JPH1076433A - Work mounting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily correct error in a horizontal direction and around each axis between a work and a mounting body. SOLUTION: A device is composed of an X-axis slide unit 5 capable of displacement in an X-axis direction perpendicular to an elevation axis of an elevation base 4, and capable of rotation around an X-axis, springs 11, 11 to energize the X-axis slide unit 5 to set its upper surface to be parallel to a horizontal surface, a Y-axis slide unit 6 capable of displacement in a Y-axis direction perpendicular to a displacement axis of the X-axis slide unit 5, and capable of rotation around a Y-axis, springs 13, 13 to energize the Y-axis slide unit 6 to set its upper surface to be parallel to an upper surface of the X-axis slide unit 5, a rotary table 17 capable of rotation within a specified range around an axis 21 through the upper surface of the Y-axis slide unit 6, and a spring to energize the rotary table 17 to a specified neutral position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for supporting a mounted work in an arbitrary posture, and more particularly to an apparatus for supporting a work mounted from below a vehicle body in an assembling process of a vehicle such as an automobile. is there.

[0002]

2. Description of the Related Art Conventionally, in a process of assembling a vehicle such as an automobile, a work mounting device is used when performing an operation of assembling a work upward, and for example, a sub-frame is attached to a vehicle body hung on a hanger. In the step of assembling, after mounting the sub-frame on the work mounting device, the sub-frame is positioned on the lower surface of the vehicle body by raising the device, and then the fastening is performed.

The applicant of the present application has proposed a work mounting device disclosed in Japanese Patent Application Laid-Open No. HEI 6-155190.

[0005] As shown in FIG. 5, a pedestal 20 fixed to the floor is guided by guide rods 2 and 2 and is vertically moved by an air cylinder 3 (Z-axis direction in the figure). An elevating platform 4 that can only be displaced is provided. The elevating platform 4 has an X-axis slide unit 95 that can be displaced in the vehicle width direction (X-axis direction in the drawing) of a vehicle body 50 suspended from a hanger, (Y that can be displaced in the direction of penetration of the paper in the figure)
A shaft slide unit 96 is provided.

The X-axis slide unit 95 is supported so as to be relatively displaceable in the X-axis direction with respect to the elevator 4 via an X-axis guide 97 provided on the lower surface, and the Y-axis slide unit 96 is provided on the lower surface. An X-axis slide unit 95 is supported by the X-axis slide unit 95 so as to be relatively displaceable in the front-rear direction of the vehicle body 50 (in the drawing direction in the drawing, hereinafter referred to as the Y-axis direction) via the Y-axis guide 98. The X-axis guide 97 and the Y-axis guide 98 are calibrated by, for example, a linear motion guide.

The sub-frame 51 as a work is placed on the uppermost Y-axis slide unit 96, and the sub-frame 51 rises toward the vehicle body 50 positioned at a predetermined position by the extension driving of the air cylinder 3. The mounting holes (not shown) provided in the sub-frame 51 are
After being inserted into stud bolts 52, 52 protruding from the lower surface of, fastening is performed.

At this time, the vehicle body 50 or the subframe 51
The positioning error of the X-axis slide unit 95 or Y
This can be absorbed by the displacement of the shaft slide unit 96 in the horizontal plane.

[0008]

However, in the above-mentioned conventional work supporting apparatus, errors in the X-axis and Y-axis directions of the placed work and the mounting object, that is, errors in the XY plane are corrected. However, it is not possible to correct errors around each of the X, Y, and Z axes. For example, if an object to be mounted or a work has an error around the Y axis, It is necessary to correct the error by moving it around the Y axis, which not only requires a great deal of labor for the mounting work, but also increases the tact time of the mounting process and reduces productivity. In the case of an object, there is a problem that the burden on the operator is further increased and the positioning operation becomes difficult.

The present invention has been made in view of the above problems, and provides a work mounting apparatus capable of easily correcting errors about each axis in addition to horizontal errors between a work and an object to be mounted. The purpose is to:

[0010]

According to a first aspect of the present invention, there is provided a lifting and lowering table which can be raised and lowered by an actuator, and a supporting table which is floatingly supported on the lifting and lowering table and on which a work is placed. In a work mounting device for positioning a work on a stud bolt from below and assembling the work to the structure, the support base is rotatable around an axis in the elevating direction and passes through a plane orthogonal to the elevating axis. A floating means which is displaceable in two axial directions orthogonal to each other, and which is rotatably supported around these two orthogonal axes;
Urging means for urging toward two orthogonal directions and toward a predetermined neutral position around the two orthogonal axes.

According to a second aspect of the present invention, there is provided a lifting platform which can be raised and lowered by an actuator, and a support platform which is floatingly supported on the lifting platform and on which a work is placed, and which is provided on a stud bolt of the structure with a lower side. In the work mounting device for positioning the work from and assembling the work to the structure, the support base can be displaced in a predetermined axial direction orthogonal to the elevating shaft of the elevating base, and can rotate around this axis. A first slide unit, first biasing means for biasing an upper surface of the first slide unit so as to be parallel to a horizontal plane perpendicular to the vertical axis, and an axial direction perpendicular to a displacement axis of the first slide unit A second slide unit that is displaceable to the right and rotatable about an axis, and biases the upper surface of the second slide unit so as to be parallel to the upper surface of the first slide unit. A second urging means, a turntable on which a work is placed on the upper surface and which can rotate within a predetermined range around a vertical axis passing through the upper surface of the second slide unit; And third urging means for urging toward.

In a third aspect based on the second aspect, the swivel table selectively includes a nut runner that can move up and down toward the stud bolt, and a stud bolt protruding downward from the lower surface of the structure. Gripping means for gripping.

In a fourth aspect based on the second aspect, the first urging means has a base end attached to one of a lift table and a first slide unit, and the other end has a lift table or a first slide unit attached to the other end.
A sliding member is provided for sliding contact with the other of the slide units, and the second biasing means attaches the base end to one of the first or second slide unit and slides the other end with the first or second slide unit. A sliding member is provided.

[0014]

According to the first aspect of the present invention, the support table on which the work is placed is rotatable around the axis in the vertical direction by the floating means, and is orthogonal to each other through a plane perpendicular to the vertical axis. Respectively, and are supported so as to be rotatable about these two orthogonal axes, respectively. Therefore, if a force is applied to the support base against the urging means, the support base is moved from a predetermined neutral position. It can be changed to any posture in the three-dimensional space, and even if there is a positioning error between the placed work and the structure, the error can be easily and quickly obtained only by applying force to the support. The work lifted by the actuator can be removed and attached to the stud bolt of the structure from below, and when the operator operates the support base, to correct the positioning error as in the conventional example, Eliminating the need to move the contacting work eliminates the labor required for the work, making it possible to perform positioning correction easily and quickly. Even if the positioning accuracy on the structure side is set low, the work positioning error can be corrected. Side can be performed easily and quickly, suppressing an increase in the tact time of the assembly process, improving productivity, and positioning the structure side with high accuracy when automating the mounting work. This eliminates the need to perform this, and can reduce capital investment.

According to a second aspect of the present invention, there is provided a first slide unit which can be displaced in a predetermined axial direction orthogonal to the elevating shaft of the elevating table and which can rotate around the axis, and which is orthogonal to the displacement axis of the one slide unit. A second slide unit that can be displaced in the axial direction and that can rotate around the axis, and a swivel table that can rotate within a predetermined range around a vertical axis passing through the upper surface of the second slide unit; By applying a force to the turning table or the like against the third urging means, the work placed on the turning table can be three-dimensionally moved from a position set by the first to third urging means, for example, from a horizontal position. It is possible to easily change to any posture in the space, it is possible to easily and quickly correct the positioning error between the structure and the work, and to suppress the increase in the tact time in the assembly process, thereby improving productivity. Can be improved That.

According to a third aspect of the present invention, when the stud bolt on the lower surface of the structure is gripped by the holding means by the nut runner and the holding means provided on the turning table, the turning table opposes the first to third urging means. The workpiece can be displaced in three-dimensional space to eliminate the positioning error between the workpiece and the structure. After that, if the nut runner is raised, the nut is screwed into the stud bolt that has inserted the workpiece, and the workpiece is automatically moved. Even if the positioning accuracy on the structure side is reduced, the positioning error can be reliably corrected on the workpiece mounting device side, and automation of the assembly process can be promoted while suppressing an increase in capital investment. it can.

According to a fourth aspect of the present invention, the first and second urging means have sliding contact members at their ends, so that the first and second slide units have their upper surfaces parallel to a predetermined plane. It can be smoothly displaced in each axial direction while being urged.

[0018]

An embodiment of the present invention will be described below with reference to the accompanying drawings.

In FIGS. 1 and 2, reference numeral 1 denotes an assembling line for an automobile, in which a subframe as a work is mounted on a stud bolt projecting from a lower surface of a vehicle body as a structure suspended by a hanger or the like (not shown). In the same manner as in the above-described conventional example, a work mounting device is shown, which is guided by guide rods 2 and 2 on a pedestal 20 fixed to the floor, and is vertically moved by an air cylinder 3 as an actuator (Z in the figure). An X-axis slide unit 5 (first slide) that can be displaced within a predetermined range in the X-axis direction and around the X-axis in the figure is provided on the lift 4 that can be displaced only in the axial direction). Unit), a Y-axis slide unit 6 (second slide unit) displaceable in a predetermined range around the Y-axis direction and around the Y-axis in the drawing, and rotatable within a predetermined range around the Z-axis. Do turn table 17 are sequentially arranged upward, the turntable 17 as a support base for placing a workpiece by these floating means for supporting the arbitrary posture in a three-dimensional space as described below.

The X-axis slide unit 5 supported by the lift 4 includes support members 4A, 4A fixedly provided at predetermined intervals in the X-axis direction of the lift 4 (an axis on a horizontal plane orthogonal to the lift axis).
At both ends, and is guided by an X-axis guide rod 7 formed of a cylindrical or columnar member and supported so as to be displaceable in the X-axis direction and around the X-axis.

A centering spring 9 for urging the X-axis slide unit 5 toward a predetermined neutral position, for example, toward the center of the X-axis guide rod 7, is provided between the X-axis slide unit 5 and the support members 4A, 4A. , 9 are interposed, and the X-axis slide unit 5 is disposed at the center of the X-axis guide rod 7 when there is no load.

The upper surface of the X-axis slide unit 5 is located between the lower surface of the X-axis slide unit 5 and the lift 4.
As shown in FIG. 2, springs 11 as first urging means for urging in parallel with the Y plane are arranged at predetermined intervals in the Y-axis direction, and the spring 11 has a base end. Lifting platform 4
On the other hand, a sliding contact member 12 that slides on the lower surface of the X-axis slide unit 5 is fixed to the other end, so that even if the X-axis slide unit 5 is displaced in the X-axis direction, the spring 11,
Numeral 11 urges the X-axis slide unit 5 via the sliding members 12 and 12 so as to be parallel to the XY plane, while applying a force opposing the spring 11 to the X-axis slide unit 5.
Can rotate about the X-axis guide rod 7.

The Y-axis slide unit 6 is orthogonal to the X-axis slide unit 5 and is supported on the upper surface of the X-axis slide unit 5, and as shown in FIG. Both ends are supported by supporting members 5A, 5A fixed at predetermined intervals, and guided by a Y-axis guide rod 8 formed of a cylindrical or columnar member so as to be displaceable in the Y-axis direction and around the Y-axis. Supported. In the figure, the X, Y, and Z axes are orthogonal coordinates, and the displacement axes of the lift 4, the X-axis slide unit 5, and the Y-axis slide unit 6 are also in the initial state where no external force is applied to the turning table 17 or the like. Are orthogonal to each other.

Then, between the Y-axis slide unit 6 and the support members 5A, 5A, a second attachment for urging the Y-axis slide unit 6 toward a predetermined neutral position, for example, toward the center of the Y-axis guide rod 8 is provided. Centering spring 1 as biasing means
The Y-axis slide unit 6 is disposed at the center of the Y-axis guide rod 8 when no load is applied.

The lower surface of the Y-axis slide unit 6 and X
Between the axis slide unit 5 and springs 13, 13 for urging the upper surface of the Y axis slide unit 6 so as to be parallel to the XY plane, are disposed at predetermined intervals in the X axis direction. The spring 13 has a base end fixed to the X-axis slide unit 5, and slide contacts 14, 14 for sliding contact with the lower surface of the Y-axis slide unit 6. Springs 13 and 13
Is the Y-axis slide unit 6 via the sliding members 14
Is urged to be parallel to the XY plane, while the spring 13
When a force is applied to the Y-axis slide unit 6, the Y-axis slide unit 6
It can rotate around the shaft guide rod 8.

On the upper surface of the Y-axis slide unit 6,
Swivel table 17 that can rotate around the Z axis within a predetermined range
Supported.

As shown in FIG. 1, the turning table 17 is Y
The shaft 21 is supported by a shaft 21 projecting upward from the shaft slide unit 6 via a radial bearing 16, and is turned by a thrust bearing 15 interposed between the lower surface of the turntable 17 and the Y-axis slide unit 6. The load of the table 17 and the work to be placed is supported.

As shown in FIG. 2, a plate-shaped or rod-shaped stopper 18 projects downward from a predetermined peripheral portion of the turntable 17, and a circular or peripheral portion on which the stopper 18 rotates. , Support members 6A, 6A project from the Y-axis slide unit 6 side at predetermined intervals, and centering springs 19, 19 as third urging means are provided between the stopper 18 and the support members 6A, 6A. Is interposed. Therefore, the turning table 17 is constantly urged toward a predetermined position (neutral position) around the shaft 21, while being opposed to the centering spring 19, that is, the turning table 1.
When a force is applied in a direction in which the centering spring 7 is rotated, the centering spring 19 can rotate within a predetermined range until it is compressed.

The operation is described below, with the above configuration.

A subframe 51 (not shown) as a work is suspended from a hanger or the like by a vehicle body (not shown).
When the work mounting device 1 is mounted on the vehicle, the turning table 17 is disposed so that the predetermined lower surface of the vehicle body hung on the hanger and the turning table 17 are opposed to each other. Place along.

When the work is placed at a predetermined center position on the swivel table 17, the load of the work is
7. The Y-axis slide unit 6 and the X-axis slide unit 5, which are supported by the lift 4 via the Y-axis slide unit 6 and the X-axis slide unit 5, can rotate around the X-axis and the Y-axis. Spring 11, 1 for holding position
The sub-frame 51 placed by the force of No. 3 can be supported in parallel with the XY plane.

When the air cylinder 3 is driven to extend after the work is placed on the turning table 17, the work rises toward the vehicle body, and the work is positioned on the lower surface of the vehicle body and then fastened as in the above-described conventional example. It can be carried out.

At this time, if a positioning error occurs in the vehicle body or the work in the horizontal direction, the X-axis slide unit 5 or the Y-axis slide unit 6 may be applied with a horizontal force against the centering spring 9 or 10. , Each X
The displacement along the axis and the Y axis can absorb errors in the XY plane.

Next, when the vehicle body 50 or the sub-frame 51 is X
If it is shifted around the axis, the turning table 17, Y
Axis slide unit 6 or X axis slide unit 5
Is rotated against the spring 11, the mounted sub-frame 51 can be rotated about the X-axis to correct the positioning error, and the vehicle body 50 or the sub-frame 51 can be rotated about the Y-axis. In the case where the sub-frame 51 is displaced, the turning table 17 or the Y-axis slide unit 6 is rotated against the spring 13 so that the
It is possible to correct the positioning error by rotating around the axis.

Further, when the vehicle body 50 or the sub-frame 51 is displaced around the Z-axis, the turning table 17 applies a force against the spring 19 to move the mounted sub-frame 51 around the Z-axis. By rotating, the positioning error can be corrected.

In this manner, the worker can change the position of the work to an arbitrary posture in the three-dimensional space only by applying a force to the turning table 17 or the like without touching the work. As described above, there is no need to lift the work to correct the positioning error, so that the labor required for the work can be reduced and the positioning correction can be performed easily and quickly, and the positioning accuracy on the vehicle body 50 side is set low. Even so, it is possible to easily and quickly correct the work positioning error on the work mounting device 1 side, thereby suppressing an increase in the tact time in the assembling process and improving the productivity.

Further, when the above assembling process is automated, it is not necessary to perform a highly accurate positioning operation of the vehicle body 50 by a transporting means such as a hanger, so that an increase in capital investment can be suppressed.

FIGS. 3 and 4 show a second embodiment, in which an automatic assembling apparatus for automatically assembling a sub-frame 51 to a body 50 suspended by a hanger (not shown) is attached to the work attaching apparatus 1 of the first embodiment. 30 is added to automate the assembly process. The sub-frame 51 as a work is provided with four through holes 53 through which four stud bolts 52 protruding from the lower surface of the vehicle body 50 are inserted as shown in FIGS. Is inserted, and a nut (not shown) is screwed and fastened from below the vehicle body 50.

The work mounting apparatus 1 is the same as that of the first embodiment. The Y-axis is arranged in the front-rear direction of the vehicle body 50 and the X-axis is arranged in the vehicle width direction.
0 is fixed.

The automatic assembling device 30 is provided with the turning table 1
The work fixing jig 32 fixed to 7 is mainly constituted,
At a predetermined position in the vehicle width direction of the work fixing jig 32 (downward in FIG. 4) and in the vehicle width direction, for example, at a central portion, a positioning cylinder 31 that can expand and contract in the Z-axis direction (upward in FIG. 3). Is fixed, and the end of the extended positioning cylinder 31 is engaged with a predetermined lower surface of the vehicle body 50.

On the other hand, in the vehicle width direction of the work fixing jig 32, a pair of parallel opening / closing hands 3 is provided as gripping means for selectively gripping a pair of stud bolts 52, 52 on the rear side of the vehicle body.
The actuators 39, 33 are extendable and contractible in the Z-axis direction,
Attached via 39. This parallel opening / closing hand 33
Is provided with an actuator (not shown), is configured to be displaceable in the X-axis direction, and is configured to be able to open and close the pair of hand parts 33A, 33A, and to selectively hold the stud bolt 52,
As will be described later, the positioning cylinder 31 and the pair of parallel opening / closing hands 33, 33 allow the lower surface of the
The sub-frame 51 is positioned by abutting and grasping at points.

A sub-frame 51 mounted on the work fixing jig 32 is opposed to the four through-holes 53 at a lower portion of the sub-frame 51 toward a stud bolt 52 provided with an elevating cylinder 36 and protruding from the lower surface of the vehicle body 50. Extendable and retractable nut runners 37 are provided, and a socket 38 is provided at an upper end of the nut runner 37 for receiving a nut from a parts feeder (not shown).

Here, the four nut runners 37 are mounted on the work fixing jig 32 via the XY floating units 34, respectively, and can be displaced within a predetermined range in the XY plane. The XY floating unit 34 is provided with a lock cylinder 35 for selectively restricting displacement, and the XY floating unit 3 is driven when the nut runner 37 is driven.
4 is regulated.

Next, the operation of the apparatus will be described.

First, the air cylinder 3 of the work mounting device 1
The sub-frame 51 is engaged with the work fixing jig 32 and supported in a predetermined posture in a state where the nut runner 37 is driven to lower the nut runner 37, the positioning cylinder 31 is contracted, and the parallel opening and closing are performed. Hands 33, 33
Is displaced outward in the vehicle width direction, and the actuator 3
9 is set in a descending state.

When the vehicle body 50 is stopped at a predetermined position by the hanger, the air cylinder 3 is extended to turn the turntable 1.
The automatic assembling device 30 attached to 7 rises toward the lower surface of the vehicle body 50.

Then, after the positioning cylinder 31 is extended and driven to abut on a predetermined lower surface of the vehicle body 50 and the actuator 39 is driven upward, the parallel opening / closing hand 33 is moved to a predetermined stud bolt with the hand portion 33A opened. After driving a predetermined amount toward 52, the hand unit 33
A is closed, and the stud bolts 52, 52 on the rear side of the vehicle body are gripped by the pair of parallel opening / closing hands 33, 33. The operation of the parallel opening / closing hand 33 is the same as that of the conventional example.

In this state, the automatic assembling device 30 mounted on the work mounting device 1 engages with the vehicle body 50 at a total of three lower surfaces of the vehicle body 50 where the two stud bolts 52 and the positioning cylinder 31 abut. , Then X,
Positioning errors about the Y and Z axes and the X and Y axial directions are absorbed by the displacement of the turning table 17 of the work mounting device 1 in the same manner as in the first embodiment. Positioned in parallel.

When the air cylinder 3 is further extended and the stud bolt 52 enters the through hole 53 of the sub-frame 51, the parallel opening / closing hand 33 releases the gripping and retracts to the outside in the vehicle width direction. 3
1 is also driven to contract.

Next, the nut runners 37 are respectively driven up by the lifting cylinder 36, and when the nut runners 37 are raised by a predetermined amount, the XY floating unit 34 is locked by the lock cylinder 35, and the nut runner 3 is further raised.
Reference numeral 7 starts rotation and the nut in the socket 38 is screwed into the stud bolt 52 to fasten the subframe 51 to the vehicle body 50.

After the fastening is completed, the air cylinder 3 is contracted, and the nut runner 37 is
, And one cycle ends.

As described above, by adding the automatic assembling device 30 to the work mounting device 1, high-precision positioning by a transport means such as a hanger becomes unnecessary, and the work mounting device 1 absorbs a positioning error. Thus, automation can be easily performed.

[Brief description of the drawings]

FIG. 1 is a front view of a work mounting device according to an embodiment of the present invention.

FIG. 2 is a left side view of the turning table and the Y-axis slide unit.

FIG. 3 is a front view of the work mounting device according to the second embodiment, in which a supported work is positioned on a vehicle body.

FIG. 4 is a plan view of the work mounting device.

FIG. 5 is a front view of a work mounting device showing a conventional example and positioning a supported work on a vehicle body.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Work mounting apparatus 2 Guide rod 3 Air cylinder 4 Lifting table 4A Support member 5 X-axis slide unit 5A Support member 6 Y-axis slide unit 6A Support member 7 X-axis guide rod 8 Y-axis guide rod 9, 10 Centering spring 11 Spring 12 Sliding member 13 Spring 14 Sliding member 15 Thrust bearing 16 Radial bearing 17 Rotating table 18 Stopper 19 Centering spring 20 Pedestal 21 Axis 30 Automatic assembling device 31 Positioning cylinder 32 Work fixing jig 33 Parallel opening / closing hand 34 XY floating unit 35 Lock cylinder 36 Elevating cylinder 37 Nut runner 39 Actuator 50 Body 51 Subframe 52 Stud bolt

Claims (4)

[Claims] 1. An elevator comprising: a lifting platform which can be raised and lowered by an actuator; and a support platform which is floatingly supported on the lifting platform and on which the workpiece is mounted, and positions the workpiece from below to a stud bolt of the structure. In the work mounting apparatus for assembling a work to the structure, the support base is rotatable about an axis in the elevating direction, and each is biaxially orthogonal to each other through a plane orthogonal to the elevating axis. A floating means that is displaceable and rotatably supported around these two orthogonal axes, and biases the support base toward a predetermined neutral position around the elevating shaft, the two orthogonal axes, and the two orthogonal axes. A work mounting device comprising: 2. A work table comprising: a lifting table which can be raised and lowered by an actuator; and a support table floatingly supported on the lifting table and on which the work is placed, and positioning the work from below on stud bolts of the structure. In the work mounting apparatus for assembling a work to the structure, the support base can be displaced in a predetermined axial direction orthogonal to an elevating shaft of the elevating base, and can be rotated about the first slide unit. First urging means for urging the upper surface of the first slide unit so as to be parallel to a horizontal plane orthogonal to the vertical axis, and displaceable in an axial direction orthogonal to the displacement axis of the first slide unit; and The second that can rotate around the axis
And a second urging means for urging the second slide unit so that the upper surface of the second slide unit is parallel to the upper surface of the first slide unit. A work, comprising: a turning table rotatable within a predetermined range around a vertical axis passing through an upper surface; and third urging means for urging the turning table toward a predetermined neutral position. Mounting device. 3. The swivel table includes a nut runner that can move up and down toward the stud bolt, and a gripper that selectively grips a stud bolt protruding downward from a lower surface of the structure. The work mounting device according to claim 2, wherein 4. The first urging means has a base end attached to one of a lift table and a first slide unit, and a slide contact member slidingly contacting the other of the lift table and the first slide unit at the other end. The second biasing means has a base end attached to one of the first and second slide units, and a slide contact member for slidingly contacting the first or second slide unit at the other end. Item 3. The work mounting device according to Item 2.