JPS61146690A - Assembly of parts onto both sides of assembled body - Google Patents

Abstract

PURPOSE:To prevent the stop of wagons by transferring an assembled body from a synchronously transferring wagon onto the both movable-base sides and setting a part by a robot in this state and returning the assembled body onto the wagon after assembly and sending the wagon to the next process. CONSTITUTION:An assembled body 1 is supported and transported by a wagon 31 which is shiftable on a certain passage 30. A pair of movable bases 70A and 70B arranged on the both sides of a certain passage 31 are synchronously transferred by the drive of servomotors 75A and 75B in timing with the wagon 31. During this synchronous transfer, the assembled body 1 is supported on the both movable bases 70A and 70B sides. Then, the robots 80A and 80B installed onto the both movable bases 70A and 70B are operated, and set the doors 2A and 2B as the holding parts at the opened ports 3A and 3B of the assembled body 1. Then, assembly work is performed by the assembly-work apparatuses 100A and 100B installed onto the both movable bases 70A and 70B. Then, the body 1 is transferred onto the wagon 31, and sent into the next process, and the stop of the wagon is prevented.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a method for assembling parts on both sides of a body to be assembled, which is employed, for example, when automatically assembling a door to a body transported on an automobile assembly line. It is related to.

Conventional Technology When a body is used as a main body to be assembled and a door is used as a component, the door is conventionally assembled to the body as follows. In other words, the trolley that supports and transports the body is accurately stopped at the assembly position, and the door supply device placed at the assembly position is operated based on a preset movement to attach the door to the body at the opening. After setting the door, an automatic screw tightening device, which is also placed at the assembly position, is activated based on preset movements, and the door is assembled to the body by screwing.

Problems to be Solved by the Invention According to the above-described conventional method, the body, that is, the truck, is stopped at the assembly position.

The flow speed throughout the automobile assembly line was affected and became slow, hindering the efficiency of the overall work.

Means for Solving the Problem In order to solve this problem, the present invention provides a method for assembling parts on both sides of a main body to be assembled. A pair of movable bases respectively disposed on both sides of the path are moved in synchronization with the cart, and during this synchronous movement, the main body to be assembled is supported on both movable bases, and then robots respectively disposed on both movable bases are operated. Then, the held parts are set in the opening of the main body to be assembled, and the assembly work devices provided on both movable platforms are operated to assemble both parts to the main body to be assembled, and then the main body to be assembled is transferred to the trolley. According to the method of the present invention described above, the main bodies to be assembled are transferred from the carts that are moving synchronously to both movable bases, and in this state, the parts are set by the robot on the movable base side, and the parts are set by the working device. After the assembly, the body to be assembled can be transferred to a synchronously moving truck and transported to the next process by the truck.

Example An embodiment of the present invention will be described below based on the drawings.

In this embodiment, as shown in FIGS. 1 to 6, an automobile body (1) is shown as an example of the main body to be assembled;
In addition, the door (2A) is a part that can be assembled on both sides (
2B), but the present invention is not limited to these, and can be employed in various assemblies, such as assembly of machine tools, for example.

Openings (3A) (3B) for attaching doors (2A) (2B) are formed on both sides of the body (1),
Screw holes (5A) (5B) are formed near the front edges of the opening edges (4A) (4B). (6A) (6
B) shows the door edge.

In Figures 1 to 5, (10) is a hanging conveyance device,
A trolley guide rail (11), a trolley drive device rail (12) installed above the trolley guide rail (11), and a trolley device i! guided by the trolley guide rail (11). (
13), a hanger (14) connected to this trolley device E (13), and a trolley drive device (such as a chain conveyor) guided by the trolley drive device rail (12).
). The front trolley of the trolley device (13) swingably has a passive dog (17) that can freely engage and disengage from the drive protrusion (16) from the trolley drive device (15). ) has a hold dog (18) facing from the rear. The hanger (
14) holds a pair of left and right doors (2A) (2B), and the doors (2A) (2B) are held on both sides of the upper part.
) Hook-shaped engagement tool (19A) (19B
), and also has abutting tools (20A) (20B) on both sides of the lower part of the door (20A) (20B) that can be brought into contact with the inner surfaces of the doors (2A) (2B). Furthermore, the upper part of the hanger (14) has a clamped part (2
1) and is regulated by a guide rail (23) attached to the fixed frame (22) side.
4). This hanging type conveyor can be converted into a trolley type.

In addition, a passive dog (
17), but this may be of a type in which the driving protrusion (16) engages and disengages from the passive dog (17).

Below the hanging conveyance device (10), there is a cart (
31) is provided. At the top of this trolley (31).

A plurality of support brackets (32) are arranged in series to support and convey the body (1). In addition, the moving force of the trolley (31) is
It is applied from the floor conveyor (34) to the passive pin (33) provided on the cart (31) side. That is, the floor conveyor (34) has a driving chain (35), and the driven pins (33) are attached to a plurality of locations on the driving chain (35).
A protrusion (36) that can be freely engaged with is provided. The drive chino (35) is driven by winding the drive chino (35) around a transponder that is linked to a servo motor (37), and a pulse generator (38) that is linked to the servo motor (37). is provided to detect the moving speed of the trolley (31) and to input the detected speed value signal (39) to the controller (48).

An assembly place (40) is located at a predetermined location on the certain path (30).
) is formed at the beginning of this assembly location (40).

A door vehicle type detection device ff1 (44) is constructed by attaching a large number of photoelectric switches (43) to a holding frame (42) that is integrated with the fixed frame (22), and a large number of photoelectric switches (44) are attached to a stand (45) according to the law. 46) and a body vehicle type detection device (47) configured by attaching the body vehicle type detection device (47) and force 1 are provided. These vehicle type detection devices (44) (47)
A) The shape and dimensions of (2B) vary depending on the car model, and the photoelectric switch (43) detects them simultaneously and accordingly.
The vehicle type is detected by changing the combination of number and location of (46).

The comparison and detection are for each photoelectric switch (43) (46)-
When the body (1) and the door (2A) (2B) are different types, the conveyance is stopped and a warning is issued.

A trolley device (13) is installed at the starting end of the assembly location (40).
) and corrects the stop position. That is, as shown in FIGS. 7 to 9, a guide rail (
51), a movable frame (53) guided by the guide rail (51) via a sliding body (52), and a cylinder device (reciprocating drive device) for reciprocating the movable frame (53). (Example) (54) fixed frame (22)
It is set between. In the movable frame (53).

Trolley stop device ffi (55) and the hanger (14)
A clamping device f acting on the clamped part (21) provided in
fi (56) is provided. That is, a pair of guide plates (57) are attached to the lower surface of the tip of the movable frame (53) in the direction of the constant path (30) in a lateral direction perpendicular to the direction of the constant path (30), and these guide plates ( The stopper plate (58) is supported and guided by the guide plate (57).
) side cylinder equipment! By the operation of (59), the trolley can freely enter from the lateral direction into the front of the passive dog (17) above the trolley guide rail (11).

Further, a clamp device (56) attached to the lower surface of the base end of the movable frame (53) is attached to a bracket (60) installed from the movable frame (53) and the fixed path (30) to this bracket (60). a pair in the direction and the constant path (30
) direction, a rotating shaft (61) arranged in the horizontal direction, interlocking gears (62) fixed to these rotating shafts (61) and interlocking with each other, and a clamp arm attached to both rotating shafts (61). (63) and an operating cylinder device provided between one clamp arm (63) and the movable frame (53)! It consists of (64).

As shown in FIGS. 1 to 3, the assembly location (40)
In this case, there are movable platforms (70) on each side of the fixed path (30).
A) (70B) is installed. In other words, a movable platform (
70A) (70B) is the floor rail (71A) (71
B) is supported and guided via sliding bodies (72A) (72B), and its reciprocating movement is.

Rack (73) along floor rail (71A) (71B)
A) (73B) and this rack (73B).
A) Pinion (74A) engaging (73B) (7
This is possible by interlocking the servo motors (75A) (75B) provided on the movable bases (70A) (70B). Furthermore, pulse generators (76A) (76B) are installed near the servo motors (75A) (75B) to detect the moving speed of the movable bases (70A) (70B), as shown in Fig. 19. The detection signals (77A) (77B) from the controller (48) are input to the controller (48), the speed difference with respect to the speed value signal (39) is calculated, and the control signal (78A) is sent from the controller (48) based on the speed difference. (78B) to the servo motor (
75A) (75B). On both movable platforms (70A) (70B), door transfer robots (80A) (80B) are installed on the h half, and on the lower side there is a screw tightening device (1) which is an example of assembly work equipment.
00A) (100B) are disposed, and receiving devices (120A) (120B) are further disposed on the inner surface side of the intermediate portion.

The robot (80A) (80B) has a movable base (70
A) Drive section (81A) disposed on (70B) (8
1B) and finally a freely movable working arm (82A)
(82B) etc. with 1 actuating arm (82A) (82B)
Unloading devices (83A) (83B) are attached to the ends of. These unloading devices (83A) (83B) are the 10th
As shown in FIG. 11, the actuating arm (82A) (
The frame (85A) (85
B), and this installation is carried out at multiple locations (two locations each in the example) at the lower ends of the frames (85A) and (85B) using the fixed path (30).
It is attached so as to be able to swing up and down via the horizontal axis (86A) (86B) along
(87B) with an arm (88A) (88B).

The cylinder device (88A) (88B) is installed between the frame (85A) (85B) and
An example of a swing drive device) (89A) (89B), and vacuum cups (an example of a suction tool) (90A) provided at multiple locations (four locations in the example) on the inner surface of the frame (85A) (85B). ) (90B), etc.

As shown in FIGS. 1 to 3, 12, and 13, the screw tightening devices (100A) (100B) are equipped with guide rods (IOIA) on the movable bases (70A) (70B).
) (IOIB) and fixed path (3
0) The first slide stand (102A) is movable along
(102B) and this first slide stand (102A) (
102B) to reciprocate @(103A)
(103B) and the first slide table - (102A) (
102B) attached to the second slide stand (
104A) (104B) and a second drive device (105A) (105B) that moves the back and forth one position, and a lifting platform (106) attached to the second slide platform (104A) (104B).
A) (106B) and the lifting drive bag [(107A) (
107B) and the lifting platform (106A) (106B)
The screw fastener (108A) (1oga) attached to the
It is composed of drive devices (109A) (109B), etc. (IIOA) (IIOB) indicates a bolt supply device.

As shown in FIGS. 13 to 17, the receiving device (12OA) (120B) is connected to the movable base (70A) (7
Fixed frame (121A) connected from the inner surface of 0B)
(121B) and this fixed frame (121A) (1
The guide rails (122A) (122B) are installed vertically at multiple locations on the inner surface of the guide rail (122A) (122B), and the sliding body (123A) (
The lifting frame (123B) is supported and guided via the
4A) (124B) and a cylinder device (an example of a lifting drive device) (125A) (12
5B) and the elevating frame (124A) (124B)
) and a centering device (127A) (127B). The lifting device (126A) (1
The base plates (128A) (128B) are attached to the lifting frames (124A) (124B), and the cross roller guides (128B) are arranged in the direction of the fixed path (30). 129A) A first slide plate (130A) supported and guided so as to be movable forward and backward via (129B)
(130B) and this first slide plate (130A
) The first spring (131A) that maintains the neutrality of (130B)
) (131B) g, said first slide pre)” (
130A) (130B) and the cross roller guide (132
A) Second slide plate (133A) (133B) supported and guided so as to be able to move left and right via (132B)
And this second slide plate (133A) (133
B) The second spring (134A) (134B) that maintains the neutrality of
), and the second slide plate (133A) (13
3B) Cross roller bearing (135A) (1
The receiver (137A) (13
7B) It is composed of a tongara.

The centering devices (127A) (127B) are also distributed in the direction of the fixed path (30), and the centering devices (127A) (127B) are arranged in the direction of the fixed path (30).
) Bracket (138A) in the horizontal direction perpendicular to the
The guide rod (139A) is installed through the guide rod (138B).
) (139B) and this guide rod (139A)
Screw shaft (140A) arranged along (139B) (1
40B) and the guide rod (139A) (139
B) and is movable while being guided by the screw shaft (140A).
) (140B) Movable body (141A) (1
41B) and this movable body (141A) (141B)
Push tools (142A) (142B) attached to the top surface of the
Servo motors (143A) (143B) interlocked with the screw shafts (140A) (140B) and movement amounts of the push tools (142A) (142B) are detected in interlocking with the servo motors (143A) (143B). It is composed of pulse generators (144A) and (144B). As shown in Figure 19, a pulse generator (
Detection signal (145A) from (144A) (144B)
(145B) enters the controller (48) and from the controller (48) the robot (80A)
(80B) is an operation command (146A) based on the amount of movement.
) (146B) and a screw tightening device (10
0A) (100B) to give operation commands (147A) (147B) based on the amount of movement.

As shown in FIGS. 1, 18, and 19, on the inside of the movable bases (70A) (70B), there are opening edges (4A) (4B) of the body (1) and door edges (6A). (6B
) (151A) (151B), (152A)
An image sensor device that detects (1,52B)! (1
50A) (150B) are arranged. That is, the image sensor device (150A) (150B) includes a first image sensor (153A) (153B) that detects a gap in the height direction (151A) (151B) in the front part;
Gap in the height direction at the rear (151A) (151B
) The second image sensor (154A) detects (1
54B) and the gap in the vehicle length direction at the rear (152A)
(152B) The third image sensor detects (152B)
5A) (155B). The absolute position of the body (1) is detected by the third image sensor (155A).
Each image sensor (153A) (153B) is used for both purposes, but a separate dedicated image sensor may be provided.
).

(154A) (154B), (155A) (155
The detected value from B) is the amplifier (156A) (156B)
enters the controller (48) via the controller (48), calculates the basic value and the detected value,
Based on the difference, control signals (157A) (157B) are given to the robots (80A) (80B).

Next, the operation of the above embodiment will be explained.

Door (2A) via engagement tool (19A) (19B)
(2B), the hanger (14), that is, the trolley device 2E (13), is connected to the passive dog (17).
Since the drive protrusion (16) of the trolley drive device (15) engages with the trolley drive device (15), the trolley is supported and conveyed by the trolley guide rail (11). The doors (2A) and (2B) protrude laterally as shown in FIGS. 8 and 9 at locations facing the door vehicle type detection device (44) as shown in FIGS. 4 and 5. Stopper plate (58) is passive dog (17)
The passive dog (17) is lowered and detached from the drive projection (16). At the same time, the stopper plate (58) comes into contact with the hold dog (18), and thus the trolley device (
13) is stopped at a fixed position without being driven. As a result, the vehicle type of the stopped door (2A) (2B) is detected by the door vehicle type detection device (44), and the detection signal (44) is detected by the door vehicle type detection device (44).
a) is entered into the controller (48). Trolley mounting 5
At the same time as detecting that the 5t (13) has stopped, both clamp arms (63) are swung by the actuating cylinder device (64) from the imaginary line to the solid line in FIG. 9, thereby clamping the clamped part (21). Do the following. The controller (48
), a door vehicle type signal (44b) based on the detection signal (44a) is given to the cylinder device (59), thereby moving the hanger (14) together with the movable frame (53). When the door (2A) (2B) reaches the initial position, the door vehicle type detection device (44) detects the door edge, which is an example of the set detected part, and based on that, the controller (48) detects the edge of the door. Stop signal (44
At step c), the cylinder assembly (46) is stopped, and the door (2A) (2B) is then positioned at a position corresponding to the vehicle type at the unloading position.

On the other hand, the trolley (31) supporting the body (1).

The passive pin (33) is connected to the protrusion (3) of the drive chino (35).
6), the vehicle travels along a fixed route (30) at a predetermined speed. The body (1) faces a body vehicle type detection device (47) to detect the body vehicle type, and the detection signal (47a) is input to the controller (48). Here, when the rain detection signals (44a) and (47a) match (same vehicle type), the controller (48) steps to the next operation, but when they do not match (different types), the controller (48) stops the movement of the trolley (31) and issues a warning. emanate.

Door (2A) (2) with modified opening position depending on the car model
The robots (80A) (80B) act on B). Here, the robots (80A) (80B) perform basic operations depending on the vehicle type. That is, arm (88A)
(88B) is raised, the installation is done with the frame (88B) raised.
5A) Due to the advancement and rise of (85B), Uke becomes a surface (
87A) (87B) is brought into contact with the lower end of the door (2A) (2B) from below and the door (2A) (,B)
lift up. As a result, the doors (2A) (2B) are disengaged from the engagement members (19A) (19B). Therefore, the door (2A) (2B) is, for example, a hanger (14).
), the horizontality will be automatically corrected by lifting via the arms (88A) (88B), which are arranged separately.

After this, the vacuum cups (90A) (90B) are applied with suction, and the outer surfaces of the doors (2A) (2B) are sucked by the vacuum cups ('JOA) (90B).
Set it to the state shown in the figure. And the doors (2A) (2B) are
Rehanger (
14), and the body (1) is completely removed from the body (1) as described below.
At this time, the suction action and the lower end support by the arms (88A) and (88B) prevent it from falling due to vibration or the like.

The robot (80A) (80B) opens the door (2A) (
2B), and when the same type has been detected, match the timing to the continuously moving trolley (31),
Both movable stands (70A) (70B) are moved synchronously by driving the servo motors (75A) (75B). At that time, the speed value of one bogie (31) is determined by the pulse generator (38).
) to the controller (48) as a speed value signal (39)
The speed values of the movable bases (70A) (70B) are sent to the controller (48) as detection signals (77A) (77B) from the pulse generators (76A) (76B).
). Here, in this controller (48), a detection signal (77
A) A speed difference between (77B) is calculated, and a control signal (71SA) (78B) based on the speed difference is given to the servo motors (75A) (75B). Thereby, the speed of the movable bases (70A) and (70B) is controlled so that they move in complete synchronization with the trolley (31). During such synchronous movement, the body (1) on the trolley (31) moves between both movable bases (
70A) is lifted and supported on the (70B) side. In other words, the lifting frames (124A) (124B) in the lowered state are raised, and the lifting supports (137A) (137B)
is brought into contact with the lower end of the body (1) and the body (1) is lifted to the state shown in FIG.

Next, there is a centering device ffi (127A) with pushers (142A) (i42B) facing from the outside at the lower end.
(127B) is activated based on the vehicle type signal. That is, the servo motors (143A) (143B) are driven to move the pushers (142A) (142B) closer to each other via the movable bodies (141A) (141B).

As a result, both pushing tools (142A) and (142B) clamp the lower end of the body (1) from both sides, thereby performing centering. At this time, the receiver is the tool (137A) (137B
), the lower end of the receiver tends to come into sliding contact with the tools (137A) and (137B), but this is due to the fact that the first spring (131A)
) (131B) against the first slide plate (1
30A) (130B), movement of the second slide plate (133A) (133B) against the second springs (134A) (134B) in the vehicle longitudinal direction, and vertical axis center (136A) in the circumferential direction. The abutment around (136B) can be absorbed by the rotation of the tools (137A) (137B), so that none of the aforementioned modifications occur. The vehicle iJ of the body (1) is not constant, but is random within a certain range, and therefore the amount of movement of the pushers (142A) (142B) associated with centering, even if the vehicle model is the same. However, it is not constant. This push tool (14
2A) (142B) is detected by the pulse generators (144A) (144B), and the detection signals (145A) (145B) are given to the controller (48).

Based on this, the controller (48) sends the robots (80A) (80B) and the screw tightening device (100).
A) For (100B), actuate command (mainly forward amount) according to the vehicle of the body (1) (146A) (
146B), (147A) (147B) are emitted.

Doors (2A) (2B) are supplied to the body (1) which has been centered as described above. That is, first, the opening (3
A) Approach the outside of (3B) and enter the door (2A) (2
B) are placed opposite each other. Next, the first image sensor (
153A) (153B) and the second image sensor (1
54A) (154B) in the height direction (151
A) (151B) is detected, and the gaps (152A) (152B) in the vehicle length direction and the absolute position are further detected by the third image sensors (155A) (155B). Each detection signal enters the controller (48), and from this controller (48) the robot (80A) (80
A control signal (157A) (157B) is given to B). This control signal (157A) (157B) supports the direction of movement and therefore the robot (80A)
(80B) causes the gap (151A) (15
Move the doors (2A) and (2B) so that 1B), (152A) and (152B) become the reference values. At this time, the horizontality of the doors (2A) (2B) is also adjusted due to the presence of the first image sensors (153A) (153B) and the second image sensors (154A) (154B).

Also gaps (151A) (151B), (152A)
Based on (152B), movement amount instruction signals (IIIA) (IIIB) are given from the controller (48) to the screw tightening devices (100A) (100B).

As mentioned above, the gaps (151A) (151B), (1
When the amount (distance) of 52A) (152B) reaches the reference value, the control signal (157A) (157B) is stopped, and before and after this, the arm (88A) (88B) is ) is lowered. Then, the robots (80A) (80B) are instructed to press the doors (2A) (2B), and at this time, the amount of pressing is based on the aforementioned operation commands (146A) (146B). After the desired pressing is performed, the screw tightening devices 5i (100A) (100B) are operated under the control of the controller (48).
The door (2) is attached to the body (1) by tightening the screws as expected.
A) Assemble (2B). Thereafter, the screw tightening devices (100A) (100B) are set to the standby position, and the suction by the vacuum cups (90A) (90B) is released, and the robots (80A) (80B) are set to the standby position.

The body (1) that has been assembled is returned to the trolley (31), but at this time the body (1) is moved synchronously to the trolley (31).
1) is located directly below the body (1). Therefore, by lowering the lifting frames (124A) (124B), the body (1) can be moved to the support bracket (32).
) onto the trolley (31).

The cart (31) that has received the body (1) is moved to the next process. The empty hanger (14) is the robot mentioned above (
80A) The clamp and stopper are released in response to the signal that the unloading work in (80B) is completed, and the process is moved to the next step. Immediately after that, the stop position correction device (5
0) becomes the standby position. Furthermore, the empty movable platforms (70A) (70B) after passing the body (1) return at high speed to receive the next door (2A) (2B).

As shown in Figure 19, a control signal (78A) is sent from the controller (48) to both servo motors (75A) (75B).
) (78B), the interlocking-single-acting switch (
160), both movable platforms (70A) (70B) can be operated with only one control signal at the time of synchronization.

However, the switch (160) may not be provided.

Note that when the movable platforms (70A) and (70B) are controlled and set to reciprocate twice while the trolley (31) is moving in the assembly location (40), doors can be assembled to a four-door body.

Effects of the Invention According to the method for assembling parts on both sides of the main body to be assembled according to the present invention having the above configuration, the main body to be assembled is transferred from the carts moving synchronously to both movable bases, and in this state, the parts are assembled by the robot on the movable base side. can be set and assembled using a working device, and then the main body to be assembled can be transferred to a synchronously moving trolley and transported to the next process by the trolley. Therefore, parts can be assembled without stopping the main body to be assembled, that is, the truck, and the flow speed in the entire assembly line can be increased, thereby improving efficiency.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, with the first figure being a perspective view and the second figure being a perspective view.
The figure is a plan view, Figure 3 is a front view, Figure 4 is a side view of the door vehicle type detection section, Figure 5 is a front view of the same, Figure 6 is a side view of the body vehicle type detection section, and Figure 7 is a stop position. Side view of the correction device section,
Fig. 8 is a front view of the same, Fig. 9 is a plan view of the same, Fig. 10 is a side view of the robot arm, Fig. 11 is a front view of the same, Fig. 12 is a side view of the movable platform, and Fig. 13 is a side view of the robot arm. 14 is a plan view of the lifting/centering section, and FIGS. 15 and 16 are side views of the same. Fig. 17 is an enlarged view of the main part, Fig. 18 is a side view of a part of the image sensor, and Fig. 19 is a control diagram.
・・Body (main body to be assembled), (2A) (2B)・・
・Door (parts), (3A) (3B)...opening, (6A) (6B)...door edge, (10)...
Hanging conveyance device, (30)... fixed route, (31)
...Dolly, (37)...Servo motor, (38)...
・Pulse generator, (40)...assembly location,
(41)...Vehicle type detection location, (44)...Door vehicle type detection device, (47)...Body vehicle type detection device, (
50) Stop position correction device, (58) Stopper plate, (63) Clamp arm, (7QA) (70
B)...Movable base, (75A) (75B)...Servo motor, (76A) (76B)...Pulse generator, (80A) (80B)...Robot. (83A) (83B)...Unloading device, (88A)
(88B)...Arm, (90A) (90B)...
・Vacuum cup (suction tool), (100A) (100
B)...Screw tightening device (assembly work bag M), (108
^) (108B)...Screw fastener, (120A) (
120B)...Receiving device, (126A) (126
B)...Lifting device, (127A) (127B)
・・Centering device, (143A) (143B)・
...Servo motor, (144A) (144B)...
Pulse generator, (150A) (150B)...
Image sensor equipment representative Yoshi Morimoto
Hirodai 1≦Fig.

Claims (1)

[Claims] 1. While supporting and transporting the main body to be assembled using a movable trolley on a fixed path, a pair of movable stands disposed on both sides of the fixed path are moved in synchronization with the cart, and during this synchronous movement, both movable stands are The main body to be assembled is supported on the stand side, and then the robots installed on both movable bases are operated to set the held parts into the openings of the main body to be assembled, and the assembly work device installed on both movable bases A method for assembling parts on both sides of a main body to be assembled, characterized in that the main body to be assembled is transferred to a trolley after both parts are assembled on the main body to be assembled by operating the main body.