JPH08174350A - Work mounting device - Google Patents

Abstract

PURPOSE: To mount a longitudinally stretched work, having a mounting bearing surface situated in the vicinity of a head part, on a car body without a need for complicated control and changeover of a kind of a car. CONSTITUTION: A work mounting device comprises a head part guide 16 engaged with the positioning hole 15 of a car body B and floatably engaged with and holding the head part 13 of a strut P being a work, and moved toward the mounting surface 33 of the car body B; and a holding means floatably holding the strut P in a direction crossing the axial direction of the strut at right angles and moved toward a head part guide 16. The head part guide 16 is functioned as a positioning jig attached to the car body B and since a holding means 12 is floatable, the strut P is raised as it is moved according to the shape and the attitude of the strut P, and the mounting bearing of a work is brought into reliable contact with the mounting surface 33 of the car body B.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention has a mounting seat surface in the vicinity of the head such as a strut assembly of a strut type suspension (hereinafter simply referred to as a strut) as a vehicle part and has a predetermined length in the longitudinal direction. The present invention relates to a work mounting device that mounts a work to be mounted on a vehicle body by bringing the mounting seat surface into contact with the mounting surface of the vehicle body and tightening the screws.

[0002]

2. Description of the Related Art Conventionally, in an automobile assembly line, as a mounting device for mounting a strut as a vehicle part to a vehicle body, it is extremely troublesome and difficult to mount it manually because the strut is relatively heavy. Since work is required, a mounting device that is automated by using an industrial robot is known (Japanese Patent Laid-Open No. 59-59).
53275).

In this strut mounting device, as shown in FIG. 9, the strut P on the strut temporary placing table is used.
Is grasped by the robot Ra having an articulated arm, and is positioned below the vehicle body B. Next, the positioning taper provided in the lower center of the nut tightening means 65 provided in the arm of another robot Rb is inserted from the positioning hole 15 in the upper part of the vehicle body, and further moved downward to move the head of the strut P. Positioning is performed by engaging with the engaging hole 63 provided in the. Then, the strut P is pushed up, the stud bolt 32 standing on the mounting seat surface of the strut P is projected from the mounting hole 34 of the vehicle body, and the nut driver of the nut tightening means 65 tightens the nut to complete the mounting of the strut P. .

[0004]

By the way, the strut mounting device as described above is intended to be adaptable to a large number of vehicle types by having a configuration using a robot. The teaching data set by teaching in advance is used to operate.

Therefore, when the vehicle type is different, the vehicle type of the teaching data must be switched accordingly. In addition, even if the strut mounting device is the same vehicle type, in order to mount the strut after stopping the conveyed car body at a predetermined position, the car body stop position accuracy and the car body accuracy There was a problem that it was also affected by.

Further, since the robot as shown in the figure is used, it is expensive and difficult to adjust, a control device for the robot is required, the control signal is complicated, and the line interlock is also required. There is also a problem that it will increase.

The present invention has been made in view of the above problems of the prior art, and an object of the present invention is to provide a complicated work for a work having a mounting seat surface near the head and extending in the longitudinal direction. An object of the present invention is to provide a work attachment device that can be attached to a vehicle body without requiring control and vehicle type switching.

[0008]

The present invention for attaining the above object provides, in the invention according to claim 1, a work which has a mounting seat surface in the vicinity of the head and is elongated in the longitudinal direction, In a work mounting device that is mounted on a vehicle body by screwing the mounting seat surface to a mounting surface of the vehicle body, the workpiece mounting device is engaged with a positioning hole of the vehicle body, holds the head of the work in a floating manner, and positions the vehicle body. A head guide that is movable toward the hole, and a holding unit that holds the workpiece so as to be floatable in a direction orthogonal to the axial direction of the workpiece and that is movable toward the head guide. And

According to a second aspect of the present invention, in the structure of the work attaching apparatus according to the first aspect, the head guide is a conical convex portion engaged with a positioning hole of a vehicle body and the head of the work. And a conical concave surface portion that engages and holds the portion, and the holding means includes a clamp portion that holds the workpiece.

According to a third aspect of the present invention, in the structure of the work attaching apparatus according to the second aspect, there is provided force detecting means for detecting a force applied to the work toward the attachment surface of the vehicle body. It is characterized by being provided.

According to a fourth aspect of the present invention, there is provided the work attaching device according to the third aspect, wherein the work is attached while moving in synchronization with the conveyance of the vehicle body. .

[0012]

According to the present invention thus constituted, in the invention described in claim 1, after the head guide formed to be floatable is engaged with the positioning hole of the vehicle body and positioned, the holding means is used. The work held so as to be floatable in the direction perpendicular to the axis of the work is gradually moved toward the head guide. Then, the head of the work is engaged and held by the head guide, and the holding means is moved toward the head guide to bring the attachment seat surface of the work into contact with a predetermined attachment surface of the vehicle body. . Then, the work is attached to the vehicle body by screwing.

Here, the head guide can function as a positioning jig for the head of the workpiece attached to the vehicle body, and
Since the holding means can float in the direction perpendicular to the axis of the work, the work moves toward the head guide while moving according to the shape of the work's seating surface, so that the work follows the mounting surface of the vehicle body. And the mounting seat surface of the workpiece is surely abutted.

According to the second aspect of the present invention, the head guide is smoothly guided by the conical convex surface portion to be engaged with the positioning hole of the vehicle body, and the work head is smooth by the conical concave surface portion. It is guided and held in engagement with the head guide. Further, the work is clamped and moved by the clamp portion in a simple and reliable manner.

According to the third aspect of the invention, the work is intermediate at the point where the reaction force detected by the force detecting means when the tip of the work is brought into contact with the mounting surface of the vehicle body reaches a predetermined value. Be stopped. In this way, even if there is a variation in the position where the intermediate stop should be performed depending on the vehicle type, it is possible to avoid a situation in which it is forcibly pressed.

According to the fourth aspect of the invention, the work is mounted while moving in synchronization with the transportation of the vehicle body,
Productivity can be improved while ensuring the flexibility of installation work.

[0017]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view showing a schematic configuration of a work mounting device according to an embodiment of the present invention, and FIG. 2 is a view of the work mounting device shown in FIG.

The work mounting device of this embodiment is a work mounting device that is mounted by screwing a strut as a vehicle part to a predetermined mounting surface of a vehicle body. As shown in the drawing, the strut setting means 1 and nut tightening means are used. Attaching means 2,
It has moving means 3, work introduction means 6, and nut supply means 7. 1 and 2, the work attachment device shows only one side of the vehicle body, and the other side has the same structure but is not shown.

As shown in FIG. 1, the work introduction means 6
Is provided on the upstream side of the moving means 3 and moves the strut placed by the operator to a predetermined position where the strut is transferred to a gripping hand of the strut setting means 1 described later.

The moving means 3 has a carriage 4 and the carriage 4
On the upper side, strut setting means 1 and nut tightening means 2
A slide base 8 provided with, for example, is installed so as to be movable in a direction orthogonal to the transport direction of the vehicle body B (direction C in the drawing). The carriage 4 can be moved along the rails 5 in the direction C in the drawing in synchronization with the conveyance of the vehicle body B by being connected to a phasing unit (not shown).

That is, the strut setting means 1 which has received the strut from the work introducing means 6 is moved together with the carriage 4 to the position shown in FIG. 1, and the strut is moved until the vehicle body B reaches the position shown in B '. Are set on the mounting surface of the vehicle body B by the strut setting means 1 and screwed by the nut tightening means 2. The nut supply means 7 supplies the nut used in the nut tightening means 2 for fastening the screw of the strut.

FIG. 3 is an enlarged view of the strut setting means shown in FIG. 2, FIG. 4 is a sectional view of an essential part of the head positioning means, and FIG. 5 shows how the strut head is positioned by the head positioning means. FIG. 6 and FIG. 6 are plan views of the holding means. As shown in FIG. 3, the strut setting means 1
Has head positioning means 11 for centering the head 13 of the strut P attached to the support frame 47, and holding means 12 for holding the cylindrical portion 14 of the strut P.

The head positioning means 11 has a strut P.
A head guide 16 is provided to engage and hold the head 13 of the vehicle, and the head guide 16 has a conical convex surface portion to be engaged with the positioning hole 15 of the vehicle body B as shown in FIG. 1
7 are formed. 4, the head guide 16 is lifted together with the strut P, and the stud bolt 32 of the strut P is inserted into the bolt hole 34 of the vehicle body B. When the head guide 16 is engaged with the positioning hole 15 of the vehicle body B, as shown in FIG. 5A, the head guide 16 is smoothly guided while being guided by the conical convex surface portion 17.

In this embodiment, the head guide 16 is formed so as to be floatable. That is, the axial direction of the strut P is floatingly supported by the compression coil spring 18, and the direction orthogonal to the axial direction of the strut P is floatingly supported by the plurality of compression coil springs 19 arranged at equal intervals in the circumferential direction. Therefore, regardless of the position of the vehicle body B or the type of vehicle, the head guide 1
6 is securely engaged with the positioning hole 16 of the vehicle body B,
As a result, the head guide 16 functions as a positioning jig attached to the vehicle body B. As the compression coil springs 18 and 19 used for floating support, other elastic members such as leaf springs may be used.

On the other hand, a conical concave surface portion 19 into which the head portion 13 of the strut P is inserted and held is formed in the lower central portion of the head portion guide 16. The conical concave surface portion 19 is formed eccentrically with respect to the central axis by a predetermined distance of, for example, about several mm, and the outer shaft 20 is rotated by the motor 21 and the belt 22 and the pulley 23 to rotate the head portion. The conical concave surface portion 19 of the guide 16 rotates eccentrically around the central axis. As a result, the conical concave surface portion 19 is attached to the head 13
The struts P engaged and held by oscillate eccentrically swing like a so-called scouring motion.

An inner shaft 24 is provided so as to pass through the center of the head guide 16. A head 25 with which the head 13 of the strut P is brought into contact is provided below, and a dog 26 for detecting the axial position of the inner shaft 24 is fixed above it with a set screw (not shown). Therefore, by detecting the dog 26 with the sensor 27 or 28, the axial position of the inner shaft 24 and thus the axial position of the strut P can be detected. The sensor 27 or 28 is, for example, a magnetic proximity sensor, but may be an optical photo sensor.

As shown in FIG. 5A, the strut P
When the head 13 is guided and inserted into the conical concave surface portion 19 of the head guide 16, the head 25 of the inner shaft 24 is pushed up and the sensor 27 detects the dog 26. Although not shown, a compression coil spring is arranged in the space 29,
The inner shaft 24 is constantly urged downward. When the holding means 12 to be described later pushes this state further upward from this state, the strut P rises against the elastic force of the compression coil spring 30, and the stud bolt 32 erected on the mounting seat surface 31 thereof. The tip contacts the mounting surface of the vehicle body B.

Here, a force detection means (not shown) for detecting the force applied upward to the strut P is provided, and the repulsion of the force detected by this force detection means is observed to hold it as described later. The pneumatic cylinder that moves the means 12 in the axial direction is decompressed and locked. Accordingly, even if the height direction position of the mounting surface 33 of the vehicle body B is slightly deviated between vehicle types and the like, the strut P is detected by the force pressed against the vehicle body B and stopped, so that it is not pushed up by an excessive force. .

FIG. 5B shows the mounting seat surface 3 of the strut P.
PCD of the installation location of the stud bolt 32 installed upright in 1
It cannot be inserted because the center of the (pitch circle diamond) is displaced from the axis center or the position of the bolt hole 34 formed in the mounting surface 33 of the vehicle body B is displaced from the position of the stud bolt 32 in the circumferential direction. FIG. 5C shows a state in which the eccentric swing of the head portion 13 of the strut P described above and the rotational swing of the strut P around the central axis of the strut P by the holding means 12 described later are performed. As described above, the stud bolt 32 of the strut P is attached to the bolt hole 3 of the vehicle body B.
4, and the sensor 27 detects the dog 26. The stud bolts 32 are erected on the mounting seat surface 31 at equal intervals in the circumferential direction, for example, three places.

Further, as shown in FIG. 3, the head positioning means 11 is configured to be movable by the pneumatic cylinders 35 and 36 in the axial direction of the strut P and in the direction orthogonal thereto (the X direction in the drawing). To be done.

The holding means 12 has a gripping hand 37 as shown in FIGS. 3 and 6, and the gripping hand 37 is driven to clamp the tubular portion 14 of the strut P by the clamp portion 38. It is operated by means 39.

In this embodiment, the gripping hand 37 is
The direction and the Y direction (direction perpendicular to the paper surface of FIG. 3) are formed to be floatable. That is, the floating mechanisms 40 and 41
Thus, they are floatingly supported in the X direction and the Y direction, respectively. The pneumatic cylinder 42 allows the gripping hand 37 to move in the X direction.

The swing plate 43, on which the above-mentioned gripping hand 37 and the like are installed, is swingable around the central axis of the strut P on the arm 44. That is, in FIG. 6, the pneumatic cylinder 45 can be swung about the central axis of the cylindrical portion 14 of the strut P by the pneumatic cylinder 45 by a predetermined angle of, for example, ten and several degrees. Accordingly, it is possible to absorb the positional deviation between the stud bolt 32 of the strut P and the bolt hole 34 of the vehicle body B in the circumferential direction within the swing angle range. As shown, the pneumatic cylinder 4
6, the arm 44 is configured to be movable in the axial direction.

Next, the operation of this embodiment will be described with reference to the operation flowchart shown in FIG. First, after the phasing means (not shown) performs phasing with the transportation line of the vehicle body B (step S1), the work introducing means 6 conveys the struts P (step S2). Here, the trolley 4 on which the strut setting means 1, the nut tightening means 2 and the like are installed is moved to the downstream side in the transport direction of the vehicle body B and is in the standby state, and the grasping hand 37 of the strut setting means 1 is moved forward. Then, the strut P is clamped, and the strut P is received from the work introduction means 6 (step S
3). Next, the carriage 4 is moved to the upstream side (step S
4) After the stop, the carriage 4 is connected to the phase matching means and synchronized (step S5). In this way, it is possible to carry out the work of attaching the struts P while transporting the vehicle body without temporarily stopping the line. As a result, it is possible to improve the productivity while ensuring the flexibility of the mounting work.

Next, the slide base 8 is moved forward on the carriage 4 in the direction of the vehicle body B by a predetermined distance (step S6), and the struts P held by the gripping hands 37 are opened almost on the mounting surface 33 of the vehicle body B. It is located below the positioning hole 15. On the other hand, the head positioning means 11 of the strut setting means 1 provided on the slide base 8 is advanced by the operation of the pneumatic cylinder 35 (step S7), and the head guide 16 of the head positioning means 11 is almost in the vehicle body B. Mounting surface 33
It is located above the positioning hole 15 opened in the. Then, the head positioning means 1 is operated by the operation of the pneumatic cylinder 36.
1 is lowered (step S8), and the head guide 16 in the floating state is reliably engaged with the positioning hole 15 formed in the mounting surface 33 of the vehicle body B while being guided by the conical convex surface portion 17. Thereby, the head positioning means 11
The head guide 16 can function as a jig for engaging and holding and positioning the head 13 of the strut P set at a predetermined position of the vehicle body B.

In step S9, the holding means 12 is raised by the pneumatic cylinder 46, and the head portion 13 of the strut P is formed in the conical concave surface portion 19 formed in the lower central portion of the head guide 16.
Is inserted into and is retained. Where the inner shaft 24
Is pushed up and the dog 26 is detected by the sensor 27 (see FIG. 5A). Further, the holding means 12 is raised to raise the strut P, the tip of the stud bolt 32 erected on the mounting seat surface 31 thereof comes into contact with the mounting surface of the vehicle body B, and its reaction force is detected by a force detecting means (not shown). It stops when the detected value reaches a predetermined value (step S1).
0, see FIG. 5 (B)). Therefore, even if there is a difference in the position at which the intermediate stop should be performed depending on the vehicle type, it is possible to avoid the possibility that the vehicle body or the like is damaged because it is not forcedly pressed.

FIG. 8A is a plan view showing the positional relationship between the bolt holes and the stud bolts in the state shown in FIG. 5B. The positional deviation between the bolt hole and the stud bolt is exaggerated in the drawing. In this state, the rocking plate 43 is rocked by the pneumatic cylinder 45, and the tubular portion 14 of the strut P is rocked by a predetermined angle around the central axis (step S11). Meanwhile, the conical concave surface portion 19 of the head guide 16 is eccentrically rotated around the central axis of the strut P by the motor 21 (step S12). As a result, the strut P in which the head 13 is engaged and held by the conical concave surface portion 19 is formed.
Has its head 13 eccentrically swinging.

Due to the eccentric swing of the head portion 13 of the strut P due to the eccentric rotation of the conical concave surface portion 19 and the rotary swing of the cylindrical portion 14 of the strut P due to the swing of the swing plate 43, even the strut P is Even if the center of the PCD at the installation location of the stud bolt 32 erected on the mounting seat surface 31 of the above is displaced from the center of the shaft or is different depending on the vehicle model, the position of the bolt hole 34 and the position of the stud bolt 32 are also different. Is absorbed even if there is a deviation in the rotation direction, and FIG.
As shown in FIG. 3, the stud bolts 3 provided upright on the positions of the bolt holes 34 of the vehicle body B and the mounting seat surface 31 of the struts P.
The position of 2 matches.

Then, in step S13, the holding means 12 is raised by the pneumatic cylinder 46, the stud bolt 32 is inserted into the bolt hole 34 and stopped (see FIG. 5C). Here, the spring 48 (see FIG. 3) is attached to the strut P from a functional point of view so that the spring 48 (see FIG. 3) deviates from the center and is inclined.
Although it further rises in a state where only one side of the holding means 12 hits, it rises while moving forward in the F direction shown in FIG. 3 because the gripping hand 37 of the holding means 12 is floatingly supported in the X and Y directions. That is, the strut P moves up while moving according to the shape and posture of the spring 48,
The mounting seat surface 31 of the strut P can be reliably brought into contact with the mounting surface 33 of the vehicle body B so that the teaching work is not required when a robot or the like is used.

The stud bolt 32 is inserted into the bolt hole 34, and the mounting surface 33 of the vehicle body B is attached to the mounting seat surface 3 of the strut P.
When 1 is abutted, the head positioning means 11 is retracted by the pneumatic cylinders 35 and 36 (step S14). Next, the nut is fastened to the stud bolt 32 by the nut tightening means 2 (step S15), and the body B of the strut P is tightened.
Installation is completed.

As described above, according to the present invention, the strut P can be securely attached to the vehicle body B without requiring complicated control and vehicle type switching, and the facility cost can be reduced. It is possible to reduce the number of man-hours for setting up the equipment line.

The present invention is not limited to the above embodiment, but various modifications can be made. For example, in the above-described embodiment, the device for attaching the strut as the vehicle component has been described as an example, but the present invention is not limited to this and can be applied to other works.

[0043]

As described above, according to the present invention, the following effects are obtained for each claim.

According to the first aspect of the present invention, since the head guide is formed so as to be floatable and surely engaged with the positioning hole of the vehicle body, it functions as a positioning jig for the head of the work stuck to the vehicle body. You can

Further, since the holding means can be floated in the direction perpendicular to the axis of the work, it moves toward the head guide while moving according to the shape and posture of the work, and follows the mounting surface of the vehicle body. In this way, the mounting seat surface of the work can be reliably brought into contact, and teaching work when using a robot or the like can be eliminated.

Further, as described above, it is possible to surely mount the work on the vehicle body without erroneous control without complicated control and vehicle type switching, thereby reducing equipment cost and man-hours for starting up the equipment line. Can be reduced.

According to the second aspect of the invention, the head guide can be smoothly guided to engage with the positioning hole of the vehicle body, and the head of the work can be smoothly guided to be retained by the head guide. can do. Further, the work can be easily and reliably clamped and moved.

According to the third aspect of the present invention, since the force detecting means for detecting the force applied to the work is provided, the reaction force when the tip of the work is brought into contact with the mounting surface of the vehicle body is It is possible to stop the vehicle at a position where it has reached a predetermined value, and even if there are variations in the position where the vehicle should be stopped at an intermediate position depending on the vehicle type, it is possible to avoid the possibility of damaging the vehicle body or the like without being forced.

According to the fourth aspect of the present invention, the work of mounting the work can be carried out while transporting the vehicle body without temporarily stopping the line. Therefore, the flexibility of the work of mounting can be ensured and the productivity can be improved. It is possible to improve.

[Brief description of drawings]

FIG. 1 is a plan view showing a schematic configuration of a work attaching device according to an embodiment of the present invention.

FIG. 2 is a view of the work attaching device shown in FIG. 1 viewed from A.

3 is an enlarged view of the strut setting means shown in FIG. 2. FIG.

FIG. 4 is a cross-sectional view of a main part of a head positioning unit of the present device.

5A to 5C are diagrams showing how the strut head is positioned by the head positioning means.

FIG. 6 is a plan view of a holding means of the present device.

FIG. 7 is an operation flowchart of the present apparatus.

8A and 8B are plan views showing a positional relationship between a bolt hole and a stud bolt.

FIG. 9 is a perspective view showing a schematic configuration of a conventional work attaching device.

[Explanation of symbols]

1 ... Strut setting means, 2 ... Nut tightening means, 3
... Movement means, 6 ... Work introduction means, 7 ...
Nut supply means, 11 ... Head positioning means 12 ...
Holding means, 13 ... Head, 15 ... Positioning hole, 16 ... Head guide, 17 ... Conical convex surface portion, 19 ... Conical concave surface portion, 31 ... Mounting seat surface, 3
2 ... Stud bolt, 33 ... Mounting surface, 34 ... Bolt hole, 37 ... Gripping hand, 38 ... Clamping part, 38 ... Clamping part, 43 ... Oscillating plate, 47 ... Support frame, B ... Car body, P ... Strut (workpiece) ).

Claims (4)

[Claims] 1. A workpiece mounting device for mounting a workpiece, which has a mounting seat surface near a head portion and extends in the longitudinal direction, to the vehicle body by screwing the mounting seat surface to the mounting surface of the vehicle body, the positioning hole of the vehicle body. A head guide that is engaged with and holds the head of the work in a floating manner, and is movable toward a positioning hole of the vehicle body, and the work can be floated in a direction orthogonal to the axial direction of the work. And a holding means that is movable toward the head guide. 2. The head guide includes a conical convex surface portion that engages with a positioning hole of a vehicle body and a conical concave surface portion that engages and holds a head portion of the work, and the holding means holds the work. The work attaching device according to claim 1, further comprising a clamp portion for performing the work attaching. 3. The work attachment device according to claim 2, further comprising a force detection unit that detects a force applied to the work toward the attachment surface of the vehicle body. 4. The work is mounted while moving in synchronism with the transportation of the vehicle body.
Work attachment device described.