JPH0832387B2 - Device for assembling outer panel members to automobile bodies - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention is capable of automatically mounting an outer panel member such as a front fender or a door on a side surface of an automobile and a lid-shaped outer panel member such as a bonnet or a tailgate to an automobile body. The present invention relates to a device for assembling an outer plate member to an automobile body, which is designed to be assembled.

(Prior Art) Conventionally, a plurality of types of outer plate members including a front fender, a door, a hood, and a tailgate (or a trunk lid) are mounted on an automobile body at a plurality of assembly stations provided on a line for conveying the automobile body. I try to assemble them individually.

Assembly of the outer plate member at each assembly station is generally performed manually, but according to JP-A-60-240574,
Automatic door assembly by arranging an assembly rod equipped with an assembly jig for holding the door on the side of the door assembly station, or according to JP-A-60-240574. It is known that an assembling robot having an arm extending laterally inward is arranged on a side portion of an assembling station and an assembling jig for holding a bonnet is attached to the arm for automatic assembling of the bonnet. .

(Problems to be Solved by the Invention) Although it is conceivable that all the outer plate members are automatically assembled by the assembling robot at the corresponding assembling stations by using the above technique, it is possible to use a plurality of kinds of outer plate members. If a plurality of assembly stations are provided in total, the line length becomes long, and conventionally, since each outer plate member is stacked on the truck and supplied to each assembly station, the truck runs on the line side. Space is inefficient because of the need to secure a road.

Further, if the assembling robot for the lid-shaped outer plate member such as the bonnet is arranged on the side of the assembling station as described above, and the assembling jig is attached to the arm extending laterally inward from the robot, A large bending moment acts on the arm and the robot due to the total weight of the assembly jig and the lid-shaped outer plate member held by the assembly jig, and the positioning accuracy of the lid-shaped outer plate member with respect to the vehicle body tends to deteriorate.

In view of the above points, the present invention is capable of automatically assembling side surface skin members such as front fenders and doors and lid-shaped skin members such as bonnets and tailgates into a vehicle body at a single assembly station. In addition to shortening the line length, these outer plate members can be supplied to each assembly robot by utilizing the three-dimensional space, eliminating the need for a truck running path on the line side, and further covering the lid-shaped outer plate. It is an object of the present invention to provide an assembling device capable of improving the positioning accuracy of a member with respect to a vehicle body.

(Means for Solving the Problems) In order to achieve the above object, according to the present invention, a front fender or a door is attached to an automobile body assembled by mutually joining members constituting a main body portion of a vehicle body such as a floor, a side panel and a roof. It is an assembling device for assembling a side outer skin member such as a hood and a lid-shaped outer skin member such as a tailgate. An assembly robot is installed, and a ceiling frame is installed in the assembly station with a lower space capable of transporting an automobile body, and the lid-shaped outer plate member is attached to the ceiling frame on the automobile body. A built-in robot is installed, and a common or separate hanger conveyor for loading the side surface plate member and the lid-shaped plate member is provided at a position above the ceiling frame, and the assembly station extends above the ceiling frame. Assembling jig in which a machine frame for a drop lifter is installed upright, and a side surface outer plate member and a lid-like outer plate member, which are carried in by the hanger conveyor, are attached to the respective machine assembly robots. The drop lifter for the side surface outer plate member and the drop lifter for the lid-shaped outer plate member, which are transferred to, are provided so as to be able to move up and down.

(Operation) Raise each drop lifter to a position above the ceiling frame,
A side outer plate member and a lid-shaped outer plate member that are carried in by a hanger conveyor are received by the respective drop lifters, and then the respective drop lifters are lowered, so that the respective outer plate members are assembled by the assembling robot. Then, the drop lifters are lifted in preparation for the next work transfer, and then the outer plate members are assembled to the vehicle body by the operation of the assembly robots.

Here, since the assembling robot for the lid-shaped outer plate member is mounted on the ceiling frame, the assembling jig can be hung on the robot without the horizontal arm, and the assembling jig can be installed at the assembling station. The supporting rigidity of the assembling jig can be increased and the positioning accuracy of the lid-like outer plate member with respect to the vehicle body can be improved as compared with the conventional one in which the robot disposed on the side of the robot is cantilevered via a horizontal arm.

Further, by mounting the assembling robot for the lid-shaped outer plate member on the ceiling frame, the assembling robot for the side surface outer plate member is prevented from interfering with the assembling robot at the side of the assembling station. Therefore, it becomes possible to automatically assemble the side skin member and the lid-like skin member by the respective assembling robots at a single assembling station.

(Embodiment) Referring to FIG. 1, (1) is a transport path of an automobile body a,
(2) shows an assembling station provided in the middle of the conveying path (1), and assembling the front fender b on the bases (3) provided on both left and right sides of the station (2) in order from the front. A robot (4) and robots (5) and (5) for assembling front and rear doors c are arranged, and a ceiling frame (6) is erected on the station (2) to construct the ceiling frame (6).
, A bonnet d assembling robot (7) and a tailgate e assembling robot (8) are arranged, and a machine frame for a drop lifter extending above the ceiling frame (6) at the station (2) ( 9) upright, and on the left and right sides of the machine frame (9), front fender b and front and rear doors c, c.
First drop lifter (10) (10), bonnet d second drop lifter (11) on its front side, and tailgate e third drop lifter (12) on its rear side can be moved up and down, respectively. And a front fader b and front and rear doors that are conveyed by a pair of first hanger conveyors (13) (only one side is shown in FIG. 1) that are provided on the ceiling frame (6) and pass on both left and right sides. c and c are delivered to the front fender assembly robot (4) and the door assembly robots (5) and (5) through the first drop lifter (10), and the upper center part of the ceiling frame (6). The bonnet d and the tailgate e which are conveyed by the second hanger conveyor (14) passing through the second and third drop lifters (11) and (12), respectively, are attached to the bonnet and the tailgate. 7)
The robot was handed over to (8), and the front fender b, the front and rear doors c, c, the hood d, and the tailgate e were attached to the vehicle body a at the single assembling station (2) by these robots.

Although not shown, the assembling station (2) is provided with a plurality of position sensors for detecting the positions of the bulkhead and two positions on the left and right sides of the vehicle body a, and based on the position data detected by these sensors. Then, the correction amounts of the assembling positions of the front fender b, the door c and the hood d are calculated, and these members are assembled to the vehicle body a according to the calculated correction data.
The tailgate e is mounted on the vehicle body a by directly detecting the position of the rear opening of the vehicle body a as described later.

Each door assembly robot (5) is provided with a door hinge tightening robot (15) in parallel on the front side thereof, and a ceiling frame (6).
A bonnet hinge fastening robot (16) was hung on the front part of the beam (6a) on each of the left and right sides of the lane, and a tailgate hinge fastening robot (17) was hung on the rear part of the beam (6a).

Hereinafter, the vehicle width direction will be referred to as an X axis, the vehicle length direction will be referred to as a Y axis, and the vehicle height direction will be referred to as a Z axis.
Robots (4) (5) related to the assembly of the door and the door c
And the first drop lifter (10) and the first hanger conveyor (1
The configuration of 3) and the assembling procedure of the front fender b and the door c will be described.

As shown in FIGS. 2 to 4, the front fender-assembled robot (4) has a guide rail (18) on the base (3).
A first slide base (18) moved in the Y-axis direction by a motor (18b) via a rack and pinion mechanism (18c) along a), and a guide rail (19a) on the first slide base (18). A second slide base (19) that is moved in the Y-axis direction by a motor (19b) via a rack and pinion mechanism (19c) along with the motor (20) on the second slide base (19).
The swivel base (20) that can be swiveled around the Z axis by a)
An elevating frame (21) that is vertically moved in the Z-axis direction by a motor (21b) via a rack and pinion mechanism (21c) along a guide rail (21a) on a side surface of the swivel base (20); It consists of a 7-axis robot consisting of a 3-axis wrist (22) attached to (21). The wrist (22) has the same basic structure as that previously proposed by the applicant of the present application in Japanese Utility Model Application No. 63-150711, and a motor is provided around the θ ₁ axis parallel to the X axis with respect to the lifting frame (21). A rotating frame (22a) rotated by a ball screw mechanism (22a ₂ ) by (22a ₁ ) and a V ₁ axis in the Z axis direction orthogonal to the θ ₁ axis with respect to the rotating frame (22a). To the motor (22b ₁ )
The cross yoke (22b) rotated by the ball screw mechanism (22b ₂ ) by the motor and the motor (22c ₁ ) around the W ₁ axis in the Y axis direction orthogonal to the V ₁ axis with respect to the cross yoke (22b). The head frame (22c ₂ ) rotated by the ball screw mechanism (22c ₂ )
An assembly jig (23) for holding the front fender b is attached to the head frame (22c).

As shown in FIGS. 5 and 6, the assembling jig (23) is
And receiving three work bar shape for supporting and positioning the rough (24) at one location of the two locations and the rear side of the front fender b above the wheel arch portion b _1, the upper edge of the front fender b longitudinal The two first seats (25) received at two places, the two second seats (26) receiving the rear edge of the front fender b at the upper and lower two places, and the wheel arch b ₁ at substantially equal intervals. The four pressing members (27) operated by the cylinder (27a) to press in radial directions at four positions and the upper edge of the front fender b are clamped in the X-axis direction at three positions in front and rear as shown in FIG. Therefore, three clamp members (28) swung by the cylinder (28a), a plurality of seats (29) for receiving the outer surface of the front fender b, and a seat (29) for the front fender b on the outer surface thereof. Holds by suction in a predetermined mounting posture in cooperation with The number of suction cups (30), with a cylinder (31a) so as to press to the tongue portion b ₂ of the rear lower end of the front fender b polymerizing the front end lower surface of the side sill a ₁ of the vehicle body a polymerized to the side sill a ₁ A fork-shaped pressing member (31) that is swung and a flange portion b ₃ formed on the upper edge of the front fender b are provided at three positions before and after the vehicle body a.
Upper three first nut runners (32 ₁ ) to be fastened to
A second nut runner (32 ₂ ) on the lower rear end for fastening the tip of the tongue piece b ₂ to the vehicle body a and a third nut runner (3) on the upper rear end for fastening the hinge bracket of the bonnet d to the vehicle body a.
2 ₃ ) and. (26a) is the second lower seat (26) Y
A cylinder that moves back and forth in the axial direction.

As shown in FIG. 1, the assembling station (2) is provided with a bolt setting robot (33) located in front of the arrangement portion of the front fender assembling robot (4) and a bolt supply device (33a) in the vicinity thereof. The swivel base (20)
Turning the assembly jig (23) forward and tightening it from the bolt supply device (33a) to the nut runners (32 ₁ ) (32 ₂ ) (32 ₃ ) via the bolt setting robot (33). I set the bolt. In FIG. 1, (34) is an exchange device for the assembling jig (23).

The door assembly robot (5) is as shown in FIG. 8, and the same members as those of the front fender assembly robot (4) are designated by the same reference numerals. The only difference from the front fender assembly robot (4) is that a fixed base (20 ') is fixedly installed on the second slide base (19) instead of the swivel base (20), and other configurations are the same. Is. An assembly jig (35) for holding the door c is attached to the head frame (22c) of the wrist (22) of the door assembly robot (5).

As shown in FIGS. 9 to 12, the jig (35) is provided with a pair of front and rear workpiece receivers (36) that can freely float in the x-axis direction for receiving the lower edge of the door c, and a cylinder (37a) forefront. A reference seat (37) that is moved from the escape position to the reference position regulated by the stopper (37b) and receives the front edge of the door c;
Cylinder (38b) on movable frame (38a) that can move back and forth in the Y-axis direction
With the operation of a clamp cylinder (38c) that is freely retractable in the X-axis direction and that advances and retracts the movable frame (38a), the rear edge of the door c is pressed to clamp the door c between the reference seat (37). The first clamp member (38), the second clamp member (39) vertically swung by the cylinder (39a) to press the upper edge of the main body of the door c from above, and the outer surface of the door c. A pad (40) that can float in the X-axis direction, a plurality of suction cups (41) that advancing and retracting by a cylinder (41a) to adsorb the outer surface of the door c, and a hinge bracket C ₁ pivotally attached to the front end of the door c. the first backlash removal member is pressed from above is vertically moved by a cylinder (42a) to remove the tilting play of the bracket C ₁ (42), pushed the pivot point of the hinge bracket C ₁ from below Gaité to remove the vertical play of the bracket C _1, X by a cylinder (42'a) And a movable frame which is moved in the direction the second backlash removal member provided swingably and vertically guiding the Z-axis by an actuator (42'c) to (42'b) (42 ').

The first clamp member (38) provided on the assembly jig (35) for the front door is used for changing the model connected to the clamp cylinder (38c) so as to cope with a two-door type vehicle. By swinging the movable frame (38a) by the cylinder (38d), the position for the 4-door type and the position for the 2-door type can be switched.

As shown in FIGS. 26 and 27, the first hanger conveyor (13) is provided with a pair of carriers (44) (44) rotatably suspended on a conveyor rail (43) and a front fender b. Hanger (45) longitudinally arranged in the Y-axis direction in which the support part (45a) and the support parts (45b) (45b) of the front and rear doors c are arranged side by side against the spring (44a) against the X-axis. The first drop lifter (10) is mounted on a pair of front and rear columns (9a) (9a) on the left and right sides of the machine frame (9). Between a pair of front and rear elevating frames (46) (46) that are elevated and lowered along the attached guide rail (46a), a holding portion (47a) of the front fender b and a holding portion (47b) of each of the front and rear doors c. ) (47b) and a support frame (47) which is long in the Y-axis direction and is stretched in parallel. The first drop lifter (10) is attached to the first hanger conveyor (13). The work, that is, the front fender b and the front and rear doors c supported by the support portions (45a) and (45b) of the hanger (45) are raised to the work receiving position at the same level as the sending level and the first drop is performed. X on each holding part (47a) (47b) of the lifter (10)
After receiving it from the inside in the axial direction, the first drop lifter (1
0) is slightly lifted, and the hanger (45) is pushed outward in the X-axis direction by the pressing cylinder (48) attached to the ceiling part on the side of the upper end of the machine frame (9) to separate it from the work. Then, the first drop lifter (10) was lowered.

The door c is supported by the support portion (45b) of the hanger (45) in an inclined posture, and the ceiling portion is used to raise the door c and deliver it to the holding portion (47b) of the first drop lifter (10). A door raising member (50) which is undulated by a cylinder (50a) is arranged on a ceiling frame (49) suspended from the.

The holding portion (47a) for the front fender b of the first drop lifter (10) has a pair of front and rear work supports (51) for supporting the upper edge of the front fender b, as shown in FIGS. 29 to 31. , A seat (52) that receives the inner surface of the rear part of the front fender b, and a first clamp member that is swung by a cylinder (53a) to abut the rear edge of the front fender b and position it in the Y-axis direction. 53) and a cylinder (54) for engaging the rear portion of the wheel arch portion b ₁ of the front fender b to prevent the front fender b from swaying in the X-axis and Y-axis directions.
a second clamp member (54) that is swung in a), and after the first drop lifter (10) is lowered to the work transfer position below, the front fender mounting robot (4) is mounted. X toward the holding part (47a) with the jig (23)
It is advanced inward in the axial direction, and then the first part of the holding part (47a).
The second clamp members (53) (54) are unclamped, and the jig (23) is rotated about the W ₁ axis of the wrist (22) in an obliquely upward posture to slightly move the front fender b upward. The holder (47) is supported by the work holder (24) of the jig (23).
Lifted from the work receiver (51) of a), then the jig (23)
Of the front fender b is disengaged from the holding part (47a) by operating the pressing member (25), the clamping member (26) and the suction cup (30) of the jig (23). Then, the front fender b is positioned in the three axial directions of X, Y, and Z and held by the jig (23).

Holding part (47) for the door c of the first drop lifter (10)
As shown in FIGS. 32 and 33, b) is a work receiver (55) composed of a V-shaped roller for supporting the lower edge of the door c, a seat (56) for receiving the inner surface of the door c, and a door. In order to sandwich the door c between the reference seat (57) that is moved forward and backward in the X-axis direction by the cylinder (57a) to receive the front edge of c and the reference seat (57) that contacts the rear edge of the door c. A first clamp member (58) that is advanced and retracted in the Y-axis direction by a cylinder (58a), and a second clamp that abuts against the outer surface of the door c and is rocked by the cylinder (59a) to prevent the door c from falling. Comprising a member (59),
After the first drop lifter (10) is lowered to the work transfer position, the assembly jig (35) of the door assembly robot (5) is advanced inward in the X-axis direction toward the holding portion (47b), Next, the first and second clamp members (58) (59) of the holding portion (47b) are unclamped, and the jig (35) is moved to W _{1 of the} wrist (22).
By tilting about the axis, it is slightly tilted upward and slightly moved, and the door c is supported by the work receiver (36) of the jig (35) and lifted from the work receiver (55) of the holding portion (47b). The jig (35) is retracted outward in the X-axis direction to hold the door c in the holding portion (47
b), and then the reference seat (37) of the jig (35)
A first clamp member (38), a second clamp member (39),
The door c is positioned and held on the jig (35) by the operation of the suction cup (41).

From the first hanger conveyor (13) to the first
Each assembly robot (4) through the drop lifter (10)
After making the assembling jig (23) and (35) of (5) receive the front fender b and the door c, respectively, the first drop lifter (10)
To the work receiving position to prepare for receiving the work from the hanger next to the first hanger conveyor (13), and return the assembling jigs (23) (35) to the vertical posture to correct the above correction data. According to the position correction of the assembling jigs (23) (35) in the Y-axis and Z-axis directions and the θ ₁ axis by the wrist (22),
The tilt correction about the V ₁ axis is performed, and in this state, the assembling jigs (23) (35) are moved inward in the X axis direction to set the front fender b and the door c on the vehicle body a, Fastening the flange portion b ₃ and the tongue piece portion b _{2 at} the upper edge of the front fender b to the vehicle body a by the first nut runner (32 ₁ ) and the second nut runner (32 ₂ ) of the assembly jig (23) for the fender. And tighten the hinge bracket C ₁ of the door c together with the robot (15)
The nut runner (15a) mounted on the vehicle is used to fasten it to the vehicle body a, and then the assembly jigs (23) and (35) are released from the work clamps to retreat outward in the X-axis direction to perform the assembly work of the door c. Complete.

This completes the description of the assembling of the side skin members, and next, the assembling robots (7) and (8) and the second and third drop lifters relating to the assembling of the hood d and the tailgate e, which are lid-like outer skin members. (11) (12) and second hanger conveyor (14)
The configuration and the assembling procedure of the bonnet d and the tailgate e will be described.

The hood assembly robot (7) is shown in Figs.
As shown in Fig. 15, beams (6a) (6a) on both sides of the ceiling frame (6)
A first slide frame (60 ₁ ) that is moved in the Y-axis direction by a motor (60 _1b ) along a guide rail (60 _1a ) on each of the beams (6a) across a rack and pinion mechanism (60 _1c ). ) Along with the second slide frame (60 ₂ ) which is moved in the X-axis direction by the motor (60 _2b ) and the ball screw mechanism (60 _2c ).
When, the second slide frame (60 ₂₎ along a linear guide (61 _a) of the front sides motor (61b) by via a rack-pinion mechanism (61c) is lifting in the Z-axis direction and the second slide frame An elevating column (61) into which a balance cylinder (61d) having a piston rod connected to the upper end of a column (60 _2d ) standing upright on (60 ₂ ) is inserted, and a three-axis attached to the lower end of the elevating column (61). It consists of a 6-axis robot consisting of a structural wrist (62). The wrist (62) has the same basic structure as the wrist (22) described above, and the ball screw mechanism (62a ₂ ) is rotated by the motor (62a ₁ ) around the θ ₂ axis parallel to the Z axis with respect to the lifting column (61). ) And a ball screw mechanism (62b ₁ ) around a V ₂ axis in the Y-axis direction orthogonal to the θ ₂ axis with respect to the rotation frame (62a) rotated by the motor (62b ₁ ). 62b ₂ ) and a cross yoke (62b) rotated by the cross yoke (6b).
2b) and a head frame (62c) which is rotated by a motor (62c ₁ ) around a W ₂ axis in the X-axis direction orthogonal to the V ₂ axis via a ball screw mechanism (62c ₂ ). Head frame (62c)
An assembling jig (63) for holding the bonnet d was hung on.

The assembling jig (63), as shown in FIGS. 16 and 17,
The cylinder (64
a) A pair of left and right first workpiece receivers (64) which are swung in the vertical direction at a) and rollers (64) for receiving the front edge of the hood d.
b), a pair of left and right second work receivers (65) that are vertically swung by a cylinder (65a) so as to engage with the lower surface of the rear edge of the bonnet d, and both side edges of the bonnet d. A pair of front and rear first clamp members (66) consisting of a pair of left and right clamp pieces (66c) (66c) which are opened and closed in the X-axis direction by a cylinder (66a) via a rack and pinion mechanism (66b) so as to abut. And a roller-shaped second clamp member (67) that is moved forward and backward in the Y-axis direction by a rodless cylinder (67a) so as to press the central portion of the rear edge of the bonnet d, and the outer surface, that is, the upper surface of the bonnet d. A plurality of suction cups (68) vertically moved by the cylinder (68a) and the left and right 1 swingable by the cylinder (69a) so as to push up the hinge brackets d ₁ on both sides of the rear end of the bonnet (d) from below. A pair of hinge clamp members (69), Two sets with a jig (6
At the front end of 3), an arm piece (70) swingable against a spring (70b) in a direction away from the bonnet d around a pivot axis (70a) in the X-axis direction is pivotally mounted. An opener hook (71) which is detachable at the center of the front edge of the bonnet d and which is engaged and disengaged by a cylinder (71a) on the arm piece (70) is attached to (70). The hooks (71) are provided in a pair of left and right with their positions displaced in the front-rear direction, and further, the second work receiver (65), a rear side suction cup (68) and a hinge clamp member (69) are assembled. Attach it to the slider (72b) provided so that it can be advanced and retracted by the cylinder (72b) along the guide rail (72a) on the rear side of the attachment jig (63).
The bonnet d shown by the phantom line and the bonnet d'shown by the alternate long and short dash line in the figure can be changed.

The tailgate assembling robot (8) is configured in the same manner as the bonnet assembling robot (7), and the same reference numerals as those of the constituent members of the bonnet assembling robot (7) are used to omit the description thereof. Is omitted. The tailgate assembling robot (8) has a tailgate assembling jig (73) suspended from the wrist (62), which will be described later in detail.

As shown in FIG. 28, the second hanger conveyor (14) has a bonnet hanger (75) for the conveyor rail (74).
₁ ) and a tailgate hanger (75 ₂ ) are alternately suspended, and the bonnet d and the tailgate e, which are workpieces on the respective hangers (75 ₁ ) (75 ₂ ), are enhanced in stability. Because of this, it is supported and transported in a substantially vertical posture with a slight inclination from the standing state,
The ceiling hanger frame suspended from the hanger (75 ₁ ) (75 ₂ ) at each predetermined work loading position above the assembly station (2) and suspended from the ceiling above the machine frame (9). Each hanger (75 ₁ ) is provided by a pair of front and rear work raising members (76 ₁ ) (76 ₂ ) that are undulated by a cylinder (76a) provided on (49).
The bonnet d and the tailgate e on the (75 ₂ ) are erected, and the second and third drop lifters (11) that face the hangers (75 ₁ ) and (75 ₂ ) outward in the Y-axis direction. I made it possible for (12) to pick it up.

The hangers (75 ₁ ) (75 ₂ ) are connected to the conveyor rail (74).
Spring (75b) on the carrier (75a) that is rotatably suspended on the
Against the Y axis direction, it is slidably supported inward (the hanger (75 ₁ ) for the bonnet is rearward and the hanger (75 ₂ ) for the tailgate is front), and the ceiling part above each work loading position is slidably supported. Further, as shown in FIG. 26, a hanger escape member (77) which is rotated by an actuator (77a) so as to be disengaged from a protruding piece (75c) on the hanger and is advanced and retracted in the Y-axis direction is attached to each drop. Each hanger (75 ₁ ) on the lifter (11) (12)
After holding the work on (75 ₂ ), raise each of the drop lifters (11) and (12) slightly to lift the work on each hanger (75
₁ ) Lift from (75 ₂ ) and then each hanger release member (77)
The hanger (77 ₁ ) (77 ₂ ) against the spring (75b) by pulling the hanger (77c) into engagement with the projecting piece (75c), and pulling in each drop lifter (11) (12) in this state. Was made to descend.

As shown in FIGS. 26 and 28, the second drop lifter (11) includes a pair of right and left columns (9a) (9) at the front of the machine casing (9).
a) a pair of left and right elevating frames (78) (78) supported up and down along a guide rail (78a) attached to the a), and both elevating frames (78) (78) at the upper end side respectively. A pair of left and right support frames (79) (79) vertically installed via a rod (79a), and a cylinder (80b) centered on a shaft (80a) on both sides of the lower end between the support frames (79) (79). ) And a reversing jig (80) pivotally supported so that the lateral width between both support frames (79) (79) is the beams (6a) (6a) on both sides of the ceiling frame (6). The width is narrower than the space between them, and the reversing jig (80) can be raised and lowered to a work receiving position at the same level as the above-mentioned work carry-in position and a work delivering position below the ceiling frame (6). the reversing jig upright (80) was received from the hanger (75 ₁₎ the bonnet d in the vertical position, Bonn lodging inversion jig (80) in the workpiece transfer position The posture of the mounting d is changed to a horizontal posture, and the assembling jig (63) suspended by the bonnet assembling robot (7) mounted on the ceiling frame (6) is horizontally inverted to the reversing jig (80). Was moved to a position directly above, so that the assembly jig (63) could receive the bonnet d. In the figure, (6b) is a reversing stopper of the reversing jig (80) attached to the lower surface of the beam (6a) of the ceiling frame (6).

The reversing jig (80) is formed in a substantially U-shape with its opening facing the assembly robot (7) side, that is, inward in the Y-axis direction and capable of receiving the assembly jig (63) in its lying state. As shown in FIGS. 34 and 35, the reversing jig (80) has a pair of left and right work receivers (81) for receiving the front edge (lower edge in the vertical position) of the bonnet d and the bonnet d. A pair of left and right first clamp members (82) for clamping the cylinders in the X-axis direction, and cylinders (83) for clamping the side edges of the bonnet d from the front and back sides.
a ₁ ) (83b ₁ ), the left and right second clamp members (83) consisting of the front side clamp piece (83a) and the back side clamp piece (83b) are provided, and the bonnet d is attached to the reversing jig (80). In addition, it is possible to support it stably even by reversing it.

The work receiver (81) can be freely moved up and down in the X-axis direction by the cylinder (81a) via the toggle link (81b) so that it can be separated from the bonnet d after the work is transferred to the assembly jig (63). Further, the first clamp member (82) is provided with a clamp pin (82a) that abuts against the side edge of the bonnet d, and a slider (82b) slidable in the X-axis direction and a cylinder (8).
2c) is composed of a slider (82b) and a cam plate (82d) which is moved back and forth in a direction orthogonal to the slider (82b).
The slider (82b) is engaged with the cam groove (82e) of the slider via the pin (82f) on the back surface thereof, and the slider (82b), that is, the clamp pin (82a) is moved by the movement of the cam plate (82d).
So that it can be advanced from the disengagement position outward in the X-axis direction to the clamp position inward in the X-axis direction, and the bonnet d shown by the phantom line in the figure and the bonnet d'shown by the one-dot chain line are dealt with. In order to obtain it, a step is provided in the middle part of the cam groove (82e) so that the clamp position can be switched in two steps, and two sets of the second clamp member (83) are provided to correspond to the model.

Also, as a matter of course, the work receiving (81), the first
The clamp member (82) and the second clamp member (83) are arranged so as not to interfere with the above-mentioned various members on the assembly jig (63).

When transferring the work to the assembly jig (63), the assembly jig (6
After moving 3), first, the first and second workpiece receivers (64) and (65) of the assembly jig (63) are operated to support the front and rear edges of the bonnet d. Inversion jig (8
The work receiver (81) and the first clamp member (82) of (0) are detached from the bonnet d, and the clamp pieces (83a) (83b) of the second clamp member (83) are opened. The tool (80) is raised and raised to the work receiving position to prepare for the next work transfer. Where the reversing jig (80)
Since it is formed in a U shape as described above, even if the reversing jig (80) is raised without retracting the assembling jig (63) in the Y-axis direction, the assembling jig (63) and the assembling jig (63) are No interference with the attached robot (7) occurs.

On the other hand, in the assembling jig (63), after the reversing jig (80) is erected, the second clamp member (67) is operated to operate the bonnet d.
Is pressed forward in the Y-axis direction to bring the front edge of the bonnet d into contact with the roller (64b) of the first work receiver (64) to position the bonnet d in the Y-axis direction, and then the first clamp member (66 ) To position the bonnet d in the X-axis direction, and then the suction cup (68) is actuated to move the bonnet d.
And the hinge clamp member (69) is actuated to clamp the hinge bracket d ₁ , and the opener hook (71) is engaged with the front edge of the bonnet d.

Next, according to the above-mentioned correction data, the position correction of the assembly jig (63) in the X-axis and Y-axis directions and the tilt correction around the θ ₂ axis and the V ₂ axis are performed, and then the position of the vehicle body a in the Z-axis direction. The assembling jig (63) is lowered to the required set position in the Z-axis direction that is corrected according to the deviation, and the bonnet d is set in the vehicle body a in a horizontal closed posture. The hinge clamp member (69) is unclamped just before the assembling jig (63) descends to the set position. At this position, the hinge bracket d ₁ is sufficiently close to the mounting surface on the vehicle body side. Bracket d ₁
The bracket d ₁ is surely overlapped with the mounting surface when the bracket d ₁ is lowered to the set position.

By the way, the bracket d ₁ is provided with a pair of fastening holes d ₁ a and d ₁ b at the rear end and the front end, and when the bonnet d is closed, the fastening hole d ₁ a at the rear end is located in the bonnet d. It is adapted to be exposed to the trailing edge rearward, the ceiling frame (6) fastening hole d of the by tightening robot (16) of the hinge bracket d ₁ rear was suspended in the beams (6a) of each side of the to conclude a ₁ a on the vehicle body a.

Next, the first and second workpiece receivers (64) (65) and the first and second clamp members (66) (67) are unclamped and the suction cup (68) is released to remove the opener hook (71) only from the bonnet. With it engaged with d, Y is attached to the assembly jig (63).
A combined operation of the axial movement, the Z-axis movement, and the rotation around the W ₂ axis is given to move the hook (71) along the rotation locus of the front edge of the bonnet d to open the bonnet d.

After the hood d is opened as described above, the front fender b is moved to the vehicle body a by the assembling robot (4).
Assembling, by the mounted on the assembly jig for a front fender (23) Third nut runner (32 ₃₎ enters into engagement hole d ₁ b of the front end of the hinge bracket d ₁ to the body a, thereafter for hood The assembling jig (63) is operated in the opposite manner to close the bonnet d, and then the opener hook (71) is detached from the bonnet d to raise the assembling jig (63) to assemble the bonnet d. Complete the work.

The structure of the third drop lifter (12) is shown in FIG.
As shown in FIG. 37, the second drop lifter (11)
The same members as those in FIG. The difference from the second drop lifter (11) is only the work holding means provided in the reversing jig (80). To explain this in detail, in the reversing jig (80) of the third drop lifter (12). , A pair of left and right work receivers (84) laterally undulated by a cylinder (84a) via a toggle link (84b) to receive the outer edge of the bottom side of the tailgate e, and the outer edge of the side edge of the tailgate e. A pair of right and left clamp members (85) for clamping were attached.
As shown in FIGS. 37 and 38, each clamp member (85) is a sliding plate that is moved in the X-axis direction by a pin (85b) interlocking with a cylinder (85a) via a cam groove (85c). (85d)
The link mechanism (85) includes a seat (85e) that receives the outer surface of the outer edge of the side of the tailgate e and a cylinder (85f ₁ ).
The clamp claw (8) that is moved back and forth to the seat (85e) side via f ₂ ).
5f) is provided, the tailgate e is closed by advancing the sliding plate (85d) from the outward retreat position in the X-axis direction to the inner clamp position and closing the clamp claw (85f).
The outer edge of the side is clamped between the seat (85e) and the cam groove (85c) is formed with multiple steps to cope with model changes, and the clamp position can be switched to multiple steps. did.

The reversing jig (80) includes the second drop lifter (11).
Similarly to the reversing jig (80), it is raised to the upper work receiving position in the upright state, and after receiving the tailgate e from the hanger (75 ₂ ), the reversing jig is moved to the lower work delivering position of the ceiling frame (6). Lower the tool (80), then move the reversing jig (80) to the
As shown by the phantom line in Fig. 37, the tailgate e is changed to a horizontal posture by lying down, and in this state, the assembling jig (13) suspended by the tailgate assembling robot (8) is turned over by the reversing jig (80 ) To the assembly jig (73).
I received it.

The assembling jig (73) is, as shown in FIGS. 18 and 19,
Three rough guides (86) for roughly positioning the tailgate e by engaging inner edges on the rear window e ₁ side of the tailgate e on the rear window e ₁ side, and the lower edge of the tailgate e A pair of left and right first work receivers (87) swingable by a cylinder (87a) as shown in FIG. 21 to engage with the outer edge of the part over the inner surface thereof, and engage with the inner edge of the lower side part of the tailgate e. And a pair of left and right first clamp members (88) that are swung by a cylinder (88a) to clamp the lower side between the first work receiver (87) and the inner edge side of the upper side of the tailgate e. Left and right 1 rocked by the cylinder (89a) to engage the inner surface
A cylinder (90a) is used to clamp the inner edge of the upper side part between the second work receiver (89) of the pair and the outer surface of the inner edge side of the upper side part of the tailgate e so as to clamp the inner edge of the upper side part. A pair of right and left second clamp members (90) which are rocked, and a cylinder (91a) as shown in FIG. 22 for engaging the outer side edges of the tailgate e to position the tailgate e in the X-axis direction. The tailgate e from the reversing jig (80) is provided with a pair of left and right third clamp members (91) swung by and a plurality of suction cups (92) that adsorb the outer surface of the lower side of the tailgate e. When receiving the, first and second work receiving (87)
(89) is actuated so that the tailgate e is supported by the work edges (87) and (89) at the inner edge of the upper side and the inner edge of the lower side, and then the reversing jig (80) is moved to the work edge (84). After standing up with the clamp member (85) separated from the tailgate e and raising it to prepare for the next work transfer, the third clamp member (91) is operated to move the tailgate e in the X-axis direction. Then, the first clamp member (88), the second clamp member (90) and the suction cup (92) are sequentially operated to position and hold the tailgate e on the assembling jig (73).

The assembling jig (73) further has a pair of left and right hinge positioning means for correcting and locking a pair of left and right hinge brackets e ₂ pivotally attached to the inner surface of the upper side of the tailgate e by locking them to a fixed posture. 33) is provided, which is shown in FIGS.
As will be described in detail with reference to the drawings, the hinge positioning means (9
3) is a clamp that corrects the hinge bracket e ₂ by holding one of the pair of hinge bolts e ₃ and e ₃ planted in the hinge bracket e ₂ from both sides of the swing direction of the hinge bracket e _2, that is, the front and rear. a member (94) engages with its swinging direction to the hinge bracket e ₂ from the orthogonal direction, ie transversely those composed out with the locking member (95) for locking the hinge bracket e ₂ constant posture, the clamping member (94), the hinge bolt to the fixing bracket (73a) on the assembly jig (73) e ₃
Clamp piece (94 ₁ ) provided to press the front side
And the hinge bolt e ₃ was provided on the slide plate (96) attached to the assembly jig (73) so as to be moved back and forth along the guide rail (96b) by the cylinder (96a) so as to press from behind. It is composed of a second clamp piece (94 ₂ ) and each of the clamp pieces (94 ₁ ) (94 ₂ ) is connected to a parallel link (9
4b) to make an arc motion, and the second clamp when the center of the arc motion of the first clamp piece (94 ₁ ) and the sliding plate (96) are at the forward position where they are restricted by the stopper (96c). The centers of the circular arc movements of the pieces (94 ₂ ) are made to substantially coincide with the pivots of the hinge brackets e ₂ , respectively, and the clamp pieces (94 ₁ ) (94 ₂ ) are moved to the clamp side shown by an imaginary line in FIG. 23. As a result of the circular arc movement of the above, the hinge bracket e ₂ existing in the tilted posture shown by B and C in the figure is contacted by the respective clamp pieces (94 ₁ ) (94 ₂ ) to the hinge bolt e ₃ and is indicated by A in the figure. It was made to correct to the fixed posture shown.

In the figure, (94c) is a stopper piece fixed to the pivot of the parallel link (94a) of each clamp piece (94 ₁ ) (94 ₂ ), and (94d) is a stopper seat for receiving the stopper piece (94c).

The lock member (95) is mounted on a bracket (96d) on the lower surface of the sliding plate (96) about a shaft (95a) as a cylinder (95).
b) is composed of a plate body that is axially supported so that it can slide laterally, and the lock member (95) is at the forward position of the sliding plate (96).
By swinging it counterclockwise in FIG. 24, the hinge bracket e ₂ that has been corrected to a fixed posture by the clamp member (94) in advance is engaged with the engaging portion (95) at the tip of the lock member (96).
c) is laterally engaged to lock the hinge bracket e ₂ in a fixed posture.

When the tailgate e is assembled to the vehicle body a, after the tailgate e is positioned and held in the assembly jig (73) in the horizontal posture as described above, the sliding plate (96) of the hinge positioning means (93) is attached. After moving to the forward position, the clamp member (94) and the lock member (95) are sequentially operated, the hinge bracket e ₂ is locked in a fixed posture by the lock member (95), and then the clamp member (94) is released. Clamp, then lower the assembling jig (73) in a horizontal posture, and insert the hinge bolt e ₃ into the mounting hole a ₃ formed in the ridge a ₂ at the upper edge of the rear opening of the vehicle body a from above. Then, the tailgate e is roughly set in the rear opening in a horizontal half-opened state. Incidentally, the attachment hole a _3, the hinge bolt e ₃
Is formed larger than the bolt diameter so that it can be inserted without requiring accurate alignment.

After rough setting, attach the lock member (95) to the hinge bracket.
is disengaged from e _2, then retracting the sliding plate (96) as indicated by a solid line in the state of FIG. 23 the hinge positioning means (93), third clamp member further assembly jig (73) (91) After unclamping, the combined movement of tilting the assembly jig (73) about the W ₂ axis and movement in the Y and Z directions causes the opening / closing locus of the tailgate e centered on the pivot of the hinge bracket e _2. Tilting to a predetermined set posture along the direction and closing the tailgate e.

The assembly jig (73) has a first deviation detection which engages a side edge of the rear opening on one side thereof to detect a deviation in the X-axis direction with respect to the rear opening of the assembly jig (73). Means (97) and a pair of left and right second deviation detections for engaging the lower ends of the left and right sides of the rear opening to detect the deviation in the Z-axis direction with respect to the rear opening of the assembly jig (73). Means (98) (98) are provided, and after the assembly jig (73) is tilted to the set posture, the displacement in the X-axis direction detected by these displacement detection means (97) (98) , Z-axis direction deviation and tilt jig deviation in the Z-axis direction in the X-axis direction obtained from the output difference between the left and right second deviation detecting means (98) (98), and the assembling jig (73). Position correction in the X-axis and Z-axis directions and tilt correction around the V ₂ axis are performed, and the tailgate e
Align and set to the rear opening exactly.

On the other hand, the operation end of the tightening robot (17) suspended on the beam (6a) of the ceiling frame (6) is caused to enter the vehicle interior through the door opening of the vehicle body a, and the nut runner (17) attached to the operation end.
Face a) directly under the mounting hole a ₃ and attach the assembly jig (73).
After position correction by operating the nut runner (17a), entered into the hinge bracket e ₂ in the eaves a ₂ crowded tightening the nuts from below the hinge bolt e ₃ inserted into the mounting hole a _3, then the assembly jig ( 73) unclamps the first and second workpiece receivers (87) (89) and the first and second clamp members (88) (90) and releases the suction of the suction cup (92) to assemble the assembly jig (73). Is removed from the tailgate e, and the assembling work of the tailgate e is completed.

The above-described installation of the door c is performed after the tightening robot (17) is retracted after the tailgate e is installed.

The bonnet and tailgate tightening robots (16) and (17) are slidable around the vertical axis provided in the first drop lifter (10) as a pair of front and rear as shown in FIG. 27. Fasteners such as bolts and nuts shall be supplied via the first arm-shaped first receiving head (99) (99), and further fastened to the first drop lifter (10) by each fastening robot (15) for doors. An arm-shaped pair of front and rear second receiving heads (100) (100) for providing tools are provided so as to be swingable around a horizontal axis, and
The drop lifter (10) is temporarily stopped while descending, and the receiving heads (99) (100) are rocked so as to project outward in the X-axis direction as shown in FIG. The fasteners are supplied from the parts feeders (101) (102) arranged laterally to the receiving tools (99a) (100a) on the receiving heads (99) (100), and then the first receiving head (99). ) Is swung along the Y-axis direction, the second receiving head (100) is swung downward, and each tightening robot (15) (16) is at the lower end position of the first drop lifter (10). I made (17) receive the fasteners.

The second drop lifter (12) and the hanger (75 ₂ ) can be used not only for the tailgate e but also for the trunk lid, so that the assembly robot (8) has an assembly jig for the trunk lid. It is also possible to change the parts to automatically install the trunk lid.

(Effects of the Invention) As is apparent from the above description, according to the present invention, the assembling robot for the side surface plate member is arranged on the side portion of the assembling station, and the ceiling frame is installed at the assembling station. In order to mount the assembling robot for the lid-like outer plate member on these, these robots are provided in a single assembling station so as not to cause mutual interference, and the side face plate member and the lid-like outer plate member are provided. These robots can be automatically assembled to the car body at a single assembly station, and these outer plate members can be attached to each assembly robot by utilizing the three-dimensional space by the hanger conveyor and each drop lifter. In addition to being able to supply automatically, productivity can be improved, space efficiency can be improved by shortening the line length and line side space, and an assembly robot for lid-shaped outer plate members can be mounted on the ceiling frame. Unlike the conventional assembly robot for lid-shaped outer plate members, in which the assembly jig is attached to the robot placed on the side of the assembly station via the arm that extends horizontally toward the vehicle body, the robot side A large bending moment does not act, and the positioning accuracy of the lid-shaped outer plate member with respect to the vehicle body can be improved.

[Brief description of drawings]

FIG. 1 is a perspective view of an assembling station showing an example of the device of the present invention, FIG. 2 is a side view of a front fender assembling robot seen from the front in the Y-axis direction, FIG. 3 is its plan view, and FIG. Is a sectional view taken along the line IV-IV in FIG. 2, FIG. 5 is a front view of the assembly jig for the front fender as seen from the inside in the X-axis direction, and FIG. 6 is a left side view of FIG. Fig. 7 is a sectional view taken along the line VII-VII in Fig. 5, Fig. 8 is a side view of the door assembling robot seen from the front in the Y-axis direction, and Fig. 9 is an inside of the assembling jig for the door in the X-axis direction. FIG. 10 is a plan view thereof, FIG. 10 is a plan view thereof, FIGS. 11 and 12 are right side views and left side views of FIG. 9, respectively, and FIG. 13 is a front view in the Y-axis direction of the hood assembly robot. The front view seen, FIG. 14 is its plan view, FIG. 15 is a side view taken along the line XV-XV of FIG. 13, and FIG.
The figure shows the bottom view of the assembly jig for the bonnet, and Fig. 17 shows its X.
A side view seen from the axial direction, FIG. 18 is a bottom view of the assembly jig for the tailgate, FIG. 19 is a side view seen from the X-axis direction,
20 and 21 are respectively XX-XX line and XXI-XXI in FIG.
22 is a sectional view taken along the line XXII-XXII in FIG.
23 is an enlarged side view of the unclamping state of the hinge positioning means viewed from the line XXIII-XXIII in FIG. 18, FIG. 24 is its bottom view, and FIG. 25 is a sectional view taken along the line XXV-XXV in FIG. 23. , Fig. 26 is a front view of the assembly station as seen from the front in the Y-axis direction,
Figures 27 and 28 show lines XXVI-XXVI and XXVIII in Figure 26, respectively.
-A side view of the assembly station as seen from the line XXVIII, and Fig. 29 is the X of the holding part for the front fender of the first drop lifter.
A front view seen from the outside in the axial direction, FIG. 30 is its plan view,
29 is a left side view of FIG. 29, FIG. 32 is a front view of the door holding portion of the first drop lifter viewed from the outside in the X-axis direction, FIG. 33 is a left side view of FIG. 32, and FIG. Is a plan view of the reversing jig of the second drop lifter as seen from the line XXXIV-XXXIV in FIG. 28, FIG. 35 is a side view of the line XXXV-XXXV taken along the line in FIG. 34, and FIG. 36 is the Y axis of the third drop lifter. Direction front view as seen from the front, FIG. 37 side view as seen from the outside in the X-axis direction, and FIG. 38 as a clamp member for the reversing jig of the third drop lifter XXXVII in FIG.
It is the front view seen from the I-XXVIII line. a: Vehicle body b: Front fender c: Door d: Bonnet e: Tailgate (2): Assembly station (4): Front fender assembly robot (5): Door assembly robot ( 6) …… Ceiling frame (7) …… Bonnet assembly robot (8) …… Tailgate assembly robot (9) …… Machine frame (10) (11) (12) …… Drop lifter (13) (14) ) …… Hanger conveyor (23) (35) (63) (73)… Assembling jig

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shoji Okahara 1-10-1 Shin-Sayama, Sayama-shi, Saitama Honda Engineering Co., Ltd. (72) Inventor Masayuki Abe 1-10-1 Shin-Sayama, Sayama-shi, Saitama Within Da Engineering Co., Ltd. (56) Reference JP-A-1-153388 (JP, A) JP-A-60-52414 (JP, A) JP-A-60-240574 (JP, A) Actual development Sho-56-28826 ( JP, U)

Claims (1)

[Claims] Claims: 1. An automobile body assembled by mutually connecting members constituting a main body of a vehicle such as a floor, a side panel and a roof, a side outer panel member such as a front fender and a door, and a lid such as a hood and a tailgate. An assembling apparatus for assembling a side skin member to an automobile body, and an assembling robot for assembling a side skin member to the automobile body is arranged at a side portion of the assembling station where the automobile body is fixed. A ceiling frame is installed over a lower space capable of transporting an automobile body, and an assembling robot for assembling the lid-like outer plate member to the automobile body is mounted on the ceiling frame, and further above the ceiling frame. A common or separate hanger conveyor for loading the side surface plate member and the lid-shaped outer plate member is provided, and a machine frame for a drop lifter extending above the ceiling frame is erected at the assembling station. In front of the frame A drop lifter for a side surface plate member and a lid-shaped plate member for transferring a side surface plate member and a lid-shaped plate member, which are carried in by a hanger conveyor, to an assembling jig attached to each of the assembling robots. A device for assembling an outer plate member to an automobile body, which is provided so as to be vertically movable.