JPH0415051B2 - - Google Patents

Description

[Detailed description of the invention]

A. Purpose of the invention (1) Industrial application field The present invention is directed to equipment for assembling component parts, particularly to a main body.
A plurality of fastening portions of the component parts are overlapped with a plurality of fastened portions of the main body having different intervals from each other, with pallet members holding component parts to be assembled to the main body facing each other. The present invention relates to assembly equipment in which each fastened part and each fastened part are fastened using screw parts. (2) Conventional technology Conventionally, as this type of assembly equipment, there has been known one in which a pallet member is provided with a plurality of rotating machines equipped with rotating shafts that move the threaded parts forward toward the parts to be fastened while rotating them. (Refer to Japanese Patent Application Laid-Open No. 61-220980). (3) Problems to be Solved by the Invention However, in the above-mentioned assembly equipment, the difference in the distance between each fastened part and the pallet member is compensated for by the operating stroke of the rotating shaft in the rotating machine. There is a problem in that it is necessary to provide various rotating devices with different operating strokes corresponding to the differences in the operating stroke, which is uneconomical. Furthermore, the assembly equipment is dedicated to a specific model, and therefore, when changing models, it is necessary to replace the pallet members along with a plurality of rotators, which poses a problem of poor compatibility. An object of the present invention is to provide the assembly equipment that can solve the above problems. B. Structure of the Invention (1) Means for Solving the Problems The present invention provides a main body with pallet members holding component parts to be assembled to the main body facing each other, and with different intervals between the pallet members and the pallet members. The assembly equipment is configured to superimpose a plurality of fastening parts of the component parts onto a plurality of fastened parts of the main body, and to respectively fasten each fastened part and each fastened part using threaded parts. , a plurality of sockets for holding the screw parts are provided in the pallet member so as to be movable toward and away from the plurality of fastened parts, respectively, and rotatable, and each socket is rotated to face each fastened part. The present invention is characterized in that a rotating machine having a rotating shaft for advancing the socket is arranged separately from the pallet member in correspondence with each socket, and the length of each socket is changed to set the operating stroke of each rotating shaft to be equal. . (2) Effect When configured as described above, each rotating machine can have the same configuration. On the other hand, when changing the model, it can be easily handled by exchanging the pallet members and changing their positions by sharing the rotating machine. (3) Example Figures 1, 2, and 2A show the entire assembly equipment,
The various components of the assembly equipment are arranged in and near the pit 2 that opens into the floor 1, and the equipment is installed at the lower front and rear of the vehicle body 4, which is the main body positioned and fixed on the support stand 3. The front and rear lower parts 5f and 5r of the vehicle are brought in, and these lower parts 5f and 5r are automatically assembled to the vehicle body 4. The vehicle body 4 is positioned by fitting a pair of front and rear positioning holes 6 formed on both sides of the vehicle body 4 into positioning pins 7 of the support base 3, respectively, as shown in FIGS. 2A and 3. The assembly equipment includes front and rear lower parts 5f, 5.
The front and rear pallet members 8f and 8r that hold seat bolts as a plurality of threaded parts that fasten r and these lower parts 5f and 5r to the vehicle body 4,
Before circulating so as to stop below the vehicle body 4,
Rear conveyance devices 9f, 9r and those conveyance devices 9
f, located near 9r and in front of multiple bolts,
Before supplying the rear pallet members 8f and 8r, front and rear bolt supply device 1 as the rear first supply device
0f, 10r, and similarly front and rear transport devices 9f,
The front and rear lower parts 5 are arranged near 9r.
Before supplying f, 5r to the front and rear pallet members 8f, 8r, rear second supply devices 11f, 11r,
Elevating device 1 disposed below the vehicle body 4 for raising and lowering the front and rear pallet members 8f and 8r relative to the vehicle body 4
2, the front and rear pallet members 8f, 8 are similarly arranged under the vehicle body 4, in the illustrated example, on the lifting device 12.
The vehicle is provided with a plurality of front and rear rotating devices 13f and 13r that rotate bolts to fasten the front and rear lower parts 5f and 5r to the vehicle body 4 when r is in the raised position. The support stand 3, the front and rear conveyance devices 9f and 9r, and the lifting device 12 are arranged inside the pit 2,
The rear bolt supply devices 10f, 10r and the front and rear second supply devices 11f, 11r are arranged on the floor 1. The various components described above have substantially the same configuration and function at the front and rear of the vehicle body 4, so the following will be explained below.
The various components on the front side will mainly be explained. Front Pallet Member 8f The pallet member 8f consists of a work set pallet 14 shown in FIGS. 4 to 6 and a bolt set pallet 15 shown in FIGS. 7 and 8,
Both pallets 14, 15 are adapted to be polymerized with the workset pallet 14 on top. The work set pallet 14 holds a front lower part 5f that is a unit of the engine, front suspension, etc., and the bolt set pallet 15 holds a plurality of bolts 17 with seats 16 for fastening the front lower part 5f to the vehicle body 4. (8th, 9th
Figure). (i) Work set pallet 14 In FIGS. 6 and 6, the work set pallet 14 has a substantially rectangular plane, and on its upper surface, a plurality of front lower parts 5f are placed on the front and rear sides in the vehicle length direction. The mounting section 18 of
Further, a pair of positioning pins 20 that fit into a pair of positioning holes 19 (FIG. 12) of the front lower part 5f are provided protrudingly on the rear side in the vehicle length direction, and a bolt set pallet 15 and a bolt set pallet 15 are provided on the front side in the vehicle length direction. A pair of positioning holes 21 are formed. (ii) Bolt set pallet 15 As shown in FIGS. 7 and 8, the bolt set pallet 15 includes a pair of socket installation parts 22 extending in the vehicle length direction, and both socket installation parts 22.
The connecting portion 23 connects the front end portions of the vehicle in the longitudinal direction of the vehicle to form a substantially U-shape in plan view. A pair of first and second bolt tightening sockets 24 1 , _{24 2 are} provided on the front and rear sides in the vehicle length direction on the upper surface of each socket installation portion 22 , respectively.
Third and fourth sockets 24 ₃ and 24 ₄ are respectively arranged so as to be movable forward and backward relative to the fastened portion of the vehicle body 4 and rotatable, and between the first and second sockets 24 ₁ and 24 ₂ and Positioning pins 26 that fit into four positioning holes 25 (FIG. 3) formed in the front portion of the vehicle body ₄ are protrudingly provided near the fourth socket 244. Since the configuration and supporting structure of each of the sockets 24 ₁ to 24 ₄ are substantially the same, the first socket 24 ₁ will be explained with reference to FIGS. 9a and 10. The first socket 24 ₁ includes a shaft portion 27 , a first cylindrical portion 28 1 that is fitted onto the outer peripheral surface of the upper end of the shaft portion 27 and opens upward to fit with the head 17 a of the bolt 17 , and a shaft portion 28 ₁ . It consists of a second cylindrical portion 28 ₂ that is connected to the lower end of the rotor 27 and opens downward, and that fits into a rotation shaft 29 of a front rotation device 13 f, which will be described later. An insertion hole 30 is formed in the socket installation part 22, and an angled support 31 is erected on the upper surface of the socket installation part 22 so as to surround approximately half the circumference of the insertion hole 30. An annular locking plate 32 is welded to the upper end surface of the support column 31, and a guide tube 33 is welded to the inner surface of the lower end. When the first socket ₂₄₁ is in the retracted position,
The shaft portion 27 is loosely inserted into the hole 34 of the locking plate 32 and extends along the support 31.
8 ₁ protrudes upward from the locking plate 32, and its lower end surface is locked to the periphery of the hole 34, and the second cylindrical portion 2
8 ₂ is loosely fitted into the guide cylinder 33. The first and second sockets 24 ₁ , 24 ₂ have the same length l ₁ , and the third and fourth sockets 24 ₃ ,
If the lengths of ₂₄₄ are _l3 and _l4 , there is _l1 between the lengths _l1 , _l3 , _{and l4} of the first to fourth sockets ₂₄₁ to 244.
The relationship ＜l ₄ ＜l ₃ is established. As clearly shown in FIG.
Second hook members 35 ₁ , 35 ₂ are fixed, and a grooved wheel 36 whose rotation axis is parallel to the vehicle length direction is housed in the opening of each hook member 35 ₁ , 35 ₂ . Further, a grooveless wheel 37 having a rotation axis arranged in the same manner as described above is attached to the rear end of each socket arrangement portion 22 in the vehicle length direction. U-shaped first and third engagement portions 38 ₁ and 38 ₃ cut from the front of the vehicle body 4 are formed in the first and second hook members 35 ₁ and 35 ₂ , respectively. Further, a U-shaped fourth engagement portion 38 ₄ is cut into the first hook member 35 1 from the right side of the vehicle body ₄ , and a U-shaped third engagement portion is cut into the second hook member 35 ₂ from the left side of the vehicle body. A portion 38 ₃ is formed respectively. On the upper surface of the connecting portion 23, a double grooved wheel 36
A pair of positioning pins 39 are protrudingly provided near the workpiece set pallet 14, and each positioning pin 39 is adapted to fit into each positioning hole 21 (FIG. 4) of the workpiece set pallet 14. Positioning hole 4 on the outside of each positioning pin 39
0 is formed, and each positioning hole 40 is used for positioning the bolt set pallet 15 during assembly work (FIG. 24). A chevron-shaped guide groove 41 is formed on the lower surface of the opposite edge portion of both socket installation portions 22 so as to extend parallel to the rotation axis of each wheel 36, 37. (iii) Front lower parts 5f, work set pallet 14, bolt set pallet 15, vehicle body 4
As shown in FIGS. 9 and 12 to 14, the engine 42 and the front and rear subframes 43 ₁ and 43 ₂ of the front lower part 5f are connected to each of the work set pallets 14. The work set pallet 14 is placed on the placing part 18, and the pair of positioning pins 20 are fitted into the pair of positioning holes 19 of the rear subframe ₄₃₂ .
The front lower part 5f is positioned relative to the front lower part 5f. In this positioning state, both ends of the front and rear subframes 43 ₁ and 43 ₂ protrude from the work set pallet 14, and each end is attached to the vehicle body 4.
Functions as a fastening part for In the front subframe 43 ₁ , the first
The mount member 4 is attached to the second fastening portions 44 ₁ and 44 _2.
5, the first and second bolt insertion holes 46 ₁ , 4
6 ₂ are formed respectively, and third and fourth bolt insertion holes 4 are formed in the third and fourth fastening portions 44 ₃ and 44 ₄ existing in the front and rear of the rear subframe 43 ₂ by the mount member 45 in the same manner as described above.
6 ₃ and 46 ₄ are formed. The bolt set pallet 15 is superimposed on the lower surface of the work set pallet 14, and at this time, the pair of positioning pins 39 of the bolt set pallet 15 are fitted into the pair of positioning holes 21 of the work set pallet 14, and the work set pallet is Bolt set pallet 15 for bolt 14
positioning is performed. In this positioning state, the bolt set pallet 15 has the first to
The tips of the bolts 17 supplied to the fourth sockets 24 ₁ to 24 ₄ are inserted into the first to fourth bolt insertion holes 46 ₁ to 46 ₄ as shown in FIG. Positioning holes 47 in front and rear subframes 43 ₁ and 43 ₂
penetrate. In this overlapping state, the bolt set pallet 15 and the like are raised by the lifting device 12, and in the raised position each positioning pin 26 is inserted into each positioning hole 25 (third position) of the vehicle body 4.
(Fig.) will fit. As clearly shown in Figures 3, 9 and 13,
The four first to fourth fastened parts 48 ₁ to 48 ₄ on the left and right sides of the vehicle body 4 have different intervals from the bolt set pallet 15 . That is, the distances between the first and second fastened parts 48 ₁ and 18 ₂ on the front side and the bolt set pallet 15 are equal, the distance is set to d ₁ , and the distance between the third fastened part 48 ₃ and the bolt set pallet 15 is equal. and the _fourth fastened part ₄₈₄ and the bolt set pallet 1.
5 is set to d ₄ , the relationship d ₁ < d ₄ < d ₃ holds between these distances d ₁ , d ₃ , and d ₄ . Each fastening part 44 ₁ to 4 of the front lower part 5f
4 ₄ is superimposed on each of the fastened parts 48 ₁ to 48 ₄ of the vehicle body 4 from below, and therefore the same spacing as above is also provided between the first to fourth fastened parts 44 ₁ to 44 ₄ . A relationship is established. In a state where such a spacing relationship is established, as described above, the first to fourth sockets 2
When the lengths l _{1 ,} l ₃ , l ₄ of 4 1 to 24 ₄ are set to l ₁ < l ₄ < l ₃ , the first to fourth sockets 24 ₁ to 24 ₄ are ~4th front rotation machine 1
Operating stroke of each rotating shaft 29 from 3 ₁ to 13 ₄
St can be made equal, and accordingly, those having the same configuration are used as each of the rotating machines 13 ₁ to 13 ₄ . Furthermore, since each of the rotating machines 13 ₁ to 13 ₄ is provided in the lifting device 12 separately from the pallet member 8f, when changing the model, the front pallet member 8f is replaced, and each of the rotating machines 13 ₁ to 13 4 is
This can be easily handled by sharing 13 _{and 4} and changing their positions. FIG. 15 shows the first front rotator 13 ₁ ,
To explain the outline, the elevating device 12
gantry 50 of the elevating table 49 (second
A, FIG. 20) A support cylinder 51 whose axis is vertical is fixed on top. A support plate 53 is provided on the top of the support tube 51 so as to be rotatable around the axis of the support tube 51 by a servo motor 52, and a moving body 54 extending in the horizontal direction is built into the support plate 53. It is supported so that it can be moved horizontally by a moving motor. Further, a rotation shaft 2 is attached to one end of the moving body 54.
The rotary drive body 55 equipped with 9 is the drive cylinder 5
6 so as to be movable in the vertical direction. When fastening the front lower part 5f, for example, the first
It is fitted into the second cylindrical portion 28 ₂ of the socket 24 ₁ and the bolt 17 is screwed into a nut 57 as a mating threaded component existing in the first fastened portion 48 ₁ . As shown in FIGS. 9 and 11, each nut 5
7 consists of a cylindrical portion 57a and a flange portion 57b provided on the outer peripheral surface of its lower end, and the tip of the cylindrical portion 57a is loosely inserted into the long hole 59 of the holding plate 58 attached to each of the fastened portions 48 ₁ to 48 ₄ . It is inserted and held in each of the fastened parts 48 ₁ to 48 ₄ . As a result, each nut 57 can be moved by a predetermined amount in a horizontal plane. Therefore, even if the position of each nut 57 is slightly misaligned, the screwing operation described above can be performed reliably to assemble the front lower part 5f. Able to perform work. In FIG. 15, when changing the model, when changing the position of each of the rotating machines 13 ₁ to 13 ₄ , that is, when changing the position of the rotary drive body 55, the servo motor 52 is operated to move the support plate 53 and therefore the rotation drive body 55. Rotating the body 54 and the rotary drive body 55 around a vertical axis; Activating the moving motor to move the movable body 54 and the rotary drive body 55 in the horizontal direction; and activating the drive cylinder 56 to move the rotary drive body 55. It performs operations such as moving in the vertical direction. Front Transport Device 9f In Figures 1, 2, and 2A, the front transport device 9f has a plurality of transport systems as described below. That is, a first transport system L1 extends from the pallet stacking position A on the right side of the vehicle body 4 in the vehicle width direction to a parts assembly position B below the vehicle body 4, and a first transport system _L1 extends from the parts assembly position B in the vehicle length direction to the vehicle body. 4. A second transport system _L2 leading to the pallet discharge position C in front of the vehicle body 4, and a pallet separation position D extending from the pallet discharge position C in parallel with the first transport system _L1 and diagonally forward to the right of the vehicle body 4.
A third transport system _L3 extends from the pallet separation position D to the pallet stacking position A, a fourth transport system _L4 extends from the pallet separation position D in parallel to the second transport system _L2 , and a fourth transport system L runs from the pallet separation position D to the pallet stacking position A. 5th conveyance system L ₅ bypassing ₄ and reaching pallet stacking position A
That is. Front lower part 5f is located at pallet overlapping position A.
A polymerization mechanism 60 is provided for polymerizing the work set pallet 14 holding the bolt set pallet 14 and the bolt set pallet 15 holding the plurality of bolts 17 as described above. The bolt set pallet 15 is conveyed to the parts assembly position B via the first conveyance system _L1 and stopped there. At the parts assembly position B, there are front and rear transport devices 9.
A lifting device 12 constituting a part of the front lower part 5f, 9r, a plurality of front rotation machines 13f for assembling the front lower part 5f to the vehicle body 4, etc. are provided. Can be attached. After the assembly work, the work set pallet 14 and bolt set pallet 15 are transferred to the second conveyance system.
L ₂ to pallet discharge position C, and then to pallet discharge position C.
The pallet is transported to the pallet separation position D via the transport system _L3 . In the vicinity of the pallet separation position D, a front bolt supply device 10f is provided that supplies bolts 17 to the bolt set pallet 15 which is in an overlapping state with the work set pallet 14. A separation mechanism 61 is provided to separate the workpiece set pallet 14 and bolt set pallet 15 after being supplied. After the separation operation, the bolt set pallet 15 supplied with the bolts 17 is transported to the pallet stacking position A via the fourth transport system _L4 . Further, the work set pallet 14 is conveyed through the fifth conveyance system _L5 , and during the conveyance, the front lower parts 5f are supplied by the second front supply device 11f disposed in the fifth conveyance system _L5 . After being supplied, the work set pallet 14 is conveyed to the pallet overlapping position A, where it is overlaid with the bolt set pallet 15, and thereafter the same operations as described above are performed. The polymerization mechanism 60 is configured as follows. As shown in FIGS. 1, 2A, 16, and 17, in the structural frame 62 of the assembly equipment erected at the bottom 2a of the pit 2, the pair of columns ₆₄ of the gate-shaped frame portion 631 Drive motor 6
5. A slider 70 that moves up and down along the guide rail 69 of the support column 64 via a plurality of guide rollers 68 by a reducer 66, a transmission member 67, etc. is provided, and the slider 70 has a rectangular opening 71.
A horizontal pallet mounting table 71 having a diameter of 1.a is connected via a pair of brackets 72 so as to move up and down horizontally. A pair of rails 73 and 74 extending in the vehicle width direction are laid parallel to each other on the upper surface of the pallet mounting table 71. One rail 73 on the pallet separation position D side
has a chevron-shaped top surface, and the other rail 74 has a flat top surface (FIG. 16). The grooveless wheels 37 are adapted to roll, respectively. A pallet support stand 76 equipped with a plurality of steel balls 74 is mounted on the upper end of the support frame portion 77 of the structural frame 62 to support the work set pallet 14 so as to be located within the vertical locus of the opening 71a in the pallet placement stand 71. Supported. When the pallet mounting table 71 is in the raised position, the top surfaces of the rails 73 and 74 are positioned above the steel balls 75 of the pallet support table 76. The separation mechanism 61 is configured as follows. As shown in FIGS. 1, 2A, and 16, the separation mechanism 61 has substantially the same configuration as the polymerization mechanism 60. That is, the drive motor 7 is connected to a pair of columns 78 of the gate-shaped frame portion 63 ₂ in the structural frame 62.
9. A slider 84 is provided that moves up and down along the guide rail 83 of the support column 78 via a plurality of guide rollers 82 by a reducer 80, a transmission member 81, etc., and the side of the slider 84 on the side of the overlapping mechanism 60 is open. A horizontal pallet mounting table 85 having a U-shaped notch 85a is connected via a pair of brackets 86 so as to move up and down horizontally. Notch 85a in pallet mounting table 85
A pallet support stand 88 equipped with a plurality of rollers 87 for supporting the work set pallet 14 is positioned within the lifting locus of the first and third pallets.
Structural frame 62 existing between transport systems L ₁ and L ₃
It is supported in a cantilever manner by a bracket 90 on the upper horizontal frame portion 89 of. In the pallet mounting table 85, the stacking mechanism 60 is placed on the upper surface of the end on the stacking mechanism 60 side of both opposing parts.
The rail component 91a is laid so as to be located in a straight line parallel to the rails 73 and 74, and both rail components 91a are placed on the upper surface of the pallet support base 88 when the pallet mounting base 85 is in the raised position.
One rail 9 exists between a and cooperates with them.
1 is laid. Furthermore, in the pallet mounting table 85, a rail 92 is laid parallel to the rail 91 on the upper surface of the connecting portion that connects the two opposing portions. One rail 91 on the pallet stacking position A side has a flat top surface, and the other rail 92 has a chevron-shaped top surface, so that when the pallet mounting table 85 is in the raised position, the bolts can be set on one rail 91. The non-grooved wheels 37 of the pallet 15 and the grooved wheels 36 can roll on the other rail 92, respectively. When the pallet mounting table 85 is in the raised position, the top surfaces of the rails 91 and 92 are positioned above the rollers 87 of the pallet support table 88. (i) First conveyance system _L1 As shown in the first, second A, 16th and 17th figures, the pallet mounting table 7 of the stacking mechanism 60
1 is in the raised position, both rails 73, 7
A pair of fixed rails 9 located on the extension line of 4
3 and 94 are laid on the upper surface of the rail support portion 95 of the structural frame 62 between the pallet stacking position A and the component assembly position B. Further, a pair of movable rails 96, 97 are installed on the elevating table 49 of the elevating device 12 so as to be able to move up and down.
It is located on the extension line of 94. The cross-sectional shape of each fixed rail 93, 94 and each movable rail 96, 97 is the same as the cross-sectional shape of each rail 73, 74 of the pallet stacking mechanism A. The cylinder mechanism 98 that conveys the bolt set pallet 15 is mounted on the upper horizontal frame portion 8 with its operating direction parallel to the fixed rails 93 and 94.
9. The cylinder mechanism 98 is
A first working cylinder 100 ₁ is fixed to the upper horizontal frame 89 near one of the fixed rails 93 so that the tip of the piston rod 99 can extend to the side of the pallet overlapping position _A ; The rail portion 101 is arranged in parallel to the upper horizontal frame 89.
The second actuating cylinder 1002 is of a rodless type and is slidably fitted into the grooves of a pair of guide members 102 in the second actuating cylinder ₁₀₀₂ . In the second working cylinder 100 ₂ , its cylinder body 103
The pallet overlapping position A side end is connected to the connecting fitting 1.
04 to the piston rod 99 of the first working cylinder ₁₀₀₁ . 18, 18A, and the piston 1 of the second working cylinder 100 ₂ as shown in FIG.
A retaining plate 106 is connected to the cylinder body 105, and the retaining plate 106 is slidably supported by a pair of guide rods 107 of the cylinder body 103. The holding plate 106 is provided with a pair of parallel guide rails 108 extending in the vertical direction, and a small operating cylinder 110 with a piston rod 109 facing downward, located above between the guide rails 108. Both guide rails 10
8 is slidably fitted into a pair of guide grooves 112 provided on the back surface of the elevating plate 111.
Further, an engagement pin 113 is fixed to the back surface of the elevating plate 111 and projects downward from the elevation plate 111, and the upper end of the engagement pin 113 is connected to the piston rod 109 of the small operating cylinder 110. The engagement pin 113 is a small operating cylinder 110
The bolt set pallet 15 is raised and lowered by the operation of
can be engaged and disengaged from the first engaging portion 38 ₁ of the first engaging portion 38 1 . A guide rail 116 attached to the cylinder body 103 and extending in the axial direction thereof is slidably fitted into a guide groove 115 of a guide member 114 attached to the upper end of the holding plate 106 . In FIG. 17, the engagement pin 113 is connected to the first and second actuating cylinders 100 ₁ , 100 _{2 .}
With this operation, it is possible to reciprocate between the pallet stacking position A and the parts assembly position B. (ii) Second transport system L ₂ As clearly shown in FIGS. 1, 2A, 17, 23, and 24, at the component assembly position B, the
A pair of mutually parallel rail members 117 that are located between both movable rails 96 and 97 and extend in the vehicle length direction.
will be placed. Each rail member 117 includes a plurality of Soroban spherical rollers 118 whose rotation axis is parallel to the vehicle width direction, and the upper outer peripheral edge of each roller 118 is formed when each movable rail 96, 97 is in the lowered position. , its movable rail 96,
97 and is adapted to be engaged with each chevron-shaped guide groove 41 of the bolt set pallet 15. At the pallet discharge position C, so as to be located on the extension line of each of the rail members 117,
A pair of rail members 120 having a plurality of rollers 119 of the same shape as described above are mounted parallel to each other on support frame portion 121 (FIG. 1) of structural frame 62. Between the parts assembly position B and the pallet discharge position C, a short one-inch relay rail member 122 relays between both rail members 117 and 120.
are provided on the support frame portion 123 (FIG. 1), and each relay rail member 122 is provided with a roller 124 having the same shape as described above. As clearly shown in FIG. 17, each rail member 120
A rodless type actuating cylinder 126 is parallel to the
A holding member 12 is provided with an engaging element 127 that engages and disengages with the second engaging portion 38 ₂ (FIG. 7) of the bolt set pallet 15 on the piston thereof.
8 are connected. A guide rail 130 fixed to the support frame portion 125 is slidably fitted into the guide groove 129 of the holding member 128 . (iii) 3rd transport system L ₃ 1st, grandchild 2A, As clearly shown in FIG. cylinder 132
provided through. Rail support stand 131 and pallet mounting stand 8 of pallet separation mechanism D
5 is in the raised position, both rails 91,9
A pair of rails 13 located on the extension line of 2.
3,134 are laid on the upper surface of the rail support stand 131. The upper surface of each rail 133, 134 is
At the raised position of the rail support stand 131, it is located above each roller 119 in each rail member 120. When the rail support stand 131 and the pallet mounting stand 85 are in the raised position, there is a space between the rails 91, 92 and 133, 134 on the upper surface of the rail support part 135 of the structural frame 62 between the pallet discharge position C and the pallet separation position D. A pair of fixed rails 136, 137 to be connected
will be laid down. The cross-sectional shape of each rail 133, 134 and each fixed rail 136, 137 is the same as the cross-sectional shape of each rail 91, 92 of separation mechanism 61. As clearly shown in FIGS. 16 and 17, _one of the fixed rails 13
7 and a rodless type actuating cylinder 13
8 is provided, and the third engaging portion 38 ₃ of the bolt set pallet 15 is provided on the piston (FIG. 7).
Holding member 1 equipped with an engaging element 139 that engages and disengages with
40 are connected. The holding member 140 is slidably supported by a pair of guide rods 141, and the actuating cylinder 13 is inserted into the guide groove 142.
A guide rail 143 provided at 8 is slidably fitted. (iv) Fourth conveyance system L ₄ As shown in FIGS. A pair of parallel rail members 144 extending in the vehicle length direction are attached to the support frame portion 145 below the pallet support base 88. Each rail member 144 includes a plurality of Soroban spherical rollers 146 whose rotation axes are parallel to the vehicle width direction, and each of the rollers 146
When the pallet mounting table 85 is in the lowered position, it protrudes above each of the rails 91 and 92 and engages with each of the chevron-shaped guide grooves 41 of the bolt set pallet 15. At the pallet stacking position A, a pair of rail members 147 located within the vertical locus of the opening 71a of the pallet mounting table 71 and on the extension line of each rail member 144 at the pallet separation position D are positioned higher than the pallet support table 76. It is attached to the support frame part 77 at the bottom. Each rail member 147 includes a plurality of Soroban spherical rollers 148 whose rotation axes are parallel to the vehicle width direction, and each roller 148 is attached to the pallet mounting table 71.
At the lowered position, the bolts protrude above the rails 73, 74 and engage with the chevron-shaped guide grooves 41 of the bolt set pallet 15. Pallet separation device D and pallet polymerization position A
Between both rail members 144, 14
A pair of short relay rail members 1 that relay between 7
49 is provided on the support frame portion 150, and each relay rail member 149 is provided with a roller 151 having the same shape as described above. At the pallet separation position D, a rodless type actuating cylinder 153 is attached to the portal frame part 63 ₂ and the support frame part 152 in parallel with the rail member 144, and the fourth engaging part of the bolt set pallet 15 is attached to the piston thereof. 3
8 ₄ (FIG. 7) and a holding member 155 provided with an engaging element 154 that engages and disengages is connected. Holding member 1
55 is slidably supported by a pair of guide rods 156, and a guide rail 158, which is constructed between the portal frame portion ₆₃₂ and the support frame portion 152, is slidably fitted into the guide groove 157 thereof. (v) Transport of the bolt set pallet 15, etc. in the first to fourth transport systems _L1 to _L4 At the pallet overlapping position A, the work set pallet 1 holding the front lower part 5f
4 is waiting on a pallet support stand 76. The bolt set pallet 15 holding the bolts 17 is placed on a pallet mounting table 71 with each grooved wheel 36 and each non-grooved wheel 37 placed on each rail 73, 74, and when the pallet mounting table 71 is raised. Workset Palette 1
4, polymerization starts from below. When the pallet mounting table 71 is in the raised position, the lower surface of the bolt set pallet 15 touches each steel ball 7 of the pallet support table 76.
It is located above 5. The engagement pin 113 is lowered by the operation of the small actuating cylinder 110 and the bolt set pallet 15 is lowered.
The first engaging portion 38 ₁ (FIG. 7) is engaged with the first engaging portion 38 1 (Fig. 7). Each movable rail 96, 97 at parts assembly position B
is in the raised position, so that the bolt set pallet 15 is moved to each rail 73, 74 and each fixed rail 9 by the operation of the _second actuating cylinder 1002 following the actuation of the _first actuating cylinder 1001.
3, 94 and each movable rail 96, 97 to the component assembly position B. Before starting the assembly work of the front lower part 5f, each movable rail 96, 97 is adapted to be lowered, thereby lowering the bolt set pallet 1.
5 is lowered and each chevron-shaped guide groove 41 engages with the roller 118 of each rail member 117. In this state, the bolt set pallet 15, and therefore the front lower part 5f, is raised by the lifting device 12 to perform the assembly work. After the assembly work, as the bolt set pallet 15 is lowered, its second engaging portion 38 ₂ (seventh
The engaging element 127 of the second conveyance system _L2 engages with the position shown in FIG. Each rail 133, 1 at pallet discharge position C
Since 34 is in the lowered position, the operating cylinder 1
26, the bolt set pallet 15
Then, the work set pallet 14 is conveyed to the pallet discharge position C along each rail member 117, each relay rail member 122, and each rail member 120. The operation of the small actuating cylinder 132 raises each rail 133, 134, so that each grooved wheel 36 and each non-grooved wheel 37 of the bolt set pallet 15 rests on each rail 133, 134, and the 3 engaging portion 38 ₃ (FIG. 7) engages with the engaging element 139. Pallet mounting table 85 at pallet separation position D
is in the raised position, so the actuating cylinder 138
The bolt set pallet 15 and work set pallet 14 are moved to each rail 13 by the operation of
3, 134, and are transported to the pallet separation position D along each fixed rail 136, 137 and each rail 91, 92. By lowering the pallet mounting table 85, the work set pallet 14 remains on the pallet support table 88, while the bolt set pallet 1
5 is lowered so that each chevron-shaped guide groove 41 engages with each rail member 144. Further, the fourth engaging portion 38 ₄ (FIG. 7) of the bolt set pallet 15 engages with the engaging element 154. The work set pallet 14 is conveyed from the pallet support stand 88 through the roller conveyor 159 on the portal frame portion ₆₃₂ , through the fifth conveyance system _L5 , and is again placed on the pallet support stand 76 at the pallet stacking position A. Ru. At the pallet stacking position A, the pallet mounting table 71 is in the lowered position, so the bolt set pallet 15 is stacked along each rail member 144, each relay rail member 149, and each rail member 147 by the operation of the actuating cylinder 153. It is transported to position A. As the pallet mounting table 71 rises, the grooved wheels 36 and the non-grooved wheels 37 of the bolt set pallet 15 are placed on the respective rails 73, 74, and then the work set pallet waiting on the pallet support table 76 is placed in the same manner as described above. Bolt set pallet 15 is polymerized relative to 14. Lifting device 12 As shown in FIGS. 20 and 21, a lifting mechanism 1 having an X-shaped link 160 at the bottom 2a of the pit 2.
61 is disposed, and an elevating table 49 is supported by the elevating mechanism 161. The roller 162 located at the upper end of one first link member 160 ₁ constituting the X-shaped link 160 is
Board 16 with pedestal 50 of elevating table 49
3 (Fig. 21).
A rotation fulcrum portion 165 at the lower end is rotatably supported by a support portion 167 on the upper surface of a base 166 installed at the bottom 2a of the pit 2. The other second link member 160 ₂
The rotation fulcrum portion 168 at the upper end is rotatably supported by the support portion 169 on the lower surface of the base plate 163 above the rotation fulcrum portion 165 of the first link member 160 ₁ , and the roller 170 at the lower end is rotatably supported by the support portion 169 on the lower surface of the base plate 163 . 166 horizontal long hole 171 provided on the top surface
It is fitted so that it can roll freely. Rotation fulcrum portion 165 of first link member 160 ₁
The cylinder body 173 of the working cylinder 172 between
is rotatably supported, and the tip of the piston rod 174 is connected to the second link member 160 ₂
It is pivotally mounted 175 at the intermediate portion of the. Therefore, when the piston rod 174 of the working cylinder 172 extends, the lifting table 49 rises, and when the piston rod 174 contracts, the lifting table 49 rises.
descends. As shown in FIGS. 2A, 20, and 21, the support base 3 for positioning and fixing the vehicle body 4 includes a set of two support legs 176 erected on the base 166 below the left and right sides of the vehicle body 4, It is supported by 177. On the base plate 163 of the lifting table 49, a pair of front and rear brackets 178, 179 extending in the vehicle width direction is provided at a portion sandwiched between each pair of support legs 176, 177.
Square block 1 located at the tip of 78,179
80, 181, the guide roller 18 is installed as follows.
2,183 are provided. Since the mounting relationship of each guide roller 182, 183 on both left and right sides of the vehicle body 4 is the same,
To explain the right side of the vehicle body 4, two guide rollers 182 with their rotational axes oriented in the vehicle width direction are mounted on the outer surface of both square blocks 180.
Two guide rollers 183 are attached to the upper and lower sides of the rectangular block 180, with their rotation axes oriented in the longitudinal direction of the vehicle. Support legs 176 and 17 on both sides of the vehicle body 4
Cross members 184 and 185 are installed between the intermediate portions of the cross members 184 and 185, and positioning blocks 186 and 187 are fixed to opposing surfaces of the respective cross members 184 and 185. As clearly shown in FIG.
9, each guide roller 182,
183 is separated from each positioning block 186, 187. On the other hand, as clearly shown in FIG.
6,187 engages with the front and rear end surfaces of the vehicle body 4,
Further, the other guide rollers 183 engage with opposing surfaces of the positioning blocks 186 and 187.
This prevents the lifting table 49 from shaking in the longitudinal and lateral directions of the vehicle body 4. As shown in FIG. 22, the first link member 16
The rotation angle of the rotation fulcrum 165 at the lower end of 0 ₁ is set on the lifting table 49.
A detection mechanism 188 is provided for converting the height to . The detection mechanism 188 includes a fan-shaped gear 189 attached to the rotation fulcrum 165 and a gear 190 that meshes with the fan-shaped gear 189.
6 and an encoder 191 fixed to the encoder 191.
The encoder 191 is designed to intermittently generate pulses when the gear 190 rotates in conjunction with the rotation of the fan-shaped gear 189, and calculates the height of the lifting table 49 by integrating the number of pulses. That's what I'm looking for. With this configuration, since the rotation fulcrum portion 165 of the X-shaped link 160 has little vibration, the height of the lifting table 49 can be accurately detected by the detection mechanism 188. The elevating table 49 is constructed as follows. This elevating table 49 is constructed in substantially the same way at the front and rear lower portions of the vehicle body 4, so
The front side will be explained. As shown in FIGS. 20, 21, and 23 to 27, a support member 192 having approximately the same length as the vehicle length is provided on the top surface of the board 163.
A pair of parallel front guide rails 193 extending in the vehicle length direction are installed on the upper surface of the front side of the vehicle.
Each guide portion 196 on the lower surface of the front support base 195 ₁ has a plurality of exposed steel balls 194 arranged in a row in the vehicle length direction on the upper surface and is slidably fitted into the guide rail 193 . As clearly shown in FIGS. 24 and 26, a servo motor 197 is disposed on the upper surface of the support member 192 below the front support base 195 ₁ , and a screw shaft 198 rotated by the servo motor 197 extends in the vehicle length direction. The threaded shaft 198 extends from a female threaded member 199 provided on the lower surface of the front support base ₁₉₅₁ .
are screwed together. This causes the servo motor 19
7, the front support stand ₁₉₅₁ can move forward and backward along both guide rails 193 in the vehicle length direction. Front support stand 195 as shown in FIG.
Support tubes 200 are provided at the four corners of the upper surface of the _vehicle.A rail support rod 201 is supported by each support tube 200 so as to be able to slide in the vertical direction. Both movable rails 96 and 97 are supported by rail support rods 201, respectively. As clearly shown in FIG. 25, an actuating cylinder 202 is fixedly installed on the front support stand 1951 between both rail support rods ₂₀₁ on the rear side in the vehicle length direction, and a piston rod 203 extends above the actuating cylinder 202.
The tip of the movable rail 97 comes into contact with the lower surface of one of the movable rails 97. As clearly shown in FIGS. 24 and 25, on both sides of the front support stand 195 ₁ parallel to the vehicle length direction,
A pair of front and rear bell cranks 204 are pivotally attached to the lower surface thereof, and a roller 205 located at the upper end of each bell crank 204 is connected to each rail support rod 2.
01 is rotatably fitted into the hole 206 at the lower end,
Further, both ends of a connecting rod 207 are pivotally connected to the lower ends of the front and rear bell cranks 204. As a result, when the actuating cylinder 202 is actuated, both movable rails 96 and 97 can be raised and lowered simultaneously via each pair of bell cranks 204 and connecting rods 207. Pallet member mounting table 208 In FIGS. 20, 23 to 25, and 27, a mounting table on which the front and rear pallet members 8f and 8r are placed so as to straddle the parts assembly position B at the front and rear of the vehicle body 4. A mounting table 208 is arranged on the lifting table 49. As clearly _shown in FIG _.
The first and second mounting portions 209 1 and 209 2 each have a rectangular frame shape and are movably supported by the four mounting portions 209 ₁ and 209 ₂
and a pair of parallel telescopic connecting rods 210 extending in the vehicle length direction to connect the opposing surfaces of both mounting tables 209 ₁ and 209 ₂ . The rail members 117 are provided on both the mounting portions 209 ₁ and 209 ₂ , and the rollers 118 of these rail members 117 are engaged with the chevron-shaped guide grooves 41 of the bolt set pallet 15, so that the front and rear pallet members 8f, 8r on both mounting portions 209 ₁ ,
209 ₂ , respectively. As clearly shown in FIGS. 23 and 27, the first mounting portion 209 ₁ and the front support base 195 ₁ have respective pairs of through holes h ₁ and h ₂ arranged diagonally therebetween.
The second mounting portion 209 ₂ is similarly connected to the rear support base 195 ₂ through a through hole and a connecting pin (not shown). In FIG. 20, front and rear support stands 195 ₁ ,
When each servo motor 197 below 195 ₂ is driven to rotate the screw shaft 198, the first and second mounting portions 2 are moved through the front and rear support stands 195 ₁ and 195 ₂ .
The interval between 09 ₁ and 209 ₂ can be changed, so it is possible to easily accommodate changes in wheel base when changing models. After this wheelbase change work, each coupling pin 211 is removed and the connection between the first mounting part 209 ₁ and the front support stand 195 ₁ and the connection between the second mounting part 209 ₂ and the rear support stand 195 ₂ is completed. It will be canceled. As clearly shown in FIGS. 23 and 24, small actuating cylinders 212 are attached to the lower surfaces of both sides of the first mounting portion 209 ₁ on the front side in the vehicle length direction, and are connected to upward piston rods 213 of each actuating cylinder 212. Positioning pin 214
is the insertion hole 21 formed in the first mounting portion 209 ₁
It passes through 5. In the above configuration, when the bolt set pallet 15 etc. are carried into the parts assembly position B, each positioning pin 214 is in the lowered position and each movable rail 96, 97 is in the raised position, so that the bolt set pallet Fifteen grooved wheels 36 and fifteen non-grooved wheels 37 roll on both movable rails 96,97. Next, when each movable rail 96, 97 descends, the bolt set pallet 15 also descends, each chevron-shaped guide groove 41 engages with the roller 118 of each rail member 117, and each positioning pin is moved by the operation of each small actuating cylinder 212. 214 fit into each positioning hole 40 of the bolt set pallet 15. As a result, the bolt set pallet 15, and therefore the front lower part 5f, are positioned with respect to the first mounting portion ₂₀₉₁ . Similarly to the above, a small operating cylinder and the like are provided on the _second mounting portion 2092 side. As mentioned above, the first and second mounting parts 209 ₁ , 2
09 ₂ are connected by the connecting rod 210,
Even if the front and rear pallet members 8f and 8r are divided into front and rear parts, the alignment between the front and rear lower parts 5f and 5r can be improved. Front and rear lower parts 5f, 5 for the vehicle body 4
As shown in FIGS. 2A, 3rd, 23rd, and 27 to 34, the position adjustment device includes the first and second mounting portions 209 ₁ and 209 ₂ of the mounting table 208.
The front and rear moving mechanisms 21 for the mounting table are connected to each other so that they have a predetermined floating amount.
6f, 216r, and a correction mechanism 21 that detects the positional deviation of the vehicle body 4 and operates the front and rear moving mechanisms 216f, 216r accordingly when the positional deviation amount exceeds the floating amount.
7. (i) Front and Rear Moving Mechanisms 216f and 216r Since both moving mechanisms 216f and 216r have the same configuration, the front moving mechanism 216f will be explained with reference to FIGS. 23 and 28 to 31. On the upper surface of the front support stand 195 ₁ , the first
The _first
A first mechanism section 218 ₁ that moves the mounting section 209 ₁ in the vehicle width direction X, and a second mechanism section 218 ₂ that moves the first mounting section 209 ₁ in the vehicle length direction Y are provided. A roller 219 connected to the first mechanism section _{218 1} is rotatably supported around a vertical axis on the front inner surface of the first mounting section 209 ₁ in the vehicle length direction. A roller 221 connected to the second mechanism section 218 ₂ is supported by the protruding support member 220 so as to be rotatable around a vertical axis. The first mechanism section 218 ₁ includes a front support base 195 ₁
A slide table 222 that is movable in the vehicle width direction At the same time, the slide table 22 is attached coaxially with each gripping member 223.
a pair of pressing members 2 rotatably supported by 2;
24, an actuating means 225 provided on the slide table 222 to simultaneously actuate each pressing member 224, and a gripping member 223 on the roller 21.
The present invention includes an actuator 226 provided at the tip of each pressing member 224 to bias it toward the 9 side, and a drive means 227 for moving the slide table 222 in the vehicle width direction X. A pair of side plates 228 are erected on the front support base 195 ₁ and are spaced apart from each other in the vehicle width direction X, and a pair of guide rods 229 extending in the vehicle width direction X are installed horizontally between the side plates 228. be done. A pair of guide parts 222a protrudes from the lower surface of the slide table 222, and both guide rods 229 are attached to the guide parts 222a.
is slidably inserted into. This allows the slide table 222 to move in the vehicle width direction X while being guided by both guide rods 229. On both sides of the center line Lc extending parallel to the vehicle length direction Y through the axis of the roller 219,
A support member 230 is fixed to a portion of the slide table 222 near the roller 219, and the base end of the gripping member 223 is attached to the support member 230.
It is rotatably supported by a support shaft 231 erected. Each gripping member 223 has a substantially U-shaped cross-sectional shape that is open on the side opposite to the roller 219, and the intermediate portion of the pressing member 224 fitted to each gripping member 223 is connected to the support shaft 231.
is rotatably supported. Each actuator 226 uses air pressure to press a pressing body 232 with a spherical tip onto the gripping member 232.
As a result, both gripping members 223 are urged to rotate toward the side that grips the roller 219. The actuating means 225 includes an actuating cylinder 2 which is provided with a piston rod 233 extending in the vehicle longitudinal direction Y and is pivotally supported 234 on the slide table 222.
35, and a pair of links 236 connecting the tip of the piston rod 233 and the base end of the pressing member 224. Therefore, when the piston rod 233 of the actuating cylinder 235 is extended, the pressing member 22
4 is a direction in which their proximal ends are brought close to each other;
That is, the tips thereof are rotated in a direction that separates them from the roller 219. Also piston rod 2
33, the pressing member 224 rotates in a direction in which the tips thereof are brought close to each other, that is, in a direction in which the gripping member 223 grips the roller 219 via the actuator 226. The center line is placed on the slide table 222.
A key 237 extending along Lc is disposed, and a pair of regulating members 238, 23 whose position in the vehicle width direction X is determined by this key 237.
9 is fixed on the slide table 222. One regulating member 238 has both pressing members 2
This regulating member 238 defines the minimum distance between the base ends of both pressing members 224, that is, the maximum distance between the tips. Further, the other regulating member 239 can come into contact with both gripping members 223, and the minimum distance between both gripping members 223 is defined by this regulating member 239. The driving means 227 includes a servo motor 240 having an axis extending in the vehicle width direction X and fixed to the front support base 195 ₁ , and a servo motor 240 having an axis extending in the vehicle width direction X and fixed to one side plate 228. Nut member 241 and its nut member 241
a ball screw shaft 243 that is screwed into the ball screw shaft 243 and whose one end is rotatably connected to a connecting portion 242 on the lower surface of the slide table 222; and a gear train 245 that transmits the rotational force of the output shaft 244 of the servo motor 240 to the ball screw shaft 243. and has. As a result, when the ball screw shaft 243 is rotated forward and backward by the servo motor 240, the slide table 222, and therefore the first mounting portion ₂₀₉₁ , can be moved in the vehicle width direction X. The second mechanism section 218 ₂ includes the first mechanism section 2
18 Since it has basically the same configuration as ₁ ,
Although detailed explanation is omitted, this second mechanism section 2
18 ₂ to move the first mounting portion 209 ₁ in the vehicle longitudinal direction Y
can be moved to. In the above configuration, for example, the first mechanism section 21
Regarding 8 ₁ , the piston rod 233 is contracted by the operating cylinder 235 to rotate both the pressing members 224, and the slide table 2 is moved by the operation of the servo motor 240 while the roller 219 is firmly gripped by both the gripping members 223.
22, therefore, the first mounting portion 209 ₁ is moved and positioned in the vehicle width direction X. When this positioning is completed, the actuating cylinder 235 extends the piston rod 233 and returns both pressing members 224 to their original positions.
At this time, both gripping members 223 hold both pressing members 2
Since the actuator 226 at the tip of the roller 24 is biased in the direction of gripping the roller 219, the first mounting portion ₂₀₉₁ can move a predetermined amount in the vehicle width direction X. Therefore, the first mechanism section 218 ₁ is connected to the first mounting section 209 ₁ so that it has a predetermined floating amount in the vehicle width direction X. The second mechanism section 218 ₂ is the first mounting section 20
9 ₁ , so that it has a predetermined floating amount in the vehicle length direction Y. In the rear moving mechanism 216r, the first and second mechanism parts 246 ₁ , 246 ₂ and the second mounting part 20
The connection relationship with 9 ₂ corresponds to the front side. (ii) Correction mechanism 217 As shown in FIG. 3, the correction mechanism 217 has first to fourth
The sensor units 247 ₁ to 247 ₄ receive signals indicating the amount of positional deviation of the vehicle body 4 from each of the sensor units 247 ₁ to 247 ₄ , and the respective amounts of positional deviation are determined on the first and second mounting portions 209 ₁ and 209 ₂ . Comparator 2 that compares whether or not it is within the floating amount
48. The comparator 248 is
When the positional deviation amount exceeds the floating amount, an actuation signal is output to the servo motor controller 249 that operates the servo motor 240, and on the other hand, when the positional deviation amount is within the floating amount, the elevating mechanism is activated. 161
An operating signal is output to a lifting mechanism controller 250 which operates the lifting mechanism. Each of the sensor units 247 ₁ to 247 ₄ has the same structure and is constructed as follows. 2nd A, 3rd, 20th, 21st, 32nd ~
In FIG. 34, base end portions of four stays 251 extending in the front-rear direction of the vehicle body 4 along the lower left and right edges of the vehicle body 4 are fixed to the support base 3 for positioning and fixing the vehicle body 4. As clearly shown in FIG. 32, on the front and rear sides of the vehicle body 4, an operating cylinder 253 is provided at the tip of each pair of stays 251, with the tips of piston rods 253a extending in the vehicle width direction facing each other. A piston rod 254 is attached to the tip of 253a via a bracket 252.
Small operating cylinder 255 with the tip facing upward
is provided. The following sensor S is supported at the tip of the piston rod 254 in each small working cylinder 255. As clearly shown in FIGS. 33 and 34, the air introduction pipe 25 is attached to the bottom wall of the disc-shaped casing 256.
7 is attached, and pressurized air from its air introduction pipe 257 is introduced into the casing 256 after being dispersed through a large number of ventilation holes 259 formed in the partition wall portion 258 . A float plate 260 is disposed within the casing 256, and an engagement pin 261 protruding from the center of the upper surface of the float plate 260 protrudes upward from an opening 263 of a cover plate 262 of the casing 256. Engagement pin 2
A telescopic boot 264 is provided between the outer peripheral surface of the casing 256 and the inner peripheral surface of the opening 263 to keep the inside of the casing 256 airtight. A pair of detection bodies 265 ₁ and 265 ₂ are disposed on the outer circumferential surface of the casing 256 and are shifted in phase by 90° from each other with respect to their centers to detect the amount of positional deviation of the vehicle body 4 in the vehicle width and vehicle length directions, respectively. Each of the sensor units 247 ₁ to 247 ₄ engages the engagement pin 261 with the detection hole of the vehicle body 4 while the float plate 260 is floated by pressurized air.
The amount of positional deviation of the vehicle body 4 is detected by measuring the distance between the sensor 60 and the detection portion of each of the detection bodies 265 ₁ and 265 ₂ . (iii) Operation of position adjustment device The vehicle body 4 is transported by a transport mechanism (not shown), and each positioning hole 6 of the vehicle body 4 is aligned with the support base 3.
It is positioned and fixed on the support base 3 by fitting into each positioning pin 7 . The bolt set pallets 15 of the front and rear pallet members 8f and 8r are placed on the first,
When the bolt set pallet 15 is placed on the second placement portions 209 ₁ and 209 ₂ via the rail member 117, and in this state the positioning pins 214 (FIG. 24) are used to position the bolt set pallet 15, the , the rear lower parts 5f and 5r are in a matching relationship. In the first to fourth sensor units 247 ₁ to 247 ₄ of the correction mechanism 217, each operating cylinder 253 is actuated to adjust the piston rod 253a.
When extended, each sensor S moves in the vehicle width direction, and the first and second sensor units 247 ₁ , 2
₄₇₂ sensors S are located below both positioning holes 25 (FIG. 3) as detection holes on the front side of the vehicle body 4, and the third and fourth sensor units 247
₃ and ₂₄₇₄ sensors S are arranged below both detection holes 266 (FIG. 3) on the rear side of the vehicle body 4, respectively. When the small actuating cylinder 255 of each sensor unit 247 ₁ to 247 ₄ is actuated, its engagement pin 261 engages with both positioning holes 25 and both detection holes 266, and thereby both detection holes of each sensor unit 247 ₁ to 247 ₄ are activated. body 265 ₁ ,
265 ₂ , the amount of positional deviation of the vehicle body 4 in the vehicle width direction X and the vehicle length direction Y is detected. After this detection operation is completed, the sensor S is activated by the actuation cylinder 253 and the small actuation cylinder 255.
returns to its original position. Signals indicating the amount of positional deviation of the vehicle body 4 from each sensor unit 247 ₁ to 247 ₄ are sent to a comparator 248 , where the amount of positional deviation of the vehicle body 4 is determined as the first
A comparison is made to see if the floating amount of the second placement parts 209 ₁ and 209 ₂ is within the range. When the comparator 248 determines that the amount of positional deviation of the vehicle body 4 is within the floating amount of the first and second mounting portions 209 ₁ , 209 ₂ , the comparator 248 causes the lifting mechanism controller 250 to
Since the operating signal is output to the elevating mechanism 161
(Fig. 20) operates, the front and rear lower parts 5f and 5r rise, and the front pallet member 8f
The four positioning pins 26 (FIG. 7) on the bolt set pallet 15 of the vehicle body 4 are fitted into the four positioning holes 25 on the front side of the vehicle body 4, respectively.
The front lower part 5f is positioned with respect to the vehicle body 4. The mounting table 208 in a floating state moves in accordance with the positioning of the front lower part 5f, thereby correcting the positional deviation of the vehicle body 4 by a slight movement according to the floating amount of the mounting table 208, and moving the mounting table 208 in a floating state. , rear lower part 5
f and 5r can be positioned with respect to the vehicle body 4 in a state where they are aligned. After that, the front and rear rotating parts 13f and 13r operate, so the front and rear lower parts 5f and 5r
is assembled to the vehicle body 5. On the other hand, the comparator 248 _determines that the amount of positional deviation of the vehicle body 4 is
When it is determined that the floating amount exceeds ₉₂ , the comparator 248 outputs an activation signal to the servo motor controller 249.
Each servo motor 240 operates and the mounting table 20
8 in the vehicle width direction X and/or vehicle length direction Y, thereby moving the front and rear lower parts 5
Position correction of f and 5r is performed. Front and Rear Bolt Supply Devices 10f and 10r Since the front and rear bolt supply devices 10f and 10r have the same configuration, the front bolt supply device 10f will be described below. As shown in FIGS. 35 to 37, the front bolt supply device 10f supplies the bolt set pallet 1.
5, the first to fourth sockets 24 ₁ to 24 ₄ for tightening eight bolts opening upwardly,
Eight bolts 17 are distributed one by one with the top surface of the head facing downward. That is, the device 10f is the conveyor device 26
A transfer mechanism 268 that transfers the bolts 17 carried by 7 to one bolt with the top surface of the head facing upward.
and a delivery mechanism 269 that moves between a holding position where the bolts 17 transferred by the transfer mechanism 268 are held one by one and holds eight bolts 17, and a delivery position where the holding on all the bolts 17 is released at once. , all bolts 17 at the transfer position
and a distributing mechanism 270 that moves between a receiving position for receiving bolts 17 and a supplying position for distributing one bolt 17 to each socket 24 ₁ to 24 ₄ .
receive it with the top of its head facing upward, and then
It has a receiving part 271 that rotates 180 degrees to make the top surface of the head face downward. In the illustrated example, a protrusion mechanism 272 is disposed close to the bolt transfer end of the transfer mechanism 268 to cause the delivery mechanism 269 to grasp one bolt 17 transferred by the transfer mechanism 268. Configuration of each mechanism (a) Transfer mechanism 268 As clearly shown in FIGS. 38 to 40, the transfer mechanism 268 is composed of a known vibrating linear feeder, and is erected on a support frame 273 on the floor 1. On the support side plate 274,
A pair of plate-shaped transfer members 275 are supported parallel to each other and horizontally with a predetermined interval,
The lower surface of the head 17a of the bolt 17 (in the illustrated example, the lower surface of the seat 16) is placed on the upper surface of both the transfer members 275, and the shaft portion 18b of the bolt 17 is suspended between the transfer members 275 to perform bolt transfer. There is. (b) Ejection mechanism 272 As clearly shown in FIGS. 38 and 41, a bracket 276 is attached to the support side plate 274 below the bolt transfer end, and the bracket 276 stops the transferred bolt 17 and performs the ejection operation. A stop member 277 is supported for waiting. The stop member 277 has a pair of mutually parallel step portions 278 at its upper end that are located at approximately the same height as the upper surfaces of both transfer members 275 and support the lower surface of the seat 16 of the bolt 17;
It has a rising part 279 that engages with the outer peripheral surface to prevent the bolt 17 from advancing, and an opening 280 is formed between the tips of both rising parts 279 so that the shaft part 17b of the bolt 17 can pass through. be done. A bolt ejecting actuation cylinder 282 with a piston rod 281 facing upward is attached to the lower part of the stop member 277, and the tip of the piston rod 281 is provided with a hole 283 that fits into the lower end side of the shaft portion 17b of the bolt 17 that is stopped. A protruding rod 284 is connected thereto. The protruding rod 28 is attached to the bracket 276.
A pair of stop rods 285 are slidably inserted parallel to the stop rods 4 and positioned closer to the support side plate 274 than the rods 284,
A connecting plate 286 is installed between the lower ends of both stop rods 285. bracket 276
A spring 2 is inserted between the bottom surface of the large diameter hole 287 formed in and surrounding each stop rod 285 and the locking pin 288 of each stop rod 285.
89 was shortened, and each stop rod 285
is biased upward. A stop pin 290 is provided on the connecting plate 286 in parallel with the stop rod 285, and the tip of the stop pin 290 faces the lower surface of the bracket 276. In the lowered position of the protruding rods 284, the upper edge of the connecting plate 286 engages the lower end surface of the protruding rods 284, and each stop rod 285
are also in the lowered position, so that the tip end surface of each stop rod 285 is located below the upper surface of the stepped portion 278 so as not to impede the movement of the bolt 17. In this state, a predetermined distance _d5 is formed between the tip end surface of the stop pin 290 and the lower surface of the bracket 276, as shown in FIGS. 38 and 41. On the other hand, when the protruding rod 284 is raised, each stop rod 285 follows it due to the extension of the spring 289, and when the stop pin 290 comes into contact with the bracket 276, it stops rising. At this lifting stop position of the stop rod 285, the ejecting operation of the preceding bolt 17 by the ejecting rod 284 has not started, and as shown by the chain line in FIG. 38 and in FIG. It has entered between the seats 16 and 17 of the next bolt 17. As a result, while the preceding bolt 17 is being ejected, the next bolt 17 is inserted into the stepped portion 27.
Therefore, when ejecting the preceding bolt 17, there is no interference between the preceding bolt 17 and the next bolt 17 and interference between the next bolt 17 and the ejecting rod 284. This prevents each bolt from protruding and allows the bolt protrusion work to be carried out smoothly for each bolt. (c) Delivery mechanism 269 As shown in FIG. 38 and FIG.
A plate member 292 is installed between the upper surfaces of one end of both support members 291, which are provided above the protrusion mechanism 272 so as to be able to slide in parallel with each other in a horizontal plane. A bearing cylinder 293 having a vertical axis passing through the plate material 292 is fixed to the intermediate part of the plate material 292, and the intermediate part of the hollow shaft 294 is attached to the bearing cylinder 293.
It is rotatably supported via 5. A cylindrical body 296 is loosely fitted into the lower part of the hollow shaft 294 with a predetermined interval between the lower end surface side and the outer peripheral surface of the hollow shaft 294.
The bottom of the cylinder 296 is fixed to the lower end surface of the cylinder 94. The cylindrical body 296 is provided with a support flange 297 on the upper part of its outer peripheral surface, and a bolt gripping portion 2 is attached to the support flange 297 as follows.
98 are provided. That is, as clearly shown in FIG. 42, a set of two support members 299 extending downward from the support flange 297 are arranged at equal intervals of 8 on the circumference.
Both support members 29 of each set are provided.
A pair of gripping claws 300 are disposed between the support members 299 and the upper ends of the gripping claws 300 are attached to the supporting members 299.
01 so that it can swing freely. The lower surface of the support flange 297 and each gripping claw 3
00 upper end surface, a steel ball 302 and a spring 303 are interposed. In this case, each steel ball 3
02 comes into contact with the upper end surface of each gripping claw 300 on the outside of the support shaft 301 due to the elastic force of the spring 303, and as a result, the hook-shaped engaging portions a at the tips of both gripping claws 300 move toward each other in the closing direction. energized. A spring 303 and a stop plate 304 for gripping claws are provided between the upper portions of both supporting members 299 and a stop plate 304 for holding the steel balls 302, and a rotating roller 305 used for opening the gripping claws 300 is provided in the middle of both gripping claws 300. possible to be pivoted. After gripping the preceding bolt 17 by the pair of gripping claws 300, the hollow shaft 294 is intermittently rotated in order to grip the next bolt 17, and its rotation drive unit 306 is configured as follows. That is, as clearly shown in FIGS. 30, 40, and 43, above the bearing sleeve 293,
A cylinder portion 308 at the end of the support member 307 is rotatably supported by the hollow shaft 294 via a bearing 309, and the support member 307 and the bearing cylinder 29
The drive plate 3 is attached to the hollow shaft 294 between the
10 is fixed via a key 311. Eight arcuate notches 31 are provided on the outer peripheral edge of the drive plate 310 to correspond to the eight sets of gripping claws 300.
2 are formed at equal intervals on the circumference. A rotating actuation cylinder 313 is attached to the lower surface of the support member 307, and a roller 315 that can engage and disengage from each notch 312 of the drive plate 310 is provided at the tip of the piston rod 314. In both supporting members 291, a plate member 316 is installed at the end opposite to the drive plate 310, and on the upper surface of the plate member 316 is a rack and pinion type drive source having a rotating shaft 317 that rotates counterclockwise in FIG. 318 is provided. A connecting member 319 attached to the rotating shaft 317 of the drive source 318, and a connecting member 32 protruding from the upper surface of the support member 307.
Both ends of the connecting rod 321 are pivotally connected to the connecting rod 321 and the connecting rod 321, respectively. As clearly shown in FIG. 44, a rotation preventing actuation cylinder 322 is attached to the upper surface of the plate member 292, and a roller 324 that can engage and disengage from each notch 312 of the drive plate 310 is provided at the tip of the piston rod 323. Both operating cylinders 313, 322 are provided with guide plates 325, 326 that guide the piston rods 314, 323 by sandwiching their tips therebetween. The release portion 327 that releases the hold on all the bolts 17 held by each pair of gripping claws 300 at once is configured as follows. That is, the support frame 3 erected on the plate material 292
A release cylinder 330 with a piston rod 329 tip facing downward is supported at 28. The upper end of the actuating shaft 331, which is slidably fitted to the hollow shaft 294, is attached to the lower end of the piston rod 329.
32, and a return spring 333 is compressed between the lower end surface of the operating shaft 331 and the bottom of the cylindrical body 296. Below the bearing sleeve 293, the hollow shaft 2
A pair of long holes 334 extending in the axial direction are formed in the peripheral wall of the hollow shaft 29 to face each other.
The upper end of the elevating cylinder 335 and the lower end of the actuating shaft 331, which are slidably fitted on the outer peripheral surface of the elevating cylinder 335, are connected by a stop pin 336 passing through them and both elongated holes 334. As a result, as the operating shaft 331 moves up and down, the elevating cylinder body 3
35 is the hollow shaft 2 regardless of the hollow shaft 294.
94 and the cylindrical body 296 can be moved up and down. The lifting cylinder 335 has a support flange 337 on its upper outer peripheral surface, and the upper end of a release rod 338 passing through the support flange 297 of the cylinder 296 is attached to the support flange 337. Each release rod 338
The lower end surface is formed into a tapered surface b whose diameter decreases downward, and as each release rod 338 descends, the tapered surface b forms a pair of gripping claws 30.
Press both rollers 305 of 0 and both gripping claws 3
It is designed to open 00. A hole 339 (FIGS. 38 and 42) that opens downward is formed in each release rod 338, and the large diameter base of the pressing pin 341, which is urged downward by a spring 340, can slide into the hole 339. Fitted. Each pressing pin 34
1 extends downward between both rollers 305, and its lower end surface is normally located near the engaging portion a, and when the bolt 17 is gripped, its lower end surface presses the top surface of the head 17a of the bolt 17 to grip both. The bolt 17 is reliably gripped in cooperation with the pawl 300. In order to reciprocate the delivery mechanism 269 configured as described above between the holding position E and the delivery position F, the bolt gripping portion 29 of the support side plate 274
The piston rod 34 is on the opposite side from the 8th grade.
2 horizontally moving actuating cylinder 343
is installed and its piston rod 342
The leading end of the support member 291 is fixed to a connecting plate 344 that connects both support members 291. (d) Distribution mechanism 270 As shown in FIGS. 35 to 37, in the vicinity of the pallet separation position D, the fourth conveyance system
Portal frame 346 with horizontal guide members 345 parallel to the pallet transport direction of L ₄
is installed on the floor 1, and its horizontal guide member 3
An orthogonal triaxial robot 347 is supported by 45. The robot 347 is raised and lowered by the first drive motor ₃₄₈₁ , and the second
The horizontal guide member 345 can be horizontally moved in the longitudinal direction by the drive motor 348 ₂ , and can be horizontally moved in a direction perpendicular to the longitudinal direction of the horizontal guide member 345 by the third drive motor 348 ₃ . Arm 3 at the tip of robot 347
49 is rotatable relative to the main body 350 and has a receiving portion 27 on its arm 349 that receives the bolt 17 from the delivery mechanism 269.
1 is provided. As shown in FIGS. 45 to 47, the receiving portion 271 is constructed as follows. That is, the arm 349 has its rotation axis Lr.
A support shaft 351 having an axis perpendicular to
is provided, and a bolt holder support member 352 is supported on its support shaft 351. The support member 352 includes a hollow shaft portion 353 that is fitted and fixed to the support shaft 351, and a hollow shaft portion 353 that is fitted and fixed to the support shaft 351.
53, eight cylindrical portions 354 arranged at equal intervals on the circumference and having axes parallel to the hollow shaft portion 353, and a connecting portion 355 that connects each of the cylindrical portions 354 and the hollow shaft portion 353.
It is equipped with Each cylindrical portion 354 corresponds to each set of gripping claws 30 in the delivery mechanism 269.
Corresponds to 0. Each cylindrical portion 354 supports a bolt holder 356 as described below. That is, a cylindrical body 360 having a large diameter portion 358 having a bolt insertion opening 357 and a small diameter portion 359 with a bottom is fitted into the cylindrical portion 354 with the small diameter portion 359 located on the arm 349 side. . A pair of elongated holes 361 that extend in the axial direction are formed facing each other in the peripheral wall of the large diameter portion 358, and gripping claws 362 are disposed in each of the elongated holes 361, and an intermediate portion of each gripping claw 362 is formed in the large diameter portion. 358 via a support shaft 363 so as to be rotatable. Both gripping claws 36 are attached to the outer peripheral surface of the large diameter portion 358.
An operating cylinder 364 for opening and closing 2 is slidably fitted, and the flange portion c existing on the outer circumferential surface of the large diameter portion 358 on the opening 357 side and the operating cylinder 364
A spring 365 is compressed between the flange portion e existing on the outer peripheral surface of the small diameter portion 359 side. A pair of windows 366 are provided on the peripheral wall of the operating cylinder 364.
are formed to face each other, and a first engaging portion g exists in each window 366 on the outer end side of each gripping claw 362.
is inserted loosely. When the operating cylinder 364 is sliding toward the small diameter portion 359 by the elastic force of the spring 365, the inner surface k of each window 366 on the opening 357 side engages with the first engaging portion g of each gripping claw 362. ,
As a result, the second engaging portions m on the inner end side of each gripping claw 362 rotate in the closing direction so as to approach each other, thereby gripping the shaft portion 17b of the bolt 17. In the connecting portion 355 of the support member 352, a through hole 367 is formed adjacent to and parallel to each cylindrical portion 354.
7, a release pin 368 is slidably fitted. The inner end surface of the connecting portion 355 and the release pin 36
The spring 3 is inserted between the inner end flange portion 369 of the
70 is contracted, and the elastic force of the spring 370 causes the outer end flange portion 371 of the release pin 368 to be compressed.
engages with the outer end surface of the connecting portion 355, and a portion of the outer end surface of the outer end flange portion 371 faces a portion of the flange portion e of the actuating cylinder 364. A support plate 372 is attached to the hollow shaft portion 353 of the support member 352, and the support plate 372
A release actuation cylinder 373 is supported corresponding to each release pin 368. Each actuating cylinder 373 has a piston rod 374 opposite the end face of the release pin 368, and a return spring 376 is connected to the piston 375. When the piston rod 374 pushes the release pin 368 due to the operation of the actuating cylinder 373, the outer end flange portion 371 slides the actuating cylinder 364, so that the inner surface n of each window 366 on the small diameter portion 359 side Each gripping claw 362 is rotated by engaging with the first engaging portion g of the claw 362. As a result, the second engaging portions m of each gripping pawl 362 rotate in the opening direction so as to separate from each other, and the grip on the bolt 17 is released. Operation of the front bolt supply device 10f As shown in FIGS. 38 and 39, the bolt 1
7 is transferred along the transfer member 275 of the transfer mechanism 268 with the top surface of its head 17a facing upward, and the protrusion mechanism 272 is transferred at the transfer end.
The movement is stopped by a stop member 277. The piston rod 342 of the actuating cylinder 343 for moving the transfer mechanism 269 is in an extended state, so that the transfer mechanism 269 is in the holding position E, with the pair of gripping claws 300 facing the stop member 277. The piston rod 281 is extended by the operation of the bolt ejection operating cylinder 282,
As a result, the protruding rod 284 rises and its hole 283 fits into the lower end side of the shaft portion 17b of the bolt 17, thereby protruding the bolt 17 upward. The head 17a of the bolt 17 has both gripping claws 300
is opened, the lower surface of the seat 16 engages with both engaging portions a, and the bolt 17 is gripped by both gripping claws 300. In this state, the pressing pin 341 is pressed against the spring 34.
Since the top surface of the head 17a of the bolt 17 is pressed with zero elastic force, the bolt 17 does not rattle. In the delivery mechanism 269, the piston rod 314 of the rotating actuation cylinder 313 is in an extended state, and its roller 315 is in contact with the drive plate 31.
The piston rod 3 of the actuating cylinder 322 for rotation is engaged with one notch 312 of the
23 is in the contracted state, and its roller 324 is separated from the notch 312 of the drive plate 310. The drive source 318 operates and the rotation axis 317
is rotated 180 degrees counterclockwise in FIG.
7. Therefore, the rotation actuation cylinder 313
The driving plate 310 is rotated by 45 degrees, and the previously gripped shaft portion 17b of the bolt 17 passes through the opening 280 of the stop member 277. Then, the next pair of gripping claws 300 face the stop member 277. The piston rod 323 is extended by the actuation of the locking actuating cylinder 322, and the roller 324 engages with the notch 312 of the drive plate 310, thereby positioning the gripping claw 300. When the rotation actuation cylinder 313 is actuated, its piston rod 314 contracts and the roller 315 is disengaged from the notch 312 of the drive plate 310, and then the drive source 318 is actuated and its rotation shaft 317 rotates 180 degrees. The rotation actuation cylinder 313 returns to its original position. In this way, each pair of gripping claws 300 grips one bolt 17, and the delivery mechanism 26
9 holds eight bolts 17. The actuation of the movement cylinder 343 causes the piston rod 342 to contract and the transfer mechanism 269 to move to the transfer position F. As shown in FIG. 38, the bolt holder 3
56 rotates the arm 349 to insert each bolt 17 with each bolt insertion opening 357 facing upward.
located at a position opposite to the lower end of the shaft portion 17b,
Further, due to the operation of each release cylinder 373, the release pin 368 is pushed by the piston rod 374, and both gripping claws 368 are pushed through the operation cylinder 364.
2 is open. Then, as the robot 347 rises, the receiving portion 271 reaches the receiving position G, and the shaft portion 17b of each bolt 17 is inserted into each cylindrical body 360 of the bolt holder 356 through the opening 357. In the delivery mechanism 269, the piston rod 329 is extended by the actuation of the release cylinder 330, and each release rod 338 is lowered via the actuation shaft 331 and the elevating cylinder 335, so that each release rod 338 is moved from both sides by the tapered surface b. The roller 305 is pressed to open both gripping claws 300, and this opening action and the spring 3
40 causes each bolt 17 to fall into each cylindrical body 360 and its seat 16 fits into an annular recess 377 around the opening 357 of the cylindrical body 360. Each release cylinder 3 of the distribution mechanism 270
73 is deactivated and its piston rod 37
4 from the release pin 368, and release the spring 365.
The actuating cylinder 364 is slid by the elastic force of , and the shaft portion 17b of the bolt 17 is gripped by both gripping claws 362. Due to the horizontal movement of the robot 347, the receiving part 2
71 from the receiving position G, and then rotate the arm 349 by 180 degrees so that the top surface of the head 17a of each bolt 17 faces downward. Since the bolt set pallet 15 is in a superposed state with the work set pallet 14 and is waiting at the pallet separation position D, each of the first to fourth sockets ₂₄ 1 to 24 of the robot 347 and therefore the receiving part 271 By moving to the supply position H (FIGS. 35 to 37) corresponding to ₄ and then operating each release cylinder 373, each bolt 17 is released from holding, and the head 17a of the bolt 13 is The respective bolts 17 are distributed by engaging the fourth sockets 24 ₁ to 24 ₄ . In this way, each socket 24 ₁ to 24 ₄
The bolt 17 can be automatically supplied with the top surface of the head 17a facing downward. Further, by disposing the delivery mechanism 269 between the transfer mechanism 268 and the distribution mechanism 270, the delivery mechanism 269 can be
69 performs the bolt holding work and the distribution mechanism 2
70 hours of play time can be eliminated. Moreover, a plurality of bolts 17 can be delivered to the dispensing mechanism 27 at once.
Since the bolts 17 are received at zero, the bolt passing operation to the distribution mechanism 270 can be carried out more efficiently and reliably than in the case where one bolt 17 is received from the transfer mechanism 268 to the distribution mechanism 270. In addition, the front and rear second supply devices 11f, 11
Although detailed diagrams for r are omitted, both devices 11
f, 11r are front and rear lower parts 5f, 5r
It is designed to be held and placed on the front and rear work set pallets 14. C. Effects of the Invention According to the present invention, each fastening portion of a component is fastened to each fastened portion of the main body at different intervals from the pallet member by a threaded part held in each socket. Since the length of the socket is changed and the operating stroke of each rotating shaft in each rotating machine that rotates and advances the socket is set equal, it is possible to use the same configuration as each rotating machine, which improves economic efficiency. be able to. On the other hand, since each rotating machine is separated from the pallet member, when changing the model, it is possible to easily respond by exchanging the pallet members and changing their positions by sharing the rotating machine.

[Brief explanation of drawings]

Figures 1, 2, and 2A show the entire assembly equipment;
Fig. 1 is a perspective view, Fig. 2 is a schematic plan view, Fig. 2A is a detailed plan view, Fig. 3 is a plan view showing the relationship between the vehicle body and the front and rear lower parts, etc., and Figs. 4 to 6 are The work set palette is shown, and Figure 4 is a plan view.
Fig. 5 is a view taken from the arrow 5 in Fig. 4, Fig. 6 is a view taken from the arrow 6 shown in Fig. 4, Figs. 7 and 8 show the bolt set pallet, Fig. 7 is a plan view, and Fig. 8 is a 7 figure 8 arrow view,
9 to 11 show the relationship between the socket that holds the bolt and the fastened part of the vehicle body, FIG. 9 is a longitudinal sectional side view, FIG. Figure 9 11 arrow view, 12th to 14th
The figures show the relationship between the workpiece set pallet, bolt set pallet, and front lower parts.
4 is a view taken from the direction of the arrows in FIG. 12 and 14, FIG. 15 is a side view of the rotating machine, and FIGS. The separation mechanism is shown, FIG. 16 is a view from the arrow 16-16 in FIG. 2A, and FIG. 17 is a view from the arrow 2A in FIG.
Figure 16 is a sectional view taken along the line 17-17, Figure 18 is an enlarged view of the section indicated by the arrow in Figure 17 and 18, Figure 18A is a sectional view taken along the line 18a-18a in Figure 18, and Figure 19 is the
8. Fig. 19-19 line sectional view, Fig. 20 to Fig. 31 show the relationship between the elevating device and the vehicle body, etc. Fig. 20 is an overall side view, and Fig. 21 is a cross-sectional view of the elevating device when it is raised. -21 line sectional view, Fig. 22 is an enlarged sectional view of the part indicated by the arrow 22 in Fig. 20, and Fig. 23 is the
0 Figure 23-23 arrow view, Figure 24 is Figure 23-24
- 24 arrow view, Fig. 25 is a 25-25 arrow view in Fig. 23, Fig. 26 is a sectional view taken along the line 26-26 in Fig. 24,
Figure 27 is a sectional view taken along the line 27-27 in Figure 23, and Figure 28.
The figure is an enlarged view of the part indicated by the arrow in Fig. 23 and 28, Fig. 29 is a view taken from the arrows 29-29 in Fig. 28, and Fig. 30 is an enlarged view of the part indicated by the arrow in Fig. 28.
0-30 line sectional view, Figure 31 is Figure 30 31-3
1 line sectional view, FIGS. 32 to 34 show the sensor unit, FIG. 32 is a sectional view taken along the line 32-32 in FIG. 34-34 line sectional view, 35th to 3rd
7 shows the front bolt supply device, FIG. 35 is a plan view, FIG. 36 is a sectional view taken along the line 36-36 in FIG. 35,
37 is a view taken from the direction of arrows 37-37 in FIG. 36, FIGS. 38 to 44 show the bolt transfer mechanism and delivery mechanism, and FIG.
8-38 line sectional view, Fig. 39 is Fig. 38 39-3
9, FIG. 40 is a sectional view taken along the line 40-40 in FIG. 38, FIG. 41 is a sectional view taken along the line 41-41 in FIG. 38, FIG. 42 is a sectional view taken along the line 42-42 in FIG. 38 is a sectional view taken along the line 43-43, and FIG. 44 is a sectional view taken along the line 43-43.
0 Figures 44-44 line sectional view, Figures 45 to 47 show the main parts of the distribution mechanism, Figure 45 is a front view, Figure 46 is a view taken along arrows 45 and 46, and Figure 47 shows the main parts. It is a broken enlarged front view. 4...Vehicle body as main body, 5f, 5r...Front and rear lower parts as component parts, 8f, 8r...
...Front and rear pallet members, 13f, 13r...
Front and rear rotating machines, 17... Bolts as threaded parts, 24 ₁ to 24 ₄ ... 1st to 4th sockets, 29
... Rotating shaft, 44 ₁ to 44 ₄ ... First to fourth fastened parts, 48 ₁ to 48 ₄ ... First to fourth fastened parts.

Claims (1)

[Claims] 1 A pallet member holding component parts to be assembled to the main body is placed opposite the main body, and a plurality of fastened parts of the component parts are connected to a plurality of parts to be fastened of the main body at different intervals from the pallet member. The assembling equipment is configured to overlap each fastened part and each fastened part using threaded parts, wherein the pallet member is provided with a plurality of sockets for holding the threaded parts. The socket is provided so as to be movable forward, backward, and rotatable with respect to each of the fastened parts, and each socket is provided with a rotating machine that is provided with a rotating shaft that rotates each socket and advances it toward each fastened part. Equipment for assembling component parts, characterized in that the sockets are arranged separately from the pallet member, and the lengths of the respective sockets are changed so that the operating strokes of the respective rotation shafts are set equally.