JPH0579553B2 - - Google Patents

Description

[Detailed description of the invention]

A. Purpose of the invention (1) Industrial application field The present invention relates to equipment for assembling lower parts in a vehicle,
In particular, the lower part of the vehicle body is fixed in position.
Bring in the product and assemble the lower parts to the vehicle body.
Regarding assembly equipment. (2) Conventional technology Conventionally, this type of assembly equipment used one pallet
There are lower parts, screw parts such as bolts, etc. on the parts.
and a rotating machine for screw parts.
known (see Japanese Patent Application Laid-Open No. 61-220981). (3) Problems to be solved by the invention However, the conventional one is only for a certain model.
and the problem of poor adaptability to changes.
There is a problem. The present invention can solve the above problems.
The purpose is to provide assembly equipment. B. Structure of the invention (1) Means to solve the problem In order to achieve the above object, the present invention
Carrying the undercarriage parts below the fixed vehicle body
Then, the lower parts were assembled to the car body.
In the assembly equipment, the elevator is placed under the vehicle body and
A lifting mechanism that raises and lowers the cable relative to the vehicle body, and
The first mounting part located at the lower front of the vehicle is
Floatin can be moved by a predetermined amount in the width direction.
The front support base that supports the
It is necessary to respond to changes in vehicle body wheel base due to model changes.
Supported on a lifting table so that the position can be adjusted in the vehicle length direction
There is a front position adjustment mechanism located at the bottom of the rear of the vehicle body.
The second mounting section is placed in the vehicle length direction and the vehicle width direction, respectively.
The rear section is floating and supports a predetermined amount of movement.
a support base, and this rear support base is attached to the foil base.
The position can be adjusted in the longitudinal direction to accommodate changes in the vehicle.
The rear position adjustment mechanism supported by the lowering table and the
1. Relative movement between the second mounting parts in the vehicle width direction is not possible, and
A connecting member that connects to allow relative movement in the vehicle length direction.
Then, the front lower parts and the
and the front part that holds the screw parts that fasten it to the vehicle body.
The pallet member is placed on the second placing section, and the rear
Lower parts and screw parts that fasten them to the vehicle body.
Rear pallet member to hold, front and rear pallets
Rotate the threaded part when the part is in the raised position
Before fastening the front and rear lower parts to the vehicle body,
The motor and each rotary motor are adapted to the above wheel base change.
It is supported on a lifting table so that its position can be adjusted accordingly.
It is characterized by being equipped with a rotator position adjustment mechanism.
Ru. (2) Effect According to the above configuration, it is possible to change the type of car to be assembled.
This resulted in a relatively long change to the vehicle wheelbase.
Even in such cases, the front and rear supports, as well as each
Comparing the loading section and front and rear pallet members in the vehicle length direction
The target can be moved for a long time, and the
At the same time, the position of each rotator can be adjusted, so the above-mentioned
It is extremely easy and quick to respond to changes in the file base.
You will be able to do it. In addition, each loading section is placed on the corresponding support base in the vehicle length direction.
The float can be moved by a predetermined amount in both the width direction and the width direction of the vehicle.
It is supported by the car body and lifting table
Even if there is some misalignment between the
The lower parts held by the lettuce members cannot be forced into the vehicle body.
It can be assembled without any problems. And as mentioned above, it corresponds to the wheel base change.
Even if you divide the pallet parts into front and back parts,
The front and rear pallet members are placed on the lifting table independently.
Even if the connecting member is supported floatingly,
However, due to the wheelbase change, the front and rear pallet parts
Both pallets are moved while allowing relative movement of the material in the vehicle length direction.
Do not displace or tilt the parts in the vehicle width direction.
It is possible to maintain the correct alignment at all times without
can. Therefore, the front and rear lower parts on both pallet members
Rotating parts should always be inspected before assembling them onto the vehicle body.
The assembly shape can be aligned correctly.
Ensures consistency between the front and rear lower parts in the
Ru. (3) Examples Figures 1, 2, and 2A show the entire assembly equipment;
The various components of the assembly facility are
The equipment is located in and near Tuto 2.
Front and rear of the vehicle body 4 positioned and fixed on the support stand 3
Bring in the front and rear lower parts 5f and 5r below.
Then, automatically attach those lower parts 5f and 5r to the vehicle body 4.
It is designed to be assembled on a regular basis. Positioning of vehicle body 4
As shown in Figures 2A and 3, both sides of the vehicle body 4 are
supports a pair of positioning holes 6 on the front and rear sides formed in the
to fit into the positioning pins 7 of the stand 3 respectively.
It is done more. The assembly equipment includes front and rear lower parts 5f, 5.
The vehicle body of r and those lower parts 5f and 5r
Seat bolts as multiple threaded parts fastened to 4.
Before holding the rear pallet members 8f, 8r,
Before circulating so as to stop below the vehicle body 4,
Rear conveyance devices 9f, 9r and those conveyance devices 9
f, located near 9r and in front of multiple bolts,
Before supplying to rear pallet members 8f and 8r, rear
Front and rear bolt supply device 1 as the first supply device
0f, 10r, and similarly front and rear transport devices 9f,
The front and rear lower parts 5 are arranged near 9r.
Provided for the front and rear pallet members 8f and 8r of f and 5r.
Before feeding, rear second feeding devices 11f and 11r,
Front and rear pallet members arranged below the vehicle body 4
Lifting device 1 that lifts and lowers 8f and 8r relative to the vehicle body 4
2, and similarly below the vehicle body 4, in the illustrated example, the lifting device
Front and rear pallet members 8f, 8 are arranged at 12.
When r is in the raised position, rotate the bolt to move forward or backward.
Multiple parts for fastening the lower parts 5f and 5r to the vehicle body 4
It is equipped with front and rear rotating machines 13f and 13r.
Ru. Support stand 3, front and rear transport devices 9f, 9r and
The lifting device 12 is disposed inside the pit 2, and the front,
Rear bolt supply device 10f, 10r and front and rear
The second supply devices 11f and 11r are arranged on the floor 1.
It can be done. The various components mentioned above are located at the front and rear of the vehicle body 4.
Since they have almost the same configuration and functions, the following
We will mainly explain the various components on the front side.
Ru. I Front pallet member 8f The front pallet member 8f is shown in FIGS. 4 to 6.
Workset palette 14 and the items shown in Figures 7 and 8.
Bolt set pallet 15 and both pallets
14 and 15 are located above the work set palette 14.
It is designed so that it can be turned to the side and polymerized. work se
Tutopalette 14 is engine, front suspension
Front lower part 5f which unitizes the front etc.
Hold the bolt set pallet 15 at the front lower part.
Equipped with a plurality of seats 16 for fastening the rotating parts 5f to the vehicle body 4
Hold the bolt 17 (Figures 8 and 9). (i) Work set palette 14 In Figures 4 to 6, the work set palette
14 has a substantially rectangular plane, and on its upper surface,
Install the front lower part 5f on the front and rear sides in the vehicle length direction.
The plurality of placing parts 18 to be placed are also placed on the rear side in the vehicle length direction.
A pair of positioning holes 19 in the front lower part 5f
A pair of positioning pins 20 that fit into (Fig. 12)
are protruded from each other, and a bolt is also installed on the front side in the longitudinal direction of the vehicle.
A pair of positioning holes 21 with the set pallet 15
is formed. (ii) Bolt set palette 15 As shown in Figures 7 and 8, the bolt set pallet
The socket 15 is a pair of sockets extending in the longitudinal direction of the vehicle.
In front of the mounting portion 22 and both socket mounting portions 22 in the longitudinal direction of the vehicle.
The connecting portion 23 connecting the ends is approximately U-shaped in plan view.
It is composed of On the top surface of each socket installation part 22, its vehicle length
Tighten a pair of bolts each on the front and rear sides.
first and second sockets 24₁,24₂and third,
4th socket 24₃,24_Fouris attached to the fastened part of the vehicle body 4.
Arranged so that it can move forward and backward, and rotate.
and the first and second sockets 24₁,24₂Pause
and fourth socket 24_FourNearby, at the front of the vehicle body 4
Fit into the four positioning holes 25 (Fig. 3) formed.
A matching positioning pin 26 is provided protrudingly. Each socket 24₁~24_Fourcomposition and its support
Since the structures are substantially the same, the first socket 24₁to
This will be explained with reference to FIGS. 9a and 10. 1st socket 24₁is the shaft portion 27 and its shaft portion 2
It is fitted onto the outer circumference of the upper end of 7 and opens upward.
a first cylindrical portion that fits into the head 17a of the bolt 17;
28₁and are connected to the lower end of the shaft portion 27 and lower.
The rotation of the front rotation mechanism 13f, which will be described later, is opened in the direction shown in FIG.
A second cylindrical portion 28 that fits into the moving shaft 29₂It becomes more. An insertion hole 30 is formed in the socket installation portion 22.
and the socket so as to surround approximately half the circumference of the insertion hole 30.
An angled support 31 is erected on the top surface of the tube installation section 22.
be done. An annular locking plate 32 is provided on the upper end surface of the column 31.
In addition, guide tubes 33 are welded to the inner surface of the lower end.
It can be done. 1st socket 24₁is in the retracted position, the
The shaft portion 27 is loosely inserted into the hole 34 of the locking plate 32.
The first cylindrical portion 28 extends along the support column 31.₁is locked
It protrudes upward from the plate 32, and its lower end surface forms a hole 34.
The second cylindrical portion 28 is locked to the peripheral edge.₂is the guide tube 33
It is loosely fitted inside. First and second sockets 24₁,24₂are the same length
l₁and has third and fourth sockets 24₃,24_Fourlength of
Sawo l₃,l_FourThen, the first to fourth sockets 24₁~
24_Fourlength l₁,l₃,l_FourIn between is l₁<l_Four<l₃relationship is established
standing. As clearly shown in FIG.
A pair of first and second transport feet on the front surface in the vehicle length direction.
member 35₁,35₂are fixed, and each hook member 3
5₁,35₂The rotation axis is parallel to the vehicle length direction in the opening of
A grooved wheel 36 disposed in the grooved wheel 36 is accommodated. Also, each
The rear end in the vehicle length direction of the butt installation part 22
, a grooveless wheel 3 whose rotational axis is arranged in the same manner as described above.
7 is installed. First and second hook members 35₁,35₂, car body 4
U-shaped first and third engaging portions 38 cut from the front
₁,38₃are formed respectively. Furthermore, the first foot
member 35₁A U-shape cut from the right side of the vehicle body 4.
Shape 4th engaging part 38_FourHowever, the second hook member 35₂
A U-shaped third engagement portion 3 cut from the left side of the vehicle body.
8₃are formed respectively. On the upper surface of the connecting portion 23, near the double grooved wheels 36,
A pair of positioning pins 39 are provided protruding beside each position.
The fixing pin 39 is attached to each part of the work set palette 14.
It will fit into the positioning hole 21 (Fig. 4).
There is. A positioning hole 40 is provided on the outside of each positioning pin 39.
Each positioning hole 40 is formed during assembly work.
for positioning the bolt set pallet 15.
(Figure 24). On the lower surface of the opposing edges of both socket installation parts 22, there are
so as to extend parallel to the rotation axes of wheels 36 and 37
A chevron-shaped guide groove 41 is formed. (iii) Front lower part 5f, work set palette
14, bolt set pallet 15, car body 4 and
Relationship between front rotator 13f As shown in Figures 9 and 12 to 14, the lower front
The engine 42 in the rotating parts 5f and its
Front and rear subframes 43₁,43₂is the work set
It is placed on each placing part 18 of the top pallet 14, and its
A pair of positioning pins 20 are attached to the rear subframe 4.
3₂The workpiece is fitted into the pair of positioning holes 19.
Front lower part 5f for set pallet 14
positioning is performed. In this positioning state, the front and rear subframes
Room 43₁,43₂Both ends are work set pallets.
14, and each end is fastened to the vehicle body 4.
function as a department. Front subframe 43₁Nii
The first and second fastening portions 44 that exist in the front and rear₁,4
4₂The first and second bolts are connected to each other by a mount member 45.
Through hole 46₁,46₂are formed respectively, and
Rear subframe 43₂exist before and after
Third and fourth fastening parts 44₃,44_FourIn the same way as above,
The third and fourth bolt insertion holes 4 are formed by the mounting member 45.
6₃,46_Fouris formed. Set the bolts on the bottom of the work set palette 14.
The topallette 15 is polymerized, with the bolt set
A pair of positioning pins 39 on the pallet 15
Fits into the pair of positioning holes 21 of the set pallet 14.
The bolts to the workset palette 14 are
The set pallet 15 is positioned. In this positioning state, the bolt set pallet
In the socket 15, the first to fourth sockets are installed prior to the polymerization.
Tsuto 24₁~24_FourBolt 17 supplied to
The tip part is connected to the first to fourth bolts as shown in Figure 9.
Insertion hole 46₁~46_FourIt is inserted into and also each positioning
Pin 26 is front, rear subframe 43₁,43₂of
It passes through each positioning hole 47. In this polymerized state
The bolt set pallet 15, etc. are mounted on the lifting device 1.
2, and each position at that rising position
A fixing pin 26 is inserted into each positioning hole 25 (third
(Fig.) will fit. As clearly shown in Figures 3, 9 and 13, the vehicle body
4, the first to fourth fastened parts 4 at four locations each on the left and right
8₁~48_Fouris the distance from bolt set pallet 15
to be different. That is, the first and second fastened parts 4 on the front side
8₁,48₂Distance between and bolt set pallet 15
are equal and their interval is d₁In addition, the third fastened portion 4
8₃The distance between the bolt set pallet 15 and bolt set pallet 15 is d₃To,
Furthermore, the fourth fastened portion 48_Fourand bolt set palette
The distance between G and 15 is d_FourIf you set each to
interval d₁,d₃,d_FourBetween d₁＜d_Four＜d₃connection of
has been established. Each fastening part 44 of the front lower part 5f₁~44_Four
is each fastened portion 48 of the vehicle body 4₁~48_Fourbelow it
Therefore, the first to
4 fastening part 44₁~44_FourThere is also the same interval relationship between
A relationship has been established. In a state where such an interval relationship holds,
Then, as described above, the first to fourth sockets 24₁~2
4_Fourlength l₁,l₃,l_Fourl₁<l_Four<l₃When set to
1st to 4th sockets 24₁~24_Fourarranged in accordance with
The first to fourth front rotating machines 13₁~13_Foureach rotation of
It is possible to equalize the operating stroke St of the shaft 29.
Therefore, each rotating machine 13₁~13_Foursame as
composition is used. Also, each rotating machine 13₁~13_Fouris the front pallet member
Provided in the lifting device 12 separately from 8f.
Therefore, when changing the model, remove the front pallet member 8f.
Replace and also each rotating machine 13₁~13_FourShare the
By changing their positions, it is easy to
can be accommodated. Figure 15 shows the first front rotating machine 13.₁and its
To explain the outline, in the lifting device 12
Frame 50 of lifting table 49 (2nd A, 20th
A support cylinder 51 with its axis in the vertical direction is fixedly mounted on the top of the figure.
determined. A servo motor 5 is mounted on the upper part of the support tube 51.
2 so that it can rotate around the axis of the support cylinder 51.
A support plate 53 is provided on the support plate 53.
A moving body 54 extending in a square direction is built into it.
Can now be moved horizontally using a moving motor
Supported. Furthermore, a rotation shaft is provided at one end of the moving body 54.
The rotary drive body 55 with 29 is a drive cylinder 56
It is supported so that it can move in the vertical direction. When fastening the front lower part 5f, the rotating cylinder
The rotary drive body 55 is raised by the damascene 56 and the rotation axis is
For example, while rotating the first socket 24
₁The second cylindrical part 28 of₂the bolt 17 into the first cover.
Fastening part 48₁Natsu as a mating threaded part in
It is screwed into the socket 57. As shown in FIGS. 9 and 11, each nut 57
The cylindrical portion 57a and the flanges provided on the outer circumferential surface of the lower end thereof.
The tip of the cylindrical portion 57a is
Each fastened part 48₁~48_Fourretaining plate 5 attached to
Each fastened portion 48 is inserted loosely into the elongated hole 59 of 8.₁~48_Four
is maintained. As a result, each nut 57 is filled with water.
It is possible to move a given amount in a plane, so each na-
Even if there is some deviation in the position of the button 57, the
Perform the screwing operation securely and assemble the front lower part 5f.
be able to carry out work. In Figure 15, when changing the model, each rotating machine
13₁~13_Fourchange the position of the rotary drive body
When changing the position of 55, use the servo motor 52.
The support plate 53 and therefore the movable body 54 are activated.
The rotation drive body 55 is rotated around the vertical axis.
The movable body 54 and rotation are driven by operating the driving motor.
Rotating cylinder 5 that moves the body 55 in the horizontal direction
6 to move the rotary drive body 55 in the vertical direction.
It performs operations such as setting. Then the server
The motor 52, the support plate 53, and the movable body 54 are connected to each other.
In cooperation with each rotating machine 13₁~13_Fourto change the car model
The position can be adjusted to accommodate changes in the wheel base.
The rotation of the present invention is supported by the lifting table 49.
Motive position adjustment mechanism Aj₀Configure. Front transport device 9f In Figures 1, 2, and 2A, the front conveyor
9f has multiple transport systems as described below.
Ru. That is, the pallet overlapping position A on the right side of the vehicle body 4
Component assembly position B extending in the vehicle width direction from below the vehicle body 4
The first transport system L leading to₁and from parts assembly position B.
Pallet discharge position extending in the vehicle length direction and in front of the vehicle body 4
Second transport system L leading to C₂and pallet discharge position
From C to 1st transport system L₁Extending parallel to the vehicle body 4 right
Third conveyance system leading to pallet separation position D diagonally forward
General L₃and the second conveyance system from pallet separation position D.
L₂The first part extends parallel to the pallet polymerization position A.
4 transport system L_Fourand the fourth pallet from the pallet separation position D.
Transport system L_Fourbypass and reach the pallet polymerization position A.
5th transport system L_FiveThat is. Front lower part 5f is placed at pallet overlapping position A.
A work set palette 14 to be held and a plurality of boxes
bolt set pallet 15 that holds the bolt 17;
A polymerization mechanism 60 for polymerizing as described above is provided.
The work set palette 14 polymerized here
and the bolt set pallet 15 is the first conveyance system.
L₁It is then transported to the parts assembly position B and stopped. At the parts assembly position B, there are front and rear transport devices 9f,
Lifting device 12 forming part of 9r, front lower part
A plurality of front rotating machines 1 for assembling parts 5f to the vehicle body 4
3f etc. are arranged, and here the front lower part 5f is installed.
It is assembled to the vehicle body 4. After assembly work, work set pallet 14 and
The bolt set pallet 15 is connected to the second transport system L.₂
to the pallet discharge position C, and then to the third conveyance system.
General L₃The pallet is then conveyed to the pallet separation position D. There is a workpiece set near the pallet separation position D.
Bolt set pallet in polymerization state with let 14
Front bolt supply device that supplies the bolt 17 to the bolt 15
A pallet separation position D is provided.
After supplying the bolts 17, the work set pallet 14
and bolt set pallet 15.
A structure 61 is provided. After the separation work, the bolt assembly supplied with bolt 17
Pallet 15 is the 4th transport system L_FourAfter passing through
It is transported to the polymerization position A. Work set again
Topalette 14 is the 5th transport system L_Fiveis transported,
During the transport, the 5th transport system L_Fivebefore being placed in
The front lower part 5f is supplied by the second supply device 11f.
is supplied. After supplying the work set pallet
14 is transported to the pallet stacking position A and bolted
Polymerized with set pallet 15, and then the same procedure as above.
Work is done. The polymerization mechanism 60 is configured as follows. As shown in Figures 1, 2A, 16 and 17
, the assembly equipment installed vertically at the bottom 2a of the pit 2
In the structural frame 62, the gate-shaped frame portion
63₁A drive motor 65 is connected to the pair of pillars 64.
Multiple guide rods are connected by speed gear 66, transmission member 67, etc.
along the guide rail 69 of the column 64 via the roller 68.
A slider 70 that moves up and down is provided.
The horizontal opening 71a has a rectangular opening 71a.
The pallet mounting table 71 is moved up and down horizontally.
They are connected via a pair of brackets 72. A line extending in the vehicle width direction is provided on the upper surface of the pallet mounting table 71.
A pair of rails 73 and 74 are laid parallel to each other.
One rail 73 on the pallet separation position D side has a chevron shape.
the top surface, and the other rail 74 has a flat top surface.
(Fig. 16), and the top of one rail 73 is
The grooved wheels 36 of the bolt set pallet 15 are
The grooveless wheels 37 run on the other rail 74.
It's starting to roll. Elevation of the opening 71a in the pallet mounting table 71
Set the workpiece palette so that it is located within the descending trajectory.
A pallet equipped with a plurality of steel balls 75 to support the
The support base 76 is a support frame of the structural frame 62.
It is supported by the upper end of the arm portion 77. At the elevated position of the pallet mounting table 71, each rail 7
The top surface of 3 and 74 corresponds to each steel ball 7 of the pallet support stand 76.
It is positioned above 5. The separation mechanism 61 is configured as follows. Separation mechanism as shown in 1st, 2A, and 16
61 has substantially the same configuration as the polymerization mechanism 60. That is, the portal frame in the structural frame 62
Part 63₂A drive motor 79,
Multiple guides by reducer 80, transmission member 81, etc.
to the guide rail 83 of the support column 78 via the roller 82
A slider 84 is provided that moves up and down along the
The side of the polymerization mechanism 60 is opened to the rider 84.
Horizontal pallet mounting with U-shaped notch 85a
A pair of brackets are installed so that the stand 85 can move up and down horizontally.
86. The notch 85a in the pallet mounting table 85
Place the work set pallet so that it is located within the lifting trajectory.
A plurality of rollers 87 are provided to support the shaft 14.
The pallet support stand 88 is connected to the first and third conveyance systems.
L₁,L₃The upper horizontal frame of the structural frame 62 located between
A cantilever support is attached to the frame portion 89 via a bracket 90.
held. In the pallet mounting table 85,
A layer of the polymerization mechanism 60 is placed on the top surface of the end on the polymerization mechanism 60 side.
so that it is located on a straight line parallel to the wheels 73 and 74.
The rail component 91a is laid down, and the pallet
The pallet mounting table 85 is raised to the upper surface of the support table 88.
When it is in the position, it is between both rail component members 91a.
The rails that cooperate with them to form one rail 91
The wall component material 91b is laid. Also on the palette
In the mounting stand 85, on the connecting part that connects both opposing parts.
A rail 92 is laid parallel to the rail 91 on the surface.
Ru. One rail 91 on the pallet stacking position A side is flat.
The other rail 92 has a flat top surface, and the other rail 92 has a chevron-shaped top surface.
This allows the pallet mounting table 85 to
At the raised position, set the bolts on one rail 91.
The grooveless wheels 37 of the pallet 15 also touch the other pallet.
The grooved wheels 36 each roll on the wheels 92.
I can do it. In the raised position of the pallet mounting table 85, each rail
The top surfaces of 91 and 92 are connected to each row of the pallet support base 88.
It is arranged to be located above la 87. (i) 1st transport system L₁ As clearly shown in Figures 1, 2A, 16 and 17.
Then, the pallet mounting table 71 of the polymerization mechanism 60 rises.
When in position, on the extension line of both rails 73, 74
A pair of fixed rails 93 and 94 located at
Located between the superposition position A and the parts assembly position B
Laid on the top surface of the rail support part 95 of the structural frame 62
be done. Also, the lifting table 49 of the lifting device 12
A pair of movable rails 96 and 97 can be moved up and down.
Both movable rails 96 and 97 are
Both fixed rails 9 when they are in the raised position
It has come to be located on the extension line of 3.94.
Ru. Each fixed rail 93, 94 and each movable rail
The cross-sectional shape of 96 and 97 corresponds to the above-mentioned pallet polymerization position.
It is the same as the cross-sectional shape of each rail 73, 74 in station A.
be. Cylinder conveying bolt set pallet 15
The mechanism 98 has its operating direction aligned with the fixed rails 93, 9.
4 and provided in the upper horizontal frame part 89.
Ru. The cylinder mechanism 98 is connected to one fixed rail.
The piston is fixed to the upper horizontal frame 89 near 93.
Place the tip of rod 99 on the side of pallet overlapping position A.
A first working cylinder 100 that is extendable₁
and a first working cylinder 100₁above it and flat
The rail parts 101 are arranged in rows on the upper horizontal frame.
89 into the grooves of the pair of guide members 102.
Rodless type second actuating cylinder that can be fitted together
100₂It becomes more. Second working cylinder 100₂to
Then, the cylinder body 103 is subjected to pallet polymerization.
The end on the side of position A is connected to the first
dynamic cylinder 100₁Connected to the piston rod 99 of
be done. As shown in Figures 18, 18A and 19
Second working cylinder 100₂maintained in the piston 105 of
A holding plate 106 is connected, and the holding plate 106 is connected to the
Slide it on a pair of guide rods 107 of the scanner body 103.
movably supported. In the retaining plate 106, the vertical direction
A pair of mutually parallel guide rails 108 extending in
and positioned above between both guide rails 108.
A small model with piston rod 109 facing downward.
A moving cylinder 110 is provided. Both guide trays
The lever 108 is a unit provided on the back side of the elevating plate 111.
It is slidably fitted into the pair of guide grooves 112 . Ma
The rear surface of the elevating plate 111 is provided with a
An engaging pin 113 is fixed, and the engaging pin 1
The upper end of 13 is a piston of a small operating cylinder 110.
It is connected to a connecting rod 109. The engagement pin 113 is used for the operation of the small actuating cylinder 110.
The first section of bolt set pallet 15
Joint part 38₁can be disengaged from. Guide section attached to the upper end of the holding plate 106
The cylinder body 10 is inserted into the guide groove 115 of the material 114.
A guide rail attached to 3 and extending in the axial direction of
116 is slidably fitted. In FIG. 17, the engagement pin 113 is
and second working cylinder 100₁,100₂operation of
And between pallet stacking position A and parts assembly position B
can be moved back and forth. (ii) Second transport system L₂ As shown in Figures 1, 2A, 17, 23, and 24.
As shown, at parts assembly position B,
Both movable rails 9 are placed on the lifting table 49 of the
Parallel to each other extending in the vehicle length direction between 6 and 97
A pair of rail members 117 are provided. each rail
The member 117 has its rotation axis parallel to the vehicle width direction.
A plurality of Soroban spherical rollers 118 are provided, and each roller
The upper outer peripheral edge of the rail 118 is connected to each movable rail 96,
When the movable rail 97 is in the lowered position, the movable rail 9
The bolt set pallet protrudes above 6,97.
so as to engage with each chevron-shaped guide groove 41 of the butt 15.
It's summery. At the pallet discharge position C, each of the rail parts
the same as above so that it is located on the extension line of the material 117.
A pair of rail sections having a plurality of rollers 119 shaped like
The material 120 is the support frame portion 1 of the structural frame 62
21 (FIG. 1) in parallel to each other. Between parts assembly position B and pallet discharge position C
, and relay between both rail members 117 and 120.
A pair of short relay rail members 122 are attached to the support frame.
Each relay rail
The member 122 includes a roller 124 having the same shape as described above.
There is. As clearly shown in FIG.
5, parallel to each rail member 120
A rodless type actuation cylinder 126 is provided;
Place bolt set pallet 15 on the piston.
2 engaging portion 38₂(Fig. 7) Engagement element 127 for engaging and disengaging
A holding member 128 equipped with is connected. Holding member
128, the support frame portion 1 is inserted into the guide groove 129.
Guide rail 130 fixed to 25 can slide
mated to. (iii) Third transport system L₃ As shown in Figures 1, 2A, and 17,
A rail support stand 131 is provided on the upper surface of the holding frame portion 125.
It can be moved up and down without interfering with both rail members 120.
is provided via a small actuating cylinder 132.
Ru. Rail support stand 131 and pallet separation mechanism
When the pallet mounting table 85 of D is in the raised position,
A pair of rails located on the extension line of both rails 91 and 92
Rails 133 and 134 are on the top surface of rail support stand 131
will be laid down. Top surface of each rail 133, 134
is the position of each rail at the raised position of the rail support stand 131.
Positioned above each roller 119 in the material 120
place Pallet discharge position C and pallet separation position D
The rail support part 13 of the structural frame 62 existing between
5. Rail support stand 131 and pallet mounting
When the stand 85 is in the raised position, both rails 91, 9
A pair of fixings connecting between 2 and 133, 134
Rails 136 and 137 are laid. Each rail 133, 134 and each fixed rail 1
The cross-sectional shapes of 36 and 137 are different from each other of the separation mechanism 61.
The cross-sectional shape is the same as that of the rails 91 and 92. Support frame as shown in Figures 16 and 17.
The frame portion 125 and the gate-shaped frame portion 63 of the separation mechanism 61
₂between the fixed rail 137 and one of the fixed rails.
An actuating cylinder 138 of the straight type is provided;
3 of bolt set pallet 15 on the piston of
Engagement part 38₃(Fig. 7)
A holding member 140 provided therein is connected. Holding member 1
40 is slidable on a pair of guide rods 141
The operating cylinder 1 is supported in its guide groove 142.
Guide rail 143 provided at 38 can slide
mated to. (iv) 4th transport system L_Four As shown in Figures 1, 2A, 16 and 17
At the pallet separation position D, the pallet mounting table 8
so as to be located within the vertical locus of the notch 85a of No. 5.
A pair of mutually parallel rail parts extending in the vehicle length direction
The material 144 is supported below the pallet support base 88.
It is attached to the holding frame section 145. Each rail part
The material 144 has a rotation axis parallel to the vehicle width direction.
A number of Soroban spherical rollers 146 are provided, and each roller
Reference numeral 146 indicates each tray at the lowered position of the pallet mounting table 85.
The bolt set should protrude above the rules 91 and 92.
Engages with each chevron-shaped guide groove 41 of the top pallet 15
It's becoming like that. At the pallet stacking position A, the pallet mounting table
71 and within the vertical locus of the opening 71a of the opening 71a.
Extension line of each rail member 144 at let separation position D
A pair of rail members 147 located above
to the support frame portion 77 below the support base 76.
Installed. Each rail member 147 has a rotation axis
Multiple Soroban spherical rows parallel to the vehicle width direction
Each roller 148 is provided with a pallet loading roller 148.
Above each rail 73, 74 at the lowered position of the platform 71
Each chevron of the bolt set pallet 15 protrudes toward the
It is adapted to engage with the guide groove 41. Between pallet separation position D and pallet polymerization position A
Between both rail members 144 and 147,
A pair of short relay rail members 149 are connected to the support frame.
Each relay rail member 1 is provided in the frame portion 150.
49 is equipped with a roller 151 having the same shape as described above. At the pallet separation position D, the gate-shaped frame section
63₂and the support frame portion 152.
The actuating cylinder 153 of the mold is flat with the rail member 144.
The piston is fitted with a bolt set pad.
Fourth engaging portion 38 of let 15_Four(Fig. 7)
A holding member 155 having an engaging element 154 is connected.
It can be done. The holding member 155 has a pair of guide rods 1
56 and its guide groove 157
Gate-shaped frame part 63₂and support frame part 152
The guide rail 158 installed on the can now slide.
mated. (v) 1st to 4th transport system L₁~L_Fourbolt in
Transporting set pallets 15, etc. At pallet overlapping position A, front lower parts
The work set palette 14 holding 5f is a pallet.
Waits on the support stand 76. Bolt set pallet 1 holding bolts 17
5 includes each grooved wheel 36 and each non-grooved wheel 37.
Place the pallet on the rails 73 and 74 and place it on the pallet mounting table 7.
1, and the pallet mounting table 71 is raised.
Polymerize the work set palette 14 from below.
do. In the raised position of the pallet mounting table 71, the bolts
The bottom surface of the set pallet 15 is the pallet support stand 7
It is located above each steel ball 75 of No. 6. The engagement pin 11 is activated by the operation of the small actuating cylinder 110.
3 is lowered to the first section of bolt set pallet 15.
Joint part 38₁(Fig. 7). Each movable rail 96, 97 at parts assembly position B is
in the raised position and therefore the first working cylinder 10
0₁second actuation cylinder 100 following the actuation of₂operation of
The bolt set pallet 15 is attached to each rail 7.
3, 74, each fixed rail 93, 94 and each movable
The parts are carried along the rails 96 and 97 to the parts assembly position B.
It can be done. Before starting the assembly work of the front lower part 5f, each movable
The rails 96 and 97 are designed to descend,
This lowers the bolt set pallet 15.
Each chevron-shaped guide groove 41
118. In this state, the bolts are set by the lifting device 12.
Pallet 15, therefore the front lower part 5f
Raise it up and perform the assembly work. After assembly work, lowering the bolt set pallet 15
The second engaging portion 38₂(Figure 7)
Transport system L₂The engaging element 127 engages. Each rail 133, 134 at pallet discharge position C
is in the lowered position, so the operation of the actuating cylinder 126 is
Bolt set pallet 15 and workpiece
The set pallet 14 is connected to each rail member 117, each medium
Joint rail member 122 and each rail member 120
The pallet is transported along the pallet to the pallet discharge position C. Each rail is
133 and 134 rise and bolt set pallet
Each of the 15 grooved wheels 36 and each non-grooved wheel 37
It is mounted on each rail 133, 134, and the bolt set
Third engaging portion 38 of top pallet 15₃(Figure 7)
It engages with the gouger 139. The pallet mounting table 85 at the pallet separation position D is
Since it is in the raised position, the actuation cylinder 138 cannot be operated.
Bolt set palette 15 and work set
Top pallet 14 each rail 133, 134, each fixed
Fixed rails 136, 137 and each rail 91, 9
2 to the pallet separation position D. By lowering the pallet mounting table 85, the workpiece is set.
The top pallet 14 remains on the pallet support stand 88.
Meanwhile, the bolt set pallet 15 is lowered.
Each chevron guide groove 41 engages with each rail member 144
do. Also, the fourth engagement of the bolt set pallet 15
Part 38_Four(FIG. 7) engages with the engaging element 154. The work set pallet 14 is a pallet support stand.
Gate-shaped frame part 63 from 88₂upper roller conveyor
5th transport system L via A159_Fivebeing transported
Once again on the pallet support stand 76 at the let polymerization position A.
It will be placed. At the pallet stacking position A, the pallet mounting table
Since 71 is in the lowered position, the operating cylinder 153
When the bolt set pallet 15 is operated, the bolt set pallet 15 is
rail member 144, each relay rail member 149 and each
along the rail member 147 to the pallet overlapping position A
transported. By raising the pallet mounting table 71, the bolts can be set.
Each grooved wheel 36 and each non-grooved wheel of the top pallet 15
The wheels 37 are placed on each rail 73, 74, and then the front
Workpieces waiting on the pallet support stand 76 as described above
Bolt set palette for set palette 14
15 is polymerized. Lifting device 12 As shown in Figures 20 and 21, the bottom of pit 2
Lifting mechanism 161 having an X-shaped link 160 in part 2a
is arranged, and this elevating mechanism 161 has an elevating table.
49 is supported. One first link configuring the X-type link 160
member 160₁The roller 162 located at the upper end of the
Board 163 with pedestal 50 of lowering table 49
(Fig. 21).
A rotating fulcrum part that is movably fitted and located at the lower end
165 is a base installed at the bottom 2a of the pit 2
166 is rotatably supported by a support portion 167 on the upper surface.
Ru. The other second link member 160₂at the top of
The rotation fulcrum portion 168 is connected to the first link member 160₁
Above the rotation fulcrum part 165, below the board 163
It is rotatably supported by a support part 169 on the surface, and
The roller 170 at the end is provided on the top surface of the base 166.
It is fitted in a horizontal long hole 171 such that it can roll freely.
Ru. First link member 160₁Between the rotation fulcrum parts 165 of
The cylinder body 173 of the operating cylinder 172 rotates.
The piston rod 1 is movably supported.
The tip of 74 is the second link member 160₂middle part of
It is pivoted 175 to. Therefore, the working cylinder 1
When the piston rod 174 of 72 is extended, the lift
The cable 49 rises and the piston rod 174
When the elevating table 49 contracts, the elevating table 49 descends. As shown in Figures 2A, 20, and 21, the vehicle body
4 is positioned and fixed on the right and left sides of the vehicle body 4.
Two erected on the base 166 at the bottom of both sides
It is supported by a pair of support legs 176 and 177. On the board 163 of the lifting table 49, each
In the area sandwiched between the pair of support legs 176 and 177
A pair of front and rear brackets 17 extending in the vehicle width direction
8,179 are provided, each bracket 178,1
Square blocks 180, 18 at the tip of 79
The guide rollers 182 and 183 are set as follows in 1.
I get kicked. Each guide roller 1 is installed on both left and right sides of the vehicle body 4.
Since the mounting relationship of 82 and 183 is the same, the vehicle body
To explain the one on the right side of 4, it is a bigonal block.
The rotation axis is oriented in the vehicle width direction on the outer surface of the hook 180.
Two girder guide rollers 182 are installed on the top and bottom.
is rotated to the opposite surface of the bigonal block 180.
Two guide rollers 18 with their axes oriented in the vehicle length direction
3 can be installed on the top and bottom. Support legs 176 and 177 on both sides of the vehicle body 4
Cross members 184 and 185 are installed between the intermediate parts of each
Positioning blocks are placed on opposite surfaces of the cross members 184 and 185.
186 and 187 are fixed. As clearly shown in FIG.
At the lowered position of each guide roller 182, 18
3 is removed from each positioning block 186, 187.
are doing. On the other hand, as shown in Figure 21,
As the table 49 rises, each guide row on one side
The roller 182 is connected to each positioning block 186, 187.
It engages with the front and rear end surfaces of the vehicle body 4, and each of the other
The idle roller 183 moves each positioning block 186,
187. This allows the lifting and lowering
Shaking of the vehicle body 4 of the cable 49 in the front and back and left and right directions
is prevented. As shown in FIG. 22, the first link member 160
₁The rotation fulcrum portion 165 located at the lower end of the
The rotation angle of the fulcrum part 165 is set to the height of the lifting table 49.
A detection mechanism 188 is provided for converting to The detection mechanism 188 is attached to the rotation fulcrum 165.
The attached fan-shaped gear 189 and the fan-shaped gear 18
9 and fixed to the base 166.
It consists of a defined encoder 191. encoder
As the fan gear 189 rotates, the gear 191 rotates.
When 90 rotates, it will generate pulses intermittently.
the number of pulses.
The height of the lifting table 49 is determined by
be. With this configuration, the rotation of the X-shaped link 160
Since the dynamic fulcrum part 165 has little vibration, the detection mechanism
188 to accurately adjust the height of the lifting table 49
can be detected. The elevating table 49 is configured as follows.
Ru. This elevating table 49 is located at the front and rear of the vehicle body 4.
Since the lower part has almost the same structure, the front part
Explain the side. As shown in Figures 20, 21, 23 to 27
In addition, a support portion having approximately the same length as the vehicle length is provided on the top surface of the board 163.
A support member 192 is provided with a front portion of the support member 192.
A pair of parallel front panels extending in the vehicle length direction are located on the top side of the vehicle.
A section guide rail 193 is laid. front guide
On the rail 193, there are two lines arranged in the vehicle length direction on the top surface.
Front support stand 195 with exposed steel balls 194
₁Each guide portion 196 on the lower surface is slidably fitted.
There is. Front support as shown in Figures 24 and 26.
195₁At the bottom, support is placed on the upper surface of the support member 192.
A servo motor 197 is provided, and the servo motor 197 is
The screw shaft 198 rotated by 197 is in the longitudinal direction of the vehicle.
The threaded shaft 198 extends to the front support base 195.₁
It is screwed into a female screw member 199 provided on the lower surface.
Ru. This drives the servo motor 197.
and front support stand 195₁is both guide rails 193
The vehicle can move forward and backward along the length of the vehicle. However
The servo motor 197, screw shaft 198, female thread
The same member 199 and the guide rail 193 cooperate with each other.
The front support 195₁, due to a change in car model.
In the vehicle length direction to accommodate changes to the vehicle body wheel base.
Before being supported on the lifting table 49 so that the position can be adjusted
Part position adjustment mechanism Aj₁It consists of Also with this
Rear position adjustment mechanism Aj with similar configuration₂is the rear
Support stand 195₂It can also be installed on the side. Front support stand 195 as shown in FIG.₁
Support tubes 200 are provided at the four corners of the top surface of the
A rail support rod 201 is attached to each support tube 200.
is supported so that it can slide vertically,
A pair of rails on the front and rear sides in the vehicle length direction
Both movable rails 96, 97 are attached to the support rod 201.
are supported respectively. As shown in Figure 25, the
between both rail support rods 201.
Holder 195₁An operating cylinder 202 is fixedly installed in the
The tip of the piston rod 203 extending upward is
It comes into contact with the lower surface of one movable rail 97. Front support as shown in Figures 24 and 25.
195₁on both sides parallel to the vehicle length direction.
A pair of front and rear bell cranks 204 are pivotally attached to the lower surface of the
located at the upper end of each bell crank 204.
A roller 205 is attached to the lower end of each rail support rod 201.
is rotatably fitted in the hole 206 of the
Connecting rod 207 to the lower end of the bell crank 204
Both ends are pivotally connected. When the actuation cylinder 202 is actuated by this,
Each pair of bell cranks 204 and connecting rods 2
Both movable rails 96 and 97 are raised simultaneously via 07.
can descend. Pallet member mounting table 208 In Figs. 20, 23 to 25, and 27,
Straddle between parts assembly position B on the front and rear of the vehicle body 4.
Placing the front and rear pallet members 8f and 8r
A stand 208 is arranged on the lifting table 49. So
The mounting table 208 has both sides as shown in FIG.
Front and rear support stands between movable rails 96 and 97
195₁,195₂Move to each steel ball 194 of
A first and a second frame forming a rectangular frame that can be supported
Placement section 209₁,209₂and both mounting parts 209₁，
209₂Extends in the vehicle length direction to connect the opposing surfaces of the
A pair of parallel telescopic connecting rods
210, this telescopic type link
The connecting rod 210 is connected to the first and second mounting portions 295.₁，
195₂It is impossible to move relatively in the vehicle width direction between
A connecting portion of the present invention that connects so as to be relatively movable in a direction.
It consists of materials. And this connecting rod 210
According to the special edition, the first,
Second mounting section 209₁,209₂(Therefore, before that,
Relative displacement of rear pallet members 8f, 8r) in vehicle length direction
While allowing movement, the first and second mounting portions 209₁，
209₂(Therefore, the front and rear pallet members 8 above
f, 8r) The vehicle was moved or tilted in the width direction of the vehicle.
to maintain correct alignment at all times without
Therefore, both pallet members 8f and 8r
The upper front and rear lower parts are also installed before they are assembled to the vehicle body.
before and after
While ensuring the integrity of the lower parts,
It can be efficiently and properly assembled to the body. Both publications
Okabe 209₁,209₂The rail member 117 is
are provided, and the rows of these rail members 117 are
118 to the chevron guide on bolt set pallet 15.
The front and rear pallet members 8 are engaged with the door grooves 41.
f, 8r on both mounting parts 209₁,209₂to each
It is now being installed. As shown in Figures 23 and 27, the first mounting
Section 209₁and front support stand 195₁and those pairs
Each pair of through holes h arranged on a square wire₁,h₂join to
Connected by inserting pin 211, or
second mounting section 209₂is a through hole (not shown)
and the rear support 195 via the coupling pin.₂In conclusion
will be combined. In FIG. 20, front and rear support stands 195₁，
195₂Drive each lower servo motor 197
When the screw shaft 198 is rotated, the front and rear support bases 19
5₁,195₂via the first and second mounting portions 209₁，
209₂I was able to change the interval between
Therefore, when changing models, it is not possible to change the wheelbase.
can be easily dealt with. After this wheelbase change work, each coupling pin
211 and the first mounting section 209₁and anterior branch
Holder 195₁The connection between and the second mounting part 209₂
and rear support stand 195₂The connection between them is broken. As shown in Figures 23 and 24, the first mounting
Section 209₁On the front side in the longitudinal direction of the vehicle, there are small
A mold actuation cylinder 212 is attached to each
Upward piston rod 2 of working cylinder 212
The positioning pin 214 connected to 13 is placed on the first
Section 209₁through the insertion hole 215 formed in the
There is. In the above configuration, the bolt to the component assembly position B
When carrying in set pallets 15, etc., each positioning
The pin 214 is in the lowered position and each movable rail 9
6,97 is in the raised position and therefore the bolt
Grooved wheels 36 and non-grooved wheels of the pallet 15
The wheel 37 rolls on both movable rails 96,97.
Next, when each movable rail 96, 97 descends, the bolt
The route set pallet 15 also descends and each chevron guide
The groove 41 engages the roller 118 of each rail member 117.
and the operation of each small actuating cylinder 212 causes each
The positioning pin 214 is attached to the bolt set pallet 15
It fits into each positioning hole 40 of. This allows the first
Placement section 209₁Bolt set palette 1 for
5. Therefore, the positioning of the front lower part 5f is
It will be done. Second mounting section 209₂The side is also small as above.
A mold actuation cylinder etc. is provided. As described above, the first and second mounting portions 209₁,20
9₂When connected by the connecting rod 210, the front,
Divide the rear pallet members 8f and 8r into the front and rear.
Also, check the consistency between the front and rear lower parts 5f and 5r.
It can be made good. V Front and rear lower parts 5f, 5 for the vehicle body 4
r position adjustment device Shown in Figures 2A, 3, 23, 27-34.
As shown in FIG.
8 first and second mounting parts 209₁,209₂to it
are connected so that they have a predetermined floating amount.
Front and rear moving mechanisms 216f and 216 for the mounted table
r and the positional deviation of the vehicle body 4 is detected and the position is determined.
When the floating amount exceeds the floating amount,
Front and rear moving mechanisms 216f and 216r depending on the situation.
A correction mechanism 217 that operates the correction mechanism 217 is provided. (i) Front and rear moving mechanisms 216f, 216r Both moving mechanisms 216f and 216r have the same configuration.
23, 28 to 31.
The section moving mechanism 216f will be explained. Front support stand 195₁On the top surface of
Section 209₁The first mounting portion 2 is placed on the area surrounded by
09₁The first mechanism section 21 that moves the vehicle in the vehicle width direction
8₁and the first mounting section 209₁is moved in the vehicle length direction Y.
second mechanism section 218₂and will be provided. No. 1
Okabe 209₁The first mechanism section is located on the front inner surface in the vehicle length direction.
218₁The roller 219 connected to
The first mounting portion 209 is rotatably supported by the
₁A support member 220 protruding from the inside of the
Structure part 218₂The roller 221 connected to the vertical axis
It is supported so that it can rotate around a line. First mechanism section 218₁is the front support stand 195₁Above
Slide table 222 movable in the vehicle width direction
and slide to grasp the roller 219 from both sides.
A pair of grips rotatably supported on the table 222
The holding member 223 and each holding member 223 are sandwiched between them.
The slider is arranged coaxially with each gripping member 223.
A pair rotatably supported by the idle table 222
pressing member 224 and each pressing member 224 at the same time.
is provided on the slide table 222 for operation.
The actuating means 225 and the gripping member 223 are connected to the roller 21
Each pressing member 224 is provided at the tip to urge it toward the 9 side.
actuator 226 and slide table
Driving means for moving the wheel 222 in the vehicle width direction
227. Front support stand 195₁Above, space in the vehicle width direction
A pair of side plates 228 facing each other are erected.
A pair of side plates 228 extending in the vehicle width direction
A guide rod 229 is installed horizontally. Sly
A pair of guide portions 222a are provided on the lower surface of the table 222.
is protruding, and both guide rods 229 are attached to it.
The guide portion 222a is slidably inserted through the guide portion 222a. this
Therefore, the slide table 222 has both guide rods.
229 to move in the vehicle width direction
I can do it. Parallel to the vehicle length direction Y through the axis of the roller 219
On both sides of the center line Lc extending to
The part on the table 222 near the roller 219
A supporting member 230 is fixed to the gripping member 223 .
The base end of the support shaft 2 is erected on the support member 230.
31 so as to be rotatable. Each gripping member 223
has its cross-sectional shape on the opposite side of the roller 219.
It is formed in an open approximately U-shape, and each gripping member
The intermediate part of the pressing member 224 fitted to the
It is rotatably supported on a shaft 231. Each actuator 226 has a spherical tip.
The pressing body 232 is moved to the gripping member 223 side by air pressure.
This biases both gripping members to protrude.
223 is rotatably biased toward the side that grips the roller 219.
It can be done. The actuating means 225 is a piston extending in the vehicle length direction Y.
The slide table 222 is equipped with a locking rod 233.
an actuating cylinder 235 pivoted 234 on the
The tip of the piston rod 233 and the pressing member 22
A pair of links 236 connecting the proximal ends of 4.
do. Therefore, the piston rod of the working cylinder 235
When the door 233 is extended, the pressing member 224
The direction in which their proximal ends are brought closer to each other, i.e., their
Rotate the tip in the direction away from the roller 219
Ru. Also, when the piston rod 233 is retracted,
The pressing members 224 have their tips close to each other.
gripping direction, i.e., gripping via actuator 226.
In the direction in which the roller 219 is gripped by the member 223
Rotate. on the slide table 222 to the center line Lc.
A key 237 is provided that extends along the
The position in the vehicle width direction X can be determined using the key 237.
A pair of regulating members 238 and 239 are slide tapes.
222. One regulating member 238
is one that can come into contact with the base end portions of both pressing members 224
By this regulating member 238, both pressing members 2
Minimum distance between proximal ends of 24, i.e. maximum distance between tips
is defined. In addition, the other regulating member 239
It can come into contact with the gripping member 223, and this rule
The minimum distance between both gripping members 223 is controlled by the control member 239.
The interval is specified. The drive means 227 has an axis extending in the vehicle width direction
Front support stand 195₁Servo motor fixed to
240 and an axis extending in the vehicle width direction X.
Nut member 241 fixed to one side plate 228
and is screwed into the nut member 241 and aligned.
The end is the connection part 242 on the bottom surface of the slide table 222
a ball screw shaft 243 rotatably connected to the
The rotational force of the output shaft 244 of the servo motor 240 is
and a gear train 245 that transmits information to the screw shaft 243.
do. This causes the servo motor 240 to
When the slide lever screw shaft 243 is rotated in the forward and reverse directions,
cable 222 and therefore the first mounting section 209₁of
It can move in the vehicle width direction X. Second mechanism section 218₂is the first mechanism section 218₁
Since it has basically the same configuration as
Although omitted, this second mechanism section 218₂By the third
1 Placement section 209₁can be moved in the vehicle length direction Y.
can. In the above configuration, for example, the first mechanism section 218₁
As for the piston rotation by the actuating cylinder 235,
Contract the tube 233 and rotate both pressing members 224.
The roller 219 is firmly held by both gripping members 223.
The servo motor 240 operates when the
The slide table 222, therefore, the first mounting
Section 209₁is moved in the vehicle width direction X to position it. Once this positioning is completed, the actuating cylinder
235, the piston rod 233 is extended and both
Return the pressing member 224 to its original position. At this time, both
The gripping member 223 is attached to the actuator at the tip of both pressing members 224.
How to grip the roller 219 by the Yuator 226
Since it is biased in the direction, the first mounting portion 209₁teeth
It is possible to have a predetermined amount of movement in the vehicle width direction
Wear. Therefore, the first mechanism section 218₁is the first mounting section
209₁, if it is at a predetermined angle in the vehicle width direction
They are connected to have a rotating amount. Said second mechanism section 218₂is the first mounting section 209₁
, it has a predetermined flow point in the vehicle length direction Y.
are concatenated to have the amount of In the rear movement mechanism 216r, the first and second aircraft
Structure part 246₁,246₂and second mounting section 209₂with
The connection relationship corresponds to the front side. (ii) Correction mechanism 217 As shown in FIG. 3, the correction mechanism 217
The 1st to 4th sensor units are installed on both the front and rear sides of the
Nitz 247₁~247_Fourand each sensor unit 2
47₁~247_FourSignal of positional deviation amount of vehicle body 4 from
Accordingly, each positional deviation amount is
09₁,209₂whether it is within the floating amount of
A comparator 248 for comparison is provided. The comparison
The container 248 is configured so that the amount of positional deviation is
The servo motor 240 is created when the
Outputs an operating signal to the servo motor controller 249 that moves.
On the other hand, the amount of positional deviation is
If the amount is within the
Outputs an operating signal to the moving lifting mechanism controller 250.
It is becoming more and more like this. Each sensor unit 247₁~247_Fourhave the same structure
It has a structure as follows. 2nd A, 3rd, 20th, 21st, 32nd to 3rd
In Figure 4, a support stand for positioning and fixing the vehicle body 4
3, along the lower left and right side edges of the vehicle body 4, and along the vehicle body
Base ends of four stays 251 extending in the front-rear direction of 4
The parts are fixed. Vehicle body as shown in Figure 32
On the front and rear sides of 4, each pair of stays 251
A piston rod 2 extending in the vehicle width direction is installed at the tip of the piston rod 2.
Actuation cylinder 253 with the tips of 53a facing each other
is provided at the tip of each piston rod 253a.
Piston rod 254 via bracket 252
A small actuating cylinder 255 with the tip facing upward is installed.
I'm being kicked. The piston rod in each small working cylinder 255
The sensor S is supported at the tip of the tube 254 as follows.
Ru. As clearly shown in Figures 33 and 34, the disc-shaped case
An air introduction pipe 257 is attached to the bottom wall of the housing 256.
The pressurized air from the air introduction pipe 257 is
A large number of ventilation holes 259 formed in the partition wall 258
are introduced into the casing 256 in a more dispersed manner.
Ru. A float plate 260 is arranged inside the casing 256.
and protruding from the center of the upper surface of the float plate 260.
The engaged pin 261 is connected to the cover plate of the casing 256.
It protrudes upward from the opening 263 of 262. engagement
Between the outer peripheral surface of the pin 261 and the inner peripheral surface of the opening 263
Telescopic boots that keep the inside of the casing 256 airtight
264 are provided. Outer surface of casing 256
, the phases are shifted by 90° with respect to the center.
Positional deviation of the vehicle body 4 in the vehicle width and vehicle length directions
A pair of detection bodies 265 each detecting the amount₁,2
65₂will be placed. Each sensor unit 247₁~247_Fouris pressurized air
With the float plate 260 floating by air
Engage the engagement pin 261 with the detection hole of the vehicle body 4, and
The float plate 260 and each detection body 2 when engaged
65₁,265₂Measure the distance between the
The amount of positional deviation of the vehicle body 4 is detected. (iii) Operation of the positioning device The vehicle body 4 is transported by a transport mechanism (not shown).
Then, align each positioning hole 6 of the vehicle body 4 with each position of the support base 3.
It is positioned on the support stand 3 by fitting into the fixing pin 7.
Fixed in position. Bolt set for front and rear pallet members 8f and 8r
The top pallets 15 are placed on the first and second mounting tables 208.
Section 209₁,209₂Through the rail member 117 on top
In this state, each positioning pin 214
(Fig. 24) shows the bolt set pallet 15.
When positioning is performed, the front and rear lower parts
The products 5f and 5r are in a matching relationship. First to fourth sensor units 2 of correction mechanism 217
47₁~247_FourIn each working cylinder 253
When the piston rod 253a is extended by
Each sensor S moves in the vehicle width direction, and the first and second sensors
Saunit 247₁,247₂Each sensor S of
4 Both positioning holes 25 as detection holes on the front side
(Fig. 3) Below, the third and fourth sensor units
G247₃,247_FourEach sensor S is located on the rear side of the vehicle body 4.
They are placed below both detection holes 266 (Fig. 3).
It can be done. Each sensor unit 247₁~247_Foursmall size operation
When the cylinder 255 is actuated, its engagement pin 26
1 is associated with both positioning holes 25 and both detection holes 266.
As a result, each sensor unit 247₁~2
47_FourBoth detection bodies 265₁,265₂car body by
4 positional deviation amount in vehicle width direction X and vehicle length direction Y
is detected. After this detection operation is completed, the operating cylinder
With the operation of the cylinder 253 and the small actuating cylinder 255,
Sensor S returns to its original position. Each sensor unit 247₁~247_Fourcar body from
The signal of the positional deviation amount of 4 is sent to the comparator 248,
Therefore, the amount of positional deviation of the vehicle body 4 is
09₁,209₂Whether it is within the floating amount of
be compared. In the comparator 248, the amount of positional deviation of the vehicle body 4 is
First and second mounting sections 209₁,209₂floaty
When it is determined that the amount is within the
248 outputs an activation signal to the lifting mechanism controller 250
Therefore, the lifting mechanism 161 (Fig. 20) operates.
Then, the front and rear lower parts 5f and 5r rise and the front
Bolt set pallet 15 of pallet member 8f
The four positioning pins 26 (Fig. 7)
Fit each into the four positioning holes 25 on the front side of the body 4.
and the position of the front lower part 5f with respect to the vehicle body 4.
A decision is made. The flap is adjusted according to the positioning of this front lower part 5f.
The mounting table 208, which is in a rotating state, moves and
This prevents the misalignment of the vehicle body 4 from the flange of the mounting table 208.
Corrected by slight movement according to the amount of rotation.
Align the front and rear lower parts 5f and 5r.
Positioning with respect to the vehicle body 4 in the aligned state
I can do it. After that, the front and rear rotating machines 13f and 13r will operate.
Therefore, the front and rear lower parts 5f and 5r are attached to the vehicle body 5.
be assembled into. On the other hand, the comparator 248 calculates the position of the vehicle body 4.
The amount of fall is the first and second mounting portions 209₁,209₂Flo
When it is determined that the amount of
The comparator 248 is connected to the servo motor controller 249.
Each servo motor 240 outputs an operating signal.
operates to move the mounting table 208 in the vehicle width direction
or in the longitudinal direction of the vehicle, thereby moving the front and rear lower parts.
The positions of the rotating parts 5f and 5r are corrected. Front and rear bolt supply devices 10f, 10r Front and rear bolt supply devices 10f and 10r are the same
Since it has the following configuration, the front bolt supply device 1 is as follows.
0f will be explained. Front bolt supply as shown in Figures 35-37
The device 10f attaches to the bolt set pallet 15.
Tighten the 8 bolts that are provided and open upward.
1st to 4th sockets 24₁~24_Four8 buttons on the
Place the root 17 facing downward on the top of the head and place it in one piece.
It is starting to be arranged. That is, the device 10f is the conveyor device 267
The bolt 17 carried by
A transfer mechanism 268 that transfers the paper one by one while facing the
The bolt 17 transferred by the transfer mechanism 268 of
Holding to hold eight bolts 17 by gripping one bolt at a time
Solve the position and retention for all bolts 17 at once.
A transfer mechanism 269 that moves between transfer positions
and a receiver that receives all the bolts 17 at the transfer position.
position and bolt 17 in each socket 24.₁~2
4_FourDispensing to one bottle by moving between supply positions
mechanism 270, the dispensing mechanism 270 is
At the receiving position, hold the bolt 17 with the top of its head facing upward.
Then rotate it 180 degrees and place it on the top of the head.
It has a receiving part 271 that faces downward. In the illustrated example, the bolt movement of the transfer mechanism 268 is
It approaches the sending end and is transferred by the transfer mechanism 268.
One bolt 17 is held by the delivery mechanism 269.
A protruding mechanism 272 is disposed to allow the user to move. i Configuration of each mechanism (a) Transfer mechanism 268 As shown in FIGS. 38 to 40, the transfer mechanism
268 is composed of a known vibrating linear feeder.
It is erected on the support frame 273 of floor 1.
A pair of plate-shaped transfer members 275 are attached to the supporting side plates 274.
are supported parallel to each other and horizontally with a predetermined interval.
The bolt 17 is held on the upper surface of both transfer members 275.
Place the lower surface of the head 17a (in the illustrated example, the lower surface of the seat 16).
and the shaft portion 17b of the bolt 17 between both transfer members 2.
Bolt transfer is now possible by hanging between 75
ing. (b) Ejection mechanism 272 Bolt transfer as shown in Figures 38 and 41
At the bottom of the end, the bracket 2 is attached to the support side plate 274.
76 is installed, and the transfer is made to the bracket 276.
Stop the sent bolt 17 and do the ejection work.
A stop member 277 is supported.
Ru. The stop member 277 has both transfers at its upper end.
The bolts are located at approximately the same height as the top surface of member 275.
A pair of mutually parallel steps supporting the lower surface of seat 16 of 17
The portion 278 engages with the outer peripheral surface of the seat 16 of the bolt 17.
and a rising portion 279 that prevents the bolt 17 from advancing.
A bolt is provided between the tip portions of both rising portions 279.
The opening 2 is opened so that it can pass through the shaft portion 17b of the shaft 17.
80 is formed. At the bottom of the stop member 277, the piston rod 28
Operating cylinder 2 for bolt ejection with 1 facing upward
82 is installed and its piston rod 281
At the end, the lower end of the shaft part 17b of the bolt 17 is stopped.
protruding rod 2 with a hole 283 that fits with the side;
84 are connected. The bracket 276 has a protruding rod 284 and a flat
support side plate 27 in the row and from the rod 284
A pair of stop rods 285 are located on the 4th side.
slidably inserted into both stop rods 285.
A connecting plate 286 is installed between the lower ends. bracket
276 to connect each stop rod 285.
The bottom of the surrounding large diameter hole 287 and each stop rod 2
A spring 289 is compressed between the locking pin 288 of 85
and urges each stop rod 285 upward.
There is. Connecting plate 286 parallel to stop rod 285
A stop pin 290 is erected, and the stop pin 290 is erected.
The tip of the pin 290 faces the bottom surface of the bracket 276.
do. In the lowered position of the protruding rod 284, the connecting plate 2
The upper edge of 86 protrudes and engages the lower end surface of rod 284.
and each stop rod 285 is also in the lowered position,
As a result, the end surface of each stop rod 285 is stepped.
The part 278 is located below the top surface of the bolt 17.
It is designed not to impede progress. In this state
As shown in Figs. 38 and 41, the stop pin 29
0 and the lower surface of the bracket 276.
fixed interval d_Fiveis formed. On the other hand, when the protruding rod 284 rises, it
Each stop rod 285 causes the spring 289 to extend.
Then the stop pin 290
When it comes into contact with the butt 276, it stops rising. this
In the raised stop position of the stop rod 285, the protruding
Protrusion of the preceding bolt 17 by the holding rod 284
The work has not started and is indicated by the dashed lines in Figure 38 and
As shown in FIG.
The tip of the leading bolt 17 and the next bolt 17
It has entered the 16th interval of both seats. This allows the previous button to
During the work of ejecting the bolt 17, the next bolt 17
It is not sent to the stepped portion 278 side, and therefore
When working on protruding the preceding bolt 17,
Interference between the row bolt 17 and the next bolt 17
The connection between the second bolt 17 and the protruding rod 284
Preventing each bolt from interfering with the other, and directing the bolt protrusion work to one
It can be done smoothly. (c) Delivery mechanism 269 As shown in FIGS. 38 and 40, the support side plate 27
A pair of rod-shaped supports 291 are parallel to each other on the top of 4.
and is provided so as to be able to slide in a horizontal plane,
Both supports 29 located above the protrusion mechanism 272
A plate material 292 is installed between the upper surfaces of one end portion of 1 . board
In the middle of the material 292, there is a vertical axis passing through it.
A bearing sleeve 293 is fixed to the bearing sleeve 293.
93, the middle part of the hollow shaft 294 is inserted through the bearing 295.
It is rotatably supported. A hollow shaft is formed at the bottom of the hollow shaft 294 from the lower end surface side.
The cylindrical body has a predetermined distance between it and the outer peripheral surface of the shaft 294.
296 is loosely fitted, and the cylindrical body 2 is attached to the lower end surface of the hollow shaft 294.
96 bottom is fixed. The cylindrical body 296 has an outer periphery
A support flange 297 is provided on the upper part of the surface.
Attach the bolt grip part 2 to the support flange 297 as follows.
98 are provided. That is, the support flange as shown in FIG.
297, a set of two supporting members extending downward therefrom;
299 are provided in eight sets at equal intervals on the circumference,
A pair of gripping claws 300 is provided between both supporting members 299 of each set.
are arranged and their upper ends are connected to both support members 299.
is swingably attached to the support shaft 301.
Ru. The lower surface of the support flange 297 and the upper surface of each gripping claw 300
A steel ball 302 and a spring 303 are interposed between the end face and the
be done. In this case, each steel ball 302 is
Each grip is held on the outside of the handle by the elastic force of the spring 303.
It comes into contact with the upper end surface of the claw 300, and thereby both gripping claws
300 Closing method in which the hook-shaped engaging parts a at the tips approach each other
energized in the direction. between the upper parts of both support members 299.
A grip that also serves as an external stop for the screw 303 and steel ball 302
A stop plate 304 for claws is attached, and both gripping claws are attached.
Used when opening them in the middle of 300
A roller 305 is rotatably supported. The preceding bolt 17 is held by a pair of gripping claws 300.
After gripping, to grip the next bolt 17
The hollow shaft 294 is intermittently rotated, and its rotation
The drive unit 306 is configured as follows. That is, as clearly shown in Figures 30, 40, and 43.
Above the bearing tube 293, the hollow shaft 294
The cylindrical portion 308 at the end of the support member 307 is connected to the bearing 309.
The support member 30 is rotatably supported via the support member 30.
7 and the bearing sleeve 293 to the hollow shaft 294.
A drive plate 310 is fixed via a key 311.
Eight sets of gripping claws 30 are provided on the outer peripheral edge of the drive plate 310.
Eight arcuate notches 312 are located on the circumference corresponding to 0.
Formed at equal intervals. A rotation actuation cylinder 3 is attached to the lower surface of the support member 307.
13 is installed, and its piston rod 314
At the end, each notch 312 of the drive plate 310 can be engaged and detached.
A roller 315 is provided. To both support members 291
Then, a plate material 31 is attached to the end opposite to the drive plate 310.
6 is constructed, and on the top surface of the plate material 316, as shown in FIG.
Rack with rotation shaft 317 that rotates counterclockwise
A pinion type drive source 318 is provided. The drive
A connecting part attached to the rotation shaft 317 of the power source 318
material 319 and a projecting member provided on the upper surface of the support member 307.
Connecting member 320 and both ends of connecting rod 321
The parts are each pivoted. As shown in FIG.
The locking actuating cylinder 322 is installed and its
Each drive plate 310 is attached to the tip of the piston rod 323.
A roller 324 that can be engaged and disengaged from the notch 312 is provided.
It will be done. Both operating cylinders 313 and 322 have pistons.
Hold the tips of the stone rods 314 and 323 in place.
Guide plates 325 and 326 are provided to
Ru. All bolts 1 gripped by each pair of gripping claws 300
A release unit 327 that releases the hold on 7 at once
It is composed as follows. That is, the support frame 328 erected on the plate material 292
In this case, the tip of the piston rod 329 is directed downward.
A removal actuation cylinder 330 is supported. Piss
Slide the hollow shaft 294 onto the lower end of the rod 329.
The upper end surface of the actuating shaft 331, which is movably fitted, is
It is rotatably connected via a strike bearing 332, and
between the lower end surface of the operating shaft 331 and the bottom of the cylindrical body 296.
A return spring 333 is compressed. Below the bearing sleeve 293, the hollow shaft 294 is
A pair of elongated holes 334 extending in the axial direction in the peripheral wall are located opposite each other.
The hollow shaft 294 is formed so that it can slide on the outer peripheral surface of the hollow shaft 294.
The upper end of the elevating cylinder body 335 and the operating shaft 3 fitted to the
31 and both elongated holes 334.
They are connected by a locking pin 336 that passes through them. this
As the operating shaft 331 moves up and down, the elevating cylinder body 335
is the hollow shaft 294 and the cylindrical body regardless of the hollow shaft 294.
296 can be moved up and down. The elevating cylinder body 335 has a support flap on its upper outer circumferential surface.
337 and its support flange 33
7 through the support flange 297 of the cylinder 296.
The upper end of release rod 338 is attached. each solution
The diameter of the lower end surface of the removal rod 338 decreases downward.
is formed on the tapered surface b and below each release rod 338.
The tapered surface b causes one set of gripping claws 300 to
Press both rollers 305 to open both gripping claws 300
It's becoming like that. Hole 3 opening downward in each release rod 338
39 (Figs. 38 and 42) is formed, and the hole
339 is pressed downward by a spring 340
The large diameter base is slidably fitted onto the pin 341 .
Each pressing pin 341 extends downward between both rollers 305.
and its lower end surface is usually located near the engaging part a,
When gripping the bolt 17, the lower end surface of the bolt 17
Both gripping claws 300 press the top surface of the head 17a of 17.
Ensure that the bolt 17 is gripped in cooperation with the
The sea urchin is sleeping. The delivery mechanism 269 configured as described above is moved to the holding position E or
In order to reciprocate between the
74, on the surface opposite to the bolt gripping portion 298, etc.
Moving actuation system with piston rod 342 horizontal
The cylinder 343 is installed and its piston rod
The tip of 342 is a connection that connects both support members 291.
It is fixed to the plate 344. (d) Distribution mechanism 270 As shown in Figures 35 to 37, pallet separation
In the vicinity of position D, the fourth transport system L_Fourpallets of
A horizontal guide member 345 parallel to the transport direction is provided.
A gate-shaped frame 346 is erected on the floor 1, and the water
A triaxial robot 34 perpendicular to the flat guide member 345
7 is supported. The robot 347 is the first
Drive motor 348₁The second drive
motor 348₂The length of the horizontal guide member 345 is
The third drive motor 34 moves horizontally in the hand direction.
8₃The vertical direction of the horizontal guide member 345 is
Can move horizontally in intersecting directions. Arm 349 at the tip of robot 347
can rotate relative to the main body 350, and
bolt from the delivery mechanism 269 to the arm 349 of
A receptacle 271 for receiving 17 is provided. As shown in FIGS. 45 to 47, the receiving portion 271
is constructed as follows. That is, the arm 349 has a rotation axis Lr.
A support shaft 351 having an axis orthogonal to each other is provided,
A bolt holder support member 35 is attached to the support shaft 351.
2 is supported. The support member 352 is the support shaft 3
51 and a hollow shaft portion 353 that is fitted and fixed to the hollow shaft portion 353.
Arranged at equal intervals on the circumference on the outer periphery of the empty shaft portion 353
8 pieces having axes parallel to the hollow shaft part 353
The cylindrical portion 354 and each cylindrical portion 354 and the hollow shaft portion 3
53.
Each cylindrical portion 354 is connected to the delivery mechanism 269.
This corresponds to each set of gripping claws 300. Each cylindrical portion 354 has a bolt holder 35 as shown below.
6 is supported. That is, a large diameter portion having an opening 357 for bolt insertion.
358 and a small diameter portion 359 with a bottom.
60 positions its small diameter portion 359 on the arm 349 side.
It is fitted into the cylindrical portion 354. Large diameter part 358
A pair of elongated holes 361 extending in the axial direction are provided in the peripheral wall of the
They are formed opposite to each other, and have grips in both elongated holes 361, respectively.
The holding claws 362 are arranged in the middle part of each holding claw 362.
is rotatably supported on the large diameter portion 358 via a support shaft 363.
held. Both gripping claws 362 are opened on the outer peripheral surface of the large diameter portion 358.
The actuating cylinder 364 to be closed is slidably fitted and has a large diameter.
Flange existing on the outer peripheral surface of the portion 358 on the opening 357 side
Part c and the outer peripheral surface of the small diameter portion 359 side of the operating cylinder 364
A spring 365 is compressed between the existing flange portion e.
be done. A pair of windows 366 are provided on the peripheral wall of the operating cylinder 364.
Each gripping claw 362 is formed in each window 366 so as to be opposite to each other.
The first engaging portion g existing on the outer end side is loosely inserted. The actuating cylinder 364 moves to the small diameter portion 3 due to the elastic force of the spring 365.
When sliding to the 59 side, each window 366 is opened.
The inner surface k existing on the mouth 357 side is the third of each gripping claw 362.
1 engaging portion g, thereby each gripping claw 362
The second engaging portions m located on the inner end side of the
rotate in the same direction to grip the shaft portion 17b of the bolt 17.
I'm starting to do that. At the connecting portion 355 of the support member 352, each cylinder
A through hole 367 is provided adjacent to and parallel to the portion 354.
A release pin 368 is inserted into the through hole 367.
Slidably fitted. An inner end surface of the connecting portion 355;
Between the inner end flange portion 369 of the release pin 368
The spring 370 is compressed, and the elastic force of the spring 370 is
The outer end flange portion 371 of the release pin 368 is connected.
The outer end flange portion 355 is engaged with the outer end surface of the
A part of the outer end surface of 371 is the flange of the operating cylinder 364
Opposite a part of part e. The support plate 37 is attached to the hollow shaft portion 353 of the support member 352.
2 is attached, and each release pin is attached to the support plate 372.
368, the release actuation cylinder 373 is supported.
held. Each actuation cylinder 373 has a release pin 36
Equipped with a piston rod 374 facing the end face of 8.
Eh, the return spring 376 is connected to the piston 375 again.
be done. The piston rod is moved by the operation of the actuating cylinder 373.
When the pin 374 pushes the release pin 368, the
The outer end flange portion 371 slides the operating cylinder 364.
Therefore, the inner part of each window 366 on the small diameter portion 359 side is
When the surface n engages with the first engaging portion g of each gripping claw 362,
Each gripping claw 362 is rotated. This allows each grip
Opening direction in which the second engaging portions m of the claws 362 are spaced apart from each other
The bolt 17 is rotated to release its grip on the bolt 17.
Ru. Operation of front bolt supply device 10f As shown in FIGS. 38 and 39, the bolt 17
is the transfer mechanism with the top surface of the head 17a facing upward.
268 along the transfer member 275, and the
Stop member 27 of ejector mechanism 272 at the transfer end
7 will stop the movement. Actuation cylinder 3 for moving the delivery mechanism 269
43 piston rod 342 is in an extended state,
Therefore, the delivery mechanism 269 is in the holding position E.
The pair of gripping claws 300 face the stop member 277.
Ru. By the operation of the bolt ejection actuation cylinder 282.
The piston rod 281 of the
The protruding rod 284 rises and the hole 283
is fitted to the lower end side of the shaft portion 17b of the bolt 17, and the bolt
17 is projected upward. The head 17a of the bolt 17 opens both gripping claws 300.
Then, the lower surface of the seat 16 engages with both engaging portions a, and the bolt
17 is gripped by both gripping claws 300. this state
In this case, the pressing pin 341 is rotated by the elastic force of the spring 340.
Since the top surface of the head 17a of the bolt 17 is pressed, the bolt
17 does not rattle. In the delivery mechanism 269, the rotation actuation cylinder
The piston rod 314 of the cylinder 313 is in the extended state.
The roller 315 is connected to one cut of the drive plate 310.
An actuating cylinder that engages with the notch 312 and also prevents rotation.
The piston rod 323 of 322 is in the contracted state.
The roller 324 is connected to the notch 31 of the drive plate 310.
He has left 2. The drive source 318 operates and the rotation shaft 317 moves to the
By rotating 180° counterclockwise in Figure 40,
The support member 307 is connected via the connecting rod 321.
The rotation actuation cylinder 313 rotates 45 degrees and is driven.
Rotate the plate 310 to release the previously gripped bolt 17.
The shaft portion 17b passes through the opening 280 of the stop member 277.
pass Then, the next pair of gripping claws 300 stop.
Opposed to member 277. Due to the operation of the rotation stopper cylinder 322,
The piston rod 323 extends and the roller 324
The drive plate 310 engages the notch 312 and thereby
The gripping claws 300 are then positioned. Rotation action
The piston rod is moved by the operation of the moving cylinder 313.
The blade 314 contracts and the roller 315 moves to the drive plate 310.
from the notch 312, and then the drive source 318
operates and its rotating shaft 317 rotates 180°.
The rotation actuation cylinder 313 returns to its original position.
vinegar. In this way, each pair of gripping claws 300 are attached to the bolts.
17 to one piece and transfer it to the delivery mechanism 269 for eight pieces.
hold the bolt 17. The piston is moved by the operation of the moving actuation cylinder 343.
The stone rod 342 contracts and the delivery mechanism 269
moves to transfer position F. As shown in FIG.
At section 271, the bolt holder 356 is
Each bolt insertion opening 35 is opened by rotating the arm 349.
7 facing upward and the lower end of the shaft portion 17b of each bolt 17.
It is located in a position opposite to the
Due to the operation of the cylinder 373, the piston rod 374
The release pin 368 is pushed and released through the actuating cylinder 364.
Both gripping claws 362 are open. and robot 3
47 rises, the receiving part 271 moves to the receiving position G.
As a result, the shaft portion 17b of each bolt 17 is attached to the bolt holder.
356 into each cylinder 360 through the opening 357.
be done. In the delivery mechanism 269, the release operation system is
The piston rod 329 is activated by the operation of the cylinder 330.
extends, and the operating shaft 331 and the elevating cylinder body 335
Each release rod 338 is lowered through the
Both rollers 30 are removed by the tapered surface b of the removal rod 338.
5 is pressed, both gripping claws 300 open, and this opening
Operation and pressing of the pressing pin 341 by the spring 340
Each bolt 17 is inserted into each cylindrical body 360 by the pulling out operation.
The seat 16 falls around the opening 357 of the cylindrical body 360.
It fits into an annular recess 377 in the edge. Each release cylinder 373 of the distribution mechanism 270
deactivate and release the piston rod 374.
It is separated from the pin 368 and is activated by the elastic force of the spring 365.
Slide the movable barrel 364 and hold the bolt with both gripping claws 362.
Grip the shaft portion 17b of the bolt 17. Due to the horizontal movement of the robot 347, the receiving part 271
from the receiving position G, and then move the arm 34 from the receiving position G.
9 by 180 degrees to remove the top surface of the head 17a of each bolt 17.
point downward. Bolt set palette 15 is the work set palette
Separation of pallets in the polymerized state with
Since robot 347 is waiting at position D,
Each of the first to fourth sockets of the receiving portion 271
24₁~24_FourSupply position H (35th to 35th) corresponding to
(Fig. 37), and then each release operation series.
The holding of each bolt 17 is released by the operation of the connector 373.
is carried out, and the head 17a of the bolt 13 is
socket 24₁~24_Foureach bolt 17
will be distributed. In this way, each socket 24₁~24_FourIn, Bo
Turn the bolt 17 with the top surface of the head 17a facing downward.
Can be supplied dynamically. Also, between the transfer mechanism 268 and the distribution mechanism 270
By disposing the delivery mechanism 269 in the
While the distribution mechanism 270 is in operation, the delivery mechanism 269 is
The idle time of the dispensing mechanism 270 is reduced by
can be eliminated. Moreover, multiple bolts 1
7 is received into the distribution mechanism 270 at once, so the transfer is easy.
The bolt 17 is inserted from the feed mechanism 268 to the distribution mechanism 270.
Compared to the case where one bottle is received, the distribution mechanism 270
Efficiently and reliably transfer bolts to
be able to. In addition, the front and rear second supply devices 11f and 11r
Although detailed drawings have been omitted, both devices 11f, 11
r grips the front and rear lower parts 5f and 5r.
Installed on the front and rear work set pallets 14.
It is becoming more and more like this. C Effect of invention According to the present invention, when the vehicle type to be assembled is changed,
A relatively long change occurred to the body wheelbase.
Even in such cases, the front and rear position adjustment mechanism
and the front and rear support bases for the lifting table.
Compare each loading section and front and rear pallet members in the vehicle length direction.
It can be moved for a relatively long time, and
At the same time, the position of each rotating mechanism can be adjusted, so the above-mentioned home
Extremely easy and quick response to file base changes
Each support stand or mounting can be changed for its modification
There is no need to replace parts, rotating parts, etc. one by one.
Furthermore, it greatly contributes to the reduction of required costs and work time.
can do. In addition, each loading section is placed on the corresponding support base in the vehicle length direction.
The float can be moved by a predetermined amount in both the width direction and the width direction of the vehicle.
It is supported by the car body and lifting table
Even if there is some misalignment between the
The lower parts held by the lettuce members cannot be forced into the vehicle body.
It can be assembled without any problems. And as mentioned above, it corresponds to the wheel base change.
Even if you divide the pallet parts into front and back parts,
The front and rear pallet members are placed on the lifting table independently.
Even if it is supported floatingly, the
The connecting members have changed due to the change in the wheel base.
While allowing relative movement of the let member in the vehicle length direction,
Do not shift or tilt both pallet members in the vehicle width direction.
to maintain correct alignment at all times.
on both pallet members.
Always check the front and rear lower parts before assembling them to the vehicle body.
Before that,
while ensuring the integrity of the rear underbody parts.
It can be efficiently and properly assembled to the vehicle body.

[Brief explanation of the drawing]

Figures 1, 2, and 2A show the entire assembly equipment;
Fig. 1 is a perspective view, Fig. 2 is a schematic plan view, Fig. 2A is a detailed plan view, Fig. 3 is a plan view showing the relationship between the vehicle body and the front and rear lower parts, etc., and Figs. 4 to 6 are The work set palette is shown, and Figure 4 is a plan view.
Fig. 5 is a view taken from the arrow 5 in Fig. 4, Fig. 6 is a view taken from the arrow 6 shown in Fig. 4, Figs. 7 and 8 show the bolt set pallet, Fig. 7 is a plan view, and Fig. 8 is a 7 figure 8 arrow view,
9 to 11 show the relationship between the socket that holds the bolt and the fastened part of the vehicle body, FIG. 9 is a longitudinal sectional side view, FIG. Figure 9 11 arrow view, 12th to 14th
The figures show the relationship between the workpiece set pallet, bolt set pallet, and front lower parts.
4 is a view taken from the direction of the arrows in FIG. 12 and 14, FIG. 15 is a side view of the rotating machine, and FIGS. The separation mechanism is shown, FIG. 16 is a view from the arrow 16-16 in FIG. 2A, and FIG. 17 is a view from the arrow 2A in FIG.
Figure 16 is a sectional view taken along the line 17-17, Figure 18 is an enlarged view of the section indicated by the arrow in Figure 17 and 18, Figure 18A is a sectional view taken along the line 18a-18a in Figure 18, and Figure 19 is the
8. Fig. 19-19 line sectional view, Fig. 20 to Fig. 31 show the relationship between the elevating device and the vehicle body, etc. Fig. 20 is an overall side view, and Fig. 21 is a cross-sectional view of the elevating device when it is raised. -21 line sectional view, Fig. 22 is an enlarged sectional view of the part indicated by the arrow 22 in Fig. 20, and Fig. 23 is the
0 Figure 23-23 arrow view, Figure 24 is Figure 23-24
- 24 arrow view, Fig. 25 is a 25-25 arrow view in Fig. 23, Fig. 26 is a sectional view taken along the line 26-26 in Fig. 24,
Figure 27 is a sectional view taken along the line 27-27 in Figure 23, and Figure 28.
The figure is an enlarged view of the part indicated by the arrow in Fig. 23 and 28, Fig. 29 is a view taken from the arrows 29-29 in Fig. 28, and Fig. 30 is an enlarged view of the part indicated by the arrow in Fig. 28.
0-30 line sectional view, Figure 31 is Figure 30 31-3
1 line sectional view, FIGS. 32 to 34 show the sensor unit, FIG. 32 is a sectional view taken along the line 32-32 in FIG. 34-34 line sectional view, 35th to 3rd
7 shows the front bolt supply device, FIG. 34 is a plan view, FIG. 36 is a sectional view taken along the line 36-36 in FIG. 35,
37 is a view taken from the direction of arrows 37-37 in FIG. 36, FIGS. 38 to 44 show the bolt transfer mechanism and delivery mechanism, and FIG.
8-38 line sectional view, Fig. 39 is Fig. 38 39-3
9, FIG. 40 is a sectional view taken along the line 40-40 in FIG. 38, FIG. 41 is a sectional view taken along the line 41-41 in FIG. 38, FIG. 42 is a sectional view taken along the line 42-42 in FIG. 38 is a sectional view taken along the line 43-43, and FIG. 44 is a sectional view taken along the line 43-43.
0 Figures 44-44 line sectional view, Figures 45 to 47 show the main parts of the distribution mechanism, Figure 45 is a front view, Figure 46 is a view taken along arrows 45 and 46, and Figure 47 shows the main parts. It is a broken enlarged front view. 4...Vehicle body, 5f, 5r...Front, rear lower parts, 8f, 8r...Front, rear pallet members, 13
f, 13r...Front and rear rotating machines, 14...Work set pallet, 15...Bolt set pallet, 17...Bolts as threaded parts, 49...
Elevating table, 161... Elevating mechanism, 195 ₁ ,
195 ₂ ...Front and rear support bases, 210...Connection rods as connecting members, _Aj0 ...Rotator position adjustment mechanism, _Aj1 , _Aj2 ...Front and rear position adjustment mechanisms, 2
08... Placement table, 209 ₁ , 209 ₂ ... First and second placement parts.

Claims (1)

[Claims] 1. In an assembly facility that carries underbody parts 5f and 5r below a vehicle body 4 that is positioned and fixed in a fixed position and assembles the underbody components to the vehicle body 4, an elevating table 49 is provided below the vehicle body 4. a lifting mechanism 161 that raises and lowers the vehicle body 4 relative to the vehicle body 4; and a front support base that floats and supports the first mounting portion ₂₀₉₁ located below the front of the vehicle body 4 so as to be movable by a predetermined amount in the vehicle length direction and the vehicle width direction. 195 ₁ , a front position adjustment mechanism Aj ₁ that allows the front support stand 195 ₁ to be supported on a lift table 49 so as to be adjustable in the vehicle length direction in order to accommodate changes in the vehicle body wheel base due to changes in vehicle models, and the vehicle body 4. The second part located below the rear of
A rear support stand 195 ₂ floatingly supports the mounting portion 209 ₂ so as to be movable by a predetermined amount in the vehicle length direction and vehicle width direction, and this rear support stand 195 ₂ is moved in the vehicle length direction in order to accommodate changes in the wheel base. a rear position adjustment mechanism Aj ₂ that is supported on the lifting table 49 so as to be adjustable _in position;
A connecting member 210 that connects 209 and ₂ in a manner that is immovable in the vehicle width direction and relatively movable in the vehicle length direction.
The front pallet member 8f is placed on the first mounting part ₂₀₉₁ and holds the front lower part 5f and the screw parts 17 for fastening it to the vehicle body 4, and the front pallet member 8f is placed on the second mounting part ₂₀₉₂ . and the rear lower part 5r
and a rear pallet member 8r holding a screw part 17 for fastening it to the vehicle body 4, and a screw part 1 when the front and rear pallet members 8f and 8r are in the raised position.
Before turning 7 and fastening the front and rear lower parts 5f, 5r to the vehicle body 4, the rear rotating parts 13f, 13r
and a rotating machine position adjustment mechanism _Aj0 for supporting each rotating machine 13f, 13r on a lifting table 49 in a position adjustable manner to correspond to a change in the wheel base. .