JPS62122870A - Work mounting device - Google Patents

Abstract

PURPOSE:To smooth and ensure a complicated work for mounting a work and to improve working efficiency, by a method wherein a positioning device is placed on an elevatable table which is positioned slidably displaceably in the direction of a table surface. CONSTITUTION:A first positioning pin 18, turning upward, is positioned to a part of a rotary table 16 through a cylinder serving as an elevating device, and a positioning pin 18', turning upward, is disposed to a set portion, spaced a given distance away from the pin 18, through other cylinder. Centering cylinders 10, 14, and 19 constitute a position regulating device for each direction of rotation in L and W, wherein L is the longitudinal direction of a car body, and W is the direction of width, and the positioning pins 18 and 18' constitute a positioning device for a body and a mounting device 2. Motion of the positioning device decides a relative position between a base material and a table, and thereafter, works are mounted through the working of plural work mounting devices situated to the table.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The disclosed technology belongs to the technical field of the structure of an apparatus for assembling workpieces used in automobile assembly lines and the like.

This invention relates to a workpiece assembly device that attaches various types of workpieces from below to a base material such as an automobile body that is conveyed on a line, and particularly relates to a workpiece assembly device that attaches various workpieces from below to a base material such as an automobile body that is conveyed on a line. A table is supported on the top of a support base such as a trolley via an actuator so that it can be raised and lowered.
The invention relates to a workpiece assembling device which is slidably displaceable in its surface direction and further includes a plurality of workpiece attaching devices each having a posture holding device for the workpiece, and a positioning device for the base material arranged on the upper surface of the table. .

<Prior art> As is well known, when attaching a workpiece such as a 7-well brake tube to a base material such as an automobile body, an operator uses an impact wrench or the like to attach each 7-well brake tube, etc.
An arrangement is adopted in which the clamper to which the Yuel brake tube is tied is tightened with a bolt.

However, in this case, the worker has to perform the above-mentioned work from the bottom of the body, and the work to be installed is long, making the installation work extremely difficult. As the assembly involved multiple parts, considerable skill was required of the worker.

In recent years, in order to cope with this problem, workpiece assembling apparatuses that perform automatic mechanical assembling have been extensively studied.

<Problems to be Solved by the Invention> However, with the conventional workpiece assembling apparatus described above, it is extremely difficult to synchronize with the body of a car that is continuously conveyed, and therefore it is difficult to tighten bolts, etc. The disadvantage is that the position is often misaligned and reliable automatic tightening cannot be performed.

In addition, when setting a workpiece at a predetermined position on the body being transported, especially when the workpiece is long, it is easy to interfere with the body or other equipment, and the workpiece is not only easily placed under the body. There is also the problem that the workpiece wobbles until it is set in a predetermined position, which tends to cause errors in the installation posture.

The purpose of this invention is to solve the problems of the workpiece assembly apparatus based on the above-mentioned prior art as a technical problem, and to make it possible to attach the workpiece to the base material smoothly and accurately. It is an object of the present invention to provide an excellent workpiece assembling device that can quickly respond to differences in the attachment position depending on the base material, and that is useful in the field of automatic assembly technology used in various industries.

In order to solve the above-mentioned problems, the structure of the present invention, which is based on the above-mentioned object and the gist of the above-mentioned claims, is to provide support below the base material being conveyed on the line. After setting the stand, set the workpiece on the posture holding device of the workpiece mounting device, raise the table provided at the top of the support stand via the actuator, and then slide the table appropriately in the direction of the surface. The relative position between the base material and the table is determined by operating the positioning device, and then the workpieces held on the table are attached to the base material through multiple workpiece attachment devices provided on the top surface of the table. Technical means have been taken to enable it to be assembled in a predetermined position.

<Example> Next, an example of the present invention will be described below based on the drawings.

As shown in FIG. 1, the gist of the present invention is placed below the body 1 on the side of a line where the automobile body 1 as a base material is continuously conveyed in its longitudinal direction (downward direction). A workpiece assembling device 2 is provided.

As shown in FIG. 2.3, the workpiece assembly device 2 has a trolley 3 as a support base at the bottom and is movable below the body 1, and a lift base 4 is provided on the upper part of the trolley 3. The lift base 4 is supported by a rod of a lift cylinder 5 as an actuator attached to the base 3 via a stay 6 so as to be freely movable up and down.

An L-direction rail 7 is attached to the top surface of the lift base 4,
An L-direction slide table 9 is slidably provided on the cough direction rail 7 via a bearing 8 that engages with the cough direction rail 7.

The L-direction slide table 9 is centered and fixed by a centering cylinder 10 installed horizontally between the lift base 4 and the lift base 4.

Further, a W-direction rail 11 is attached to the upper surface of the sliding direction slide table 9 in the width direction of the body 1 (hereinafter referred to as the W direction), and a W-direction rail 11 is mounted on the W-direction rail 11 via a bearing 12 that engages with the W-direction rail 11. A W direction slide table 13 is provided slidably.

The centering and fixing of the W-direction slide table 13 is performed by a centering cylinder 14 provided between the W-direction slide table 9 and the L-direction slide table 9.

Furthermore, a rotary table 16 is supported at the center of the W-direction slide table 13 via a bearing 15, and a cam follower 17 for steady rest having rollers etc. that rolls into contact with the W-direction slide table 13 is mounted on the lower surface of the rotary table 16. is attached.

In addition, a first positioning pin 1 is provided on a part of the rotary table 16.
8 is disposed upward through a cylinder as an elevating device (not shown), and a positioning pin 18 is provided at a setting portion spaced apart from the positioning pin 18 by a predetermined distance via another cylinder as an elevating device (not shown). Pins 18' are disposed upward, and each of the pins 18' moves up and down independently, and is fitted into an engagement hole (not shown) in the body 1 when raised.

Note that the rotary table 16 has a centering cylinder 19.
is disposed, and the centering cylinder 19 performs centering and fixing similarly to the centering cylinder 10117.

In this way, the centering cylinder 10
．． 14.19 Position adjustment device in each direction of rotation and W rotation,
Locating pins 18, 18' constitute a locating device for the body and the assembly device 2, respectively.

A predetermined number of stays 21 are disposed on the upper surface of the rotary table 16, a rail 20 is disposed on the upper surface, and a mounting device is mounted on the upper surface via a bearing 23. A tightening device 24 is erected and is slidable with respect to the rail 20 by a cylinder 22 for moving the tightening position.

As shown in FIG. 4, the tightening device 24 has a row rear actuator 26 attached to the rod of a cylinder with a kite 25, and a tightening cylinder 28 attached to a bracket 27 that rotates via the row rear actuator 26.
Further, a tightening module 2 is attached to the tightening cylinder 28.
9 is attached.

As shown in FIG. 5, in the tightening module 29, a nut runner 31 is supported by a stay 30 extending from the tightening cylinder 28, and two opposing plates 32, 32 are provided on the upper part of the nut runner 31. A remote center compliance device (hereinafter referred to as RCC device) 34 is provided with a cylindrical rubber mount 33 interposed therein, and the base of the RCC device 34 is connected to the tip of the rotating nut runner 31. A universal joint 35 is inserted through the universal joint 35, and the tip of the universal joint 35 is connected to the cylinder 3 in which the piston 36 is installed.
7 and is integrally fixed.

A split bolt socket 39, 39' is pivotally supported at the upper end of the cylinder 37 via a pin 38, and a pair of slits 40, 40 are provided at the opposite lower side of the cylinder 37. is formed and the slit 40.40
A pin 41 communicating with the rod of the piston 36 is inserted through the pin 41, and a bolt socket 39.3 is inserted into both ends of the pin 41.
9' is fitted with a socket clamp outer cylinder 42.

On the other hand, on the upper surface of the RCC device 34, an outer cylinder 43 is mounted so as to be rotatable with respect to the cylinder 37.
are fixedly installed on the side surfaces of both upper and lower ends of the outer cylinder 43.
Ports 44, 44' are provided which communicate with the inside of the cylinder 37 and are connected to an air pump (not shown).

As shown in FIG. 6, a spring 45 is interposed between the bolt sockets 39 and 39', which are supported at the upper end of the cylinder 37 via pins 38, so that the bolt sockets 39 and 39' are always connected to each other. A biasing force is applied to the pins 39' and 39' in mutually repulsive directions around the pin 38.

Further, as shown in FIG. 4.7, a pair of rods 4 are attached to the upper outer edge of the plate 32 on the lower fixed side of the RCC device 34.
6.46 is erected, and a clamp unit 47 as a posture holding tool is held at the upper part of the rod 46.46. An attachment 50.50 is pivoted to the wall via a bracket 49.49 with a pin, and an attachment 50 is attached between the opposing inner wall of the block 48 and the attachment 50, and the attachment 50 is attached to the block 48 around the pivot axis. A spring 51 that is always biased inward is inserted, and the attachment 5 is attached to a clamper 54 of a subassembly 53 in which fuel/brake tubes 52, 52, etc. are bundled.
0.50 is said to be pressable and clampable.

A setting space is formed between the attachment 50.50 of the clamp unit 47 and the U-shaped base of the block 48 having a U-shaped cross section, and the bolt socket 39.39' is inserted downward into the setting space. extending from the bolt socket 39
．． The bolt 55 supported at 39' is attached at 50.5
It is made to coincide with the bolt hole 56 of the clamper 54 which is clamped by the clamper 54.

Note that the bolt hole 56 of the clamper 54 is formed into a long hole shape in consideration of the installation error of the bolt 55.

In the above configuration, after the hydraulic pump (not shown) of the workpiece assembly device 2 is set along the conveyance line of the automobile body 1, the bolts 55 are set in the bolt sockets 39, 39' of each tightening module 29, and the fuel The clamper 54 of the subassembly 53 to which the brake tubes 52, 52... are assembled together is
After being clamped by the attachment 50.50 of the clamp unit 47 under the bias of its spring 51, the bolt hole 56 of the clamper 54 is fitted into the bolt 55.

At this time, the sub-assembly 53 of the long and unstable fuel/brake tubes 52, 52, etc. is supported by the attachments 50, 50 of the clamp unit 47 via the clamper 54, so the attachment posture is always maintained. It can be held constant, and since the clamp position is near the tightening position of the bolt 55, rattling in the vicinity of the bolt 55 is further reduced, and the bolt 55 can be tightened reliably.

Note that when the bolt 55 is set in the bolt socket 39, 39', air is press-fitted from the port 44 of the upper outer cylinder 43 of the RCC device 34 above the piston 36 in the cylinder 37, and the piston 36 and When the socket clamp outer cylinder 42 linked to this is lowered and the bolt socket 39, 39' has its tip opened by the biasing force of the spring 45, the bolt 55 is placed on the tip, and the bolt 55 is placed on the tip. In this state, the air sealed in the cylinder 37 is discharged from the port 44 of the outer cylinder 43, and at the same time, the piston 36 inside the cylinder 37 is discharged from the port 44'.
By pressurizing air downward, the piston 36
The socket clamp outer cylinder 42 linked to this via the slit 40.40 by the pin 41 rises, and the socket clamp outer cylinder 42 is connected to the socket clamp 39.39.
' by sliding relative to the socket clamp 39.39'
The spring 45 restricts the opening of the tip, thereby ensuring that the bolt 55 is held in the socket clamp outer cylinder 42.

Next, the trolley 3 is moved to the line center below the car body 1 being transported on the line, and the body 1
When the synchronization start position is reached, the long workpiece assembly device 1
starts synchronous transport.

At this time, since the lift base 4 is movable up and down via the lift 1 to the cylinder 5, the subassembly 53 of the fuel brake tube 52, 52...
The body 1 can be smoothly inserted without interfering with the uneven portions on the lower surface of the body 1, and can be raised to the closest position for work.

At that moment, the lift cylinder 5 extends and the lift base 4 rises and reaches the rising end, and the positioning pin 18 rises and is fitted into a predetermined engagement hole on the lower surface of the body 1.

At this time, the centering cylinder 100 in the W direction and the rotation direction are fixed with the unillustrated rod end to the sliding direction slide table 9, and at the same time the centering cylinder 10 is unlocked and becomes a driving source. 19 will also be unlocked.

Next, when an appropriate driving force is applied to the L-direction slide table 9 by the L-direction centering cylinder 10, the upper rotary table 16 is moved to the first positioning pin fitted into the engagement hole on the lower surface of the body 1. The subassembly 53 of the fuel brake tubes 52, 52, etc. held by the tightening device 24 naturally rotates together, and in this case, the lower surface of the body 1 is Subassembly 53 taking into account unevenness
By setting the position of the tightening device 24 that holds the
The subassembly 53 assembled into the body 1 is
By turning appropriately, it is possible to smoothly avoid interference with the unevenness on the lower surface of the body 1, and then the second positioning pin 18' rises to the normal position and is fitted into the predetermined engagement hole of the body 1. Then, the subassembly 53 is set.

Next, the guided cylinder 25 of each tightening device 24 is extended, and the tightening module 29 raises the subassembly 53 via the clamp unit 47 to the vicinity of the tightening position of the body 1. When the predetermined position is reached, the bolt socket is tightened by the nut runner 31. 39. Rotate 39'.

When said bolt socket 39.39' rotates and at the same time extends the tightening cylinder 28, each tightening module 29 moves forward, so that the bolt socket 39.
The subassembly 53 is securely fastened to the body 1 by the bolt 55 held at 39'.

In this case, even if the tightening position is tilted and slightly different, the tightening direction of the tightening module 29 is adjusted by the rotary actuator 26 and the cylinder 22.
In addition, since the position can be changed freely, it can be adjusted appropriately no matter what type of car it is.

In this way, after tightening is completed, contrary to the above, the nut runner 30 is stopped, the clamper 54 is removed from the attachment 50, 50 of the clamp unit 47, and at the same time, the clamping of the bolt 55 by the bolt socket 39, 39' is released. Then, after retracting the tightening cylinder 28 and retracting the guide cylinder 25, the first positioning pin 18 and the second positioning pin 18' are released, and the L direction sliding table 9 is moved in the W direction. slide table 13,
Each centering cylinder 10.1 rotates the rotary table 16.
4. Fix centering with 19 and tighten module 2
9 is returned to its original position by the row actuator 26, the lift cylinder 5 is retracted, and the trolley 3 is pulled out to the side of the line to complete the work.

The bodies 1 that are sequentially transported in this way
On the other hand, operations similar to those described above are continuously performed within the conveyance line of the body 1.

It goes without saying that the embodiments of the present invention are not limited to the above-mentioned embodiments. For example, the application is not limited to an automobile body assembly line, and the application is not limited to the attachment of the clamp unit 47 as a posture holding device. 50. 50 in the clamping direction of the clamper 54 is not limited to the spring 45, but other actuators such as an air cylinder may be used, and various other methods can be adopted.

<Effects of the Invention> As described above, according to the present invention, basically, the extremely complicated work of roughening a workpiece can be carried out smoothly and reliably, thereby dramatically improving work efficiency. The excellent effect of Qin.

That is, the table supported on the upper part of the support base via an actuator so as to be freely raised and lowered is slidable in the surface direction of the table, and the positioning device is disposed on the table. When setting a workpiece below the base material, the table is inserted below the base material in a lowered state, and then, after the table is raised,
By fixing the relative position of the base material and the table via a positioning device, it is possible to reliably avoid interference between protrusions such as the base material or conveyance device and the workpiece to be attached. The excellent effect of being able to smoothly and reliably set the table at the optimal position where workpiece attachment work can be performed is achieved.

In addition, by arranging a plurality of workpiece attachment devices on the top surface of the table, the workpieces can be attached in one operation, resulting in an excellent effect that the operation time can be significantly shortened.

Furthermore, since the workpiece mounting device is equipped with a posture holding device for the workpiece, when mounting an unstable workpiece such as a long workpiece to the base material, when transporting the support stand, or when setting the position of the table. It also has the excellent effect of preventing workpiece wobbling that sometimes occurs, stabilizing the mounting posture, and enabling smooth and reliable automatic workpiece assembly without the need for manual adjustment.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, and are shown in Section 1.2.
3.4 is a front view, FIG. 5 is a partial sectional view, FIG. 6 is an enlarged partial sectional front view, and FIG. 7 is an enlarged partial sectional plan view. 1...Base material, 53...Workpiece,

Claims (1)

[Claims] In a workpiece assembly device that attaches a workpiece from below to a base material being conveyed on a line, a table supported in a vertically movable manner on the top of a support base that is conveyed in synchronization with the base material is slidable in the surface direction of the table. A workpiece assembling device characterized in that a positioning device for a base material and a plurality of workpiece attaching devices are supported on the upper surface of the table, and the workpiece attaching device has a posture holding device for the workpiece.