JPH07257450A - Method and device for supporting part conveyed - Google Patents

Abstract

PURPOSE:To convey a part, having a relatively large scale and weight, at a relatively fast conveying speed by a work robot without causing worsening of mounting accuracy relating to a mounting location, undesirable contact with the mounting location, etc. CONSTITUTION:A part conveying robot, provided with a movable arm and a part clamp part 35 connected to this movable arm, is actuated to convey a door 24, clamped by the part clamp part 35, to a mounting position. By an engaging member 81 provided in a part supporting mechanism 23 positioned in the vicinity of the mounting position, the door 24, clamped by the part clamp part 35 conveyed to arrive by the part conveying robot, is supported in a conveyable condition, and the door 24 is supported on the mounting position with both the part clamp part 35 and the engaging member 81.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention holds a component to be attached to a predetermined attachment site and conveys it to an attachment position, and also supports the conveyed component so as to be placed in the attachment position. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component carrying / supporting method and a component carrying / supporting device used for implementing the method.

[0002]

2. Description of the Related Art In a vehicle assembly line, various work parts are assembled or attached to a vehicle body conveyed along a vehicle body conveyance path in sequence at a plurality of work stations. Parts mounted on the vehicle body during the vehicle assembly process include various parts from large heavy parts to extremely small lightweight parts. For example, for heavy parts such as doors for getting in and out, work efficiency is improved. Therefore, it has been proposed that the heavy parts be attached to the vehicle body while being held by a work robot installed in a work station into which the heavy parts are loaded.

As described above, when the work robot is used for attaching parts to the vehicle body during the process of assembling the vehicle,
For example, as disclosed in Japanese Patent Laid-Open No. 62-216875, a work robot is provided with a movable arm and a component gripping part (hand) connected to the tip of the movable arm. Parts gripped by (door)
However, when the movable arm is moved, it is transported to the mounting position where it is mounted on the component mounting portion (door mounting portion) provided on the vehicle body, and the transported component is mounted on the component gripping portion of the work robot. It is supposed to be supported so as to be placed in the mounting position under the state of being gripped by.
Then, the component, which is supported by the component gripping portion provided in the work robot and has the mounting position, is mounted on the component mounting portion provided on the vehicle body using the mounting device.

In such a case, the component gripped by the component gripper connected to the movable arm of the work robot is transported to the mounting position along a path preset according to the movement of the movable arm. However, in that case, it is desired that the conveying speed of the parts is as high as possible from the viewpoint of work efficiency.

[0005]

However, the parts to be transported, such as doors to be mounted on the vehicle body,
In the case of having a relatively large scale and weight, the higher the transport speed, the greater the shake during and after the transfer, and the shake is greater than a certain level. If this happens, the parts will not be placed in the correct mounting position after being transported, and as a result, the mounting accuracy with respect to the vehicle body will deteriorate, or fluctuations from a preset route will occur. Then, there is a problem in that it may cause an undesired contact with the vehicle body to which it is attached.

Therefore, in order to avoid such an inconvenient situation, a relatively large scale, such as a door to be attached to a vehicle body, which is gripped by a component gripping part connected to a movable arm of a work robot. The transportation of the parts having the weight and the weight to the mounting position is performed at a relatively slow transportation speed, but the reduction of the transportation speed of the components is accompanied by a reduction in the work efficiency. Moreover, it cannot be said that reliability is insufficient as a measure for preventing undesired contact with the vehicle body to which it is attached.

In view of the above point, the present invention uses a component transfer robot having a movable arm and a component gripper connected to the movable arm to move a component to be attached to a predetermined attachment site to an attachment position. When supporting the device so as to take the mounting position while transporting it, even if the part has a relatively large scale and weight, the mounting accuracy of the mounting part is lowered, or,
It is possible to make the conveying speed of the parts relatively fast without causing inconvenience such as undesired contact with the mounting portion, thereby effectively improving the work efficiency. The purpose is to provide a method.

It is another object of the present invention to provide a component carrying / supporting device used in carrying out the above-described component carrying / supporting method.

[0009]

In order to achieve such an object, a method of supporting and conveying a component according to the present invention operates a component conveying robot having a movable arm and a component holding portion connected to the movable arm. The component gripping unit transports the component gripped by the component gripping unit to the mounting position, and the component which is transported by the component transporting robot by the movable component supporting unit included in the component supporting mechanism located near the mounting position. The component gripped by the gripping portion is supported in a transportable state, so that the component is placed in a state of being supported by both the component gripping portion and the movable component supporting portion at the mounting position.

A first aspect of the component transfer / support apparatus according to the present invention comprises a movable arm and a component gripper connected to the movable arm, and transports the component gripped by the component gripper to a mounting position. A transfer robot, and a movable part support part which is located near the mounting position and supports the part when the part gripped by the part gripper conveyed by the part transfer robot arrives and moves with the part.
A component support mechanism for supporting the component by both the component gripper and the movable component supporter at the mounting position;
It is configured to include.

Further, a second aspect of the component carrying / supporting apparatus according to the present invention is that it is capable of supporting and moving a component which is gripped and carried by a component holding part connected to a movable arm of a component carrying robot. And a drive unit that drives the movable component support unit so as to move the movable component support unit in synchronization with the movement of the movable arm of the component transfer robot.

[0012]

In the component carrying / supporting method according to the present invention and the component carrying / supporting device used for carrying out the method, the parts carrying / supporting device is connected to the movable arm of the parts carrying robot. The component gripped by the component gripper is transported to the mounting position by the movement of the movable arm, and when it is transported to the vicinity of the mounting position, in addition to gripping by the component gripper, the component grips near the mounting position. It is also in a state of being supported by the movable component support portion provided in the component support mechanism that is positioned. From the vicinity of the mounting position to the mounting position, the component is gripped by the component gripping unit included in the component transfer robot, and is supported by the movable component supporting unit included in the component support mechanism, and is then movable by the component transfer robot. When the arm is conveyed along with the movement of the arm and reaches the mounting position, the arm is placed at the mounting position in a state of being supported by both the component gripping portion and the movable component supporting portion.

Therefore, the parts gripped and transferred by the part gripping part of the parts transfer robot have a relatively large scale and weight, and the parts are moved by the movement of the movable arm of the parts transfer robot. Even when the transfer is performed at a relatively high transfer speed, when transferring from the vicinity of the mounting position of the part to the mounting position and fixing the position at the mounting position, the part is a part of the part transfer robot. By being performed while being supported by both the gripping portion and the movable component supporting portion of the component supporting mechanism, the component is not substantially shaken. As a result, even if the component has a relatively large scale and weight, it does not cause inconveniences such as a decrease in the mounting accuracy for the mounting portion or an undesired contact with the mounting portion. The parts can be transferred at a relatively high transfer speed, which can effectively improve work efficiency.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 3 shows a work station in a vehicle assembly line to which a door is attached to a vehicle body, to which an example of a method for carrying and supporting parts according to the present invention is applied. An example of the component carrying / supporting method according to the present invention is carried out by using the example of the component carrying / supporting device according to the present invention, and FIG. 3 also shows an example of the component carrying / supporting device according to the present invention. ing.

The work station 11 shown in FIG.
On the other hand, the vehicle bodies 13 conveyed along the vehicle body conveyance path 12 are sequentially arrived. A component transfer robot 21 and a component mounting robot 22 are installed in the work station 11 with a predetermined mutual distance, and further, the vehicle body 13 that arrives at the work station 11 is reached.
When the vehicle is in the door mounting state, the front door mounting portion 13A or the rear door mounting portion 1 provided on the vehicle body 13 is mounted.
The component support mechanism 23 is installed at a position near 3B. An example of the component transfer support device according to the present invention is configured to include the component transfer robot 21 and the component support mechanism 23 among the component transfer robot 21, the component mounting robot 22, and the component support mechanism 23. .

Further, in the work station 11, a front door 24 to be attached to the front door attachment portion 13A of the vehicle body 13 and a rear door 25 to be attached to the rear door attachment portion 13B of the vehicle body 13 which are loaded into the work station 11 from the outside. Is provided with a door holding jig base 26 for temporarily holding. Then, the component transfer robot 21 and the component support mechanism 23 cooperate to release the front door 24 held by the door holding jig base 26 from the holding state by the door holding jig base 26, 13 to the front door mounting portion 13A, and the rear door 25 held by the door holding jig base 26 from the holding state by the door holding jig base 26. The operation of releasing the vehicle body 13 and taking the attachment position where the vehicle body 13 is attached to the rear door attachment portion 13B is performed. Also, the parts mounting robot 22
However, the front door 24 is assumed to have a mounting position where it is mounted on the front door mounting portion 13A of the vehicle body 13.
Is mounted on the front door mounting portion 13A of the vehicle body 13 and the rear door mounting portion 13B of the vehicle body 13 is mounted on the rear door mounting portion 13B.
Is mounted on the rear door mounting portion 13B of the vehicle body 13.

Each of the component transfer robot 21 and the component mounting robot 22 is a teaching playback type articulated robot. The component transfer robot 21 includes a movable arm 33 supported by a base 32 rotatably installed on a base 31 provided on the floor of the work station 11, and a movable wrist 3 connected to the movable arm 33.
4 and a component holding part 35 connected to the movable wrist 34. The component gripper 35 is provided on the door holding jig table 26.
The front door 24 and the rear door 25 held by are selectively gripped. The movable arm 33 is moved to move the front door 24, which is gripped by the component gripper 35 and released from the holding state of the door holding jig base 26, from the door holding jig base 26.
The vehicle body 13 is conveyed to an attachment position where it is attached to the front door attachment portion 13A, and then the movement is stopped to maintain the state where the front door 24 held by the component holding portion 35 is in the attachment position. From the door holding jig table 26, the rear door 25 held by the component holding section 35 and released from the holding state by the door holding jig table 26 is removed from the vehicle body 1
3 is transported to the mounting position where it is mounted on the rear door mounting portion 13B, and then the movement is stopped to keep the rear door 25 gripped by the component gripping portion 35 at the mounting position.

As described above, the component gripping portion 35 of the component transfer robot 21 for selectively gripping the front door 24 and the rear door 25 has a floating mechanism portion 37 as shown in FIGS. And a base portion 38 connected to the movable wrist 34 via
It is provided with a mounting plate portion 39 fixed to the. The base portion 38 and the attachment plate portion 39 extend downward from the movable wrist 34, and the floating mechanism portion 37 extends downward from the movable wrist 34 and the attachment portion 39 and the attachment plate portion 39.
Is in an unlocked state in which the base portion 38 extending in the up-down direction can be freely moved within a predetermined range with respect to the movable wrist 34, and the base portion 38 and The mounting plate portion 39 is selectively set in a locked state in which the movement of the mounting plate portion 39 with respect to the movable wrist 34 is prohibited in a direction orthogonal to the central axis of the base portion 38.

The mounting plate portion 39 has a pair of fixed gripping arm portions 4 integrally formed with the mounting plate portion 39 at its lower portion.
0 and 41 are provided so as to extend in parallel to each other, and a pair of movable gripping arm portions 42 and 43 that are movable in the up-down direction with respect to the mounting plate portion 39 are provided in the middle portion thereof. , A pair of cylinder devices 44 and 45 which are provided so as to extend in parallel to each other and which are attached to the attachment plate portion 39 at the upper side portion thereof.
Are parallel to each other, and each is provided so as to extend in the vertical direction.

The movable rod 4 of the cylinder device 44
4A extends downward, and its tip is movable gripping arm 4
In addition, the movable rod 45A of the cylinder device 45 extends downward, and its tip is connected to the movable gripping arm portion 43. As a result, the movable gripping arm portion 42 moves in the vertical direction on the mounting plate portion 39 as the movable rod 44A of the cylinder device 44 expands and contracts with respect to the cylinder body. Movable rod 45 in cylinder device 45
Along with the expansion and contraction of A of the cylinder body, the mounting plate 39
It is supposed to move in the vertical direction at the top.

A lower engaging portion 46 which engages with the lower end of the front door 24 from the lower side thereof is provided at the tip of the fixed gripping arm 40, and the tip of the fixed gripping arm 41 is provided at the tip thereof. A lower engagement portion 47 that engages from the lower side of the rear door 25 is provided at the lower end portion of the rear door 25. Further, a positioning pin 49 projecting downward from the fixed gripping arm 40 is provided at the tip of the fixed gripping arm 40, and similarly, a tip end of the fixed gripping arm 41 extends downward from the positioning pin 49. A positioning pin 50 that protrudes is provided.

On the other hand, at the tip of the movable gripping arm 42, an upper engaging portion 51 that engages with the lower end of the window frame of the front door 24 from above is provided, and at the tip of the movable gripping arm 43. The upper part of the rear door 25 is engaged with the lower end of the window frame of the rear door 25 from above.

The component mounting robot 22 has a movable arm 57 supported by a base 56 rotatably mounted on a base 55 provided on the floor of the work station 11.
And a movable wrist 58 connected to the movable arm 57. Then, on the movable wrist 58, a mounting jig such as a nut runner for mounting the front door 24 to the front door mounting portion 13A of the vehicle body 13 or the rear door 25 to the rear door mounting portion 13B of the vehicle body 13. (Not shown) are connected.

As shown in FIGS. 4 and 5, the component support mechanism 23 is fixed by three cylinder devices 62 which are erected on a rectangular fixed base 61 arranged on the floor 11A of the work station 11. A movable base 63 having a rectangular shape is supported above the base 61 so as to be vertically movable. Between the fixed base 61 and the movable base 63 above it, in addition to the three cylinder devices 62, four expansions / contractions are provided at the four corners of the fixed base 61 and the movable base 63, respectively. A guide rod member 64 is arranged. As a result, the movable base 63 expands and contracts with respect to the cylinder body of the movable rod 62A in each of the three cylinder devices 62,
While being guided by the four expansion / contraction guide rod members 64, the fixed base 61 is moved up and down.

On the upper surface of the movable base 63, three rails 65 are arranged in parallel, and these three rails 65 are provided.
A plurality of sliders 67 provided on the lower surface of the first slide table 66 arranged above the movable base 63 are engaged with the respective sliders. As shown in FIG. 5, a female screw portion 68 is also provided on the lower surface of the first slide table 66, and as shown in FIGS. 1 and 4, there are three female screw portions 68. A feed screw shaft member 69 extending in parallel with the rail 65 is screwed. And the feed screw shaft member 6
One end of 9 is rotatably supported by a bearing member 70 provided on the side edge portion of the upper surface of the movable base 63, and
The other end of the feed screw shaft member 69 is attached to the rotation shaft of a motor 71 fixed to an end edge portion of the upper surface of the movable base 63 facing the side edge portion where the bearing member 70 is provided.
It is connected through 2.

Therefore, when the motor 71 operates to rotate its rotation shaft, the rotation is transmitted to the feed screw shaft member 69 via the speed reduction mechanism 72, and the feed screw shaft member 69 is rotated. Thereby, the female screw portion 68 with which the feed screw shaft member 69 is screwed is fed along the feed screw shaft member 69, and as a result, the first slide table 66 is fed to the movable base 63 by the feed screw. It is moved in the direction along the shaft member 69, that is, in the direction along each of the three rails 65.

Further, on the upper surface of the first slide table 66, two rails 73 extending in a direction orthogonal to each of the three rails 65 provided on the upper surface of the movable base 63.
Are arranged in parallel with each other, and a plurality of sliders 75 provided on the lower surface of a second slide table 74 arranged above the first slide table 66 are provided on each of these two rails 73. Engaged. As shown in FIG.
The female screw portion 7 is provided on the lower surface of the second slide table 74.
6 is also provided, and a feed screw shaft member 77 extending parallel to the two rails 73 is screwed into the female screw portion 76, as shown in FIGS. Then, one end of the feed screw shaft member 77 is rotatably supported by a bearing member 78 provided on the side edge portion of the upper surface of the first slide table 66, and the other end of the feed screw shaft member 77 is A rotary shaft of a motor 79 fixed to an edge portion of the upper surface of the first slide table 66, which is opposed to a side edge portion provided with a bearing member 78, is connected via a reduction mechanism 80.

Therefore, when the motor 79 operates to rotate its rotary shaft, the rotation is transmitted to the feed screw shaft member 77 via the speed reduction mechanism 80, and the feed screw shaft member 77 is rotated. Thereby, the female screw portion 76 with which the feed screw shaft member 77 is screwed is fed along the feed screw shaft member 77, and as a result, the second slide table 74 is moved relative to the first slide table 66. It is moved in the direction along the feed screw shaft member 77, that is, in the direction along each of the two rails 73.

In this way, the first slide table 66 is moved in the direction along each of the three rails 65 with respect to the movable base 63 in accordance with the operation of the motor 71,
Further, as the motor 79 operates, the second slide table 74 extends in the direction along the two rails 73 with respect to the first slide table 66, and thus the three rails 65.
Since the second slide table 74 is moved in a direction orthogonal to each of the three rails 65, the second slide table 74 is movable with respect to the movable base 63 in a direction along each of the three rails 65 and in a direction orthogonal thereto. It is supposed to be movable to any of these.

An engaging member 8 extending in the direction along the feed screw shaft member 77 is provided on the upper surface of the second slide table 74.
1 is provided. Further, the engaging member 81 is provided with two engaging holes 82 and 83, and these engaging holes 82 and 83 are provided at the distal end portion of the fixed gripping arm portion 40 in the component gripping portion 35. The positioning pin 49 projecting downward and the positioning pin 50 projecting downward provided at the tip of the fixed gripping arm portion 41 of the component gripping portion 35 are engaged with each other. It is supposed to be. The engagement hole 82 is a long hole and the engagement hole 83 is a circular hole.

Under the above circumstances, in order to mount the front door 24 on the front door mounting portion 13A of the vehicle body 13, the component carrying robot 21 and the component support mechanism 23 are used to carry out the door holding jig. The front door 24 held by the table 26 is released from the holding state of the door holding jig table 26, and the front door mounting portion 1 of the vehicle body 13 is released.
In order to convey the vehicle body 13 to the attachment position where it is attached to the 3A and to support it so as to maintain the state of being placed in the attachment position, first, as shown in FIG. The component support mechanism 23
Is to be arranged near the front door mounting portion 13A of the vehicle body 13.

Then, the component transfer robot 21 is operated to cause the component transfer robot 21 to perform the following various operations in accordance with a preset operation program.

At this time, the component transfer robot 21 first makes the movable rod 44A of the cylinder device 44 in the component gripping portion 35 contracted with respect to the cylinder body,
Along with this, the movable gripping arm 42 is caused to assume the upper position as shown by the alternate long and short dash line in FIGS. 1 and 2, and the movable rod 45A of the cylinder device 45 in the component gripping portion 35 is contracted with respect to the cylinder body. Then, the movable gripping arm 43 is caused to assume the upper position as indicated by the solid line in FIG. Next, the movable arm 33 is assumed to assume the position shown by the alternate long and short dash line in FIG.
To a position where the front door 24 held by the door holding jig base 26 can be gripped.

Subsequently, the lower grip portion 46 provided at the tip of the fixed gripping arm portion 40 of the component gripping portion 35 is engaged with the lower end portion of the front door 24 from the lower side thereof, and then the component gripping portion. In the state in which the movable rod 44A of the cylinder device 44 in 35 is extended with respect to the cylinder body,
Along with that, the movable gripping arm 42 is caused to take a lower position as shown by the solid line in FIGS. 1 and 2, and the upper engaging portion 51 provided at the tip of the movable gripping arm 42 is attached to the front door 24. The lower end of the window frame is engaged from above. As a result, in FIG. 1, the fixed gripping arm portion 40 and the movable gripping arm portion 42 in the component gripping portion 35 are represented by solid lines, and the front door 24 is represented by a dashed line, as shown in FIG. The fixed gripping arm portion 40 and the movable gripping arm portion 42 of the gripping portion 35 are sandwiched between the gripping portions 35, and the state in which the front door 24 is gripped by the component gripping portion 35 is obtained.

Under the circumstances, the parts transfer robot 21
The holding of the front door 24 by the door holding jig base 26 is released, and the movable arm 33 with the component holding portion 35 holding the front door 24 is moved from the position shown by the one-dot chain line in FIG. 3 to the position shown by the solid line. The front door 24 gripped by the component gripping portion 35 from the door holding jig base 26 to the vehicle body 13
The sheet is conveyed along a conveyance path that is set in advance toward the attachment position where the sheet is attached to the front door attachment portion 13A. At this time, the transport speed of the front door 24 gripped by the component gripping portion 35 is set as high as possible within the range of the motion performance of the component transport robot 21.

As the movable arm 33 moves,
The component grip 35 that grips the front door 24 is
When the position above the component support mechanism 23, which is supposed to be located in the vicinity of the front door mounting portion 13A of No. 3, is reached, the movement of the movable arm 33 is controlled, and the front door 24
As shown by the solid line in FIGS. 4 and 5, the component gripping portion 35 that grips the positioning pin 49 is provided at the tip of the fixed gripping arm portion 40 of the component gripping portion 35 and protrudes downward. Further, the positioning pin 50 provided on the tip of the fixed gripping arm portion 41 of the component gripping portion 35 and projecting downward is provided on the engaging member 81 on the second slide table 74 of the component supporting mechanism 23. The movement of the movable arm 33 is stopped so that the movable arm 33 is positioned above the engaged holes 82 and 83.

Next, the component transfer robot 21 causes the floating mechanism unit 37, which connects the component holding unit 35 to the movable wrist 34 connected to the tip of the movable arm 33, to take the unlocked state and holds the component. Base part 38 in part 35
The mounting plate portion 39 can be freely moved within a predetermined range with respect to the movable wrist 34 in a direction orthogonal to the central axis of the base portion 38 extending in the vertical direction. Then, under such circumstances, the movable arm 33 and the movable wrist 3
4 is slightly lowered to lower the component gripping portion 35 gripping the front door 24 from the position shown by the solid line in FIGS. 4 and 5 to the position shown by the chain double-dashed line.
Thereby, the fixed gripping arm portion 40 in the component gripping portion 35.
The positioning pin 49 provided at the tip of the component holding mechanism 35 and the positioning pin 50 provided at the tip of the fixed gripping arm portion 41 of the component gripping portion 35 are provided on the second slide table 74 of the component supporting mechanism 23. The engaging holes 82 and 83 provided in the engaging member 81 are engaged with each other.

In such a case, the positioning pins 49 are engaged with the engagement holes 82 and the positioning pins 50 are engaged with the engagement holes 83. The downward ends of the positioning pins 49 and 50 are tapered. The engaging hole 82 is a long hole, and the engaging hole 8
The upper end of each of 2 and 83 is expanded outward, and further, the floating mechanism portion 37 is set in an unlocked state, and the base portion 38 and the mounting plate in the component gripping portion 35. The portion 39 is configured to be freely movable within a predetermined range with respect to the movable wrist 34 in a direction orthogonal to the central axis of the base portion 38 extending in the up-down direction. Done.

In this way, the positioning pins 49 and 50 provided on the component gripping portion 35 are connected to the component support mechanism 23.
When the engaging holes 82 and 83 provided in the parts are brought into engagement with each other, the parts transfer robot 21 causes the floating mechanism part 37 to be in the locked state, and the base part 38 and the mounting part 35 in the parts gripping part 35 are attached. The plate portion 39 is brought into a state in which the movable wrist 34 is prohibited from moving in the direction orthogonal to the central axis of the base portion 38 extending in the vertical direction. Then, the movable arm 33 is moved so that the front door 24 gripped by the component gripping portion 35 is further brought closer to the front door mounting portion 13A of the vehicle body 13.

The positioning pins 49 and 50 provided on the component holding part 35 are engaged with the engaging holes 82 and 83 provided on the component supporting mechanism 23, that is, the component holding part 35 is the component supporting mechanism. After the state of being engaged with 23, the component support mechanism 23 cooperates with the component transfer robot 21 to move the front door 24 grasped by the component grasping portion 35 to the front door attachment portion 13A of the vehicle body 13. The operation to reach the mounting position where the mounting is done is performed.

At this time, the component support mechanism 23 has the engagement hole 8
The engagement of the positioning pin 49 with respect to 2 or the engagement of the positioning pin 50 with respect to the engagement hole 83 is detected,
The operation state is set, and the motor 71 and the motor 79 are appropriately operated in accordance with the movement of the component gripping portion 35 that grips the front door 24 in accordance with the movement of the movable arm 33 of the component transfer robot 21, thereby causing the movable base to move. The second slide table 74 is moved with respect to the base 63 in both the direction along each of the three rails 65 and the direction orthogonal thereto, and is indicated by the alternate long and short dash line in FIG. The second, as indicated by the dashed line
The engaging member 81 provided with the engaging holes 82 and 83 on the slide table 74 is moved in synchronization with the movement of the movable arm 33 of the component transfer robot 21.

As a result, the engaging member 81 having the engaging holes 82 and 83 with which the positioning pins 49 and 50 provided in the component gripping portion 35, which are provided in the component support mechanism 23, are engaged, respectively. The front door 24 is configured to form a movable component supporting portion that substantially supports the front door 24 gripped by the portion 35.
And the front door mounting portion 1 of the vehicle body 13 under the condition of being supported by both the engaging member 81 provided in the component supporting mechanism 23, which forms the movable component supporting portion.
It will be transported to the mounting position where it is mounted on 3A.

In this manner, the component transfer robot 21 and the component support mechanism 23 cooperate with each other to be in a state of being supported by both the component gripper 35 and the engaging member 81 provided on the component support mechanism 23. A certain front door 24 is moved to the vehicle body 1 by moving the movable arm 33 of the parts transfer robot 21.
When the front door 24 reaches the mounting position, the movable arm 33 is stopped to move the front door 24 to the mounting position. In order to maintain the above state, the state in which the component holding portion 35 and the engagement member 81 provided in the component support mechanism 23 support the state is continued.

The front door mounting portion 13A of the vehicle body 13 for the front door 24 by the component transfer robot 21 and the component support mechanism 23, which is performed as described above.
In the transportation to the mounting position where the component is mounted on and the support at the mounting position, the front door 24 gripped by the component gripping portion 35 connected to the movable arm 33 included in the component transport robot 21 is moved to the movable arm 33. Is conveyed to the attachment position by the movement of the component, and at that time, when it is conveyed to the vicinity of the attachment position, in addition to the grasping by the component grasping portion 35, the component support mechanism 23 that is supposed to be located in the vicinity of the attachment position is The movable member supporting portion is provided to support the engaging member 81. The front door 24 is grasped by the component grasping portion 35 of the component conveying robot 21 from the vicinity of the attachment position to the attachment position and is provided in the component support mechanism 23 to form a movable component support portion. Is supported by the engaging member 81, and is transported with the movement of the movable arm 33 included in the component transport robot 21,
When it reaches the attachment position, it is placed in the attachment position in a state of being supported by both the component gripping portion 35 and the engaging member 81 provided in the component support mechanism 23.

Therefore, even if the front door 24 is conveyed at a relatively high conveyance speed, the conveyance from the vicinity of the mounting position of the front door 24 to the mounting position and the fixing of the position at the mounting position are not performed. , The front door 24 is the component gripper 35 of the component transfer robot 21.
And the engaging member 81 provided on the component support mechanism 23, the support is performed while being supported by both of them, so that the front door 24 is not substantially shaken. As a result, the mounting accuracy of the front door 24 with respect to the front door mounting portion 13A of the vehicle body 13 is lowered, or the front door 24 is not contacted with the front door mounting portion 13A of the vehicle body 13 undesirably. The conveyance speed can be made relatively high, which can effectively improve the work efficiency.

Further, in order to make the rear door 25 attached to the rear door attachment portion 13B of the vehicle body 13,
The rear door 2 held by the door holding jig base 26 using the component transfer robot 21 and the component support mechanism 23.
5 is released from the holding state by the door holding jig table 26, is transported to the mounting position where the rear door mounting portion 13B of the vehicle body 13 is mounted, and the state in which the mounting position is maintained is maintained. In supporting, the vehicle body 13 that has arrived at the work station 11 is moved to the right from the position shown in FIG. 3 along the vehicle body transport path 12, and the component support mechanism 23 is provided near the rear door mounting portion 13B of the vehicle body 13. Take the position where it will be placed.

Then, the part transfer robot 21 is operated to cause the part transfer robot 21 and the part support mechanism 23 to operate in accordance with a preset operation program.
4 is transported to the mounting position where it is mounted on the front door mounting portion 13A of the vehicle body 13, and various operations similar to those in the case where it is supported to maintain the state of being mounted at the mounting position are performed.

At this time, the component transfer robot 21 first causes the movable rod 44A of the cylinder device 44 in the component gripping portion 35 to contract to the cylinder body,
Along with this, the movable gripping arm 42 is caused to assume the upper position as shown by the alternate long and short dash line in FIGS. 1 and 2, and the movable rod 45A of the cylinder device 45 in the component gripping portion 35 is contracted with respect to the cylinder body. Then, the movable gripping arm 43 is caused to assume the upper position as indicated by the solid line in FIG. Next, the movable arm 33 is assumed to assume the position shown by the alternate long and short dash line in FIG.
To the position where the rear door 25 held by the door holding jig table 26 can be gripped.

Subsequently, the lower engaging portion 47 provided at the tip end of the fixed grasping arm portion 41 of the component grasping portion 35 is engaged with the lower end portion of the rear door 25 from below.
The movable rod 45A of the cylinder device 45 in the component grip portion 35 is extended with respect to the cylinder body, and accordingly, the movable grip arm portion 43 is set to the lower position and is provided at the tip portion of the movable grip arm portion 43. The upper engaging portion 52,
The lower end of the window frame of the rear door 25 is engaged from above. As a result, the rear door 25 is sandwiched between the fixed gripping arm portion 41 and the movable gripping arm portion 43 in the component gripping portion 35, and the state where the rear door 25 is gripped by the component gripping portion 35 is obtained.

After that, the component transfer robot 21 and the component support mechanism 23 transfer the front door 24 to the mounting position where the front door 24 is mounted on the front door mounting portion 13A of the vehicle body 13 and are placed at the mounting position. It works like supporting to maintain the condition. As a result, the front door 24 is attached to the front door mounting portion 13A of the vehicle body 13.
The same operation and effect as in the case of being transported to the mounting position where the mounting is performed and being maintained in the state where the mounting position is set is obtained.

The movable base 63 of the component support mechanism 23 has, for example, engaging pins 82 and 83 provided in an engaging member 81 on the second slide table 74, and positioning pins for the component gripping portion 35. When engaging 49 and 50 respectively, or separating the engaging holes 82 and 83 from the positioning pins 49 and 50 engaged with them, the cylinder device 62 is operated as necessary, It is assumed that it moves up and down with respect to the fixed base 61.

In the component support mechanism 23 in the above-described example, the first slide table 66 is driven by the feed screw shaft member 69 which is rotated by transmitting the rotation of the motor 71,
Further, the second slide table 74 is driven by the feed screw shaft member 77 which is rotated by the rotation of the motor 79 being transmitted, and the engagement hole 82 on the second slide table 74 is driven.
The engaging member 81 provided with Nos. And 83 is supposed to be moved in synchronism with the movement of the movable arm 33 of the component transfer robot 21.
The driving of the first slide table 66 by the motor 71 and the feed screw shaft member 69 and the driving of the second slide table 74 by the motor 79 and the feed screw shaft member 77 in 3 are not necessarily required. . That is, the component support mechanism 23 includes the motor 71, the feed screw shaft member 69, and the female screw portion 68 with which the feed screw shaft member 69 is screwed.
Further, the motor 79, the feed screw shaft member 77, and the female screw portion 76 with which the feed screw shaft member 77 is screwed are not provided, and the first slide table 66 and the second slide table 74 are provided.
Each of the above may be freely movable within a predetermined range.

In such a case, the positioning pins 49 and 50 provided on the component gripping portion 35 have the component support mechanism 23.
Of the movable arm 3 of the component transfer robot 21 while being engaged with the engaging holes 82 and 83 provided in the engaging member 81 of FIG.
3 moves, the engaging hole 8 in the component support mechanism 23
The engaging member 81 provided with 2 and 83 is the movable arm 3
It is moved following the component gripper 35 that moves with 3. As a result, the front door 24 or the rear door 25 is in a state of being supported by both the component gripping portion 35 and the engaging member 81 provided in the component supporting mechanism 23 that forms the movable component supporting portion. Originally, the vehicle body 13 is transported to an attachment position where it is attached to the front door attachment portion 13A or the rear door attachment portion 13B, and a state where the vehicle body 13 is placed at the attachment position is obtained.

[0054]

As is apparent from the above description, according to the method for supporting and conveying a component according to the present invention, or the component-conveying and supporting apparatus used for carrying out the method, the component-conveying robot is connected to the movable arm of the component-conveying robot. The component gripped by the component gripper and transported is, for example, a door of the vehicle body, and has a relatively large scale and weight. Moreover, the movable arm of the component transport robot is moved. Even when the parts are conveyed at a relatively high conveyance speed, the parts are not attached to the door attachment portion of the vehicle body, for example, at the attachment position. For the transportation from the vicinity to the mounting position and the position fixing at the mounting position, the component is the component gripper of the component transport robot and the movable component support of the component support mechanism. By being carried out under the support of both of them, the parts are not substantially shaken, so that even if the parts have a relatively large scale and weight, the mounting parts The parts can be conveyed at a relatively high conveyance speed without lowering the mounting accuracy or causing undesired contact with the mounting site, etc., thereby effectively working efficiency. Can be improved.

[Brief description of drawings]

FIG. 1 is a side view showing an example of a component carrying / supporting device according to the present invention, which is used for carrying out an example of a component carrying / supporting method according to the present invention.

FIG. 2 is a side view showing an example of a component carrying / supporting device according to the present invention, which is used for carrying out an example of the component carrying / supporting method according to the present invention.

FIG. 3 is a plan view showing a work station in an assembly line of a vehicle to which an example of the component carrying / supporting device according to the present invention, which is used for carrying out an example of the component carrying / supporting method according to the present invention, is applied.

4 is a side view showing a portion of the example shown in FIG. 1. FIG.

5 is a side view showing a portion of the example shown in FIG. 2. FIG.

[Explanation of symbols]

 11 work station 13 vehicle body 13A front door mounting portion 13B rear door mounting portion 21 component transfer robot 22 component mounting robot 23 component support mechanism 24 front door 25 rear door 26 door holding jig stand 33, 57 movable arm 34, 58 movable wrist 35 component Gripping part 38 Base part 39 Mounting plate part 40, 41 Fixed gripping arm part 42, 43 Movable gripping arm part 46, 47 Lower engaging part 49, 50 Positioning pin 51, 52 Upper engaging part 63 Movable base 66 First Slide table 69,77 feed screw shaft member 71,79 motor 74 second slide table 81 engaging member 82,83 engaging hole

Claims (12)

[Claims] 1. A component transfer robot having a movable arm and a component gripper connected to the movable arm is operated to convey the component gripped by the component gripper to an attachment position, and the vicinity of the attachment position. The movable part supporting part provided in the part supporting mechanism positioned at the position supports the part gripped by the part gripping part which is conveyed by the part conveying robot and is held in a conveyable state. A method for supporting and transporting a component, characterized in that the component is supported by both the component gripper and the movable component supporter at the mounting position. 2. A movable component support portion provided in the component support mechanism,
2. The component transfer supporting method according to claim 1, wherein the component transfer robot is driven to move in synchronization with the movement of the movable arm of the component transfer robot. 3. A component holding mechanism provided by a component gripping portion of a component transfer robot, wherein a positioning member provided in a component gripping portion is engaged with an engaging portion provided in a movable component support portion of a component support mechanism. 2. The method for supporting and transporting a component according to claim 1, wherein a state in which the grasped component is supported by the movable component supporter is obtained. 4. The component transfer support according to claim 9, wherein the component gripping portion of the component transfer robot grips the door of the vehicle body, and the component transfer robot transports the door to a mounting position with respect to the vehicle body. Method. 5. A component transfer robot comprising a movable arm and a component gripper connected to the movable arm, for transporting a component gripped by the component gripper to a mounting position, and a component transfer robot located near the mounting position, When a component gripped by the component gripper conveyed by the component transport robot arrives, a movable component supporter that supports the component and moves with the component is provided, and the component gripper at the mounting position. And a component support mechanism that is supported by both of the movable component support section. 6. The component transfer support according to claim 5, wherein the component support mechanism includes drive means for driving the movable component support portion so as to move in synchronization with the movement of the movable arm of the component transfer robot. apparatus. 7. The component carrying / supporting device according to claim 5, wherein the component supporting mechanism is provided with a movable component supporting portion so as to be movable along two orthogonal directions. 8. A positioning member is provided on a component gripping part of the component transfer robot, and an engaging part is provided on a movable part supporting part of the component supporting mechanism. The positioning member engages with the engaging part. 6. The state in which the component gripped by the component gripper is supported by the movable component supporter is obtained by combining the components.
The component transfer supporting device described. 9. The component gripping part provided in the component transfer robot is configured to grip a door of a vehicle body, and the component transfer robot transports the door to a mounting position with respect to the vehicle body. Parts transport support device. 10. A movable part support part capable of supporting and moving a part which is gripped by a part gripping part connected to a movable arm of a part transfer robot and is transported, and the movable part support part, And a drive unit that drives the movable arm of the component transfer robot in synchronism with the movement of the movable arm of the component transfer robot. 11. The component conveying / supporting device according to claim 10, wherein the movable component supporting portion is configured to be movable in two orthogonal directions. 12. The movable component support portion includes an engagement portion that engages with a positioning member provided on a component gripping portion connected to a movable arm of a component transfer robot, the positioning member being the engaging member. 11. The component carrying / supporting device according to claim 10, wherein a state in which the component gripped by the component gripping portion is supported by the movable component supporting portion is obtained by engaging the mating portion.