WO2015156354A1 - 車体組立システム及び車体組立方法 - Google Patents
車体組立システム及び車体組立方法 Download PDFInfo
- Publication number
- WO2015156354A1 WO2015156354A1 PCT/JP2015/061102 JP2015061102W WO2015156354A1 WO 2015156354 A1 WO2015156354 A1 WO 2015156354A1 JP 2015061102 W JP2015061102 W JP 2015061102W WO 2015156354 A1 WO2015156354 A1 WO 2015156354A1
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- WO
- WIPO (PCT)
- Prior art keywords
- component
- vehicle body
- jig
- welding
- body assembly
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/024—Positioning of sub-units or components with respect to body shell or other sub-units or components
- B62D65/026—Positioning of sub-units or components with respect to body shell or other sub-units or components by using a jig or the like; Positioning of the jig
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/10—Spot welding; Stitch welding
- B23K11/11—Spot welding
- B23K11/115—Spot welding by means of two electrodes placed opposite one another on both sides of the welded parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/31—Electrode holders and actuating devices therefor
- B23K11/314—Spot welding guns, e.g. mounted on robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/022—Transferring or handling sub-units or components, e.g. in work stations or between workstations and transportation systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/18—Sheet panels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D25/00—Superstructure or monocoque structure sub-units; Parts or details thereof not otherwise provided for
- B62D25/20—Floors or bottom sub-units
- B62D25/2009—Floors or bottom sub-units in connection with other superstructure subunits
- B62D25/2018—Floors or bottom sub-units in connection with other superstructure subunits the subunits being front structures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D25/00—Superstructure or monocoque structure sub-units; Parts or details thereof not otherwise provided for
- B62D25/20—Floors or bottom sub-units
- B62D25/2009—Floors or bottom sub-units in connection with other superstructure subunits
- B62D25/2027—Floors or bottom sub-units in connection with other superstructure subunits the subunits being rear structures
Definitions
- the present invention relates to a vehicle body assembly system and a vehicle body assembly method.
- Patent Documents 1 and 2 have been disclosed as techniques for assembling a vehicle body by welding components of the vehicle body.
- vehicle body assembly technologies include, for example, a main floor process for assembling a main floor.
- the main floor is composed of a front component, a front floor component, and a rear floor component.
- a front component process, a front floor component process, and a rear floor component process are performed upstream of the main floor process. It was necessary to provide and weld each component in advance. Therefore, in each of these upstream processes, a welding jig and a welding robot for welding the parts forming each component are required. That is, a set of dedicated welding equipment is required for each upstream process, and improvement is required from the viewpoint of equipment space and equipment cost.
- the present invention has been made in view of the above, and an object of the present invention is to provide a vehicle body assembling method and a vehicle body assembling system capable of reducing equipment space and equipment costs as compared with the conventional art.
- the present invention provides one or more parts (for example, a front side frame 11, a wheel house housing 12, a bulkhead 13, a dashboard 14, a front floor, a rear side frame 31, a first, which constitute a vehicle body, which will be described later.
- Components for example, a front component 10, a front floor component 20, and a rear floor component 30 described later
- a vehicle body structure for example, a main component described later.
- an upper jig for example, an upper plate to be described later for fixing and mounting the one or more parts in a state where the correlation position and posture as the component can be maintained.
- Jigs 41 and 5 61 a lower jig (for example, a lower jig 81 described later) connected to a component fixedly mounted on the upper jig, and a welding device (for example, a welding robot 7 described later),
- the upper jig and the lower jig each include a connecting portion (for example, an upper jig connecting portion 413, 513, 613, and a lower jig connecting portion 813, which will be described later) connected to each other, In a state where the connection between the component and the lower jig and the connection between the upper jig and the lower jig are maintained, the one or more parts forming the component and the components are welded together.
- a body assembly system is provided.
- an upper jig for fixing and mounting one or more parts in a state where the correlation position and posture as components can be maintained, and an upper jig connected to the component fixedly mounted on the upper jig And a lower jig to be connected. Then, in a state where the connection between the component and the lower jig and the connection between the upper jig and the lower jig are maintained, one or more parts forming the component and between the components are welded by a welding apparatus.
- welding between one or more parts forming a component is performed in parallel with welding between components, each component process that has been previously assembled by welding is unnecessary. is there. Therefore, according to this invention, a process can be integrated and an installation space and installation cost can be reduced.
- the present invention provides a vehicle body assembly method in which a component is formed from one or more parts constituting a vehicle body, and the components are welded together to assemble a vehicle body structure.
- An upper jig mounting step for fixing and mounting on the upper jig in a state where the correlation position and posture as a component can be maintained, and a component fixedly mounted on the upper jig in the upper jig mounting step is connected to the lower jig.
- the component is formed in a state of maintaining the connection step of connecting the upper jig and the lower jig, the connection of the component and the lower jig, and the connection of the upper jig and the lower jig.
- a welding step for welding the one or more parts and the components.
- the vehicle body assembling method of the present invention first, one or more parts are fixedly mounted on the upper jig in a state where the correlation position and posture as components can be maintained. Next, the component fixedly attached to the upper jig is connected to the lower jig, and the upper jig and the lower jig are connected. And while maintaining these connection states, between one or more parts which form a component, and between components are welded. According to the vehicle body assembling method of the present invention, the same effects as the invention of the vehicle body assembling system can be obtained.
- FIG. 1 It is a perspective view of the front component concerning one embodiment of the present invention. It is a perspective view of the rear floor component which concerns on the said embodiment.
- the vehicle body assembly system according to the embodiment it is a diagram showing a state when a front component is gripped by an upper jig. It is a figure which shows the state when conveying each component hold
- a vehicle body assembly system 1 is a system for assembling a main floor of an automobile body.
- the main floor includes a front component, a front floor component, and a rear floor component.
- the vehicle body assembly system 1 includes a set station 2, a front component transfer robot 4 as a front component transfer device, a front floor component transfer robot 5 as a front floor component transfer device, and a rear floor component transfer device.
- a rear floor component transfer robot 6, a welding robot 7 as a welding device, and an assembly station 8 are provided.
- FIG. 1 is a perspective view of a front component 10 according to an embodiment of the present invention.
- the front component 10 has a rectangular frame shape and is attached to a front side portion of a vehicle body of an automobile.
- the space surrounded by the front component 10 constitutes an engine room in which the engine is stored.
- the front component 10 includes a pair of front side frames 11, 11, a pair of wheel house housings 12, 12, a bulkhead 13, and a dashboard 14. That is, the front component 10 is composed of six parts.
- the pair of front side frames 11 and 11 are disposed on the side of the engine.
- the pair of wheel house housings 12 and 12 are disposed on the pair of front side frames 11 and 11, respectively.
- the bulkhead 13 is disposed in front of the engine.
- the dashboard 14 is disposed behind the engine.
- the front component 10 is arranged on the front component set base 15 in a state where the above-described six parts reproduce the correlation position and posture as the front component 10 in the front set station 2 a included in the set station 2.
- the six parts set on the front component set base 15 are not welded.
- the front set station 2a included in the set station 2 of the present embodiment roughly sets the correlation position and posture as the front component 10. That is, the accuracy of the correlation position and posture of the above-described six parts set on the front component set base 15 may be low. Therefore, the front component set base 15 is comprised with a simple support stand, and the shape is suitably changed according to a vehicle model.
- FIG. 2 is a perspective view of the rear floor component 30 according to an embodiment of the present invention.
- the rear floor component 30 is attached to the rear part of the vehicle body of the automobile.
- a space surrounded by the rear floor component 30 constitutes a rear floor.
- the rear floor component 30 includes a pair of rear side frames 31, 31, a first cross member 32, and a second cross member 33. That is, the rear floor component 30 is composed of four parts.
- the pair of rear side frames 31, 31 are arranged on the side of the rear floor.
- the first cross member 32 is disposed between the pair of rear side frames 31 and 31 on the front side of the vehicle body relative to the second cross member 33.
- the second cross member 33 is disposed between the pair of rear side frames 31 and 31 on the rear side of the vehicle body relative to the first cross member 32.
- the rear floor component 30 is placed on the rear floor component set base 35 in the rear floor set station 2 c included in the set station 2 in a state where the above four parts reproduce the correlation position and posture as the rear floor component 30.
- the four parts set on the rear floor component set base 35 are not welded.
- the rear floor set station 2c included in the set station 2 of the present embodiment roughly sets the correlation position and posture as the rear floor component 30. That is, the accuracy of the correlation position and posture of the above-described four parts set on the rear floor component set base 35 may be low. Therefore, the rear floor component set base 35 is composed of a simple support base, and the shape thereof is appropriately changed according to the vehicle type.
- the front floor component 20 according to the present embodiment is composed of only one part of the front floor 21. Therefore, unlike the front component 10 and the rear floor component 30, it is not necessary to set on the set base in the set station 2.
- FIG. 3 is a diagram illustrating a state when the front component 10 is gripped by the upper jig 41 in the vehicle body assembly system 1 according to the present embodiment. As shown in FIG. 3, the front component 10 set on the front component set base 15 in the front set station 2 a is gripped and transferred by the front component transfer robot 4.
- the front component transport robot 4 includes an upper jig 41 that holds and fixes the front component 10, and a multi-axis arm 42 that changes the position and posture of the upper jig 41 in a three-dimensional space.
- the upper jig 41 includes an upper jig body 411, a plurality of gripping portions 412, and an upper jig connecting portion 413. In the upper jig 41, the positions and lengths of the grip portion 412 and the upper jig connecting portion 413 are appropriately changed according to the vehicle type.
- the upper jig body 411 is a rectangular frame-shaped member attached to the tip of the multi-axis arm 42.
- the upper jig body 411 is extended so that each frame member is orthogonal to the extending direction of the arm on the distal end side of the multiaxial arm 42.
- the plurality of gripping portions 412 extend from the upper jig main body 411 to the distal end side.
- the plurality of gripping portions 412 each grip a predetermined portion of the front component 10.
- the upper jig connecting portion 413 extends from one end of the upper jig main body 411 to the distal end side.
- the upper jig connecting portion 413 is connected to a lower jig connecting portion 813 provided in a lower jig 81 of an assembly station 8 described later. That is, the upper jig connecting portion 413 has a fitting hole 414 into which the rod 814 constituting the lower jig connecting portion 813 is fitted. Note that a pair of the upper jig connecting portion 413 and the lower jig connecting portion 813 are provided in the left-right direction of the vehicle body.
- the rear floor component 30 set on the rear floor component set base 35 in the rear floor set station 2c is gripped and transported by the rear floor component transport robot 6.
- the front floor component 20 is gripped and transported by the front floor component transport robot 5.
- the front floor component transfer robot 5 and the rear floor component transfer robot 6 have the same configuration as the front component transfer robot 4 except that the position and length of the grip portion of the upper jig are different. That is, the front floor component transfer robot 5 includes an upper jig 51 that holds and securely mounts the front floor component 20, a multi-axis arm 52 that changes the position and posture of the upper jig 51 in a three-dimensional space, Is provided.
- the rear floor component transfer robot 6 includes an upper jig 61 that holds and securely mounts the rear floor component 30 and a multi-axis arm 62 that changes the position and posture of the upper jig 61 in a three-dimensional space.
- FIG. 4 is a diagram illustrating a state when each component gripped by each upper jig is transported in the vehicle body assembly system 1 according to the present embodiment.
- the front component transport robot 4 grips the front component 10 and transports it to the assembly station 8.
- the front floor component transfer robot 5 grips the front floor component 20 and transfers it to the assembly station 8.
- the rear floor component transfer robot 6 grips the rear floor component 30 and transfers it to the assembly station 8. More specifically, in these transfer robots, the front component 10 is arranged on one end side, the front floor component 20 is arranged in the center, and the rear floor component 30 is arranged on the other end side. Transport to 8.
- the assembly station 8 includes a lower jig 81.
- the lower jig 81 includes a lower jig body 811, a plurality of positioning pins 812, and three lower jig connecting portions 813.
- the lower jig body 811 constitutes the base of the assembly station 8.
- the plurality of positioning pins 812 are provided so as to be insertable into positioning holes formed in the lower surface of each component.
- Each of the plurality of positioning pins 812 includes a cylinder mechanism that can slide up and down.
- the plurality of positioning pins 812 are provided so as to be slidable in the horizontal direction, and can be moved in the horizontal direction according to the vehicle type.
- Each of the three lower jig connecting portions 813 includes a rod 814 at the tip.
- Each rod 814 is fitted into a fitting hole 414, 514, 614 formed at the tip of each upper robot coupling portion 413, 513, 613 of each transfer robot.
- Each of the three lower jig connecting portions 813 includes a cylinder mechanism that can slide up and down.
- the plurality of positioning pins 812 are provided so as to be slidable in the horizontal direction, and can be moved in the horizontal direction according to the vehicle type.
- each transfer robot has three lower jigs having fitting holes 414, 514, and 614 of upper jig connecting portions 413, 513, and 613 included in the upper jigs 41, 51, and 61.
- Each component is conveyed so that it may fit with each rod 814 of connecting part 813. Further, each transport robot transports each component such that the positioning pin 812 of the lower jig 81 is guided and inserted into the positioning hole of each component.
- FIG. 5 is a diagram showing a state when welding is performed by the welding robot 7 in the vehicle body assembly system 1 according to the present embodiment.
- the upper jigs 41, 51, 61 of each transport robot have lower jig connecting parts provided in the lower jig 81 by the fitting holes 414, 514, 614 of the upper jig connecting parts 413, 513, 613.
- 813 is connected to the lower jig 81 by fitting with the rods 814.
- each component is connected to the lower jig 81 by guiding and inserting the positioning pins 812 of the lower jig 81 into the positioning holes. Thereby, each component is accurately positioned with respect to the upper jigs 41, 51, 61 and the lower jig 81.
- the vehicle body assembly system 1 includes a welding robot 7.
- the vehicle body assembly system 1 includes ten welding robots 7 (only two are shown for convenience in FIG. 5).
- the welding robot 7 includes a spot welder 71 and an arm 72 that changes the position and posture of the spot welder 71 in a three-dimensional space.
- the upper jigs 41, 51, 61 and the lower jig 81 are connected to each other and the components are connected to the lower jig 81 as described above.
- the parts forming each component are welded together, and the components are welded together.
- the procedure of the vehicle body assembly method by the vehicle body assembly system 1 of the present embodiment having the above-described configuration will be described.
- the vehicle body assembly method according to the vehicle body assembly system 1 of the present embodiment includes a setting process, an upper jig mounting process, a connecting process, and a welding process.
- one or more parts constituting each component are arranged on the set base of each component while reproducing the correlation position and orientation as the component (set process).
- each component is held and supported by the upper jig, which is the hand of each transfer robot, so as to maintain the correlation position and posture as the component (upper jig mounting step). At this time, welding between the components is not performed.
- each transfer robot the upper jig on which each component is fixedly mounted is moved toward the lower jig, and the lower jig is provided in the fitting hole of the upper jig connecting portion provided in the upper jig.
- Each rod of the lower jig connecting portion is fitted (connecting step).
- the positioning pin of the lower jig is guided and inserted into the positioning hole formed in each part forming each component.
- the lower jig can be fixed at a fixed position, and in combination with the fixing gripping with the upper jig, each component forming each component can be accurately positioned and oriented.
- the position and orientation of each component are determined with high accuracy.
- each welding robot performs spot welding while maintaining the state where the upper jig and the lower jig of each transfer robot are connected and the components are connected to the lower jig (welding process). Thereby, the main floor as a vehicle body structure is assembled.
- the welding points that can be welded without retracting the welding robot and the upper jig are welded until at least the posture can be maintained as the main floor, and the remaining points are welded in the next process. Further, in a factory with a small number of production units, the next process can be abolished by completing the welding of all the hit points on the main floor after the welding robot is retracted.
- one or more parts are fixedly mounted in a state where the correlation position and posture as components can be maintained, and the upper jig is connected to the component fixedly mounted on the upper jig and the upper jig is fixed. And a lower jig connected to the tool. Then, in a state where the connection between the component and the lower jig and the connection between the upper jig and the lower jig were maintained, one or more parts forming the component and between the components were welded by a welding robot.
- the vehicle body assembling method of the present embodiment first, one or more parts are fixedly mounted on the upper jig in a state where the correlation position and posture as components can be maintained. Next, the component fixedly attached to the upper jig was connected to the lower jig, and the upper jig and the lower jig were connected. And while maintaining these connection states, between one or more parts which form a component, and between components were welded. According to the vehicle body assembling method of the present embodiment, the same effects as the invention of the vehicle body assembling system are exhibited.
- the present invention is not limited to the above-described embodiment, and modifications and improvements within the scope that can achieve the object of the present invention are included in the present invention.
- the front floor set station is not provided.
- the front floor set station may be provided.
- the set station itself may be eliminated if each component can be directly positioned and held by the upper jig of each transfer robot.
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Abstract
Description
本発明の車体組立システムによれば、コンポーネントを形成する1以上の部品間の溶接を、コンポーネント同士間の溶接と並行して行うため、従来先行して溶接組み立てしていた各コンポーネント工程が不要である。従って本発明によれば、工程を集約でき、設備スペース及び設備費用を削減できる。
本発明の車体組立方法によれば、上記車体組立システムの発明と同様の効果が奏される。
本実施形態に係る車体組立システム1は、自動車車体のメインフロアを組み立てるシステムである。ここで、メインフロアは、フロントコンポーネント、フロントフロアコンポーネント及びリヤフロアコンポーネントから構成される。
フロントコンポーネント10は、矩形枠状であり、自動車の車体前方側部分に取り付けられる。このフロントコンポーネント10に囲まれた空間は、エンジンが収納されるエンジンルームを構成する。
一対のホイールハウスハウジング12,12は、それぞれ一対のフロントサイドフレーム11,11上に配置される。
バルクヘッド13は、エンジンの前方に配置される。
ダッシュボード14は、エンジンの後方に配置される。
リヤフロアコンポーネント30は、自動車の車体後方側部分に取り付けられる。このリヤフロアコンポーネント30に囲まれた空間は、リヤフロアを構成する。
第1クロスメンバー32は、第2クロスメンバー33よりも車体前方側において、一対のリヤサイドフレーム31,31間に架け渡されて配置される。
第2クロスメンバー33は、第1クロスメンバー32よりも車体後方側において、一対のリヤサイドフレーム31,31間に架け渡されて配置される。
図3に示すように、フロントセットステーション2aにおいてフロントコンポーネントセット台15上にセットされたフロントコンポーネント10は、フロントコンポーネント搬送ロボット4により把持されて搬送される。
上治具41は、上治具本体411と、複数の把持部412と、上治具連結部413と、を備える。
なお、この上治具41は、車種に応じて把持部412及び上治具連結部413の位置や長さが適宜変更される。
複数の把持部412は、上治具本体411から先端側に延出される。これら複数の把持部412は、フロントコンポーネント10の所定箇所をそれぞれ把持する。
上治具連結部413は、上治具本体411の一端から先端側に延出される。この上治具連結部413は、後述する組立ステーション8の下治具81が備える下治具連結部813に連結される。即ち、上治具連結部413は、下治具連結部813を構成するロッド814が嵌合する嵌合穴414が形成されている。
なお、上治具連結部413及び下治具連結部813は、それぞれ車体の左右方向に一対設けられている。
また、図示は省略するが、フロントフロアコンポーネント20は、フロントフロアコンポーネント搬送ロボット5により把持されて搬送される。
即ち、フロントフロアコンポーネント搬送ロボット5は、フロントフロアコンポーネント20を把持して固定装着する上治具51と、この上治具51の3次元空間上の位置及び姿勢を変化させる多軸アーム52と、を備える。
リヤフロアコンポーネント搬送ロボット6は、リヤフロアコンポーネント30を把持して固定装着する上治具61と、この上治具61の3次元空間上の位置及び姿勢を変化させる多軸アーム62と、を備える。
図4に示すように、フロントコンポーネント搬送ロボット4は、フロントコンポーネント10を把持して組立ステーション8に搬送する。フロントフロアコンポーネント搬送ロボット5は、フロントフロアコンポーネント20を把持して組立ステーション8に搬送する。リヤフロアコンポーネント搬送ロボット6は、リヤフロアコンポーネント30を把持して組立ステーション8に搬送する。
より具体的には、これら搬送ロボットは、フロントコンポーネント10が一端側に配置され、フロントフロアコンポーネント20が中央に配置され、リヤフロアコンポーネント30が他端側に配置されるように、各コンポーネントを組立ステーション8に搬送する。
下治具81は、下治具本体811と、複数の位置決めピン812と、3つの下治具連結部813と、を備える。
複数の位置決めピン812は、各コンポーネントの下面に形成された位置決め穴に挿入可能に設けられる。これら複数の位置決めピン812は、上下にスライド移動可能とするシリンダ機構をそれぞれ備える。また、これら複数の位置決めピン812は、水平方向にスライド可能に設けられており、車種に応じて水平方向に移動可能となっている。
3つの下治具連結部813はそれぞれ、先端にロッド814を備える。各ロッド814はそれぞれ、各搬送ロボットの上治具連結部413,513,613の先端に形成された嵌合穴414,514,614に嵌合する。これら3つの下治具連結部813は、上下にスライド移動可能とするシリンダ機構をそれぞれ備える。また、これら複数の位置決めピン812は、水平方向にスライド可能に設けられており、車種に応じて水平方向に移動可能となっている。
また、各搬送ロボットは、各コンポーネントの位置決め穴に下治具81の位置決めピン812が案内挿入されるように、各コンポーネントを搬送する。
図5において、各搬送ロボットの上治具41,51,61は、上治具連結部413,513,613の嵌合穴414,514,614が、下治具81が備える下治具連結部813の各ロッド814と嵌合することで、下治具81と連結されている。
同時に、各コンポーネントは、位置決め穴に下治具81の位置決めピン812が案内挿入されることで、下治具81と連結されている。
これにより、各コンポーネントが上治具41,51,61及び下治具81に対して精度よく位置決めされる。
溶接ロボット7は、スポット溶接機71と、このスポット溶接機71の3次元空間上の位置及び姿勢を変化させるアーム72と、を備える。
本実施形態の溶接ロボット7は、上述したように各搬送ロボットの上治具41,51,61と下治具81とが連結され、且つ各コンポーネントが下治具81と連結された状態で、各コンポーネントを形成する部品間を溶接するとともに、各コンポーネント間を溶接する。
これにより、下治具による定位置での固定ができ、上治具での固定把持と相まって、各コンポーネントを形成する各部品を精度良く位置及び姿勢決めされる。同時に、各コンポーネント同士が精度良く位置及び姿勢決めされる。
また、生産台数の少ない工場等では、溶接ロボットを退避させた後に、メインフロアの全ての打点の溶接を完了させることで、次工程を廃止することができる。
本実施形態の車体組立システムでは、1以上の部品をコンポーネントとしての相関位置及び姿勢を維持できる状態で固定装着する上治具と、上治具に固定装着されたコンポーネントに連結されるとともに上治具と連結される下治具と、を設けた。そして、コンポーネントと下治具の連結及び上治具と下治具の連結を維持した状態で、コンポーネントを形成する1以上の部品間及びコンポーネント同士間を溶接ロボットにより溶接した。
本実施形態の車体組立システムによれば、コンポーネントを形成する1以上の部品間の溶接を、コンポーネント同士間の溶接と並行して行うため、従来先行して溶接組み立てしていた各コンポーネント工程が不要である。従って本実施形態によれば、工程を集約でき、設備スペース及び設備費用を削減できる。
本実施形態の車体組立方法によれば、上記車体組立システムの発明と同様の効果が奏される。
上記実施形態では、フロントフロアセットステーションを設けなかったが、フロントフロアコンポーネントが複数の部品から構成される場合には、フロントフロアセットステーションを設けてもよい。また、各搬送ロボットの上治具に直接、各部品を位置及び姿勢決めして把持させることができれば、セットステーション自体を廃止してもよい。
7…溶接ロボット(溶接装置)
10…フロントコンポーネント(コンポーネント)
11…フロントサイドフレーム(部品)
12…ホイールハウスハウジング(部品)
13…バルクヘッド(部品)
14…ダッシュボード(部品)
20…フロントフロアコンポーネント(コンポーネント)
21…フロントフロア(部品)
30…リヤフロアコンポーネント(コンポーネント)
31…リヤサイドフレーム(部品)
32…第1クロスメンバー(部品)
33…第2クロスメンバー(部品)
41,51,61…上治具
81…下治具
412.512,612…把持部
413,513,613…上治具連結部(連結部)
812…位置決めピン
813…下治具連結部(連結部)
Claims (2)
- 車体を構成する1以上の部品からコンポーネントを形成し、該コンポーネント同士を溶接して車体構造体を組み立てる車体組立システムにおいて、
前記1以上の部品を前記コンポーネントとしての相関位置及び姿勢を維持できる状態で固定装着する上治具と、
前記上治具に固定装着されたコンポーネントに連結される下治具と、
溶接装置と、を備え、
前記上治具と前記下治具は、互いに連結される連結部をそれぞれ備え、
前記溶接装置は、前記コンポーネントと前記下治具の連結及び前記上治具と前記下治具の連結を維持した状態で、前記コンポーネントを形成する前記1以上の部品間及び前記コンポーネント同士間を溶接することを特徴とする車体組立システム。 - 車体を構成する1以上の部品からコンポーネントを形成し、該コンポーネント同士を溶接して車体構造体を組み立てる車体組立方法において、
前記1以上の部品を前記コンポーネントとしての相関位置及び姿勢を維持できる状態で上治具に固定装着する上治具装着工程と、
前記上治具装着工程で前記上治具に固定装着したコンポーネントを下治具に連結するとともに、前記上治具と前記下治具とを連結する連結工程と、
前記コンポーネントと前記下治具の連結及び前記上治具と前記下治具の連結を維持した状態で、前記コンポーネントを形成する前記1以上の部品間及び前記コンポーネント同士間を溶接する溶接工程と、を備えることを特徴とする車体組立方法。
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BR112016023258-5A BR112016023258B1 (pt) | 2014-04-09 | 2015-04-09 | Sistema de montagem de corpo de veículo e método de montagem de corpo de veículo |
US15/302,850 US20170029053A1 (en) | 2014-04-09 | 2015-04-09 | Vehicle body assembly system and vehicle body assembly method |
JP2016512772A JP6257752B2 (ja) | 2014-04-09 | 2015-04-09 | 車体組立システム及び車体組立方法 |
CN201580018438.5A CN106163734B (zh) | 2014-04-09 | 2015-04-09 | 车身组装***以及车身组装方法 |
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JPWO2015156354A1 (ja) | 2017-04-13 |
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BR112016023258A2 (ja) | 2017-08-15 |
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