JPS61150878A - Assembly method of parts to both sides of main body being assembled - Google Patents

Abstract

PURPOSE:To improve body assembly efficiency by synchronizing body line and door line, thereby enabling automatic door attachment while the lines are being run. CONSTITUTION:A trolley device 13 holding doors 2A and 2B both engaged through engagement pieces is held and conveyed along a rail 11 with projections of a trolley driving device engaging with a passive dog of the trolley device. On the other hand, a cart 31 rolls at a specified speed with a passive pin 33 engaging with a projection of a driving chain 35. When door attachment robots 79A and 79B receive the doors 2A and 2B and door-body compatibility is sensed, a movable table 70A is driven synchronously by a servo-motor 75A in time with the continuously moving cart 31. During the synchronized movement, said robots position the doors relative to the body and at the same time attach the doors to the body automatically.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a cover used when automatically assembling four doors onto a body that has been transported, for example, in an automobile assembly line for one type of four-door vehicle. This relates to a method for assembling parts on both sides of an assembly body.

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-mentioned conventional method, since the body, that is, the truck, is stopped at the assembly position, the flow speed in the entire automobile assembly line is affected and becomes low, which hinders the efficiency of the overall work. It was spreading out.

Means for Solving the Problem In order to solve this problem, the method of assembling parts on both sides of the main body to be assembled according to the present invention uses a cart that is movable on a fixed path, and has a pair of front and rear mounting parts on each side. While supporting and transporting the main body to be assembled, moving a pair of movable stands disposed on both sides of the fixed path in synchronization with the cart;
During this synchronous movement, the main body to be assembled is supported on both movable bases, and then robots provided on both movable bases so as to be able to reciprocate along the fixed path are operated, and the pair of robots held by these robots are operated. After setting the first part in the corresponding part of the main body to be assembled, the assembly work devices installed on both movable tables are operated to assemble the first part on both sides of the main body to be assembled, and then the robot After holding the two parts and setting the corresponding attached part of the main body to be assembled in the section, the working device is operated to assemble the second part on both sides of the main body to be assembled, and then the main body to be assembled is transferred to the trolley. That's what I do.

According to the above-described method of the present invention, the main bodies to be assembled are transferred from the carts that are moving synchronously to both movable bases, and in this state, the robot on the movable base side moves the two first parts to the corresponding parts to be assembled. The robot can set the two second parts on the corresponding parts and assemble them using the working device, and then the main body to be assembled can be moved synchronously. It can be passed to a trolley and transported to the next process by the trolley.

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

In this embodiment, as shown in FIGS. 1 to 5, an automobile body (1) is shown as an example of the main body to be assembled;
In addition, the front door (2
A) (2B) and rear door (3A) (3B) are shown, but the present invention is not limited to these.
For example, it can be used for various assemblies such as machine tool assembly. There are doors (2A) on both sides of the body (1).
) (2B) (3A) Opening for installing (3B) (to be installed) (4A) (4B), (5A) (
5B) are formed, and opening edges (4a) (4b), (
5a) There is a screw hole (6A) near the front edge of (5b) (6
B), (7A) (7B) are formed. (2a)
(2b), (3a) (3b) shows the door edge.

In Figures 2 to 4, (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 f (13) guided by the trolley guide rail (11).
) and a hanger (14) connected to this trolley device (13).
), and a trolley drive device (such as a chain conveyor) (15) guided by the trolley drive rail (12). The front trolley of the trolley device (13) swingably has a passive dog (17) that can be freely engaged with and detached from the drive protrusion (6) from the trolley drive device (15), and further includes a passive dog ( 17) has a hold dog (18) facing from the rear. The hanger (14)
is a pair of left and right and front and rear doors (2A) (2B),
(3A) (3B), and has hook-shaped engagement tools (19A) (19B) on both sides of the upper part that can be freely engaged with the doors (2A), (2B), (3A) and (3B). There are also doors (2A), C2B), (3A) on both sides of the bottom.
(20A) (20A) with which the inner surface of (3a) can be freely contacted
0B). Further, a clamped portion (21) is provided on the upper part of the hanger (14), and has a steady rest roller (24) regulated by a guide rail (23) attached to the fixed frame (22) side.

A cart (31) is disposed below the hanging transport bag +1 (10), which is movable on a fixed path (30) along the hanging transport route. 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 multiple locations of 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 (3) 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, and at the starting end of this assembly place (40), a door vehicle type detection device (44) is constructed by attaching a number of photoelectric switches (43) to a holding frame (42) that is integrated with the fixed frame (22). As shown in FIG. 5, a body vehicle type detection device ffi (47) is provided, which is constructed by mounting a large number of photoelectric switches (46) on a stand (45) from the floor side.

These vehicle type detection devices ffi (44) (47) are used for body (1), door (2A) (2B), (3A) (3
The shape of B) and the J' method differ depending on the vehicle type, and the vehicle type is detected by changing the combination of the number and location of the photoelectric switches (43), (46) that operate simultaneously accordingly. The comparison and detection are performed for each photoelectric switch (43) (4
6) is connected to the controller (48), and when the body (1) and the door (2A) (2B) are different types, the conveyance is stopped and a warning is issued.

At the starting end and middle part of the assembly location (40).

A stop position correction device (50) (65) is provided for stopping the trolley device (13) and correcting the stop position. That is, as shown in FIGS. 6 to 8, the fixed frame (22) is attached along the side of the trolley drive rail (12).
A guide rail (51) is installed on the guide rail (51), and a movable frame (53) is provided on the guide rail (51) to be guided via a sliding body (52), and the movable frame (53) is moved back and forth. Cylinder device (an example of reciprocating drive device)
(54) is provided between the fixed frames (22). The movable frame (53) is provided with a hanger stop device (55) and a clamp device t (56) that acts on the clamped portion (21) provided on the hanger (14). That is, a pair of guide plates (57) are attached to the lower surface of the distal end 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). The stopper plate (58) is supported and guided by (57).
) is a cylinder device (5) provided on the guide plate (57) side.
By the operation of 9), the trolley can freely enter from the lateral direction in front of the passive dog (17) above the trolley guide rail (11). Further, a clamp device (56) attached to the lower surface of the proximal end of the movable frame (53) is attached to a bracket (60) vertically disposed from the movable frame (53) and to the fixed path (30). A pair of rotating shafts (61) disposed in the horizontal direction perpendicular to the fixed path (30) direction, and interlocking gears (62) fixed to these rotating shafts (61) and meshing with each other; Axis of rotation(
It consists of a clamp arm (63) attached to one of the clamp arms (61) and an operating cylinder device (64) provided between one of the clamp arms (63) and the movable frame (53).

As shown in FIGS. 1 and 2, 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 carried out by floor rails (7iA) (71B).
Lay the racks (73A) (73B) along the racks (73A) (73B), and move the pinions (74A) (74B) that engage the racks (73A) (73B) to the movable platform (70A) (7
This is possible by interlocking with the servo motors (75A) (75B) provided at the servo motors (75A) (75B). Please note that the servo motor (7
There is a movable platform (70A) (75B) near 5A) (75B).
A pulse generator (70B) detects the moving speed of the
6A) (76B) are provided, and as shown in FIG.
9) and calculates the speed difference with respect to the controller (48).
Control signals (78A) (78B) based on the speed difference between
) to the servo motors (75A) (75B). On both movable platforms (70A) (70B), there is a door transfer robot (79A) (7) on the upper side.
9B) is arranged, and a screw tightening device ffi (100A) (100B), which is an example of an assembly work device, is installed on the lower side.
is arranged, and a receiving device (
120A) (120B) 6 The base (91A) of the robot (79A) (79B)
) (91B) is.

Rail (9) laid on the movable platform (70A) (70B)
2A) (92B) is supported and guided via sliding bodies (93A) (93B) and is movable along a fixed path (30), and the movement is performed by drive devices (94A) (94B).
6 and the robot (79A) (7
9B) has a driving part (81A) (81B) disposed on the base (91A) (81B) and an actuating arm (8ZA) (82B) which can finally move freely.
At the end of 82A) (82B) there is an unloading device (83A) (
83B) is installed. These unloading devices (83A)
(83B) is attached to the end of the operating arm (82A) (82B) in the front-rear direction @ (84
A) (84B) The mounting is rotatably mounted on the frame (85A) (85B), and this mounting is on the frame (135A).
The horizontal axis (86A) (86
The arm (8
8A) (88B).

The cylinder device (88A) (88B) is installed between the frame (85A) (85B) and the arm (88A) (88B).
An example of a swing drive device) (89A) (1119B),
The attachment is comprised of vacuum cups (an example of a suction tool) (90A) (90B), etc. provided at multiple locations (four locations in the embodiment) on the inner surface of the frames (85A) (85B).

As shown in FIGS. 1, 2, 12, and 13, the screw tightening device (100A) (100B) has a guide rod (IOIA) mounted on the movable base (7OA) (70B).
) (IOIB) and fixed path (3
0) The first slide stand (102A) is movable along
(102B) and this first slide stand (102A) (
102B), a first drive device that reciprocates the first
Second slide stand (104A) (104B) attached to the slide stand (102A) (102B) so that it can move back and forth
and the second drive device (105A) (10
5B) and the second slide stand (104A) (104
B) lifting platform (106A) (106B) attached to
The lifting drive device (107A) (107B) and the screw fastener (1) attached to the lifting platform (106A) (106B)
08A) (108B) and its driving device (109A)
(109B) etc. (IIOA) (
110B) shows a bolt feeding device.

As shown in FIGS. 11 to 14, the receiving device (120A) (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)
) Lifting device Fii (126A) (126B) installed on
, as well as centering device ffi (127A) (
127B), etc. said lifting deviceffi
(126A) and (126B) are distributed and arranged in the direction of a constant path (30).

A base plate (128A) (128B) attached to the elevating frame (124A) (124B), and a shaft that is supported and guided by the base plate (128A) (128B) so as to be movable forward and backward via cross roller guides (129A) (129B). 1 slide plate <13OA) (1
30B) and Kono 1st slide plate (130A)
The first spring (131A) maintains the neutrality of (130B) (
131B) G, the first slide plate (130
A) Cross roller guide (132A) to (130B)
(132B), which is supported and guided so as to be able to move left and right.
slide plates (133A) (133B), and second springs (134A) (134B) that maintain neutrality of the second slide plates (133A) (133B);
Said second slide play) - (133A) (133B
) on the cross roller bearing (135A)' (135
The receivers (137A) (137B) are rotatably attached around the vertical axes (136A) (136B) via the
).

The centering devices Wi (127A) (127B) are also distributed in the direction of a certain path (30), and the certain path (30) is arranged on the lifting frame (124A) (124B).
Bracket (138A) (
The guide rod (139
A) (139B) and this guide rod (139A)
(139B) Screw shaft with two sides (140A)
(140B) and the guide rod (139A) (1
39B) and is movable while being guided by the screw shaft (14B).
0A) Movable body (141A) screwed into (140B)
(141B) and this movable body (141A) (141
Push tools (142A) (142B) attached to the top surface of B)
and servo motors (143A) (143B) interlocked with the screw shafts (140A) (140B).
) and a pulse generator (144A) (14
4B). As shown in FIG. 16, the detection signals (145A) (145B) from the pulse generators (144A) (144B) are transmitted to the controller (48
), and the controller (48) gives operation commands (146A) (146B) to the robots (79A) (79B) based on the movement amount, and also causes the screw tightening devices (100A) (100B) to move the robots (79A) (79B). It is configured to give actuation commands (147A) (147B) based on the amount.

As shown in FIG. 2, FIG. 15, and FIG. ) and door* (2a) (2b).

(3a) Front door gap (151A) with (3b) (
151B), (152A) (152B) and rear door gap (153A) (153B), (154A) (154B)
) and an image sensor that detects ri! (150A)
(150B) is arranged. In other words, image sensor
The device (150A) (150B) is the front door (2A)
(2B), the gap in the height direction at the front (1
51A) (151B), and a second image sensor (156A) (156B) that also detects the gap in the height direction at the rear (151A) (151B). .

Similarly, the gap in the vehicle length direction at the rear (152A) (1
52B) 3rd image sensor (157A) that detects
(157B).

A fourth sensor detects gaps (153A) (153B) in the height direction at the front of the rear doors (3A) (3B).
Image sensor (158A) (158B) and also the gap in the height direction at the rear (153A) (153
B) A fifth image sensor (159A) that detects (
159B) and the gap in the vehicle length direction at the rear (1
54A) (154B) and a sixth image sensor (160A) (160B). The absolute position of the body (1) is detected by the third image sensor (15).
7A) (157B) is also used, but this may be provided separately. Each image sensor (155A) (
The detected values from the amplifiers (161A) (161B), (162A) (155B) to (160A) (16QB) are
162B), the controller (48) calculates the basic value and the detected value, and based on the difference, the robot (79A) (79B
) to control signals (163A) (163B), (164A
) (164B).

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

Door (2A) via engagement tool (19A) (19B)
(2B).

(3□) (3a) ill; 1 (liL#-~7.2□4
2. 4th ゎ □The trolley device (13) has a trolley driving bag 5 on its passive dog ('17)! Since the drive protrusion (16) of (15) is engaged, the trolley is supported by the trolley guide rail (11) and conveyed. And the door (2A)
(2B) is opposite to the door vehicle type detection bag ffl (44) as shown in Figures 3 and 4, and the upper stop position correction bag ffi is located as shown in Figures 7 and 8.
The stopper plate (50) protruding laterally at (50)
8) acts on the passive dog (17).

This passive dog (17) is lowered and removed from the drive protrusion (16). At the same time, the stopper plate (58) comes into contact with the hold dog (18), so that the trolley device (13) is stopped at a fixed position without being driven. As a result, the vehicle type of the stopped front door (2A) (2B) is detected by the door vehicle type detection device (4).
4), and its detection signal (44a) is input to the controller (48). Trolley equipped ff1 (1
3) has stopped, both clamp arms (63) are swung by the actuating cylinder device (64) as shown by the solid line from the imaginary line in FIG. 9, and the clamped part (21)
Clamp. The controller (48) outputs a door vehicle type signal (based on the detection signal (44a)).
44b) is applied to the cylinder device (59), thereby moving the hanger (14) together with the movable frame (53), and positioning the front door (2A) (2a) at a location 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. As shown in FIG. 5, 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 the controller (4
8) steps to the next operation when the rain detection signals (44a) and (47a) match (same vehicle model), but when they do not match (different vehicle model), the movement of the trolley (31) is stopped;
issue a warning.

Front door (2A) with modified opening position depending on the car model
Robot (79A) (798) acts on (2B).

Here, the robot ('79A) (79B) is an arm (88A) that performs basic movements depending on the vehicle type.
(8EIB) in the raised position, and install the frame (8EIB) in the raised position.
5A) Due to the advancement and rise of (85B), Uke becomes a surface (
87A) (87B) to front door (2A) (2B)
from below to the lower end of the front door (2A) (2
B) Lift up. This allows the front door (2 people) (2B)
are disengaged from the corresponding engagement tools (19A) and (19B). Therefore, even if the front door (2A) (2B) is held at an angle by the hanger (14), for example,
The horizontality is automatically corrected by lifting via the arms (88A) and (88B) arranged separately. After this, vacuum cup (9OA)
(90B) has a suction effect 9, front door (2A) (2B
) of the vacuum cup (90A) (90B)
to the state shown in Figure 9. And the front door (2A
) (2B) is completely unloaded from the hanger (14) by the action of the robots (79A) and (79B) and is transported to be supplied to the body (1) as will be described later, but at that time, the adsorption action and , the lower end is supported by the arms (88A) and (88B), thereby preventing it from falling due to vibration or the like.

Robot (79A) (79B) is at the front door (2A)
(2B) is received, and the same type of detection has been performed,
In synchronization with the continuously moving cart (31), both movable platforms (70A) (70B) are moved synchronously by the drive of servo motors (75A) (75B) 6 At that time, the speed of one cart (31) is adjusted. If the value is pulse generator (38
) to the controller (48) as a speed value signal (39)
The speed value of the movable table (70A) (7oB) is sent as a detection signal (77A) (77B) from the pulse generator (76A) (76B) to the controller (
48). Here, this controller (48
), the detection signal (
A speed difference between 77A and 77B is calculated, and a control signal (78A) and (78B) based on the speed difference is given to the servo motors (75A) and (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 both movable platforms (70A) (70B) (lI
! It is lifted and supported by I. That is, the lifting frames (124A) (124B) in the lowered state are raised, and the lifting supports (137A) (137B) are brought into contact with the lower end of the body (1) to lift the body (1), as shown in FIG. 6. Next, attach the pusher (142A) (14) to the lower end.
The centering device (12B) is facing from the outside.
7A) (127B) is activated based on the vehicle type signal. That is, the servo motors (143A) (143A) 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 placed on the tool (137A) (137A) depending on the mounting posture of the body (1) on the tool (137A) (137B).
) (137B), but the lower end tries to come into sliding contact with (137B),
This is the first spring (131A) (,
131B) against the first slide plate (130A)
) (130B), movement of the second slide plates (133A) (133B) against the second springs (134A) (134B) in the vehicle longitudinal direction, and vertical axis center (136A) (136A) in the circumferential direction. 136B) can be absorbed by rotation of the tool (137A) (137B);
Therefore, the above-mentioned modification does not occur at all. Said body (1)
The inside of the car is not constant, but is random within a certain range, so the push tool (142A) associated with centering
) (142B) is not constant even if the vehicle type is the same. This push tool (142A) (1
The actual amount of movement of the pulse generator (14B) is
4A) (144B), and its detection signal (
145A) (145B) is given to the control (48).

Based on this, the controller (48) sends the robot (79A) (79B) a screw tightening device ff1 (10
0A) (100B), the operation command (mainly the amount of forward movement) (146A) (
146B) (148A) (148B) is emitted.

The front doors (2A) (2B) are supplied to the body (1) which has been centered as described above. In other words, first, the opening (
4A) Approach the outside of (4B) and enter the front door (2A)
(2B) are located opposite to each other. Next, the first image sensor (155A) (155B) and the second image sensor
(156A) (156B) and the front door gap (151A,) (151B) in the height direction is detected,
The front door gap (152A) (152B) in the vehicle length direction is detected by the third image sensor (157A) (157B).
) and absolute position are detected. Each detection signal enters the controller (48), and from this controller (48) a control signal (163A) (
163B) is given. These control signals (163A
) (163B) indicates the direction of movement, and therefore the gaps (151A) (151B), (152A) (152
Front door (2A) (2B) so that B) is the standard value.
move. At that time, the first thing. Second image sensor (
155A) (155B), (156A) (156B
), the horizontality of the front doors (2A) (2B) can also be adjusted. Also gaps (151A) (151B),
(152A) Based on (152B), from the controller (48) to the screw tightening device (100A) (100B)
An instruction signal (111A) (ltxB) for the amount of movement is given to. As mentioned above, the gap (151A) (151B
), (152A) (152B) reaches the reference value, the control signals (163A) (163B) are stopped, and before and after this, the arm (88A) is ) (88B) is lowered. And the robot (79A) (79B) has a front door (2A) (2
The pressing of B) is instructed, and the amount of pressing is based on the aforementioned actuation commands (146A) (146B). After the desired pressing is performed, the screw tightening devices 1 (100A) (100B) are operated under control from the controller (48), and the front door (2A) (2B) is tightened to the body (1) by the desired screw tightening. Assemble the parts.

Next, move the robots (79A) (79B) onto the movable platform (7
0A) (70B) in the opposite direction to the position of the virtual line in FIGS. 1 and 16. At this time, the movable bases (70A) (70B) have actually moved to the lower side, and the hanger (14) has moved to the lower side.
is moved to the lower side, and the lower side stop position correction device (65
) and whose positions have been corrected 6 Next, stop the movable bases (70A) (70B) and the trolley (31), and move the robot (79A) (79B) in the same manner as above.
) to hold the rear doors (3A) (3B), and then make them run synchronously again. And, as mentioned above, the rear door C3A) for the centered body (1)
(3B) is supplied. That is, first, the rear doors (3A) (3B) are positioned to face the outside of the openings (5A) (5B) by a basic operation according to the vehicle type. Next, the fourth image sensor (158A) (
158B) and the fifth image sensor (159A) (1
59B) and the rear door gap in the height direction (153A)
(153B) is detected, and the rear door gap (154A) (154B) in the vehicle length direction is further detected by the sixth hand image sensor (160A) (160B). Each detection signal enters the controller (48), and from this controller (48) the robot (79A
) (79B) control signal (164A) (164B)
is given. These control signals (164A) (164
B) indicates the direction of movement, so the movement of the robot (79A) (79B) closes the gap (153).
A) Move the rear doors (3A) (3B) so that (153B), (154A) (154B) become the reference values. At that time, the image sensor (15
8A) (15gB), (159A) (159B), the horizontality of the rear door (3A) (3B) is also adjusted. Also gaps (153A) (153B).

(i54A) Based on (154B), screw tightening ffi (100A) (100
A movement amount instruction signal (111A) <IIIB) is given to B). As mentioned above, the gap (153A) (15
3B), (154A) When the amount (distance) of (154B) reaches the reference value, the control signal (164A) (164B
) is stopped, and before and after this, the arms (88A) (88B) are lowered as shown in the imaginary lines in FIG. (79A) (79B) and the rear door (3A)
) The pressing of (3B) is instructed, and the pressing amount is based on the above-mentioned actuation commands (147A) (147B). After performing the desired pressing, the controller (48)
The screw tightening device E (100A) (10
0B) is activated, and the rear doors (3A) (3B) are assembled to the body (1) by tightening the screws as desired.

After that, the screw tightening devices (100A) (100B) are set to the standby position, and the vacuum cups (90A) (90
Release the adsorption by B) and move the robot (79A) (79
B) is 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 (
79A) The clamp and stopper are released in response to the signal indicating completion of the unloading work in (79B), thereby moving to the next process. Immediately after that, the stop position correction device (6
5) becomes the standby position. Furthermore, the empty movable platforms (70A) (70B) after passing the body (1) return at high speed to receive the next front door (2A) (2B), and then the robots (79A) (79B). Perform return movement.

As shown in FIG. 16, a control signal (78A) is sent from the controller (48) to both servo motors (75A)' (75B).
) (78B), the interlocking-single-acting switch (
170), both movable platforms (70A) (70B) can be operated with only one control signal at the time of synchronization.

However, one without the switch (170) may also be used.

In the above embodiment, the front doors (2A) (2B) and the rear doors (3A) (3B) are shared by a common hanging conveyance device! (10
) shows a format in which they are conveyed simultaneously, but this may also be a format in which they are conveyed using separate hanging conveyance devices. Alternatively, the rear doors (3A) (3B) may be first assembled as first parts, and then the front doors (2A) (2B) may be assembled first as second parts.

Effects of the Invention According to the method of 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 cart moving synchronously to the side of both shoulder movable bases, and in this state, the two parts are assembled by the robot on the movable base side. The first parts can be set in the corresponding parts to be mounted and assembled using one work device, and the two second parts can be set in the corresponding number parts by the robot and assembled by the work device. Thereafter, the main body to be assembled can be transferred to a synchronously moving cart and transported to the next process by the cart. Therefore, the main body to be assembled, that is, the truck, can be assembled without stopping.
Individual parts can be assembled, and the flow rate throughout the assembly line can be increased, improving efficiency.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, with FIG. 1 being a plan view and FIG.
The figure is a front view, Figure 3 is a side view of the door vehicle type detection unit, and Figure 4 is a side view of the door vehicle type detection unit.
Figure 5 is a side view of the body vehicle type detection section, Figure 6 is a side view of the stop position correction device, Figure 7 is the front view, Figure 8 is the top view, Figure 9 is the front view. is a side view of the robot arm,
Figure 10 is a front view of the same, Figure 11 is a plan view of the lifting/centering section, Figures 12 and 13 are side views of the same, Figure 14 is an enlarged view of the main parts, and Figure 15 is an image sensor unit. A side view of the section, FIG. 16 is a control explanatory diagram. (1)...Body (main body to be assembled), (2A) (2
B)...Front door (first part), (3A) (3B)
...Rear door (second part). (4A) (4B), (5A) (5B)...Opening (attached part), (10)...Hanging conveyance device, (
30)... Fixed route, (31)... Trolley, (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) (65)...Stop position correction device, (58)...Stopper plate, (63)...・
Clamp arm, (70A) (70B)...Movable base, (
75A) (75B)...Servo motor, (76A)
(76B)...Pulse generator, (79A)
(79B)...Robot, (83A) (83B)・
...Unloading device, (88A) (88B)...Arm. (90A) (90B)...Vacuum cup (suction tool), (92A) (92B)...Rail, (10
0A) (100B)...Screw tightening device (assembly work device), (IO8A) (108B)...Screw tightening tool. (120A) (120B)... Receiving device, (12
6A) (126B>...Holding device, (127A)
(127B)...Centering device. (143A) (143B)... Servo motor, (1
44A) (144B)...Pulse generator, (
150A) (150B)...Image sensor device Fig. 7 Fig. 9-f2iARbB Fig. 13 Fig. 14

Claims (1)

[Claims] 1. A main body to be assembled having a pair of front and rear attached parts on each side is supported and conveyed by a cart movable on a fixed path, while a pair of movable stands respectively arranged on both sides of the fixed path are connected to the cart. During this synchronous movement, the main body to be assembled is supported on both movable bases, and then robots provided on both movable bases so as to be able to reciprocate along the predetermined path are operated, and the main body is held by these robots. After setting the pair of first parts on the corresponding mounting parts of the main body to be assembled, the assembly work devices installed on both movable tables are activated to assemble the first parts on both sides of the main body to be assembled, and then the robot After holding a pair of second parts and setting them on the corresponding attachment parts of the main body to be assembled, the working device is operated to assemble the second parts on both sides of the main body to be assembled, and then the main body to be assembled is placed on the trolley. A method for assembling parts to both sides of a main body to be assembled, characterized by passing the parts to both sides of a main body to be assembled.