KR960007334B1 - Blockade method and its apparatus for bonnet - Google Patents

Abstract

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Description

Obstruction method of bonnet and device

1 is a plan view showing the entire system of a workpiece mounting apparatus for carrying out a workpiece mounting method according to an embodiment of the present invention.

2 is a view in the direction of the arrow along line II-II in FIG. 1;

3 is a front view of the mounting bracket shown in FIG.

4 is a plan view of the nut runner hand shown in FIG.

5 is a view in the direction of the arrow along line V-V of FIG.

6 is a front view of the stay operation hand of FIG.

7 is a view in the direction of the arrow along the line VII-VII of FIG. 6;

8 is a view in the direction of the arrow along the line VII-VII of FIG. 6;

9 is a flowchart of work in mounting a radiator.

10 is a front view of the vehicle body on the conveying line.

* Explanation of symbols for main parts of the drawings

1: Return Line 2: Installation Table

3: first robot 4: second robot

5: third robot 6: bonnet stay

11: base cylinder 12: sliding member

13: arm 14: arm drive member

15 rack 16: pinion gear

17: radiator fitting part 18: radiator hanging part

19: support pin 20: robot connection

21: nut runner connection part 24: fastening mechanism

25: support lathe 26: fixed side nut runner stand

27: Nut runner stand on moving side 28: Nut runner

30: cylinder 31: nut runner head

34 bonnet support mechanism 35 base member

36: sliding member 37: cylinder

38: rocking arm 39: support pin

40: bonnet receiver 41,42: stopper

43: limit switch 44: spring

51: holding mechanism 50: guide mechanism

53: holding projection member 54: projection support

55: foundation 57: bonnet support arm

58: bonnet receiving 60: protrusion support

61: projection member 62: guide hole

A: Mounting bracket B: Nut runner hand

C: Stay operation hand P: Body

P ₁ : Bonnet S ₁ : Radiator Mounting Station

S ₂ : radiator supply station S ₃ : installation station

W: Radiator

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for automatically closing a bonnet of a vehicle body, which is conveyed on a vehicle assembly line in a pre-opened state by engaging a bonnet stay of a vehicle body, by a robot.

As is well known, the assembly line of a vehicle is being automated by introduction of a robot, and parts are automatically assembled by the robot sequentially in each assembly station in the vehicle body conveyed by this assembly line.

At this time, the body is initially transported with the bonnet open so as not to interfere with the assembly of parts in the engine room, etc. There is an assembly system that cannot be secured, and in such an assembly system that requires the occlusion of the bonnet, the bonnet is occluded by manual labor by a worker in advance.

However, as described above, since many assembly robots are arranged and operated in the assembly line of the vehicle, it is not preferable to put a worker there in terms of safety.

Heretofore, it has been considered to open and close the bonnet automatically by a robot. For example, Japanese Patent Application Laid-Open No. 63-38938 has a mounting jig attached to the bonnet in advance. A technique for gripping with a chuck on the tip and opening and closing the bonnet by a shanghai-dong of the robot arm is proposed.

However, in the above-mentioned publication, not only should the attachment jig be attached to the bonnet in advance, but also the attachment jig must be removed at the end and the work process is increased by either of the other robots or the worker. The problem is that it is not efficient.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and its object is to release the bonnet and the bonnet stay from the bonnet stay without attaching a jig or the like and to form the bonnet stay at the edge around the opening of the engine compartment again. SUMMARY OF THE INVENTION An object of the present invention is to provide a method for closing a bonnet and a device thereof, which can be secured by knocking over the housing and closing the bonnet.

In order to achieve the above object, in the method of the present invention, one end is attached to the edge around the engine compartment opening of the vehicle body so that the engaging groove of the lower surface is engaged and supported in the open state by the hook portion of the tip of the bonnet stay which is free of standing conduction. In closing the used bonnet with a robot, first, while maintaining the bonnet stay, which has been powered by the first robot, the second robot is brought into contact with the lower side of the bonnet, which is electrically powered, and then a predetermined amount is lifted. The retained bonnet stay is moved in the engagement direction along the electric engagement groove, and then the bonnet stay is lifted again by the second robot to release their engagement, and then the bonnet stay is engined by the first robot. Guide it down to the storage position formed at the edge around the seal opening and lower the bonnet with the second robot to block it. Key is characterized in that.

In order to guide the bonnet stay to the storage position by the first robot described above, the bonnet stay is held by a guide mechanism provided on the arm of the first robot, and the bonnet stay is moved toward the storage position. When lowering, it is preferable to rotate the said guide mechanism toward a storage position, shifting the said guide mechanism to the base direction of the bonnet stay.

In order to achieve the above object, in the device of the present invention, one end is attached to the edge around the engine compartment opening of the vehicle body, and the engaging groove at the bottom of the bonnet stay tip is engaged with the free standing conduction so that it is held in an open state. In the bonnet occlusion device for obstructing the bonnet with a robot, the bonnet stay is maintained, the retained bonnet stay is moved in the disengagement direction along the engaging groove, and the bonnet stay is moved to the engine compartment. And a first robot for overturning and guiding to a storage position of an edge around the opening and a second robot for abutting the tip of the bonnet in contact with the bottom face of the bonnet.

In addition, the first robot that guides the bonnet stay to the storage position by holding the bonnet stay with a margin at the same time, while shifting the bonnet stay toward the storage position, shifts the bonnet stay to the storage position. It is preferable to provide at the tip of the arm a guide mechanism which is rotated toward the storage position.

Referring to the operation of the present invention, while holding the bonnet stay with the first robot, a predetermined amount of the bonnet is lifted by the second robot, and in this state, the bonnet stay is moved in the disengaging direction by the first robot, and then the second Lift the bonnet again with the robot again to completely disengage the bonnet from the bonnet stay, then overturn the bonnet stay with the first robot and guide it to the stowed position, leaving the bonnet lifted by the second robot. The bonnet is automatically and securely closed by the cooperative work between the first robot and the second robot, which lowers the bonnet from the lifted state by the second robot.

When storing the bonnet stay with the first robot, the arm of the first robot is rotated in the direction of the storage position while shifting the guide mechanism holding the tip side of the bonnet stay in the direction of the bonnet stay with a margin. This drawing shortens the trajectory as much as possible, speeds up the operation thereof, and reduces the size and weight of the first robot.

EXAMPLE

EMBODIMENT OF THE INVENTION Hereinafter, the workpiece mounting method and apparatus of the vehicle of this invention are demonstrated concretely based on the Example shown in an accompanying drawing.

1 shows a part of an assembly line of a vehicle provided with a radiator mounting apparatus according to an embodiment of the present invention, in which, reference numeral 1 conveys the vehicle body P sequentially in the direction of the arrow. A first robot 3 having a stay operation hand C, which will be described later, and a nut runner hand B, which will be described later. On the other side of the provided second robot 4, a third robot 5 to which a mounting bracket A to be described later is attached is disposed, respectively, and the radiator mounting station S1 is provided by these three robots. This is composed.

In addition, a plurality of mounting brackets (A) (A) are provided on the side surface of the third robot (5) provided with different types of radiators (W) for each vehicle type. A mounting table (2) for assembling required parts to the radiator supply station (S2) and the radiator (W) taken out from the radiator supply station (S2) in which the parts are stored and to mount them on the vehicle body. One installation station S3 is arranged.

On the other hand, the vehicle body P is a state in which the bonnet P1 is supported in the open state by the bonnet stay 6, as indicated by reference numeral P1 in Figs. 2 and 1 in the radiator mounting station S1. It is returned to.

In the radiator mounting station S1, the radiator W is mounted at the front end of the engine compartment, and after being fastened to the vehicle body side, the bonnet P1 is closed as indicated by reference numeral P '' in FIG. It is to be conveyed toward the next process in the state.

The outline of the mounting operation of the radiator W will be described with reference to the operation procedures shown in FIGS. 1, 2 and 9, and the vehicle body P is the radiator mounting station S1 with the bonnet P1 open. In the first step, first of all, the work of detaching the stay by the cooperative work between the first robot 3 and the second robot 4 and the entire opening operation of the bonnet P1 (work procedure ①-③) are continuously performed. That is, the first robot 3 operates to grip the bonnet stay 6, and at the same time, the second robot 4 supports the bonnet P1 from the bottom, lifts it upwards, and the bonnet stay 6 Release bonnet support. Thereafter, the first robot 3 inverts the bonnet stay 6 to secure a radiator mounting space and an assembly work space between the bonnet P1 and the engine room upper end.

At this point in time, the bonnet stay operation, which is the main function of the first robot 3, is completed, while the second robot 4 needs to prepare for the radiator fastening operation performed continuously. It operates and receives the said bonnet P1 from the said 2nd robot 4 side, and supports it in the full open state, and retracts the said 2nd robot 4 to the side of the conveying line 1, and waits. .

Subsequently, the mounting work (work procedures ④-⑥) of the radiator W is started. That is, firstly, the third robot 5 is operated to take out the predetermined radiator W, which has been installed from the installation station S3, together with the mounting bracket A, and to the engine quality front end of the bonnet P1 described above. It carries in and arranges it in a predetermined position, and mounts it. In addition, the third robot 5 maintains the state as it is until the fastening operation of the radiator W is completed.

When the radiator W is mounted, the above-mentioned second robot 4 is operated to fasten and fix the radiator W to the vehicle body side.

At the time when this fastening work is completed, the said 3rd robot 5 retreats to an initial position and prepares for the next mounting work.

The mounting work of the radiator W is completed above.

Next, the closing operation (work procedure ⑦-⑨) of the bonnet P1 is started. That is, the bonnet P1, which has been supported by the first robot 3 in the totally open state so far, is received by the second robot 4 side and supported thereon, and the first robot 3 is retracted to the initial position to be next. Be prepared for your work.

On the other hand, the second robot 4 gradually lowers the supported bonnet P1 and closes it. When the bonnet P1 reaches the predetermined closed position, the bonnet P1 is released and retracted to the initial position. The vehicle body P (the vehicle body P ″ in FIG. 1) in which the bonnet P1 is blocked is conveyed as it is to the next step.

This completes all work.

In addition, the closed state of the bonnet P1 here means the state in which the locking mechanism of the bonnet P1 was unlocked (namely, the predetermined | prescribed spacing between the bonnet P1 and the vehicle body).

Therefore, as described above, even if the bonnet P1 is provided in the closed state by the second robot 4, the interference with the vehicle body side does not occur.

Next, the structure of the mounting bracket A, the nut runner hand B and the stay operation hand C, the operation thereof, and the like will be described with reference to FIG. 3 below.

[Installation Bracket (A)]

As shown in FIG. 3, the mounting bracket A is freely attached to and detached from the tip 5a of the arm of the third robot 5 in the state where the radiator W is installed at a predetermined position. It has the base cylinder 11 which extends to the left-right direction by positioning W) in the predetermined position on the vehicle body side, and mounting it.

Moreover, sliding members 12 and 12 which are slidable in the axial direction with respect to the base cylinder 11 are respectively provided in the left and right both ends of this base cylinder 11, and each sliding member 12 and 12 is again provided. The end portion of the arm 13 extending downwards is attached to each.

In addition, a pair of arm drive members 14 and 14 extending in the left and right directions are disposed at a lower position of the base cylinder 11. Each of the arm drive members 14 and 14 connects the arms 13 to the outer terminal portions, respectively, and the racks 15 and 15 engaged with the pinion gear 16 at the inner terminal portions. Are formed respectively.

Accordingly, by rotating the pinion gear 16 by a predetermined drive mechanism (not shown), the above-described arm drive members 14 and 14 move forward and backward in the axial direction. 13) and 13 are synchronously moved in the width enlargement direction or the width reduction direction.

On the other hand, each of the arms 13, 13 forms a lower portion at the lower end thereof with a radiator fitting portion 17, 17 for fitting the radiator W from the width direction thereof, The radiator hangers formed on both upper ends of one radiator W are provided with support pins 19 and 19 that can be engaged with the insertion holes (not shown) of the sections 18 and 18. Therefore, as the pinion gear 16 moves the arms 13 and 13 in the mutually approaching direction, the radiator W is installed by the support pins 19 and 19 as described above. The positioning with respect to the < RTI ID = 0.0 >) is made and held by the radiator-fitting portions 17, 17 < / RTI >

In this way, the mounting bracket A holding the radiator W in the installed state is connected to the arm of the third robot 5 through the robot connecting portion 20 formed at the upper position of the base cylinder 11. It is connected to the front-end | tip part 5a, is carried in to the vehicle body side by the 3rd robot 5, and is mounted in a predetermined position. 3, reference numerals 21 and 21 denote nut runner connecting portions connected to nut runner hands 31 and 31 of the nut runner hand B described later.

[Nut Runner Hand (B)]

The nut runner hand (B) fixes the radiator (W), which is positioned and mounted on the vehicle body (P) side by the third robot (5) by bolting, and simultaneously supports the bonnet (P1) in an open state. As shown in FIG. 4 and FIG. 5, the fastening mechanism 24 and the bonnet support mechanism 34 are provided.

The fastening mechanism 24 has a supporting shelf 25 of a predetermined length connected to the arm tip 4a of the second robot 4 described above.

A fixed side nut runner stand 26 having a nut runner 28 is fixedly arranged at one end 25a of the support shelf 25, while a nut runner 28 is provided at the other end 25b. The side nut runner stand 27 is mounted to be movable in the axial direction of the support shelf 25. And this moving side nut runner stand 27 is a position shown by the dashed line and the dashed line in FIG. 4 and FIG. 5 by the telescopic movement of the cylinder 30 fixed to the said support shelf 25 side. It is to be moved between and. Therefore, by adjusting the position of the moving nut runner 27, the nut runner heads 31 and 31 provided in the nut runners 28 and 28 described above are increased or decreased. Also, when mounting (31) and (31) other radiators of the applied model, it is possible to reliably fit each of the nut runner connection portions 21 and 21 on the side of the mounting bracket A described above, and to fasten it.

On the other hand, the bonnet support mechanism 34 supports the bonnet P1 in an open state by the operation of the second robot 4 as described above, and at the same time, the second robot in its support state. (4) acts to move the bonnet P1 from the open state to the closed state by being moved downward, and is fastened to the one end 25a side of the support shelf 25 of the fastening mechanism 24 described above. It has a fixed base member 35.

A sliding member 36 extending outwardly from the above-described support shelf 25 in the axial direction thereof is attached to the base member 35 so as to be slidable in the vertical direction by the cylinder 37.

Moreover, the swinging arm 38 is supported by the front-end | tip part of this sliding member 36 so that a pivoting arm 38 is possible to oscillate.

The swinging arm 38 is exerted by the spring 44 installed at one end 38a of the swing arm 38, and a rubber bonnet support is applied to the other end 38b. 40 is attached.

Again, the swinging arm 38 is controlled to the maximum rotation by a pair of support members 41 and 42 provided on both sides by sandwiching the support pin 39 described above, and supporting the bonnet P1. In the state of not doing so, in the state in which the support member 41 still supports the bonnet P1, the support members 42 operate respectively.

In this case, in the present embodiment, the rotation of the swinging arm 38 on the support member 42 side immediately before the swinging arm 38 is regulated by the support member 42 (that is, the bonnet ( Detecting the start of support of P1). A limit switch 43 is provided.

By the output signal of the limit switch 43, the bonnet P1 between the swinging arm 38 and the arm 57 (see Fig. 7) of the stay operation hand C, which will be described later, is supplied. The reliability of the operation timing at the time of reception is ensured.

The nut runner hand B configured as described above is operated by the second robot 4 and the operating mode of the bonnet support mechanism 34 by the second robot 4 as described above. It is to selectively perform the supporting action of (P1) and the fastening action of the radiator (W).

[Stay operation hand (C)]

The stay operation hand C is the conduction action of the bonnet stay 6 and the bonnet by the operation of the first robot 3 connected to the arm tip 3a of the first robot 3 as described above. As shown in Fig. 6, a holding mechanism 51, a guide mechanism 52, and a bonnet support arm 57, which will be described later, are selectively provided to perform the supporting action of (P1).

As shown in FIG. 6 and FIG. 7, the holding | gripping tool 51 is the projection support part arrange | positioned and installed in the upper part of the base part 55 connected to the arm tip part 3a of the said 1st robot 3 ( 54 and a pair of left and right gripping protrusions 53 and 53 attached to the distal end of the protrusion supporting portion 54. The gripping protrusions 53 and 53 are opened and closed by the drive means (not shown) built in the protrusion support 54, and as shown in FIG. The S-shaped bent portion 6a of the upper end of 6) can be gripped from the side surface thereof, and the gripping action on the bonnet stay 6 is released in the open state as shown by the broken line. have.

In particular, in the case where the bent portion 6a of the bonnet stay 6 is gripped from its side by the gripping protrusions 53 and 53 as in this embodiment, the attitude toward the bonnet P1 of the first robot 3 is maintained. The relative position with respect to the stay attachment hole P2 (refer FIG. 6) of the bonnet P1 of the bent part 6a of the bonnet stay 6 is hold | maintained suitably as long as is set to the predetermined state.

Therefore, even if the relative position between the bent portion 6a and the stay attaching hole P2 is shifted at the time when the vehicle body P reaches the radiator mounting station S1 by being conveyed to the conveying line 1, the bonnet When the stay 6 is gripped by the gripping mechanism 51 described above, it is forcibly installed in its proper state. Therefore, when the bonnet P1 is lifted by the second robot 4 described above, The bent portion 6a of the bonnet stay 6 can be easily detached from the stay attaching hole P2 of the bonnet P1, thereby ensuring the integrity of the work.

The guide mechanism 52 protrudes in the base portion 55 by guiding the intermediate step portion 6b and conducting and storing the intermediate step portion 6b at a predetermined position during the conduction operation of the bonnet stay 6. The support part 60 and the pair of protrusion members 61 and 61 supported by the protrusion support part 60 are provided.

The protruding members 61 and 61 are opened and closed by the driving means (not shown) built in the protruding support 60. In the closed state, the protruding members 61 and 61 are formed so as to form guide holes 62 having a predetermined size therebetween. It is.

The conduction work of the bonnet stay 6 by the holding mechanism 51 and the guide mechanism 52 configured as described above is performed as follows.

That is, when the vehicle body P reaches the radiator mounting station S1, the holding mechanism 51 opens the holding protrusions 53, 53, and the guide mechanism 52 has the protrusions 61, 61. ) Is moved to the bonnet stay 6 side by the 1st robot 3, respectively. Then, the gripping mechanism 51 and the guide mechanism 52 are closed together, and the gripping mechanism 51 grips the bent portion 6a of the bonnet stay 6 by the gripping mechanism 51 so as to be relative to the stay attaching hole 6a. The position is properly set, and the intermediate step 6b of the bonnet stay 6 is inserted into the guide hole 62 of the guide mechanism 52.

In this state, when the bonnet P1 is lifted by the second robot 4 described above, the bent portion 6a of the bonnet stay 6 is separated from the stay attaching hole P2 of the bonnet P1. The support state of the bonnet P1 by the bonnet stay 6 is released (in this case, the bonnet stay 6 is slightly pulled toward the front side of the vehicle body as indicated by arrow a in FIG. 6).

In this case, the gripping mechanism 51 is opened to release the gripping action, and then the guide mechanism 52 is moved to conduct the conductive storage of the bonnet stay 6 at a predetermined position.

At this time, the guide mechanism 52 guides the intermediate stage 6b of the bonnet stay 6, and at the same time, the guide hole 62 has a size that can sufficiently allow the swing of the bonnet stay 6. For example, since the upper end of the bonnet stay 6 is set and the upper end of the bonnet stay 6 is turned over, the first robot 3 can carry out a necessary conduction with a shorter moving distance, thereby speeding up the work or the device. It is effective in miniaturization of the present invention.

On the other hand, the bonnet support arm 57 extends from the base portion 55 to a predetermined length in a direction crossing at right angles in the extending direction of the gripping mechanism 51 and the guide mechanism 52. Consists of a member, a bonnet support 58 is provided at the tip end thereof. The bonnet support arm 57 supports the bonnet P1 at the bonnet receiver 58 by the operation of the third robot 3 described above.

The mounting bracket A, the nut runner hand B, and the stay operation hand C configured as described above are mutually connected by the first robot 3, the second robot 4, and the third robot 5, respectively. By inverting the bonnet stay 6 as described above by operating the system, a series of operations from assembling the radiator W to the occlusion of the bonnet P1 are automatically and safely and securely without passing the operator's hand. It is done with high efficiency.

In the present embodiment, the edge around the engine compartment is opened again while the first fixing mechanism 130 of the first robot 3 is opened to maintain the bonnet stay 6 in a state in which the second fixing mechanism 131 is provided with a margin. To the storage position installed in the

At this time, the second fixing mechanism 131 does not rotate simply by drawing an arc trajectory. As shown in FIG. 10, the second fixing mechanism 131 is rotated while also moving in the direction of the base of the bonnet stay 6, thereby rotating the bonnet stay 6. The control program of the first robot 3 is configured to guide and store it in the storage position.

In addition, the second fixing mechanism 131 is opened at the final stage of the guide, and the bonnet stay 6 is freely dropped at the final portion.

In storing the bonnet stay 6 with the first robot 3, the guide mechanism of the bonnet stay 6 is allowed to have a margin, while the guide mechanism is shifted in the direction of the base of the bonnet stay 6 while keeping it there. By rotating in the direction of the storage position, the trajectory of the arm of the first robot 3 can be shortened as much as possible, so that not only a quick operation can be obtained but also the weight reduction of the first robot 3 can be achieved.

Claims (6)

Bonnet (P1), which is held in an open state by engaging the grooves at the bottom of the bonnet stay (6) with one end attached to the edge around the engine compartment opening of the vehicle body (P) and engaging with the hook portion of the tip of the bonnet stay (6). When opening and closing the robot by a robot, first, while maintaining the above-mentioned bonnet stay 6 with the first robot 3, the second robot 4 is brought into contact with the bonnet P1 from the lower side, and a predetermined amount is lifted. Next, the bonnet stay 6 held by the first robot 3 is moved in the engagement release direction according to the engagement grooves described above, and then the bonnet P1 is lifted again by the second robot 4 again. Lifting and releasing their engagement, the bonnet stay 6 is guided by the first robot 3 to the storage position installed at the edge around the engine compartment opening and guided by the second robot 4 to the bonnet P1. Characterized by lowering the occlusion How to obstruction of the bonnet. The guide mechanism (52) according to claim 1, wherein the guide mechanism (52) provided on the arm (13) of the first robot (3) is used to guide the bonnet stay (6) to the storage position of the bonnet stay (6). By holding the bonnet stay 6 with a margin and opening the bonnet stay 6 toward the storage position, the guide mechanism 52 is stored while shifting the guide mechanism 52 in the direction of the base of the bonnet stay 6. A method of closing a bonnet, characterized in that it rotates toward a position. The method according to claim 1, wherein after the bonnet stay 6 is transferred to the storage position by the first robot 3, the support of the opening and closing member is performed by the first robot 3 instead of the second robot 4 described above. Further, as the third robot 5, the workpiece is mounted at a predetermined position below the opening / closing member, and the workpiece is fastened and fixed to the vehicle body side by the second robot 4. After that, the support of the opening and closing member is inherited from the first robot 3 side to the second robot 4 side, and the opening and closing member is moved by the second robot 4 to the occlusion side. How to block the bonnet Bonnet (P1), which is held in an open state by engaging the grooves at the bottom of the bonnet stay (6) with one end attached to the edge around the engine compartment opening of the vehicle body (P) and engaging with the hook portion of the tip of the bonnet stay (6). In the closing device of the bonnet (P1) for closing the robot with a robot, the bonnet stay (6) is held and the retained bonnet stay (6) is moved in the disengagement direction along the engaging groove described above. At the same time, the first robot 3 which inverts and guides the bonnet stay 6 to the edge around the engine compartment opening and the lower end of the bonnet P1 are brought into contact with the tip surface of the bonnet P1. 2 robot (4) and the bonnet occluding device. 5. The first robot (3) which guides the bonnet stay (6) to the storage position by guiding the front end side of the bonnet stay (6) while allowing the bonnet stay (6) to be accommodated. And a guide mechanism (52) provided at the distal end of the arm (13) for shifting toward the storage position while shifting toward the position of the bonnet stay (6). 5. The work piece according to claim 4, wherein the work piece is mounted at a lower position of the opening / closing member and the work piece is brought into a lower position of the opening / closing member in order to close the opening / closing member. And a third robot (5) for mounting.