JPH02279476A - Detachable device for automobile fender - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device for attaching and detaching a fender fixed to an automobile body by a screw member in an automobile assembly line.

(Prior Art and Problems to be Solved by the Invention) On an automobile assembly line, a fender is assembled in advance to the main body frame of the automobile together with a door, etc. In this case, the fender is attached to the main body frame. It is fixed with bolts.

The purpose of this is to absorb dimensional errors that tend to occur when the fender, etc. formed by sheet metal press processing is assembled to the main body frame, and to create a smooth body line.

When painting the fender assembled as above,
By removing this fender from the main body frame as a single component, holding both sides horizontally and spraying paint on it, and reassembling it after drying, it is possible to obtain an automobile body with excellent paint quality. This is because molding of the paint can be prevented by performing the painting with the painted surface of the part in a horizontal state.

In such an assembly line, when attempting to automatically disassemble and erect (install and remove) the fender, it is important to automatically grip the fender and automatically tighten and loosen bolts.

However, as described above, the fender is assembled to the main body frame by matching the actual fender, which causes variations in the mounting position, and it is difficult to easily position the gripping member that grips the fender with respect to the fender. I can't.

In addition, there are some variations in the screwing position of the bolts among the main body frames of each automobile, and even if you try to automatically tighten and loosen the bolts using a nut runner, for example, the nut runner will not be able to tighten or loosen the bolts automatically. It is not possible to accurately position the bolt with respect to the above bolt by attaching it with ε.

Therefore, automated attachment and detachment of fenders has not yet been realized.

Therefore, an object of the present invention is to grip a fender by following the position of the fender assembled to the main body frame of an automobile, and to tighten and loosen the screw member according to the position of the screw member. It is an object of the present invention to provide a fender attachment/detachment device that enables the fender to be attached and detached.

[Means for Solving the Problems] In order to achieve the above object, the main means adopted by the present invention is that the gist is a fender underwear device that is fixed to the car body by a screw member. The gripping member is provided opposite to the base so as to be openable and closable, and the driving means is provided so as to be movable together with the cough gripping member relative to the base in the opening/closing direction of the gripping member. a gripping mechanism that closes the gripping member by a driving means and grips the fender following the position r of the fender; a detection mechanism that detects the position of the screw member; and the screw member detected by the detection mechanism. This fender attachment/detachment device includes a nut runner mechanism for tightening and loosening the screw member, and a nut runner mechanism for tightening and loosening the screw member.

[Operation] In the fender underwear device according to the present invention, the gripping member constituting the gripping mechanism is closed by the driving means on the base. Then, the gripping member moves following the position ζ of the fender and grips the fender.

Further, the position of the threaded part screwed onto the automobile body is detected by the detection mechanism, and the position of the nut runner mechanism is corrected according to the position of the threaded part detected by the detection mechanism. Thereafter, The Z and J members are tightened and loosened by the nut runner mechanism.

If you want to stand up the fender above, the procedure is the opposite of the above.

(Example) Examples embodying the present invention will be described below with reference to the accompanying drawings to provide an understanding of the present invention. It should be noted that the following examples are examples embodying the present invention, and are not intended to limit the technical scope of the present invention.

Here, FIG. 1 is a side view showing the structure of an underwear device according to an embodiment of the present invention, and FIG. Front view, the same figure (bJ is the plan view in the same figure (a), the same figure (C
1 is a left side view in FIG. 1(a), FIG. 3 is a right side view in FIG. 3(a), and FIG. HL) is a front view, FIG. 4 is a left side view in FIG. 4(a), and FIG. , the same figure (b) is the right side view in the same figure ta+, the same figure (C1 is the bottom view in the same figure (2I),
Figure 5 shows a special nut that can be applied to the above nut runner mechanism, where (a) is a side cross-sectional view, and (b) is a state in which the special nut described in "2" is attached to the six nut runners. Figure 6 shows the main part structure of the nanodrunner mechanism described in 1-1. The left side view, the same figure (C) is the right side view in the same figure (a), the same figure (d) is the same figure (GG' arrow partial front view in bl, the same figure (e)
is a bottom view of the section viewed from arrow H in the same figure (a), FIG. A cross-sectional view, FIG. 8 shows the structure of the position correction mechanism that constitutes the above-mentioned attachment/detachment device, and FIG. 8(a) is a front view, and FIG.
is a left side view of FIG. 9(a), FIG. 9 is a block diagram of the control system of the nut runner mechanism, and FIG. 10 is a procedure for detecting the position of the screw member with respect to the socket by the detection mechanism that constitutes the above-mentioned attachment/detachment device. An explanatory diagram showing Fig. 11 (
Figures a) and (b) are flowcharts showing the procedure for removing and attaching the fender using the above-mentioned attachment and detachment device.

In the attachment/detachment device according to this embodiment, FIGS.
As shown in FIGS. 1 and 2, a gripping mechanism 5 (see FIGS. ), a detection mechanism 129 (FIG. 6(a)) that detects the position of the bolt 102 that fixes the fender 1 to the main body frame 2, and the position of the bolt 102 detected by the detection 4!1 mechanism 129. Position correction mechanism 13
0 (FIGS. 1 and 8), and includes a nut runner 121 (FIGS. 1, 2, 5, 4, and 6) for tightening and loosening the bolt 102. .

In the gripping mechanism 5, as shown in FIGS. 1, 2, and 3, gripping claws 14, 1.5 (gripping members) for gripping the fender 1 are arranged opposite to the frame 6 (base). has been done.

The upper end 1b and lower end 1c of the fender 1 are gripped by the gripping claws 14 and 15 (see FIG. 3).

The gripping claw 14 is attached to the base 18,
The J-base I8 is supported by a slide ring 19 so as to be slidable in the direction of the arrow 20 on the frame 6. The gripping claw 15 is attached to a base 21, and the base 21 is supported by a slide bearing 22 so as to be slidable in the direction of arrow 20 on the frame 6.

On the base 21 is a main body 23 of a cylinder 23 (driving means). is attached, and the piston rod 23b of the cylinder 23 is fixed to the base 18.

Therefore, the cylinder 23 and the gripping claws 14.15 are movable relative to the frame 6 in the opening/closing direction of the gripping claws 14.15 (in the direction of the arrow 20).

A rack 24 is attached to the base 21,
The gear 25 that meshes with the rack 24 is the frame 6 shown in "2".
The brake 26 attached to the fJM26aL is fixed.

The brake 26 is connected to the gripping claw 1 by the cylinder 23.
After gripping the F end 1b and lower end 1c of the fender l by closing the gripping claws 4 and 15, the brake 26 is operated to maintain the relative position of the gripping claws [1 and 15] with respect to the fender 1. It's worthless.

In the figure, 27 is a coil spring.

By the coil spring 27, the gripping claws 14°15
are always elastically biased toward each other in the closing direction, and even if the pressure inside the cylinder 23 decreases for some reason during the operation of the gripping mechanism 5, the state of gripping the fender 1 is maintained.

The frame 6 is attached to a base 39 (one end of FIG. The base 39 is rotationally driven by a motor 44. The base 42 is rotated by an arm 46 by a motor 45.
J: is slid in the Z direction, and the arm 46 is
The arm 48 is slid by the motor 47 in the Y direction. Furthermore, the arm 48 is slidably driven on the base 49 in the χ direction by the motor 50.

At the other end of the base 39, the nut runner 121, which will be described in detail later, is provided. The nut runner 121
is for automatically tightening and loosening the bolts that fix the fender l to the main body frame 2 from the side, and is slid in the X direction by the norinda 5I.

In this embodiment, the detection mechanism 129 and position correction mechanism 130 are assembled to the nut runner 121 (
However, the nut runner 121 installed on the base 39
(The position correction mechanism 130 is omitted here because the cough base 39 is provided with a drive shaft that slides in the Y-Z direction.)

Therefore, the nut runner 121 engages the socket 122 with the head 1023 of the bolt 102, as shown in FIG. 4, FIG. 6, FIG. 7, FIG. 8, and FIG.
22, and a drive mechanism 111 that rotationally drives the main body frame 2.
(see FIG. 1); a detection mechanism 129 for detecting the position of the bolt lO2 screwed onto the bolt lO2; and means 1 for storing the position of the bolt lO2 detected by the detection mechanism 129; According to the position of the bolt 102 stored by the storage means 112, the socket 122
and a holding mechanism 113 that holds the pole 102 separated from the main body frame 2 by rotating the socket 122 whose position has been corrected by the position correction mechanism 130. It is configured.

Incidentally, in the case of a structure in which the fender 1 can be removed without separating from the main body frame 2 by simply loosening the bolts 102, the storage means +12 and the holding mechanism 113 can be omitted.

In the drive mechanism Ill, as shown in FIGS. 6 and 7,
Spherical seats 222a and 225a are carved on each end face of the rear end of the socket 122 and the tip of the drive shaft 225, respectively.

A steel ball 231 is interposed between 225a. The outer circumferential surface of the tip end of the drive shaft 225 is formed in a square shape, and is loosely fitted into a hole at the rear end of the socket 122, which is also formed in a square shape.

In this case, the outer circumferential surface of the tip of the drive shaft 225 and the inner circumferential surface of the hole at the rear end of the socket 122 are arranged so that the socket l-122 can move 11 times in the direction of arrow 226 about the -F steel ball 231. An appropriate clearance is provided between the two.

A tapered surface 222c is formed at the tip of the socket 122 so that the head 102a and the socket 122 can easily engage when abutting against the head 1021 of the bolt 102.

The drive shaft 225 is fitted into the distal end of the transmission shaft 232 so as to be able to slide in the directions of arrows 123 and 124 and not to rotate, and is always elastically biased together with the socket 122 in the direction of the arrows 123 by a coil spring 233. has been done.

The transmission shaft 232 is connected to an air motor 135 via a speed reducer 134, and is driven forward or reverse by this air motor +35.

A male tapered portion 222b is formed on the outer circumferential surface of the socket 122, and the male tapered portion 222b is formed on the inner surface of the tip portion of the socket guide 237 supported by the bracket 136. It is possible to fit into the portion 237a. The socket 122 is elastically biased in the direction of arrow 123 by a coil spring 233 via a drive shaft 225.
When the male tapered portion 222b of the 8-inch socket 122 and the female taper portion 237a of the socket guide 237 are fitted together,
The axial center of the socket 122 and the axial center of the drive shaft 225 are configured to coincide with each other.

Therefore, when the socket 122 supported by the above structure is pressed in the direction of arrow 124 and the fitted state between the male bar portion 222b of the socket 122 and the female taper portion 237a of the socket guide 237 is released, the socket 1
22 is in a state where it can move one degree in the direction of arrow 226 about the steel ball 231 with respect to the drive shaft 225, but cannot rotate.

As a result, the bolt 1 is
Even if the head 102a of 02 is misaligned, the socket 122 is guided by the tapered surface 222o that engages with the head 102a and moves along the bolt 102.
122 is the head 1022 of the second bolt lO2
securely engages.

That is, even if the positioning of the socket 122 with respect to the bolt 102 is relatively rough, the bolt 102 must be tightened 11 as long as the socket 122 is securely engaged with the bolt 102.
can do.

On the other hand, after the socket 122 has finished tightening and loosening the bolt +02, when the pressure on the socket 122 in the direction of arrow 124 is released, the socket 122 is elastically biased in the direction of arrow 123, and the male taper of the socket 122 is Part 2
22b and the female taper portion 237a of the socket guide 237
By fitting these, the socket 122 is moved so that its axis is aligned with the axis of the drive shaft 225.

In the above embodiment, it is also possible to omit the eight balls 231 by forming spherical gears on the rear end of the socket 122 and the distal end of the drive shaft 225 and meshing them with each other. It is.

In the detection mechanism 129, an annular detection member 138 is supported by a bracket 139.
is loosely fitted onto the bolt 102 and moved in the X and X directions in a plane substantially perpendicular to the axis of the bolt 102 and comes into contact with it, thereby controlling the position of the bolt 102 with respect to the bolt 122. It is for detection.

That is, the bracket 139 is attached to the slide bearing 1.
40 so as to be slidable in the direction of arrow X, and is slidably driven by an air cylinder 141. The amount of movement of the detection member 138 in the X direction at this time is detected by the potentiometer 142. Further, the bracket 139 is supported by the slide hair ring 143 together with the slide hair ring 143 so as to be slidable in the X direction, and is slidably driven by an air cylinder 144. The amount of movement of the detection member 138 in the X direction at this time is detected by the potentiometer 145.

The detection member 138. Bracket 139, slide bearings 140, 143. air cylinder 141,
144. The potentiometer 142145 is supported by a slide bearing 146 with respect to the bracket 136 so as to be slidable in the X direction, and the air cylinder 141
The slide is driven by.

The storage means 112 is constituted by a memory in a control device 114 (see FIG. 9) that controls the nut runner 121.

The position correction mechanism 130 (see FIG. 8) includes a drive mechanism 111 supported by a bracket 136, a socket I
22. The detection mechanism 129 and the like are supported by a slide hair ring 148 so as to be slidable in the X direction,
It is slidably driven by a ball screw 151 driven by a motor 150 via a motor 150 .

Further, pull the slide 148. Plaquet 136
．． Morph 150. Held 149. The ball screw 151 and the like are supported by a slide hair ring 152 so as to be slidable in the X direction, and are connected to the motor 1 via a heald 153.
It is slidably driven by a pole screw 155 which is rotationally driven by 5/I.

Next, a procedure will be described in which the position of the head 102a of the bolt 102, for example, with respect to the socket 122 is detected by the detection mechanism 129, and the socket 122 is moved to the position 11i by the main mechanism 130 to correct the position (10th (see figure).

In addition, the potentiometers 142 and 145 are configured such that the extendable dimension of the detection rod is 0 to 20 m, and the extended state (20 a
m), resistance, 0Ω, voltage, Ov, generated pulse, 0 pulse, when reduced state (Om), resistance, lkΩ, voltage,
5V, generated pulses, 1000 pulses.

First, when the detection member 138 moves leftward on the X-axis in FIG. 6(a), the potentiometer 145 contracts;
The amount of displacement BX (mm) is BX (m11) = (BX (pulse) -e8X
)/dBX.

In addition, here, dBX m50. , O(pulse/tit
s ), eBx-〇 (pulse).

Furthermore, when the detection member 138 moves leftward on the X-axis in FIG. 6(C), the potentiometer 142 expands, and the displacement BY (mm) = (BY (pulse) - eBY
)/dBY.

In addition, here, dBY = -50,0 (pulse/mm)
, eBY=1000 (pulses).

Then, the head to2 of the above port) 102. When the center of the detecting member 138 is located at the center of the detecting member 138, the amount of displacement to the left on the X-axis of the detecting member 13B is BXO, and the amount of downward displacement on the Y-axis is BYO.
YO is given in advance as a parameter), bolt 10
Correction amount D of the position correction mechanism 130 in the X direction with respect to 2
X is given by DX (m+++) = BXO-BX, and Y+ the correction amount DY in the force direction is given by DY (閤) = BYO-BY.

Therefore, the motor 150 is rotationally driven based on the value of DX, and the position of the socket 122 is corrected in the X-axis direction. Also, based on the value of DY, the motor 154
is rotationally driven, and the position of the socket 122 is corrected in the Y-axis direction.

In the holding mechanism 113, as shown in FIG. Nail 156. 156. The gripping claw 15G is driven to open and close by an actuator 157 below the socket 122.

The gripping claw 156. The actuator 157 is
This bracket 158
is supported by a slide bearing 159 so as to be slidable in the Y direction (front-back direction). Then, it is slid and driven by the air cylinder 160.

Further, the bracket 158 is supported by a slide hair ring 161 together with the slide bearing 159 and the like so as to be slidable in the X direction (vertically 1?i7).
Air cylinder 162 fixed to the bracket 136
The slide is driven by.

In the apparatus of this embodiment, the nut runner 121. A detection mechanism 1291, a position correction mechanism 130, and the like are arranged 2IJ1 (see FIG. 4) and mounted on the base 52. The base 52 is supported by an arm 53 and is slid by a motor 54 on a frame 55 in the X direction.

In this embodiment, the nut runners 121121 are mounted on a common base 52 via the position correction mechanisms 130, 130, but two sets of cough bases 52 are provided, and the nut runners 121 and 121 are individually slid and driven. You may try to get it.

The MR equipment according to this embodiment is configured as described above.

Next, we will explain the procedure for removing the fender l from the main body frame 2 of the automobile using the above-mentioned detachment device and attaching it to, for example, a parts trolley for painting (not shown) (see FIGS. 11(a) and 11(b)). .

When removing the fender 1 from the main body frame 2 (see Fig. 11(a)), first remove the motor 44.
, 47, 50 and 54 to position the grip 1 mechanism 5 and the nut lunch 121 at predetermined positions taught in advance.

At this time, the nut runner 1 provided in the gripping mechanism 5
21 is further driven to move in the X direction by the cylinder 51 (FIG. 2).

After that, the fixing bolts +02 that supported the fender 1 with respect to the main body frame 2 (in this example, two in the upper part and one in the side part, a total of three) are removed from the chin 1 to the runner 12.
It is automatically loosened by 1 and gripped by 5 on the side.

First, the detection member 13El is further moved (in the X-axis direction) by the air cylinder 14-7 (FIG. 6) provided in each of the nut runners 121 (3 units in total), and the detection member 13El is moved below the socket 122 by the air cylinder 144. The bolt 102 is moved to a position corresponding to above the head 102a of the bolt 102.

Further, the detection member 138 is moved and driven by an air cylinder 147 to a position where the head 1022 can be fitted loosely,
It is driven to move in the X and Y directions by air cylinders 1.41.144. Then, the amount of movement of the detection member 138 until it comes into contact with the side surface of the head 102a is detected by the potentiometers 142 and 145, respectively, and the position correction (2) of the bolt 102 relative to the socket 122 is detected.

When the detection of the position correction amount of the bolt 102 is completed through the above procedure, the position of the bolt 102 is calculated together with the position correction 　, and these values are stored in the memory +12. Note that the detection member 138 is connected to the air cylinder 14.
4. When 147 is driven, the head 1 of the bolt 102
02. Evacuate from.

At this time, the exact mounting position of the fender l with respect to the above-mentioned pole 102 is also calculated.

Then, according to the position correction amount of the socket 122 with respect to the head +02a of the bolt 102 detected by the potentiometers 142 and 145, the motors 150 and
(FIG. 8) is rotationally driven, and the position of the socket 122 relative to the head 1023 of the socket 102 is corrected.

Regarding the standby groove 5 mentioned above, position correction is performed by driving the motors 44, 4547.

Thereafter, each socket 122 is connected to the motor 50.54.
The head 102a is further driven to move and fitted into the head 102a. At this time, even if the positioning is relatively rough, the socket 122 moves along the head 102a of the bolt 102 and is reliably fitted into the head +02a.

At the same time, the horizontal gripping machine 5 is also positioned relative to the mounting position of the fender 1.

Continuing with regard to the gripping mechanism 5 (FIG. 3), when the brake 26 is released and the cylinder 23 is operated in the contraction direction, the gripping claws 14 and 15 are supported by the slide rings 19 and 22, respectively, and moved in the closing direction. to operate. When one of the gripping claws 14 or 15 comes into contact with the upper end 1b or F/end 1c of the fender 1 and its operation stops, only the gripping claw 14 or 15 that has not yet come into contact with the cough fender 1 is further moved in the closing direction.

When the other gripping claw 14 or 15 comes into contact with the upper end 1b or the lower end 1° of the fender 1, the fender 1 is moved by the gripping claw 14. +5 causes it to be in a gripped state. That is, the gripping claws 14. +5 is closed, the gripping claws 14. +5 closing operation, the cylinder 23 also moves in the closing direction, and the fender 1 moves to the gripping claw 14, 15 at a position following the fender l.
gripped by. Thereafter, by operating the -F brake 26, the relative position of the (I!! samurai claws 1, 1.15) with respect to the fender 1 is maintained.

Next, each of the above 7 tranners + 21 air motors + 3
5, the socket 122 is rotationally driven, and the loosening operation iJ+ is performed on each of the bolts +02 on the upper and side parts that fixed the fender l.

When the por h ] 02 is loosened by the above procedure and becomes separable, the gripping claw 156 is connected to the air cylinder! 62, and is driven forward by an air cylinder 160 to a position where the threaded portion of the bolt 102 can be gripped. Thereafter, the gripping claw 156 is closed by the actuator 157, and the gripping claw 156 causes the gripping claw 156 to close the gripping claw 156. -102 is grasped.

Each of the nut runners 121 is then returned to the predetermined original position while holding the bolt +02 by the gripping claw 156.

At the same time, the gripping mechanism 5 that grips the fender l retreats together with the nut runner 121.

After that, the main body frame 2 is carried out.

When reattaching the fender 1 to the main body frame 2, since the position of the bolt lO2 is stored in the storage means 112, the bolt +
02 can be re-screwed accurately.

Further, since the bolt 102, which is now in a separable state, is held by the grip claw 156 until it is screwed again, the operator is freed from the trouble of managing the bolt 102.

Subsequently, an outline of the procedure for attaching the fender l to a parts carrier for painting will be described (see Fig. 1I (b)).

The outline of the procedure is as follows: First, a special nut 5G (FIG. 5) is supplied to the detection member 13B of the nut runner 121 of the gripping 8g structure 5 by a nut supplying device (not shown) consisting of a known parts feeder or the like.

The parts truck according to this embodiment does not have a female threaded portion for attaching the fender 21 and fixing it with the bolt 102. Therefore, as mentioned above, it is necessary to support the special gear 56 by the nut runner 121 and attach the fender l to the parts truck. In this case, even if the positioning of the parts cart is relatively rough, by simply providing a relatively large through hole in the parts cart for fitting the dedicated nut 56, the dedicated nut 56 can be inserted into the parts cart.
The above-mentioned POL l-102 can be reliably screwed onto the holder.

This is the fender L and the bolt 102 that fixed it.
This is because the special nut 56 is supported by the gripping mechanism 5 in the same positional relationship as when installed, and the special nut 56 is held by the detection member 138 of the nut runner 12+.

In addition, for the through-hole provided in the upper part of the fender 1 for inserting a bolt, a large fitting claw that is fitted into the through-hole is provided on the parts trolley, so that the parts trolley of the fender 1 cannot be inserted into the parts trolley. Only the gripping mechanism 5 is used for attachment.

Subsequently, the parts cart is transported to a predetermined position on the line.

Then, the motor 44, 45, 41, 50 is driven, the fender l approaches the parts truck, and the locking pawl of the parts truck is fitted into the through hole of the fender l for inserting the bolt.

Thereafter, the bolt 1.02 that fixes the fender 1 from the side is pressed against the fender 1 and the parts cart, and is screwed into the dedicated nut 56, which has been moved to a position facing the bolt 102. .

When the work of attaching the fender 1 to the parts truck is completed as described above, the nut runner 121 provided in the gripping mechanism 5 is retracted, and the gripping state of the fender I is released.

Then, the gripping mechanism 5 is returned to its original position, and the parts cart is transported out.

Therefore, in the device of this embodiment, the fender 1 assembled to the main body frame 2 of the automobile is gripped by following the position of the fender l, and the bolts 1
According to the position of 02, the bolt 102 can be tightened or loosened automatically.

In other words, accurate positioning of the main body frame 2 is not required.

〔Effect of the invention〕

As described above, the present invention is an attachment/detachment device for a fender that is fixed to an automobile body by a screw member, and includes a gripping member disposed opposite to each other so as to be openable and closable on a base, and a gripping member and an opening/closing direction of the gripping member. and a drive means provided movably relative to the counterpart, the drive means causes the gripping member to close, and grips the fender following the position of the fender. a detection mechanism that detects the position of the screw member; and a nut runner mechanism that corrects the position of the screw member according to the position of the screw member detected by the detection mechanism and tightens or loosens the screw member. Self-1 characterized by doing! JJ i
Since this is a fender attachment/detachment device for FF, it grips the fender by following the position of the fender assembled to the main body frame in automatic 1), and also automatically attaches the screw member according to the position of the screw member. It can be tightened and removed.

[Brief explanation of drawings]

FIG. 1 is a side view showing the configuration of an attachment/detachment device according to an embodiment of the present invention, FIG. 2 is a side view showing a fender gripping mechanism constituting the detachment device, and FIG. 2(a) is a front view. 5 (1)) is a plan view of the same figure (a), and (C) is the left side view of the same figure (al). 1111F shows the structure of the main part of the gripping mechanism, and 1111F (a) is a front view;
Figure (b) is a left side view of figure (a), and Figure 4 is the left side view of figure (a).
: Shows the nut runner mechanism constituting the recording and escape device, in which figure (a) is a front view, figure (b) is a right side view of figure (a), and figure (C) is a figure ( Fig. 5 shows a special Nando applicable to the nut runner mechanism, and Fig. 5 shows a side sectional view thereof.
Figure 6(b) is a sectional side view of the main part of the nut runner mechanism with the dedicated nut attached to the nut runner mechanism, and Figure 6 shows the structure of the main part of the runner mechanism mentioned above. Front view, the same figure (bl is the left side view in the same figure (a). The same figure (C) is the right view in the same figure (a), the same figure (d)
is a partial front view in the direction of arrows G-G' in the same figure (■), and
) is a bottom view of the section viewed from arrow 1 in figure (a);
7 is a side sectional view showing the supporting structure of the sockent that constitutes the tranner mechanism, and FIG. 8 is a bottom view of the part viewed from arrow 1 in FIG. The figure (a) is a front view showing the structure. Fig. 9(b) is a left side view of Fig. 9(a), Fig. 9 is a block diagram of the control system of the nut runner mechanism, and Fig. 1O shows the position of the screw member relative to the socket by the detection mechanism constituting the above-mentioned attachment/detachment device. FIGS. 11(a) and 11(b) are explanatory diagrams showing the 'f-order in the case of detection, and are flowcharts showing the procedure for removing and attaching the fender using the above-mentioned attachment/detachment device. [Explanation of symbols] l...Fender 2...Body frame 5...Gripping mechanism 6...Frame (base) 14.15...Gripping claw (gripping member) 23...Cylinder (driving Means) 102... Bolt 102a... Head! 21... Nano 1 runner 129... Detection mechanism 130... Position correction mechanism.

Claims (1)

[Scope of Claims] 1. A fender attachment/detachment device fixed to an automobile body by a screw member, comprising: a gripping member disposed facing each other so as to be openable and closable on a base; a gripping mechanism comprising a driving means provided movably relative to the base, the driving means causes the gripping member to close, and grips the fender following the position of the fender; A detection mechanism that detects the position of the screw member; and a nut runner mechanism that corrects the position of the screw member by a position correction mechanism according to the position of the screw member detected by the detection mechanism, and tightens or loosens the screw member. Features: Automotive fender attachment/detachment device.