JPH1059236A - Position changing device for automobile body on hangar - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a position changing device for an automobile body over a hangar, which automatically changes the position of the automobile body carried in while being suspended by a hangar. SOLUTION: A lengthwise movable carriage 30 which is driven by an attached actuator so as to be moved in the carrying direction or in the lengthwise direction of the reverse direction, and an elevating stand 40 which is driven by an attached actuator so as to be lifted up in such a way that an automobile body is floated up from a hangar 3, are piled up over an interlocking dolly 10 which is brought into contact with the hangar 3 so as to be carried in while being interlocked therewith. The following means are attached to the device, namely, one is a change signal generating means which outputs a position change signal in response to the change in position in the lengthwise direction of the automobile body 1 to the actuator of the lengthwise movable carriage 30, and the other one is a sequence control means which allows the lengthwise movable carriage 30 to be changed in position by means of the change signal generating means in a state that the elevating stand 40 is lifted up in response to a detection signal from a sensor detecting a fact that the interlocking dolly 10 is carried in while being interlocked therewith, and subsequently allows the elevating stand 10 to be lowered down, and also allows the interlocking dolly 10 to be restored to an initial position with an actuator operated, that is attached to the interlocking dolly 10.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for changing the position of an automobile body on a hanger for changing the position of the automobile body suspended on the hanger during or after the transportation is stopped.

[0002]

2. Description of the Related Art When a plurality of types of assembling operations are performed on an automobile body suspended and transported by a hanger on a transport path, for example, an automatic machine that performs an assembling operation such as undercarriage is positioned relative to the hanger. Work is performed in parallel while keeping the constant, so if the model is changed, it is necessary to change the position of the car body on the hanger to keep the positional relationship of the automatic machine with the hanger constant is there. In such a case, the stop position at the transfer position is changed when the car body is hung by the hanger belonging to the work area by the automatic machine, but if a position error occurs, the position of the automatic machine is manually adjusted. Needed. Also, if the hanger does not stop, such as a trolley conveyor, it is not possible to change the hanger position according to the vehicle type, and it is a constraint to adopt an automatic machine that needs to maintain a precise and constant positional relationship with the hanger. It had been.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and is intended to automatically change the position of a car body hung on a hanger and conveyed on a hanger in a car assembly factory. It is an object of the present invention to provide a device for changing the position of an automobile body on a hanger.

[0004]

In order to achieve this object, according to the present invention, according to the first aspect of the present invention, a vehicle body suspended from a hanger and conveyed is stopped at a position on the hanger where the vehicle is stopped. As a device for changing the position of the vehicle body on the hanger for changing according to the position, the vehicle body is moved to the stop position of the vehicle body along the transport path by a corresponding actuator and in the front-rear direction in the transport direction or the reverse direction. A front-rear moving table, a lateral moving table driven by an associated actuator to move in a lateral direction with respect to a transport direction, and an elevating table driven by an associated actuator and rising to lift an automobile body from a hanger upward. Change signal generating means for sending a position change signal corresponding to the position of the vehicle body in the front-back direction to the actuator of the back-and-forth carriage, and identification of the vehicle body A camera that captures the position from the front and back and from the lateral direction, and collates the image captured from the lateral direction with the standard image at the normal position of the newly suspended car type, and outputs the position error signal in the forward and backward direction to the actuator of the forward and backward moving platform. Front and rear position comparing means for transmitting the position error signal in the horizontal direction by comparing the image of the specific part of the car body taken from the front and rear direction with the standard image at the normal position of the newly suspended car type. The position change to the front and rear movable table by the change signal generating means in a state where the elevator is raised in response to the detection signal of the horizontal position collating means sent to the actuator of the above and the sensor detecting that the vehicle body has stopped at the stop position Sequence control means for causing the front-rear moving table and the lateral moving table to perform correction movement by the front-rear position collating means and the lateral position collating means, and for lowering the elevating table. To.

When the vehicle body is stopped at the position where the device is arranged, and the elevator is raised, in response to the output signal of the change signal generating means, the position change of the working part with respect to the hanger of the new or old model is set in advance. The front and rear movable table changes the position in the transport direction or in the opposite direction. The changed position is imaged by the camera from the lateral direction and the front-back direction, and the front-rear moving table and the horizontal moving table perform the correction movement according to the position error with respect to the normal position of the new vehicle type. After such correction, the lifting platform is lowered and hung on a hanger, and transport is resumed for automatic assembly.

According to a third aspect of the present invention, an apparatus for changing the position of a vehicle body on a hanger for changing the position of the vehicle body hung on the hanger and transported on the hanger according to the type of the vehicle during transportation is provided. An interlocking trolley that is conveyed in contact with it and moves forward and backward in the transport direction or the opposite direction, driven by the associated actuator, and ascends to lift the car body from the hanger by driving the associated actuator A change signal generating means for sending a position change signal corresponding to a change position of the vehicle body in the front-rear direction to the actuator of the front-rear movement table, and detecting that the interlocking carriage has been interlocked and conveyed. In response to the detection signal of the sensor, the position of the front and rear movable table is changed by the change signal generating means while the elevator is raised, and then the elevator is lowered. Te, characterized in that a sequence control means for returning the interlocking carriage to the original position by operating the actuator comes to interlocking carriage.

In this case, in response to a detection signal from a sensor for detecting that the interlocking carriage has been interlocked and conveyed, the position of the front and rear moving table is changed while the elevating table is raised, and then the elevating table is lowered. Then, the actuator attached to the interlocking trolley is operated to return the interlocking trolley to the original position. At this time, in order to automatically correct the position error before and after or before or after the position change, a lateral moving table that is driven by the associated actuator and moves in the lateral direction with respect to the transport direction is provided according to claim 4. Further, a camera that overlaps and captures a specific part of the car body in the front-rear direction and the lateral direction, and compares the image captured in the lateral direction with the standard image at the regular position of the newly suspended car type to determine the position in the front-rear direction. A front-rear position collating means for transmitting an error signal to the actuator of the front-rear movable table, and a lateral direction by collating an image of a specific part of the car body taken from the front-rear direction with a standard image at a regular position of a newly suspended car type. Lateral position collating means for transmitting the position error signal to the actuator of the lateral moving table, and after the sequence control means causes the longitudinal moving table to change the position, the longitudinal position collating means and the lateral position collating means are provided. Characterized in that to perform a correction movement to the moving base and the lateral moving base back and forth by the stage.

In order to automatically correct the position error oblique to the transport direction of the vehicle body, the invention is further described in claim 2 when the vehicle body is stopped and the position is changed while the vehicle body is being transported. In case, according to claim 5,
A pair of horizontal moving tables driven by the associated actuator and movable in the horizontal direction with respect to the transport direction are provided on the elevating table on the upstream side and the downstream side in parallel in the transport direction.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An apparatus for changing the position of an automobile body on a hanger conveyed by a trolley type conveying apparatus according to an embodiment of the present invention in a conveying state will be described with reference to FIGS. In FIG. 1, an automobile body 1 is conveyed by suspending its floor body on a hanger 3 provided below a trolley conveyor 2.

An interlocking trolley 10 having a frame 16 abutting on the hanger 3 stands in front of a base 11 on which wheels 12 are mounted, at a position change position along the transport path. The base 11 is provided with a cylinder 13 for returning the interlocked carriage 10 that has been interlocked and conveyed to the original position. A camera 39 that captures an image of the vicinity of the wheel house of the vehicle body 1 from the side and a camera 29 that captures an image of the vicinity of the wheel house from the upstream side are attached to the support frame 16 a protruding from the upper end of the frame 16.

Further, on the base 11, a horizontal moving table 20 moving in a lateral direction with respect to the conveying direction, a front and rear moving table 30 moving in the conveying direction or the opposite direction, and a vehicle body 1 floating from the hanger 3. Elevator 40 that rises to a predetermined height
Are superimposed in order.

On the back surface of the horizontal moving base 20, wheels 21 are disposed on the base 11 and run along rails 21a extending in the horizontal direction, and motors extending in the horizontal direction and supported by the base 11 A rack 22 is provided which meshes with a pinion 23 driven by 24. On the back side of the front and rear movable table 30,
A rail 31 that is arranged on the horizontal carriage 20 and extends in the transport direction
and a rack 32 extending in the transport direction and meshing with a pinion 33 supported by the laterally movable table 20 and driven by a motor 34.

Two arms 41 and 42 whose crossing positions are pivotally supported by pins 43 are provided on both sides along the transport direction on the back surface of the lift table 40 so as to constitute a lift device. The downstream ends of these arms in the transport direction are pivotally supported by bearings 46 attached to the elevating table 40 and the front-rear moving table 30, and the upstream ends are connected to slide rails 45 respectively attached to both stands. Guided. Of these, the lower arm 41 is pivotally supported by a shaft 47 driven downstream by a cylinder 44, so that the cross arms 41, 42
Are rotated in a direction approaching each other to raise the elevator 40.

FIG. 3 shows a circuit part attached to each part described above. The motor 24 has an image at an ascending position taken by a camera 29 from the front and rear direction and a raised normal position of a newly suspended car type. And a motor drive circuit 27 for driving the motor 24 in response to the position error signal.

In the motor 34, a positive / negative position change dimension in the front-rear direction, that is, in the transport direction, corresponding to the work site of the newly suspended vehicle model with respect to the vehicle model suspended immediately before is input and stored. A change signal generating means 38 for outputting a position change signal to be generated and a position error signal in the front-rear direction generated by collating an image taken by a camera 39 from the lateral direction with a standard image at a regular position of a newly suspended car type. And a motor drive circuit 37 for driving the motor 34 in response to the position change signal and the position error signal.

The cylinder 44 is provided with a cylinder control means 48 for driving the cylinder 44 in response to an ascending command signal of the sequence control means 19 to be described later and for performing a return drive in response to a descending signal. The cylinder 13 is provided with a cylinder control means 18 for returning the cylinder 13 to its original position in response to a command signal transmitted at a timing when the linkage with the interlocking trolley 10 is released from the sequence control means 19 after descending. doing.

The sequence control means 19 responds to the detection signal of the limit switch 14 disposed at a position where the hanger 3 comes into contact with the frame 16 and travels a predetermined distance to be in a stable interlocking state. The operation of each part is started in order based on the confirmation of the signal outputs of 38 and 39 and the aging signal of the built-in timer.

The operation of the device for changing the position of the vehicle body 1 on the hanger 3 thus constructed is as follows. When the hanger 3 descends and comes into contact with the frame 16 of the interlocking trolley 10 that is on standby, the interlocking trolley 10 is interlocked and conveyed while the cylinder 13 idles.
When the controller 4 is operated, the sequence controller 19 starts the sequence control. First, the elevator 40 is raised to lift the vehicle body 1 from the hanger 3. Next, the position of the front-rear movable table 30 in the front-rear direction is changed according to the vehicle type. Subsequently, when there is a positional error in the horizontal direction according to the image captured by the camera 29, the horizontal moving base 20 is moved. Subsequently, when there is a position error in the front-back direction according to the image captured by the camera 39, the front-rear moving table 30 is moved. The sequence control means 19 causes such correction operation to be performed a plurality of times depending on the presence or absence of a position error between both position matching means. After the completion, the elevator 40 is lowered to place the vehicle body 1 on the hanger position of the hanger 3 corresponding to the work area of the new model shown in FIG. The vehicle body 1 is further transported upstream while being raised, and after the interlocking trolley 10 is separated, the cylinder 13 returns the interlocking trolley 10 released from the hanger 3 to the original position. Thereby, the car body 1
Performs an assembling operation on the hanger 3 with the same positional relationship by an automatic machine running in parallel on a regular transport path.

FIGS. 5 to 7 show a position changing device according to another embodiment for correcting a position suspended obliquely.
The same reference numerals are used for the same or equivalent parts as those of the above-described embodiment. In this case, the horizontal carriage 20 is abolished,
Instead, a pair of upstream and downstream horizontal moving tables 50, 50a arranged side by side in the transport direction on the elevating table 40 are overlaid, and on the back surface thereof, there are rails 51, 51a arranged on the elevating table 40 and extending in the lateral direction. Wheels 55, 55 a running along the motor 5 and extending in the lateral direction and supported by the elevator 40.
Racks 52, 52a meshing with pinions 53, 53a driven by 4, 54a are provided independently.

On the base 11, a frame 56 supporting a camera 59 for imaging the vicinity of the wheel house from behind is provided. As shown in FIG. 7, the motors 54 and 54a collate the images taken by the cameras 29 and 59 from the front and rear directions with their standard images to generate a lateral position error signal, which is equivalent to that described above. And a motor drive circuit 5 for driving the motors 54 and 54a respectively in response to the associated position error signal.
7, 57a are attached.

When correcting the lateral position in response to a command signal from the sequence control means 19a, if the vehicle body is displaced in the horizontal direction in parallel, the lateral position collating means 58, 58 are used.
a generates the same position error signal, and
“a” moves by the same stroke in the same direction to correct the position. If the front and rear of the vehicle body 1 are displaced diagonally in the same or opposite directions by different amounts due to an error generated at the time of starting the conveyance or at the time of changing the position, the horizontal position verification means 58 and 58a mutually A position error signal having a different level or a reverse polarity is generated, and the horizontal moving tables 50 and 50a individually move. The sequence control means 19a lowers the vehicle body 1 after confirming that the lateral position collating means 58, 58a does not output the position error signal.

In the embodiment described above, the position is changed while the hanger 3 is being conveyed. In the present invention, the hanger is switched in accordance with the work area, and at that time, the hanger can be stopped at the transfer position. The present invention is also applicable to the case of a transport device. In this case, a stopper for stopping the hanger 3 at the transfer position and a sensor for detecting the stop are provided.
As shown in FIG. 1, the interlocking trolley 10 is abolished in FIG. 1, and the laterally moving trolley 20 is directly installed at the position change location, and is constituted by the above-described trolleys 20, 30, and 40 and parts attached thereto. Since the cameras 29 and 39 do not interlock and move when the hanger 3 is lifted, they are fixed on the support frame 66 so as not to interfere with the vehicle body, and are supported by the support frame 66 so as not to interfere with the vehicle body. From the inclined position toward the transport path. The sequence control means detects that the hanger 3 has stopped at the predetermined position, raises the elevating platform 40, changes the position of the longitudinal moving platform 30 in the longitudinal direction according to the vehicle type, and moves the cameras 29, 39 to the imaging position. When there is a position error in the horizontal direction according to the image captured by the camera 29, the horizontal moving table 20 is corrected and moved, and when there is a position error in the front-rear direction according to the image captured by the camera 39, The front and rear moving table 30 is corrected and moved.
The correction operation is performed several times so that the position error in the horizontal direction and the front-rear direction falls within the allowable range.
Is returned to the original position, the elevator 40 is lowered, and the vehicle body 1 is placed at the proper hanger position of the hanger 3.
The conveyance of the hanger 3 is restarted by releasing the stopper.

Similarly, in order to correct the oblique position, the interlocking trolley 10 can be omitted in FIG. 5 to constitute a position fixing changing device. In the above-described embodiment of FIGS. 1 and 8, the order in which the front-rear moving table, the horizontal moving table, and the elevating table are stacked upward can be changed. The change signal generating means includes:
The new and old models are set and input, and the position change dimension of the newly suspended model in the transport direction or the reverse direction with respect to the model suspended immediately before is calculated based on the position data of the work site stored in advance. A corresponding position change signal may be output.

[0024]

According to the first aspect of the present invention, it is possible to automatically change the front-rear position of the vehicle body in accordance with the type of vehicle while the hanger is stopped. In addition, a position error in the front-back or lateral direction generated at the time of position change is also automatically corrected. Therefore, when the position of the work site with respect to the hanger changes due to a change in the model of the car body that is suspended and conveyed by the hanger, the operation of the automatic machine is performed while maintaining the positional relationship with the automatic machine for assembling the hanger. Can be done. According to the second aspect of the present invention, by correcting the two laterally movable tables independently of each other, even if the vehicle body is suspended obliquely with respect to the transport direction, it is automatically corrected to the normal position.

According to the third aspect of the present invention, even when the hanger does not stop, the front / rear position of the vehicle body can be automatically changed according to the vehicle type while the position changing truck is moved in conjunction with the hanger. According to the fourth aspect of the present invention, the position error in the front-rear direction or the horizontal direction that occurs before and after the position change is automatically corrected.
According to the fifth aspect of the present invention, the oblique displacement of the vehicle body is also automatically corrected.

[Brief description of the drawings]

FIG. 1 is a side view of an apparatus for changing the position of an automobile body on a hanger during transportation according to an embodiment of the present invention.

FIG. 2 is a front view of the position changing device.

FIG. 3 is a diagram showing a circuit configuration of the position changing device.

FIG. 4 is a side view showing the vehicle body after the position is changed by the position changing device.

FIG. 5 is a side view of a vehicle body position changing device on a hanger during transportation according to another embodiment.

FIG. 6 is a plan view of the position changing device according to FIG. 5;

FIG. 7 is a diagram showing a circuit configuration of the position changing device according to FIG. 5;

FIG. 8 is a side view of a device for changing the position of an automobile body on a hanger, which has been stopped from being transported, according to still another embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Automobile body 3 Hanger 10 Interlocking trolley 11 Base 20, 50, 50a Horizontal moving table 29, 39, 59 Camera 30 Front-back moving table 40 Lifting table

Claims (5)

[Claims] 1. A position changing device for a vehicle body on a hanger for changing a position on the hanger of a vehicle body hung on a hanger and conveyed on the hanger according to a vehicle type in a state where conveyance is stopped, A front-rear moving table that is driven by a corresponding actuator and moves in the front-rear direction in the conveyance direction or the opposite direction to a stop position of the vehicle body along a conveyance path; A horizontal moving platform that moves in the direction of the vehicle, and a lifting platform that is driven by an associated actuator and rises so as to lift the vehicle body from the hanger, and is superimposed on the vehicle, and a position corresponding to a change position of the vehicle body in the front-rear direction. A change signal generating means for sending a change signal to the actuator of the front and rear movable table, and imaging a specific portion of the vehicle body from the front and rear direction and the lateral direction. A front-rear position matching unit for transmitting a position error signal in the front-rear direction to the camera by comparing the image captured from the lateral direction with the standard image at the regular position of the newly suspended vehicle, and A horizontal position error signal transmitted to the actuator of the horizontal moving table by comparing an image of a specific part of the vehicle body taken from the front and rear direction with a standard image at a regular position of a newly suspended vehicle type. Position collating means, and in response to a detection signal of a sensor for detecting that the vehicle body has stopped at the stop position, in a state where the elevator is raised in response to a detection signal from the sensor, the position change is performed by the change signal generating means to the front-rear moving platform. Sequence control for causing the front / rear moving table and the horizontal moving table to perform a correction movement by the front / rear position comparing means and the horizontal position comparing means, and then lowering the elevating table. Position changing device of a motor vehicle body on the hanger, characterized in that a stage. 2. A position changing device for a vehicle body on a hanger for changing a position on the hanger of a vehicle body suspended and transported on the hanger in accordance with a model of the vehicle with transportation stopped. A front-rear moving table that is driven by a corresponding actuator and moves in the front-rear direction in the conveyance direction or the opposite direction to a stop position of the vehicle body along a conveyance path; A lifting table that rises so as to float from the table, and a pair of upstream and downstream side movable tables that are driven by an associated actuator and are movable in the horizontal direction with respect to the transport direction, and are juxtaposed in the transport direction on the lift table. And a change signal generating means for sending a position change signal corresponding to a change position of the vehicle body in the front-back direction to the actuator of the front-rear moving table. And an upstream camera for imaging a specific portion of the vehicle body from the upstream in the transport direction, a downstream camera for imaging from the downstream, and a camera for imaging from the lateral direction, and an image taken from the lateral direction and a newly suspended vehicle type. A front-rear position verification unit that verifies a position error signal in a transport direction to the actuator of the front-rear moving table by verifying with a standard image at a normal position, and newly suspends an image of a specific part of the vehicle body taken from upstream. An upstream lateral position collating means for collating a standard image at the regular position of the vehicle type to be transmitted with a lateral position error signal to the actuator of the upstream lateral moving table, and the vehicle body imaged from downstream. The image of the specific part is compared with the standard image at the regular position of the newly suspended car type, and a position error signal in the horizontal direction is sent to the actuator of the downstream side horizontal slide. And the change signal generating means moves the front-back movement in a state in which the elevator is raised in response to a detection signal of a sensor that detects that the vehicle body has stopped at the stop position. A sequence of causing the table to change the position, and then causing the front / rear moving table and the lateral moving table to perform correction movement by the front / rear position comparing means and the upstream / downstream lateral position comparing means to lower the elevating table. An apparatus for changing the position of an automobile body on a hanger, comprising a control means. 3. A position changing device for a vehicle body on a hanger for changing a position on the hanger of the vehicle body suspended and transported on the hanger according to a model of the vehicle during transportation. An interlocking trolley that is in contact with and is interlocked and conveyed, and a front and rear movable table that is driven by an associated actuator and moves in the front and rear direction of the conveyance direction or the opposite direction, and is driven by an associated actuator to lift the vehicle body from a hanger. An ascending elevator is overlapped upward, and a change signal generating means for sending a position change signal corresponding to a change position of the vehicle body in the front-rear direction to the actuator of the front-rear moving table, and the interlocking trolley are interlocked and conveyed. In response to a detection signal of a sensor for detecting the occurrence of a change, the position of the front and rear movable table is changed by the change signal generating means in a state where the lift table is raised. Sequence control means for returning the interlocking trolley to its original position by lowering the elevator and activating the actuator attached to the interlocking trolley. Position change device. 4. A camera for capturing a specific portion of a vehicle body in a front-rear direction and in a lateral direction, further comprising a camera which is driven by an associated actuator and moves in a lateral direction with respect to a transport direction. Front and rear position matching means for comparing a captured image with a standard image at a regular position of a newly suspended vehicle type and transmitting a position error signal in the front and rear direction to an actuator of the front and rear moving table; Lateral position collating means for collating the image of the specific part with the standard image at the regular position of the newly suspended vehicle and sending a lateral position error signal to the actuator of the lateral moving table. After the control means causes the front-rear moving table to change the position, the front-rear moving table and the horizontal position collating means perform correction movement to the front-rear moving table and the horizontal moving table. Position changing device of a motor vehicle body on hanger of claim 3, characterized in that. 5. A position changing device for a vehicle body on a hanger for changing a position on the hanger of the vehicle body suspended and transported on the hanger according to a model of the vehicle during transportation. An interlocking trolley, which is interlocked and conveyed, is driven by an associated actuator to move in a forward or backward direction in the transport direction or the opposite direction, and a corresponding actuator is driven by an associated actuator to lift the vehicle body from the hanger. An ascending elevator and a pair of upstream and downstream lateral movable tables driven by an associated actuator and movable in the lateral direction with respect to the transport direction, and arranged side by side in the transport direction on the elevator, move upward. Change signal generating means for transmitting a position change signal corresponding to a change position of the vehicle body in the front-rear direction to the actuator of the front-rear moving table; An upstream camera that captures an image of a specific part from the upstream in the transport direction, a downstream camera that captures an image from the downstream, and a camera that captures an image from the lateral direction. A front-rear position verification unit that verifies a front-rear position error signal by transmitting a position error signal in a front-rear direction to the actuator of the front-rear moving table, and an image of a specific portion of the vehicle body taken from upstream and a normal vehicle type that is newly suspended. An upstream lateral position collating means for collating a standard position image and transmitting a lateral position error signal to the actuator of the upstream lateral moving table; Downstream side position matching means for sending a position error signal in the horizontal direction to the actuator of the downstream side moving table by checking with a standard image at a normal position of the vehicle type suspended on the;
In response to a detection signal of a sensor that detects that the interlocking carriage has been interlocked and conveyed, the change signal generating means changes the position of the front and rear moving table in a state where the lift table is raised, and then the front and rear position The correction means and the upstream and downstream side horizontal position matching means perform the correction movement to the front and rear movable table and the horizontal movable table, lower the elevating platform, and operate the actuator attached to the interlocking carriage. And a sequence control means for returning the interlocking trolley to its original position.