KR100191608B1 - Automatic carry-out system of side out-panel of door on automatic production line - Google Patents

Automatic carry-out system of side out-panel of door on automatic production line Download PDF

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Publication number
KR100191608B1
KR100191608B1 KR1019960066609A KR19960066609A KR100191608B1 KR 100191608 B1 KR100191608 B1 KR 100191608B1 KR 1019960066609 A KR1019960066609 A KR 1019960066609A KR 19960066609 A KR19960066609 A KR 19960066609A KR 100191608 B1 KR100191608 B1 KR 100191608B1
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South Korea
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panel
line
axis robot
take
automatic
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KR1019960066609A
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Korean (ko)
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KR19980048069A (en
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안원식
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양재신
대우자동차주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
    • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
    • B62D65/06—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being doors, windows, openable roofs, lids, bonnets, or weather strips or seals therefor

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)

Abstract

본 발명은 자동차 자동 생산라인의 도어 사이드아우터패널 자동 취출시스템에 관한 것으로, 패널(A)의 공급측에 다종의 패널(A)이 종류별로 적층된 다수의 랙(100)을 배치하고, 전후 및 좌우방향으로 이동하면서 상기 랙(100)에 적층된 패널(A)을 선별하여 거취하는 제 1선 8축로봇(200)을 설치하며, 상하방향으로 승강하면서 상기 제 1선 8축로봇(200)이 거취한 패널(A)을 전달받는 로딩장치(300)를 패널(A)의 취출측 상부에 설치하고, 위치하여 상기 로딩장치(300)에 의해 안착된 패널(A)을 취출측으로 이송시키는 이송팰릿(400)을 상기 로딩장치(300)의 하방에 일측이 위치하도록 설치하며, 상기 이송팰릿(400)에 이송된 패널(A)을 거취하여 대차(600)에 장착시키는 제 2선 8축로봇(500)을 상기 이송팰릿(400)의 타측에 인접되게 설치한 것에 그 특징이 있다.The present invention relates to a door side outer panel automatic take-out system of the automatic production line for automobiles, on the supply side of the panel (A) is arranged a plurality of racks (A) of a plurality of panels stacked by type, front, rear, left and right While installing the first line 8-axis robot 200 to pick and take the stacked panel (A) stacked in the rack 100 while moving in the direction, the first line 8-axis robot 200 is moved up and down A transport pallet for installing the loading device 300 receiving the panel A, which is received, is placed on the upper side of the takeout side of the panel A, and is positioned to transfer the panel A seated by the loading device 300 to the takeout side. The second line 8-axis robot (400) is installed so that one side is positioned below the loading device 300, and the panel A transferred to the transfer pallet 400 is mounted and mounted on the trolley 600. It is characterized in that 500 is installed adjacent to the other side of the transfer pallet (400).

Description

자동차 자동 생산라인의 도어 사이드아우터패널 자동 취출시스템Automatic door take-out panel for car production line

본 발명은 자동차 자동 생산라인의 도어 사이드아우터패널 자동 취출시스템에 관한 것으로, 더 상세히는 8축 로봇에 의하여 랙에서 도어 사이드 아우터 패널을 대차에 장착하는 일련의 취출작업을 자동화하기 위한 자동차 자동 생산라인의 도어 사이드아우터패널 자동 취출시스템에 관한 것이다.The present invention relates to an automatic door side outer panel automatic take-out system of an automobile auto production line, and more particularly, to an automated vehicle production line for automating a series of take-out operations for mounting a door side outer panel on a trolley from a rack by an 8-axis robot. Door side outer panel of the automatic extraction system.

종래에 자동차 자동 생산라인에서 여러 종류의 도어 사이드아우터패널(이하, 패널이라고 칭함)을 라인에 장착하는 취출작업을 수작업으로 하였다.[0003] Conventionally, in the automobile automatic production line, a drawing operation of mounting various types of door side outer panels (hereinafter referred to as panels) on a line was performed manually.

즉, 취출작업은 랙에 패널이 종류별로 적층되어 지게차로 현장에 실려 오면, 랙에서 패널을 빼내어 대차에 장착하는 작업을 말하며, 이때 현재 생산하는 차종에 따라 여러개의 랙에서 생산중이 차종에 맞는 패널을 구별하여 연속적으로 취출하여야 한다.In other words, when the work is taken out by stacking the panels in the rack and loaded onto the site by a forklift truck, it refers to the work of removing the panels from the rack and mounting them on the trolley. The panels shall be separated and taken out continuously.

이러한 취출작업에 의하여 패널이 대차에 장착되면 자동차 생산라인의 따라 이동되면서 용접 등에 의하여 조립작업이 이루지게 된다.When the panel is mounted on the trolley by such a drawing operation, the assembly is performed by welding while moving along the automobile production line.

그런데, 종래에는 이러한 취출작업을 수작업으로 하였는바, 작업의 특성상 단순 반복적이면서 노동강도가 크고 사고 위험성도 많아 근로자 들이 작업을 기피하였다. 그리고 대차에 패널을 연속적으로 공급하여야 함에도 불구하고 취출 타이밍을 놓쳐 다음 공정에 차질을 초래하는 경우가 많았다.However, in the past, such a take-out operation was performed manually, and due to the characteristics of the work, the workers avoided the work because of the simple repetition and the high labor intensity and the high risk of accidents. And although the panel had to be continuously supplied to the trolley, it often missed the take-out timing and caused a disruption in the next process.

본 발명은 로봇에 의하여 랙에서 도어 사이드 아우터 패널을 대차에 장착하는 일련의 취출작업을 자동화하여 작업성향상과 품질안전성을 확보하고자 한다.The present invention is to secure the workability and quality safety by automating a series of take-out operation for mounting the door side outer panel in the rack by the robot.

도 1은 본 발명에 따른 자동차 자동 생산라인의 도어 사이드아우터패널 자동 취출시스템의 구성도1 is a block diagram of a door side outer panel automatic take-out system of the automatic vehicle production line according to the present invention

도 2는 도 1에 도시한 제 1선 8축로봇의 작동상태도2 is an operating state diagram of the first eight-axis robot shown in FIG.

도 3은 본 발명에 따른 자동차 자동 생산라인의 도어 사이드아우터패널 자동 취출시스템의 작동상태를 개략적으로 나타낸 평면도Figure 3 is a plan view schematically showing the operating state of the door side outer panel automatic take-out system of the automatic vehicle production line according to the present invention

*도면의 주요 부분에 대한 부호의 설명** Description of the symbols for the main parts of the drawings *

A: 바디 100: 랙A: Body 100: Rack

200: 제 1선 8축로봇210: 아암200: first line 8-axis robot 210: arm

220: 접촉센서 300: 로딩장치220: contact sensor 300: loading device

310: 거취수단 400: 이송팰릿310: harvesting means 400: transfer pallet

410: 고정수단420: 이송수단410: fixing means 420: transfer means

500: 제 2선 8축로봇 600: 대차500: 2nd line 8-axis robot 600: bogie

본 발명은, 패널(A)의 공급측에 다종의 패널(A)이 종류별로 적층된 다수의 랙(100)을 배치하고, 전후 및 좌우방향으로 이동하면서 상기 랙(100)에 적층된 패널(A)을 선별하여 거취하는 제 1선 8축로봇(200)을 설치하며, 상하방향으로 승강하면서 상기 제 1선 8축로봇(200)이 거취한 패널(A)을 전달받는 로딩장치(300)를 패널(A)의 취출측 상부에 설치하고, 위치하여 상기 로딩장치(300)에 의해 안착된 패널(A)을 취출측으로 이송시키는 이송팰릿(400)을 상기 로딩장치(300)의 하방에 일측이 위치하도록 설치하며, 상기 이송팰릿(400)에 이송된 패널(A)을 거취하여 대차(600)에 장착시키는 제 2선 8축로봇(500)을 상기 이송팰릿(400)의 타측에 인접되게 설치한 것에 그 특징이 있다.According to the present invention, a plurality of racks (A) are stacked on the supply side of the panel (A), and the plurality of racks (A) are stacked, and the panels (A) stacked on the rack (100) while moving back and forth and left and right directions. Install the first line 8-axis robot 200 to screen and take down the loading device 300 to receive the panel A taken by the first line 8-axis robot 200 while lifting in the vertical direction; One side of the lower side of the loading device 300 is installed on the upper side of the take-out side of the panel A, and is located below the loading apparatus 300 to transfer the conveyance pallet 400 which is positioned by the loading apparatus 300 to the take-out side. The second wire 8-axis robot 500 is installed adjacent to the other side of the conveying pallet 400, and is installed so as to be positioned, and takes the panel A transferred to the conveying pallet 400 and mounts it on the trolley 600. One feature is that.

이하, 본 발명의 바람직한 실시예를 첨부된 도면을 참조하여 상세히 설명한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 1은 본 발명에 따른 자동차 자동 생산라인의 도어 사이드아우터패널 자동 취출시스템의 구성도이고, 도 2는 도 1에 도시한 제 1선 8축로봇의 작동상태도이며, 도 3은 본 발명에 따른 자동차 자동 생산라인의 도어 사이드아우터패널 자동 취출시스템의 작동상태를 개략적으로 나타낸 평면도이다.1 is a configuration diagram of a door side outer panel automatic take-out system of the automatic vehicle production line according to the present invention, Figure 2 is an operating state diagram of the first line 8-axis robot shown in Figure 1, Figure 3 according to the present invention This is a plan view schematically showing the operation state of the door side outer panel automatic take-out system of the automobile production line.

도 1 및 도 3에 도시한 바와 같이, 다수의 랙(100)에는 종류별로 패널(A)이 수직으로 적층되어 있으며, 이 랙(100)은 통상 지게차에 의하여 운송되어 제 1선 8축로봇(200)의 작동범위 내에 배치된다.1 and 3, a plurality of racks (100) are stacked vertically in the panel (A) by type, the rack 100 is usually transported by a forklift truck first line 8-axis robot ( 200) within the operating range.

제 1선 8축로봇(200)은 이동수단에 의하여 전후 및 좌우 방향으로 이동되면서 랙(100)에 적층된 패널(A)을 종류별로 선별하여 로딩장치(300)에 전달한다. 이 제 1선 8축 로봇은, 도 2에 도시한 바와 같이, 선회되는 아암(210)의 선단이 집게모양으로 되어 있으며 여기에 접촉센서(220)가 달려 있어 패널(A)의 유무를 감지하여 거취할 수 있는 구조로 되어 있다.The first line eight-axis robot 200 is moved in the front and rear and left and right directions by the moving means to sort the panel A stacked on the rack 100 by type and transfer it to the loading device 300. As shown in FIG. 2, the first line eight-axis robot has a tong-shaped tip of the arm 210 that is pivoted, and a contact sensor 220 is attached thereto to detect the presence or absence of the panel A. It is structure to be able to take.

로딩장치(300)는 천정에 매달리게 설치되고 실린더에 의하여 상하로 승강될 수 있도록 하였으며, 실린더의 하단부에는 패널(A)을 거취하기위한 거취수단(310)이 마련되어 있다.The loading device 300 is suspended from the ceiling and can be lifted up and down by a cylinder. The lower end of the cylinder is provided with a catching means 310 for taking the panel A.

이송팰릿(400)은 일련의 고정수단(410)과 이송수단(420)으로 구성되어 있어 로딩장치(300)에 의해 안착된 패널(A)을 연속적인 동작으로 취출측으로 이송시킨다.The conveying pallet 400 is composed of a series of fixing means 410 and a conveying means 420 to convey the panel A seated by the loading device 300 to the takeout side in a continuous operation.

제 2선 8축로봇(500)은 좌우방향으로 이동되면서 이송팰릿(400)에 의하여 이송된 패널(A)을 대차(600)에 안착시키는 것으로, 그 구조는 제 1선 8축로봇(200)과 동일하다.The second line eight-axis robot 500 moves in the left and right direction and seats the panel A transferred by the transport pallet 400 on the trolley 600, and the structure thereof is the first line eight-axis robot 200. Is the same as

이러한 구성으로 된 본 발명은, 컴퓨터의 제어명령에 의하여 생산될 차종에 따라 해당 랙(100)으로 제 1선 8축로봇(200)이 이동되고, 접촉센서(220)의 감지에 의하여 패널(A)의 유무를 판단한 다음, 패널(A)을 클램핑 한다. 이후, 제 1선 8축로봇(200)은 원위치하여 거취된 패널(A)을 로딩장치(300)에 전달한다. 이때 로딩장치(300)는 실린더의 작동으로 하강하여 이송팰릿(400)의 고정수단(410)에 안착시킨다. 고정부에 안착된 패널(A)은 이송수단(420)의 작동으로 패널(A)을 취출측으로 하나씩 전달하고, 취출측으로 전달된 패널(A)은 제 2선 8축로봇(500)에 의하여 대차(600)에 장착된다. 대차(600)에 장착된 패널(A)은 도시하지 않은 컨베이어에 의하여 자동차 생산라인의 따라 이동되면서 용접 등에 의하여 조립작업이 이루지게 된다.According to the present invention having such a configuration, the first line 8-axis robot 200 is moved to the rack 100 according to the vehicle model to be produced by the control command of the computer, and the panel A is detected by the contact sensor 220. ), And then clamp the panel (A). Subsequently, the first line 8-axis robot 200 transfers the panel A taken from its original position to the loading device 300. At this time, the loading device 300 is lowered by the operation of the cylinder is seated on the fixing means 410 of the transport pallet (400). The panel A seated on the fixed part delivers the panel A to the takeout side one by one by the operation of the transfer means 420, and the panel A transferred to the takeout side is provided by a second line eight-axis robot 500. 600 is mounted. The panel A mounted on the trolley 600 is moved along the automobile production line by a conveyor (not shown), whereby assembly work is performed by welding or the like.

상술한 바와 같이, 본 발명에 따른 자동차 자동 생산라인의 도어 사이드아우터패널(A) 자동 취출시스템은 로봇 등에 의하여 랙(100)에서 도어 사이드 아우터 패널(A)을 대차(600)에 장착하는 일련의 취출작업을 자동화한 것으로, 작업성향상과 품질안전성을 확보할 수 있으므로 생산성이 향상되는 효과가 있다.As described above, the automatic door side outer panel (A) automatic take-out system of the automatic vehicle production line according to the present invention is a series of mounting the door side outer panel (A) to the trolley 600 in the rack 100 by a robot or the like. By automating the take-out operation, it is possible to improve workability and quality safety, thereby improving productivity.

Claims (1)

패널(A)의 공급측에 다종의 패널(A)이 종류별로 적층된 다수의 랙(100)을 배치하고, 전후 및 좌우방향으로 이동하면서 상기 랙(100)에 적층된 패널(A)을 선별하여 거취하는 제 1선 8축로봇(200)을 설치하며, 상하방향으로 승강하면서 상기 제 1선 8축로봇(200)이 거취한 패널(A)을 전달받는 로딩장치(300)를 패널(A)의 취출측 상부에 설치하고, 위치하여 상기 로딩장치(300)에 의해 안착된 패널(A)을 취출측으로 이송시키는 이송팰릿(400)을 상기 로딩장치(300)의 하방에 일측이 위치하도록 설치하며, 상기 이송팰릿(400)에 이송된 패널(A)을 거취하여 대차(600)에 장착시키는 제 2선 8축로봇(500)을 상기 이송팰릿(400)의 타측에 인접되게 설치한 것을 특징으로 하는 자동차 자동 생산라인의 도어 사이드아우터패널 자동 취출시스템.On the supply side of the panel (A) is arranged a plurality of racks (100) stacked by type of panel A, sorting the panel (A) laminated to the rack 100 while moving in the front and rear and left and right directions Installing the first line 8-axis robot 200 to be taken up, and the lifting device 300 receives the panel A taken by the first line 8-axis robot 200 while lifting up and down in the panel (A) Installed at the upper side of the take-out side, and installed so that the transport pallet 400 for transferring the panel (A) seated by the loading device 300 to the take-out side under one side of the loading device 300 The second wire eight-axis robot 500 is installed adjacent to the other side of the transfer pallet 400 by removing the panel A transferred to the transfer pallet 400 and mounting it on the trolley 600. Automatic door side outer panel take-out system of automobile production line.
KR1019960066609A 1996-12-17 1996-12-17 Automatic carry-out system of side out-panel of door on automatic production line KR100191608B1 (en)

Priority Applications (1)

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KR1019960066609A KR100191608B1 (en) 1996-12-17 1996-12-17 Automatic carry-out system of side out-panel of door on automatic production line

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Application Number Priority Date Filing Date Title
KR1019960066609A KR100191608B1 (en) 1996-12-17 1996-12-17 Automatic carry-out system of side out-panel of door on automatic production line

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KR19980048069A KR19980048069A (en) 1998-09-15
KR100191608B1 true KR100191608B1 (en) 1999-06-15

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100716813B1 (en) 2006-02-17 2007-05-09 기아자동차주식회사 Parts lift system and control process

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100357604B1 (en) * 2000-11-22 2002-10-25 현대자동차주식회사 Side body frame device of vehicle
KR100405714B1 (en) * 2001-07-10 2003-11-14 현대자동차주식회사 Glass feeding device of vehicle manufacturing line and method thereof
KR100435674B1 (en) * 2001-08-01 2004-06-12 현대자동차주식회사 System for taking a part out for vehicles

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100716813B1 (en) 2006-02-17 2007-05-09 기아자동차주식회사 Parts lift system and control process

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