JP2697219B2 - Accuracy measurement method of body part positioning device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention is mounted on the wrists of a plurality of positioning robots arranged so as to surround an assembling place of an automobile body and based on the operation of those robots. The operating position accuracy of each positioning robot of a body part positioning device that positions a plurality of body parts at a predetermined position on a vehicle body structure by a plurality of body part positioning members arranged at predetermined positioning positions by moving the respective body parts. The present invention relates to a measurement method suitable for use when measuring is measured.

(Prior Art) An example of the above-mentioned body part positioning apparatus is shown in FIG. 2 proposed by the present applicant in Japanese Patent Application No. 63-153648.

This device is provided on a body assembly stage of an assembly line of an automobile body, and is provided on each of an upper portion, a side portion, and a lower portion of a frame 1 that can stand around an assembly location of the automobile body, which is erected on the stage. A plurality of positioning robots, each of which is a rectangular coordinate robot having a degree of freedom in at least three orthogonal axes, is provided for each of a plurality of body parts constituting the vehicle body to be assembled. Only three of the two robots 3 on the side of the frame are shown), a body part positioning member such as a locating pin 4 for positioning a roof rail in the case of the robot 2, and a body side in the case of the robot 3 The gauge member 5 for positioning is mounted. Here, the body side, which is a kind of body part, is a panel-shaped part which is located on the left and right portions of the body and forms the left and right side surfaces of the body, and the roof rail, which is also a kind of body part, is A frame-shaped part which is positioned to extend in the left-right direction of the vehicle body at the front part and the rear part of the upper part of the cabin part, connects the upper edges of the left and right body sides, and supports the roof panel ( 1980 4
(See Fig. 7.25 on page 180 of the book of Automobile Manufacturing, Vol. 19, Automotive Engineering Manual, published by Sankaido Co., Ltd.) And the above-mentioned locate pin 4 which is a kind of the vehicle body positioning member,
The above-mentioned gauge member 5, which is a type of a vehicle body part positioning member, is used to position the roof rail by fitting into locate holes formed in a plurality of locations of the roof rail.
Is used to position the body side in a shape corresponding to a predetermined positioning portion on the body side and abutting the portion (refer to the above-mentioned Automotive Engineering Book, Vol. 19, "Method of Manufacturing a Car").
Medium, see Figure 7.19 on page 172). In the apparatus shown in FIG. 2, the longitudinal axis of the vehicle body to be assembled is perpendicular to the plane of the drawing, as is apparent from FIG. 2 of the corresponding Japanese Patent Application No. 63-153648 (JP-A-1-321179). Therefore, the roof rail extends substantially in the left-right direction in the drawing, and the body side extends substantially perpendicular to the plane of the drawing.

In such a vehicle body component positioning device, a plurality of vehicle assembly lines, which are carried into a component carry-in stage in front of the vehicle body assembly stage, are respectively arranged at positions on a schematic vehicle body configuration, and are temporarily assembled with each other. When the body parts are carried into the frame 1 of the apparatus by a shuttle bar or the like, the body parts positioning members including the locating pin 4 and the gauge member 5 cause interference based on the operation of the positioning robots including the robots 2 and 3. I was moved from the waiting position that I avoided,
The vehicle body parts are arranged at predetermined positioning positions, and each of them is positioned at a predetermined position on the configuration of the vehicle body. In this positioning state, a plurality of welding robots (not shown) provided on the frame 1 like the above positioning robot operate welding guns mounted on their wrists to weld each body part to each other. An automobile body is assembled by joining, and the assembled body is carried out by a shuttle bar or the like to a spot welding additional stage on the body assembly line after the body assembly stage.

By the way, when measuring the operating position accuracy of each positioning robot and thus the positioning accuracy of each body part positioning member of the above body part positioning device, conventionally, as shown in FIG. Arms 6a located at predetermined positions, each positioned in close proximity to a body part positioning member disposed at a predetermined position based on the operation of each positioning robot.
And a correlation gauge 6 whose positions of the arms 6a are measured in advance is loaded and installed.

Then, the distances D1 to D4 between each arm 6a of the correlation gauge 6 and the vehicle body component positioning member, for example, the locating pin 4 or the gauge member 5, etc. are measured using a measuring device such as an outer or inner micrometer. The operating position accuracy of each positioning robot has been determined from the measured values of the above and the position where each positioning robot should operate.

(Problems to be Solved by the Invention) However, in such a conventional method, the correlation gauge 6
In order to position the arm 6a of each of the vehicle body parts positioning members close to each other, the correlation gauge 6 becomes extremely large as a whole close to the vehicle body. It is extremely difficult to set up and install the correlation gauge 6 at a predetermined position in the frame 1, and there is a disadvantage that a large number of man-hours are required for accuracy measurement.

The present invention provides a measurement method that advantageously solves such a problem.

(Means for Solving the Problems) A method for measuring the accuracy of a vehicle body part positioning device of the present invention comprises:
A plurality of vehicle body component positioning members arranged at predetermined positioning positions by being respectively mounted on the wrists of a plurality of positioning robots arranged so as to surround an assembly place of an automobile body and moving each based on the operation of those robots By, of the body part positioning device that positions each of a plurality of body parts in a predetermined arrangement on the vehicle body configuration, when measuring the operating position accuracy of each positioning robot, first, among the plurality of positioning robots, One of the movable units that can be moved to a wide range of the assembling place is set as a reference positioning robot, and then a reference gauge assembly is disposed at a predetermined position of the assembling place within the movable range of the reference positioning robot, while the reference positioning robot A simple method for compensating for the robot's insufficient stroke and securing a measurement surface on the wrist of the robot Then, the distance between the reference gauge assembly and the simple gauge member arranged at a predetermined measurement position based on the operation of the reference positioning robot is measured by a measuring device, and the operating position of the reference positioning robot is measured. The accuracy is obtained, and thereafter, the simple gauge member sequentially moved so as to approach each of the remaining positioning robots based on the operation of the reference positioning robot, and the remaining vehicle body parts respectively arranged at predetermined measurement positions based on the operation of the remaining positioning robots The distance between the positioning robot and each of the remaining positioning robots is obtained by measuring the distance between the positioning robot and a measuring device, and obtaining the operating precision of each of the remaining positioning robots based on the measurement results and the operating precision of the reference positioning robot. .

Incidentally, another simple gauge member similar to the simple gauge member is further attached to at least one wrist of the remaining positioning robots, and when measuring the operating position accuracy of each of the remaining positioning robots, The distance between the remaining simple gauge member of the remaining positioning robot and the simple gauge member mounted on the wrist of the reference positioning robot may be measured by a measuring device.

According to this method, first, the dimensions of each part are measured in advance, which are mounted on the wrist of a reference positioning robot, which is a positioning robot having a large movable range, and are arranged at predetermined positioning positions based on the operation of the reference positioning robot. Measure the distance between the simple gauge member and the reference gauge structure, which is disposed at a predetermined position within the movable range of the reference positioning robot, and also measures the dimensions of each part in advance,
After obtaining the operating position accuracy of the reference positioning robot,
Using a simple gauge member that has been moved based on the operation of the reference positioning robot, it compensates for the lack of stroke of the robot and secures the measurement surface, while maintaining the operation position accuracy of the remaining positioning robot based on the operation position accuracy of the reference positioning robot. Since it is obtained sequentially, the reference gauge structure disposed at a predetermined position of the vehicle body assembling place can be significantly reduced in size compared to the conventionally used correlation gauge, and the simple gauge member attached to the wrist of the reference positioning robot can be used. Since the robot is moved and used based on the operation of the robot, its simple gauge member does not need to be so large, and therefore, the loading and unloading of the reference gauge structure with respect to the vehicle body assembling place and the installation of the reference gauge structure at a predetermined position, A simple gauge member can be easily attached to and detached from the wrist of the robot. The number of steps required for accurate measurement can be significantly reduced.

If necessary, a simple gauge member may also be used in combination with the wrist of a positioning robot other than the reference positioning robot, so that the size of the simple gauge member mounted on the reference positioning robot can be further reduced. It can be secured and the measurement work can be further facilitated.

Embodiment An embodiment of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a front view showing a vehicle body part positioning apparatus to which an embodiment of the accuracy measuring method according to the present invention is applied, wherein the vehicle body part positioning apparatus has the same configuration as that shown in FIG. Therefore, the same parts as those shown in FIG. 2 are denoted by the same reference numerals.

That is, this apparatus is also provided on a body assembly stage of an assembly line of an automobile body, and is provided on an upper portion, a side portion, and a lower portion of a frame 1 which is erected on the stage and can surround an assembly location of the automobile body. In each figure, only three positioning robots, which are rectangular coordinate robots having degrees of freedom in at least three orthogonal axes, are shown: a robot 2 at the top of the frame and two robots 3 at the side of the frame. A plurality of units are arranged corresponding to the vehicle body parts constituting each part of the vehicle body, and a locating pin 4 for positioning the roof rail in the robot 2 and a gauge for positioning the body side in the robot 3 at each wrist of the positioning robot. A vehicle body positioning member such as the member 5 is mounted, and assembly of the vehicle body is performed in the same manner as in the apparatus shown in FIG. .

In this embodiment, when measuring the operating position accuracy of each positioning robot, and thus the positioning accuracy of each body part positioning member, in this embodiment, the robot 2 moves the frame 1 in the front-rear direction (in the front-rear direction of the vehicle body). The robot 2 is set as a reference positioning robot because the moving stroke is large and the movable range is wide in the direction perpendicular to the plane of the drawing in the drawing, and as shown in FIG. In order to compensate for the shortage of the stroke of the robot 2 when measuring the operating position accuracy of another positioning robot, which will be described later, and to secure the measurement surface, the dimensions of each part are measured in advance. In this example, two inverted T-shaped simple gauges are used. A simple gauge member which is mounted at a predetermined measurement position based on the operation of the robot 2 while the member 7 is detachably mounted. And a column-shaped reference gauge assembly 8 having arms 8a which can be positioned close to each other and measuring the positions of the arms 8a in advance. It is carried to a predetermined position and installed detachably.

Further, here, in order to compensate for the shortage of the stroke of the robot 2 and secure a measurement surface, a block-shaped simple gauge member 9 whose dimensions have been measured in advance is also attached to the wrist (not shown) of the robot 3. A simple gauge member having an appropriate shape is detachably attached to other positioning robots as required.

First, the simple gauge members 7 arranged at predetermined measurement positions based on the operation of the robot 2 and the arms 8a of the reference gauge structure 8 located close to the simple gauge members 7, respectively.
The distances D5 to D8 in the x, y, and z axis directions, which are orthogonal coordinate axes of the coordinate system of the body assembly stage, are measured using a normal outer or inner micrometer, respectively. From the given position where the simple gauge member 7 is to be positioned by the operation of the robot 2, an error from the originally desired interval, and furthermore, the operating position accuracy of the robot 2 as the reference positioning robot is calculated.

The measurement position of the simple gauge member 7 and the dimension of the arm 8a of the reference gauge assembly 8 are set so that each interval to be measured is about 100 mm. Until those intervals can be measured.

Next, here, for example, the simple gauge members 9 respectively arranged at predetermined measurement positions based on the operation of the robot 3 are described.
And x, y, z, which are orthogonal coordinate axes of the coordinate system of the body assembly stage, of the simple gauge members 7 respectively arranged at predetermined measurement positions close to the simple gauge members 9 based on the operation of the robot 2. Axial distances D9 to D12, etc.
Each is measured using a normal outer or inner micrometer, and so on, for the remaining positioning robots, sequentially, a body part positioning member or a simple gauge member 9 mounted on the wrist of those robots,
Based on the operation of the robot 2, the distances in the x, y, and z-axis directions with respect to the body part positioning member or the simple gauge member 7 arranged at a predetermined measurement position close to the simple gauge member 9 are measured by a measuring device, and these are measured. The measured values and the positions given to the robot 2 and other positioning robots, where the simple gauge members 7, 9 and the body part positioning members should be located,
From the previously obtained operating position accuracy of the robot 2, the remaining operating position accuracy of the positioning robot is similarly calculated.

Therefore, according to the measuring method of this embodiment, the reference gauge structure 8 disposed at a predetermined position in the vehicle body assembling place can be made much smaller than the conventionally used correlation gauge 6, and the reference positioning robot 2 Since the simple gauge member 7 attached to the wrist is moved and used based on the operation of the robot 2, the simple gauge member 7 does not need to be so large. Carrying in and out, setting the reference gauge structure 8 at a predetermined position, attaching and detaching the simple gauge member 7 to and from the wrist of the robot 2 can be easily performed, and thus the man-hour required for accuracy measurement can be greatly reduced. it can.

In this embodiment, other simple gauge members such as the simple gauge member 8 are attached to the wrist of the positioning robot other than the reference positioning robot 2, for example, the robot 3, if necessary. Therefore, the size of the simple gauge member 7 mounted on the reference positioning robot 2 can be further reduced, and a measurement surface can be secured, so that the measurement operation can be further facilitated.

After the completion of the measurement work, the reference gauge structure 8, the simple gauge members 7, 9 and other simple gauge members are removed and carried out of the frame 1 so as not to hinder the normal body assembly work.

As described above, the present invention has been described based on the illustrated example. However, the present invention is not limited to the above-described example.
Positioning robots other than the robot 2 may be used, and the shapes of the reference gauge structure and each simple gauge member are as follows.
It can be changed as needed.

If the measurement surface can be secured in the shape of the body part positioning member, and if it is sufficiently close to the simple gauge member of the reference positioning robot, the other simple gauge members are not necessary and are omitted. May be.

(Effect of the Invention) Thus, according to the accuracy measuring method of the present invention, the reference gauge structure disposed at a predetermined position of the vehicle body assembling site can be significantly reduced in size compared to the conventionally used correlation gauge, and the reference positioning robot Since the simple gauge member attached to the wrist of the robot is moved and used based on the operation of the robot,
The simple gauge member does not need to be so large, and therefore, the loading and unloading of the reference gauge structure to and from the vehicle body assembling site, the installation of the reference gauge structure at a predetermined position, the attachment and detachment of the simple gauge member to and from the wrist of the robot, etc. Can be easily performed, and the man-hour required for accuracy measurement can be greatly reduced.

Then, if necessary, other simple gauge members can be attached to the wrists of positioning robots other than the reference positioning robot, and if these simple gauge members are used together, the simple gauge members attached to the reference positioning robot can be further miniaturized. In addition to this, the measurement surface can be secured and the measurement operation can be further facilitated.

[Brief description of the drawings]

FIG. 1 is a front view showing a body part positioning apparatus to which one embodiment of the accuracy measuring method of the present invention is applied, and FIG. 2 is a front view showing a body part positioning apparatus to which one embodiment of the conventional accuracy measuring method is applied. It is. DESCRIPTION OF SYMBOLS 1 ... Frame 2 ... Reference positioning robot 3 ... Other positioning robots 4 ... Locate pin, 5 ... Gauge member 7 ... Simple gauge member, 8 ... Reference gauge structure 9 ... Other simple gauge members

Claims (2)

(57) [Claims] 1. A plurality of positioning robots mounted on a wrist portion of a plurality of positioning robots disposed so as to surround an assembly place of an automobile body, and each of the plurality of positioning robots is moved at a predetermined positioning position based on the operation of the robot. When measuring the operating position accuracy of each positioning robot of a body part positioning device for positioning a plurality of body parts at predetermined positions on a vehicle body structure by using the body part positioning member, first, the plurality of positioning robots Of these, one movable in a wide range of the assembling place is set as a reference positioning robot, and then a reference gauge assembly is disposed at a predetermined position of the assembling place within a movable range of the reference positioning robot. On the other hand, at the wrist of the reference positioning robot, make up the insufficient stroke of the robot and secure the measurement surface. Then, the distance between the reference gauge assembly and the simple gauge member arranged at a predetermined measurement position based on the operation of the reference positioning robot is measured by a measuring device, and the reference positioning robot is mounted. The accuracy of the operating position is determined, and thereafter, the simple gauge members sequentially moved so as to approach each of the remaining positioning robots based on the operation of the reference positioning robot, and the simple gauge members are arranged at predetermined measurement positions based on the operation of the remaining positioning robots. The distance between the remaining body part positioning member is measured by a measuring device, and the operation position accuracy of each of the remaining positioning robots is obtained from the measurement result and the operation position accuracy of the reference positioning robot. , A method for measuring the accuracy of a body part positioning device. 2. A simple gauge member for compensating a shortage of a stroke of a robot and securing a measurement surface is also attached to at least one wrist of the remaining positioning robots, and the remaining positioning robots are provided with at least one wrist. At the time of each operation position accuracy measurement, the distance between the remaining simple gauge member of the remaining positioning robot and the simple gauge member attached to the wrist of the reference positioning robot is measured by a measuring device. Item 6. A method for measuring the accuracy of a body part positioning device according to Item 1.