JPH054131A - Structure for gripping long stretching works of different sorts - Google Patents

Abstract

PURPOSE:To efficiently clamp long stretching works of different sorts provided in a large number by furnishing a plurality of gripping faces to suit the respec tive work sorts in at least two places on a base member. CONSTITUTION:A clamping device 260 is equipped with two sorts of clamping devices 260A, 260B so as to be able selectively to clamp different outside shapes of a large and a small front bumper FB1, FB2. A part where mounting is made 266 is provided in the over-surface center of the framing 264 of this clamping device 260. A gripping mechanism 270 is furnished for grasping the outer surface of the front bumper FB in the condition that three axial direction displacements are admitted through a three axial direction floating device 268 under the framing 264, and there are further installed a suction mechanism 272 to attract the outer surface of the front bumper FB and a latch mechanism to hitch it FB. Thereby the front bumper FB is clamped while prevented from slipping off.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gripping structure for gripping different kinds of long workpieces used when assembling different kinds of long workpieces to an assembly.

[0002]

2. Description of the Related Art Conventionally, in an assembly technique for assembling a long work, for example, a bumper in front of and behind a vehicle body, aiming at improvement of working efficiency and improvement of positioning accuracy of a mounting position. , Various innovations have been made. For example, Japanese Patent Application Laid-Open No. 63-2789 discloses a technique in which a bumper jig for clamping a bumper is equipped with a nut nut runner, and the bumper jig is securely clamped via the nut nut runner to be mounted on a vehicle body. There is.

[0003]

In recent years, the bumper is not made of a member having rigidity but is made of a member having flexibility so that the bumper exhibits a predetermined rigidity when mounted on a vehicle body. Has been done. Also,
This bumper constitutes an important factor for impressing the shape of the vehicle body on the demand of the customer, and for example, even in the same vehicle model, there are various kinds depending on the grade difference and the sedan / coupe difference. On the other hand, in a vehicle manufacturing line, all types of vehicle bodies of the same vehicle type are transported along one transportation line, and engines, exterior parts, interior parts, etc. are mounted and assembled there. Has been done. Therefore, at the bumper assembly station,
In order to assemble the bumper according to the vehicle body introduced here, the assembling robot needs to clamp the bumper to be assembled in advance.

However, since there are various kinds of bumpers as described above, it is necessary to prepare various kinds of mechanisms for clamping the bumpers according to the respective bumpers, in order to house the clamping mechanism which is on standby. However, there is a problem that layout design is difficult. Further, the clamp mechanism must be replaced for each bumper, and if the replacement time becomes long, the manufacturing takt time becomes unnecessarily long, which is a problem from the viewpoint of manufacturing efficiency and productivity.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a gripping structure for different kinds of long workpieces capable of efficiently clamping a large number of different kinds of long workpieces. Is. Another object of the present invention is to provide a gripping structure for different kinds of long workpieces, which can surely clamp different kinds of long workpieces in accordance with each of them.

[0006]

[Means for Solving the Problems]
In order to achieve the object, a grasping structure for different kinds of long workpieces according to the present invention has a base member extending along a common longitudinal axis of different kinds of long workpieces, and at least two locations along the longitudinal direction of the base member. A plurality of gripping surfaces, which are respectively arranged to match the outer surfaces of different types of elongated workpieces having different shapes, and selection means for selectively bringing one of these gripping surfaces to a predetermined gripping position, Positioning means for precisely defining the relative position of the outer surface of the dissimilar long work and the corresponding gripping surface, and sucking the outer surface of the dissimilar long work positioned by this positioning means,
It is characterized by comprising suction means for bringing the outer surface into close contact with the corresponding gripping surface.

Further, in the gripping structure for different kinds of long workpieces according to the present invention, the base member comprises an attachment shaft which extends along the longitudinal axis and is rotatably supported around the longitudinal axis. It is characterized in that the selecting means selectively brings a desired gripping surface to a predetermined gripping position by rotationally driving the mounting shaft.

In the gripping structure for different kinds of long workpieces according to the present invention, the positioning means is provided for each holding surface and a positioning hole formed according to the corresponding outer surface shape of the different kinds of long workpieces. A relative position between the outer surface of the different elongated work piece to be gripped by the positioning pin that can be inserted into the corresponding positioning hole and each positioning pin being inserted into the corresponding positioning hole, and the corresponding gripping surface. Is characterized by accurately defining.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The configuration of an embodiment of a bumper assembly apparatus to which an embodiment of a gripping structure for different kinds of long workpieces according to the present invention is applied will be described below in detail with reference to the accompanying drawings. . [Overall Configuration] First, the overall configuration of the bumper assembling apparatus 10 will be schematically described with reference to FIGS. 1 to 6.

{General Description} This bumper mounting device 10 is
As shown in FIG. 1, the vehicle body before the bumper is assembled is arranged along a vehicle body transportation line L. In the vehicle body transport line L, the vehicle body B is tact-transported along the vehicle body transport direction X, and is stopped for a predetermined time each time a predetermined pitch is transported, and a predetermined work / assembly work is performed during this stop time. Is set to be carried out. Here, the bumper assembling apparatus 10 is arranged over three consecutive stop stations S1, S2, S3,
At the most upstream stop station S1 in the transport direction X of the vehicle body B, the front bumper assembly station 1
00 and rear stop bumper assembling station 500 are installed at the most downstream stop station S3, and the intermediate stop station S2 is configured as an idle station so that no work is performed.

{Explanation of Bumper} As the long work of the present invention, as described above, the bumper is applied in this embodiment. There are two types, a front bumper FB that is used and a rear bumper RB that is mounted on the rear. And
For these front bumper FB and rear bumper RB,
In reality, there are many types, depending on the type and grade of the vehicle to which they are attached.

However, in this embodiment,
In order to improve the workability of assembling work to the vehicle body, regarding the front bumper FB, if attention is paid to the assembling work, it can be small or large.
The outer surface shape to be gripped is classified into 12 kinds at maximum. That is, as shown in FIG. 2, a large front bumper FB
Reference numeral 1 denotes a bumper body 20 formed of a soft synthetic resin, and a pair of left and right stays 22a on the inner surface of the bumper body 20.
A pair of left and right mounting bases 24a and 24b, which are integrally mounted via 22b, and the mounting bases 24a and 2b, respectively.
4b, which are integrally fixed to the rearward direction, are accurately defined in their mounting positions, and the distance between them in the vehicle width direction is set to a first distance D1.
a, 26b and a pair of mounting bolts 28 that are arranged around the corresponding reference pins 26a, 26b of the mounting bases 24a, 24b and are integrally and firmly fixed toward the rear.
a, 28b; 28c, 28d.

Further, as shown in FIG. 2, the large front bumper FB1 has an opening 30 formed in the front thereof along the width direction of the vehicle for taking in air into the engine room. The opening 30 is formed by bending the bumper body 20 rearward from a peripheral edge defining the opening 30 and integrally extending toward the rear by a predetermined distance. The front bumper FB1 is attached to a portion 32 located on the upper side of the extension piece extending rearward, and the front bumper FB1 is provided on a first robot 102 described later in the front bumper assembly station 100. When the gripping mechanism 270 of the device 260 grips the positioning holes 34a and 34b (FIG.
In the figure, only one positioning hole 34a is shown. ) Are formed so as to penetrate in the thickness direction while being positioned at both ends in the vehicle width direction.

Outer surfaces 36a, 36b; 38a, 38b of portions of the bumper body 20 located above and below the opening 30 near the positions where the positioning holes 34a, 34b are formed (one outer surface 36a, 36b in FIG. 2). 36b is only shown) is defined as the gripped surface to be gripped by the gripping mechanism 270. These gripped surfaces 36a, 36
As described above, b; 38a and 38b are set so that, in this embodiment, six types at the maximum exist in accordance with the type of the large front bumper FB1.

On the other hand, as shown in FIG. 3, the small front bumper FB2 has a bumper body 40 made of synthetic resin.
And a pair of left and right stays 4 on the inner surface of the bumper body 40.
A pair of left and right mounting bases 44a and 44b integrally mounted via 2a and 42b, and the mounting bases 44
a, 44b are integrally fixed to the rear toward the rear, the mounting position thereof is accurately defined, and a pair of positioning reference pins 26a, 26b of the large front bumper FB1.
Positioning reference pins 46a and 46b separated along the vehicle width direction at a separation distance D2 narrower than the separation distance D1 of
Corresponding reference pin 46 of each mounting base 44a, 44b
a pair of mounting bolts 48a, 48b which are arranged around a and 46b and are integrally and firmly fixed to the rear side;
It is composed of 48c and 48d.

Further, as shown in FIG. 3, the small front bumper FB2 has an opening 50 formed in the front surface thereof for taking in air into the engine room along the vehicle width direction. The opening 50 is formed by bending the bumper body 40 rearward from a peripheral edge defining the opening 50 and integrally extending toward the rear by a predetermined distance. Then, of the extension pieces extending toward the rear, the portion 52 located on the upper side is positioned to define the grip reference position when the front bumper FB2 is gripped by the grip mechanism 270 described later. Holes 54a, 54b
(In FIG. 3, only one positioning hole 54a is shown.) Is formed penetrating in the thickness direction while being positioned at both ends along the vehicle width direction.

The outer surfaces 56a, 56b; 58a, 58b of the portions of the bumper body 40 located above and below the opening 50 in the vicinity of the positions where the positioning holes 54a, 54b are formed (one outer surface 56a, 56a, 56b in FIG. 3). Only 56b is shown.) Is defined as the gripped surface to be gripped by the gripping mechanism 270. These gripped surfaces 56a, 56
As described above, b; 58a and 58b are set so that, in this embodiment, six types at the maximum exist in accordance with the type of the small front bumper FB2.

That is, the front bumper FB has a pair of reference pins 26 spaced apart from each other according to the size of the front bumper FB.
a, 26b (46a, 46b) and two pairs of mounting bolts 28a-28d (48a-48d). On the other hand, regarding the rear bumper RB, if attention is paid to the assembly work, it is classified into a single type regardless of the bumper size,
The outer surface shape to be gripped is classified into 16 types at the maximum. That is, as shown in FIG. 4, the rear bumper RB includes a bumper body 60 formed of a synthetic resin, and a left and right body integrally attached to an inner surface of the bumper body 60 via a pair of left and right stays 62a and 62b. A pair of mounting bases 64a, 64b, and the mounting bases 64a, 64b are integrally fixed rearwardly, their mounting positions are accurately defined, and a separation distance along the vehicle width direction is set to a third distance D3. A pair of mounting bolts 68a that are arranged around the determined reference pins 66a and 66b and the corresponding reference pins 66a and 66b of the mounting bases 64a and 64b and that are integrally and firmly fixed to the front. , 68b; 68c and 68d, and mounting holes 70a and 70b formed from elongated holes extending along the vehicle width direction (that is, the BL direction described later).

Here, unlike the front bumper FB, the rear bumper RB is not formed with openings 30 and 50 for introducing air. The reference pins 26a, 2 described above
6b; 46a, 46b; 66a, 66b are formed in a conical taper shape with a sharp tip in order to facilitate the positioning operation.

[Outline of Front Bumper Assembly Station] The front bumper assembly station 100 is arranged to assemble the front bumper FB to the front part of the vehicle body B stopped here, as shown in FIG. A front bumper mounting robot (hereinafter, simply referred to as a first robot) 10 for gripping the front bumper FB and mounting the front bumper FB on the front side of the vehicle body B on one side along the conveyance direction X of the vehicle body B.
2 are installed. On the other side of the vehicle body B along the transport direction X, that is, on the side opposite to the first robot 102, the mounting bolts 28a to 28a of the front bumper FB mounted to the front portion of the vehicle body B by the first robot 102 are mounted. 28d (5
8a to 58d) are respectively screwed with nuts (described later) to attach the front bumper FB to the front portion of the vehicle body B in a fixed state. ) 104 is installed.

The front bumper assembly station 100 has a front bumper F attached to the first robot 102.
A front bumper supply device 106 for supplying B,
The front bumper supply device 106 is provided on one side thereof, and includes a front bumper stock portion 108 on which a large number of front bumper FB are stocked. The front bumper supply device 106 has a supply position P1 for supplying the front bumper FB to the first robot 102 and a supply position P2 for receiving the front bumper FB from the front bumper stock 108. Here, the supply position P1 and the supplied position P2 are separated from each other along the supply direction Y orthogonal to the conveyance direction X of the vehicle body B, and the front bumper supply device 106 is an attachment mechanism to which the front bumper FB is attached. 112 and a transfer mechanism 110 for moving the mounting mechanism 112 back and forth between both positions to transfer the front bumper FB received at the supply position P2 to the supply position P1.

In the front bumper assembly station 100 having the above general structure, the front bumper FB is supplied from the front bumper stock section 108 to the supply position P2 of the front bumper supply device 106 by the operator. It is executed by work. Incidentally, this supply position P2
This is a feature of the present invention, but the front bumper FB is set to be attached / fixed to the attachment mechanism 112 in the same state as the state of attachment to the vehicle body B. Then, the front bumper FB mounted / fixed to the mounting mechanism 112 in the same state as the mounting state on the vehicle body B is automatically transported to the supply position P1 by the transport operation by the transport mechanism 110. After this, the first robot 102 is activated and the vehicle body B
The attachment mechanism 1 in the same state as the attachment to the
The front bumper FB attached to 12 is gripped, and in this gripped state, only the fixed state of the front bumper FB is released. Then, the first robot 102 removes the front bumper FB from the supply position P1, conveys it to the front part of the vehicle body B, and mounts it there. Here, the gripping state of the front bumper FB by the first robot 102 is exactly the same as the mounting state of the front bumper FB to the front part of the vehicle body B, so that the front bumper FB is attached to the transport mechanism 110. The mounting of the FB on the front part of the vehicle body B can be performed accurately and surely. Finally,
The front bumper FB attached to the front portion of the vehicle body B by the first robot 102 is fixed by the second robot 104 via the nut, as shown in FIG. A series of assembling operations to the front part of the vehicle body B is completed.

[Schematic Description of Rear Bumper Assembly Station] The rear bumper assembly station 500 is arranged to assemble the rear bumper RB to the rear part of the vehicle body B stopped here, and basically, the front bumper assembly described above is installed. The structure is similar to that of the assembly station 100.
That is, in this rear bumper assembly station 500, a rear bumper mounting robot for gripping the rear bumper RB and mounting it on the rear portion of the vehicle body B (hereinafter referred to simply as the third robot robot) on one side along the transport direction of the vehicle body B. 5)
02 is installed. On the other side of the vehicle body B along the transport direction, that is, on the side opposite to the third robot 502, nuts are attached to the mounting bolts 68a to 68d of the rear bumper RB mounted on the rear portion of the vehicle body B by the third robot 502. A rear bumper fixing robot (hereinafter, simply referred to as a fourth robot) 504 for assembling the rear bumper RB to the rear portion of the vehicle body B by screwing is attached.

Also, this rear bumper assembly station 5
Reference numeral 00 includes a rear bumper supply device 506 for supplying the rear bumper RB to the third robot 502, and a rear bumper stock part 508 which is located on one side of the rear bumper supply device 506 and in which a large number of rear bumper RBs are stocked. There is. The rear bumper supply device 506 supplies the rear bumper RB to the third robot 502 at a supply position P3.
And a supplied position P4 that receives the supply of the rear bumper RB from the rear bumper stock portion 508. here,
The supply position P3 and the supplied position P4 are separated from each other along a direction orthogonal to the vehicle body B transport direction. A transport mechanism 510 for reciprocating between the positions and transporting the rear bumper RB received at the supplied position P4 to the supply position P3.
Is equipped with.

In the rear bumper assembly station 500 having the above-described general structure, the rear bumper stock 508 to the supply position P4 of the rear bumper supply device 506.
Supply of the rear bumper RB to the rear bumper RB is performed manually by the operator. It should be noted that, at the supplied position P4, which is a feature of the present invention, the rear bumper RB is
It is set so as to be attached / fixed to the attachment mechanism 512 in the same state as the state of attachment to the rear part of the vehicle body B. Then, the rear bumper RB mounted / fixed to the mounting mechanism 512 in the same state as the mounting state on the vehicle body B is automatically transported to the supply position P3 by the transport operation by the transport mechanism 510. After that, the third robot 502 is activated, and the rear bumper RB attached to the attachment mechanism 512 is gripped in the same state as the state of being attached to the vehicle body B. In this gripping state, only the fixed state of the rear bumper RB is fixed. Is released. Then, the second robot 502 removes the rear bumper RB from the supply position P3, conveys it to the rear part of the vehicle body B, and mounts it there.
Here, the gripping state of the rear bumper RB by the third robot 502 is mounted on the mounting mechanism 512 in the same state as the mounting state of the rear bumper RB on the vehicle body B. It will be attached accurately and surely. Finally, the rear bumper RB mounted on the rear part of the vehicle body B by the third robot 502 is fixed by the fourth robot 504 via the nut, and thus the rear bumper R is formed.
A series of assembling operations of B to the rear part of the vehicle body B is completed.

[Station 100 with front bumper assembly]
Detailed Description of] The configuration of the front bumper assembly station 100 will be described in detail below with reference to FIGS. 7 to 22.

{Description of Configuration of Front Bumper Supply Device 106} First, the front bumper supply device 106 that constitutes the front bumper assembly station 100 will be described in detail with reference to FIGS. As described above, the front bumper supply device 106 is configured such that the front bumper stock section 108 is manually operated by the operator at the supply position.
The front bumper FB supplied from the above is conveyed to the supply position so as to be supplied to the first robot 102. That is, this front bumper supply device 106
Together with the above-described transport mechanism 110, the front bumper F
An attachment mechanism 112 for attaching B in the same state as the state of attachment to the front part of the vehicle body B is further provided.

<Description of Transport Mechanism 110> This transport mechanism 1
As shown in FIG. 7, the reference numeral 10 indicates conveyance that extends along a supply direction Y that is orthogonal to the conveyance direction X of the vehicle body conveyance line L (in FIG. 7, that extends along a direction that is orthogonal to the paper surface). The base 114 is provided. On the carrying base 114, a rail stand 116 extending along the supply direction Y is provided.
Is erected. A first rail 118 is horizontally attached to the upper surface of the rail stand 116.
On the other hand, at the bottom of one side surface (left side in FIG. 7; right side in FIG. 1) of the rail stand 116, the second
Rails 120 are mounted vertically.

A moving block 122 is mounted on the carrying base 114 so as to be capable of reciprocating between the supply position P1 and the supply position P2 along the supply direction Y described above. More specifically, the first wheel 124 is rotatably attached to the moving block 122 so as to be able to roll on the first rail 118 described above so as to be rotatable about the horizontal axis. Also,
An attaching member 126 is attached to one side surface of the moving block 122 in a state of being erected, and a lower end of the attaching member 126 allows the second rail 120 described above to roll laterally. , The second wheel 128 is rotatably mounted around the vertical axis. This mounting member 126 has a mounting mechanism 112, which will be described in detail later.
Is mounted at an angle of 45 degrees above the horizon.

On the other hand, a drive mechanism 130 for reciprocating the moving block 122 between the supply position P1 and the supplied position P2 is connected. The drive mechanism 130 is integrally attached to the other side surface of the moving block 122, extends along the supply direction Y, and has a tooth surface formed on the lower surface of the first rack 13 (moving rack).
2, and integrally attached to the other side surface of the rail stand 116 below the first rack 132,
It is located between the second rack (fixed rack) 134 which extends along the supply direction Y and has a tooth surface formed on the upper surface, and the first and second racks 132, 134, and is provided on both teeth. The pinion gear 136 that meshes at the same time, and the pinion gear 136 are rotatably supported around a horizontal axis, and
An upright moving table 138 and a pair of upper and lower guide bushes 140a, 1 fixed to one side surface of the moving table 138.
40b and the guide bushes 140a and 140b, respectively, and are attached to the other side surface of the rail stand 116 so as to extend along the supply direction Y, and regulate the moving direction of the movable table 138 in the supply direction Y. A pair of upper and lower guide rails 142a and 142b, and although not shown,
The air cylinder mechanism is connected to the moving table 138 and is a driving source for moving the moving table 138 along the supply direction Y.

Since the transport mechanism 110 is configured in this manner, the moving block 122 moves to the supply position P1 at a speed twice as high as the moving speed of the moving table 138 when the air cylinder mechanism in the driving mechanism 130 is activated. It is driven to move along the supply direction Y between the supply target position P2.

<Description of Attachment Mechanism 112> This attachment mechanism 112 is in a state where it is attached to the vehicle body B by the front bumper FB which is manually extracted from the front bumper stock 108 by an operator. It is configured to be attached in the same state.
In addition, in this mounting mechanism 112, in order to improve the working efficiency of the worker, the mounting direction of the front bumper FB is set to be in a state of being inclined upward by 45 degrees with respect to the horizontal line, as is apparent from FIG. 7. There is.

That is, the mounting mechanism 112 is mounted on one side surface of the mounting member 126 of the transport mechanism 112 via the stay 144 so as to have a central axis inclined upward by 45 degrees with respect to the horizontal line. The mounting frame 146 of FIG. As shown in FIG. 8, a pair of large front bumpers FB1 are mounted on the upper surface (that is, the surface orthogonal to the central axis) of the mounting frame 146 so as to be positioned at both ends along the supply direction Y. The first cradle 148a, 148b of
Inside the first receiving pedestals 148a, 148b, a pair of second receiving pedestals 150a, 150b for mounting the small front bumper FB2 are respectively provided. Incidentally, the first and second pedestals 148a, 148b; 1
The upper surfaces of 50a and 150b are both attached to the mounting frame 1
It is set to be at the same height position from the upper surface of 46.

Here, both first pedestals 148a, 148
As shown in FIG. 9, reference holes 152a and 152b into which the corresponding reference pins 26a and 26b are inserted, respectively, and a corresponding pair of mounting bolts 28a and 28b are provided on the receiving surfaces defined from the respective upper surfaces of b. Mounting holes 154a and 154b into which 28c and 28d are respectively inserted; 154c and 15
4d is formed so as to penetrate along the thickness direction. Both the reference holes 152a and 152b have the above-mentioned first holes.
The positions are accurately defined so that they are separated from each other by a separation distance D1. In addition, each first pedestal 148a,
Although not shown, the receiving surface of 148b is defined in the same shape and position as the receiving surface of the large front bumper FB1 attached to the front part of the vehicle body.

<< Explanation of Retracting Mechanism 156 >> In addition, each of the first receiving pedestals 148a and 148b is a large front bumper F.
Since it is arranged to receive B1, this presence becomes an obstacle when receiving the small front bumper FB2. Therefore, each of the first pedestals 148a and 148b is
When the small front bumper FB2 is received, the retracting mechanism 156 supports the retracting mechanism 156 so that it retracts downward and does not get in the way. As shown in FIG. 8, each retracting mechanism 156 includes the frame members 1 on both sides of the mounting frame 146.
Air cylinders 158 fixed to 46a and 146b respectively so as to extend along the central axis, and each air cylinder 15
8 and the piston rods 160 which are attached so as to be retractable inward along the central axis, and the piston rods 16
0 is attached to the tip of the corresponding first pedestal 148a,
A support 162 to which 148b is attached and supported, and a pair of guide bushes 164a and 164b fixed to the inner surface of each of the attachment frames 146c and 146d fixed to the corresponding frame members 146a and 146b, and these guide bushes 164a and 164b. Respectively,
A pair of guide rails 166a, 166b (guide bushing 164a) attached to the outer surface of the corresponding support base 162 in a state of extending along the central axis line and restricting the moving direction of both support bases 162 in the direction along the central axis line. , 164
b and the guide rails 166a and 166b are also shown in FIG. ) And is composed of.

Since the retracting mechanism 156 is constructed in this manner, each piston rod 160 is normally held in the outwardly projecting position, and in this state, the large front bumper FB1 has both first pedestals. The 148a and 148b are ready to be received. On the other hand, when receiving the small front bumper FB2, the retracting mechanism 156 is activated,
Air cylinder 158 for each piston rod 160
It works like pulling in. As a result, both the first pedestals 148a and 148b are pulled in, and the small front bumper FB2 is brought into a state in which it can be received by the second pedestals 148a and 148b.

On the other hand, both second pedestals 150a and 150b
Are fixed to the upper surface of the mounting frame 146 via stays 168a and 168b, respectively, as shown in FIG. Then, reference holes 170a and 170b, through which corresponding reference pins 46a and 46b for the small front bumper FB2 are inserted, are formed on the receiving surfaces defined from the upper surfaces of the respective second receiving trays 150a and 150b. Mounting holes 172a, 172b; 172c, through which the corresponding pair of mounting bolts 48a, 48b; 48c, 48d are respectively inserted.
172d is formed so as to penetrate along the thickness direction. The positions of the reference holes 170a and 170b are accurately defined so that they are separated from each other by the above-described second separation distance D2. In addition, each second pedestal 15
Although not shown, the receiving surfaces of 0a and 150b have the same shape and position as the receiving surface of the small front bumper FB2 attached to the front part of the vehicle body.

<< Explanation of Nutrunner Mechanisms 174a to 174h >> In addition, since this mounting mechanism 112 fixes the front bumper FB mounted here in the same state as when mounted on the vehicle body B, the front and rear of each large and small Four nut nut runner mechanisms 174a-174d in total, with four mounting bolts 28a-28d; 48a-48d corresponding to each bumper FB;
174e to 174h. Among these nut runner mechanisms 174a to 174d, as shown in FIG. 10, first pedestals 148a, 1b for the large front bumper FB1 are provided.
A total of four mounting holes 154a formed on each 48b
Mounting bolts 28a that have respectively been inserted through ~ 154d
In the state in which the four nut runner mechanisms 174a to 174d for fixing the respective ~ 28d are divided into two units,
It is attached below each of the support bases 162 provided so as to be retractable, with each of the support bases 162 penetrating along the center axis.
On the other hand, the second pedestal 15 for the small front bumper FB2
The four nut runner mechanisms 174e to 174h for fixing the mounting bolts 48a to 48d, which have respectively been inserted through the total of four mounting holes 172a to 172d formed in each of 0a and 150b, are divided into two units. In this state, they are attached below the fixed stays 168a and 168b while penetrating them along the central axis.

<< Specific Configuration of Natto-Runner Mechanism 174 >> The configuration of each of the nut-runner mechanisms 174a to 174h will be specifically described below. However, since they are all configured the same, as shown in FIG. 11 and FIG. , 174 will be described as a representative of the nut runner mechanism. This nut runner mechanism 174 has a corresponding mounting portion (i.e., support 162 or stay 168) as shown in FIG.
a, 168b), and a piston rod 17 provided so as to project outward (upward in the drawing) from the air cylinder 176 when the air cylinder 176 is actuated.
8, a drive motor 180 for rotationally driving the piston rod 178 at a predetermined number of revolutions, and a mounting rod (28) integrally attached to the tip of the piston rod 178 via a simple universal joint mechanism 182.
a-28d, 48a-48d) and a nut portion 184 screwed thereto, respectively.

Here, the simple universal joint mechanism 182, as shown in the state of being taken out in FIG. And this first shank 1
86, and a second shaft portion 188 having a small diameter and which is integrally formed on the upper side of the shaft 86 coaxially. This second shaft portion 188
The lower part of the connecting sleeve 190 is slidably fitted to the outer periphery of the shaft along the axial direction. Here, on the outer circumference of the connecting sleeve 190, the guide groove 1 extending along the axial direction is formed.
92 is formed so as to penetrate along the radial direction,
The second shaft portion 18 is fitted in the guide groove 192.
A locking pin 194 is fixed to the rail 8 in a state of extending along the radial direction. In this way, this connecting sleeve 1
The 90 rotates integrally with the second shaft portion 188 that rotates integrally with the piston rod 178, while being movable in the axial direction.

A first coil spring 196 is provided between the first shaft portion 186 and the connecting sleeve 190. That is, the connection sleeve 190 has the first
The connecting spring 19 is constantly urged to project outward by the urging force of the coil spring 196.
The external force in the direction of pushing 0 acts,
The coil spring 196 is set so as to be contracted in the axial direction to allow the pushing movement of the connecting sleeve 190.

On the other hand, the lower end of the connecting shaft 198 is pivotally fitted onto the upper part of the connecting sleeve 190. Here, the outer peripheral surface of the lower end of the connecting shaft 198 is formed of a spherical surface, and the first locking pin 200 is attached in a state of penetrating the spherical surface along the radial direction. Both ends of the first locking pin 200 are rotatably supported on the outer circumference of the connecting sleeve 190. In this way, the connection sleeve 190 and the connection shaft 198 rotate integrally with each other while being rotatable about the first locking pin 200.

A third shaft portion 202 is pivotally fitted around the upper end of the connecting shaft 198. Here, the outer peripheral surface of the upper end of the connecting shaft 198 is formed of a spherical surface, which is used as the first locking pin 2
The second locking pin 204 is attached in the same direction as the extending direction of 00 and along the radial direction so as to penetrate therethrough. Both ends of the second locking pin 204 are rotatably supported on the outer periphery of the third shaft portion 202. In this way, the connection shaft 198 and the third shaft portion 202 are
In the state in which they are rotatable around the second locking pin 204, they are integrally rotated. As a result, as the piston rod 178 rotates, the third shaft portion 202 can be rotationally driven around a rotation axis different from the rotation axis of the piston rod 178.

A second coil spring 206 is provided between the connecting sleeve 190 and the third shaft portion 202. Here, this second coil spring 2
The biasing force of 06 is the first coil spring 19 described above.
6 is set larger than the urging force, and the relative position between the connecting sleeve 190 and the third shaft portion 202 is substantially coaxial with the second coil spring 206.
It will be held elastically.

On the other hand, a mounting flange 208 is integrally formed on the outer circumference of the upper end of the third shaft portion 202, and a mounting flange 210 is also formed on the outer circumference of the lower end of the nut portion 184 described above. Are integrally formed. Then, the nut portion 184 is placed on the upper portion of the third shaft portion 202, and the nut portions 184 are integrated with the third shaft portion 202 by connecting the flanges 208 and 210 via the bolts 212. Will be attached to.
The nut portion 184 is formed on the inner peripheral surface as shown in the drawing.
Corresponding mounting bolts 28a-28d; 48a-48
A female screw surface 184a that is screwed into d is threaded, and the corresponding mounting bolts 28a to 28 are provided on the open end thereof.
The tapered portion 184b is formed in order to reliably receive d; 48a to 48d.

A detection dog 214 is attached to the outer peripheral surface of the above-mentioned connecting sleeve 190.
A sensor 216 for detecting that the detection dog 214 has risen to the uppermost position is disposed on the side of this. By arranging the sensor 216 in this manner, the connecting sleeve 1
90, that is, that the nut portion 184 is raised to the uppermost position can be reliably detected.

As described above, this nut runner mechanism 174
Is configured, the corresponding mounting bolt 28a
28d; 48a to 48d are mounting holes 154a to 1
54d; 172a to 172d are respectively inserted, the nut parts 184 are screwed by the corresponding nut runner mechanisms 174a to 174h, and accordingly, the large and small front bumpers FB1 and FB2 are the first corresponding ones of the attachment mechanism 112.
Or the second cradle 148a, 148b; 150a, 1
It will be attached while being fixed to 50b.

That is, when the nut runner mechanism 174 is activated, first, the driving of the air cylinder 176 is started, and the piston rod 178 is projected upward. As a result, the corresponding mounting bolts 28a-28d; 48a-
The nut portion 184 comes into contact with the male screw portion of 48d from below. Here, with this abutment, a force that is relatively pressed downward acts on the nut portion 184. Therefore, the first coil spring 196 contracts along the axial direction due to the action of the pushing down force, the locking pin 194 slides along the axial direction in the guide groove 192, and the connecting sleeve 190 moves to the second position. The nut portion 184 is pulled into the shaft portion 184, and the downward relative movement of the nut portion 184 is allowed.

Then, the driving of the drive motor 180 is started, and the piston rod 178 is rotationally driven. As a result, the nut portion 184 is driven to rotate about its own central axis, and the nut portion 184 is attached to the corresponding mounting bolt 28.
a to 28d; screwing operation to 48a to 48d is started. With this screwing operation, the nut portion 184 rises while rotating, but the nut portion 184 rises because the first coil spring 196 extends along the axial direction and locks in the guide groove 192. The pin 194 slides along the axial direction, and the connecting sleeve 190 is allowed to protrude upward from the second shaft portion 184.

In this manner, the nut portion 184 is raised to the uppermost position and the nut portions 184 and the corresponding mounting bolts 28a to 28d and 48a to 48d are completely screwed together. To achieve the state (that is, the fixed state), the sensor 216 detects the detection dog 214 to detect that the nut portion 184 has moved to the uppermost position, and the torque load of the drive motor 180 rapidly increases. This is recognized by the fact that this is detected at the same time, and the drive of this nut runner mechanism 174 is stopped.

{Description of Operation of Front Bumper Supply Device 106} Front bumper supply device 1 configured as described above
The supply operation of the front bumper FB in 06 will be described in a state where it is divided into a large front bumper FB1 and a small front bumper FB2. First, when supplying a large front bumper FB1, the operator manually takes out the corresponding front bumper FB1 from the front bumper stock 108 and attaches the mounting mechanism 112 to the large front bumper FB1 via a mode setting button (not shown). Bumper FB1
After being set to the attachment mode of No. 2, the attachment mechanism 112 waiting at the supply position P2 is attached. That is, in this mounting work, the worker can check that the pair of reference pins 26a and 26b mounted on the front bumper FB1 are
The front bumper FB1 is attached to the attachment mechanism 112 such that the front bumper FB1 is inserted into the reference holes 152a and 152b formed in the left and right first pedestals 148a and 148b, respectively. In this way, the pair of reference pins 26a and 26b are
By inserting into the corresponding reference holes 152a and 152b respectively, a total of four mounting bolts 28a to 28d
Is a pair of mounting holes 154a, 154b; 154 formed in the left and right first pedestals 148a, 148b, respectively.
c and 154d, respectively.

After that, the nut runner mechanisms 174a to 174d provided corresponding to the large front bumper FB1.
Start each. As a result, each nut runner mechanism 174
a-174d are corresponding mounting bolts 28a-28
The front bumper FB1 is attached to the attachment mechanism 112 waiting at the supplied position by being screwed to the respective d.
Fixed.

Incidentally, this fixed state is completely the same as the mounted / fixed state to the front portion of the vehicle body B, as already described. After that, by activating the transport mechanism 110, the mounting mechanism 112 to which the large front bumper FB1 is mounted and fixed is transported between the supplied position P2 and the supply position P1. Then, when it is detected by a sensor (not shown) that the paper has been conveyed between the supply positions P1, the driving of the conveyance mechanism 110 is stopped, and the gripping / removing operation by the first robot 102 described later is awaited.

On the other hand, when the small front bumper FB2 is supplied, the operator is required to use the front bumper stock 1
08, the corresponding front bumper FB2 is manually taken out, the mounting mechanism 112 is set to the mounting mode of the small front bumper FB2 via a mode setting button (not shown), and then the mounting mechanism 112 waiting at the supplied position P2. Attach to. With the setting of the mounting mode of this small front bumper FB2, the retracting mechanism 15
6 is activated, the first cradle 148a, 148b for receiving the large front bumper FB1 is pushed downward, and the second cradle 150a, 150b becomes ready to receive the small front bumper FB2.

Then, in this mounting work, the worker attaches the pair of reference pins 46a and 46b mounted on the front bumper FB2 to the left and right second pedestals 150a and 150b.
Reference holes 170a and 170b formed in 150b, respectively
Then, the front bumper FB2 is attached to the attachment mechanism 112 so as to be inserted respectively. In this way, the pair of reference pins 46a, 46b are connected to the corresponding reference holes 170a, 1
The total of four mounting bolts 48a to 48d are respectively inserted into the 70b, so that the left and right second pedestals 150
a, a pair of mounting holes 172 formed in 150b respectively
a, 172b; 172c, 172d, respectively.

After that, the nut runner mechanisms 174e to 174h provided corresponding to the small front bumper FB2.
Start each. As a result, each nut runner mechanism 174
e to 174h are corresponding mounting bolts 48a to 48
The front bumper FB2 is attached and fixed to the attachment mechanism 112 standing by at the supplied position P2 by being screwed into the respective d. Incidentally, this fixed state is completely the same as the mounted / fixed state to the front part of the vehicle body B, as already described.

After that, by activating the transport mechanism 110, the mounting mechanism 112 to which the small front bumper FB2 is mounted and fixed is transported between the supplied position P2 and the supply position P1. And this supply position P
When it is detected by a sensor (not shown) that the paper has been conveyed between the first and second parts, the driving of the conveyance mechanism 110 is stopped,
The robot 102 waits for the gripping / retrieving operation.

{Explanation of the structure of the first robot 102} Next, referring to FIGS. 13 to 22, the front bumper FB mounted on the mounting mechanism 112 conveyed between the supply positions P1 is clamped. The configuration of the first robot 102 as a front bumper mounting robot for transporting to the front part of the vehicle body B and mounting it on the front part will be described in detail.

<Overall Structure of First Robot 102> As shown in FIG. 5, the first robot 102 includes a base 250 installed on a base (not shown), and a vertical axis line on the base 250. A vertical arm 252 mounted so as to be rotatable around and vertically movable along a vertical axis, a first horizontal arm 254 horizontally extending from an upper end of the vertical arm 252, and a first horizontal arm 254. A second horizontal arm 256 which is attached to the horizontal arm 254 so as to be capable of protruding and retracting, a hand 258 attached to the lower surface of the tip of the second horizontal arm 256, and a detachable attachment to the hand 258. , And a clamping device 260 for clamping the front bumper FB.
Here, the vertical arm 252 is configured to be independently driven to rotate about the vertical axis by a rotating mechanism and a vertical driving mechanism (not shown), and to be vertically moved along the vertical axis. . Also, the second horizontal arm 256
Is a first horizontal arm 25 by a protrusion mechanism (not shown).
It is configured so that it can be driven to project and retract from 4.

Since the first robot 102 is constructed as described above, the hand 2 is attached to the tip of the second horizontal arm 256.
The clamp device 260 attached via 58 can be moved to any position within the operating range of the first robot 102. The operating range of the first robot 102 is the vertical movement range of the vertical arm 252 and the vertical arm 25.
The rotation range of 2 and the projection range of the second horizontal arm 256 are set to be substantially fan-shaped in a plan view as shown in FIG.

In the present invention, the first robot 102
In the above, the configuration and the operation of the clamp device 260 are characteristic, and the other configurations use the same configuration as the conventional one. Therefore, in the following, the configuration of the clamp device 260 will be taken out and described in detail. To do.

<Schematic Description of Clamping Device 260> The clamping device 260 includes the first and second clamping devices 26.
Two types of 0A and 260B are prepared, and both are selectively
The second horizontal arm 2 is detachably attached via the hand 258.
It is designed to be attached to 56. Where the first
And the second clamp device 260A, 260B,
In the large and small front bumpers FB1 and FB2,
It is configured so that up to 6 different outer surface shapes can be selectively clamped. That is, in this embodiment, the first and second clamp devices 260A, 2
In combination with 60B, a large front bumper FB1 having a maximum of 12 different outer surface shapes and a small front bumper FB2 having a maximum of 12 different external surface shapes can be selectively clamped. .
In addition, the clamp device 260 on standby, which is not attached to the second horizontal arm 256 via the hand 258.
As shown in FIG. 5, the standby unit 26 is provided so as to be adjacent to both the transport mechanism 110 and the first robot 102.
It is placed and stored in 2.

Incidentally, the first and second clamp devices 260
Since both A and 260B are configured similarly except for a gripping surface shape described later, in the following description, the configuration will be described with reference numeral 260 as a representative, and both are distinguished. Only when it is necessary to explain, the description will be given with reference numeral 260 being attached with “A” or “B”.
First, as shown in FIG. 13, the clamp device 260 is provided with a horizontally extending frame 264, and an attached portion 266 to be attached by the above-mentioned hand 258 is provided at the center of the upper surface of the frame 264. Is provided. The clamp device 260 is provided on the lower side of the mount 264 with 3
A gripping mechanism 270 for gripping the outer surface of the front bumper FB and a front bumper FB while allowing displacement in three axial directions via the axial floating device 268.
A suction mechanism 272 for sucking the outer surface of the vehicle, and a hooking mechanism 274 for hooking the front bumper FB. In this embodiment, the front bumper FB is clamped by the gripping mechanism 270, the suction mechanism 272, and the latching mechanism 274 so as not to fall off.

<< Explanation of Triaxial Floating Device 268 >>
Generally, the mounting position of the front bumper FB on the vehicle body B is provided at the final stage where the errors in manufacturing the vehicle body are accumulated. The mounting position will be different along the three axis directions. Therefore, in this embodiment, the gripping mechanism 270 and the suction mechanism 272 described above are allowed to be displaced in the three-axis directions via the three-axis direction floating device 268.
And a hooking mechanism 274 are provided on the frame 264.

In this embodiment, the direction of the three axes is based on the center line extending in the front-rear direction of the vehicle body, the direction along the vehicle width direction is the BL direction, and the direction along the center line is TL.
The directions along the direction and the height direction are defined as the WL direction, respectively. That is, this triaxial floating device 268 is
The BL floating mechanism 276 which independently allows the displacement of the clamp device 260 in the direction, and the T which independently allows the displacement of the clamp device 260 in the TL direction.
It is composed of an L floating mechanism 278 and a WL floating mechanism 280 which independently allows displacement of the clamp device 260 in the WL direction.

In this embodiment, because the displacement in the BL direction is sufficiently allowed and the displacement in the WL direction is very small, the displacement is set just below the pedestal 264 as shown in FIG. , A WL floating mechanism 280 is provided, and a TL floating mechanism 278 is provided so as to be displaceable in the WL direction by the WL floating mechanism 280.
The BL floating mechanism 276 is provided so as to be displaceable in the TL direction by the TL floating mechanism 278, and the clamp device 260 is provided so as to be displaceable in the BL direction by the BL floating mechanism 276.

--- WL Floating Mechanism 280--Specifically, as shown in FIG. 13, the lower surface of both ends of the pedestal 264 has a substantially L-shape (see FIG. 14) WL arm 282a,
282b is attached in a state of being vertically lowered. A pair of slide bushes 284a, 284b; 2 are provided on the outer surfaces of the WL arms 282a, 282b.
84c and 284d are respectively attached in a state of being separated along the WL direction (that is, the vertical direction in the drawing). These slide bushes 284a, 284b; 284c, 28
4d includes a guide rail 28 extending along the WL direction.
With the 6a and 286b fitted together, the WL floating plates 288a and 288b are movably supported along the WL direction.

On the other hand, as shown in FIG. 14, WL floating cylinders 290a and 290b are attached to these WL arms 282a and 282b, respectively. These WL floating cylinders 290a and 290b are provided with WL piston rods 292a and 292b, respectively, so as to project upward in the figure, and the upper ends of these WL piston rods 292a and 292b are respectively attached to the WL floating plates 288a and 288b. Are linked to. Here, the WL floating cylinders 290a, 2
When the WL lock mode is set, the 90b locks the corresponding WL piston rods 292a and 292b,
When the protruding position is fixed and the WL floating mode is set, the self and the corresponding W are set.
The L floating plates 288a and 288b are configured to allow the WL floating plates 288a and 288b to be displaced in the WL direction while supporting the weights acting on the L floating plates 288a and 288b, respectively.

At the lower end of each WL arm 282a, 282b, a corresponding WL floating plate 288 is provided.
Stopper members 294a and 294b (FIG. 13) for preventing the a and 288b from falling out are attached. That is, in this embodiment, the WL floating mechanism 280 has the WL at both ends along the BL direction.
The floating plates 288a and 288b are independently floatable along the WL direction.

--TL floating mechanism 278 --- Again, as shown in FIG. 13, the inner surfaces of the lower ends of the WL floating plates 288a and 288b have guide rails 296a and 296a which constitute the TL floating mechanism 278.
296b is attached in a state of extending in the TL direction. With the slide bushes 298a and 298b interposed between the guide rails 296a and 296b,
TL floating plates 300a, 300b are TL
It is movably supported along the direction.

As shown in FIG. 15, the front ends of the lower ends of the WL floating plates 288a and 288b along the TL direction (the right ends in the figure, in other words, the end parts on the opposite side to the mounting side of the front bumper FB). ), Stay 30
TL floating cylinders 304 are attached via 2 respectively. Each TL floating cylinder 30
4, TL piston rods 306 are provided so as to be retractable to the right in the figure, and the left ends of the TL piston rods 306 in the figure are fixed to the right ends of the corresponding TL floating plates 300a and 300b in the figure. ing.

Further, each WL floating plate 28
A pair of attachment pieces 308a and 308b are attached to the lower ends of the 8a and 288b so as to be spaced apart along the TL direction so as to project toward the corresponding TL floating plates 300a and 300b. On the other hand, each TL
A pressing piece 310 is attached to the floating plates 300a and 300b in a state of being interposed between the corresponding attaching pieces 308a and 308b. In addition, each pressing piece 310 and the front along the TL direction (that is, the right side in the drawing).
Coil springs 312 are respectively provided between the respective mounting pieces 308b located at. Here, each coil spring 312 urges the corresponding pressing piece 310 so as to be biased rearward (that is, leftward in the drawing) along the TL direction. As a result, in a state in which the corresponding TL floating cylinder 304 does not exert any pulling force, the pressing piece 310 comes into contact with the front mounting piece 308a, and its position is elastically held. In other words, in this contact state, the lock state in the TL direction is achieved.

Here, each TL floating cylinder 3
When the TL floating mode is set, 04 exerts a retracting force so as to retract the corresponding TL piston rod 306 inward. As a result, each TL floating plate 300a, 300b is pulled forward against the biasing force of the corresponding coil spring 312, and in this manner, each TL floating plate 300a, 300b is pulled.
00b allows each displacement in the TL direction.
Further, when the TL lock mode is set, the retracting force of each TL floating cylinder 304 is released, and as described above, each pressing piece 310 abuts by the biasing force of the coil spring 312 corresponding to the front mounting piece 308a. , That position will be locked.

That is, in this embodiment, the TL
The floating mechanism 278 is floated by the WL floating mechanism 280 so that the TL floating plates 300a and 300b can be independently displaced along the TL direction.

--BL floating mechanism 276 --- Again, as shown in FIG. 13, at the lower ends of the TL floating plates 300a, 300b, a BL floating shaft 314 extending along the BL direction across them.
However, both ends are rotatably supported around the BL axis and slidably along the BL axis via bearings 316a and 316b, respectively. The BL floating shaft 314 has a gripping mechanism 270 which will be described in detail later.
Functioning as a mounting shaft. Where BL
The right end of the floating shaft 314 in the drawing penetrates the corresponding bearing 316a and projects outward,
A driven gear 318 formed of a spur gear is coaxially and integrally fixed to the protruding end. Further, as shown in FIG. 14, the drive gear 320 made of a spur gear is rotatable on the outer surface of the TL floating plate 300a located on the right side in FIG. 13 in a state of meshing with the driven gear 318. Is attached to. The drive gear 320 is
Similarly, it is attached to the outer surface of the TL floating plate 300a and is connected so as to be rotationally driven by a drive motor 322 that functions as a rotational drive source of a gripping mechanism 270 described later.

That is, this BL floating mechanism 276
The spur gears 318 and 320 are WL-floated along the WL direction through the WL-floating mechanism 280 and TL-floated along the TL direction through the TL-floating mechanism 278. Through the meshing of the two, the BL floating shaft 31 along the BL direction while maintaining the meshed state.
4 will be floated so that it can be displaced along the BL direction.

Here, the structure thereof will be described in detail later. As shown in FIG. 13, the gripping mechanism 270 is arranged in the BL floating shaft 314 so as to rotate integrally with the BL floating shaft 314 in the first to fourth positions. 4 rotating plates 324
326, 328, 330 are provided. Then, the TL floating plate 300a, which faces the first and fourth rotating plates 324 and 330 located at both ends,
As shown in FIG. 16, an air cylinder 332 for BL lock is arranged at the portion 300b. These air cylinders 332 are equipped with piston rods 334 so that they can project toward the corresponding first and fourth rotating plates 324 and 330. And these piston rods 3
At the tip of 34, the corresponding rotating plates 324, 330
Of the BL floating shaft 314 in a state of being slightly separated from each other, and displacement of the BL floating shaft 314 in the BL direction is prohibited within the range of the separation gap, that is, the BL floating shaft 31.
Locking member 33 made of an elastic material for locking 4
6 is attached.

That is, this BL floating mechanism 276
When the BL lock mode is set,
The air cylinder 332 for the lock is activated, the corresponding piston rod 334 is projected, and the respective lock members 336 are faced to the corresponding rotary plates 324, 330 with a predetermined gap, for example, a separation distance of 0.2 mm, As a result,
The BL floating shaft 314 is locked in the floating state at any position within the range of 0.4 mm in total in the left-right direction in the BL direction. On the other hand, BL
When the floating mode is set, the air cylinders 332 for the BL locks are locked by the corresponding piston rods 33.
4 inwardly so that each locking member 336 is spaced from the corresponding rotating plate 324, 330 along the BL direction so that the BL floating shaft 314 is displaceable with respect to the BL direction. Becomes

In the triaxial floating device 268, the floating mechanisms 276, 278,
The floating mode of 280 is clamp device 260.
Is set only immediately before gripping the front bumper FB at the standby position P1 and immediately before mounting the gripped front bumper FB on the front part of the vehicle body B. In other cases, the lock mode is set. In other words, while the first robot 102 is transporting the front bumper FB, the triaxial floating device 268 locks the floating state, grips the front bumper FB rigidly, and loosens during the transport. I try not to.

<< Description of Gripping Mechanism 270 >> Next, the construction of the gripping mechanism 270, which is a feature of the present invention, for gripping the outer surface of the front bumper FB, which is supported by the above-mentioned triaxial floating device 268, will be described in detail. explain. As described above, the gripping mechanism 270 includes the four rotating plates 324, 326, 32 attached to the BL floating shaft 314 that functions as the mounting shaft.
8,330, but these rotary plates 32
4, 326, 328, and 330, as shown in FIG.
A pair of left and right rotating plates 324, 3 disposed outside corresponding to the large front bumper FB1 with the center point of the BL floating shaft 314 in the BL direction as a symmetry point.
30 and a pair of left and right rotating plates 326 and 328 which are arranged inside so as to correspond to the small front bumper FB2.

--Gripping jig-- Here, the respective rotating plates 324, 326, 328, 33.
0 is, in this embodiment, as shown in FIG.
It is formed in a regular hexagonal shape, and is fixed with the BL floating shaft 314 penetrating the center of each. Further, the large front bumper FB1 is different from each other on each side of the outer rotary plates 324 and 330.
It is in a state where gripping jigs for gripping each of the types of gripped surfaces can be attached, but in this embodiment,
Five types of gripping jigs 340a to 340e and 346a to 34
6e are attached respectively. On the other hand, as shown in FIG. 18, a gripping jig for gripping each of the six different gripped surfaces of the small front bumper FB2 is provided on each of the six sides of the two rotary plates 326 and 328 located inside. Each of them is in a state where they can be attached, but in this embodiment, five types of gripping jigs 342a to 342e, 344
a to 344e are attached respectively.

Then, as shown in FIG. 13, the gripping jig 3 of the both rotary plates 326 and 328 located inside is held.
42a to 342e and 344a to 344e are gripping jigs 3 on both rotary plates 324 and 330 located outside.
It is formed in a size smaller than 40a to 340e and 346a to 346e. As a result, when the large front bumper FB1 is gripped by one of the gripping jigs 340a to 340e and 346a to 346e located on the outer side, this gripping state is determined by the gripping jig 342 located on the inner side.
It is not disturbed by a to 342e and 344a to 344e. Further, the holding jigs 340a to 340 located outside
40e and 346a to 346e are arranged at positions that do not engage with the outer surface of the small front bumper FB2.
As a result, the holding jigs 342a to 342 located inside
When a small front bumper FB2 is gripped by one of e, 344a to 344e, this gripping state is
Holding jigs 340a to 340e, 346a located outside
It will not be disturbed by ~ 346e.

The rotating plates 324, which are located outside
Holding jigs 340a to 340 respectively attached to 330
e, 346a to 346e grip the corresponding gripped surfaces of the large front bumper FB1 in a state in which the left and right pairs at the same rotation position are in common, and the rotation plates 326 and 328 located inside respectively. The attached gripping jigs 342a to 342e and 344a to 344e are configured to grip a corresponding gripped surface of the small front bumper FB2 in a state where the left and right pairs at the same rotation position cooperate.

Further, the above-mentioned rotary plates 324, 3
Reference numerals 26, 328, and 330 are rotationally driven according to the rotation of the BL floating shaft 314. However, the holding jig brought to the left horizontal position in FIG. It is defined to be a gripping position for gripping the gripped surface. The drive motor 322 as the above-mentioned rotary drive source has the drive gear 3
The BL floating shaft 314 is rotationally driven through the meshing between the gear 20 and the driven gear 318.
4a to 344e and 346a to 346e are indexing driven so as to stop at the grip position.

Each holding jig 340a to 340e, 342a
~ 342e, 344a to 344e, 346a to 346e
Specifically, as shown in FIGS. 17 and 18, respectively, the openings 30 (50) on the outer surface of the corresponding front bumper FB are shown in FIG.
A pair of gripping surfaces CF1, CF2; CF3, CF4 are provided in a state corresponding to the shape of the gripped surface so that both the upper and lower gripped surfaces separated by can be gripped independently. That is, the holding jigs 340a to 340 attached to the rotary plate 324 located on the outer right side in FIG.
Each e has a pair of upper and lower gripping surfaces CF1 and CF2 for gripping the upper and lower gripped surfaces 36a and 36b on the right side of the large front bumper FB1 according to the outer surface shape thereof. In addition, the rotary plate 33 located on the outer left side
The gripping jigs 346a to 346e attached to 0 respectively hold a pair of upper and lower gripping surfaces CF1, for gripping the upper and lower gripped surfaces 38a, 38b on the left side of the large front bumper FB1 according to the outer surface shape thereof. It is equipped with CF2.

On the other hand, the rotary plate 32 located on the inner right side
The gripping jigs 342a to 342e attached to the upper and lower gripping surfaces 6a and 6b of the small front bumper FB2 respectively hold a pair of upper and lower gripping surfaces CF3 and CF3 for gripping the upper and lower gripped surfaces 56a and 56b according to their outer surface shapes. It is equipped with CF4. Further, the gripping jigs 344a to 344e attached to the rotary plate 328 located on the inner left side respectively grip the upper and lower gripped surfaces 58a and 58b on the left side of the small front bumper FB1 according to the outer surface shape thereof. It has a pair of upper and lower gripping surfaces CF3 and CF4.

Thus, in this one embodiment,
By rotationally driving the BL floating shaft 314, gripping jigs 340a to 340e, 342a to 342e, 344a to have gripping surfaces CF1 and CF2 optimum for gripping the corresponding front bumper FB at gripping positions.
It is possible to selectively bring 344e and 346a to 346e.

--Positioning Pin 348-- Also, as shown in FIGS. 17 and 18, the respective holding jigs 340a to 340e, 342a to 342e, 344a.
344e and 346a to 346e respectively have gripping surfaces CF.
1 (CF3), CF2 (CF4) corresponding to the gripped surfaces 36a; 36b; 38a; 38b; 36a; 36b; 3
Positioning pins 348 are provided so that 8a and 38b can be brought into close contact with each other in a predetermined state. As shown in FIG. 13, the positioning pins 348 correspond to the corresponding holding jigs 340a to 340e, 342a to 342e, 34.
4a to 344e, 346a to 346e, stay 350
Is attached so as to project upward at the grip position. That is, each of the positioning pins 348 is formed on the corresponding front bumper FB independently of the left and right positioning holes 34a, 34b according to their size.
The gripping jigs 340a to 340e, 342 which are inserted into the 54a, 54b from below and correspond to the front bumper FB.
a-342e, 344a-344e, 346a-346
The relative position with respect to e is set so that it can be accurately positioned.

More specifically, the holding jig 340a provided on each of the rotating plates 324 and 330 located on the left and right outer sides.
˜340e; positioning pins 348 attached to 346a to 346e respectively are positioning holes 34 formed on the left and right sides of the bumper body 20 of the large front bumper FB1.
The a and 34b are set to be inserted from below, respectively. On the other hand, the rotary plate 32 located on the inner side of the left and right
Holding jigs 342a to 342 respectively provided to
e; positioning pins 348 attached to the respective 344a to 344e are positioning holes 54a, 54 formed on the left and right of the bumper body 40 of the small front bumper FB2.
It is set so that it can be inserted into each b from below.

--- Indexing position detecting mechanism 352--Here, the gripping mechanism 270 indexes and drives the BL floating shaft 314 as described above, and therefore the indexing position detecting mechanism for detecting the indexing stop position of the BL floating shaft 314. 352 is provided. This index position detection mechanism 3
Reference numeral 52 denotes detection dogs 354a to 354f that are attached to the outer surface of the right rotary plate 324 in FIG. 13 at positions corresponding to the vertices of a regular hexagon as shown in FIG. As shown in FIG. 20, the WL arm 28 facing the rotating plate 324.
Each detection dog 354a to 354f of the rotary plate 324 attached to the inner surface of 2a and stopped at the index stop position.
And a rotational position sensor 356 including a proximity sensor that is turned on. This rotational position sensor 3
Reference numeral 56 is connected to a control unit (not shown), and this control unit is configured to perform drive control so as to stop the drive of the drive motor 322 each time an ON signal from the rotational position sensor 356 is input. ing.

--Origin Detecting Mechanism 358 ---- In order to detect which gripping jig is located at the gripping position in this control unit, in order to detect the origin position of the BL floating shaft 314. ,
An origin detection mechanism 358 is provided. This origin detection mechanism 358 has six detection dogs 354a as shown in.
Adjacent to one of the detection dogs 354a of ˜354f,
The rotary plate 32 is positioned on the same radius as this.
Origin detection dog 360 attached to the outer surface of 4,
As shown in FIG. 20, the origin detection dog 360 is attached to the inner surface of the WL arm 282a and is brought to the uppermost position (that is, the 0 o'clock position) in the vicinity thereof, and is turned on. Origin sensor 3 consisting of operating proximity sensor
And 62. This origin sensor 362 is
It is connected to the control unit described above.

--- Locking Mechanism 364--On the other hand, the gripping mechanism 270 includes the rotating plates 324,
A locking mechanism 364 is provided to lock the stopped state of the 326, 328, and 330 at the six indexing positions. This locking mechanism 364, as shown in FIG.
The six detection dogs 354a to 354f are arranged on the same radius, and six lock holes 366a to 366 are formed on the rotary plate 324 so as to be located on the same circumference.
6f and a predetermined one of the lock holes 366a to 366f at the index stop position, for example, the TL at the uppermost position, as shown in FIG.
A lock cylinder 368 attached and fixed to the floating plate 300a, and a lock cylinder 368
And a piston rod 372 having a front end portion as a lock pin 370, which is fitted into the lock holes 366a to 366f provided at the uppermost position.

As shown in FIG. 20, each locking hole 36
A taper portion is formed on the outer peripheral edges of 6a to 366f, and a taper portion is also formed on the outer peripheral surface of the tip end portion 366 of the piston rod 372. In this way, even if the rotation stop position of the rotary plate 324 is slightly deviated, the deviation is corrected by the engagement of the taper portions of the lock holes 366a to 366f and the taper portion of the tip end portion 366 of the piston rod 372. In this state, the tip end portion 366 of the piston rod 372 is fitted into each of the lock holes 366a to 366f, and each of the rotary plates 324, 326, 328, 330 is at the six indexing positions and is accurately stopped. It will be locked.

<< Description of Suction Mechanism 272 >> Next, the suction mechanism 272 for sucking the outer surface of the front bumper FB gripped by the gripping mechanism 270 and holding the gripped state by the gripping mechanism 270 will be described. . As shown in FIG. 13, the suction mechanism 272 has a pair of upper and lower suction pads 374a, while being located outside each of the pair of rotating plates 324 and 330 located on the left and right outer sides.
374b; 376a and 376b. Although not shown, the suction pads 374a, 374b; 376a, 376b are attached to the suction pads 374a, 374b; , And is waited at a position separated from the outer surface of the front bumper FB that is going to suck. Here, the upper suction pad 374a,
Air cylinder mechanisms corresponding to 376a are attached to the inner surfaces of the left and right WL arms 282a and 282b, respectively.
The air cylinder mechanism corresponding to the lower suction pads 374b and 376b is used for the left and right TL floating plates 30.
It is attached to the inner surface of each of 0a and 300b.

On the other hand, when the large front bumper FB1 is to be sucked, the left and right upper suction pads 374 are used.
a and 376a are projected rearward along the TL direction when the corresponding air cylinder mechanism is activated, abut on the outer surface of the bumper body 20 of the large front bumper FB1, and generate negative pressure from a suction source (not shown). Based on this, it is designed to be sucked. Also, a small front bumper FB2
In the case of attempting to suck in, the left and right lower suction pads 374b, 376b are projected rearward along the TL direction with the activation of the corresponding air cylinder mechanism, and the bumper body 40 of the small front bumper FB2 is It comes into contact with the outer surface and sucks it based on a negative pressure from a suction source (not shown).

<< Explanation of Hooking Mechanism 274 >> Next, the outer surface of the front bumper FB gripped by the above-mentioned gripping mechanism 270 and sucked by the suction mechanism 272 is hooked, and the clamped state by this clamp device 260 is further fixed. The latching mechanism 274 for ensuring will be described. As shown in FIG. 13, the latching mechanism 274 is provided on the outer surface of each of the rotating plates 326 and 328 located on the inner side of the left and right. Further, in each of the hooking mechanisms 274, as shown in FIG. 17, the gripping jig 342a (344) at the gripping position.
Although it is shown as a representative in the state corresponding to a), in reality, as shown in FIG. 21, each of the holding jigs 342 a to 342.
e; each of 344a to 344e, that is, according to the shape of the front bumper FB to be gripped.
It should be noted that each of the latching mechanisms 274 has the same structure, and therefore the latching mechanism 274 located at the gripping position of the rotary plate 326 shown in FIG. 21 will be described as a representative state.

That is, the hooking mechanism 274 includes a fixed block 380 fixed to the outer end surface of the rotary plate 326,
A guide block 382 attached to the upper surface of the fixed block 380 and extending along the TL direction, a guide rail 384 extending along the TL direction on the upper surface of the guide block 382, and a slide on the guide rail 384. A pair of guide bushes 386a, 386 movably fitted
A connecting plate 390 having a lower surface b and slidably supported along the TL direction, and a spring member integrally connected to the rear end (left end in the drawing) of the moving block 388. And a hooking piece 392 that is connected to the rear end of the connecting plate 390, has a tip standing upright, and an upper end bent forward.

--- Biasing Mechanism 394 --- The locking mechanism 274 also includes a moving block 388.
Therefore, there is provided a biasing mechanism 394 that biases the latching piece 392 rearward, that is, leftward in the drawing, and elastically holds it at the standby position. As shown in FIG. 21, the urging mechanism 394 has a front end (that is, a right end in the drawing) of the fixed block 380.
The first receiving piece 396 fixed in a standing state, the second receiving piece 398 fixed in a standing state at the front end of the moving block 388, and the second receiving piece 398 fixed to the front side. The first receiving piece 396 extending toward
With a guide shaft 400 projecting toward the front
And a coil spring 402 that is interposed between the second receiving pieces 396 and 398 and biases the second receiving piece 398 rearward.

Since the biasing mechanism 394 is configured in this manner, the hooking piece 392 is biased rearward. On the other hand, a stopper 404 with which a rear guide bush 386a abuts is attached to the rear portion of the guide rail 384. It should be noted that this stopper 404 is in a state in which the guide bush 386a is in contact with the stopper 404, and the stopper 392 is attached.
Is the bumper body 20 (4 of the corresponding front bumper FB.
It is brought to a standby position slightly rearwardly separated from the rear end edge of the upper extending portion 32 (52) formed in (0). By providing the stopper 404 in this way, the moving block 388 biased rearward by the biasing mechanism 394 causes the rear guide bush 386a to move toward the stopper 4a.
By abutting 04, it is elastically held at the standby position.

--- Deflection Mechanism 406 --- In addition, in this latching mechanism 274, the latching piece 392 corresponding to the gripping jigs 342a to 342e brought to the gripping position is extended from the standby position to the extending portion 32. (52) A biasing mechanism 4 for engaging the rear end edge and biasing it forward.
It is equipped with 06.

This biasing mechanism 406 is attached to the rear side of the above-mentioned second receiving piece 398, and as shown in FIG. 22, the fixed block 380 and the moving block 388 to BL.
Engagement block 408 protruding leftward in the figure along the direction
And the air cylinder 4 fixed to the middle part of the stay 410 attached to the lower surface of the pedestal 264 while standing down.
12, a piston rod 414 provided on the air cylinder 412 so as to project rearward from the air cylinder 412, and an upper end of the piston rod 414 rotatably supported by the piston rod 414.
A swing arm 418 having a midway portion rotatably supported around the support shaft 416 at the lower end of the stay 410, and the swing arm 4
The push-in roller 420 is attached to the lower end of 18 and can be engaged with the projecting portion of the above-mentioned engagement block 408.

Here, the air cylinder 412 is in a standby state with the piston rod 414 retracted,
In this standby state, the pushing roller 420 is held at a position where it does not engage with the engagement block 408 at the standby position, as indicated by the chain double-dashed line in FIG.
Therefore, in this standby state, even if the BL floating shaft 314 rotates and accordingly the hooking mechanism 274 swivels around the BL floating shaft 314 as a whole, the biasing mechanism 406 does not hold the hooking mechanism 274 at all. It does not interfere with the turning of the hooking mechanism 274 without interfering with.

On the other hand, when the air cylinder 412 is activated and the piston rod 414 is pushed and driven, the swing arm 416 is swingably driven around the support shaft 416, and as a result, the push-in roller 420 is driven by the two-dot chain line. As indicated by the solid line, the locking block 408 is biased forward from the standby position shown by. Therefore, the hooking piece 392 connected so as to move integrally with the locking block 408 is engaged with the front bumper FB from the rear side as shown by the solid line from the standby position shown by the chain double-dashed line. Will be pulled forward and hooked. That is, this hook 39
2 is inserted into the opening 30 (50) formed in the bumper body 20 (40) of the front bumper FB with the corresponding front bumper FB gripped by the gripping mechanism 270 in the standby state, and the upper side Extension 32 of
The rear end edge of (52) in the figure can be hooked forward, but when the biasing mechanism 406 is activated, it is biased forward from this standby state, and the extension portion 32 (52). Hook the rear edge and pull it forward. In this way, the front bumper FB gripped by the gripping mechanism 270 and sucked by the suction mechanism 272 is
The clamped state is reliably held by the hooking mechanism 274.

{Explanation of the operation of the first robot 102} In the first robot 102 configured as described above,
The mounting operation of the front bumper FB will be described below.

<Preparation Operation> With the supply operation from the supplied position P2 of the front bumper FB of the front bumper supply device 106 to the supply position P1 described above, the first robot 10 is operated.
The second clamp operation is started. In this clamping operation, first, the control unit (not shown) has gripping jigs 340a to 340e, 34 having gripping surfaces corresponding to the outer surface shape of the front bumper FB to be clamped.
2a to 342e, 344a to 344e, 346a to 34
When it is determined that the clamp device 260A provided with 6e is attached to the tip of the second horizontal arm 256 via the hand 258, and it is determined that the desired clamp device 260A is attached. The attached clamp device 260A is moved from the standby position to the position facing the front of the front bumper FB stopped at the supply position P1. On the other hand, when it is determined that the desired clamp device 260A is not attached, that is, the clamp device 260B is attached, the clamp device 260A is
It moves from the standby position onto the standby unit 262, removes it, and places it there. Then, the clamp device 260B that has been waiting in advance in the standby portion 262 is attached to the tip of the second horizontal arm 256 via the hand 258, and the attached clamp device 260B is stopped at the supply position P1. The front bumper FB is moved to a position facing the front. When the desired clamp device is the reference numeral 260B, the opposite operation to the above-described operation is executed. In the following description, the desired clamp device is represented by reference numeral 260.

<Clamping Operation> Here, while the desired clamping device 260 is moved to a position facing the front of the front bumper FB stopped at the supply position P1, the control unit is controlled by the front bumper to be clamped. A holding jig 34 having a holding surface corresponding to the outer surface shape of the FB
0a to 340e, 342a to 342e, 344a to 34
The drive motor 322 is drive-controlled so that 4e and 346a to 346e are located at the grip position. As a result, in a state where the desired clamp device 260 is stopped at a position facing the front of the front bumper FB to be clamped, the holding jigs 340a to 340a to be used for the clamp operation are provided.
40e, 342a to 342e, 344a to 344e, 3
46a to 346e are already in the grip position.

<< Clamping operation peculiar to large front bumper >> After that, the control unit moves the clamp device 260 rearward, that is, toward the front bumper FB at the supply position P1. As a result, the front bumper FB to be clamped is a large front bumper FB.
In the case of 1, the positioning pins 348 provided on the rotating plates 324 and 330 located on the left and right outer sides, respectively, and the positioning pins 348 attached to the holding jigs 340a to 340e and 346a to 346e brought to the holding position, Positioning holes 34a, 34b formed on the left and right of the bumper body 20, respectively
And the relative positions of the clamp device 260 and the front bumper FB1 are accurately defined, and the hooking mechanism 274 provided for each of the rotary plates 324, 326, 328, 330 is hooked. The stop 292 is
It is inserted into the opening 20 formed in the front bumper FB1 and brought to a standby state in which it is located slightly rearward of the rear end of the extending portion 32.

In addition, with the movement of the clamp device 260 toward the front bumper FB1, among the holding jigs 340a to 340e and 346a to 346e attached to the pair of left and right rotating plates 324 and 330 located outside,
Upper and lower gripping surfaces C of the respective gripping jigs rotated to the gripping position
F1 and CF2 contact the upper and lower gripped surfaces 36a, 36b; 38a, 38b defined on the outer surface of the bumper body 20, respectively, to grip each, that is, the outer surface of the large front bumper FB1. Corresponding gripping jigs 340a-3
It will be grasped by 40e and 346a to 346e.

On the other hand, the control unit drives the suction mechanism 272 in synchronization with this gripping operation. As a result, the suction pads 374a, 376a located corresponding to the left and right sides of the large front bumper FB1 are pushed by the corresponding cylinder mechanisms to suck the outer surface of the bumper body 20. In this way, the gripping state of the front bumper FB1 by the gripping mechanism 270 becomes reliable.

Further, the control unit drives the latching mechanism 274 in synchronization with this suction operation to activate the biasing mechanism 406 attached to the pair of left and right rotating plates 324, 330 located outside. To do. As a result, the hooking piece 292 in the standby state is moved forward, hooks on the extending portion 32, and pulls it forward. In this way, the clamped state of the large front bumper FB1 becomes reliable.

<< Clamping operation peculiar to a small front bumper >> Meanwhile, the front bumper FB to be clamped
Is a small front bumper FB2, the gripping jigs 342a to 342 provided at the gripping positions are provided on the rotary plates 326 and 328 located on the left and right inner sides, respectively.
2e; locating pins 348 attached to 344a to 344e are inserted from below into locating holes 54a and 54b formed on the left and right of the bumper body 40, respectively, so that the relative position between the clamp device 260 and the front bumper FB2 is changed. Accurately defined and each rotating plate 32
Locking mechanism 2 provided for each 4, 326, 328, 330
Each hooking piece 292 of each 74 is inserted into the opening 40 formed in the front bumper FB2, and brought into a standby state in which it is positioned slightly rearward of the rear end of the extending portion 52.

Further, with the movement of the clamp device 260 toward the front bumper FB2, among the holding jigs 342a to 342e; 344a to 344e attached to the pair of left and right rotating plates 326, 328 located inside,
Upper and lower gripping surfaces C of the respective gripping jigs rotated to the gripping position
F3 and CF4 contact the upper and lower gripped surfaces 56a, 56b; 58a, 58b defined on the outer surface of the bumper body 40, respectively, to grip each, that is, the outer surface of the small front bumper FB2. Corresponding gripping jigs 342a-3
42e; 344a to 344e.

On the other hand, the control unit drives the suction mechanism 272 in synchronization with this gripping operation. As a result, the suction pads 374b and 376b located on the left and right sides arranged corresponding to the small front bumper FB2 are pushed by the corresponding cylinder mechanisms to suck the outer surface of the bumper body 40. In this way, the gripping state of the front bumper FB2 by the gripping mechanism 270 becomes reliable.

Further, the control unit drives the latching mechanism 274 in synchronization with this suction operation to activate the biasing mechanism 406 attached to the pair of left and right rotary plates 326, 328 located inside. To do. As a result, the hooking piece 292 in the standby state is moved forward, hooks on the extending portion 52, and pulls it forward. In this way, the clamped state of the small front bumper FB2 becomes reliable.

<Front Bumper Removing Operation in Attachment Mechanism 112> When the clamp operation of the front bumper FB by the first robot 102 is completed in this way,
The control unit is a nut runner mechanism 17 corresponding to the mounting mechanism 112 in the front bumper supply device 106.
4 in the reverse direction, for example, a large front bumper F
In the case of B1, the left and right first pedestals 148a, 148
b, a pair of mounting holes 154a to 154
The nut portions 184 of the nut runner mechanisms 174a to 174d are unscrewed from the mounting bolts 28a to 28d respectively inserted in d. As a result, the front bumper FB1 becomes detachable from the mounting mechanism 112. On the other hand, in the case of a small front bumper FB2, the control unit is the second cradle 150a, 1
Two pairs of mounting holes 172a-1 formed in 50b
Mounting bolts 48a to 49d inserted in 72d, respectively
The nut portions 184 of the nut runner mechanisms 174e to 174h are unscrewed. As a result, the front bumper FB2 becomes detachable from the mounting mechanism 112.

After this, the control unit is operated by the clamp device 2
By moving 60 forward, the front bumper FB is removed from the attachment mechanism 112, and the first robot 10
2 vertical arm 252 is appropriately rotated about the vertical axis,
Vertically driven vertically along the vertical axis, second horizontal arm 2
The front bumper FB clamped by the clamp device 260 is moved to a position facing the front of the front bumper attachment portion in the front part of the vehicle body B by appropriately driving the 56 forward and backward from the first horizontal arm 254.

<Mounting Operation of Clamped Front Bumper on Vehicle Body> Clamping device 260 of first robot 102
When the front bumper FB clamped to the front body of the vehicle body B moves to a position facing the front of the front bumper mounting portion, the control unit moves the clamp device 260 rearward. As a result, when the front bumper FB to be mounted is the large front bumper FB1, the reference pins 26a and 26b mounted on the pair of left and right mounting bases 24a and 24b, respectively, are not shown. It is inserted into the reference hole formed in the pedestal on the vehicle body side, and the relative positional relationship between the front bumper FB1 and the vehicle body is accurately defined. As a result, each mounting base 24a, 24
a pair of mounting bolts 28a-
Although not shown, 28d will be inserted into the respective mounting holes formed in the pedestal on the vehicle body side. On the other hand, when the front bumper FB to be mounted is the small front bumper FB2, the reference pins 46 attached to the pair of left and right mounting bases 44a and 44b, respectively.
Although not shown, a and 46b are inserted into the reference holes formed in the pedestal on the vehicle body side, and the relative positional relationship between the front bumper FB2 and the vehicle body is accurately defined. As a result,
Although not shown, the pair of mounting bolts 48a to 48d respectively mounted on the mounting bases 44a and 44b are respectively inserted into the mounting holes formed in the pedestal on the vehicle body side.

Thereafter, the control unit drives the second robot 104 described later to screw the mounting bolts 24a to 24d (44a to 44d) inserted into the respective mounting holes. In this way, the front bumper FB
Will be attached to the front of the vehicle body B.

<Unclamping Operation of Front Bumper Clamping Device Mounted on Vehicle Body> When the front bumper FB is mounted on the front part of the vehicle body B as described above, the control unit causes the front bumper F of the clamping device 260 to operate.
The unclamp operation of B is started. That is, the control unit drives the biasing mechanism 406 of the latching mechanism 274 in the opposite direction to move the latching piece 392 rearward and bring it to the standby position. As a result, the hooking state of the extending portion 32 (52) of the front bumper FB by the hooking piece 392 is released. After this, the control unit operates the clamping device 26.
Move 0 forward. As a result, the hooking piece 392 is pulled out forward from the opening 30 (50) of the front bumper FB, and the clamp device 260 is released from the clamped state of the front bumper FB mounted on the vehicle body B in this manner, Will be separated. That is, the unclamping operation of the clamp device 260 of the front bumper FB attached to the vehicle body B is completed, the front bumper FB is attached to the vehicle body B in an independent state, and the control unit drives the first robot 102. , The clamp device 260 is moved back to the standby position. In this way, the first robot 10
A series of clamp operations in 2 is completed.

{Explanation of the second robot 104} Below,
The second robot 104 will be described, but since the second robot 104 does not form the feature of the present invention, it will be described only schematically. That is, the second robot 104 is
As described in <Mounting Operation of Clamped Front Bumper on Vehicle Body>, nuts are respectively screwed on the corresponding mounting bolts 28a to 28d (48a to 48d) of the front bumper FB attached to the front portion of the vehicle body B. The front bumper FB is fixed to the front portion of the vehicle body B by wearing the front bumper FB, that is, the front bumper FB is attached to the front portion of the vehicle body B. Therefore, the second robot 104 is provided with a nut runner device 430 attached to the tip arm in addition to the well-known arm structure. The nut runner device 430 is substantially the same as the nut runner mechanism 174 described above, but unlike the nut runner mechanism 174 having the nut portion 184 integrally, the mounting bolts 28a to 28d (48a).
Up to 48d), the bolts that are respectively screwed on are detachably attached.

Incidentally, in the second robot 104, as shown in FIG. 6, in the vehicle body B stopped at the first stop station S1, the nut train is opened in the engine room opened by the previously opened bonnet. By moving the device, the corresponding mounting bolts 28a to 28d of the front bumper FB mounted on the front part of the vehicle body B are moved.
Nuts are screwed onto (48a to 48d), respectively, and the front bumper FB operates so as to be fixed to the front portion of the vehicle body B.
As described above, this front bumper assembly station 1
Since 00 is configured, it becomes possible to assemble the front bumper FB to the front portion of the vehicle body B in a surely and accurately positioned state.

[Detailed Description of Rear Bumper Assembly Station 500] Next, the configuration of the rear bumper assembly station for assembling the rear bumper RB to the rear portion of the vehicle body B will be described in detail with reference to FIGS. 23 to 26. However, the rear bumper assembly station 500 is basically configured in the same manner as the front bumper assembly station 100 described above, and therefore, in the following description, a portion different from the front bumper assembly station 10 will be taken out and described. , And the description of similar parts is omitted.

[Explanation of Differences from Front Bumper Assembly Station] That is, this rear bumper assembly station 5
No. 00, station 10 with front bumper assembly
0, and (1) the rear bumper RB, which is symmetrically assembled, is in a common mounting state for all types of the vehicle body B, and therefore,
Large front bumper F, like front bumper FB
It is no longer necessary to classify it into B1 and a small front bumper FB2; (2) This rear bumper RB has no opening formed in its bumper body 60 as shown in FIG. 4; (3) Therefore, there is no member corresponding to the extended portion 32 (52) extending rearward from the upper edge of the opening 30 (50), and the positioning hole 34a in the front bumper FB,
Positioning hole 72 corresponding to 34b (54a, 54b)
a and 72b are stays 64a and 64b as shown in FIG.
(4) The positioning holes 72a and 72b are commonly set regardless of the type of the rear bumper RB; (5) Extend along the BL direction. The configuration based on the fact that the mounting holes 70a and 70b, which are elongated holes, are formed in the respective mounting bases 64a and 64b is different.

Here, as already described in the section of {Schematic structure of rear bumper assembling station}, the gist of the present invention is that the bumper is once attached to the vehicle body by the attaching mechanism. The clamper attached to the robot clamps the bumper in the same state as the state in which the bumper is fastened, and then the fastening state is released.
Removing the clamped bumper from the mounting mechanism and fastening it to the rear part of the vehicle body B is accomplished as it is.

{Explanation of Attachment Mechanism 512} Specifically, the rear bumper supply device 506 for supplying the rear bumper RB between the supplied position P4 and the supply position P3, which has been described above, is because the rear bumper RB is once installed. And a transport mechanism 510 that reciprocates the mount mechanism 512 between the supply position P4 and the supply position P3. The transport mechanism 510 includes the transport mechanism 110 of the front bumper supply device 106. The mounting mechanism 512 is basically the same as the mounting mechanism 112 of the front bumper supply device 106, but the mounting mechanism 512 is basically the same.

That is, as shown in FIG. 23 and FIG. 24, this mounting mechanism 512 is provided at both ends of the mounting frame 514 with corresponding mounting bases 64a, 6 of the rear bumper RB.
4b of the rear bumper RB in a state where the pair of pedestals 516a and 516b are fixed and all types of rear bumpers RB.
It has a common state. Each cradle 516a, 516
Positioning pins 66a and 66b attached to the rear bumper RB are respectively inserted into the upper surface functioning as a receiving surface of b, and the respective receiving pedestals 516a and 516b and the respective mounting pedestals 6 are inserted.
The relative positional relationship between 4a and 64b is accurately defined. In addition, each receiving stand 516a, 516b
The corresponding mounting bolts 68a, 68b; 68
A pair of mounting holes 5 in which c and 68d are respectively inserted
18a, 518b; 518c, 518d are formed, but these attachment bolts 68a to 68d are not used for fastening (fixing) the attachment state to the attachment mechanism 512, and the fastening operation to the rear part of the vehicle body B. It is set to be used on the occasion.

On the other hand, one insertion hole 520a, 520b for each pedestal 516a, 516b is formed of an elongated hole extending along the BL direction, which is unique to the rear bumper RB. The rear bumper RB is attached to the attachment mechanism 512 by positioning pins 66a, 66.
It is set so as to be completely aligned with the corresponding mounting holes 70a and 70b along the BL direction in a state in which they are positioned and mounted via b, and communicate with each other entirely. That is, in the rear bumper attaching mechanism 512, the front bumper FB attached to the front bumper attaching mechanism 112 is fastened (fixed) via the nut runner mechanism 174 (174a to 174h).
On the other hand, the rear bumper RB is fastened (fixed) to the rear bumper attachment mechanism 512 via the fastening mechanism 522, which is a kind of latching mechanism, without using the nut runner mechanism 174 at all.

<Explanation of Fastening Mechanism 522> In detail, as shown in FIG. 23, this fastening mechanism 522 has pedestals 516a, 51a corresponding to both side surfaces of the mounting frame 514.
6b is located directly below 6b. Here, each fastening mechanism 522 includes an air cylinder 524 and a mounting frame 5 to be mounted on the air cylinder 524.
14, a piston rod 526 mounted so as to be movable back and forth along the central axis, a rotating mechanism 528 connected to the tip of the piston rod 526, and an upward extending from the rotating mechanism 528 along the central axis. A rotation shaft 530 which is provided so as to be rotatable about an axis and in a rotation range of at least 90 degrees, and this rotation shaft 5
It is integrally attached to the tip of 30, and the corresponding insertion hole 5
20a, 520b and corresponding mounting holes 70a, 70
b and a hooking piece 532 formed in a state of being elongated to a size smaller than that of b.

Here, in the air cylinder 524, the corresponding piston rod 526 is pulled downward and the latching piece 532 is pulled.
Is in a standby state in which it is positioned below the corresponding cradle 516a, 516b, and upon activation thereof, the corresponding piston rod 526 is projected upward to cause the hook 5
It is set that 32 passes through the corresponding insertion holes 520a, 520b and the corresponding mounting holes 70a, 70b, and extends above the corresponding mounting bases 64a, 64b of the rear bumper RB. Also, the rotation mechanism 528
Is in a standby state at the position where the corresponding turning shaft 530 extends along the BL direction with the hooking piece 532 attached to the tip of the turning shaft 530. It rotates by 90 degrees and extends along the direction orthogonal to the BL direction, and the corresponding mounting hole 70
It is set so that it can be hooked on a and 70b.

That is, the fastening mechanism 522 constructed as described above.
In the above, when the fastening operation is started from the standby state, first, the air cylinder 524 is activated to attach the hooking piece 532 to the corresponding insertion holes 520a, 520b and the mounting holes 70a, 70a.
70b, respectively, to extend above the corresponding mounting bases 64a, 64b of the rear bumper RB. In this state, next, the rotation mechanism 528 is activated, and the locking piece 53
2 is rotated by 90 degrees. As a result, each hook 5
32 is in a state in which it can be hooked on the corresponding mounting bases 64a and 64b. Then, the air cylinder 524 is reversely activated, and the corresponding piston rod 526 is pulled in and driven toward the standby position. As a result, each hook 532 is
Mounting holes 70 of corresponding mounting bases 64a and 64b
A and 70b overlap each other in a cross shape, and both ends of each hooking piece 532 engage with the peripheral portions of the corresponding mounting holes 70a and 70b to hook the corresponding mounting bases 64a and 64b. In this way, the rear bumper RB is fastened to the attachment mechanism 512 via the fastening mechanism 522.

{Explanation of the third robot 502} This third
The robot 502 is basically a front bumper FB.
Configured similarly to the first robot 102 for
There is a different part in the clamp device 534 which is detachably attached to the tip, and in particular, as shown in FIG. 25, the gripping mechanism 53 corresponding to the gripping mechanism 270 on the front bumper FB side.
6, the openings 30 and 50 are not present in the rear bumper RB as shown in FIG. 4, so that the structure in which the latching mechanism 274 is not provided and the arrangement structure of the positioning pin are different.

Specifically, as shown in FIG. 25, the gripping mechanism 536 for the rear bumper RB has the same structure as the three-axis floating device 268 on the front bumper FB side.
The axial floater 538 floats along the BL direction, the TL direction, and the WL direction, and is rotatably supported around the axis line along the BL direction.
The L floating shaft 540 is provided with four rotating plates 542 fixed along the BL direction. Each rotating plate 542 is shown in FIG.
As shown in, it is formed in a regular octagonal shape. By forming each rotating plate 542 into a regular octagonal shape in this manner,
A gripping jig 544 can be provided on each side, and as a result,
With one clamp device 534, a maximum of eight types of rear bumper RB can be selectively clamped. In this embodiment, as shown in the figure,
Four gripping jigs 544 are attached.

On the other hand, the relative positional relationship between the gripping surface 546 of each gripping jig 544 and the gripped surface 74 defined on the outer surface of the bumper body 60 of the rear bumper RB is accurately defined, and each gripping surface 546 is covered. In order to position the gripping surface 74 so as to be surely in close contact with the gripping surface 74, the positioning pins 548 that can be inserted into the positioning holes 72a and 72b are inserted from the TL floating plates 550 located on both sides in the BL direction via the stays 552. It is attached to a tip extending forward in a state of standing upright. That is, as described above, in the rear bumper RB, the positioning holes 72a,
Since 72b is commonly set for all types of rear bumpers RB, on the front bumper FB side, unlike the case where the positioning pin 348 is provided for each holding jig, the positioning pin 548 is provided for each holding jig. Regardless of 544, it is fixed to each TL floating plate 550 in a state common to all gripping jigs 544.

As described above, since the rear bumper assembling station 500 is configured, substantially the same as the front bumper assembling station 100 described above,
It is possible to assemble the rear bumper RB to the rear portion of the vehicle body B in a surely and accurately positioned state.

[0135]

As described above in detail, the gripping structure for different kinds of long workpieces according to the present invention has a base member extending along a common longitudinal axis of different kinds of long workpieces and a longitudinal direction of the base member. A plurality of gripping surfaces arranged along at least two locations along each of which the outer surfaces of the different types of elongated workpieces have different shapes, and one of these gripping surfaces is selectively brought to a predetermined gripping position. Selection means, positioning means for accurately defining the relative position of the outer surface of the different long work piece to be gripped and the corresponding gripping surface, and the different long work piece positioned by this positioning means. It is characterized by comprising suction means for sucking the outer surface and bringing the outer surface into close contact with the corresponding gripping surface.

Further, in the gripping structure for different kinds of long workpieces according to the present invention, the base member is constituted by a mounting shaft which extends along the longitudinal axis and is rotatably supported around the longitudinal axis. The selecting means is characterized in that a desired gripping surface is selectively brought to a predetermined gripping position by rotationally driving the mounting shaft.

Further, in the gripping structure for different kinds of long workpieces according to the present invention, the positioning means is provided for each holding surface and positioning holes formed according to the corresponding outer surface shapes of the different kinds of long workpieces. , A relative position between the outer surface of the dissimilar elongated work piece to be gripped by the positioning pin that can be inserted into the corresponding positioning hole and each positioning pin being inserted into the corresponding positioning hole, and the corresponding gripping surface. Is characterized by accurately defining.

Therefore, according to the present invention, it is possible to provide a gripping structure for different kinds of long work which can efficiently clamp a large number of different kinds of long work. Further, according to the present invention, it is possible to provide a gripping structure for different kinds of long workpieces which can surely clamp different kinds of long workpieces according to the respective cases.

[Brief description of drawings]

FIG. 1 is a top view schematically showing a configuration of a bumper assembling apparatus to which an embodiment of a gripping structure for different kinds of long workpieces according to the present invention is applied.

FIG. 2 is a vertical cross-sectional view showing the configuration of a large front bumper as a heterogeneous elongated work object of the present invention.

FIG. 3 is a vertical cross-sectional view showing the configuration of a small front bumper as a heterogeneous long work to which the present invention is applied.

FIG. 4 is a vertical cross-sectional view showing the configuration of a rear bumper as a heterogeneous long work to which the present invention is applied.

5 is a top view showing an enlarged configuration of a front bumper assembling station of the bumper assembling apparatus shown in FIG. 1. FIG.

FIG. 6 is a front view showing a configuration of a second robot provided in the front bumper assembly station shown in FIG.

FIG. 7 is a vertical cross-sectional view showing the configuration of a front bumper supply device provided in the front bumper assembly station.

8 is a front bumper supply device taken along line AA in FIG.
It is an arrow line view shown in the state seen along a line.

9 is a front bumper supply device taken along line BB in FIG.
It is an arrow line view shown in the state seen along a line.

FIG. 10 shows a front bumper supply device at B- in FIG.
It is sectional drawing shown in the state cut | disconnected along the B line.

FIG. 11 is a front view showing a nut runner mechanism provided in the front bumper supply device in an extracted manner.

12 is a partial cross-sectional view showing in detail the configuration of the nut runner mechanism shown in FIG.

FIG. 13 is a front view showing the configuration of a clamp device detachably attached to the first robot provided in the front bumper assembly station.

FIG. 14 is a side view showing the configuration of the clamp device shown in FIG.

FIG. 15 is a side view showing a TL floating mechanism taken out of a three-axis floating device provided in a clamp device.

FIG. 16 is a front view showing a main part of a BL floating mechanism taken out of a three-axis floating device provided in a clamp device.

FIG. 17 is a side view showing a configuration for gripping a large front bumper of a gripping mechanism provided in the clamp device.

FIG. 18 is a side view showing a configuration for holding a small front bumper of a holding mechanism provided in the clamp device.

FIG. 19 is a side view for explaining the position detection mechanism and the locking mechanism in the gripping mechanism shown in FIG.

20 is a front view showing the main parts of the position detection mechanism and the locking mechanism in the gripping mechanism shown in FIG.

FIG. 21 is a side view showing a configuration of a hooking mechanism provided in the clamp device.

22 is a front view showing the configuration of the biasing mechanism in the latching mechanism shown in FIG. 21. FIG.

FIG. 23 is a view showing the rear bumper supply device in the same arrow view state as in FIG. 8.

FIG. 24 is an arrow view showing the rear bumper supply device in a state similar to that of FIG.

FIG. 25 is a front view showing the configuration of a clamp device detachably attached to a third robot provided in the rear bumper assembly station.

FIG. 26 is a side view showing the configuration of the clamp device shown in FIG. 25.

[Explanation of symbols]

B body, CF1; CF2; CF3; CF4 gripping surface FB front bumper, FB1 large front bumper, FB2 small front bumper, L body transport line, P1; P3 supply position, P2; P4 supplied position, RB rear bumper, S1 S2; S3 stop station, X body transport direction, Y bumper supply direction, 10 bumper assembly device, 20; 40; 60 bumper body, 22; 42; 62 stay, 24a; 24b; 44a; 44b; 64a; 64b
Mount, 26a; 26b; 46a; 46b; 66a; 66b
Reference pin, 28a-28d; 48a-48d; 68a-68d
Mounting bolts, 30; 50 openings, 32; 52 Upper extensions, 34a; 34b; 54a; 54b Locating holes, 36a; 36b; 38a; 38b; 56a; 56b; 5
8a; 58b gripped surface 70a; 70b mounting hole, 72a; 70b positioning hole, 74 gripped surface, 100 front bumper assembly station, 102 first robot, 104 second robot, 106 front bumper supply device, 108 front Bumper stock, 110 transport mechanism, 112 mounting mechanism, 114 transport base, 116 rail stand, 118 first rail, 120 second rail, 122 moving block, 124 first wheel, 126 mounting member, 128 2nd wheel, 130 drive mechanism, 132 1st rack, 134 2nd rack, 136 pinion gear, 138 moving stand, 140a; 140b guide bush, 142a; 142b guide rail, 144 stay, 146 mounting frame, 146a; 14 6b Frame members on both sides, 148a; 148b first pedestal, 150a; 150b second pedestal, 152a; 152b reference hole, 154a to 154d mounting hole, 156 evacuation mechanism, 158 air cylinder, 160 piston rod, 162 support base , 164a; 164b guide bush, 166a; 166b guide rail, 168a; 168b stay, 170a; 170b reference hole, 172a to 172d mounting hole, 174 (174a to 174h) nut runner mechanism, 176 air cylinder, 178 piston rod motor, 180 Simple universal joint mechanism, 184 nut portion, 184a female screw surface, 184b taper portion, 186 first shaft portion, 188 second shaft portion, 190 connecting sleeve, 192 guide groove, 194 Locking pin, 196 1st coil spring, 198 2nd coil spring, 200 1st locking pin, 202 3rd shaft part, 204 2nd locking pin, 206 2nd coil spring, 208 210 flange, 212 bolt, 214 detection dog, 216 sensor, 250 base, 252 vertical arm, 254 first horizontal arm, 256 second horizontal arm, 258 hand, 260 (260A, 260B) clamp device, 262 standby Part, 264 mount, 266 attached part, 268 3-axis floating device, 270 gripping mechanism, 272 suction mechanism, 274 hooking mechanism, 276 BL floating mechanism, 278 TL floating mechanism, 280 WL floating mechanism, 282a 282b WL arm, 284a to 284d Ride bush, 286a; 286b guide rail, 288a; 288b WL floating plate, 290a; 290b WL floating cylinder, 292a; 292b WL piston rod, 294a; 294b stop member, 296a; 296b guide rail, 298a; 298b 300a slide bush. 300b TL floating plate, 302 stay, 304 TL floating cylinder, 306 TL piston rod, 308a; 308b mounting piece, 310 pressing piece, 312 coil spring, 314 BL floating shaft, 316a; 316b bearing, 318 driven gear, 320 Drive gear, 322 drive motor, 324; 326; 328; 330 rotating plate, 332 BL Click air cylinder, 334 piston rod 336 locking member, 340a~340e; 342a~342e; 344a~
344e; 346a to 346e gripping jig, 348 positioning pin, 350 stay, 352 indexing detection mechanism, 354a to 354f detection dog, 356 rotational position sensor, 358 origin detection mechanism, 360 origin detection dog, 362 origin sensor, 364 lock mechanism , 366a to 366f Lock hole, 368 lock cylinder, 370 lock pin, 372 piston rod, 374a; 374b; 376a; 376b suction pad, 380 fixing block, 382 guide block, 384 guide rail, 386a; 386b guide block 90, 386a; Plate, 392 hooking piece, 394 biasing mechanism, 396 first receiving piece, 398 second receiving piece, 400 guide shaft, 402 coil spring, 404 stopper , 406 biasing mechanism, 408 engaging block, 410 stay, 412 air cylinder, 414 piston rod, 416 support shaft, 418 swing arm, 420 pushing roller, 500 rear bumper assembly station, 502 third robot, 504 fourth robot 506 rear bumper supply device, 508 rear bumper stock part, 510 transport mechanism, 512 mounting mechanism, 514 mounting frame, 516a; 516b cradle, 518a to 518d mounting hole, 520a; 520b insertion hole, 522 fastening mechanism, 524 air cylinder, 526 Piston Rod, 528 Rotation Mechanism, 530 Rotation Shaft, 532 Latching Piece, 534 Clamping Device, 536 Gripping Mechanism, 538 3-axis Floating Device, 540 BL Floating Shaft, 542 rotating plate, 544 gripping jig, 546 gripping surface, 548 positioning pin, 550 TL floating plate, 552 stay.

Claims (3)

[Claims] 1. A base member extending along a common longitudinal axis of different kinds of long workpieces and at least two locations along the longitudinal direction of the base member, wherein the different kinds of long workpieces are different from each other. A plurality of gripping surfaces that respectively match the outer surface of the shape, selection means for selectively bringing one of these gripping surfaces to a predetermined gripping position, and the outer surface of the different elongated work piece to be gripped, and the corresponding outer surface. Positioning means for accurately defining the relative position to the gripping surface and the outer surface of the different type of elongated work positioned by this positioning means are sucked,
A gripping structure for different kinds of long workpieces, comprising a suction means for bringing the outer surface into close contact with a corresponding gripping surface. 2. The base member comprises an attachment shaft extending along the longitudinal axis and rotatably supported about the longitudinal axis, and the selecting means rotationally drives the attachment shaft. The gripping structure for different kinds of long workpieces according to claim 1, wherein the desired gripping surface is selectively brought to a predetermined gripping position. 3. The positioning means includes a positioning hole formed according to a corresponding outer surface shape of a different type of elongated work, and a positioning pin provided for each gripping surface and capable of being inserted into the corresponding positioning hole. The relative position between the outer surface of the different elongated work piece to be gripped and the gripping surface corresponding thereto is accurately defined by inserting each positioning pin into the corresponding positioning hole. 1. A gripping structure for different kinds of long workpieces according to 1.