JPS62149571A - Heavy article mounting device - Google Patents

Abstract

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

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention provides a method for loading a heavy object such as an engine unit onto an object to be mounted such as a vehicle body supported by a transport jig and carried into a work station in an assembly line. The present invention relates to a heavy object loading device used for assembling and loading.

(Prior art) For example, in a vehicle assembly line, a vehicle body (mounted object)
When heavy objects such as engine units or suspension units are assembled and mounted on
The vehicle body is supported by a conveyance jig such as a hanger provided on a trolley conveyor and is conveyed intermittently to a loading station in predetermined pinches, and is also conveyed to the loading station by a conveyor belt as shown in, for example, Japanese Patent Laid-Open No. 59'-206266. A heavy object loading device equipped with an elevating table is installed, and the heavy object is placed on the elevating table, raised by the operation of the elevating table, and transported to a loading station for assembly of the heavy object. It is often moved to an assembly position on the vehicle body and assembled to the vehicle body using bolts or the like.

On such vehicle assembly lines, the assembly of heavy items to the vehicle body using bolts, etc. has traditionally been done manually by workers, but such assembly requires the troublesome tightening of bolts, etc. Since management of applied torque, etc. is required, it is desired that this be done by automated mechanical work rather than relying on the manual work of an operator.

However, the vehicle body delivered to the loading station usually has errors due to dimensional errors in the manufacturing of the transport jig and the vehicle body, or errors that occur when the vehicle body is positioned to be supported by the transport jig. This is accompanied by displacement of the heavy object placed on the lifting table. For this reason, when assembly is performed by automated mechanical work as described above, when a heavy object is raised relative to the vehicle body by the lifting table of the heavy object loading device at the loading station, the heavy object is There is a possibility that the assembly may not be properly aligned with the assembly position on the vehicle body, and as a result, assembly using bolts or the like by mechanical work may not be performed properly. Therefore, the position of the car body being carried into the loading station is detected using an appropriate detection means such as a visual sensor, and based on the detection results, heavy objects are loaded according to the actual position of the car body being carried into the loading station. By changing the position of the lifting table of the loaded heavy load loading device in the plane along the transport direction of the vehicle body, the position of the heavy load relative to the transported vehicle body is changed in the longitudinal and lateral directions with respect to the transport direction of the vehicle body. It is possible to correct the

(Problem to be solved by the invention) However, when the vehicle body is delivered to the loading station,
If there is a vertical positional deviation with respect to the transport direction, or if the positional deviation is caused by taking an inclined position with respect to the normal transporting position, a detection means such as a visual sensor is detected. It is difficult to detect misalignment, and even if the position of the elevating table is changed in the plane along the conveyance direction of the vehicle body and the misalignment of the heavy object relative to the vehicle body is corrected, as described above, if the heavy object is When it is raised relative to the car body, it is accompanied by a positional deviation with respect to the assembly position of the car body.If such positional deviation occurs, for example, when a heavy object is attached to the car body with bolts, etc. When assembling using a machine, a problem arises in that the bolts or nuts do not properly screw into the mounting holes of the vehicle body and the heavy object, and therefore the assembly by automated mechanical work cannot be performed properly.

In view of the above, the present invention includes an elevating table for lifting and moving a heavy object to an assembly position of a loaded object that is supported by a transport jig and carried into a loading station, and a lift table that moves the heavy object upward and downward along the transport direction of the loaded object. The position of the lifting table within the plane is changed to correct the misalignment of the heavy object with respect to the object carried into the loading station. Even if there is a vertical positional deviation from the object, or a positional deviation caused by the position being tilted relative to the normal transport position, the heavy object may An object of the present invention is to provide a heavy object loading device which can be properly assembled by automated mechanical work.

(Means for Solving the Problems) In order to achieve the above-mentioned object, the heavy object loading device according to the present invention has the following features: a lifting table having a placement surface on which an object is placed; a positional deviation correction means for correcting a positional deviation of a heavy object relative to a loaded object by changing the position of the placement surface of the lifting table; and a lifting table that lifts the lifting table. The heavy object is moved to the assembly position of the object to be loaded, and then the lift table is further raised by a predetermined distance to levitate the object to be loaded from the transport jig.

(Function) In the heavy object loading device according to the present invention configured as described above, the positional deviation correcting means adjusts the transportation of the loaded object according to the actual position of the loaded object carried into the loading station. The position of the lift table on which the heavy object is placed is adjusted in the plane along the direction, thereby preventing the positional deviation of the heavy object in the plane along the transport direction of the object with respect to the object carried into the loading station. is corrected.

Then, the lifting table whose position has been adjusted by the positional deviation correcting means is raised by the lift means, and the heavy object is moved to the assembly position of the object to be loaded, and then,
The lifting table is further raised by a predetermined distance, and the object to be mounted is lifted from the transport jig. Rather than that,
Misalignment of the loaded object in the vertical direction with respect to its transport direction,
Alternatively, even if there is a positional shift due to a tilted posture with respect to the normal transport posture, such positional shift is substantially corrected and the heavy object is correctly positioned at the assembly position of the loaded object. Ru. Therefore, the assembly of the heavy object to the mounted object can be properly performed even by automated mechanical work.

(Example) Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 and 2 show an example of a heavy object loading device according to the present invention, along with a part of a vehicle assembly line in which the device is employed.

In FIGS. 1 and 2, a vehicle body 14 supported by a hanger 12 provided on an overhead trolley conveyor 10 disposed along a vehicle assembly line is connected to a position detection station STs provided on the vehicle assembly line and mounted on a vehicle assembly line. They are sequentially and intermittently transported to station STp at a predetermined pitch. The position detection station STs is equipped with four visual sensors 16a, 16b, 16c, and 16d that detect the actual position of the vehicle body 14 carried there.
The mounting station STp also includes a front lifter 20 for mounting the engine unit (combined with the engine main body transmission) 17 on the vehicle body 14.
and a rear lifter 21 for mounting the rear axle unit 18 on the vehicle body 14.

The visual sensors 16a to 16d capture an image of a range including two through holes (not shown) provided at predetermined positions on the front side and rear side of the vehicle body 14 to obtain position information. When the vehicle body 14 carried into the detection station STs and stopped is in the normal position without any positional deviation, the vehicle body 14 is placed at a position directly below the through hole provided in the vehicle body 14, and each of them is, for example, It consists of a small video camera that uses a CCD (charge coupled device) image sensor. Note that the positions of the through holes provided in the vehicle body 14 differ depending on the type of the vehicle body 14, so the positions of the visual sensors i6a to 16d can be changed depending on the type of the vehicle body 14.

In the vicinity of the front lifter 20 and the rear lifter 21, there are conveyors 22 and 23 for loading and unloading that extend in a direction perpendicular to the conveyance direction of the vehicle body 14 (the direction indicated by arrow P in FIGS. 1 and 2). is installed. The engine, unit, and y are unloaded from the unloading sections 11 and 13 by these loading and unloading container hairs 22 and 23.
The lifter 17 and rear axle unit 18 are placed on pallets 24 and 25, respectively, and are transported to predetermined positions in front of the front lifter 20 and rearward of the rear lifter 21, and are moved to their respective positions. Appropriate loading device 1
5, the pallets 24 and 25 are placed on a rotary lifting table 64 (described in detail later) located at the top of each of the front lifter 20 and the rear lifter 21. In that case, engine unit 17
and the rear axle unit 18 are respectively connected to the pallet 2.
The front lifter 20 and the rear lifter 21 are placed on the engine unit 17 and the rear axle unit 18, respectively, on the engine unit 17 and the rear axle unit 18. The pallets 24 and 25 placed on the rotary lift table 64 are respectively placed on the rotary lift table 6.
Since the engine unit 17 and the rear axle unit 18 are positioned by a positioning member (not shown) provided at the front lifter 20 and the rear lifter 21, respectively, the engine unit 17 and the rear axle unit 18 are prevented from being misaligned with respect to the front lifter 20 and the rear lifter 21, respectively. .

Since the front side lifter 20 and the rear side lifter 2'1 have substantially the same configuration, the front side lifter 20 and the rear side lifter 2'1 will be explained below, and the redundant explanation of the rear side lifter 21 will be omitted.

As shown in detail in FIG. 3, the front lifter 20 is mounted on a base 26 disposed at a position substantially directly below a portion corresponding to the engine room of the vehicle body 14 that has been carried into the loading station STp and stopped. This base 26
A fixed support 27 whose cross section is approximately U-shaped as shown in FIG. 4 is erected above. Fixed support 27
A pair of concave guide rails 28 are installed inside the fixed support 2.
7 are laid along the extending direction, and guide columns 29 are slidably fitted into these concave guide rails 28. The guide column 29 has a length extending downward from the road end of the fixed column 27 to reach the inside of the base 26, and has an end plate 31 fixed to its upper end.

A connecting support plate 32 that engages with the opening of the fixed column 27 is connected to the upper part of the fixed column 27, and the upper end of the lifting cylinder 30 is attached to the upper part of the connecting support plate 32 via a cylinder holding plate 33. part is fixed. Further, the lower part of the lifting cylinder 30 is fixed to the base 26. and,
The upper end of the piston rod 34 installed inside the lifting cylinder 30 is connected to the above-mentioned end plate 31 via the connector 36.
Further, a substrate 35 is fixed to the upper surface side of the end plate 31. Therefore, when the lifting cylinder 30 is operated and the piston rod 34 is expanded and contracted, the guide column 29 moves up and down as the piston rod 34 expands and contracts.
Therefore, in order to detect the position of the substrate 35, FIGS.
As shown in the figure, the guide column 2 is attached to the connection support plate 32.
A position sensor 19 facing a part of 9 is attached.

As shown in FIG. 5, a pair of guide rails 37 are provided on the upper surface of the board 35, extending parallel to each other. Four concave sliders 41 arranged on the lower surface side of the first slide table 40 are slidably fitted into these guide rails 37 . Further, a pulse motor 38 for moving the first slide table 40 parallel to the substrate 35 is installed on the upper surface side of the substrate 35.
The rotation of the pulse motor 38 is transmitted to the pinion gear 38a via the clutch 39, and the pinion gear 38a meshes with the rack gear 42 disposed on the lower surface side of the first slide table 40. is moved in the direction along the guide rail 37. Furthermore, a pair of position setting cylinders 43A and 43B for setting the reference position of the first slide table 40 with respect to the board 35 are installed on the upper surface side of the board 35 in parallel with the guide rail 37. A positioning stopper 45 protrudes from the lower surface of the slide table 40, with which the tip of the piston rod 44 of each of the positioning cylinders 43A and 43B abuts when the piston rod 44 is in an extended state. In order to determine whether or not the reference position of the first slide table 40 with respect to the board 35 has been set by the position setting cylinders 43A and 43B and the position setting stopper 45, a limit switch is installed on the upper surface side of the board 35. 46 is arranged, and the first slide table 4
0, the first slide table 40 is placed on the bottom side of the substrate 35.
A pressing member 47 is disposed that turns on the limit switch 46 when the reference position is assumed.

As shown in FIG. 6, four guide members 51 having guide grooves formed in a direction perpendicular to the guide rails 37 arranged on the board 35 are arranged on the upper surface side of the first slide table 40. A pair of slide rails 52 laid on the lower surface side of the second slide table 50 are slidably fitted into these guide members 51. Further, a pulse motor 53 for moving the second slide table 50 parallel to the first slide table 40 is installed on the upper surface side of the first slide table 40.
The rotation of the pulse motor 53 is transmitted to the pinion gear 53a via the clutch 54, and the pinion gear 53a is engaged with the rack gear 55 disposed on the lower surface side of the second slide table 50. 50 in the direction along the slide rail 52. Further, on the first slide table 40, a pair of position setting cylinders 57A and 57B for setting the reference position of the second slide table 50 with respect to the first slide table 40 are arranged parallel to the slide rail 52, respectively. A position setting stopper 59 protrudes from the bottom side of the second slide table 50, and the tip of the piston rod 58 of each of the position setting cylinders 57A and 57B comes into contact when the piston rod 58 is in an extended state. ing. The first slide table 40
A limit switch 60 is arranged on the top side of the
A limit switch 60 is provided on the lower surface side of the second slide table 50 when the second slide table 50 assumes a reference position with respect to the first slide table 40.
A pressing member 56 is disposed to turn the on state.

A rotary lifting table 64 is arranged above the second slide table 50 and is rotatable in a plane parallel to the upper surface of the second slide table 50. A bearing portion 61 to which a large pulley 62 is fixed is provided approximately at the center of the lower surface of the rotary lifting table 64.
A shaft 63 that protrudes upward from the upper surface of the second slide table 50 is fitted into the upper surface of the second slide table 50 with respect to the second slide table 50 of the rotary lifting table 64. Positioning is performed within parallel planes. Further, the positioning of the rotary lifting table 64 in the direction perpendicular to the upper surface of the second slide table 50 is performed by attaching the respective rotation axes to the shaft 63 on the upper surface side of the second slide table 50, as shown in FIG. A total of seven rollers 65 are arranged in a radial direction. The second slide table 50 is equipped with a pulse motor 70 for rotating the rotary lifting table 64.
The rotating shaft of the pulse motor 70 is connected to a small pulley 72 via a clutch 73, and a belt 75 is mounted between the small pulley 72 and the large pulley 62.

As shown in FIG. 7, on the upper surface side of the second slide table 50, there is a limit switch 66 for setting the reference position of the rotary lifting table 64 with respect to the second slide table 50. 63, and is arranged on the lower surface side of the rotary lifting table 64. When the rotary lifting table 64 assumes the reference position with respect to the second slide table 50, the limit switch contacts the movable contact portion of the limit switch 66. A pressing member 67 is arranged to turn on the pressing member 66 .

Furthermore, as shown in FIG.
Nut runners 77 are attached to a plurality of locations on the side surface of the engine unit 14 for assembling the mounting portion of the engine unit 17 aligned with the mounting position on the vehicle body 14 to the mounting position on the vehicle body 14.

In the front lifter 20 configured as described above, the first slide table 40 is connected to the pulse motor 38 with respect to the base plate 35 fixed to the upper surface side of the end plate 31 fixed to the upper end of the guide column 29. , the vehicle body 14 is moved in parallel in a direction perpendicular to the direction in which the vehicle body 14 is carried into the loading station STp, and the second slide table 50 is driven by the first slide table 40 .
is driven by the pulse motor 53 and is moved in parallel in the direction along the direction in which the vehicle body 14 is carried into the loading station STp, so that the rotary lifting table 64 disposed above the second slide table 50 is fixed. It is moved relative to the support column 27 in a direction perpendicular to the direction in which the vehicle body 14 is carried into the mounting station STp and in a direction along the direction in which the vehicle body 14 is carried into the mounting station STp.

Further, the rotary lifting table 64 is driven by a pulse motor 70 and is rotated with respect to the second slide table 50 and, therefore, with respect to the fixed column 27. Furthermore, as the guide column 29 moves up and down with the operation of the lifting cylinder 30, the rotary lifting table 64 is raised and lowered relative to the fixed column 27.

As described above, the rear lifter 21 is also configured in the same manner as the front lifter 20 described above, and each part operates in the same manner as the front lifter 20. The direction perpendicular to the direction of transport to the loading station STp and the vehicle body 14
One rotation in the direction along the carrying direction to the loading station STp and the lifting and lowering are performed.

Note that the nut runner 77 attached to the side surface of the rotary lift table 64 in the front side lifter 20 is used for assembling the engine unit 17, whereas the nut runner 77 is attached to the side surface of the rotary lift table 64 in the rear side lifter 21. The installed NAND runner 77 is used for assembling the rear axle unit 18.

The front lifter 20 and the rear lifter 21 having the above-described configuration operate under the control of a controller provided for them. Also in this case, the front side lifter 20 and the rear side lifter 2
1 is subjected to substantially the same operation control, therefore, the operation control of the front lifter 20 will be described below, and a redundant explanation of the rear lifter 21 will be omitted.

As shown in FIG. 8, the front lifter 20 includes a lifting cylinder 30, position setting cylinders 43A, 43B, 57A and 57B, and
A controller 100 is provided to control the operations of the pulse motors 38, 53, and 70. This controller 100 includes position detection signals Sa, Sb', Sc and Sd obtained from the four visual sensors 16a to 16d, a detection signal Se obtained from the position sensor 19 indicating the moving distance of the guide column 29, and Limit switch 46.60
and 66 are turned on, resulting in the first slide table 40. Reference position signals Sf, Sg and sh are supplied to indicate that the second slide table 50 and the rotary lifting table 64 are respectively in the reference position.

Then, the controller 100 controls the pulse motors 3B and 5 based on signals from the various sensors and switches described above.
3 and 70, forward rotation drive pulse signals Ca and Cb, respectively.
and Cc or reverse drive pulse signals Ca', Cb
' and Cc' to the lifting cylinder drive section 86 and the position setting cylinder drive sections 87 and 88 which drive the lifting cylinder 30 and the position setting cylinders 43A, 43B, 57A and 57B, respectively. , drive control signal C
e, Cf and Cg. When the forward rotation driving pulse signal Ca or the reverse rotation driving pulse signal Ca'' is supplied from the controller 100 to the pulse motor 38, the pulse motor 38 rotates forward or reverse according to the signals, and the first slide table 40 is moved in a direction perpendicular to the direction in which the vehicle body 14 is carried into the loading station STp,
Further, when the pulse motor 53 is supplied with the forward rotation drive pulse signal Cb or the reverse rotation drive pulse signal Cb', the pulse motor 53 rotates forward or reverse depending on the pulse motor 53, and moves the second slide table 50 toward the vehicle body. 14 in a direction along the carrying direction to the loading station STp. Further, when the forward rotation drive pulse signal Cc or the reverse rotation drive pulse signal ccl is supplied from the controller 100 to the pulse motor 70, the pulse motor 70 rotates forward or reverse depending on the pulse motor 70, and the rotary lifting table 64 Rotate.

Under such a configuration, when the engine unit 17 and the rear axle unit 18 are assembled and mounted on the vehicle body 14 that is transported to the mounting station STp, the stage where the vehicle body 14 is transported to the position detection station STs is required. Then, the first slide table 40. Control is performed to cause each of the second slide table 50 and the rotary lifting table 64 to take a reference position. In setting such a reference position, a drive control signal Cf is sent from the controller 100.
and Cg are supplied to the position setting cylinder drive parts 87 and 88, and the position setting cylinder drive parts 87 and 88 drive the position setting cylinders 43A and 43B and the position setting cylinders 57A and 57B, respectively. The piston rods 44 and 58 are extended, and the forward rotation drive pulse signal Cc and the reverse rotation drive pulse signal Cc'' are supplied from the controller 100 to the pulse motor 70.
The pulse motor 70 rotates forward and backward at a predetermined rotation amount. As a result, the first slide table 40 and the second slide table 50 are moved to the reference position with respect to the substrate 35 and the reference position with respect to the first slide table 40, respectively, and the rotary lifting table 64 is moved to the second slide table. It is rotated to take a reference position relative to 50. Then, the first slide table 40. When the second slide table 50 and the rotary lifting table 64 reach their respective reference positions, the limit switches 46, 60 and 66 are turned on, respectively.
The reference position signals Sf, Sg and sh are the controller 100
, the sending of the drive control signals Cf and Cg, the forward rotation drive pulse signal Cc, and the reverse rotation drive pulse signal Cc' from the controller 100 is stopped. Thereby, the first slide table 40. The second slide table 50 and the rotary lifting table 64 are brought to their respective reference positions.

Under such conditions, after the engine unit 17 is placed on the rotary lifting table 64 via the Niharets 24, the first slide table 40 is moved to its respective reference position as described above. , second slide Q,
The positions of the pull 50 and the rotary lifting table 64 are corrected as follows.

First, from the visual sensors 16a to 16d, the controller 10
Based on the position detection signals Sa to Sd supplied to the position detection stations STs
The actual position of the through hole for position detection formed in the car body 14 carried into the car body 14 and the position of the regular through hole stored in the built-in memory in the direction in which the car body 14 is carried into the mounting station s'rp. The displacement in the plane along the plane is calculated as a displacement distance and a displacement angle. Then, forward rotation drive pulse signals Ca, Cb, and Cc or reverse rotation drive pulse signals Ca', Cb', and cC1 are formed according to the calculated positional deviation distance and positional deviation angle, and these are used to drive the pulse motor 38. 53 and 70. As a result, the pulse motors 38, 53 and 70 rotate forward or backward, and the first slide table 40 moves toward the vehicle body 14.
The second slide table 50 is moved in the direction perpendicular to the direction in which the vehicle body 14 is carried into the loading station STp, and in the direction along the direction in which the vehicle body 14 is carried into the loading station sTp, according to the detected positional deviation distance. At the same time, the rotary lifting table 64 is rotated by an angle corresponding to the positional deviation angle. As a result, car body 1
4 is carried from the position detection station STs to the loading station STp, this loading station STp
The engine unit 17 placed on the rotary lifting table 64 of the front lifter 20 is mounted at the mounting station S of the vehicle body 14 carried into the vehicle body 14.
The position within the plane along the carrying direction to Tp will be corrected.

Thereafter, the drive control signal Ce from the controller 100 is supplied to the lifting cylinder driving section 86, and the lifting cylinder driving section 86 causes the lifting cylinder 30 to rise, and accordingly, the guide column 29 rises together with the board 35. The engine mounted on the rotary lifting table 64
The unit 17 is moved upward toward the vehicle body from the position shown by the dashed line in FIG. At this time, the controller 100 moves the first slide table 40.
Second slide table 50 and rotary lifting table 64
Using each position as a corrected reference position,
The detection signal Se obtained from the position sensor 19 indicates the amount of movement of the guide column 29, and therefore the engine unit 1.
Based on the actual ascending position of 7, the pulse motor 38.
3 and 70, forward rotation drive pulse signals Ca and Cb, respectively.
and Cc, or reverse drive pulse signal Ca',
Cb' and Cc' are supplied. As a result, the engine unit 17 is raised along a locus of movement as shown by the white arrow R in FIG. 1 while avoiding interference with existing members provided on the vehicle body 14. The top of the engine unit 17 is I] in FIG.
When the engine unit 17 is moved upward by a distance shown by (the state shown by the solid line in FIG. 1), the engine uni-sol 17 reaches the assembly position provided in the vehicle body 14.

However, if the vehicle body 14 carried into the loading station STp is misaligned in the vertical direction with respect to the transport direction, or if the vehicle body 14 is in an inclined position with respect to the normal transport position, In the case where a positional shift occurs, it is not possible to eliminate the positional shift of the engine unit 17 with respect to the vehicle body 14 by simply correcting the positional shift within a plane along the direction in which the vehicle body 14 is carried into the mounting station STp, as described above. Can not.

Therefore, in this example, as described above, the lifting cylinder 3
0, the engine unit 17 is moved upward to the assembly position provided on the vehicle body 14, and then a drive control signal Ce is supplied from the controller 100 to the cylinder drive unit 86 for lifting and lowering. The cylinder drive unit 86 moves the lifting cylinder 30 up and down, and as shown in FIG. 1, the engine unit 17 is further raised by a predetermined distance α, and then stopped. As a result, the vehicle body 14 is pushed up from below by the engine unit 17, moved from the position shown by the solid line in FIG.

When such an operation of the front side lifter 20 is performed, the same operation as that of the front side lifter 20 is also performed on the rear side lifter 21 configured similarly to the front side lifter 20, and the rotary lifting table 64 and the The mounted rear axle unit 18 is also once raised by a distance Ali L from the position shown by the dashed line to the position shown by the solid line in FIG. After reaching the oriented position, it is further raised by a predetermined distance α, and then stopped. As a result, the vehicle body 14 is pushed up from below by the rear axle unit 18 and moved from the position shown by the solid line to the position shown by the two-dot chain line in FIG.
made to float from

Therefore, the vehicle body 14 floated up from the bunker 12 is supported approximately horizontally by the front lifter 20 and the rear lifter 21.
The above-mentioned vertical positional deviations and positional deviations due to the tilted posture of 4 are absorbed and substantially corrected, and the engine unit 17 and rear axle unit 8 are installed at the assembly position provided on the vehicle body 14. will be properly aligned.

Next, as described above, the vehicle body 14 is moved to the front lifter 2.
The nut runner 77 is lifted up from the hanger 12 and supported by the lifter 21 and the rear lifter 21, and the engine unit 17 and rear axle unit 18 are assembled to the vehicle body 14. At this time, since the engine unit 17 and rear axle unit 18 are properly aligned with the assembly positions provided on the vehicle body 14, the assembly work by the nut runner 77 can be performed quickly and accurately. . After the assembly work is completed and the engine unit 17 and rear axle unit 18 are mounted in the assembly position of the vehicle body 14, the lifting cylinders 30 of the front side lifter 20 and the rear side lifter 21 are lowered. The operation is performed, and the vehicle body 14 on which the engine unit 17 and the rear axle unit 18 are mounted is returned to a state where it is supported by the hanger 12, and the front side lifter 20 and the rear side lifter 21 are rotated up and down, respectively. The table 64, together with the valets 24 and 25 placed thereon, returns to the position indicated by the dash-dotted line in FIG. Then, the car body 14 supported by the hanger 12 is sent to the next station, and the pallets 24 and 25
is removed from the rotary lifting table 64 by the loading device 15 and carried out by the carry-in/out conveyors 22 and 23.

In the above example, when adjusting the positions of the engine unit 17 and rear axle unit 18 with respect to the vehicle body 14 within a plane along the direction in which the vehicle body 14 enters the mounting station STp, the front The first slide table 40, the second slide table 50, and the rotary lift table 64, which are raised and lowered by the lift cylinders 30 of the side lifter 20 and the rear lifter 21, are moved or rotated. The heavy object loading device according to the present invention is not limited to this example, and for example, the front side lifter 20
The above-mentioned first slide table 40. is attached to the base 26 of each of the rear lifter 21. A table corresponding to the second slide table 5o and the rotary lifting table 64 is provided, and this table is used to connect the engine unit 17 and rear axle unit 1 to the vehicle body 14.
The engine unit 1 is moved or rotated when positioning the engine unit 8 on a plane.
7 and rear axle unit 18 may be moved or rotated to avoid interference between engine unit 17 and rear axle unit 18 and existing members of vehicle body 14. When such a configuration is adopted, stability when the engine unit 17 and rear axle unit 18 are raised can be improved.

(Effects of the Invention) As is clear from the above description, the heavy object loading device according to the present invention lifts the heavy object to the assembly position of the object to be loaded, which is supported by the transport jig and transported to the loading station. A lifting table for moving is provided, and the position of the lifting table is adjusted within a plane along the conveyance direction of the loaded object,
The positional deviation of the heavy object with respect to the object to be loaded that has been carried into the loading station is corrected, and the lift table whose position has been adjusted is raised to move the heavy object to the assembly position of the object to be loaded, and then, The lifting table is further raised by a predetermined distance so that the object to be loaded is lifted from the transport jig, so that the object to be loaded, which has been carried into the loading station, is positioned vertically with respect to the direction of transport. Even if the heavy object is misaligned or misaligned due to taking a tilted posture with respect to the normal transport posture, it is possible to substantially correct such misalignment and move the heavy object to the assembly position of the loaded object. Correct positioning can be achieved, and therefore, heavy objects can be properly assembled to the object to be mounted even by automated mechanical work.

[Brief explanation of drawings]

1 and 2 are a side view and a plan view showing an example of the heavy load loading device according to the present invention together with a part of a vehicle assembly line to which the device is applied, and FIG. 3 is shown in FIGS. 1 and 2. Figure 4 is a side view showing the main parts of the example shown in Figure 3.
5 and 6 are plan views of the substrate and the first slide table in the example shown in FIGS. 1 and 2, respectively, and FIG. 7 is a sectional view taken along the line ■-■ in FIG. 3. The sectional view and FIG. 8 are block diagrams showing the control system in the example shown in FIGS. 1 and 2. In the figure, 12 is a hanger, 14 is a vehicle body, 16a to 16d are visual X sensors, 17 is an engine unit, 18 is a rear axle unit, 19 is a position sensor, 20 is a front lifter, 21 is a rear lifter, 30 34 is a lifting cylinder, 34 is a piston rod, 35 is a base plate 38, 53 and 70 are pulse motors, 40 is a first slide table, 50 is a second slide table, and 64 is a rotary lifting table. -17-C Figure 2 Figure 8

Claims (1)

[Claims] An elevating table having a mounting surface on which a heavy object to be mounted on a loaded object supported by a transport jig and carried to a loading station is placed, and the position of the mounting surface of the elevating table is changed. a positional deviation correcting means for correcting a positional deviation of the heavy object with respect to the object to be mounted; A heavy object loading device comprising a lift means for moving the object to an assembly position and then further raising the elevating table by a predetermined distance to levitate the object to be loaded from the transport jig.