JPS6141791B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a vehicle body assembly apparatus for assembling left and right side bodies and a floor, which are large body parts of an automobile.

As a conventional automobile body assembly device,
The one disclosed in Japanese Patent No. 53-21542 is known. This is constructed so that the jig side, which is a pair of side body assembly jigs, can swing around the lower end from the upright position to the expanded position, and a conveyor is installed between the expanded jig sides. The floor is brought in from the horizontal direction, and the side body is brought in from the vertical direction using a drop lifter. When and after the input, the side body is corrected to a predetermined position and posture by the first guide device, manipulator device, and second guide device, and the positioning pin and clamp device are used to correctly position and clamp the side body to the jig side. Then, after the side of the jig is erected and the floor and both side bodies are set in the correct relative position, the vehicle body is automatically assembled by performing the prescribed welding with a welding machine equipped on the side of the jig. I'm trying to get there.

In this device, each side of each jig is swung between an expanded position and an upright position by a drive device consisting of two cylinder devices. However, when the jig side is located near the expanded position, the vertical line passing through its center of gravity is far from the center of rocking, so a large driving force is initially required to raise it upright. This can be solved by increasing the size of the drive device, but it means that even near the standing position, which requires a smaller force than the initial one, it will be swung with the same force as at the beginning, and a large collision force will be applied to the stopper etc. when standing up. This caused the problem that accurate positioning was difficult.

This invention was made by focusing on such conventional problems, and by pulling each jig side with a constant force from above and assisting a drive device that swings each jig side, It is an object of the present invention to solve the above-mentioned problems by causing each jig side to stand up and swing with a force that decreases as it approaches the upright position from the expanded position.

Hereinafter, a first embodiment of the present invention will be described based on the drawings.

FIG. 1 schematically shows the relative positions and welding points of each member of an automobile body assembled by the vehicle body assembly apparatus according to the present invention, in which 1 is a floor 2, 2' is a pair of left and right side bodies, and FIG. Yes, first
In the figure, the parts marked with ○ and × indicate the welding locations. In Figures 2 and 3, 3 is a base;
4 is a receiving post installed on the base 3 as a positioning means. This receiving post 4 is connected to the piston rod 6 of the cylinder 60 attached to the base 3.
1, and a plurality of support arms 63 attached to the peripheral edge of the plate 62. And receiving post 4 is
The floor 1 conveyed by the reciprocating shuttle bar 80 is lifted from the shuttle bar 80 and positioned at a fixed position. The following devices are provided on both sides of the receiving post 4, but since these are symmetrical, only one device will be described for convenience. Reference numeral 5 denotes support blocks installed on the base 3, and a support arm 7 is swingably supported on these support blocks 5 via a shaft 6. 8 is a pivot base,
This pivot base 8 is fixed to the support arm 7. As shown in FIG. 3, a first pillar 9, a second pillar 10, and a third pillar 11 are provided upright on the pivot base 8 at predetermined intervals. These support arm 7, pivot base 8, first, second, and third pillars 9, 10, and 11 collectively constitute a jig side 25 installed on one side of the shuttle bar 80. The shaft 6 is a swing center located at the lower end of the jig side 25. 2
Reference numerals 0 and 20' denote driving cylinders as a driving device which are swingably installed on the base 3 via brackets 21 and 21', respectively, and piston rods 22 and 22' of these driving cylinders 20 and 20'. The tip of the bracket 2 is fixed to the pivot base 8.
3, 23', and is rotatably connected with a pin. 2
Reference numeral 4 denotes a stopper provided on the base 3, which regulates the clockwise swing angle (in FIG. 2) of the support arm 7.

A plurality of clamps 12 for positioning and clamping the side body 2 are arranged at predetermined positions on the first, second, and third pillars 9, 10, and 11 via cylinders 14, respectively. Further, 15 is a gun for spot welding the side body 2 to the floor 1, and this gun 15 is used for spot welding the side body 2 to the floor 1.
A large number of brackets 16 are disposed at predetermined portions of each pillar 9, 10, 11 via brackets 16. 13,
Guides 17 have the same shape as the lower and upper ends of the side body 2, respectively, and these guides 13 and 17 are attached to the upper and lower ends of the first, second, and third pillars 9, 10, and 11, respectively. is set up. 18 and 19 are locate pins for positioning the side body 2, and these locate pins 18 and 19 are connected to the first and third pillars 9 and 11, respectively.
It is installed at a predetermined location. These clamps 1
2. Guides 13, 17 and locate pins 18, 1
The reference numeral 9 as a whole constitutes a jig that grips the side body 2 when the jig side 25 is erected and positions the side body 2 with respect to the floor 1. That is, the locate pins 18 and 19 accurately position the side body 2, and the guides 13 and 17 and the clamp 12 accurately clamp the positioned side body 2.

The jig side 25 has driving cylinders 20, 2
0', it is possible to swing from the expanded position to the upright position with the shaft 6 as the center of swing. Here, the expanded position means that the jig side 25 is the drive cylinder 2.
When the support arm 7 is retracted from the piston rods 22 and 22' at 0 and 20', it swings clockwise in FIG. cylinder 2
As the piston rods 22 and 22' of 0 and 20' protrude, the jig side 25 swings counterclockwise in FIG. A pair of locking members 26, 26' installed on both sides in the length direction of the base 8 come into contact with a stopper 26b attached to a bracket 26a26a' fixed to the base 3, thereby locking the relationship between the floor 1 and the side body 2. This refers to the position where the is correctly set.

Furthermore, posts 40 and 41 are provided upright on the base 3 on the front and rear sides of the jig side 25 with respect to the conveying direction of the floor 1, respectively. post 4
0 and 41 are provided at positions where they do not come into contact with the reciprocating shuttle bar 80, the floor 1, and the side bodies 2, 2', and their upper portions are inclined toward the shuttle bar 80. The upper ends of the inclined parts of the posts 40 and 41 are higher than the upper ends of the pillars 9 and 11 in the upright position, and are located on the shuttle bar 80 side. Arms 46 and 47 are attached to the upper ends of the pillars 9 and 11, respectively, and extend horizontally toward the posts 40 and 41 and parallel to the shuttle bar 80. The tips of the arms 46 and 47 are connected to each post 40,
41, and the reinforcing members 58, 5
Reinforced by 9. On the other hand, post 40,
Single-acting cylinders 70 and 71 as tension devices are embedded in the base 3 at the bottom of 41. Constant-pressure air is supplied to the single-acting cylinders 70, 71 from a driving source via relief valves (not shown), and the piston rods 72, 73 are constantly pulled downward by a constant force. And arm 46
and the post 40, and between the arm 47 and the post 41, locking members 48, 49 are installed at the tips of the arms 46, 47, and the other ends are connected to the piston rods 72, 73. Wire ropes 42, 43, etc., connected to are stretched across. The central portions of the wire ropes 42 and 43 are adapted to hang on pulleys 50 and 51 rotatably provided at the upper ends of the posts 40 and 41, respectively. That is, the jig side 25 is pulled by the wire ropes 42, 43 with a constant force from above and from the direction in which the jig side 25 stands up. Further, the wire ropes 42, 43 are changed in direction by the pulleys 50, 51 and the pulleys 52, 53 rotatably supported near the lower end of the slope, and are fixed to the vertical portions of the posts 40, 41. By being guided by guide stations 54 and 55, the portion between the pulleys 50 and 51 and the piston rods 72 and 73 is guided by the respective posts 40 and 55.
41. Here, wire ropes etc. 42, 43, pulleys etc. 5
2 and 53, the single-acting cylinders 70 and 71 as a whole constitute a traction device that pulls the jig side 25 with a constant force.

Next, the operation of the above-mentioned device will be explained.

The floor 1 conveyed by the reciprocating shuttle bar 80 is stopped at a fixed position. Then,
The cylinder 60 of the receiving post 4 is actuated, the piston rod 61 protrudes, and the floor 1 is lifted from the shuttle bar 80 by the plurality of support arms 63 and positioned in a fixed position. At this time, the jig side 25 is in the expanded position. In this state, the side body 2 is suspended to a fixed position by the hanger 28 of the drop lifter with its posture substantially defined. Next, the driving cylinders 20, 20'
, and the piston rods 22, 22' are synchronously extended by a predetermined stroke. As a result, the jig side 25 is swung about the shaft 6 from the expanded position to the intermediate position where the side body is suspended. At this time, guide 1
3 and 17 are brought into contact with the lower and upper ends of the side body 2, respectively, and the locate pins 18 and 19 are inserted into locate holes provided on the side body 2 side. Next, the cylinder 14 is driven to swing the clamp 12, and the side body 2 is moved to the jig side 2.
5. Accurately position and clamp. Thereafter, the driving cylinders 20, 20' are operated again to cause the piston rods 22, 22' to protrude synchronously. As a result, the jig side 25 is swung from the intermediate position to the upright position, and the stopper 26
b, 26b, the side body 2 is correctly set on the floor 1 positioned on the receiving post 4.

Next, a description will be given based on FIG. 4.

During the swinging of the earlier jig side 25, the jig side 2
5, the tensile force of the piston rods 72, 73 of the single-acting cylinders 70, 71 is acting on the arms 46, 47 at the tips of the arms 46, 47 through the wire ropes 42, 43, so the diagram is centered on the shaft 6. A counterclockwise rotational moment M is acting. This rotational moment M can be expressed by the equation M=W. Here, w is the traction force acting on the jig side 25 by the single-acting cylinders 70, 71, and is the extension of the wire ropes 42, 43 connecting the pulleys 50, 51 and the locking members 48, 49. This is the length of a perpendicular line drawn from the central axis C of the shaft 6, which is the center of rotation of the jig side 25, on the line h. Although the traction force w is constant, the mounting position of the pulley 50 is higher than the tip of the jig side 25 in the upright position, so the length is the same as when the jig side 25 is in the expanded position.
If ₁ is defined as 1, and ₂ is defined as the case in the standing position, the length becomes gradually shorter as it approaches ₂ from ₁ , as schematically shown in the figure. Therefore, even if the rotational moment M acting on the jig side 25 is initially large enough to swing at the expanded position, it gradually becomes smaller as it approaches the upright position. The driving force from the driving cylinders 20, 20' is always constant, but the rotational moment from the single-acting cylinders 70, 71 gradually decreases from the expanded position to the upright position, as described above. Therefore, the jig side 25 is erected and swung by a force that decreases as it approaches the erected position from the expanded position. For this reason,
Even if it is initially swung with a large force near the expanded position, a large collision force will not be applied to the stoppers 26b, 26b when they stand up.

Note that after the jig side 25 reaches the standing position,
A predetermined portion of the side body 2 and the floor 1 are welded using a welding gun 15 or the like. As described above, after the assembly of the side body 2 and floor 1 is completed, the driving cylinders 20, 20' are operated and the piston rods 22, 22' are retracted. As a result, the jig side 25 swings from the upright position to the expanded position and is stopped by the stopper 24. In addition, at this time, the wire rope etc. 42, 4
Since the traction force w is acting on 3, the stopper 24
Since the jig side 25 and the stopper 24 swing gently without colliding with each other, there is no fear that the jig side 25 and stopper 24 will be damaged. Next, the floor 1 and side body 2 thus assembled are conveyed to the next process by a shuttle bar 80 after the cowl top, part shelf, etc. are assembled using an assembly jig (not shown).

Next, a second embodiment will be described using FIG. 5.

Here, only the parts that are different from the first embodiment will be explained, and the same parts will be denoted by the same reference numerals and the explanation will be omitted.
In the first embodiment, wire rope etc. 42,
Single-acting cylinders 70, 71 as tension devices of 43
However, here, weights 44 and 45 were used. That is, weights 44 and 45 are suspended from the other ends of wire ropes 42 and 43, and these weights 4
4, 45 are movable along the posts 40, 41. Reference numerals 56 and 57 are guides for the weights 44 and 45. In this case as well, due to the weight of the weights 44 and 45, the wire rope, etc.
2 and 43 pull the jig side 25 from above, and have the same effect as the first embodiment. Furthermore, it utilizes a natural force called gravity, does not require any driving source, and has a simple structure.

In the above description, the tensioning device was attached to the base 3 for design reasons and the jig side 25 was pulled through the pulleys 50 and 51, but it is also possible to attach the tensioning device (hoist, cylinder, etc.) directly to the ceiling, etc. May be towed.

As explained above, according to this invention,
By pulling each jig side with a constant force from the direction in which it stands up and from above, and assisting the drive device that swings each jig side, each jig side is moved from the expanded position to the standing position. Since the robot is caused to stand up and swing by a force that decreases as it approaches , the following effects can be obtained.

In other words, there is no need to control the drive device, and by simply providing a traction device with a simple structure, each side of each jig can be sufficiently lifted in the expanded position, and furthermore, in the upright position, there is no impact force on the stoppers, etc. It can be swung with a force that does not cause any damage, and accurate positioning (in the standing position), which is essential for vehicle body assembly, can be easily performed.

In particular, in the two embodiments described above, the traction device is not installed on the ceiling but on the base of the vehicle body assembly device, so wire ropes etc. are used to transport the floor, side body, etc. It never gets in the way. Furthermore, there is no need to provide a special device for holding the traction device, and the base on the side of the jig can be used in common, making it economical and easy to design, install, etc.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing a car body assembled by a car body assembly apparatus according to the present invention, FIG. 2 is a schematic front view showing a first embodiment of the car body assembly apparatus according to the invention, and FIG. The A-A arrow view in the figure and FIG. 4 schematically show the rotational moment that acts when the jig side of an embodiment of the vehicle body assembly apparatus according to the present invention is in the expanded position and when it is in the upright position. FIG. 5 is a schematic front view showing a second embodiment of the present invention. 1...Floor, 2...Side body, 4...Receiving post, 25...Jig side, 40, 41...Post, 4
2, 43... Wire rope etc., 44, 45... Weight,
70, 71...Single acting cylinder, 80...Shuttle bar.

Claims (1)

[Claims] 1. In an automobile body assembly device that is driven by a drive device and is provided with a jig side that stands up with the lower end as the center of swing and positions the side body that has already been received in this position with respect to a separately set floor, An automobile body assembly device comprising a traction device for pulling the jig side with a constant force from the direction in which the jig side stands up and from above the jig side.