US20110160905A1 - Workpiece mounting system, workpiece mounting method, sunroof unit holding device, and sunroof unit holding method - Google Patents
Workpiece mounting system, workpiece mounting method, sunroof unit holding device, and sunroof unit holding method Download PDFInfo
- Publication number
- US20110160905A1 US20110160905A1 US13/061,636 US200913061636A US2011160905A1 US 20110160905 A1 US20110160905 A1 US 20110160905A1 US 200913061636 A US200913061636 A US 200913061636A US 2011160905 A1 US2011160905 A1 US 2011160905A1
- Authority
- US
- United States
- Prior art keywords
- workpiece
- robot
- mounting
- sunroof
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/024—Positioning of sub-units or components with respect to body shell or other sub-units or components
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/06—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being doors, windows, openable roofs, lids, bonnets, or weather strips or seals therefor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39559—Polyvalent gripper, to grip, assemble, manipulate
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45025—Position, mount glass window, sunroof in car-body
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/31—Gripping jaw
Definitions
- the present invention relates to a workpiece mounting system, a workpiece mounting method, a sunroof unit holding device, and a sunroof unit holding method. More specifically, it relates to a workpiece mounting system and a workpiece mounting method for mounting a sunroof to the body of an automobile. In addition, the present invention relates to a sunroof unit holding device and a sunroof unit holding method for holding a sunroof to the body of an automobile.
- the sunroof for introducing light from outside has been provided in the body of automobiles.
- the sunroof is formed by mounting a sunroof unit to the body.
- a sunroof unit mounting robot has been arranged in a manufacturing line for the body (refer to Patent Document 1).
- the sunroof unit mounting robot includes a robot arm and a hand provided to a leading end of this robot arm that supports the sunroof unit.
- the hand is a rectangular frame shape, and includes two tapered pins, three cylinder units, two positioning pins, and eight nut runners. A bolt is clamped in each nut runner. The positions of the positioning pins and the nut runners in this hand are determined in advance based on the shape of the sunroof unit.
- the sunroof unit is held by the hand. More specifically, the sunroof unit is positioned relative to the hand, by inserting the positioning pins in the sunroof unit, and bolts clamped in the nut runners of the hand are inserted into bolt holes of the sunroof unit.
- the robot arm is controlled to put the sunroof unit inside of the body from a front window opening of the body.
- the tapered pins of the hand are inserted in the positioning holes formed at the mounting positions on the body to position the hand relative to the body.
- the cylinder units are driven to bring the sunroof unit close to the mounting position of the body, and the nut runners are driven to thread the bolts into the nuts on the body.
- the sunroof unit can be transported and mounted with one hand.
- Patent Document 1 Japanese Patent No. 2672825
- the shape of the sunroof unit may change according to the vehicle model.
- the positions of the positioning pins and nut runners are determined in advance according to the shape of the sunroof unit, and thus the general versatility is low, and it has been necessary to exchange the hand for every vehicle model. As a result, there has been a problem in that the cycle time is prolonged.
- the positions of the positioning pins and nut runners are determined in advance according to the shape of the sunroof unit, and thus the general versatility is low, and it has been necessary to exchange the hand for every vehicle model.
- the present invention has an object of providing a workpiece mounting system and a workpiece mounting method having high general versatility and able to shorten the cycle time.
- the present invention also has an object of providing a sunroof unit holding device and a sunroof unit holding method having high general versatility.
- a workpiece mounting system for mounting a first workpiece (e.g., a sunroof member 3 described later) to a mounting portion (e.g., an inner panel 2 A described later) of a second workpiece (e.g., a body 2 described later), includes: a first robot (e.g., a first mounting robot 5 described later) including a preliminary fixing means (e.g., a nut runner 23 described later) for performing preliminary fixing of the first workpiece to the second workpiece, a holding means (e.g., a positioning pin 223 and workpiece support pad 224 described later) for holding the first workpiece, and a position detecting means (e.g., a CCD camera 241 described later) for detecting a position of the first workpiece and a position of a mounting portion of the second workpiece; a second robot (e.g., a second mounting robot 6 described later) including a main fixing means
- the first workpiece is mounted to the mounting location of the second workpiece in the following sequence.
- the position of the first workpiece and the position of the mounting portion of the second workpiece are calculated as positional information by the position detecting means of the first robot.
- the first workpiece is held by the holding means of the first robot and transported by the first robot, so that the first workpiece is positioned to the mounting portion of the second workpiece, based on the positional information thus calculated.
- the first workpiece is preliminarily fixed to the second workpiece by the preliminary fixing means of the first robot, followed by main fixing of the first workpiece to the second workpiece being carried out by way of the main fixing means of the second robot based on the positional information already calculated.
- the roles are shared between the first robot and the second robot: only positioning and preliminary fixing of the first workpiece is performed by the first robot, and main fixing of the first workpiece is performed by the second robot. Therefore, the general versatility is raised since the shape of the first workpiece can be handled even in a case of changing for every model, by respectively configuring the first robot and the second robot to the optimal structure according to their role, whereby the cycle time can be shortened.
- the operations of the first robot and the second robot are corrected based on this positional information calculated. Therefore, the operating cost can be reduced, and the cycle time can be further shortened, since it is no longer necessary for the positions of first workpiece and the mounting portion of the second workpiece to be detected many times over.
- a workpiece mounting method for mounting a first workpiece to a mounting portion of a second workpiece includes the steps of: calculating a position of the first workpiece and a position of the mounting portion of the second workpiece as positional information by way of a first robot; holding the first workpiece by way of the first robot and transporting to position the first workpiece at the mounting portion of the second workpiece by way of the first robot, based on the positional information thus calculated in the calculating step; performing preliminary fixing of the first workpiece to the second workpiece by way of the first robot, and performing main fixing of the first workpiece to the second workpiece by way of a second robot, based on the positional information calculated in the calculating step.
- a sunroof unit holding device for holding a sunroof unit (e.g., a sunroom member 3 described later) having a substantially U-shaped main frame (e.g., a main frame 31 described later) and a center frame (e.g., a center frame 33 described later) configured to connect portions of the main frame extending substantially in parallel to each other
- the device includes: a center frame seating portion (e.g., center frame seating portion 132 described later) on which a bottom of the center frame sits; a main frame seating portion (e.g., a main frame seating portion 125 described later) on which a bottom of a portion of the main frame substantially parallel to the center frame sits; and a pair of pressing portions (e.g., pressing portions 62 A and 62 B described later) configured to press the portions of the main frame extending substantially parallel to each other from inner lateral sides thereof.
- a center frame seating portion e.g., center frame seating portion 132 described later
- main frame seating portion e.
- the basic structures of the sunroof units are substantially common irrespective of the vehicle model, even if the shape and structure of the sunroof units differ depending on the vehicle model.
- all sunroof units have a substantially U-shaped main frame and a center frame configured to connect portions of the main frame extending substantially parallel to each other as a basic structure.
- the present invention focuses on the basic structure common to every sunroof unit, and thus the sunroof unit holding device is configured to include the center frame seating portion on which the bottom of the center frame sits, the main frame seating portion on which the bottom of the main frame sits, and the pair of pressing portions that presses lateral sides of the main frame.
- the sunroof unit holding device is configured to hold portions common to every sunroof unit.
- the operation in a case of mounting a sunroof unit to the body of an automobile becomes as follows, for example.
- the sunroof unit is held and transported by the sunroof unit holding device.
- the displacement of the sunroof unit held by the sunroof unit holding device from a position taught in advance is calculated by a different mounting robot equipped with a camera.
- the sunroof unit is received from the sunroof unit holding device while correcting the operation of the mounting robot based on the displacement thus calculated, and this sunroof unit received is mounted to the body.
- sunroof unit holding device since the portions common to every sunroof unit are held by the sunroof unit holding device, multiple types of sunroof units can be held by a single sunroof unit holding device, thereby raising the general versatility of a facility.
- a sunroof unit holding method for holding a sunroof unit having a substantially U-shaped main frame and a center frame configured to connect portions of the main frame extending substantially in parallel to each other includes the steps of: supporting a bottom of the center frame and a portion of the main frame substantially parallel to the center frame; and holding the sunroof unit by pressing the portions of the main frame substantially parallel to each other from inner lateral sides thereof.
- the roles are shared between the first mounting robot and the second mounting robot: only positioning and preliminary fixing of the first workpiece is performed by the first robot and main fixing of the first workpiece is performed by the second robot. Therefore, the general versatility is raised since the shape of the first workpiece can be handled even in a case of changing for every model, by respectively configuring the first robot and the second robot to the optimal structure according to their role, whereby the cycle time can be shortened.
- the operations of the first robot and the second robot are corrected based on this positional information calculated. Therefore, the operating cost can be reduced, and the cycle time can be further shortened, since it is no longer necessary for the positions of first workpiece and the mounting portion of the second workpiece to be detected many times over.
- FIG. 1 is an overall perspective view of a workpiece mounting system according to a first embodiment of the present invention
- FIG. 2 is a perspective view of a sunroof member and a portion to which the sunroof member is mounted according to the embodiment;
- FIG. 3 is a plan view of a transport hand of a transport robot according to the embodiment.
- FIG. 4 is a perspective view of the transport hand according to the embodiment.
- FIG. 5 is a plan view of a hand of a first mounting robot according to the embodiment.
- FIG. 6 is a side view of the hand of the first mounting robot according to the embodiment.
- FIG. 7 is a perspective view of the hand of the first mounting robot according to the embodiment.
- FIG. 8 is an exploded perspective view showing the sunroof member held by the first mounting robot according to the embodiment.
- FIG. 9 is a perspective view of a fastening hand of a second mounting robot according to the embodiment.
- FIG. 10 is a cross-sectional view of the fastening hand of the second mounting robot according to the embodiment.
- FIG. 11 is a diagram for illustrating the operation of the second mounting robot according to the embodiment.
- FIG. 12 is a flowchart of the operation of a workpiece mounting system according to the embodiment.
- FIG. 13 is an overall perspective view of a workpiece mounting system to which a sunroof unit holding device is applied according to a second embodiment of the present invention
- FIG. 14 is a perspective view of a sunroof unit and a portion to which the sunroof unit is mounted according to the second embodiment
- FIG. 15 is a plan view of a transport hand of a transport robot of the workpiece mounting system according to the second embodiment
- FIG. 16 is a perspective view of the transport hand of the transport robot according to the second embodiment.
- FIG. 17 is a plan view of a hand of a mounting robot according to the second embodiment.
- FIG. 18 is a side view of the hand of the mounting robot according to the second embodiment.
- FIG. 19 is a perspective view of the hand of the mounting robot according to the second embodiment.
- FIG. 20 is an exploded perspective view showing the sunroof unit supported by the mounting robot according to the second embodiment.
- FIG. 21 is a flowchart of the operation of the workpiece mounting system according to the second embodiment.
- FIG. 1 is an overall perspective view of a workpiece mounting system 1 according to an embodiment of the present invention.
- the workpiece mounting system 1 mounts a sunroof member 3 serving as a first workpiece to a body 2 serving as a second workpiece, which is transported by a transport conveyor that is not illustrated.
- a front window opening 41 in which the front window is mounted is formed in a front of the body 2
- front door openings 42 in which front doors are mounted are formed in both sides of the body 2 .
- the sunroof member 3 is mounted to a roof 43 of the body 2 from an interior side of the body 2 .
- the workpiece mounting system 1 includes a transport robot 4 that transports the sunroof member 3 to a vicinity of the mounting positions on the body 2 , a pair of first mounting robots 5 as a first robot that receives the sunroof member 3 from the transport robot 4 , and perform positioning and preliminary mounting of the sunroof member 3 thus received to the body 2 , a pair of second mounting robots 6 as a second robot that performs main fixing of the sunroof member 3 thus primarily mounted, and a control device 7 that controls the transport robot 4 , first mounting robots 5 , and second mounting robots 6 .
- FIG. 2 is a perspective view of the sunroof member 3 and an inner panel 2 A serving as a mounting portion to which the sunroof member 3 is mounted.
- the sunroof member 3 includes a rectangularly-shaped frame 30 and a center frame 33 provided to straddle portions of the frame 30 facing each other.
- the rectangularly-shaped frame 30 is configured by a substantially U-shaped main frame 31 , and a sub-frame 32 configured to connect leading end portions of the main frame 31 that extend substantially in parallel to each other.
- the center frame 33 connects portions of the main frame 31 extending substantially in parallel to each other.
- the main frame 31 and the center frame 33 make the basic structure common to various sunroof members.
- Ten bolt holes 34 are formed in a rim portion of the sunroof member 3 .
- those positioned on both front sides of the sunroof member 3 are defined as bolt holes 34 A, and those disposed backward of these bolts holes 34 A are defined as bolt holes 34 B.
- positioning holes 35 are formed in a vicinity of these bolt holes 34 A.
- the inner panel 2 A is a panel configuring the inside of the roof 43 of the body 2 .
- Nuts 44 are formed in the inner panel 2 A to correspond to the bolt holes 34 of the sunroof member 3 .
- these nuts 44 assuming that those corresponding to the bolt holes 34 A of the sunroof member 3 are defined as nuts 44 A, positioning holes 45 are formed in a vicinity of these nuts 44 A to correspond to the positioning holes 35 of the sunroof member 3 .
- those corresponding to the bolt holes 34 B of the sunroof 3 are defined as nuts 44 B.
- the sunroof member 3 is mounted to the inner panel 2 A by inserting bolts 51 into the bolt holes 34 of the sunroof member 3 from the interior side of the body 2 , and threading into the nuts 44 of the inner panel 2 A.
- bolts 51 those threaded into the nuts 44 A are defined as bolts 51 A.
- the transport robot 4 is disposed at a front side of the body 2 . It holds the sunroof member 3 and moves toward the body 2 such that it transports the sunroof member 3 to the interior of the body 2 .
- the transport robot 4 includes a transport hand 10 , and a robot arm 11 that is provided on a floor to be movable along a length direction of the body 2 and that causes the attitude and position in three-dimensional space of the transport hand 10 to change.
- FIG. 3 is a plan view of the transport hand 10 of the transport robot 4 .
- FIG. 4 is a perspective view of the transport hand 10 .
- the transport hand 10 is substantially cross-shaped in a plan view, and includes a plate-shaped base portion 12 that extends along a central axis C of a flange surface 11 A of the robot arm 11 , a holding mechanism 60 provided to the base portion 12 , and a projecting portion 13 that projects from a leading end of the base portion 12 along the central axis C.
- the projecting portion 13 includes a support portion 131 supported by the base portion 12 , and a center frame seating portion 132 provided to a leading end of the support portion 131 .
- a bottom of the center frame 33 is seated on the center frame seating portion 132 .
- the base portion 12 includes a support portion 121 mounted to the flange surface 11 A of the robot arm 11 , a substantially rectangular frame portion 122 , a connecting portion 123 that connects the frame portion 122 and the support portion 121 , a reinforcement plate 124 provided to a leading end side of the frame portion 122 , and guide portions 128 A and 128 B provided on the frame portion 122 that extend in a direction intersecting the central axis C.
- Main frame seating portions 125 are provided at two angled portions of the frame portion 122 on a side directed to the support portion 121 .
- a bottom of a portion of the substantially U-shaped main frame 31 substantially parallel to the center frame 33 is seated on a main frame seating portion 125 .
- the main frame seating portion 125 includes a base 126 and a pair of walls 127 arranged vertically to the base 126 .
- the pair of walls 127 is disposed opposite to each other, and extends in a direction intersecting the central axis C.
- the holding mechanism 60 includes a pair of pressing portions 62 A and 62 B movable along the guide portions 128 A and 128 B, and an advance/retract mechanism 63 configured to make the pressing portion 62 A advance and retract along the guide portion 128 A, and a link mechanism 64 configured to make the pressing portion 62 B move interlocking with the movement of the pressing portion 62 A.
- Slide guides which are not illustrated, are provided to top surfaces of the guide portions 128 A and 128 B.
- Slide rails that fit to the slide guides of these guide portions 128 A and 128 B are provided to bottom surfaces of the pressing portions 62 A and 62 B. Accordingly, the pair of pressing portions 62 A and 62 B are able to slide along the guide portions 128 A and 128 B.
- a pressing surface 621 substantially perpendicular to the base portion 12 and a retaining surface 622 substantially parallel to the base portion 12 are provided to a leading end of each of the pressing portions 62 A and 62 B.
- the advance/retract mechanism 63 is mounted in a direction intersecting the central axis C on the frame portion 122 of the base portion 12 , and includes a piston rod 631 having a leading end that mounts to the pressing portion 62 A, and a cylinder 632 that causes the piston rod 631 to advance and retract.
- the link mechanism 64 includes a rack 641 A that is mounted to the pressing portion 62 A and extends in a sliding direction of the pressing portion 62 A, a rack 641 B that is mounted to the pressing portion 62 B and extends in a sliding direction of the pressing portion 62 B, a pinion 642 that is rotatably provided between these racks 641 A and 641 B on the central axis C and that engages with the racks 641 A and 641 B, and a case 643 housing the pinion 642 .
- a distance from the pressing portion 62 A to a portion of the rack 641 A engaging with the pinion 642 and a distance from the pressing portion 62 B to a portion of the rack 641 B engaging with the pinion 642 are made to be the same dimension. Accordingly, the distance from the pressing portion 62 A to the central axis C and the distance from the pressing portion 62 B to the central axis C always match each other, even when the pressing portion 62 A moves along the guide portion 128 A. In other words, the position of the pressing portion 62 A and the position of the pressing portion 62 B are always axisymmetric about the central axis C.
- the pressing portion 62 A moves towards outside along the guide portion 128 A.
- the pressing portion 62 B also moves towards outside along the guide portion 128 B.
- the center frame 33 of the sunroof member 3 sits on the center frame seating portion 132 .
- the portions of the main frame 31 that are substantially parallel to the center frame 33 sit on the two main frame seating portions 125 . More specifically, each portion of the main frame 31 that is substantially parallel to the center frame 33 fits between the pair of walls 127 of each main frame seating portion 125 , whereby movement of the sunroof member 3 in a direction along the central axis C is regulated.
- the pressing portions 62 A and 62 B are made to move towards outside, so that lateral surfaces of the portions of the main frame 31 extending substantially parallel to each other are held while pressed from inside by pressing surfaces 621 . In this manner, movement of the sunroof member 3 in-plane of the base portion 12 and in a direction intersecting the central axis C is regulated.
- the retaining surfaces 622 cover top surfaces of the portions of the main frame 31 extending substantially in parallel to each other. Accordingly, movement of the sunroof member 3 in a direction substantially perpendicular to the base portion 12 is regulated.
- the pair of first mounting robots 5 is disposed on both sides of the body 2 , and performs preliminary mounting of the sunroof member 3 transported by the transport robot 4 to the inner panel 2 A of the body 2 .
- the first mounting robots 5 each include a hand 20 , and a robot arm 21 that is provided on a floor and causes the attitude and position in three-dimensional space of the hand 20 to change.
- first mounting robot 5 positioned on the left side of the body 2 will be explained below, another first mounting robot 5 positioned on the right side of the body 2 has a similar configuration, and thus the appearance of these first mounting robots 5 on the right and left sides is symmetrical about the body 2 .
- FIG. 5 is a plan view of the hand 20 of the first mounting robot 5 .
- FIG. 6 is a side view of the hand 20 .
- FIG. 7 is a perspective view of the hand 20 .
- the hand 20 includes a substantially L-shaped support frame 22 , a nut runner 23 as preliminary fixing means provided to the support frame 22 , and a photographing device 24 provided to the support frame 22 .
- the support frame 22 includes a first frame 221 extending from a flange surface of the robot arm 11 in an in-plane direction, and a second frame 222 orthogonal to the first frame 221 and extending from a leading end of the first frame 221 .
- a positioning pin 223 that projects upward is provided to an intersection portion between the first frame 221 and the second frame 222 as a holding means.
- a workpiece support pad 224 is provided to a top surface of the second frame 222 on a leading end side thereof as a holding means.
- the nut runner 23 is provided in a middle of the first frame 221 of the support frame 22 , and includes a socket 231 into which the bolt 51 A fits, and a drive device 232 that rotationally drives the socket 231 .
- the photographing device 24 is provided in a middle of the second frame 222 of the support frame 22 , and includes a CCD camera 241 disposed facing upwards as a position detecting means, and a ring-shaped lighting system 242 that illuminates a photographing target of the CCD camera 241 .
- the positioning pin 223 of the support frame 22 are inserted into the positioning hole 35 of the sunroof member 3 , as shown in FIG. 8 . Then, the sunroof member 3 is supported by the positioning pin 223 and the workpiece support pad 224 of the support frame 22 . In addition, the bolt 51 A chucked in the socket 231 of the nut runner 23 is inserted into the bolt hole 34 A of the sunroof member 3 .
- the pair of second mounting robots 6 is disposed on both sides of the body 2 , and performs main fixing of the sunroof member 3 on which preliminary mounting has been performed by the first mounting robots 5 to the inner panel 2 A of the body 2 .
- the second mounting robots 6 each include a fastening hand 70 as main fixing means, and a robot arm 71 that is provided on a floor and causes the attitude and position in three-dimensional space of the fastening hand 70 to change.
- a second mounting robot 6 positioned on the left side of the body 2 will be explained below, another second mounting robot 6 positioned on the right side of the body 2 has a similar configuration, and thus the appearance of these second mounting robots 6 on the right and left sides is symmetrical about the body 2 .
- FIG. 9 is a perspective view of the fastening hand 70 of the second mounting robot 6 .
- the fastening hand 70 includes a switching mechanism 72 having six fastening portions 80 and locating one among these fastening portions 80 at a predetermined position, a drive source 73 that drives rotationally, and an advance/retract mechanism 74 that causes the drive source 73 to couple with one fastening portion 80 at the predetermined position.
- the switching mechanism 72 is supported by a leading end flange surface of the robot arm 71 via a mounting bracket 721 .
- the switching mechanism 72 includes a cylindrically shaped holder 722 , the six fastening portions 80 disposed at an outer circumferential surface of the holder 722 , and a holder drive portion 723 that causes the holder 722 to rotate.
- the holder drive portion 723 is fixed to the mounting bracket 721 .
- the holder 722 is cylindrically shaped and mounted to a drive shaft of the holder drive portion 723 .
- the holder drive portion 723 When the holder drive portion 723 is driven, the holder 722 rotates in an A-arrow direction or B-arrow direction about the central axis, thereby causing the fastening portions 80 to move.
- FIG. 10 is a cross-sectional view of the fastening hand 70 .
- a fastening portion 80 is supported by the holder 722 rotatably about a rotational axis Y.
- the fastening portion 80 includes a retaining portion 81 , a shaft 82 , a guide portion 83 , and a bit portion 84 having a socket 85 .
- the retaining portion 81 is cylindrically shaped.
- a ball spline 811 is provided inside of the retaining portion 81 .
- the shaft 82 is inserted into the retaining portion 81 and is supported rotatable and advanceable/retractable by the ball spline 811 .
- a joint portion 821 is provided to a base end portion of the shaft 82 .
- the drive source 73 is connectable with the joint portion 821 .
- a spring 86 is interposed between the joint portion 821 of the shaft 82 and a base end surface of the retaining portion 81 .
- the guide portion 83 is cylindrically shaped.
- the shaft 82 is connected to a base end portion of the guide portion 83 . Accordingly, the rotational force of the shaft 82 is transmitted to the guide portion 83 .
- a base end portion of the bit portion 84 is inserted into a leading end portion of the guide portion 83 .
- An outer circumferential surface of the base end portion of the bit portion 84 and the inner circumferential surface of the guide portion 83 are similar to each other in a hexagonal shape. Furthermore, a small gap is formed between the outer circumferential surface of the base end portion of the bit portion 84 and an inner circumferential surface of the guide portion 83 .
- the bit portion 84 freely fits to be movable relative to the guide portion 83 in a direction intersecting the axial direction and slidable in the axial direction relative to the guide portion 83 .
- the bit portion 84 subordinately rotates relative to the rotation of the guide portion 83 .
- the shaft 82 is inserted into the base end portion of the bit portion 84 .
- a spring 87 is built into the guide portion 83 .
- the spring 87 is disposed along the shaft 82 , and a leading end portion of the spring 87 is housed in the base end portion of the bit portion 84 and biases the bit portion 84 towards a leading end side thereof.
- the socket 85 retains a bolt 51 .
- a leading end surface of the socket 85 is magnetized, and retains the bolt 51 by way of the magnetism of the socket 85 .
- the shaft 82 rotates when the drive source 73 is connected to the joint portion 821 of the shaft 82 and rotationally driven. This rotational force is transmitted to the bit portion 84 via the guide portion 83 , whereby the socket 85 rotates.
- the drive source 73 is disposed behind the holder 722 , and includes a rotary drive portion 731 .
- a leading end of the rotary drive portion 731 is configured to be fittable with the joint portion 821 of the fastening portion 80 .
- a rotational direction X of the rotary drive portion 731 is configured to be substantially parallel to the rotational axis of the holder 722 .
- the advance/retract mechanism 74 is provided to the mounting bracket 721 , and is controlled by the control device 7 to cause the drive source 73 to advance or retract along the rotational axis X.
- the advance/retract mechanism 74 includes a pair of cylinder mechanisms 75 and a pair of sliding guides 76 .
- Each of the pair of cylinder mechanisms 75 includes a piston rod 751 mounted to the drive source 73 and a cylinder 752 that makes the piston rod 751 advance and retract.
- the drive source 73 advances and retracts along the rotational axis X of the rotary drive portion 731 when the pair of cylinder mechanisms 75 is driven.
- Each of the pair of sliding guides 76 includes a slide beam 761 mounted to the drive source 73 , and a slide portion 762 provided to the mounting bracket 721 and into which the slide beam 761 is inserted.
- the pair of sliding guides 76 guides the advance/retract movement of the drive source 73 when the slide beam 761 slides in the slide portion 762 .
- the rotational axis Y of the fastening portion 80 is positioned on the rotational axis X of the rotary drive portion 731 of the drive source 73 , as shown in FIG. 9 .
- the robot arm 71 is controlled by the control device 7 to cause the fastening hand 70 to move from this position to a mounting position. More specifically, the robot arm 71 is controlled so that the mounting position of the bolt 51 is coaxial with the rotational axis of the drive source 73 .
- the advance/retract mechanism 74 is driven to cause the drive source 73 to advance, whereby the rotary drive portion 731 of the drive source 73 is connected to the shaft 82 of the fastening portion 80 .
- the drive source 73 is made to further advance against the biasing force of the spring 86 , and a bolt 51 retained in a fastening portion 80 is made to project from the front face of the fastening hand 70 , thereby pushing the bolt 51 out to the mounting position.
- the rotary drive portion 731 of the drive source 73 is driven.
- the rotational force of the rotary drive portion 731 is transmitted to the fastening portion 80 , whereby a socket 85 rotates.
- the bolt 51 is thereby tightened at the mounting position.
- the rotary drive portion 731 of the drive source 73 is made to retract by driving the advance/retract mechanism 74 .
- the socket 85 retracts by way of the resilience of the spring 86 , and the fastening portion 80 returns to the original position.
- the drive source 73 is made to further retract, thereby causing the rotary drive portion 731 of the drive source 73 to separate from the shaft 82 of the fastening portion 80 .
- the holder 722 is made to rotate in the A-arrow direction or the B-arrow direction by driving the holder drive portion 723 , whereby a rotational axis Y of a subsequent fastening portion 80 is disposed coaxial with the rotational axis X of the rotary drive portion 731 of the drive source 73 .
- the robot arm 71 is controlled by the control device 7 , such that the fastening hand 70 is moved to a subsequent mounting position, repeating the same operations as the above described.
- Step ST 1 transport of the body 2 is stopped.
- Step ST 2 the first mounting robots 5 go into the interior of the body 2 through the front door openings 42 on both sides of the body 2 , and CCD cameras 241 of the first mounting robots 5 are brought close to the inner panel 2 A.
- the nuts 44 B of the inner panel 2 A are photographed by the CCD cameras 241 , after which the first mounting robots 5 are made to exit.
- Step ST 3 displacement amounts of the nuts 44 B from positions taught in advance are calculated by the control device 7 as displacement amounts of workpiece mounting positions related to positional information, based on the photographed images of the inner panel 2 A.
- Step ST 4 A the sunroof member 3 is made to be held by the transport robot 4 at a workpiece supply location, which is not illustrated. Then, transport of the sunroof member 3 to the front window opening 41 of the body 2 is initiated by moving the transport robot 4 .
- Step ST 5 the first mounting robots 5 are positioned below the transported sunroof member 3 and made to move synchronously with the operation of the transport robot 4 until the sunroof member 3 reaches the front window opening 41 of the body 2 . Subsequently, the bolt holes 34 B of the sunroof member 3 are photographed as reference positions by the CCD cameras 241 of the first mounting robots 5 .
- Step ST 6 displacement amounts of the bolt holes 34 B from positions taught in advance are calculated by the control device 7 as displacement amounts of workpiece positions related to positional information, based on the photographed images of the sunroof member 3 .
- Step ST 4 B the transport robot 4 causes the sunroof member 3 to enter the interior of the body 2 through the front window opening 41 of the body 2 and to stop below the inner panel 2 A.
- the sunroof member 3 is made to stop so that the positioning holes 35 of the sunroof member 3 are located directly below the positioning holes 45 of the body 2 , based on the displacement amounts of workpiece positions and the displacement amounts of workpiece mounting positions calculated in Step ST 3 .
- Step ST 7 the first mounting robots 5 are controlled to be brought close to the sunroof member 3 from below and the positioning pins 223 are inserted into the positioning holes 35 of the sunroof member 3 , while both edges of the sunroof member 3 are supported by the first mounting robots 5 . Accordingly, the first mounting robots 5 come to receive the sunroof member 3 from the transport robot 4 . Herein, the aforementioned displacement amounts of workpiece positions are reflected in the operation of the first mounting robots 5 to correct the operation of the first mounting robots 5 . Thereafter, the transport robot 4 is made to exit from the interior of the body 2 .
- Step ST 8 the first mounting robots 5 are lifted and transport the sunroof member 3 to cause the positioning pins 223 to be inserted into the positioning holes 45 of the body 2 .
- the sunroof member 3 is positioned to the inner panel 2 A of the body 2 .
- the aforementioned displacement amounts of workpiece mounting positions and the displacement amounts of workpiece positions are reflected in the operation of the first mounting robots 5 to correct the operation of the first mounting robots 5 .
- the bolt holes 34 A of the sunroof member 3 geometrically match the nuts 44 A of the body 2 .
- the nut runners 23 are actuated, and they tighten the two bolts 51 A to the nuts 44 A of the body 2 through the bolt holes 34 A of the sunroof member 3 .
- Step ST 9 the remaining bolts 51 other than the bolts 51 A are installed in the fastening portions 80 of the second mounting robots 6 . These remaining bolts are tightened to the nuts 44 through the bolt holes 34 of the sunroof member 3 .
- the aforementioned displacement amounts of workpiece positions are reflected in the operation of the second mounting robots 6 to correct the operation of the second mounting robots 6 .
- the inner panel 2 A of the body 2 is photographed by the CCD cameras 241 of the first mounting robots 5 , and the displacement amount of the inner panel 2 A from the position taught in advance is calculated based on these photographed images.
- the sunroof member 3 is held by the transport robot 4 at the workpiece supply location, and the sunroof member 3 is transported to be positioned in the vicinity of the inner panel 2 A. Simultaneously with the transport of the sunroof member 3 , the sunroof member 3 is photographed by the CCD cameras 241 of the first mounting robots 5 , and the displacement amount of the sunroof member 3 from the position taught in advance is calculated based on these photographed images.
- the sunroof member 3 is received by the first mounting robots 5 from the transport robot 4 , and the sunroof member 3 is held and transported, whereby the sunroof member 3 is positioned to the inner panel 2 A of the body 2 . Thereafter, two locations of the sunroof member 3 are preliminarily fixed to the inner panel 2 A with the bolts 51 A by the nut runners 23 of the first mounting robots 5 .
- the displacement amount of the inner panel 2 A calculated and the displacement amount of the sunroof member 3 are reflected in the operation of the first mounting robots 5 to correct the operation of the first mounting robots 5 .
- the second mounting robots 6 are controlled to perform main fixing of two locations of the sunroof member 3 to the inner panel 2 A with the bolts 51 A by way of the fastening hands 70 of the second mounting robots 6 .
- the displacement amount of the inner panel 2 A already calculated is reflected in the operation of the second mounting robots 6 to correct the operation of the second mounting robots 6 .
- the roles are shared between the first mounting robots 5 and the second mounting robots 6 : only positioning and preliminary fixing of the sunroof member 3 is performed by the first mounting robots 5 and main fixing of the sunroof member 3 is performed by the second mounting robots 6 . Therefore, the general versatility is raised since the shape of the sunroof member 3 can be handled even in a case of changing for every model, by respectively configuring the first mounting robots 5 and the second mounting robots 6 to the optimal structure according to their role, whereby the cycle time can be shortened.
- FIG. 13 is an overall perspective view of a workpiece mounting system 1 to which a sunroof unit holding device according to a second embodiment of the present invention has been applied.
- the workpiece mounting system 1 mounts a sunroof member 3 as a sunroof unit to a body 2 transported by a transport conveyor, which is not illustrated.
- a front window opening 41 in which a front window is mounted is formed in a front of the body 2
- front door openings 42 in which front doors are mounted are formed in both sides of the body 2 .
- the sunroof member 3 is mounted to a roof 43 of the body 2 from an interior side of the body 2 .
- the workpiece mounting system 1 includes a transport robot 4 that transports the sunroof member 3 to a vicinity of the mounting positions on the body 2 , a pair of mounting robots 5 that positions the sunroof member 3 transported by the transport robot 4 to the body 2 , and a control device 7 that controls the transport robot 4 and the mounting robots 5 .
- FIG. 14 is a perspective view of the sunroof member 3 and an inner panel 2 A to which the sunroof member 3 is mounted.
- the sunroof member 3 includes a rectangularly-shaped frame 30 and a center frame 33 provided to straddle portions of the frame 30 facing each other.
- the rectangularly-shaped frame 30 is configured by a substantially U-shaped main frame 31 , and a sub-frame 32 connecting leading end portions of the main frame 31 that extend substantially in parallel to each other.
- the center frame 33 connects portions of the main frame extending substantially in parallel to each other.
- the main frame 31 and the center frame 33 make the basic structure common to various sunroof members.
- Ten bolt holes 34 are formed in a rim portion of the sunroof member 3 .
- those positioned towards the front on both sides of the sunroof member 3 are defined as bolt holes 34 A, and those disposed backward of these bolts holes 34 A are defined as bolt holes 34 B.
- positioning holes 35 are formed in a vicinity of these bolt holes 34 A.
- the inner panel 2 A is a panel configuring the inside of the roof 43 of the body 2 .
- Nuts 44 are formed in the inner panel 2 A to correspond to the bolt holes 34 of the sunroof member 3 .
- these nuts 44 assuming that those corresponding to the bolt holes 34 A of the sunroof member 3 are defined as nuts 44 A, positioning holes 45 are formed in a vicinity of these nuts 44 A to correspond to the positioning holes 35 of the sunroof member 3 .
- those corresponding to the bolt holes 34 B of the sunroof 3 are defined as nuts 44 B.
- the sunroof member 3 is mounted to the inner panel 2 A by inserting bolts 51 into the bolt holes 34 of the sunroof member 3 from the interior side of the body 2 , and threading into the nuts 44 of the inner panel 2 A.
- bolts 51 those threaded into the nuts 44 A are defined as bolts 51 A.
- the transport robot 4 is disposed at a front side of the body 2 , and holds the sunroof member 3 and transports the sunroof member 3 thus held to the interior of the body 2 by moving toward the body 2 .
- the transport robot 4 includes a transport hand 10 as a sunroof unit holding device, and a robot arm 11 that is provided on a floor to be movable along a length direction of the body 2 and that causes the attitude and position in three-dimensional space of the transport hand 10 to change.
- FIG. 15 is a plan view of the transport hand 10 of the transport robot 4 .
- FIG. 16 is a perspective view of the transport hand 10 .
- the transport hand 10 is substantially cross-shaped in a plan view, and includes a plate-shaped base portion 12 that extends along a central axis C of a flange surface 11 A of the robot arm 11 , a holding mechanism 60 provided to the base portion 12 , and a projecting portion 13 that projects from a leading end of the base portion 12 along the central axis C.
- the projecting portion 13 includes a support portion 131 supported by the base portion 12 , and a center frame seating portion 132 provided to a leading end of the support portion 131 .
- a bottom of the center frame 33 is seated on the center frame seating portion 132 .
- the base portion 12 includes a support portion 121 mounted to the flange surface 11 A of the robot arm 11 , a substantially rectangular frame portion 122 , a connecting portion 123 that connects the frame portion 122 and the support portion 121 , a reinforcement plate 124 provided to a leading end side of the frame portion 122 , and guide portions 128 A and 128 B provided on the frame portion 122 that extend in a direction intersecting the central axis C.
- Main frame seating portions 125 are provided at two angled portions of the frame portion 122 on a side directed to the support portion 121 .
- a bottom of a portion of the substantially U-shaped main frame 31 substantially parallel to the center frame 33 is seated on a main frame seating portion 125 .
- the main frame seating portion 125 includes a base 126 and a pair of walls 127 arranged vertically to the base 126 .
- the pair of walls 127 is disposed opposite to each other, and extends in a direction intersecting the central axis C.
- the holding mechanism 60 includes a pair of pressing portions 62 A and 62 B movable along the guide portions 128 A and 128 B, and an advance/retract mechanism 63 configured to make the pressing portion 62 A advance and retract along the guide portion 128 A, and a link mechanism 64 configured to make the pressing portion 62 B move interlocking with the movement of the pressing portion 62 A.
- Slide guides which are not illustrated, are provided to top surfaces of the guide portions 128 A and 128 B.
- Slide rails that fit to the slide guides of the guide portions 128 A and 128 B are provided to bottom surfaces of the pressing portions 62 A and 62 B.
- the pair of pressing portions 62 A and 62 B are thereby able to slide along the guide portions 128 A and 128 B.
- a pressing surface 621 substantially perpendicular to the base portion 12 and a retaining surface 622 substantially parallel to the base portion 12 are provided to a leading end of each of the pressing portions 62 A and 62 B.
- the advance/retract mechanism 63 is mounted in a direction intersecting the central axis C on the frame portion 122 of the base portion 12 , and includes a piston rod 631 having a leading end that mounts to the pressing portion 62 A, and a cylinder 632 that causes the piston rod 631 to advance and retract.
- the link mechanism 64 includes a rack 641 A that is mounted to the pressing portion 62 A and extends in a sliding direction of the pressing portion 62 A, a rack 641 B that is mounted to the pressing portion 62 B and extends in a sliding direction of the pressing portion 62 B, a pinion 642 that is rotatably provided between these racks 641 A and 641 B on the central axis C and that engages with the racks 641 A and 641 B, and a case 643 housing the pinion 642 .
- a distance from the pressing portion 62 A to a portion of the rack 641 A engaging with the pinion 642 and a distance from the pressing portion 62 B to a portion of the rack 641 B engaging with the pinion 642 are made to be the same dimension. Accordingly, a distance from the pressing portion 62 A to the central axis C and a distance from the pressing portion 62 B to the central axis C always match each other, even when the pressing portion 62 A moves along the guide portion 128 A. In other words, the position of the pressing portion 62 A and the position of the pressing portion 62 B are always axisymmetric about the central axis C.
- the holding mechanism 60 when the piston rod 631 is made to advance by driving the advance/retract mechanism 63 , the pressing portion 62 A moves towards outside along the guide portion 128 A. Accompanying this movement of the pressing portion 62 A, the pressing portion 62 B also moves towards outside along the guide portion 128 B.
- the center frame 33 of the sunroof member 3 sits on the center frame seating portion 132 .
- portions of the main frame 31 that are substantially parallel to the center frame 33 sit on the two main frame seating portions 125 . More specifically, each portion of the main frame 31 that is substantially parallel to the center frame 33 fits between the pair of walls 127 of each main frame seating portion 125 , whereby movement of the sunroof member 3 in a direction along the central axis C is regulated.
- the pressing portions 62 A and 62 B are made to move towards outside, so that lateral surfaces of the portions of the main frame 31 extending substantially parallel to each other are held while pressed from inside by the pressing surfaces 621 . In this manner, movement of the sunroof member 3 in-plane of the base portion 12 and in a direction intersecting the central axis C is regulated.
- the retaining surfaces 622 cover top surfaces of the portions of the main frame 31 extending substantially in parallel to each other. Accordingly, movement of the sunroof member 3 in a direction substantially perpendicular to the base portion 12 is regulated.
- the pair of mounting robots 5 is disposed on both sides of the body 2 , and fixes the sunroof member 3 transported by the transport robot 4 to the inner panel 2 A of the body 2 .
- the mounting robots 5 each include a hand 20 , and a robot arm 21 that is provided on a floor and causes the attitude and position in three-dimensional space of the hand 20 to change.
- FIG. 1 Although a mounting robot 5 positioned on the left side of the body 2 will be explained below, another mounting robot 5 positioned on the right side of the body 2 has a similar configuration, and thus the appearance of these mounting robots 5 on the right and left sides is symmetrical about the body 2 .
- FIG. 17 is a plan view of the hand 20 of the mounting robot 5 .
- FIG. 18 is a side view of the hand 20 .
- FIG. 19 is a perspective view of the hand 20 .
- the hand 20 includes a substantially L-shaped support frame 22 , a nut runner 23 provided to the support frame 22 , and a photographing device 24 provided to the support frame 22 .
- the support frame 22 includes a first frame 221 extending from a flange surface of the robot arm 11 in an in-plane direction, and a second frame 222 orthogonal to the first frame 221 and extending from a leading end of the first frame 221 .
- a positioning pin 223 that projects upward is provided to an intersection portion between the first frame 221 and the second frame 222 .
- a workpiece support pad 224 is provided to a top surface of the second frame 222 on a leading end side thereof.
- the nut runner 23 is provided in a middle of the first frame 221 of the support frame 22 , and includes a socket 231 into which the bolt 51 A fits, and a drive device 232 that rotationally drives the socket 231 .
- the photographing device 24 is provided in a middle of the second frame 222 of the support frame 22 , and includes a CCD camera 241 disposed facing upwards, and a ring-shaped lighting system 242 that illuminates a photographing target of the CCD camera 241 .
- the positioning pin 223 of support frame 22 is inserted into the positioning hole 35 of the sunroof member 3 , as shown in FIG. 20 . Then, the sunroof member 3 is supported by the positioning pin 223 and workpiece support pad 224 of the support frame 22 . In addition, the bolt 51 A chucked in the socket 231 of the nut runner 23 is inserted into the bolt hole 34 A of the sunroof member 3 .
- Step ST 1 transport of the body 2 is stopped.
- Step ST 2 the mounting robots 5 go into the interior of the body 2 through the front door openings 42 on both sides of the body 2 , and the CCD cameras 241 of the mounting robots 5 are brought close to the inner panel 2 A.
- the nuts 44 B of the inner panel 2 A are photographed by the CCD cameras 241 , after which the mounting robots 5 are made to exit.
- Step ST 3 displacement amounts of the nuts 44 B from positions taught in advance are calculated by the control device 7 as displacement amounts of workpiece mounting positions, based on the photographed images of the inner panel 2 A.
- Step ST 4 A the sunroof member 3 is made to be held by the transport robot 4 at a workpiece supply location, which is not illustrated. Then, transport of the sunroof member 3 to the front window opening 41 of the body 2 is initiated by moving the transport robot 4 .
- Step ST 5 the mounting robots 5 are positioned below the transported sunroof member 3 and the mounting robots 5 are made to move synchronously with the operation of the transport robot 4 until the sunroof member 3 reaches the front window opening 41 of the body 2 . Subsequently, the bolt holes 34 B of the sunroof member 3 are photographed as reference positions by the CCD cameras 241 of the mounting robots 5 .
- Step ST 6 displacement amounts of the bolt holes 34 B from positions taught in advance are calculated by the control device 7 as displacement amounts of workpiece positions, based on the photographed images of the sunroof member 3 .
- Step ST 4 B the transport robot 4 causes the sunroof member 3 to enter the interior of the body 2 through the front window opening 41 of the body 2 and to stop below the inner panel 2 A.
- the sunroof member 3 is made to stop so that the positioning holes 35 of the sunroof member 3 are located directly below the positioning holes 45 of the body 2 , based on the displacement amounts of workpiece positions and the displacement amounts of workpiece mounting positions calculated in Step ST 3 .
- Step ST 7 the mounting robots 5 are controlled to be brought close to the sunroof member 3 from below and the positioning pins 223 are inserted into the positioning holes 35 of the sunroof member 3 , while both edges of the sunroof member 3 are supported by these mounting robots 5 . Accordingly, the mounting robots 5 come to receive the sunroof member 3 from the transport robot 4 . Herein, the aforementioned displacement amounts of workpiece positions are reflected in the operation of the mounting robots 5 to correct the operation of the mounting robots 5 . Thereafter, the transport robot 4 is made to exit from the interior of the body 2 .
- Step ST 8 the mounting robots 5 are lifted to cause the positioning pins 223 to be inserted into the positioning holes 45 of the body 2 .
- the sunroof member 3 is positioned to the inner panel 2 A of the body 2 .
- the aforementioned displacement amounts of workpiece mounting positions and the displacement amounts of workpiece positions are reflected in the operation of the mounting robots 5 to correct the operation of the mounting robots 5 .
- the bolt holes 34 A of the sunroof member 3 geometrically match the nuts 44 A of the body 2 .
- the nut runners 23 are actuated, and they tighten the two bolts 51 A to the nuts 44 A of the body 2 through the bolt holes 34 A of the sunroof member 3 .
- Step ST 9 the remaining bolts 51 other than the bolts 51 A are prepared and tightened to the nuts 44 through the bolt holes 34 of the sunroof member 3 by a bolt tightening robot that is not illustrated.
- the transport hand 10 is configured to include the center frame seating portion 132 on which the bottom of the center frame 33 sits, the main frame seating portions 125 on which the bottoms of the main frame 31 sit, and a pair of pressing portions 62 A and 62 B that presses the lateral sides of the main frame 31 . More specifically, the transport hand 10 is configured to hold the main frame 31 and the center frame 33 , which are portions common to the sunroof members 3 of every vehicle model.
- the sunroof member 3 is first held and transported by the transport robot 4 to be positioned in the vicinity of the inner panel 2 A.
- the bolt holes 34 of the sunroof member 3 are photographed by the CCD cameras 241 of the mounting robots 5 , and the displacement amounts of the bolt holes 34 from the positions taught in advance are calculated based on these photographed images.
- the sunroof member 3 is received from the transport robot 4 while correcting the operation of the mounting robots 5 , and the sunroof member 3 thus received is mounted to the inner panel 2 A of the body 2 .
Abstract
A workpiece mounting system which is highly versatile and can reduce a cycle time. A workpiece mounting system (1) mounts a sunroof member (3) to an inner panel (2A) of a body (2). The workpiece mounting system (1) is provided with a first robot (5), a second robot (6), and a control device (7) for controlling the first and second robots. The control device (7) performs a step of calculating as positional information the position of the sunroof member (3) and the position of the inner panel (2A) by means of a CCD camera of the first robot (5), a step of holding and conveying the sunroof member (3) by means of the first robot (5) on the basis of the positional information and positioning the sunroof member (3) relative to the inner panel (2A), a step of temporarily fixing the sunroof member (3) to the inner panel (2A) by means of the first robot (5), and a step of finally fixing the sunroof member (3) to the inner panel (2A) by means of the second robot (6) on the basis of the already calculated positional information.
Description
- The present invention relates to a workpiece mounting system, a workpiece mounting method, a sunroof unit holding device, and a sunroof unit holding method. More specifically, it relates to a workpiece mounting system and a workpiece mounting method for mounting a sunroof to the body of an automobile. In addition, the present invention relates to a sunroof unit holding device and a sunroof unit holding method for holding a sunroof to the body of an automobile.
- Conventionally, a sunroof for introducing light from outside has been provided in the body of automobiles. The sunroof is formed by mounting a sunroof unit to the body.
- Specifically, a sunroof unit mounting robot has been arranged in a manufacturing line for the body (refer to Patent Document 1). The sunroof unit mounting robot includes a robot arm and a hand provided to a leading end of this robot arm that supports the sunroof unit.
- The hand is a rectangular frame shape, and includes two tapered pins, three cylinder units, two positioning pins, and eight nut runners. A bolt is clamped in each nut runner. The positions of the positioning pins and the nut runners in this hand are determined in advance based on the shape of the sunroof unit.
- Operation of the above mounting robot is as follows.
- First, the sunroof unit is held by the hand. More specifically, the sunroof unit is positioned relative to the hand, by inserting the positioning pins in the sunroof unit, and bolts clamped in the nut runners of the hand are inserted into bolt holes of the sunroof unit.
- Thereafter, the robot arm is controlled to put the sunroof unit inside of the body from a front window opening of the body.
- Next, the tapered pins of the hand are inserted in the positioning holes formed at the mounting positions on the body to position the hand relative to the body.
- Then, the cylinder units are driven to bring the sunroof unit close to the mounting position of the body, and the nut runners are driven to thread the bolts into the nuts on the body.
- According to such a mounting robot, the sunroof unit can be transported and mounted with one hand.
- Patent Document 1: Japanese Patent No. 2672825
- Incidentally, in recent years, it is often the case that a plurality of vehicle models is produced on one production line in order to make production lines operate efficiently. In this case, the shape of the sunroof unit may change according to the vehicle model.
- However, with the structure of the above hand, the positions of the positioning pins and nut runners are determined in advance according to the shape of the sunroof unit, and thus the general versatility is low, and it has been necessary to exchange the hand for every vehicle model. As a result, there has been a problem in that the cycle time is prolonged.
- In addition, with the structure of the above hand, the positions of the positioning pins and nut runners are determined in advance according to the shape of the sunroof unit, and thus the general versatility is low, and it has been necessary to exchange the hand for every vehicle model.
- The present invention has an object of providing a workpiece mounting system and a workpiece mounting method having high general versatility and able to shorten the cycle time.
- The present invention also has an object of providing a sunroof unit holding device and a sunroof unit holding method having high general versatility.
- According to the present invention, a workpiece mounting system (e.g., a
workpiece mounting system 1 described later) for mounting a first workpiece (e.g., asunroof member 3 described later) to a mounting portion (e.g., aninner panel 2A described later) of a second workpiece (e.g., abody 2 described later), includes: a first robot (e.g., afirst mounting robot 5 described later) including a preliminary fixing means (e.g., anut runner 23 described later) for performing preliminary fixing of the first workpiece to the second workpiece, a holding means (e.g., apositioning pin 223 andworkpiece support pad 224 described later) for holding the first workpiece, and a position detecting means (e.g., aCCD camera 241 described later) for detecting a position of the first workpiece and a position of a mounting portion of the second workpiece; a second robot (e.g., asecond mounting robot 6 described later) including a main fixing means (e.g., a fasteninghand 70 described later) for performing main fixing of the first workpiece to the second workpiece; and a control device (e.g., acontrol device 7 described later) that controls the first robot and the second robot, the control device executing: a positional information calculating process of calculating a position of the first workpiece and a position of the mounting portion of the second workpiece as positional information by way of the position detecting means of the first robot, a positioning process of holding the first workpiece by way of the holding means of the first robot, transporting to position the first workpiece at the mounting portion of the second workpiece by way of the first robot, based on the positional information calculated in the positional information calculating process, a preliminary fixing process of performing preliminary fixing of the first workpiece to the second workpiece by way of the preliminary fixing means of the first robot, and a main fixing process of performing main fixing of the first workpiece to the second workpiece by way of the main fixing means of the second robot, based on the positional information calculated in the positional information calculating process. - According to the present invention, the first workpiece is mounted to the mounting location of the second workpiece in the following sequence.
- First, the position of the first workpiece and the position of the mounting portion of the second workpiece are calculated as positional information by the position detecting means of the first robot.
- Next, the first workpiece is held by the holding means of the first robot and transported by the first robot, so that the first workpiece is positioned to the mounting portion of the second workpiece, based on the positional information thus calculated.
- Then, the first workpiece is preliminarily fixed to the second workpiece by the preliminary fixing means of the first robot, followed by main fixing of the first workpiece to the second workpiece being carried out by way of the main fixing means of the second robot based on the positional information already calculated.
- Consequently, the roles are shared between the first robot and the second robot: only positioning and preliminary fixing of the first workpiece is performed by the first robot, and main fixing of the first workpiece is performed by the second robot. Therefore, the general versatility is raised since the shape of the first workpiece can be handled even in a case of changing for every model, by respectively configuring the first robot and the second robot to the optimal structure according to their role, whereby the cycle time can be shortened.
- In addition, by simply calculating the position of the first workpiece and the position of the mounting portion of the second workpiece one time by way of the position detecting means as positional information, the operations of the first robot and the second robot are corrected based on this positional information calculated. Therefore, the operating cost can be reduced, and the cycle time can be further shortened, since it is no longer necessary for the positions of first workpiece and the mounting portion of the second workpiece to be detected many times over.
- According to the present invention, a workpiece mounting method for mounting a first workpiece to a mounting portion of a second workpiece, includes the steps of: calculating a position of the first workpiece and a position of the mounting portion of the second workpiece as positional information by way of a first robot; holding the first workpiece by way of the first robot and transporting to position the first workpiece at the mounting portion of the second workpiece by way of the first robot, based on the positional information thus calculated in the calculating step; performing preliminary fixing of the first workpiece to the second workpiece by way of the first robot, and performing main fixing of the first workpiece to the second workpiece by way of a second robot, based on the positional information calculated in the calculating step.
- There are similar effects according to the present invention as to the aforementioned effects.
- According to the present invention, a sunroof unit holding device (e.g., a
transport hand 10 described later) for holding a sunroof unit (e.g., asunroom member 3 described later) having a substantially U-shaped main frame (e.g., amain frame 31 described later) and a center frame (e.g., acenter frame 33 described later) configured to connect portions of the main frame extending substantially in parallel to each other, in which the device includes: a center frame seating portion (e.g., centerframe seating portion 132 described later) on which a bottom of the center frame sits; a main frame seating portion (e.g., a mainframe seating portion 125 described later) on which a bottom of a portion of the main frame substantially parallel to the center frame sits; and a pair of pressing portions (e.g., pressingportions - The basic structures of the sunroof units are substantially common irrespective of the vehicle model, even if the shape and structure of the sunroof units differ depending on the vehicle model. Specifically, all sunroof units have a substantially U-shaped main frame and a center frame configured to connect portions of the main frame extending substantially parallel to each other as a basic structure.
- Accordingly, the present invention focuses on the basic structure common to every sunroof unit, and thus the sunroof unit holding device is configured to include the center frame seating portion on which the bottom of the center frame sits, the main frame seating portion on which the bottom of the main frame sits, and the pair of pressing portions that presses lateral sides of the main frame. In other words, the sunroof unit holding device is configured to hold portions common to every sunroof unit.
- Therefore, the operation in a case of mounting a sunroof unit to the body of an automobile becomes as follows, for example. First, the sunroof unit is held and transported by the sunroof unit holding device. Next, the displacement of the sunroof unit held by the sunroof unit holding device from a position taught in advance is calculated by a different mounting robot equipped with a camera. Then, the sunroof unit is received from the sunroof unit holding device while correcting the operation of the mounting robot based on the displacement thus calculated, and this sunroof unit received is mounted to the body.
- Accordingly, since the portions common to every sunroof unit are held by the sunroof unit holding device, multiple types of sunroof units can be held by a single sunroof unit holding device, thereby raising the general versatility of a facility.
- According to the present invention, a sunroof unit holding method for holding a sunroof unit having a substantially U-shaped main frame and a center frame configured to connect portions of the main frame extending substantially in parallel to each other, includes the steps of: supporting a bottom of the center frame and a portion of the main frame substantially parallel to the center frame; and holding the sunroof unit by pressing the portions of the main frame substantially parallel to each other from inner lateral sides thereof.
- There are similar effects according to the present invention as to the aforementioned effects.
- According to the present invention, the roles are shared between the first mounting robot and the second mounting robot: only positioning and preliminary fixing of the first workpiece is performed by the first robot and main fixing of the first workpiece is performed by the second robot. Therefore, the general versatility is raised since the shape of the first workpiece can be handled even in a case of changing for every model, by respectively configuring the first robot and the second robot to the optimal structure according to their role, whereby the cycle time can be shortened. In addition, by simply calculating the position of the first workpiece and the position of the mounting portion of the second workpiece one time by way of the position detecting means as positional information, the operations of the first robot and the second robot are corrected based on this positional information calculated. Therefore, the operating cost can be reduced, and the cycle time can be further shortened, since it is no longer necessary for the positions of first workpiece and the mounting portion of the second workpiece to be detected many times over.
-
FIG. 1 is an overall perspective view of a workpiece mounting system according to a first embodiment of the present invention; -
FIG. 2 is a perspective view of a sunroof member and a portion to which the sunroof member is mounted according to the embodiment; -
FIG. 3 is a plan view of a transport hand of a transport robot according to the embodiment; -
FIG. 4 is a perspective view of the transport hand according to the embodiment; -
FIG. 5 is a plan view of a hand of a first mounting robot according to the embodiment; -
FIG. 6 is a side view of the hand of the first mounting robot according to the embodiment; -
FIG. 7 is a perspective view of the hand of the first mounting robot according to the embodiment; -
FIG. 8 is an exploded perspective view showing the sunroof member held by the first mounting robot according to the embodiment; -
FIG. 9 is a perspective view of a fastening hand of a second mounting robot according to the embodiment; -
FIG. 10 is a cross-sectional view of the fastening hand of the second mounting robot according to the embodiment; -
FIG. 11 is a diagram for illustrating the operation of the second mounting robot according to the embodiment; -
FIG. 12 is a flowchart of the operation of a workpiece mounting system according to the embodiment; -
FIG. 13 is an overall perspective view of a workpiece mounting system to which a sunroof unit holding device is applied according to a second embodiment of the present invention; -
FIG. 14 is a perspective view of a sunroof unit and a portion to which the sunroof unit is mounted according to the second embodiment; -
FIG. 15 is a plan view of a transport hand of a transport robot of the workpiece mounting system according to the second embodiment; -
FIG. 16 is a perspective view of the transport hand of the transport robot according to the second embodiment; -
FIG. 17 is a plan view of a hand of a mounting robot according to the second embodiment; -
FIG. 18 is a side view of the hand of the mounting robot according to the second embodiment; -
FIG. 19 is a perspective view of the hand of the mounting robot according to the second embodiment; -
FIG. 20 is an exploded perspective view showing the sunroof unit supported by the mounting robot according to the second embodiment; and -
FIG. 21 is a flowchart of the operation of the workpiece mounting system according to the second embodiment. - Each embodiment of the present invention will be explained hereinafter based on the drawings.
-
FIG. 1 is an overall perspective view of aworkpiece mounting system 1 according to an embodiment of the present invention. - The
workpiece mounting system 1 mounts asunroof member 3 serving as a first workpiece to abody 2 serving as a second workpiece, which is transported by a transport conveyor that is not illustrated. - A
front window opening 41 in which the front window is mounted is formed in a front of thebody 2, andfront door openings 42 in which front doors are mounted are formed in both sides of thebody 2. - The
sunroof member 3 is mounted to aroof 43 of thebody 2 from an interior side of thebody 2. - The
workpiece mounting system 1 includes atransport robot 4 that transports thesunroof member 3 to a vicinity of the mounting positions on thebody 2, a pair of first mountingrobots 5 as a first robot that receives thesunroof member 3 from thetransport robot 4, and perform positioning and preliminary mounting of thesunroof member 3 thus received to thebody 2, a pair ofsecond mounting robots 6 as a second robot that performs main fixing of thesunroof member 3 thus primarily mounted, and acontrol device 7 that controls thetransport robot 4, first mountingrobots 5, and second mountingrobots 6. -
FIG. 2 is a perspective view of thesunroof member 3 and aninner panel 2A serving as a mounting portion to which thesunroof member 3 is mounted. - The
sunroof member 3 includes a rectangularly-shapedframe 30 and acenter frame 33 provided to straddle portions of theframe 30 facing each other. - The rectangularly-shaped
frame 30 is configured by a substantially U-shapedmain frame 31, and asub-frame 32 configured to connect leading end portions of themain frame 31 that extend substantially in parallel to each other. - The
center frame 33 connects portions of themain frame 31 extending substantially in parallel to each other. - Among the frames configuring the
sunroof member 3, themain frame 31 and thecenter frame 33 make the basic structure common to various sunroof members. - Ten bolt holes 34 are formed in a rim portion of the
sunroof member 3. Among these bolt holes 34, those positioned on both front sides of thesunroof member 3 are defined as bolt holes 34A, and those disposed backward of thesebolts holes 34A are defined as bolt holes 34B. - In addition, positioning holes 35 are formed in a vicinity of these
bolt holes 34A. - The
inner panel 2A is a panel configuring the inside of theroof 43 of thebody 2.Nuts 44 are formed in theinner panel 2A to correspond to the bolt holes 34 of thesunroof member 3. Among thesenuts 44, assuming that those corresponding to the bolt holes 34A of thesunroof member 3 are defined as nuts 44A, positioning holes 45 are formed in a vicinity of thesenuts 44A to correspond to the positioning holes 35 of thesunroof member 3. In addition, among thesenuts 44, those corresponding to the bolt holes 34B of thesunroof 3 are defined as nuts 44B. - The
sunroof member 3 is mounted to theinner panel 2A by insertingbolts 51 into the bolt holes 34 of thesunroof member 3 from the interior side of thebody 2, and threading into thenuts 44 of theinner panel 2A. Herein, among thebolts 51, those threaded into the nuts 44A are defined asbolts 51A. - Referring back to
FIG. 1 , thetransport robot 4 is disposed at a front side of thebody 2. It holds thesunroof member 3 and moves toward thebody 2 such that it transports thesunroof member 3 to the interior of thebody 2. - The
transport robot 4 includes atransport hand 10, and arobot arm 11 that is provided on a floor to be movable along a length direction of thebody 2 and that causes the attitude and position in three-dimensional space of thetransport hand 10 to change. -
FIG. 3 is a plan view of thetransport hand 10 of thetransport robot 4.FIG. 4 is a perspective view of thetransport hand 10. - The
transport hand 10 is substantially cross-shaped in a plan view, and includes a plate-shapedbase portion 12 that extends along a central axis C of aflange surface 11A of therobot arm 11, aholding mechanism 60 provided to thebase portion 12, and a projectingportion 13 that projects from a leading end of thebase portion 12 along the central axis C. - The projecting
portion 13 includes asupport portion 131 supported by thebase portion 12, and a centerframe seating portion 132 provided to a leading end of thesupport portion 131. - A bottom of the
center frame 33 is seated on the centerframe seating portion 132. - The
base portion 12 includes asupport portion 121 mounted to theflange surface 11A of therobot arm 11, a substantiallyrectangular frame portion 122, a connectingportion 123 that connects theframe portion 122 and thesupport portion 121, areinforcement plate 124 provided to a leading end side of theframe portion 122, and guideportions frame portion 122 that extend in a direction intersecting the central axis C. - Main
frame seating portions 125 are provided at two angled portions of theframe portion 122 on a side directed to thesupport portion 121. - A bottom of a portion of the substantially U-shaped
main frame 31 substantially parallel to thecenter frame 33 is seated on a mainframe seating portion 125. The mainframe seating portion 125 includes abase 126 and a pair ofwalls 127 arranged vertically to thebase 126. - The pair of
walls 127 is disposed opposite to each other, and extends in a direction intersecting the central axis C. - The holding
mechanism 60 includes a pair ofpressing portions guide portions mechanism 63 configured to make thepressing portion 62A advance and retract along theguide portion 128A, and alink mechanism 64 configured to make thepressing portion 62B move interlocking with the movement of thepressing portion 62A. - Slide guides, which are not illustrated, are provided to top surfaces of the
guide portions - Slide rails that fit to the slide guides of these
guide portions pressing portions pressing portions guide portions - A
pressing surface 621 substantially perpendicular to thebase portion 12 and a retainingsurface 622 substantially parallel to thebase portion 12 are provided to a leading end of each of thepressing portions - The advance/retract
mechanism 63 is mounted in a direction intersecting the central axis C on theframe portion 122 of thebase portion 12, and includes apiston rod 631 having a leading end that mounts to thepressing portion 62A, and acylinder 632 that causes thepiston rod 631 to advance and retract. - The
link mechanism 64 includes arack 641A that is mounted to thepressing portion 62A and extends in a sliding direction of thepressing portion 62A, arack 641B that is mounted to thepressing portion 62B and extends in a sliding direction of thepressing portion 62B, apinion 642 that is rotatably provided between theseracks racks case 643 housing thepinion 642. - A distance from the
pressing portion 62A to a portion of therack 641A engaging with thepinion 642 and a distance from thepressing portion 62B to a portion of therack 641B engaging with thepinion 642 are made to be the same dimension. Accordingly, the distance from thepressing portion 62A to the central axis C and the distance from thepressing portion 62B to the central axis C always match each other, even when thepressing portion 62A moves along theguide portion 128A. In other words, the position of thepressing portion 62A and the position of thepressing portion 62B are always axisymmetric about the central axis C. - With the
holding mechanism 60, when thepiston rod 631 is made to advance by driving the advance/retractmechanism 63, thepressing portion 62A moves towards outside along theguide portion 128A. Accompanying the movement of thepressing portion 62A, thepressing portion 62B also moves towards outside along theguide portion 128B. - Therefore, when the
sunroof member 3 is placed on thetransport hand 10 of thetransport robot 4, thecenter frame 33 of thesunroof member 3 sits on the centerframe seating portion 132. In addition, the portions of themain frame 31 that are substantially parallel to thecenter frame 33 sit on the two mainframe seating portions 125. More specifically, each portion of themain frame 31 that is substantially parallel to thecenter frame 33 fits between the pair ofwalls 127 of each mainframe seating portion 125, whereby movement of thesunroof member 3 in a direction along the central axis C is regulated. - Thereafter, when the
holding mechanism 60 is driven, thepressing portions main frame 31 extending substantially parallel to each other are held while pressed from inside by pressingsurfaces 621. In this manner, movement of thesunroof member 3 in-plane of thebase portion 12 and in a direction intersecting the central axis C is regulated. - In addition, simultaneously with the
pressing surfaces 621 abutting the lateral surfaces of portions of themain frame 31 extending substantially in parallel to each other, the retainingsurfaces 622 cover top surfaces of the portions of themain frame 31 extending substantially in parallel to each other. Accordingly, movement of thesunroof member 3 in a direction substantially perpendicular to thebase portion 12 is regulated. - Referring back to
FIG. 1 , the pair of first mountingrobots 5 is disposed on both sides of thebody 2, and performs preliminary mounting of thesunroof member 3 transported by thetransport robot 4 to theinner panel 2A of thebody 2. - The
first mounting robots 5 each include ahand 20, and arobot arm 21 that is provided on a floor and causes the attitude and position in three-dimensional space of thehand 20 to change. - Although a first mounting
robot 5 positioned on the left side of thebody 2 will be explained below, another first mountingrobot 5 positioned on the right side of thebody 2 has a similar configuration, and thus the appearance of these first mountingrobots 5 on the right and left sides is symmetrical about thebody 2. -
FIG. 5 is a plan view of thehand 20 of the first mountingrobot 5.FIG. 6 is a side view of thehand 20.FIG. 7 is a perspective view of thehand 20. - The
hand 20 includes a substantially L-shapedsupport frame 22, anut runner 23 as preliminary fixing means provided to thesupport frame 22, and a photographingdevice 24 provided to thesupport frame 22. - The
support frame 22 includes afirst frame 221 extending from a flange surface of therobot arm 11 in an in-plane direction, and asecond frame 222 orthogonal to thefirst frame 221 and extending from a leading end of thefirst frame 221. - A
positioning pin 223 that projects upward is provided to an intersection portion between thefirst frame 221 and thesecond frame 222 as a holding means. In addition, aworkpiece support pad 224 is provided to a top surface of thesecond frame 222 on a leading end side thereof as a holding means. - The
nut runner 23 is provided in a middle of thefirst frame 221 of thesupport frame 22, and includes asocket 231 into which thebolt 51A fits, and adrive device 232 that rotationally drives thesocket 231. - When the
drive device 232 is driven in thenut runner 23, thebolt 51A fit to thesocket 231 is made to rotate at a predetermined torque. - The photographing
device 24 is provided in a middle of thesecond frame 222 of thesupport frame 22, and includes aCCD camera 241 disposed facing upwards as a position detecting means, and a ring-shapedlighting system 242 that illuminates a photographing target of theCCD camera 241. - When the
sunroof member 3 is placed on thehand 20 of the first mountingrobot 5, thepositioning pin 223 of thesupport frame 22 are inserted into thepositioning hole 35 of thesunroof member 3, as shown inFIG. 8 . Then, thesunroof member 3 is supported by thepositioning pin 223 and theworkpiece support pad 224 of thesupport frame 22. In addition, thebolt 51A chucked in thesocket 231 of thenut runner 23 is inserted into thebolt hole 34A of thesunroof member 3. - Referring back to
FIG. 1 , the pair ofsecond mounting robots 6 is disposed on both sides of thebody 2, and performs main fixing of thesunroof member 3 on which preliminary mounting has been performed by the first mountingrobots 5 to theinner panel 2A of thebody 2. - The
second mounting robots 6 each include afastening hand 70 as main fixing means, and arobot arm 71 that is provided on a floor and causes the attitude and position in three-dimensional space of thefastening hand 70 to change. - Although a
second mounting robot 6 positioned on the left side of thebody 2 will be explained below, another second mountingrobot 6 positioned on the right side of thebody 2 has a similar configuration, and thus the appearance of thesesecond mounting robots 6 on the right and left sides is symmetrical about thebody 2. -
FIG. 9 is a perspective view of thefastening hand 70 of the second mountingrobot 6. - The
fastening hand 70 includes a switching mechanism 72 having sixfastening portions 80 and locating one among thesefastening portions 80 at a predetermined position, adrive source 73 that drives rotationally, and an advance/retractmechanism 74 that causes thedrive source 73 to couple with onefastening portion 80 at the predetermined position. - The switching mechanism 72 is supported by a leading end flange surface of the
robot arm 71 via a mountingbracket 721. - The switching mechanism 72 includes a cylindrically shaped
holder 722, the sixfastening portions 80 disposed at an outer circumferential surface of theholder 722, and a holder drive portion 723 that causes theholder 722 to rotate. - The holder drive portion 723 is fixed to the mounting
bracket 721. - The
holder 722 is cylindrically shaped and mounted to a drive shaft of the holder drive portion 723. When the holder drive portion 723 is driven, theholder 722 rotates in an A-arrow direction or B-arrow direction about the central axis, thereby causing thefastening portions 80 to move. -
FIG. 10 is a cross-sectional view of thefastening hand 70. - A
fastening portion 80 is supported by theholder 722 rotatably about a rotational axis Y. Thefastening portion 80 includes a retainingportion 81, ashaft 82, aguide portion 83, and abit portion 84 having asocket 85. - The retaining
portion 81 is cylindrically shaped. Aball spline 811 is provided inside of the retainingportion 81. Theshaft 82 is inserted into the retainingportion 81 and is supported rotatable and advanceable/retractable by theball spline 811. - A
joint portion 821 is provided to a base end portion of theshaft 82. Thedrive source 73 is connectable with thejoint portion 821. - In addition, a
spring 86 is interposed between thejoint portion 821 of theshaft 82 and a base end surface of the retainingportion 81. - The
guide portion 83 is cylindrically shaped. Theshaft 82 is connected to a base end portion of theguide portion 83. Accordingly, the rotational force of theshaft 82 is transmitted to theguide portion 83. - A base end portion of the
bit portion 84 is inserted into a leading end portion of theguide portion 83. An outer circumferential surface of the base end portion of thebit portion 84 and the inner circumferential surface of theguide portion 83 are similar to each other in a hexagonal shape. Furthermore, a small gap is formed between the outer circumferential surface of the base end portion of thebit portion 84 and an inner circumferential surface of theguide portion 83. - Accordingly, the
bit portion 84 freely fits to be movable relative to theguide portion 83 in a direction intersecting the axial direction and slidable in the axial direction relative to theguide portion 83. In addition, when theguide portion 83 rotates, thebit portion 84 subordinately rotates relative to the rotation of theguide portion 83. - In addition, the
shaft 82 is inserted into the base end portion of thebit portion 84. - A
spring 87 is built into theguide portion 83. Thespring 87 is disposed along theshaft 82, and a leading end portion of thespring 87 is housed in the base end portion of thebit portion 84 and biases thebit portion 84 towards a leading end side thereof. - The
socket 85 retains abolt 51. A leading end surface of thesocket 85 is magnetized, and retains thebolt 51 by way of the magnetism of thesocket 85. - With the
fastening portion 80 described above, theshaft 82 rotates when thedrive source 73 is connected to thejoint portion 821 of theshaft 82 and rotationally driven. This rotational force is transmitted to thebit portion 84 via theguide portion 83, whereby thesocket 85 rotates. - In addition, when the
shaft 82 is pressed by thedrive source 73, theshaft 82, theguide portion 83 and thebit portion 84 advance against the biasing force exerted by thespring 86; however, when this pressing force exerted by thedrive source 73 is released, they return to an original position by way of the resilience of thespring 86. - In addition, even if a pressing force in the axial direction acts on the
socket 85, this pressing force is mitigated by thebit portion 84 retracting against the biasing force of thespring 87. Thereafter, when this pressing force is released, thebit portion 84 returns to the original position by way of the resilience of thespring 87. - The
drive source 73 is disposed behind theholder 722, and includes arotary drive portion 731. A leading end of therotary drive portion 731 is configured to be fittable with thejoint portion 821 of thefastening portion 80. A rotational direction X of therotary drive portion 731 is configured to be substantially parallel to the rotational axis of theholder 722. - The advance/retract
mechanism 74 is provided to the mountingbracket 721, and is controlled by thecontrol device 7 to cause thedrive source 73 to advance or retract along the rotational axis X. - The advance/retract
mechanism 74 includes a pair ofcylinder mechanisms 75 and a pair of sliding guides 76. - Each of the pair of
cylinder mechanisms 75 includes apiston rod 751 mounted to thedrive source 73 and acylinder 752 that makes thepiston rod 751 advance and retract. Thedrive source 73 advances and retracts along the rotational axis X of therotary drive portion 731 when the pair ofcylinder mechanisms 75 is driven. - Each of the pair of sliding
guides 76 includes aslide beam 761 mounted to thedrive source 73, and aslide portion 762 provided to the mountingbracket 721 and into which theslide beam 761 is inserted. The pair of slidingguides 76 guides the advance/retract movement of thedrive source 73 when theslide beam 761 slides in theslide portion 762. - Operation of the
aforementioned fastening hand 70 will be explained next. - As an initial setting, the rotational axis Y of the
fastening portion 80 is positioned on the rotational axis X of therotary drive portion 731 of thedrive source 73, as shown inFIG. 9 . - The
robot arm 71 is controlled by thecontrol device 7 to cause thefastening hand 70 to move from this position to a mounting position. More specifically, therobot arm 71 is controlled so that the mounting position of thebolt 51 is coaxial with the rotational axis of thedrive source 73. - Next, the advance/retract
mechanism 74 is driven to cause thedrive source 73 to advance, whereby therotary drive portion 731 of thedrive source 73 is connected to theshaft 82 of thefastening portion 80. - Subsequently, the
drive source 73 is made to further advance against the biasing force of thespring 86, and abolt 51 retained in afastening portion 80 is made to project from the front face of thefastening hand 70, thereby pushing thebolt 51 out to the mounting position. - Next, the
rotary drive portion 731 of thedrive source 73 is driven. When this is done, the rotational force of therotary drive portion 731 is transmitted to thefastening portion 80, whereby asocket 85 rotates. Thebolt 51 is thereby tightened at the mounting position. - Next, the
rotary drive portion 731 of thedrive source 73 is made to retract by driving the advance/retractmechanism 74. When this is done, thesocket 85 retracts by way of the resilience of thespring 86, and thefastening portion 80 returns to the original position. Subsequently, thedrive source 73 is made to further retract, thereby causing therotary drive portion 731 of thedrive source 73 to separate from theshaft 82 of thefastening portion 80. - Next, the
holder 722 is made to rotate in the A-arrow direction or the B-arrow direction by driving the holder drive portion 723, whereby a rotational axis Y of asubsequent fastening portion 80 is disposed coaxial with the rotational axis X of therotary drive portion 731 of thedrive source 73. - Thereafter, the
robot arm 71 is controlled by thecontrol device 7, such that thefastening hand 70 is moved to a subsequent mounting position, repeating the same operations as the above described. - Operation of the
workpiece mounting system 1 will be explained while referring to the flowchart ofFIG. 12 . - In Step ST1, transport of the
body 2 is stopped. - In Step ST2, the first mounting
robots 5 go into the interior of thebody 2 through thefront door openings 42 on both sides of thebody 2, andCCD cameras 241 of the first mountingrobots 5 are brought close to theinner panel 2A. Next, the nuts 44B of theinner panel 2A are photographed by theCCD cameras 241, after which the first mountingrobots 5 are made to exit. - In Step ST3, displacement amounts of the nuts 44B from positions taught in advance are calculated by the
control device 7 as displacement amounts of workpiece mounting positions related to positional information, based on the photographed images of theinner panel 2A. - In Step ST4A, the
sunroof member 3 is made to be held by thetransport robot 4 at a workpiece supply location, which is not illustrated. Then, transport of thesunroof member 3 to the front window opening 41 of thebody 2 is initiated by moving thetransport robot 4. - In Step ST5, the first mounting
robots 5 are positioned below the transportedsunroof member 3 and made to move synchronously with the operation of thetransport robot 4 until thesunroof member 3 reaches the front window opening 41 of thebody 2. Subsequently, the bolt holes 34B of thesunroof member 3 are photographed as reference positions by theCCD cameras 241 of the first mountingrobots 5. - In Step ST6, displacement amounts of the bolt holes 34B from positions taught in advance are calculated by the
control device 7 as displacement amounts of workpiece positions related to positional information, based on the photographed images of thesunroof member 3. - In Step ST4B, the
transport robot 4 causes thesunroof member 3 to enter the interior of thebody 2 through the front window opening 41 of thebody 2 and to stop below theinner panel 2A. - At this time, the
sunroof member 3 is made to stop so that the positioning holes 35 of thesunroof member 3 are located directly below the positioning holes 45 of thebody 2, based on the displacement amounts of workpiece positions and the displacement amounts of workpiece mounting positions calculated in Step ST3. - In Step ST7, the first mounting
robots 5 are controlled to be brought close to thesunroof member 3 from below and the positioning pins 223 are inserted into the positioning holes 35 of thesunroof member 3, while both edges of thesunroof member 3 are supported by the first mountingrobots 5. Accordingly, the first mountingrobots 5 come to receive thesunroof member 3 from thetransport robot 4. Herein, the aforementioned displacement amounts of workpiece positions are reflected in the operation of the first mountingrobots 5 to correct the operation of the first mountingrobots 5. Thereafter, thetransport robot 4 is made to exit from the interior of thebody 2. - In Step ST8, the first mounting
robots 5 are lifted and transport thesunroof member 3 to cause the positioning pins 223 to be inserted into the positioning holes 45 of thebody 2. In this manner, thesunroof member 3 is positioned to theinner panel 2A of thebody 2. Herein, the aforementioned displacement amounts of workpiece mounting positions and the displacement amounts of workpiece positions are reflected in the operation of the first mountingrobots 5 to correct the operation of the first mountingrobots 5. - When this is done, the bolt holes 34A of the
sunroof member 3 geometrically match the nuts 44A of thebody 2. Thenut runners 23 are actuated, and they tighten the twobolts 51A to the nuts 44A of thebody 2 through the bolt holes 34A of thesunroof member 3. - In Step ST9, the remaining
bolts 51 other than thebolts 51A are installed in thefastening portions 80 of thesecond mounting robots 6. These remaining bolts are tightened to the nuts 44 through the bolt holes 34 of thesunroof member 3. - Herein, the aforementioned displacement amounts of workpiece positions are reflected in the operation of the
second mounting robots 6 to correct the operation of thesecond mounting robots 6. - There are the following effects according to the present embodiment.
- (1) First, the
inner panel 2A of thebody 2 is photographed by theCCD cameras 241 of the first mountingrobots 5, and the displacement amount of theinner panel 2A from the position taught in advance is calculated based on these photographed images. - Next, the
sunroof member 3 is held by thetransport robot 4 at the workpiece supply location, and thesunroof member 3 is transported to be positioned in the vicinity of theinner panel 2A. Simultaneously with the transport of thesunroof member 3, thesunroof member 3 is photographed by theCCD cameras 241 of the first mountingrobots 5, and the displacement amount of thesunroof member 3 from the position taught in advance is calculated based on these photographed images. - Next, the
sunroof member 3 is received by the first mountingrobots 5 from thetransport robot 4, and thesunroof member 3 is held and transported, whereby thesunroof member 3 is positioned to theinner panel 2A of thebody 2. Thereafter, two locations of thesunroof member 3 are preliminarily fixed to theinner panel 2A with thebolts 51A by thenut runners 23 of the first mountingrobots 5. Herein, the displacement amount of theinner panel 2A calculated and the displacement amount of thesunroof member 3 are reflected in the operation of the first mountingrobots 5 to correct the operation of the first mountingrobots 5. - Next, the
second mounting robots 6 are controlled to perform main fixing of two locations of thesunroof member 3 to theinner panel 2A with thebolts 51A by way of the fastening hands 70 of thesecond mounting robots 6. Herein, the displacement amount of theinner panel 2A already calculated is reflected in the operation of thesecond mounting robots 6 to correct the operation of thesecond mounting robots 6. - In this way, the roles are shared between the first mounting
robots 5 and the second mounting robots 6: only positioning and preliminary fixing of thesunroof member 3 is performed by the first mountingrobots 5 and main fixing of thesunroof member 3 is performed by thesecond mounting robots 6. Therefore, the general versatility is raised since the shape of thesunroof member 3 can be handled even in a case of changing for every model, by respectively configuring the first mountingrobots 5 and thesecond mounting robots 6 to the optimal structure according to their role, whereby the cycle time can be shortened. - (2) By simply calculating the displacement amount of the
inner panel 2A and the displacement amount of thesunroof member 3 one time by way of theCCD cameras 241 of the mountingrobots 5 as positional information, the operation of the first mountingrobots 5 and thesecond mounting robots 6 are corrected based on this positional information calculated. Therefore, the operating cost can be reduced, and the cycle time can be further shortened, since it is no longer necessary for the positions of thesunroof member 3 and theinner panel 2A of thebody 2 to be detected many times over. -
FIG. 13 is an overall perspective view of aworkpiece mounting system 1 to which a sunroof unit holding device according to a second embodiment of the present invention has been applied. - The
workpiece mounting system 1 mounts asunroof member 3 as a sunroof unit to abody 2 transported by a transport conveyor, which is not illustrated. - A
front window opening 41 in which a front window is mounted is formed in a front of thebody 2, andfront door openings 42 in which front doors are mounted are formed in both sides of thebody 2. - The
sunroof member 3 is mounted to aroof 43 of thebody 2 from an interior side of thebody 2. - The
workpiece mounting system 1 includes atransport robot 4 that transports thesunroof member 3 to a vicinity of the mounting positions on thebody 2, a pair of mountingrobots 5 that positions thesunroof member 3 transported by thetransport robot 4 to thebody 2, and acontrol device 7 that controls thetransport robot 4 and the mountingrobots 5. -
FIG. 14 is a perspective view of thesunroof member 3 and aninner panel 2A to which thesunroof member 3 is mounted. - The
sunroof member 3 includes a rectangularly-shapedframe 30 and acenter frame 33 provided to straddle portions of theframe 30 facing each other. - The rectangularly-shaped
frame 30 is configured by a substantially U-shapedmain frame 31, and asub-frame 32 connecting leading end portions of themain frame 31 that extend substantially in parallel to each other. - The
center frame 33 connects portions of the main frame extending substantially in parallel to each other. - Among the frames configuring the
sunroof member 3, themain frame 31 and thecenter frame 33 make the basic structure common to various sunroof members. - Ten bolt holes 34 are formed in a rim portion of the
sunroof member 3. Among the bolt holes 34, those positioned towards the front on both sides of thesunroof member 3 are defined as bolt holes 34A, and those disposed backward of thesebolts holes 34A are defined as bolt holes 34B. - In addition, positioning holes 35 are formed in a vicinity of these
bolt holes 34A. - The
inner panel 2A is a panel configuring the inside of theroof 43 of thebody 2.Nuts 44 are formed in theinner panel 2A to correspond to the bolt holes 34 of thesunroof member 3. Among thesenuts 44, assuming that those corresponding to the bolt holes 34A of thesunroof member 3 are defined as nuts 44A, positioning holes 45 are formed in a vicinity of thesenuts 44A to correspond to the positioning holes 35 of thesunroof member 3. In addition, among thesenuts 44, those corresponding to the bolt holes 34B of thesunroof 3 are defined as nuts 44B. - The
sunroof member 3 is mounted to theinner panel 2A by insertingbolts 51 into the bolt holes 34 of thesunroof member 3 from the interior side of thebody 2, and threading into thenuts 44 of theinner panel 2A. Herein, among thebolts 51, those threaded into the nuts 44A are defined asbolts 51A. - Referring back to
FIG. 13 , thetransport robot 4 is disposed at a front side of thebody 2, and holds thesunroof member 3 and transports thesunroof member 3 thus held to the interior of thebody 2 by moving toward thebody 2. - The
transport robot 4 includes atransport hand 10 as a sunroof unit holding device, and arobot arm 11 that is provided on a floor to be movable along a length direction of thebody 2 and that causes the attitude and position in three-dimensional space of thetransport hand 10 to change. -
FIG. 15 is a plan view of thetransport hand 10 of thetransport robot 4.FIG. 16 is a perspective view of thetransport hand 10. - The
transport hand 10 is substantially cross-shaped in a plan view, and includes a plate-shapedbase portion 12 that extends along a central axis C of aflange surface 11A of therobot arm 11, aholding mechanism 60 provided to thebase portion 12, and a projectingportion 13 that projects from a leading end of thebase portion 12 along the central axis C. - The projecting
portion 13 includes asupport portion 131 supported by thebase portion 12, and a centerframe seating portion 132 provided to a leading end of thesupport portion 131. - A bottom of the
center frame 33 is seated on the centerframe seating portion 132. - The
base portion 12 includes asupport portion 121 mounted to theflange surface 11A of therobot arm 11, a substantiallyrectangular frame portion 122, a connectingportion 123 that connects theframe portion 122 and thesupport portion 121, areinforcement plate 124 provided to a leading end side of theframe portion 122, and guideportions frame portion 122 that extend in a direction intersecting the central axis C. - Main
frame seating portions 125 are provided at two angled portions of theframe portion 122 on a side directed to thesupport portion 121. A bottom of a portion of the substantially U-shapedmain frame 31 substantially parallel to thecenter frame 33 is seated on a mainframe seating portion 125. - The main
frame seating portion 125 includes abase 126 and a pair ofwalls 127 arranged vertically to thebase 126. - The pair of
walls 127 is disposed opposite to each other, and extends in a direction intersecting the central axis C. - The holding
mechanism 60 includes a pair ofpressing portions guide portions mechanism 63 configured to make thepressing portion 62A advance and retract along theguide portion 128A, and alink mechanism 64 configured to make thepressing portion 62B move interlocking with the movement of thepressing portion 62A. - Slide guides, which are not illustrated, are provided to top surfaces of the
guide portions - Slide rails that fit to the slide guides of the
guide portions pressing portions pressing portions guide portions - A
pressing surface 621 substantially perpendicular to thebase portion 12 and a retainingsurface 622 substantially parallel to thebase portion 12 are provided to a leading end of each of thepressing portions - The advance/retract
mechanism 63 is mounted in a direction intersecting the central axis C on theframe portion 122 of thebase portion 12, and includes apiston rod 631 having a leading end that mounts to thepressing portion 62A, and acylinder 632 that causes thepiston rod 631 to advance and retract. - The
link mechanism 64 includes arack 641A that is mounted to thepressing portion 62A and extends in a sliding direction of thepressing portion 62A, arack 641B that is mounted to thepressing portion 62B and extends in a sliding direction of thepressing portion 62B, apinion 642 that is rotatably provided between theseracks racks case 643 housing thepinion 642. - A distance from the
pressing portion 62A to a portion of therack 641A engaging with thepinion 642 and a distance from thepressing portion 62B to a portion of therack 641B engaging with thepinion 642 are made to be the same dimension. Accordingly, a distance from thepressing portion 62A to the central axis C and a distance from thepressing portion 62B to the central axis C always match each other, even when thepressing portion 62A moves along theguide portion 128A. In other words, the position of thepressing portion 62A and the position of thepressing portion 62B are always axisymmetric about the central axis C. - According to the
holding mechanism 60, when thepiston rod 631 is made to advance by driving the advance/retractmechanism 63, thepressing portion 62A moves towards outside along theguide portion 128A. Accompanying this movement of thepressing portion 62A, thepressing portion 62B also moves towards outside along theguide portion 128B. - Therefore, when the
sunroof member 3 is placed on thetransport hand 10 of thetransport robot 4, thecenter frame 33 of thesunroof member 3 sits on the centerframe seating portion 132. In addition, portions of themain frame 31 that are substantially parallel to thecenter frame 33 sit on the two mainframe seating portions 125. More specifically, each portion of themain frame 31 that is substantially parallel to thecenter frame 33 fits between the pair ofwalls 127 of each mainframe seating portion 125, whereby movement of thesunroof member 3 in a direction along the central axis C is regulated. - Thereafter, when the
holding mechanism 60 is driven, thepressing portions main frame 31 extending substantially parallel to each other are held while pressed from inside by the pressing surfaces 621. In this manner, movement of thesunroof member 3 in-plane of thebase portion 12 and in a direction intersecting the central axis C is regulated. - In addition, simultaneously with the
pressing surfaces 621 abutting the lateral surfaces of portions of themain frame 31 extending substantially in parallel to each other, the retainingsurfaces 622 cover top surfaces of the portions of themain frame 31 extending substantially in parallel to each other. Accordingly, movement of thesunroof member 3 in a direction substantially perpendicular to thebase portion 12 is regulated. - Referring back to
FIG. 13 , the pair of mountingrobots 5 is disposed on both sides of thebody 2, and fixes thesunroof member 3 transported by thetransport robot 4 to theinner panel 2A of thebody 2. - The mounting
robots 5 each include ahand 20, and arobot arm 21 that is provided on a floor and causes the attitude and position in three-dimensional space of thehand 20 to change. - Although a mounting
robot 5 positioned on the left side of thebody 2 will be explained below, another mountingrobot 5 positioned on the right side of thebody 2 has a similar configuration, and thus the appearance of these mountingrobots 5 on the right and left sides is symmetrical about thebody 2. -
FIG. 17 is a plan view of thehand 20 of the mountingrobot 5.FIG. 18 is a side view of thehand 20.FIG. 19 is a perspective view of thehand 20. - The
hand 20 includes a substantially L-shapedsupport frame 22, anut runner 23 provided to thesupport frame 22, and a photographingdevice 24 provided to thesupport frame 22. - The
support frame 22 includes afirst frame 221 extending from a flange surface of therobot arm 11 in an in-plane direction, and asecond frame 222 orthogonal to thefirst frame 221 and extending from a leading end of thefirst frame 221. - A
positioning pin 223 that projects upward is provided to an intersection portion between thefirst frame 221 and thesecond frame 222. In addition, aworkpiece support pad 224 is provided to a top surface of thesecond frame 222 on a leading end side thereof. - The
nut runner 23 is provided in a middle of thefirst frame 221 of thesupport frame 22, and includes asocket 231 into which thebolt 51A fits, and adrive device 232 that rotationally drives thesocket 231. - When the
drive device 232 is driven in thenut runner 23, thebolt 51A fit to thesocket 231 is made to rotate at a predetermined torque. - The photographing
device 24 is provided in a middle of thesecond frame 222 of thesupport frame 22, and includes aCCD camera 241 disposed facing upwards, and a ring-shapedlighting system 242 that illuminates a photographing target of theCCD camera 241. - When the
sunroof member 3 is placed on thehand 20 of the mountingrobot 5, thepositioning pin 223 ofsupport frame 22 is inserted into thepositioning hole 35 of thesunroof member 3, as shown inFIG. 20 . Then, thesunroof member 3 is supported by thepositioning pin 223 andworkpiece support pad 224 of thesupport frame 22. In addition, thebolt 51A chucked in thesocket 231 of thenut runner 23 is inserted into thebolt hole 34A of thesunroof member 3. - Operation of the
workpiece mounting system 1 will be explained while referring to the flowchart ofFIG. 21 . - In Step ST1, transport of the
body 2 is stopped. - In Step ST2, the mounting
robots 5 go into the interior of thebody 2 through thefront door openings 42 on both sides of thebody 2, and theCCD cameras 241 of the mountingrobots 5 are brought close to theinner panel 2A. Next, the nuts 44B of theinner panel 2A are photographed by theCCD cameras 241, after which the mountingrobots 5 are made to exit. - In Step ST3, displacement amounts of the nuts 44B from positions taught in advance are calculated by the
control device 7 as displacement amounts of workpiece mounting positions, based on the photographed images of theinner panel 2A. - In Step ST4A, the
sunroof member 3 is made to be held by thetransport robot 4 at a workpiece supply location, which is not illustrated. Then, transport of thesunroof member 3 to the front window opening 41 of thebody 2 is initiated by moving thetransport robot 4. - In Step ST5, the mounting
robots 5 are positioned below the transportedsunroof member 3 and the mountingrobots 5 are made to move synchronously with the operation of thetransport robot 4 until thesunroof member 3 reaches the front window opening 41 of thebody 2. Subsequently, the bolt holes 34B of thesunroof member 3 are photographed as reference positions by theCCD cameras 241 of the mountingrobots 5. - In Step ST6, displacement amounts of the bolt holes 34B from positions taught in advance are calculated by the
control device 7 as displacement amounts of workpiece positions, based on the photographed images of thesunroof member 3. - In Step ST4B, the
transport robot 4 causes thesunroof member 3 to enter the interior of thebody 2 through the front window opening 41 of thebody 2 and to stop below theinner panel 2A. - At this time, the
sunroof member 3 is made to stop so that the positioning holes 35 of thesunroof member 3 are located directly below the positioning holes 45 of thebody 2, based on the displacement amounts of workpiece positions and the displacement amounts of workpiece mounting positions calculated in Step ST3. - In Step ST7, the mounting
robots 5 are controlled to be brought close to thesunroof member 3 from below and the positioning pins 223 are inserted into the positioning holes 35 of thesunroof member 3, while both edges of thesunroof member 3 are supported by these mountingrobots 5. Accordingly, the mountingrobots 5 come to receive thesunroof member 3 from thetransport robot 4. Herein, the aforementioned displacement amounts of workpiece positions are reflected in the operation of the mountingrobots 5 to correct the operation of the mountingrobots 5. Thereafter, thetransport robot 4 is made to exit from the interior of thebody 2. - In Step ST8, the mounting
robots 5 are lifted to cause the positioning pins 223 to be inserted into the positioning holes 45 of thebody 2. In this manner, thesunroof member 3 is positioned to theinner panel 2A of thebody 2. Herein, the aforementioned displacement amounts of workpiece mounting positions and the displacement amounts of workpiece positions are reflected in the operation of the mountingrobots 5 to correct the operation of the mountingrobots 5. - When this is done, the bolt holes 34A of the
sunroof member 3 geometrically match the nuts 44A of thebody 2. Thenut runners 23 are actuated, and they tighten the twobolts 51A to the nuts 44A of thebody 2 through the bolt holes 34A of thesunroof member 3. - In Step ST9, the remaining
bolts 51 other than thebolts 51A are prepared and tightened to the nuts 44 through the bolt holes 34 of thesunroof member 3 by a bolt tightening robot that is not illustrated. - There are the following effects according to the present embodiment.
- (1) The
transport hand 10 is configured to include the centerframe seating portion 132 on which the bottom of thecenter frame 33 sits, the mainframe seating portions 125 on which the bottoms of themain frame 31 sit, and a pair ofpressing portions main frame 31. More specifically, thetransport hand 10 is configured to hold themain frame 31 and thecenter frame 33, which are portions common to thesunroof members 3 of every vehicle model. - Therefore, the
sunroof member 3 is first held and transported by thetransport robot 4 to be positioned in the vicinity of theinner panel 2A. Next, the bolt holes 34 of thesunroof member 3 are photographed by theCCD cameras 241 of the mountingrobots 5, and the displacement amounts of the bolt holes 34 from the positions taught in advance are calculated based on these photographed images. Then, thesunroof member 3 is received from thetransport robot 4 while correcting the operation of the mountingrobots 5, and thesunroof member 3 thus received is mounted to theinner panel 2A of thebody 2. - Accordingly, since the portions common to every sunroof member are held by the
transport hand 10, multiple types of thesunroof member 3 can be held by asingle transport hand 10, thereby raising the general versatility of a facility. - It should be noted that the present invention is not to be limited to the embodiments, and modification, improvements and the like within a scope that can achieve the objects of the present invention are included in the present invention.
-
- 1 workpiece mounting system
- 2 body (second workpiece)
- 2A inner panel (mounting portion)
- 3 sunroof member (first workpiece, sunroof unit)
- 5 first mounting robot (first robot)
- 6 second mounting robot (second robot)
- 7 control device
- 10 transport hand (sunroof unit holding device)
- 23 nut runner (preliminary fixing means)
- 31 main frame
- 33 center frame
- 62A, 62B pressing portions
- 70 fastening hand (main fixing means)
- 125 main frame seating portion
- 132 center frame seating portion
- 223 positioning pin (holding means)
- 223 workpiece support pad (holding means)
- 241 CCD camera (position detection means)
Claims (4)
1. A workpiece mounting system for mounting a first workpiece to a mounting portion of a second workpiece, comprising:
a first robot including a preliminary fixing means for performing preliminary fixing of the first workpiece to the second workpiece, a holding means for holding the first workpiece, and a position detecting means for detecting a position of the first workpiece and a position of a mounting portion of the second workpiece;
a second robot including a main fixing means for performing main fixing of the first workpiece to the second workpiece; and
a control device configured to control the first robot and the second robot,
wherein the control device executes:
a positional information calculating process of calculating a position of the first workpiece and a position of the mounting portion of the second workpiece as positional information by way of the position detecting means of the first robot,
a positioning process of holding the first workpiece by way of the holding means of the first robot, and transporting to position the first workpiece at the mounting portion of the second workpiece by way of the first robot, based on the positional information calculated in the positional information calculating process,
a preliminary fixing process of performing preliminary fixing of the first workpiece to the second workpiece by way of the preliminary fixing means of the first robot, and
a main fixing process of performing main fixing of the first workpiece to the second workpiece by way of the main fixing means of the second robot, based on the positional information calculated in the positional information calculating process.
2. A workpiece mounting method for mounting a first workpiece to a mounting portion of a second workpiece, the method comprising the steps of:
calculating a position of the first workpiece and a position of the mounting portion of the second workpiece as positional information by way of a first robot;
holding the first workpiece and transporting to position the first workpiece at the mounting portion of the second workpiece by way of the first robot, based on the positional information calculated in the calculating step;
performing preliminary fixing of the first workpiece to the second workpiece by way of the first robot, and
performing main fixing of the first workpiece to the second workpiece by way of a second robot, based on the positional information calculated in the calculating step.
3. A sunroof unit holding device for holding a sunroof unit having a substantially U-shaped main frame and a center frame configured to connect portions of the main frame extending substantially in parallel to each other, the device comprising:
a center frame seating portion on which a bottom of the center frame sits;
a main frame seating portion on which a bottom of a portion of the main frame substantially parallel to the center frame sits; and
a pair of pressing portions configured to press the portions of the main frame extending substantially parallel to each other from inner lateral sides thereof.
4. A sunroof unit holding method for holding a sunroof unit having a substantially U-shaped main frame and a center frame configured to connect portions of the main frame extending substantially in parallel to each other, the method comprising the steps of:
supporting a bottom of the center frame and a portion of the main frame substantially parallel to the center frame; and
holding the sunroof unit by pressing the portions of the main frame substantially parallel to each other from inner lateral sides thereof.
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008-225618 | 2008-09-03 | ||
JP2008225618A JP5026372B2 (en) | 2008-09-03 | 2008-09-03 | Sunroof unit gripping device and sunroof unit gripping method |
JP2008232125A JP5210770B2 (en) | 2008-09-10 | 2008-09-10 | Work mounting system and work mounting method |
JP2008-232125 | 2008-09-10 | ||
PCT/JP2009/064764 WO2010026889A1 (en) | 2008-09-03 | 2009-08-25 | Workpiece mounting system, workpiece mounting method, sunroof unit holding device, and sunroof unit holding method |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2009/064764 A-371-Of-International WO2010026889A1 (en) | 2008-09-03 | 2009-08-25 | Workpiece mounting system, workpiece mounting method, sunroof unit holding device, and sunroof unit holding method |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US14/504,552 Division US9592611B2 (en) | 2008-09-03 | 2014-10-02 | Workpiece mounting system, workpiece mounting method, sunroof unit holding device, and sunroof unit holding method |
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Publication Number | Publication Date |
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US20110160905A1 true US20110160905A1 (en) | 2011-06-30 |
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ID=41797059
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
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US13/061,636 Abandoned US20110160905A1 (en) | 2008-09-03 | 2009-08-25 | Workpiece mounting system, workpiece mounting method, sunroof unit holding device, and sunroof unit holding method |
US14/504,552 Active 2029-09-27 US9592611B2 (en) | 2008-09-03 | 2014-10-02 | Workpiece mounting system, workpiece mounting method, sunroof unit holding device, and sunroof unit holding method |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
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US14/504,552 Active 2029-09-27 US9592611B2 (en) | 2008-09-03 | 2014-10-02 | Workpiece mounting system, workpiece mounting method, sunroof unit holding device, and sunroof unit holding method |
Country Status (3)
Country | Link |
---|---|
US (2) | US20110160905A1 (en) |
CA (1) | CA2735820A1 (en) |
WO (1) | WO2010026889A1 (en) |
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Also Published As
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US9592611B2 (en) | 2017-03-14 |
CA2735820A1 (en) | 2010-03-11 |
US20150028611A1 (en) | 2015-01-29 |
WO2010026889A1 (en) | 2010-03-11 |
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