JPS63170182A - Automatic seat assembling device for vehicle - Google Patents

Abstract

PURPOSE:To perform the assembly operation of a seat so efficiently, by installing a turnover device holding the seat on a conveyor belt, holding the seat delivered out of the turnover device with an assembling robot, and mounting it on a seat mounting part. CONSTITUTION:A seat is mounted on a conveyor belt 16, held by a turnover device 20, and it is delivered to a positioner 21. The positioned seat is held by an assembling robot 19, carried in a car body 3 and mounted on a seat mounting part. And, when the seat is carried inside the car body 3, the car body 3 is being held at a regular position at an upper part of the conveyor belt 2 by lift columns 4 and 5, and when the seat is mounted on the seat mounting part, the assembling robot 19 comes off the car body 3. With this constitution, in a process ranging from carrying-in to assembling of the seat, both delivery and assembly operations for the seat are efficiently performable.

Description

DETAILED DESCRIPTION OF THE INVENTION A0 OBJECTS OF THE INVENTION (11) INDUSTRIAL APPLICATION FIELD The present invention relates to an automatic vehicle seat assembly device for automatically assembling a seat into a vehicle body on an assembly line.

(2) Conventional technology When assembling a seat into a car body on the production line, conventionally, the seat was brought into the car body manually and assembled, or even if a robot was used for assembly. The seat delivery work was inefficient, and the assembly work was done by robots, which involved equipment that required a large amount of work space and installation area.

(3) Problems to be solved by the invention In conventional vehicle seat assembly devices, the seat handover work performed during the process from transporting the seat to installing it into the vehicle body is inefficient, and the entire device is This requires a large amount of work space and installation area, and the configuration is complicated, so the control must also be complicated.

Therefore, the present invention has a simple configuration, allows for smooth and efficient seat transfer work, is easy to control, allows for accurate assembly work, and requires less work space and installation area for the entire device. The main object of this invention is to obtain an automatic vehicle seat assembly device that can be installed easily.

B0 Structure of the Invention (1) Means for Solving the Problems According to the present invention, the assembly of the vehicle body is carried out using a transfer conveyor that transfers the vehicle along a line, and a transfer belt that places and transfers the seat that has been brought in. , a reversing device that grasps the seat on the transfer belt and reverses it so that it is in the required orientation for assembly into the vehicle body; A positioning device is used to position the seat, and a robot is used to assemble the seat. When the vehicle body is assembled into the vehicle body, a lift column for holding the vehicle body in a fixed position spaced upward from the transfer conveyor, the transfer conveyor, the transfer belt, the reversing device,
There is obtained an automatic vehicle seat assembling device characterized in that the positioning device, the assembling robot, and a control device that controls the linked operation of the lift column are provided.

(2) Function The seat carried in is placed on a transfer belt, and the seat is transferred by this transfer belt toward a reversing device, where it is then gripped by the reversing device and oriented in the required direction for assembly into the vehicle body. After being reversed so that it becomes , it is delivered to a positioning device. The seat positioned by the positioning device is gripped by a robot for assembly, and the assembled seat is carried into the vehicle body and placed on the seat assembly. When the robot carries the seat into the car body, the assembly is carried out by a robot.
Lift struts hold the car body in place upwardly spaced from the transfer conveyor. When the seat is placed on the seat mounting section within the vehicle body, the assembly robot leaves the vehicle body.

(3) Examples An embodiment of the present invention will be described below with reference to the drawings.

First, in FIG. 1, during assembly, a transfer conveyor 2 driven in the direction of arrow a along line l is provided, and a large number of car bodies 3 are arranged in tandem by this conveyor 2. They are sequentially transferred in the forward direction. Transfer conveyor 2
Lift columns 4.5 are arranged on the left and right sides of the
When parts are assembled to the vehicle body 3, each vehicle body 3 is lifted from the transfer conveyor by the lift columns 4 and 5, and the assembly is held stationary at a preset processing position.

A hanging support 6 hangs down from the upper side of the transfer conveyor 2, and a slider 8 supporting a vertical transfer table 7 is configured to move up and down in the direction indicated by the arrow while being guided by this hanging support 6. The vertical transfer table 7 supports a pair of gripping arms 11 and 12 that protrude rearward with respect to the vehicle body 3. The gripping arms 11, 12 are arranged in the vertical transfer table 7 so as to approach or separate from each other in the horizontal plane, and are translated in parallel based on the operation of the drive device. When the vertical transfer table 7 is at the upper limit position, each gripping arm 11.12
are close to each other, receive the front seat S for the vehicle body 3 conveyed by an overhead conveyor (not shown), and descend, and the slider 8 hits the stopper 10 formed at the lower end of the hanging column 6. At the point of contact, the gripping arms 11 and 12 move away from each other as indicated by the arrows d and d'.
Move in the direction of and release seat S. The seat S has a backrest 9 and faces frontally towards the transfer conveyor 2 while being gripped by each gripping arm 11.12, and facing towards the transfer conveyor 2 when released from each gripping arm 11.12.
Released with the front facing towards the side.

A transfer table 1 is placed below the hanging support 6 in parallel with the transfer conveyor 2.
3 are arranged. The transfer belt 16, which is driven by the morph 14 disposed in the transfer table 13 via the transmission belt 15, is driven in the direction of arrow C or C', but is normally driven in the direction of arrow C. , each gripping arm 11.12
After receiving the seat S released from the seat S, the seat S is transferred in the direction of arrow C, that is, to the rear with respect to the vehicle body 3.

A work table 17 is disposed adjacent to the transfer table 13 on the forward side of the transfer belt 16 during normal operation, that is, on the side in the direction of arrow C. On this workbench 17, a workbench 18 is disposed adjacent to the transfer conveyor 16, and further adjacent to this workbench 18, an assembly robot 1-19 is disposed.

1 and 2, there is a reversing device 20 on the workbench 18 for reversing the direction of the seat S, and the seat S that has been reversed by the reversing device 20 is assembled so that the robot 19 can easily grasp it. positioning device 21 for positioning
is installed.

The reversing device 20 is connected to a guide rail 23° 23' on the workbench 18.
A self-propelled platform 22 that moves parallel to the transfer conveyor 2 in the direction of arrow e, and an elevating platform disposed above this self-propelled platform 22 so as to move up and down in the direction of arrow f via an elevating cylinder 24. The table 25, the swivel table 27 disposed on the elevating table 25 via a swivel device 26, and the guide rails 28 and 28' disposed on the upper surface of the swivel table 27 are mutually arrowed.

A pair of gripping arms 29 and 30 are provided so as to approach or separate from each other in the direction h'.

When the seat S released from the gripping arms 11 and 12 of the vertical transfer table 7 is transferred toward the reversing device 20 by the transfer belt 16, the reversing device 20 is moved closer to the transfer belt 16 by the self-propelled table 22. Each of the gripping arms 29 and 30 is waiting for a seat S close to and above the transfer belt 16. When the seat S reaches the gripping position by the gripping arms 29 , 30 , the gripping arms 29 , 30 approach each other and grip the lower part of the seat S, and the actuation of the lifting cylinder 24 moves the seat S above the transfer belt 16 . and push up. Immediately, by the operation of the rotation device 26, each of the gripping arms 29 and 30 turns along the arrow g to invert the seat S, and after adjusting the position of the seat S by moving the self-propelled platform 22, the lifting cylinder 24 is activated. The seat S is lowered onto the mounting table 31 by each gripping arm 29.
30 are moved in parallel in a direction away from each other, thereby releasing the seat S. After the gripping arms 29 and 30 release the seat S, the self-propelled platform 22 moves to the transfer belt 16 side again,
By actuation of the swivel device 26, the gripping arms 29, 30 are returned to the seat standby position on the transfer belt 16 again.

The positioning device 21 moves the workbench 18 on the front side of the seat S by the operation of a drive bag W, 32 such as a motor, for example.
A positioning slide 34 is moved along the upper guide rail 33, 33', and on the back side of the seat S, it is moved along the guide rail 36, 36' on the work platform 18 by actuation of a drive device 35, such as a motor. a positioning slider 37 that moves, a positioning stopper 38 disposed on the right side of the seat S on the mounting table 31, and a positioning slider 39 that approaches and moves away from the positioning stopper 38 on the mounting table 31. Seat S is placed 71 on the mounting table 31.
When the gripping arms 29, 30 are retracted from the mounting table 31, each positioning slider 34.39 presses the seat S by the operation of each drive device 32.35, and positions the seat S in the longitudinal direction. At the same time, the positioning slider 39 presses the seat S toward the positioning stopper 38 to position the seat S in the left-right direction.

During assembly, the robot 1-19 is moved along the guide grooves 41 and 41' on the workbench 17, as indicated by the arrow i, by the operation of the horizontal movement drive device 40, such as a motor, mounted on the workbench 17. As shown, a slider 42 is moved in a horizontal plane in a direction perpendicular to the transfer conveyor 2, and a guide groove on the slider 42 is moved by the operation of a horizontal movement drive device 43, such as a motor, mounted on the slider 42. etc. rail 44
44', the slider 45 is moved in a horizontal plane in a direction parallel to the transfer conveyor 2, as indicated by the arrow j.
and a swivel base 47 that is swiveled around the vertical axis on the slider 45 as shown by an arrow k by the operation of a swiveling driving bag W, 46 such as a motor mounted on the slider 45, and this swivel base. By the operation of a lifting drive device 49 such as a motor mounted on the top of a vertical column 48 whose lower end is fixed on a column 47, the vehicle moves along a rail 50 such as a guide groove formed on the side surface of the column 48. Arrow! It is equipped with a slider 51 that moves up and down as shown in FIG.

1 to 4, the base end of a horizontal support arm 52 is fixed to the slider 51.
A horizontal pivot shaft 53 supported at the tip of the support arm 52 has a rotation block 54 and a swing arm 5 on one side of the support arm 52.
The proximal end portion of 5 is fixed to a pivot shaft 53 so as to rotate integrally therewith.

At the tip of the swinging arm 55, a gripping portion on the tip side is attached to the support arm 52.
A gripping arm 5 extends in a direction parallel to the direction shown in FIG.
The proximal end of No. 6 is fixed.

A seat tilting drive device 58, such as a telescopic cylinder, is interposed between the rotation block 54 and the support arm 52. By actuating this drive device 58, the gripping arm 56 can be tilted around the pivot shaft 53 in the direction of arrow m in FIG. 1.3.

Regarding the support arm 52, a corner of a swing plate 59 is fixed to a pivot shaft 53 on the opposite side of the rotation block 54. A seat tilting drive device 63, such as a telescopic cylinder, is interposed between the pivot portion 61 of the bracket 60 on the support arm 52 and the pivot portion 62 on the swing plate 59. Each drive 58, 63 operates in conjunction with one another.

The swing vi59 includes a drive device 64, such as a rotary motor, which supports the base end of the rotating arm 65 extending parallel to the gripping portion of the gripping arm 56 and rotates the rotating arm 65 around the central axis. is installed. The proximal end of a gripping arm 66 whose distal end is bent toward the proximal end of the rotating arm 65 is fixed to the distal end of the rotating arm 65 . is the gripping arm 6 whose distal end is bent toward the distal end side of the rotating arm 65.
The proximal end of No. 7 is fixed. The tips of the gripping arms 66, 67 are opposed to each other, and as shown in FIG. It is possible to grip the back of the seat S by rotating it to the position shown in FIG.

In particular, in FIG. 2, when the seat S is placed on the mounting table 31, the robot 19 waits at position A with the gripping arm 56 and the rotating arm 65 facing toward the seat S. There is. When the positioning of the seat S on the mounting table 31 by each positioning slider 34, 37, 39 is completed, the assembly robot 19 advances toward the seat S from position A to position B. As a result, as shown in FIGS. 3 and 4, the gripping arm 56 reaches the position of supporting the front part of the seat of the seat S together with the holding plate 57, and the rotating arm 65 reaches the position of supporting the front part of the seat of the seat S. Reaches the upper front side. Then, by the operation of the drive device 64, each gripping arm 66, 67 rotates from the position shown by the solid line to the position shown by the chain line as shown in FIG. In this state, the slider 51 is raised by the actuation of the drive device 49, so that the seat S is gripped by the gripping arms 56, 66, 67 and separated from the mounting table 31.

In FIG. 2, the seat S is
During assembly, the robot 19 moves from position B to position A to avoid interference between the seat S and the positioning device 21, and then moves the seat S toward the vehicle body 3 by the operation of the turning drive device 46. Turned 90'. The assembly is carried out after adjusting the position of the robot 19 with respect to the vehicle body 3 so that the seat S is positioned opposite the opening 75 formed in the front door mounting section of the vehicle body 3. The robot 19 moves forward to position E and then to position F.

As shown in FIGS. 5 and 6, the opening 7 of the vehicle body 3
A ceiling section 69 extends inward from the upper edge 68 of the opening 75 into the vehicle body 3, and a seat S is fixed on the floor surface inside the vehicle body 3 that is continuous with the lower edge 70 of the opening 75. Seat attachments, such as brackets, etc. for
' is arranged. Furthermore, an instrument panel installation section 73, a steering wheel support 74, and the like are provided at the front portion of the vehicle body 3.

The seat S gripped by each gripping arm 56, 66, 67 is
In front of the opening 75, the distal ends of the gripping arm 56 and the rotating arm 65 are rotated downward by the actuation of the drive device 58.63, thereby taking the stealing position. As a result, the apparent height of the seat S in the vertical direction is smaller than the height of the vertical dimension of the seat S in the normal posture, and the seat S is lower than the upper edge 68 and the lower edge of the opening 75. It can pass through the opening 75 without interfering with the section 70.

The seat S, which has been carried into the vehicle body 3 in the usurping position, is attached to the vehicle body 3 such as the ceiling part 69, the seat mounting parts 71, 71' and 72, 72', the instrument panel mounting part 73, and the steering wheel support 74. After being raised little by little and returned to the royal position while avoiding contact with equipment inside the vehicle body 3, the seats are attached to the parts 71, 71', 72, 72, and 72, as shown by the chain lines in FIG. 72'
placed on top. Subsequently, the rotating arm 65 is rotated by the operation of the drive device 64, and each gripping arm 66, 67 rotates along the arrow p from the position of the solid line to the position of the chain line as shown in FIG. Release S from the gripping state.

As shown in FIG.
, 72.72'.
' The position in the front and back direction is adjusted by operating the slide member 76.

As shown in FIG. 9, after releasing the seat S, the robot 19 retreats from the position WF to the position WF, moves laterally to the position C, and then moves the support arm 52 to the position indicated by the chain line. From there, it turns 90 degrees to the position indicated by the solid line, and returns to position A in FIG. 2 again.

The above operations of the robot 19 are performed by the seat tilting drive devices 5B, 63 and the rotation drive device 64 of the gripping arms 66 and 67.
, horizontal movement drive devices 40, 43, turning drive device 46
, and is performed by the linked operation of the lifting drive device 49, and the linked action of each of these drive devices is performed under the control of the control device.

Now, the state of the seat S when placed on the mounting table 31 of the positioning device 21 will be explained in more detail. 10th
In the figures to FIG. 14, a pair of left and right rail members 77.77'' extending in the front-rear direction are attached to the lower surface side of the seat S by fixing devices 78.79 such as bolts, for example.
Each rail member 77.77' has a slide member 80°80' extending longitudinally to each rail member 77.77'.
It is fitted and supported so that it can be freely slid along. Each slide member 80.80' is attached to the seat 71.7 on the vehicle body 3 side.
1', 72.72' and fixed by fixing means such as bolts 81°82.81', 8
2', and a pair of transverse engagement grooves 83, 84 formed on the upper edge.

Each rail member 77.77' and slide member 80.80
' has a structure that is bilaterally symmetrical with respect to the imaginary central plane in the longitudinal and vertical directions of the seat S, and the structure illustrated for the rail member 77 and the slide member 80 is the same as that of the rail member 77' and the slide member 80'. It also has Therefore,
The rail member 77 and the slide member 80 will be explained in more detail.

In a recess 85 formed at a position near the end surface of the rail member 77 so as to open downward on the lower surface side of the earthen wall of the rail member 77, there is a temporary spring-shaped recess 85 having a protrusion projecting downward. When the engagement spring 86 is fitted and the protrusion of the engagement spring 86 is engaged with the engagement groove 83 near the outer end of the slide member 80, the slide member 80 is housed in the rail member 77. the engagement spring, 8
When the protrusion 6 is engaged with the engagement groove 84 near the inner end of the slide member 80, the slide member 80 is in a state of protruding from the rail member 80 toward the rear of the seat S.

In FIGS. 15 and 16, the positioning slider 34
There is a pair of left and right brackets facing upward at the tip of the 87.
87' is protruded, each placket) 87.87'
A drive device 88, 88', for example a telescopic cylinder, is supported at the upper end of each. and each drive device 88
．． Movement restraining members 90 and 90' are respectively attached to the distal end portions of rods 89 and 89' which are telescopically operated by rods 88' and opposite to the seat S. Further, a pressing member 92 is attached to the distal end of an arm 91 that projects diagonally upward from the distal end of the positioning slider 37 toward the seat S side.

In FIGS. 15 and 17, the positioning slider 39
is integrally formed at the distal end of a bending arm 95 whose base end is fixed to the distal end of a rod 94 that is telescopically operated by a drive device 93 such as a telescopic cylinder mounted inside the mounting table 31. There is.

As shown in FIG. 16, when the seat S is placed on the mounting table 31 with the slide members 80, 80' protruding from the rail members 77, 77', the drive device immediately moves as shown in FIG. 18. 32 is activated and the positioning slider 34 is moved to the mounting table 3.
1, and the drive device 88.88' is activated, so that each movement restraining member 90.90' comes into contact with the front end surface of the corresponding rail member 77.77', and each rail member 77.77' While inhibiting the forward movement of
The drive device 35 operates and the pressing member 92 moves the slide member 8
0.80' of the rear end surface of each slide member 80.
．． 80' respectively corresponding rail members 77 and 77'
Store inside. At this time, the seat S is simultaneously positioned in the longitudinal direction.

Subsequently, as shown in FIG. 19, the positioning slider 39 presses the seat S from the side by operating the drive device 930, and works with the positioning stopper 38 to position the seat S in the left-right direction.

When the slide member 80.80' is stored in the rail member 77°77'' and the positioning of the seat S is completed, each movement restraining member 90.90' is activated by the actuation of each drive device 32, 35, 88, 88', 93. , the pressing member 92 and the positioning slider 39 are separated from the seat S and returned to their respective retracted positions.

Next, the structure and operation of the transfer conveyor 2 and the lift columns 4 and 5 will be explained in more detail.

In FIGS. 20 and 21, an underfloor chamber 97 is formed along the assembly line 1 at the lower part of the working floor surface 96, and on the lower bottom surface 98 of this underfloor chamber 97, connecting rods 10 are connected to each other.
A plurality of carts 99, 100 connected by line 1 are disposed so as to be movable in the longitudinal direction of line 1. Since the lift mechanisms on each trolley 99, 100 and each trolley 99, 100 have the same configuration, the upper front part of the 0-carriage 99 will be described below regarding the lift mechanism on the cart 99 and the cart 99. For example, drive equipment W102 such as a telescopic cylinder
is disposed, and brackets 111, 111' are disposed on both left and right sides of this drive device 102.

In addition, guide rails 104 are provided at the rear of the upper surface of the cart 99.
．． A pair of left and right guide devices 103. ...is arranged.

The sliding pin 106 in the left and right direction on the distal end surface of the telescoping rod 105 of the drive device 102 is connected to the left and right guide rails 106.
04. ... is slidably engaged in the front-rear direction. Transfer table 1 facing the cart 99 above the cart 99
07 has a pair of left and right brackets 108.1 on the lower front side.
08' are arranged, and guide rails 110. A pair of left and right guide devices 109. ...is arranged.

A pair of left and right links 112' whose proximal ends are pivotally supported by a pair of left and right platens (111), and a sliding pin 113. ···teeth,
Guide rails 110 on respective corresponding sides. The distal ends of the pair of left and right links 114 and 114' are slidably engaged in the front and rear direction, and are pivotally supported at their proximal ends by the pair of left and right brackets 108 and 108', respectively. It is pivotally supported by sliding pins 10G, . . . on the corresponding side. And left and right multi-pair links 112, 114 and 11
2', 114' are mutually pivotally supported by a left-right pivot pin 115 at an intermediate portion of each of the links 112, 114 and 112', 114'.

Further, on the upper surface side of the transfer table 107, there are a pair of front and rear support tables 116, 116' and 117.11 for supporting the vehicle body 3.
7' is arranged.

When the telescopic rod 105 contracts due to the operation of the drive device 102, the transfer table 107 is raised by the X-shaped link mechanism constituted by the links 112, 114 and 112', 114' to lift the vehicle body 3, and as shown in FIG. When the telescopic rod 105 is extended, the transfer table 107 is lowered and the vehicle body 3 is
is supported by the work surface 96 via the wheels of the vehicle body 3.

The trolley 99.degree. 100 is reciprocated in the front and back direction by a drive device (not shown) as indicated by arrow a.

When the telescopic rod 105 contracts due to the operation of the drive device 102 and the car body 3 is lifted, the bogie 99 moves forward.
When it stops, the telescopic rod 105 is extended and the vehicle body 3 is placed on the work floor surface 96. In this state, the truck 99 moves backward, and when the telescopic rod 105 expands and contracts again, the transfer platform 107 lifts up the following vehicle body 3. Then, the cart 99 moves forward again. In this way, each vehicle body 3 is sequentially and intermittently transferred in the direction of arrow q in synchronization with the progress of the work.

In FIGS. 20 and 23, cam carts 118 and 118' are disposed on the left and right sides of the cart 99, respectively, corresponding to the working positions for each assembly along the transfer conveyor 2. On the cam truck 118, there are a pair of cams 119 and 11 in the front and rear respectively.
9', 120, 120' are arranged, and each cam 1
On the cam surfaces 19, 1191 and 120, 120', there is a lift platform 123 that supports the lower ends of the pair of front and rear lift columns 4.5 and is guided only in the vertical direction by vertical guide columns 125 in the slide section 124. A pair of front and rear cam rollers 126゜26' and 127 are arranged on the lower side of the
．． 127' is in contact with it.

Similarly, a pair of front and rear cams 1 are mounted on the cam truck 118'.
21.121' and 122.122' are arranged, and the cam surfaces of each cam 121.121' and 122.122'' support the lower ends of a pair of front and rear lift columns 4', 5', The lift platform 12 is guided only in the vertical direction by the vertical guide column 125' in the sliding part 1241.
A pair of front and rear cam rollers 12 arranged on the lower surface side of 31
8°128' and 129.129' are in contact.

The pair of left and right cam carts 118 and 118' are synchronously reciprocated in the front and rear directions by drive devices (not shown) via drive rods 118a and 118a', respectively. When the car body 3 reaches the assembly work position, each cam truck 118, 118' moves forward and lifts each lift platform 123, 123.
', so that each lift column 4.4', 5.
5' lifts the vehicle body 3 and holds it in place. When the assembly of the seat S etc. to the vehicle body 3 is completed, each cam truck 118, 118' moves backward, and as a result, each lift platform 123
．． 123' lowers each lift column 4.4'
, 5.5' are lowered and the car body 3 returns to a position where it can be transferred by the transfer conveyor 2.

Next, the operation control of the automatic vehicle seat assembly device will be explained with reference to FIG. 24. First, the "original position ■" indicates a state in which the vertical transfer platform 7 has risen and can grasp the seat S on the overhead conveyor that has been transported by the overhead conveyor. "Sheet clamp" to grip, vertical transfer table 7
"Drop lift descending", vertical transfer table 7
"Drop lift stop" where the lift reaches the lower limit position and stops
, the "seat ten clamp" in which the gripping arms 11 and 12 release the seat S, and the "drop lift lift" in which the vertical transfer table 7 rises after the gripping arms 11 and 12 release the seat S, and The work performed by the transfer table 7 is completed, and the vertical transfer table 7 returns to the "original position (■)" in order to grasp the following seat S again.

When the work cycle by the vertical transfer table 7 is completed, the "normal rotation operation" in which the transfer belt 16 is driven in the direction of arrow C in FIG. 1 starts. At this time, seat S is on transfer belt 1
6 and is in the "seat occupied" state. The transport belt 16 "stops" when the seat S is transported by the transport belt 16 and reaches the reversing device 20, and the seat S can be gripped by the gripping arms 29, 30.

For convenience of the following explanation, as shown in FIG. , the rotation angle around the Y axis is α, and the rotation angle around the Z axis is θ.

In FIG. 24, "original position -" indicates a position where the gripping arms 29, 30 of the reversing device 20 are in a state where they can grip the seat S on the transfer belt 16. In this state, the gripping arm 29.
30 enters a "seat clamp" operation to grip the seat S, but if this operation is not performed as planned, an "abnormality alarm display" is displayed. When the gripping arm 29.30 grips the seat S as planned, the gripping arm 29.30 enters a "Z-axis upper field" operation in which the gripping arm 29.30 is raised by the operation of the lifting cylinder 24. If this operation is not performed as planned, an "abnormality alarm display" is displayed. When the gripping arms 29, 30 rise as planned, the gripping arms 29, 30 move toward the arrow g due to the operation of the rotation device 26.
After turning 180° along "Axis lowering" operation begins. If this operation is not performed as planned, an "abnormality alarm display" is displayed.

When the "θ-axis rotation, Y-axis leftward movement, Z-axis descent" operation is performed as planned, the gripping arms 29 and 30 enter a "seat unclamp" operation in which the seat S is released on the mounting table 31. If this operation is not performed as planned, an "abnormal alarm display" will be displayed. 1 gripping arm 29.30 moves the seat S to the mounting table 31.
When the gripping arms 29 and 30 are released as planned at the top, the gripping arms 29 and 30 rise and then rotate in the opposite direction 1806 along the arrow g, and the self-propelled platform 22 moves toward the transfer belt 16, and the gripping arms 29 and 30 follow. In order to grasp the seat S, a series of "θ-axis, Y-axis, and Z-axis movement and return" operations are started. If this operation is not performed as planned, an "abnormality alarm display" is displayed, and if it is performed as planned, the series of work cycles is "completed" and the reversing device 20 is moved to the "original position".
”.

If an "abnormal alarm display" occurs during a series of operations of the reversing device 20, the transfer belt 1-16 is immediately reversed in the direction of arrow C' in FIG.
, the operation of devices other than the transfer conveyor 2 and the vertical transfer table 7 is stopped. Then, as a countermeasure from the time an accident occurs, a "backup" is performed by manually making corrections, and the reversing device 20 is set to the position when the work cycle is completed, and the seat S is transferred smoothly between each process. An "abnormality reset" is performed by adjusting each device so that the transfer belt 16 rotates normally, and a "manual operation" is performed to start the operation of all devices.

"Original position ■" indicates a state of the positioning device 21 in which the seat S is placed on the mounting table 31 and released from the gripping arms 29 and 30. When the seat S is placed on the mounting table 31, the positioning The slider 39 operates to position the seat S in the left-right direction, entering the "Y-axis positioning device operation" state. If this operation is not carried out as planned, an "abnormality warning display" is displayed, and if it is carried out as planned, the positioning sliders 34 and 37 are operated to position the seat S in the longitudinal direction. The system enters the "X-axis positioning device and seat rail storage device operating" state in which the slide members 80 and 801 are stored. If this operation is not performed as planned, an "abnormal alarm display" will be displayed, and if it is performed as planned, each positioning slider 34, 37, 39 will be moved to the seat S.
The vehicle enters the "XY-axis positioning device, seat rail storage device movement return" operating state, which moves backward in the direction away from the vehicle. If this operation is not performed as planned, an "abnormality alarm display" will be displayed.
is carried out, and if it is carried out as planned, the positioning device 2
1 work cycle is "completed" and the positioning device 21 is "completed".
The state returns to the original position "■".

If an "abnormal alarm display" occurs during a series of operations of the positioning device W21, immediately remove the transfer belt 1.
6 is reversed in the direction of arrow C1 in FIG.
, the operation of devices other than the transfer conveyor 2 and the vertical transfer table 7 is stopped. Then, as a countermeasure from the time an accident occurs, a "backup" is performed by manually making corrections, and the positioning device 21 is set to the position when the work cycle is completed, and the seat S is transferred smoothly between each process. An "abnormality reset" is performed by adjusting each device so that the transfer belt 16 rotates normally, and a "manual operation" is performed to start the operation of all devices.

"Original position ■" indicates the state of the assembled robot 19 when the assembled robot 19 is at position C in FIG.

When the seat S is positioned on the RE table 31, the assembly begins in an "X-axis forward" operation in which the robot 19 moves from position C to position A.

If this operation is not carried out as planned, an "abnormality alarm display" will be displayed, and if it is carried out as planned, the assembly will be "Y-axis right movement" in which the robot 19 moves from position A to position B. It goes into operation. If this operation is not performed as planned, an "abnormality warning display" is displayed, and if it is performed as planned, the gripping arms 56, 66, 67 enter into a "seat gripping" operation in which they grip the seat S. If this operation is not performed as planned, an "abnormality alarm display" is displayed, and if it is performed as planned, the gripping arm 56, 66, 6 that grips the seat S
7 enters the "Z-axis upper limit" operation in which the slider 7 rises together with the slider 51. If this operation is not carried out as planned, an "abnormality alarm display" will be displayed, and if it is carried out as planned, the assembly will be "Y-axis left movement" in which the robot 19 moves from position B to position A. It goes into operation. If this operation is not carried out as planned, an "abnormality warning display" is displayed, and if it is carried out as planned, the gripping arms 56, 66.
67 turns to the 90'' transfer conveyor 2 side, and for assembly, the robot 19 moves laterally parallel to the transfer conveyor 2 and faces the opening 75 of the vehicle body 3, and the gripping arm 56 and The rotating arm 65 tilts downward, and the assembly robot 19 moves forward to position E.
Axis forward tilt, X-axis forward movement begins. If this operation is not carried out as planned, an "abnormality warning display" is displayed, and if it is carried out as planned, the robot 19 moves forward from position E to position F and moves seat S to position 3 of the vehicle body. Bring it inside “X”
"Axis advance" operation begins. If this operation is not performed as planned, an "abnormality alarm display" is displayed, and if it is performed as planned, the gripping arm 56 and the rotating arm 65 are raised to a horizontal state, and the slider 51 is lowered and the seat S is placed on the seat mounting parts 71, 71', 72, 721, thereby entering the "α-axis horizontal, Z-axis lowering" operation.

"Abnormality alarm display" is displayed during the above operations of the assembly robot 19.
If this occurs, the transfer belt 16 is immediately reversed in the direction of arrow C' in FIG. do.

Then, as a response from the time an accident occurs, manual corrections are made and a "backup" is performed, and for assembly, the robot 19 is set in the position when the work cycle is completed, and the seat S is transferred between each process. ``Abnormality reset'' is performed by adjusting each device so that the operation is carried out smoothly, and a ``manual operation'' is performed to cause the transfer belt 16 to rotate normally and to start the operation of all devices.

The gripping arm 56 and the rotating arm 65 are raised to a horizontal state, and the slider 51 is lowered to place the seat S on the seat mounting sections 71.71' and 72.72'. If the "lowering" operation is not performed as planned,
An "abnormality alarm display" is displayed and all devices stop operating to prevent damage to the vehicle body 3. If the operation is carried out as planned, each gripping arm 56, 66, 67 releases the seat S. "Release" operation begins. If this operation is not carried out as planned, an "abnormality alarm display" will be displayed and all devices will stop operating. If this operation is not carried out as planned, the robot 19 will move from position F to position F. ``X-axis backward'' operation starts. If this operation is not carried out as planned, an "abnormality alarm display" will be displayed and all devices will stop operating. If it is carried out as planned, the robot 19 will move from position C to position C. , and each gripping arm 56, 66, 67 rises together with the slider 51.
"Z-axis upper world" operation begins. If all the equipment stops working during the three operations before starting this operation, manual correction is performed to perform "back-amplification," and the assembly robot 19 returns to the state it will be in when the work cycle is completed. At the same time, an "abnormality reset" is performed by adjusting each device so that the seat S can be transferred smoothly between each process, and the operation of all devices is restarted by "manual operation."

The assembly is performed when the robot 19 moves from position to position C and the "Y-axis left movement, 2-axis rise" operation in which the gripping arms 56,66°67 rise together with the slider 51 is not performed as planned. An "abnormality alarm display" will be displayed, and if the operation is performed as planned, the gripping arm 56, 66, 67 will be moved to the positioning device 21.
The robot enters the "θ-axis rotation" operation to rotate 90 degrees in the direction of. If this operation is not carried out as planned, an "abnormality alarm display" is displayed, and if it is carried out as planned, the assembly work is completed by the robot 19, and the assembly robot 19 returns to the "original position". The state has returned to .

If an "abnormal alarm display" occurs during the 2-operation process before the robot 19 completes the work, the transfer belt 16 is immediately reversed, and the transfer belt 16 and the transfer conveyor 2 , the operation of devices other than the vertical transfer table 7 is stopped. Then, as a countermeasure from the time an accident occurs, a "backup" is performed by manually making corrections, and for assembly, the robot 19 is set to the state it will be in when the work cycle is completed, and the seat S is transferred between each process. ``Abnormality reset'' is performed by adjusting each device so that the operation is performed smoothly, and a ``manual operation'' is performed to cause the transfer belt 16 to rotate normally and to start the operation of each device.

"Original position ■" is each transfer table 107 of the transfer conveyor 2,...
- shows the state of the transfer conveyor 2 when it has descended to the lower limit position. From this state, each transfer platform 107°... rises, lifts the vehicle body 3, and moves forward to enter the "shuttle forward, vehicle present" operation. However, if this operation is not performed as planned, an "abnormality alert" will be issued. "indication" and all equipment ceases operation and, if planned, each lift column 4.4'.

5.51 rises and enters a "lift up" operation that lifts the vehicle body 3 and holds it in place. If this operation is not carried out as planned, an "abnormality alarm display" is displayed and the operation of all devices is stopped; if this operation is not carried out as planned, the transfer table 107. . . enters a "shuttle backward" operation in which the robot moves backward, and the seat S is assembled and carried by the robot 19 into the vehicle body 3 on the lift columns 4.4' and 5.5'.

If the "shuttle retreat" operation is not performed as planned, an "abnormality alarm display" will be displayed and all equipment will stop operating, and if it is performed as planned, each lift column 4.4
'5.5' enters the "lift lowering" operation.

If this operation is not performed as planned, or if the assembly robot 19 does not move back to the planned position after assembling the seat S into the vehicle body 3, an "abnormality warning display" will be displayed. All equipment stops working. If the "lift lowering" operation is performed as scheduled and the assembly robot 19 assembles the seat S into the vehicle body 3 and then retreats to the scheduled position, the work cycle of the transfer conveyor 2 is completed. However, the transfer conveyor 2 returns to the "original position (■)".

During the operation process of transfer conveyor 2, "abnormality alarm display"
In the event that all equipment stops operating at the same time as the accident occurs, manual corrections are made to create a "backup" and the transfer conveyor 2 is returned to the state it will be in when the work cycle is completed. At the same time, an "abnormality reset" is performed by adjusting each device so that the seat S is transferred smoothly between each process, and a "manual operation" is performed to restart the operation of all devices.

C0 Effects of the Invention As described above, according to the present invention, since the present invention is provided with a transfer belt for placing and transferring the seat, it is possible to efficiently and smoothly transfer the carried seat to the reversing device, and also to reduce the work time. If an accident occurs in a device downstream of the transfer belt in the process flow, subsequent seats can remain on the transfer belt. In addition, since it is equipped with a reversing device, the seat can be reversed to the required direction for assembling the seat into the vehicle body, and
Seats can be transferred efficiently and smoothly between the transfer belt and the positioning device. Since it is equipped with a positioning device, by positioning the seat, the robot can grip the seat accurately and reliably, and also use this positioning device to move the sliding member of the seat rail into the rail. It is possible to store it in.

Since a robot is used for assembly, the seat can be carried into the vehicle body, installed inside the vehicle body, and placed on the vehicle body efficiently, automatically, and accurately. Additionally, a lift column is provided so that the seat can be lifted upwardly from the transfer conveyor and held in place during assembly by the robot. Since the control device is provided, the linked operation of each operating section can be performed efficiently and smoothly, and appropriate actions can be automatically performed in the event of an accident. According to the present invention, each device such as a transfer conveyor, a transfer belt, a reversing device, a positioning device, an assembly robot, and a lift column can be effectively arranged using a relatively small installation area. The overall work space can also be reduced.

[Brief explanation of the drawing]

FIG. 1 is a partially cutaway overall perspective view of the equipment for assembling a seat equipped with a vehicle seat according to an embodiment of the present invention, FIG. 2 is a plan view of the main part of the device shown in FIG. 1, and FIG. Figure 2 is a side view of the main part taken along the line mm-m in Figure 2, Figure 4 is a side view of the main part taken along the line IV-IV in Figure 2, and Figure 5 is a side view of the main part taken along the line IV-IV in Figure 2. Figure 6 is a rear view of the main parts showing the state when being carried into the body.
Figure 7 is a side view of the main part in the state shown in Figure 6. Figure 7 is a side view of the main part with the seat in Figure 6 returned to its normal position and the seat attached to the seat. Figure 9 is a side view of the main part fixed on the robot and its position adjusted in the front and back direction, Figure 9 is a plan view showing the return path after the robot's seat is released, and Figure 10 is the slide member. Plan view of the seat when it is placed on the mounting table while protruding to the rear of the seat, No. 11
The figure is an enlarged side view of the main part taken along the line XI-XI in Fig. 10, Fig. 12 is a cross-sectional plan view of the main part taken along the xn-xm line in Fig. 11, and Fig. 13 is the A vertical cross-sectional view of the main part taken along the xm-xm line in the figure, FIG.
Partially broken enlarged side view of essential parts taken along line XIV, No. 15
The figure is a plan view of the positioning device, FIG. 16 is a vertical cross-sectional side view of the main part of the positioning device in a state immediately before the slide member storage operation, FIG. 17 is a vertical cross-sectional front view of the main part of the positioning device in the state shown in FIG. 16, and FIG. The figure is a longitudinal sectional side view of the main part of the positioning device during slide member storage work, FIG. 19 is a longitudinal sectional front view of the main part of the positioning device in the state shown in FIG. 18, and FIG.
21 is a cross-sectional view of the transfer conveyor and lift mechanism taken along the line XX, FIG. 21 is a vertical sectional side view of the main part taken along the line XX I-XXI in FIG. 20, and FIG. 22 is the transfer conveyor and lift mechanism in FIG. 21. FIG. 23 is a longitudinal sectional side view of the main part showing the operating state of the conveyor that is different from that shown in FIG. 21, FIG. Flowchart for explaining the operating sequence of the entire device, Fig. 24 (
al is an explanatory diagram for explaining the control operation axis of the apparatus of FIG. 1; S...seat, ■...assembly on line, 2...transfer conveyor, 3...car body, 4.4', 5.5'...lift strut, 16...transfer belt, 19... Assembly by robot, 20... Reversing device, 21... Positioning device, 71.71'. 72.72'... Seat installation is a patent application Applicant: Honda Motor Co., Ltd. Agent
Patent Attorney Ken Ochiai Figure 7-1? Figure 6 Figure 8 Figure 9 Figure 22 Figure 23

Claims (1)

[Claims] A transfer conveyor (2) that transfers the vehicle body (3) along the assembly line (1), a transfer belt (16) that places and transfers the seat (S) carried in, and this transfer belt (16).
an inversion device (20) that grasps the upper seat (S) and inverts it to the required orientation for assembly into the vehicle body (3);
and the seat (S) that has been inverted by this inversion device (20).
a positioning device (21) that positions the seat (S) that has been transferred from the reversing device (20);
The seat (
an assembly robot (19) that grasps the seat S), carries it into the vehicle body (3), and places it on the seat mounting parts (71, 71', 72, 72'); (S) into the car body (3), lift columns (4, 4', 5, 5') that hold the car body (3) in a fixed position spaced upwardly from the transfer conveyor (2)
), the transfer conveyor (2), and the transfer belt (16).
), the reversing device (20), and the positioning device (21)
, the assembly robot (19) and the lift column (4).
, 4', 5, 5').