JPS61295181A - Car body working device in automobile production line - Google Patents

Abstract

PURPOSE:To enable high accuracy working even in the travelling of a movable frame by locating securely a car body in the movable frame side with an aligning mechanism and a locate pin after the car body is disengaged from a truck. CONSTITUTION:When a truck 2 and a movable frame 8 are interconnected to start the simultaneous travelling, a lifer mechanism 24 is operated to lift up and disengage a car body B from the truck 2. Then, a X direction aligning mechanism 25 and a Y direction aligning mechanism are respectively operated to float the car body B in the horizontal plane for centering the car body B to the movable frame 8. Finally, a locate pin 31 is moved upward by the action of a cylinder 30 to engage a locate hole in the car body floor so that the car body is finally located.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a vehicle body working device in an automobile production line, and more specifically, for example, for automatically sealing a body while the body is continuously running. The present invention relates to a working device for carrying out operations.

Conventional technology In the automobile manufacturing process, does water leak through the joints of body panels? To prevent this, it is necessary to apply a sealant along the joints of the body panels after welding is completed. Therefore, these sealing operations have conventionally been carried out using the following method.

That is, in reality, the above sealing work is performed in the process after the lower part O is dried in the painting process, or after the metal process for attaching metal parts such as doors in the car body assembly process (``Auto Arashi Engineering Complete Book Volume 19 Automobile "Manufacturing method" April 22, 1980, published by Sankai Party, P16g, 7
4.4 Sealing or as disclosed in Figure 8.3 of P2O3) and the so-called Contain Air type conveyance in which the undercoating process and metal process are carried out continuously at a predetermined speed on the automobile body (vehicle body). For sealing work, a lift-and-carry conveyor or a brain shuttle conveyor that can perform intermittent conveyance for each process is used separately for sealing work. In addition to installing a main tact line, floor-mounted industrial robots are installed on both sides of this tact line.
Then, with the vehicle body stationary, a sealing gun held by the industrial robot is used to perform a predetermined sealing operation.

Here, when sealing work is performed, the reason why the continuous operation system is converted to a tact operation system and the stationary robot work is performed is due to the accuracy of the cart for transporting the car body on the continuous line 2, and the accuracy of positioning the car body with respect to the cart. This is because reproducibility is poor, making it difficult to perform repetitive tasks in collaboration with industrial robots. In addition to this, it is also difficult to make an industrial robot follow a vehicle body that moves by 1%.

Problems to be Solved by the Invention In such conventional sealing work, it is necessary to set up a tact line of a type different from the line up to the previous process, and in addition, there is a line on the tact line for loading ill car bodies. In order to accommodate the loading device and post-process (candy-packing process), it is necessary to attach an unloading unit for taking out the car body that is transferred to the HLK car body assembly.

As a result, the area occupied by the equipment is large, which is a significant disadvantage in terms of capital investment.

Is the present invention a different takt line than the conventional method to solve all the problems? There is no need to install it, and during the continuous running of the car body on a continuous line, it is possible to perform predetermined work 11 such as sealing work without being affected by the positional accuracy of the car body with respect to the bogie. It is intended to be provided on working equipment for automobile manufacturing lines.

Specifically, is the car body fully loaded? It includes a so-called continuous type vehicle body transport device that continuously transports vehicles at a predetermined speed, and a movable frame that is connected to a traveling portion of the vehicle body transport device and can travel in synchronization with the traveling portion.

The movable frame includes a lifter mechanism that levitates the pan from the car body transport device and supports it on the whole movable frame side of the car body prior to carrying out a predetermined work, and a lifter mechanism that lifts the pan body from the car body transport device and supports it on the whole movable frame side of the car body, and a lifter mechanism that moves the lifted car body in the jiL width direction and the car body longitudinal direction with respect to the movable frame. The centering mechanism that performs all centering and the prescribed work on the car body? An industrial robot will be provided to carry out the process.

The vehicle body support member of the lifter mechanism has a mechanism that allows the vehicle body to move in the horizontal direction during centering by the alignment mechanism. A floating member that allows floating and a locating pin that can be moved up and down to position the centered body are provided.

19. As the above-mentioned vehicle body conveyance device, a chain conveyor or a slat conveyor ring can be used, but for example, a so-called tow conveyor type vehicle in which a chain conveyor laid on the floor pulls a platform mounted on a body is used. I use it.

Further, the work to which the present invention is applied includes not only the sealing work shown in the embodiments but also various other works incidental to the manufacture of automobiles, such as deburring work and weight polishing work.

Effects According to the above structure, when the traveling part of the vehicle body conveyance device and the movable frame are synchronized, the entire vehicle body is disconnected from the traveling part and supported by the movable frame W which runs in synchronization with the traveling part, and this movable Position it relative to the frame. After the positioning is completed, while the traveling part of the one-body transport device and the movable frame are running in synchronization, the industrial robot installed on the movable frame side performs work such as sealing, and after the work is completed, the vehicle body is moved to the movable frame. It will be returned to its original running position.

Embodiment FIGS. 1 to 3 are diagrams showing a more specific embodiment of the present invention, and show one sealing device as described above.

In Figures 1 to 3, l is laid on the floor nfT=
Endless and continuous type chain conveyor, 2 is a trolley on which car body B is mounted hh. Chain 3 of chain conveyor 1 Kr1M A pair of front and rear dogs 4a are shown in Figures 4 and 5.

4b are provided at a predetermined pitch.On the other hand, a plate 5 is provided protruding from the bottom of the trolley 2. Therefore, when the plate 6 comes into contact with either one of the dogs 4a or 4b, the trolley 2 pulls the chain conveyor IK.
It will run continuously at a predetermined speed on the rail 6'k. 7 is! It's a ring.

Here, the chain conveyor 1 and 8!2 constitute a vehicle body conveyance device f, and the chain 3 or the trolley 2 corresponds to the traveling portion of the vehicle body conveyance -1 fz position.

8 is a gate-shaped movable frame arranged between two trolleys,
This movable frame 8 travels on rails 9. 10 is a wheel. Specifically, as shown in FIGS. 6 to 8 in addition to FIG. A locking mechanism 11 (however, only one side is shown in FIG. 1) is provided.

These locking mechanisms 11 are a pair of left and right swinging cylinders attached to brackets 51, respectively, as shown in FIGS. 6 to 8! 12, a link plate 54 that rotates around the LO bin 3flj due to the action of the cylinder 52, and a pair of left and right 5-shaped lock levers 1116a that also rotate around the pin 55 on the bracket 51.
#l56b and IJ link plate 1! It is composed of I4, lock levers Fi6a and fi6b, and a link fi7 that is fully connected.

As shown in FIG. 6, the action of the cylinder 59 causes a pair of lock levers! S6a and fi6h operate to open and close between the solid line position and the temporary line position due to their toggle action, and the movable frame 8 is moved by locking the lock levers 5cta and 5ah from the front and back of the pillars 14 of Kaya 2. It is mechanically connected to the truck 2. Therefore, the movable frame 8 can fully travel on the rails 9 following the rental car 2 under the condition of the above-mentioned locked state.

This J2! e. Lock lever 56a in lock limit position
, a predetermined gap between 56b and the pillar 14? It is important to ensure that the lock can be reliably locked without being affected by the accuracy of the support column 14.

On one side of one of the rails 9, an assist cylinder 5 of a straight-chave movable type shown in FIGS. 1 to 3 is disposed. In this assist cylinder IS, a cylinder tube 17 reciprocates with respect to a piston rod 16 fixed to a mechanism shown in FIG.
The lower end of the movable frame 8 is connected to the movable frame 8 via a bracket 18'.

In other words, the movable frame 8 travels with the entire traction force of the chain conveyor l as described above, but in addition to the traction force of the chain conveyor x (fcxb), a preload is applied by the assist cylinder 1SiC.

Specifically, in FIG. 4, if arrow A'1, truck 2L, and movable frame 80 travel direction, assist cylinder 1B
One chamber 19 of the curved blade chamber 21Kl is given an air pressure of Pl set by the regulator valve 20 from the boat Pb to the curved blade chamber 21Kl, and the air pressure is set from the boat Pb to the regulator pulp 29, for example P, (P , ) p, ) is given, then the differential pressure p, -p, (approximately 0. f
i kq/(1)2) is applied to the movable frame 8 as a preload in the forward direction. The effect of this preload will be described later. 23 is solenoid pulp.

In FIGS. 1 to 3, at the lower end of the movable frame 8, there is a pair of left and right lid rock structures 24 for lifting up the vehicle body B from the vehicle 2 (however, only one side is shown in FIG. 1). And car body B? A pair of left and right X-direction centering mechanisms that press from the vehicle width direction to center the vehicle body B at all times! 5 (however, only one side is shown in FIG. 1), and a pair of left and right Y-direction centering machines #12, which are similarly pressed from the front and rear sides of the electric body Bt to center the vehicle in the longitudinal direction.
6 is provided.

The lifter mechanism 24, as shown in FIG. 1 as well as in FIG. 410, is constructed as a so-called swing-type lift lever 28i, which is a vehicle body support member that rotates around an axis no'2 that is parallel to the operation of the cylinder 27. . The lift lever 98 is provided with a ball type 70-ting roller 29 as a bloating member and a locate pin 31 that moves up and down by a cylinder 30.

The X-direction alignment mechanism 25 includes a cylinder 3 shown in FIG.
2 and a pusher 38, and similarly, the Y-direction center mechanism 26, as shown in FIG. 3, is composed of a pusher link 34 and a cylinder 31S that is interlocked in full rotation.

When the above-mentioned truck 2 and movable frame 8 are synchronously connected, the lifter mechanism 24 lifts up the vehicle body B and fully supports the vehicle body B on the movable frame 8 side prior to the sealing work.

At this point, the locate pin 31 of the lifter mechanism 94 is at the lower limit position and is lower than the floating roller 29, so the vehicle body B is directly supported by the floating roller 29, and the vehicle body B is floating in the horizontal plane. It is possible. In this state, the X-direction four subcenters 25 and the Y-direction centering machine 4112g operate, thereby aligning the vehicle body B in the vehicle width direction and the vehicle body longitudinal direction with respect to the movable frame 8. It has become so.

Further, a door opening/closing mechanism 36 is provided on the side of the movable frame 8 as shown in FIGS. 1 and 2. This door opening/closing mechanism 36 uses a suction cup 381 to prevent light leakage from the cylinder 37.
i? The door D automatically opens and closes in preparation for sealing work from the door opening side.

A plurality of articulated industrial robots 39 are suspended from the upper part of the movable frame 8.

These industrial robots 39 are equipped with a sealing gun 40 as a working device in their wrists, and can enter the vehicle interior through each door opening as well as the outer panel of the vehicle body, and follow pre-taught instructions. Therefore, it is suitable for sealing the inside and outside of a single room.

In the 41ij back door opening/closing mechanism shown in FIG. 1, this back door opening/closing mechanism 41 functions in the same manner as the door opening/closing mechanism 36 described above.

Next, a series of actions of the above-mentioned sealing device will be explained.

First, since the nine bogies 2 fully loaded with the car body B travel continuously at a predetermined speed from the previous process toward the sealing process, the movable frame 8 is waiting at the position shown by solid lines in FIGS. 9 and 3. In this standby state of the movable frame 8,! Of the lock mechanism 11 shown in 11!6-, only the front lock lever flea is in the closed position as shown by the solid line.

Then, the trolley 2 corresponds to the movable frame B.
t, and as shown in FIG. 6, when the column 14 of the truck 2 comes into contact with the lock levers 15, 6a of the locking mechanism 11, the movable frame S follows the truck 9 and starts full synchronized running. After that, the prescribed timing? Then, the rear lock lever fi6b rotates and engages the support column 14"i from the front and back. With the above process, the stand! snow and the movable frame 8 are mechanically connected.

On the other hand, air is also supplied to the assist cylinder 15, and from this point on the traction force of the conveyor l and the assist cylinder 15! 5, the movable frame 8 follows the trolley 2 and runs synchronously? Start.

Here, if we look at the relationship between the chain 3 of the chain conveyor 1 and the plate 5 of the 萱* , N9 travels only by the traction force of the chain conveyor l. In other words, the ten thousand dogs 4a shown in FIG. ! Naru Asobi is formed.

In this case, the bending and elongation of various parts of the long chain conveyor LD chain 3 may cause non-uniform movement called surging. Unit IL within the range of
A situation may occur instantaneously in which chain 9 does not follow the movement of chain 3. In other words, what is called chattering may occur when the plate 5 hits the front chain dog 4bK or the rear chain dog 4a in FIG. The accuracy of the sealing will depend on the accompanying swelling. 'Therefore, in this embodiment, when the movable frame 8 and the movable frame 11 are synchronously connected, the differential pressures p, -p, and
A preload is applied to the bogie 2 in the forward direction through the movable frame 8 (the thrust force exerted on the #3 car 2 is, for example, about 35 tons). As a result, the dog plate 5, shown in English in FIG. It turns out. Therefore, in the sealing process, even if there is surging or the like, the trolley can completely follow the movement of the chain 3.

Further, although the assist cylinder 12I shown in FIG. 9 has different pressures, both chambers 19 and 111 are pressurized, so for example, 10,000 yen! In the event that the cylinder 2 goes out of control, the assist cylinder IIs itself will act as a damper or a brake. Similarly, the pressure switch 42 is also provided as a safety measure in the event of an abnormal rise in pressure.

In addition, the preload by the assist cylinder 15 [萱! It is also possible to have the force act in the backward direction rather than in the forward direction.

When the bogie 2 and the movable frame B are connected and the synchronous running sound starts, the lifter mechanism 24 shown in FIG.
K car 1r will be lifted up and separated from the SI, and the weight of the car will be borne by the movable frame 8. At this time, the locate pin 31 of the lifter mechanism 94 is lowered. My friend, why don't you argue that it will cause damage to body B?

Next, the X-direction alignment mechanism 25 and the Y-direction centering mechanism 51
6 actuate to float the vehicle body Bt in a horizontal plane, and complete centering of the vehicle body B with respect to the movable frame 8.Finally, the locate pin 31 moves the cylinder 3
00 function, the final position is achieved by moving up the edge and engaging with the locating hole in the floor of the vehicle body.

Furthermore, the positioning of vehicle body B as described above? After waiting, the door opening/closing mechanism 36 and the back door opening/closing mechanism 41 operate to open the door D and the back door Db. Needless to say, this is performed while the movable frame 8 and the movable frame 8 are running in synchronization.

When the positioning of the vehicle body B and the door opening operation are completed, the vehicle waits at a predetermined origin position until then (71?). , the industrial robot 39 operates, and the sealing gun 40KL9 executes a predetermined sealing operation. In this case, for example, in addition to the roof panel, the edge of the door opening, and the outside of the room, the rodat itself enters the room and performs sealing work on the inside of the roof panel, the floor panel, and the inside of the room. be done.

When the sealing work is completed and the industrial robot 39 retreats to the home position, the X-direction alignment mechanism g5 and the Y-direction centering mechanism 26 each move back, and at the same time, the door opening/closing mechanism 36 moves back. The door opening/closing mechanism 41 closes the door DL and the back door Dby, and the lifter mechanism 24 moves downward to transfer the vehicle body BY onto the original stand] [2.

Next, after waiting for the transfer of the vehicle body B from the movable frame 8 to the platform L9, the lock mechanism 11 unlocks, and at this point the platform! The connection between 2 and the movable frame 8, and thus the synchronized running of both, is released. Then, the car body B is transported to the process by the chain conveyor l for each -t3''1IL2.
On the other hand, the movable frame 8 is moved to the assist cylinder lI by switching the high-speed retreat pulp 43 shown in FIG.
s returns to the initial position at high speed due to the movement, and thereafter repeats the above operation.

If this embodiment is constructed in this way, the continuously running trolley 2
The vehicle body B'te is separated from the vehicle body B'te and transferred to the movable frame S side that runs in synchronization with the vehicle 2, and all operations from positioning of the vehicle body B to sealing work are performed within the movable frame 8. Therefore, the X body B2 does not need to be involved in the tact operation system at all.

Effects of the Invention As described above, according to the present invention, there is no need to set up a separate line with tact operation as in the past, so there is no need for equipment investment, it is advantageous in terms of space, and it is possible to use existing continuous lines. It can be implemented by simply adding one meeting to the near-type line.

In addition, after the car body is separated from the port wheel, we install an alignment mechanism and a locating pin to ensure that it is firmly positioned on the movable frame side.
This allows all operations to be carried out with high precision even while the movable frame is in motion. 1. Since the lifter mechanism is equipped with a floating roller, alignment of the vehicle body can be carried out effortlessly.

In addition, since the locate pin can be raised and lowered, when the lifter mechanism lifts up the entire vehicle body, by recessing the locate pin into the vehicle body, damage to the vehicle body can be completely prevented.

[Brief explanation of the drawing]

Is Fig. 1 an embodiment of the present invention? FIG. 2 is a general explanatory view showing an embodiment of the present invention, FIG. 3 is a plan view of FIG. 2, and FIG. 4 is an enlarged view of the main parts of the chain conveyor. Figure, Figure 5 is Figure 4 is 1 along v-■
6 is a diagram showing the details of the locking mechanism, and is a current view taken in the C direction of FIG. 1. FIG. 7 is a cross-sectional view taken along the line FIG. 9 is a sectional view of the assist cylinder, and FIG. 1O is an enlarged view of the main part of the lifter mechanism. l...Chain conveyor, 2...unit II, 8...
Movable frame, 11...Lock mechanism, 15...Assist cylinder, 24...Lifter mechanism, 23...X
Direction alignment mechanism, 96...Y direction control mechanism, 28...
Glue lever as a vehicle body support member, 29... floating roller, 31... locate pin, 39...
Industrial Kawaguchi bot, B...car body.

Claims (1)

[Claims] (1) A movable frame that is equipped with a vehicle body transport device that mounts a vehicle body and continuously transports the vehicle body at a predetermined speed, and a movable frame that is connected to a traveling part of the vehicle body transport device and can run in synchronization with the traveling part. The system includes a lifter mechanism that levitates a vehicle body from a vehicle body transfer device and supports the vehicle body on the movable frame side prior to carrying out a predetermined work, and a lifter mechanism for centering the floated vehicle body in the vehicle width direction and the vehicle body longitudinal direction with respect to the movable frame. and an industrial robot that performs predetermined work on the vehicle body, and the vehicle body support member of the lifter mechanism is provided with a centering mechanism that moves the vehicle body in a horizontal plane during centering by the alignment mechanism. a floating member that allows
A vehicle body working device in an automobile manufacturing line, characterized in that a retractable locating pin is provided for positioning a centered vehicle body.