JPS62210184A - Work mounting device - Google Patents

Abstract

PURPOSE:To automatically mount multiple types of works including tightening operations with one mounting device by fitting a tightening means to a work mounting section at multiple locking sections so as to change the tightening position in response to work types. CONSTITUTION:A work positioning means 3 having a work mount bed 2 movable horizontally and vertically by numerical control and moving a work W1 to the mounting position of a main body side work, a tightening means 5 tightening the work W1 fitted to the work mount bed 2 to the main body side work at one locking section selected among multiple locking sections, and a manipulator 6 fitting/removing the tightening means 5 and feeding screw members are provided. The manipulator 6 can fit the tightening means 5 to the work mount bed 2 so as to obtain the tightening position in response to the type of the work to be mounted by selecting one locking section among multiple locking sections of the tightening means 5. Accordingly, multiple types of works W1 can be automatically mounted including their tightening operations with one mounting device 1.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention is used in technical fields such as automobile assembly work, and relates to an apparatus for mounting a work onto a work on the main body side.

(Prior art) When assembling the engine (work) to the vehicle body (main body side work), a device that places the engine on a table, raises it, and positions it at a predetermined position on the vehicle body makes the assembly work easy and reliable. It is widely used to As for the loading device for placing and raising the engine, there is generally known an automatic loading device for heavy objects that can change the moving path up, down, left, right, front and back depending on the type of car body and engine so as not to interfere with each other. (For example, see Japanese Patent Laid-Open No. 59-206266). However, with this device, the screw tightening for attaching the workpiece must be done separately manually.

(Objective of the Invention) The present invention aims to automate the positioning and fastening work of the workpiece to be mounted on the workpiece on the main body side, and further attempts to solve the following problems in this automation. It is something.

In other words, when automating the fastening work, a fastening means (such as a nut runner) is attached to the table on which the workpiece is placed.
It is conceivable to install the workpiece and give a command to the tightening means to perform the tightening operation after positioning the workpiece, but if the type of workpiece to be loaded changes, the tightening position will also change, and the tightening operation using the tightening means described above will change. become unable to do so. On the other hand, it is conceivable to make the tightening means movable vertically and horizontally with respect to the table and change the tightening position depending on the type of workpiece, but the mechanism for moving the tightening means will reduce the overall structure of the mounting device. Not only is this complicated, but an extra heavy object is provided on the table, which causes the table itself to easily bend due to inertia during movement, resulting in a reduction in the positioning accuracy of the tightening means.

(Structure of the Invention) As a means for achieving the above object, the present invention is an apparatus for mounting a work on a main body side work, which has a work mounting part movable by numerical control in horizontal and vertical directions, and has a work mounting part that can be moved by numerical control in horizontal and vertical directions. A workpiece positioning means for moving the workpiece to the mounting position on the side, and a locking part selected from a plurality of locking parts provided at different positions are attached to the workpiece mounting part, and the workpiece is tightened to the workpiece on the main body side with a screw member. The present invention provides a device with a small number of tightening means and a manipulator for attaching and detaching the tightening means to and from the workpiece mounting portion and for supplying screw members to the tightening means.

That is, in the case of the above-mentioned workpiece loading device, the manipulator selects one locking portion from among the plurality of locking portions of the tightening means so that a tightening position corresponding to the type of workpiece to be loaded can be obtained. This tightening means is attached to the workpiece mounting section at the above-selected locking portion.6 (Effects of the Invention) Therefore, according to the present invention, the tightening means can be adjusted according to the type of workpiece by the plurality of locking portions. Since the clamping device can be attached to the workpiece mounting portion so that its tightening position can be changed, it is possible to automatically mount a plurality of types of workpieces, including the tightening operation, using one mounting device. In addition, since the means for changing the tightening position of the tightening means is extremely simple, the structure of the entire loading device is not complicated, and an increase in the weight of the workpiece mounting section is also prevented. Accurate positioning can be achieved, and since the manipulator is responsible for attaching the tightening means and supplying the nuts, the operating rate is increased.

(Example) Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 1, the workpiece mounting device 1 of this embodiment includes a workpiece positioning means provided on the upper surface of a workpiece mounting table 2 movable in the horizontal X and Y directions and the vertical Z direction by numerical control. 3 and.

The workpiece positioning means 3 is provided with a tightening means 5 that can be detachably attached to the workpiece positioning means 3 and capable of selecting a plurality of different tightening positions, and a manipulator 6 that attaches and detaches the tightening means 5 and supplies the nut N to the tightening means 5. .

This workpiece loading device 1 mounts an engine and a front suspension (hereinafter referred to as workpiece W1) on a car body 8 supported by a hanger 7, and a rear suspension (hereinafter referred to as workpiece W2) as well. They are mounted by a mounting device (specific illustration is omitted), and both are used at the mounting station 9 shown in FIG. At the same station 9, 10 is a car body conveyance line for conveying the car body 8 by a hanger conveyor;
Reference numeral 1 denotes a workpiece conveyance line that conveys the works W1 and Wz in a direction opposite to the vehicle body conveyance run 10 by a hanger conveyor. The works Wl and W2 are transferred from the workpiece transport line 11 to pallets 14.15 of the first and second pallet conveyors 12.13 perpendicular thereto, positioned, and sent to the vehicle body transport line 10 side. Both the first and second pallet conveyors 12 and 13 are fixed roller conveyors 16 and 17 provided in upper and lower stages and lifting roller conveyors 1 at both ends thereof.
8. Includes 19, 20, and 21. Fixed roller conveyor 1
At 6.17, a feeding means 22.2 sends the pallet 14.15 to the workpiece positioning means 3, 3 under the car body 8 along with the works W1 and W2 at the intersection with the car body conveyance line 10.
3 is provided. Lifting roller conveyor 18, 19,
20 and 21 are provided so as to be movable up and down between the upper and lower heights of the fixed roller conveyors 16 and 17. In this case, the proximal lifting roller conveyor 18.19 located at the intersection with the workpiece conveyance line 11 receives the works W+, W2 from the workpiece conveyance line 11 and transfers them to the fixed roller conveyor 16.
．． The empty pallet 14.15, which is sent to the upper stage of 17 and forwarded after loading the work, is received from the lower stage to receive the next work wt.
+ It is on standby because of W2. The elevating roller conveyors 20 and 21 on the tip side carry empty pallets 1 after loading the workpieces.
4, 1.5 are sent from the upper stage of the fixed roller conveyor 16, 17 to the lower stage. Therefore, pallet 14.1
5 circulates between the upper and lower stages of the fixed roller conveyors 16 and 17 by raising and lowering the raising and lowering roller conveyors 18 to 21 at both ends.

Now, to specifically explain the workpiece mounting device 1, first, as shown in FIG. a first slide plate 29 supported by a guide means 28 in the X direction (vehicle width direction) to be movable in the same direction;
This first slide plate 29 is provided with a second slide plate 31 supported by a guide means 3o in the Y direction so as to be movable in the same direction. The workpiece mounting table 2 is rotatably supported on a second slide plate 31 by a rotating shaft 32 and support rollers 33 around it, and the output shaft of a turning motor 34 fixed to the second slide plate 31 and the above-mentioned It is rotatably driven by this turning motor 34 via a transmission band 35 stretched between it and the rotating shaft 32.

The first slide plate 29 is driven by a motor 36 fixed to the elevating plate 27 through engagement of a pinion 38 connected via a clutch 37 with a rack 39 on the lower surface of the first slide plate 29. It is something that will be done. In this case, a contact element 41 driven by cylinders 40 provided on the elevating plate 27 and facing oppositely to each other in the ), the origin of the first slide plate 29 is determined, and the limit switch 43 fixed to the elevating plate 27 contacts the limit guide 44 fixed to the first slide plate 29 and is activated. This confirms the origin index. The mechanism for driving the second slide plate 31, indexing and confirmation of the origin, and the mechanism for confirming the origin in the rotational direction of the workpiece a placement table 2 are basically the same as those of the first slide plate 29. Illustrations and explanations are omitted.

However, multiple locations around the workpiece mounting table 2 (third
(Two locations are shown in the figure) is provided with a bracket 45.45 extending downward.
5, a clamp device 46 of the tightening means 5 is supported by a cylinder device 47 so as to be movable up and down. This clamping device 46 includes a positioning receiver 48 that receives the tightening means 5 from below and positions it in the Z direction, and as shown in FIG.
It has an L-shaped fixed claw 49 and an L-shaped rotary claw 50 for positioning and holding in the X-Y direction.

On the other hand, the tightening means 5 includes a nut runner main body 51 and a box 52 that supports the nut runner main body 51, and the above-mentioned clamp device i! T-shaped locking portions 4a to 4d are provided which are clamped by 46 claws 49 and 50,
A grip portion 53 that protrudes downward and is gripped by the manipulator 6 is provided on the lower surface of the box 52 . Each of the locking portions 4a to 4d protrudes from the wall surface of the box 52 in such a manner that adjacent ones are perpendicular to each other, and
They are different from each other in at least - of the amount T of protrusion from the nut runner shaft, the amount of deviation from the center line in the direction of protrusion passing through the nut runner shaft, and the height of the lower end of the barge locking. That is, due to this difference, when the locking portion to be clamped by the tightening means 5 changes, the tightening position with respect to the nut runner axis, that is, the workpiece mounting table, changes. The protrusion amount T, bias amount, and height of the locking portions 4a to 4d are set in advance according to the type of workpiece W1 to be mounted.

Further, the workpiece mounting table 2 is provided with a positioning correction means 5 including a touch sensor 54 and a tapered reference pin 55.
6 is adapted to be clamped in the same manner as the tightening means 5 described above. That is, this correction means 56
The support member 57 is provided with a plurality of locking parts 58 and gripping parts 59 at different positions, and the workpiece mounting table 2
The workpiece is clamped by a clamping device 60 which is movable up and down at a locking portion selected depending on the type of workpiece.

Further, as shown in FIG. 1, the manipulator 6 has a first arm 63 attached to an elevating body 62 supported by an elevating guide 61 fixed to the floor, and a second arm 63 at the tip of the first arm 63.
Each arm 64 is horizontally rotatable, and a gripping tool 65 is provided at the tip of the second arm 64.
This gripping tool 65 is designed to hold the tightening means 5, the correction means 56, or the nut supply hand 70 described below.

That is, the nut supply hand 70 is connected to the manipulator 6
A vibrating nut feeder 71 held by and fixed to the floor
The nut is received from the supply pipe 72, and the nut is supplied to the tightening means 5 which is clamped to the workpiece mounting table 2.

However, in the workpiece loading device 1 described above.

Once the car body 8 and the type of workpiece W1 to be loaded are determined,
Tightening means 5 and positioning correction means 5 depending on the type.
The locking portions 6 to be clamped are selected, and by the operation of the manipulator 6, the means 5 and 56 are sequentially picked up from their respective storage locations (stored around the manipulator as shown in FIG. 2). The workpiece is then clamped to the workpiece mounting table 2 by the clamping device 46.60. Then, before the workpiece W1 is carried into the workpiece mounting table 2, the manipulator 6 grasps the nut supply hand 70, receives the nut from the nut feeder 71, and supplies it to the tightening means 5 which was clamped earlier.

Next, when the pallet 14 on which the workpiece W1 has been positioned is positioned on the workpiece mounting table 2, a control signal is output from a controller (not shown) according to a control program set in advance according to the type of the workpiece Wt and the vehicle body 8. Based on this, the lifting cylinder 26 of the workpiece positioning means 3,
The driving of the horizontal movement motor and the turning motor 34 is controlled.

As a result, the workpiece Wl rises while avoiding interference with existing members on the vehicle body 8 side, and is positioned at the assembly position (engine room). At this time, the touch sensor 54 comes into contact with the vehicle body 8 as shown in FIG.
When the first
The slide plate 29 is free to move horizontally by disengaging the clutch 37, and the second slide plate 31 and the workpiece mounting table 2 are also free to move in the same way. Then, in this free state, the workpiece mounting table 2 is driven upward, and the workpiece Wl is guided by the reference pin 55 and the positioning hole 73, so that any positioning error with respect to the vehicle body 8 is corrected. Therefore, by this correction, the tightening means 5 is also accurately positioned with respect to the vehicle body 8, and the workpiece w1 is fastened to the vehicle body 8 with a nut by the operation of the nut runner body 51.

While the work w1 continues to be loaded in the same vehicle model, the manipulator 6 only supplies nuts to the tightening means 5, but when the vehicle model changes, the tightening means 5 that was previously clamped and the correction The clamp of the means 56 is once released, the locking part to be used is changed depending on the TJ type, and the clamp is re-clamped.

Therefore, according to this embodiment, even if the vehicle type changes, including the type of workpiece W+, one workpiece mounting device can handle this change, and multiple types of tightening means can be prepared around the manipulator. This makes it possible to automatically perform the process from positioning to fastening of various types of workpieces, and furthermore, since the manipulator not only attaches the tightening means but also supplies the nuts, its operating rate can be increased.

In the above embodiment, the manipulator supplies nuts to the tightening means using the nut supply hand, but the manipulator may grip the tightening means and directly receive nuts from the nut feeder.

Furthermore, in the above embodiment, the tightening means and correction means are changed while the pallet is not being supplied to the workpiece mounting table, but it is possible to change the setting even while the pallet is being supplied. be.

In addition, if a positioning correction means is provided, its supplement.

As a normal method, a visual sensor (camera) for detecting the positioning hole 73 of the vehicle body may be provided, and feedback control based on a position signal from this sensor may be adopted.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is a front view showing the overall configuration of a workpiece loading device, FIG. 2 is a plan view of a loading station that uses the same device, and FIG. FIG. 4 is a partially sectional front view showing a state in which the clamping means is clamped, and FIG. 4 is a plan view showing the clamping state of the tightening means. DESCRIPTION OF SYMBOLS 1... Work loading device, 2... Work mounting table, 3... Work positioning means, 4a-4
d...Locking portion, 5...Tightening means 56.
...Manipulator, 8...Vehicle body, 46
... Clamp device, Wl, W2...
work.

Claims (1)

[Claims] (1) A device for mounting a workpiece onto a workpiece on the main body side,
A workpiece positioning means having a workpiece placement part movable in the horizontal and vertical directions by numerical control and moving the workpiece to the workpiece mounting position on the main body side, and a workpiece positioning means selected from a plurality of locking parts provided at different positions. a tightening means that is attached to the workpiece mounting section by a locking section and tightens the workpiece to the workpiece on the main body side with a screw member; a manipulator that attaches and detaches the tightening means to and from the workpiece mounting section and supplies the screw member to the tightening means; A workpiece mounting device characterized in that the tightening position of the tightening means changes depending on the selection of the locking portion.