JPH055611B2 - - 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 the assembly is performed by automated mechanical work as described above, when the heavy object is raised relative to the vehicle body by the lift 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 car body being carried into the loading station is detected using an appropriate detection means such as a visual sensor, and based on the detection results, heavy objects are loaded according to the actual position of the car body being carried into the loading station. By changing the position of the lifting table of the heavy object loading device in a plane along the transport direction of the vehicle body, the positional shift of the heavy object relative to the transported vehicle body in the front-rear direction and left-right direction with respect to the transport direction of the vehicle body is thereby prevented. It is possible to correct it.

(Problem to be Solved by the Invention) However, the position of the vehicle body carried into the loading station is normally determined by detection means such as a visual sensor at a position detection station installed immediately before the loading station on the vehicle assembly line. Therefore, while the vehicle body is being transported from the position detection station to the loading station on the vehicle assembly line, the assembly position of the vehicle body relative to the heavy object may be even smaller than the position detected by the position detection station. There is a possibility that positional deviation may occur. If a slight positional deviation occurs between the assembly position of the vehicle body detected by the position detection station and the assembly position of the vehicle body carried into the loading station, as described above, Even if the position of the lifting table in the plane along the conveyance direction is changed to compensate for the misalignment of the heavy object with respect to the vehicle body, for example, when assembling the heavy object to the vehicle body using bolts and nuts, the bolts or A problem arises in that the nuts do not properly thread into the vehicle body and heavy object mounting holes, and therefore cannot be properly assembled by automated mechanical operations.

In view of the above, the present invention is provided with an elevating table that moves a heavy object up and down to an assembly position of a loaded object supported by a transport jig and carried into a loading station, and a lifting table that moves a heavy object up and down along the transport direction of the loaded object. By changing the position of the lifting table within a plane, the positional deviation of the heavy object relative to the loaded object carried into the loading station is corrected. Even in cases where there is a minute positional deviation that cannot be corrected by movement, heavy objects can be properly assembled to the mounting position of the loaded object by automated mechanical work. The purpose of the present invention is to provide a heavy load loading device.

(Means for Solving the Problems) In order to achieve the above-mentioned object, a heavy object loading device according to the present invention detects the actual position of a loaded object supported by a transport jig and carried into a loading station. A position detecting means that detects the loading station before it is carried in; a lifting member that is movably supported by a fixed part provided on the loading station, and is provided with a lifting board; and a lifting board that is movable relative to the lifting board. An elevating table having a mounting surface on which a heavy object to be supported and to be mounted on a loaded body is placed; an elevating base plate portion and the elevating table are connected by a drive mechanism with a clutch portion interposed; A position where the drive mechanism with the clutch part in the connected state is operated in response to the detection output from the position detection means, and the position of the mounting surface of the lifting table is changed to correct the positional deviation of the heavy object relative to the loaded object. a positioning member disposed on the elevating table and having a tapered portion that engages with an engaged portion provided on the mounted object when the elevating table is raised or lowered; Engagement state detection means detects the state of engagement with the engaged portion of the mounted object as the table rises, and the clutch portion of the positional deviation correction means is shut off based on the detection output from the engagement state detection means. and a control means for setting the lift table to a released state in which it can freely move within a predetermined range in a direction along its mounting surface.

(Operation) In the heavy object loading device according to the present invention configured as described above, the actual position of the loaded object to be carried into the loading station is detected by the position detection means before the loaded object is carried into the loading station. At the same time, the elevating base plate part and the elevating table are connected by a drive mechanism with a clutch part interposed therebetween, and the clutch part operates the drive mechanism in the connected state according to the detection output from the position detecting means. The correction means adjusts the position of the lifting table on which the heavy object is placed within a plane along the conveyance direction of the loaded object according to the actual position of the loaded object to be carried into the loading station, and thereby, A positional shift of the heavy object in a plane along the transport direction of the loaded object with respect to the loaded object carried into the loading station is corrected. When the engagement state detection means detects that the tapered part of the positioning member that moves up or down with the lifting table is engaged with the engaged part provided on the mounted object, the control means The clutch section in the positional deviation correcting means is caused to take a disconnected state based on the detection output from the engagement state detecting means. As a result, the elevating table is placed in a released state in which it can move freely within a predetermined range in the direction along the mounting surface, and the elevating table is placed in a released state in which it can move freely within a predetermined range in the direction along the mounting surface, and depending on the engagement state between the tapered part of the positioning member and the engaged part of the mounted object. It is moved in the direction along the mounting surface. Therefore, even if there is a minute misalignment between the loaded object and the heavy object that cannot be corrected by moving the lifting table using the misalignment correcting means, the slight misalignment will be corrected properly. The heavy object is correctly positioned at the assembly position of the object to be mounted. Therefore, the assembly of the heavy object to the loaded body can be properly performed even by automated mechanical work.

(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.

1 and 2, a vehicle body 14 supported by a hanger 12 provided on an overhead trolley conveyor 10 disposed along a vehicle assembly line is connected to a position detection station ST _s provided on the vehicle assembly line. and onboard station ST _p ,
They are sequentially transported intermittently at predetermined pitches. The vehicle body 1 carried into the position detection station ST _s is
4 visual sensors 16 to detect the actual position of 4
a, 16b, 16c and 16d are arranged,
The mounting station ST _p 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 on the vehicle body 14.
Rear lifter 2 for mounting unit 18
1 is installed.

Further, an engine unit 17 and a rear axle unit 18 mounted on the vehicle body 14 by the front lifter 20 and the rear lifter 21 are placed near the front lifter 20 and the rear lifter 21, respectively. Assembly robots 80a, 80b, 8 fastened with bolts and nuts
0c and 80d are placed at four locations across the vehicle assembly line.

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 ST _s and stopped is in its normal position without any displacement, 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
In the vicinity of each of the vehicle body 14,
Loading/unloading conveyors 22 and 23 are installed that extend in a direction perpendicular to the direction indicated by arrow P in the figures and FIG. The loading/unloading conveyors 22 and 23 operate the loading/unloading sections 11 and 1.
The engine unit 17 and the rear axle unit 18 unloaded from pallet 3 are placed on pallet 2, respectively.
4 and 25 are transported to predetermined positions in front of the front lifter 20 and behind the rear lifter 21, and are loaded onto the front lifter 2 by an appropriate loading device 15 at each position.
The pallets 24 and 25 are placed on a rotary lifting table 64 (described in detail later) located at the top of each of the 0 and rear lifters 21. In that case, the engine unit 17 and the rear axle unit 18 are each mounted on the pallet 2.
The engine unit 17 and the rear axle unit 18 are placed on the engine unit 17 and the rear axle unit 18, and the front lifter 20 and the rear lifter are positioned on the engine unit 17 and rear axle unit 18. The pallets 24 and 25 placed on the rotary lifting table 64 in each of the engine units 21 are positioned by positioning members (not shown) provided on the rotating lifting table 64, respectively. The axle unit 18 is 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 a base mounted at a position substantially directly below the portion corresponding to the engine room of the vehicle body 14 that has been carried into the loading station ST _p and stopped. 26, and on this base 26, a fixed support 27 whose cross section is approximately U-shaped as shown in FIG. 4 is erected. 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 upper end of the lifting cylinder 30 is fixed. 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 elevating cylinder 30 is operated to extend and retract the piston rod 34, the guide post 29 moves up and down as the piston rod 34 expands and contracts, but the moving distance of the guide post 29 at that time, and therefore the substrate 3
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 slide table 40 parallel to the board 35 is installed on the upper surface side of the board 35, and the rotation of this pulse motor 38 is transmitted through an electromagnetic clutch 39 to a pinion. The signal is transmitted to the gear 38a, and the pinion gear 38a is transmitted to the first slide table 40.
The first slide table 40 is moved in the direction along the guide rail 37 by meshing with a rack gear 42 disposed on the lower surface side of the table. Further, a pinion gear 38 is provided at a position facing the pinion gear 38a.
A rotation detector 48 is arranged to detect the number of rotations of a.

Here, the electromagnetic clutch 39 controls the connection state in which the drive shaft of the pulse motor 38 and the pinion gear 38a are connected, and the connection state in which the drive shaft of the pulse motor 38 and the pinion gear 38a are connected, according to a control signal supplied from a controller to be described later. Unconnect and connect the first
The slide table 40 is selectively set to a closed state in which it is movable in the direction along the guide rail 37. That is, in this example,
The electromagnetic clutch 39 serves as a lifting table release means that allows the lifting table 64 to move freely in the direction along its mounting surface.

Furthermore, a pair of position setting cylinders 43A and 43B for setting the reference position of the first slide table 40 with respect to the board 35 are installed on the upper surface side of the board 35 in parallel with the guide rail 37. When the piston rods 44 of the position setting cylinders 43A and 43B are in the extended state,
A position setting stopper 45 protrudes with its tip abutting. 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. limit switch 46
is arranged, and the first slide table 4
A pressing member 47 that turns on a limit switch 46 when the first slide table 40 assumes the reference position with respect to the substrate 35 is disposed on the lower surface side of the slider 0 .

As shown in FIG. 6, on the upper surface side of the first slide table 40, four guide members 51 having guide grooves formed in a direction perpendicular to the guide rails 37 arranged on the board 35 are arranged. A pair of slide rails 52 installed on the lower surface side of the second slide table 50 are slidably fitted into these guide members 51 . 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 electromagnetic clutch 54, and the pinion gear 53a meshes with the rack gear 55 disposed on the bottom side of the second slide table 50, thereby moving the second slide table 50 onto the slide rail 52. move in the direction along. Further, a rotation detector 49 for detecting the rotation speed of the pinion gear 53a is arranged at a position facing the pinion gear 53a.

Here, the electromagnetic clutch 54 controls the connection state in which the drive shaft of the pulse motor 53 and the pinion gear 53a are connected, and the connection state in which the drive shaft of the pulse motor 53 and the pinion gear 53a are connected, according to a control signal supplied from a controller to be described later. Unlink and connect to the second
The slide table 50 is selectively set to a closed state in which it is movable in the direction along the slide rail 52. That is, in this example, the electromagnetic clutch 54 serves as a lifting table release means that allows the lifting table 64 to be moved in the direction along the mounting surface thereof.

Furthermore, 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 installed parallel to the slide rail 52, respectively. A positioning stopper 59 protrudes from the lower surface side, with which the tip of the piston rod 58 of each of the positioning cylinders 57A and 57B comes into contact when the piston rod 58 is in an extended state. With these position setting cylinders 57A and 57B and position setting stopper 59,
In order to determine whether the reference position of the second slide table 50 with respect to the first slide table 40 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 provided on the upper surface side of the first slide table 40. A pressing member 56 that turns on the limit switch 60 when the second slide table 50 assumes a reference position with respect to the first slide table 40 is disposed on the lower surface side of the slide table 50 .

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 fitted into the bearing portion 61, whereby the second slide table 50 of the rotary lifting table 64 is fitted. The second slide table 50 is positioned in a plane parallel to the upper surface thereof. Also, the second slide table 50 of the rotary lifting table 64
Positioning in the direction perpendicular to the top surface is achieved by a total of seven rollers 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. being done.
A pulse motor 70 for rotating the rotary lifting table 64 is installed on the second slide table 50, and a small pulley 72 is connected to the rotating shaft of the pulse motor 70 via an electromagnetic clutch 73.
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, as shown in FIG. 3, a positioning member 81 is disposed on the side surface of the rotary lifting table 64 for positioning the engine unit 17 at a proper assembly position with respect to the vehicle body 14. The positioning member 81 connects the bracket 8 to the piston 82 attached to the side surface of the rotary lifting table 64.
3, and a tapered portion 81 positioned above the rod portion 81a.
It has b. The positioning member 81 also includes a touch sensor 8 as an engagement state detection means that is inserted into a support member 84 fixed to the rod portion 81a of the positioning member 81 via a coil spring or the like.
5 is attached. In addition, touch sensor 8
5 is the tapered portion 81b of the positioning member 81.
It is supposed to be set at a position slightly lower than the top of the

Furthermore, a mounting portion of the engine unit 17 aligned with the assembly position on the vehicle body 14 is placed near the front lifter 20 on the vehicle body 14.
Assembly robot 80 for assembly at the mounting position 4
a and 80b are arranged. Assembly robot 8
Since 0a and 80b have substantially the same configuration, the assembly robot 80b will be explained below.
Duplicate explanation of the assembly robot 80a will be omitted. As clearly shown in FIG. 3, the assembly robot 80b has 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. and a second arm 93 which is connected to the first arm 92 and is movable in the horizontal direction.
A nut runner 77 for assembling the engine unit 17 to the vehicle body 14 is fixed to the tip of the arm 93.

Front side lifter 20 configured in this way
, a first slide table 40 is driven by a pulse motor 38 to move the vehicle body 14 against a base plate 35 fixed to the upper surface side of an end plate 31 fixed to the upper end of the guide column 29. The second slide table 50 is moved in parallel in a direction perpendicular to the loading direction to the loading station ST _p , and the second slide table 50 is moved in parallel with respect to the first slide table 40.
is driven by the pulse motor 53 and is moved in parallel in the direction along the direction in which the vehicle body 14 is carried into the loading station ST _p , so that the rotary lifting table 64 disposed above the second slide table 50 However, the vehicle body 1 is
The vehicle body 14 is moved in a direction perpendicular to the direction in which the vehicle body 14 is carried into the mounting station ST _p and in a direction along the direction in which the vehicle body 14 is carried into the mounting station ST _p . 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. That is, in this example, the first slide table 40, the second slide table 50, the pulse motors 38, 53, and 70, etc. constitute a positional deviation correction means for changing the position of the mounting surface of the rotary lifting table 64. It is being done.

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 ST _p and in a direction along the direction in which the vehicle body 14 is carried into the mounting station ST _p ;
It is supposed to be able to rotate and move up and down. Also, a positioning member 81 attached to the side surface of the rotary lifting table 64 in the front side lifter 20, and assembly robots 80a and 80b arranged near the front side lifter 20.
are used for positioning and assembling the engine unit 17, respectively, whereas a positioning member 81 attached to the side surface of the rotary lifting table 64 in the rear lifter 21 and a positioning member 81 near the rear lifter 21 are used for positioning and assembling the engine unit 17, respectively. The assembly robots 80c and 80d placed at the positions are used for positioning and assembling the rear axle unit 18, respectively.

The front lifter 20 and the rear lifter 21 having the configurations described above and an assembly robot 80 located near them.
a to 80d operate under the control of a controller provided for them. Also in this case, the front side lifter 20 and the rear side lifter 2
1 and the assembly robots 80a to 80d placed in the vicinity thereof are subjected to approximately the same operation control, so the front side lifter 20 will be explained below.
The operation control of the assembly robots 80a and 80b will be described, and a redundant explanation of the rear lifter 21 and the assembly robots 80c and 80d will be omitted.

As shown in FIG. 8, the front lifter 20 is equipped with a lifting cylinder 30 and position setting cylinders 43A, 43B, 57.
A and 57B, pulse motors 38, 53 and 7
0, and operation control for electromagnetic clutches 39 and 54 attached to pulse motors 38 and 53,
Furthermore, a controller 100 is provided to control the operation of the assembly robots 80a and 80b. This controller 100 includes four visual sensors 1
Position detection signals Sa, Sb, obtained from 6a to 16d
Sc and Sd, a detection signal Se indicating the moving distance of the guide column 29 obtained from the position sensor 19, and the first slide table 40 and the second slide obtained when the limit switches 46, 60 and 66 are turned on. Reference position signals Sf, Sg, and Sh indicating that each of the table 50 and the rotary lifting table 64 are in the reference position are supplied. Further, a detection signal is obtained from a touch sensor 85 attached to the positioning member 81 and indicates a state in which the tapered portion 81b of the positioning member 81 is engaged with an engaged portion provided on the vehicle body 14.
Si and the rotation speed of pinion gears 38a and 53a obtained from rotation detectors 48 and 49 arranged in relation to pinion gears 38a and 53a driven by pulse motors 38 and 53.
A detection signal Sj representing the moving distance of the slide table 40 and the second slide table 50 and
Sk is supplied.

Then, the controller 100 controls the pulse motors 38, 53, and 70, respectively, based on signals from the various sensors, switches, and detectors described above.
Supplying drive pulse signals Ca, Cb and Cc for forward rotation or drive pulse signals Ca', Cb' and Cc' for reverse rotation,
A drive control signal is sent to the lifting cylinder drive section 86 and the position setting cylinder drive sections 87 and 88, which drive the lifting cylinder 30 and the position setting cylinders 43A, 43B, 57A and 57B, respectively.
Supplying Ce, Cf and Cg, and also electromagnetic clutch 3
Control signals Ch and Ci are supplied to the robots 9 and 54, and drive control signals are supplied to assembly robot drive units 97a and 97b that drive the assembly robots 80a and 80b.
Supply Cj and Ck. From the controller 100,
When the pulse motor 38 is supplied with the drive pulse signal Ca for forward rotation or the drive pulse signal Ca' for reverse rotation, the pulse motor 38 rotates forward or reverse depending on them, and the first slide table 40
is moved in a direction perpendicular to the direction in which the vehicle body 14 is carried into the mounting station ST _p , 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 , the pulse motor 53 rotates forward or backward, and moves the second slide table 50 in a direction along the direction in which the vehicle body 14 is carried into the mounting station ST _p . Further, when the forward rotation drive pulse signal Cc or the reverse rotation drive pulse signal Cc' is supplied from the controller 100 to the pulse motor 70, the pulse motor 70 rotates forward or reverse depending on the pulse motor 70, and the rotary lifting table 64 Rotate.

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 ST _p , the first slide table 40, the first Control is performed to cause each of the second 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. 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 through holes for position detection formed in the vehicle body 14 carried into the position detection station _STs . The deviation between the actual position and the regular through-hole position stored in the built-in memory in the plane along the direction in which the vehicle body 14 is carried into the mounting station ST _p is calculated as the positional deviation distance and the positional deviation angle. Ru. Then, forward rotation driving pulse signals Ca, Cb, and Cc or reverse rotation driving 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 7
0 rotates forward or backward, and the first slide table 40 moves to the mounting station ST _p of the vehicle body 14.
The second slide table 50 is moved in a direction perpendicular to the direction in which the vehicle body 14 is carried into the mounting station ST p, and in a direction along the direction in which the vehicle body 14 is carried into the mounting station ST _p , respectively, by a distance corresponding to the detected positional deviation distance. At the same time, 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 ST _s to the loading station ST _p , the vehicle body 14 carried to the loading station ST _p is placed on the rotary lifting table 64 of the front lifter 20 . Mounted engine unit 1
7 in a plane along the direction in which the vehicle body 14 is carried into the mounting station ST _p is corrected.

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 to the loading station ST _p have been corrected.
and each position of the rotary lifting table 64 is used as a corrected reference position, and the position sensor 19
The amount of movement of the guide column 29 indicated by the detection signal Se obtained from the engine unit 17
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.

However, if the vehicle body 14 carried into the loading station ST _p undergoes a further slight positional shift while being transported from the position detection station ST _s to the loading station ST _p , the vehicle body 14 may be shifted as described above. It is not possible to eliminate the positional deviation of the engine unit 17 with respect to the vehicle body 14 only by correcting the positional deviation within the plane along the loading direction to the mounting station ST _p .

Therefore, in this example, the positional deviation of the engine unit 17 with respect to the vehicle body 14 is corrected as follows. First, when the rotary elevating table 64 is raised to transport the engine unit 17 to the assembly position provided on the vehicle body 14, the tapered portion 81b of the positioning member 81 attached to the rotary elevating table 64 moves as shown in FIG. As shown by the solid line, a reference hole 14a as an engaged portion formed in the vehicle body 14
The top of the touch sensor 85 attached to the positioning member 81 is pressed against the vehicle body 14 when the touch sensor 85 begins to engage with the positioning member 81 . As a result, a detection signal Si is supplied from the touch sensor 85 to the controller 100, and the controller 100 supplies control signals Ch and Ci to the electromagnetic clutches 39 and 54 based on the detection signal Si to put them in a disconnected state. Therefore, the connection state between the drive shaft of the pulse motor 38 and the pinion gear 38a and the connection state between the drive shaft of the pulse motor 53 and the pinion gear 53a are released, and as a result, the first slide table 40 and the second The slide tables 50 are respectively perpendicular to the direction in which the vehicle body 14 is carried into the loading station ST _p ,
and rack gears 42 and 5, respectively, in the direction along the direction in which the vehicle body 14 is carried into the loading station ST _p .
This means that you can move freely within the range of 5. Therefore, the rotary lifting table 64 is movable within the range of each of the rack gears 42 and 55 within a plane along its mounting surface.

Therefore, when the rotary elevating table 64 is raised by the elevating cylinder 30, depending on the engagement state between the tapered portion 81b of the positioning member 81 and the reference hole 14a formed in the vehicle body 14, for example, the ninth As shown by the two-dot chain line in the figure, the engine unit 17 moves within a plane along the surface on which it is mounted. Then, the engine unit 17 placed on the rotary lifting table 64 is moved upwardly relative to the vehicle body 14 by a predetermined distance L, as shown by the two-dot chain line in FIG. Accurate positioning with respect to the assembly position of the vehicle body 14 will be performed. In this way, until the lifting operation of the rotary lifting table 64 by the lifting cylinder 30 is completed, the controller 100 has the pinion gear 38a fixed to the pulse motor 38 that drives the first slide table 40; and a rotation detector 4 disposed in relation to a pinion gear 53a fixed to a pulse motor 53 that drives the second slide table 50.
Detection signals Sj and Sk representing the moving distances of the first slide table 40 and the second slide table 50 are supplied from 8 and 49. and,
The controller 100 outputs detection signals Sj and Sk when the lifting operation of the rotary lifting table 64 is completed.
The first slide table 40 and the second
The position information of the slide table 50 is obtained, and based on this position information, the assembly robots 80a and 80
Drive control signals Cj and Ck are supplied to assembly robot drive units 97a and 97b to control the working position and the like of the nut runner 77 attached to the nut runner 77b. As a result, the assembly robots 80a and 80b
As typified by the assembly robot 80b in the figure, it is raised from the position shown by the solid line to the position shown by the two-dot chain line, and then moved to the appropriate assembly position on the vehicle body 14,
The engine unit 17 is assembled to the vehicle body 14 using the nut runners 77 attached to each one.

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 on the rear side lifter 21 configured similarly to the front side lifter 20, and the rotary lifting table 64 and the The mounted rear axle unit 18 is also raised a predetermined distance from the position shown by the solid line in FIG. 1 to the position shown by the two-dot chain line. At this time, the tapered portion 81b of the positioning member 81 disposed on the rotary lifting table 64 engages with the engaged portion formed on the vehicle body 14, thereby aligning the rear axle unit 18 with respect to the assembly position of the vehicle body 14. Accurate positioning is performed, and in this state, the rear axle unit 18 is assembled to the vehicle body 14 by the nut runners 77 attached to the assembly robots 80c and 80d.

In this way, when the rotary lifting table 64 is raised, the positioning member 81 provided thereon
The assembly of the vehicle body 14 is performed by moving the rotary lifting table 64 in the direction along the surface on which the mounting body is placed, depending on the engagement state between the tapered portion 81b and the reference hole 14a formed in the vehicle body 14. Engine unit 17 or rear axle relative to position
The unit 18 can be accurately aligned. Therefore, the position of the vehicle body 14 carried into the loading station ST _p is determined by the position detection station ST _s
Even if a minute positional deviation occurs from the position detected by It will be properly aligned to the attached position. Therefore, the engine unit 17 relative to the vehicle body 14
And the assembly work of the rear axle unit 18 can be performed accurately.

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 pallets 24 and 25 are transported to the next station while being supported by the pallets 24 and 25.
is removed from the rotary lifting table 64 and carried out by the carry-in/out conveyors 22 and 23.

In the above example, the assembly work of the engine unit 17 and rear axle unit 18 to the vehicle body 14 is carried out by the front lifter 20.
The nut runner 77 is attached to the assembly robots 80a to 80d located near the rear lifter 21, but the heavy object loading device according to the present invention is limited to this. Instead, for example, the nut runner 77 may be directly attached to the rotary lifting table 64 of each of the front side lifter 20 and the rear side lifter 21.

(Effects of the Invention) As is clear from the above description, the heavy object loading device according to the present invention lifts the heavy object to the assembly position of the loaded object supported by the transport jig and transported to the loading station. An elevating table is provided to move the elevating table, and the position of the elevating table is adjusted within a plane along the conveyance direction of the object to be loaded. According to the loading condition, the lifting table is moved in the direction along the loading surface depending on the loading condition, so that there is a gap between the loaded object and the heavy load carried into the loading station by the movement of the lifting table by the positional deviation correction means. Even if there is a minute misalignment that cannot be corrected, the misalignment will be properly corrected and the heavy object will be correctly aligned to the mounting position of the loaded object.
Therefore, it is possible to appropriately assemble the heavy object to the object to be mounted even by automated mechanical work.

[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. FIG. 8 is a block diagram showing the control system in the example shown in FIGS. 1 and 2, and FIG. 9 is a sectional view taken along the line - in FIG. It is a figure provided for operation explanation. In the figure, 12 is a hanger, 14 is a vehicle body, 14a is a reference hole, 16a to 16d are visual sensors, 17 is an engine unit, 18 is a rear axle unit, 19 is a position sensor, 20 is a front lifter, and 21 is a rear Side lifter, 27 is fixed column, 2
9 is a guide column, 30 is a lifting cylinder, 35 is a board, 38, 53 and 70 are pulse motors, 39
and 54 is an electromagnetic clutch, 40 is a first slide table, 50 is a second slide table, 64
80a to 80d are assembly robots, 81 is a positioning member, 81b is a tapered portion,
85 is a touch sensor, and 100 is a controller.

Claims (1)

[Scope of Claims] 1. A position detecting means for detecting the actual position of a loaded object supported by a transport jig and carried into a loading station before being carried into the loading station; and a position detecting means disposed in the loading station. a lifting member supported movably up and down by a fixing part provided with the lifting board part, and a lifting member supported movably with respect to the lifting board part by the lifting board part, and a weight to be mounted on the mounted object. A lifting table having a mounting surface on which an object is placed, the lifting board section and the lifting table are connected by a drive mechanism with a clutch section interposed therebetween, and according to the detection output from the position detecting means. positional deviation correcting means for correcting a positional deviation of the heavy object with respect to the loaded object by activating the drive mechanism with the clutch portion in a connected state and changing the position of the mounting surface of the lifting table; , a positioning member disposed on the elevating table and having a tapered portion that engages with an engaged portion provided on the mounted body when the elevating table is raised or lowered; an engagement state detection means for detecting a state in which the positioning member engages with the engaged portion; and a clutch portion of the positional deviation correction means to take a disconnected state based on a detection output from the engagement state detection means. A heavy object loading device comprising: , a control means for bringing the lifting table into a released state in which it can be freely moved within a predetermined range in a direction along its mounting surface.