JPH0446696B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention is directed to a work station in an assembly line in which a heavy object such as an engine unit is mounted on a mounted body such as a vehicle body supported by a transport jig. The present invention relates to a heavy object loading device used for assembling and loading.

(Prior Art) For example, on a vehicle assembly line, when a heavy object such as an engine unit or a suspension unit is assembled and mounted on a vehicle body (object to be mounted), the vehicle body is attached to a hanger provided on a trolley conveyor. It is supported by a conveyance jig such as the above and is intermittently conveyed to a loading station at a predetermined pitch, and the loading station is equipped with an elevating table as shown in, for example, Japanese Patent Laid-Open No. 59-206266. A heavy object loading device is installed, and the heavy object is placed on the lifting table, raised by the operation of the lifting table, and moved to the assembly position of the vehicle body carried to the loading station where the heavy object is to be assembled. It is often assembled to the vehicle body using bolts or the like.

On such vehicle assembly lines, the assembly of heavy objects to the vehicle body using bolts, etc. has traditionally been done manually by workers, but such assembly requires the use of troublesome bolts. Since it is necessary to manage the tightening torque, etc., it is desired that this be done by automated mechanical work rather than relying on the manual work of an operator.

However, the car body carried into the loading station usually has errors due to dimensional errors in the manufacturing of the transport jig and the car body, or errors that occur when the car body is positioned to be supported by the transport jig. This is accompanied by displacement of the heavy object placed on the lifting table. For this reason, when assembly is performed by automated mechanical work as described above, when a heavy object is raised relative to the vehicle body by the lifting table of the heavy object loading device at the loading station, the heavy object There is a possibility that the assembly may not be properly aligned with the assembly position on the vehicle body, and as a result, assembly using bolts or the like by mechanical work may not be performed properly. Therefore, the position of the vehicle body being carried into the loading station is detected using an appropriate detection means such as a visual sensor.
Based on the detection results, the position of the lift table of the heavy load loading device on which the heavy load is loaded is changed in the plane along the conveyance direction of the vehicle body in accordance with the actual position of the vehicle body carried into the loading station. Therefore, the weight of heavy objects on the transported vehicle body,
It is conceivable to correct positional deviations in the longitudinal and lateral directions with respect to the transport direction of the vehicle body.

In this way, by disposing an assembly tool such as a nut runner on the lifting table of the heavy load loading device that can change the position in a plane along the conveyance direction of the vehicle body, it is possible to assemble heavy loads on the vehicle body by mechanical work. The attachment will be done properly.

(Problem to be Solved by the Invention) However, when the car body carried into the loading station is not of a single type but of multiple types, the assembly position of the car body carried into the loading station is different from that of the car body. This will vary depending on the type, resulting in a problem that the assembly of the heavy object to the vehicle body cannot be performed properly using the assembly tool provided on the lifting table of the heavy object loading device. Therefore, by disposing the assembly tool on the lifting table via a moving means such as a servo motor, the installation position of the assembly device with respect to the lifting table can be changed depending on the type of vehicle body being carried into the mounting station. ,
It is conceivable to have the assembly tool follow the changes in the assembly position on the vehicle body, but if a moving means is attached to the assembly tool installed on the lifting table, this will result in an undesirable increase in the weight of the lifting table. , there is a possibility that a problem may arise in that proper movement of the elevating table is hindered.

Furthermore, an assembly tool installed on a lift table for assembling heavy items to a vehicle body is usually equipped with a hose-like parts supply means for supplying parts to be assembled, such as nuts. If the hose-shaped parts supply means bends as the lifting table moves, the parts to be assembled will no longer be supplied to the assembly tool, and the assembly of heavy objects to the vehicle body will become impossible. There is a possibility that the attachment may not be done properly.

In view of this, the present invention provides a method for moving heavy objects even when the assembly position of a loaded object supported by a transport jig and carried into a loading station changes depending on the type of loaded object. To provide a heavy object loading device in which the installation position of an assembly tool with respect to the table can be made to correspond to the installation position on a loaded object without causing an undesirable increase in the weight of the table. purpose.

(Means for Solving the Problems) In order to achieve the above-mentioned object, the heavy object loading device according to the present invention has the following features: A table has a mounting surface on which an object is placed, and each holds an assembly tool which is removable from the table and which assembles a heavy object to the object to be mounted, and the position of the assembly tool on each table is It is configured to include a plurality of different assembly tool holding members and a manipulator disposed near the table. Then, the manipulator selectively selects one of the plurality of assembly tool holding members in which the assembly tool will be placed at a position corresponding to the assembly position on the mounted object when the assembly tool is mounted on the table. The operation of mounting the assembly tool on the table, or the operation of mounting the assembly tool holding member and the operation of supplying the assembly parts to the assembly tool of the assembly tool holding member mounted on the table are performed.

(Function) In the heavy object loading device according to the present invention configured as described above, one of the plurality of assembly tool holding members is used to carry the assembly tool to the loading station while being attached to the table. The object to be placed at the position corresponding to the assembly position on the body is selectively mounted on the table by the manipulator, and the assembly tool held by this assembly tool holding member is used to move the object to be mounted. Assembling work of heavy objects is carried out. Further, after the assembly tool holding member, in which the assembly tool is arranged at a position corresponding to the assembly position on the loaded object to be carried into the loading station, is mounted on the table, the manipulator moves the assembly tool holding member It is assumed that parts to be assembled are supplied to the assembly tool held in the assembly tool.

Therefore, the assembly tool that is attached to the table via the assembly tool holding member is placed at a position corresponding to the assembly position on the loaded object that is carried into the loading station. Even when the assembly position on the loaded object changes due to a change in the type of loaded object being carried in, the table of the assembly tool can be moved without causing an undesirable increase in weight of the table used to move heavy objects. The installation position of the load can be matched to the assembly position of the loaded object, and the assembly position of the heavy object to the loaded object changes depending on the type. It will be done properly no matter what. Further, the assembly parts are properly supplied to the assembly tool mounted on the table via the assembly tool holding member.

(Example) Hereinafter, an example of the present invention will be described with reference to the drawings.

FIGS. 1 and 2 show an example of a heavy object loading device according to the present invention, along with a part of a vehicle assembly line in which the device is employed.

In FIGS. 1 and 2, a vehicle body 14 supported by a hanger 12 provided on an overhead tree conveyor 10 disposed along a vehicle assembly line is connected to position detection stations STs and They are sequentially and intermittently transported to the loading station STp at predetermined pitches. The vehicle body 14 carried into the position detection station STs is
4 visual sensors 16 to detect the actual position of
a, 16b, 16c and 16d are arranged,
The mounting station STp also includes a front lifter 20 for mounting an engine unit (a combination of an engine body and a transmission) 17 on the vehicle body 14, and a rear axle and a rear axle on the vehicle body 14.
Rear lifter 2 for mounting unit 18
1 is installed.

In addition, handling robots 80a, 80b, 80c and 80d are located near the front lifter 20 and the rear lifter 21, respectively.
They are located at four locations across the vehicle assembly line.
These Andring robots 80a to 80d are
Front side lifter 20 and rear side lifter 21
The engine unit 17 and rear axle unit 18 mounted on the car body 14 are connected to the car body 1 by
Nut runner bracket 78 as an assembly tool holding member that holds the nut runner 77 to be assembled to 4.
is attached to and detached from the front side lifter 20 and the rear side lifter 21. Also, around the handling robots 80a to 80d,
Nut runner brackets 78 each having a different position for holding the nut runner 77
and a mounting table 82 on which a nut feeding hand 95 for holding nuts on the nut runner 77 held by the nut runner bracket 78 is placed.

The visual sensors 16a to 16d capture an image of a range including two through holes (not shown) provided at predetermined positions on the front side and rear side of the vehicle body 14 to obtain position information. When the vehicle body 14 that has been carried into the detection station STs and stopped is in its normal position without any positional deviation, the vehicle body 14 is placed directly under the through hole provided in the vehicle body 14, and each of them is, for example,
It consists of a small video camera that uses a CCD (charge coupled device) image sensor. Note that the position of the through hole provided in the vehicle body 14 is as follows:
Since the positions of the visual sensors 16a to 16d differ depending on the type of the vehicle body 14, the positions of the visual sensors 16a to 16d can be changed depending on the type of the vehicle body 14.

Front side lifter 20 and rear side lifter 2
1, there is a carry-in/out conveyor 2 extending in a direction perpendicular to the conveyance direction of the vehicle body 14 (direction indicated by arrow P in FIGS. 1 and 2).
2 and 23 are installed. The loading/unloading conveyors 22 and 23 allow the unloading section 11 to
and engine unit 1 shipped from 13
7 and the rear axle unit 18 are placed on the pallets 24 and 25 respectively, the front side lifter 20 and the rear side lifter 2
The rotary lifting table 64 (described in detail later) is transported to a predetermined position on the rear side of the front lifter 20 and the rear lifter 21 at each position by an appropriate loading device 15. ) with pallets 24 and 25. In that case, engine unit 17
The engine unit 17 and the rear axle unit 18 are placed on pallets 24 and 25, respectively, in a positioned state by positioning members (not shown) provided thereon.
The pallets 24 and 25 placed on the rotary lifting table 64 of the front side lifter 20 and rear side lifter 21, together with the rear axle unit 18, are placed on the rotating lifting table 64, respectively.
The engine unit 17 is positioned by a positioning member (not shown) provided at the engine unit 17.
The rear axle unit 18 and the rear axle unit 18 are designed not to be misaligned with respect to the front lifter 20 and the rear lifter 21, respectively.

Front side lifter 20 and rear side lifter 2
1 have substantially the same configuration, the front lifter 20 will be described below, and a redundant explanation of the rear lifter 21 will be omitted.

As shown in detail in FIG. 3, the front lifter 20 is mounted on a base 26 disposed at a position substantially directly below a portion corresponding to the engine room of the vehicle body 14 that has been carried into the loading station STp and stopped. A fixed support 27 is erected on the base 26 and has a substantially U-shaped cross section as shown in FIG. A pair of concave guide rails 28 are provided inside the fixed column 27.
These concave guide rails 28 are laid along the extending direction, and guide columns 29 are slidably fitted into these concave guide rails 28. The guide column 29 is the fixed column 2
It has a length that extends downward from the substantially upper end of 7 and reaches the inside of the base 26, and an end plate 3 is attached to the upper end of the base 26.
1 is fixed.

A connecting support plate 32 that engages with the opening of the fixed column 27 is connected to the upper part of the fixed column 27.
A cylinder holding plate 3 is placed on top of this connecting support plate 32.
3, the lifting cylinder 30 and the upper end portion are fixed to each other. Further, the lower part of the lifting cylinder 30 is fixed to the base 26. The upper end of the piston rod 34 installed inside the lifting cylinder 30 is connected to the end plate 31 through the connector 36.
Further, a substrate 35 is fixed to the upper surface side of the end plate 31. Therefore, when the lifting cylinder 30 is operated to extend and contract the piston rod 34, the guide column 29 moves up and down as the piston rod 34 expands and contracts.
In order to detect the position of 5, as shown in FIGS. 3 and 4, a guide column 29 is attached to the connecting support plate 32.
A position sensor 19 is attached opposite to a part of.

On the top side of the board 35, as shown in FIG. 5, a pair of guide rails 37 are provided that extend parallel to each other.
has been installed. Four concave sliders 41 arranged on the lower surface side of the first slide table 40 are slidably fitted into these guide rails 37 . Further, a pulse motor 38 for moving the first slider table 40 in parallel with the board 35 is installed on the upper surface side of the board 35, and the rotation of this pulse motor 38 causes a clutch 39 to move.
is transmitted to the pinion gear 38a through the pinion gear 38a, which meshes with the rack gear 42 disposed on the lower surface side of the first slide table 40 to move the first slide table 40 in the direction along the guide rail 37. let Further, on the upper surface side of the substrate 35, a substrate 35 of the first slide table 40 is provided.
A pair of position setting cylinders 43A and 43B for setting a reference position for the guide rail 3
7, and a position setting cylinder 43 is installed on the bottom side of the first slide table 40.
When the piston rods 44 of A and 43B are in an extended state, a position setting stopper 45 with which the tip abuts protrudes. Then, in order to determine whether or not the reference position of the first slide table 40 with respect to the board 35 has been set by the position setting cylinders 43A and 43B and the position setting stopper 45, the upper surface side of the board 35 is set. A limit switch 46 is disposed, and a pressing member 47 is disposed on the lower surface side of the first slide table 40 to turn on the limit switch 64 when the first slide table 40 assumes the reference position with respect to the substrate 35. are arranged.

As shown in FIG. 6, four guide members 51 having guide grooves formed in a direction perpendicular to the guide rails 37 arranged on the board 35 are arranged on the upper surface side of the first slide table 40. A second slide table 50 is attached to these guide members 51.
A pair of slide rails 52 laid on the bottom side of
are slidably fitted. Further, a pulse motor 53 for moving the second slide table 50 in parallel with the first slide table 40 is installed on the upper surface side of the first slide table 40, and the pulse motor 53 rotates. is transmitted to the pinion gear 53a via the clutch 54, and the pinion gear 53a meshes with the rack gear 55 disposed on the lower side of the second slide table 50, thereby moving the second slide table 50 along the slide rail 52. move in the direction. Further, on the first slide table 40, a pair of position setting cylinders 57A and 57B for setting the reference position of the second slide table 50 with respect to the first slide table 40 are arranged parallel to the slide rail 52, respectively. A position setting stopper 59 protrudes from the bottom side of the second slide table 50, and the tip of the piston rod 58 of each of the position setting cylinders 57A and 57B comes into contact when the piston rod 58 is in an extended state. There is. The position setting cylinders 57A and 57B and the position setting stopper 59 allow the second slide table 5 to be moved relative to the first slide table 40.
In order to determine whether or not the reference position of 0 has been set, a limit switch 60 is disposed on the upper surface side of the first slide table 40, and a limit switch 60 is disposed on the lower surface side of the second slide table 50. A pressing member 56 is arranged to turn on the limit switch 60 when the slide table 40 assumes a reference position with respect to the first slide table 40.

Above the second slide table 50, a second
A rotary lifting table 64 is arranged which is rotatable in a plane parallel to the upper surface of the slide table 50. On the lower surface side of the rotary lifting table 64, there is a bearing portion 61 having a large pulley 62 fixed to the approximate center thereof.
A shaft 63 that protrudes upward from the upper surface of the second slide table 50 is inserted into the bearing portion 61, so that the rotary lifting table 64 is moved relative to the second slide table 50. The second slide table 50 is positioned within a plane parallel to the upper surface. Also, the second slide table 50 of the rotary lifting table 64
Positioning in the direction perpendicular to the top surface is achieved by using a total of seven rollers 65 arranged radially on the top surface side of the second slide table 50 with their rotation axes facing the shaft 63, as shown in FIG. It is done by. And, on the second slide table 50,
A pulse motor 70 is installed to rotate the rotary lifting table 64.
A small pulley 72 is connected to the rotating shaft of the
A belt 75 is attached to the small pulley 72 and the large pulley 62.

As shown in FIG. 7, a second slide table 5 is provided on the top side of the second slide table 50.
A limit switch 66 for setting the reference position of the rotary lift table 64 with respect to 0 is arranged with its movable contact portion facing the shaft 63. A pressing member 67 is disposed that contacts the movable contact portion of the limit switch 66 to turn on the limit switch 66 when taking the reference position with respect to the slide table 50 of No. 2.

Further, at a position near the front side lifter 20, a handling robot 80a is installed which attaches a nut runner bracket 78 holding a nut runner 77 to a holder 83 of the rotary lifting table 64.
and 80b are provided.

Since the handling robots 80a and 80b have substantially the same configuration, only the handling robot 80b will be described below, and a redundant description of the handling robot 80a will be omitted.

As clearly shown in FIG. 3, the handling robot 80b includes a first arm 92 that is movable in the horizontal direction and connected to a support member 91 that is movable in the vertical direction along a guide shaft 90. ,
It has a second arm 93 that is connected to the first arm 92 and is movable in the horizontal direction, and a clamp arm 94 that grips the nut runner bracket 78 is provided at the tip of the second arm 93. It is provided. A nut runner 77 for assembling the mounting portion of the engine unit 17 aligned with the assembly position on the vehicle body 14 to the vehicle body 14 is mounted on the mounting stands 81 and 82 arranged around the handling robot 80b. A nut supply hand 95 for supplying nuts to the bracket 78 and the nut runner 77 is mounted, respectively.

The nut runner bracket 78 includes an engaging portion 84 that engages with holders 83 provided at multiple locations on the side surface of the rotary lifting table 64, and a main body portion 85 that holds the nut runner 77. A clamp portion 89 is provided at the edge portion to be gripped by a clamp arm 94 of the handling robot 80b. Such a nut runner bracket 78 is shown in plan and side views, respectively, in FIGS. 8A and B, FIGS. 9A and B, FIGS. 10A and B, and FIGS. 1A and B, respectively. As shown, by holding the nut runner 77 in different positions depending on the main body 85, the vehicle body 1 carried into the loading station STp is
Engine unit 17 and rear axle unit 1 for vehicle body 14 due to the change in type 4
It is possible to respond to changes in the assembly position of 8. For example, in the example shown in FIGS. 8A and 8B, the protrusion length of the socket portion 77a of the nut runner 77 in the direction perpendicular to the mounting surface of the rotary lifting table 64 is relatively large, and In the example shown in Figures A and B, the protrusion length of the socket portion 77a of the nut runner 77 in the plane along the mounting surface of the rotary lifting table 64 is different from the example shown in Figures 8A and B. has been done. In the example shown in FIGS. 10A and 10B, two nut runners 77 are attached to a nut runner bracket 78,
Furthermore, in the example shown in FIGS. 11A and 11B, the same nut runner bracket 78 has two engaging portions 84 and 84' having different lengths and mounting positions.
By selectively engaging one of these engaging portions 84 and 84' with the holder 83 of the rotary lifting table 64, as shown by the solid line and the dashed-dotted line in FIG. 11A, The socket portion 77a of the nut runner 77 in a plane substantially along the mounting surface of the rotary lifting table 64
The positions of the two are arranged to be different.

Note that in the example shown in FIGS. 11A and 11B, when the engaging portion 84' engages with the holder 83,
Clamp arm 9 of handling robot 80b
4 grips the clamp portion 89'.

Front side lifter 2 configured as described above
0, the first slide table 40 is driven by the pulse motor 38 to move the vehicle body 1 The second slide table 50 is moved in parallel in a direction perpendicular to the loading direction to the loading station STp, and the second slide table 50 is moved in parallel to the first slide table 40.
is driven by the pulse motor 53 and moved in parallel in the direction along the direction in which the vehicle body 14 is carried into the loading station STp, so that the rotary lifting table 64 disposed above the second slide table 50 is moved. , the vehicle body 1 with respect to the fixed support 27
The vehicle body 14 is moved in a direction perpendicular to the direction in which the vehicle body 14 is carried into the loading station STp and in a direction along the direction in which the vehicle body 14 is carried into the loading station STp. Also,
The rotary lifting table 64 is driven by a pulse motor 70 and is rotated relative to the second slide table 50 and, therefore, relative to the fixed column 27. Furthermore, as the guide column 29 moves up and down with the operation of the lifting cylinder 30,
The rotary lifting table 64 is raised and lowered relative to the fixed column 27.

Note that, as described above, the rear side lifter 21 is also configured in the same manner as the above-mentioned front side lifter 20,
Each part operates in the same way as the front lifter 20,
Movement of the rotary lifting table 64 relative to the fixed column 27 in a direction perpendicular to the direction in which the vehicle body 14 is carried into the mounting station STp and in a direction along the direction in which the vehicle body 14 is carried into the mounting station STp;
It is supposed to be able to rotate and move up and down.

In addition, handling robots 80a and 80b
A nut runner 77 is attached to the rotary lifting table 64 of the front side lifter 20 via a nut runner bracket 78.
The nut runner 77, which is attached to the rotary lifting table 64 of the rear lifter 21 via the nut runner bracket 78 by the handling robots 80c and 80d, is used for assembling the rear axle unit 18.
It is used for assembly.

A front lifter 20 and a rear lifter 21 configured as described above, and
The handling robots 80a to 80d placed near these robots operate under the control of a controller provided for them.
Also in this case, the front side lifter 20, the rear side lifter 21, and the handling robots 80a to 80d disposed near them
are subject to almost the same operational control, so
The operation control of the front lifter 20 and the handling robots 80a and 80b will be described below, and a redundant explanation of the rear lifter 21 and the handling robots 80c and 80d will be omitted.

As shown in FIG. 12, the front lifter 20 is equipped with a lifting cylinder 30 and position setting cylinders 43A, 43B, 5.
7A and 57B and pulse motors 38, 53
and 70, and further the handling robot 80a
and 80b. This controller 100 includes position detection signals Sa, Sb, Sc, and Sd obtained from the four visual sensors 16a to 16d, a detection signal Se indicating the moving distance of the guide column 29 obtained from the position sensor 19, and a limit switch 4.
6, 60 and 66 are turned on, resulting in
Reference position signals Sf, Sg, and Sh indicating that each of the first slide table 40, the second slide table 50, and the rotary lifting table 64 are in the reference position are supplied.

Based on the signals from the various sensors and switches described above, the controller 100 sends forward rotation drive pulse signals Ca, Cb and Cc or reverse rotation drive pulse signals Ca', Cb to the pulse motors 38, 53 and 70, respectively. ' and Cc' to the lifting cylinder 30 and the position setting cylinders 43A, 4.
3B, 57A and 57B, a lifting cylinder drive section 86, a position setting cylinder drive section 87 and 88, and a handling robot 8.
0a and 80b, drive control signals Ce,
Supply Cf, Cg, Ch and Ci. controller 1
00, when the forward rotation drive pulse signal Ca or the reverse rotation drive pulse signal Ca' is supplied to the pulse motor 38, the pulse motor 38 rotates forward or reverse depending on them, and rotates the first slide table 40. When the vehicle body 14 is moved in a direction perpendicular to the direction in which it is carried into the mounting station STp, and when the forward rotation drive pulse signal Cb or the reverse rotation drive pulse signal Cb' is supplied to the pulse motor 53, the pulse The motor 53 rotates forward or backward to move the second slide table 50 to the vehicle body 1.
4 in the direction of transport to the loading station STp. Further, the controller 100 sends a drive pulse signal for forward rotation to the pulse motor 70.
When Cc or reverse drive pulse signal Cc' is supplied, the pulse motor 70 rotates forward or backward depending on them, and rotates the rotary lifting table 64.

Under such a configuration, engine unit 17
When the rear axle unit 18 is assembled and mounted on the vehicle body 14 carried into the mounting station STp, the first slide table 40, the second Control is performed to cause each of the slide table 50 and the rotary lifting table 64 to take a reference position. In setting such a reference position, a drive control signal is sent from the controller 100.
Cf and Cg are supplied to the position setting cylinder drive parts 87 and 88, and the position setting cylinder drive part 87
and 88 are position setting cylinders 43A and 43
B, and position setting cylinders 57A and 57B
The controller 10 drives the piston rods 44 and 58, respectively, into an extended state.
0, a forward rotation drive pulse signal Cc and a reverse rotation drive pulse signal Cc' are supplied to the pulse motor 70,
The pulse motor 70 rotates forward and backward at a predetermined rotation amount. As a result, the first slide table 40 and the second slide table 50 are moved to the reference position with respect to the substrate 35 and the reference position with respect to the first slide table 40, respectively, and the rotary lifting table 64 is moved to the second slide table. It is rotated to take a reference position relative to 50. Then, when the first slide table 40, second slide table 50, and rotary lifting table 64 reach their respective reference positions, the limit switches 46, 60, and 66 are turned on, respectively, and the reference position signals Sf, Sg and Sh
is supplied to the controller 100, the drive control signals Cf and Cg from the controller 100, the forward rotation drive pulse signal Cc, and the reverse rotation drive pulse signal
Transmission with Cc′ is stopped. As a result, the first slide table 40, the second slide table 50, and the rotary lifting table 64 are brought to their respective reference positions.

Under such conditions, the engine unit 17 is placed on the rotary lifting table 64 via the pallet 24.
After the table is placed, the positions of the first slide table 40, second slide table 50, and rotary lifting table 64, which are supposed to take their respective reference positions as described above, are corrected as follows. Ru.

First, based on the position detection signals Sa to Sd supplied from the visual sensors 16a to 16d to the controller 100, the controller 100 detects the actual position detection through holes formed in the vehicle body 14 carried into the position detection station STs. The deviation between the position of the vehicle body 14 and the position of the regular through hole stored in the built-in memory in a plane along the direction in which the vehicle body 14 is carried into the mounting station STp is calculated as a positional deviation distance and a positional deviation angle. Then, forward rotation drive pulse signals Ca, Cb and Cc or reverse rotation drive pulse signals Ca', Cb' and Cc' are formed according to the calculated positional deviation distance and positional deviation angle, and these are used to drive the pulse motor 38, 53 and 70. As a result, the pulse motors 38, 53 and 70
rotates forward or backward, the first slide table 40 moves in a direction perpendicular to the direction in which the vehicle body 14 is carried into the loading station STp, and the second slide table 50 moves toward the loading station STp of the vehicle body 14.
They are each moved in the direction along the carrying direction to STp by a distance corresponding to the detected positional deviation distance, and the rotary lifting table 64 is rotated by an angle corresponding to the positional deviation angle. As a result, when the vehicle body 14 is carried from the position detection station STs to the mounting station STp, the vehicle body 14 carried into the mounting station STp is mounted on the rotary lifting table 64 of the front side lifter 20. Engine unit 1
7 in a plane along the direction in which the vehicle body 14 is carried into the mounting station STp is corrected.

At this time, the controller 100 supplies drive control signals Ch and Ci to the handling robot drive sections 97 and 98, depending on the type of vehicle body 14 carried into the loading station STp. This results in
The handling robots 80a and 80b are the third
As shown in the figure, among the various nut runner brackets 78 placed on the respective mounting stands 81 arranged around them, the nut runner 77 is placed at a position corresponding to the assembly position on the vehicle body 14 carried into the mounting station STp. After selecting the clamp part 89 to be held by the clamp arm 94, for example, as shown in FIGS. 64 is engaged with the holder 83 provided on the side surface of the holder 83.

After that, the drive control signal Ce from the controller 100 is supplied to the lifting cylinder drive unit 86,
The lifting cylinder 30 is raised by the lifting cylinder drive unit 86, and accordingly, the guide column 29 is raised together with the base plate 35, and the engine unit 17 placed on the rotary lifting table 64 is moved along the dotted line in FIG. It is moved upward toward the vehicle body 14 from the position indicated by . that time,
The controller 100 controls the vehicle body 14 as described above.
The first slide table 40 and the second slide table 50 in a state where their positions in the plane along the direction of loading into the loading station STp have been corrected.
and each position of the rotary lifting table 64 is used as a corrected reference position, and the position sensor 19
Since the detection signal Se obtained from
Based on the actual ascending position of the pulse motor 38, 53, and 70, the pulse motors 38, 53, and 70 are each driven for forward rotation according to a control program that is set in advance according to the engine model and vehicle body type and stored in the built-in memory. Pulse signals Ca, Cb and Cc or reverse drive pulse signals Ca', Cb' and Cc' are supplied. As a result, the engine unit 17 is raised along a locus of movement as shown by the white arrow R in FIG. 1 while avoiding interference with existing members provided on the vehicle body 14. When the top of the engine unit 17 is moved upward by a distance L to the height indicated by H in FIG. 1 (the state indicated by the two-dot chain line in FIG. It will reach the assembly position provided at.

When such an operation of the front side lifter 20 is performed, the same operation as that of the front side lifter 20 is also performed in the rear side lifter 21 configured similarly to the front side lifter 20, and the rotary lifting table 64 is moved. The placed rear axle unit 18 is also raised by a distance L from the position shown by the dashed line in FIG. And, as mentioned above,
With the engine unit 17 and rear axle unit 18 reaching the assembly position on the vehicle body 14, the holder 8 of the rotary lifting table 64 on the front side lifter 20 and the rear side lifter 21
The nut runner 77 attached to the engine 3 via the nut runner bracket 78 is operated, and the engine unit 17 and rear axle unit 18 are assembled to the vehicle body 14.

After the assembly work is completed, the engine unit 17 and rear axle unit 18 are attached to the vehicle body 1.
4, the lifting cylinders 30 of the front lifter 20 and the rear lifter 21 are lowered, and the engine unit 17 and the rear axle unit 1 are moved downward.
The vehicle body 14 on which the 8 is mounted is returned to a state where it is supported by the hanger 12, and the rotary lifting table 64 in each of the front side lifter 20 and the rear side lifter 21 is moved together with the pallets 24 and 25 placed thereon. Return to the position indicated by the solid line in FIG. Then, the vehicle body 14 is attached to the hanger 1
The vehicle body 14, on which the engine unit 17 and rear axle unit 18 are to be mounted, is transported to the next station while being supported by the engine unit 2 and located at the position detection station STs.
is carried to loading station STp. Also,
The pallets 24 and 25 are removed from the rotary lifting table 64 by the loading device 15 and carried out by the conveyors 22 and 23 for carrying in and out.

At this time, if the vehicle body 14 carried into the loading station STp is of a different type from the vehicle body 14 on which the engine unit 17 and rear axle unit 18 were mounted at the loading station STp immediately before, first, Drive control signals Ch and Ci are supplied from the controller 100 to the handling robot drive sections 97 and 98.
As a result, the handling robots 80a and 8
0b removes the nut runner bracket 78 attached to the holder 83 of the rotary lifting table 64 and returns it to the original stand 81 on which it was placed. As shown in FIG. 3, among the various nut runner brackets 78 placed on the respective mounting stands 81 arranged around them, the mounting positions corresponding to the assembly positions on the vehicle body 14 carried into the mounting station STp are selected. After selecting a position for holding the nut runner 77 and gripping its clamp portion 89 by the clamp arm 94, for example, as shown in FIGS. 9A and 9B, the engaging portion 84 of the nut runner bracket 78 is , rotary lifting table 6
4 is engaged with a holder 83 provided on the side surface of the holder 83.

In this way, depending on the type of vehicle body 14 carried into the loading vehicle STp,
As shown in Figures A and B, the rotary lifting table 6
4, by selectively attaching various nut runner brackets 78 each having a different position for holding the nut runner 77, the arrangement position of the nut runner 77 relative to the rotary lifting table 64 can be adjusted to the mounting station STp. The engine unit 17 and the rear axle can be attached to the vehicle body 14 by the nut runner 77.
This allows the unit 18 to be assembled properly.

On the other hand, if the vehicle body 14 carried into the mounting station STp is of the same type as the vehicle body 14 on which the engine unit 17 and rear axle unit 18 were mounted at the mounting station STp immediately before, the above-mentioned The handling robots 80a and 80b do not replace the nut runner bracket 78 as described above, and the controller 100 supplies the drive control signal Ce to the lifting cylinder drive unit 86. As a result, the lifting cylinder 30 is raised, and the guide column 29 is raised together with the base plate 35, and the engine unit 17 placed on the rotary lifting table 64 is brought into contact with the existing members provided on the vehicle body 14. It can be raised while avoiding interference. Then, the top of the engine unit 17 is moved upward by a distance L to the height indicated by H in FIG. It will reach the assembly position.

In such a state, the controller 100
Drive control signals Ch and Ci are supplied to handling robot drive sections 97 and 98. As a result, the handling robots 80a and 80b grip the nut supplying hand 95 placed on the mounting table 82, as shown by the two-dot chain line in FIG. It is raised to the position indicated by the dotted chain line. After the nut supply hand 95 supplies nuts to the nut runner 77 attached to the lifting table 64 via the nut runner bracket 78, the nut supply hand 95 returns to the position shown by the solid line in FIG. The hand 95 is placed on the stand 82.

In this way, the engine and the vehicle body 14 are
Nuts are supplied to the nut runner 77 that performs the assembly work of the unit 17 and the rear axle unit 18 by the handling robots 80a to 80d that grip the nut supply hands 95, so that a hose-shaped parts supply means is used. When the nuts are supplied to the nut runner 77 by the engine unit 14, the supply of the nuts to the nut runner 77 is obstructed due to bending of the component supply means, etc.
7 and the rear axle unit 18 cannot be properly assembled.

(Effects of the Invention) As is clear from the above description, the heavy object loading device according to the present invention includes a tail plate on which the heavy object to be loaded is placed on the loaded object carried into the loading station. , a plurality of assembly tool holding members each holding an assembly tool are placed at positions corresponding to the assembly positions on the loaded object carried into the loading station by a manipulator disposed near the table. At the same time, the assembly tool holding member is mounted on the table and the assembly tool is supplied with the assembly parts. Therefore, even if the assembly position on the loaded object changes depending on the type of loaded object to be carried into the loading station, the moving means etc. that will cause an undesirable increase in the weight of the table etc. The installation position of the assembly tool on the table can be made to correspond to the assembly position on the mounted object without attaching it to the mounted object, and therefore the assembly position changes depending on the type. Assembling work of heavy objects can be appropriately performed even by automated mechanical work. Moreover, the assembly parts can be appropriately supplied to the assembly tool mounted on the table via the assembly tool holding member.

[Brief explanation of the drawing]

1 and 2 are a side view and a plan view showing an example of a heavy load loading device according to the present invention together with a part of a vehicle assembly line to which the device is applied, and FIG.
and a side view showing the main parts of the example shown in FIG.
FIG. 4 is a sectional view taken along the - line in FIG. 3, FIGS. 5 and 6 are plan views of the substrate and the first slide table in the example shown in FIGS. 1 and 2, respectively, and FIG. The sectional views taken along the - line in FIG. 3, FIGS. 8A and B, FIGS. 9A and B, FIGS. 10A and B, and FIGS. 11A and B are examples shown in FIGS. 1 and 3. FIG. 12 is a block diagram showing the control system in the example shown in FIGS. 1 and 2. In the figure, 12 is a hanger, 14 is a vehicle body, 17 is an engine unit, 18 is a rear axle unit, 20 is a front lifter, 21 is a rear lifter, 30 is a lifting cylinder, and 38, 53, and 70 are pulse motors. , 40 is a first slide table, 50 is a second slide table, 64 is a rotary lifting table, 77 is a nut runner, 78 is a nut runner bracket, 80a to 80d are handling robots, and 95 is a nut supply hand.

Claims (1)

[Scope of Claims] 1. A table having a mounting surface on which a heavy object to be mounted on a loaded object supported by a transport jig and carried to a loading station; a plurality of assembling tool holding members that are configured to have different positions for assembling tools for assembling heavy objects and are removable from the table; In this state, the assembly tool selectively attaches to the table a tool to be placed at a position corresponding to the assembly position on the mounted object, and A heavy object loading device comprising: a manipulator to be placed; 2. A table having a mounting surface on which a heavy object to be mounted on a loaded object supported by a transport jig and carried to a loading station, and an assembly for assembling the heavy object to the loaded object. a plurality of assembly tool holding members having different tool positions and which are freely attachable to and detachable from the table; the operation of selectively mounting on the table an attached tool that is to be placed at a position corresponding to the assembly position on the mounted body; and the operation of the assembly tool holding member mounted on the table. A heavy object loading device comprising: a manipulator that performs an operation of supplying assembly parts to an assembly tool and is disposed near the table;