JPH0710674B2 - Heavy load equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention is to mount a heavy object such as an engine unit on a mounted object such as a vehicle body supported by a carrying jig and carried into a work station in an assembly line. The present invention relates to a heavy load device used for mounting and mounting.

(Prior Art) For example, in a vehicle assembly line, a vehicle body (mounted body)
When assembling and mounting a heavy object such as an engine unit or suspension unit on the
The vehicle body is supported by a transportation jig such as a hanger provided on the trolley conveyor and is intermittently transported to the mounting station by a predetermined pitch, and at the mounting station, for example, as shown in JP-A-59-206266. , A heavy equipment with a lifting table was installed,
A heavy object is placed on the lifting table and lifted by the operation of the lifting table.The heavy object is moved to the mounting position of the vehicle body that has been carried into the loading station so that the heavy object can be assembled. Often used to be assembled.

In such a vehicle assembly line, assembling in which heavy objects are fixed to the vehicle body using bolts or the like has conventionally been performed manually by an operator, but in such assembling, it is troublesome to tighten bolts and the like. Since management of the applied torque is required, it is desired that the operation be performed by an automated mechanical work rather than relying on the manual work of an operator.

However, in the vehicle body that is loaded into the loading station, usually, there is a dimensional error in the manufacturing of the transportation jig or the vehicle body, an error in feeding a heavy object by a transportation means such as a trolley conveyor (transportation error), or the vehicle body is in the transportation jig. The displacement of the heavy object placed on the lifting table is caused by an error or the like that occurs when it is positioned so as to be supported by the lifting table. Therefore, when the assembly is performed by the automated mechanical work as described above, when the heavy object is lifted with respect to the vehicle body by the lifting table of the heavy object loading device at the loading station, the heavy object is There is a possibility that it may not be properly aligned with the assembly position in the vehicle body, and as a result, assembly may not be performed properly by using mechanical bolts or the like. Therefore, the position of the vehicle body carried into the loading station is detected using an appropriate detection means such as a visual sensor using a CCD (charge coupled device) image sensor, etc., and the loading station is detected based on the detection result. The position of the lifting table of the heavy load device, in which the heavy load is loaded according to the actual position of the vehicle loaded into the vehicle, in the plane along the transport direction of the vehicle, is changed, and the weight of the loaded vehicle with respect to the loaded vehicle is changed. It is conceivable to correct the positional deviation in the front-rear direction and the left-right direction with respect to the conveyance direction of the object.

(Problems to be solved by the invention) However, when the position of the vehicle body carried in is actually detected by a visual sensor using a CCD image sensor, for example, the installation mode and detection accuracy of the visual sensor Depending on the situation, there is a possibility that the accurate position of the vehicle body may not be detected, and relatively heavy positioning of the heavy object is required for fixing the heavy object to the vehicle body using bolts or the like. There is a problem that even if the position of the lifting table is changed based on the detection result, the displacement of the heavy object with respect to the vehicle body cannot be eliminated. When the displacement of the heavy object with respect to the vehicle body is not eliminated, for example, when the heavy object is assembled to the vehicle body using the bolt and the nut, the bolt or the nut is properly attached to the vehicle body and the heavy object mounting hole. There is a situation in which they are not screwed together, and therefore, the assembly by the automated mechanical work is not properly performed.

In view of such a point, the present invention is provided with an elevating table that moves a heavy object up to an assembling position of a mounted object that is supported by a transfer jig and is carried into a mounting station. Based on this, the position of the lifting table in the plane along the transport direction of the loaded object is adjusted to reliably eliminate the position shift of the heavy object with respect to the loaded object that has been loaded into the loading station. Even in the case where the mounted body is displaced in the vertical direction with respect to the transport direction, or is displaced due to the posture being inclined with respect to the regular transport posture, (EN) Provided is a heavy object loading device capable of properly assembling a heavy object at an assembling position on an object to be mounted by an automated mechanical operation. For the purpose of theft.

(Means for Solving Problems) In order to achieve the above-mentioned object, the heavy load mounting apparatus according to the present invention is a weight to be mounted on a mounted object that is supported by a transfer jig and carried into a mounting station. An elevating table having a placement surface on which an object is placed, a lifting means for elevating the elevating table on which a heavy object is placed to move the heavy object to a mounting position of a mounted object, and attached to the elevating table A first visual sensor for visually detecting the position of the mounted body,
A second visual sensor which is also attached to the lifting table and visually detects the position of a reference index provided on the mounted body, and a positional deviation correction means which operates according to the detection outputs of the first and second visual sensors. And is configured. And
The positional deviation correcting means adjusts the position of the mounting surface of the elevating table based on the detection output obtained from the first visual sensor, corrects the positional deviation of the heavy object with respect to the mounted body, and lifts the lifting means. When the table is raised, the position of the mounting surface of the lifting table is finely adjusted based on the detection output obtained from the second visual sensor, and the heavy object is positioned at the mounting position on the mounted body. .

(Operation) In the heavy load mounting apparatus according to the present invention configured as described above, when mounting and mounting a heavy load on the mounted body, first, the positional deviation correction means is obtained from the first visual sensor. Based on the detected output corresponding to the position of the mounted body, the position of the lifting table on which the heavy object is placed in the plane along the transport direction of the mounted body is adjusted. As a result, the displacement of the heavy object in the plane along the carrying direction with respect to the mounted object carried into the mounting station is corrected.

Further, when the lifting table whose position has been adjusted is lifted by the lifting means and the heavy object is moved to the mounting position of the mounted body, the positional deviation correcting means,
The position of the mounting surface of the lifting table is finely adjusted based on the detection signal obtained from the second visual sensor according to the position of the reference index provided on the mounted body, and the heavy object is mounted on the mounted body. Position properly.

As a result, even if the mounted object is displaced with respect to the heavy object placed on the lifting table due to a transportation jig for the mounted object or a dimensional error in manufacturing the mounted object,
Such positional deviation is surely corrected, and the heavy object is correctly aligned with the mounting position in the mounted body.

(Example) Hereinafter, the Example of this invention is described with reference to drawings.

1 and 2 show an example of a heavy load mounting device according to the present invention, together with a part of a vehicle assembly line in which it is adopted.

In FIGS. 1 and 2, the vehicle body 14 supported by the hanger 12 provided in the overhead type trolley conveyor 10 arranged along the vehicle assembly line is installed at the loading station STp provided in the vehicle assembly line. Station STb
From then on, it is conveyed intermittently at a predetermined pitch. On the mounting station STp, a front side lifter 20 for mounting an engine unit (combination of the engine body and transmission) 17 on the vehicle body 14 and a rear axle unit (rear axle and rear suspension combination on the vehicle body 14) ) The rear side lifter 21 for mounting 18 is installed.

In the vicinity of the front side lifter 20 and the rear side lifter 21, respectively, carry-in / carry-out conveyors 22 and 23 extending in a direction orthogonal to the conveying direction of the vehicle body 14 (the direction indicated by the arrow P in FIGS. 1 and 2). Is installed. Then, by these carry-in / carry-out conveyors 22 and 23, the engine unit 17 and the rear axle
While the units 18 are placed on the pallets 24 and 25, respectively, the units 18 are conveyed to predetermined positions on the front side of the front lifter 20 and the rear side of the rear lifter 21, and appropriate loading devices 15 are provided at the respective positions. Allows the pallet 24 and the pallet 24 to be placed on the rotary lifting table 64 (described in detail later) located at the uppermost stage of the front lifter 20 and the rear lifter 21, respectively.
Placed with 25. In that case, the engine unit
17 and rear axle unit 18 are on pallet 24 respectively
And a positioning member (not shown) provided on it on 25
It is placed in a state of being positioned by, and
A pallet 24 placed on a rotary lifting table 64 in each of the front side lifter 20 and the rear side lifter 21 together with the engine unit 17 and the rear axle unit 18.
Since 25 and 25 are respectively positioned by a positioning member (not shown) provided on the rotary lift table 64, the engine unit 17 and the rear axle unit 18 are positioned with respect to the front side lifter 20 and the rear side lifter 21, respectively. It is assumed that there is no displacement.

The front-side lifter 20 and the rear-side lifter 21 have substantially the same configuration except for the installation mode of the visual sensor and the nut runner described later, so the front-side lifter 20 will be described below and the rear-side lifter 21 will be described. A duplicate description will be omitted.

The front side lifter 20 raises the rotary lifting table 64 on which the engine unit 17 which is a heavy object to be mounted on the vehicle body 14 to be mounted is lifted, and the engine unit 17 is attached to the vehicle body 14. As shown in detail in FIG. 3, the lift means for moving to a position is provided, which is substantially directly below the portion of the vehicle body 14 corresponding to the engine room which has been brought into the loading station STp and stopped. The base 26 is disposed on the base 26, and on the base 26, fixed columns 27 having a substantially U-shaped cross section are erected on the base 26 as shown in FIG. Inside the fixed column 27, a pair of concave guide rails 28 are laid along the direction in which the fixed column 27 extends.
A guide column 29 is slidably fitted to the. Guide columns
29 has a length extending substantially from the upper end of the fixed column 27 to the inside of the base 26, and the end face plate 31 is provided at the upper end thereof.
Is fixed.

A coupling support plate 32 engaged with an opening of the fixed column 27 is joined to an upper portion of the fixed column 27, and an upper end of the lifting cylinder 30 is attached to an upper portion of the coupled support plate 32 via a cylinder holding plate 33. The part is fixed. The lower part of the lifting cylinder 30 is fixed to the base 26. And the lifting cylinder 30
The upper end of the piston rod 34 installed inside is connected to the end face plate 31 described above via a connecting tool 36, and
A substrate 35 is fixed to the upper surface side of the end plate 31. Therefore, when the elevating cylinder 30 operates and the piston rod 34 is expanded and contracted, the guide column 29 moves up and down as the piston rod 34 expands and contracts.
In order to detect the moving distance of 29, and thus the position of the substrate 35, a position sensor 19 facing a part of the guide column 29 is attached to the connecting support plate 32 as shown in FIGS. 3 and 4. ing.

As shown in FIG. 5, a pair of guide rails 37 extending parallel to each other are laid on the upper surface side of the substrate 35. Four concave sliders 41 arranged on the lower surface side of the first slide table 40 are slidably fitted to these guide rails 37. Further, a pulse motor 38 for moving the first slide table 40 in parallel with the substrate 35 is installed on the upper surface side of the substrate 35.
Is transmitted to the pinion gear 38a via the clutch 39, and the pinion gear 38a meshes with the rack gear 42 arranged on the lower surface side of the first slide table 40 to move the first slide table 40 to the guide rail 37. Move in the direction along. Further, on the upper surface side of the board 35, a pair of position setting cylinders 43A and 43B for setting the reference position of the first slide table 40 with respect to the board 35 are installed in parallel with the guide rail 37. On the lower surface side of the slide table 40, when the respective piston rods 44 of the position setting cylinders 43A and 43B are extended, a position setting stopper 45 is brought into contact with the tip end of the position setting stopper 45. Then, these position setting cylinders 43A and 43B and the position setting stopper
45 and the first slide table for the substrate 35
In order to determine whether the 40 reference positions have been set, the board
A limit switch 46 is arranged on the upper surface side of 35,
On the lower surface side of the first slide table 40, a pressing member 47 for turning on the limit switch 46 when the first slide table 40 takes a reference position with respect to the substrate 35.
Are arranged.

On the upper surface side of the first slide table 40, as shown in FIG. 6, four guide members 51 having guide grooves formed in a direction orthogonal to the guide rails 37 arranged on the substrate 35 are arranged. A pair of slide rails 52 laid on the lower surface side of the second slide table 50 are slidably fitted to these guide members 51. Further, a pulse motor 53 for moving the second slide table 50 in parallel with the first slide table 40 is installed on the upper surface side of the first slide table 40. Is transmitted to the pinion gear 53a via the clutch 54,
The pinion gear 53a meshes with the rack gear 55 arranged on the lower surface side of the second slide table 50 to move the second slide table 50 in the direction along the slide rail 52. Further, on the first slide table 40, a pair of position setting cylinders for setting the reference position of the second slide table 50 with respect to the first slide table 40.
57A and 57B are installed parallel to the slide rail 52, respectively, and when the piston rods 58 of the position setting cylinders 57A and 57B are extended on the lower surface side of the second slide table 50, respectively. The position setting stopper 59 with which the tip end abuts is projected. Then, by these position setting cylinders 57A and 57B and the position setting stopper 59,
In order to determine whether the reference position of the second slide table 50 with respect to the first slide table 40 has been set,
Limit switch on top of first slide table 40
The limit switch 60 is turned on when the second slide table 50 takes the reference position with respect to the first slide table 40 on the lower surface side of the second slide table 50. A pressing member 56 is provided.

Above the second slide table 50, a rotary lift table 64 that is rotatable in a plane parallel to the upper surface of the second slide table 50 is arranged. On the lower surface side of the rotary lifting table 64, there is provided a bearing portion 61 to which a large pulley 62 is fixed at a substantially central portion thereof, and the bearing portion 61 is provided upward from the upper surface portion of the second slide table 50. A projecting shaft 63 is fitted in, whereby the second shaft of the rotary lifting table 64 is
Second slide table to the other slide table 50
Positioning is performed in a plane parallel to the upper surface of 50. The positioning of the rotary lift table 64 in the direction orthogonal to the upper surface of the second slide table 50 is performed by positioning the respective rotary shafts on the shaft 63 on the upper surface side of the second slide table 50 as shown in FIG. A total of seven rollers arranged radially towards
Made by 65. A pulse motor 70 for rotating the rotary lift table 64 is installed on the second slide table 50, and the rotary shaft of the pulse motor 70 is connected to a small pulley 72 via a clutch 73. ,
A belt 75 is mounted on the small pulley 72 and the large pulley 62.

As shown in FIG. 7, on the upper surface side of the second slide table 50, a limit switch 66 for setting the reference position of the rotary lift table 64 with respect to the second slide table 50 has a movable contact portion as an axis. It is distributed towards 63,
Further, on the lower surface side of the rotary lift table 64, when the rotary lift table 64 takes the reference position with respect to the second slide table 50, it comes into contact with the movable contact portion of the limit switch 66 to turn on the limit switch 66. Are arranged.

Further, as shown in FIG. 3 and FIG. 8, the mounting portions of the engine unit 17 aligned with the assembly position in the vehicle body 14 are provided at a plurality of positions on the side surface portion of the rotary lifting table 64. A nut runner 77 for assembling at the assembling position is attached, and at both ends of the front side surface portion of the rotary lifting table 64, the position of the front end outer peripheral corner portion of the vehicle body 14 carried into the mounting station STp is visually detected. A pair of position detection visual sensors 82 and 83 are provided, and the position of a reference hole 80 formed as a reference index at the center of the front end of the vehicle body 14 is provided at the center of the front side surface of the rotary lifting table 64. A positioning visual sensor 84 for visually detecting from below is provided. That is, the lift means constituted by the front-side lifter 20 has a position detecting visual sensor 82 on the rotary lift table 64 arranged therein.
And 83, a first visual sensor that visually detects the position of the vehicle body 14 that is the mounted body, and a positioning visual sensor 84 that is the mounted body.
A second visual sensor for visually detecting the positions of the plurality of reference indices provided on 14 is attached. The position detecting visual sensors 82 and 83 and the positioning visual sensor 84 are respectively a rotary lifting table.
64 is detachable with respect to 64. For example, when a failure or the like occurs in these position detecting visual sensors 82 and 83 and positioning visual sensor 84, they can be replaced with other positioning means. Has been done.

In the front-side lifter 20 configured as above, the first slide table 40 and the pulse motor 38 are fixed to the substrate 35 fixed to the upper surface of the end plate 31 fixed to the upper end of the guide column 29. Is driven by the vehicle to be translated in a direction orthogonal to the loading direction of the vehicle body 14 to the mounting station STp, and the second slide table 50 and the pulse motor 53 are moved relative to the first slide table 40.
Is driven by the vehicle to be moved in parallel in a direction along the carrying-in direction of the vehicle body 14 to the mounting station STp, whereby the rotary lift table 64 arranged above the second slide table 50 is moved relative to the fixed support column 27. , A direction orthogonal to the loading direction of the vehicle body 14 to the mounting station STp and the vehicle body 14
Can be moved in the direction along the loading direction to the loading station STp. The rotary lift table 64 is driven by the pulse motor 70 to drive the second slide table 50.
Therefore, it is rotated with respect to the fixed column 27. Further, as the guide column 29 moves up and down with the operation of the lifting cylinder 30, the rotary lifting table 64 is moved up and down with respect to the fixed column 27.

As described above, the rear lifter 21 is also configured in the same manner as the front lifter 20 described above, each part operates in the same manner as the front lifter 20, and the rotary lifting table 64 thereof is
The fixed column 27 can be moved, rotated, and moved up and down in a direction orthogonal to the loading direction of the vehicle body 14 into the loading station STp and in a direction along the loading direction of the vehicle body 14 into the loading station STp. Further, while the nut runner 77 attached to the side surface portion of the rotary lift table 64 in the front lifter 20 is used for assembling the engine unit 17, it is attached to the side surface portion of the rotary lift table 64 in the rear lifter 21. The nut runner 77 is used for mounting the rear axle unit 18.
And, in the rear side lifter 21, FIG. 9A and FIG.
As shown in FIG. 9, a reference protrusion 92 provided as a reference index on the front side surface of the rotary lift table 64 on the rear side of the vehicle body 14.
Two positioning visual sensors 93 and 94 for visually detecting the positions of a and the positioning through holes 92b and 92c from diagonally below in the vehicle width direction of the vehicle body 14 are attached. The positioning pin and the bolt insertion hole used for mounting the rear axle unit 18 to the vehicle body 14 can be used as the reference protrusion 92a and the positioning through holes 92b and 92c, respectively.

The front-side lifter 20 and the rear-side lifter 21 having the above-described configuration operate under the control of the controller provided for them. Even in this case, the front-side lifter 20 and the rear-side lifter 21 are subject to substantially the same operation control, so the operation control in the front-side lifter 20 will be described below.
A duplicate description of the rear lifter 21 is omitted.

As shown in FIG. 10, with respect to the front side lifter 20, ascending / descending cylinders 30, position setting cylinders 43A, 43B, 57A and 57B, and pulse motors 38 and 53 provided therein.
A controller 100 is provided for controlling the operation of the and 70. The controller 100 includes position detection signals Sb and Sc respectively obtained from the position detection visual sensors 82 and 83 and the positioning visual sensor 84, and the positioning detection signal S.
d, a detection signal Se obtained from the position sensor 19 indicating the moving distance of the guide column 29, and the first slide table 40 and the second slide table obtained by turning on the limit switches 46, 60 and 66. Reference position signals Sf, Sg, and Sh indicating that the rotary table 50 and the rotary lifting table 64 are in the standard position are supplied.

Then, the controller 100 uses the pulse motors 38, 53 and 7 based on the signals from the various sensors and switches described above.
The forward drive pulse signals Ca, Cb and Cc or the reverse drive pulse signals Ca ′, Cb ′ and Cc ′ are supplied to 0, respectively, and the lifting cylinder 30 and the position setting cylinders 43A, 43B and 57 are supplied.
Drive control signals Ce, Cf, and Cg are supplied to the lifting cylinder drive unit 86 that drives A and 57B, and the position setting cylinder drive units 87 and 88, respectively. When the normal rotation drive pulse signal Ca or the reverse rotation drive pulse signal Ca ′ is supplied from the controller 100 to the pulse motor 38, the pulse motor 38 rotates in the normal rotation or the reverse rotation according to the supply, and the first slide table 40 Is moved in a direction orthogonal to the loading direction of the vehicle body 14 to the mounting station STp, and the pulse motor 53
When the forward rotation drive pulse signal Cb or the reverse rotation drive pulse signal Cb 'is supplied to the pulse motor,
The 53 slides forward or backward and the second slide table
50 is moved in a direction along the loading direction of the vehicle body 14 to the mounting station STp. When the controller 100 supplies the normal rotation drive pulse signal Cc or the reverse rotation drive pulse signal Cc ′ to the pulse motor 70, the pulse motor 70 rotates in the normal rotation or the reverse rotation in response to the supply of the rotation rotation table 64. Rotate.

Under such a structure, when the engine unit 17 and the rear axle unit 18 are assembled and mounted on the vehicle body 14 carried into the mounting station STp,
When 14 is loaded into the mounting station STp, control is performed so that each of the first slide table 40, the second slide table 50, and the rotary lift table 64 takes a reference position. In setting such a reference position, drive control signals Cf and Cg are supplied from the controller 100 to the position setting cylinder drive units 87 and 88, and the position setting cylinder drive unit
87 and 88 drive the position setting cylinders 43A and 43B and the position setting cylinders 57A and 57B to extend the piston rods 44 and 58, respectively, and the controller 100 outputs the forward drive pulse signal Cc and The reverse rotation drive pulse signal Cc ′ is supplied to the pulse motor 70, and the pulse motor 70 rotates forward and backward with a predetermined rotation amount. As a result, the first slide table 40 and the second slide table 50 are moved to the reference position with respect to the substrate 35 and the reference position with respect to the first slide table 40, respectively, and the rotary lift table 64 is moved to the second slide table. It is rotated to take the reference position for 50. Then, when the first slide table 40, the second slide table 50 and the rotary lift table 64 reach their respective reference positions, the limit switches 46, 60 and 66 are respectively turned on and the reference position signals Sf, Sg. And Sh are supplied to the controller 100, the drive control signals Cf and Cg and the forward drive pulse signal Cc and the reverse drive pulse signal Cc ′ from the controller 100 are stopped. Thereby,
First slide table 40, second slide table 50
The rotary lifting table 64 is set to the respective standard position.

Under these conditions, the pallet is placed on the rotary lift table 64.
After the engine unit 17 is placed via the 24, the first reference position is set as described above.
The position of the slide table 40, the second slide table 50, and the rotary lift table 64 is controlled by the position detecting visual sensors 82 and 83 and the positioning visual sensor 84.
It is corrected based on the position detection signals Sb and Sc and the positioning detection signal Sd supplied to 100.

Here, the position detecting visual sensors 82 and 83 and the positioning visual sensor 84 are respectively configured by, for example, a small video camera using a CCD image pickup device, and the first and second slides as described above. In the state where the tables 40 and 50 and the rotary lifting table 64 take the reference positions respectively, the position detection is performed when the vehicle body 14 carried into the loading station STp and stopped is in the normal position without displacement. The visual sensors 82 and 83 are placed immediately below the front corners of the vehicle body 14, and the positioning visual sensors
84 is placed at a position directly below the reference hole 80 provided at the center of the front end of the vehicle body 14. In this case, a visual sensor for position detection
82 and 83 are small cameras with a relatively wide field of view, and the positioning visual sensor 84 is a small camera with an autofocus mechanism with a relatively narrow field of view. When the vehicle body 14 is misaligned, the first and second slide tables 40 and 50 and the rotary lifting table 64, which have their respective reference positions as described above, are taken. The position is corrected as follows.

First, the position detecting visual sensors 82 and 83
The vehicle body carried into the mounting station STp by the controller 100 on the basis of the position detection signals Sb and Sc corresponding to the images as shown in FIGS.
Between the actual position of the front end corner portion of 14 and the regular position of the front end corner portion of the vehicle body 14 pre-stored in the built-in memory (indicated by a chain double-dashed line in FIGS. 11A and 11B), The deviation in the plane along the carrying-in direction of the vehicle body 14 into the mounting station STp is calculated as the positional deviation distance and the positional deviation angle. Then, the forward rotation drive pulse signals Ca, Cb corresponding to the calculated displacement distance and displacement angle.
And Cc or reverse drive pulse signals Ca ′, Cb ′ and C
c'is formed and they are fed to the pulse motors 38, 53 and 70. As a result, the pulse motors 38, 53, and 70 rotate normally or reversely, so that the first slide table 40 is orthogonal to the loading direction of the vehicle body 14 into the mounting station STp, and the second slide table 50. In the direction along the loading direction of the vehicle body 14 to the mounting station STp,
The rotary table 64 is moved by a distance corresponding to the detected positional deviation distance, and the rotary lift table 64 is rotated by an angle corresponding to the positional deviation angle. As a result, when the vehicle body 14 is loaded from the front station STb to the loading station STp, the vehicle body 14 loaded into the loading station STp is placed on the rotary lift table 64 included in the front lifter 20. Body 14 of engine unit 17
The position in the plane along the direction of loading into the mounting station STp is corrected.

In such a case, since the separation distance between the position detection visual sensors 82 and 83 and the front end corner portion of the vehicle body 14 is relatively large, the position of the engine unit 17 with respect to the vehicle body 14 may be slightly increased only by such correction. It may be out of alignment. Even when such a slight displacement occurs, when assembling the engine unit 17 to the vehicle body 14,
Bolts or nuts on the car body 14 and engine unit
There is a possibility that the mounting work of the nut runner 77 may be hindered by not properly engaging with the mounting hole of 17.

Therefore, after that, the drive control signal Ce from the controller 100 is supplied to the lift cylinder drive unit 86, and the lift cylinder drive unit 86 drives the lift cylinder 30 with a drive control signal.
It is raised according to Ce, and along with it, the guide pillar
29 rises together with the substrate 35, and the engine unit 17 mounted on the rotary lift table 64 is moved from the position shown by the solid line in FIG. 1 toward the upper vehicle body 14. At that time, the controller 100 controls the vehicle body 1 as described above.
The first slide table in a state where the position in the plane along the loading direction to the loading station STp of 4 is corrected.
40, second slide table 50 and rotary lifting table 64
While using each position of as the corrected reference position,
Based on the amount of movement of the guide column 29 represented by the detection signal Se obtained from the position sensor 19, and accordingly the actual raised position of the engine unit 17, a memory that is set in advance according to the engine model and the type of vehicle body According to the control program stored in, the pulse motors 38, 53 and 70, respectively, forward rotation drive pulse signals Ca, Cb and Cc, or,
The reverse drive pulse signals Ca ′, Cb ′ and Cc ′ are supplied.
As a result, the engine unit 17 draws a movement locus as indicated by a white arrow R in FIG.
Can be raised while avoiding interference with the existing members provided in the.

After the mounting surface of the rotary lifting table 64 has been moved up to the height indicated by H ₁ in FIG. 8 (the state indicated by the alternate long and short dash line in FIG. 8), the positioning visual sensor 84 to the controller 100 Based on the positioning detection signal Sd corresponding to the image as shown in FIG. 11C supplied to the controller 100, the controller 100 incorporates the actual center position of the reference hole 80 formed in the center of the front end portion of the vehicle body 14. Between the regular position of the reference hole 80 stored in the memory,
The deviation in the plane along the carrying-in direction of the vehicle body 14 to the mounting station STp is sequentially calculated as the positional deviation distance and the positional deviation angle. At this time, the calculated positional deviation distance and positional deviation angle are determined by the positioning visual sensor 84 in the reference hole.
Since the range including 80 is calculated based on the detection output generated by visually recognizing the range from a relatively close position, its accuracy is extremely high. According to the position shift distance and the position shift angle thus calculated, the forward rotation drive pulse signals Ca, Cb and Cc, or the reverse rotation drive pulse signals Ca ′, Cb ′ and Cc ′ are formed. It is supplied to the pulse motors 38, 53 and 70. This allows
The first and second slide tables 40 and 50 and the rotary lift table 64 are moved and rotated in the same manner as described above while being raised, respectively, and as a result, the displacement of the engine unit 17 with respect to the vehicle body 14 is The positioning visual sensor 84 is gradually reduced as it approaches the reference hole 80.

In this way, the rotary lift table 64 is moved upward while the displacement of the engine unit 17 with respect to the vehicle body 14 is corrected, and the mounting surface of the rotary lift table 64 is lifted to the height indicated by H ₂ in FIG. When the vehicle is moved up with L (state shown by the chain double-dashed line in FIG. 1), the engine unit 17 reaches the mounting position on the vehicle body 14. As a result, the engine for the vehicle body 14
The engine unit 17 is aligned with the assembly position in the vehicle body 14 with the positional deviation of the unit 17 being substantially completely corrected. That is, the controller 100 and the position setting cylinders 43A, 43B, 57A whose operation is controlled by the controller 100.
And 57B, and the pulse motors 38, 53 and 70, etc., based on the position detection signals Sb and Sc obtained from the first visual sensor configured by the visual sensors 82 and 83 for position detection,
An operation of adjusting the position of the mounting surface of the rotary lift table 64 to correct the positional deviation of the engine unit 17 with respect to the vehicle body 14, and a positioning detection obtained from a second visual sensor configured by the positioning visual sensor 84. Finely adjust the position of the mounting surface of the rotary lifting table 64 based on the signal Sd,
The positional deviation correcting means for performing the operation of positioning the engine unit 17 at the mounting position on the vehicle body 14 is formed.

When such an operation of the front side lifter 20 is performed, an operation similar to that of the front side lifter 20 is performed in the rear side lifter 21 that is configured substantially the same as the front side lifter 20, and the rotary lift table 64 and The rear axle unit 18 placed on it is also lifted with a lift distance L from the position shown by the solid line in FIG. 1 to the position shown by the chain double-dashed line, and the rear axle unit 18 is provided on the vehicle body 14. The assembly position can be reached. At that time, in the rear side lifter 21, before the rear axle unit 18 is moved upward like the front side lifter 20, the position detecting visual sensors 82 and 83 are detected.
Position detection signals Sb and S supplied from the
Rear axle unit 18 for car body 14 based on c
Is corrected, and when the mounting surface of the rotary lift table 64 in the rear lifter 21 is then moved upward to a predetermined height corresponding to the height H ₁ in the front lifter 20, the positioning visual Based on the positioning detection signals supplied from the sensors 93 and 94 to the controller 100 according to the images as shown in FIGS. 12A and 12B,
The position shift of the rear axle unit 18 with respect to the vehicle body 14 is corrected.

The positioning visual sensors 93 and 94 are also composed of a small camera in which a CCD image pickup device is used similarly to the positioning visual sensor 84, but the positioning visual sensors 93 and 94 are the reference because of restrictions on their installation mode. Since the range including the index is visually recognized from the obliquely downward direction, the deviation between the actual position and the normal position of the reference index is successively increased while rising like the positioning visual sensor 84. It will be difficult to detect with. Therefore, in the rear lifter 21, as described above, only when the rear lifter 21 is moved up to a height corresponding to the height H ₁ in the front lifter 20 (the state shown in FIG. 9). 18 misalignment is corrected. As a result, the rotary lift table in the rear lifter 21
When the rear axle unit 18 reaches the assembling position of the vehicle body 14 by raising the mounting surface of 64 with the lift distance L (state shown by the chain double-dashed line in FIG. 1), With the displacement of the unit 17 corrected almost completely, the rear axle unit 18
Properly aligned with the assembly position at 14.

Next, as described above, with the engine unit 17 and the rear axle unit 18 supported by the front lifter 20 and the rear lifter 21, the nut runner is
77 is raised, and the work of assembling the engine unit 17 and the rear axle unit 18 to the vehicle body 14 is performed. At that time, the engine unit 17 and the rear axle
Since the unit 18 is properly aligned with the assembly position provided on the vehicle body 14, the assembly work by the nut runner 77 can be performed quickly and accurately. After the assembly work is completed, the engine unit 17 and the rear axle
After the unit 18 is mounted in the assembling position of the vehicle body 14, the lowering operation of the lifting cylinder 30 in each of the front lifter 20 and the rear lifter 21 is performed, and the front lifter 20 and the rear lifter 21 are respectively moved. The rotary lift table 64 returns to the position shown by the solid line in FIG. 1 with the pallets 24 and 25 placed on it. Then, the vehicle body 14 is transported to the next station while being supported by the hanger 12, and the pallets 24 and 25 are removed from the rotary lifting table 64 by the loading device 15 and are unloaded by the loading / unloading conveyors 22 and 23. .

In the above example, the engine for the vehicle body 14
When the positions of the unit 17 and the rear axle unit 18 are adjusted in a plane along the loading direction STp of the vehicle body 14, the lifting cylinders 30 of the front lifter 20 and the rear lifter 21 respectively. The first slide table 40, the second slide table 50, and the rotary lift table 64 that can be lifted and lowered by the above are configured to be moved or rotated, but the heavy load device according to the present invention is not limited to such an example. Without using, for example, the above-mentioned first slide table on the base 26 of each of the front lifter 20 and the rear lifter 21.
40, second slide table 50 and rotary lifting table 64
Corresponding to the engine unit 17 for the vehicle body 14 and the rear axle
The unit 18 and the rear axle unit 18 are adapted to be moved or rotated when the plane positioning of the unit 18 is performed, and when the engine unit 17 and the rear axle unit 18 are raised. It may be configured so that it can be moved or rotated in order to avoid interference with existing members of the vehicle body 14. When such a configuration is adopted, the stability when the engine unit 17 and the rear axle unit 18 are raised can be improved.

(Effects of the Invention) As is clear from the above description, according to the heavy object loading apparatus of the present invention, the heavy object is lifted to the assembly position of the object to be loaded which is supported by the transfer jig and carried into the loading station. A lifting table to be moved is provided, and the position of the lifting table in the plane along the transport direction of the mounted object is adjusted based on the position of the mounted object detected by the first visual sensor, and the table is carried into the mounting station. When the displacement of the heavy object with respect to the mounted object is corrected, and the lifting table whose position has been adjusted is raised to move the heavy object to the mounting position of the mounted object, the second visual sensor is used. Since the displacement of the heavy object relative to the mounted object is further corrected according to the position of the detected reference index, the heavy object can be correctly aligned with the mounting position of the mounted object. Therefore, it is possible to properly assemble heavy objects to the mounted body even by automated mechanical work.

[Brief description of drawings]

1 and 2 are a side view and a plan view showing an example of the heavy load mounting apparatus according to the present invention together with a part of a vehicle assembly line to which it is applied, and FIG. 3 is shown in FIGS. FIG. 4 is a side view showing the main part of the example shown in FIG. 4, FIG. 4 is a sectional view taken along the line IV-IV of FIG. 3, and FIGS. 5 and 6 are the substrate and the substrate in the example shown in FIGS. 1 and 2, respectively. 1 is a plan view of the slide table, FIG. 7 is a sectional view taken along line VII-VII of FIG. 3,
FIG. 8 is a front view showing a vehicle body carried into a station in which a part of the front side lifter in the example shown in FIG. 1 is mounted, and FIGS. 9A and 9B show the example shown in FIG. FIG. 11A is a schematic front view and a side view showing a part of the rear lifter together with a vehicle body carried into a mounting station, FIG. 10 is a block diagram showing a control system in the example shown in FIGS. 1 and 2, and FIG. 11A. , B and C, and
12A and 12B are diagrams provided for explaining the operation of the example shown in FIG. In the figure, 12 is a hanger, 14 is a vehicle body, 17 is an engine unit, 18 is a rear axle unit, 19 is a position sensor, and 20 is a position sensor.
Is a front side lifter, 21 is a rear side lifter, 30 is a lifting cylinder, 35 is a board, 38, 53 and 70 are pulse motors, 4
0 is the first slide table, 50 is the second slide table, 64 is the rotary lift table, 80 is a reference hole, 82 and 83 are position detection visual sensors, 84, 93 and 94 are positioning visual sensors, and 100 is The controller.

Claims (1)

[Claims] 1. An elevating table having a mounting surface on which a heavy object to be mounted on a mounted object, which is supported by a transfer jig and carried into a mounting station, is mounted; and the heavy object is mounted on the table. Lift means for raising the lifting table to move the heavy object to an assembly position in the mounted body,
A first visual sensor attached to the lifting table to visually detect the position of the mounted body, and a position of a reference index provided on the mounted body mounted to the lifting table to visually detect the position. The position of the mounting surface of the lifting table is adjusted based on the detection output obtained from the second visual sensor and the first visual sensor to correct the positional deviation of the heavy object with respect to the mounted object. When the lifting means raises the lifting table, the position of the mounting surface of the lifting table is finely adjusted based on the detection output obtained from the second visual sensor, and the heavy object is loaded with the heavy object. And a positional deviation correcting means for positioning the mounting position at the mounting position.