JPS60248484A - Assembling system of car body - Google Patents

Abstract

PURPOSE:To omit a dedicated delivery device and simplify the constitution of a positioning device by allowing a welding robot to provide the delivery function of assembly parts to the positioning device concurrently with the welding function. CONSTITUTION:An under body W1 is supported by a lifter 2, and simultaneously a cab side W2 is supported by the hanger 14 of a drop lifter 10 to be moved above a horizontal positioning device 3. Next, a welding robot 16 extends its arm 17 horizontally and holds the said cab side W2 with a cab side holder 19 at its tip, and further it delivers the cab side W2 to the positioning device 3. The base 5 of the positioning device 3 is slided, and the cab side W2 is positioned in an erected state on the under boby W1. The robot 16 returns the holder onto a shelf 21 and is fitted with a welding gun 20 on a shelf 22. Then, the robot 16 welds the said positioned cab side W2 to the under body W1 with the welding gun 20.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to the use of robots to melt parts to be assembled into base parts of car bodies flowing through a car body assembly line, and particularly relates to measures for effective utilization of robots. It is something that can be written.

(Prior art) Conventionally, at a predetermined station on an automobile body assembly line, when welding a cab side (assembly part) to, for example, an underbody (body member serving as a base) on the line, for example, As disclosed in Publication No. 53-21542, etc., a positioning device for supplying and positioning and supporting the cab side onto the underbody is provided, and the cab side is carried into the positioning device by a cab side supply device such as a drop lifter. A system has been widely adopted in which a transfer device such as a manipulator is attached to transfer the cab side from the supply device to the positioning device, and the chitobrid positioned by the positioning device is welded to the underbody by a welding robot.

However, in this conventional system, the positioning device is equipped with a dedicated transfer fold for cab side transfer.
I didn't like that the composition of the snowy season of Gakushusha Memaimaro was complicated.

In addition, since the robot is dedicated to welding the cab side to the underbody, there is a long period of time without welding, and there is room for improvement in terms of increasing the robot's operating rate and making effective use of it. .

(Problems and issues to be solved by the invention) The present invention has been made in view of the above points, and its purpose is to provide the above-mentioned robot 1 with a welding function and a positioning device for assembled parts. By providing a transfer function, the purpose is to omit a conventional dedicated transfer device, simplify the configuration of the positioning device, and improve the operating rate of the robot.

(Means for Solving the Problems) In order to achieve the above object, the solving means of the present invention supplies and positions assembly parts such as a cab side with respect to vehicle body members such as an underbody flowing along a vehicle body assembly line. a positioning device; a component supply device that carries and supplies assembly parts close to the positioning device; and a component supply device that delivers the assembly components supplied by the component supply device to the positioning device; The assembly includes a robot that welds the parts to the vehicle body member in the positioned state.

(Function) With the above configuration, in the present invention, the group (=J
The robot operates not only for welding parts to vehicle body members, but also for delivering assembled parts from a parts supply device to a positioning device, thereby increasing its operating rate, and also for delivering and delivering assembled parts of this robot. Depending on the function, a dedicated delivery device can be omitted.

(Example) Hereinafter, an example of the present invention will be described in detail based on the drawings.

In FIGS. 1 and 2, -C11 is a car body assembly line installed in an automobile body assembly factory. The material is intermittently conveyed between the lifters in a direction from the right side to the left side in FIG. An underbody W1 serving as a vehicle body member is placed and supported on the lifter 2 facing rearward with respect to the transport direction.

In the middle of the above-mentioned vehicle body assembly line 1, there are left and right kit brake guides W as assembly parts on the underbody W1 on the line 1.
2. A first cab side assembly station S for assembling W2 is formed, and on the left and right line leads of the cab side assembly station S, cab side W 2 and W 2 are attached to the underbody W1 on the assembly line 1. Positioning devices 3, 3 for supplying and positioning are installed. Each of the positioning devices 3 includes a fixed base 4 installed parallel to the line 1, a base 5 mounted on the fixed base 4 so as to be slidable in directions toward and away from the lifter 2, and the base. At the front and rear ends of the line traveling direction of No. 5, a support column is installed to be able to swing between an upright position close to the lifter 2 and a tilted position away from the lid 2, and whose upper part is rotatable by 180'. 6, 6, and holding members 7, 7, etc., which are attached to the upper part of each supporting member 6 at intervals of 180° in the circumferential direction and which hold the cab side W2 from its outer periphery, and cylinders on which the base 5 slides. 8, and a cylinder 9 that swings the support column 6 between an upright position and a tilted position. Then, the base 5 is the lifter 2.
With the support pillars 6, 6 in the tilted position, the holding members 7.7 of both the support pillars 6, 6 are attached to one side W2.
After that, by operating the cylinders 8 and 9, the base 5 is moved closer to the lifter 2, and the support columns 6 and 6 are rotated to the upright position, thereby removing both the holding members 7 and 7.
The cab side W2 held by the cab side W2 is positioned in an upright position on the underbody W1 of the re-noter 2.

In addition, as shown in FIG.
A drop lifter 10 is provided as a kit bleed feed supply device (component supply device) for carrying and supplying the parts 2 and W2 to the vicinity of the positioning device @3.3.

The "DoE" tube lifter 10 has an arm 12 that ascends next to a guide member 11 hanging from a large IF part of the factory.
It is movably suspended from a horizontal rail 13 attached to the tip of the arm 12, and the left and right cab sides W are mounted at the bottom.
The arm 12 and the hanger 14 are equipped with a transmol rail type self-propelled hanger 14 having hook parts 14a, 14a that support the 2°W2, and when the hanger 14 moves toward the side of the cab side assembly station S, the arm 12 and the hanger 14 moves downward to stop the cab side W2 supported by each hook portion 14a of the hanger 14 at a position slightly higher than the holding members 7.7 of the support columns 6, 6 in the tilted position of each positioning device 3. It is configured as follows.

Furthermore, a line 4 outside each of the positioning vi devices described above
The noid has a base 15 extending parallel to line 1.
A robot 16 is mounted on the base 15 so as to be able to slide along the line 1. The robot 16
The arm 17 is movable and extendable along a vertical plane perpendicular to the line 1 at 4-4 L/, and a chucking jig 18 is mounted at the tip of the arm 17 to rotate around the axis of the arm 17. The chucking jig 18 is configured to grip a cab side holder 19 or a welding gun 20 for holding the cab side W2. Further, at a predetermined position above the robot 16, a cab side holder 11121 for supporting the cab side holder 19 above, a welding gun shelf 22 for supporting the welding gun 20 on -F, etc. are arranged. Hello, robot 16
The arm 17 alternately chucks the cab side holders 19 or welding guns 20 on each shelf 21, 22, and by chucking the cab side holders 19, the drops descended near each positioning device 3 are Receive the cab side W2 from the hanger 14 of the lifter 10 and pass it to the holding member 7 of each positioning device 3, and on the other hand,
By chucking the welding gun 20, the cab side W2 which is positioned on the underbody W1 by the positioning device 3 as shown in FIG.
It is configured to be welded to 1. In addition, in Figure 1, 2
3 is cab side assembly station controller S1. : Welding robot 1-1 for welding a predetermined part of the forward end (rear end when viewed from the vehicle body) of the underbody W1 in the forward direction 17i of the a3.
S' is a stay shim 1 for assembling (pulling) other assembling parts to the underbody W1 after the cab side assembling station S.

Next, - explaining the operation of the above embodiment 11, at the beginning of one cycle of operation, the base 5 of each positioning device (3) is placed from the line 1, and both support columns 6, 6 are in the tilted position. Furthermore, each of the robots 1 to 16 is chucking the cab side holder 19 of the cab side holding device shelf 21 (in a standby state).

In this state, the underbody W1, which has been conveyed to the cab side assembly station S by a one-type conveyor with a feed bar (not shown), is received by the lifter 2, and
Accordingly, the hanger 14 of the drop lifter 10 supports the left and right cab sides W2゜W2 and moves downward to the position above each positioning device 3 (pulled to the C key 11 bunide assembly station S). Bot [-16 extends its arm 17 in the horizontal direction and holds each of the above-mentioned hangers 140 with the holder 19 at the tip of the arm 17. After that, each of the -V tobris and id W2 held by the holding members 7, 7 of each of the positioning devices 3 is
give it to

As a result, each key (7 blocks 1 nod W2) is transferred from the drop lifter 10 to each positioning device 3.

Next, the cab side VL2. After the empty hanger 14 with the W2 loaded rises and the space above the liter 2 is released, the base 5 of the purchasing device 3 slides toward the lifter 2 and the support column 6. rotates to the upright position, and each cab side W2 supported by both holding members 7.7 is positioned in the upright position on the underbody W1 on the lifter 2.

Also, during this time, each robot 16 returns the carbide holder 19 that had been chucked up to that point onto the holder holder 21, and also chucks the welding gun 20 on the welding gun shelf 22. , With the cablid W2 positioned by each of the positioning devices 3, each of the four yafseids W2 is welded to the underbody W1 by the welding gun 20 of the robot 1G.In addition, at this time, the welding robot 23 welds the rear of the underbody W1. Predetermined portions of the ends are also welded.

After this welding, each positioning device 3 returns to its original position, and then the underbody W1, to which the cab sides W2 and W2 are integrally welded, is transferred to a conveyance device by the lowering operation of the lifter 2, By moving in the line direction, the gear 14 is carried out from the node assembly station S to the next station S'. Further, the robot 16 immediately chucks the welding can 20 to the cab side holder 19 in the same manner as described above. With the above, 11 cycles of operation are completed, and the same operation as above is repeated thereafter.

Therefore, in this embodiment, each robot 16 has the function of delivering each cab side W2 on the hanger 14 of the drop lifter 10 to the holding members 7, 7 of each positioning device 3;
Each positioned cab side W2 is attached to the underbody W1
What two functions does C have to weld to C?
1. The operating rate of each robot 16 is greatly improved compared to the case where each robot 16 is used for welding, and the robots 16 can be used more effectively.

In addition, in order for each robot 16 to transfer the cab side W2 from the drop lifter 10 to each positioning device 3, it is necessary to install a dedicated transfer device for (1.1 side transfer) in each positioning device @3. Therefore, the configuration of the positioning device 3 can be simplified accordingly.

In the above embodiment, each robot 16 is provided with only either the cab side holder 19 or the welding ring 20.
・The cab side W2 was installed in a welding robot equipped with a welding gun.
It may be modified so that the cab side holder 19 is chucked only when the cab side W2 is transferred.

Further, in the above embodiment, cab side W2. Although the case where W2 is assembled to the underbody W1 has been described, the present invention can also be applied to the case where a wheel apron or a front panel as an assembly part is assembled and welded to the underbody on a car body assembly line. Of course.

('R, bright effect) - As explained above, according to the present invention, a robot installed on the line side of a car body assembly line has a function of transferring assembled parts from a parts supply device to a positioning device. and,
Since this device also has the function of welding the assembly parts positioned on the car body member on the line by the positioning device to the vehicle body member, (a) the positioning device has a dedicated part for the assembly parts. There is no need to install a separate delivery device, and the robot can also be used for both welding and delivery of assembled parts, reducing the time required to do so.This simplifies the positioning device in the automobile body assembly system and improves the efficiency of the robot. 1-
This has an excellent practical effect of being able to improve the operating rate.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, in which Fig. 1 is a plan view of cab size 1 to 4-J on a vehicle body assembly line, Fig. 2 is a side view of the same, and Fig. 33 is a 1-1 side view. FIG. 3 is a front view of the main parts showing the welded state of the pot. 1... Vehicle assembly line, 2... Lifter, 3... Positioning device f! r, 10... drop lifter, 14.
... Hanger, 16... Robot, 18... Chucking jig, 19... Cab side holder, 20...
Welding gun, Wl...underbody, W2...cab side, S...gear bridge assembly station.

Claims (1)

[Claims] (1) An automobile body assembly system that assembles a car body by supplying assembly parts from a line nod to body parts flowing along a car body assembly line and welding them. a positioning device that determines the supply position; a component supply device that supplies assembly parts close to the positioning device; a component supply device that receives and delivers the assembly components supplied by the component supply device to the positioning device indicated by An automobile body assembly system comprising: a robot that welds assembly parts to vehicle body members in a positioning state.