JPH0228508B2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field The present invention relates to a method for assembling parts on both sides of a body to be assembled, which is employed, for example, when automatically assembling a door to a body transported on an automobile assembly line. It is related to.

2. Description of the Related Art Conventionally, when a body is used as a main body to be assembled and a door is used as a component, the door is assembled to the body as follows. That is, the trolley that supports and transports the body is accurately stopped at the assembly position, and the door supply device placed at the assembly position is operated based on a preset movement to set the door in the door attachment opening of the body. Thereafter, an automatic screw tightening device, which is also disposed at the assembly position, is operated based on preset movements, and the door is assembled to the body by screwing.

Problems to be Solved by the Invention According to the above-mentioned conventional method, the door supply device supplies the door according to a preset operation. Since the width is not the same and is random within a range of several millimeters, the door may be supplied with a stroke longer than necessary for the body,
There have been cases where the supply has stopped before the desired position.

Means for Solving the Problem In order to solve this problem, the method of assembling parts on both sides of the main body to be assembled according to the present invention involves lifting and supporting the main body to be assembled, which has been transported by a transport device, using lifting devices located on both sides of the main body. Next, the centering devices located on both sides are moved closer to each other to center the main body to be assembled, and the amount of movement of both centering devices at this time is given to the controller, and from this controller, the assembly work is performed with the component supply devices located on both sides. An operation command is given to the device based on the amount of movement.

Effect According to the method of the present invention having the above configuration, by detecting the amount of movement of the centering device, the actual width of the main body to be assembled can be inputted to the controller, and the component feeding device and the assembly work device are operated using this as a reference value. can be done.

Embodiment An embodiment of the present invention will be described below based on the drawings.

In this embodiment, as shown in FIGS. 1 to 4, an automobile body 1 is shown as an example of the main body to be assembled, and doors 2A and 2B are shown as parts to be assembled on both sides. The invention is not limited to these, and can be employed in various assemblies, such as the assembly of machine tools, for example. Openings 3A and 3B for attaching doors 2A and 2B are formed on both sides of the body 1, and screw holes 5 are provided near the front edges of the opening edges 4A and 4B.
A and 5B are formed. 6A and 6B indicate door edges.

In FIGS. 1 and 3, reference numeral 7 denotes a hanging conveyance device, which includes a trolley guide rail 8, a trolley drive rail 9 installed above the trolley guide rail 8, and a trolley guide rail 8 that is guided by the trolley guide rail 8. device 10
and a hanger 11 connected to this trolley device 10.
and a trolley drive device guided by the trolley drive rail 9. The hanger 11 holds a pair of left and right doors 2A, 2B, and has hook-shaped engagement members 12A, 12B on both upper sides thereof that can be freely engaged with the doors 2A, 2B, and on both lower sides thereof. The inner surfaces of 2A and 2B have abutment tools 13A and 13B that can be brought into contact with each other.

A cart (an example of a transport device) 21 is disposed below the suspension transport device 7 and is movable on a fixed path 20 along the suspension transport route. A plurality of support brackets 22 are arranged in series on the upper part of this truck 21 to support and convey the body 1. Further, the moving force of the truck 21 is applied from the floor conveyor 24 to a passive pin 23 provided on the truck 21 side. That is, the floor conveyor 24 has a drive chain 25, and protrusions 26 that can be freely engaged with the driven pins 23 are provided at a plurality of locations on the drive chain 25. The drive chain 25 is driven by winding the drive chain 25 around a wheel that is linked to a servo motor 27.
A pulse generator 28 interlocked with is provided to detect the moving speed of the trolley 21, and the detected speed value signal 29 is input to the controller 30.

An assembly location 3 is located at a predetermined location on the fixed path 20.
5 is formed, and at the starting end of this assembly place 35,
A door vehicle type detection device 36 is provided, and a body vehicle type detection device 37 is provided above the assembly location 35. These vehicle type detection devices 36 and 37 are
The vehicle type is detected based on the fact that the shape and dimensions of the body 1 and doors 2A, 2B differ depending on the vehicle type. The comparison and detection are performed by the controller 30, and the body 1 and the doors 2A, 2B are
When the types are different, transportation is stopped and a warning is issued.

A trolley device 1 is installed at the starting end of the assembly location 35.
A stop position correction device 38 is provided for stopping the 0 and correcting the stop position.

As shown in FIGS. 1 to 3, movable platforms 40A and 40B are disposed on both sides of the fixed path 20 at the assembly location 35, respectively. That is, the movable platforms 40A, 40B are supported and guided by the floor rails 41A, 41B via sliding bodies 42A, 42B, and their reciprocating movement is achieved by laying racks 43A, 43B along the floor rails 41A, 41B, and by using the racks 43A, 43B. Pinion 44A that engages with 43A and 43B,
This is possible by interlocking 44B with servo motors 45A and 45B provided on movable bases 40A and 40B. Furthermore, pulse generators 46A and 46B are arranged near the servo motors 45A and 45B to detect the moving speed of the movable bases 40A and 40B.
As shown in FIG. 13, the detection signal 47 from here
Inserting A and 47B into the controller 30,
A speed difference with respect to the speed value signal 29 is calculated, and control signals 48A, 48B based on the speed difference are sent from the controller 30 to the servo motors 45A, 48B.
It is designed to be given to 45B. Both movable stands 40
On the A, 40B, robots 50A, 50B, which are parts supply devices, are arranged on the upper side, and a screw tightening device 70, which is an example of an assembly work device, is arranged on the lower side.
A, 70B are provided, and receiving devices 90A, 90B are further provided on the inner surface side of the intermediate portion.

The robots 50A and 50B are movable bases 40
Drive parts 51A and 51B arranged on A and 40B
Finally, the actuating arms 52A, 52 are freely movable.
B, etc., and unloading devices 53A, 53B are attached to the ends of the operating arms 52A, 52B. As shown in FIGS. 4 and 5, these unloading devices 53A and 53B have mounting frames 55A and 55B rotatably attached to the ends of the operating arms 52A and 52B via longitudinal shafts 54A and 54B. , this mounting frame 55
Horizontal axes 56A, 5 along the constant path 20 are located at a plurality of locations (two locations each in the embodiment) at the lower ends of A, 55B.
The arms 58A, 58B are attached to the arms 58A, 58B so as to be vertically swingable via the arms 6B, and have upwardly facing receiving surfaces 57A, 57B at the inner ends, and the mounting frames 55A, 55B are provided in order to interlock with the arms 58A, 58B. Cylinder device (an example of a swing drive device) 59A,
59B, and vacuum cups (an example of suction tools) 60A, 60B provided at multiple locations (four locations in the embodiment) on the inner surfaces of the mounting frames 55A, 55B.

As shown in FIGS. 1 to 3, 6, and 7, the screw tightening devices 70A, 70B are provided with guide rods 71A, 71B on the movable bases 40A, 40B.
first slide bases 72A, 72B that are attached via and movable along a fixed path 20, first drive devices 73A, 73B that reciprocate the first slide bases 72A, 72B, and the first slide bases Second slide stands 74A, 74B are attached to the second slide stands 72A, 72B so as to be movable back and forth, second drive devices 75A, 75B are moved back and forth, and elevating stands 76A, 7 are attached to the second slide stands 74A, 74B.
6B, the lifting drive devices 77A, 77B, and the screw fasteners 78 attached to the lifting tables 76A, 76B.
A, 78B, their driving devices 79A, 79B, etc. 80A and 80B indicate bolt supply devices.

The receiving devices 90A and 90B are shown in FIGS.
As shown in FIG. 1, fixed frames 91A and 91B are connected from the inner surfaces of the movable bases 40A and 40B.
and guide rails 92A, which are attached vertically to multiple locations on the inner surfaces of the fixed frames 91A, 91B;
92B, lifting frames 94A and 94B supported and guided by the guide rails 92A and 92B via sliding bodies 93A and 93B, and a cylinder device (an example of a lifting drive device) 95 disposed between both frames.
A, 95B and the elevating frames 94A, 94B
It consists of lifting devices 96A, 96B provided above, centering devices 97A, 97B, and the like. The lifting devices 96A and 96B are distributed in the direction of the fixed path 20 and are arranged in the direction of the elevating frame 9.
Base plate 98A attached to 4A, 94B,
98B, and a first slide plate 1 supported and guided by the base plates 98A and 98B via cross roller guides 99A and 99B so as to be movable forward and backward.
00A, 100B, and a first spring 1 that maintains the neutrality of the first slide plates 100A, 100B.
01A, 101B, and a cross roller guide 102 on the first slide plate 100A, 100B.
second slide plates 103A, 103B supported and guided so as to be movable left and right via A, 102B;
second springs 104A, 104B that maintain the neutrality of the second slide plates 103A, 103B;
It consists of receivers 107A, 107B rotatably mounted on the second slide plates 103A, 103B via cross roller bearings 105A, 105B around vertical axes 106A, 106B. The centering devices 97A, 97B
Brackets 108A, 1 are arranged in a horizontal direction perpendicular to the direction of the fixed path 20 on the lifting frames 94A, 94B.
Guide rod 109A disposed via 08B,
109B and this guide rod 109A, 109
Screw shafts 110A and 110B arranged along B
and is movable while being guided by the guide rods 109A, 109B, and the threaded shafts 110A, 11
Movable bodies 111A, 111B screwed into 0B, pushers 112A, 112B attached to the upper surfaces of these movable bodies 111A, 111B, and the screw shaft 110.
A, servo motor 113A linked to 110B,
113B and this servo motor 113A, 113
Pulse generators 114A, 1 detecting the amount of movement of the pushers 112A, 112B in conjunction with B.
14B. As shown in FIG. 13, the detection signals 115A and 115B from the pulse generators 114A and 114B are
0, and the controller 30 gives operation commands 116A, 116B to the robots 50A, 50B based on the amount of movement, and gives operation commands 117A, 117B to the screw tightening devices 70A, 70B based on the amount of movement. It is structured as follows.

As shown in FIGS. 1, 3, and 12, there are gaps 121A, 121B, 122A between the opening edges 4A, 4B of the body 1 and the door edges 6A, 6B on the inside of the movable bases 40A, 40B. , 122B are provided. That is, the image sensor device 12
0A, 120B are first image sensors 123A, 123B that detect gaps 121A, 121B in the height direction at the front, and second image sensors 124A, 124B that detect gaps 121A, 121B in the height direction at the rear. It consists of third image sensors 125A, 125B that detect gaps 122A, 122B in the vehicle length direction at the rear. Note that the third image sensors 125A and 125B are also used to detect the absolute position of the body 1.
This may be provided separately. Each image sensor 123A, 123B, 124A, 124
The detected values from B, 125A, and 125B are from amplifier 1.
26A, 126B, and from this amplifier 126 enters the controller 30 as a detected value signal 127. The controller 30 calculates the basic value and the detected value, and based on the difference, the robot 50
Control signals 128A and 128B are given to A and 50B.

Next, the operation of the above embodiment will be explained.

Doors 2A, 2 via engagement tools 12A, 12B
The hanger 11 that engages and holds B, that is, the trolley device 10, is supported by the trolley guide rail 8 and transported. Then, at a location where the doors 2A, 2B face the door vehicle type detection device 36 as shown in FIG. 2, the trolley device 10 is stopped at a fixed position without being driven by the stop position correction device 38. As a result, the vehicle type of the stopped doors 2A, 2B is detected by the door vehicle type detection device 36, and the detection signal 36a is input to the controller 30.

On the other hand, the carriage 21 supporting the body 1 travels on a constant path 20 at a predetermined speed because its driven pin 23 engages with the protrusion 26 of the drive chain 28. The body 1 is a body vehicle type detection device 37.
The body car type is detected by facing the
The detection signal 37a is input to the controller 30. Here, the controller 30 outputs both detection signals 3
When 6a and 37a match (same vehicle type), the next step is taken, but when they do not match (different types), movement of the trolley 21 is stopped and a warning is issued.

Doors 2A and 2B stopped together with hanger 11
The robots 50A and 50B act on the robots 50A and 50B. Here, the robots 50A and 50B perform basic operations depending on the vehicle type. That is, arms 58A, 58
In the state where B is raised, the mounting frames 55A,
Due to the advancement and rise of 55B, the receiving surfaces 57A,
57B is brought into contact with the lower ends of the doors 2A, 2B from below to lift the doors 2A, 2B. As a result, the doors 2A, 2B are disengaged from the engagement members 12A, 12B. Therefore, doors 2A and 2B are
For example, even if the arms 58A and 58 are held at an angle on the hanger 11, the arms 58A and 58 are arranged separately.
Lifting via B will automatically correct its levelness. After this, the vacuum cups 60A and 60B are applied with suction, and the door 2
The outer surfaces of A and 2B are attached to the vacuum cups 60A and 6
At 0B, it is adsorbed to the state shown in Fig. 4. Then, the doors 2A and 2B are completely unloaded from the hanger 11 by the action of the robots 50A and 50B, and are transported to be supplied to the body 1 as described later.
At this time, the suction effect and the lower end support by the arms 58A and 58B prevent the device from falling due to vibrations or the like.

The robots 50A and 50B receive the doors 2A and 2B, and when the same kind of doors are detected, the robots 50A and 50B match the timing to the continuously moving trolley 21, and
Both movable stands 40A, 40B are moved synchronously by driving servo motors 45A, 45B. At that time,
The speed value of the trolley 21 is input to the controller 30 as a speed value signal 29 from the pulse generator 28, and the speed value of the movable platforms 40A and 40B is input as a detection signal 47 from the pulse generators 46A and 46B.
A, 47B are included in the controller 30. Here, in this controller 30,
Detection signals 47A, 47B for speed value signal 29
A speed difference is calculated, and control signals 48A, 48B based on the speed difference are sent to the servo motors 45A, 4.
Give to 5B. As a result, movable bases 40A and 40B
The speed of the carriage 21 is controlled so that it moves in complete synchronization with the carriage 21.

During such synchronous movement, the trolley 21
The upper body 1 is lifted and supported by both movable bases 40A and 40B. In other words, the elevating frame 9 in the descending state
4A, 94B are raised, and the receiving device 107 is raised.
A and 107B are brought into contact with the lower end of the body 1 and the body 1 is lifted to the state shown in FIG. 9. Next, centering devices 97A and 97B, which have pushers 112A and 112B at their lower ends facing each other from the outside, are activated based on the vehicle type signal. That is, by driving the servo motors 113A and 113B, the movable body 111
Both push tools 112A, 112 via A, 111B
Move B closer together. This allows both push tools 1
12A and 112B sandwich the lower end of the body 1 from both sides to perform centering. At this time,
Depending on the mounting posture of the body 1 on the receivers 107A, 107B, the lower end tends to come into sliding contact with the receivers 107A, 107B, but this resists the first springs 101A, 101B in the width direction. The movement of the first slide plates 100A, 100B, and the movement of the second springs 104A, 1 in the longitudinal direction of the vehicle.
Second slide plate 103 against 04B
A, 103B movement, vertical axis center 1 in the circumferential direction
Receivers 107A, 1 around 06A, 106B
07B rotation, and the above-mentioned modification does not occur at all. The width of the body 1 is not constant and is random within a range of several millimeters, so the width of the pusher 112A, 1 due to centering
The amount of movement of 12B is not constant even if the vehicle type is the same. These push tools 112A, 112
The actual amount of movement of B is the pulse generator 114
A, 114B, and its detection signal 11
5A and 115B are provided to the controller 30. Based on this, the controller 30 sends the robots 50A, 50B and the screw tightening device 70.
A, 70B is given an operation command (mainly the amount of forward movement) according to the width of the body 116A, 116B,
117A and 117B are emitted.

The doors 2A, 2B are supplied to the body 1 which has been centered as described above. That is, first, by a basic operation according to the vehicle type, approach the outside of the openings 3A, 3B and open the doors 2A, 2B.
are placed opposite each other. Next, the first image sensors 123A, 123B and the second image sensor 12
Gap 121 in the height direction between 4A and 124B
A, 121B are detected, and gaps 122A, 122B in the vehicle length direction and the absolute position are further detected by third image sensors 125A, 125B. The detection signal 127 from the amplifier 126 then enters the controller 30.
A control signal 128 is sent from the robot to the robots 50A and 50B.
A, 128B is given. This control signal 128
A and 128B indicate the moving direction, and therefore, the robots 50A and 50B move the doors 2A and 2B so that the gaps 121A, 121B, 122A and 122B become the reference values. At that time, the first image sensor 123A, 1
23B and second image sensor 124A, 124
The presence of door B also allows the doors 2A and 2B to be horizontally adjusted. Also gaps 121A, 121B, 12
2A, 122B, movement amount instruction signals 81A, 81B are given from the controller 30 to the screw tightening devices 70A, 70B. As mentioned above, when the amount (distance) of the gaps 121A, 121B, 122A, 122B reaches the reference value, the control signal 12
8A and 128B are stopped, and before and after this, the arms 58A and 58B are lowered as shown by imaginary lines in FIG. The robots 50A, 50B are then instructed to press the doors 2A, 2B, and at this time, the amount of pressing is based on the actuation commands 116A, 116B described above. After performing the desired pressing, the screw tightening device 70A,
70B operates and body 1 is tightened as expected.
Assemble the doors 2A and 2B. Thereafter, the screw tightening devices 70A, 70B are set to the standby position, and the suction by the vacuum cups 60A, 60B is released, and the robots 50A, 50B are set to the standby position.

After the assembly, the body 1 is returned to the truck 21, and at this time, the truck 21 is positioned directly below the body 1 due to the synchronous movement. Therefore, by lowering the lifting frames 94A, 94B, the body 1 can be transferred onto the carriage 21 via the support bracket 22.

The cart 21 that has received the body 1 is moved to the next process. The empty hanger 11 is moved to the next process by releasing the clamp and stopper in response to a signal indicating that the unloading work by the robots 50A and 50B is completed. Furthermore, the movable platforms 40A and 40B, which have been emptied after transferring the body 1, return at high speed to receive the next doors 2A and 2B.

As shown in FIG. 13, a control signal 48 is sent from the controller 30 to both servo motors 45A, 45B.
When the interlocking-single acting switch 130 is used to provide signals A and 48B, it is possible to operate both movable platforms 40A and 40B with only one control signal during synchronization. However, the switch 130 may not be provided.

Effects of the Invention According to the method of the present invention having the above configuration, by detecting the amount of movement of the centering device, the actual width of the main body to be assembled can be input to the controller, and this can be used as a reference value for the parts supply device and the assembly operation. By operating the device, parts can always be accurately supplied to the main body to be assembled.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, in which Fig. 1 is a perspective view, Fig. 2 is a plan view, Fig. 3 is a front view, Fig. 4 is a side view of the robot arm, and Fig. 5 is a front view thereof. , 6th
The figure is a side view of the movable platform, Figure 7 is a plan view of the same, and Figure 8 is a side view of the movable platform.
The figure is a plan view of the lifting and centering part, Figure 9.
FIG. 10 is a side view of the same, FIG. 11 is an enlarged view of the main part, FIG. 12 is a side view of the image sensor section, and FIG. 13 is a control explanatory diagram. 1...Body (main body to be assembled), 2A, 2B...
...Door (parts), 7...Hanging conveyance device, 11
... Hanger, 20 ... Fixed path, 21 ... Dolly (transport device), 27 ... Servo motor, 28 ... Pulse generator, 30 ... Controller, 35
...Assembly location, 36...Door vehicle type detection device,
37...Body vehicle type detection device, 40A, 40B...
...Movable base, 45A, 45B...Servo motor, 4
6A, 46B...Pulse generator, 50A,
50B... Robot (parts supply device), 53A,
53B... Unloading device, 58A, 58B... Arm, 60A, 60B... Vacuum cup (adsorption device), 70A, 70B... Screw tightening device (assembly work device), 90A, 90B... Receiving device, 9
4A, 94B... Lifting frame, 96A, 96B
... Lifting device, 97A, 97B ... Centering device, 107A, 107B ... Receiver, 112
A, 112B...Press tool, 113A, 113B...
... Servo motor, 114A, 114B ... Pulse generator, 116A, 116B ... Operation command, 117A, 117B ... Operation command, 120
A, 120B... Image sensor device.

Claims (1)

[Claims] 1. The main body to be assembled, which has been transported by the transport device, is lifted and supported by the lifting devices located on both sides thereof, and then the centering devices located on both sides are moved closer to each other to center the main body to be assembled. The amount of movement of the device is given to the controller, and from this controller,
A method for assembling parts on both sides of a main body to be assembled, characterized in that an operation command is given to a parts supply device and an assembly work device located on both sides based on the amount of movement.