JP2003146264A - Positioning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a positioning device capable of accurately positioning a front floor in the specified position of an engine compartment. SOLUTION: Positioning recessed parts 152, 153 are provided in two portions of a carriage 15, positioning projection parts 24, 25 are provided in the positions corresponding to the positioning recessed parts 152, 153 in two portions in a handling robot 20, and cramp mechanism parts 26-29 are installed in four portions. The positioning projection parts 24, 25 are inserted into round holes 175a, 175b of a front floor 17 for positioning, four portions of a side plate part 171 of the front floor 17 are cramped with the cramp mechanism parts 26-29 to be transferred, the positioning projection parts 24, 25 are inserted into the positioning recessed parts 152, 153 of the carriage 15, and the front floor 17 is positioned in the specified position of the engine compartment 16.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning device, and more particularly to a positioning device suitable for positioning and assembling a front floor at a predetermined position of an engine compartment of an automobile.

[0002]

2. Description of the Related Art When assembling a chassis of an automobile, for example, an underfloor jig pallet trolley (hereinafter referred to as a trolley) is intermittently moved to each stage of a conveyance path to make a body part, for example, an engine compartment (hereinafter (Hereinafter referred to as "encopa") is positioned, and the front floor, the front pillar lower inner, and the cowl inner are sequentially positioned and assembled to the positioned encon.

By the way, the body of an automobile has a complicated shape, and when assembling each work, it is required to position the work with high accuracy. In particular,
If the positioning accuracy of the front floor that is assembled to Encopa is low, the positioning accuracy of the front pillar lower inner and cowl inner that will be assembled in the subsequent process will be reduced,
It may cause the vehicle body to shake during driving, the door cannot be opened / closed, or even if the door can be opened / closed, it cannot be opened / closed smoothly and a squeak noise is generated when opening / closing. .

Therefore, after a work such as an encopa is positioned on a dolly, a front robot is placed on the positioned encopa by using a handling robot, and then a positioning robot is used for positioning.

[0005]

However, in the case where the front floor is transferred by the handling robot and then positioned by the positioning robot as described above, both the handling robot and the positioning robot are required,
Not only is the device large and complicated and expensive,
After the front floor is placed using the handling robot, the handling robot retreats from that position, and then the positioning robot comes in to perform positioning, which causes a problem that the tact time becomes long.

The present invention has been proposed in order to solve such a problem, and transfers the front floor to a predetermined position of the encopa positioned on the trolley by a simple structure and at the same time with respect to the encopa. It is an object of the present invention to provide a positioning device that enables highly accurate positioning and assembly in a short time.

[0007]

In order to solve the above-mentioned problems, the positioning device according to claim 1 of the present invention is provided with positioning recesses at two positions of the carriage and conveys the work to the carriage. The handling robot to be assembled is characterized in that positioning protrusions are provided at two positions corresponding to the two positioning recesses, and a clamping mechanism portion for clamping the front floor is provided at the handling robot.

According to such a positioning apparatus, the front floor can be positioned on the handling robot by inserting the two positioning projections of the handling robot into the two holes of the front floor. Further, since the handling robot is provided with the front floor clamp mechanism section, the front floor positioned by the handling robot can be clamped by the clamp mechanism section and transferred to a predetermined position of the carriage.

Further, by inserting the two positioning projections of the handling robot into the two positioning recesses of the carriage, the handling robot and the carriage are separated from each other.
The positioning can be performed with high accuracy, and at the same time, the front floor can be positioned with high accuracy at a predetermined position of the carriage. Therefore, since the handling robot can perform the transfer and positioning of the front floor, the structure of the device is simpler, smaller, and cheaper than the case where the conventional transfer robot and the positioning robot are used together. Not only that, since the alternating operation between the handling robot and the positioning robot is unnecessary, the tact time can be remarkably shortened and the productivity can be remarkably improved.

In the positioning device according to the second aspect of the present invention, the positioning recess of the carriage and the positioning projection of the handling robot correspond to two front hole positions on the front floor. It is characterized by being provided.

According to the above-mentioned positioning device, the positioning convex portion of the handling robot is inserted through the two holes on the front side on the front floor for positioning, and is clamped by the clamp mechanism portion and transferred onto the carriage. ,
By inserting the positioning protrusion into the positioning recess of the truck, the front floor can be positioned at a predetermined position of the truck. Here, the front floor can be positioned at a predetermined position of the encopa by previously positioning the encopa on the carriage.

A positioning device according to a third aspect of the present invention is characterized in that the clamp mechanism portion has an air cylinder for driving a movable clamp member.

According to the above positioning device, the front floor is clamped by the movable clamp member driven by the air cylinder of the clamp mechanism portion, so that the front floor can be clamped with a simple structure.

A positioning device according to a fourth aspect of the present invention is characterized in that the handling robot is provided with a clamp mechanism portion for clamping the front floor at four positions thereof.

According to the above positioning device, the front floor is clamped at four positions by the four clamping mechanism portions of the handling robot, so that the front floor can be stably transferred.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to FIGS. FIG. 1 is a schematic side view of an example of a work assembling apparatus in which a positioning device is incorporated in the present invention, and FIG. 2 is an exploded perspective view of an automobile chassis as an example of a work to be assembled by the positioning clamp device of the present invention. (A) is an enlarged plan view of Encopa on the chassis,
3B is an enlarged side view thereof, FIG. 4 is a perspective view of a carriage of the positioning clamp device of the present invention, and FIG. 5 is a perspective view showing a handling robot of one embodiment of the positioning clamp device of the present invention together with a front floor. is there.

In FIG. 1, reference numeral 10 denotes an upper and lower two-stage type transport mechanism section having an upper outward path 11 and a lower backward path 12 at predetermined intervals. Elevating devices 13 and 14 are arranged at both ends of the transport mechanism unit 10, respectively. In one end, for example, the lifting device 13 at the left end of FIG. 1, when the encopa 16 is supplied on the carriage 15 and becomes the same height as the upper outward path 11, the lifting device 13 stops and the encopa 16 moves. The dolly 15 on which is mounted is transferred to the upper outward path 11.

On the upper outward path 11, the truck 15 intermittently moves between the positions P1 to P7. For example, the encopa 16 is positioned at the position P1, the front floor 17 is supplied, positioned and temporarily welded at the position P2, and the main welding is performed at the position P3. Further, at position P4, the front pillar lower inner 18 is supplied, positioned and temporarily welded, and at position P5 main welding is performed. Further, at position P6, the cowl inner 19 is supplied, positioned and temporarily welded, and at position P7 main welding is performed.

At position P7 of the transport mechanism 10, the chassis that has been assembled is removed from the carriage 15 by a crane or the like. The emptied trolley 15 is transferred to the lifting device 14 at the right end of FIG. 1 and then stopped when the lifting device 14 is lowered to the same position as the height of the lower return path 12.
Then, the carriage 15 is transferred to the lower return path 12 and returned to the left in FIG. 1 and conveyed. The cart 15 that has been conveyed to the left end of the lower return path 12 has the lifting device 1 at the left end of FIG.
Reprinted in 3. New Encopa 16 on the dolly 15
Is supplied and rises, and stops when the same height as the upper outward path 11 is reached. Then, the carriage 15 is transferred to the upper outward path 11, and various works are sequentially positioned and assembled in the same manner as described above.

The Encopa 16, the front floor 17,
Front pillar Roa Inner 18 and cowl Inner 19
Has a structure as shown in FIG. Encopa 16 is
It has a front apron 161, an apron 162, a dash panel 163, a front side member 164, and a suspension tower 165. As shown in FIGS. 3 (a) and 3 (b), this encopa 16 is
A positioning hole 167 is provided at a substantially central portion of the lower member 166.

The front floor 1 assembled on the rear portion of the front side member 164 of the encopa 16.
Reference numeral 7 denotes a side plate portion 171, which rises from both ends in the width direction, a protrusion portion 172 at a middle portion in the width direction, a long hole 173 for a shift lever formed on the front side of the protrusion portion 172, and the protrusion. Round holes 175a formed in two places before and after the recesses 174 and 174 located on both sides of the line portion 172, for a total of four places.
.About.175d.

The front pillar lower inner 18 is assembled to both ends of the dash panel 163 of the encopa 16, and the front surface portion 181 thereof has a curved surface shape that matches the curved surface shape of the dash panel 163.
A hole 183 through which the harness is passed is formed in the triangular tip portion 182. 184 and 185 are positioning holes.

FIG. 4 is a schematic enlarged perspective view of the bogie 15 of FIG. 1, and positioning recesses 151, 152, 15 are provided at three positions thereof.
3 is provided. Recesses 151, 152, 153
Is provided at the apex of the isosceles triangle. For example, the recess 151 is provided at the center position and height of the carriage 15 corresponding to the hole 167 of the encopa 16, and the other two
The recesses 152 and 153 at the positions are provided at positions and heights corresponding to the front circular holes 175a and 175b of the front floor 17, respectively.

Here, the installation height dimension h1 of each recess 151 from the upper surface of the truck 15 is set to be larger than the installation height dimension h2, h3 (= h2) of the other recesses 152 and 153 from the truck 15 upper surface. Has been done. The difference in height (h1-
h2) is equal to the difference in height between the hole 167 of the encopa 16 and the front side round holes 175a and 175b of the front floor 17.

In the present invention, the positioning recesses 152 and 153 of the carriage 15 are used, and the positioning recess 151 is not always necessary.
In the pre-step of positioning 7 on the encopa 16, when positioning the encopa 16 on the carriage 15, the positioning is performed by using a positioning robot having three positioning projections to be inserted into the positioning recesses 151, 152, 153. Is what you need to do. That is, one of the three positioning protrusions is used to pass the positioning protrusion through the hole 167 of the encopa 16 shown in FIG.
By inserting it into 51, Encopa 1
6 can be positioned.

Further, also when positioning the front pillar lower inner 18 and the cowl inner 19 on the encopa 16, the respective workpieces are processed by using a handling robot having positioning convex portions at three positions similar to the positioning robot. It can be handled and positioned.

FIG. 5 shows a handling robot 20 used in combination with the dolly 15 of FIG. 4, in which an “I” -shaped frame 21 is a cross rail 22, which is parallel to the traveling direction of the dolly 15.
Have 23. At the lower end portions of the horizontal rails 22 and 23 on the one side in the vicinity of the respective end portions, positioning projections 24,
25 are provided. Further, clamp mechanism portions 26, 27, 28, 29 for clamping the work are provided at both ends of the horizontal rails 222, 23, respectively.

Since the clamp mechanism parts 26 to 29 have the same or symmetrical structure, hereinafter, the clamp mechanism part 26 will be described.
Will be described. The clamp mechanism portion 26 includes an air cylinder 263 pivotally supported by a pin 262 (not shown in the figure) on a fixing member 261 fixed on the end of the horizontal rail 22, and a pin 265 at the tip of a piston rod 264 of the air cylinder 263. A movable clamp member 266 pivotally supported, a connecting arm 267 integrally formed with the movable clamp member 266, and a pin 2 for pivotally supporting the connecting arm 267 on the fixing member 261.
And 68.

When the piston rod 264 of the air cylinder 263 is retracted, the clamp mechanism portion 26 is in a vertical state in which the movable clamp member 266 is located above as shown in FIG. When the piston rod 264 is extended, the clamp members 266 are lowered by the pins 262, 265, 268, and are rotated about the pin 265 to approach the fixed member 261. Therefore, the side plate portion 171 rising from both widthwise end portions of the front floor 17 is clamped by the fixed member 261 and the movable clamp member 266.

Next, positioning of the front door 17 by the dolly 15 and the handling robot 20 described above,
A handling operation and a positioning operation for encopa will be described. First, the movable clamp member 26 is moved by retracting the piston rod 264 of each air cylinder 263 of the clamp mechanism units 26 to 29 in the handling robot 20.
6 is upward and downward, the positioning projections 24 and 25 of the handling robot 20 are positioned on the front floor 1
7 into the round holes 175a, 175b on the front side, the positioning projection 24 of the handling robot 20,
The front floor 17 is positioned by 25.
At this time, the side plate portions 171 rising from both widthwise ends of the front floor 17 are located between the fixed member 261 and the movable clamp member 266.

In this positioning state, the clamp mechanism portion 26
When the piston rod 264 of the air cylinder 263 of ~ 29 is extended, the clamp member 266 descends from the upward and downward state and is displaced toward the fixing member 261.
The fixed member 261 and the movable clamp member 266 clamp four positions of the side plate portion 171 of the front floor 17.
Therefore, in this clamped state, the front floor 17
Are transferred onto the front side members 164 and 164 of the encopa 16 positioned on the carriage 15. Since the positioning projections 24 and 25 are inserted into the round holes 175a and 175b of the front floor 17 during this transfer,
The front floor 17 does not move or fall off.

Front side member 16 of Encopa 16
After the front floor 17 has been transferred onto the 4, 164, the positioning projections 24, 25 are moved to the positioning recess 1 of the carriage 15.
52 and 153. Then, the handling robot 20 and the carriage 15 are positioned, and accordingly, the front floor 17 positioned by the handling robot 20 is positioned by the encopper 16 positioned on the carriage 15.
Is positioned at a predetermined position. In this positioning state,
Immediately perform temporary welding.

FIGS. 6 to 8 show another embodiment of the handling robot 30 which is used in combination with the dolly 15 of FIG. 4, and has a cross-shaped frame 31. The cross-shaped frame 31 is provided on the cross rail 3 parallel to the traveling direction of the carriage 15.
2 and 33, and the horizontal crosspieces 34 and 35 which are parallel to this and orthogonal to this. Positioning projections 36 and 37 are provided at one end of each of the horizontal rails 32 and 33 on the one side.
In addition, at four positions on both ends of the parallel horizontal rails 34 and 35, a clamp mechanism portion 3 for clamping the front floor is provided.
8, 39, 40, 41 are provided.

Since the clamp mechanism parts 38 to 41 have the same or symmetrical structure, the clamp mechanism part 40 shown in the front view of FIG. 8 will be described below. The clamp mechanism section 40 includes the fixing member 4 fixed to the end of the horizontal rail 35.
An air cylinder 403 pivotally supported by 01 on a pin 402;
A movable member 406 pivotally supported by a pin 405 at the tip of the piston rod 404, an “L” -shaped movable clamp member 407 fixed to the movable member 406, and the movable member 406 pivoted to the fixed member 401. And a supporting pin 408.

In the clamp mechanism section 40, when the piston rod 404 of the air cylinder 403 extends, the movable clamp member 407 becomes horizontal as shown in FIG.
Further, when the piston rod 404 retreats, the pins 402, 40, like the clamp mechanism portion 40 'shown in FIG.
5, 408, the movable clamp member 407 faces downward.

Next, the front carriage 17 is positioned by the carriage 15 and the handling robot 30 described above.
A handling operation and a positioning operation for encopa will be described. First, the piston rod 404 of the air cylinder 403 of the clamp mechanism parts 38 to 41 is extended to bring the movable clamp member 407 into a horizontal state, and the positioning projections 36 and 37 of the handling robot 30 are located on the front side of the front floor 17. When inserted into the round holes 175a and 175b, the positioning projection 3 of the handling robot 30
The front floor 17 is positioned by 6, 37.

In this state, the positioning state, the piston rod 40 of the air cylinder 403 of the clamp mechanism parts 38-41.
When 4 is retracted, the movable clamp member 407 is displaced from the horizontal state to the downward state. During this displacement, the movable clamp member 407 causes the side plate portion 171 of the front floor 17 to move.
Clamp 4 points. Therefore, in this clamped state, the front floor 17 is fixed to the front side member 164 of the encopa 16 positioned on the carriage 15.
164. During this transfer, the positioning projection 3
6, 37 are round holes 175a, 175 of the front floor 17.
Since it is inserted in b, the front floor 17 does not move or fall off.

Front side member 16 of Encopa 16
After the front floor 17 is transferred to the position of the dolly 5 on 4, 164, the positioning protrusions 36, 37 are inserted into the positioning recesses 152, 153 of the dolly 15. Then, the handling robot 30 and the carriage 15 are positioned,
Accordingly, the front floor 17 positioned by the handling robot 30 is positioned at the predetermined position of the encopa 16. In this positioning state, temporary welding is performed immediately.

Although the above embodiment has been described with respect to a specific configuration, the present invention is not limited to this embodiment, and various modifications can be made.

For example, although the above-mentioned clamp mechanism section has been described as being clamped from the horizontal direction, it may be structured such that it is clamped from above and below.

[0041]

As described above, according to the present invention, positioning recesses are provided at two positions of the carriage, and two positions corresponding to the positioning recesses of the two positions of the handling robot for transporting and assembling the work to the carriage are provided. Since the positioning convex portion is provided and the handling robot is provided with the front floor clamp mechanism portion, the handling robot is inserted by inserting the positioning convex portion of the handling robot into the hole of the front floor. The front floor can be positioned at the position, and the positioned front floor can be clamped and transferred by using the clamp mechanism portion provided in the handling robot.

Further, the front floor positioned and clamped by the handling robot is transferred to a dolly,
By inserting the positioning convex portion of the handling robot into the positioning concave portion of the dolly, the front floor positioned by the handling robot can be accurately positioned at a predetermined position of the encopa mounted on the dolly. .

[Brief description of drawings]

FIG. 1 is a schematic side view of a work assembling apparatus incorporating a positioning device according to an embodiment of the present invention.

FIG. 2 is an exploded perspective view of a chassis that is an example of a work to be positioned in the work assembling apparatus of FIG.

FIG. 3 (a) is an enlarged plan view of an engine compartment, and FIG. 3 (b) is an enlarged front view showing a part of the engine compartment in section.

FIG. 4 is a schematic perspective view of a carriage of an embodiment of a positioning device of the present invention.

FIG. 5 is a schematic perspective view of a handling robot according to an embodiment of the positioning device of the present invention.

FIG. 6 is a plan view of a handling robot according to another embodiment of the positioning device of the present invention.

7 is a side view of the handling robot of FIG.

8 is a front view of the handling robot of FIG.

[Explanation of symbols]

10 upper and lower two-stage type transport mechanism section 11 upper outward path 12 lower return path 13, 14 lifting device 15 carriage 151, 152, 153 positioning recess 16 engine compartment 17 front floor 175a to 175d round hole 18 work (front pillar lower inner) 19 Work (Cowl Inner) 20,30 Handling Robot 21,21,36,37 Positioning Projection 23,24,25,26,38,39,40,41 Clamping Mechanism 263,403 Air Cylinder 267,407 Movable Clamp member

   ─────────────────────────────────────────────────── ─── Continued front page    F-term (reference) 3C030 CC01 CC06 DA17 DA24 DA27                       DA31 DA35 DA37 DA38                 3D114 AA15 BA01 CA05 DA01 DA05                       DA12 FA02 GA01

Claims (4)

[Claims] 1. A positioning recess is provided at two positions of a trolley, and positioning protrusions are provided at two positions corresponding to the positioning recesses of the two positions of a handling robot for transporting and assembling a work on the trolley. A positioning device characterized in that the robot is provided with a clamp mechanism section for clamping the front floor. 2. The positioning recess of the trolley and the positioning projection of the handling robot are provided in correspondence with two hole positions on the front side of the front floor. Positioning device according to. 3. The positioning device according to claim 1, wherein the clamp mechanism portion has an air cylinder that drives a movable clamp member. 4. The positioning device according to claim 1, wherein the handling robot is provided with a clamp mechanism portion that clamps the front floor at four positions thereof.