JPH0866833A - Posture detection type robot and article posture detection method - Google Patents

Abstract

(57) [Summary] [Purpose] For a production line in which a robot is brought into contact with a work and moved synchronously with the work,
(EN) A means capable of easily detecting the posture of a work with a simple structure. [Structure] The robot 3 is integrally provided with a traveling unit 14, a working unit 17, and an abutting unit 18.
The brake fluid is injected into the brake fluid tank mounted on the vehicle body W by the working unit 17 while moving in synchronization with the vehicle body W by bringing 8 into contact with the vehicle body. Here, during the synchronous follow-up traveling of the robot 3, the attitude of the vehicle body W is detected based on the contact state of the contact arm 26 with the vehicle body W, and the working unit 17 is controlled according to the attitude of the vehicle body W.
The working accuracy of the working unit 17 is improved. Therefore, it is not necessary to provide a separate sensor for detecting the attitude of the vehicle body W, and the structure of the robot 3 is simplified.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a posture detection type robot and a posture detection method for articles.

[0002]

2. Description of the Related Art Generally, in the mechanical industry, for example, the automobile industry, there is provided a production line for performing various operations such as assembling parts and injecting brake fluid to a work conveyed by a conveying means such as a conveyor. And in recent years, in order to save labor in such a production line,
It is widely used to equip each work station with a robot that automatically performs various works on the work.

In a production line equipped with such a robot, it is usually necessary to maintain a constant relative positional relationship between the robot and the workpiece in the carrying direction when the robot is working. Then, as a method of keeping such a positional relationship constant, the robot is moved so as to synchronously follow the work being carried by the carrying means, and the robot is made to perform a predetermined work on the work being carried. Such a method is widely used (for example, Shoukaisho 58
-157541).

More specifically, for example, the robot is allowed to move along the movement path of the work, and when the work enters the work station, the robot is brought into contact with or connected to the work so as to be applied from the work. A production line is widely used in which a robot is moved synchronously with a work by a driving force generated by the driving means, that is, a driving force of a transfer means.

[0005]

In the production line in which the robot synchronously follows the work as described above, a predetermined work means provided on the robot performs a predetermined work on the work. However, the posture of the work placed on the transport means is not constant and varies to some extent. Therefore, such a production line must be provided with a posture detecting means for detecting the posture of the work and a control means for controlling the position or the posture of the working means according to the posture of the work detected by the posture detecting means. Therefore, there is a problem that the structure of the production line or the robot becomes complicated.

The present invention has been made to solve the above-mentioned conventional problems, and is simpler for a production line in which a robot is moved synchronously with a work by a work driving force. It is an object of the present invention to provide a means capable of easily detecting the posture of a work with such a structure and allowing the working means to perform an appropriate work regardless of the posture of the work.

[0007]

In order to achieve the above object, as shown in the configuration of FIG. 1, the first invention is provided with an abutting arm A, and the abutting arm A is conveyed by a conveying means B. Interlocking means D capable of moving in synchronization with the article C by the driving force given from the article C by pressing and abutting the article C from the front side in the traveling direction of the article C being conveyed. And a working means E for synchronously following the article C based on the movement of the interlocking means D and performing a predetermined work on the article C. Work control means F for detecting the posture of the article C based on the contact state of the contact arm A with the article C and controlling the work means E based on the detected posture of the article C is provided. Providing a characteristic posture detection robot That.

A second aspect of the present invention is the posture detecting robot according to the first aspect, wherein the contact arm A is formed in a substantially U shape, and an intermediate portion thereof extends in a substantially horizontal direction and both end portions thereof extend. The contact arm A is disposed below the intermediate portion, and the contact arm A is displaced in the horizontal direction and the vertical direction so that both ends thereof are pressed and brought into contact with the article. Provided is a posture detection type robot.

A third aspect of the present invention provides a posture detection type robot according to the first or second aspect, characterized in that the interlocking means D and the working means E are integrally formed. .

A fourth aspect of the present invention is a posture detection type robot according to any one of the first to third aspects of the invention, wherein the work position of the working means E can be changed by changing its posture. Provided is an attitude detection type robot, wherein an arm G is provided, and the work control means F is adapted to control the attitude of the work arm G according to the contact state of the contact arm A with the article C. To do.

A fifth aspect of the present invention is the posture detecting robot according to any one of the first to fourth aspects, wherein the article C conveyed by the conveying means B is the body of an automobile.
When the contact arm A is pressed and brought into contact with the vehicle body, both ends of the contact arm A are inserted into the side opening of the vehicle body and then raised so that the upper portion of the contact arm A contacts the upper edge portion of the opening. Then, there is provided a posture detection type robot characterized in that the rear portions of the both end portions are brought into contact with the rear edge portion of the opening.

In a sixth aspect of the robot according to the fifth aspect of the present invention, the side opening of the vehicle body is a door mounting opening, and both ends of the contact arm A are door mounting openings. A posture detection type robot characterized in that after being inserted, it is raised and its upper portion is brought into contact with the rain rail, and thereafter the rear portions of the both end portions are brought into contact with the center pillar.

A seventh aspect of the invention is provided with an abutment arm A, and presses and abuts the abutting arm A against the article C from the front side in the traveling direction of the article C being conveyed by the conveying means B. Thus, the interlocking means D capable of synchronously following the article C by the driving force given from the article C, and the synchronous movement of the article C based on the movement of the interlocking means D, the article C A posture detection type robot provided with a working means E for performing a predetermined work on C, wherein the interlocking means D is directed from the side of the article C being conveyed toward the rear side portion of the side surface of the article. A first contact member H that can be displaced to contact the side surface of the article and a second contact member I that can be displaced toward the front side portion of the side surface of the article to contact the side surface of the article are provided. The displacement amount of the first contact member H and the Attitude detection type characterized by including work control means F for detecting the attitude of the article based on the displacement amount of the contact member I and controlling the work means E based on the detected attitude of the article. Provide a robot.

An eighth aspect of the present invention is provided with a contact arm, and the drive force given from the article by pressing and abutting the contact arm from the front side of the article being conveyed by the conveying means in the traveling direction of the article. Provided are an interlocking means capable of moving in synchronization with the article by force, and a working means for synchronously following the article based on the movement of the interlocking means to perform a predetermined work on the article. In the method for detecting the posture of an article by a robot as described above, the article conveyed by the conveying means is a vehicle body of an automobile, and the contact arm is formed in a substantially U shape, and an intermediate portion thereof is substantially horizontal. Direction so that both ends of the contact arm are located below the intermediate part, and both ends of the contact arm are inserted into the side openings of the vehicle body and then raised to bring the upper part into contact with the upper edge of the opening. ,
Thereafter, the rear portions of the both end portions are brought into contact with the rear edge portion of the opening, the attitude of the vehicle body is detected based on the contact state of the contact arm with the vehicle body, and the working means is controlled based on the detected attitude of the vehicle body. A method for detecting the posture of an article is provided.

[0015]

EXAMPLES Examples of the present invention will be specifically described below. <First Embodiment> First, an outline of an automobile production line equipped with a robot according to the present invention will be described. As shown in FIG. 2, in the automobile production line PL, a vehicle body W of an automobile, which is a work on which predetermined processing or work is performed.
(See FIG. 3) is conveyed by the conveyor 1 in the direction of the arrow H ₁ at a substantially constant speed. Then, a robot 3 (posture detection type robot) capable of traveling (moving) in the H ₁ direction or in the opposite direction on the traveling track 2 laid along the conveyor 1 is provided. The robot 3 has a vehicle body W that is being conveyed by a conveyor 1.
The brake fluid tank 122 mounted on the vehicle body W (see FIG. 25) while traveling in the H ₁ direction on the traveling track 2 synchronously following the vehicle body W by contacting the vehicle body W from the front side in the traveling direction.
In addition, the work of injecting the brake fluid supplied from the brake fluid supply device 4 is automatically performed. Here, the vehicle body W and the conveyor 1 respectively correspond to “article” and “conveying means” described in the claims.

A first vehicle body detection sensor 6 for detecting passage of the front end of the vehicle body W is provided at a predetermined position on the vehicle body entrance side of the work station 5 provided on the automobile production line PL. The first vehicle body detection sensor 6 is an ordinary photoelectric switch type sensor having a light emitting body 6a and a light receiving body 6b. Similarly, at a predetermined position on the vehicle body exit side of the work station 5, an ordinary photoelectric switch type second vehicle body detection sensor 7 including a light emitting body 7a and a light receiving body 7b is provided. Further, in the work station 5, a robot control panel 8 for controlling the robot 3, an interlock panel 9 for performing various interlocks, and a measurement control panel 1 for performing various measurement controls.
0 and are provided. A CRT 11 for monitoring is attached to the automobile production line PL. 1
2 is a C / θ pillar, and 13 is a parts cart. here,
Robot control board 8, interlock board 9, and measurement control board 10
The assembly consisting of and is a comprehensive control means for the robot 3 including the "work control means" recited in the claims.

The overall structure and function of the robot 3 provided on the automobile production line PL will be described below.
As shown in FIGS. 3 to 5, the robot 3 is provided with a traveling portion 14 that forms the base thereof, and the traveling portion 14 is provided with a guide rail 15 provided on the traveling track 2 as described later.
And the rack 16 to engage the guide rail 15 with the Z
And it is capable of traveling in _one direction or the Z ₂ direction. In the following, for convenience, the Z ₁ and Z ₂ directions in FIG. 3 are referred to as “front” and “rear”, respectively.

The robot 3 is provided with a support member 25 fixed to the traveling unit 14 and an abutment arm 26 supported by the support member 25 and capable of changing its posture as described later. A contact portion 18 is provided. Here, the contact arm 26 can press and contact the vehicle body W conveyed by the conveyor 1 from the front side. When the contact arm 26 is in contact with the vehicle body W, a forward driving force is applied to the traveling unit 14 from the vehicle body W, that is, the conveyor 1 through the contact arm 26 and the support member 25. Thus, the traveling unit 14 (robot 3) travels in synchronization with the vehicle body W. Further, as will be described later, based on the contact state or the contact attitude of the contact arm 26 with the vehicle body W, the measurement control panel 10 controls the attitude of the vehicle body W, specifically, the left and right directions of the vehicle body W in a plan view. The inclination (the degree of rightward or leftward) and the lateral inclination of the vehicle body W (the degree of downward rightward or downward leftward) in elevation are detected (recognized). Here, the left and right means left and right toward the front, for example, the robot 3 is located on the right side of the vehicle body W. The assembly composed of the running portion 14 and the contact portion 18 corresponds to the "interlocking device" described in the claims.

Further, the robot 3 is provided with an articulated working part 17 which is integrally formed with the traveling part 14, and the working part 17 is mounted on the vehicle body W.
22 (see FIG. 25) is used to inject the brake fluid. Specifically, the working unit 17 includes a working unit driving device 19, a working arm 20 driven by the working unit driving device 19, and a rotating arm 21 connected near the tip of the working arm 20. , And a brake fluid injector 22 connected to the rotating arm 21. Here, the working arm 20 can rotate about the first joint portion 23, and the rotating arm 21 can rotate about the second joint portion 24. . Although not shown, the work arm 20 is provided with a connecting means for connecting or contacting the work arm 20 with the vehicle body W during work to fix the posture of the vehicle body W and improve workability or work accuracy. As described above, since the traveling portion 14, the contact portion 18, and the working portion 17 are integrally formed, the weight of the robot 3 becomes relatively large. However, as will be described later, despite the heavy weight of the robot 3, the running resistance when the robot 3 synchronously follows the vehicle body W is very small, which increases the load on the conveyor 1. Is minimized. Here, the working unit 17 corresponds to the "working means" described in the claims.

Of course, the work contents of the working unit are not limited to such injection of the brake fluid. For example, FIG. 6 shows a robot 3 ′ in which the working unit 28 is adapted to perform a work such as mounting the sliding roof 29 on the vehicle body W. In the robot 3 ', the working unit 28 is configured so as to be capable of rotating in the arrow H ₃ direction together can move in the arrow H ₂ direction, sliding roof 29 arrow H ₄ by the working unit 28
As shown by (4), it is inserted inside the vehicle body W and attached to the vehicle body W.

The specific structure and function of the traveling unit 14 of the robot 3 will be described below. As shown in FIGS. 7 and 8, the traveling unit 14 has a traveling servomotor 30 for causing the traveling unit 14 to travel forward or backward by itself, or to reduce traveling resistance during synchronous follow-up traveling with the vehicle body W. And a speed reducer 31 for decelerating the rotation of the traveling servo motor 30. The driving force generated by the traveling servo motor 30 is reduced by the speed reducer 31 and output to the speed reducer output shaft 32. It has become. The driving force of the speed reducer output shaft 32 is transmitted to the traveling unit output shaft 34 via a powder clutch 33 described later.
(However, the driving force is not transmitted when the powder clutch is completely released). Then, a traveling pinion 35 that engages with the rack 16 of the traveling track 2 is attached to the tip (lower end) of the traveling unit output shaft 34.

Here, the powder clutch 33 is completely engaged.
When it is (ON), the reduction gear output shaft 32 and the traveling unit output shaft 34 are completely interlocked (coupled), and when the traveling servomotor 30 is rotated, the traveling pinion 35 is rotated, and the rack 16 is removed. The traveling unit 14 (robot 3) travels on the guide rail 15 by its own reaction force. In this case, the traveling direction can be switched by switching the rotation direction of the traveling servomotor 30. On the other hand, when the powder clutch 33 is completely released (OFF), the mechanical engagement between the reduction gear output shaft 32 and the traveling unit output shaft 34 is cut off, and the traveling servomotor 30 or the reduction gear 31 becomes inoperative. , It is substantially unrelated to the motion state of the traveling unit body. That is, the traveling servomotor 30 or the speed reducer 31 does not participate in the traveling resistance of the traveling unit 14. As will be described later, the powder clutch 3
When 3 is not completely fastened but is incompletely or partially fastened, the rotational force of the reduction gear output shaft 32 is partially transmitted to the traveling unit output shaft 34 in accordance with the degree of fastening.
The running resistance of the running unit 14 during the synchronous follow-up running can be reduced.

A little behind the traveling servomotor 30, the traveling unit 14 is provided with an encoder 37 for measuring the traveling distance of the traveling unit 14 or the position of the traveling unit 14 (traveling distance from the reference position). An encoder pinion 39 that meshes with the rack 16 is attached to the tip (lower end) of the rotary shaft 38 of the encoder 37. Here, when the traveling unit 14 (robot 3) travels, the encoder pinion 39 and thus the rotating shaft 38 rotate in proportion to the traveling distance, and the traveling distance or position of the traveling unit 14 based on the rotation speed of the rotating shaft 38. Is measured.

Immediately in front of the traveling servo motor 30, the traveling portion 14 has a revolving servo motor 41 for revolving the working arm 20 of the working portion 17, and a speed reducer 42 for decelerating the rotation of the revolving servo motor 41. And are provided. Here, the working arm 20 includes a slewing bearing 43.
When the turning servomotor 41 rotates, the work arm 2 is attached.
0 rotates in the horizontal direction about the first joint portion 23 (see FIG. 3) (that is, rotates about the vertical axis).

The specific structure and function of the powder clutch 33 will be described below. As shown in FIG. 9, the powder clutch 33 has a substantially ring-shaped fixed clutch body 45 which is fixed to the traveling portion main body and is always stationary, and a hollow portion of the fixed clutch body 45 which is concentrically arranged with the fixed clutch body 45. A substantially columnar cylinder 46 that rotates integrally with the speed reducer output shaft 32, and a substantially columnar (substantially disk-shaped) cylinder that is concentrically arranged in the internal space of the cylinder 46 and that rotates integrally with the traveling unit output shaft 34. And a rotor 47. Then, the fixed clutch body 45
A coil 48 is disposed inside the coil, and when the coil 48 is connected to a DC power source via a conductor 49, the fixed clutch body 45 is excited to become an electromagnet.

The cylinder 46 is formed and arranged so that a slight gap (magnetic path gap) is maintained between the outer peripheral surface of the cylinder 46 and the inner peripheral surface of the fixed clutch body 45. In addition, the cylinder 46
The lower center part of the lower part is in sliding contact with the traveling part output shaft 34 via the seal 50, and the cylinder 46 (reducer output shaft 32) and the rotor 47
Basically, the traveling section output shaft 34 and the traveling section output shaft 34 are engaged with each other so as to be rotatable relative to each other. A magnetic flux blocking ring 51 is embedded in the peripheral portion of the cylinder 46. And the rotor 4
7 is formed and arranged so that an operating gap of a predetermined interval is formed between its outer peripheral surface and the inner peripheral surface of the cylinder 45,
Magnetic powder 52 (so-called powder) is inserted into the working gap.

Here, when the coil 48 is not energized and the fixed clutch body 45 is not excited at all, the magnetic powder 52 is a simple powder, and the cylinder 46 and the rotor 47.
When and are rotating relative to each other, the magnetic powder 52 is pushed toward the inner peripheral surface of the cylinder by the centrifugal force of the cylinder 46 or the rotor 47, and the magnetic powder 52 is mechanically moved between the inner peripheral surface of the cylinder 46 and the outer peripheral surface of the rotor 47. No physical engagement occurs. In this case, the mechanical engagement between the reduction gear output shaft 32 and the traveling unit output shaft 34 is cut off, and the two become relatively rotatable with respect to each other. That is, the powder clutch 33 is released. Therefore, if the powder clutch 33 is released in this manner while the robot 3 is synchronously following the vehicle body W, the traveling servomotor 30 and the speed reducer 31 do not participate in the traveling resistance as described above. The running resistance of 1 becomes very small, and the load on the conveyor 1 is reduced.

When the coil 48 is energized with a predetermined maximum voltage and the fixed clutch body 45 is excited to the maximum extent, a magnetic flux path shown by a broken line 53 is generated by the excitation, and the magnetic powder 52 is generated. Cylinder 4 is solidified by connecting in a chain along the magnetic flux path, and by the coupling force.
The inner peripheral surface of 6 and the outer peripheral surface of the rotor 47 are completely connected. At this time, the speed reducer output shaft 32 and the traveling unit output shaft 34 rotate integrally, the rotational force of the speed reducer output shaft 32 is completely transmitted to the traveling unit output shaft 34, and the traveling unit 14 (robot 3) operates by itself. It becomes possible to run. That is, the powder clutch 33 is engaged.

Further, the coil 48 is energized with a predetermined intermediate voltage lower than the maximum voltage, and the fixed clutch body 45
Is moderately excited, a relatively weak magnetic flux path is generated by the excitation, the magnetic powder 52 solidifies to some extent along this magnetic flux path, and the coupling force thereof causes the cylinder 4 to move.
The inner peripheral surface of 5 and the outer peripheral surface of the rotor 47 are connected to some extent. At this time, the cylinder 46 and the rotor 47 are in a slip state, and a part of the rotational force of the speed reducer output shaft 32 is transmitted to the traveling unit output shaft 34. In this case, the driving force of the traveling unit output shaft 34 (when driven in the forward direction) is not enough to cause the traveling unit 14 to travel by itself, but the traveling unit 1
It is possible to greatly reduce the running resistance of the running unit 14 when the vehicle 4 is moving in synchronization with the vehicle W by the driving force from the vehicle W. Therefore, when the robot 3 is synchronously following the vehicle body W, if the powder clutch 33 is half-engaged and the traveling servomotor 30 is driven in the forward direction, the traveling resistance of the robot 3 is significantly reduced. Therefore, the load on the conveyor 1 is significantly reduced.

The specific structure and function of the contact portion 18 of the robot 3 will be described below. Again, as shown in FIGS. 3 to 5, the contact portion 18 is composed of a support member 25 fixed to the traveling portion 14 and a contact arm 26 supported by the support member 25. Then, the contact arm 26
The left and right horizontal arms 54 and 55 supported by the support member 25 and the left and right elevating arms 56 and 57 supported by the left and right horizontal arms 54 and 55, respectively. Here, both horizontal arms 54 and 55 are linearly connected via a rotary shaft gear 67 (see FIG. 10),
The linear assembly consisting of both horizontal arms 54, 55
The rotary shaft gear 67 (see FIG. 10) can be horizontally swung (rotated) around the center thereof. That is, it can be rotated about the vertical axis. Moreover, although not shown in detail, each of the horizontal arms 54 and 55 is provided with a slide mechanism so that it can move (extend and contract) in the axial direction (extension direction) thereof. Also,
Although not shown in detail, each of the elevating arms 56 and 57 is also provided with a slide mechanism, and can move (extend and contract) in the axial direction (vertical direction) thereof.

Further, the contact arm 26 has a swing motor 5 for horizontally rotating an assembly composed of both horizontal arms 54 and 55 around a rotary shaft gear 67 (see FIG. 10).
8 and the left and right horizontal arms 54 and 55, respectively, in the axial direction.
Left and right horizontal movement motors 59 and 60 for moving in the (horizontal direction) and left and right elevation motors 61 and 62 for raising and lowering the left and right elevation arms 56 and 57, respectively, are provided.

Further, left and right body sensors 63, 64 are provided near the lower ends of the left and right lifting arms 56, 57, respectively, and left and right abutting members 65 are provided at the lower ends of the left and right lifting arms 56, 57, respectively. , 66 are attached. Here, the left and right body sensors 63, 64 are such that the left and right contact members 65, 66 are inside the vehicle body W when the left and right horizontal arms 54, 55 move toward the inside of the vehicle body W, respectively. It is a sensor for detecting whether or not. The left and right contact members 65, 66 directly contact the vehicle body W to transmit the driving force on the vehicle body side to the robot side.

As shown in FIG. 10, the left and right horizontal arms 54 and 55 are connected in a straight line by a rotary shaft gear 67. This rotating shaft gear 67 is released by the clutch 76.
When it is (off), it can freely rotate in the horizontal direction around its axis. On the other hand, when the clutch 76 is engaged (turned on), the turning motor 58 is forcibly rotated via the speed reducer 75. The turning motor 58 is a motor for returning the assembly of the left and right horizontal arms 54, 55 to the origin, that is, a motor for zero-point alignment. Here, when the contact arm 26 is brought into contact with the vehicle body W, or during synchronous follow-up, the clutch 76 is released, and the assembly composed of the left and right horizontal arms 54 and 55 is in a state of being freely rotatable in the horizontal direction. The contact arm 26 can naturally contact the vehicle body W. A rotary shaft 68 is connected to the rotary shaft gear 67, and the rotary motion of the rotary shaft 68 is performed by the encoder 7 via a timing belt 69.
It is transmitted to 0. Here, when the assembly composed of the left and right horizontal arms 54 and 55 rotates in the horizontal direction, that is, when the rotary shaft gear 67 rotates in the horizontal direction,
The rotation operation is transmitted to the encoder 70, and the encoder 70 detects the rotation angle of the horizontal arms 54, 55 or the rotary shaft gear 67, that is, the left-right inclination of the vehicle body W in a plan view. .

Thus, the abutment arm 26 rotates the horizontal arms 54 and 55 around the center of the rotary shaft gear 67 and moves them in the horizontal arm axis direction, and further moves the elevating arm in the vertical direction. The abutting members 65, 66 are pressed and abutted against the vehicle body W from the front side, whereby the traveling unit 14 (robot 3) synchronously follows the vehicle body W and travels forward.

Hereinafter, the contact arm 26 is moved to the vehicle body W in this manner.
The procedure for causing the robot 3 to synchronously follow the vehicle body W by bringing the robot 3 into contact with the robot or the operation of the robot 3 will be described. That is, when the automobile production line PL is operating, the vehicle body W is sequentially conveyed forward by the conveyor 1, but before the vehicle body W to which the brake fluid should be injected at the work station 5 enters the work station 5 this time. The robot 3 is placed in a stopped state at a predetermined position on the entrance side of the work station 5. This position is set slightly ahead of the first vehicle body detection sensor 6. At this time,
A predetermined maximum voltage is applied to the coil 48 of the powder clutch 33, and the powder clutch 33 is completely engaged. Both horizontal arms 54 and 55 are in a state of being maximally extended outward in the axial direction thereof. That is, the two lifting arms 56 and 57 are arranged in the vehicle width direction (left and right direction).
Therefore, the contact members 65 and 66 do not interfere with the side surface of the vehicle body W. In addition, the both elevating arms 56, 57 are set in a telescopic state such that they are positioned at a predetermined height such that both abutting members 65, 66 can be inserted into the front door mounting opening 77 on the side portion of the vehicle body W. ing. In addition, in FIG. 5, the contact arm 26 is in such a state.

When the first vehicle body detection sensor 6 detects the passage of the front end of the vehicle body W, the traveling servomotor 30 is turned on. At this time, since the powder clutch 33 is completely engaged, the drive unit of the traveling servomotor 30 causes the traveling unit 14 (robot 3) to travel forward by itself. The self-propelled traveling of the traveling unit 14 is an approach run for reducing a shock when the robot 3 synchronously follows the vehicle body W, and the traveling speed is set to a value which is slightly smaller than the transport speed of the vehicle body W. In this case, the robot 3
Is a speed slightly lower than the speed v of the vehicle body W in front of the vehicle body W.
You are driving forward at v '.

Thus, since the speed v of the vehicle body W is slightly higher than the speed v'of the robot 3, the vehicle body W will gradually catch up with the robot 3. Here, as shown in the state of FIG. 11, the vehicle body W reaches a position where the contact members 65 and 66 of the contact arm 26 can be inserted into the front door mounting opening 77 of the vehicle body W in the front-rear direction. At this time, both horizontal movement motors 59, 60 are driven and both horizontal arms 54, 55 contract, that is, both lifting arms 56, 5
7 move toward each other (inward), and accordingly, both contact members 65, 66 are inserted into the left and right front door mounting openings 77, respectively.

Subsequently, the two lifting motors 61, 62 are driven to contract the two lifting arms 56, 57, and the abutting members 65, 66 are moved upward accordingly, and the arrow R in FIG. _As indicated by ₁ , the contact members 65 and 66 contact the ceiling portion 71 of the front door mounting opening 77, that is, the rain rail. Even in this state, the vehicle body W is not the robot 3
Since the two contact members 65 and 66 are moving at a speed higher than the above, the rear end portions of the contact members 65 and 66 are not in contact with the ceiling portion 71 at the upper end portions thereof as shown in FIGS. 12 and 15. It is brought into contact with the front end portion of the center pillar 72 as shown by an arrow R ₂ . As described above, after the contact members 65 and 66 contact the vehicle body W, the robot 3 and the vehicle body W are integrally moved to move forward.

As shown in FIG. 13, abutting members 65, 66
Includes a first proximity switch 73 that detects the presence or absence of contact with the vehicle body W (center pillar 72) in the front-rear direction, and a second proximity switch that detects the presence or absence of contact with the vehicle body W (ceiling portion 71) in the vertical direction. A switch 74 is provided, and both proximity switches 7
The reference numerals 3 and 74 output a predetermined contact signal when they are in contact with the vehicle body W. Note that FIG. 16 shows the contact reference position (body measurement reference position) of the body sensor 63 and the first and second proximity switches 73, 74 with respect to the vehicle body W in this state.

In this way, when the contact arm 26 (contact members 65 and 66) contacts the center pillar 72, that is, when the robot 3 starts synchronous tracking with respect to the vehicle body W, the coil 48 is moved to the coil 48. The energization is stopped and the powder clutch 33 is completely disengaged. According to such a synchronous follow-up method, when the robot 3 synchronously follows the vehicle body W, the robot 3 is driven by the traveling servomotor 30 and runs on its own, so that the relative speed between the robot 3 and the vehicle body W becomes small. , The shock is very small.

When the robot 3 travels in synchronization with the vehicle body W, the powder clutch 33 is disengaged, so that the traveling servomotor 30 or the speed reducer 31 does not serve as a traveling resistance source, and thus the robot 3 is driven. The running resistance caused by synchronous tracking becomes very small,
The load on the conveyor 1 is reduced.

When the robot 3 travels in synchronization with the vehicle body W, the coil 48 is energized with a predetermined medium voltage, and the powder clutch 33 is partially engaged before traveling. The driving servo motor 30 may be driven forward, and the driving force of the traveling servo motor 30 may be partially transmitted to the traveling unit output shaft 34 to assist the traveling of the robot 3 (traveling unit 14). By doing so, the running resistance of the robot 3 becomes extremely small, and the load on the conveyor 1 is further reduced.

By the way, when the contact arm 26 is in contact with the vehicle body W as described above, the attitude of the vehicle body W is detected based on the contact state of the contact arm 26, that is, the attitude of the contact arm 26. Has become. In the first embodiment,
As the posture of the vehicle body W, the lateral inclination of the vehicle body in the elevation view and the lateral inclination of the vehicle body W in the plan view are detected. The posture of the vehicle body W detected in this way is used as control information when the working unit 17 is controlled by the robot control panel 8.

Specifically, the lateral inclination of the vehicle body W in elevation is detected by the following procedure or method. That is, as shown in FIG. 17, the left contact member 6
5, the shift d between the right contact member 66 and the right contact member 66 in the F ₁ and F ₂ directions, that is, the vertical direction is measured, and the horizontal tilt of the vehicle body W in elevation is detected from this shift d. Here, the deviation d is calculated from the difference between the driving time of the left lifting motor 61 when the left lifting arm 56 is raised and the driving time of the right lifting motor 62 when the right lifting arm 57 is raised. This is because the ascending distance of the elevating arms 56 and 57 is proportional to the drive time of the elevating motors 61 and 62. The main cause of such a left-right inclination of the vehicle body W in an elevation view is an imbalance of air pressures of the left and right tires.

On the other hand, the lateral inclination of the vehicle body W in plan view is detected by the following procedure or method.
That is, as shown in FIG. 18, the left and right horizontal arms 5
When the vehicle body W is tilted to the left and right in plan view when the vehicle body 4 and 55 come into contact with the vehicle body W, for example, as shown by arrows B ₁ and B ₂ , both horizontal arms 54 and 55 rotate the rotary shaft gear 67 (see FIG. 10). ) Rotate with the center of () as the center of rotation. The rotation angle at that time is measured by the encoder 70, and this rotation angle becomes the lateral inclination γ of the vehicle body W in a plan view. In FIG. 18, the straight line L ₁ indicates the front-rear direction, and the straight line L ₂ indicates the front-rear direction axis of the vehicle body W. In this way, the left and right inclinations of the vehicle body W in the elevation view and the plan view are detected. According to such a detection method, the posture of the vehicle body W is detected or recognized based on the posture of the contact arm 26 for causing the robot 3 to synchronously follow the vehicle body W. Therefore, a sensor for detecting the posture of the vehicle body W is used. There is no need to provide it separately. Therefore, the structure of the robot 3 is greatly simplified.

The specific structure and function of the working unit 17 of the robot 3 will be described below. As shown in FIGS. 2 to 4 and 7, in the working unit 17, the working arm 20 is moved to the first position by rotating the turning servo motor 41.
With the joint portion 23 as the center of rotation, the horizontal direction (arrow J _{1 in} FIG.
Direction). Here, when the working unit 17 is not performing the brake fluid injection work, that is, before the robot 3 synchronously follows the vehicle body W or when the brake fluid injection work for the vehicle body W to which the brake fluid should be injected this time is completed, The working arm 20 takes a posture as shown by an imaginary line in FIG. 3, and at this time, the working unit 17 does not interfere with the vehicle body W conveyed by the conveyor 1 at all. On the other hand, working unit 1
7 is performing the brake fluid injection work, the working arm 20 has a posture as shown by the solid line in FIG. 3, that is, the brake fluid injection machine 22 is mounted on the vehicle body W (see FIG. 25). (See) and take a posture that allows injection of brake fluid. In this way, basically, the working arm 20 is pivoted in the horizontal direction to move the brake fluid injector 22 toward and away from the vehicle body W (brake fluid tank 122). No interference with W's hood.

The rotating arm 21 connected near the tip of the working arm 20 can be rotated about the second joint 24 by the actuator 79 in the horizontal direction and the direction orthogonal to the horizontal plane. It has become. As will be described later, the rotating arm 21 can also rotate about its axis. Thus, the vehicle body W detected based on the posture of the contact arm 26
The work arm 20 is preferably rotated around the first joint portion 23 and the rotation arm 21 is preferably rotated around the second joint portion 24 in accordance with the posture of FIG. Brake fluid injector 22
Can be arranged with high accuracy at a position that engages with the brake fluid tank 122 mounted on the vehicle body W.

The specific structure and function of the brake fluid injector 22 for injecting the brake fluid into the brake fluid tank 122 will be described below. As shown in FIGS. 19 to 21,
The brake fluid injector 22 includes a brake fluid tank 122.
(See FIG. 25) A cap clamper 81 for attaching and detaching the cap 80 (attachment and detachment of the cap) and an injection nozzle 8 for injecting brake fluid into the brake fluid tank 122
2 and are provided.

Here, the cap clamper 81 is attached to the clamper attachment bracket 83, the clamper attachment bracket 83 is connected to the base bracket 85 via the first floating device 84, and the base bracket 85 is rotated as described above. It is attached to the arm 21. As will be described later, the first floating device 84 allows the relative positional relationship between the clamper mounting bracket 83 and the base bracket 85 to be three-dimensionally (within the various directions shown in FIG. 24) within a predetermined limit. ) It can be changed freely. That is, the attitude of the cap clamper 81 with respect to the base bracket 85 can be freely changed three-dimensionally within the above-mentioned limit.

An air motor 87 is attached to the clamper mounting bracket 83. The air motor 87 can rotate the cap clamper 81 about its axis L ₃ and displace it in the direction of the double-headed arrow M _1. ing. And the cap clamper 81
A plurality of clamp claws 89 are provided on the clamp claw 89, and these clamp claws 89 can be opened and closed in the direction of the double-headed arrow M ₂ . Further, the cap clamper 81 determines whether or not the first touch sensor 88 that detects the completion of the removal of the cap 80 and whether the cap clamper 81 can clamp the cap 80 depending on whether the cap 80 is in contact with the first touch sensor 88. A second touch sensor 90 for detecting is provided. Here, the first touch sensor 88 detects the completion of cap removal as follows. That is, after the cap clamper 81 clamps the cap 80, the cap clamper 81 is rotated about the axis L ₃ to remove the cap 80 from the brake fluid tank 122. At that time, the cap clamper 81 gradually rises and the cap clamper 8 is removed.
When 1 has risen above a predetermined distance, the cap 80 is removed from the brake fluid tank 122. Therefore, when the cap clamper 81 moves up by the predetermined distance, the detection end of the first touch sensor 88 is capped by the cap clamper 8.
The first touch sensor 8 is arranged so as to contact the upper end of the first touch sensor 8
When 8 detects the contact with the cap clamper 81, it is determined that the removal of the cap 80 is completed. Since the second touch sensor 90 is arranged at the center of the clamp claw 89 arranged in a circle,
When the second touch sensor 90 contacts the upper end of the cap 80, the cap clamper 81 is arranged at a position where the cap 80 can be clamped.

On the other hand, the injection nozzle 82 is attached to the nozzle bracket 91, and the nozzle bracket 91 is attached.
Is connected to the base bracket 85 via the second floating device 92. Therefore, the injection nozzle 82
Like the cap clamper 81, the base bracket 8
The posture with respect to 5 can be freely changed three-dimensionally (in various directions shown in FIG. 24) within a predetermined limit.

In the brake fluid injecting machine 22, the cap clamper 81 and the injecting nozzle 82 are the first and the second.
When the floating devices 84 and 92 are fixed in the reference posture (origin position), the cap clamper 81
And the respective axes L ₃ and L ₄ of the injection nozzle 82 are arranged in such a positional relationship that they form a predetermined angle ω (for example, 90 °) with each other in an elevation view. Then, by arranging the rotating arm 21 so as to extend in a substantially horizontal direction and rotating the rotating arm 21 by an angle ω about its axis, either one of the cap clamper 81 and the injection nozzle 82 is caused to have its axis L _3. , L ₄
It is possible to take a posture in which the person is facing up and down. Cap clamper 81 and injection nozzle 8
The reference numeral 2 indicates a posture in which the brake fluid tank 122 can be engaged when the axes L ₃ and L ₄ are arranged so as to face the vertical direction. Note that, hereinafter, for convenience, the state in which the cap clamper 81 or the injection nozzle 82 is arranged so that the axis of the cap clamper 81 or the injection nozzle 82 faces the up-down direction is referred to as a downward or downward posture, and the cap clamper 81 or the injection nozzle 82 is arranged so that the axis extends in the horizontal direction. The state is called sideways or sideways posture.

The specific structure and function of the first floating device 84 will be described below. The second floating device 92 also has the same structure as the first floating device 84. As shown in FIGS. 22 and 23, in the first floating device 84,
A substantially columnar main body frame 101 having a hollow portion with one end surface opened and the other end surface closed, and a part of the main body frame 101 is housed in the hollow portion of the main body frame 101 and the remaining portion is exposed to the outside of the hollow portion. Body plate 102 arranged as
And are provided. Here, the closed end surface of the main body frame 101 is attached to the base bracket 85 (see FIG. 20), while the movable body plate 102 is attached to the clamper attachment bracket 83 (see FIG. 20).

The body frame 101 and the movable body plate 102 are composed of a large-diameter steel ball 103 and a small-diameter steel ball 108.
Are engaged through. Specifically, the main body of the movable body plate 102 is engaged with the main body frame 101 via the large-diameter steel ball 103 and the conical top 107. further,
The movable body plate 102 is provided with a spherical ring 110 and an outer ring 111 that is in sliding contact with the spherical ring 110.
The upper and lower surfaces of the outer ring 111 are steel balls 1 each having a small diameter.
It is engaged with the main body frame 101 via 08. Thus, the movable body plate 102 can basically be displaced three-dimensionally with respect to the main body frame 101 by the action of these steel balls 103 and 108. Specifically, the spherical ring 110 and the outer ring 111 respectively move or displace in the directions shown by the arrows in FIG. As a result, the movable body plate 102 is displaced in the front-rear and left-right directions in the horizontal plane as indicated by arrows X and Y in FIG. 24, is twisted in the horizontal plane as indicated by arrow α, and is indicated by arrow θ. Such displacement in the vertical twist direction is possible. Note that, hereinafter, a state in which the movable body plate 102 can be freely displaced in this way is referred to as a floating state.

Further, the movable body plate 102 is provided with a first piston 105 and a second piston 106 which are operated by pressurized air supplied through the air supply port 104 and fix the posture of the movable body plate 102. There is.
In addition, 109 is a cushioning material, 112 is a blind plug, and 113 is a pin member.

Thus, when the pressurized air is not supplied to the first piston 105 and the second piston 106,
The first floating device 84 is in a floating state, that is, the movable body plate 102 can be freely displaced three-dimensionally. At this time, when the cap clamper 81 is in the downward posture and the rotating arm 21 is stopped, the cap clamper 81 is substantially horizontal within a predetermined limit (for example, ± 12 m).
It can be displaced within m) and its inclination can be changed within a predetermined limit. That is, when the cap clamper 81 is arranged at a position where it can be engaged with the cap 80 and then the cap 80 is clamped by the clamp claws 89, the horizontal position and inclination of the cap clamper 81 depend on the position and posture of the cap 80. It will be corrected naturally and the cap 80 can be clamped correctly.

However, when the pressurized air is supplied to the first piston 105 and the second piston 106 through the air supply passage 104, the first piston 105 and the second piston 106
The piston 106 operates to fix the movable body plate 102 to the main body frame 101. In addition, below, the fixed state of the first floating device 84 is referred to as a locked state. At this time, the movable body plate 1
The position or posture of 02 is fixed, and therefore, when the movable arm 21 is stopped, the cap clamper 81
The position and orientation of is fixed.

The specific structure and function of the injection nozzle 82 will be described below. As shown in FIGS. 25 and 26, the injection nozzle 82 is connected to the brake fluid supply pipe 123 and the air suction pipe 124. Then, the injection nozzle 82 connects the nozzle portion 121 to the brake fluid tank 122.
While the above-mentioned opening is clamped by the clamp member 129 while being brought into contact with the opening, the brake fluid supplied from the brake fluid supply pipe 123 is injected into the brake fluid tank 122 through the brake fluid supply passage 127, In order to accelerate the injection of the brake fluid into the brake fluid tank 122, the air in the brake fluid tank 122 is sucked into the air suction passage 128.
Through the air suction pipe 124. The clamp member 129 is the solenoid valve 1
It is adapted to be opened and closed by operating air supplied and discharged from 30, 131.

As described above, since the second floating device 92 is provided between the nozzle bracket 91 and the base bracket 85, the injection nozzle 82 is provided.
Similarly to the case of the cap clamper 81, when the injection nozzle 82 is in the downward posture and the rotating arm 21 is stopped, the displacement is substantially horizontal within a predetermined limit (for example, within ± 12 mm). As well as
The slope can be varied within predetermined limits. That is, if the injection nozzle 82 is arranged at a position where it can be engaged with the opening of the brake fluid tank 122 and then the nozzle 121 is lowered and pressed against the opening, the nozzle 121 is
By the action of the taper portion, the horizontal position and inclination of the injection nozzle 82 are naturally corrected according to the position and posture of the opening portion, and the nozzle portion 121 can be brought into contact with the opening portion in the correct posture. . When the second floating device 92 is locked, the injection nozzle 82
Of course, the position or posture of is fixed.

By the way, in the robot 3, the rotating arm 21 is arranged so as to extend in a substantially horizontal direction, and then the rotating arm 21 is rotated around its axis, whereby the cap clamper 81 and the injection nozzle 82 are provided. Are rotated by a predetermined angle ω in a direction orthogonal to the horizontal plane, that is, by rotating about an axis line that is oriented in a substantially horizontal direction, thereby switching the engagement state with the brake fluid tank 122. There is. Therefore, the injection nozzle 82 is rotated downward after injecting the brake fluid into the brake fluid tank 122 in a downward posture, and then turned into a horizontal posture. Therefore, the brake fluid that adheres to the nozzle portion 121 is less likely to drop downward, and the brake fluid tank 12
The brake fluid is prevented from dropping and adhering to each member around the member 2 and corrosion of the member is prevented.

However, in the first embodiment, the injection nozzle 82 is provided with a dripping prevention cap for preventing the drop of the brake fluid, so that the fall and adhesion of the brake fluid to each member around the brake fluid tank 122 can be more reliably performed. I try to prevent it. The specific structure and function of the sagging prevention cap will be described below. As shown in FIGS. 27 to 31, the sagging prevention cap 140 has a sagging prevention bar 141.
The sagging prevention bar 141 is attached to the tip end of the rotation preventing shaft 141 driven by the sagging prevention drive mechanism 142.
It can rotate in the direction of a double-headed arrow H ₅ around it. Then, the sagging prevention bar 141 has a double-headed arrow H ₅
When rotated in the direction, the sagging prevention cap 14
0 opens and closes the nozzle part 121. Here, in the sagging prevention drive mechanism 142, when the rotary actuator 149 rotates, this rotational force is first transmitted to the drive pulley 147, and the drive force of this drive pulley 147 is transmitted to the driven pulley 148 via the belt 143. With the rotation of the driven pulley 148, the sagging prevention bar 141 is rotated around the rotation shaft 144.

The sagging prevention cap 140 is provided with a brake fluid drain port 145, and this brake fluid drain port 145 is connected to a brake fluid drain hose 146. The other end of the brake fluid draining hose 146 is connected to a decompression pump (not shown), and the brake fluid collected in the sagging prevention cap 145 is sucked by the decompression pump and the brake fluid drain port 145 and the brake fluid are collected. It is adapted to be discharged to the outside through the extraction hose 146. Thus, after the brake fluid is injected into the brake fluid tank 122, the nozzle portion 121 of the injection nozzle 82 is quickly covered with the sagging prevention cap 140, so that the brake fluid attached to the injection nozzle 82 is reliably prevented from falling. The brake fluid is reliably prevented from dropping and adhering to each member around the brake fluid tank 122.

A specific operation method of the brake fluid injector 22 or operation of the brake fluid injector 22 will be described below. The operation procedure for the brake fluid injecting operation of the working unit 17 or the brake fluid injecting machine 22 is approximately as follows. (1) Turn on the power supply and operating air supply source of the robot 3, and turn on the control power supply and control air supply source of the robot 3. As a result, the working unit 17 or the brake fluid injector 22 becomes ready for working. (2) The first and second floating devices 84 and 92 are locked after being set to the standard posture (the movable body plate 102 is arranged at the origin position). The first and second floating devices 84 and 92 naturally take the reference postures when the cap clamper 81 or the injection nozzle 82 is faced downward after being set in the floating state, and thus may be locked in this state.

(3) The work arm 20 and the rotating arm 21 are operated according to a predetermined program to move the brake fluid injector 22 at a high speed from a predetermined origin position to a position at which the brake fluid tank 122 can be engaged. Allow (program move). In the initial state of the brake fluid injector 22, the cap clamper 81 faces downward and the injection nozzle 82 faces sideways. Then, when the lower end of the cap clamper 81 reaches a predetermined position above the cap 80 of the brake fluid tank 122 (for example, 50 mm above the cap), the power of the second touch sensor 90 is turned on to move the moving speed. Lower the clamp claw 8
Open nine. (4) When the second touch sensor 90 contacts the cap 80 of the brake fluid tank 122, the program movement of the working arm 20 and the rotating arm 21 is stopped, and the first
The floating device 84 is put in a floating state.

(5) The clamp claw 89 is closed. The time for closing the clamp claw 89 is 0.5 to 0.5 using a timer.
It is set to a preferred value within the range of 10 seconds. At this time,
Since the first floating device 84 is in the floating state, the cap clamper 8
1 moves or tilts horizontally depending on the position of the cap to clamp the cap 80 in the correct orientation. That is, the cap 80 is clamped in a correct posture in which the center of the cap coincides with the axis of the cap clamper 81. (6) After locking the first floating device 84, the cap clamper 81 (clamp claw 89) is rotated in the direction in which the cap 80 is disengaged (counterclockwise direction in plan view), and the cap 80 is removed. In this case, the rotation is stopped when the upper end of the cap clamper 81 contacts the first touch sensor 88. The first touch sensor 8
8 without using a cap clamper 81 using a timer
The cap 80 may be removed by rotating the (clamp claw 89) for a fixed time (for example, a preferable value within the range of 0.5 to 10 seconds). Then, after removing the cap 80, place the cap clamper 81 at a predetermined position (for example,
Raise to 50mm above the cap).

(7) The rotating arm 21 is rotated about its axis by a predetermined angle ω (for example, 90 °) so that the cap clamper 81 is turned sideways while the injection nozzle 82 is turned downward and the injection nozzle 82 is braked. The posture that allows engagement with the liquid tank 122 is taken. In this case, it is confirmed that the second touch sensor 90 is in the on state. This is because it is considered that the cap 80 has fallen off when the second touch sensor 90 is not in the ON state. At this time, the lower end portion of the injection nozzle 82, that is, the nozzle portion 121, is at a predetermined distance (for example, 50 mm) from the opening portion of the brake fluid tank 122.
It is located above. Further, the sagging prevention cap 140 is in an opened state (a state in which the nozzle portion 121 is not covered). (8) After making the second floating device 92 in a floating state, the injection nozzle 82 is lowered to bring the nozzle portion 121 into contact with and engage with the opening of the brake fluid tank 122. The time for lowering the injection nozzle 82 is set to a preferable value within the range of 0.5 to 10 seconds by using a timer. At this time, since the second floating device 92 is in a floating state, the injection nozzle 82 moves or tilts in the horizontal direction according to the position of the opening of the brake fluid tank 122 with the contact, and the nozzle portion 121 is correctly positioned. The opening is brought into contact with the opening. That is, the nozzle portion 121 and the opening portion are in contact with each other in a correct posture such that the center of the nozzle portion 121 coincides with the center of the opening portion of the brake fluid tank 122.

(9) The second floating device 92 is locked, the opening of the brake fluid tank 122 is clamped by the clamp member 129, and the brake fluid is injected from the injection nozzle 82 into the brake fluid tank 122. At this time, the air in the brake fluid tank 122 is sucked and discharged through the injection nozzle 82. (10) When a predetermined amount of brake fluid is injected into the brake fluid tank 122, the injection of brake fluid and the suction of air are stopped, and then the clamp member 129 is opened to clamp the opening of the brake fluid tank 122. To release.

(11) The injection nozzle 82 is raised by a predetermined distance (for example, 50 mm) and stopped. And the second
The floating device 92 is placed in a floating state to assume the reference posture, and then the second floating device 92 is locked again. (12) Turn on the rotary actuator 149 and close the sagging prevention cap 140. As a result, the nozzle unit 1
21 is covered by the sagging prevention cap 140. The brake fluid accumulated in the sagging prevention cap 140 is discharged to the outside through the brake fluid drain hose 146.

(13) The rotating arm 21 is rotated by a predetermined angle ω (for example, 90 °) in the opposite direction to the case of (7), and the injection nozzle 82 is turned sideways, while the cap clamper 81 is turned downward again. The cap clamper 81 is made to have a posture capable of engaging with the brake fluid tank 122. In this case, it is confirmed that the second touch sensor 90 is in the on state. At this time, the lower end of the cap clamper 81 is located at a predetermined distance (eg, from the opening of the brake fluid tank 122).
It is located only 50 mm above. (14) Set the cap clamper 81 at a predetermined distance (for example, 50 m
After lowering by m), the clamp claw 89 is rotated in the direction in which the cap 80 is tightened (clockwise in plan view), and the cap 80 is tightened. In this case, the number of times the clamp claw 89 is rotated may be the same as the number of times when the cap 80 is removed. Then, after the cap 80 is tightened, the clamp claw 89 is opened, and the cap clamper 81 is raised by a predetermined distance (for example, 50 mm). At this time, it is confirmed that the second touch sensor 90 is in the off state. (15) The work arm 20 and the rotating arm 21 are operated according to a predetermined program to move the brake fluid injector 22 to the origin position at high speed. This completes the brake fluid injection work this time.

According to such a brake fluid injection operation, first, the cap clamper 81 is arranged at a predetermined correct position with respect to the brake fluid tank 122 by the positioning when removing the cap 80. Then, when injecting the brake fluid, the rotating arm 21 is rotated by ω and the cap clamper 81 becomes sideways, but after the injection of the brake fluid is completed, the rotating arm 21 moves in the opposite direction to the above. Since the cap clamper 81 is turned downward by ω and turned downward, the cap clamper 81 returns to the predetermined correct position. Therefore, when tightening the cap 80 with the cap clamper 81, the cap clamper 81 is necessarily arranged in the correct position, and it is not necessary to position the cap clamper 81. That is, in the operation of injecting the brake fluid, it is sufficient to perform the positioning only twice when removing the cap 80 and when injecting the brake fluid. Therefore, the positioning in the brake fluid injection work is simplified and the work is streamlined. Also,
The brake fluid adhering to the injection nozzle 82 is reliably prevented from dropping, and since the brake fluid does not drop or attach to each member around the brake fluid tank 122, corrosion of the member is prevented.

<Second Embodiment> The second embodiment will be described below with reference to FIG. 32. However, since the basic configuration of the second embodiment is the same as that of the first embodiment, it will be described below. To avoid duplication, the description of the parts common to the first embodiment is omitted,
Only the parts different from the first embodiment will be described. In addition,
In FIG. 32, members common to the first embodiment are designated by the same reference numerals as those in the first embodiment. In the second embodiment, the robot 3 is not provided with the contact portion 18 having the substantially U-shaped contact arm 26 as in the case of the first embodiment. Therefore, the method of contacting the robot 3 with the vehicle body W and the method of detecting the posture of the vehicle body W are different from those in the first embodiment. In the second embodiment, the lateral inclination of the vehicle body in the plan view is detected, but the lateral inclination in the elevation view is not detected. Further, in the second embodiment, an auxiliary motor 161 is provided to reduce the running resistance when the robot 3 travels synchronously following the vehicle body W. The other points are almost the same as in the case of the first embodiment.

As shown in FIG. 32, in the second embodiment, the robot 3 is provided with an abutment arm 162 for abutting or connecting the robot 3 to the vehicle body W for synchronous follow-up. The contact arm 162 has a gripping portion 1 that can be opened and closed.
And it is capable of reciprocating the 62a on both the arrow S ₂ direction. Then, the contact arm 162 holds the grip portion 162a when the robot 3 synchronously follows the vehicle body W.
After being opened, the center pillar 72 is sandwiched by moving it toward the vehicle body W, and then the grip portion 162a is closed and the center pillar 72 is gripped by the grip portion 162a. As a result, the robot 3 and the vehicle body W are connected, and the robot 3 follows the vehicle body W synchronously.

If the vehicle body W is a two-door vehicle,
Since the rear door opening is not provided, the center pillar 72 cannot be sandwiched by the grip 162a of the contact member 162. Therefore, 2 for door vehicle, those in addition to the contact arm 162, the double arrow S ₄ direction using an auxiliary contact arm 165 having a movable contact part 165a in the body of the robot 3 W
It is connected to (fixed to the front and back). In this case, the grip portion 162a of the contact arm 162 is brought into contact with the center pillar 72 from the front side, while the contact portion 165a of the auxiliary contact arm 165 is brought into contact with the front side edge portion of the front door opening 77,
As a result, the robot 3 and the vehicle body W are connected to each other, that is, relative movement of the robot 3 and the vehicle body W in the front-rear direction does not occur, and the robot 3 follows the vehicle body W synchronously.

Further, in the second embodiment, the posture of the vehicle body W cannot be detected by the contact arm 162 or the auxiliary contact arm 165. Therefore, in order to detect the posture of the vehicle body W, a first contact member 163 and a second contact member 164 that are respectively displaced from the right side of the vehicle body W toward the vehicle body W and can contact the vehicle body W are provided. There is. Here, the first contact member 163 contacts the side portion of the vehicle body W slightly behind the center pillar 72 during synchronous tracking, and the second contact member 164 slightly side of the center pillar 72 lateral side of the vehicle body W during synchronous tracking. It comes in contact with.

Thus, the measurement control panel 10 has a displacement amount to the left when the first contact member 163 contacts the vehicle body W and a displacement amount to the left when the second contact member 164 contacts the vehicle body W. The lateral inclination of the vehicle body W in a plan view is calculated based on the amount. Therefore,
In the second embodiment, the right and left tilt in elevation is not detected. As described above, in the second embodiment, the detection of the left and right inclinations in the elevation view is omitted for the following reason. That is, the cause of the left-right inclination of the vehicle body W in the elevation view is mainly the imbalance of the air pressure of the left and right tires, but if the air pressure is carefully adjusted, the imbalance of the air pressure hardly occurs, Further, even if the air pressure is unbalanced, the inclination of the vehicle body W from the left and right in the elevation view is relatively small.
The brake fluid injection work is not affected. Therefore, in the second embodiment, the vehicle body W in elevation view
The detection of the left and right inclinations of is omitted.

In addition, in the second embodiment, in order to reduce the running resistance of the robot 3 during synchronous follow-up with the vehicle body W,
An auxiliary motor 161 separate from the traveling servomotor 30 is provided. As the auxiliary motor 161, for example, an electric motor or an air operated motor is used. Note that in FIG. 32, reference numeral 160 is a memory that stores various vehicle type information. Thus, also in the second embodiment, the running resistance during synchronous tracking of the robot 3 is greatly reduced, and the load on the conveyor 1 is also significantly reduced. Further, the work arm 20 of the robot 3 is provided with a connecting member 166 that abuts on the vehicle body W or is connected to the vehicle body W and fixes the vehicle body W when the robot 3 is synchronously following the vehicle body W. In this way, since the posture of the vehicle body W is fixed during synchronous tracking, workability or work accuracy of the brake fluid injection work by the working unit 17 is improved. The other structure of the second embodiment is similar to that of the first embodiment.

[0077]

According to the first aspect of the present invention, the posture of the article is detected based on the contact state of the contact arm for contacting the robot with the article, and the detected posture of the article is detected. The work means is controlled based on the posture, and the work of the work means is appropriately performed. That is, the contact arm also serves as a posture detection sensor for the article. Therefore, a separate sensor for detecting the posture of the article is unnecessary, and the structure of the robot is simplified.

According to the second invention, basically, the same operation and effect as those of the first invention can be obtained. Further, the contact arm is formed in a substantially U shape, and the posture of the article is detected by displacing in the horizontal direction and the vertical direction and pressing and abutting both ends of the contact arm against the article. Because
The inclination (deviation of posture) of the article in plan view and elevation view is detected, and the posture of the article is accurately recognized.

According to the third invention, basically, the same operation and effect as those of the first or second invention can be obtained. Furthermore, since the interlocking means and the working means are integrally formed, the structure of the robot is simplified.

According to the fourth invention, basically, the same action and effect as any one of the first to third inventions can be obtained. Further, since the posture of the work arm is controlled according to the contact state of the contact arm with the article, the work precision of the work means is improved.

According to the fifth invention, basically, the same action and effect as any one of the first to fourth inventions can be obtained. Further, since the contact arm can be brought into contact with the vehicle body by a simple operation of inserting both ends of the contact arm into the side openings of the vehicle body and raising the same, the operation or control of the contact arm is facilitated. Become.

According to the sixth invention, basically the same action and effect as those of the fifth invention can be obtained. Further, since the contact arm can be brought into contact with the center pillar in the central portion of the vehicle body by a simple operation of inserting both ends of the contact arm into the door mounting opening and raising the contact arm, The operation or control becomes easy. Further, since the contact arm contacts the highly rigid center pillar arranged at the center of the vehicle body, the synchronous follow-up property is improved.

According to the seventh invention, the first and
The inclination of the article in plan view can be detected simply by bringing the second contact member into contact with the side surface of the article. Therefore, it is not necessary to provide a sensor having a complicated structure for detecting the posture of the article, and the structure of the robot is simplified.

According to the eighth aspect of the invention, the contact arms can be brought into contact with the vehicle body by a simple operation of inserting both ends of the contact arms into the side openings of the vehicle body and raising them. It is easy to operate or control the contact arm. Moreover, the posture of the vehicle body is detected based on the contact state of the contact arm with the vehicle body, and the working means is controlled based on the posture of the vehicle body. Therefore, the work of the working means is appropriately performed. . Therefore, a sensor for detecting the posture of the article is unnecessary, and the structure of the robot is simplified.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of first to seventh inventions corresponding to claims 1 to 7.

FIG. 2 is an explanatory plan view of an automobile production line equipped with a robot for injecting brake fluid, showing the first embodiment of the present invention.

FIG. 3 is a plan view of the robot according to the first embodiment.

FIG. 4 is a side view of the robot shown in FIG.

5 is a rear view of the robot shown in FIG.

FIG. 6 is a plan view of a robot for mounting a sliding roof.

7 is a partial cross-sectional side view of the front half of the traveling unit of the robot shown in FIG.

8 is a partial cross-sectional side view of the rear half of the traveling unit of the robot shown in FIG.

FIG. 9 is a schematic view showing a structure of a powder clutch.

FIG. 10 is an explanatory front view of a contact arm around a turning motor.

FIG. 11 is a diagram showing a posture of a contact arm before contacting the vehicle body.

FIG. 12 is a diagram showing a posture of a contact arm after contacting with a vehicle body.

FIG. 13 is a diagram showing a posture of a contact arm before contacting a vehicle body.

FIG. 14 is a view showing a state where the contact member is in contact with the rain rail.

FIG. 15 is a view showing a state where the contact member is in contact with the center pillar.

FIG. 16 is a diagram showing contact reference positions of the body sensor and the proximity switch with respect to the vehicle body.

FIG. 17 is a diagram showing a state in which the contact member is in contact with the vehicle body as viewed from the rear side.

FIG. 18 is a view of the contact member in contact with the vehicle body as seen from above.

FIG. 19 is a front view of the brake fluid injector.

FIG. 20 is a side view of the brake fluid injector.

FIG. 21 is a plan view of a brake fluid injection machine.

FIG. 22 is a partially sectional elevational view of a floating device.

23 is an enlarged view of a spherical ring and an outer ring of the floating device shown in FIG.

FIG. 24 is a diagram showing a moving direction of a movable body plate of a floating device.

FIG. 25 is a side view of the injection nozzle of the brake fluid injection machine.

FIG. 26 is a partial cross-sectional side view illustration of the injection nozzle shown in FIG. 25.

FIG. 27 is a side view illustrating the injection nozzle equipped with the sagging prevention cap.

28 is a front explanatory view of the injection nozzle shown in FIG. 27. FIG.

29 is a bottom plan view of the injection nozzle shown in FIG. 27. FIG.

FIG. 30 is a side view of the sagging prevention cap and its drive mechanism.

31 is a front explanatory view of the sagging prevention cap and the drive mechanism thereof shown in FIG. 30. FIG.

FIG. 32 is a perspective view of an automobile production line equipped with a brake fluid injecting robot according to the second embodiment of the present invention.

[Explanation of symbols]

 PL ... Automobile production line W ... Car body 1 ... Conveyor 2 ... Traveling track 3 ... Robot 4 ... Brake fluid supply device 5 ... Work station 6,7 ... First and second car body detection sensor 8 ... Robot control panel 9 ... Interlock board 10 ... Measurement control panel 14 ... Running part 17 ... Working part 18 ... Abutting part 26 ... Abutting arm 54,55 ... Horizontal arm 56,57 ... Elevating arm 65,66 ... Abutting member 71 ... Rain rail 72 ... Center pillar 77 ... Front door mounting opening 162 ... Abutment arm 165 ... Auxiliary abutment arm 163, 164 ... First and second contact members

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Nobuo Kihara No. 3 Shinchi, Fuchu-cho, Aki-gun, Hiroshima Prefecture Mazda Motor Corporation

Claims (8)

[Claims] 1. A contact arm is provided, and the contact arm is pressed and brought into contact with the article from the front side as viewed in the traveling direction of the article being conveyed by the conveying means. There are provided an interlocking unit that can move in synchronization with the article, and a working unit that moves in synchronization with the article based on the movement of the interlocking unit and performs a predetermined work on the article. A posture detection type robot which is provided with work control means for detecting the posture of the article based on the contact state of the contact arm with the article and controlling the work means based on the detected posture of the article. Attitude detection type robot characterized by being used. 2. The posture detection robot according to claim 1, wherein the contact arm is formed in a substantially U shape, and an intermediate portion thereof extends in a substantially horizontal direction, and both end portions of the contact arm are of the intermediate portion. An attitude detection robot characterized in that it is arranged so as to be positioned below, and that the contact arm is displaced in the horizontal direction and the vertical direction so that both ends thereof are pressed / contacted to the article. . 3. The posture detection type robot according to claim 1, wherein the interlocking means and the working means are integrally formed. 4. The posture detection robot according to any one of claims 1 to 3, wherein the work means is provided with a work arm capable of changing a work position by changing its posture. An attitude detection robot, wherein the work control means controls the attitude of the work arm in accordance with the contact state of the contact arm with the article. 5. The posture detection type robot according to any one of claims 1 to 4, wherein the article conveyed by the conveying means is a car body, and the contact arm presses the car body. When abutting, both ends of the contact arm are inserted into the side opening of the vehicle body and then lifted to bring the upper part into contact with the upper edge of the opening,
After that, the posture detection type robot is characterized in that the rear portions of the both end portions are brought into contact with the rear edge portion of the opening. 6. The posture detection robot according to claim 5, wherein the side opening of the vehicle body is a door mounting opening, and both ends of the contact arm are inserted into the door mounting opening. An attitude detecting robot characterized in that the robot is raised so that its upper portion is brought into contact with the rain rail, and thereafter the rear portions of the both end portions are brought into contact with the center pillar. 7. A contact arm is provided, and the contact arm is pressed and brought into contact with the article conveyed from the front side in the traveling direction of the article being conveyed by the conveying means, so that a driving force given by the article is applied. There are provided an interlocking unit that can move in synchronization with the article, and a working unit that moves in synchronization with the article based on the movement of the interlocking unit and performs a predetermined work on the article. In the posture detection robot, the interlocking means includes a first contact member that can be displaced from the side of the conveyed article toward the rear portion of the side surface of the article and contact the side surface of the article. A second contact member capable of displacing toward the front side portion of the article side surface and contacting the article side surface is provided, and based on the displacement amount of the first contact member and the displacement amount of the second contact member. Detects the posture of the article An attitude detection robot characterized by comprising work control means for controlling the work means based on the detected attitude of the article. 8. A contact arm is provided, and the contact arm is pressed by and brought into contact with the article from the front side as viewed in the traveling direction of the article being conveyed by the conveying means. A robot provided with an interlocking unit that can move in synchronization with the article and a working unit that moves in synchronization with the article based on the movement of the interlocking unit and performs a predetermined work on the article. In the method for detecting the posture of an article according to claim 1, the article conveyed by the conveying means is a vehicle body of an automobile, and the contact arm is formed in a substantially U shape, and an intermediate portion thereof extends in a substantially horizontal direction. Arrange so that both ends are located below the intermediate part, and after inserting both ends of the contact arm into the side opening of the vehicle body,
Then, the upper part is brought into contact with the upper edge of the opening, and then the rear parts of the both ends are brought into contact with the rear edge of the opening, and the attitude of the vehicle body is detected based on the contact state of the contact arm with the vehicle body. A method for detecting the posture of an article, characterized in that the work means is controlled based on the detected posture of the vehicle body.