JPH0625090U - Indoor work automatic machine with standard correction function - Google Patents
Indoor work automatic machine with standard correction functionInfo
- Publication number
- JPH0625090U JPH0625090U JP068479U JP6847992U JPH0625090U JP H0625090 U JPH0625090 U JP H0625090U JP 068479 U JP068479 U JP 068479U JP 6847992 U JP6847992 U JP 6847992U JP H0625090 U JPH0625090 U JP H0625090U
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- JP
- Japan
- Prior art keywords
- vehicle body
- automatic machine
- work
- indoor
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Automatic Assembly (AREA)
Abstract
(57)【要約】
【目的】 車両ボディ内に作業自動機を装備した伸縮可
能な作動軸を挿入して、同作動軸に付設した位置補正ア
ームを介して作動軸を車両ボディの室内面を基準に位置
設定する。
【構成】 組立てラインに平行に走行する左右の走行支
柱とこの走行支柱に横架されて昇降可能に設けた昇降部
材により構成され車両ボディを載置した移動架台を通過
可能にした自走装置と昇降部材に左右に移動調整可能に
設けられ、移動架台の移動方向に伸縮可能に先端側に作
業自動機を装備した室内作業装置とを設けるとともに、
作動軸には前方、下方および左右方向の４方向に定寸法
伸縮可能に伸長してボディパネルの所定位置に当接する
位置決めアームを設けて、作業自動機を車両ボディ室内
面を基準として位置設定する。
(57) [Abstract] [Purpose] Insert an extendable working shaft equipped with a work automatic machine into the vehicle body, and move the working shaft to the interior surface of the vehicle body through a position correction arm attached to the working shaft. Position to the reference. [Structure] A self-propelled device that is configured to include left and right traveling columns that run in parallel to an assembly line and an elevating member that is provided on the traveling columns so as to be able to ascend and descend, and that is capable of passing through a mobile platform on which a vehicle body is mounted. An indoor working device equipped with an automatic work machine on the tip side is provided on the elevating member so that it can be adjusted to move left and right, and can be expanded and contracted in the moving direction of the moving gantry.
The operating shaft is provided with a positioning arm that extends in the four directions of forward, downward, and left-right directions so as to be able to expand and contract by a fixed dimension and comes into contact with a predetermined position of the body panel, and positions the automatic work machine with respect to the vehicle body interior surface. .
Description
【０００１】[0001]
この考案は、自動車の組立てラインに配設される作業自動機に係り、詳しくは 車両ボディの位置決めによる軸補正機能付き室内作業自動機に関する。 The present invention relates to an automatic work machine installed in an automobile assembly line, and more particularly to an indoor work automatic machine having an axis correction function by positioning a vehicle body.
【０００２】[0002]
従来、この種の自動車の組立てラインＡにおいて、車両ボディ１の室内作業を 自動化するため、シーリング、溶接、塗装等の作業自動機２は図４に示すように 組立てラインＡの側方に配設して、車両ボディの開口部（ドア等）より作業自動 機２のアーム３を挿入して作業を行っていた。 Conventionally, in this type of automobile assembly line A, in order to automate the indoor work of the vehicle body 1, an automatic work machine 2 for sealing, welding, painting, etc. is arranged on the side of the assembly line A as shown in FIG. Then, the arm 3 of the work automatic machine 2 was inserted from the opening (door or the like) of the vehicle body to perform the work.
【０００３】[0003]
しかしながら、この組立てラインＡの側方に作業自動機２を配設した場合、例 えばシーリング、溶接等において、作業自動機２先端の位置精度が要求される作 業では作業自動機２と車両ボディ１の相対位置を正確に設定しなければないが、 車両ボディを載置した移動架台が複雑であり、移動距離も長いため、その対応が 極めて困難である。一方、車両ボディ１の取付け基準を計測し位置決めデータを 補正する例えば画像処理装置を設ける方法もあるが、かかる方法は大幅なコスト アップとなり、また、車両ボディを停止しなければならない場合がある等の問題 点があった。 However, when the work automatic machine 2 is arranged on the side of the assembly line A, the work automatic machine 2 and the vehicle body are required in an operation in which the position accuracy of the tip of the work automatic machine 2 is required, for example, in sealing and welding. Although the relative position of No. 1 must be set accurately, it is extremely difficult to deal with it because the moving platform on which the vehicle body is placed is complicated and the moving distance is long. On the other hand, there is also a method of measuring the mounting reference of the vehicle body 1 and correcting the positioning data, for example, by providing an image processing device, but such a method causes a significant cost increase, and sometimes the vehicle body has to be stopped. There was a problem.
【０００４】 本考案は、上記従来の問題点を解消すべくなされたもので、車両ボディ内に作 業自動機を装備した伸縮可能な作動軸を挿入して、同作動軸に付設した位置補正 アームを介して作動軸を車両ボディの室内面を基準に位置設定することのできる 基準補正機能付き室内作業自動機を提供することを目的とするものである。The present invention has been made in order to solve the above-mentioned conventional problems, in which a retractable actuating shaft equipped with an automatic work machine is inserted into a vehicle body, and a position correction attached to the actuating shaft is performed. It is an object of the present invention to provide an indoor work automatic machine with a reference correction function, which can set the position of an actuating shaft via an arm with respect to the inner surface of a vehicle body as a reference.
【０００５】[0005]
本考案は、上記技術課題を解決するため、組立てラインに平行に走行する左右 の走行支柱とこの走行支柱に横架されて昇降可能に設けた昇降部材により構成さ れ車両ボディを載置した移動架台を通過可能にした自走装置と前記昇降部材に左 右に移動調整可能に設けられ、前記移動架台の移動方向に伸縮可能に先端側に作 業自動機を装備した室内作業装置とを設けるとともに、前記作動軸には前方、下 方および左右方向の４方向に定寸法伸縮可能に伸長してボディパネルの所定位置 に当接する位置決めアームを設けて、前記作業自動機を車両ボディ室内面を基準 として位置設定できる構成とした基準補正機能付き室内作業自動機に存する。 In order to solve the above technical problems, the present invention is composed of left and right traveling columns that run in parallel to an assembly line and an elevating member that is installed on the traveling columns so as to be able to move up and down. A self-propelled device that can pass through the gantry and an indoor work device that is provided on the elevating member so that it can be moved left and right and can be expanded and contracted in the moving direction of the gantry and equipped with an automatic work machine on the tip side. At the same time, the operating shaft is provided with a positioning arm that extends in the four directions of forward, downward, and left-right directions so as to be able to expand and contract by a fixed dimension and comes into contact with a predetermined position of the body panel. It exists in an automatic indoor work machine with a reference correction function that can be set as a reference position.
【０００６】[0006]
上記構成としたことにより、車両ボディの室内での作業自動機の位置精度が正 確に設定され、作業自動機の作業アームの先端と対象とする室内作業位置との距 離精度が正確に把握設定することができる。 With the above configuration, the position accuracy of the work automatic machine inside the vehicle body is set accurately, and the distance accuracy between the tip of the work arm of the work automatic machine and the target indoor work position is accurately known. Can be set.
【０００７】[0007]
次に、本考案の一実施例を図面にしたがって説明すると、図１は車両の組立て ラインＡの１ステーションに配設された自動機装置２０の正面図であり、図２は 同自動機装置２０の平面図を示すもので、このステーション位置においては図示 のようにライン軌道１１上を移動架台１２に載置されて来た車両ボディ１３の室 内側のシーリング、溶接等の作業を自動機装置２０に装備された作業自動機３１ により行うもので、この車両ボディ１３は移動架台１２上に取付け治具１４によ り、例えば組立てラインＡの中心線Ｃに対して左右のサイドボディパネル１５， フロアパネル１６、フロントウインドパネル１７、ルーフパネル１８が所定の組 付け基準で組付け保持されるとともに、リヤ側にはバックドア１９がヒンジを介 して、跳ね上げ状態にして移動されてくる。このようにして移動されてくる車両 ボディ１３の室内側作業は以下の自動機装置２０により施工される。 Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a front view of an automatic machine device 20 arranged at one station of a vehicle assembly line A, and FIG. FIG. 2 is a plan view of the vehicle. At this station position, as shown in the figure, the automatic machine equipment 20 performs the work such as the sealing and welding on the inner side of the room of the vehicle body 13 that has been placed on the moving base 12 on the line track 11. The vehicle body 13 is mounted on the moving base 12 by means of a mounting jig 14, for example, the side body panels 15 on the left and right with respect to the center line C of the assembly line A, the floor. The panel 16, the front window panel 17, and the roof panel 18 are assembled and held according to a predetermined assembly standard, and the back door 19 is flipped up on the rear side via a hinge. Come is moved in the state. The interior work of the vehicle body 13 thus moved is carried out by the following automatic machine device 20.
【０００８】 この自動機装置２０は組立てラインＡの左右に同ラインＡの中心線Ｃに平行に 所定のステーション長さで走行路２１が配設され、この左右の走行路２１上には 対応して適宜手段により同調して自走可能な走行支柱２３が立設され、この走行 支柱２３間に横架されて、適宜手段により同走行支柱２３に沿って上下のＨ方向 へ昇降動する昇降部材２４とにより略門型形状の自走装置２２が往復動可能に設 けられている。このように設けられた自走装置２２の昇降部材２４には作動軸２ ７を主体とし、同作動軸２７に作業自動機３１を装備した室内作業装置２５が装 着されている。This automatic machine device 20 is provided with running paths 21 on the left and right of the assembly line A in parallel with the center line C of the same line A and having a predetermined station length. An elevating member is provided in which a traveling prop 23 capable of self-propelling is erected in synchronism with an appropriate means, is laid horizontally between the traveling props 23, and is vertically moved along the traveling prop 23 in the up and down H direction by an appropriate means. A generally gate-shaped self-propelled device 22 is reciprocally provided by means of 24. The elevating member 24 of the thus-provided self-propelled device 22 is equipped with the indoor working device 25, which has the working shaft 27 as a main body and the working shaft 27 equipped with the working automatic machine 31.
【０００９】 この室内作業装置２５は昇降部材２４に取り付けられるベース本体２６と、こ のベース本体２６に取付けられて組立てラインＡの流れ方向に伸縮可能に設けら れる作動軸２７とこの作動軸２７に取付けられる作業自動機３１とより構成され ている。The indoor work device 25 includes a base main body 26 attached to the elevating member 24, an operating shaft 27 attached to the base main body 26 and capable of expanding and contracting in the flow direction of the assembly line A, and the operating shaft 27. It is composed of an automatic work machine 31 attached to the.
【００１０】 このベース本体２６は自走装置２２の昇降部材２４に取付けられて適宜手段に より同昇降部材２４に沿って左右のＷ方向へ組立てラインＡの中心線Ｃに対して 若干移動調整可能に設けられ、このベース本体２６には車両ボディ１３の移動方 向に指向して伸縮可能に作動軸２７が水平状に取付けられている。The base body 26 is attached to the elevating member 24 of the self-propelled device 22 and can be slightly moved and adjusted in the left and right W directions along the elevating member 24 with respect to the center line C of the assembly line A by appropriate means. An operating shaft 27 is horizontally attached to the base body 26 so as to extend and contract in the moving direction of the vehicle body 13.
【００１１】 この作動軸２７はベース本体２６に対し伸縮可能に基軸部２８とこの基軸部２ ８に伸縮可能に取付けられる可動軸２９とが設けられ、さらに、この可動軸２９ には支持軸３０が取付けられ、この支持軸３０の所定の位置には作業自動機３１ が起立状に取付けられ、このように設けられた作動軸２７が短縮作動されると、 図１に一点鎖線で示すように基軸部２８および可動軸２９がベース本体２６側へ 納められ、支持軸３０が突出された状態で作業自動機３１を支持するとともに、 自動機装置２０は自走路２１の上流側の待機位置では昇降部材２４は走行支柱２ ３の上端側に上昇待機されて、車両ボディ１３を載置した移動架台１２を通過可 能に設けられている。このように設けられた作動軸２７には同作動軸２７を位置 補正する位置決めアームが付設されている。The actuating shaft 27 is provided with a base shaft portion 28 which is capable of expanding and contracting with respect to the base body 26, and a movable shaft 29 which is attached to the base shaft portion 28 so as to be expandable and contractible. Further, the movable shaft 29 has a support shaft 30. Is installed, and the work automatic machine 31 is installed upright at a predetermined position of the support shaft 30. When the operation shaft 27 provided in this way is shortened, as shown by a dashed line in FIG. The base shaft part 28 and the movable shaft 29 are housed in the base main body 26 side to support the automatic work machine 31 with the support shaft 30 protruding, and the automatic machine device 20 moves up and down at the standby position on the upstream side of the self-propelled road 21. The member 24 is provided on the upper end side of the traveling column 23 so as to stand up and pass through the movable mount 12 on which the vehicle body 13 is placed. The operating shaft 27 thus provided is provided with a positioning arm for correcting the position of the operating shaft 27.
【００１２】 この位置決めアームは移動架台１２上に取付治具１４を介して所定の組付け基 準で組付け保持された車両ボディ１３に対し作動軸２７をＬ方向、Ｈ方向および Ｗ方向に位置補正するもので、支持軸３０の先端には同心状にＬ方向へ所定の定 寸法ｈ1 伸縮してフロアパネル１６に突出状に形成されたパネルヘッド１６ａに 当接するＬ方向位置決めアーム３２が設けられ、また、支持軸３０の先端寄りの 軸心に直交する図示下面側にはＨ方向へ所定の定寸法ｈ2 伸縮してフロアパネル １６に当接するフロントＨ方向位置決めアーム３３と、同じく可動軸２９の基部 側の軸心に直交する下面にはＨ方向へ所定の定寸法ｈ3 伸縮してフロアパネル１ ６に当接するリヤＨ方向位置決めアーム３４が設けられている。This positioning arm positions the operating shaft 27 in the L direction, the H direction and the W direction with respect to the vehicle body 13 assembled and held on the movable base 12 via the attachment jig 14 according to a predetermined assembly standard. For correction, an L-direction positioning arm 32 is provided at the tip of the support shaft 30 to concentrically expand and contract in the L direction by a predetermined constant dimension h1 and come into contact with a panel head 16a projectingly formed on the floor panel 16. Further, on the lower surface side in the drawing orthogonal to the axial center near the tip of the support shaft 30, a front H-direction positioning arm 33 which expands and contracts in the H direction by a predetermined constant dimension h2 and abuts on the floor panel 16, and also the movable shaft 29. A rear H-direction positioning arm 34 that extends and contracts in the H direction by a predetermined constant dimension h3 and comes into contact with the floor panel 16 is provided on the lower surface orthogonal to the axis on the base side.
【００１３】 また、支持軸３０の先端側の左右には軸心に直交してＷ方向へ所定の定寸法ｈ 4 伸縮して左右のサイドパネル１５の所定位置に当接する多段式のＷ方向フロン ト左位置決めアーム３５と同じく多段式のＷ方向フロント右位置決めアーム３６ が設けられ、また、可動軸２９の所定の位置の左右には前記左右のＷ方向フロン ト位置決めアーム３５，３６と同様に軸心に直交してＷ方向へ所定の定寸法ｈ5 伸縮して左右のサイドパネル１５の所定位置に当接する多段式の左右のＷ方向リ ヤ位置決めアーム３７，３８がそれぞれ設けられている。なお、このＷ方向位置 決めアーム３５，３６，３７，３８は同調して伸縮作動するように設けられ、こ れら各位置決めアーム３２，３３，３４，３５，３６，３７，３８の先端側は車 両ボディ１３の各パネルの剛性を有する面に当接されるもので、同先端部分には 図３に示すように弾性体３９が取付けられてパネルの損傷防止、ずれ止め、ボデ ィ精度のバラツキへの対処がなされるとともに、同弾性体３９には図示はしない が感知部が埋設状に設けられて、自動機装置２０のコントロール側に通電されて いる。In addition, on the left and right sides of the tip end of the support shaft 30, a multi-stage W-direction CFC which is orthogonal to the axis and expands and contracts in a predetermined constant dimension h 4 in the W direction and abuts at predetermined positions of the left and right side panels 15. A multi-stage W-direction front right positioning arm 36 is provided in the same manner as the left-hand positioning arm 35, and a shaft similar to the left-right W-direction front positioning arms 35 and 36 is provided on the left and right of a predetermined position of the movable shaft 29. Multi-stage left and right W-direction rear positioning arms 37 and 38 are provided which extend and contract in a predetermined constant dimension h5 in the W direction orthogonal to the center and come into contact with predetermined positions of the left and right side panels 15, respectively. The W-direction positioning arms 35, 36, 37, 38 are provided so as to extend and contract in synchronism with each other, and the tip ends of the positioning arms 32, 33, 34, 35, 36, 37, 38 are located at the distal ends. It is abutted against the rigid surface of each panel of the vehicle body 13, and an elastic body 39 is attached to the tip end portion thereof as shown in FIG. 3 to prevent damage to the panel, prevent slippage, and prevent body accuracy. While the variation is dealt with, the elastic body 39 is provided with a sensing portion (not shown) embedded therein so that the control side of the automatic machine device 20 is energized.
【００１４】 次に、上記のように構成された自動機装置２０の動作に付いて説明すると、先 ず、自走装置２２は自走路２１の上流側端に移動され昇降部材２４は走行支柱２ ３の上端側に上昇されて、車両ボディ１３を載置した移動架台１２を通過可能に 待機される。この状態で図１に一点鎖線で示すように作動軸２７は短縮されてい る。Next, the operation of the automatic machine device 20 configured as described above will be described. First, the self-propelled device 22 is moved to the upstream end of the self-propelled road 21 and the elevating member 24 is moved to the traveling column 2. 3 is lifted to the upper end side and stands by so that it can pass through the movable base 12 on which the vehicle body 13 is placed. In this state, the operating shaft 27 is shortened as shown by the alternate long and short dash line in FIG.
【００１５】 この状態で車両ボディ１３を載置した移動架台１２が通過して室内作業装置２ ５がバックドア１９に干渉するか、否かが確認された後、自走装置２２は移送架 台１２と同調走行するとともに、昇降部材２４は予め設定された所定の距離Ｈ1 降下される。In this state, after it is confirmed whether or not the mobile pedestal 12 on which the vehicle body 13 is placed passes and the indoor work device 25 interferes with the back door 19, the self-propelled device 22 is set to the transfer pedestal. While traveling synchronously with 12, the elevating member 24 is lowered by a predetermined distance H1 set in advance.
【００１６】 この昇降部材２４の所定の距離Ｈ1 の降下完了信号により、室内作業装置２５ の作動軸２７が伸長作動されて作業自動機３１は車両ボディ１３の後方開口部よ り室内に搬入される。この状態で作動軸２７は組立てラインＡの中心線Ｃ、すな わち車両ボディ１３の中心とほぼ整合されている。By the completion signal of the lowering of the elevating member 24 for the predetermined distance H1, the working shaft 27 of the indoor working device 25 is extended and the working automatic machine 31 is carried into the room through the rear opening of the vehicle body 13. . In this state, the operating shaft 27 is substantially aligned with the center line C of the assembly line A, that is, the center of the vehicle body 13.
【００１７】 次に、この作動軸２７の伸長作動の完了信号により、同先端側に設けたＬ方向 位置決めアーム３２が定寸法ｈ1 伸長されて、同アーム３２の先端に設けた弾性 材３９がフロアパネル１６のパネルヘッド１６ａに当接されてＬ方向の位置決め がなされる。この弾性材３９の当接により同弾性材３９に埋設状に設けた感知部 が感応してコントロール側に通電される。Next, in response to the completion signal of the extension operation of the operating shaft 27, the L direction positioning arm 32 provided on the tip end side is extended by a fixed dimension h1, and the elastic material 39 provided on the tip end of the arm 32 is placed on the floor. The panel 16 is brought into contact with the panel head 16a and positioned in the L direction. By the contact of the elastic material 39, the sensing portion embedded in the elastic material 39 senses and the control side is energized.
【００１８】 このＬ方向位置決めアーム３２からの通電により前後のＨ方向位置決めアーム ３３，３４がそれぞれ定寸法ｈ2,ｈ3 伸長されて同アーム３３，３４の先端の弾 性材３９がフロアパネル１６に当接されてＨ方向の位置決めがなされる。このア ーム３３，３４の弾性材３９の当接により上記と同様に同弾性材３９に埋設状に 設けた感知部が感応してコントロール側に通電される。By the energization from the L-direction positioning arm 32, the front and rear H-direction positioning arms 33 and 34 are extended by fixed dimensions h2 and h3, respectively, and the elastic material 39 at the tips of the arms 33 and 34 hits the floor panel 16. They are brought into contact with each other and positioned in the H direction. By contacting the elastic members 39 of the arms 33 and 34, the sensing unit embedded in the elastic members 39 is sensitive to the current, and the control side is energized.
【００１９】 このＨ方向位置決めアーム３３，３４からの通電によりフロント側のＷ方向左 右位置決めアーム３５，３６およびリヤ側のＷ方向左右位置決めアーム３７，３ ８が同調して定寸法ｈ4,ｈ5 伸長され、Ｗ方向の位置決めがなされる。これによ り各アーム３５，３６，３７，３８の先端の弾性材３９が左右のサイドボディパ ネル１５に当接されると、同弾性部材３９の感応通電により位置決め完了が確認 され、これにより作動軸２７に取付けられた作業自動機３１の車両ボディ１３内 での位置が設定され、作動自動機３１による室内作業がコントロール側のプログ ラムにしたがって順次なされる。By energizing from the H-direction positioning arms 33 and 34, the front-side W-direction left-right positioning arms 35 and 36 and the rear-side W-direction left-right positioning arms 37 and 38 are synchronized to extend the fixed dimensions h4 and h5. Then, the positioning in the W direction is performed. As a result, when the elastic members 39 at the tips of the arms 35, 36, 37, 38 are brought into contact with the left and right side body panels 15, the completion of positioning is confirmed by the sensitive energization of the elastic members 39, which causes the operation. The position of the work automatic machine 31 attached to the shaft 27 in the vehicle body 13 is set, and indoor work by the operation automatic machine 31 is sequentially performed according to the program on the control side.
【００２０】 なお、この作動軸２７の位置決め設定の間、移動架台１２は移動されており、 これに同調して自走装置２２も移動されている。また、左右Ｗ方向の位置決めに 際し、作動軸２７の軸心がライン中心線Ｃより左右いずれかに位置ずれを生じて いると、ずれ側例えば左にずれていると前後のＷ方向左位置決めアーム３５，３ ７の先端が先に当接し、これにより同アーム３５，３７の感知部からの通電によ り、位置ずれが検知されて、ベース本体２６のＷ方向への移動調整がなされて補 正される。It should be noted that while the positioning of the operating shaft 27 is set, the movable base 12 is moved, and the self-propelled device 22 is also moved in synchronization with this. In addition, when the axial center of the operating shaft 27 is displaced to the left or right from the line center line C when positioning in the left-right W direction, if it is displaced to the displacement side, for example, left, the front-rear W-direction left positioning The tips of the arms 35 and 37 come into contact with each other first, and the displacement of the base body 26 is detected by the energization from the sensing portion of the arms 35 and 37, and the movement of the base body 26 in the W direction is adjusted. To be corrected.
【００２１】 そして、室内作業が完了すると、上記各アームは伸長順序とは逆に、前後のＷ 方向左右位置決めアーム３５，３６，３７，３８が短縮作動され、次に前後のＨ 方向位置決めアーム３３，３４が短縮作動され、さらに、Ｌ方向位置決めアーム ３２が短縮される。なお、この各位置決めアームが短縮作動される間は自走装置 ２２は移動架台１２に同調して移動され、各位置決めアームが短縮作動を完了す ると、その場で停止され、しかる後、元の待機位置に移動するとともに、昇降部 材２４は距離Ｈ1 上昇されて、次位移動架台１２の通過まで待機される。そして 次位移動架台１２が通過すると上記作動を行って順次室内作業を行う。When the indoor work is completed, the front and rear W-direction left and right positioning arms 35, 36, 37, 38 are shortened in the reverse order of the respective arms, and then the front and rear H-direction positioning arms 33 are moved. , 34 are shortened, and further, the L-direction positioning arm 32 is shortened. While each positioning arm is shortened, the self-propelled device 22 is moved in synchronism with the movable base 12, and when each positioning arm completes the shortening operation, it is stopped on the spot, and then While moving to the standby position, the elevating member 24 is raised by the distance H1 and waits until the next-order moving base 12 passes. Then, when the second-order movable pedestal 12 passes, the above-mentioned operation is performed and the indoor work is sequentially performed.
【００２２】 本実施例は、上記のように構成したものであるから、作業自動機３１は室内作 業装置２５の伸縮可能に作動軸２７を介して車両ボディ１３の室内に挿入される とともに、この作業自動機３１を取付けた作動軸２７は室内において前部、下部 および左右方向での４方位置で位置決めする位置決めアームにより、取付け基準 により取付けられたボディパネルを対象としてダイレクトに位置決め設定される ので、車両ボディ１３の室内での作業自動機３１の位置精度が正確に設定され、 作業自動機３１の作業アーム３１ａの先端と対象とする室内作業位置との距離精 度が正確に把握設定することができて、正確に作業をコントロールできる。また 、室内作業装置２５を取付けた門型形状の自走装置２２は車両ボディ１３を載置 した移動架台１２と同調して移動可能に設けたものであるから、移動架台１２に 停止等の制約を解消することができ、作業自動機３１の稼働率を大幅に向上する ことが可能となる。Since the present embodiment is configured as described above, the work automatic machine 31 is inserted into the interior of the vehicle body 13 through the actuating shaft 27 of the interior working device 25 so as to be expandable and contractible. The operating shaft 27 having the work automatic machine 31 mounted thereon is directly positioned and set on the body panel mounted according to the mounting reference by a positioning arm which positions the front, lower and left and right positions in four directions in the room. Therefore, the position accuracy of the work automatic machine 31 in the room of the vehicle body 13 is accurately set, and the distance accuracy between the tip of the work arm 31a of the work automatic machine 31 and the target indoor work position is accurately grasped and set. You can control the work accurately. In addition, since the gate-shaped self-propelled device 22 to which the indoor work device 25 is attached is provided so as to be movable in synchronization with the movable pedestal 12 on which the vehicle body 13 is mounted, the movable pedestal 12 has a restriction such as stopping. Can be eliminated, and the operating rate of the automatic work machine 31 can be significantly improved.
【００２３】[0023]
本考案は、上記のように構成したことにより、作業自動機は室内作業装置の伸 縮可能に作動軸を介して車両ボディの室内に挿入されるとともに、この作業自動 機を取付けた作動軸は室内において前部、下部および左右方向での４方位置で位 置決めする位置決めアームにより、ボディパネル内面を基準としてダイレクトに 位置決め設定されるので、車両ボディの室内での作業自動機の位置精度が正確に 設定され、作業自動機の作業アームの先端と対象とする室内作業位置との距離精 度が正確に把握設定することができて、正確に作業をコントロールできる。また 、室内作業装置を取付けた門型形状の自走装置は車両ボディを載置した移動架台 と同調して移動可能に設けたものであるから、移動架台に停止等の制約を解消す ることができ、作業自動機の稼働率を大幅に向上することが可能となる。 According to the present invention, the work automatic machine is inserted into the interior of the vehicle body through the actuating shaft of the indoor working apparatus so that the work automatic machine can be expanded and contracted. Positioning arms that position in the front, bottom and left and right directions in the interior of the vehicle directly set the position relative to the inner surface of the body panel. It is set accurately, and the distance accuracy between the tip of the work arm of the automatic work machine and the target indoor work position can be accurately grasped and set, and work can be controlled accurately. In addition, since the gate-shaped self-propelled device with the indoor work device attached is provided so as to be movable in synchronism with the mobile pedestal on which the vehicle body is mounted, it is necessary to eliminate restrictions such as stopping on the mobile pedestal. It is possible to significantly improve the operation rate of the automatic work machine.
【図１】組立てラインの１ステーションに配設した自動
機装置の正面図である。FIG. 1 is a front view of an automatic machine device arranged at one station of an assembly line.
【図２】同じく自動機装置の平面図である。FIG. 2 is a plan view of the same automatic machine device.
【図３】位置決めアームと車両ボディとの関係を示す図
である。FIG. 3 is a diagram showing a relationship between a positioning arm and a vehicle body.
【図４】従来の作業自動機の配設の説明図である。FIG. 4 is an explanatory view of the arrangement of a conventional automatic work machine.
１２ 移動架台 １３ 車両ボディ ２０ 自動機装置 ２２ 自走装置 ２３ 走行支柱 ２４ 昇降部材 ２５ 室内作業装置 ２７ 作動軸 ３１ 作業自動機 ３２，３３，３４，３５，３６，３７，３８ 位置決め
アーム Ａ 組立てライン12 Mobile frame 13 Vehicle body 20 Automatic machine device 22 Self-propelled device 23 Traveling column 24 Elevating member 25 Indoor working device 27 Working axis 31 Automatic work machine 32, 33, 34, 35, 36, 37, 38 Positioning arm A Assembly line
Claims (1)
行支柱とこの走行支柱に横架されて昇降可能に設けた昇
降部材により構成され車両ボディを載置した移動架台を
通過可能にした自走装置と前記昇降部材に左右に移動調
整可能に設けられ、前記移動架台の移動方向に伸縮可能
に先端側に作業自動機を装備した室内作業装置とを設け
るとともに、前記作動軸には前方、下方および左右方向
の４方向に定寸法伸縮可能に伸長してボディパネルの所
定位置に当接する位置決めアームを設けて、前記作業自
動機を車両ボディ室内面を基準として位置設定できる構
成とした基準補正機能付き室内作業自動機。1. A self-propelled vehicle that is configured to include left and right traveling columns that run in parallel to an assembly line and an elevating member that is provided on the traveling columns so as to be able to ascend and descend so as to be able to pass through a movable platform on which a vehicle body is mounted. A device and an indoor working device, which is provided on the elevating member so as to be able to move left and right and is extendable and retractable in the moving direction of the moving platform, and an indoor working device equipped with a working automatic machine on the tip side, are provided on the working shaft in the forward and downward directions. And a reference correction function in which the work automatic machine is positionally set with respect to the inner surface of the vehicle body as a reference by providing a positioning arm that expands in fixed directions in four directions in the left and right directions and comes into contact with a predetermined position of the body panel. Indoor work automatic machine with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP068479U JPH0625090U (en) | 1992-09-04 | 1992-09-04 | Indoor work automatic machine with standard correction function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP068479U JPH0625090U (en) | 1992-09-04 | 1992-09-04 | Indoor work automatic machine with standard correction function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0625090U true JPH0625090U (en) | 1994-04-05 |
Family
ID=13374869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP068479U Pending JPH0625090U (en) | 1992-09-04 | 1992-09-04 | Indoor work automatic machine with standard correction function |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0625090U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010173345A (en) * | 2009-01-27 | 2010-08-12 | Hino Motors Ltd | Vehicle body assembling method and device |
| CN113494897A (en) * | 2021-06-25 | 2021-10-12 | 郑州日产汽车有限公司 | Detection device for automatically adjusting frame precision and frame detection reference determination method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5789581A (en) * | 1980-11-21 | 1982-06-03 | Tokico Ltd | Industrial robot |
| JPS60135382A (en) * | 1983-12-23 | 1985-07-18 | Nissan Motor Co Ltd | Working machine for car body in automobile's assembly line |
-
1992
- 1992-09-04 JP JP068479U patent/JPH0625090U/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5789581A (en) * | 1980-11-21 | 1982-06-03 | Tokico Ltd | Industrial robot |
| JPS60135382A (en) * | 1983-12-23 | 1985-07-18 | Nissan Motor Co Ltd | Working machine for car body in automobile's assembly line |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010173345A (en) * | 2009-01-27 | 2010-08-12 | Hino Motors Ltd | Vehicle body assembling method and device |
| CN113494897A (en) * | 2021-06-25 | 2021-10-12 | 郑州日产汽车有限公司 | Detection device for automatically adjusting frame precision and frame detection reference determination method |
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