JP4876492B2 - Parts assembly method and handling robot used in the method - Google Patents

Description

The present invention relates to a method for assembling a panel component that is constituted by two or more panel elements as represented by various types of panels for automobiles, and a handling robot used in the method.

  As a technique related to this type of component assembly, for example, a technique described in Patent Document 1 is known.

In the technique described in Patent Document 1, in order to weld and assemble panel parts that are configured by an assembly of a plurality of single panel elements, a positioning function by a locate pin is clamped in addition to the freedom of operation of three orthogonal axes. A large number of locator devices having functions are arranged as assembly jigs, and individual panel elements that constitute panel parts are simultaneously input to the assembly jigs, and each individual panel is operated by each locator device. While positioning and clamping the elements, the relative positioning of single panel elements is performed by the approach operation of a specific locator device, and then assembly is performed by spot welding with the spot welding gun of the welding robot. ing.
JP 2002-225759 A

In such a conventional technique, the assembly jig itself has a high function, so that it is possible to assemble a plurality of types of panel parts. (A) The structure is remarkably complicated due to the complication associated with the parallel arrangement of a large number of locator devices. For example, even if it is desired to relocate equipment due to fluctuations in the number of production, it cannot be easily relocated.

  (B) Within the cycle time, the ratio of the time required for relative positioning of the supplied single panel elements is relatively large, and the operating time of the welding robot is shortened.

  (C) With the complexity of the equipment, the accessibility of the spot welding gun to a particularly narrow space is poor, and spot welding may not be performed at all necessary spot positions.

  (D) When the above trends (b) and (c) become prominent, so-called additional hitting must be performed in a separate post process, and the number of processes must be increased.

The present invention has been made by paying attention to such problems, and in assembling so-called small parts with a relatively small number of panel elements, it does not cause a decrease in the relative positioning accuracy of the panel elements and has a simple equipment configuration. It is an object of the present invention to provide a component assembling method and a handling robot used for the method which can achieve the intended purpose.

The invention according to claim 1 is a method of assembling a panel component by welding a plurality of panel elements to each other, and the panel elements are temporarily fixed with a temporary clamping clamp jig for relative positioning of the panel elements. A temporary assembling step for fastening and temporarily fixing panel parts; a gripping step for gripping the temporary fixing panel parts with a handling robot using the temporary fixing clamp jig as a gripped portion; and a welding means with an autonomous operation of the handling robot; A part that releases the panel part from the temporarily fixed state by the temporary fixing clamp jig with the autonomous operation of the handling robot after welding, after performing welding relative to the temporary fixed panel part and then welding to make the panel part Following the release process and the release of the panel parts, the handling robot autonomously moves the handle itself. It is at I and a jig releasing step of releasing the temporarily fixed clamp jig from the state.

In addition, in parallel with the progress of the work from the welding process of the preceding panel part to the jig releasing process, the temporary assembly process work of the temporary fixing panel part to be the next panel part is executed in another stage. It is set as follows.

The welding means referred to in claim 1 is, for example, a spot welding apparatus.

In this case, as described in claim 2, and the gripping step, welding step, each task in the component release step and the jig releasing step is set to take place at another zone independent of each other It is desirable.

In addition, in order to improve the relative positioning accuracy between the panel elements and to stably support the panel elements, as described in claim 3 , the plurality of panel elements are temporarily fixed with a plurality of temporary fixing clamp jigs. It is desirable that the handling robot is configured to grip the temporary fixing panel component using the plurality of temporary fixing clamp jigs as gripped portions.

In the handling robot, as described in claim 4, in order to grip the panel element with the temporarily clamped jig that temporarily fixes the panel elements as a gripped portion, Detachable function for releasing, and panel element release for unclamping the temporary clamping clamp jig so as to release at least the temporary clamping clamp jig from the temporary clamping clamp jig. It shall use what has a function.

More preferably, as described in claim 5 , the robot hand is capable of holding and releasing a plurality of temporary fixing clamp jigs for temporarily fixing a plurality of panel elements, and the handling robot itself is temporary. It is assumed that the posture and position of the panel element gripped using the stop clamp jig as the gripped portion can be arbitrarily changed.

  Therefore, in at least the inventions described in claims 1 and 2, if the operation of temporarily fixing a plurality of panel elements with a temporary fixing clamp jig is performed as a so-called off-line operation, at least the temporary fixing operation is required. The time does not affect the cycle time, and the time allocated to the most important welding among the cycle times can be secured long enough.

  According to the first aspect of the present invention, the panel elements are temporarily fixed with the temporary clamp jig, and the temporary clamp clamp jig is used as a gripped portion to hold the panel element for welding. Therefore, there is no need for a large-scale assembly jig as in the past. By simplifying the assembly jig, the equipment cost can be reduced, the accessibility to the welding means is improved, and the cycle time is lengthened. In addition to ensuring a sufficiently long operating time of the welding means, it is possible to contribute to shortening the number of processes. In addition, when it is desired to relocate equipment to cope with fluctuations in the number of production, the equipment can be relocated very easily.

  FIG. 1 and the following drawings show a more specific embodiment of the present invention. For example, in the sub-assembly process of a vehicle body panel for an automobile, the outer panel and inner panel as panel elements are overlaid while being relatively positioned. Furthermore, the example in the case of assembling panel components, such as a wheel house main, is shown by performing spot welding to a peripheral part.

  As shown in FIG. 1, the outer panel Pa press-molded in a predetermined three-dimensional shape and the flange portions F and F of the frame-like inner panel Pb are overlapped with each other, and then a plurality of temporary clamping jigs are provided. By positioning and clamping with a small locating / clamping mechanism (hereinafter, this mechanism will be abbreviated as “mechanical clamping mechanism”) 1 to temporarily fix the panels Pa and Pb, a temporary fixing panel component Wa is obtained. The panels Pa and Pb of the temporary fixing panel part Wa are put into the welding assembly process S of FIG. 2 so as to have a non-integral relationship, and the temporary fixing position by the mechanical clan mechanism 1 in the overlapped portion of the flange portions F and F. Spot welding is performed in the vicinity. And the panel component W as a product will be completed by removing the mechanical clamp mechanism 1 from which the function became unnecessary after welding.

  Here, as will be described later, the mechanical clamp mechanism 1 is engaged with the locating hole R formed in the flange portion F of both the outer panel Pa and the inner panel Pb, and the panels Pa and Pb are based on the locating hole R. A function to perform relative positioning between each other and a so-called self-clamping function that presses and restrains both panels Pa and Pb in the overlapping direction in the relative positioning state and clamps both autonomously and firmly as temporary fixing. ing.

  2, a robot hand (hereinafter simply referred to as “hand”) 4 as shown in FIG. 3 can be attached to and detached from the tip of the arm 2 (see FIG. 3) via a hand detaching mechanism 3. In addition to the mounted general-purpose handling robot (hereinafter simply referred to as “robot”) 5, a stationary spot welding device 6 as welding means and a panel component W after welding are sequentially stored. A panel part carrying cart 7 for carrying out to the next process at a fixed stage and a mechanical clamp collection box 8 for collecting the mechanical clamp mechanism 1 described above are arranged, and a panel part W is provided. In order to change the hand 4 in accordance with the specifications, a plurality of hand platforms 9 are prepared. Further, near the work space 10 of the worker M, a plurality of pallets 50, 50... Containing a plurality of outer panels Pa and inner panels Pb, and panels Pa, Pb taken out from the pallets 50, 50. A panel stand 51 for temporarily placing is temporarily arranged.

  Then, as shown in FIG. 3, the hand 4 of the robot 5 firmly attaches the temporarily fixed panel component Wa formed by temporarily fixing with the mechanical clamp mechanism 1 with the mechanical clamp mechanism 1 itself as a gripped portion. It can be gripped. That is, the hand 4 is provided with a plurality of grippers 52 capable of gripping and releasing the mechanical clamp mechanism 1 at positions corresponding to the plurality of mechanical clamp mechanisms 1 in the temporary fixing panel component Wa. Further, the gripper 52 has a so-called unclamping function capable of releasing the temporarily fixed state between the panels Pa and Pb by the mechanical clamp mechanism 1 while the mechanical clamp mechanism 1 is gripped by the gripper 51. The details of the mechanical clamp mechanism 1 and the gripper 52 will be described later.

  Here, if the specific hand 4 is already attached to the tip of the arm 2a of the robot 5 via the hand detaching mechanism 3 as described above, at least one other hand 4 is placed on the hand stand 9. In standby, the robot 5 has a hand automatic exchange function for autonomously changing the hand 4 between the hand stands 9 in response to an external command.

  FIG. 4 shows details of the mechanical clamp mechanism 1 alone. FIG. 4A shows a state where the mechanical clamp mechanism 1 temporarily clamps the outer panel Pa and the inner panel Pb, and FIG. Each of the states unclamped to release the stopped state is shown.

  As is apparent from FIGS. 4A and 4B, a sleeve 12 having a tapered flange portion 12a and a stepped shoulder portion 12b is attached to the outer periphery of the hollow cylindrical body 11 with a screw portion 12c. In addition, a taper locating pin 14 having a seating flange portion 13 functioning as a seating surface on the base portion side is connected to one end surface of the body 11 by a plurality of bolts (not shown).

  A part of the locating pin 14 is formed with a slit groove 16 penetrating in the diametrical direction, and the slot groove 16 communicates with the internal space of the body 11, and the slot groove 16 and the body 11 A pair of substantially saddle-shaped clamp arms 17 are inserted into the internal space so as to be displaced in a symmetrical manner. A collar 18 is inserted into the inside of the body 11 from the other end surface, and an operation pin 19 concentric with the body 11 is slidably inserted so as to be guided by the collar 18. A part of the operation pin 19 protrudes from the body 11, and a slit 20 capable of receiving the thickness of two clamp arms 17 is formed at the end, and the clamp arm 17 is formed by the slit 20. Are connected to each other by a connecting pin 21 which will be described later.

  The clamp arm 17 has its hook-shaped tip 17a facing the outside from the opening at the base of the locate pin 14, while the other end is inserted into the slit 20 of the operation pin 19 and then the diameter direction of the operation pin 19 is reached. The groove pin 22 is connected to the operation pin 19 by a connecting pin 21 penetrating through the guide pin 23, and is engaged with a guide pin 23 laid horizontally in the diameter direction of the body 11.

  Further, an annular spring member 24 such as a disc spring, a ring spring, or a spring washer is laminated on the outer periphery of the operation pin 19, and then attached to a spring receiving seat 25 and a snap ring 25a attached to the end of the operation pin 19. The stopper is given. As shown in FIG. 4, the spring member 24 is constantly biased in the direction in which the clamp arm 17 is always drawn into the body 11 via the operation pin 19, that is, the direction in which the clamp arm 17 generates a clamping force. The spring member 24 functions as a clamping force generating means.

  More specifically, as shown in FIG. 4A, when no external force is applied to the operation pin 19, the clamp arm 17 is in the clamp position C1 with the urging force of the spring member 24, and the clamp state is held by itself. On the other hand, as shown in FIG. 4B, the clamp arm 17 is unclamped by pressing the operation pin 19 against the urging force of the spring member 24 in order to push the operation pin 19 into the body 11. Particularly in the clamped state, the outer panel Pa and the inner Pb described above are clamped with the tip 17a and the seating flange 13 of the clamp arm 17 as shown in FIG. Is supposed to be clamped as

  On the other hand, as shown in FIG. 4, a locating hole R to be inserted into the locating pin 14 is formed in the other panel to be positioned by the locating pin 14, that is, the outer panel Pa and the inner panel Pb. As a result, the outer panel Pa is seated on the seating flange 13 on the locating pin 14 side simultaneously with the mutual fitting of the locating pin 14 and the locating hole R, so that the locating pin 14 is positioned in the axial direction at the same time. .

  Here, the mechanical clamp mechanism 1 is based on the structure of a known locating device described in, for example, Japanese Patent Laid-Open No. 4-283034 or Japanese Patent Laid-Open No. 2001-162469, and is itself portable and easy to handle. It has been improved to make it easy and very small. In particular, the one described in JP-A-4-283034 has a so-called self-clamping function using a compression coil spring as a clamping force generation source. Therefore, the mechanical clamping mechanism 1 has minimized the structure described in the publication. Can be understood.

  FIG. 5 is an enlarged schematic perspective view of the actuator-driven gripper 52 provided to the robot 5 shown in FIG. 3, and FIGS. 6 and 7 show details thereof. This gripper 52 is connected in series with a large diameter and long stroke gripper cylinder 27 and a small diameter and small stroke unclamp cylinder 28 in series with each other as a pair of gripper blocks 26 as opposed gripper main body portions. It is comprised by doing. Here, air cylinders are employed as the gripper cylinder 27 and the unclamp cylinder 28. At the same time, the unclamp cylinder 28 functions as an unclamp operation means as will be described later.

  The pair of gripper blocks 26 are opposed to each other with a predetermined gap therebetween, thereby forming a gripper arm accommodating space 30 together with the receiving hole 29 that meshes with the mechanical clamp mechanism 1 described above. As shown in FIGS. 8 and 9 in addition to FIGS. 6 and 7, the gripper arm accommodating space 30 has a pair of plate-like gripper arms 31 that are opposed to each other and that can be opened and closed, and both gripper arms 31. A bar-shaped intermediate lever 32 to be shared is accommodated, and each gripper arm 31 is connected to the intermediate lever 32 so as to be swingable by a hinge pin 33. In addition, as shown in FIG. 7, a seating surface 34 for seating on the flange portion 12a (see FIG. 4) of the sleeve 12 on the mechanical clamp mechanism 1 side is formed in the inner portion of the receiving hole 29.

  Each gripper arm 31 is formed with a substantially U-shaped groove cam 35, and this groove cam 35 is engaged with a guide pin 36 spanned between both gripper blocks 26, 26. Therefore, the pair of gripper arms 31 and 31 are opened and closed due to the relative displacement between the groove cam 35 and the guide pin 36 by sliding and displacing the intermediate lever 32 together with a piston rod 39 which will be described later. As shown in FIG. 10, the mechanical clamp mechanism 1 is gripped by the closing operation, while the mechanical clamp mechanism 1 is released by the opening operation as shown in FIG.

  As shown in FIG. 9 in addition to FIG. 7, the gripper cylinder 27 includes a piston 38 disposed in the cylinder tube 37, a hollow piston rod 39 integral with the piston 38, and two inflow / outflow ports 40 and 41. The intermediate lever 32 described above is connected to the tip of the piston rod 39. As a result, the pair of gripper arms 31, 31 performs the gripping operation of the mechanical clamp mechanism 1 or the releasing operation thereof according to the expansion / contraction operation of the gripper cylinder 27.

  On the other hand, the unclamping cylinder 28 is arranged concentrically with the gripper cylinder 27, and includes a piston 43 arranged in the cylinder tube 42, a piston rod 44 integrated therewith, and two inflow / outflow ports 45, 46. The piston rod 44 is slidably inserted into the hollow piston rod 39 on the gripper cylinder 27 side described above. Then, as shown in FIG. 11, when the unclamp cylinder 28 is extended with the pair of gripper arms 31, 31 holding the mechanical clamp mechanism 1, the operation pin 19 of the mechanical clamp mechanism 1 is pressed. Is possible.

  In FIG. 8, 47 and 48 are solenoid valves for switching the air inflow / outflow ports of the cylinders 27 and 28, respectively.

  Next, on the premise of the structure of the mechanical clamp mechanism 1 and the gripper 52 as described above, the work procedure in the welding assembly step S of FIG. 2 will be described with reference to FIGS.

  As shown in FIG. 12A in addition to FIGS. 1 and 2, the worker M takes out the outer panel Pa and the inner panel Pb from the pallet 50 as a set, places it on the panel table 51, and prepares it at hand beforehand. A certain mechanical clamp mechanism 1 is used to temporarily fix both panels Pa and Pb in the form of FIG. 1 and FIG. The temporary fixing work by the worker M on the panel mounting table 51 is a work in a so-called temporary assembly process.

  As will be described later, since the mechanical clamp mechanism 1 recovered from the panel parts W welded by the spot welding apparatus 6 is accommodated in the mechanical clamp recovery box 8, the worker M has previously stored a mechanical system for a plurality of lots. The clamp mechanism 1 is taken out from the mechanical clamp collection box 8 and prepared at hand. At the same time, a portable detachable tool having a function equivalent to that of the gripper 52 described above is prepared in advance near the panel mount 51, and the panels Pa and Pb by the mechanical clamp mechanism 1 are used by using this detachable tool. It is desirable to perform temporary fixing, that is, to perform the unclamping operation and the clamping operation of the mechanical clamp mechanism 1 as shown in FIG.

  On the other hand, the hand 4 with the gripper 52 facing upward as shown in FIG. 12B is waiting in advance at the transfer position 10a adjacent to the work space 10 of the worker M. The temporarily fixed panel component Wa temporarily assembled on 51 is transferred to the hand 4 and positioned. That is, at this time, the gripper 52 on the hand 4 side is in a released state, and the temporary clamping panel part Wa for the hand 4 is received by receiving the respective mechanical clamp mechanism 1 attached to the temporary fixing panel part Wa in the corresponding gripper 52. The primary positioning is performed.

  After the positioning of the temporary fixing panel component Wa with respect to the hand 4 is completed, when the operator M presses the push button switch 53 (see FIG. 2) provided near the panel table 51, the robot 5 is activated and starts autonomous operation. To do. After the robot 5 starts the autonomous operation, the worker M takes out the outer panel Pa and the inner panel Pb as a set from the pallet 50 and prepares a mechanical clamping mechanism on the panel table 51 in preparation for the next cycle. 1 is used to temporarily fix both panels Pa and Pb in the same manner as described above to temporarily assemble a so-called temporary fixing panel component Wa.

  When the robot 5 is activated as described above, the gripper 52 of the hand 4 first grips, so that the hand 4 uses the respective mechanical clamp mechanisms 1 as gripped portions as shown in FIG. The temporary fixing panel part Wa is gripped by. This gripping operation is a work in a so-called gripping process. Furthermore, the robot 5 starts to move according to the trajectory data that has been taught in advance, and first, the hand 4 holding the temporary fixing panel component Wa is turned upside down as shown in FIG. 13 in addition to FIG. The temporary fixing panel component Wa is conveyed to the spot welding device 6 side. When the relative positioning between the spot welding device 6 and the temporary fixing panel component Wa held by the hand 4 is completed by the robot 5, the spot welding device 6 performs spot welding in the vicinity of the temporary fixing position by the mechanical clamp mechanism 1. The relative positioning and spot welding as described above are repeated as many times as the number of mechanical clamp mechanisms 1 attached to the temporary fixing panel component Wa. The spot welding here is a work in a so-called welding process.

  When the above spot welding is performed by the number of the mechanical clamp mechanisms 1 attached to the temporary fixing panel component Wa, the outer and inner panels Pa and Pb are inseparably integrated with each other. The panel component Wa is converted into a panel component W as a product, and at the same time, the mechanical clamp mechanism 1 attached to the panel component W loses its function.

  Therefore, the robot 5 transports the welded panel part W to the carriage 7 in FIG. 2 and then holds the mechanical clamp mechanism 1 while holding the mechanical clamp mechanism 1 with the hand 4 as shown in FIG. An unclamping operation is performed as shown in FIG. Thereby, the panel component W is released from the temporarily fixed state by the mechanical clamp mechanism 1 so far, and the panel component W is left in the cart 7 as it is. This operation is a so-called part release process.

  When the welded panel part W is released to the carriage 7 and transferred, the robot 5 moves the hand 4 directly above the mechanical clamp collection box 8 of FIG. 2, and as shown in FIG. Each gripper 52 is released to release the gripping state of the mechanical clamp mechanism 1 by the gripper 52 so far. This work is the work in the jig releasing process. Accordingly, each mechanical clamp mechanism 1 is recovered by dropping its own weight into the mechanical clamp recovery box 8. The mechanical clamp mechanism 1 recovered in the mechanical clamp recovery box 8 is repeatedly used.

  With the above, the hand 4 of the robot 5 is completely empty as shown in FIG. 15, so that the first delivery position 10a in FIG. 2 is returned while returning the hand 4 to the initial posture (state of FIG. 12B). Stop after moving to. Thus, one cycle for welding the panel part W is completed.

  In FIG. 2, the thin solid arrow indicates the movement of the worker M, the thick solid arrow indicates the movement of the robot 5, and the white arrow indicates the movement of the temporarily fixed panel part Wa or the panel part W after welding. Show.

  The spot welding operation by the series of spot welding devices 6 as described above, the release operation of the panel part W by the temporary fixing release (unclamping operation) of the mechanical clamp mechanism 1, and the release of the mechanical clamp mechanism 1 by the gripper 52 on the hand 4 side. During the operation, the hand temporarily returned to the delivery position 10a because the worker M has temporarily assembled the next temporarily assembled panel part Wa on the panel stand 51 side as described above. 4, the operator M moves to the next cycle by positioning the next temporary fixing panel part Wa, and thereafter the cycle is repeated. If the specifications of the panel component W to be welded are different, the robot 5 changes the hand 4 to / from the hand placing base 9 as necessary.

  As described above, according to the present embodiment, while the welding assembly process in which the worker M and the robot 5 coexist, the worker M performs temporary assembly and provision of the temporary fixing panel component Wa, The robot 5 not only supplies and removes the temporary fixing panel component Wa from the delivery position 10a to the spot welding device 6, but also carries out and inputs the panel component W after welding to the carriage 7 subsequently. For example, compared with the case where the panel part W after welding is carried out prior to the supply of the temporary fixing panel part Wa before welding at the delivery position 10a, it is possible to ensure a longer robot operable time in the cycle time. Thus, efficient production can be performed by making the best use of the capabilities of the robot 5. In particular, even if the number of sets of panels that constitute the panel component W increases, the time required for the setting work does not affect the cycle time, so that more efficient production can be performed.

  Further, since the welding assembly process S in FIG. 2 is configured with minimum equipment, if the robot 5, the spot welding apparatus 6 and the like are installed in advance so as to be movable, for example, the welding assembly process due to fluctuations in the number of production, etc. It is easy to relocate the whole.

Cross-sectional explanatory drawing which shows the relationship between the temporary fix panel components and the locate clamp mechanism which is a temporary fix clamp jig | tool as concrete embodiment of this invention. The schematic plane explanatory view of the welding assembly process to which the present invention is applied. Explanatory drawing which shows the state in which the temporary fix | stop panel components shown in FIG. 1 were hold | gripped by the robot hand using the locate / clamp mechanism as a holding part. It is a figure which shows the detail of the locate clamp mechanism shown in FIG.1, 3, (A) is sectional drawing which shows the clamping state, (B) is sectional drawing which shows the unclamping state. The perspective view which shows schematic structure of the gripper of FIG. 5A is a front view of the gripper shown in FIG. 5, FIG. 5B is a right side view of FIG. 5A, and FIG. 5C is a bottom view of FIG. Cross-sectional explanatory drawing which follows the AA line of (C) of FIG. FIG. 6 is an operation explanatory view of the gripper shown in FIG. 5. FIG. 6 is an enlarged explanatory view showing the operation of the gripper shown in FIG. 5. FIG. 6 is an enlarged explanatory view showing the operation of the gripper shown in FIG. 5. FIG. 6 is an enlarged explanatory view showing the operation of the gripper shown in FIG. 5. Process explanatory drawing which shows the process until (A)-(C) hold | maintains temporarily fixed panel components with the robot hand of FIG. Explanatory drawing which shows the relative positional relationship of the temporary fix panel components hold | gripped by the robot hand and the spot welding apparatus of FIG. FIGS. 13A and 13B are process explanatory views showing the panel component release operation from the locate / clamp mechanism of FIG. 12 and the subsequent release operation of the locate / clamp mechanism from the gripper. Explanatory drawing which shows the state of the gripper by the side of the robot hand used as the empty state.

Explanation of symbols

1 ... Locate clamp mechanism (mechanical clamp mechanism) as a temporary clamp
DESCRIPTION OF SYMBOLS 2 ... Arm 4 ... Robot hand 5 ... Handling robot 6 ... Spot welding apparatus as welding means 7 ... Panel component carrying cart 8 ... Mechanical clamp collection box 10a ... Delivery position 50 ... Pallet 51 ... Panel stand 52 ... Gripper M ... Worker Pa ... Outer panel as a panel element Pb ... Inner panel as a panel element W ... Panel parts Wa ... Temporary fixing panel parts

Claims (5)

A method of assembling a panel component by welding and joining a plurality of panel elements,
Temporary assembly process to temporarily fix the panel elements to each other by temporarily fixing the panel elements with a temporary fixing clamp jig in order to perform relative positioning between the panel elements;
A gripping process of gripping a temporary fastening panel part with a handling robot using the temporary fastening clamp jig as a gripped portion;
A welding process in which welding is performed after performing relative positioning between the welding means and the temporary fixing panel component with the autonomous operation of the handling robot,
A part release process for releasing the panel parts from the temporarily fixed state by the temporary clamp jig with the autonomous operation of the handling robot after welding,
A jig releasing step for releasing the temporary clamping clamp jig from the gripping state by the robot itself with the autonomous operation of the handling robot following the release of the panel parts,
Including
In parallel with the work progress from the welding process of the preceding panel part to the jig releasing process, the temporary assembly process work of the temporary fixing panel part to be the next panel part is set to be executed in another stage. A method for assembling the parts. 2. The component according to claim 1, wherein each of the gripping step, the welding step, the component releasing step, and the jig releasing step is set so as to be performed in separate zones. Assembly method. It is set to temporarily fix a plurality of panel elements with a plurality of temporary fixing clamp jigs, and the handling robot grips the temporary fixing panel parts using the plurality of temporary fixing clamp jigs as gripped portions. The component assembling method according to claim 1, wherein the method is as follows. In the method in any one of Claims 1-3, It is the handling robot which conveys those panel elements in the state which temporarily fixed several panel elements,
Detachment function for holding and releasing the temporary clamping clamp jig in order to hold the panel element with the temporary clamping clamp jig for temporarily fixing the panel elements as a gripped portion;
A panel element release function for unclamping the temporary clamp clamp jig to release at least the panel element temporarily clamped by the gripped temporary clamp jig itself.
Handling robot, characterized in that it comprises a. The robot hand is capable of gripping and releasing a plurality of temporary fixing clamp jigs for temporarily fixing a plurality of panel elements,
The handling robot according to claim 4, wherein the handling robot itself can arbitrarily change the posture and position of the panel element gripped with the temporarily clamped jig as a gripped portion .

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