JPH10273076A - Article assembling method and article assembling apparatus - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To allow a radiator to be accurately mounted on a vehicle body in various mounting situations without a positioning guide. SOLUTION: A radiator 12 is held by a robot 23, and a mounting pin 1 of the radiator 12 is
5 is mounted in the mounting hole 41 of the vehicle body 2, the mounting pin 15 of the radiator 12 is positioned so as to have a predetermined positional relationship with respect to the mounting hole 41 of the vehicle body 2, and the positioning state is maintained. The boss 16 having no predetermined positional accuracy with respect to the mounting pin 15 of the radiator 12 is held by the robot 23. And after this, radiator 1
The robot 23 is operated based on predetermined positional relationship information between the mounting pin 15 and the mounting hole 41 of the vehicle body 2, and the radiator 12 can be assembled without the need for a positioning guide or the like.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article assembling method and an article assembling apparatus.

[0002]

2. Description of the Related Art An article assembling method is disclosed in, for example,
As disclosed in Japanese Patent Application Publication No. 139349, there is an apparatus in which an assembly (for example, a radiator) is held by a robot, and the assembly is assembled to an assembly (for example, a vehicle body) by the robot. In such an article assembling method, generally, an assembly is
A positioning guide having predetermined positional accuracy with respect to the mounting portion of the assembly is provided together with the holding portion held by the robot, whereby the robot always holds the assembly at a predetermined position when holding the assembly. The robot is held in the posture, and the mounting portion in the predetermined posture state is used as a reference (starting point) to mount the mounting portion to the mounting portion of the mounting target body based on teaching to the robot.

[0003] This will be described specifically with reference to FIG. When the assembled body is the radiator 101, ear portions (positioning) having predetermined positional accuracy with respect to the holding hole (robot holding portion) 102 and the mounting pin (assembled portion) 103 are provided on both sides of the radiator 101. Guide) 104 is provided, and the robot hand (robot) 105
An insertion pin 106 that can be inserted into the holding hole 102 and a guide groove 107 into which the ear 104 can be fitted are provided. And robot hand 1
At the time of holding the radiator by the insertion hole 105, the insertion pin 106 is inserted into the holding hole 102 and the ear 104 is
7, the radiator 101 is always held in a predetermined posture by the robot hand 105. Thereafter, based on the position of the radiator 101, the radiator 101 is attached to the mounting pin 103 of the radiator 101 based on teaching.
Is a mounting hole 10 on the vehicle body as a part to be mounted of the body to be mounted.
8 will be inserted.

[0004]

However, in the above article assembling method, a positioning guide (an ear 104 in the example of FIG. 17) is positioned with respect to an assembly portion (the mounting pin 103 in the example of FIG. 17) of the assembly. ) Must be formed to have a predetermined high positional accuracy, and the manufacturing burden of the assembly is heavy. Also,
Recently, there are situations in which it is difficult to assemble an assembly having a positioning guide to an assembly based on a request for a design of the assembly, an assembly process, or the like. For example, as shown in FIG. 18, in a case where the radiator 101 must be assembled to the vehicle body after the elongated headlight 109 is mounted on the vehicle body, as described above, a predetermined posture state is set by the robot hand 105. If it is attempted to assemble the radiator 101 while holding the radiator 101, the ears (positioning guides) 104 and the like of the radiator 101 may interfere with the headlight 109, so that it is difficult to accurately assemble the radiator 101 to the vehicle body. Absent.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and a first object of the present invention is to provide an assembling body for various assembling situations without a positioning guide. An object of the present invention is to provide an article assembling method capable of accurately assembling an article to be assembled.

A second object is to provide an article assembling apparatus used for carrying out the above-described article assembling method.

[0007]

In order to achieve the first object, according to the present invention, the assembly is held by a robot, and the assembly is attached to the assembly by the robot. In the article assembling method, the assembling part of the assembling body is positioned so as to have a predetermined positional relationship with respect to the assembling part of the assembling body. While maintaining the positioning state of the assembling part, holding a part that does not have a predetermined positional accuracy with respect to the assembling part of the assembling body by the robot,
Thereafter, the robot is operated based on predetermined positional relationship information between the assembly portion of the assembly and the assembly portion of the assembly, and the assembly is attached to the assembly. There is a structure to be assembled.

The preferred embodiment of the first aspect is as described in the second to fourth aspects.

According to another aspect of the present invention, there is provided a semiconductor device comprising:
In the invention of the above, the assembled body to the assembled body is transported,
Transport means for positioning an assembly portion of the assembly so as to have a predetermined positional relationship with respect to an assembly portion of the assembly, and an assembly transported by the assembly; In a part that does not have a predetermined positional accuracy with respect to the attachment part of the attachment, while maintaining the positioning state of the attachment part of the attachment, holding,
After the holding, based on predetermined positional relationship information between the assembly portion of the assembly and the assembly portion of the assembly, a robot that assembles the assembly to the assembly, An article assembling apparatus is provided.

[0010] A preferred embodiment of the fifth aspect is as described in the sixth and subsequent aspects.

[0011]

According to the first aspect of the present invention, the assembling portion of the assembling body and the assembling of the assembling body can be performed without using the positioning guide to bring the assembling body into the predetermined posture. Assembling of the assembly is performed accurately based only on the predetermined positional relationship information with the attachment portion, and at this time, the holding position of the assembly held by the robot is:
It is not limited to a specific location having a predetermined positional accuracy with respect to the assembly portion of the assembly, and a location that does not interfere with the assembly at the time of assembly can be appropriately selected. For this reason, even if the assembly does not have a positioning guide, the assembly can be accurately assembled to the assembly in various installation situations.

According to the second aspect of the present invention, the assembly is held by the robot while the positioning of the assembly portion of the assembly is maintained. Since the assembly state is to hold the assembled body and then stop the floating state, the robot
Utilizing the presence or absence of the floating state, it is possible to specifically maintain and maintain the positioning state of the assembly part of the assembly, and based on the assembly part of the positioned assembly,
It is ensured that the movement toward the assembly is started. For this reason, the same operation and effect as in the first aspect can be obtained in a specific mode.

According to the third aspect of the invention, the assembly is a radiator, the assembly is a vehicle body, and the holding portion of the radiator held by the robot is attached to the assembly of the radiator. Since the boss for fixing the shroud on the upper end surface of the radiator does not have a predetermined positional accuracy, the headlight is mounted on the vehicle body when the body to be mounted is the vehicle body and the radiator is the mounted body. Even when the radiator insertion space on the front side becomes narrow, the radiator can be accurately assembled to the vehicle body without causing a problem such as interference.

According to the fourth aspect of the present invention, since the assembly is a radiator and the assembly is a vehicle body with the headlight mounted thereon, the headlight is mounted on the vehicle body as described above. Even if the radiator is held, the part that can avoid interference with the headlights is appropriately selected as a holding part of the robot with respect to the radiator, and as long as the part is held by the robot, the radiator can be correctly assembled to the vehicle body Can be done.

According to the fifth aspect of the present invention, the assembly to be attached to the assembly is transported, and the assembly of the assembly is fixed to the assembly of the assembly. Transport means for positioning so as to have the following positional relationship, and assembling the assembled body transported by the transporting means at a position where there is no predetermined positional accuracy with respect to an assembly portion of the assembled body. After maintaining the positioning state of the assembly portion, the assembly is performed based on predetermined positional relationship information between the assembly portion of the assembly and the assembly portion of the assembly. A robot for assembling a body to the body to be assembled;
Therefore, the assembling part of the assembling body is positioned so as to have a predetermined positional relationship with respect to the assembling part of the assembling object by the transporting means, and the assembling of the assembling body is performed by the robot. An article group which can be used to carry out the method according to the above-mentioned method, while maintaining the positioning state of the part, the part of the assembled body having no predetermined positional accuracy with respect to the assembled part is held. An attachment device can be provided. In addition, since the transporting means is used for positioning the assembly, the assembly can be supplied according to the assembly, and a continuous assembly operation can be performed.

According to the invention described in claim 6, since the transporting means is a trolley on which the assembled body is mounted at a predetermined position, a large number of assembled bodies are mounted on the trolley, and the trolley is mounted on the predetermined body. By simply stopping at the stop position, many of the assembled bodies can be positioned at predetermined positions of the respective assembled bodies on the carriage. For this reason, the supply operation of the assembled body by the cart can be reduced without delaying the assembly operation by the robot.

According to the seventh aspect of the present invention, there is provided a carry-in passage through which the bogie enters, a positioning and fixing means for positioning and fixing the bogie at the work station at the carry-in end of the carry-in passage, and a work station. Since the carrying path is provided separately from the carry-out path, the carriage is one-way, and the work of supplying the assembled body can be performed smoothly, and the carriage is positioned and fixed by the positioning and fixing means, The positioning of many assembled bodies can be surely performed.

According to the invention described in claim 8, the work station is constituted by a rotatable turntable, so that the robot can smoothly take out the assembled body from the carriage. This can be performed, and the degree of freedom in setting the carry-in path and the carry-out path can be increased.

According to the ninth aspect of the present invention, the robot holds the assembled body in a floating state at a position where the assembled part of the assembled body has no predetermined positional accuracy. Since the floating mechanism and the stop mechanism for stopping the floating state of the floating mechanism are provided, the robot can be assembled by using the floating mechanism and the stop mechanism. Thus, the assembled body can be held while the positioning state of the assembled portion is maintained, and the same operation and effect as the above-described claim 2 can be specifically obtained.

According to the tenth aspect of the present invention, the assembly is a radiator, the assembly is a vehicle body, and the holding portion of the radiator held by the robot is attached to the assembly of the radiator. Since the radiator upper end face does not have the predetermined positional accuracy, the shroud fixing boss on the upper end surface, the assembly is a radiator, and even when the assembly is a vehicle body, by using the present apparatus, The same operation and effect as those of the third aspect can be obtained.

[0021]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing the overall configuration of the present embodiment. In FIG. 1, reference numeral 1 denotes a vehicle body transport line for transporting a vehicle body 2 as an assembly object. In the transport line 1, the vehicle bodies 2 are to be sequentially transported.

As shown in FIG. 1, an assembly supplying station 3 and a robot working station 4 are sequentially arranged on the side of the vehicle body transfer line 1 so as to approach the vehicle body transfer line 1. It is arranged.

FIG. 1 shows the assembled body supply station 3.
As shown in FIG. 5, a carry-in path 5, a work area 6, and a carry-out path 7 are provided, and a carriage 8 can move through these.
The cart 8 has wheels 10 at four corners on the outer surface of the flat rectangular bottom plate 9 as shown in FIGS.
Thereby, the carriage 8 can run. The substantially wedge-shaped recesses 11a and 11 are formed on both end surfaces of the bottom plate 9 of the carriage 8 in the longitudinal direction.
b are formed, and the recesses 11a (11
b) is located at the center in the width direction of the bottom plate 9 (see FIG. 7). A plurality of shelves 13 for setting a radiator 12 as an assembly are provided on both sides of the cart 8 in the width direction (the left-right direction in FIG. 4). 8 are sequentially provided in the vertical direction in a state of being inclined so as to face downward as they face inward in the width direction. As shown in FIGS. 3 to 6, a positioning tool 14 also serving as a stopper is provided at the inner end of each shelf 13 (only a part is shown in FIG. 3). The positioning tools 14 are provided so that two positioning tools 14 are used for one radiator 12.
4 includes a mounting pin 15 at the lower end of the radiator 12.
The positioning groove 14a for positioning the (assembly portion) is formed so as to open upward. Thereby, the shelf 1
When the radiator 12 is placed on the radiator 3 and the two mounting pins 15 on the lower end surface of the radiator 12 are fitted into the positioning grooves 14 a of the positioning tool 14, the radiator 12 (the mounting pins 15) is positioned on the carriage 8. In addition, a pair of bosses 1 provided on the upper end surface of the radiator 12 and provided on the upper end surface and used for fixing to the shroud.
6 is to be projected slightly obliquely upward from the shelf 13 as shown in FIGS. The boss 16
Is not associated with the mounting pin 15 with high predetermined positional accuracy. As shown in FIG. 16, both sides of the radiator 12 are
A holding hole 45 is formed.

As shown in FIG. 1, the carry-in path 5 extends so as to approach the vehicle body transfer line 1, and a work area 6 is provided at the end of the carry-in path. Separately, the carry-out path 7 extends away from the carry-in path 5 at an angle of about 45 degrees. A lifter 17 is provided in each of the carry-in path 5 and the carry-out path 7, and a turntable 18 is provided in the work area 6.

The lifter 17 includes a substrate 17 disposed on a floor.
and a drive roller (not shown) for displacing the carriage 8 in the direction in which the lifter 17 extends on the upper surface of the lift plate 17b. Is provided. The lifter 17 extends in the carry-in path 5 and the carry-out path 7 with a width smaller than the interval between the left and right wheels 10 of the carriage 8 in the direction in which the carry-in / out path extends. When the lift plate 17b is in the raised position, the upper surface of the lift plate 17b is in contact with the upper surface of the lift plate 17b.
The upper surface of the bull 18 is to be flush with the upper surface of the trolley 18, so that the carriage 8 can be transferred between the lifter 17 and the turntable 18.

The turntable 18 has a width smaller than the interval between the left and right wheels 10 of the cart 8 and is extended in the longitudinal direction of the cart 8, and the turntable 8 is provided on the upper surface thereof. Drive roller 46 for displacing and moving in the direction in which the bull 18 extends.
(See FIG. 8). This turntable 1
8 is rotatable while maintaining a predetermined height position,
Due to the rotation, the turntable 18 can take any position of the truck receiving position, the radiator taking-out position, and the truck delivering position in the work area 6 as shown in FIG.

A stopper 19 is provided at one longitudinal end of the turntable 18, and a positioning piece 20 is swingably supported at the other longitudinal end of the turntable 18. . As shown in FIG. 7, the stopper 19 is provided with a projection 21 at the center in the width direction of the turntable 18 so as to correspond to the recess 11a of the carriage 8, and the recess 11a of the entering carriage 8 is provided. Is fitted into the protrusion 21 of the stopper 19, the movement of the carriage 8 is restricted, and the approach side of the carriage 8 is turned by the turntable 18.
Are to be positioned in the width direction. The positioning piece 20 can be set at a predetermined swing position by a cylinder device (not shown). The positioning piece 20 has a projection 22 corresponding to the recess 11 b of the carriage 8.
The protrusion 22 of the positioning piece 20 is driven by the cylinder device when the carriage 8 has completely entered the turntable 18 and fits into the recess 11b of the carriage 8. Thus, the movement of the carriage 8 to the rear side in the direction of entry of the turntable 18 is restricted, and the entire carriage 8 is positioned in the width direction of the turntable 18. Of course, when the carriage 8 enters the turntable 18, the positioning piece 20 takes a hanging position so that the carriage 8 is not obstructed.

As shown in FIGS. 1 and 2, a robot 23 is arranged on the robot working station 4. The robot 23 has a radiator 12 holding robot hand 25 at the end of an arm 24. The robot hand 25 has a radiator detecting mechanism for detecting the radiator 12 according to the vehicle type as shown in FIG. 26, a pair of gasoline vehicle chuck mechanisms 27, a diesel vehicle chuck mechanism 28, and a lifting assist mechanism 29.

As shown in FIG. 9, the radiator detecting mechanism 26 is provided at a predetermined position opposing the upper end surface of the radiator 12 with a displacement rod 30 abutting on the upper end surface of the radiator 12.
And a position detection sensor 31 for detecting the position of the displacement rod 30
The radiator 12 corresponding to the vehicle type, such as a radiator for a gasoline vehicle, a radiator for a diesel vehicle, or the like, is detected based on the result of the position detection sensor 31.

Each of the chuck mechanisms 27 for a gasoline vehicle includes:
As shown in FIG. 10, each is supported by the robot hand 25 via the sliding shaft 32. The two sliding shafts 32
Are disposed at the same interval as a pair of bosses 16 projecting from the upper end surface of the radiator 12 for a gasoline vehicle so as to be fixed to the shroud, and both sliding shafts 32 are parallel to each other. A chuck mechanism is slidably supported on each of the sliding shafts 32 with almost no resistance, thereby constituting a floating mechanism of each chuck mechanism 27. Each of the chuck mechanisms 27 includes a pair of claws 33, and the pair of claws 33
2 can be opened and closed in the extending direction. In the present embodiment, the opening and closing movement of the pair of claws 33 can be driven by a cylinder device 34 and a spring (not shown).
Is shortened, the pair of claws 3 are set based on the contraction force of the spring.
3, when the output rod 35 of the cylinder device 34 is extended, as shown in FIG. 11, the distal end thereof resists the spring force as shown in FIG.
3 is to be closed. Note that reference numeral 36 is
A stopper 37 for restricting the boss 16 from entering more than necessary;
Is a stopper for restricting the chuck mechanism 27 from sliding more than necessary.

As shown in FIG. 10, each of the chuck mechanisms 27 is provided with a brake mechanism 38 as a stop mechanism, and the brake mechanism 38 and the chuck mechanism 27 are provided.
And are integrated. The brake mechanism 38 is slidably held by the slide shaft 32. However, when the pair of claws 33 have finished gripping the boss 16 on the upper end surface of the radiator 12 in a floating state, the brake mechanism 38 is braked. It has a function of applying a brake to the sliding of the mechanism 38 to fix the chuck mechanism 27 to the sliding shaft 32.

The pair of gasoline vehicle chuck mechanisms 27 can be moved up and down in FIG. 9 integrally with each other, and the up / down movement causes the boss 16 on the upper end surface of the radiator 12 to move. It can take a gripping position.

The pair of diesel vehicle chuck mechanisms 2
8 has basically the same configuration as the gasoline vehicle chuck mechanism 27, and a pair of chuck mechanisms 28
The difference from the pair of gasoline vehicle chuck mechanisms 27 is that the distance between the pair of gasoline vehicle chuck mechanisms 27 is wider than the distance between the pair of gasoline vehicle chuck mechanisms 27 so as to correspond to the boss 16 on the upper end surface of the diesel vehicle radiator 12. I have.

The lifting assist mechanism 29 has a pair of hanging support members 39, and an insertion pin 40 is provided at the tip (the lower end in FIG. 9) of each support 39 so as to face each other. Each is provided. The pair of support members 39 are disposed at intervals longer than the width direction length of the radiator 12 (length in the left-right direction in FIG. 9), and the pair of support members 39 are integrally formed. Can move up and down,
They can move closer to and away from each other. Thereby, the insertion pin 40 of each support 39 is inserted into the holding hole 45 (see FIG. 16) formed on the side of the radiator 12, and this pair of supports 39 can be used as a lifting aid for the radiator 12. I can do it.

Next, an assembling method according to this embodiment using the above assembling apparatus will be described.

First, as shown in FIG. 1, a carriage 8 on which a number of radiators 12 are mounted is carried into the carry-in path 5, and the carriage 8 is positioned so as to be located above the lifter 17. In this case, each radiator 12 is set at a predetermined position on the shelf 13 of the trolley 8, the mounting pins 15 of each radiator 12 are respectively fitted into positioning grooves 14 a of the positioning tool 14, and each mounting pin 15 is 8 are to be positioned.

When the carriage 8 is positioned above the lifter 17, as shown in FIG. 2, the lift plate 17b of the lifter 17 rises and comes into contact with the bottom plate 9 of the carriage 8, and the carriage 8 is lifted. When the upper surface of the lift plate 17b of the lifter 17 and the upper surface of the turntable 18 are at the same height, the lifting of the lift plate 17b is stopped, and the drive roller on the lift plate 17b is moved by the cart 8
To the turntable 18. At this time, the turntable 18 is in the bogie receiving position,
Simultaneously with the delivery of the carriage 8 by the lifting plate 17b, the drive roller 46 on the turntable 18 also starts to operate, and the drive roller 46 draws the carriage 8 onto the turntable 18. ing. As a result, the cart 8 is turned
When the vehicle enters the bull 18 and the end surface of the bottom plate 9 of the carriage 8 contacts the stopper 19, the movement of the carriage 8 is stopped. At this time, the protrusion 21 of the stopper 19
The recess 11a of the bottom plate 9 of the carriage 8 fits to some extent.

When the movement of the carriage 8 is stopped by the stopper 19, the positioning piece 20 is driven to swing, and the projection 22 of the positioning piece 20 is formed in the recess 11b of the bottom plate 9 in the carriage 8.
Pushed into. As a result, the carriage 8 is positioned on the turntable 18. continue,
The turntable 18 is rotated, and the robot 23 is positioned at a radiator removal work position where the radiator 12 can be easily removed from the carriage 8, and is fixed at that position. Thus, the mounting pins 15 of the radiators 12 on the carriage 8 are positioned and fixed.

Next, the robot 23 starts working. In the robot 23, first, the robot hand 25 moves to a predetermined position facing the upper end surface of the radiator 12 to be taken out, and the radiator detection mechanism 26 detects the type of the radiator 12 at that position.

When the type of the radiator 12 is detected, a pair of chuck mechanisms 27 (or 28) corresponding to the type are detected.
Starts operating. For example, the radiator 12 for gasoline vehicles
Is detected, the pair of chuck mechanisms 27 for the gasoline vehicle move toward the pair of bosses 16 on the upper end surface of the radiator 12, and stop at the gripping position. When each chuck mechanism 27 reaches the gripping position, each chuck mechanism 27 (a pair of claws 33) grips the boss 16. In this case, each of the chuck mechanisms 27 is in a floating state (a state in which the chuck mechanisms 27 are slidable on the sliding shaft 32). The attitude of the radiator 12 on the carriage 8 is not changed, and the original attitude of the radiator 12 set on the carriage 8 is maintained. Of course, in this case, the pair of chuck mechanisms 28 for the diesel vehicle take a higher position than the chuck mechanism 27 for the gasoline vehicle, so that the operation of the chuck mechanism 27 for the gasoline vehicle is not hindered. ,
When the radiator 12 is for a diesel engine, as shown in FIG. 15, the gasoline vehicle chuck mechanism 27 stands by at the raised position, while the diesel vehicle chuck mechanism 2
8 descends and grips the boss 16 of the radiator 12.

When the bosses 16 on the upper end surface of the radiator 12 are gripped by the chuck mechanisms 27, the insertion pins 40 of the pair of supports 39 of the lifting assist mechanism 29 enter the holding holes 46 on the side surfaces of the radiator 12. . Of course, also in this case, no external force that changes the attitude of the radiator 12 acts.

Next, the robot 23 pulls out the held radiator 12 from the carriage 8 and mounts the radiator 12 on the vehicle body 2 at the assembly position in a state of being lifted. In this case, the robot 23 mounts the mounting pins 15 of the radiators 12 on the carriage 8 and the mounting holes 41 in the vehicle body 2 (FIG. 16).
The transport and assembling operations are performed based on the positional relationship information with reference to FIG. When the mounting of the radiator 12 is completed, the robot 23 waits at the standby position for mounting the next radiator 12.

When all of the radiator 12 is removed from the carriage 8 for assembly to the vehicle body 2, the turntable 18
Adopts a trolley delivery position, and the trolley 8 is moved to the carry-out path 7 in the reverse order of the case of the trolley reception described above. Thereafter, the turntable 18 receives the new carriage 8 on which the radiator 12 is mounted.

[Brief description of the drawings]

FIG. 1 is a plan view showing an overall configuration in an embodiment.

FIG. 2 is a side view of FIG. 1;

FIG. 3 is a side view showing the bogie according to the embodiment.

FIG. 4 is a diagram showing the inside of the bogie according to the embodiment.

FIG. 5 is a diagram showing a setting state of a radiator in the bogie from below.

FIG. 6 is a diagram showing a relationship between a positioning tool and a mounting pin of a radiator.

FIG. 7 is a plan view for explaining positioning of the bogie on the turntable.

FIG. 8 is a side view of FIG. 7;

FIG. 9 is a diagram showing a state in which the type of a radiator is detected in the robot hand.

FIG. 10 is an explanatory diagram illustrating a chuck mechanism and a brake mechanism.

FIG. 11 is a diagram showing an open state of the chuck mechanism.

FIG. 12 is a diagram showing a closed state of the chuck mechanism.

FIG. 13 is a diagram illustrating holding of a gasoline vehicle radiator by a robot hand.

FIG. 14 is a view showing a continuation of FIG. 13;

FIG. 15 is a diagram illustrating holding of a radiator for a diesel vehicle by a robot hand.

FIG. 16 is a view conceptually showing the embodiment.

FIG. 17 is a view conceptually showing conventional assembling.

FIG. 18 is a diagram conceptually showing a conventional assembly to a vehicle body to which a headlight is attached.

[Explanation of symbols]

 2 Body 5 Carry-in 6 Work area 7 Carry-out 8 Carriage 12 Radiator 14 Positioning tool 15 Mounting pin 18 Turntable 23 Robot 25 Robot hand 27 Chuck mechanism for gasoline car 28 Chuck mechanism for diesel car 32 Sliding shaft 38 Brake mechanism 41 Mounting hole

Claims (10)

[Claims] 1. An article assembling method in which an assembly is held by a robot and the assembly is assembled to the assembly by the robot, wherein an assembly portion of the assembly is attached to the assembly. Positioning is performed so as to have a predetermined positional relationship with respect to the to-be-assembled part. A part having no positional accuracy is held by the robot, and thereafter, the robot is operated based on predetermined positional relationship information between the assembly part of the assembly and the assembly part of the assembly. And assembling the assembled body to the assembled body. 2. The assembly according to claim 1, wherein the assembly is held by the robot while maintaining the positioning of the assembly portion of the assembly, wherein the robot is mounted in a floating state. Holding the appendix, then
Stopping the floating state. 3. The radiator according to claim 2, wherein the assembly is a radiator, the assembly is a vehicle body, and a holding portion of the radiator held by the robot is attached to a mounting portion of the radiator. A boss for fixing the shroud on the upper surface of the radiator having no predetermined positional accuracy,
An article assembling method, characterized in that: 4. The article assembling method according to claim 2, wherein the assembling body is a radiator, and the to-be-assembled body is a vehicle body to which a headlight is mounted in advance. 5. A transport for transporting an assembled body with respect to an assembling body and positioning an assembling portion of the assembling body so as to have a predetermined positional relationship with respect to an assembling portion of the assembling body. Means, the assembled body transported by the transporting means, in a portion that does not have a predetermined positional accuracy with respect to an assembly portion of the assembled body,
While maintaining the positioning state of the assembling part of the assembling body, the holding state is maintained, and after this holding, predetermined positional relationship information between the assembling part of the assembling body and the assembling part of the assembling body is obtained. And a robot for assembling the assembling body to the to-be-assembled body. 6. The article assembling apparatus according to claim 5, wherein the transporting means is a bogie on which an assembly portion of the assembly is mounted at a predetermined position. 7. The carriage according to claim 6, wherein: a carriageway into which the carriage enters, a work station at a carry-in end of the carriage passage, positioning and fixing means for positioning and fixing the carriage, and And a carry-out path provided separately from the carry-in passage. 8. The article assembling apparatus according to claim 7, wherein the work station is constituted by a rotatable turntable. 9. The floating according to claim 5, wherein the robot holds the assembled body in a floating state at a position where the assembled part of the assembled body does not have a predetermined positional accuracy. An article assembling apparatus, comprising: a mechanism; and a stop mechanism for stopping a floating state of the floating mechanism. 10. The radiator according to claim 9, wherein the assembly is a radiator, the assembly is a vehicle body, and a holding portion of the radiator held by the robot is attached to a mounting portion of the radiator. A boss for fixing the shroud on the upper surface of the radiator having no predetermined positional accuracy,
An article assembling apparatus characterized by the above-mentioned.