JPH05164B2 - - Google Patents

Description

[Detailed description of the invention] (Industrial application field) TECHNICAL FIELD The present invention relates to an article assembly device.

(Prior Art) In a conventional automobile assembly line, as disclosed in, for example, Japanese Patent Application Laid-Open No. 103665/1980, lower parts are collected and set on pallets, which are then transported. It is known that the parts are aligned with the body using an elevating mechanism or the like, and then the parts are assembled to the body.

(Problems to be Solved by the Invention) In the case disclosed in this publication, the lower part is simply placed on a pallet in a positioned state, so there is no connection between the lower part and the body. There is a problem in that accurate positioning between the two cannot be expected.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an article assembling apparatus that is equipped with respective mounting tables that can accurately position an article to be assembled relative to the article to be assembled.

(Means for Solving the Problems) An article assembling apparatus according to the present invention includes an assembled article mounting table having an attachment part for an assembled article mounting table, and an assembled article mounting table on the assembled article mounting table. A plurality of assembled article mounting bases, a selected one of which is detachably and movably attached in a horizontal plane, are attached to the mounting portion of the mounting base; The present invention is characterized in that it includes a screw socket mounted so as to extend downwardly, and that the screw sockets provided on the plurality of assembled article mounting tables share a common engagement portion with the nut runner.

(Operations and Effects of the Invention) In the present invention, since the assembled article mounting table is movable with respect to the assembled article mounting table as described above, the assembled articles on the assembled article mounting table can be moved. By adjusting the mounting table for assembled items,
The assembled articles can be positioned with high precision.
In addition, for the screw sockets on multiple assembled article mounting tables that are attached to the same mounting part, all of them have a common engagement part with the nut runner, so the assembled articles can be replaced, and accordingly, the assembled article can be placed on Even when the stand is replaced, there is no need to replace the nut runner, which is efficient.

(Example) Hereinafter, an automatic work device for articles according to an example of the present invention will be described with reference to the accompanying drawings. In the following embodiments, the automatic working device described above will be explained as being applied to an automobile assembly line.

FIG. 1 is a schematic diagram of an automobile assembly line incorporating an automatic working device according to an embodiment of the present invention.

In this figure, reference numeral 1 indicates an automobile assembly line, and this assembly line 1 grasps the automobile body in a suspended state and transports the body 2 from a conveyor 3 to a body receiving trolley 4.
The body 2 transferred from the transfer station 5 to the transfer station 5 by the body receiving cart 4 is measured, and based on this measurement, the body 2 is positioned on the body transfer device 6. The measuring station 7 is held in a manner that will be explained in detail later, and the engine and the like are placed on the mounting table 8, which has been previously positioned and placed at another position, and is then transported by the body transport device 6. The apparatus is equipped with a dotting station 9 for dotting the body 2 that has been placed there, and a work station 10 that performs work such as tightening nuts on the dotted body 2 that has been conveyed by the mounting table 8. Note that the transfer station 5 and measurement station 7 are not essential parts of the present invention, so further explanation will be omitted.

The above-mentioned mounting table 8 is a mounting table for the body 2 which is an article to be assembled, and as shown in FIG. 2, this mounting table 8 has first, second, and Third assembled article mounting table mounting part 8a,
8b and 8c are provided. This first, second,
The third assembly mounting table mounting portions 8a, 8b, 8c include an engine and front suspension sled (hereinafter simply referred to as engine sled) 11, a fuel tank sled 12, and A rear suspension sled 13 is removably attached. These sleds can be changed depending on the type of article to be assembled, for example, the type of engine depending on the car model. An engine 14 and a front suspension 15 are positioned and mounted on the engine sled 11, a fuel tank 16 on the fuel tank sled 12, and a rear suspension 17 on the rear suspension sled 13, respectively. The above three sleds 11,1
2 and 13 are connected to the engine 14, front suspension 15, fuel tank 16, and rear suspension 1 by respectively engaging with three positioning holes (not shown) formed on the lower surface of the body 2.
7 are provided with positioning pins 11a, 12a, and 13a for positioning with respect to the body 2, respectively. Also, although not shown in detail, the above sled 1
1, 12, and 13 are designed so that their upper parts can slide in a horizontal plane relative to their lower parts.

On the other hand, the body transport device 6 has four holding posts 18 that hold the body 2 in a suspended state.
It is equipped with Only two of these holding posts 18 are shown in FIG. At the bottom of this holding post 18, there is a positioning pin 19 facing upward.
A body retaining surface 20 is provided. This positioning pin 19 is connected to a positioning hole 21 formed on the lower surface of the body 2 to position the body 2.

As shown in FIG. 2, the engine 14 and other components are placed on the mounting table 8 sent to the dotting station 9, and the engine 14 and the like are placed on top of the mounting table 8 sent to the dotting station 9. The body 2 is positioned and placed on this dotting station 9. For this positioning, a body positioning pin 22 is arranged on the mounting table 8, and a positioning hole 23 is formed in the lower surface of the body 2. The body positioning pin 22 is provided on the mounting table 8 so that it can sink downward while being biased upward by a spring. As shown in FIG. 2, the body 2 has been positioned with respect to the mounting table 8 with the body positioning pin 22 coupled to the positioning hole 23. In this embodiment, if the body 2 is lowered as it is, the engine 14 (not shown) will interfere with the body 2, so the engine 14 is shifted by a distance a for positioning. In order to compensate for this distance a, the engine sled 11 is designed to be able to slide within a horizontal plane as described above, and a cylinder device 24 is provided to actually perform this sliding. This sliding is also performed for positioning with respect to the body 2. Although not shown, the fuel tank sled 12 and the rear suspension sled 13 are also equipped with the cylinder device 2.
A cylinder device similar to No. 4 is provided.

The body 2 is gradually lowered from the positioned state, the engine sled 11 is slid as described above, and the fuel tank sled 12 and rear suspension sled 13 are slid for positioning. 3, the bolt 25 provided downward on the lower surface of the body 2 is inserted into a bolt hole 27 of a mounting bracket 26 of an engine or the like. At the positions of the corresponding sleds 11, 12, and 13 of this bolt 25, tightening sockets 28 each holding a nut (not shown) in the upper part are provided. The tightening socket 28 has a rod shape extending in the vertical direction, and its lower end protrudes downward from the mounting table 8 by a predetermined length. In order to operate this tightening socket 28, a screw tightening robot 29 is arranged below the mounting table 8. This screw tightening robot 29 includes a main body 31 that is slidably disposed on a guide rail 30 disposed along the assembly line 1, and a first arm that is attached to the main body 31 so as to be pivotable in a horizontal plane. 32, a second arm 33 attached to the first arm 32 so as to be pivotable in a horizontal plane, and a nut runner 34 attached to the tip of the second arm 33 so as to be movable in the vertical direction.

The lower end of the tightening socket 28 is an engaging portion 28a that engages with the nut runner 34, and this engaging portion 28a is at least the same as that of the tightening socket 28 provided on the same sled, and the same assembly. Article mounting table mounting parts 8a, 8
The tightening sockets 28 provided on the sleds attached to b and 8c are formed to have the same shape and the same dimensions.

The screw tightening robot 29 is connected to a control circuit 35 composed of, for example, a microcomputer, and its operation is controlled by the control circuit 35. The memory of this control circuit 35 stores the shape and dimensions (hereinafter referred to as
(referred to as the reference value) and the standard operation contents of the screw tightening robot 29 when the mounting table 8 is of this standard (typically the first arm 32, nut runner 34).
It stores programs etc. that show operations such as
Further, the memory stores a pre-measured amount of deviation from the reference value for each mounting table.
It is assumed that this amount of deviation is expressed by a rotation angle in the front-rear direction, width direction, and horizontal plane of the body 2.

With the above configuration, when a certain mounting table 8 is transported to the work station 10, the control circuit 35 determines which mounting table 8 is the one, reads out the above-mentioned deviation amount corresponding to the mounting table 8 from the memory, and also The program is read out, the program is corrected by the amount of deviation, and the screw tightening robot 29 is operated. Therefore, no matter what condition the mounting table 8 itself is in, the nut runner 34 of the screw tightening robot 29 is always moved to the correct position with respect to the tightening socket 28 because the condition is corrected.

Even with the above configuration, the mounting table 8 may change over time.
In this embodiment, at least two marks for detecting the amount of deviation are provided on the lower surface of the mounting table 8, and a visual sensor 36 is attached to each of the screw tightening robots 29. These visual sensors 36 are each connected to the control circuit 35 and send to the control circuit 35 an image signal of the mark for detecting the amount of deviation. This control circuit 35
performs image processing on this image signal, determines the position of the mark, compares this position with the reference value, calculates the amount of deviation, and uses this newly calculated amount of deviation to calculate the previously stored deviation. The amount is updated, and control is thereafter performed according to this new amount of deviation. It is desirable that the amount of deviation be updated in accordance with the usage cycle of the mounting table 8.

Note that the determination of the mounting table 8 may be performed by counting the number of mounting tables, etc., but a unique mark is attached to each mounting table, and this is attached to the visual sensor 36 etc. provided above. The mounting table may be determined based on the detection, and information on the amount of deviation may be read from the memory based on this.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram of an automobile assembly line incorporating an automatic working device according to an embodiment of the present invention;
This figure shows the structure of the mounting table, etc. in the docking station, and FIG. 3 shows the structure of the mounting table, screw tightening robot, etc. in the work station. 1... Assembly line, 2... Body, 8... Mounting table, 11, 12, 13... Sled, 28... Tightening socket, 29... Screw tightening robot, 35
...control circuit.

Claims (1)

[Claims] 1. An assembled article mounting table having a mounting part for an assembled article mounting table, which is selected to be removably attachable and movable in a horizontal plane to the mounting part of the assembled article mounting table of the assembled article mounting table. a plurality of assembled article mounting stands to which one of the assembled articles is attached, and a screw socket attached to the assembled article mounting stand so as to extend downwardly through the assembled article mounting stand, the plurality of assembled articles An article assembling device characterized in that a screw socket provided on a mounting table has a common engagement portion with a nut runner.