JPH0724997B2 - Parts assembly device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a parts assembling apparatus that can be used when assembling parts on the lower surface of a work.

(Prior Art) An example of such a conventional component assembling apparatus is shown in FIG.

This device is for assembling a fuel tank and other parts on the lower surface of a vehicle body as a work. In the figure, 1 is a vehicle body, 2 is a part to be assembled, and 3 is a parts assembling device.

The vehicle body 1 here has a trolley type conveyor 4
The parts assembling device 3 is suspended via the hanger 5 and is conveyed away from the floor surface 6, and the component assembling device 3 can engage the hanger 5 with the engaging arm 8 that is raised by the operation of the actuator 7. Under the vehicle body 1, the vehicle runs on the floor surface 6 following it.

The parts assembling device 3 is also a pantograph type lifting device 9
A table 10 is supported on the lifting device 9 so as to be horizontally movable. Then, on the table 10, the parts table 12 that is moved up and down by the operation of the actuator 11 is moved.
Is provided, and the parts table 12 is moved up and down by an actuator (not shown). A nut runner 13 as a component assembling tool can be engaged with a predetermined hole 1a of the vehicle body 1,
And a locating pin 14 having a conical tip.

In the component assembling apparatus 3, the component 2 is assembled to the lower surface of the vehicle body 1 as described below.

Here, first, the component assembly apparatus 3 is placed in the standby state in which the engaging arm 8 and the component base 12 are lowered, and the component 2 is placed on the component base 12.

When the vehicle body 1 is conveyed above the device 3, the engaging arm 8 is raised to engage the hanger 5,
As a result, the component assembling device is made to follow the vehicle body 1.

During such follow-up running, here, the lifting device 9 is actuated to raise the table 2 and thus the parts table 12 until the tip of the component 2 and the positioning pin 14 approach the lower surface of the vehicle body 1, and then the operator While manually watching the tip of the positioning pin 14 and the hole 1a of the vehicle body 1, the part 15 is manually mounted on the parts table.
The table 10 is appropriately horizontally moved via 12 to roughly position the parts table 12 so that the positioning pins 14 and the holes 1a are substantially aligned in the vertical direction, and after this positioning, the parts table 12 is further moved by the actuator 11. Raise and position pin
Insert 14 into hole 1a. By inserting the positioning pin 14 into the hole 1a, the component base 12, and thus the component 2 placed thereon, is positioned at a predetermined position with respect to the lower surface of the vehicle body 1.

After that, the nut runner 13 is actuated and the predetermined bolt is tightened into the vehicle body 1 to fix the component 2 to the lower surface of the vehicle body 1, and thereafter, the engaging arm 8 and the component base 12 are lowered, and The assembling device 3 is returned to the follow-up start position to be in the initial standby state.

By such a series of operations, the assembly of the component 2 at a predetermined position on the lower surface of the vehicle body 1 is achieved.

(Problems to be Solved by the Invention) However, in the above-described conventional component assembling apparatus, since it is necessary for an operator to position the component base 12, the cost for assembling the components increases. However, there is a problem that it is not preferable in terms of worker safety measures, and in order to solve the problem, if the parts base 12 is fixed to the table 10 in order to eliminate the positioning work of the parts base 12 by the worker, the predetermined body 1 For positioning the part 2 in position,
There is another problem that the transportation device 4 and the vehicle body 1 relative to the transportation device 4 need to be positioned with high accuracy, resulting in an extremely large equipment cost.

Then, between the table 10 and the parts table 12, a normal plane moving mechanism is provided, and the table 10 is horizontally moved by the plane moving mechanism so that the parts table 12 is automatically positioned. The plane moving mechanism has a structure in which the linear moving mechanisms are stacked in two stages and arranged at right angles to each other, so the thickness is large.Therefore, when assembling a relatively high component such as an engine, the lifting stroke is sufficient. There is also a problem that it is necessary to dig down the floor surface below the conveyor 4 and install a pit for running the component assembling device in order to ensure the interference and prevent the interference with the vehicle body 1.

The present invention provides a device that advantageously solves this problem.

(Means for Solving Problems) A component mounting apparatus according to the present invention includes a component base for holding components to be assembled on a lower surface of a vehicle body at a predetermined portion, and a movable table arranged below the component base. A component table supporting means that is provided on the movable table and that supports the component table substantially horizontally by a concave curved surface and a ball that abut against each other and that returns the component table in a free state to a predetermined original position. A base plate disposed below the movable table, table support means provided on the base plate for horizontally moving the movable table, and an image of the lower surface of the vehicle body provided on the movable table and imaged. A relative position detection camera for detecting the relative position of the movable table with respect to the vehicle body, and a horizontal position between the movable table and the base plate. A plurality of drive units that are swingably supported by each of the movable table and the base plate and that extend and contract the distance between the support positions, and the drive units are configured based on a signal from the relative position detection camera. By operating the movable table to move in a horizontal plane, a thin table positioning means for positioning the movable table at a predetermined relative position with respect to a predetermined position on the lower surface of the vehicle body, and the base plate below the vehicle body. And a base plate elevating means for elevating and lowering the parts table, and the parts table is erected on the parts table, and the parts table is gradually and tightly engaged with a predetermined engagement part of the lower surface of the vehicle body as the parts plate is elevated by the elevation of the base plate. A positioning member for highly accurately positioning at a predetermined relative position, and the position provided on the parts table. And parts assembling unit assembling the component parts board is held in its lower parts board positioning state by fit member on the lower surface of the vehicle body, comprising comprises a.

(Operation) In such an apparatus, when the vehicle body is loaded above the apparatus and roughly positioned, the relative position detection camera provided on the movable table can image the lower surface of the vehicle body. The relative position of the movable table with respect to the vehicle body is detected, a signal is output to the table positioning means, and based on the signal, the table positioning means operates the plurality of drive units as appropriate so that the table supporting means can move horizontally. The supporting movable table is positioned at a predetermined relative position with respect to a predetermined position on the lower surface of the vehicle body, and thereafter, or in parallel with the above-mentioned relative positioning operation, the base plate elevating means moves the base plate and thus the movable table thereon. The table and the parts stand that holds the parts to be assembled on the lower surface of the vehicle body at predetermined positions are raised to move the movable table. At the end of the relative positioning to reach the part to a predetermined height closer to the lower surface of the vehicle body.

Then, here, the base plate elevating means is erected on the parts table located at a predetermined original position under the action of the parts table supporting means by further raising the movable table and the parts table on the base plate. Insert the tip of the positioning member into the predetermined engagement area on the bottom of the vehicle,
While finely adjusting the relative position of the positioning member to the vehicle body lower surface of the component table supported by the component table supporting means so as to be horizontally movable, the positioning member is gradually and tightly engaged with a predetermined engaging portion of the vehicle body lower surface, whereby the component table is moved. High-precision positioning is performed at a predetermined relative position with respect to a predetermined position on the lower surface of the vehicle body, and thereafter, component mounting means provided on the component table assembles the component held by the component table to the lower surface of the vehicle body. .

Therefore, according to this device, the movable table is first moved by the relative position detection camera and the table positioning means with respect to the lower surface of the vehicle body which is arranged above the device by rough positioning, and the parts on the parts table are predetermined. To the position of
Next, since the parts on the parts stand are positioned with high precision by the positioning members that engage with the predetermined engagement parts on the lower surface of the vehicle body, the automatic operation can be automatically performed at the predetermined positions on the lower surface of the vehicle body without the manual work of the operator. It is possible to assemble parts accurately and accurately, which leads to a reduction in parts assembly cost and equipment cost, and also to ensure the safety of the operator.

Moreover, according to this device, since the table positioning means moves the movable table by the plurality of drive units laterally placed between the movable table and the base plate,
The table positioning means between the movable table and the base plate can be made extremely thin as compared with the normal positioning mechanism in which the uniaxial moving mechanism is orthogonally stacked and stacked vertically, and by extension, in the state where the movable table is lowered. Since the height of the entire device can be kept extremely low, even when assembling relatively high parts such as an engine, it is possible to eliminate the need to install pits by digging down on the floor surface, and Assembly automation can be achieved at extremely low cost.

Further, according to this device, the parts base supporting means returns the parts base in the free state to the predetermined original position by a simple structure using the concave curved surface and the ball that abut against each other. Even if an unexpected external force or vibration is applied to the device, the parts table will not be displaced with respect to the movable table. Therefore, the positioning member can be surely inserted into the engaging part on the bottom surface of the vehicle body, and the parts can be automatically assembled. The reliability of attachment can be increased.

Embodiment An embodiment of the present invention will be described below in detail with reference to the drawings.

1 and 2 are a side view and a plan view showing an embodiment of a parts assembling apparatus of the present invention, in which 21 is an automobile body as a work and 22 is an assembling on a lower surface 21a of the body 21. Reference numeral 23 denotes a component assembling apparatus of this example.

Here, as shown in FIG. 3, the trolley type conveyor 24
The trolley 26 traveling along the rails 25 hangs the vehicle body 21 by the hangers 27 and conveys the vehicle body 21 in a state of being separated from the floor surface 28. A follow-up traveling device 29 is provided in order to assemble parts on the moving vehicle body 21 by 24.

The following traveling device 29 includes a rail 30 laid on the floor surface 28 so as to be parallel to the rail 25 of the conveyor 24, and this rail.
A trolley 31 capable of traveling on 30; a motor and a rack and pinion mechanism (not shown) for driving the trolley 31;
A contact type sensor (not shown) which is supported by the sensor post 32 shown in FIGS. And a limit switch (not shown) for stopping and controlling operation of these, not shown,
It consists of a control device equipped with a normal computer, and when the preparation limit switch detects the approach of the vehicle body 21, it becomes ready to run, and the starting limit switch detects that the vehicle body 21 has come above the trolley 31. Then, the sensor is raised, and the sensor arm 35 is engaged with a part of the vehicle body 21 to make it possible to detect the relative position between the vehicle body 21 and the carriage 31 in the vehicle body transport direction. Then, the trolley 31 is started and the traveling speed of the trolley 31 is automatically controlled so that the predetermined value of the relative position can be maintained, whereby the trolley 31 can follow the vehicle body 21. When the stop limit switch detects the vehicle body 21, the truck 31 stops the following traveling and returns to the predetermined following starting position.

Here, a pantograph type table lifting device 36 as an example of a table lifting device and a table positioning device 37 as an example of a table positioning device that is lifted and lowered by the table lifting device 36 are provided on the carriage 31.

As shown in FIGS. 1 and 2, the table raising / lowering device 36 here is arranged horizontally above the carriage 31, and the lower surface of a base plate 38 of a table positioning device 37, which will be described in detail later, and a frame fixed on the carriage 31. Four lifting arms 40, 40, 41, 41 are provided between the arms 39 and 39 in an arrangement in which the arms 40 extend in parallel with each other and the arms 40 and 41 intersect with each other in the central portion. . Here, the central portions of the arms 40 and 41 are connected to each other via a rod 42, and one ends of the arms 40 and 40 are rotated to the frame 39, and one ends of the arms 41 and 41 are rotated to the base plate 38, respectively. On the other hand, the other ends of the arms 40, 40 are supported by the base plate 38 via the guide 43 so as to be movable in parallel therewith, and the other ends of the arms 41, 41 support the guide 44. Through frame 39
Is supported so that it can move in parallel with it, and
It is axially coupled to the ball nut 46 of the ball screw mechanism 45. The ball screw mechanism 45 is composed of a ball nut 46 and a male screw shaft 47 screwed to the ball nut 46, and here, the male screw shaft 47.
The frame 39 is rotatably supported and the male screw shaft
Lift drive motor with one end of 47 fixed to frame 39
Connect to one end of 48 output shafts. A rotational position detecting device, for example, an input shaft of a rotary encoder 49 is connected to the other end of the output shaft of the motor 48.

According to the table elevating device 36, the ball nut 46 can be moved forward and backward by driving the elevating motor 48, which causes the base plate 38, and thus the table positioning device 37, to move in the horizontal state. It can be maintained and raised and lowered. Then, here, the vertical position of the base plate 38 can be obtained by knowing the rotation angle of the motor 48 from the output signal of the rotary encoder 49.

On the other hand, the table positioning device 37 here includes a base plate 38 and a movable table 5 arranged above the base plate 38 in parallel with the base plate 38 (that is, horizontally in this case).
And a well-known ball type support 51 for supporting the movable table 50 on the base plate 38 for horizontal movement, and three drive units 52, 53, 54 for connecting the movable table 50 to the base plate 38. . Where the drive units 52,5
3 and 54 are respectively the male screw shafts 52b, 53b and 54b of the ball screw mechanism provided on the unit bases 52a, 53a and 54a, and the motor 52
It is driven to rotate by c, 53c, 54c to move the ball nuts 52d, 53d, 54d that are screwed into the male screw shaft forward and backward, and the forward and backward positions of the ball nut are set to the rotational positions of the motors 52c, 53c, 54c. The rotary encoders 52e, 53e, and 54e for detection are used to output. And here, the three drive units 52 to 54 are arranged on the base plate 38 so that the drive units 52 and 53 are parallel to each other and the drive unit 54 is perpendicular to the drive units 52 and 53. Replace those drive units 52-54 with unit bases 52a, 53a, 54a
Swinging shafts 52f, 53f, which project downward on the lower surface of one end of
Each of them is swingably supported on the base plate 38 via 54f, and through swing shafts 52g, 53g, 54g projecting upwardly on the ball nuts 52d, 53d, 54d, respectively.
A movable table 50 is swingably supported. Also here
The end portions of the unit bases 52a, 53a, 54a on the opposite side of the swing shafts 52f, 53f, 54f are provided with angle members 55, 56, respectively.
Hook the base plate 38 so that it can move horizontally with 57,
The lifting of those ends from the base plate 38 is prevented.

According to the table positioning device 37, the movable table
Since the 50 is connected to the base plate 38 via the three drive units 52, 53, 54, the movable table 50 is attached to the base plate 38 with respect to the swing shafts 52f, 52g, the distance l ₂ , the swing shaft 53f, 53
g distance l ₃ and the pivot shaft 54f, can be positioned from 52g distance l ₄ in the horizontal direction of the coordinate and rotational position uniquely determined by the following equation, and drives the motor 52c, 53c, 54c, at changing the l _2, l _3, l ₄ appropriately Te, the movable table against the base plate 38 can be parallel and rotational movement to an arbitrary position in the same horizontal plane.

That is, the Cartesian coordinate axes X and Y are set on the base plate 38, and the center coordinates of the swing shaft 54g are set to (x, y) and the swing shafts 52f, 53f,
The center coordinates of 54f are (x ₂ , y ₂ ), (x ₃ , y ₃ ), (x ₄ ,,
y ₄ ), the center distance of the swing shafts 53g, 54g is a, and the swing shafts 52g, 54g
The distance between the centers of the rocking shafts 53g, 54g and the line between the rocking shafts 52g, 54g is α,
The vector that shows the direction of the movable table 50, which makes an angle of α / 2 from these line segments, This vector Let θ be the angle from the Y-axis of, the relationship between l ₂ , l ₃ , l ₄ and the position (x, y, θ) of the movable table 50 is Becomes However, x _{2 to} x ₄ , y _{2 to} y ₄ , a, b and α are constants, and in particular, y ₄ = 0 is assumed here. In addition, l ₂ , l ₃ , l
₄ can be obtained from the advancing / retreating positions of the ball nuts 52d, 53d, 54d based on the output signals of the rotary encoders 52e, 53e, 54e.

Here, further, the parts table 58 is arranged horizontally above the movable table 50, and the parts table 58 is provided on the lower surface of the ball receiver 59 having concave curved surfaces and the upper surface of the movable table 50. , A ball receiver 60 having a horizontal surface provided to face the ball receiver 59, steel balls 61 inserted respectively between them, and four rods 62 having heads swingably engaged with a parts base 58. And a spring 63 that urges the parts table 58 toward the movable table 50 via these rods, and supports it on the movable table 50.

This floating mechanism allows the parts board 58 to move horizontally with respect to the movable table 50 when an external force is applied, within the allowable range of the ball receivers 59 and 60, and when released from the external force. The action of the steel ball 61 moving to the deepest position of the concave curved surface returns to the original position shown in FIG. Here, a solenoid 65 for advancing and retracting the component table fixing pin 64 from the component table 58 toward the engaging hole of the movable table 50 is provided on the component table 58 so that the component table 58 can be hooked on the movable table 50.

And here, on the parts platform 58, two positioning pins 66, 66 having two conical tip ends that can be engaged with the engagement holes 21b at predetermined two places on the vehicle body lower surface 21a, respectively,
Multiple posts to position and support component 22 in place
67 is provided upright, and further, known bolt supply devices 68, 68 for arranging required bolts at predetermined positions of the component 22, which are aligned with five bolt holes 22a in this case, are provided. In addition, on the lower surface of the parts base 58, a known nut runner 70 as an example of a parts assembling device that moves up and down by an actuator 69 is provided.
The bolt holes of the component 22 are aligned with each other.

On the other hand, on the base plate 38, as an example of the relative position detection means, two sets, for example, while fixing the television cameras 71, 71 using a solid-state image pickup device upward, are driven to rotate by the rotary actuator 72, Dust-proof shutters 73, 73 are provided to cover the lenses of the TV cameras 71, 71 when they are not used, and illumination ring lights 74, 74 are fixed to the upper ends of the TV cameras 71, 71.

Further, here, the television cameras 71, 71 are connected via a pattern recognition device (not shown) to a control device used in combination with the above-described follow-up traveling device, which further includes the motor 48 and the rotary encoder of the table lifting device. 49
Table positioning device motors 52c, 53c, 54c and rotary encoders 52e, 53e, 54e, and bolt supply device 68,
68 and the nut runner 70 are connected.

With the component assembling apparatus 23, the component 22 can be automatically assembled at a predetermined position on the lower surface 21a of the vehicle body 21 as described below.

Here, first, based on the operation of the table lifting device 36, the base plate 38 is lowered to maintain the vertical position of the parts table 58 at the lower limit position shown by A in FIG. It is possible to easily place the component 22 and the interference between the component assembling device 23 and the conveyed vehicle body 21 can be sufficiently avoided.

At this time, the movable table 50 is positioned at the center of its operating range based on the operation of the table positioning device 37, and the parts table 58 operates the solenoid 65 to engage the parts table fixing pin 64 with the movable table 50. By inserting into the hole,
The cart 31 is hung on the movable table 50, the cart 31 is positioned at the tracking start position by the operation of the tracking device 29, and in this state, the part 22 is placed at a predetermined position on the parts table 58, Wait for the arrival of 21.

And here, when the vehicle body 21 continuously conveyed by the conveyor 24 reaches above the vehicle 31, the vehicle body of the vehicle 31 is
21 starts to follow, then bogie 31 and car body
When the relative position in the vehicle body transport direction with respect to 21 is a predetermined position, the table lifting device is operated to move the parts board 58 close to the vehicle body lower surface 21a, as shown by the arrow in the figure, in the vertical direction position indicated by B. Up to.

When the parts board 58 reaches the position B, the raising is stopped once, and the TV camera 71 captures an image of a predetermined vehicle body position recognition hole 21c on the lower surface of the vehicle body 21 at that position. , The horizontal position of the component mounting position relative to the base plate 38 with respect to coordinates and rotation, and the component mounting position
The position of the movable table 50 where 22 overlaps (movable table target position) is calculated. At this time, the rotary encoder 52e, 53e, from the output signal of 54e, seek _{l 2, l 3, l 4} , further these l ₂ to l _4, detecting the current relative position with respect to the base plate 38 of the movable table 50 To do. Then, here, via the base plate 38, the X- and Y-axis direction distances and angle differences (ΔX, ΔY, Δθ) between the current position and the target position of the movable table 50 are calculated, and those distances and angle differences are calculated. Only (ΔX, ΔY, Δθ), movable table 50 and eventually parts stand
Move 58 parallel and rotational. The movement of the parts board 58 brings about the vertical alignment of the parts 22 placed on the parts stand 58 and the predetermined parts assembly position of the vehicle body lower surface 21a.

After that, the table elevating device 36 is operated again here, and the parts board 58 is continuously raised to the ascending limit position where the parts 22 are located at a predetermined height from the lower surface of the vehicle body 21, and during this ascending. When the parts board 58 reaches a position extremely close to the vehicle body lower surface 21a shown by C in the figure, the parts board fixing pin 64 is pulled out from the movable table 50 to release the locking of the parts board 58 to the movable table 50. .

The parts table 58, which can be horizontally moved a little distance with respect to the movable table 50 by releasing the hook, moves upward, and the positioning pin 66 starts to enter the hook hole 21b of the vehicle body lower surface 21a.
The horizontal position is finely adjusted as shown by the arrow in the figure as it rises, and when reaching the ascent limit position, the component 22 is positioned with high accuracy at a predetermined assembly position on the lower surface 21a of the vehicle body,
On the other hand, if there is some deviation in the relative position of the movable table 50 with respect to the vehicle body 21 due to speed fluctuations of the conveyor 24, etc., the deviation is absorbed by the floating mechanism, and the other parts of the component assembling apparatus 23 are absorbed. Prevents unreasonable force from being applied.

Subsequent to such positioning of the component 22, here, required bolts are supplied to the bolt hole positions of the component 22 by the bolt supply device 68, and these bolts are raised by the operation of the actuator 69 by the nut runner 70 to lower the vehicle body lower surface 21a.
The component 22 is fixed to the lower surface of the vehicle body 21 by tightening.

As a result, the assembling of the component 22 is completed, and thereafter, the component assembling apparatus 23 is brought into the standby state again.

As described above, according to the component assembling apparatus of this example, the component 22 can be automatically assembled at a predetermined position on the lower surface of the vehicle body 21 roughly positioned above the apparatus, and therefore, It is possible to eliminate the need for the operator to position the parts board, which can reduce the cost of the parts assembling work and ensure the safety of the worker, and at the same time, the equipment does not require a great cost.

Moreover, according to the component assembling apparatus of this example, the table positioning device 37 moves the movable table 50 by the three drive units 52, 53, 54 which are horizontally placed between the movable table 50 and the base plate 38. Therefore, the gap between the movable table 50 and the base plate 38 can be made substantially equal to the thickness of one drive unit thereof, and can be made significantly smaller than in the case where a normal plane moving mechanism is used. Therefore, even when assembling a relatively high component such as an engine, it is not necessary to install a pit by digging the floor surface.

It should be noted that the device of the present invention is not limited to the above-mentioned illustrated example, and it is needless to say that the device can be applied to a case where parts are assembled to the floor surface of the vehicle body which is stopped by rough positioning. In such a case, the following traveling device can be omitted.

(Effects of the Invention) Thus, according to the device of the present invention, the device is automatically and accurately placed at a predetermined position on the lower surface of the vehicle body which is arranged above the device by rough positioning and without manual work of the operator. Since the parts can be assembled, it is possible to reduce the cost of the parts assembling work and ensure the safety of the operator without requiring a large cost for the equipment.

Moreover, according to the device of the present invention, the table positioning means between the movable table and the base plate can be made extremely thin, and the height of the entire device when the movable table is lowered can be kept extremely low. Therefore, even when assembling relatively high parts such as an engine, it is possible to eliminate the need to install a pit by digging into the floor surface, and to automate the assembling of parts on the underside of the vehicle at an extremely low cost. Can be achieved with.

Further, according to the device of the present invention, even if an unexpected external force or vibration of the device is applied during the work of assembling the parts, it is possible to prevent the position of the parts table from being displaced with respect to the movable table. It can be reliably inserted into a part, and the reliability of automatic assembly of parts can be improved.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of a parts assembling apparatus of the present invention, FIG. 2 is a plan view of the apparatus shown in FIG. 1, and FIG. 3 is a schematic view showing an operating state of the apparatus shown in FIG. A diagram and FIG. 4 are schematic diagrams showing a conventional component assembling apparatus. 21 …… Car body, 22 …… Parts 36 …… Table lifting device 37 …… Table positioning device 38 …… Base plate 50 …… Movable table, 70 …… Nutrunner 71 …… TV camera

 ─────────────────────────────────────────────────── ─── Continuation of front page (56) References JP-A-60-38254 (JP, A) JP-A-61-220980 (JP, A) JP-A-61-21873 (JP, A)

Claims (1)

[Claims] 1. A component (2) assembled to the lower surface of a vehicle body (21).
2) A component table (58) for holding it at a predetermined portion, a movable table (50) arranged below the component table, a concave curved surface (59) and a ball provided on the movable table and abutting each other. (61) Supports the parts board substantially horizontally and returns the parts table in a free state to a predetermined original position (59-63).
A base plate (38) arranged below the movable table, table support means (51) provided on the base plate for horizontally moving the movable table, and provided on the movable table. A relative position detection camera (71) that images the lower surface of the vehicle body to detect the relative position of the movable table with respect to the vehicle body; and a relative position detection camera (71) that is horizontally placed between the movable table and the base plate. Each drive unit has a plurality of drive units (52, 53, 54) that are swingably supported and that extend and contract the distance between their support positions, and operate the drive units based on signals from the relative position detection camera. By moving the movable table in a horizontal plane by moving the movable table to a predetermined position on the lower surface of the vehicle body. A thin table positioning means (37) for positioning the base plate, a base plate elevating means (36) for elevating and lowering the base plate below the vehicle body, and a parts table which is erected on the parts table and is raised by the base plate. A positioning member (66) for tightly engaging a predetermined engagement portion on the lower surface of the vehicle body with high accuracy to position the component base at a predetermined relative position with respect to the lower surface of the vehicle body; A component assembling device, comprising: component assembling means (70) for assembling the component held by the component base by the positioning member on the lower surface of the vehicle body while the component base is positioned.