JPH0659854B2 - Car body positioning device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a device for positioning a vehicle body at a wheel mounting position when mounting a wheel on a wheel mounting member (hereinafter simply referred to as a hub).

(Prior Art) A device disclosed in Japanese Patent Laid-Open No. 56-67603 is known as a device for automatically attaching wheels to a vehicle body in an automobile assembly line.

This device is provided with a base, which is movable along the conveyor and is movable in the vertical direction and the vehicle width direction with respect to the vehicle body, on the side of the conveyor that conveys the vehicle body. The wheel is attached to the hub by the machine hand by detecting that the machine hand and the hub are coaxial with each other by the detection mechanism.

(Problems to be Solved by the Invention) According to the above-mentioned conventional device, since the machine hand is movable, the length of the line itself can be shortened and the number of devices itself can be reduced. However, when mounting the wheels, the vehicle body is fixed and the direction of the machine hand is changed according to the wheel mounting member such as a hub mounted on the vehicle body, which makes the mechanism of the machine hand itself extremely complicated. .

Further, in the conventional device, the car body does not move in the width direction of the car body on the conveyor.Therefore, the conveyed car body has variations in the car width direction, and this variation causes the vertical displacement of the hub surface relative to the machine hand. And the measuring device becomes complicated and expensive.

Further, when mounting the wheels on the vehicle body, the vehicle body is usually mounted on a table. Further, the table is provided with four seats for stably mounting the vehicle body, and a part of the vehicle body abuts on these seats. However, when four seats are provided, a part of the vehicle body always comes into contact with the three seats, but at the remaining one part, the vehicle body partly floats from the seats. Is mounted on the table in a state of being oscillated with a slight force in the diagonal direction, which causes a problem that the axis of the wheel mounting device such as a machine hand and the axis of the hub are difficult to settle.

(Means for Solving Problems) In order to solve the above problems, according to the present invention, in a wheel mounting device, floating support in the vehicle width direction is performed by restricting movement of the vehicle body in the front-rear direction, and thereby supporting the vehicle in the vehicle width direction. In addition to eliminating variations, at least one of the seats provided at four locations on the vehicle body mounting table can be vertically floated and fixed at any position (hereinafter referred to as a floating fixed type). Then, the vehicle body is supported at four positions on the table without swinging.

(Operation) When the vehicle body is placed on the table, the floating fixed seat is located above the other seats. Abut. Then, when the vehicle body comes into contact with the other three seats, the floating fixed type seat is locked, and the vehicle body is supported in a state where all of the four seats come into contact with the vehicle body.

Further, in this state, the correction lever (pressing member) of the correction device is brought into contact with the mounting surface of the hub to move the vehicle body in the vehicle width direction, thereby eliminating the variation in the vehicle width direction.

(Example) Below, the Example of this invention is described based on an accompanying drawing.

First, an outline of a wheel mounting device to which a vehicle body positioning device according to the present invention is applied will be described with reference to FIGS. 1 to 3.
Here, FIG. 1 is an overall plan view of the wheel mounting device, FIG. 2 is a side view of the device as seen from the front of the vehicle body, and FIG. 3 is a front view of the device as seen from the side of the vehicle body.

The wheel mounting device consists of multiple devices, the main of which is the conveyor device that transports the wheels (1) to the vehicle body (2).
(3), an intermittent transfer device (4) that transfers the vehicle body (2) to the wheel mounting position intermittently and also transfers the vehicle body (2) to which the wheel (1) is attached to the next process wheel A robot (100) for performing positioning from a positioning device (5) for a vehicle body that floats and supports the vehicle width direction while restricting movement in the front-rear direction at the mounting position and positioning of a hub (6) mounted on the vehicle body (2) to wheel mounting. Is.

Then, the conveyor device (3) that conveys the wheels (1) is a main conveyor (30), sub-conveyors (31), (31) branching from the main conveyor (30) in an orthogonal direction, and these sub-conveyors.
Consists of sub-conveyors (32) ... that branch from (31), (31) in the orthogonal direction and extend to the side of the vehicle body. Conveyors (30), (31), (32)
Is equipped with a large number of long rollers (33) and short rollers (34) that change the conveying direction of the wheels (1) at the branching portion. For example, four wheels (1) are conveyed on the main conveyor (30). If each of the sub-conveyors (31), (31) has two wheels distributed and conveyed, two wheels are conveyed on each sub-conveyor (31), one wheel for each sub-conveyor (32). They are distributed and conveyed one by one.

Then, the wheels (1) conveyed to each sub-conveyor (32)
After the hub bolt insertion holes are aligned by the positioning device (36) arranged near the end of the sub-conveyor (32), the robot is held by the robot (100) and attached to the hub (6).

Further, as shown in FIG. 3, the intermittent transfer device (4) of the vehicle body (2) has a traveling body (41) movably engaged with a rail (40) installed on a ceiling part by a motor or the like, and the traveling body (41) is moved. A cantilevered hanger (42) is provided on the body (41), and the hanger (42) is used to
It has a structure in which (2) is intermittently conveyed while being supported from below.

On the other hand, a positioning device (5) for positioning the vehicle body (2) sent by the intermittent transfer device (4) at the wheel mounting position.
The details are as shown in FIGS. 4 to 6.

That is, the positioning device (5) has guides (51), (5
1) stand upright and insert the guide rods (53) and (53) fixed to the lifter base (52) into these guide receivers (51) and (51) so that they can move up and down, and at the same time, to the base (50). Stick the upper end of the rod (55) of the fixed cylinder unit (54) to the lifter base (52), and operate the cylinder unit (54) to lifter base.
(52) moves up and down.

Also, the air bearing (5
6) is provided and the table is placed on this air bearing (56).
(57) is placed. Specifically, the air bearing (5
6) consists of a pipe part (58) connected to the source of compressed air and a dish-shaped member (59) provided at the upper end of this pipe part (58). (57) It is closed by the smooth plate (61) attached to the lower surface.

Further, on the lower surface of the dish-like member (59), there are formed thick wall portions (59a) ... Which extend in the front-rear direction and the left-right direction around the pipe portion (58), and the thick wall portions (59a), ( 59a) Smooth plate on the end surface
(61) A roller (62) attached to the lower surface was brought into contact with the roller, and pins (63) provided at the four corners of the lower surface of the smooth plate (61) and the air bearing (56) were provided around the central pipe section (58). A coil spring (65) is stretched between the pin (64) and the smooth plate (61), that is, when no force acts on the smooth plate (61), that is, the table (57), the smooth plate (61) is pulled by the tensile force of the spring (65). ) And the center of the air bearing (56) are aligned.

Further, as shown in FIG. 6 which is a plan view, seats (66) of the vehicle body (2) are provided at four corners of the upper surface of the table (57).
Three of these seats (66) are fixed to the table (57), and the remaining one seat (66a) is of the floating fixed type.

That is, the seat (66a) has the pin (68) inserted into the cylindrical body (67) fixed to the table (57), and the receiving plate at the upper end of the pin (68).
(69) is attached, and the spring (70) urges the pin (68) upward so that the receiving plate (69) is above the receiving plates of the other receiving seats (66) before the vehicle body (2) is placed. So that it sticks out. In addition, the cylinder unit (7
1) is fixed and the cylinder unit (71) operates to
(71a) presses the side surface of the pin (68) through a hole formed in the cylindrical body (67) to lock it. Also pins (68)
In the side surface pressing portion, a vertically long concave groove (not shown) is formed along the axial direction. Further, the receiving plate (69) has a table (5
Operating body that operates the limit switch (72) attached to 7)
(73) is provided, and when the receiving plate (69) is lowered to a predetermined position, the cylinder unit (71) is operated, the side surface of the pin (68) is pressed, and the receiving seat (66a) is placed at an arbitrary height position. I'm trying to lock.

Then, by driving the cylinder unit (54), the lifter base
When the table (57) rises as the (52) rises and the table (57) rises accordingly, one of the seats (66) provided on the upper surface of the table (57).
The receiving plate (69) of (66a) comes into contact with a part of the vehicle body (2), and the receiving plate (69) further descends relatively against the spring (70) as the table (57) further rises. The receiving plates (69) of the other three seats (66) abut against a part of the vehicle body (2), and as a result, the vehicle body (2) is attached to all the receiving plates of the four seats (66). Abut. Then, at this time point, the cylinder unit (71) operates to fix the receiving plate of the receiving seat (66a). Therefore, the vehicle body (2) is placed on the table (57) so as not to swing with a slight force.

As described above, compressed air is supplied to the dish-shaped member (59) of the air bearing (56) while the vehicle body (2) is fixed on the table (57), and the dish-shaped member (59) is also provided. Smooth plate on top (61)
The table (57) is air bearing
It is movably supported in the horizontal plane on (56). However, since the rollers (62) and (62) fixed to the smooth plate (61) are in contact with the thick parts (59a) and (59a) before and after the air bearing (56), the table (57) is not It will be floatingly supported so as to be movable only in the width direction. Like this
By floatingly supporting (2) in the vehicle width direction, as will be described later, the error in the vehicle width direction of the hub (6) on one side is eliminated when correcting the turning angle, and the toe-in of the hub (6) on the other side is eliminated. It is possible to eliminate the angle error of.

Next, details of the robot (100) will be described. The robot (100) is supported on a base (101) as shown in FIGS. 2 and 3.
This base (101) is mounted on the vehicle body by the cylinder unit (102).
It is movable in the front-back direction of (2), and the support (1
03) is erected, and a box part (104) incorporating a motor or the like is provided on the upper part of the column (103).
Is vertically movable by a cylinder unit (105), and a box (104) laterally supports a shaft (106) rotated by a motor. Then, the shaft (106) is a portion for correcting the cutting angle of the hub (6) and for adjusting the phase of the hub bolt (A) and a portion for holding the wheel (I) and mounting the wheel (1) on the hub (6). (B) is attached to the shaft (106) at a distance of 90 °, and the portion (B) can be moved in the vertical direction in FIG. 3 by a cylinder unit (107).

By driving the motor, the shaft (106) rotates 90 ° as shown by the arrow in FIG. 2, so that the portion (A) where the cutting angle correction of the hub (6) and the phase adjustment of the hub bolt are completed is moved upward. It pivots away from the hub (6) and the part (B) holding the wheel (1) pivots to the position of the hub (6).

The part (A) is composed of a correction device (200) for correcting the cutting angle of the hub (6) and a phasing device (300). As shown in FIGS. The cylinder unit (202) is installed on the support plate (201) of (A) in the horizontal direction.
A plate body (205) slidably supported by the guide rods (204) and (204) is fixed to the rod (203) of (202), and a pair of correction bars that are pressing members are attached to the plate body (205). (206) and (206) are attached. As shown in FIG. 7, these correction bars (206) and (206) have a horizontal C-shape, and the cylinder unit (202) is actuated to the hub (6) independently of the phase matching device (300). Move forward and backward.

Here, the phasing device (300) is a moving body that moves laterally and vertically with extremely weak force via a balance cylinder.
(301), (302) and attached to the vertical moving body (302),
When performing phase alignment of the hub bolt (60) with the phase matching claws (303) and (304) that move in the direction toward and away from each other by the rotation of the motor etc. and these phase matching claws (303) and (304) It is composed of a locking piece (305) and the like for removing the dead point.

Next, a ninth method for correcting a corner angle using the correction device (200) is described.
The description will be made also with reference to the principle diagrams of FIGS.

First, FIG. 9 (A) is a plan view (only the front part of the vehicle body is shown) showing the relationship between the vehicle body (2) transported by the transportation device (4) and the correction device (200). In that case, the left and right hubs (6L) and (6R) are separated from the left and right correction devices (200L) and (200R) correction bars (206) and (206). The hubs (6L) and (6R) with uncorrected cutting angles both have a positional error of X mm in the vehicle width direction and an angular error of θ ° in the toe-in angle. That is, when the hub (6) is attached to the knuckle, the vehicle body is transported, and the like, an error within a predetermined range surely occurs. However, if position error and angular error are concentrated on one hub, for example, the hub on the right side (6R), the error will expand due to a synergistic effect,
The phase adjusting claws (303), (304) of the phase adjusting device (300) may not be retained by the hub bolt (60), or the nut runner device may not be able to tighten the nut.

Therefore, in the present invention, the protrusion amount of the correction bar (206) of one of the correction device (200R) is fixed, and the other correction device (200L)
The amount of protrusion of the correction bar (206) of No. 1 was set to the full push. That is, the correction bar (206) of the correction device (200R) projects toward the hub (6R) by a certain amount, and the correction bar (206) of the correction device (200L) is
Abut (6L) and project until it stops due to its resistance.

Then, in the correction procedure, as shown in FIG. 9 (B), first, the fixed size is corrected. That is, the correction bar (206) of the correction device (200R)
Is made to protrude by a predetermined amount and brought into contact with the hub (6R). Then, since the vehicle body (2) is floatingly supported in the vehicle width direction, it is pushed by the correction bar (206) and the entire vehicle body (2) moves in the vehicle width direction. Therefore, in this state, the hub (6
The position error and the angle error of R) are erased, and the position error in the vehicle width direction and the toe-in angle error are all concentrated on the left hub (6L).

After that, as shown in FIG. 9C, the correction device (2
The correction bar (206) of 00L) is pushed out so that the correction bar (206) is pressed against the left hub (6L) to correct the toe-in angle error of the hub (6L). In addition, the correction bar (206) is attached to the hub (6
Even if it is pressed against the L), the right hub (6R)
Since it remains in contact with the correction bar (206) of R), the position error in the vehicle width direction remains.

After that, the correction bar (206) of the correction device (200R) on the right side is retracted, and then the correction bar (206) of the correction device (200L) on the left side is retracted. In this way, the correction device (2
Retract the correction bar (206) of (00R) and pull the right hub (6R)
Therefore, even if the correction bar (206) of the correction device (200L) on the left side (push-off side) is retracted after that, no angle error occurs on the left hub (6L).

That is, by the above correction procedure, only the angle error has occurred in the right hub (6R) and only the position error has occurred in the left hub (6L). There is no error due to the synergistic effect with the angle error. Therefore, when the phase adjustment is performed later, the phase adjustment claw can be surely locked to the hub bolt, and when the nut is tightened by the nut runner device, the position of the nut does not deviate from the hub bolt.

Further according to this embodiment, the correction bar (206) of the correction device (200)
The movement of one is fixed size and the other is pushed completely,
In either case, it is not necessary to detect the protrusion amount of the correction bar (206) for each correction. On the other hand, in the conventional example, the amount of movement of the wheel-mounted robot in the vehicle width direction must be detected every time. Therefore, according to this embodiment, the number of control axes can be reduced as compared with the conventional one, and the structure can be simplified.

(Effects of the Invention) According to the present invention as described above, since the vehicle body is floatingly supported in the vehicle width direction at the wheel mounting position, when the hub is pressed by the pressing member such as the correction bar, the vehicle body moves in the vehicle width direction. Since it moves, the center line of the vehicle body can always be set at a constant position by setting the protrusion amount of the pressing member to a constant amount, and the position error of the hub when mounting the wheel becomes extremely small.

Further, the table on which the vehicle body is mounted has four seats, and at least one of the seats can be floated in the vertical direction and fixed at a predetermined position. It can be securely fixed on the table without rattling when placed.

[Brief description of drawings]

FIG. 1 is an overall plan view of a wheel mounting device to which a vehicle body positioning device according to the present invention is applied, FIG. 2 is a side view of the wheel mounting device seen from the front of the vehicle body, and FIG. 3 is the wheel mounting device. FIG. 4 is a side view of the vehicle body positioning device, FIG. 5 is a bottom view of the bearing portion of the table, FIG. 6 is a plan view of the table, and FIG. 7 is a cutting angle correcting device. FIG. 8 is a side view seen from the direction VIII in FIG. 7, and FIGS. 9 (A) to 9 (C) are plan views illustrating the principle of cutting angle correction. In the drawings, (1) is a wheel, (2) is a vehicle body, (3) is a conveyor device, (4) is a transport device, (5) is a vehicle body positioning device, (6) is a hub, and (52) is a lifter. Base, (56) air bearing, (57) table, (66), (66a) seat, (68) pin,
(69) is a receiving plate.

Claims (1)

[Claims] Claim: What is claimed is: 1. An apparatus for positioning a vehicle body conveyed with a wheel mounting member mounted, at a wheel mounting position,
This device is provided with a lifter that is vertically movable at a wheel mounting position, a vehicle body mounting table that is floatingly supported on the lifter in the width direction of the vehicle body through bearings, and is provided at least at four positions on the table. One place is a vehicle body seat that is vertically floatable and can be fixed at any position, and a pressure that is placed on both sides of the vehicle body and that pushes the mounting surface of the wheel mounting member by forward movement in the vehicle width direction. A vehicle body positioning device comprising: a member.