JPH0798497B2 - Hood assembly device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial field of application> The present invention relates to a device for assembling a hood used in an automobile assembly line.

<Prior Art and Problem to be Solved by the Invention> Conventionally, a device for attaching a hood that covers an opening of a body of an automobile to a body so as to be openable and closable has not been completely automated.

That is, while holding the hood by the holding device, an operator positions it at a predetermined body opening and tightens it by a bolt tightening device, or positions the hood at the body opening by a positioning device and performs tightening work. There is. However,
The former involves a lot of manual work, and the latter cannot properly insert the bolts when the position of the body opening is displaced, which is an obstacle to automation.

The present invention has been made in view of such circumstances, and provides a hood assembling apparatus that is fully automated for a series of actions from supplying the hood to positioning the vehicle body opening with respect to the vehicle body and tightening bolts. It is intended to be provided.

<Means for Solving the Problems> The structure of the present invention for achieving the above object is to be fitted into a positioning hole which is provided in a body transporting path of an automobile in a process of assembling a hood and which is formed in advance on a lower surface of the body. A plurality of positioning pins that regulate and hold the body conveyed by a predetermined position, a set table that carries the hood to a predetermined carry-in position on the side of the body transport path, and a positioning pin that holds the hood. A cross beam that extends above the body transport path across the opening of the body and the carry-in position, a base that is reciprocally supported by the cross beam, and the cross beam intersects the cross beam. A movable base that is reciprocally supported by the base in a direction, and a support rod that is vertically supported by the movable base.
A hanger member supported by a lower end portion of a support rod so as to be swingable around a horizontal axis orthogonal to the flow direction of the body transport path,
A support member provided on the hanger member for holding the hood substantially horizontally with respect to the hanger member, a bolt feeder provided on a side of the body transport path for supplying a tightening bolt to a predetermined position, and the body transport A bolt tightening tool is movably held between a bolt delivery position provided on the side of the road for receiving the tightening bolt from the bolt feeder and the hood mounting portion of the body held by the positioning pin. It is characterized by having a bolt tightening robot.

<Operation> The body of the automobile, which has been conveyed through the body conveying path, is regulated and held at a predetermined position by the positioning pin fitted into the positioning hole. The base is moved above the carry-in position along the cross beam, and the support rod is lowered to hold the hood placed on the set table at the carry-in position by the support member. The support rod is raised and the base is moved above the opening of the body along the cross beam, the support rod is lowered, the movable base is moved with respect to the base, and the hanger member is rocked with respect to the support rod. Position the hood in the assembled state with respect to the opening. The bolt tightening tool is moved between the bolt delivery position and the hood mounting portion of the body, and the hood positioned in the assembled state is bolted to the body by the bolt tightening tool.

<Example> Hereinafter, one example of the hood assembly apparatus of the present invention will be specifically described with reference to the drawings.

1 is a front view of a hood mounting apparatus according to an embodiment of the present invention, FIG. 2 is a side view thereof, and FIG. 3 is a plan view thereof.

As shown in FIG. 1 to FIG.
Set stand 12 to carry in the hood 11 and hood 11
Positioning robot 14 for positioning and holding with respect to the opening of
And a bolt feeder 16 that sequentially supplies the tightening bolts 15,
It has a bolt tightening robot 17 for tightening the bolt 15.

A hood mounting work position is provided at a predetermined position of the assembly line (body transport path), and a body positioning jig 19 is provided at two positions in the width direction of the body 13 within the line bit 18 of the body positioning jig 19.
Mounted on. A positioning pin 21 is provided at the tip of the body positioning jig 19, and the positioning pin 21
By being fitted into the holes as the positioning holes, the front and rear, left and right, and horizontal positions of the body 13 are positioned.

The set table 12 is slidably mounted on the guide rail 22 between the receiving position and the carry-in position at the hood mounting work position, and when the set table 12 is at the receiving position as shown in FIG. The hood 11 by a carry-in machine (not shown)
Is supplied onto the set table 12, and the set table 12 conveys the hood 11 to the loading position 23 adjacent to the hood 11.

On the other hand, it extends in the vehicle width direction (Y direction) of the body 13 so as to straddle the line bit 18 through the hood opening of the body 13 positioned by the body positioning jig 19 and above the carry-in position 23. Two cross beams 24 (see FIG. 3) which are parallel to each other are provided, and the positioning robot 14 is mounted on the cross beams 24. That is, the base 25 of the positioning robot 14 is mounted on the guide rail 26 laid on the cross beam 24, and the pinion 28 of the Y-axis drive motor 27 mounted on the base 25 is mounted on the cross beam 24. It engages with the installed rack 29. Therefore, when the Y-axis drive motor 27 is operated, the base 25
Moves along the cross beam 24, and the positioning robot 14
Can be reciprocated between the carry-in position 23 and the car body 13.

A guide rail 30 is laid on the base 25 along a direction perpendicular to the moving direction thereof, that is, along the front-back direction (X direction) of the body 13, and the movable base 31 is mounted on the guide rail 30. There is. This movable base 31 is guided by an X-axis drive motor 32 provided on a base 25 via a ball screw 33.
It is designed to be driven along 30. Further, the movable base 31 supports a support rod 34 slidably in the vertical direction (Z direction), and the support rod 34 is a rack and pinion mechanism (not shown) provided by a Z-axis drive motor 35 provided on the movable base 31. It is designed to be driven up and down via. The support rod 34 hangs down to below the cross beam 24 through an opening 36 provided in the base 25, and a hanger for holding the hood 11 at its lower end.
37 is installed.

Here, the hanger 37 will be described in detail with reference to FIGS. FIG. 4 is a front view thereof, FIG. 5 is a side view thereof, and FIG. 6 is a plan view of the hood showing the hanger engagement position thereof. As shown in the figure, a hanger board as a hanger member is provided at the lower end of the supporting rod 34 extending in the vertical direction.
A hanger base end 38 can be swung by a θ-axis drive motor 39 at a desired angle. As shown in FIG. 4, left and right pressers 40 as supporting members are attached to both ends of the hanger board 38 in the Y direction so as to be movable in the vehicle width direction (Y direction). The support portions 41 of the left-right direction pressers 40 are screwed into the ball screws 42, and the left-right direction pressers 40 are positioned by rotationally driving the ball screws 42 with a drive motor 44 via a gear 43. To be done. As shown in FIG. 6, the left and right pressers 40 contact the widthwise end edges of the hood 11 and adjust their positions to adjust the hood.
Adjust 11 width direction positioning.

Also, as shown in FIG. 5, two rear supports 45 as support members are arranged in the axial direction at one end edge (rear end edge) in the front-rear direction (X direction) of the hanger board 38 in the front-rear direction. It is movably attached. Similar to the above-described left-right pressing member 40, the rear support 45 has a support portion 46 with a ball screw 47.
The ball screw 47 is connected to the drive motor 49 via the gear 48, and the rear support 45 is positioned by operating the drive motor 49. As shown in FIG. 6, the rear support 45 engages with and supports the rear edge of the hood 11 and regulates its position.

On the other hand, the other end edge (front end edge) in the front-rear direction of the hanger board 38 is, as shown in FIG.
Is provided. This front support 50 is provided on the hanger board 38.
The slider 51, which is slidably supported in the front-rear direction, is mounted movably in the vertical direction, and also supports the front support 50.
52 is screwed into a ball screw 53, and this ball screw 53 is a gear 54.
Is connected to the drive motor 55 via. An ON-OFF drive air cylinder 56 pivotally mounted on the hanger board 38 is connected to the slider 51. As shown in FIG. 6, the front support 50 engages with and supports the front end edge of the hood 11, and operates the drive motor 55 to move the front support 50 in the vertical direction. Hood held by 11
The tilt of is adjusted. On the other hand, when the ON-OFF drive air cylinder 56 is operated, the front support 50 moves in the front-rear direction,
Hold and solve the hood 11.

By holding the hood 11 on the hanger base 38 substantially horizontally by the support member, the central portion (center of gravity) of the hood 11 is supported by the base 25, which is the support portion of the hanger base 38. Therefore, even a heavy hood 11 can be reliably supported, and the hood 11 can be conveyed accurately and accurately.

On the other hand, as shown in FIGS. 1 to 3, a bolt feeder 16 is provided between the assembly line in the line bit 18 and the set table 12.
And a bolt tightening robot 17 are provided. Two bolt feeders 16 and two bolt tightening robots 17 having the same structure are provided for right and left, respectively, and are symmetrically provided on both left and right sides of the vehicle body 13. The bolt feeder 16 and the bolt tightening robot 17 will be described below.

The bolt feeder 16 has a storage portion 57 that supplies the tightening bolt 15.
And an aligning section 59 for aligning the bolts 15 supplied from the accommodating section 57 and sequentially sending the bolts 15 to the bolt delivery position 58. The bolt tightening robot 17 is located on the side of the body 13 adjacent to the bolt delivery position 58.

The bolt tightening robot 17 is mounted on the base 60.
That is, the guide rail 61 is laid in the front-rear direction on the base 60, and the X-axis slider 62 is mounted on the guide rail 61. The X-axis slider 62 is driven by an X-axis drive motor 63 along a guide rail 61 thereof via a ball screw 64 so that it can be moved between the bolt feeder 16 and the hood mounting work position. An elevating table 65 is attached to the X-axis slider 61 so as to be vertically movable and rotatable about an axis in the vertical direction. The elevating table 65 is vertically moved by a Z-axis moving motor 66 via a rack and pinion mechanism (not shown). The arm 68 is driven and can be moved horizontally on the lift table 65.
The arm 68 is driven by a drive motor 69 via a ball screw 70. A holding base 72 that swings by a drive motor 71 is attached to the tip of the arm 68, and a bolt tightening tool 73 is supported on the holding base 72.

The hood assembling device has the above-mentioned configuration, and its operation will be described below.

The body 13 of the conveyed car is regulated and held at a predetermined position by the positioning pin 21 being fitted into the hole.
In this state, first, the base 25 of the positioning robot 14 is moved above the carry-in position 23 along the cross beam 24, and the hood 11 is received by the hanger 37 of the positioning robot 14 from the set table 12 at the carry-in position 23. . The base 25 of the positioning robot 14 moves along the cross beam 24, and carries the hood 11 to the position of the automobile body 13 which is previously positioned at a predetermined position by the body positioning jig 19. Movement of movable table 31 with respect to base 25 and hanger 37 with respect to support rod 34
The hood 11 is positioned and held in the assembled state with respect to the hood opening. On the other hand, the set table 12 that has passed the hood 11 to the positioning robot 14 returns to the receiving position, receives the next hood 11, and waits again at the carry-in position 23.

Further, in parallel with this, the bolt tightening robot 17 receives the tightening bolt 15 from the delivery position 58 of the bolt feeder 16 to the bolt tightening tool 73, and the hood having the bolt tightening tool 73 positioned as described above. Position it with respect to 11 and tighten the bolts to attach the hood 11 to the body 13. Thereafter, the bolt tightening robot 17 returns to the delivery position to receive the next tightening bolt, and the positioning robot 14 also returns to the carry-in position 23 to receive the next hood 11.

As described above, according to the hood assembly device, a series of operations in the hood assembly can be automatically performed, and it is possible to easily cope with the case where the size or the mounting position of the hood 11 is changed. Becomes

In the hood assembly apparatus described above, since the positioning pin 21 is inserted into the hole and the body 13 is regulated and held at a predetermined position, it is not necessary to measure the position and orientation of the body 13, and the positioning robot 14 The tightening robot 17 operates by the previously taught movement path information, and
11 assembling is possible. Therefore, the operation control of each device is simplified.

Further, the hanger 37 is substantially in the center of the upper surface of the hood 11 (at the center of gravity).
Since the base 25 that receives the load of the hood 11 is arranged at the upper position, the heavy hood 11 can be stably and accurately transported.

In addition, the hood 11 is hung above the set base 12 and the base 25 is moved to the body 13 side along the cross beam 24 to move the hood 11
Since 11 is conveyed, it is not necessary to arrange the positioning robot 14 and the tightening robot 17 side by side, and further, the set table 12 can be arranged near the tightening robot 17. For this reason,
The degree of freedom in the layout in the factory is increased, space advantages are achieved, and the hood 11 can be efficiently transported to the body 13 side.

Further, by changing the position of the movable base 31 with respect to the base 25 of the positioning robot 14, the vertical position of the support rod 34, the swinging state of the hanger substrate 38, and the setting state of the supporting member, the members are exchanged. It can be easily applied to different types of hoods.

<Effects of the Invention> As described specifically above with reference to the embodiments, according to the present invention, a series of operations from supply of the hood to positioning of the hood to the opening of the automobile body and tightening of bolts are completely automated. It is possible to improve the efficiency of the work.

[Brief description of drawings]

1 is a front view of a hood mounting apparatus according to an embodiment of the present invention, FIG. 2 is a side view thereof, FIG. 3 is a plan view thereof, and FIG. 4 is a front view of a hanger thereof. Is also a side view thereof, and FIG. 6 is a plan view of the hood showing the hanger engagement position thereof. In the drawing, 11 is a hood, 12 is a set stand, 13 is an automobile body, 14 is a positioning robot, 15 is a tightening bolt, 16 is a bolt feeder, 17 is a bolt tightening robot, 23 is a loading position, 58 is a delivery position, 73 is a bolt tightening tool.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yutaka Mishima 5-3-8 Shiba, Minato-ku, Tokyo Mitsubishi Motors Corporation (56) References JP-A-62-99272 (JP, A) JP-A-SHO 60-185678 (JP, A)

Claims (1)

[Claims] 1. A body which has been conveyed by being fitted into a positioning hole formed in a lower surface of the body provided in a body conveying path of an automobile in a hood assembling process is regulated and held at a predetermined position. Multiple locating pins,
A set table for loading the hood to a predetermined loading position on the side of the body transporting path, an opening of the body held by the positioning pin, and an extension above the body transporting path over the loading position. A cross beam provided, a base movably supported by the cross beam reciprocally, a movable base movably supported by the base reciprocally in a direction intersecting the cross beam, and a movable base vertically A support rod that is movably hung and supported; a hanger member that is swingably supported by a lower end portion of the support rod around a horizontal axis that is orthogonal to the flow direction of the body transport path; and a hanger member that is provided on the hanger member. A support member for holding the hood substantially horizontally with respect to the hanger member, a bolt feeder provided on the side of the body transport passage for supplying a tightening bolt to a predetermined position, and provided on the side of the body transport passage. A bolt tightening robot that holds a bolt tightening tool movably between a bolt delivery position that receives the tightening bolt from the bolt feeder and the hood mounting portion of the body that is held by the positioning pin. A hood assembly device characterized by being equipped.