8B installed on the self-propelled cart 5, respectively. will be done.

[0039] Such an assembly work station forming part E
Regarding the work of assembling large parts to the upper vehicle body member 24 in each of S1 to ES6, the rear bumper, which is provided near the starting end of portion Rb in the workpiece conveyance path RA and has been subjected to various necessary treatments, is the large part assembly member. Conveyance path forming part T
Taking as an example the assembly work of the rear bumper to the upper vehicle body member 24 in the assembly work station forming section ES1, which is sequentially introduced through 5, will be described with reference to FIG.

FIG. 7 shows an assembly work station forming part ES where the rear bumper 40, which is a large assembly member, is sequentially introduced.
1, the assembly work station forming section ES1 is provided with a drive mechanism section 51 and a working robot 60 driven by the drive mechanism section 51. Drive mechanism section 51
A movable part 53 is supported by a pair of guide members 52 disposed above in the assembly work station forming part ES1 and is moved along the guide members 52.
, a driving section 54 that is provided on the movable section 53 and transmits a control signal from a control unit for the working robot 60 (not shown) to the working robot 60. It is configured to include a movable arm portion 61 that can be bent, a wrist portion 62 that is attached to the tip of the movable arm portion 61 and rotated, and a gripper 63 that is attached to the wrist portion 62.

The working robot 60 is supported by a movable part 53 in the drive mechanism section 51.
The rear bumper 40 introduced into the assembly work station forming part ES1 is moved to the wrist part 62 by operating according to a control signal supplied from the control unit through the drive part 54 in the assembly work station forming part ES1.
The movable part 53 selectively selects a locked state in which the rear bumper 40 is gripped by the gripper 63 attached to the wrist part 62 and a released state in which the rear bumper 40 is released from the gripper 63 attached to the wrist part 62 . , a first position in which the wrist part 62 is brought close to the rear bumper 40 introduced into the assembly work station forming part ES1 as shown by the dashed line, and a pair of rails 3 as shown in the solid line. and the upper second position. Further, the work robot 60 is configured to selectively take the locked state and the unlocked state, and to move up and down as necessary when moving between the first position and the second position. Ru.

In the assembly work station forming section ES1 shown in FIG. 7, first, the working robot 60 is made to take a first position, and the working robot 60 is lowered at the first position and rotates the wrist part 62. By performing the operation, the gripping tool 63 is made to face the rear bumper 40 introduced into the assembly work station forming part ES1, and the gripping tool 63 is placed in a locked state in which the rear bumper 40 is gripped. Under such circumstances, the working robots 8A and 8 are placed on the mounting surface 5A.
The self-propelled trolley 5 on which the various small parts P and P' have been assembled to the upper vehicle body member 24 by B is made to travel on a pair of rails 3 to reach the assembly work station forming part E.
When reaching S1, the work robot 60 has the wrist part 6
The rear bumper 40 is held by the gripper 63 attached to the
The rear bumper is held at the rear end of the upper vehicle body member 24 placed on the self-propelled trolley 5 while maintaining the locked state in which it is gripped and raised to move from the first position to the second position. 40 facing each other. Next, the working robot 60 operates the movable arm section 61 to move the wrist section 62 to the upper vehicle body member 2.
4, and the rear bumper 40 gripped by the gripper 63 attached to the wrist part 62 is fitted into the rear end of the upper vehicle body member 24, and the rear bumper 40 is moved toward the rear end of the upper vehicle body member 24. 40 to the upper vehicle body member 24, the gripping tool 63 attached to the wrist portion 62 is released from gripping the rear bumper 40. The rear bumper 40 is connected to the upper vehicle body member 24.
After the assembly is completed, the working robot 60 is moved from the second position to the first position.

After that, the upper vehicle body member 24 with the rear bumper 40 assembled and the working robots 8A and 8B are
The work is sequentially carried into each of the assembly work station formation parts ES2 to ES6 following the assembly work station formation part ES1 by the self-propelled cart 5 running on the portion Rb of the workpiece transport path RA. The assembly work station formation parts ES2 to ES6 following the assembly work station formation part ES1 are each equipped with a work robot 60 similar to the work robot 60 installed in the assembly work station formation part ES1,
At the assembly work station forming section ES2, the rear panel 28, which has been subjected to various necessary treatments, is attached to the upper vehicle body member 2.
4, the trunk lid 23 is assembled using the work robot installed in the assembly work station forming part ES2, and the trunk lid 23, which has been subjected to various necessary treatments, is attached to the upper vehicle body material 24 in the assembling work station forming part ES3. The front fender 26 is assembled using a work robot installed in the assembly work station forming part ES3, and various necessary processes are performed in the assembling work station forming part ES4.
is assembled onto the upper vehicle body member 24 using a work robot installed in the assembly work station forming part ES4, and the instrument panel is subjected to various necessary processes in the assembly work station forming part ES5. The rear seat, which has been assembled onto the upper vehicle body material 24 using a work robot installed in the assembly work station forming section ES5, and which has been subjected to various necessary treatments, is then assembled onto the upper vehicle body material 24 in the assembly work station forming section ES6. At step 24, assembly is performed using a work robot installed in the assembly work station forming section ES6.

Next, as described above, in addition to the various small parts P and P', the rear bumper 40 and the rear panel 28
, the trunk lid 23, the front fender 26, the instrument panel, the upper vehicle body member 24 on which large members such as the rear seat are assembled, and the self-propelled trolley 5 on which the large members are mounted are connected to the portion Rc of the workpiece conveyance path RA. A workpiece retraction part P provided on the terminal end side of the portion Rc starting from the starting end of
Before reaching point b, each of the working robots 8A and 8B is provided with the following information:
Perform tightening work such as retightening work on various large parts.

[0045] When the self-propelled cart 5 on which the upper body member 24 is placed reaches the work retraction part Pb provided at the terminal end of the portion Rc of the workpiece conveyance path RA, various types of The upper vehicle body member 24 assembled with the small parts P and P' and various large parts is transferred from the self-propelled trolley 5 to the hanger conveyor H to be transferred to the floor member assembly work line section LFA. ,
It is transported via the hanger conveyor H to the floor member assembly work line section LFA. Furthermore, the self-propelled cart 5 from which the upper body member 24 has been removed at the workpiece retraction section Pb, together with the working robots 8A and 8B, moves to the workpiece placement section Pa provided at the starting end of the portion Ra in the workpiece transport path RA. be forced to move to

After the various small parts P and P' are assembled to the upper vehicle body member 24 in this manner, the rear bumper 40 and the rear panel 2 are assembled to the upper vehicle body member 24.
8. Various large parts such as the trunk lid 23, front fender 26, instrument panel, and rear seat are assembled, and the work robots 8A and 8B installed on the self-propelled trolley 5 are used to assemble various large parts. By performing the fastening work such as retightening work on the members, the efficiency of the assembly work of the upper vehicle body member 24 is significantly increased, and the movability of the working robots 8A and 8B is also improved. Further, various large components to be assembled to the upper body member 24 are assumed to have undergone necessary processing in advance and are introduced into corresponding ones of the plurality of assembly work station formation sections provided in the workpiece conveyance path RA. As a result, the workability of assembling various large components to the upper vehicle body member 24 is improved.

In the floor member assembly work line section LFA, the upper vehicle body member 24, on which various small parts P and P' and various large members brought in from the parts/component assembly work line section LPA are assembled, is The floor member 25 that has been subjected to various treatments and has been introduced from the floor member carry-in section FS through the floor member conveyance path forming section T3 is assembled. Subsequently, the upper vehicle body member 24 on which the floor member 25 has been assembled is transferred from the floor member assembly work line section LFA to the large member assembly work line section LEA. Then, in the large component assembly work line section LEA, the upper vehicle body member 24 on which the floor member 25 from the floor member assembly work line section LFA was assembled was subjected to various treatments in the assembly work station forming section ES7. The front shroud 27, the front seat which has undergone various treatments in the assembly work station forming part ES8, the engine hood 22 which has undergone various treatments in the assembly work station forming part ES9, and the assembly work station forming part Front door 2 with various treatments in ES10
The assembly of the upper vehicle body member 24 is completed by sequentially assembling the 1F and rear door 21R.

[0048]

Effects of the Invention As is clear from the above description, according to the workpiece assembly method or workpiece assembly apparatus according to the present invention, a workpiece that is a vehicle body component member and small parts to be assembled thereto can be assembled together. However, the work robot assembles small parts onto the workpiece while the workpiece is being transported by a trolley that travels along the workpiece transport route, and the workpiece waits for the workpiece to arrive. This eliminates the waiting time and improves the operating rate of the working robot. In addition, at this time, small parts to be assembled to the work are placed on the trolley on which the work is placed, so small parts are supplied each time according to the work of assembling the small parts to the work by the work robot. This has the advantage that it is not necessary to do so.

Furthermore, the workpiece is transported by the cart,
When the workpiece is carried into the assembly work station section provided on the workpiece transport path, the large member is assembled onto the workpiece on the trolley by the assembly means installed at the assembly workstation section. Not only the assembly of small parts to the workpiece, but also the assembly of large members to the workpiece can be performed efficiently without the need for work such as changing the workpiece to a cart.

[Brief explanation of the drawing]

FIG. 1 is a conceptual diagram schematically showing an arrangement of an example of a vehicle body assembly line in which an example of a workpiece assembly method according to the present invention is implemented and an example of a workpiece assembly apparatus according to the present invention is installed; be.

FIG. 2 is a perspective view illustrating a work process of a vehicle body assembly line in which an example of the workpiece assembly method according to the present invention is implemented.

FIG. 3 is an exploded perspective view illustrating a work process of a vehicle body assembly line in which an example of the workpiece assembly method according to the present invention is implemented.

FIG. 4 is an exploded perspective view illustrating a work process of a vehicle body assembly line in which an example of the workpiece assembly method according to the present invention is implemented.

FIG. 5 is a side view showing a portion of a vehicle body assembly line where an example of the work assembly method according to the present invention is carried out, together with the main parts of an example of the work assembly apparatus according to the present invention.

FIG. 6 is a sectional view illustrating a work process of a vehicle body assembly line in which an example of the workpiece assembly method according to the present invention is implemented.

FIG. 7 is a perspective view showing a portion of a vehicle body assembly line where an example of the workpiece assembly method according to the present invention is carried out, together with the main parts of an example of the workpiece assembly apparatus according to the present invention.

[Explanation of symbols]

5 Self-propelled trolley 8A Work robot 8B Work robot 24 Upper vehicle body member 40 Rear bumper 60 Work robot T4 Large exterior member transport path forming section T5 Large assembly member transport path forming section SP Small parts supply station forming section LPA Parts/member assembly Work line classification RA Work conveyance path

Claims (8)

[Claims] Claim 1: A work robot is installed on a trolley, and a workpiece and small parts to be assembled to the workpiece are placed thereon, and the trolley is provided with an assembly work station portion to which large parts to be assembled to the workpiece are supplied. causing the working robot to assemble the small parts to the work while the work robot, the work, and the small parts are being transported by the trolley, and A method for assembling a workpiece, in which the large member is assembled to the workpiece in a state in which the workpiece is positioned at the assembly work station portion by the trolley. 2. A working robot is placed inside the workpiece through an opening provided in the workpiece by removing a workpiece component member, and the working robot assembles the small parts into the inside of the workpiece. 2. The method for assembling a workpiece according to claim 1, further comprising the step of: 3. A workpiece to be placed on a trolley is a car body in which at least one of a floor panel member and a shroud panel member constituting the workpiece is removed and an opening is provided, and the work robot is guided through the opening. 3. The method for assembling a workpiece according to claim 2, wherein the workpiece is placed inside a vehicle body. 4. The method for assembling a workpiece according to claim 2 or 3, wherein a work robot placed inside the workpiece performs a fastening operation on a large member assembled to the workpiece. . 5. Claim 2, claim 3, or claim 4, wherein the workpiece component is assembled into a part of the workpiece provided with the opening after being subjected to a predetermined treatment. How to assemble the described workpiece. 6. A trolley on which a workpiece and small parts to be assembled to the workpiece are placed and transporting the workpiece and small parts along a workpiece conveyance path; Under the condition that
A work robot that assembles the small parts to the workpiece, and a work robot that is provided on the workpiece transport path and is supplied with a large member to be assembled to the workpiece, and assembles the large part to the workpiece that is positioned by the trolley. A work assembly device comprising an assembly work station section where assembly is performed. 7. A workpiece placed on a trolley is formed into a car body in which at least one of a floor panel member and a shroud panel member constituting the workpiece is removed and an opening is provided, and the work robot is mounted on the car body. 7. The workpiece assembly apparatus according to claim 6, wherein the workpiece assembly apparatus is disposed inside the vehicle body through a provided opening. 8. The workpiece assembly apparatus according to claim 6, wherein the work robot performs a fastening operation on the large member assembled to the workpiece.