JPH0790808B2 - Method and apparatus for assembling body parts - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION A. Objects of the Invention (1) Field of Industrial Application The present invention relates to a method and apparatus for assembling parts on a vehicle body of an automobile that has been painted, mainly on the inner surface of the ceiling. It is a thing.

(2) Related Art A conventional vehicle body in which a plurality of parts such as a roof lining and a sun visor are assembled using a robot is known (see US Pat. No. 455309).

(3) Problems to be Solved by the Invention However, in the conventional device, the reference pin provided on the jig is engaged with the mounting hole of the sun visor, which is opened in the roof lining, and the reference pin is drilled in the vehicle body. The roof lining is positioned and mounted on the vehicle body by fitting it into the mounting hole.However, since the reference pin is engaged with the mounting hole of the sun visor in this model, the sun visor is attached to the vehicle body during the roof lining assembly process. It is not possible to attach it to the sun visor, and it is necessary to attach it in a separate process.In addition, when the sun visor is attached, it is not possible to take the reference with the reference pin as described above, so it depends on human labor, or with an expensive visual sensor. It becomes necessary to detect the mounting position,
As a whole, there is a problem that not only the assembling efficiency of parts is poor, but also the assembling cost increases.

The present invention has been made in view of the above circumstances, and it is possible to solve the above-mentioned problems by automatically and accurately positioning a plurality of parts with respect to a vehicle body in a single step and assembling them in the vehicle body. It is an object of the present invention to provide a method for partially assembling a vehicle body and a device therefor.

B. Configuration of the Invention (1) Means for Solving the Problems According to the method of the present invention, a movable base that is automatically centered on a machine frame connected to a transfer machine such as a robot, and further on the movable base. In the first step of inserting the jig main body in which the floating base is movably supported in a substantially horizontal plane into the vehicle body, the reference pin projecting on the movable base and the reference dislocation pin projecting on the floating base, respectively. A second step of pulling out both the pins from the vehicle body after locking the movable base and the floating base integrally in a state of being inserted into the reference pin hole and the reference dislocation pin hole formed in the vehicle body; Third step of assembling the first mounting part on the movable base to the vehicle body after inserting the pin through the first mounting part into the reference dislocation pin hole to position the first mounting part After unlocking the movable base and the floating base and correcting the displacement of the movable base, the movable base and the floating base are locked again to position the second attachment component on the floating base, and then the component is fixed. It is attached to the vehicle body and consists of the fourth step.

According to the device of the present invention, a machine frame connected to a transfer machine such as a robot; a movable base on which the first attachment part is set movably supported in a substantially horizontal plane; An automatic centering device which is provided between the frame and the movable base and holds the movable base at a center position; and a floating base on which the second mounting part is set so as to be movably supported on the movable base in a substantially horizontal plane. A plurality of reference pins projecting on the movable base and insertable into a plurality of reference pin holes drilled in the vehicle body; and a plurality of reference dislocation pin holes projecting on the floating base and drilled in the vehicle body; A plurality of reference dislocation pins that can be inserted and removed freely; and a plurality of clamping mechanisms that are provided between the movable base and the plurality of floating bases and that can clamp them together.

(2) Action A mounting pin connected to a transfer machine such as a robot is inserted into a vehicle body, and a reference pin and a reference dislocation pin projecting from a movable base and a floating base that are respectively movable in a substantially horizontal plane of the jig are provided. , After inserting the reference pin hole and the reference transition pin hole on the vehicle body side, locking the movable base and the floating base and transferring the pin hole of the vehicle body to the movable base and the floating base, Remove from the car body. Next, the reference dislocation pin is inserted into the reference dislocation pin hole of the vehicle body by penetrating the first mounting component on the moving base, and after positioning the component on the vehicle body, it is assembled to the vehicle body. Next, with the reference dislocation pin still inserted in the vehicle body, unlock the movable base and the floating base to correct the position of the movable base, and then lock the bases again to fix the second mounting part on the floating base. After positioning, the reference transfer pin is removed from the vehicle body and the second mounting component is assembled to the vehicle body.

(3) Embodiment One embodiment of the present invention will be described below with reference to the drawings.

In this embodiment, the roof lining is provided on the inner surface of the roof of the vehicle body Bo.
A roof mirror Mr, a room lamp Lar, and a pair of grab rails Gr are assembled together with Lr, and a pair of sun visors Bs.
Assemble.

In the following description, "front and back", "right and left" and "up and down"
Say based on body Bo.

In FIG. 1, the painted vehicle body Bo is transported by the transport means Tr, turned about 90 ° at the roof lining assembly station St, and fixed at that position.

Since the transport means Tr of the vehicle body Bo is not the subject of the present invention,
The details are omitted. An assembly robot Ro is arranged in front of the vehicle body Bo. This assembly robot Ro is a conventionally known one, and is movable along the base 1 in the front-back direction of the vehicle body Bo (left-right direction in FIG. 1), and along the guide rail 2 in the left-right direction (first direction). It can be moved in the direction orthogonal to the drawing sheet).

An assembly jig Ji is attached to the tip of the robot arm Rm of the assembly robot Ro.
Is installed. And this assembly jig Ji is an assembly robot
By moving Ro in the direction of arrow a in FIG. 1, it can be inserted into the vehicle body Bo through the front window hole 3 of the vehicle body Bo.
As will be described later, the room mirror Mr, the room lamp Lar, and the pair of grab rails Gr, Gr can be assembled together by tightening them together with the roof lining Lr on the inner surface of the roof of the vehicle body Bo, and further paired with the sun visor Bs. Can be fastened together with the roof lining Lr on the inner surface of the roof.

Next, the structure of the assembly jig Ji will be described.

The jig body 4 of the assembling jig Ji is a machine frame 5 and this machine frame 5
And a movable base 6 supported above. Machine frame 5 is rigidly formed by assembling square timber into a rectangular frame shape, the wrist of the robot arm Rm tip on the mounting surface 5 ₁ provided at its proximal end is detachably attached.

Similarly to the machine frame 5, the movable base 6 is also rigidly formed by assembling square members into a rectangular frame shape, and the rear half portion thereof is formed longer than the machine frame 5 and extends rearward as shown in FIG. There is. It is floatingly supported on a machine frame 5 having a movable base 6 so as to be freely movable back and forth and left and right (directions T and B in FIG. 2) in a substantially horizontal plane. Explaining this support structure, the movable base 6 is supported at the four corners of the machine frame 5 through four floating bolts 7 ... As clearly shown in FIG. The floating bolt 7 has spherical male parts 7 ₁ and 7 ₂ at the upper and lower ends and a turnbuckle 7 ₂ at the middle part so that the length can be adjusted, and the lower spherical male part 7 ₂ has a machine frame. the spherical male portion 8 provided on the upper surface of 5 is rotatably fitted, also the upper spherical male portion ₇₁ is fitted rotatably in a spherical male part 9 provided on the lower surface of the movable base 6.

An automatic centering device 10 is connected between the machine frame 5 and the left-right intermediate portion of the front edge of the movable base 6.

Next, the self-centering device 10 will be explained. As clearly shown in FIG. 8, a square shaft 11 is erected and fixed to the machine frame 5, and the square shaft 11 penetrates the space portion of the movable base 6. And extends upward. On the other hand, a square frame 12 is fixed to the movable base 6 so as to surround the square shaft 11, and hollow screws 13 ... Are screwed laterally in the central portions of the sides of the square frame 12 to form hollow screws. Aligning pins 14 ... Are slidably fitted to the respective 13 and these aligning pins 14 ... Are centered in the square frame 12 by the elastic force of the coil springs 15 provided in each hollow screw 13. The tips of the centering pins 14 ... Are urged to project toward the four sides of the angular shaft 11, respectively. Therefore, the movable base 6 is floatingly supported on the machine frame 5.
Is in a free state, the movable base 6 is an automatic centering device.
It is possible to freely swing left and right around the angular axis 11 of 10, and these 5 and 6 are aligned so that the vertical center axis l _{2 of} the movable base 6 coincides with the vertical center axis l _{1 of the} machine frame 5 ( (Fig. 15).

As shown in FIGS. 2, 5, 6, and 9, a sub base 17 is mounted on the movable base 6 so as to be movable back and forth. That is, guide rails 18 are laid on the upper and lower surfaces of the front and rear parts of the movable base 6, and sliders 19 provided on the lower and front left and right parts of the front and rear parts of the sub-base 17 are slidably engaged on the guide rails 18. Are combined. Bracket 20 fixed to the bottom surface of sub-base 17 and bracket fixed to movable base 6
A telescopic cylinder 22 is connected between the two, and the telescopic cylinder 22
The sub-base 17 can be slid back and forth on the movable base 6 by the expansion and contraction operation.

On the sub-base 17, a roof lining Lr, a room mirror Mr, a room lamp Lar, and a pair of left and right grab rails Gr, Gr to be mounted on the lower surface of the ceiling of the car-to-Bo are supported.

As shown in FIGS. 2 to 6, left and right support pieces 24, 24 project substantially horizontally in the left-right direction at the rear portion of the sub-base 17.
A pair of lifting cylinders 2 at the free ends of the left and right support pieces 24, 24.
5, 25 are respectively supported in the vertical direction, and seats 26, 26 are respectively provided at the upper ends of these lifting cylinders 25, 25, and on these seats 26, 26, as shown by the chain line in FIG. The roof lining Lr conveyed on the base 17 is placed. The roof lining Lr is provided with a mounting hole for each mounting component. In addition, a support plate 27 is provided at the center of the front edge of the sub-base 17 so as to project substantially horizontally toward the front, and a rearview mirror set unit 28 is provided on the support plate 27 as clearly shown in FIG. It is fixed and the storage recess 29 of this unit 28
The room mirror Mr is set to. The interior mirror set unit 28 is a known one, and a nut runner for attaching the interior mirror Mr to the vehicle body Bo is attached thereto. A mounting hole 30 is opened at the base of the rearview mirror Mr, and a detent pin 31 is provided so as to project (second).
Figure). A square room lamp set unit 32 is fixed to the front, rear, left and right central portions of the sub-base 17, and the room lamp Lar is set in the accommodation recess 33 of the set unit 32. The room lamp set unit 32 is also known, and a nut runner for attaching the room lamp Lar to the vehicle body Bo is attached thereto. A mounting hole 34 is opened in the room lamp Lar and a locking pin 35 is projectingly provided. Further, at the rear end of the sub-base 17, support plates 36, 36 are extended substantially horizontally from side to side, and a pair of grab rail set units 37, 37 are fixed on these support plates 36, 36.
A storage box 38 provided outside of these set units 37, 37,
A pair of glabres Gr, Gr are housed and supported in the 38. Note that each of the grab blame set units 37, 37 is also known, and a nut runner for attaching the grab rails Gr, Gr to the vehicle body Bo is attached thereto. Mounting holes 39 are opened on the left and right of each grab rail Gr.

Left and right support frames 4 on the front, rear, left and right of the movable base 6.
1,41 are fixed, left on these support frames 41,41,
The right floating bases 42, 42 are provided so as to be freely movable back and forth and left and right (directions T and B in FIG. 2) in a horizontal plane and lockable at appropriate positions. Then, the left and right sun visors Bs, Bs are set on the left and right floating bases 42, 42.

Since the configurations of the floating bases 42, 42 and devices attached thereto are exactly the same, the following tenth to
The left floating base 42 and the devices attached thereto will be described with reference to FIG.

A floating base 42 is floatingly supported on one side of a support frame 41 fixed to the movable base 6 via a cross slide bearing 43 so that the floating base 42 can be moved back and forth and left and right (directions T and B in FIG. 4) in a horizontal plane. The left and right floating bases 42, 42 are formed in a rectangular shape that is long in the left-right direction, that is, the direction intersecting the longitudinal direction of the movable base 6. A clamp mechanism 44 for integrally clamping the floating base 42 to the movable base 6 is provided between the floating base 42 and the movable base 6.

Next, the clamp mechanism 44 will be described.
As shown in the figure, a pair of guide pins 46, 46 are integrally provided on the support frame 41 so as to vertically project, and a clamp frame 47 is vertically movable along the guide pins 46, 46.
Is supported. Clamp cylinder for the clamp frame 47
48 and one clamp plate 49 are integrally provided.
The other clamp plate 50 is fixed to the tip of the piston rod 48 ₁ of the clamp cylinder 48 with a mounting bolt 51. And, one side of the floating base 42 is interposed on the opposing surface side of the pair of clamp plates 49, 50. Therefore, when the clamp cylinder 48 is contracted in FIGS. 13 and 14, the pair of clamp plates 49 and 50 move toward each other by action and reaction to clamp the floating base 42 from above and below, thereby fixing the floating base 42. It can be fixed to the movable base 6.

As shown in FIGS. 13 and 14, an original position correction mechanism 53 for correcting the original position of the floating base 42 is provided between the movable base 6 and the floating base 42 between the clamp mechanism 44 and the cross slide bearing 43. . The mechanism 53 is a taper pin which is supported on the support frame 41 of the movable base 6 so as to be able to move up and down through a lifting cylinder 54.
55 and a male taper hole 56 formed in the floating base 42 and engaged with the taper pin 55,
Lifting cylinder with the clamp mechanism 44 unclamped
When the taper pin 55 is engaged with the male taper hole 56 by the extension operation of 54, the floating base 42 is forcibly returned to the original position with respect to the movable base 6.

A guide plate 57 that extends substantially vertically is fixed to the outer end of the floating base 42, and a slide plate 59 slides in the guide plate 57 via a slide bearing 58 in the front-rear direction (direction of arrow b in FIGS. 2, 10, 11). Be movably supported. Guide plate 57 integrated with floating base 42
A pin moving cylinder 61 extending in the front-rear direction is supported at the lower part of the cylinder via a bracket 60, and the tip of a piston rod 61 ₁ of the cylinder 61 is connected to the slide plate 59. Therefore, by operating the pin moving cylinder 61, the slide plate 59 can be controlled to move back and forth (direction of arrow b in FIGS. 2, 10, 11). The slide plate 59 is provided with a reference dislocation pin unit 62. The unit 62 includes a tubular guide member 63 extending vertically and the guide member 63.
The working cylinder 64 supported by 63 and this working cylinder 64
More constructed with reference dislocations pin p ₂ connected to, the reference dislocations pin p ₂ is the elevation actuated in the vertical direction (Fig. 4 H direction) by the operation of the working cylinder 64, the roof lining Lr as described below It can be moved up and down so that it can be inserted into and removed from the dislocation pin hole h ₂ .

As shown in FIGS. 4 and 10-14, on the pair of left and right support frames 41, 41 fixed to the left and right of the front part of the movable base 6, behind the floating bases 42, 42, respectively,
The reference pin units 66, 66 are fixed. Each unit 6
Reference numeral 6 denotes a cylindrical guide member 67 extending in the vertical direction, an operating cylinder 68 supported by the guide member 67, and the operating cylinder.
It is composed of a reference pin p ₁ connected to 68, and the reference pin p ₁ is moved up and down in the vertical direction (H direction in FIG. 4) by the operation of the operating cylinders 6 and 7, which will be described later. It is possible to move up and down so that it can be inserted into and removed from the reference pin hole h ₂ .

Left and right slide bases as shown in Figs. 4 and 10-14
Sun visor set unit 7 on the back of 59, 59 respectively
0, 70 are supported. Each unit 70 has a slide base 59
A sun visor support plate 71 that is fixed to the rear surface of the floating base 42 and extends substantially horizontally in the left-right direction along the rear of the floating base 42; and an elevating cylinder that elevates and lowers the plate 71.
72 and a nut runner 73 for mounting a sun visor. A sun visor B _s is placed on each support plate 71. In this sun visor Bs, a mounting hole 74 is opened at a corner portion thereof, and a detent pin 75 is provided in a protruding manner.

Next, referring mainly to FIGS. 15 and 15A to 18 and 18A, a vehicle-to-Bo roof lining Lr, a rearview mirror Mr, a rearlight Lar,
A pair of grab rails Gr, Gr and a pair of sun visors Bs, Bs
A procedure for automatically assembling such parts will be described.

The machine frame 5 of the jig body 4 is integrally attached to the wrist at the tip of the arm Rm of the assembling robot Ro, and the rearview mirror Mr, and the rearview mirror Mr, respectively, are set on the set units 28, 32 and 37, 37 on the sub base 17, respectively. Room lamp Lar and a pair of Grablems G
r and Gr are set respectively, and the roof lining Lr is placed on the pair of seats 26, 26 of the sub-base 17. Further, the sun visors Bs, Bs are set in the left and right sun visor set units 71, 71 supported by the left and right floating bases 42, 42.

On the other hand, the painted vehicle body Bo is transported by the transportation device Tr, stopped at the assembly station St, and then turned about 90 °,
The front of Bo faces the robot Ro.

Next, the assembly robot Ro is moved toward the front surface of the vehicle body Bo, and the jig body 4 at the tip of the robot arm Rm is inserted into the upper portion of the vehicle body Bo through the front window hole 3 of the vehicle body Bo (FIGS. 1 and 15). In this case, as shown in FIGS. 15 and 15A, the jig body 4 is located at a position closer to the vehicle body than the actual mounting position of the roof lining Lr.
Move backward about 100mm to the rear of Bo. This is the body Bo
This is because the reference pin holes h ₁ and h ₁ and the reference dislocation pin holes h ₂ and h ₂ formed in the front part of the roof surface of the above are not hidden by the roof lining Lr. Further, the pair of reference pins p ₁ and p ₁ on the movable base 6 and the reference dislocation pins p ₂ and p ₂ on the floating base 42 are the pair of reference pin holes h ₁ and h ₁ of the vehicle pair Bo and the pair of reference dislocation pins. The holes h ₂ and h ₂ are located substantially opposite to each other. Meanwhile the longitudinal central axis l ₁ of the longitudinal central axis l ₁ and the movable base 6 of the machine frame 5 in this case, shown in 15,15A figure actually difficult to exactly match the longitudinal central axis l ₃ of the vehicle body Bo As shown in FIG.

Next, the pair of reference pins p ₁ and p ₁ and the pair of reference dislocation pins p ₂ and p ₂ are actuated to move them up and move them to the pair of reference pin holes h ₁ and h ₁ and the pair of reference dislocation pin holes of the vehicle body Bo. Insert into h ₂ , h ₂ . In this case, the pins p ₁ , p ₁ and p ₂ , p ₂ and the pin holes h ₁ , h ₁
And h _2, even if there is a slight deviation between h _2, reference pins p _1, p ₁
The movable base 6 provided with is supported so that the machine frame 5 can freely move in the horizontal plane, and the floating bases 42, 42 provided with the reference dislocation pins p ₂ and p ₂ are in the horizontal plane with respect to the movable base 6. Since the movable base 6 and the floating base 42 are individually supported in the water surface, the movable base 6 and the floating base 42 are supported so as to be movable freely (in the fourth cormorant T and B directions).
By freely displacing the pins, the pins p ₁ , p ₁ and p ₂ , p ₂ can be reliably and reliably inserted into the pin holes h ₁ , h ₁ and h ₂ , h ₂ . Then, as shown in FIG. 16, the movable base 6 is aligned with the vehicle body Bo so that the vertical center axis line l ₂ of the movable base 6 coincides with the vertical center axis line l ₃ of the vehicle body Bo. Since the machine frame 5 does not move integrally with the robot arm Rm, it is at a position deviated from the movable base 6.

Next, the left and right clamp mechanisms 44, 44 are clamped to integrate the movable base 6 and the floating base 42. As a result, the positions of the pair of reference pin holes h ₁ and h ₁ and the reference dislocation pin holes h ₂ and h ₂ of the vehicle body Bo are set to the movable base 6 and the left,
It can be transferred to the right floating base 42, 42.

Then, the reference pins p ₁ and p ₁ and the reference dislocation pins p ₂ and p ₂ are both lowered to make them the reference pin holes of the roof lining Lr.
h _1, h ₁ and the reference translocation pin holes h _2, sub-base 17 about 10 that is set to the roof lining Lr other ceiling mounting parts by the operation of the telescopic cylinder 22 after withdrawn from h ₂
It is moved forward by 0 mm, thereby advancing the roof lining Lr to the normal mounting position as shown in FIGS. 16 and 16A.
As a result, the pair of reference pin holes h ₁ and h ₁ and the reference dislocation pin holes h ₂ and h ₂ are both shielded by the roof lining Lr. Subsequently, only the pair of reference dislocation pins p ₂ and p ₂ are raised again, and these are penetrated through the roof lining Lr and inserted into the reference dislocation pin holes h ₂ and h ₂ . Since the movable base 6 is aligned with the vehicle body Bo together with the sub base 17, the room mirror Mr, the room lamp Lar, and the pair of grab rails Gr, Gr set on the sub base 17 in this state are the roof lining Lr. It is automatically positioned at each mounting position on the inner surface of the ceiling of the body Bo, and the room mirror Mr, room lamp La
r, and a pair of grab rails Gr, Gr each set unit
By operating the nut runners attached to 28, 32 and 37, the room mirror MR, the room lamp Lar, and the pair of glabres Gr, Gr are respectively sandwiched between the roof lining Lr, and are tightened together with the roof lining Lr on the inner surface of the ceiling of the vehicle body Bo. It can be fixed (Fig. 16, 16A).

Next, when mounting the pair of sun visors Bs, Bs, the clamp state of the clamp mechanism 44, 44 is released while the reference dislocation pins p ₁ , p ₁ are still inserted in the reference dislocation pin holes h ₂ , h _2. To do. Then, the left and right floating bases 42, 42 provided with the reference dislocation pins p ₂ , p ₂ are free with respect to the movable base 6, and the displacement of the movable base 6 is corrected. That is, the movable base 6 is returned to its original position with respect to the machine frame 5 by the action of the self-centering device 10, and the vertical center axis l ₂ of the movable base 6 is aligned with the vertical center axis l ₁ of the machine frame 5 (the 17th position). Figure). After that, the clamp mechanisms 44, 44 are clamped again to integrate the movable base 6 and the floating bases 42, 42. As a result, the mounting positions of the sun visors Bs, Bs are transferred to the movable base 6 and the floating bases 42, 42 which are integrated.
In this state, the pair of reference dislocation pins p ₂ and p ₂ are lowered and the body Bo
Of the reference dislocation pin holes h ₂ and h ₂ .

Next, the pin operating cylinders 61, 61 are extended and the sun visor set units 70, 70 are advanced together with the slide plates 59, 59 by a predetermined amount as shown in FIG. 18A, and then the sun visor support plates 71, 70 of the units 70, 70 are moved. Raise 71,
After positioning the sun visors Bs, Bs supported on the plates 71, 71 at the mounting position on the inner surface of the ceiling of the vehicle body Bo with the roof lining Lr interposed, the sun visors Bs, Bs are operated by the roof lining Lr. And the inner surface of the ceiling.

The reference dislocation pin holes h ₂ and h ₂ formed in the roof lining Lr are shielded by the sun visors Bs and Bs.

Through the steps from above, the roof lining is automatically applied to the inner surface of the ceiling of the body Bo with one operation of the assembly robot Ro.
Room mirror Mr, room lamp Lar, a pair of grab rails Gr, Gr are installed together with Lr, and a pair of sun visor B
s, Bs can be installed.

After the above-mentioned installation work is completed, if the clamp mechanisms 44, 44 are unclamped and the original position correction mechanisms 53, 53 are operated, the taper pins 55, 55 engage with the female taper holes 56, 56 and the floating base. 42, 42 can be returned to the original position, and can be returned to the start position for mounting the next roof lining Lr.

Finally, the robot arm Rm of the assembling robot Ro is moved backward to move the assembling jig Ji through the front window hole 3 to the body Bo.
Pull out from.

In the above embodiments, the case where the jig body 4 is inserted through the front window hole 3 of the painted vehicle body Bo has been described, but it goes without saying that the jig body 4 may be inserted through the rear window hole of the vehicle body Bo. Is.

C. Effects of the Invention As described above, according to the method of the present invention, the first pin on the movable base is provided by the reference pin and the reference dislocation pin provided on the movable base and the floating base of the assembly jig, respectively.
Accurately and automatically positioning the mounting part of the second mounting part with respect to the vehicle body and assembling the second mounting part of the floating base with respect to the vehicle body. It is possible to attach multiple attachment parts to the vehicle body automatically in one process without relying on human labor as in the past or using an expensive visual sensor. The efficiency of operation can be significantly improved.

Further, according to the device of the present invention, the assembling jig connected to the transfer machine such as a robot has a movable base which is automatically aligned on the machine frame,
Further, a floating base is provided on the movable base so as to be movable in a substantially horizontal plane, a reference pin is provided on the movable base, a reference dislocation pin is provided on the floating base, and a clamp for locking them between the movable base and the floating base. Since the mechanism is provided, the assembling jig can be formed compactly, and it is extremely easy to put it in the vehicle body. In addition, the first assembling component on the movable base in the vehicle body and the floating base. Positioning of the upper second assembly component with respect to the vehicle body and assembly of the second assembly component to the vehicle body can be performed very easily, easily and accurately.

[Brief description of drawings]

The drawings show an embodiment of the present invention. FIG. 1 is an overall side view showing a state in which a roof lining assembly apparatus connected to a robot is put into a vehicle body, and FIG. 2 is a schematic view of the roof lining assembly apparatus. FIG. 3 is a side view of the assembling apparatus, FIG. 4 is a plan view of the assembling apparatus, FIG. 5 is a plan view of a machine frame, a movable base and a sub base, and FIG. 5 Figure VI
-VI sectional view, FIG. 7 is an enlarged partial sectional view taken along line VII-VII of FIG. 5, FIG. 8 is an enlarged partial sectional view taken along line VIII-VIII of FIG. 5, and FIG. FIG. 10 is an enlarged partial sectional view taken along the line IX-IX, FIG. 10 is a partially enlarged view of the floating base portion of FIG. 4, FIG. 11 is a sectional view taken along the line XI of FIG. 10, and FIG.
10 is a partial sectional view taken along the line XII-XII, FIG. 13 is FIG. 10 XIII
-Partial sectional view taken along line XIII, FIG. 14 is a partial sectional view taken along line XIV-XIV of FIG. 10, and FIGS. 15, 15A-18, 18A show the roof lining assembly sequence according to the method of the present invention. Then, the 15th
Fig. 15 is a plan view showing the state where the roof lining assembly device is put into the vehicle body, Fig. 15A is a bottom view of the roof lining in that state, and Fig. 16 is a roof lining assembly device in the state where the roof lining is assembled to the vehicle body. Top view of the 16th
FIG. A is a bottom view of the roof lining in that state, FIG. 17 is a plan view of the roof lining assembly device after the displacement of the movable base is corrected, and FIG. 18 is a partial plan view of the device showing a sun visor mounting process. FIG. 18A is a partial bottom view of the roof lining after mounting the sun visor. Bo ... Body ... Bs ... Sun visor, Gr ... Grab rail,
Lar …… Room lamp, Lr …… Roof lining, Mr…
… Room mirror, Ro …… Robot, h ₁ …… Reference pin hole,
h ₂ …… Standard dislocation pin hole, p ₁ …… Standard pin, p ₂ …… Standard dislocation pin 4 …… Jig body, 5 …… Machine frame, 6 …… Movable base, 10…
… Self-aligning device, 42 …… Floating base, 44 ……
Clamp mechanism

Claims (5)

[Claims] 1. A movable base (6) which is automatically centered on a machine frame (5) connected to a transfer machine such as a robot (Ro), and a floating base (42) on the movable base (6). The first step of inserting the jig body (4) into which the jig body (4) is movably supported in a substantially horizontal plane into the vehicle body (Bo), and the reference pins (p ₁ , p ₁ ) projecting from the movable base (6). and the floating base reference dislocation pins projecting from the _{(42) (p 2, p} 2) the reference pin hole formed in the vehicle body (Bo) respectively (h _1, h ₁₎ as a reference translocation pin hole (h _2, h ₂ ), the movable base (6) and the floating base (4
2) After locking them together, the pins (p ₁ , p ₁ , p ₂ , p ₂ )
In the second step of extracting from the vehicle body (Bo) and inserting the reference dislocation pin (p ₂ , p ₂ ) into the reference dislocation pin hole (h ₂ , h ₂ ) through the first attachment part. After positioning the first mounting part, the third step of assembling the first mounting part on the movable base (6) to the vehicle body (Bo), and locking the movable base (6) and the floating base (42). After releasing and correcting the displacement of the movable base (6), the movable base (6) and the floating base (42) are locked again to position the second attachment part on the floating base (42), And a fourth step of attaching the parts to the vehicle body (Bo). 2. The method of assembling a vehicle body part according to the claims, wherein the first part is a roof lining (Lr), and the second part is a pair of left and right sun visors (Bs, Bs). ) Is a method of assembling parts of a car body. 3. A machine frame (5) connected to a transfer machine such as a robot (Ro); and a first mounting part which is movably supported on the machine frame (5) in a substantially horizontal plane. A movable base (6); a self-centering device (10) provided between the machine frame (5) and the movable base (6) for holding the movable base (6) in a neutral position; ) A floating base (42) movably supported on the movable base (6) and on which a second mounting part is set; Reference pin hole (h ₁ ,, h
₁ ) Multiple reference pins (p ₁ , p ₁ ) that can be inserted and removed freely
And a plurality of reference dislocation pins (p ₂ , which can be inserted and removed freely into a plurality of reference dislocation pin holes (h ₂ , h ₂ ) projecting from the floating base (42) and bored in the vehicle body (Bo). p ₂ ) and;
A part of a vehicle body comprising a plurality of clamp mechanisms (44, 44) provided between the movable base (6) and a plurality of floating bases (42, 42) and capable of integrally clamping them. Assembly device. 4. A vehicle body component assembling apparatus according to claim 1, wherein the first mounting component is a roof lining (Lr), and the second mounting component is a pair of left and right sun visors. Bs, Bs) is a body part assembly device. 5. A vehicle body parts assembling apparatus according to claim 1, wherein the first mounting parts are a roof lining (Lr), a room mirror (Mr), and a room lamp (La).
r), a pair of left and right grab rails (Gr, Gr), and the second mounting component is a pair of left and right sun visors (Bs, Bs).