JPH0422914Y2 - - Google Patents

Description

[Detailed explanation of the invention] A. Purpose of the invention (1) Industrial application field The present invention is designed to provide a method for assembling objects that are positioned at fixed positions and that are movable in a horizontal plane. The present invention relates to a positioning and alignment device for positioning and aligning a body to be positioned in which a component to be assembled to an object is placed at a predetermined position.

(2) Conventional technology Conventionally, such a device has been disclosed in, for example, Japanese Patent Application Laid-Open No. 169377-1983.
It is known from the publication no.

(3) Problems to be solved by the invention By the way, in the above conventional method, the center is floatingly supported on a bracket fixed to the lifter table as the object to be positioned, and the center is engaged with the object to be assembled. The lifter table is positioned and aligned by detecting the floating amount of the center when the lifter table is lifted.For example, it is possible to accurately position and align a single in-vehicle component placed on the lifter table and then assemble it to the vehicle body. It is possible. However, when assembling multiple parts scattered on the lifter table to the car body, the lifter table is not in a floating state when the parts are assembled, so all the parts must be assembled with high precision. It is difficult to assemble.

The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a positioning and alignment device that allows a plurality of components placed on an object to be positioned to be assembled to an object to be assembled with high precision and easily. With the goal.

B. Structure of the invention (1) Means for solving the problems According to the invention, there is provided a gripping member capable of gripping a guide portion provided on a positioning object, and a gripping member disposed on the opposite side of the guide portion with respect to the gripping member. The pressing member is coaxially supported by a slide table that is movable in a horizontal plane, and the slide table is provided with a grip drive means connected to the pressing member, and the pressing member has the guide portion. A biasing means for biasing the gripping member is provided on the gripping side, and a positioning drive means is connected to the slide table.

(2) Effect According to the above configuration, the guide portion of the object to be positioned is gripped by driving the gripping member via the pressing member by the operation of the gripping drive means, and in this state, the slide table is moved within the horizontal plane. The mounting table is positioned at a predetermined position. Moreover, when assembling the parts, by putting the gripping drive means in an inactive state, the gripping member becomes in a state where the guide part, that is, the object to be positioned, is floatingly supported in a horizontal plane by the urging means provided on the pressing member,
It becomes possible to easily assemble a plurality of parts to an object with high precision.

(3) Embodiment An embodiment in which the present invention is applied to a device for assembling in-vehicle components to a vehicle body will be explained below with reference to the drawings. First, in FIG. 1, a vehicle body 1 as an object to be assembled is The material is transported to a predetermined position by a non-standard transport device, and is positioned and supported. At the predetermined position, a lifting platform 2 is arranged so as to be movable up and down so as to be located below the rear of the vehicle body 1, and a positioning object is supported on the lifting platform 2 so as to be movable in a horizontal plane. A pallet 4 on which a plurality of parts such as bolts and the like to be assembled to the vehicle body 1 are mounted is positioned and arranged on the mounting table 3. After the lifting table 2 is raised and the mounting table 3 and the pallet 4 are positioned and aligned with respect to the vehicle body 1, each component on the pallet 4 is assembled to the vehicle body 1 by an assembling tool (not shown).

Referring also to FIG. 2, a pair of rails 6a and 6b extending in the X-axis direction perpendicular to the conveyance direction 5 of the vehicle body 1 is provided on the floor surface excluding the lifting platform 2 to move the pallet 4 onto the mounting platform 3. A pair of rails 7a and 7b extending in the X-axis direction are arranged on the elevator platform 2 so as to be movable up and down so as to be connected to the rails 6a and 6b. That is, the lifting platform 2 includes a plurality of supports 8a that support the rails 7a, and the rails 7a.
A plurality of supports 8b supporting the rails 8b are arranged to be raised and lowered synchronously by a drive source (not shown), and both the rails 7a, 7b support the rails 6a, 7b when the elevator platform 2 is at the lower limit position. It can be raised and lowered between a position connected to 6b and a position where the pallet 4 is supported on the mounting table 3.

A plurality of wheels 8a that can roll on rails 6a and 7a are supported on one side of the pallet 4 along the horizontal Y-axis direction perpendicular to the X-axis direction, and wheels 8a that can roll on rails 6b and 7b are supported on the other side. A plurality of wheels 8b that can roll are pivotally supported. A plurality of parts (not shown) to be assembled to the rear lower part of the vehicle body 1 are scattered at predetermined positions on the pallet 4.

The mounting table 3 has a planar shape approximately in the shape of a Japanese character, and a plurality of rollers 9, 9, . Each is pivoted. These rollers 9, 9...
It is for carrying out in the axial direction.

A plurality of balls 10 are arranged on the lifting table 2 so as to be able to roll in any direction, and the mounting table 3 is placed on these balls 10. Therefore, the mounting table 3 is supported on the lifting table 2 so as to be movable in any direction within a horizontal plane.

A cylinder 11 having an axis extending vertically is attached to the lower part of the mounting table 3, and a positioning pin 12 that is driven to expand and contract by this cylinder 11 is
It is arranged so as to be able to fit into a positioning hole 13 provided in the pallet 4.

A positioning/aligning device 14 for positioning and aligning the mounting table 3 along the X-axis direction and a positioning/aligning device 15 for positioning and aligning the mounting table 3 along the Y-axis direction are provided on the lifting table 2. A guide roller 16 as a guide portion corresponding to the positioning and aligning device 14 and a guide roller 17 as a guide portion corresponding to the positioning and aligning device 15 are rotatably supported on the mounting table 3 around a vertical axis. That is, the support frame 1 is attached to one end of the mounting table 3 along the Y-axis direction.
8 are integrally provided, and the guide roller 17 is supported by the support frame 18 thereof. Further, a guide roller 16 is supported at the center of the other end of the mounting table 3 along the Y-axis direction.

3, 4, 5, and 6, the positioning and alignment device 14 includes a slide table 19 movable in the X-axis direction on a support plate 18 fixed to the lifting platform 2, and a guide. A pair of gripping members 20, 20 rotatably supported on the slide table 19 to grip the roller 16 from both sides, and a pair of gripping members 20, 20 disposed on the opposite side of the guide roller 16 with respect to each gripping member 20, 20. . , actuators 23, 23 as urging means provided at the tips of the respective pressing members 21, 21 to urge the gripping members 20, 20 toward the guide roller 16, and actuators 23, 23 as urging means for driving the slide table 19 in the X-axis direction. and a positioning drive means 24.

A pair of side plates 25 and 26 are erected on the support plate 18 and are spaced apart from each other in the X-axis direction.
A pair of guide rods 27, 27 extending in the X-axis direction are installed horizontally between the side plates 25, 26. A pair of guide parts 2 are provided at the bottom of the slide table 19.
8 and 28 are fixedly installed, and both guide rods 2
7 and 27 are movably inserted into the guide portions 28 and 28, respectively. As a result, the slide table 19 is guided by both guide rods 27, 27 and becomes movable in the X-axis direction.

Support members 29, 29 are fixed to a portion of the slide table 19 near the guide roller 16 on both sides of a center line C extending in the Y-axis direction through the axis of the guide roller 16, and grip members 20, 2
The proximal end of 0 is rotatably supported by support shafts 30, 30 erected on the supporting members 29, 29. Moreover, each gripping member 20, 20 is formed in a substantially U-shape with its cross-sectional shape open on the side opposite to the guide roller 16, and each gripping member 20,
The intermediate portions of the pressing members 21 , 21 fitted into the press member 20 from the side opposite to the guide roller 16 are rotatably supported by a support shaft 30 .

The actuators 23, 23 provided at the tips of the respective press members 21, 21 are press pieces 3 having spherical tips.
1 to protrude toward the gripping members 20, 20 by air pressure, and as a result, the gripping members 20, 2
0 is rotationally biased toward the side that grips the guide roller 16.

The grip drive means 22 includes a cylinder 32 supported by the slide table 19 with an axis along the Y-axis direction, a connecting member 33 connected to the tip of the piston rod 32a in the cylinder 32, and a connecting member 33 connected to the tip of the connecting member 33 and A pair of links 34, 34 are provided that connect the base ends of the pressing members 21, 21. The cylinder 32 has a support pin 35 at the end of the slide table 19 that is separated from the guide roller 16.
Supported through. Further, one end of both links 34, 34 is commonly connected to the tip of the connecting member 33 via a connecting pin 36, and the other end of both links 34, 34 is connected to the pressing members 21, 21 via connecting pins 37, 37.
is connected to the proximal end of the Therefore, when the cylinder 32 is extended, the pressing members 21, 21 are rotated in a direction in which their base ends are brought closer to each other, that is, in a direction in which their tips are moved away from the guide roller 16. Further, when the cylinder 32 is contracted, the pressing members 21, 21 move in a direction that brings their tips closer to each other, that is, the actuator 23,
The guide roller 16 is rotationally driven in a direction in which the gripping members 20, 20 grip the guide roller 16 via the guide roller 23.

By the way, a key 38 extending along the center line C is disposed on the slide table 19, and regulating members 39 and 40 whose positions in the X-axis direction are determined by the key 38 are placed on the slide table 19.
fixed on top. One regulating member 39 can come into contact with the base end portions of both pressing members 21, 21, and this regulating member 39 allows both pressing members 21, 2
A minimum spacing between proximal ends of 1 or a maximum spacing between distal ends is defined. The other regulating member 40 can come into contact with both the gripping members 20, 20, and the minimum distance between the two gripping members 20, 20 is defined by this regulating member 40.

The positioning drive means 24 includes a servo motor 41 fixedly supported on the support plate 18 with an axis extending in the X-axis direction, and a nut member 42 fixed on the side plate 25 with an axis extending in the X-axis direction. It has a ball screw shaft 43 which is screwed onto the nut member 42 and whose one end is rotatably connected to the slide table 19, and a gear train 44 which transmits the rotational power of the servo motor 41 to the ball screw shaft 43. .

A gear box 45 containing a gear train 44 is fixed to the side of the support plate 18, and a servo motor 41
is fixed to the gear box 45. The gear train 44 is
Consisting of a gear 46 fixed to the output shaft 41a of the servo motor 41, a gear 47 splined to the ball screw shaft 43, and a gear 48 screwed to both gears 46 and 47, the rotation of the servo motor 41 Power is transmitted to the ball screw shaft 43 via the gear train 44. Moreover, the ball screw axis 4
The middle part of 3 is a nut member 4 fixed to the side plate 25.
2, and one end of the ball screw shaft 43 is connected to a connecting portion 50 provided on the slide table 19 via thrust bearings 49, 49. Therefore, the ball screw shaft 43 is driven to rotate so that it screws forward or backward, and the slide table 19 moves in the X-axis direction accordingly.

The positioning and alignment device 15 has basically the same configuration as the positioning and alignment device 14 described above, and although a detailed explanation will be omitted, the positioning and alignment device 15 allows the mounting table 3 to be aligned along the Y-axis direction. Positioning and alignment is performed.

Next, the operation of this embodiment will be explained. In order to assemble parts to the vehicle body 1, the pallet 4 is moved to the rail 7.
When the pallet is transported to a predetermined position by a and 7b, the positioning pin 12 is fitted into the positioning hole 13 to position the mounting table 3 and the pallet 4,
Next, both the positioning and alignment devices 14 and 15 align and align the mounting table 3 and the pallet 4 with respect to the vehicle body 1.

That is, regarding one of the positioning and alignment devices 14, the cylinder 32 is
is contracted to rotate both the pressing members 21, 21, and while the guide roller 16 is firmly gripped by both the gripping members 20, 20, the servo motor 4
1, the slide table 19 is driven in the X-axis direction, and the pallet 4 and the mounting table 3 are approximately positioned in the X-axis direction.

When this positioning is completed, the cylinder 32 is extended and the pressing members 21, 21 return to their original positions. At this time, the actuators 23, 23 at the tips of the pressing members 21, 21 urge both the gripping members 20, 20 toward the side that grips the guide roller 16. Therefore, the guide roller 16, that is, the mounting table 3 and the pallet 4, are supported in a floating state that allows slight movement in the horizontal plane, and when assembling multiple parts to the vehicle body 1, a force exceeding a predetermined value is applied. When the pallet 4 is added to the pallet 4, the pallet 4 can be moved within a certain range in the horizontal plane, and a plurality of parts can be assembled to the vehicle body 1 with high precision.

Further, the positioning and alignment device 15 performs positioning and alignment in the Y-axis direction in the same manner as the positioning and alignment device 14 described above.

The above embodiments relate to an assembly device for assembling in-vehicle components to a vehicle body, but the present invention is not limited to such an assembling device, but is also applicable to positioning and alignment when assembling components to an object to be assembled. This can be widely implemented as a device.

C. Effects of the invention As described above, according to the invention, the gripping member capable of gripping the guide section provided on the object to be positioned and the pressing member disposed on the opposite side of the guide section with respect to the gripping member are arranged in a horizontal plane. The slide table is coaxially supported by a slide table that is movable within the interior, and the slide table is provided with a gripping drive means connected to a pressing member, and the pressing member has a gripping member on the side that grips the guide part. Since the positioning drive means is connected to the slide table, the object to be positioned is supported in a floating state after positioning, and a plurality of parts are placed on the object to be positioned. Even if the parts are scattered in the parts, it is possible to easily and accurately assemble those parts to the object to be assembled.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention; Fig. 1 is an overall front view, Fig. 2 is a simplified plan view taken along the - line in Fig. 1, and Fig. 3 is an enlarged view of a portion of Fig. 2. Figure 4 is a view in the direction of the arrow in Figure 3, Figure 5 is a view in the direction of the arrow in Figure 3.
The - line cut end view of the figure, Figure 6 is the - of Figure 5.
FIG. DESCRIPTION OF SYMBOLS 1... Vehicle body as an object to be assembled, 3... Mounting table as a positioning object, 14, 15... Positioning and alignment device, 16, 17... Guide roller as a guide section, 19... Slide table, 20... Gripping member, 21... Pressing member, 22... Gripping driving means, 23... Actuator as urging means,
24...Positioning drive means.

Claims (1)

[Scope of utility model registration request] For the assembled object positioned at a fixed position,
In a positioning and alignment device for positioning and aligning a positioning object that is movable in a horizontal plane and in which parts to be assembled on the object are placed in a predetermined position, A gripping member capable of gripping the guide portion and a pressing member disposed on the opposite side of the guide portion with respect to the gripping member are coaxially supported on a slide table that is movable in a horizontal plane. A grip driving means connected to the pressing member is provided, the pressing member is provided with urging means for urging the gripping member toward a side that grips the guide part, and a positioning driving means is connected to the slide table. A positioning and alignment device characterized by: