JPS6283258A - Heavy work loading device - Google Patents

Abstract

PURPOSE:To prevent defective loading in a heavy work from occurring, by stopping the drive a loading table at a time when such load as being more than the setting value acts on this mounting table of a heavy work loading device. CONSTITUTION:At the time of an engine front suspension assembled body being automatically loaded on a car body, if this body is suspended as titled from a hanger, an engine pushes up the body. And, such load as being more than the setting value acts on a loading table 35, whereby a pipe 36 between the loading table 35 and a turntable 25 is deformed as far as more than the specified value. This deformation is detected by a stain gauge, and the signal is inputted into a control unit, thereby stopping operation of a servocontrol device 30 of the heavy work loading device.

Description

[Detailed Description of the Invention] [Industrial Field of Application] This invention is applicable to heavy load towers used in the assembly process of automobiles, etc. ! This is about the 2nd edition.

[Conventional technology]

In the automobile assembly process, for example, when assembling an engine to a car body, the body is hung on an overhead conveyor and transported in a tact, while the engine is placed on the table of the heavy object loading device of the engine-mounted station run. When the body arrives at the loading station, a method is widely adopted in which the engine is lifted up by a heavy load loading device and then assembled onto the body, but in this case, simply lifting the engine can cause interference between the engine and the body. There is a problem that this problem occurs, and in today's era of automatic installation, resolving this problem is an important issue.

Therefore, in conventional heavy load loading devices, for example,
As shown in Publication No. 206266, a mounting table is provided so as to be movable in the vertical direction, forward and backward directions, and left and right directions, and this mounting table is driven along a predetermined mounting trajectory depending on the type of body and engine. There was one that was designed to prevent interference with the engine.

[Problem that the invention seeks to solve]

However, with the device described in the above-mentioned conventional publication, there may be a misalignment between the body and the heavy object loading device, such as when the body is hung at an angle when the body is hung on the overhead conveyor. There was a risk that the body would interfere.

For example, in the assembly process of a front-wheel drive vehicle, when the engine/front suspension assembly and rear suspension are automatically mounted at the same time, the engine and body may interfere and the engine may push up the body, causing the heavy object to be loaded onto the heavy object. On the other hand, on the rear side, the suspension may not reach the mounting position of the body, and even if the nut runner etc. operates in this state, the rear suspension may not be attached to the body. A problem arises in that it cannot be assembled.

SUMMARY OF THE INVENTION In view of these problems, it is an object of the present invention to provide a heavy object loading device that can easily deal with unexpected interference between a heavy object and a transported object, tilting of the transported object, and the like.

[Means for Solving the Problems] Therefore, the heavy object loading device according to the present invention is provided with a loading table movable in the forward and backward directions, left and right directions, and up and down directions with respect to the conveying direction, and a servo that moves the loading table. The servo control means is provided with a control means and a load detection means for detecting a load exceeding a set value of the mounting table and stopping the servo control means.

[Effect]

In this invention, when the heavy object interferes with the conveyed object while the loading table is being driven to move the heavy object and a large load acts on the loading table, the load detection means detects this and moves the loading table. The drive is stopped, thereby preventing a larger load from acting on the mounting table.

〔Example〕

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

1 to 6 show a heavy object loading device according to an embodiment of the present invention, which is an example applied to an assembly process of a front-wheel drive vehicle. In the figure, 1 is a tact conveyor,
The tact conveyor 1 has an automobile body (transferred object) 2
A hanger 3 suspending the body 2 is removably engaged with the body 2, and the tact conveyor 1 transports the body 2 in a tact manner.

A positioning station 4 and a loading station 5 are provided below the tact conveyor 1 at adjacent stop positions, and the positioning station 4 is provided with four visual sensors 6 for detecting the position of the body 2. The mounting station 5 is provided with a pair of heavy object loading devices 8 for mounting an engine/front suspension assembly 7 or a rear suspension (heavy object), and the device 8 is equipped with a pair of heavy object loading devices 8 for mounting an engine/front suspension assembly 7 or a rear suspension (heavy object). Conveyors 9 are arranged for supplying.

Further, in the heavy object loading device 8, the base 11 is provided on the floor surface 10.
is fixed, a cylinder 12 is provided on the base 11,
A base table 13 is attached to the tip of the rod of the cylinder 12 in a floating manner. A left-right moving table 14 is placed on this base table 13,
Between the two tables 13 and 14, there is a guide rail 15 extending in a direction (left and right) substantially perpendicular to the conveying direction of the tact conveyor 1, and a guide receiver 1 slidably engaged with the guide rail 15.
6 is provided, and a rack 17 is fixed to the bottom surface of the left-right movable table 14 in the left-right direction, while a base table 13
A motor 18 is fixed on the top, and a pinion 19 that meshes with the rack 17 is attached to the drive shaft of the motor 18.

Further, a back-and-forth moving table 20 is placed on the left-right moving table 14, and a guide rail 21. and a guide receiver 22 that slidably engages therewith.
A rank and pinion mechanism 23 and a motor 24 for moving the longitudinally movable table 20 in the longitudinal direction are also provided.

Furthermore, a rotary table 2 is mounted on the back and forth moving table 2o.
5 is placed thereon, and a roller member 26 is disposed between the rotary table 25 and the back-and-forth moving table 20, and the rotary table 25 is rotatably provided around a rotary shaft 27, and the rotary shaft 27 is connected to a belt. The rotary table 25 is connected to a servo motor 29 via a servo motor 28, and as described above, the rotary table 25 is provided so as to be movable in the front-rear direction, left-right direction, and up-down direction with respect to the yaw plane lO, and rotatable around the up-down axis. , the above rank and pinion mechanism 17, 19.23 and the nervo motor 18.24. The belt 28 and the servo motor 29 constitute a servo control means 30 that moves and rotates the rotary table 25 with respect to the floor 10.

Furthermore, a pair of cylinders 3 are provided on the upper surface of the base table 13.
1 is attached with its rod facing outward in the left-right direction, and a contact member 32 is fixed to the left and right edges of the left-right moving table 14 in a manner that projects downward, and on the upper surface of the left-right moving table 14, a contact member 32 is fixed. A pair of cylinders 33 are attached with their rods facing outward in the longitudinal direction, and contact members 34 are fixed to the front and rear edges of the longitudinally movable table 20 to protrude downward, and the horizontally movable table 14 and the back and forth moving table 20 return to their origin using cylinders 31 and 33.
This is done by projecting the rod by a predetermined amount and bringing it into contact with the abutment members 32,34.

Further, a chevron-shaped cam 37 is fixed to the lower surface of the rotary table 25, and a limit switch 40 is mounted on the back-and-forth moving table 20.
5 returns to the origin using the above-mentioned chevron-shaped cam 39 and the limit switch 4.
The rotary table 2 is rotated by the servo motor 29 until 0 is operated.
This is done by rotating 5.

In addition, in the figure, 41 is a positioning member, 42 is a nut runner,
43 is a reference pin.

A loading table 35 is placed on the rotary table 25, a pipe 36 is welded and fixed between the two tables 25 and 35, and a strain gauge 37 for detecting the amount of strain in the pipe 36 is installed inside the pipe 36. The pipe 36 and the strain gauge 37 constitute a load X detection means 38, and when a load of more than a set value acts on the loading table 35 and a strain of more than the set value occurs in the pipe 36, the strain is detected. The operation of the servo control means 30 is stopped by a signal from the gauge 37. Loading table 35 here
The set load may be set to, for example, the total weight of the heavy object and the body 2.

Next, the operation will be explained.

The body 2 of the occupancy wheel suspended from the hanger 3 is continuously conveyed by a continuous conveyor, and when it reaches a predetermined position, the body 2 is drawn into a tact conveyor 1 by a feeder and is conveyed by the conveyor 1 in a tact manner. When the vehicle body 2 stops at the positioning station 4 of the tact conveyor 1, the position of the body 2 is detected by the visual sensor 6, and the output of the sensor 6 is input to a control unit (not shown). In this control unit, data on the mounting trajectory corresponding to the type of body and engine is stored in advance, and the data on the mounting trajectory is corrected to the origin according to the projection of the visual sensor 6.

Next, this body 2 is transported by tact from the positioning station 4 and stopped at the loading station 5, and then conveyed by the conveyor 9.
Engine/front suspension assembly transported by 7. Alternatively, when the rear suspension is placed on the loading table 35 of the heavy object loading device 8, a drive signal is sent from the control unit to the servo motors 18, 24, 29 of the heavy object loading device 8 and It is added to the hydraulic pressure supply circuit of the cylinder 12. Then, in this heavy object loading device 8, the cylinder 12 is activated and the base table 13 is raised, and the servo motors 18, 24 .
29 rotates and its driving force is transmitted to the rack and pinion mechanism 17.
19.23 or left and right moving table via belt 2 days 14. The information is transmitted to the forward and backward moving table 20 and the rotary table 25, and the moving table 14.20 is moved in the left and right direction 0 times forward and backward, and the rotary table 25 is rotated, whereby the engine/front suspension assembly 7 of the mounting table 35 is moved. ．． Alternatively, after correcting the origin position of the mounting table 35 according to the output of the visual sensor 6, the rear suspension is sent toward the vehicle body 2 along a predetermined mounting trajectory, and is moved to a predetermined mounting position on the vehicle body 2. When the nut runner 42 is activated, the engine/front suspension assembly 7. Alternatively, the rear suspension is automatically assembled to the body 2, and after the assembly is completed, each table 13, 14, 25 is returned to its origin, and the mounting table 35 is returned to its original state.

When the engine/front suspension assembly 7 and the rear suspension are automatically mounted on the car body 2 in this way, if the body 2 is hung on the hanger 3 at an angle, for example, as described above, The engine pushes up the body 2 and the heavy load loading device 8 on the front side
There is a risk that an abnormality or failure may occur in the rear suspension, and that the rear suspension suspension of the rear heavy object mounting system W8 may not reach the mounting position of the body 2, making it impossible to assemble the rear suspension. In contrast, in this device, in the case described above, in the front heavy object loading device 8, when the engine pushes up the body 2 and a load of more than the set value acts on the loading table 35, the loading table 35 and the rotary table 25 The pipe 36 between them is deformed by a predetermined amount or more, this is detected by the strain gauge 37, and the signal from the strain gauge 37 is input to the above-mentioned control unit, which controls the front and rear heavy load loading devices 8. The operation of the servo control means 30 is immediately stopped, thereby preventing a load exceeding the allowable amount from being applied to the front heavy object loading device 8, and also preventing an assembly failure from occurring in the rear heavy object loading device 8. This will be prevented.

In the device of this embodiment as described above, when a large load is applied to the loading table during automatic loading, this load is detected and the operation of the device is stopped. It is possible to prevent failure of the device when a heavy object such as an engine and the body interfere with each other due to the cause, and also to prevent the occurrence of improper assembly of heavy objects.

Although the above embodiment has been explained by taking as an example a heavy object loading device in the assembly process of a front-wheel drive vehicle, the present invention is of course applicable to other heavy object loading devices. Also, if the load detection means is on the side of the heavy object loading device,
It may be provided at a location other than between the loading table and the rotary table. Furthermore, it is not necessary to provide a rotating function of the mounting table, ie, a rotating table and its servo control means.

Furthermore, it is not necessary to stop the servo control means for the front and rear 1i mass loading devices; in this case, the operator can notice the stoppage of one device and take action on the other device as well.

Further, in the above embodiment, a servo motor and a cylinder are used as the servo control means, but a drive means other than the servo motor and cylinder may be used.

Furthermore, the servo control means may be constructed using a screw rather than a rack and pinion mechanism.

Further, in the above embodiment, the position of the body 2 detected by the visual sensor 6 of the positioning station run 4 is transmitted to the control unit 7.
) was corrected by adding it to the data stored in This may be done by operating the slide member by servo control or the like.

〔Effect of the invention〕

As described above, the heavy load tower according to the present invention! ! ! According to the device, when a load exceeding a set value is applied to the loading table,
Since the driving of the loading table is stopped, it is possible to prevent failure of the apparatus due to interference between the heavy object and the transported object, and it is also possible to prevent poor loading of the heavy object due to the inclination of the transported object.

[Brief explanation of drawings]

FIG. 1 is a schematic diagram of a heavy object loading device according to an embodiment of the present invention, FIG. 2 is an overall configuration diagram of the device, FIG. 3 is a partially enlarged front view of the device, and FIG. 4 is a diagram of the device. FIG. 5 is a partially enlarged plan view, FIG. 5 is an enlarged sectional view of the load detection means in the above device, and FIG. 6 is a plan view of the rotary table 25 in the above 'AR. 2...Body (carried object), 7...Engine/front suspension assembly (heavy object), 3o...Servo control means, 35...Mounting table, 3rd...Load detection means.

Claims (1)

[Claims] (1) A heavy object loading device for loading a heavy object onto a conveyed object along a predetermined loading trajectory, and is provided so as to be movable in the front-rear direction, left-right direction, and vertical direction with respect to the conveyance direction. a mounting table, a servo control means for moving the mounting table, and a load detection means for detecting a load applied to the mounting table and stopping the operation of the servo control means when the load exceeds a set value. A heavy object loading device characterized by: