JPH0999879A - Carrying-in device for vehicle part - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a carrying-in device for vehicle parts capable of easily and efficiently carrying-in the vehicle parts such as a floor mat without requiring a complex structure. SOLUTION: A positioning jig 12 fitted at the tip of a positioning shaft 11 is kept in contact with two body conveying hangers 50 on the front side as a body B is conveyed, the positioning jig 12 presses the positioning shaft 11 after the conveying speed of the body B, and a mat holding device 20 relatively approaches the body B. When the tip of the mat holding device 20 reaches an opening section for fitting the front glass of the body B after the positioning shaft 11 is continuously pressed, a seat mat 10 is released in a floor.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle parts carrying-in device, for example, in a car manufacturing line, where car parts such as a floor mat are carried into the body of a car, which is sequentially conveyed, and laid on the floor. The present invention relates to a loading device for a vehicle component that performs

[0002]

2. Description of the Related Art Conventionally, in a car manufacturing line, a floor mat is carried into the body of a car that is sequentially conveyed and is laid on the floor, as shown in FIGS. 6 and 7. The worker 60 inside took out the floor mats 10 one by one from the pallet 70 for storing the floor mats and carried them in through the opening where the door on the side surface of the body was mounted.

As a conventional example of a robot that automates the carrying-in operation in relation to such a sheet-carrying-in technique, Japanese Patent Laid-Open Publication No. Hei 3
No. 264224 discloses a robot provided with an indirect robot arm movable in multiple directions and a gripping device for gripping a carpet. The pad of the gripping device attracts the carpet, and the robot extends from the drive unit of the gripping device. It is disclosed that the shafts of the book are synchronously rotated in opposite directions to fold the adsorbed carpet so that the carpet can be smoothly carried into the interior of the vehicle even when transported through a narrow carry-in port.

[0004]

However, when the floor mat is manually removed from the pallet and carried into the body as in the former conventional example, the floor mat is heavy and difficult to hold, so that the arms and wrists are extremely difficult to hold. Etc. will be tired, and the body will have a middle waist posture, which will force the worker to work hard.

In the latter conventional example, when the floor mat has irregularities, the pad may not be able to adsorb the mat. Further, in addition to the arm drive mechanism, a pump for sucking the mat is required, which complicates the configuration of the robot and makes it expensive. The present invention has been proposed in order to solve the above-mentioned problems of the prior art, and an object thereof is to easily and efficiently carry in vehicle parts such as a floor mat despite the inexpensive structure. An object of the present invention is to provide a loading device for vehicle parts.

[0006]

SUMMARY OF THE INVENTION To solve the above problems,
In order to achieve the object, the vehicle component carrying-in device according to the present invention has the following configuration. That is, a vehicle component carrying-in device for carrying in vehicle components into an assembly that is sequentially transported, and holding means for transferring the vehicle components from a supply position of the vehicle components and retaining the vehicle components at a desired position. Positioning means for positioning the vehicle parts by the holding means with respect to the assembly, and carrying the assembly while being positioned by the positioning means relatively moves the vehicle parts to each other. And guiding means for guiding into the assembly.

As described above, in the vehicle component carrying-in apparatus according to the present invention, when the vehicle components are carried into the sequentially conveyed assembly, the vehicle components are transferred from the vehicle component supply position to the desired position. Positioned with respect to the assembly while holding the vehicle parts, the vehicle parts are guided relatively into the assembly by transporting the assembly in the positioned state. .

[0008]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. [Description of Entire Apparatus] FIG. 1 is a diagram showing a schematic configuration of a vehicle component carrying-in apparatus installed in an automobile manufacturing line as an embodiment of the present invention.

In FIG. 1, a vehicle component carrying-in device 100.
Is inside the frame that forms the outer frame of the automobile body (so-called,
Sheet-like vehicle parts such as floor mats 10)
(Hereinafter, the floor mat 10 will be described.) Is a device for carrying in, and has a main body device 1 that is slidably controlled on two traveling rails 40 provided in parallel with the transportation line of the body B, A power source, a control line, and the like are connected to the main body device 1 via a stretchable cover 2. This main unit 1
Is provided with a table 5 movable in the illustrated XY directions, and the table 5 is moved by an X-direction operation motor 3 and a Y-direction operation motor 4 provided in the main body device 1. A vertically movable arm shaft 7 is provided on the lower surface of the table 5. The arm shaft 7 is provided rotatably in the vertical direction by two drive motors 6. At the tip of the arm shaft 7, an arm rotating shaft 8 having a central portion bent at about 90 ° is extended, and a portion immediately after the bending is pivotally supported by a shaft plate 13. That is, when the arm 7 moves in the vertical direction, the arm rotation shaft 8 moves to the shaft plate 13
Will be rotated around the fulcrum. At the tip of the arm rotation shaft 8, a mat gripping device 20 for gripping and carrying out a floor mat stored in a dedicated pallet shown in FIG. 6 is provided. The detailed configuration of the mat gripping device 20 will be described later.

A positioning shaft 11 is supported on the shaft plate 13 above the shaft fulcrum of the arm rotation shaft 8.
Is provided so as to be movable along its longitudinal direction by a drive motor 9. On the surface of the positioning shaft 11, a screw thread serving as a male screw is formed along the longitudinal direction, and the driving motor 9
The driving force of the drive motor 9 is transmitted to the positioning shaft 11 by being screwed into the female screw pivotally supported by the. Further, the positioning shaft 11 is the positioning jig 1 that is in contact with the transport hanger 50.
It can be moved in the direction of shortening by pressing 2.
A positioning jig 12 is attached to the other end of the positioning shaft 11. The positioning jig 12 positions the mat gripping device 20 and the body B by coming into contact with the body transport hanger 50 that transports the body B of the automobile.

[Positioning Procedure by Positioning Jig] Next, a method of positioning the body B and the mat holding device 20 holding the floor mat 10 will be described with reference to FIG. In the positioning procedure described below, the operation of gripping, rotating, and releasing the floor mat 10 will be described later, and the description thereof will be omitted. Now, the body B and the floor mat 10 by the vehicle component carrying-in device 100 of the present embodiment.
The positioning method with respect to the mat gripping device 20 that grips is specifically performed by the following procedure. That is, after the mat gripping device 20 gripping the floor mat 10 is moved in parallel to the transport line of the body B, the positioning shaft 11 is moved to the body B side by the drive motor 9 until it becomes the longest.

Next, the positioning jig 12 attached to the tip of the positioning shaft 11 comes into contact with the front two body transport hangers 50 as the body B is transported. In this state, the positioning jig 12 follows the conveyance speed of the body B and pushes the positioning shaft 11, so that the mat gripping device 20 relatively approaches the body B. When the tip of the mat gripping device 20 reaches the opening for attaching the windshield of the body B by further pressing, the position detection sensor (not shown) provided at the tip of the mat gripping device 20 detects it.

It is detected by a check switch (not shown) provided at the rear end of the mat gripping device 20 that the rear end of the mat gripping device 20 has reached the opening for mounting the windshield of the body B by continuing to press. Then, the floor mat 10 is released into the floor. As described above, after the steps up to are completed, the loading of the floor mat into the vehicle interior is completed, and the sequentially transferred bobs can be easily carried out.

[Detailed Structure of Mat Holding Device] Next, FIG.
The detailed configuration of the mat gripping device 20 shown in FIG. FIG. 2 is an enlarged view of part A shown in FIG. In FIG. 2, the mat gripping device 20 includes four mat gripping shafts 25.
Having. The mat gripping shaft 25 includes rotating arms 31, 32.
The two ends are axially supported by two. Rotating arms 31, 3
A drive motor 26 for rotating the rotary arm is provided at a substantially central portion of 2. These rotating arms 31, 32
Are connected to the arm rotating shaft 8 via two link members 33 and 34 extending from the arm rotating shaft 8 in a V shape. The link members 33 and 34 are rotatably supported independently of the arm rotation shaft 8 about the rotation shaft of the arm rotation shaft 8. Further, by connecting the link members 33 and 34 to the open / close cylinder 35, the mat rotary shaft 25 can rotate around the arm rotary shaft 8 by the stroke of the open / close cylinder 35.

Needle actuating motors 21 to 24 are provided at the tip of the mat gripping shaft 25 described above. The needle actuating motors 21 to 24 can cause the needle to project from the side surface of the mat gripping shaft 25 and reliably grip the mat 10 so that the mat 10 gripped by the four mat gripping shafts 25 does not slip off. It is like this. The above-mentioned needle actuation motor 21
24, the drive motor 26, and the opening / closing cylinder 35 are connected to a power source, a control line, and the like by a wiring 28 inserted inside the arm rotation shaft 8.

[Structure of mat gripping shaft and protruding operation of needle]
Next, the configuration of the mat gripping shaft 25 and the needle protruding operation shown in FIG. 2 will be described. FIG. 3A is a diagram showing a state where the needle is retracted inside the mat gripping shaft, and FIG. 3B is a diagram showing a state where the needle is projected from the inside of the mat gripping shaft. Further, FIG. 4 is a diagram showing the operation of the needle.

First, the structure of the mat gripping shaft 25 will be described. 3A, 3B, and 4, the mat gripping shaft 25 includes a cylindrical outer shaft 25b and a cylindrical inner shaft 25.
The inner shaft 25c is connected to the needle actuating motors 21 to 24. A large number of protrusion holes 25d for allowing the needle 25a to protrude are provided on the surface of the outer shaft 25b. A large number of needles 25a are swingably supported at positions corresponding to the protruding holes 25d on the surface of the inner shaft 25c. Both ends of the inner shaft 25c are rotatably supported by bearings 25f.
4, the stroke S shown in FIG. 4 in the directions of arrows C1 and C2.
By moving the needle 25a back and forth by a minute, the needle 25a
It can be inserted and removed from 5d.

Next, the protruding operation of the needle shown in FIG. 2 will be described. 3A, the needle 25a is moved from the protruding state shown in FIG. 3B to the inner shaft 25 by the needle actuation motors 21-24.
By moving c in the direction of arrow C1 by the stroke S, it is retracted into the projecting hole 25d. On the other hand, in FIG. 3B, the needle 25a moves from the retracted state shown in FIG. 3A to the protrusion hole 25d by moving the inner shaft 25c in the direction of arrow C2 by the stroke S by the needle actuating motors 21-24.
From the outside.

As described above, by providing the mat gripping shaft 25 with the removable needle 25a, it is possible to prevent the floor mat 10 from falling off during gripping. [Grip, Rotation, Release Operation of Mat] Next, the operation of gripping, rotating, releasing the mat by the mat gripping device 20 shown in FIGS. 1 and 2 will be described. FIG. 5A is a diagram showing a state in which the floor mat is held, and FIG. 5B is a diagram showing a state in which the floor mat is released.

<Gripping Operation> First, referring to FIG. 1 and FIG.
The arm shaft 7 is rotated by the drive motor 6, and the arm rotation shaft 8 that supports the mat gripping device 20 is rotated in the direction in which the dedicated pallet 70 shown in FIG. 6 is arranged. The dedicated pallet 70 is arranged on the side of the transfer line of the body B. Further, by lowering the arm shaft 7 by the drive motor 6, the mat gripping device 20 is oriented in the vertical direction so that the floor mat 10 can be sandwiched between the mat gripping shafts 25. In this state, in the state shown in FIG. 6, the floor mat 10 folded in half and stored in the dedicated pallet is inserted between the mat gripping shafts 25 from above. Then, the needle 25a of each mat gripping shaft 25 is brought into a protruding state, the opening / closing cylinder 35 is driven, and the rotary arms 31 and 32 are pulled toward each other to grip the floor mat 10 so as to sandwich it (see FIG. 5A).

<Rotating Operation> As shown in FIG. 5A, the arm shaft 7 is rotated by the drive motor 6 while the floor mat 10 is gripped, and the arm rotation shaft 8 that pivotally supports the mat gripping device 20 moves toward the body B side. Is rotated. Further, by raising the arm shaft 7 by the drive motor 6, the mat gripping device 2
Rotate so that 0 is oriented horizontally.

<Release Operation> After the mat gripping device 20 is positioned with respect to the body B, the floor mat 10 is fitted together with the mat gripping device 20 in accordance with the conveyance speed of the body B from the opening for attaching the windshield. Transport to. Then, the floor mat 10 is fixed to the mat gripping device 20.
When the vehicle completely enters the passenger compartment, the arm shaft 7 is lowered by the drive motor 6 to direct the mat gripping device 20 in the vertical direction, the needle 25a is retracted, and the opening / closing cylinder 35 is driven to move the rotating arms 31, 32. The floor mats 10 are released by pulling them away from each other and rotating one of the drive motors 26. In this way, by releasing one of the rotating arms 32 while rotating, the released floor mat 10 is released.
Is laid open in the vehicle compartment (see FIG. 5B).

As described above, while the floor mat is gripped and carried into the vehicle compartment, the mat gripping device 20 controls gripping, rotating, and releasing operations of the mat to facilitate loading of the floor mat 10. It can be done efficiently.
The present invention can be applied to a modified or modified version of the above embodiment without departing from the spirit of the present invention.

For example, the floor mat used in this embodiment is not limited to that for vehicles, and any sheet-shaped member can be applied. Further, in the present embodiment, the configuration in which the floor mat 10 is gripped by the four mat gripping shafts 25 has been described, but the number of the mat gripping shafts 25 may be three. In this case, the floor mat 10 is stored in the exclusive pallet 70 with the vertical direction reversed from the state shown in FIG.
Both ends of the mat which is bent and overlapped by the mat gripping shaft 25 of the book are gripped, and the bent part is hung from the inside of the mat by the remaining one mat gripping shaft 25.
Further, the floor mat 10 is stored in the dedicated pallet 70 in the state shown in FIG. 6, and the floor mat 10 gripped by the three mat gripping shafts 25 as described above is carried out from the dedicated pallet 70 immediately after the mat gripping device. You may invert 20 upside down.

[0025]

As described above, according to the vehicle parts carrying-in device of the present invention, when the vehicle parts are carried into the sequentially conveyed assemblies, the vehicle parts are transferred from the vehicle parts supply position. Then, the vehicle parts are held in a desired position, positioned relative to the assembly while the vehicle parts are held, and the assembly is conveyed in the positioned state, thereby guiding the vehicle parts relatively into the assembly. Therefore, the structure of the device for gripping the vehicle parts such as the floor mat can be simplified, and the vehicle parts can be easily and efficiently carried in without requiring complicated control.

[Brief description of drawings]

FIG. 1 is a diagram showing a schematic configuration of a vehicle component carrying-in device installed in an automobile manufacturing line as an embodiment according to the present invention.

FIG. 2 is an enlarged view of a portion A shown in FIG.

FIG. 3A is a view showing a state where the needle is retracted inside the mat gripping shaft.

FIG. 3B is a diagram showing a state in which the needle is projected from the inside of the mat gripping shaft.

FIG. 4 is a diagram showing an operation of a needle.

FIG. 5A is a diagram showing a state in which a floor mat is gripped.

FIG. 5B is a diagram showing a state in which the floor mat is released.

FIG. 6 is a diagram showing a conventional example of a floor mat loading operation.

FIG. 7 is a diagram showing a conventional example of a floor mat loading operation.

[Explanation of symbols]

 1 ... Main unit 2 ... Cover 3 ... X-direction operating motor 4 ... Y-direction operating motor 5 ... Table 6 ... Drive motor 7 ... Arm shaft 8 ... Arm rotation shaft 9 ... Drive motor 10 ... Floor mat 11 ... Positioning shaft 12 ... Positioning Jigs 21-24 ... Needle operation motor 25 ... Mat gripping shaft 31, 32 ... Rotating arm 3, 34 ... Link member 35 ... Opening / closing cylinder 40 ... Traveling rail 50 ... Transport hanger 60 ... Worker 70 ... Special pallet 100 ... Vehicle parts Loading device

Claims (7)

[Claims] 1. A vehicle component carrying-in device for carrying in vehicle components into an assembly that is sequentially transported, and a holding means for transferring the vehicle components from a supply position of the vehicle components and retaining the vehicle components at a desired position. Positioning means for positioning the vehicle part with respect to the assembly while holding the vehicle part by the holding means; and carrying the assembly with the positioning means for positioning the vehicle part relative to each other. And a guide means for physically guiding the assembly into the assembly. 2. The holding means holds the vehicle component in a state of being bent in half, and is provided so as to be rotatable around a folding direction of the vehicle component. Carrying-in device for the described vehicle parts. 3. The holding means has at least three rod-shaped members for holding both sides of the bent vehicle component along the longitudinal direction of the vehicle component, and each of the rod-shaped members projects from the surface thereof. The loading device for vehicle parts according to claim 2, wherein a possible needle member is provided. 4. The holding means is provided so as to be capable of turning and moving up and down in a horizontal plane along the transport direction of the assembly while holding the vehicle component. Vehicle parts loading device. 5. The vehicle component loading apparatus according to claim 1, wherein the holding means is provided so as to be movable in the same direction as the transport direction of the assembly. 6. The positioning means comes into contact with a part of a carrying mechanism for carrying the assembly, and the guiding means is pressed in the same direction as the carrying direction by a carrying force of the carrying mechanism. The vehicle component carrying-in device according to claim 1, wherein the vehicle component is relatively brought closer to the front side of the assembly. 7. The assembly according to claim 1, wherein the assembly is a frame forming an outer frame of a vehicle body, and the vehicle component is a floor mat laid in a floor of the frame. Vehicle parts loading device.