JP4896049B2 - Apparatus and method for mounting instrument panel for vehicle - Google Patents

Description

  The present invention relates to a vehicle instrument panel mounting apparatus and method for assembling an instrument panel in a vehicle cabin.

  For example, in an automobile assembly line, an operation of automatically assembling an instrument panel, which is one of heavy parts, into a passenger compartment of an automobile body using a robot is performed.

  As an apparatus applied to this type of work, for example, an assembly apparatus for an instrument panel assembly disclosed in Patent Document 1 is known. As shown in FIG. 14, this assembling apparatus is provided with a supply line 4 for an instrument panel assembly 3 in parallel with an assembly line 2 for transporting the automobile body 1.

  Three kinds of assembly tools 5a, 5b, and 5c are arranged at the end of the supply line 4, and appropriate instrument panel assemblies 3 are respectively conveyed to the assembly tools 5a, 5b, and 5c.

  A gantry robot 6 is provided from the assembly line 2 to the end of the supply line 4, and a chuck component 7 a is attached to the tip of the robot arm 6 a of the gantry robot 6. The chuck part 7a can be connected to a chuck part 7b attached to one end of the assembly tools 5a to 5c.

  An articulated robot 8 is installed on both sides of the body body 1, and a nutrunner (not shown) that bolts the instrument panel assembly 3 to the body body 1 at the arm tip of the articulated robot 8; A plurality of cameras (not shown) are provided for measuring the position of the body main body 1 conveyed on the assembly line 2 and measuring the position of the bolt holes when the bolts are fastened by the nut runner.

JP-A-5-139350

  In the above assembling apparatus, the instrument panel assembly 3 is conveyed to a predetermined mounting position in the vehicle interior of the body main body 1 under the driving action of the gantry robot 6 while being supported by the assembling tools 5a, 5b, or 5c. . For this reason, there is a problem that the drive control of the gantry-type robot 6 is considerably complicated and it is difficult to quickly position the instrument panel assembly 3 which is a heavy object at a predetermined mounting position.

  The present invention solves this type of problem, and an object thereof is to provide a vehicle instrument panel mounting apparatus and method capable of quickly and efficiently incorporating an instrument panel into a vehicle compartment.

  The present invention relates to a mounting device for a vehicle instrument panel for assembling an instrument panel in a vehicle interior of the vehicle.

  The mounting apparatus includes an instrument panel gripping means for gripping an instrument panel, and automatically transports the instrument panel and has an assist function for holding the weight of the instrument panel, and the instrument panel gripping means. And a second working mechanism for operating the instrument panel gripping means to dispose the instrument panel in the vehicle interior, wherein the second working mechanism comprises the instrument panel. Is mounted with a bolt tightening means for screwing to the instrument panel mounting position of the vehicle.

  Moreover, it is preferable that a 2nd working mechanism is each arrange | positioned at the vehicle width direction both sides of a vehicle.

  Furthermore, it is preferable that the second working mechanism is provided with a sensor for confirming the instrument panel mounting position.

  Furthermore, this invention relates to the attachment method of the instrument panel for vehicles for assembling an instrument panel in the vehicle interior of a vehicle.

  This attachment method includes a step of gripping an instrument panel by an instrument panel gripping means of a first work mechanism, and automatically transporting the instrument panel to an operation start position by a second work mechanism, and the instrument panel is in the operation start position. The second work mechanism is connected to the instrument panel gripping means, and the instrument panel gripping means is held by the second work mechanism while holding the weight of the instrument panel by the first work mechanism. A step of operating and disposing the instrument panel in the vehicle interior, and a step of screwing the instrument panel to an instrument panel mounting position in the vehicle interior by means of a bolt fastening means mounted on the second working mechanism. And have.

  Further, the attachment method includes a step of confirming an instrument panel attachment position via a sensor provided in the second work mechanism, and a step of controlling driving of the second work mechanism based on a detection signal from the sensor. It is preferable to have.

  In the present invention, since the first work mechanism has an assist function for holding the weight of the instrument panel, the second work mechanism is given to the second work mechanism when operating the instrument panel. The load on the instrument panel is effectively reduced. Accordingly, the second working mechanism can be reduced in size favorably, the entire work facility can be easily reduced in size and simplified, and the installation of the instrument panel can be performed quickly and efficiently while reducing the inertia. It becomes possible.

  Moreover, the second working mechanism is equipped with a bolt tightening means for screwing the instrument panel to the instrument panel mounting position of the vehicle. For this reason, the floor space occupied by the entire work facility can be further reduced, and the space efficiency can be improved.

  Furthermore, when the second working mechanism is stopped for maintenance or the like, the second working mechanism can be detached from the first working mechanism and placed at the retracted position. As a result, the operator can easily perform the assembly operation of the instrument panel under the assisting action of the first working mechanism.

  FIG. 1 is a perspective explanatory view of an assembly line 12 in which a mounting device 10 for a vehicle instrument panel according to a first embodiment of the present invention is arranged.

  The assembly line 12 includes a transport path 16 that mounts an automobile body (vehicle) 14 on a carriage 15 and pitch-transports it to an instrument panel assembly work station. The attachment device 10 includes an assist machine (first working mechanism) 18, a right working robot (second working mechanism) 20 and a left working robot (second working mechanism) 22 arranged on both sides of the vehicle body 14. And an instrument panel 24 is automatically assembled in the passenger compartment 14a of the automobile body 14.

  Two reference holes (not shown) for attaching the instrument panel 24 to the automobile body 14 are formed at both ends in the longitudinal direction (vehicle width direction) of the instrument panel 24, and instrument panel gripping means to be described later A gripping hole 26 with which 78 is engaged is formed (see FIG. 2).

  The assist machine 18 includes a first frame body 30 that is positioned above the instrument panel take-out station 28 and extends in the transport direction (arrow T direction) of the automobile body 14. As shown in FIGS. 1 and 2, the first frame 30 is provided with a forward cylinder 32 and a reverse cylinder 34 facing each other.

  The first frame 30 has a pair of slide rails 38 extending in the direction of the arrow T, and the second frame 42 can be advanced and retracted in the direction of the arrow T via a plurality of rollers 40 respectively. Supported by The second frame body 42 is provided with a loading cylinder 44 and a loading cylinder 46 facing each other in the direction of arrow B.

  The second frame 42 has a pair of slide rails 50 extending in the arrow B direction, and the third frame 54 advances and retreats in the arrow B direction via a plurality of rollers 52 respectively. Supported as possible.

  The third frame body 54 is provided with a first plate member 56 and a second plate member 58. The first plate member 56 is fixedly attached with the distal end portion of the rod 32a of the forward movement cylinder 32 and the distal end portion of the rod 34a of the backward movement cylinder 34. The distal end portion of the rod 44 a of the loading cylinder 44 and the distal end portion of the rod 46 a of the unloading cylinder 46 are fixed to the second plate member 58.

  A cylinder 60 is disposed in the third frame 54 in the vertical direction, and a rod (not shown) extending downward from the cylinder 60 is disposed inside the slide guide 62. A lift end 64 is connected to the lower end of the rod of the cylinder 60, and the lift end 64 extends in the horizontal direction and supports one end of the arm 66. As will be described later, in order to sense a load in the direction of arrow H of the instrument panel 24 supported by the arm portion 66 or a reaction force applied to the instrument panel gripping means 78, for example, a force sensor 67 is provided at the lift end 64. Is provided.

  The arm portion 66 is rotatable around an axis via a bearing (not shown), and can be fixed at a predetermined rotational angle position via a lock cylinder 68. The lock cylinder 68 is supported by the slide guide 62, and a rod 68 a extending downward from the lock cylinder 68 is connected to the arm portion 66.

  A pair of cylinders 70 are fixed to the arm portion 66 in opposite directions. Instrument panel support arms 72 are connected to the rods 70a extending from the cylinder 70, respectively. The instrument panel support arm 72 can advance and retreat along a guide rail 74 provided on the arm portion 66, and a coupling member 76 that engages with each gripping hole 26 of the instrument panel 24 is provided at each distal end portion. It is done.

  An instrument panel gripping means 78 is constituted by the pair of cylinders 70 and the pair of instrument panel support arms 72. An operation lever 82 constituting the connecting means 80 is fixed to the other end of the arm portion 66. The operation lever 82 has a substantially columnar shape, and a gripping portion 84 having a reduced diameter is formed in the central portion.

  The second frame body 42 is provided with a brake means 86 for positioning the second frame body 42 at a predetermined position. The brake means 86 is pushed up and brought into sliding contact with the first frame 30, whereby the second frame 42 is stopped at an arbitrary position. A first limit switch 88a for detecting the insertion position and a second limit switch 88b for detecting the forward end are provided at the front edge and the front end of the first frame 30 in the arrow T direction. A third limit switch 88c for detecting the original position is provided at the rear end of the first frame 30 in the arrow T direction.

  Brake means 86 are provided at both ends of the third frame 54 in the direction of arrow B. At both ends of the second frame 42 in the direction of arrow B, a fourth limit switch 88d for detecting the feed end position and a fifth limit switch 88e for detecting the return end position are provided.

  The work robot 20 on the right side and the work robot 22 on the left side are configured in the same manner, and the configuration of the work robot 20 will be described below. The detailed explanation is omitted.

  As shown in FIG. 3, the work robot 20 includes a robot body 90 that can turn freely. A wrist portion 94 is provided at the distal end portion of the arm 92 constituting the robot body 90, and a hand portion 96, a nutrunner unit (bolt tightening means) 98, and a photographing unit 100 are mounted on the wrist portion 94.

  The hand portion 96 includes a pair of claw portions 102 that can be opened and closed via an actuator (not shown). The hand portion 96 constitutes an operating lever 82 of the instrument panel gripping means 78 and a connecting means 80, and also means for gripping a bolt 110 described later. ing.

  The nutrunner unit 98 includes a pair of rodless cylinders 103a and 103b attached to the tip of the wrist portion 94. Nutrunners 106a and 106b are attached to the rodless cylinders 103a and 103b via sliders 104a and 104b. The photographing unit 100 includes a CCD imaging camera (hereinafter simply referred to as a camera) 108 for performing instrument panel set confirmation, attachment position deviation confirmation, and the like.

  As shown in FIG. 1, in the vicinity of the work robot 20 and the work robot 22, a bolt stock part 112 that accommodates a bolt 110 for attaching the instrument panel 24 to the automobile body 14 is taken out from the bolt stock part 112. A preset base 114 for aligning the two bolts 110 is provided.

  As shown in FIG. 4, each camera 108 of the work robots 20 and 22 outputs image information such as a vehicle body image and an instrument panel set position image to the image processing device 120. The image processing device 120 outputs image information obtained from each camera 108 to the calculation unit 122, and the calculation unit 122 performs calculation processing on the image information. The calculation unit 122 outputs the detection result of the vehicle body position and the instrument panel position to the main control device 124, and the main control device 124 controls the operation of the work robots 20 and 22 based on the input calculation information. At the same time, the operation of the assist machine 18 is also controlled.

  Next, the operation of the mounting apparatus 10 configured as described above will be described below with reference to the flowcharts shown in FIGS. 5 and 6 and the timing chart shown in FIG. .

  The operation of the assist machine 18 is shown in FIG. 5, the operation of the work robots 20 and 22 is shown in FIG. 6, and the operation of the assist machine 18 and the work robots 20 and 22 is as shown in FIG. Done in relation to each other.

  First, the operation of the assist machine 18 will be described. In the assist machine 18, the instrument panel gripping means 78 is positioned on the instrument panel 24 arranged in the instrument panel take-out station 28. When the cylinder 60 is driven, the elevating end portion 64 is lowered via a rod (not shown).

  An instrument panel gripping means 78 is attached to the elevating end portion 64, and the instrument panel gripping means 78 is disposed so as to face the instrument panel 24 on the instrument panel take-out station 28. At that time, the lock cylinder 68 is biased and the expansion and contraction of the rod 68a is restricted, so that the arm portion 66 is supported so as not to rotate.

  In this state, the cylinders 70 and 70 are driven, and the instrument panel support arms 72 and 72 are brought into contact with both side portions of the instrument panel 24 as the rods 70a and 70a move in directions close to each other. Accordingly, the coupling member 76 is inserted into each gripping hole 26 of the instrument panel 24, and the instrument panel gripping means 78 grips the instrument panel 24 (step S1).

  Next, when the cylinder 60 is driven in the reverse direction, the instrument panel gripping means 78 rises while gripping the instrument panel 24 and is disposed at a predetermined height position (step S2).

  When the forward movement cylinder 32 is driven and the rod 32a advances in the arrow T direction, the first plate member 56 fixed to the rod 32a is pressed in the arrow T direction. For this reason, the second frame 42 moves to the predetermined position in the arrow T direction along the slide rail 38 under the rotating action of the roller 40, and when the first limit switch 88a is turned on, the brake means 86 is moved. Is pushed up to stop the movement of the second frame 42 (step S3).

  At this stop position, the work robot 20 grips one operation lever 82 provided on the instrument panel gripping means 78 by the pair of claws 102 constituting the hand portion 96. At that time, a small-diameter gripping portion 84 is formed on the substantially central side of the operation lever 82, and the pair of claw portions 102 grips the gripping portion 84, so that a predetermined position of the operation lever 82 is ensured. It can be gripped.

  Therefore, in the state where the lock cylinder 68 is turned off and the atmosphere is released, the work robot 20 performs operations such as turning, rotating, and moving the hand unit 96 in a predetermined direction. Thereby, the angular position of the arm portion 66 is adjusted via the operation lever 82. Accordingly, the posture of the instrument panel 24 is changed (step S4), and after the instrument panel 24 is arranged in a predetermined posture, the lock cylinder 68 is biased to restrict the expansion and contraction of the rod 68a, Part 66 is retained.

  It should be noted that by providing a force sensor (not shown) in the arm portion 66, the lock cylinder is set so that the reaction force detected by the force sensor when the arm portion 66 is rotated approximates zero or a small amount. It is also possible to control 68.

Further, the process proceeds to step S5, and the brake means 86 is pushed up when the second limit body 88b is turned on when the second frame body 42 moves in the direction of arrow T under the driving action of the forward advance cylinder 32. To move to the assist operation start position. If it is determined that the instrument panel gripping means 78 is gripped by the hand unit 96 of the work robot 20 at this assist operation start position (YES in step S6), the process proceeds to step S7, where the instrument panel setting operation is performed by the work robot 20 and This is performed via the work robot 22.

  Specifically, the assist device 18 is switched from the instrument panel automatic transport mode to the instrument panel assist transport mode. The work robot 20 operates the instrument panel gripping means 78 that grips the instrument panel 24 under the assisting action of the assist machine 18 to put the instrument panel 24 into the compartment 14a of the vehicle body 14.

  At that time, in the assist machine 18, as shown in FIG. 8, the second plate member 58 fixed to the tip end of the rod 44a is pressed in the direction of arrow B under the driving action of the loading cylinder 44. For this reason, the third frame body 54 moves in the direction of arrow B along the slide rail 50 of the second frame body 42, and assists the loading operation of the instrument panel 24 by the work robot 20.

  On the other hand, as shown in FIG. 9, the work robot 20 turns the instrument panel gripping means 78 in the direction of the arrow R <b> 1 under the moving action of the hand unit 96 to change the posture of the instrument panel 24 to the in-vehicle posture. Further, after the instrument panel 24 is inserted into the passenger compartment 14a, the instrument panel gripping means 78 is turned in the direction of the arrow R2 to change the attitude of the instrument panel 24 to the set posture.

  During the operation of the work robot 20, the assist device 18 is switched to the instrument panel assist transfer mode. Therefore, the assist machine 18 senses the load in the direction of the arrow H of the instrument panel 24 supported by the arm portion 66 or the reaction force applied to the instrument panel gripping means 78 via the force sensor 67. The forward cylinder 32, the reverse cylinder 34, the carry-in cylinder 44, and the carry-out cylinder 46 are controlled so that the load (reaction force) detected by the force sensor 67 approximates 0 or a very small amount. .

  When the assist device 18 is switched to the instrument panel assist conveyance mode, the forward cylinder 32, the reverse cylinder 34, the carry-in cylinder 44, and the carry-out cylinder 46 are all opened to the atmosphere (off state) instead of the above control. May be.

  Next, as will be described later, the work robots 20 and 22 perform bolting of the instrument panel 24, and then the gripping action of the instrument panel 24 by the instrument panel gripping means 78 is released. Specifically, as shown in FIG. 2, each cylinder 70 is driven in the opposite direction, and the pair of instrument panel support arms 72 moves in a direction away from both sides of the instrument panel 24. For this reason, the coupling member 76 is detached from the gripping hole 26, and the gripping action of the instrument panel 24 is released (step S8).

  The instrument panel gripping means 78 moves to the outside of the passenger compartment 14a via the work robot 20 and, if necessary, the work robot 22. Here, in the assist machine 18, the second plate member 58 is pressed in the direction opposite to the arrow B direction by driving the carry-out cylinder 46. Accordingly, the third frame body 54 moves integrally with the instrument panel gripping means 78 in the direction opposite to the arrow B direction, that is, the direction outside the passenger compartment, and assists the operation of the work robots 20 and 22 (step S9).

  When the instrument panel gripping means 78 is moved outside the vehicle compartment 14a, the instrument panel gripping means 78 is released from the instrument panel gripping means 78 after the gripping of the instrument panel gripping means 78 by the work robots 20 and 22 is released (YES in step S10). It is carried out from the assembly station (step S11).

  Specifically, the assist device 18 is switched from the instrument panel assist conveyance mode to the instrument panel automatic conveyance mode. Then, the retreat cylinder 34 is driven, and the first plate member 56 is pressed in the direction opposite to the arrow T direction. For this reason, the second frame 42 moves in the direction opposite to the arrow T direction integrally with the third frame 54. When the instrument panel gripping means 78 reaches the original position, the third limit switch 88c is turned on to stop the driving of the assist machine 18 (step S12).

  Next, the operation of the work robot 20 will be described. First, as shown in FIG. 10, the hand portion 96 attached to the wrist portion 94 of the work robot 20 uses the bolt 110 accommodated in the bolt stock portion 112. Grip and align in a standing posture on the preset stand 114 (step S101 in FIG. 6).

  In the preset stand 114, as shown in FIG. 11, the bolts 110 aligned in the standing posture are rotated, and phase matching is performed corresponding to the nut runners 106 a and 106 b of the nut runner unit 98. Thereafter, the bolts 110 are respectively held by the nut runners 106a and 106b (step S102).

  The work robot 20 assists the posture changing operation of the assist machine 18 (see step S4 in FIG. 5) (step S103), and then proceeds to step S104 to sense the vehicle body 14. Specifically, the body side reference hole of the automobile body 14 is photographed by the camera 108 of the photographing unit 100 attached to the work robot 20, and this reference hole image information is input to the image processing device 120. Then, the calculation unit 122 determines whether or not the body-side reference hole position is good based on the input image information, and outputs a correction value to the main controller 124 as necessary.

  The work robot 20 grips the operation lever 82 of the assisting machine 18 with the hand unit 96 (step S105), and then operates the operation lever 82 to convert the instrument panel 24 to the in-vehicle posture (step S106). The in-vehicle posture instrument panel 24 is set in the passenger compartment 14a (step S107).

  After setting the instrument panel 24, the work robot 20 proceeds to step S108, moves the instrument panel gripping means 78 to the outside of the passenger compartment 14a under the assisting action of the assisting machine 18 (step S108), and operates the operation lever 82. Is released (step S109).

  Furthermore, the work robot 20 senses the set position of the instrument panel 24 by the camera 108 (step S110). In this set position sensing, when the displacement between the body side reference hole and the reference hole of the instrument panel 24 occurs, the work robot 20 adjusts the position of the instrument panel 24.

  Next, proceeding to step S111, the bolts 110 held by the nut runners 106a and 106b constituting the nut runner unit 98 are screwed into the body side reference hole and the instrument panel side reference hole, and the instrument panel 24 is moved to the automobile. It is assembled to the vehicle body 14.

  Specifically, the nut runners 106a and 106b are disposed at the retracted positions via the rodless cylinders 103a and 103b. For example, the rodless cylinder 103a is driven to advance the nut runner 106a. Then, under the rotational action of the nut runner 106a, the bolt 110 held by the nut runner 106a is screwed into the body side reference hole and the instrument panel side reference hole. At that time, the nut runner 106b is retracted to a position where it does not interfere with the work.

  When the bolt tightening operation is completed by the nut runner 106a, the rodless cylinder 103a is driven, and the nut runner 106a moves backward. On the other hand, the rodless cylinder 103b is driven to advance the nut runner 106b, and the bolt 110 is screwed into the other body side reference hole and the instrument panel side reference hole under the rotating action of the nut runner 106b.

  The work robot 22 operates in the same manner as the work robot 20 described above, and a detailed description thereof is omitted. Note that the process of step S103 is performed only by the work robot 20.

  In this case, in the first embodiment, the assisting machine 18 grips and takes out the instrument panel 24 from the instrument panel take-out station 28 via the instrument panel holding means 78 and automatically conveys it, and then the instrument panel by the work robot 20 is used. It has an assist function for holding the weight of the instrument panel 24 during the assembling work of the 24 into the passenger compartment 14a.

  For this reason, when the work robot 20 loads and sets the instrument panel 24 in the passenger compartment 14a, the load applied to the work robot 20 is effectively reduced. As a result, the work robot 20 can be favorably downsized, the attachment device 10 as a whole can be easily downsized and simplified, and the attachment operation of the instrument panel 24 can be performed quickly and efficiently. The effect of becoming is obtained.

  Moreover, the weight of the instrument panel 24 is held by the assist machine 18. Therefore, the influence of inertia is reduced, and the positioning operation of the instrument panel 24, which is a heavy object, is simplified at once by the joint work of the left and right work robots 20 and 22.

  Further, the work robots 20 and 22 are equipped with a nutrunner unit 98 for screwing the instrument panel 24 to the instrument panel mounting position in the passenger compartment 14a. Therefore, the floor space occupied by the entire work facility can be further narrowed, and the advantage that the space efficiency is improved can be obtained.

  Furthermore, when the work robots 20 and 22 are stopped due to maintenance or the like, the work robots 20 and 22 are retracted from the instrument panel mounting work station. In this state, the operator can easily perform the assembling work of the instrument panel 24 under the assisting action of the assisting machine 18.

  In the first embodiment, the hand unit 96, the nutrunner unit 98, and the photographing unit 100 are attached to the work robots 20 and 22, but the present invention is not limited to this. The work robots 20 and 22 only need to include at least the nutrunner unit 98.

  FIG. 12 is a schematic perspective explanatory view of an instrument panel gripping means 126 constituting a mounting device for a vehicle instrument panel according to a second embodiment of the present invention. In addition, the same referential mark is attached | subjected to the component same as the instrument panel holding means 78 which comprises the attachment apparatus 10 which concerns on 1st Embodiment, and the detailed description is abbreviate | omitted.

  The instrument panel gripping means 126 includes a pair of instrument panel support arms 72 that can be opened and closed via cylinders 70, 70, and a movable coupling member 128 is provided on the instrument panel support arm 72. The movable coupling member 128 has a rectangular cross section, and can be switched to a mounting angle position that forms an angle of 90 ° with each other.

  In the work robots 20 and 22, the movable coupling member 128 is gripped by the hand unit 96. Therefore, the movable coupling member 128 can be switched to one of two angular positions in accordance with the shape of the instrument panel 24 and the like. Thereby, in 2nd Embodiment, there exists an effect that it can respond easily to the instrument panel 24 from which a model differs.

  FIG. 13 is a schematic perspective explanatory view of an assisting machine 130 that constitutes a mounting device for a vehicle instrument panel according to a third embodiment of the present invention. In addition, the same reference number is attached | subjected to the component same as the assist machine 18 which comprises the attachment apparatus 10 which concerns on 1st Embodiment, and the detailed description is abbreviate | omitted.

  The assist machine 130 includes a travel motor 134 that can advance and retract along the lower portion of the first frame 30 via the rack and pinion means 132. The travel motor 134 is fixed to the second frame body 42. The second frame 42 is provided with a travel motor 138 that extends in the direction of arrow B and can be advanced and retracted via rack and pinion means 136. The travel motor 138 is fixed to the third frame 54.

  In the third embodiment configured as described above, the instrument panel gripping means 78 that grips the instrument panel 24 can be assisted and driven in the directions of the arrow T and the arrow B under the driving action of the travel motors 134 and 138. In addition, the instrument panel gripping means 78 can be accurately and reliably positioned at a desired position based on the on / off signals of the first limit switch 88a to the fifth limit switch 88e.

  Specifically, the instrument panel 24 is gripped by the instrument panel gripping means 78, and after the instrument panel gripping means 78 reaches the ascending end position, the second frame body 42 and the third frame are driven under the driving action of the travel motor 134. The instrument panel gripping means 78 moves in the direction of arrow T through the body 54.

  And when the 1st limit switch 88a is turned ON, the instrument panel 24 is arrange | positioned in the insertion position by stopping the drive of the traveling motor 134. On the other hand, when the instrument panel gripping means 78 is returned to the original position, the instrument panel gripping means 78 unclamps the instrument panel 24, and the instrument panel gripping means 78 is unclamped by the work robots 20 and 22. The traveling motor 134 is rotated in the reverse direction. When the third limit switch 88c is turned on, it is detected that the instrument panel gripping means 78 returns to the original position.

  Further, when the instrument panel 24 is put in, the instrument panel 24 is gripped by the instrument panel gripping means 78, the posture change of the instrument panel 24 is completed, and the first limit switch 88a is turned on. The traveling motor 138 is driven.

  On the other hand, when the instrument panel gripping means 78 is carried out, the instrument panel gripping means 78 unclamps the instrument panel 24, the gripping of the instrument panel gripping means 78 by the work robots 20 and 22 is eliminated, and the first limit switch. The traveling motor 138 is driven in the reverse direction with 88a turned on.

By the fifth limit switch 88e is turned on, the instrument panel gripping means 78 is detected to be issued transportable outside the automobile body 14. Next, the traveling motor 134 is driven, and the third limit switch 88c is turned on to detect the return to the original position.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective explanatory view of an assembly line in which a mounting device for a vehicle instrument panel according to a first embodiment of the present invention is arranged. It is a schematic perspective explanatory drawing of the assist machine which comprises the said attachment apparatus. It is a perspective explanatory view of the work robot which constitutes the attachment device. It is a block diagram of the said attachment apparatus. It is a flowchart explaining operation | movement of the said assist machine. It is a flowchart explaining operation | movement of the said working robot. It is a timing chart of the attachment method of the present invention. It is explanatory drawing of the said assembly method. It is operation | movement explanatory drawing at the time of throwing the said instrument panel in a vehicle interior. It is explanatory drawing at the time of taking out a volt | bolt with the said working robot. It is explanatory drawing when the said volt | bolt of a preset stand is received from a nut runner. It is a schematic perspective explanatory drawing of the instrument panel holding means which comprises the mounting apparatus of the vehicle instrument panel which concerns on the 2nd Embodiment of this invention. It is a schematic perspective explanatory drawing of the assist machine which comprises the attachment apparatus of the instrument panel for vehicles which concerns on the 3rd Embodiment of this invention. It is a schematic perspective view of the assembling apparatus disclosed in Patent Document 1.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Mounting apparatus 12 ... Assembly line 14 ... Car body 14a ... Car compartment 16 ... Conveyance path 18, 130 ... Assist machine 20, 22 ... Working robot 24 ... Instrument panel 26 ... Grasp hole 30, 42, 54 ... Frame 32 , 34, 44, 46, 60, 70 ... cylinder 56, 58 ... plate member 66 ... arm part 72 ... instrument panel support arm 76 ... coupling member 78, 126 ... instrument panel gripping means 80 ... coupling means 82 ... operating lever 96 ... hand part 98 ... Nutrunner unit 100 ... Photographing units 106a, 106b ... Nutrunner 108 ... Camera 110 ... Bolt 114 ... Preset stand 120 ... Image processing device 122 ... Calculating unit 124 ... Main control device 128 ... Moving coupling member 132, 136 ... Rack and pinion means 134, 138 ... travel motor

Claims (5)

A mounting device for a vehicle instrument panel for assembling an instrument panel in a vehicle cabin,
It provided the instrument panel gripping means for gripping said instrument panel, while automatically conveying the instrument panel, possess an assist function of holding the weight of the instrument panel, and a first working mechanism Ru provided with an operation lever,
The coupling means detachably connected to said operating lever is provided, said connecting means by operating the instrument panel gripping means while connected to the operating lever, the instrument panel weight is held in the assistance function A second working mechanism arranged in the passenger compartment together with the instrument panel gripping means ;
With
The instrument panel mounting apparatus for vehicles, wherein the second working mechanism is equipped with a bolt tightening means for screwing the instrument panel to an instrument panel mounting position of the vehicle.   The mounting device according to claim 1, wherein the second working mechanism is disposed on both sides of the vehicle in the vehicle width direction.   The mounting apparatus according to claim 1 or 2, wherein the second working mechanism is provided with a sensor for confirming the mounting position of the instrument panel. A method for mounting an instrument panel for a vehicle for assembling an instrument panel in a vehicle cabin,
Gripping the instrument panel by the instrument panel gripping means of the first working mechanism, and automatically transporting the instrument panel to the operation start position by the second working mechanism;
When the instrument panel is transported to the operation start position, a step of connecting means provided in the second working mechanism, is connected to an operating lever provided on the first working mechanism,
While the weight of the instrument panel is held by the first working mechanism, in a state where said coupling means coupled to said operating lever, said operating the instrument panel gripping means by the second working mechanism, the said instrument panel Arranging the instrument panel gripping means together with the vehicle interior;
Screwing the instrument panel to the instrument panel mounting position in the vehicle compartment by means of bolt tightening means mounted on the second working mechanism;
A method for mounting an instrument panel for a vehicle, comprising: The mounting method according to claim 4, wherein the instrument panel mounting position is confirmed through a sensor provided in the second working mechanism;
Controlling the driving of the second working mechanism based on a detection signal from the sensor;
A method for mounting an instrument panel for a vehicle, comprising:

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