JPH0615351B2 - Front sheet gripping method and apparatus - Google Patents

Description

TECHNICAL FIELD The present invention relates to a front seat gripping method and apparatus in an automobile assembly line.

(Prior Art) JP-A-59-97877, JP-A-60-186389 and JP-A-60-186390.
Discloses a front seat gripping device.

(Problems to be Solved by the Invention) When a front sheet is conveyed at a high speed, the sheet must be reliably gripped, and in the above-mentioned conventional technique, the pressing force of each clamp portion is increased. Simply pressing the cushion portion causes excessive tension on the seat, which causes problems such as tearing of the skin or disengagement from the stopper. This is particularly remarkable when the pressing force is increased by concentrating the pressing force at one point.

On the other hand, the prior art publication also discloses the idea of indirectly gripping the frame from above the epidermis with the robot's hand, but as a problem in this case, if the sheet is strongly gripped, It can be said that the cushioning material or skin is sandwiched between the robot and the skin, and the skin is damaged, and if the gripping force is weakened so as not to damage the skin, the transporting posture of the sheet becomes unstable and it is not suitable for high-speed transport. ing.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above problems and provide a front sheet gripping method and device capable of performing high-speed conveyance while keeping the posture still without damaging the sheet.

(Means for Solving the Problems) In order to achieve such an object, the present invention carries in and assembles a front seat (3) positioned and mounted on a pallet (1) into an automobile on an assembly line. In the front seat gripping method for, the upper surface of the seat cushion (4) is pressed downward by the pressing plate (44) to press the front seat (3) onto the pallet (1), and then the seat cushion (4).
The upper surface skin (4a) of the seatback (7) is pushed upward by a rotatable roller (27) whose axis is left and right, and the rear surface skin (7a) of the seat back (7) is rotatable with axis as left and right. A roller (57) to push it forward, and then a pad (33) that regulates the pushing amount of the roller (27) from the lower surface side with respect to the left and right frame (5) contained in the seat cushion (4). The pad (63) for pressing the roller (57) from the back side with respect to the horizontal frame (8) contained in the seat back (7) is pressed against the skin (7a). ), The front surface of the seat back (7) is pressed backward by the pressing plate (74).

Then, a device for carrying out such a method is provided with a rotatable roller (27) and a seat back (7) having an axis line in the left and right direction which pushes upward the skin (4a) on the lower surface side of the seat cushion (4).
The pushing means (2) provided with a rotatable roller (57) having an axis line in the left and right direction for pushing the outer skin (7a) on the back side of the
1), 51, and the pad (33) and the seat back (7) that are pressed against the left and right frame (5) contained in the seat cushion (4) from the lower surface side through the skin (4a). Fixing means (31), (61) provided with a pad (63) pressed against the left and right frame (8) from the back side through the skin (7a),
A pressing plate (44) that presses the upper surface of the seat cushion (4) downward so as to face the roller (27) and the pad (33).
And a pressing means (41), (71) provided with a pressing plate (74) for pressing the front surface of the seat back (7) to the roller (57) and the pad (63) to the rear. Is characterized by.

(Operation) First, the upper surface of the seat cushion (4) is pressed downward by the pressing plate (44) to place the front seat (3) on the pallet (1).
Since the sheet is pressed against, the movement and posture of the seat are restricted.

Next, the lower surface skin (4a) of the seat cushion (4) is pushed upward by a rotatable roller (27) whose axis is in the left-right direction, and the rear surface skin (7a) of the seat back (7) is also the same. The rollers (57) of the
The rollers (27) and (57) grip a) and (7a) by surface contact in the left-right direction, and the pressing force is dispersed. Therefore, local concentration of the pressing force is prevented.

Then, the pad (33) for controlling the pushing amount of the roller (27) from the lower surface side is pressed against the frame (5) in the left-right direction contained in the seat cushion (4) through the skin (4a),
Moreover, since the same pad (63) is pressed against the same frame (8) of the seat back (7) through the skin (7a), the frame (5) is attached to the respective pads (33) and (63). , (8) are pressed for positioning in the front-back direction. Moreover, roller (27),
Since it is gripped by the (57) and the pads (33), (63), a sufficient gripping state can be obtained while the pressing force is distributed. Also roller
The push-in amount of the skins (4a) and (7a) according to (27) and (57) is the pad.
Since it is moderately regulated by (33) and (63), the epidermis (4a),
(7a) is prevented from slipping and tearing. Further rollers (27), (57)
Since it is rotatable, it does not damage the skins (4a) and (7a) when pushed.

Here, the seat cushion (4) is reliably pressed and sandwiched by the pressing plate (44) and the roller (27) and the pad (33) facing the pressing plate (44).

After that, since the front surface of the seat back (7) is pressed backward by the pressing plate (74), the seat back (7) also presses the pressing plate (74) and the roller (57) and the pad (6) facing the pressing plate (74).
3) and will be securely pressed and pinched.

In this way, the seat cushion (4) and the seat back (7) can be reliably gripped.

In the above, the positioning of the front seat (3) in the front-rear direction, the left-right direction and the up-down direction is performed as follows.

(1) First, regarding the positioning of the seat cushion (4), the upper surface is pressed by the pressing plate (44), while the outer skin (4a) is pushed in by the roller (27) from the lower surface side, and the outer skin (4a is pressed against the frame (5). ) And press the pad (33).

Especially in the front-back direction, not only the pressing from the upper side by the pressing plate (44) but also the skin (4
Since the pad (33) is pressed against the frame (5) through the pushing in of (a) and the skin (4a), the positioning can be performed accurately.

In the left-right direction as well, not only the upper pressing plate (44) but also the roller (27) is pushed from the lower surface side, so that the deviation can be regulated.

Further in the vertical direction, in addition to the pressing plate (44), the pad (33) is indirectly framed via the skin (4a) from below.
Since (5) is pressure-welded, it can be positioned with high accuracy.

(2) Next, regarding positioning of the seat back (7), while pushing the outer skin (7a) with the roller (57) from the back side,
The pad (63) is pressed against the frame (8) via the skin (7a), while the front surface is pressed by the pressing plate (74).

In particular, since the frame (8) is indirectly pressure-contacted to the pad (63) via the skin (7a) from the back side, the positioning can be performed in the front-back direction with high accuracy.

Further, since the roller (57) is pushed in from the back side, the shift in the left-right direction can be regulated.

Further, in the embodiment, since the frame (8) is pressed against the roller (57) by the weight of the sheet, the vertical positioning can be performed accurately.

(Embodiment) An embodiment will be described below with reference to the accompanying drawings.

1 to 3 are side views of the front seat gripping hand,
The front and the plane are shown, (1) is a pallet, (2) is a robot arm, (3) is a front seat, and (10) is its gripping hand. The front seat (3) is formed by combining the seat cushion (4) and the seat back (7), and the front part of the lower frame (5) contained in the seat cushion (4) has an upward channel ( 6) is formed in the left and right direction, and the seat back
The rear side upper frame (8) included in (7) is pipe-shaped and extends in the left-right direction.

Both the seat cushion (4) and the seat back (7) are covered with a cushion material and a skin as is known, and the seat cushion (4) is mounted on the left and right rails (9) and (9). The front seat (3) is positioned and set on the pallet (1).

The gripping hand (10) consists of a frame (11), a seat cushion gripping device (12) and a seat back gripping device (15), and is attached to the tip of the robot arm (2) at the middle part of the frame (11). . Both gripping devices (12) and (15) are composed of pushing means (21) and (51), fixing means (31) and (61) and pressing means (41) and (71), and the frame (11) Vertical cylinders (22) and (52) are installed on the left and right sides of the upper part of the frame, and a vertical cylinder (42) is installed in the middle of the frame (11).
However, the cylinder (7
2) are installed respectively.

First, the seat cushion gripping device (12) will be described.

The pushing means (21) includes a cylinder (22) installed on the right side of the frame (11), a first link (24) pivotally attached to a piston rod (23) protruding downward from the cylinder, and a first link (24). The second link (25) pivotally attached to the tip of one link, and this second
It comprises a gripping arm (26) pivotally attached to the tip of the link and a rotatable urethane roller (27) pivotally supported on the tip of the gripping arm. The first link (24) is a support shaft (28) under the frame (11).
The front portion of the first link (24) is shaped to extend to the front lower portion of the seat cushion (4) similarly to the lower portion of the frame (11), and the second link (25). ) And the gripping arm (26) are pivotally supported at the lower end of the frame (11). Further, the urethane roller (27) is supported by the gripping arm (26) at an intermediate portion, and is slightly shorter than the width of the seat cushion (4) at the front part of the frame (5) of the frame (5) in the left-right direction. The urethane roller (27) enters into the channel portion (6) through the skin (4a) from the lower surface side by the upward swinging of (26).

Then, the fixing means (31) is attached to the pushing means (21). That is, the gripping arm (26) is parallel to the urethane roller (27).
The plate (32) is fixed to the fixed position of the tip of the plate, and the urethane pad (33) is attached to the upper surface of the plate. This urethane pad (33) is also approximately the same length as the urethane roller (27), and when the urethane roller (27) enters the channel part (6), the skin (4a ), And the urethane pad (33) is pressed. In the figure, (39) is a stopper of the link mechanism.

On the other hand, the pressing means (41) is a rectangular pressing plate (44) pivotally attached to a cylinder (42) installed in the middle of the frame (11) and a piston rod (43) protruding downward from this cylinder.
And a urethane mat (45) attached to the lower surface of this plate. The urethane mat (45) has a width substantially equal to that of the urethane roller (27) in the left-right direction and a sufficient width in the front-rear direction, and faces the urethane roller (27) and the urethane pad (33). It is arranged on the front upper surface side of the seat cushion (4).

Next, the seat back gripping device (15) will be described.

The pushing means (51) includes a cylinder (52) installed on the left side of the frame (11), a link (54) pivotally attached to a piston rod (53) protruding upward from the cylinder, and a tip of the link. It comprises a gripping arm (56) pivotally attached and a rotatable urethane roller (57) pivotally supported at the tip of the gripping arm. Support shaft (58) pivotally connecting the link (54) and the gripping arm (56)
Is pivotally supported on the upper end of the frame (11), and the tip of the gripping arm (56) is shaped to extend to the upper rear part of the seat back (7). Further, the urethane roller (57) is supported by the gripping arm (56) at the intermediate portion in the same manner as described above, and is slightly shorter than the width of the upper frame (8) of the seat back (7) in the left-right direction. Swing to the lower front
(8) The urethane roller (57) enters under the skin (7a).

Further, the pushing means (51) is also provided with the fixing means (61) as described above. That is, the plate (62) is fixedly mounted on the front end of the gripping arm (56) at a fixed position parallel to the urethane roller (57), and the urethane pad (63) is attached to the front surface of the plate. This urethane pad (63) is also approximately the same length as the urethane roller (57), and when the urethane roller (57) enters under the upper frame (8), the outer frame (7a) from the back of the upper frame (8) The urethane pad (63) comes into pressure contact via the. still,
In the figure, (69) is a stopper of the link mechanism.

On the other hand, the pressing means (71) is a rectangular pressing plate (74) pivotally attached to a cylinder (72) installed on the upper part of the frame (11) and a piston rod (73) protruding rearward from this cylinder.
And a urethane mat (75) attached to the rear surface. The urethane mat (75) also has the same shape as that described above, and is arranged on the upper front surface side of the seat back (7) so as to face the urethane roller (57) and the urethane pad (63).

The operation will be described below.

When the pallet (1) with the front seat (3) set for positioning moves to the receiving position by the robot arm (2), the cylinder (42) in the middle part of the frame (11) of the gripping hand (10) first operates, and the pressing plate. (44) descends, and the urethane mat (45) on the lower surface pushes the front portion of the seat cushion (4) downward from the upper surface side. This ensures that the front seat (3) is pressed onto the pallet (1), which causes the seat to move,
Attitude is regulated.

Next, gripping hand frame (11) Left and right cylinders (22), (52)
Together, the front gripping arm (26) swings rearward and upward through the first link (24) and the second link (25), and the rear gripping arm (56) through the link (54). ) Swings forward and downward. As a result, the front urethane roller (27) is connected to the front channel part of the frame (5) of the seat cushion (4).
While pushing in the outer skin (4a) from the bottom side into (6), the urethane roller (57) at the rear also seats back.
Push in the skin (7a) from the back side under the upper frame (8) of (7) to enter.

Then, after securing an appropriate amount of pushing of the respective skins (4a), (7a) by the front and rear urethane rollers (27), (57),
The urethane pad (33) provided on the front gripping arm (26) is pressed against the channel portion (6) at the lower front portion through the skin (4a), and the urethane pad (on the rear gripping arm (56) ( 6
3) also comes into pressure contact with the upper frame (8) from the back through the skin (7a). As a result, the seat cushion (4) and the seat back (7) are positioned with respect to the gripping hand (10) in the front-rear direction, and the respective skins (4a), (when the urethane rollers (27), (57) are inserted. The deviation of 7a) is also regulated.

After that, the cylinder (72) above the gripping hand frame (11) operates, the pressing plate (74) moves rearward, and the urethane mat (75) on the rear surface moves the upper part of the seat back (7) to the front side. Press backward from.

In the above, the pressing plates (44) and (74) face the urethane rollers (27) and (57) and the urethane pads (33) and (63) with respect to the seat cushion (4) and the seat back (7), respectively. Seat cushion (4) and seat back (7)
Each of them is reliably pressed and pinched with a sufficient gripping force.

And urethane rollers (27), (57) and urethane pad (3
Depending on the positional relationship between 3) and (63), the pushing amount of the skins (4a) and (7a) into the channel part (6) at the front of the seat cushion frame (5) and below the seat back upper frame (8). Can be adjusted to a suitable one. That is, the urethane pads (33) and (63) are used to push in the rollers (27) and (57) so that excessive tension is not applied to the skins (4a) and (7a) by the urethane rollers (27) and (57). Each can be regulated.

Further, since the urethane rollers (27) and (57) are rotatable, they do not damage the skins (4a) and (7a) when they are pushed.

Furthermore, since the rollers (27) and (57) and the pads (33) and (63) are divided into two parts and are held by their respective surface contacts,
The seat frame can be used for accurate positioning, and it is possible to prevent the pressing force (or the gripping force) from being concentrated on one part and the epidermis from being broken or the stopper from coming off. Moreover, since the seat frame is pressed by the pads (33) and (63), even if the gripping force is reduced due to the dispersion of the pressing force, it can be sufficiently compensated.

In this way the front hand of the gripping hand (10)
After gripping (3), the front seat (3) is carried into the vehicle through the front door opening of the vehicle, and thereafter, a predetermined mounting operation is performed.

By the way, the roller to be inserted into the channel portion (6)
Regarding (27), if the diameter is made larger than the front and rear width of the channel part (6), the positioning in the front and rear direction and the up and down direction can be performed only by the roller (27). Since the outer diameters of the rollers contact each other and the central angle of the roller (27) contacting the frame (5) becomes small, the position regulating force in the front-back direction becomes weak. Conversely, if the diameter of the roller (27) is made extremely small, the outer skin (4a) will be greatly deflected,
It may damage the skin attachment part. Therefore roller (27)
Is smaller than the front and rear width of the channel portion 6 as in the embodiment, but has a certain diameter.

(Effects of the Invention) According to the present invention as described above, in particular, the seat frame is indirectly gripped via the skin, the pressing force is dispersed by the surface contact between the roller and the pad, and the roller abuts on the skin. After that, the pad presses the frame through the epidermis to adjust the tension applied to the epidermis, effectively preventing the epidermis from being damaged or torn and protecting the epidermis, and gripping the sheet with high positioning accuracy. Therefore, the posture of the front seat with respect to the robot arm can be stabilized, high-speed conveyance can be achieved, and the work efficiency can be improved.

[Brief description of drawings]

1 to 3 are a side view, a front view and a plan view of a gripping hand showing a front seat gripping state, FIG. 4 is a plan view of a front portion of a seat cushion frame, and FIG. 5 is a front view of an upper portion of a seat back frame. Is. In the drawing, (1) is a pallet, (2) is a robot arm,
(3) front seat, (4) seat cushion, (4a) skin, (5) frame, (6) channel part, (7) seat back, (7a) skin, (8) Upper frame, (10) gripping hand, (11) frame, (12), (15) gripping device, (2
1), (51) are pushing means, (22), (52) are cylinders, (2
(4), (25) and (54) are links, (26) and (56) are gripping arms, and (2
7) and (57) are urethane rollers, (31) and (61) are fixing means, and (3
3) and (63) are urethane pads, (41) and (71) are pressing means, and (4)
2) and (72) are cylinders, (44) and (74) are pressure plates, and (4
5) and (75) are urethane mats.

Claims (2)

[Claims] 1. A front seat gripping method for carrying in and assembling a front seat positioned and placed on a pallet into an automobile on an assembly line, wherein an upper surface of a seat cushion is pressed downward by a pressing plate. After pressing the front seat onto the pallet, the upper surface of the seat cushion is pushed upward by a rotatable roller whose axis is left and right, and the rear surface of the seat back is rotatable while axis is left and right. The front side of the seat cushion, and then the pad for controlling the pushing amount of the roller from the lower surface side is pressed against the frame in the left and right direction enclosed in the seat cushion through the skin, and A pad that regulates the pushing amount of the roller from the back side of the frame After brought into pressure contact through the front sheet grasping wherein the pressing backward the front of the seat back by the pressing plate. 2. A front seat gripping device for carrying in and assembling a front seat positioned and placed on a pallet into a vehicle on an assembly line, wherein an axis line for pushing a skin on a lower surface side of a seat cushion upward. Pushing means provided with a rotatable roller in the left-right direction and a rotatable roller pushing the outer surface of the back of the seat back forward with the axis line in the left-right direction, and the lower surface with respect to the frame in the left-right direction contained in the seat cushion. Fixing means including a pad that comes into pressure contact with the skin from the side and a pad that comes into pressure contact with the frame in the left-right direction contained in the seat back from the back side through the skin, and the upper surface of the seat cushion faces the roller and the pad. The pressing plate and the front surface of the seat back facing the roller and the pad. Front seat gripping device characterized by comprising a pressing means and a pressing plate for pressing the.