JPH05310157A - Vehicle seat and device for automatically assembling the same - Google Patents

Abstract

PURPOSE:To provide a vehicle seat excellent in suitability for automatic assembling and a device capable of gripping the seat with a high accuracy and mounting it in a vehicle body. CONSTITUTION:A grip hole 23 is provided through the side face of a bracket 5 provided at the front end portion of each of the pair of seat tracks 4 disposed below the seat cushion 2 of a seat 1 and a gripper 21 having a fixed arm 36 and two-axes movable arms 39, 40 is supported by the arm 21a of a robot and a grip hand 41 having a grip pin which can be engaged in the grip hole 34 is provided at the end of the fixed arm 36 of the gripper 21. The accuracy with which the seat 1 is gripped is enhanced with the engaging portion of the grip pin of the grip hand 41 and the grip hole 34 serving as a reference point, so that a positioning pin 7 can be positioned with high accuracy relative to a vehicle body.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle seat and an automatic assembly apparatus for automatically mounting the seat on a vehicle body.

[0002]

2. Description of the Related Art Generally, a seat mounted on the front side of a vehicle has a seat cushion 2 as shown by reference numeral 1 in FIG.
And a pair of left and right seat tracks 4 (one side is omitted) integrally provided on a lower portion of the seat cushion 3 and a seat back 3 which is supported on the seat cushion 2 so as to be tiltable. Brackets 5 and 6 are provided on the front and rear end portions of each seat track 4, and a positioning pin 7 is attached to the front bracket 5, and the seat 1 is provided with the positioning pin 7 on a mounting seat Ba. By inserting the brackets 5 and 6 into the mounting seat Ba provided on the vehicle body B while inserting the brackets 5 and 6 into the positioning holes, the bolts 8 and 8 are tightened and fixed to the vehicle body B. There is. A pillow 9 is detachably attached to the upper portion of the seat back 3.

By the way, in recent years, for the purpose of improving the productivity, a technique for automatically mounting the vehicle seat 1 on the vehicle body B has been developed.
A sheet assembling apparatus provided with a gripping tool as disclosed in Japanese Patent No. 0 has been put into practical use. This gripping tool is also shown in FIG.
As indicated by reference numeral 10, a grip body 11 attached to the arm tip of a robot (not shown), a fixed arm 12 extending from the grip body 11 in one direction, and a motor extending from the grip body 11. It is composed of biaxial movable arms 15 and 16 which are rotationally driven by 13 and 14. According to such a gripping tool 10, the gripping body 11 is positioned between the seat cushion 2 and the seat back 3 by the movement of the robot, and the tip of the fixed arm 12 is positioned at the lower front corner of the seat cushion 2. By engaging and rotating the movable arms 15 and 16 by the operation of the motors 13 and 14 to rotate the movable arm 16 on the front end side to the back surface of the seat back 3, the seat 1 can be lifted so as to be held, It is possible to automatically mount the seat 1 in the vehicle body B, which has many space restrictions.

[0004]

However, according to the conventional seat assembling apparatus having the above-mentioned gripping tool 10, the fixed arm 12 and the movable arms 15 and 16 of the seat cushion 2 and the seat back 3 have a flexible structure. Since it is configured to hold the seat 1 and lift up the seat 1, the relative position between the tip of the robot arm and the two positioning pins 7 is likely to occur, and the positioning pins 7 are attached to the mounting seat B of the vehicle body B.
There is a problem that it is difficult to mount the seat 1 at a predetermined position in the vehicle body B only by the operation of the robot so that the seat 1 is inserted into the hole a, and as a result, manual correction is required.

The present invention has been made to solve the above-mentioned conventional problems, and an object of the present invention is to provide a vehicle seat excellent in applicability to automatic assembly. An object of the present invention is to provide an automatic seat assembling apparatus capable of gripping the seat with high accuracy and mounting it on a vehicle body.

[0006]

A vehicle seat according to the present invention basically comprises a pair of seat tracks integrally provided under a seat cushion that supports a seat back as described above. Provided at the front and rear ends of the seat track are brackets that are seated on the mounting seats of the vehicle body and bolted together, and positioning brackets that can be engaged with the positioning holes of the mounting seats are provided on the front brackets of each seat track. It is characterized in that gripping holes are further provided in the side surfaces of the brackets on the front end side of the seat tracks that face each other.

An automatic vehicle seat assembling apparatus according to the present invention includes a mounting robot having a gripping tool for gripping the seat at the tip of an arm and a seat positioning apparatus for positioning and mounting the seat to be delivered to the robot. And a gripping body attached to the tip of an arm of the robot,
The grip arm comprises a fixed arm fixed to the grip body and a movable arm rotatably supported by the grip body via at least two axes. The fixed arm grips a bracket of a seat track forming the seat. A pair of gripping members having gripping pins engageable with the holes are provided so as to be able to approach and separate from each other in the protruding direction of the gripping pins.

[0008]

In the vehicle seat configured as described above, the grip hole provided in the bracket of the seat track serves as a reference for specifying the seat position, so that the applicability to the automatic assembly apparatus is enhanced. Further, in the above automatic assembling apparatus, by driving a pair of gripping members provided in the gripping tool to engage the gripping pins with the gripping holes of the seat, the fixing arm of the gripping tool serves as a positioning pin for the vehicle body. The robot is in a state of supporting a fixed point in the vicinity, and the relative position between the tip of the arm of the robot and the positioning pin is constant, so that the sheet can be gripped with high accuracy.

[0009]

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

4 and 5 show the entire structure of the automatic seat assembly apparatus according to the present invention. Since the basic structure of the seat and the assembly structure of the seat and the vehicle body are the same as those shown in FIG. 14 above, the reference numerals given in FIG. 14 above are used in the following description. Each part of the body will be called. 4 and 5
In the figure, reference numeral 20 denotes a gantry arranged along the transport line A of the vehicle body B. On the gantry 20, a gripping tool 21 described later capable of gripping the sheet 1 is held at the tip of the arm 22a, and Vehicle body B positioned in place
A mounting robot 22 for mounting the seat 1; a tightening robot 23 for fixing the seat 1 mounted on the vehicle body B to the mounting seat Ba of the vehicle body B by using the bolt 8; On the transfer line A, a bolt supply table 24 for storing the bolts 8 to be supplied to the attachment robot 23, a bolt supply robot 25 for receiving the bolts 8 from the bolt supply table 24 and delivering the bolts 8 to the tightening robot 23. Position detection robot 26 for detecting the position of the vehicle body B positioned at
And a position correction device 27 that corrects the mounting robot 22 and the tightening robot 23 based on the detection result of the position detection robot 26. In addition, a mounting robot 22 is provided on the side of the pedestal 20 (on the left side in FIG. 4).
A sheet positioning device 28 for positioning and placing the sheet 1 to be delivered to is disposed (FIG. 5). The position detecting robots 26 are installed on both sides of the transfer line A.

As shown in FIG. 1, the seat track 4 constituting the seat 1 includes an inner track 4a connected to a lower portion of the seat cushion 2 and an outer track slidably fitted to the inner track 4a. And a bracket 4 and each of the brackets 5 and 6 is an outer track 4b.
Installed on. In the present embodiment, each of the front brackets 5 has a main body portion 31 having a bolt insertion hole 31a for inserting the bolt 8 as shown in FIG.
And side plates 32 and 33 integrally connected to the inner and outer surfaces of the main body 31, and a grip hole 34 is provided in each of the inner side plates 32. The grip hole 34 is used when the sheet 1 is gripped by the gripper 21, which will be described later.

The gripping tool 21 is basically the same as that described above (FIG. 14), and as shown in FIG. 1, a gripping body 35 attached to the arm 22a of the gripping robot 22 and this gripping body 35. A pair of fixed arms 36 extending in one direction from the
And biaxial movable arms 39 and 40 extended from the grip body 35 and rotationally driven by motors 37 and 38. A gripping hand 41 is attached to the tip ends of the pair of fixed arms 36. The gripping hand 41 includes a support plate 42 connected to the fixed arm 36, and a pair of cylinders 43 are vertically arranged side by side at a central portion of the support plate 42 as shown in FIG. ing. Also, on the support plate 42, adjacent to each cylinder 43 and in parallel with the first rail 44
And a slide member 45 is slidably attached to the first rail 44. Since the following elements including the slide member 45 are provided in a pair on the left and right associated with each cylinder 43, only one side will be described here.

The slide member 45 is connected to the output shaft 43a of the cylinder 43 via a connecting bar 46, and can be moved back and forth arbitrarily on the first rail 44 according to the operation of the cylinder 43. A second rail 47 is laid at a lower corner of the support plate 42 in a direction orthogonal to the first rail 44, and a pair of gripping members 48 and 49 slide on the second rail 47. It is installed freely. The pair of gripping members 48, 49 are adapted to interlock with the slide member 45, with their base end portions being connected to the slide member 45 via a link 50 and a connecting link 51. Among the connecting links 51, the link 51b on the slide member 45 side has one end connected to the slide member 45 via the elongated hole 52, while the other end is pivotally attached to the support plate 42 using the shaft 53. ing. Further, among the connecting links 51, the link 51a on the gripping member 49 side is connected to the intermediate point of the link 51b on the sliding member 45 side by using a shaft 54.

That is, when the slide member 45 moves back and forth, the movement is transmitted to the inner gripping member 48 via the link 50, and the gripping member 48 moves left and right on the second rail 47, while One of the links 51b forming the connecting link 51 rotates about the shaft 53 as a fulcrum according to the forward / backward movement of the slide member 45, and this rotational movement is transmitted to the outer gripping member 49 via the other link 51a. , The gripping member 49 is an inner gripping member 48
It will move relative to. In this case, the link 51b
Since the other link 51a constituting the connection link 51 is connected to the intermediate point of the above, the movement transmission distance by the connection link 51 is smaller than that of the link 48, and the movement distance of the outer gripping member 49 is the inner gripping member. Less than 48 movements.

A gripping pin 55 is provided at the tip of the inner gripping member 48 so that it can be engaged with the gripping hole 34 formed in the front bracket 5 of the seat track 4. Accordingly, as also shown in FIG. 3, under the condition that the front bracket 5 of the seat 1 is located at a predetermined position between the pair of gripping members 48, 49, the cylinder 43 is operated toward the extension side to slide the slide member. When 45 is advanced downward, the pair of gripping members 48, 49 relatively come close to each other, and the gripping pin 55 provided on the inner gripping member 48 engages with the gripping hole 34, and the main gripping hand 41 causes the sheet 1 to move. The lower front side of the will be held. On the other hand, as shown in FIG.
By rotating the movable arms 40 on the front end side to the back surface of the seat back 3 by rotating 39 and 40, the movable arm 40 and the gripping hand 41 can lift the seat 1 while holding it. Of course, the movable arms 39 and 40 may be formed in more axes.

On the other hand, the sheet positioning device 28, as shown in FIGS. 6 to 10, is provided with a table 58 which is supported by the upper ends of columns 57 standing on the base 56 and on which the sheet 1 is placed. On the table 58, a stopper 59 and a cylinder 60 for roughly positioning the sheet 1 in the width direction W (FIG. 7), and a stopper 61 and a cylinder 62 for positioning the sheet 1 in the length direction L (FIG. 9). , And a stopper 63 and a cylinder 64 for fixing the bracket 5 on the front side of the seat track 4 in position. An upper and lower cylinder 66 having a support plate 65 for lifting the rear portion of the seat cushion 2 of the seat 1 at the output shaft end is fixedly provided on the lower surface of the table 58.

A push plate 60a is attached to the output shaft end of the cylinder 60 for determining the width. After the sheet 1 is placed on the table 58, the cylinder 60 is extended to push the push plate as shown in FIG. When 60a is moved forward, the entire seat 1 stops
It moves until it comes into contact with 59 and is roughly positioned in the width direction. By the way, the brackets 5 and 6 provided at the front and rear end portions of the seat track 4 are usually positionally unbalanced between the left and right seat tracks in relation to the mounting seat Ba of the vehicle body B. Therefore, when the seat 1 is placed on the table 58, one of the front brackets 5 is lifted from the table 58 by a predetermined height h as shown in FIG. Therefore, in this embodiment, as shown in FIG. 9, the supporting plate 65 is moved upward by the operation of the upper and lower cylinders 66, and the rear portion of the seat cushion 2 is lifted by the supporting plate 65 to raise the two front brackets 5 and the supporting plate. Supports Seat 1 at three points with 65. On the other hand, the cylinder for length determination 62
As shown in FIG. 10, a V-shaped block 67 engageable with the positioning pin 7 provided on the bracket 5 is attached to the output shaft end of the sheet 1, and after supporting the seat 1 at three points as described above, When the cylinder 62 is extended, its V-shaped block
The positioning pin 7 is pushed by 67, the sheet 1 is advanced until the bracket 5 contacts the stopper 61, and the sheet 1 is accurately positioned in the length direction L.

The bolt supply robot 25 includes a moving body 71 that moves on a rail 70 and a moving body 71 as shown in FIG.
The rotary head 72 is rotatably supported by 71, and as shown in FIG. 11, the rotary head 72 supports a pair of hands 74 via a bracket 73. The two bolts can be sequentially received by the pair of hands 74 by the appropriate movement of the.
Further, the tightening robot 23 has an arm as shown in FIG.
A pair of tightening units 76 are provided at the tip of 75. The socket 77 of the tightening units 76 receives a bolt from the rotary head 72 of the bolt supplying robot 25, and the arm 75 is extended into the vehicle body B so that the seat 1 is seated. Can be fixed to the mounting seat Ba by tightening. Further, the position detecting robot 26 is provided with a measuring unit 79 at the tip of the arm 78 as shown in FIG. 4, and the measuring unit 79 is positioned below the reference hole Bb of the vehicle body B positioned on the transfer line A. Then, by inserting the measuring pin 79a of the measuring unit 79 into the reference hole Bb at this position, the position of the vehicle body B can be measured in three directions of the vehicle width direction, the vehicle length direction, and the vehicle height direction. ing.

The operation of the automatic seat mounting apparatus constructed as above will be described below.

At the time of assembling the sheets, the sheet 1 conveyed by a conveying device (not shown) is placed on the table 58 of the sheet positioning device 28.
First, the width determining cylinder 60 extends and the sheet 1 is roughly positioned in the width direction between the push plate 60a and the stopper 59 (FIG. 7). Next, the pushing plate 60a is retracted by the operation of the cylinder 60, while the upper and lower cylinders 66 are extended to support the supporting plate 65.
The rear end portion of the seat cushion 2 is lifted up (FIG. 9). Next, the length determining cylinder 62 extends, and the positioning pin 7 is pushed by the V-shaped block 67 at the tip thereof, whereby the seat 1 is lengthened by the front bracket 5 of the seat track 4 contacting the stopper 61. It is positioned in the vertical direction (Fig. 10). After that, the fixing cylinder 64 operates and the front bracket 5 is pressed against the stopper 63, whereby the grip hole 34 provided in the bracket 5 is fixed in position.

Sheet 1 by the sheet positioning device 28
When the positioning of is completed, the gripping robot 22 operates,
The arm 22a is extended to the sheet positioning device 28, and the gripper 21 is positioned at a predetermined position with respect to the sheet 1. At this time, as shown in FIG.
Is positioned between the seat cushion 2 and the seat back 3 such that the gripping hand 41 is located on the lower front side of the seat cushion 2. At this time, the gripping hand 41 is positioned at a position where the pair of left and right gripping members 48 and 49 sandwich the front bracket 5 of the seat 1. Under this state, first, the cylinder 43 of the gripping hand 41 extends, and in response to this, the slide member 45 advances and the pair of gripping members 4
The gripping pins 55 provided on the gripping member 48 on the inner side are engaged with the gripping holes 34 of the bracket 5 by making 8 and 49 relatively close to each other. At this time, the outer grip member 49 contacts the outer side plate portion 33 of the bracket 5, and the bracket 5 is held by the inner and outer grip members 48, 49.

Next, the movable arm 3 is operated by the operation of the motors 37 and 38.
9 and 40 rotate, and the movable arm 40 on the tip side thereof rotates to the back surface of the seat back 3. As a result, the gripping of the seat 1 is completed, and the V-shaped block 67 of the seat positioning device 28 is retracted by this completion signal, the fixing cylinder 64 is shortened, and the seat 1 is delivered to the gripper 21. At this time, however, the fixed arm 36 of the gripper 21 is in a state of supporting a fixed point near the positioning pin 7 with respect to the vehicle body B, and the relative position between the arm tip of the gripping robot 22 and the positioning pin 7 becomes constant, The gripping accuracy of the sheet 1 by the gripping robot 22 is improved.

The gripping robot 22 returns to the original position (waiting position) shown in FIG. 4 after receiving the sheet 1 from the sheet positioning device 28, and the vehicle body B conveyed on the conveyance line A during this period. Are positioned at predetermined positions corresponding to the gantry 20. Then, first, the position detecting robot 26 is activated, its arm 78 is extended below the vehicle body B, the measuring pin 79a of the measuring unit 79 is inserted into the reference hole Bb of the vehicle body B, and the position of the vehicle body B is changed. To detect. This detection data is sent to the position correction device 27, and the position correction device 27
Determines the correction amount based on this detection data and sends the signal to the gripping robot 22 and the tightening robot 23, whereby the teaching data stored in each robot controller is corrected.

After that, the position detecting robot 26 returns to the original position shown in FIG. 4, and at the same time, the gripping robot 22 extends its arm 22a into the vehicle body B, and the opening or instrument panel of the vehicle body B, or Handle the gripper 21 at the end of the arm with a trajectory that does not interfere with the console box, brake lever, etc.
The sheet 1 gripped by is positioned at a predetermined position. Then, as shown in FIG. 13, the positioning pin 7 attached to the front bracket 5 of the seat track 4 is inserted into the positioning hole of the mounting seat Ba of the vehicle body B, and the front and rear brackets 5 and 6 are attached to the vehicle body. Sit on the mounting seat Ba of B. At this time, as described above, the gripping accuracy of the sheet 1 with respect to the gripping robot 22 is increased by the engagement between the gripping pin 55 and the gripping hole 34, and the position detecting robot 26 and the position correcting device 27 are used to grip the robot 1. Since the teaching data of 22 is corrected, the positioning pin 7 is smoothly inserted into the positioning hole of the vehicle body B, and the seat 1 is accurately mounted on the vehicle body B.

By the way, if the gripping robot 22 is released after the seat 1 is mounted as described above, there is a risk that the positioning pin 7 will come out of the hole of the mounting seat Ba due to the biasing force from the carpet or the like. Therefore, in the present embodiment, as shown in FIG. 13 as well, the operation of the gripping robot 22 and the gripping tool are performed.
By the operation of the movable arms 39 and 40 of 21, the gripping hand 41 at the tip of the fixed arm 36 is released onto the seat cushion 2,
The sheet 1 is held by the gripping hand 41. As a result, the positioning pin 7 will not come out of the hole of the mounting seat Ba. Upon completion of the retracting operation of the gripping tool 21, the tightening robot 23 that has already received the bolt 8 from the bolt supplying robot 25 is actuated, the arm 75 thereof is extended into the vehicle body B, and the tightening unit 76 is provided. The front bracket 5 of the seat 1 is tightened and fixed to the mounting seat Ba with the held bolt. Then, the gripping robot 22 returns to the original position during the tightening by the tightening robot 23, while the tightening robot 23 returns to the original position at the same time when the tightening is completed. Complete.

With respect to the rear bracket 6, the seat cushion 2 must be slid to the front side and then fixed by tightening. Therefore, the tightening work should be performed in different steps.

[0027]

As described above in detail, according to the vehicle seat according to the present invention, the grip hole provided in the bracket of the seat track serves as a reference for specifying the seat position. This has the effect of increasing the applicability to the assembly device. Further, according to the seat automatic assembling apparatus of the present invention, the gripping pin provided on the gripping tool can be engaged with the gripping hole of the seat to enhance the gripping accuracy with respect to the robot. It has the effect of being mounted on the body.

[Brief description of drawings]

FIG. 1 is a perspective view showing a gripping tool that constitutes an automatic seat assembly apparatus according to the present invention and a usage mode thereof.

FIG. 2 is a perspective view showing a main part structure of a vehicle seat according to the present invention.

FIG. 3 is a front view showing a main structure of a gripping tool used in the present invention.

FIG. 4 is a plan view showing the overall structure of the automatic seat assembly apparatus.

FIG. 5 is a front view showing the overall structure of the automatic seat assembly apparatus.

FIG. 6 is a plan view showing the structure of a sheet positioning device according to the present invention.

FIG. 7 is a plan view showing how the sheet positioning device is used.

FIG. 8 is a side view showing a mounting posture of a vehicle seat.

FIG. 9 is a side view showing a usage mode of the present sheet positioning device.

FIG. 10 is a plan view showing how the sheet positioning device is used.

FIG. 11 is a perspective view showing a tip structure of a bolt supply robot which is a part of the automatic seat assembly apparatus.

FIG. 12 is a perspective view showing a tip structure of a tightening robot which is a part of the automatic seat assembly apparatus.

FIG. 13 is a side view showing a usage mode of the present sheet positioning device.

FIG. 14 is a side view showing a gripping tool that constitutes a conventional sheet positioning apparatus and a usage mode thereof.

[Explanation of symbols]

 1 seat 2 seat cushion 3 seat back 4 seat track 5 bracket 6 bracket 7 positioning pin 21 gripping tool 22 gripping robot 28 seat positioning device 34 gripping hole 35 gripping body 36 fixed arm 39 movable arm 40 movable arm 48 gripping member 55 gripping pin B vehicle body

Claims (2)

[Claims] 1. A bracket which is integrally provided with a pair of seat tracks at a lower portion of a seat cushion supporting a seat back, and which is seated on a mounting seat of a vehicle body and bolted to front and rear ends of the seat tracks. Along with
In a vehicle seat in which a positioning pin engageable with a positioning hole provided in the mounting seat is attached to a bracket on the front end side of each seat track, the brackets on the front end side of each seat track face each other. A vehicle seat characterized in that a gripping hole is provided on a side surface thereof. 2. An automatic assembling apparatus for automatically mounting the vehicle seat according to claim 1 on a vehicle body, comprising: a mounting robot having a gripping tool for gripping the seat at an arm tip; The gripping tool comprises a gripping main body attached to the arm tip of the robot, a fixed arm fixed to the gripping main body, and at least two axes through the gripping main body. A pair of gripping members each having a gripping pin engageable with a gripping hole of a bracket of a seat track that constitutes the seat are provided on the fixed arm. A vehicle seat automatic assembling device, which is provided so as to be able to approach and separate from each other in the protruding direction of the vehicle.