JPS63156628A - Parts assembling device - Google Patents

Abstract

PURPOSE:To make sure of parts assembling to a work, by setting up one side of pivots of three expansible units having sufficient expansile length in a parts holding table in the direction different in one piece, and supporting the other side rockably on a movable table. CONSTITUTION:Expansible units 73, 74 and 75 are constituted so as to make each long sufficiently expansible length. Among these three expansible units, the unit 75 is set to a different direction from that of other two units 73 and 74, and one side of respective pivots rockably attached to a parts holding table 70, and the other side is rockably attached to a movable table 62. Therefore, even when a conveying speed for conveying a work is irregular, each part van be located at the specified position of the work, thus parts can be automati cally assembled in an accurate manner.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a parts assembling device that can be used when assembling parts to a workpiece.

(Prior Art) For example, there is a conventional apparatus for assembling parts as shown in FIG.

This device is for assembling a fuel tank and other parts onto the lower surface of a car body as a workpiece. In the figure, 1 is a car body, 2 is a part to be assembled, and 3 is a parts assembly device.

The vehicle body 1 here is conveyed by a trolley set conveyor 4.
The device 3 is suspended via the hanger 5 and transported while being separated from the floor 6, and the device 3 assembles the parts by engaging the hanger 5 with the engaging arm 8 which is raised by the operation of the actuator tough. Then, it runs on the floor surface 6 below the vehicle body 1 and follows it.

The device 3 for assembling parts is also a pantograph type lifting device 9.
A table 10 is supported on the lifting device 9 so as to be horizontally movable. A parts stand 12 is provided on the table 10 and is moved up and down by the operation of an actuator 11. On this parts stand 12, there is a nut runner 13 as a tool for assembling parts, which is moved up and down by an actuator (not shown). , and a positioning pin 14 having a conical tip that can be engaged with a predetermined hole 1a of the vehicle body 1.

In the device 3, the parts 2 are assembled to the lower surface of the vehicle body 1 as described below.

Here, first, the parts assembly is performed by placing the device 3 in a standby state with the engaging arm 8 and the parts stand 12 lowered, and
Place part 2 on top.

When the vehicle body 1 is conveyed above the device 3, the engaging arm 8 is raised and engaged with the hanger 5, thereby causing the device to follow the vehicle body 1 in assembling the parts.

During such follow-up travel, the lifting device 9 is operated to move the table 10 and eventually the parts table 12 until the parts 2 and the tip of the positioning bin 14 approach the lower surface of the vehicle body 1.
Then, the operator 15 raises the positioning bin 14.
While watching the tip of the bin 14 and the hole 1a of the vehicle body 1, manually move the table 10 horizontally via the parts stand 12 as appropriate so that the positioning bin 14 and the hole 1a are roughly aligned in the vertical direction. The component table 12 is approximately positioned, and after this positioning, the component table 12 is further raised by the actuator 11, and the positioning bin 14 is inserted into the hole 1a. By inserting the positioning bin 14 into the hole 1a, the parts table 12 and, by extension, the parts 2 placed thereon are positioned at a predetermined position with respect to the lower surface of the vehicle body 1.

After that, the nut runner 13 is activated and a predetermined bolt is tightened to the vehicle body 1 to fix the component 2 to the lower surface of the vehicle body 1. After that, the engaging arm 8 and the component table 12 are lowered, and the component For assembly, the device 3 is returned to the tracking start position and placed in the initial standby state.

Through this series of operations, assembly of the component 2 to a predetermined position on the lower surface of the vehicle body 1 is achieved.

(Problems to be Solved by the Invention) However, in the case of the above-mentioned conventional parts assembly, the cost of assembling the parts increases because it requires the operator to position the parts table 12. On the other hand, there is a problem that is not desirable from the viewpoint of worker safety.To solve this problem, if the table 10 is fixed to the lifting device 9 so as to eliminate the worker's work of positioning the parts table 12, it is possible to In order to position the component 2 at a predetermined position, it is necessary to position the transport device 4 and the vehicle body 1 with respect to it with high precision, which causes another problem that the equipment cost becomes extremely high.

In order to solve this problem, the present applicant previously proposed in Japanese Patent Application No. 61-236183 that a movable table is moved horizontally to a following traveling device that follows the vehicle body and is placed in a predetermined position. A table positioning device for positioning, a table lifting device for raising and lowering the table positioning device, and a relative position detection device for detecting the relative position of the movable table with respect to the vehicle body and informing the table positioning device are provided, and further, the movable table is connected to the movable table via a floating device. Therefore, we proposed a device for assembling parts to be assembled to the car body and supporting tools for assembly, but with this device,
Because we used a floating device with balls interposed between opposing recesses, we were able to assemble the parts well enough for the car body transported by a normal transport device, but for example, we could pull the hanger with an extremely long chain. In cases where the moving speed of the car body is extremely irregular, such as when transporting the car body on a trolley conveyor, the positioning error of parts relative to the car body may exceed the allowable movement range of the floating device. This may cause problems when assembling parts.

The present invention provides a parts assembly device that improves the above-mentioned problems.

(Means for Solving the Problems) The parts assembly device of the present invention includes a movable table that can follow and move toward and away from the work being transported, and a floating support means for the movable table. a component holding table that is supported in a floating state through a component holding table to hold a component to be assembled to the workpiece; a hooking means provided on the component holding table that can hook onto a predetermined portion of the workpiece; and positioning by the hooking means. The component assembling means for assembling the component to the workpiece in a state in which the floating support means is expandable and contractable in mutual spacing and is biased by an elastic member so that the mutual spacing is a predetermined value. A number of extensible units, each having two pivots, are arranged such that at least one of the extensible units has an extensible direction that is different from the extensible direction of the other extensible units. while being swingably supported on the component holding table via one of the
It is characterized in that it is swingably supported by the movable table via the other one of the pivots.

(Function) In such a device, the movable table approaches the workpiece while following the workpiece, and engages the engaging means provided on the component holding table with the workpiece. Furthermore, the component is positioned at a predetermined position relative to the workpiece, and the floating support means,
During the positioning of the component holding table, the workpiece is allowed to shift as a movable table due to irregular operation of the transport device, thereby preventing the engaging means from detaching from the workpiece or the table positioning means being destroyed. To prevent.

Further, here, the component assembling means assembles the positioned component onto the workpiece.

Therefore, according to this device, parts can be automatically assembled to predetermined positions of the workpiece transported by the transporting device without manual intervention by the operator, and as a result, parts assembly can be done in a cost-effective manner. Not only can costs be reduced, but also the safety of workers can be ensured.

Moreover, according to this device, the floating support means is configured to swingably support at least three extendable units on the component holding table and the movable table via respective pivots, so that each extendable unit can be extended and contracted. By making the length sufficiently long, we have made it possible to make the allowable range of movement of the floating support means extremely wide, so the movement speed of the workpiece is extremely irregular, and depending on the following travel means or table positioning means, the movement of the floating support means can be extremely wide. Even when it is difficult to maintain the movable table in a predetermined position with respect to the workpiece during component assembly, the positioning of the component holding table to the workpiece by the engaging means can be ensured, and the component assembly to the workpiece can be carried out. This can be done extremely reliably.

(Example) Hereinafter, an example of the present invention will be described in detail based on the drawings.

FIGS. 1(a), (b), and (c) are front views showing an embodiment of the parts assembling apparatus of the present invention configured as an apparatus for assembling a fuel tank as a part onto a car body as a workpiece. , a plan view and a left side view, in which reference numeral 21 indicates a vehicle body, and 22 indicates a fuel tank assembled to the lower surface of the vehicle body 21.

In this example, as shown in FIG. 2(a), the vehicle body 21,
The trolley 26 running along the rail 25 of the trolley set conveyor 24 is suspended by its hanger 27 and conveyed in a state separated from the floor surface 28. In order to assemble the fuel tank 22 to the moving vehicle body 21, a following traveling device 29 is provided.

As shown in detail in FIGS. 1(a) to (c), this follow-up traveling device 29 has a rail 30 laid on the floor surface 28 in parallel with the rail 25 of the conhair 24, and a rail 30 laid on the floor surface 28. A truck drive mechanism consisting of a truck 31 that can run, a motor 32 fixed to the truck 31, a binion 33 coupled to the output shaft of the motor 32, and a rack 34 fixed to the floor 28 and meshed with the binion 33; A contact type relative position sensor 38 using a linear encoder supported by a sensor post 35 erected on a trolley 31 and raised and lowered by an actuator 37 under the guidance of a guide 36, and a preparation provided on each rail 25, It consists of a limit switch (not shown) for starting and stopping, and a control device (not shown) equipped with a normal computer that controls the operation of these, and the limit switch for preparation is located on the vehicle body 2.
When the vehicle body 21 approaches the truck 31, the starting limit switch detects that the vehicle body 21 is above the bogie 31, raises the relative position sensor 38, and moves the sensor arm 39 to a part of the vehicle body 21. Engage with the car body 2
The relative position between 1 and the truck 31 in the vehicle body transport direction can be detected, and when this relative position reaches a predetermined value, the truck 31 is started and the truck 31 is controlled so that the predetermined value of the relative position is maintained. The traveling speed is automatically controlled, and as a result, the trolley 3
This allows the vehicle to follow the vehicle body 21 of No. 1. Note that when the stop limit switch detects the vehicle body 21, the bogie 31 stops following the vehicle and returns to the predetermined following starting position.

Here, a pantograph-type table lifting device 40 and a table positioning device 60 that is raised and lowered by the table lifting device 40 are provided on the trolley 31.

As shown in FIGS. 1 and 2, the table lifting device 40 here has a structure between the lower surface of a base plate 61 of a table positioning device 60, which will be described in detail later, which is horizontally arranged above the cart 31, and the cart 31. Four lifting arms 41.
41.42.42 between arms 41 and arm 42
The arms 41 extend parallel to each other, and
and 42 are arranged to intersect with each other at the center.

Here, the central parts of the arms 41, 42 are connected to each other via a shaft 43, and one end of the arm 4L 41 is rotatable to the truck 3, and one end of the arm 42, 42 is rotatable to the base plate 61. It is freely supported, and on the other hand,
The other end of the arm 4L 41 is supported by the base plate 61 via a guide 44 so as to be freely movable in parallel thereto;
The other ends of the arms 42 and 42 are supported by the carriage 31 via a guide 45 so as to be freely movable in parallel thereto, and are axially coupled to a not-illustrated pole nut of a ball screw mechanism 46. This ball screw mechanism 46 consists of the above-mentioned pole nut and a male threaded shaft 47 that is screwed into the pole nut. , is connected to one end of the output shaft of a lifting drive motor 4B fixed to the trolley 31. Incidentally, the other end of the output shaft of the motor 48 is connected to a rotational position detection device, for example, a human power shaft of a rotary encoder 49.

According to this table lifting device 40, the lifting motor 4
By driving the pole nut 8, the pole nut can be moved forward and backward, and thereby the base plate 61
can be raised and lowered while maintaining its horizontal position.

Here, the vertical position of the base plate 61 can be determined by knowing the rotation angle of the motor 48 from the output signal of the rotary encoder 49. In the figure, reference numeral 50 denotes an auxiliary spring for relieving the horizontal load applied to the pole nand due to the weight of the table positioning device 60, etc., and the auxiliary spring 50 allows the motor 48 to operate efficiently.

On the other hand, the table positioning device 60 here includes the base plate 61 and the base plate 61 above the base plate 61.
A movable table 62 disposed parallel to (that is, horizontally in this case) is horizontally movably supported on the base plate 61 by a number of well-known pole supports 63 according to requirements, and three pole supports 63 for connecting the movable table 62 to the base plate 61. Drive unit 64.65.6L! : I'm equipped with it. Here, the drive units 64, 65, and 66 have approximately the same configuration as each other. For example, as shown in FIG. The male threaded shaft 66b of the mechanism is rotationally driven by the motor 66c, and the pole nut 66d that is threadedly engaged with the male threaded shaft is moved forward and backward.
The forward and backward positions of the motor 66c are output by a rotary encoder 66e that detects the rotational position of the motor 66c. Here, the three drive units 64 to 66 are arranged on the base plate 61 such that the drive units 64, 65 are parallel to each other, and the drive unit 66 is perpendicular to the drive units 64, 65, For example, the drive unit 66 is swingably supported on the base plate trolley 1 via a swing shaft 66f that protrudes downward from the lower surface of one end of the unit base 66a, and the drive unit 66 is swingably supported on the base plate trolley 1.
-66d is swingably supported on the movable table 62 via a swing shaft 66g protruding upward. Also, here, the end of the unit base 66a opposite to where the swing shaft 66f is provided is hooked to the base plate 61 by an angle-shaped member 67 so as to be horizontally movable, and prevent floating. Similarly, the other drive units 64 and 65 are supported in a swingable manner on the base plate 61 and the movable table 62, respectively, and are prevented from floating up from the base plate 61.

According to this table positioning device 60, since the movable table 62 is connected to the base plate 61 via the three drive units 64, 65, and 66, the movable table 62 is connected to the base plate 61, and the drive unit 64
The distance between the oscillating axes! 2. The distance between the swing axes ρ3 of the drive unit 65 and the swing axes 66f and 66g of the drive unit 66
Positioning can be performed at the horizontal coordinates and rotational position uniquely determined by the following equation from the distance 14, and the motors of each drive unit are driven to perform t2z, 13. l
By appropriately changing -, the movable table 62 can be moved in parallel and rotationally to any position within the same horizontal plane with respect to the base plate 61.

That is, a rectangular coordinate axis X is formed on the base plate 61.

Y is set, and the center coordinates of the swing axis 66g on the movable table side of the drive unit 66 are (x, y), and the drive unit 6
, i, 65.66, the center coordinates of the swing axis on the base plate side are respectively (X2+yz)+(X3+3'
3) + (X4+y4), the distance between the centers of the swing axes on the movable table side of the drive unit 65.66 is a, the distance between the centers of the swing axes on the movable table side of the drive unit 64.65 is b, and , α is the angle between the center-to-center line segment of the swing axes on the movable table side of the drive unit 65, 66 and the center-to-center line segment of the drive unit 64, 65 on the movable table side. Let hX be the vector that makes the angle α/2 from the line segment that directs the direction of the movable table 62, and let θ be the angle of this vector h from the Y axis. □+ 13+
j24 and the position of the movable table 50 (x, y.

The relationship with θ) is 14-5 doors possible" - (i) - - (ii). However, Xz ~ X4 + 3'z ~ y4 + a
+b and α are constants, here in particular ya=
Assume O.

Furthermore, 2□, 1. S,! 2a can be determined from the advance/retreat position of the ball nut based on the output signal of the rotary encoder of each drive unit.

Here, parts are held above the movable table 62, which is capable of following the moving vehicle body 21 and approaching and leaving the moving vehicle body 21 using the following traveling device 29, the table lifting device 40, and the table positioning device 60 as described above. A table 70 is arranged horizontally, and the component holding table 70 is supported by the movable table 62 via a floating mechanism 71 as an example of floating support means.

The floating mechanism 71 here has a configuration similar to the table positioning device 60 described above.

That is, the floating mechanism 71 is as shown in FIG. 3(a).
.

As shown in (b), a desired number (eight in this example) of ball-type supports 72 similar to the ball-type supports 63 support the component holding table 70 in a horizontally movable manner.
and connects the component holding table 70 to the movable table 62, here three extendable 22) 73.74.75
It will be equipped with.

These extendable units 73, 74, and 75 have substantially the same configuration as each other. For example, the extendable unit 75 includes a bracket 75a and a bracket 75a.
A guide rod door 5b has one end fixed to a, and a subring receiver 75 fixed to the other end of the guide rod 75b.
c, a moving member 75d having a built-in ball bushing and fitting into the guide rod 75b so as to be able to move forward and backward, and between the moving member 75d and the bracket 75a and the moving member 75d.
Spring 75e, 75e is interposed between the spring receiver 75c and the spring receiver 75c, and the spring 75e is fixed to the bracket 75a, and is slidably fitted to the movable member 75d to prevent the movable member 75d from rotating around the guide rod 75b. It is provided with guide plates 75f and 75f for preventing. A swing shaft 75g is rotatably provided on the bracket 75a, and a swing shaft 75h is fixed to the moving member 75d.

With this configuration, the extendable unit 75 in this example
can expand and contract the distance between its swing axes 75g and 75h by external force, and when the external force is removed,
The distance between the swinging axes is set to a predetermined value by the action of the springs 75e and 75e. The other telescoping units 73, 74 in this example also operate in the same manner as the telescoping unit 75.

Here, these telescoping units 73.74°75
, the telescoping units 73 and 74 are parallel to each other,
The telescoping units 75 are the telescoping units 73
．． 74 on the movable table 62, and the swing shafts on the bracket side of each extendable unit 73 to 75 are fixed to the movable table 62, while the swing shafts on the movable member side are fixed on the movable table 62. Rotatably supported. As a result, the extendable units 73 to 75 each have a
It is possible to swing relative to each of the movable table 62 and the component holding table 70.

According to the floating mechanism 71 configured in this way, when an external force is applied to the component holding table 70, the three extendable units 73 to 75 respectively expand and contract the distance between the swing axes and the distance shown in FIG. ), the component holding table 70 can be moved in any horizontal direction relative to the movable table 62 under the support of the ball-type support 72. , and can be rotated. On the other hand, when there is little or no external force on the component holding table 70, the two extendable units 1-73.
74 positions the component holding table 70 with respect to the movable table 62 in the left and right direction in FIG. In b), since the positioning is performed in the vertical direction, the component holding table 7o can be returned to a predetermined position and held there.

Moreover, according to this floating mechanism 71, if the extendable length of each extendable unit 73 to 75, that is, the distance in which the movable member, for example 75d, can move forward and backward is made sufficiently long, the allowable range of movement of the component holding table 7o can be extended to an extremely wide range. In particular, in this example, the above-mentioned forward/backward movable distance can be made very easily long.

Note that the arrangement of the extendable units 73 to 75 may be such that at least one extends in a direction different from the rest when no external force is applied to their swing axes; other arrangements,
For example, it is also possible to have a radial shape. Further, the number of extendable units may be further increased.

Here, two positioning bins 80 and 80 each having a conical tip are set up on the parts holding table 70 as an example of an engagement means that can be engaged with two predetermined engagement holes on the lower surface of the vehicle body. At the same time, a plurality of posts (not shown) are erected to position and support the fuel tank 22 at predetermined positions, and the required bolts are installed at predetermined positions of the fuel tank 22, which are aligned with five bolt holes in this case. A bolt placement device 81 is provided to place the bolts. Furthermore, a bolt supply device 82 is provided on the side of the component holding table 7° for supplying bolts to the bolt placement device 81 by actuation of an actuator. Further, on the lower surface of the component holding table 70, well-known nut runners 84, which are an example of a device for assembling components and which are raised and lowered by an actuator 83, are provided so as to be aligned with the bolt holes of the fuel tank 22, respectively.

On the other hand, on the movable table 62, two television cameras 85 and 85 using, for example, solid-state image sensors are fixed upward through brackets.

Note that one of these television cameras 85, 85 is for wide-range imaging to know the approximate position, and the other is for narrow-range enlarged imaging to know the relative position accurately.

These television cameras 85.85 are connected via a pattern recognition device (not shown) to a control device used in combination with the above-mentioned following traveling device, and this control device also includes a motor 48 of the table lifting device and a row encoder. 4
9 and each drive unit of the table positioning device) 64.6
5.66 motor and row encoder, bolt placement device 81 and bolt supply device 82, actuator 83 and nut runner 84 are connected, respectively.

In addition, in this example, as shown in FIGS. 2(b) and 2(c), a conveyor 90 for transporting the fuel tank 22,
A polar coordinate work robot 91 transfers a fuel tank 22 on a conveyor 90 onto a component holding table 70 on a truck 31 located at a tracking start position (to be described later), and a truck 3 at the above position.
A bolt alignment device 92 that aligns and supplies bolts to the bolt supply device 82 on the top of the bolt supply device 82, and a control device 93 that causes the conveyor 90, the work robot 91, and the bolt alignment device 92 to cooperate with each other are provided. is connected to the control device of the following traveling device described above.

According to the parts assembly apparatus configured in this manner, the fuel tank 22 can be automatically assembled at a predetermined position on the lower surface of the vehicle body 21 being conveyed by the conveyor 24 as described below.

First, based on the operation of the table lifting device 40,
The base plate 61 is lowered and the component holding table 7 is
The vertical position of the fuel tank 22 is maintained at the lower limit position shown in FIG. To sufficiently avoid interference between the device and the vehicle body 21 being transported.

Also, at this time, the movable table 62 is positioned at the center of its operating range based on the operation of the table positioning device 60, the trolley 31 is positioned at the tracking start position by the operation of the tracking traveling device 29, and The fuel tank 22 is moved to the side of the work robot 91, and in this state, the work robot 91 transfers the fuel tank 22 from the conveyor 90 to a predetermined position on the parts holding table 70, and the bolt alignment device 92 to the bolt supply device 82 to supply the required bolts to the vehicle body 21.
Wait for the arrival of.

Here, when the vehicle body 21 that is being continuously conveyed by the conveyor 24 reaches above the truck 31, the truck 3
1, and then, when the relative position in the vehicle transport direction between the truck 31 and the vehicle body 21 reaches a predetermined position, the table lifting device 40 is activated,
The component holding table 70 is raised to a vertically intermediate position close to the lower surface of the vehicle body.

When the component holding table 70 reaches the above-mentioned intermediate position, its ascent is temporarily stopped and the television camera 85 is opened at that position.
, a predetermined vehicle body position recognition hole on the lower surface of the vehicle body 21 is imaged, and from the position of the image, the relative position of the vehicle body 21 and its parts assembly relative to the movable table 62 in terms of horizontal coordinates and rotation is detected. Then, in this part assembly, the position of the movable table 62 at which the fuel tank 22 overlaps (the movable table target position) is calculated. At this time, 2□, 13, 1. Further, the current relative position of the movable table 62 with respect to the base plate 61 is detected from these 2□ to 14. Here, the distance in the X and Y axis directions and the angular difference (ΔX, ΔY1Δθ) between the current position and the target position of the movable table 62 are calculated via the base plate 61,
Their distance and angular difference (ΔX.

The movable table 62 and, by extension, the component holding table 70 are moved in parallel and rotationally by ΔY, Δθ).

This movement of the component holding table 70 causes the fuel tank 22 placed thereon to be vertically aligned with the predetermined component assembly position on the lower surface of the vehicle body 21.

Thereafter, the table lifting device 40 is operated again, and the component holding table 70 is moved so that the fuel tank 22 is located at a predetermined mounting height from the lower surface of the vehicle body 21 (see FIG. 2).
a) Continue to rise to the upper limit position indicated by middle B.

During this rise, the component holding table 70 can be moved horizontally relative to the movable table 62 by the floating mechanism 71.
When the two positioning pins 80, 80 begin to enter the two engagement holes on the lower surface of the vehicle body due to the rise, their horizontal position is finely adjusted as the position rises, and when reaching the upper limit position, The fuel tank 22 is precisely positioned at a predetermined assembly position on the underside of the vehicle body. If a shift occurs in the relative position of the movable table 62 with respect to the vehicle body 21 due to speed fluctuations of the conveyor 24, etc., the floating mechanism 7
1 absorbs the deviation and prevents damage to the equipment, conveyor 24, vehicle body 21, etc. due to excessive force during assembly of the parts.

Note that this floating mechanism 71 has an extremely wide range of movement, so the device and conveyor 24 may be stopped during assembly due to an emergency stop of the vehicle body assembly line, etc.
Even if only the trolley 26 and, by extension, the vehicle body 21 move slightly due to inertia, the component holding table 70 can be allowed to move along with the vehicle body 21, and damage to the equipment and the like can be prevented during component assembly.

Following this positioning of the fuel tank 22, here,
The bolt supply device 82 and the bolt placement device 81 supply the required bolts to the bolt hole positions of the fuel tank 22, and the bolts are tightened to the underside of the vehicle body by the nut runner 84 raised by the operation of the actuator 83. 22 is fixed to the lower surface of the vehicle body 21.

This completes the assembly of the fuel tank 22, and after this, the assembly of the parts returns the device to the above-mentioned standby state.

As described above, the parts assembly in this example is carried out by the device, which is attached to the vehicle body 21 which is conveyed by the conveyor above the device.
The fuel tank 22 can be automatically assembled at a predetermined position on the bottom surface, and therefore the operator does not need to position the parts table, and parts assembly reduces work costs and improves the safety of the operator. Moreover, since the allowable movement range of the floating mechanism can be made extremely wide, it is possible to stabilize the conveyance speed of the conveyor for conveying the vehicle body,
A large amount of equipment cost is not required for improving the accuracy of the placement position of the vehicle body on the conveyor.

It goes without saying that the apparatus of the present invention can be applied not only to car bodies but also to the assembly of other parts to other workpieces.

(Effects of the Invention) Thus, according to the apparatus of the present invention, even when the conveyance speed of the conveyor is irregular, the workpiece conveyed by the conveyor can be automatically moved to a predetermined position without manual intervention by the operator. Moreover, parts can be assembled reliably, so parts assembly reduces work costs and ensures worker safety.
This can be achieved without requiring significant equipment costs.

[Brief explanation of the drawing]

FIGS. 1(a), (b) and (c) are a front view, a top view and a left side view showing essential parts of an embodiment of a device for assembling parts of the present invention; FIGS. 2(a) and (c) are b) and (c) are a front view, a top view and a right side view showing the entire device shown in Fig. 1;
Figures (a) and (b) are a partial cross-sectional view of the device shown in Figure 1 (a) in direction C and arrow D, and Figure 4 is a route diagram showing the device for conventional parts assembly. It is. 21... Vehicle body (work) 22... Fuel tank (parts) 24... Conveyor 29... Follow-up traveling device 40... Table lifting device 60... Table positioning device 62... Movable table 70 ... Component holding table 71 ... Floating mechanism (floating support means) 73.74.75 ... Expandable unit 80 ... Positioning pin (engaging means) 84 ... Nut runner (parts assembly means) 85...
Television camera patent applicant Nissan Motor Co., Ltd. Figure 2 (b)

Claims (1)

[Claims] 1. A movable table (62) that can follow and move toward and away from the workpiece (21) being transported, and a floating support means (71) on the movable table (62).
), the workpiece (21) is supported in a floating state via
a component holding table (70) that holds a component (22) to be assembled on the workpiece; and a hooking means (80) provided on the component holding table (70) that can hook onto a predetermined portion of the workpiece.
) and a component assembling means (84) for assembling the component to the workpiece in a positioning state by the engaging means (80),
The floating support means (71) is at least three extendable units each having two pivots whose mutual spacing is extendable and biased by an elastic member so that the mutual spacing is a predetermined distance. (73, 74
, 75) are swung onto the component holding table (70) via one of the pivots in an arrangement in which at least one of the extendable units has a different extendable direction from the other extendable units. While movably supporting the
A parts assembling device, characterized in that it is swingably supported by the movable table (62) via the other one of the pivots.