CN108622231B - Vehicle component mounting system and control method thereof - Google Patents

Abstract

The invention discloses a vehicle body component mounting system and a control method thereof. The disclosed vehicle body component mounting system for automatically mounting vehicle body components on a vehicle body transferred along a transfer line includes: an alignment jig which is provided at one side of the transfer line and aligns a position of the vehicle body component taken out from the tray; a gripping jig that is provided on a front end of an arm portion of the mounting robot and moves the vehicle body component to the vehicle body by moving the mounting robot in a state of gripping the vehicle body component aligned by the alignment jig; a pressurizing floating unit rotatably provided on both sides of the clamping jig to elastically support both sides of the vehicle body part, and eccentrically adjustable with respect to both sides of the vehicle body; a tool provided on a front end of the arm portion of the joining robot, and moved by moving the joining robot to assemble the vehicle body component on the vehicle body.

Description

Vehicle component mounting system and control method thereof

Cross Reference of Related Applications

The present application claims priority and benefit of korean patent application No. 10-2017-0036106 filed on 22/3/2017 to the korean intellectual property office, the entire contents of which are incorporated herein by reference.

Technical Field

Exemplary embodiments of the present invention relate to a vehicle body component mounting system. More particularly, the present invention relates to a vehicle body component mounting system for mounting moving vehicle body components (such as a door, a hood, a trunk lid, a tailgate, and the like) on a vehicle body, and a control method thereof.

Background

Generally, vehicles are manufactured by vehicle manufacturers through several processes of assembling various body parts in all processes of mass production.

Specifically, in the first step of manufacturing a vehicle, after a vehicle body panel is produced in a pressing process, the produced vehicle body panel is transferred into a vehicle body shop, and each part of the vehicle body is assembled to produce a vehicle body in a BIW (body in white) state.

In the main body process, a door, a hood, a trunk lid, a tailgate, a fender, and the like are attached to the completed vehicle body, and the vehicle body is painted in the painting process. Subsequently, the engine, transmission, and internal and external members are assembled with the painted vehicle body in an assembly plant to complete the vehicle.

Further, the components such as the panels and the like are manufactured by a pressing process, and mounted on the panel jig apparatus in the vehicle body assembly shop while being fixed. Subsequently, assembling, welding, sealing, and hemming processes are performed, and painting is performed in a painting process.

Here, various vehicle body components such as a door, a hood, a trunk lid, and a tailgate are moved to a vehicle body by a conventional mounting jig. Therefore, an operator manually mounts components with bolts or automatically assembles by using a robot.

According to the conventional vehicle body part mounting system described above, when the vehicle body is transferred to a home-position (home-position) along the transfer rail, the set mounting jig or the jig moved by the robot moves the panel to the vehicle body by operating the assembly robot and completes mounting of the vehicle body part.

However, according to the conventional vehicle body component mounting system described above, it is difficult to respond to the allocation of the vehicle body to the position where the moving vehicle body component (such as the door, the hood, the trunk lid, the tailgate, and the like) is mounted. This distribution of the vehicle body causes an installation failure, and the assembly distribution is always set to move a predetermined position when the vehicle body component in the original position is installed by the jig or the clamping apparatus. Therefore, the product quality of the completed vehicle deteriorates.

The above information disclosed in this background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art in this country.

Disclosure of Invention

Exemplary embodiments of the present invention provide a vehicle body part mounting system and a control method thereof for precisely adjusting the position of a vehicle body part according to the position of a vehicle body to which a moving vehicle body part, such as a door, a hood, a trunk lid, a tailgate, etc., is mounted, and for automatically mounting the vehicle body part on the vehicle body.

A vehicle body component mounting system according to an exemplary embodiment of the present invention for automatically mounting a vehicle body component on a vehicle body transferred along a transfer line, includes: an alignment jig which is provided at one side of the transfer line and aligns a position of the vehicle body component taken out from the tray; a gripping jig that is provided on a front end of an arm portion of the mounting robot and moves the vehicle body component to the vehicle body by moving the mounting robot in a state of gripping the vehicle body component aligned by the alignment jig; a pressurizing floating unit rotatably provided on both sides of the clamping jig to elastically support both sides of the vehicle body part, and eccentrically adjustable with respect to both sides of the vehicle body; a tool provided on a front end of the arm portion of the joining robot, and moved by moving the joining robot to assemble the vehicle body component on the vehicle body.

Further, in the vehicle body component mounting system according to the exemplary embodiment of the present invention, the clamping jig may include: a jig frame mounted on a front end of an arm portion on which the robot is mounted; and a plurality of grippers which are movably provided on the jig frame in a plurality of directions and which grip the vehicle body member.

Further, in the vehicle body component mounting system according to the exemplary embodiment of the present invention, the pressurized floating unit may include: a floating frame rotatably provided at a jig frame holding the jig in both side directions by pneumatic cylinders; at least one floating shaft disposed at the floating frame; a tubular bolt in which the floating shaft is located and which is movably provided in an axial direction; a floating bar threadedly coupled on an outer periphery of the tube bolt; a touch member connected with the floating bar, slidably disposed, and supporting both sides of the vehicle body part; and a spring member mounted on the floating shaft between both ends of the pipe bolt and both sides of the floating frame.

Further, in the vehicle body component mounting system according to the exemplary embodiment of the present invention, the floating frame may be provided as a square frame.

Further, in the vehicle body component mounting system according to the exemplary embodiment of the present invention, both ends of the floating shaft may be fixed to both sides of the floating frame.

Further, in the vehicle body component mounting system according to the exemplary embodiment of the present invention, the tube bolt penetrates and is coupled to the floating bar, and may be provided with a thread on an outer circumference thereof.

Further, in the vehicle body component mounting system according to the exemplary embodiment of the present invention, an engagement hole that is threadedly coupled to the thread of the tube bolt may be provided at the floating bar.

Further, in the vehicle body part mounting system according to the exemplary embodiment of the present invention, the touch member may include: a first portion supporting the floating frame, coupled to the floating bar, and having a fork shape; and a second portion that is integrally connected with the first portion and pressurizes both sides of the vehicle body.

Further, in the vehicle body part mounting system according to the exemplary embodiment of the present invention, the pressurized floating unit may further include an elastic adjustment member that is screw-coupled to both ends of the pipe bolt, supports the spring member, and adjusts an elastic force of the spring member.

Further, in the vehicle body part mounting system according to the exemplary embodiment of the present invention, the elastic adjustment member may include a nut that is threadedly coupled to both ends of the tube bolt.

Further, in the vehicle body component mounting system according to the exemplary embodiment of the present invention, the nut may include: a threaded part threadedly coupled with both ends of the pipe bolt; and a spring piece portion formed to be bent at the threaded portion and supporting the spring member.

Further, in the vehicle body component mounting system according to the exemplary embodiment of the present invention, the tube bolt may be rotatably disposed in both directions with respect to the floating shaft.

Further, in the vehicle body component mounting system according to the exemplary embodiment of the present invention, the tube bolt may be rotatably provided in both directions with respect to the floating shaft by the first drive source.

Further, in the vehicle body component mounting system according to the exemplary embodiment of the present invention, the elastic adjustment member may be rotatably provided in both directions by the second drive source.

Further, the vehicle body component mounting system according to the exemplary embodiment of the present invention may further include: a measuring unit which is provided at an upper side of the transfer line and at the clamping jig, respectively, and which measures a position of the vehicle body and a position of the vehicle body component; and a controller that receives a result of the position of the body part measured by the measuring unit to adjust the moving position of the body part by the movement of the mounting robot.

Further, in the vehicle body component mounting system according to the exemplary embodiment of the present invention, the measurement unit may include: a first sensor disposed on an upper side of the transfer line, away from the vehicle body, and measuring a position of the vehicle body; and second sensors that are respectively provided on both sides of the clamp jig and that measure a gap between the vehicle body and the vehicle body member.

Further, in the vehicle body component mounting system according to the exemplary embodiment of the present invention, the first sensor and the second sensor may include a visual sensor.

Further, in the vehicle body component mounting system according to the exemplary embodiment of the present invention, the controller may calculate a position allocation amount of the vehicle body component in comparison with a reference position of the vehicle body according to the measurement signal transmitted from the measurement unit, adjust the movement of the mounting robot according to a result value of the position allocation amount, and adjust the position of the vehicle body component.

Further, the vehicle body component mounting system according to the exemplary embodiment of the present invention may mount the moving vehicle body components including the door, the hood, the trunk lid, and the tailgate on the vehicle body.

Further, a control method of a vehicle body component mounting system for automatically mounting a vehicle body component on a vehicle body transferred along a transfer line, the control method of the vehicle body component mounting system comprising: a step of moving a clamping jig to a side surface of an alignment jig by applying a control signal to a mounting robot in a state where a vehicle body component taken out from a pallet is aligned on the alignment jig; a step b of clamping the vehicle body part by the clamper by applying a control signal to the pneumatic cylinder of the clamping jig, rotating the pressurizing floating unit toward both sides of the vehicle body part, elastically supporting both sides of the vehicle body part by the pressurizing floating unit, and applying a control signal to the clamper of the clamping jig; a step c of applying a control signal to the mounting robot to move the clamping jig to the vehicle body and measuring the position of the vehicle body and the position of the vehicle body component by the measuring unit; a step d of adjusting a moving position of the body part by movement of the mounting robot according to a result of the position of the body part measured by the measuring unit; and a step e of applying a control signal to the joining robot to move the tool to the side of the vehicle body part by the joining robot, and assembling the vehicle body part to the vehicle body by the tool.

Further, in the control method of the vehicle body component mounting system of the exemplary embodiment of the present invention, after step e, the mounting position of the vehicle body component is measured by the measuring unit, and the pressurizing floating unit is eccentrically adjusted according to the measured value.

Further, in the control method of the vehicle body part mounting system of the exemplary embodiment of the present invention, in step b, a control signal may be applied to the electric cylinder of the clamp jig to move the clamp in a plurality of axial directions according to the kind of the vehicle.

Further, in the control method of the vehicle body component mounting system of the exemplary embodiment of the present invention, in step c, the position of the vehicle body may be measured by the first sensor of the measuring unit, and the gap between the vehicle body and the vehicle body component may be measured by the second sensor of the measuring unit.

Further, in the control method of the vehicle body part mounting system of the exemplary embodiment of the present invention, in step d, a position allocation amount of the vehicle body part may be calculated in comparison with a reference position of the vehicle body according to the measurement signal transmitted from the measurement unit, the movement of the mounting robot may be adjusted according to a result value of the position allocation amount, and the position of the vehicle body part may be adjusted.

Exemplary embodiments of the present invention provide a vehicle body part mounting system and a control method thereof for adjusting the position of a vehicle body part according to the position of a vehicle body to which a moving vehicle body part (such as a door, a hood, a trunk lid, a tailgate, etc.) is mounted, and for automatically mounting the vehicle body part on the vehicle body, thereby preventing the generation of mounting failure and assembly distribution to improve the product quality of a finished vehicle.

Further, in the exemplary embodiment of the present invention, it is determined whether an installation failure of the vehicle body parts occurs and the assembly positions of the vehicle body parts are adjusted again, so the number of lines (line number) of the process is reduced and the operation rate and the assembly productivity can be improved.

Furthermore, the effects that may be obtained or predicted by the exemplary embodiments of this invention are disclosed directly or implicitly in the detailed description of the exemplary embodiments of this invention. That is, various effects predicted by the exemplary embodiments of the present invention will be disclosed in the detailed description to be described below.

Drawings

While the drawings are described in connection with exemplary embodiments presently considered to be practical, it is to be understood that the invention is not limited to the disclosed drawings.

FIG. 1 is a schematic view of a vehicle body component mounting system according to an exemplary embodiment of the present invention.

Fig. 2a and 2b are schematic views of a clamping jig applied to a vehicle body component mounting system according to an exemplary embodiment of the present invention.

Fig. 3 is a perspective view of a pressurized floating unit applied to a vehicle body component mounting system according to an exemplary embodiment of the present invention.

Fig. 4 is a side view of a pressurized floating unit applied to a vehicle body component mounting system according to an exemplary embodiment of the present invention.

Fig. 5 is a view of a nut as an elastic adjustment member included in a pressurized floating unit applied to a vehicle body part mounting system according to an exemplary embodiment of the present invention.

Fig. 6 is a flowchart illustrating a control method of a vehicle body component mounting system according to an exemplary embodiment of the present invention.

Fig. 7a to 7c are views of operational states of modes of the pressurized floating unit applied to the vehicle body component mounting system according to the exemplary embodiment of the present invention.

Detailed Description

The present invention will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. As will be understood by those skilled in the art, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention.

The drawings and description are to be regarded as illustrative in nature, and not as restrictive. In this specification, like reference numerals denote like elements.

In the drawings, the size and thickness of each element are approximately shown for better understanding and ease of description. Accordingly, the present invention is not limited to the drawings, and the thickness of layers, films, panels, regions, etc. are exaggerated for clarity.

Further, in the following detailed description, terms "first", "second", and the like given to components having the same configuration are used only to distinguish one component from another component, and in the following detailed description, these terms do not necessarily denote any order.

Throughout this specification, unless explicitly described to the contrary, the word "comprise", and variations such as "comprises" or "comprising", will be understood to imply the inclusion of stated elements but not the exclusion of any other elements.

Further, the terms "… unit," "… device," "… component," and "… member" refer to a comprehensively configured unit that performs at least one function or operation.

FIG. 1 is a schematic view of a vehicle body component mounting system according to an exemplary embodiment of the present invention.

Referring to fig. 1, a vehicle body component mounting system 100 according to an exemplary embodiment of the present invention may be applied to a vehicle body assembly line that adjusts a certain vehicle body component transferred from the vehicle body assembly line and assembles the vehicle body component on a vehicle body.

Further, the vehicle body component mounting system 100 according to the exemplary embodiment of the present invention may be applied to a process for mounting moving vehicle body components (such as a door, a hood, a trunk lid, a tailgate, etc.) on a vehicle body.

However, in the exemplary embodiment of the present invention, for example, a process of assembling the trunk lid 3 on the vehicle 1 in which vehicle body components such as a floor assembly, left and right side assemblies, a cowl (cowl), a roof rail, and a tray are completely assembled will be explained.

In other words, hereinafter, for example, a process of automatically assembling the trunk lid 3 as a vehicle body component at the rear side of the vehicle 1 based on transferring the vehicle 1 along a transfer route predetermined by a carrying line will be explained.

However, the scope of the present invention is not limited to assembling only a moving vehicle body component such as the trunk lid 3 on the vehicle 1, and the spirit of the present invention is applicable to a case where various types and functions of metal panel assembling components are assembled on the vehicle body.

Conventionally, in the art, the vehicle body transfer direction is the T direction, the vehicle width direction is the L direction, and the vehicle height direction is the H direction. However, in the exemplary embodiment of the present invention, not the LTH direction, but the body transfer direction, the vehicle height direction, and the vehicle width direction are based.

The description of the direction is a relative meaning, and the direction may be changed according to the reference position of the vehicle body component mounting system 100, and thus, the reference direction is not necessarily limited to that of the exemplary embodiment of the present invention.

The vehicle-body component mounting system 100 according to the exemplary embodiment of the present invention precisely adjusts the position of a vehicle-body component (such as a trunk lid 3) of a vehicle body 1 according to the position at which the vehicle-body component is mounted, and automatically mounts the vehicle-body component on the vehicle body 1.

To this end, the vehicle body component mounting system 100 according to the exemplary embodiment of the present invention includes an alignment jig 10, a clamping jig 20, a pressurized floating unit 30 (hereinafter, refer to fig. 2a and 2b), a measuring unit 70, a controller 80, and a tool 90. As will be explained below.

In the exemplary embodiment of the present invention, the alignment jig 10 is installed at one side of the transfer line (vehicle body transfer line) as described above. The alignment jig 10 aligns the trunk lid 3 as a vehicle body component taken out from the tray 11.

Here, the trunk lid 3 loaded on the pallet 11 is taken out by the take-out robot 13 (conventionally referred to as a "robot hanger" in the art), and can be loaded on the alignment jig 10 by the take-out robot 13.

The hanger jig is mounted on the take-out robot 13. The hanger jig may grip the trunk lid 3 loaded on the tray 11, take out the trunk lid 3 from the tray 11, and load the trunk lid 3 on the alignment jig 10.

The alignment jig 10 is a member for aligning the trunk lid 3 at a predetermined position, can form a reference position of the trunk lid 3, supports an edge portion of the trunk lid 3, and clamps the edge portion.

The alignment jig 10 and the hanger jig of the take-out robot 13 are well known in the art, and thus a detailed description is omitted in this specification.

Fig. 2a and 2b are schematic views of a clamping jig applied to a vehicle body component mounting system according to an exemplary embodiment of the present invention.

Referring to fig. 1 and 2a and 2b, in an exemplary embodiment of the present invention, a gripping jig 20 is mounted on a front end of an arm portion of a mounting robot 21 (referred to as a "handling robot" or a "gripper robot" in the art).

The clamping jig 20 moves the trunk lid 3 to the vehicle body 1 in a state where the trunk lid 3 aligned on the alignment jig 10 is clamped.

The holding jig 20 basically includes a jig frame 23 and a holder 25. The jig frame 23 is mounted on the front end of the arm portion of the mounting robot 21. The jig frame 23 may be mounted on or separated from the front end of the arm portion of the mounting robot 21 by a tool changer.

The clamp frame 23 includes various fittings such as brackets, support blocks, plates, housings, covers, collars, and the like. The fitting is an element for mounting a holder or the like on the jig frame 23, and therefore, in the exemplary embodiment, the fitting is generally referred to as the jig frame 23, except for a special case.

The clamper 25 clamps a predetermined portion of the trunk lid 3, and is plurally mounted on the clamp frame 23. The holder 25 is a holding device well known in the art, and thus a detailed description will be omitted from the present specification.

Further, the clamper 25 may be mounted on the jig frame 23 so as to be movable in a plurality of axial directions according to the trunk lid 3 of different vehicle types. The gripper 25 may be mounted to move in multiple axial directions by an electric cylinder 27.

The electric cylinder 27 can move the clamper 25 by a well-known guide structure (including a cap screw (or ball screw), a guide rail, and the like) that converts the rotational force of the servo motor into a linear motion.

In the exemplary embodiment of the present invention, the pressurized floating unit 30 is an element for elastically supporting both sides of the trunk lid 3 during the trunk lid 3 being clamped by the clamps 25 of the clamping jig 20.

The pressurized floating unit 30 is rotatably installed at both sides of the clamp frame 23 of the clamping clamp 20, and is eccentrically adjustable with respect to both sides of the trunk lid 3.

Fig. 3 is a perspective view of a pressurized floating unit applied to a vehicle body component mounting system according to an exemplary embodiment of the present invention, and fig. 4 is a side view of fig. 3.

Referring to fig. 3 and 4 and fig. 1 and 2a and 2b, the pressurized floating unit 30 according to an exemplary embodiment of the present invention includes a floating frame 31, a floating shaft 33, a pipe bolt 35, a floating bar 37, a touching member 39, a spring member 41, and an elastic adjustment member 43.

The floating frames 31 are rotatably installed at both sides of the jig frame 23 holding the jig 20 in both side directions by pneumatic cylinders 32. For example, the floating frame 31 is provided as a square frame.

The floating shaft 33 is provided at the floating frame, and both ends of the floating shaft 33 are fixed at both sides (upper and lower sides in the drawing) of the floating frame 31. For example, the floating shafts 33 are installed in pairs at the floating frame 31 and arranged to face the vehicle transfer direction.

The pipe bolt 35 is formed in a hollow pipe shape, and is provided movably in the floating shaft 33 direction in a state where the floating shaft 33 exists in the pipe bolt 35. In addition, the tube bolt 35 is rotatably mounted in both directions based on the floating shaft 33. A thread is provided on the outer periphery of the pipe bolt 35.

Furthermore, the tube bolt 35 can be rotatably arranged in both directions relative to the floating shaft 33 by means of a first drive source 38. The first drive source 38 may comprise a servo motor as is well known in the art. The servomotor is connected to the pipe bolt 35 through a gear device, and the pipe bolt 35 can be rotated in both directions by transmitting a rotational driving force to the pipe bolt 35.

The floating bar 37 is screw-coupled to the screw thread of the outer periphery of the pipe bolt 35. The floating bar 37 is arranged in a direction perpendicular and intersecting the floating shaft 33. At this time, the pipe bolt 35 penetrates the floating bar 37 and is screw-coupled to the floating bar 37. The engagement hole 45 is threadedly coupled to the thread 36 of the tube bolt 35 at the floating bar 37.

In a state where the floating bar is located at the center side of the pipe bolt 35, when the pipe bolt 35 is rotated in one side or the other side direction, the floating bar 37 may be moved from the center side (upper side in the drawing) to one side or the other side (lower side in the drawing) of the pipe bolt 35 and positioned eccentrically.

The touch member 39 is an element for supporting both sides of the trunk lid 3, connected to the floating bar 37, and provided slidably in a predetermined direction (up-down direction in the drawing) of the floating frame 31.

The touch member 39 includes: a first portion 47 supporting the floating frame 31, coupled to the floating bar 37, and having a fork shape; and a second portion 49 integrally connected with the first portion 47 and substantially supporting both sides of the trunk lid 3.

Here, the first portion 47 surrounds and supports the floating frame 31, and is coupled to the floating bar 37 by a bolt 51. In addition, the second portion 49 supports and pressurizes both sides of the trunk lid 3.

The spring member 41 is provided as a compression spring, and is mounted on the floating shaft 33 between both sides of the floating frame 31 and both ends of the pipe bolt 35. The spring member 41 provides elastic force to both ends of the pipe bolt 35 based on the floating shaft 33.

The elastic adjustment member 43 is screw-coupled to both ends of the pipe bolt 35, supports the spring member 41, and adjusts the elastic force of the spring member 41.

The elastic adjustment member 43 includes nuts 53 threadedly coupled to both ends of the pipe bolt 35. The nut 53 may support the spring member 41, rotate in both directions at both ends of the pipe bolt 35, and adjust the elastic force of the spring member 41.

As shown in fig. 5, the nut 53 includes: a threaded portion 55 threadedly coupled with both ends of the pipe bolt 35; and a leaf spring portion 57 formed to be bent at the threaded portion 55 and supporting the spring member 41.

Further, the elastic adjustment member 43 may be rotatably provided in both directions by the second drive source 59 based on the pipe bolt 35. The second drive source 59 may comprise a servo motor as is well known in the art. The servo motor is connected to the nut 53 through a gear device, and can rotate the nut 53 in two directions by transmitting a rotational driving force to the nut 53.

Meanwhile, referring to fig. 1, in an exemplary embodiment of the present invention, a measuring unit 70 is an element for measuring a position of a vehicle body 1 on a transfer line and a position of a trunk lid 3 of the vehicle body 1 on the transfer line.

The measuring units 70 are respectively provided at the upper side of the transfer line and the clamping jig 20. The measuring unit 70 includes: a first sensor 71 that is provided at an upper side of the transfer line, that is away from the vehicle body 1, and that measures the position of the vehicle body 1; and second sensors 72 that are respectively provided at both sides of the clamping jig 20 and measure a gap between the vehicle body 1 and the trunk lid 3.

Here, the first sensors 71 are plurally provided at the mounting frame 73 on the upper side of the transfer line. The second sensors 72 are provided in plurality at both sides of the jig frame 23 of the clamping jig 20, respectively. The first sensor 71 and the second sensor 72 comprise visual sensors as are well known in the art.

In the exemplary embodiment of the present invention, the controller 80 controls the overall operation of each element of the system 100, further adjusting the movement position of the trunk lid 3 by receiving the result of the position of the trunk lid 3 measured by the measurement unit 70 and moving the mounting robot 21.

The controller 80 may calculate a position allocation amount of the vehicle body parts compared with a reference position of the vehicle body 1 based on the measurement signal transmitted from the measurement unit 70, adjust the movement of the mounting robot 21 based on the resultant value of the position allocation amount, and adjust the position of the trunk lid 3.

In the exemplary embodiment of the present invention, the tool 90 is provided on the front end of the arm portion of the joining robot 91, and is moved by moving the joining robot 91 to assemble the trunk lid 3 on the vehicle body 1. The tool 90 may include a bolt slider (bolt runner) that automatically assembles the trunk lid 3 to the vehicle body 1 by bolts.

Hereinafter, the operation of the vehicle body component mounting system 100 and the control method of the system 100 according to the exemplary embodiment of the present invention will be described in detail with reference to the drawings disclosed above and the accompanying drawings.

Fig. 6 is a flowchart illustrating a control method of a vehicle body component mounting system according to an exemplary embodiment of the present invention.

Referring to fig. 6, first, in an exemplary embodiment of the present invention, in transferring the vehicle body 1 along the transfer line, the trunk lid 3, which is a vehicle body component, loaded on the tray 11 is taken out by the take-out robot 13 and loaded on the alignment jig 10.

Then, the alignment jig 10 aligns the trunk lid 3 at the reference position, supports the edge portion of the trunk lid 3, clamps the edge portion, and aligns the trunk lid 3 at a predetermined position (step S11).

Then, in the exemplary embodiment of the present invention, in a state where the trunk lid 3 is aligned on the alignment jig 10, the clamping jig 20 is moved to the side of the alignment jig 10 by applying a control signal to the mounting robot 21.

Then, in the exemplary embodiment of the present invention, a control signal is applied to the pneumatic cylinder 32 of the clamping jig 20, the pressurizing floating unit is rotated toward both sides of the trunk lid 3, and both sides of the trunk lid 3 are elastically supported by the pressurizing floating unit 30 (step S12).

As shown in fig. 7a, in a state where the floating bar 37 is located at the center side of the pipe bolt 35, the floating frame 31 at the pressurizing floating unit 30 is rotated toward both sides of the trunk lid 3 by the operation of the pneumatic cylinder 32, and the touching member 39 supports and pressurizes both sides of the trunk lid 3.

Here, the floating bar 37 moves in one direction along the floating shaft 33 together with the touching member 39 and the pipe bolt 35 according to the pressing of both sides of the trunk lid 3 by the touching member 39, and the floating bar 37 moves in one direction against the elastic force of the spring member 41. Therefore, the touch member 39 of the pressurizing unit 30 pressurizes and supports both sides of the trunk lid 3 by an elastic restoring force.

Meanwhile, in the exemplary embodiment of the present invention, a control signal is applied to the clamper 25 of the clamping jig 20 to clamp the trunk lid 3 by the clamper 25 (step S13).

In the process of the exemplary embodiment of the present invention, according to the trunk lid 3 of different vehicle types, a control signal is applied to the electric cylinder 27 to move the clamper 25 in a plurality of axial directions, and the trunk lid 3 can be clamped by the clamper 25.

In this state, in the exemplary embodiment of the present invention, a control signal is applied to the mounting robot 21 to move the clamp jig 20 to the vehicle body 1 and position the trunk lid 3 on the vehicle body 1 (step S14).

Then, in the exemplary embodiment of the present invention, the positions of the vehicle body 1 and the trunk lid 3 are measured by the measuring unit 70 (step S15). In this process, the position of the vehicle body 1 is measured by the first sensor 71, and the gap between the vehicle body 1 and the trunk lid 3 is measured by the second sensor 72.

In the exemplary embodiment of the present invention, when the measurement value of the measurement unit 70 is applied to the controller 80, the moving position of the trunk lid 3 is adjusted by the movement of the mounting robot 21 according to the result of the position of the trunk lid 3 measured by the measurement unit 70.

In this process, the measurement value of the measurement signal transmitted from the measurement unit 70 and the reference position value of the trunk lid 3 with respect to the reference position of the vehicle body 1 are compared with each other, and it is determined whether the measurement value is out of the reference position value (step S16).

Here, if it is determined that the measured value is out of the reference position value, the position allocation amount of the trunk lid 3 is calculated in comparison with the reference position of the vehicle body 1, the movement of the mounting robot 21 is adjusted according to the resultant value of the position allocation amount, and the position of the trunk lid 3 is adjusted (step S17).

After these steps, in the exemplary embodiment of the present invention, a control signal is applied to the joining robot 91 so as to move the tool 90 to the side of the trunk lid 3 by the joining robot 91, and the trunk lid 3 is assembled to the vehicle body 1 by the tool 90 (step S18).

Then, in the exemplary embodiment of the present invention, the gripping of the gripper 25 and the pressing/supporting of the pressing slider are released, and the gripping jig 20 is moved to the home position again by the mounting robot 21.

Meanwhile, after these steps, in the exemplary embodiment of the present invention, the final installation position of the trunk lid 3 is measured by the measuring unit 70 (step S19).

Then, in the exemplary embodiment of the present invention, the measured value of the measurement signal transmitted from the measurement unit 70 and the reference position value of the trunk lid 3 are compared with each other, and it is determined whether the measured value is out of the reference position value (step S20).

Here, if it is determined that the measured value is out of the reference position value, the position allocation amount of the trunk lid 3 is calculated based on the measured value, and the pipe bolt 35 of the pressurizing floating unit 30 is rotated toward one side or the other side as shown in fig. 7 b.

Then, the floating bar 37 of the floating unit 30 is moved and eccentrically positioned on the center side of the pipe bolt 35 toward one side (upper side in the drawing) or the other side (lower side in the drawing) (step S21).

Therefore, in the exemplary embodiment of the present invention, the floating bar 37 of the pressurized floating unit 30 is eccentrically adjusted according to the installation position of the trunk lid 3, and therefore, after the assembly is completed, the pressurized floating unit 30 can eccentrically support the trunk lid 3 as much as the distribution amount of the final position of the trunk lid 3 in the S12 step.

Meanwhile, in the exemplary embodiment of the present invention, the pressurizing force on both sides of the trunk lid 3 of the pressurizing floating unit 30 may be adjusted as shown in fig. 7 c. In this case, the elastic adjusting members 43 of the pressurized floating unit 30 are rotated on both sides of the pipe bolt 35 in a state of supporting the spring members 41, and adjust the elastic force of the spring members 41.

According to the vehicle body component mounting system 100 and the control method thereof of the exemplary embodiment of the present invention, the position of the trunk lid 3 mounted on the vehicle body 1 is precisely adjusted and the trunk lid 3 is automatically assembled on the vehicle body 1, thereby preventing the generation of mounting failure and assembly distribution to improve the product quality of the finished vehicle.

Further, in the exemplary embodiment of the present invention, it is determined whether a mounting failure of the trunk lid 3 is generated and the assembling position of the trunk lid 3 is adjusted again, so the number of lines of the process is reduced and the operating rate and the assembling productivity can be improved.

While the invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not to be limited to the disclosed embodiments, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Description of the symbols

1 vehicle body

3 luggage case cover

10 alignment jig

11 tray

13 take out robot

20 clamping fixture

21 installation robot

23 jig frame

25 holder

27 electric cylinder

30 pressurized floating unit

31 floating frame

32 pneumatic cylinder

33 floating shaft

35 tubular bolt

36 screw thread

37 floating strip

38 first driving source

39 touch member

41 spring component

43 elastic adjusting member

45 joint hole

47 first part

49 second part

51 bolt

53 nut

55 threaded portion

57 spring leaf part

59 second driving source

70 measuring cell

71 first sensor

72 second sensor

73 mounting frame

80 controller

90 tool

91 joint robot

Claims (20)

1. A vehicle body component mounting system for automatically mounting a vehicle body component on a vehicle body transferred along a transfer line, comprising:

an alignment jig which is provided at one side of the transfer line and aligns a position of the vehicle body component taken out from the tray;

a gripping jig that is provided on a front end of an arm portion of a mounting robot and moves the vehicle body component to the vehicle body by moving the mounting robot in a state of gripping the vehicle body component aligned by the alignment jig;

a pressurizing floating unit rotatably provided on both sides of the clamping jig to elastically support both sides of the vehicle body part, and eccentrically adjustable with respect to both sides of the vehicle body; and

a tool that is provided on a leading end of an arm portion of an engagement robot and that is moved by moving the engagement robot to assemble the vehicle body component on the vehicle body,

wherein the pressurized floating unit includes:

a floating frame rotatably provided at a jig frame of the clamping jig in both side directions by pneumatic cylinders;

at least one floating shaft disposed at the floating frame;

a tubular bolt in which the floating shaft is located and which is provided movably in an axial direction;

a floating bar threadedly coupled on an outer perimeter of the tubular bolt;

a touch member connected with the floating bar, slidably disposed, and supporting both sides of the vehicle body part; and

a spring member mounted on the floating shaft between both ends of the pipe bolt and both sides of the floating frame.

2. The vehicle body component mounting system according to claim 1,

the clamping jig includes:

a jig frame mounted on the front end of the arm portion of the mounting robot; and

a plurality of grippers that are movably provided on the jig frame in a plurality of directions and grip the vehicle body member.

3. The vehicle body component mounting system according to claim 1,

the floating frame is configured as a square frame,

the two ends of the floating shaft are fixed on the two sides of the floating frame,

the tube bolt penetrates and is coupled to the floating bar, and is provided with a thread on an outer circumference thereof, and

an engagement hole threadedly coupled to the thread of the pipe bolt is provided at the floating bar.

4. The vehicle body component mounting system according to claim 1,

the touch member includes:

a first portion supporting the floating frame, coupled to the floating bar, and having a fork shape; and

a second portion integrally connected with the first portion and pressurizing both sides of the vehicle body.

5. The vehicle body component mounting system according to claim 1,

the pressurized floating unit further includes an elastic adjustment member that is screw-coupled to both ends of the pipe bolt, supports the spring member, and adjusts an elastic force of the spring member.

6. The vehicle body component mounting system of claim 5,

the elastic adjustment member includes:

a nut threadedly coupled to both ends of the tubular bolt.

7. The vehicle body component mounting system of claim 6,

the nut includes:

a threaded part threadedly coupled with both ends of the pipe bolt; and

a spring plate portion formed to be bent at the threaded portion and supporting the spring member.

8. The vehicle body component mounting system according to claim 1,

the tubular bolt is rotatably arranged in both directions relative to the floating shaft.

9. The vehicle body component mounting system according to claim 1,

the tube bolt is rotatably disposed in both directions with respect to the floating shaft by a first drive source.

10. The vehicle body component mounting system of claim 5,

the elastic adjustment member is rotatably provided in both directions by a second drive source.

11. The vehicle body component mounting system of claim 1, further comprising:

a measuring unit that is provided at an upper side of the transfer line and at the clamping jig, respectively, and that measures a position of the vehicle body and a position of the vehicle body component; and

a controller that receives a result of the position of the vehicle body part measured by the measurement unit to adjust a moving position of the vehicle body part by a motion of the mounting robot.

12. The vehicle body component mounting system of claim 11,

the measurement unit includes:

a first sensor that is provided on an upper side of the transfer line away from the vehicle body and that measures a position of the vehicle body; and

second sensors that are respectively provided on both sides of the clamping jig and that measure a gap between the vehicle body and the vehicle body member.

13. The vehicle body component mounting system of claim 12,

the first sensor and the second sensor comprise visual sensors.

14. The vehicle body component mounting system of claim 11,

the controller calculates a position allocation amount of the vehicle body part in comparison with a reference position of the vehicle body according to the measurement signal transmitted from the measurement unit, adjusts the movement of the mounting robot according to a result value of the position allocation amount, and adjusts the position of the vehicle body part.

15. The vehicle body component mounting system according to claim 1,

the vehicle body component mounting system mounts a moving vehicle body component including a door, a hood, a trunk lid, and a tailgate on the vehicle body.

16. A control method of a vehicle body component mounting system for automatically mounting a vehicle body component on a vehicle body transferred along a transfer line, the control method of the vehicle body component mounting system comprising:

step a: moving a clamping jig to a side surface of an alignment jig by applying a control signal to a mounting robot in a state where the vehicle body part taken out from the pallet is aligned on the alignment jig;

step b: clamping the vehicle body part by a clamper by applying a control signal to a pneumatic cylinder of the clamping jig, rotating a pressurized floating unit toward both sides of the vehicle body part, elastically supporting both sides of the vehicle body part by the pressurized floating unit, and applying a control signal to the clamper of the clamping jig;

step c: applying a control signal to the mounting robot to move the clamping jig to the vehicle body and measure a position of the vehicle body and a position of the vehicle body part by a measuring unit;

step d: adjusting a moving position of the vehicle body part by a motion of the mounting robot according to a result of the position of the vehicle body part measured by the measuring unit; and

step e: applying a control signal to a joining robot to move a tool to a side of the vehicle body part by the joining robot and to assemble the vehicle body part to the vehicle body by the tool,

wherein the pressurized floating unit includes:

a floating frame rotatably provided at a jig frame of the clamping jig in both side directions by pneumatic cylinders;

at least one floating shaft disposed at the floating frame;

a tubular bolt in which the floating shaft is located and which is provided movably in an axial direction;

a floating bar threadedly coupled on an outer perimeter of the tubular bolt;

a touch member connected with the floating bar, slidably disposed, and supporting both sides of the vehicle body part; and

a spring member mounted on the floating shaft between both ends of the pipe bolt and both sides of the floating frame.

17. The control method of a vehicle body component mounting system according to claim 16, wherein:

after said step e, the step (c) is carried out,

the installation position of the body part is measured by the measuring unit, and the pressurized floating unit is eccentrically adjusted according to the measured value.

18. The control method of a vehicle body component mounting system according to claim 16, wherein:

in the step b, the step (c) is carried out,

the control signal is applied to an electric cylinder of the clamp jig to move the clamp in a plurality of axial directions according to the kind of vehicle.

19. The control method of a vehicle body component mounting system according to claim 16, wherein:

in the step c, the step of processing the first image,

the position of the vehicle body is measured by a first sensor of the measuring unit, and the gap between the vehicle body and the vehicle body component is measured by a second sensor of the measuring unit.

20. The control method of a vehicle body component mounting system according to claim 16, wherein:

in the step d, the step of processing the image,

calculating a position allocation amount of the vehicle body component in comparison with a reference position of the vehicle body according to the measurement signal transmitted from the measurement unit, adjusting the movement of the mounting robot according to a result value of the position allocation amount, and adjusting the position of the vehicle body component.

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