JPH05139349A - Mounting of work on vehicle and device therefor - Google Patents

Abstract

PURPOSE:To improve the working efficiency by mounting a work at the lower position of the opening/closing body (hood, etc.) of a car body which is not held in the opened lid state by a stay member and automatically carrying out a series of works for closing an opening/closing body by robots after mounting the work. CONSTITUTION:A work mounting device is equipped with a first robot 3 which holds a hood stay for opening-holding a hood P1 and turns down the hood stay, a second robot 4 for tightening-connecting a work W such as radiator onto a car body P, and a third robot 5 which mounts the work W at the lower position of the hood P1. The hood P1 is lifted up by the second robot 4 in the state where the stay is held by the first robot 3, and after the supported state of the hood P1 by the stay is released, the stay 6 is turned down by the first robot 3, and the hood P1 is supported by the first robot 3 in substitution for the second robot 4. In this state, the work is mounted at a prescribed position by the third robot 5, and the work W is tightened on a car body side by the second robot 4.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for mounting a work on a vehicle and a device therefor.

[0002]

2. Description of the Related Art In a vehicle assembly line, particularly in an automation line, various parts are sequentially assembled by a robot onto a vehicle body that sequentially flows on a transfer line. At this time, in the process of assembling the parts into the engine room, the work is performed with the bonnet being held open by the bonnet stay, but the bonnet stay itself may interfere with the work depending on the assembled parts. In this case, it is necessary to bring down the bonnet stay and support the bonnet stay in the open state by other supporting means. Further, when the assembly part is the final stage of the assembly work in the state where the bonnet is opened, it is also necessary to close the bonnet after the assembly of the part and convey it to the next process. ..

[0003]

However, the development of the technology relating to the means and the working method for enabling such a series of automated work has been delayed, and therefore, although it is an automated line, the work is actually performed. There are not a few parts manually performed by workers, and there are points to be improved in terms of work safety or work efficiency.

Incidentally, in Japanese Utility Model Publication No. 63-38938,
A technique for supporting the bonnet in an open state by a robot arranged on the side of the line in a vehicle painting line has been proposed, but no technique related to the bonnet stay is disclosed here. It cannot be directly applied to the vehicle assembly line.

Therefore, the present invention has been made as a proposal of a method and apparatus for mounting a work on a vehicle, which enables safe and efficient mounting of a work below an opening / closing body of the vehicle in an automated assembly line. Is.

[0006]

According to the present invention, as a concrete means for solving such a problem, in the work mounting method for a vehicle according to claim 1, opening and closing of the vehicle body held in the open state by the stay member is performed. In the work mounting operation of mounting the work on the lower position of the body and closing the opening / closing body after mounting the work, first, the second robot lifts the opening / closing body while holding the stay member by the first robot. The supporting state of the opening / closing body by the member is released, and thereafter, the stay member is tilted by the first robot to secure a movement space of the work below the opening / closing body and the second robot supports the opening / closing body. Instead of the above, the first robot is used, and further the third robot is used to mount the work at a predetermined position below the opening / closing body. Together, the second robot fastens and fixes the work on the vehicle body side, and then inherits the support of the opening / closing body from the first robot side to the second robot side and closes the opening / closing body by the second robot. It is characterized by moving to.

According to another aspect of the present invention, there is provided a work mounting apparatus for a vehicle, wherein the work is mounted below the opening / closing body of the vehicle body which is held in the open state by the stay member, and after the work is mounted, the opening / closing body is closed. And a first robot capable of gripping the stay supporting the opening / closing body to make it fall down and holding the opening / closing body in an open state. A second robot adapted to fasten and fix the work to the vehicle body and hold the opening / closing body to close the opening / closing body, and to bring the work into the lower position of the opening / closing body. It is characterized in that it is provided with a third robot mounted at a predetermined assembly position.

[0008]

In each invention of the present application, by adopting such a configuration,
The following effects can be obtained. That is, first, the first robot grips the stay member that supports the workpiece in the open state, and in this state, the second robot lifts the open / close body to release the support state of the open / close body by the stay member. Thereafter, the stay member is tilted down by the first robot to secure a work moving space below the opening / closing body, and the support of the opening / closing body is inherited from the second robot to the first robot side. The second robot is made operable. Next, the third robot mounts the work at a predetermined position below the opening / closing body, and the second robot in the standby state fastens and fixes the work on the vehicle body side. After that, again the first
While supporting the opening / closing body from the robot side to the second robot side, the opening / closing body is closed by the second robot. This completes the work of mounting the work on the vehicle.

[0009]

Therefore, according to the method for mounting a work on a vehicle according to claim 1 of the present application, a series of work from mounting / fastening the work to closing the opening / closing body is automatically performed without intervention of the operator. Therefore, compared to the case where a worker intervenes, the work of mounting and fastening the work can be performed efficiently and safely, which in turn can contribute to the reduction of the product cost. Is obtained.

According to another aspect of the vehicle work mounting apparatus of the present invention, three robots are arranged on the transfer line, and the first robot and the second robot hold the stay member, which is its original function.・ Since the supporting function of the opening / closing body is additionally provided in addition to the fall function or the work fastening function, it is not necessary to simply install the supporting means of the opening / closing body. The effect is that the overall size can be reduced or the cost can be reduced.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A method for mounting a work on a vehicle and an apparatus therefor according to the present invention will be specifically described below with reference to the embodiments shown in the accompanying drawings.

FIG. 1 shows a part of an assembling line of a vehicle equipped with a radiator mounting device according to an embodiment of the present invention. In FIG. 1, reference numeral 1 conveys a vehicle body P sequentially in the arrow direction. The transfer line includes a first robot 3 having a stay operation hand C described later and a second robot 4 having a nut runner hand B described later on one side of the transfer line 1, and the other side described later. The third robots 5 to which the set brackets A are attached are respectively arranged, and these three robots constitute a radiator mounting station S ₁ .

Further, on the side of the third robot 5, a radiator supply station S _{2 in} which a plurality of set brackets A, A, ... Having different types of radiators W set for each vehicle type are stocked, and the radiator are provided. A set station S ₃ provided with a set table 2 for performing a set work for assembling required parts to the radiator W taken out from the supply station S ₂ and making the parts mountable on the vehicle body is arranged.

On the other hand, the vehicle body P is conveyed to the radiator mounting station S ₁ in a state where the bonnet P ₁ is supported by the bonnet stay 6 in the open state, as indicated by the reference symbol P ′ in FIGS. 2 and 1. Come on. Then, in the radiator mounting station S ₁ , after the radiator W is mounted at the front end of the engine room and fastened to the vehicle body side, the bonnet P ₁ is closed in the next step as indicated by the symbol P ″ in FIG. It is designed to be transported to.

An outline of the work for mounting the radiator W will be described with reference to the work procedure diagrams of FIGS. 1, 2 and 9.
When the vehicle body P moves to the radiator mounting station S ₁ with the hood P ₁ open, first of all,
The stay removing work and the fully opening operation of the bonnet P ₁ (working procedure-) by the cooperation of the robot 3 and the second robot 4 are continuously performed. That is, first, the first robot 3 operates to grip the bonnet stay 6, and the second robot 4 supports the bonnet P ₁ from below and lifts it upward to release the bonnet support action of the bonnet stay 6. .. Then, the first robot 3 causes the bonnet stay 6 to fall down to secure a radiator mounting space and an assembly work space between the bonnet P ₁ and the upper end of the engine room.

At this point, the operation of the bonnet stay, which is the main function of the first robot 3, is completed, while the second robot 4 needs to be prepared for the radiator fastening work to be performed subsequently. It operates to receive the bonnet P ₁ from the second robot 4 side and support it in a fully opened state, while the second robot 4 is retracted to the side of the transfer line 1 and stands by.

Subsequently, the work of mounting the radiator W (work procedure-) is started. That is, first, the third robot 5
Is activated to take out the set radiator S from the set station S ₃ together with the set bracket A, carry this into the front end of the engine room below the bonnet P ₁ and position and mount it at a predetermined position. .. The third robot 5 is a radiator W
Maintain the same state until the fastening work of is completed.
When the radiator W is mounted, the second robot 4 operates to fasten and fix the radiator W on the vehicle body side. When the fastening work is completed, the third robot 5 retreats to the initial position and prepares for the next mounting work. This completes the mounting work of the radiator W.

Next, the work of closing the bonnet P ₁ (work procedure-) is started. That is, the bonnet P ₁ which has been supported in the fully opened state by the first robot 3 until now is
The robot 4 receives and supports it, and the first robot 3 is retracted to the initial position to prepare for the next work. On the other hand, the second robot 4 gradually lowers the supported bonnet P ₁ to close it. Then, when the bonnet P ₁ reaches a predetermined closed position, the bonnet P ₁ is unsupported and retracted to the initial position. The vehicle body P (reference numeral P ″ in FIG. 1) in which the hood P ₁ is closed is conveyed to the next step as it is.

The closed state of the bonnet P ₁ referred to here is a state in which the lock mechanism of the bonnet P ₁ is released.
(That is, a state in which a predetermined gap is secured between the bonnet P ₁ and the vehicle body). Therefore, as described above, even if the hood P ₁ is set to the closed state by the second robot 4, the interference with the vehicle body side does not occur.

Next, the structures of the set bracket A, the nut runner hand B, and the stay operation hand C, their functions, and the like will be described with reference to FIG.

[0021] Set Bracket A set bracket A, as shown in FIG. 3, is mounted a radiator W detachably to the arm tip portion 5a of the third robot 5 in a state where the allowed set in a predetermined position, the radiator W It is for positioning and mounting at a predetermined position on the vehicle body side, and has a base cylinder 11 extending in the left-right direction. Further, slide bodies 12 and 12 slidable in the axial direction with respect to the base cylinder 11 are provided at both left and right ends of the base cylinder 11, and further, end portions of the slide bodies 12 and 12 are provided. Arms 13 extending downward are attached to the respective.

A pair of arm driving members 14, 14 extending in the left-right direction are arranged below the base cylinder 11. Then, the arm driving members 14, 14
In addition to connecting the arms 13 to the outer ends thereof, racks 15 and 15 that mesh with the pinions 16 are formed at the inner ends thereof. Therefore, by rotating the pinion 16 by a predetermined driving mechanism (not shown), the arm driving members 14, 14 are displaced forward and backward in the axial direction, and accordingly, the arms 13, 13 are moved.
Are synchronously moved in the widening direction or the narrowing direction.

On the other hand, each of the arms 13, 13 forms a radiator holding portion 17, 17 for holding the radiator W from the width direction at the lower end portion thereof, while the middle portion of the radiator holding portion 17, 17 holds the radiator W. Fitting holes (not shown) for the radiator suspension parts 18, 18 formed on both sides of the upper end
The support pins 19, 19 that can be engaged with are provided. Therefore, by moving the arms 13 and 13 toward each other by using the pinion 16, the radiator W is positioned with respect to the set bracket A by the support pins 19 and 19 and the radiator is sandwiched. It will be held by the parts 17, 17.

The set bracket A holding the radiator W in the set state as described above is the base cylinder 11 described above.
Is connected to the arm tip portion 5a of the third robot 5 via a robot connecting portion 20 formed above the third robot 5.
It is carried in by the robot 5 to the vehicle body side and mounted at a predetermined position. Incidentally, in FIG.
Reference numeral 1 denotes a nut runner connecting portion 21 that is connected to nut runner heads 31, 31 of a nut runner hand B described later.

Nut runner hand B The nut runner hand B is for fixing the radiator W, which is positioned and mounted on the vehicle body P side by the third robot 5 by bolt fastening, and for supporting the bonnet P ₁ in the open state. In addition, as shown in FIGS. 4 and 5, the fastening mechanism 24 and the bonnet support mechanism 34 are provided.

The fastening mechanism 24 includes the second robot 4
Support girder 25 of a predetermined length connected to the arm tip portion 4a of the
have. A fixed side nut runner base 26 having a nut runner 28 is fixedly arranged at one end 25a of the support girder 25, while a moving side nut runner base 27 having a nut runner 28 is supported at the other end 25b. Digit 2
5 is mounted so as to be movable in the axial direction. The moving-side nut runner base 27 can be moved between the position shown by the solid line and the position shown by the chain line in FIGS. 4 and 5 by the expansion and contraction of the cylinder 30 fixed to the support girder 25 side. There is. Therefore, by adjusting the position of the moving-side nut runner base 27, the nut runners 28,
By adjusting the distance between the nut runner heads 31, 31 provided on the No. 28, the nut runner heads 3 can be adjusted.
Even when the radiators 1 and 31 are mounted on different vehicle types, the nut runner coupling portions 21 and 21 on the set bracket A side can be securely fitted and the fastening operation can be performed.

On the other hand, the bonnet support mechanism 34 supports the bonnet P ₁ in the open state by the operation of the second robot 4 as described above, and moves downward by the second robot 4 in the supported state. By moving, the bonnet P ₁ acts so as to close the bonnet P ₁ from the open state.
5 has a base member 35 fastened and fixed to one end 25a side. The support girder 25 is attached to the base member 35.
A slide body 36 extending axially outward from the is attached by a cylinder 37 so as to be slidable in the vertical direction.

Further, at the tip of this slide body 36,
A swing arm 38 is swingably supported via a fulcrum pin 39. The swing arm 38 is urged to rotate in a direction in which the one end 38a is pulled down by a spring 44 provided at one end 38a thereof, while a rubber bonnet receiver 40 is attached to the other end 38b.

Further, the swing arm 38 includes a pair of stoppers 4 provided on both sides of the fulcrum pin 39 with the fulcrum pin 39 interposed therebetween.
The maximum rotation is restricted by ₁ , 42, and the stopper 41 operates when the bonnet P ₁ is not supported, and the stopper 42 operates when the bonnet P ₁ is supported. .. In this case, in this embodiment, the rotation of the swing arm 38 toward the stopper 42 is detected immediately before the swing arm 38 is restricted by the stopper 42.
A limit switch 43 (that is, detecting the start of supporting the hood P ₁ ) is provided. The output signal of the limit switch 43 ensures the certainty of the operation timing when the bonnet P ₁ is delivered between the swing arm 38 and the arm 57 (see FIG. 7) of the stay operating hand C described later. I am trying.

The nut runner hand B constructed in this manner corresponds to the second robot 4 corresponding to the progress of work.
By the operation mode of the fastening mechanism 24 and the bonnet support mechanism 3
4 is selected, and the supporting action of the bonnet P ₁ and the fastening action of the radiator W are selectively executed.

Stay operating hand C The stay operating hand C is connected to the arm tip portion 3a of the first robot 3 as described above, and the operation of the first robot 3 causes the bonnet stay 6 to fall down and the hood P _{1 to} fall. Of the holding mechanism 51 and the guide mechanism 52, which will be described later, as shown in FIG.
And a bonnet support arm 57.

As shown in FIGS. 6 and 7, the gripping mechanism 51 includes a pawl support portion 54 provided upright on a base 55 connected to the arm tip portion 3a of the first robot 3 and the pawl support portion 54. It has a pair of left and right grip claw members 53, 53 attached to the tip of the support portion 54. These grip claw members 53, 5
3 is opened and closed by driving means (not shown) built in the claw support portion 54, and in the closed state as shown by the solid line in FIG. 7, the S-shaped bent portion 6a of the upper end portion of the bonnet stay 6 is formed. The bonnet stay 6 can be gripped from its side, and the gripping action on the bonnet stay 6 is released in the open state as shown by the chain line.

In particular, as in this embodiment, the bent portion 6a of the bonnet stay 6 is held by the grip claw members 53, 53.
When gripping from the side, as long as the attitude toward bonnet P ₁ of the first robot 3 is set to a predetermined state, the stay mounting hole P ₂ (FIG hood P ₁ of the bent portion 6a of the bonnet stay 6 This means that the relative position with respect to (see 6) is properly maintained. Therefore, is conveyed to the conveying line 1 as the body P is crazy relative position between even the bent portion 6a and the stay mounting hole P ₂ at the time it reaches the radiator mounting station S _1, the above said hood stay 6 This will be forcibly set to an appropriate state at the time of gripping by the gripping mechanism 51. Therefore, when the bonnet P ₁ is lifted by the second robot 4, the bent portion 6a of the bonnet stay 6 can be easily bent. It can be detached from the stay mounting hole P _{2 of 1} and the integrity of the work is ensured.

The guide mechanism 52 guides the middle step portion 6b of the bonnet stay 6 when the bonnet stay 6 is tilted down and stores it in a predetermined position.
The claw support portion 60 is provided so as to protrude from the No. 5 and a pair of claw members 61, 61 supported by the claw support portion 60. The claw members 61, 61 are opened and closed by driving means (not shown) incorporated in the claw support 60,
In the closed state, a guide hole 6 of a predetermined size is provided between the two.
To form 2.

The fall operation of the bonnet stay 6 by the thus structured gripping mechanism 51 and guide mechanism 52 is performed as follows. That is, when the vehicle body P reaches the radiator mounting station S ₁ , the gripping mechanism 51 opens the gripping claw members 53, 53, and the guide mechanism 52 opens the claw members 61, 61 respectively. 1 The robot 3 moves it to the bonnet stay 6 side. Then, the gripping mechanism 51 and the guide mechanism 5
2 are closed together, the bent portion 6a of the bonnet stay 6 is gripped by the gripping mechanism 51 to set the relative position to the stay mounting hole P ₂ appropriately, and the guide mechanism 5
The middle part 6b of the bonnet stay 6 in the second guide hole 62.
Can be interpolated.

In this state, when the bonnet P ₁ is lifted by the second robot 4, the bent portion 6a of the bonnet stay 6 is fixed to the stay mounting hole P ₂ of the bonnet P _1.
Bonnet P by the bonnet stay 6
The support state of ₁ is released (in this case, in FIG. 6, the arrow a
(Pull the bonnet stay 6 slightly toward the front of the vehicle as shown in.) Here, after the gripping mechanism 51 is opened to release the gripping action, the guide mechanism 52 is moved to store the bonnet stay 6 at a predetermined position.

At this time, the guide mechanism 52 guides the middle portion 6b of the bonnet stay 6, and the guide hole 62 is set to a size that allows the bonnet stay 6 to swing sufficiently. Therefore, the first robot 3 can perform a required laying action with a shorter moving distance as compared with a case of holding the upper end of the bonnet stay 6 and laying it down. It is effective in terms of downsizing.

On the other hand, the bonnet support arm 57 is
From the base 55 to the gripping mechanism 51 and the guide mechanism 52
Is formed of a plate body extending in a predetermined length in a direction substantially orthogonal to the extending direction, and a bonnet receiver 58 is provided at the tip end portion thereof. The bonnet support arm 57 supports the bonnet P ₁ at the bonnet receiver 58 by the operation of the first robot 3.

By operating the set bracket A, the nut runner hand B, and the stay operating hand C configured as described above in the mutually linked state by the first robot 3, the second robot 4, and the third robot 5, respectively. Radiator W with the hood stay 6 lying down as described above
A series of operations from the assembling to the closing of the bonnet P ₁ are automatically, safely and surely performed with high efficiency without intervention of the operator.

[Brief description of drawings]

FIG. 1 is a plan view showing an entire system of a work mounting apparatus for carrying out a work mounting method according to an embodiment of the present invention.

FIG. 2 is a view taken along the line II-II in FIG.

3 is a front view of the set bracket shown in FIG. 1. FIG.

FIG. 4 is a plan view of the nut runner hand shown in FIG.

5 is a view taken along the line VV of FIG.

6 is a front view of the stay operating hand of FIG. 1. FIG.

7 is a view on arrow VII-VII of FIG.

FIG. 8 is a view on arrow VIII-VIII in FIG.

FIG. 9 is a work procedure diagram in the work of mounting a radiator.

[Explanation of symbols]

1 is a transfer line, 2 is a set table, 3 is a first robot, 4 is a second robot, 5 is a third robot, 6 is a bonnet stay, 11 is a base cylinder, 12 is a slide body, 13 is an arm, and 14 is an arm. Drive member, 15 is a rack, 16 is a pinion, 17 is a radiator sandwiching portion, 18 is a radiator suspension portion, 19 is a support pin, 20 is a robot connecting portion, 2
1 is a second pin, 24 is a fastening mechanism, 25 is a support girder, 26 is a fixed side nut runner stand, 27 is a moving side nut runner stand, 28 is a nut runner, 30 is a cylinder, 31 is a nut runner head, and 34 is a bonnet. Support mechanism, 35
Is a base member, 36 is a slide body, 37 is a cylinder, 3
8 is a swing arm, 39 is a fulcrum pin, 40 is a bonnet receiver, 41 is a stopper, 42 is a stopper, 43 is a limit switch, 44 is a spring, 51 is a gripping mechanism, 5
2 is a guide mechanism, 53 is a grip claw member, 54 is a claw support,
55 is a base, 57 is a bonnet support arm, 58 is a bonnet receiver, 60 is a claw support, 61 is a claw member, 62 is a guide hole, A is a set bracket, B is a nut runner hand, C is a stay operation hand, and P is A vehicle body, P ₁ is a hood, S ₁ is a radiator mounting station, S ₂ is a radiator supply station, S ₃ is a set station, and W is a radiator.

Claims (2)

[Claims] 1. A work mounting operation for mounting a work on a lower position of an opening / closing body of a vehicle body held by a stay member in an open state and closing the opening / closing body after mounting the work, first by the first robot. While holding the stay member, the second robot lifts the opening / closing body to release the support state of the opening / closing body by the stay member, and thereafter, the first robot tilts the stay member to lower the opening / closing body. In addition, a space for moving the work is secured, and the opening / closing body is supported by the first robot instead of the second robot. Further, the third robot is operated to move the work to a predetermined position below the opening / closing body. The work is mounted and the work is fastened and fixed to the vehicle body side by the second robot, and then the work is moved upward from the first robot side to the second robot side. A method for mounting a work on a vehicle, which is characterized in that the support of the opening / closing body is inherited and the opening / closing body is moved to the lid side by the second robot. 2. A work mounting device for mounting a work on a lower position of an opening / closing body of a vehicle body held in an open lid state by a stay member and for closing the opening / closing body after the workpiece is mounted, A first robot capable of gripping the stay supporting the opening / closing body to make it fall down and holding the opening / closing body in an open state, and fastening and fixing the work to the vehicle body A second structure adapted to hold the opening / closing body and to close the opening / closing body from the opened state.
A work mounting device for a vehicle, comprising: a robot; and a third robot that carries in the work to a position below the opening / closing body and mounts the work at a predetermined assembly position.