JPH075104B2 - Work device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention is used in the technical field of automobile assembly work and the like, and relates to an apparatus for mounting a work on a work on the main body side.

(Prior Art) A device for mounting an engine (work) on a vehicle body (workpiece on the main body side), placing the engine on a table, raising it, and positioning it at a predetermined position on the vehicle body makes the assembly work easy and reliable. It is widely used to As a mounting device for mounting and raising an engine, an automatic heavy load mounting device capable of changing the moving path vertically, horizontally, and backwardly so as not to interfere with each other depending on the types of the vehicle body and the engine is generally known. (See, for example, JP-A-59-206266). However, in this device, the screw fastening for attaching the work is separately performed manually.

(Object of the Invention) An object of the present invention is to enable automation of positioning and fastening work of a work to be mounted on a work on the main body side, and further to solve the following problems in the automation. Is. That is, in automating the fastening work, it is conceivable that a fastening means (for example, a nut runner) is attached to a table or the like on which the work is placed, and after the work is positioned, a command is given to the fastening means to perform the fastening work. When the type of work to be mounted changes, the tightening position also changes, and the tightening work by the tightening means cannot be performed. On the other hand, it is possible to move the tightening means horizontally and vertically with respect to the table, and change the tightening position according to the type of work, but the mechanism for moving the tightening means will change the structure of the entire mounting device. In addition to being complicated, an extra heavy object is provided on the table, which causes the table itself to easily bend due to inertia during its movement, resulting in a problem that the positioning accuracy of the tightening means deteriorates.

(Structure of the Invention) As a means for achieving the above object, the present invention is a work mounting device for tightening and mounting a work on a main body side work by a screw member, the work mounting device having a work mounting portion for mounting the work, Work positioning means for moving the work placing part to the loading position of the main body side work by moving the work placing part in the horizontal and vertical directions by numerical control, and the work placing part locked and attached to the work placing part. Clamping means for tightening the workpiece of the placing portion to the workpiece on the main body side with a screw member, and the clamping means is provided for locking and attaching the clamping means to the workpiece placing portion. A plurality of locking portions that make the tightening positions of the screw members of the tightening means different from each other, and a plurality of locking means of the tightening means that are provided in the work placing portion. A mounting portion to which one locking portion selected from the above is locked, and attachment / detachment of the fastening means to / from the mounting portion of the work placing portion by the selected locking portion, and a screw member for the fastening means. And a manipulator for supplying the above.

(Operation) In the case of the work mounting device, since the mounting portion for mounting the tightening means is provided on the work placing portion of the work positioning means, the work is moved to the mounting position and the tightening work of the tightening means is performed. It is possible to move to the position at the same time.

Further, the fastening means is provided with a plurality of locking portions that make the fastening positions of the screw members different from each other when locked to the mounting portion of the work placing portion. Since the fastening means is attached to the work placing portion by one locking portion selected from the stop portions, the work placing portion does not need to be provided with a moving means of the fastening means. The tightening position can be changed according to the type, and it is possible to cope with this even when the positions of the screw members of the work are dispersed in a relatively wide range.

Further, since the manipulator provided separately from the work positioning means carries out the attachment / detachment of the tightening means to / from the work placing portion and the supply of the screw member to the tightening means, the main body side work is being transferred. Also, even before the work is placed on the work placement part, the fastening means can be attached and detached and the screw member can be supplied.
The operating rate of the manipulator becomes high.

(Effects of the Invention) Therefore, according to the present invention, a plurality of the work positioning portions of the work positioning means are provided with the attachment portions of the fastening means, and the fastening means have different fastening positions of the screw members. Since a manipulator for attaching and detaching the tightening means and supplying a screw member is provided separately from the work positioning means, even if the position of the screw member differs depending on the type of work, The tightening position of the screw member by the above-mentioned tightening means can be easily changed without complicating the structure of the work placing part and without increasing the weight of the work placing part. Can be moved to the mounting position and the tightening means to the tightening work position at the same time, and the operating rate of the manipulator can be increased, so that the work time for mounting the work can be shortened. can do.

(Example) Hereinafter, an example of the present invention will be described with reference to the drawings.

As shown in FIG. 1, the work mounting apparatus 1 of the present embodiment has a work positioning means having a work mounting table 2 provided on the upper surface thereof, which is movable by numerical control in the horizontal X and Y directions and the vertical Z direction. 3, a tightening means 5 capable of selecting a plurality of different tightening positions which can be attached to and detached from the work positioning means 3, and a manipulator 6 for attaching / detaching the tightening means 5 and supplying a nut N to the tightening means 5. With.

This work mounting device 1 is for mounting an engine and a front suspension (hereinafter, these two are referred to as a work W ₁ ) on a vehicle body 8 of an automobile supported by a hanger 7,
The rear suspension (hereinafter referred to as the work W ₂ ) is also mounted by a similar mounting device (a concrete illustration is omitted), and both are used at the mounting station 9 shown in FIG. At the station 9, 10 is a vehicle body transport line for transporting the vehicle body 8 by a hanger conveyor, and 11 is a workpiece transport line for transporting the works W ₁ and W ₂ in a direction opposite to the vehicle body transport runner 10 by a hanger conveyor. Work W ₁ , W ₂
Are transferred from the work transfer line 11 to the pallets 14 and 15 of the first and second pallet conveyors 12 and 13 which are orthogonal to the work transfer line 11, positioned, and sent to the vehicle body transfer line 10 side. The first and second pallet conveyors 12 and 13 are provided with fixed roller conveyors 16 and 17 provided in upper and lower two stages and elevating roller conveyors 18, 19, 20 and 21 at both ends thereof. Fixed roller conveyor 16,17
The pallets 14 and 15 are located at the intersection with the vehicle body conveyance line 10 together with the workpieces W ₁ and W _{2 and} the workpiece positioning means under the vehicle body 8
Feeding means 22, 23 for sending to 3, 3 are provided. The elevating roller conveyors 18, 19, 20 and 21 are provided so as to be able to ascend and descend between the upper and lower heights of the fixed roller conveyors 16 and 17. In this case, the elevating roller conveyors 18 and 19 on the base end side at the intersection position with the work transfer line 11 receive the works W ₁ and W ₂ from the work transfer line 11 and send them to the upper stage of the fixed roller conveyors 16 and 17, In addition, empty pallets 14,1 that are forwarded after mounting the work
It receives 5 from the bottom and waits for the next work W ₁ , W ₂ . The elevating roller conveyors 20 and 21 on the front end side feed the empty pallets 14 and 15 after the work is loaded from the upper stage of the fixed roller conveyors 16 and 17 to the receiving lower stage. Therefore, pallet 1
4, 15 are circulated between the upper and lower stages of the fixed roller conveyors 16 and 17 by raising and lowering the elevator roller conveyors 18 to 21 at both ends.

Now, the work mounting device 1 will be described in detail. First, as shown in FIG. 3, the work positioning means 3 is supported by guide means 25 in the Z direction (vertical direction) and lifted by a lifting cylinder 26. Lifting plate 27 made possible and this lifting plate
A first slide plate 29 supported by X-direction (vehicle body width direction) guide means 28 on 27 and movable in the same direction, and a first slide plate 29 supported by Y-direction guide means 30 on the same direction. And a second slide plate 31 that can be moved to. And
The work mounting table 2 is rotatably supported on a second slide plate 31 by a rotary shaft 32 and a supporting roller 33 around the second slide plate 31, and an output shaft of a turning motor 34 fixed to the second slide plate 31 and the rotary shaft. It is adapted to be rotationally driven by the turning motor 34 via a transmission band 35 stretched between the motor 32 and the shaft 32.

The first slide plate 29 is connected to a motor 36 fixed to the lift plate 27 via a clutch 37 and a pinion 38.
The motor 36 is driven by meshing with the rack 39 on the lower surface of the first slide plate 29. In this case, the lifting plate 27
A contactor 41 driven by cylinders 40 opposite to each other in the X direction and a stopper 42 fixed to the first slide plate 29 (only one of these members is shown). The origin of the first slide plate 29 is indexed by the contact with the first slide plate 29, and the limit switch 43 fixed to the lift plate 27 is moved to the first position.
The origin index is confirmed by contacting and operating the limit guide 44 fixed to the slide plate 29. The mechanism for driving the second slide plate 31, indexing the origin and confirming the origin, and the mechanism for confirming the origin in the rotation direction of the work mounting table 2 are basically the same as those of the first slide plate 29. Illustration and description are omitted.

Then, a plurality of places (the third
In the drawing, two positions are shown), and brackets 45, 45 extending downward are provided, and the clamp device 46 of the fastening means 5 is supported on the bracket 45 by a cylinder device 47 so as to be able to move up and down. ing. The clamp device 46 receives the fastening means 5 from below and positions it in the Z direction, and an L for positioning and holding the fastening means 5 in the XY directions as shown in FIG. Mold fixed claw 49 and L
And a rotating claw 50 of the mold.

On the other hand, the tightening means 5 is provided with a nut runner main body 51 and a box 52 that supports the nut runner main body 51. The nut runner main body 51 and the box 52 are clamped at four peripheral surfaces of the box 52 by the claws 49 and 50 of the clamp device 46.
The character-shaped locking portions 4a to 4d are provided, and a grip portion 53 that is gripped by the manipulator 6 and protrudes downward is provided on the lower surface of the box 52. The respective locking portions 4a to 4d project from the wall surface of the box 52 in four directions so that adjacent ones are at right angles to each other, and the amount of projection T from the nut runner shaft and the direction of projection above the nut runner shaft. At least one of the deviation amount D from the center line L or the height of the lower end of the engaging portion is different. That is, due to this difference, the tightening position of the tightening means 5 changes with the nut runner shaft, that is, the work mounting table as a reference, when the locking portion to be clamped changes. The protrusion amount T, bias amount D and the height of the locking portion 4a~4d are to be set in advance according to the kind of the workpiece W ₁ to be mounted.

A positioning correction means 56 including a touch sensor 54 and a taper-shaped reference pin 55 is clamped on the work mounting table 2 in the same manner as the tightening means 5. That is, the correction means 56 is supported by the support member 57, and the support member 57 is provided with a plurality of locking portions 58 and gripping portions 59 having different positions, and the clamp device 60 is provided on the work mounting table 2 so as to be movable up and down. Thus, it is clamped by one locking portion selected according to the type of work.

Further, as shown in FIG. 1, the manipulator 6 includes a first arm 63 on a lifting body 62 supported by a lifting guide 61 fixed to the floor, and a second arm 64 at the tip of the first arm 63.
Each of them is attached so as to be horizontally rotatable, and this second arm 64
A gripper 65 is provided at the tip of the gripper 65, and the gripper 65 can hold the tightening means 5, the correction means 56 or the nut supply hand 70 described below.

That is, the nut supply hand 70 receives the nut from the supply pipe 72 of the vibration type nut feeder 71 which is gripped by the manipulator 6 and fixed to the floor, and the nut is supplied to the work mounting table 2
It is supplied to the tightening means 5 which is clamped at.

In the work mounting apparatus 1, when the types of the vehicle body 8 and the work W ₁ to be mounted are determined, the fastening means 5 and the locking portions of the positioning correction means 56 to be clamped are selected according to the types. Then, by the operation of the manipulator 6, the respective means 5, 56 are sequentially picked up from their respective storage locations (stored around the manipulators as shown in FIG. 2), and the workpiece mounting table 2 is clamped by the clamping devices 46 ,. Clamped at 60. Then, the manipulator 6 grips the nut supply hand 70, receives the nut from the nut feeder 71, and supplies the nut W to the tightening means 5, which is previously clamped, before the work W ₁ is carried into the work mounting table 2.

Next, when the pallet 14 on which the work W ₁ is positioned is positioned on the work mounting table 2, the pallet 14 is output from a controller (not shown) according to a control program preset according to the types of the work W ₁ and the vehicle body 8. Based on the control signal, the drive of the lifting cylinder 26, the horizontal movement motor and the turning motor 34 of the work positioning means 3 is controlled.
As a result, the work W ₁ rises while avoiding interference with the existing members on the vehicle body 8 side, and is positioned at the assembly position (engine room). At that time, when the touch sensor 54 comes into contact with the vehicle body 8 as shown in FIG. 3 and the reference pin 55 partially penetrates into the positioning hole 73 of the vehicle body 8, the first slide plate
29 is free from horizontal movement due to the disengagement of the clutch 37.
The slide plate 31 and the work mounting table 2 are also freely made. Then, in this free state, the work mounting table 2 is driven upward, and if there is a positioning error of the work W ₁ with respect to the vehicle body 8, it is corrected by the guide by the reference pin 55 and the positioning hole 73. Therefore, by this correction, the tightening means 5 is also accurately positioned with respect to the vehicle body 8, and the operation of the nut runner body 51 causes the work w ₁ to move to the vehicle body 8
Is fastened with a nut.

The manipulator 6 only supplies the nuts to the tightening means 5 while the work w ₁ is continuously mounted in the same vehicle type. However, when the vehicle type is changed, the tightening means 5 and the previously tightened tightening means 5 are clamped. The unclamping of the correcting means 56 is once released, the locking portion to be used is changed according to the vehicle model, and the clamping is performed again.

Therefore, according to this embodiment, even if the vehicle type including the type of the work W ₁ changes, this can be dealt with by one work mounting device, and a plurality of types of tightening means can be provided around the manipulator. If prepared, a wider variety of works can be automatically performed from positioning to fastening, and the manipulator not only attaches the fastening means but also supplies the nuts, so that the operating rate can be increased.

In the above embodiment, the manipulator uses the nut supply hand to supply the nut to the tightening means, but the manipulator may grasp the tightening means and receive the nut directly from the nut feeder.

Further, in the above embodiment, the tightening means and the correction means are changed over while the pallet is not being supplied to the work mounting table, but it is possible to perform the changeover even while the pallet is being supplied. is there.

Further, when the positioning correction means is provided, as a correction method, a visual sensor (camera) for detecting the positioning hole 73 of the vehicle body may be provided and feedback control based on a position signal from this sensor may be adopted.

[Brief description of drawings]

The drawings show an embodiment of the present invention, FIG. 1 is a front view showing the overall construction of a work mounting apparatus, FIG. 2 is a plan view of a mounting station using the same, and FIG. FIG. 4 is a front view showing a state in which the means is clamped in a partial cross section, and FIG. 4 is a plan view showing the clamped state of the fastening means. 1 ... Work mounting device, 2 ... Work mounting table, 3 ... Work positioning means, 4a-4d ... Locking part, 5 ... Tightening means, 6 ... Manipulator, 8 ... Car body, 46 ... Clamping device, W ₁ , W ₂ …… Workpiece.

Claims (1)

[Claims] 1. A work mounting device for tightening and mounting a work on a main body side work by means of a screw member, the work mounting device having a work mounting part for mounting the work, and the work mounting part having numerical values in horizontal and vertical directions. Work positioning means for moving the work to a mounting position of the main body side work by moving it under control, and a work that is locked and attached to the work placing part, and screw the work of the work placing part to the main body side work. Tightening means for tightening with a member, and the tightening means provided to the tightening means by attaching the tightening means to the work mounting portion by locking the work mounting portion. A plurality of locking parts which make the tightening positions of the screw members different from each other, and one locking part which is provided on the work placing part and is selected from a plurality of the locking parts of the tightening means. Is locked And a manipulator for attaching / detaching the fastening means to / from the mounting portion of the workpiece mounting portion by a selected locking portion and supplying a screw member to the fastening means. Work loading device.