JPH03208583A - Measurement of accuracy for car body part positioning device - Google Patents

Abstract

PURPOSE:To facilitate the carry in and out of a reference gage structure for a car body assembly place, without the need for making a simple gage member in a larger one so much as well, by using the simple gage member fitted to the wrist of a reference positioning robot with its moving based on the action of the robot thereof. CONSTITUTION:The action position accuracy of a reference positioning robot 2 is found by measuring by a measuring instrument the gap between a reference gage structure 8 and a simplified gage member 7 arranged at the specific measuring position based on the action of this reference positioning robot 2. Then, the gap between the simplified gage member moved in order so as to approach to the respective remaining positioning robots 3 based on the action of the reference positioning robot 2 and the remaining car body part positioning member respectively arranged at the specific measuring position based on the action of those remaining positioning robots is respectively measured by a measuring instrument. The respective action position accuracy of the remaining positioning robots is found from those measurement results and the action positional accuracy of the reference positioning robot.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention is based on the operation of a plurality of positioning robots that are attached to the wrists of a plurality of positioning robots arranged surrounding an automobile body assembly area. The operating position accuracy of each positioning robot of a car body parts positioning device that positions a plurality of car body parts at a predetermined position on an automobile body structure by means of a plurality of car body part positioning members arranged at predetermined positioning positions by moving each one. The present invention relates to a measurement method commonly used when measuring .

(Prior Art) As the above-mentioned vehicle body parts positioning device, for example, the present applicant previously proposed in Japanese Patent Application No. 63-153648,
There is one shown in Figure 2.

This device is installed on a vehicle body assembly stage of an automobile body assembly line, and is installed on each of the upper, side, and lower portions of a frame 1 that is erected on the stage and can surround the automobile body assembly area. A plurality of positioning robots, which are Cartesian coordinate robots with degrees of freedom in at least three orthogonal wheel directions, are installed in correspondence with the car body parts that control each part of the car body to be assembled. (Only three robots are shown, including two robots 3 on the side of the frame), and on the wrists of each of these positioning robots, there is a locating bin 4 for positioning the car body parts, such as a locating bin 4 for positioning the roof rail on the robot 2, and a locating bin 4 on the body side for the robot 3. A gauge member 5 for positioning is attached.

In such a vehicle body parts positioning device, a plurality of parts are transported to a parts loading stage before the vehicle body assembly stage of the vehicle body assembly line, are respectively arranged at positions on the general structure of the vehicle body, and are temporarily tied to each other. When a vehicle body part is carried into the frame 1 of the device by a shuttleper or the like, each vehicle body part positioning member including the locate pin 4 and the gauge member 5 is moved to prevent interference based on the operation of each positioning robot including the robot 2.3. was moved from the standby position to avoid
The vehicle body parts are placed at predetermined positioning positions to respectively position the vehicle body parts at predetermined positions on the automobile body structure. In this positioning state, a plurality of welding robots (not shown) installed on the frame 1, similar to the positioning robot described above, weld the vehicle body parts together by operating welding guns attached to their wrists. They are joined together to assemble a car body, and the assembled car body is transported by a shuttle bar or the like to a spot welding stage after the car body assembly stage of the car body assembly line.

By the way, when measuring the operating position accuracy of each positioning robot of the above-mentioned vehicle body parts positioning device, and ultimately the positioning accuracy of each vehicle body parts positioning member, conventionally, as shown in FIG. Arms 6a are located close to vehicle body component positioning members that are respectively placed at predetermined positions based on the operation of each positioning robot.
Correlation gauges 6, which have a set of arms 6a and which have previously measured the positions of these arms 6a, are brought in and installed.

Then, the distance between each arm 6a of the correlation gauge 6 and a vehicle body component positioning member, such as the locate pin 4 or the gauge member 5, is measured using a measuring instrument such as an outer or inner micrometer, and the measured values are , the operating position accuracy of each positioning robot was determined from the position at which each positioning robot should operate.

(Problem to be solved by the invention!) However, in such a conventional method, since the arm 6a of the correlation gauge 6 is located close to each of the vehicle body parts positioning members, the correlation gauge 6 as a whole is It is extremely large, close to the body of an automobile, and therefore it is extremely difficult to carry the correlation gauge 6 into and out of the frame 1 and to install the correlation gauge 6 at a predetermined position within the frame 1, requiring a large amount of man-hours to measure accuracy. There was an inconvenience that it required

The present invention provides a measurement method that advantageously solves this problem.

(Means for Solving the Problems) A method for measuring accuracy in positioning and remounting of vehicle body parts according to the present invention includes a method for measuring accuracy in positioning and remounting of vehicle body parts by attaching the robots to the wrists of a plurality of positioning robots arranged so as to surround an assembly area of a vehicle body. Vehicle body positioning in which a plurality of vehicle body parts are each positioned at a predetermined position on the automobile body structure by a plurality of vehicle body component positioning members that are moved and rearranged to predetermined positioning positions based on the operation of these robots. When measuring the operating position accuracy of each positioning robot of the device, first, one of the plurality of positioning robots that is movable over a wide range of the assembly location is set as a reference positioning robot, and then, A reference gauge structure is disposed at a predetermined position of the assembly location within the movable range of the reference positioning robot, and at the wrist of the reference positioning robot,
A simple gauge member is attached to compensate for the lack of stroke of the robot and to secure a measurement surface, and then the distance between the reference gauge structure and the simple gauge member placed at a predetermined measurement position based on the operation of the reference positioning roboto is determined. The simple gauge member is measured with a measuring device to determine the operating position accuracy of the reference positioning robot, and is then sequentially moved to approach each of the remaining positioning robots based on the operation of the reference positioning robot, and the remaining positioning robots. Based on the operation of the robot, the distance between the remaining vehicle body component positioning members placed at the predetermined measurement positions is measured using a measuring instrument, and the remaining positioning is determined based on the measurement results and the operating position accuracy of the reference positioning robot/device. This method is characterized by determining the operating position accuracy of each robot.

In addition, another simple gauge member similar to the above-mentioned simple gauge member is further attached to the wrist of at least one of the remaining positioning robots to measure the operating position accuracy of each of the remaining positioning robots. The distance between the remaining simple gauge member of the positioning robot and the simple gauge member attached to the wrist of the reference positioning robot may be measured using a measuring device.

(Function) According to this method, first, the dimensions of each part are measured in advance by attaching it to the wrist of a reference positioning robot, which is a positioning robot with a large movable range, and placing it at a predetermined position based on the operation of the reference positioning robot. Measure the distance between the simple gauge member and the reference gauge structure, which is placed at a predetermined position within the movable range of the toad positioning robot, and whose dimensions have been previously measured, and determine its reference position. After determining the operating position accuracy of the robot, we use a simple gauge member that is moved based on the operation of the reference positioning robot to compensate for the lack of stroke of the robot, secure the measurement surface, and measure the operating position accuracy of the reference positioning robot. Since the operating position accuracy of the positioning robot that remains as a reference is determined sequentially, the reference gauge structure installed at a predetermined position in the vehicle body assembly area can be made much smaller than the conventional correlation gauge. Since the simple gauge member attached to the wrist is moved and used based on the robot's operation, the simple gauge member does not need to be very large. It is possible to easily install the reference gauge structure in a predetermined position, attach and detach the simple gauge member to the wrist of the robot, and as a result, the number of man-hours required for accuracy measurement can be significantly reduced.

If necessary, a simple gauge member may be attached to the wrist of a positioning robot other than the reference positioning robot, and if other simple gauge members are also used in this way, it can be attached to the reference positioning robot. The simple gauge member can be further downsized, and a measurement surface can be secured, making the measurement work even easier.

(Example) Hereinafter, an example of the present invention will be described in detail based on the drawings.

FIG. 1 is a front view showing a vehicle body parts positioning device using an embodiment of the accuracy measuring method of the present invention, and the vehicle body parts positioning device here has the same configuration as that shown in FIG. Therefore, parts similar to those shown in FIG. 2 are designated by the same reference numerals.

That is, this device is also installed on a vehicle body assembly stage of an automobile body assembly line, and the upper, side, and lower portions of the frame 1, which is erected on that stage and can surround the automobile body assembly area, are installed on the vehicle body assembly stage. The figure shows only three positioning robots, robots 2 on the top of the frame and two robots 3 on the sides of the frame. A plurality of positioning robots are arranged corresponding to the vehicle body parts that make up each part of the robot, and at the wrist of each of these positioning robots, for example, a locating pin 4 for positioning the roof rail in robot 2, and a gauge member for positioning the body side in robot 3. A vehicle body parts positioning member such as No. 5 is attached, and the vehicle body is assembled using the apparatus shown in FIG.

In this embodiment, when measuring the operating positional accuracy of each positioning robot of this vehicle body parts positioning device, and furthermore the positioning accuracy of each vehicle body parts positioning member, the robot 2 moves in the longitudinal direction of the frame 1 (in the longitudinal direction of the vehicle body Since the movement stroke in the direction perpendicular to the paper (in the figure) is large and the movable range is wide, that robot 2 is set as the reference positioning robot, and as shown in Figure 1, the robot 2 is In this example, the dimensions of each part have been measured in advance in order to compensate for the lack of stroke of robot 2 and to secure a measurement surface when measuring the operating position accuracy of other positioning robots, which will be described later. Arms 8a each have a simple gauge member 7 detachably attached thereto, and can be positioned close to each simple gauge member 7 placed at a predetermined measurement position based on the operation of the robot 2.
A column-shaped reference gauge structure 8, which has a cylindrical body and has roughly measured the positions of the arms 8a, is carried into a predetermined position in the center of the frame 1 within the movable range of the robot 2, and is detachably attached. Install.

Furthermore, here, in order to compensate for the insufficient stroke of the robot 2 and to secure a measuring surface, a block-shaped simple gauge member 9, whose dimensions have been measured in advance, is attached to the wrist portion of the robot 3 that is not shown in the circle. 5, and if necessary, a simple gauge member of an appropriate shape can be detachably attached to other positioning robots as well.

First, the simple gauge members 7 are placed at predetermined measurement positions based on the operation of the robot 2, and the arms 8a of the reference gauge structure 8 are placed close to them.
The distances in the x, y, and z axes, which are orthogonal coordinate axes of the coordinate system of this vehicle body assembly stage, are measured using ordinary outside or inside micrometers, and the measured values and the distance given to the robot 2 are calculated. From the position where the simple gauge member 7 should be positioned by the operation of the roboto 2, the error between the original distance and the actual positioning accuracy of the robot 2, which is the reference positioning robot, is calculated.

The above measurement position of the simple gauge member 7 and the dimensions of the arm 8a of the reference gauge structure 8 are such that each measurement interval is 100 m.
Therefore, the distance between them can be measured to the nearest 2/100 square meters using a micrometer.

Next, here, for example, simple gauge members 9 placed at predetermined measurement positions I based on the operation of the robot 3,
The distance in the LLZ axis direction, which is the orthogonal coordinate axis of the coordinate system of the vehicle body assembly stage, between the simple gauge members 7 placed at predetermined measurement positions close to the simple gauge members 9 based on the operation of the robot 2, Measured using a conventional external or internal micrometer, respectively.
In this way, for the remaining positioning robots, the vehicle body parts positioning member or simple gauge member 9 attached to the wrist of the robot 2 and the vehicle body parts positioning member or simple gauge member attached to the robot 2 based on the operation of the robot 2 are sequentially moved. The distance between the simple gauge member 7 and the simple gauge member 7 placed at a predetermined measurement position near the robot 9 in the X+Y+Z axis direction is measured by a measuring device, and the measured values and the simple gauge member 7 are given to the robot 2 and other positioning robots. 7,
The operating position accuracy of the remaining positioning robot is calculated in the same way from the position where the body parts positioning member 9 and the vehicle body parts positioning member should be located and the previously determined operating position accuracy of the robot 2.

Therefore, according to the measurement method of this embodiment, the reference gauge structure 8 disposed at a predetermined position in the vehicle body assembly area can be made much smaller than the conventional correlation gauge 6, and the reference positioning robot 2 can be Since the simple gauge member 7 attached to the wrist is moved and used based on the operation of the robot 2, the simple gauge member 7 does not need to be very large, and therefore the reference gauge structure 8 can be easily adjusted to the vehicle body assembly location. Carrying in and out, installing the reference gauge structure 8 at a predetermined position, attaching and detaching the simple gauge member 7 to the wrist of the robot 2, etc. can be easily carried out, and the number of man-hours required for accuracy measurement can be significantly reduced. can.

In this embodiment, other simple gauge members such as the simple gauge member 8 are attached to the wrist of a positioning robot other than the reference positioning robot 2, such as the robot 3, as required. Since they are used together, the simple gauge member 7 mounted on the reference positioning robot 2 can be further downsized, and a measurement surface can be secured, making the measurement work even easier.

After the above measurement work is completed, the reference gauge structure 8, the simple gauge members 7 and 9, and other simple gauge members are removed and carried out of the frame 1 so as not to interfere with normal vehicle body assembly work.

Although the above description has been made based on the illustrated example, the present invention is not limited to the above-mentioned example. For example, if the reference positioning robot is movable over a wide range of the vehicle body assembly area, the reference positioning robot may be used to position other robots other than the robot 2 It can be a robot, and
The shapes of the reference gauge structure and each simple gauge member can be changed as necessary.

If a measuring surface can be secured due to the shape of the vehicle body parts positioning member, and if it is sufficiently close to the simple gauge member of the reference positioning robot, the other simple gauge members mentioned above are unnecessary and can be omitted. It's okay.

(Effects of the Invention) Thus, according to the accuracy measuring method of the present invention, the reference gauge structure disposed at a predetermined position in the vehicle body assembly area can be made much smaller than the conventional correlation gauge, and the reference positioning robot Since the simple gauge member attached to the wrist of the robot is moved based on the operation of the robot, the simple gauge member does not need to be very large. The reference gauge structure can be easily installed at a predetermined position, the simple gauge member can be easily attached to and detached from the wrist of the robot, and the number of man-hours required for accuracy measurement can be significantly reduced.

By attaching other simple gauge members to the wrists of positioning robots other than the reference positioning robot as required, and using those simple gauge members together, the simple gauge member attached to the reference positioning robot can be made even smaller. In addition, the measurement surface can be secured and the measurement work can be made easier.

[Brief explanation of drawings]

Fig. 1 is a front view showing a car body parts positioning device to which an embodiment of the accuracy measuring method of the present invention is applied, and Fig. 2 is a front view showing a car body parts positioning device to which an embodiment of the conventional accuracy measuring method is applied. It is. 1...Frame 2...Reference positioning robot 3...Other positioning robots 4...Gate pin 5...Gauge member 7...
・Simple gauge member 8...Reference gauge structure 9...
Other simple gauge members Figure 1

Claims (1)

[Scope of Claims] 1. Placed at a predetermined position by being attached to the wrists of a plurality of positioning robots arranged to surround the assembly area of the automobile body and moving each one based on the operation of those robots. When measuring the operating position accuracy of each positioning robot of a car body parts positioning device that positions a plurality of car body parts at predetermined locations on the car body structure using a plurality of car body part positioning members, first, One of the positioning robots movable over a wide range of the assembly place is set as a reference positioning robot, and then a reference gauge structure is placed at a predetermined position of the assembly place within the movable range of the reference positioning robot. At the same time, a simple gauge member is attached to the wrist of the reference positioning robot to compensate for the lack of stroke of the robot and to secure a measurement surface. The distance between the simple gauge member placed at a predetermined measurement position is measured with a measuring device to determine the operating position accuracy of the reference positioning robot, and then the robot approaches each of the remaining positioning robots based on the operation of the reference positioning robot. The distance between the simple gauge members that have been sequentially moved and the remaining vehicle body component positioning members that have been placed at predetermined measurement positions based on the operation of the remaining positioning robots is measured using a measuring device, and these measurement results are used to determine the reference position. A method for measuring accuracy of a vehicle body part positioning device, characterized in that the operating position accuracy of each of the remaining positioning robots is determined from the operating position accuracy of the robot. 2. Attach another simple gauge member to the wrist of at least one of the remaining positioning robots to compensate for the lack of stroke of the robot and to secure a measurement surface, and adjust the operation of each of the remaining positioning robots. 2. The method according to claim 1, wherein when measuring positional accuracy, a distance between another simple gauge member of the remaining positioning robot and the simple gauge member attached to the wrist of the reference positioning robot is measured using a measuring device. Accuracy measurement method for vehicle body parts positioning device.