Assembly apparatus
First Claim
1. An assembly apparatus for assembling a vehicle body by attaching a roof panel to side panels, and comprising a positioning mechanism for aligning positions of the side panels and the roof panel, wherein the positioning mechanism comprises:
- a robot;
a base portion attached to a distal end arm of the robot;
roof positioning members supported on the base portion on outer sides thereof in a vehicle widthwise direction and laterally movable independently of each other in the vehicle widthwise direction so that the roof panel is positioned;
side panel positioning members supported on the base portion on outer sides thereof in the vehicle widthwise direction and laterally movable independently of each other in the vehicle widthwise direction so that the side panels are positioned;
a first beam member and a second beam member positioned and fixed to the base portion and extending respectively from the base portion rightward and leftward in the vehicle widthwise direction;
a right marking member disposed on a distal end of the first beam member and facing toward an outer right side of the vehicle;
a left marking member disposed on a distal end of the second beam member and facing toward an outer left side of the vehicle;
a left visual sensor positioned and fixed so as to face the left marking member to detect a position of the left marking member; and
a right visual sensor positioned and fixed so as to face the right marking member to detect a position of the right marking member;
wherein the left visual sensor and the right visual sensor are disposed respectively on left and right sides of the vehicle body, wherein the left and right visual sensors detect a degree to which amounts of positional deviation have occurred to the front and rear as well as the right and left of the left and right marking members, in a state where the roof positioning members are applying pressure to the roof panel and the side panel positioning members are applying pressure to the side panels, the apparatus obtains an amount of three dimensional deviation from a reference posture of the vehicle body based on the detected amounts of positional deviation, and the robot performs corrective operation to reduce the amount of three dimensional deviation to zero.
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Accused Products
Abstract
An assembly apparatus is constituted to include positioning mechanisms for aligning the positions of side panels and a roof panel. For example, a front positioning mechanism includes a first base portion disposed on a first distal end arm of a front side robot, roof positioning members and side panel positioning members supported displaceably by the first base portion, a right front beam member and a left front beam member extending along a vehicle widthwise direction from the first base portion, a first left marking member and a first right marking member disposed at respective distal ends of the beam members, and a left visual sensor and a right visual sensor for detecting positions of each of the first left marking member and the first right marking member.
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Citations
9 Claims
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1. An assembly apparatus for assembling a vehicle body by attaching a roof panel to side panels, and comprising a positioning mechanism for aligning positions of the side panels and the roof panel, wherein the positioning mechanism comprises:
- a robot;
a base portion attached to a distal end arm of the robot;
roof positioning members supported on the base portion on outer sides thereof in a vehicle widthwise direction and laterally movable independently of each other in the vehicle widthwise direction so that the roof panel is positioned;
side panel positioning members supported on the base portion on outer sides thereof in the vehicle widthwise direction and laterally movable independently of each other in the vehicle widthwise direction so that the side panels are positioned;
a first beam member and a second beam member positioned and fixed to the base portion and extending respectively from the base portion rightward and leftward in the vehicle widthwise direction;
a right marking member disposed on a distal end of the first beam member and facing toward an outer right side of the vehicle;
a left marking member disposed on a distal end of the second beam member and facing toward an outer left side of the vehicle;
a left visual sensor positioned and fixed so as to face the left marking member to detect a position of the left marking member; and
a right visual sensor positioned and fixed so as to face the right marking member to detect a position of the right marking member;
wherein the left visual sensor and the right visual sensor are disposed respectively on left and right sides of the vehicle body, wherein the left and right visual sensors detect a degree to which amounts of positional deviation have occurred to the front and rear as well as the right and left of the left and right marking members, in a state where the roof positioning members are applying pressure to the roof panel and the side panel positioning members are applying pressure to the side panels, the apparatus obtains an amount of three dimensional deviation from a reference posture of the vehicle body based on the detected amounts of positional deviation, and the robot performs corrective operation to reduce the amount of three dimensional deviation to zero. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
- a robot;
Specification