U.S. patent application number 10/562879 was filed with the patent office on 2006-12-07 for device and method of transporting and installing component.
Invention is credited to Hiroshi Miwa, Yoshito Otake, Tatsuhiko Yamamoto.
Application Number | 20060275103 10/562879 |
Document ID | / |
Family ID | 33568347 |
Filed Date | 2006-12-07 |
United States Patent
Application |
20060275103 |
Kind Code |
A1 |
Otake; Yoshito ; et
al. |
December 7, 2006 |
Device and method of transporting and installing component
Abstract
In installation work of a door glass lifting/lowering regulator
on a motor vehicle door, it is made possible to respond
appropriately to a production form, to quickly respond to
emergencies including troubles, and to perform efficient
transportation and installation work. A grip/installation mechanism
6 for gripping a door glass lifting/lowering regulator R and
component transportation means 4 for moving the grip/installation
mechanism 6 by an actuator are provided. First control means of
performing drive and control so as to automatically transport the
door glass lifting/lowering regulator R from a component supply
position A to an installation position B for installation by
automatically controlling the actuator of the component
transportation means 4, and second control means of performing
drive and control so as to reduce a burden on a worker by
performing assist control of the actuator of the component
transportation means 4 are provided. Further, mode switch means for
performing switching between the first control means and the second
control means is provided.
Inventors: |
Otake; Yoshito; (Saitama,
JP) ; Miwa; Hiroshi; (Saitama, JP) ; Yamamoto;
Tatsuhiko; (Saitama, JP) |
Correspondence
Address: |
ARENT FOX PLLC
1050 CONNECTICUT AVENUE, N.W.
SUITE 400
WASHINGTON
DC
20036
US
|
Family ID: |
33568347 |
Appl. No.: |
10/562879 |
Filed: |
June 24, 2004 |
PCT Filed: |
June 24, 2004 |
PCT NO: |
PCT/JP04/08901 |
371 Date: |
April 24, 2006 |
Current U.S.
Class: |
414/222.04 |
Current CPC
Class: |
B62D 65/18 20130101;
B62D 65/022 20130101; B62D 65/06 20130101 |
Class at
Publication: |
414/222.04 |
International
Class: |
B65H 1/00 20060101
B65H001/00 |
Foreign Application Data
Date |
Code |
Application Number |
Jul 1, 2003 |
JP |
2003-189440 |
Jul 1, 2003 |
JP |
2003-189441 |
Jul 1, 2003 |
JP |
2003-189442 |
Claims
1. A component transportation and installation device which is a
device which transports and installs an installed component in an
installation position of a receiving body, characterized by
providing: a grip mechanism which grips an installed component;
component transportation means of moving this grip mechanism with
an actuator; first control means of controlling the actuator of
this component transportation means according to a set value and
performing drive control so as to transport and install the
installed component in the installation position; second control
means of performing assist control of the actuator of the component
transportation means, and performing drive control so as to reduce
a burden of a worker performing operation in order to transport and
install the installed component in the installation position; and
mode switch means for switching the first control means and the
second control means.
2. A component transportation and installation method which is a
method of transporting and installing an installed component in an
installation position of a receiving body using component
transportation means having at least an actuator for
transportation, characterized by performing transportation and
installation by selecting an actuator automatic control step of
automatically transporting and installing the installed component
in the installation position with controlling the actuator
according to a set value, or an actuator assist control step of
reducing a burden of a worker, who performs transportation and
installation operation of the installed component, by performs
assist control of the actuator, at arbitrary time according to a
work condition and the like.
3. A component transportation and installation method which is a
component transportation and installation method including a step
of installing an installed component, transported near an
installation position, in a receiving body, characterized by
providing: a step of positioning the installed component in the
installing section of the receiving body by operating the installed
component transported near the installation position in an assist
mode which can reduce a worker's burden; a step of installing the
positioned installed component in the receiving body automatically;
and a step of moving a grip mechanism, which grips the installed
component after completion of installation, to a predetermined
position in an automatic mode.
4. A component transportation and installation device which is a
transportation and installation device for installing an installed
component in a receiving body, characterized by comprising: a grip
mechanism which can grip the installed component; component
transportation means equipped with an actuator for transporting
this grip mechanism; and an installation mechanism which can
perform installation work in a state that the installed component
is positioned in an installing section of the receiving body, and
in that operation of the actuator of the component transportation
means is made a switching type between an automatic mode which does
not need a worker, and an assist mode which can reduce a worker's
burden although a worker's intervention is needed; and that control
means performing control to select the assist mode when positioning
at least the installed component is provided.
5. A component transportation and installation method which is a
component transportation and installation method of transporting an
installed component in a component supply position toward an
installation position with gripping it by a grip mechanism while
conveying a receiving body, which is given pitch feed, to the
installation position sequentially, returning the grip mechanism to
the component supply position at the time of completion of
installing the installed component in the receiving body, and
repeating this, characterized by: making it free to perform
switching between an automatic mode which does not need a worker,
and an assist mode which can reduce a worker's burden although a
worker's intervention is needed, as means of transporting the
installed component, and simultaneously; performing switching to
the automatic transportation mode after gripping the installed
component by the grip mechanism and automatically transporting the
installed component at least nearby the installation position; and
making the grip mechanism returned to the component supply position
in the automatic mode when installation of the installed component
is completed; and simultaneously transporting and installing at
least two installed components in the installation position in a
stop period of one pitch feed of the receiving body.
6. A component transportation device which is a device for
transporting and installing an installed component in a receiving
body which is given pitch feed, characterized by comprising:
receiving body transportation means for performing pitch feed of
the receiving body; a grip mechanism which grips the installed
component in a component supply position; and component
transportation means of transporting this grip mechanism at least
to the installation position in an automatic transportation mode
which does not need a worker, or an assist transportation mode
which can reduce a worker's burden although a worker's intervention
is needed, and returning it in the automatic transportation mode or
assist transportation mode to the component supply position when
installation is completed, and in that the grip mechanism is
controlled so as to transport at least two installed components in
an installation position in a stop period of one pitch feed of the
receiving body.
Description
TECHNICAL FIELD
[0001] The present invention relates to the technology of
installing components, such as a door glass lifting/lowering
regulator, on receiving bodies, such as a motor vehicle door.
BACKGROUND ART
[0002] Heretofore, such technology of transporting and installing
installed components, such as a door, to an installation position
by using a reaction force imparting type work assisting device
which reduces a burden as if a lightweight object were transported,
so as to reduce a worker's burden when the installed components are
heavy loads at the time of installing them one by one with
transporting a receiving body such as a motor vehicle body, for
example, in a vehicle assembling line and the like is known. (For
example, refer to patent document 1: Japanese Patent Laid-Open No.
2000-84881).
[0003] Such a reaction force imparting type work assisting device
is an assist device which reduces a burden on a worker by
supporting a heavy burden with a manipulator, detecting by a sensor
the power which the worker applies to the heavy load indirectly,
and controlling the manipulator on the basis of this
information.
DISCLOSURE OF THE INVENTION
Problems to be Solved by the Invention
[0004] However, there is a problem that it is not possible to
perform efficient transportation and installation if installation
work is performed in assist transportation wholly during work in
the transportation and installation work using the above reaction
force imparting type work assisting device.
[0005] In addition, there is a problem that a trouble arises
depending on the contents of installation work, and that efficient
work is not performed in the case of attempting automation
including all the work up to installation.
[0006] Then, the present invention aims at preventing complication
of a facility while attaining increase of work efficiency, and also
making it possible to correspond easily also when a trouble and the
like arise, when repeating such work that transports and installs
installed components, to a receiving body which is given pitch
feed.
Means for Solving the Problem
[0007] In order to solve the above-mentioned subjects, the
invention according to claim 1 provides a grip mechanism which
grips an installed component, component transportation means of
moving this grip mechanism with an actuator, first control means of
controlling the actuator of this component transportation means
according to a setting value and performing drive control so as to
transport and install the installed component in the installation
position, second control means of performing assist control of the
actuator of the component transportation means, and performing
drive control so as to reduce a burden of a worker performing
operation in order to transport and install the installed component
in the installation position, and mode switch means for switching
the first control means and the second control means in a device
which transports and installs an installed component in an
installation position of a receiving body.
[0008] Then, as claim 2, when performing transportation and
installation after selecting an actuator automatic control step of
automatically transporting and installing an installed component in
an installation position with controlling an actuator as set, and
an actuator assist control step of reducing a burden of a worker,
who performs transportation and installation operation of the
installed component, by performs assist control of the actuator, at
arbitrary time according to a work condition and the like, it is
possible to work with responding adequately even when there is a
change of a production form or the like, and it is possible to
respond promptly even when abnormal circumstances such as a trouble
arise.
[0009] In a component transportation and installation method
including a step of installing an installed component, transported
near an installation position, in a receiving body, the invention
according to claim 3 positions an installed component in an
installing section of a receiving body by operating the installed
component transported near the installation position in an assist
mode which can reduce a worker's burden, installs the positioned
installed component in the receiving body automatically, and moves
a grip mechanism, which grips the installed component after
completion of installation to a predetermined position in an
automatic mode.
[0010] Thus, it is possible to omit a complicated facility and the
like for positioning by selecting the assist mode, in which a
worker operates, without performing the work of positioning the
installed component automatically, and when performing other
transportation work and the like automatically, it is possible to
work efficiently with a person and a machine coexisting.
[0011] The invention according to claim 4 provides a grip mechanism
which can grip the installed component, component transportation
means equipped with an actuator for transporting this grip
mechanism, and an installation mechanism which can perform
installation work in the state that the installed component is
positioned in an installing section of the receiving body, and
operation of the actuator of the component transportation means is
made a switching type between an automatic mode which does not need
a worker, and an assist mode which can reduce a worker's burden
although a worker's intervention is needed, and control means
performing control to select the assist mode when positioning at
least the installed component is provided.
[0012] In a component transportation and installation method which
is a component transportation and installation method of
transporting an installed component in a component supply position
toward an installation position with gripping it by a grip
mechanism while conveying a receiving body, which is given pitch
feed, to the installation position sequentially, returning the grip
mechanism to the component supply position at the time of
completion of installing the installed component in the receiving
body, and repeating this, the invention according to claim 5 makes
it free to perform switching between an automatic mode which does
not need a worker, and an assist mode which can reduce a worker's
burden although a worker's intervention is needed, as means of
transporting the installed component, and simultaneously, performs
switching to the automatic transportation mode after gripping the
installed component by the grip mechanism and automatically
transporting the installed component at least nearby the
installation position, and makes the grip mechanism returned to the
component supply position in the automatic mode when installation
of the installed component is completed, and simultaneously,
transports and installs at least two installed components in the
installation position in a stop period of one pitch feed of the
receiving body.
[0013] Thus, by making it free to perform switching between the
automatic mode which does not need a worker, and the assist mode
which can reduce a worker's burden although a worker's intervention
is needed, as means of transporting the installed component, and
performing at least movement between the component supply position
and installation position, where there are few problems in
transportation, in the automatic mode, it is possible to perform
transportation efficiently and to reduce manpower. Then, the
installed component transported near the installation position is
positioned and installed in a predetermined position of the
receiving body in the assist transportation mode or automatic
mode.
[0014] In this case, when it is switched to the assistant
transportation mode in the case that precise position harmony
determination, an orientation change, or the like is included in,
for example, installation work of the installed component for
positioning, investigating, and determining the installed
component, it is possible to work efficiently with securing a work
space and making a person and a machine coexist in a state that a
positioning facility of the installed component, and the like are
omitted as much as possible.
[0015] Then, by transporting and installing at least two installed
components in an installation position in a stop period of one
pitch feed of the receiving body, it is possible to perform
installation work more efficiently.
[0016] The invention according to claim 6 provides receiving body
transportation means for performing pitch feed of the receiving
body, a grip mechanism which grips the installed component in a
component supply position, and component transportation means of
transporting this grip mechanism at least to the installation
position in an automatic transportation mode which does not need a
worker, or an assist transportation mode which can reduce a
worker's burden although a worker's intervention is needed, and
returning in the automatic transportation mode or assist
transportation mode to the component supply position when
installation is completed, and performs control as the grip
mechanism so as to transport at least two installed components in
an installation position in a stop period of one pitch feed of the
receiving body.
ADVANTAGES EFFECT OF THE INVENTION
[0017] According to the invention according to claims 1 and 2, a
grip mechanism which grips an installed component, component
transportation means of moving this grip mechanism with an
actuator, first control means of controlling the actuator of this
component transportation means according to a setting value and
performing drive control so as to transport and install the
installed component in the installation position, second control
means of performing assist control of the actuator of the component
transportation means, and performing drive control so as to reduce
a burden of a worker performing operation in order to transport and
install the installed component in the installation position, and
mode switch means for switching the first control means and the
second control means are provided. Hence, it is possible to work
with responding adequately even when there is a change of a
production form or the like, and it is possible to respond promptly
even when abnormal circumstances such as a trouble arise.
[0018] According to the invention according to claims 3 and 4, it
is made to position an installed component, transported near an
installation position, in an installing section of a receiving body
by operating it in the assist mode when installing the installed
component positioned nearby the installation position, to install
the positioned installed component in the receiving body
automatically, and to make a grip mechanism, which grips the
installed component after completion of installation, moved to a
predetermined position in an automatic mode. Hence, it is possible
to omit a complicated facility and the like for positioning, and it
is possible to work efficiently with making a person and a machine
coexist.
[0019] In such a transportation and installation method that
transports and installs an installed component in a receiving body
which is given pitch feed, according to the invention according to
claims 5 and 6, it is made to make it free to perform switching
between an automatic transportation mode and an assist
transportation mode as means of transporting the installed
component, to perform switching to the automatic transportation
mode after gripping the installed component by the grip mechanism
and to automatically transport the installed component at least
nearby the installation position, and to make the grip mechanism
returned to the component supply position in the automatic mode
when installation of the installed component is completed, and
simultaneously, to transport and install at least two installed
components in the installation position in a stop period of one
pitch feed of the receiving body. Hence, it is possible not only to
omit a facility relating to transportation, but also to work
efficiently.
BRIEF DESCRIPTION OF THE DRAWINGS
[0020] FIG. 1 is an entire schematic diagram showing an example of
applying a component carrier device according to the present
invention to a motor vehicle door assembling line;
[0021] FIG. 2 is a perspective view of component transportation
means;
[0022] FIG. 3 is a plan of a device base of the component
transportation means;
[0023] FIG. 4 is an explanatory diagram of a grip/installation
mechanism of the component transportation means;
[0024] FIG. 5 is an explanatory diagram of a door in view of an
inner panel side;
[0025] FIGS. 6 (a) and 6 (b) are explanatory diagrams of a door
glass lifting/lowering regulator, FIG. 6(a) is an explanatory
diagram of a back side, and FIG. 6(b) is an explanatory diagram in
view of a top side; and
[0026] FIGS. 7 (a) and 7 (b) are explanatory diagrams of states of
assembling the door glass lifting/lowering regulator into a door
inner panel, FIG. 7 (a) is a state diagram when inserting the door
glass lifting/lowering regulator into an aperture section of the
inner panel, and FIG. 7(b) is a state diagram when rotating the
door glass lifting/lowering regulator and fixing it to the inner
panel after insertion.
BEST MODE FOR CARRYING OUT THE INVENTION
[0027] Embodiments of the present invention will be explained on
the basis of attached drawings. Here, FIG. 1 is an entire schematic
diagram showing an example of applying a component carrier device
according to the present invention to a motor vehicle door
assembling line, FIG. 2 is a perspective view of component
transportation means, FIG. 3 is a plan of a device base of the
component transportation means, FIG. 4 is an explanatory diagram of
a grip/installation mechanism of the component transportation
means, FIG. 5 is an explanatory diagram of a door in view of an
inner panel side, FIGS. 6(a) and 6 (b) are explanatory diagrams of
a door glass lifting/lowering regulator, FIG. 6(a) is an
explanatory diagram in view of aback side, and FIG. 6(b) is an
explanatory diagram in view of a top side, and FIGS. 7 (a) and 7
(b) are explanatory diagrams of states of assembling the door glass
lifting/lowering regulator into a door inner panel, FIG. 7(a) is a
state diagram when inserting the door glass lifting/lowering
regulator into an aperture section of the inner panel, and FIG.
7(b) is a state diagram when rotating the door glass
lifting/lowering regulator and fixing it to the inner panel after
insertion.
[0028] A component transportation and installation method and its
device which relate to the present invention are applied to an
installation processing section of a door glass lifting/lowering
regulator in a motor vehicle door assembling line, and are made
possible to perform more efficiently work of transporting the door
glass lifting/lowering regulator, existing in a component supply
position, to an installation position, and work of installing it in
a door according to a work condition and the like in the case that
the door glass lifting/lowering regulator as an installed component
is installed in a motor vehicle door as a receiving body which is
given pitch feed.
[0029] That is, as shown in FIG. 1, a motor vehicle door assembling
line 1 provides a door transportation line 2 as receiving body
transportation means for performing pitch feed of a motor vehicle
door W, and a plurality of assembling sections 3 which are arranged
sequentially from the upper stream of this door transportation line
2 to the lower stream, and makes it possible to assemble each
assembled component to the door W in these assembling sections
3.
[0030] Then, a part of these assembling sections 3 are made a
processing section for installing the door glass lifting/lowering
regulator R as an installed component, and component transportation
means 4 as shown in FIG. 2 is provided in this processing section
for installing the door glass lifting/lowering regulator R.
[0031] The above-mentioned door transportation line 2 is made to
give pitch transportation to right side and left side doors W of
the same vehicle as one set, which are placed in a rising state
with being arranged in one row in a state that inner panel Wi sides
are turned in the same direction on one rectangular pallet p (FIG.
2), and then, a plurality of pallets p are adjacently arranged
along the line, and are fed in a constant stroke simultaneously to
be stopped for a certain period, and this is made to be
repeated.
[0032] As shown in FIG. 2, the above-mentioned component
transportation means 4 provides a gate type device base 5 bridged
over the door transportation line 2, and a grip/installation
mechanism 6 which can move in multi-axial directions to this device
base 5., and this grip/installation mechanism 6 is made not only to
grip door glass lifting/lowering regulator R (FIG. 6), but also to
be movable between a component supply position A, arranged near the
device base 5, and an installation positions B of the stopped door
W.
[0033] That is, a pair of upper and lower slide rails 8 is provided
in the single-sided side face of a beam member 7 which is an upper
portion of the above-mentioned device base 5, and a rack 9 is
provided between these slide rails 8.
[0034] Then, a slide table 12 slidably engages with these slide
rails 8 through a slide guide 11, a first motor 13 as one of
actuators is installed on this slide table 12, and a pinion gear
driven by this first motor 13 overhangs on a back side of the slide
table 12 to engage with the above-mentioned rack 9.
[0035] For this reason, the slide table 12 is movable to a
crosswise direction with the operation of the first motor 13.
[0036] In addition, a support table 15 is installed on a surface of
this slide table 12 through a mount, a second motor 17 as one of
the actuators is installed on a back side of the support table 15
while a pair of slide guides 16 are provided on a front side of
this support table 15, and a pinion gear is installed at its tip
while a rotary shaft of this second motor 17 overhangs the front
side of the support table 15. Then, this pinion gear engages with a
rack 19 of a lifting table 18 described below.
[0037] The lifting table 18 is equipped with a pair of slide rails
21 slidably engaged with the slide guide 16 of the above-mentioned
support table 15, and the rack 19 arranged between slide rails 21,
and is enabled to move up and down by the operation of the
above-mentioned second motor 17.
[0038] A stand 22 which projects forward is provided in a bottom
end of this lifting table 18, and a third motor 23 as one of the
actuators is provided on a top face of this stand 22. Then, an
output shaft of this third motor 23 is connected through a gear to
a base end section of a horizontal arm 24 projected from a lower
part of the stand 22 horizontally and forward, and the horizontal
arm 24 is made rotatable around a vertical shaft in the base end
side by the drive of the third motor 23 as shown in FIG. 3.
[0039] A fourth motor 25 as one of the actuators is installed on a
top face in a tip side of the above-mentioned horizontal arm 24 in
a rising state, and an output shaft of this fourth motor 25 is
connected to a vertical arm 26 which exists in the lower.
[0040] Then, the vertical arm 26 is made rotatable by the drive of
the fourth motor 25 around an axis.
[0041] In addition, the above-mentioned grip/installation mechanism
6 is mounted in a bottom end of this vertical arm 26.
[0042] Each of the actuators of the first to fourth motors 13, 17,
23, and 25 as mentioned above can be give switching control between
an automatic transportation mode which does not need a worker's
intervention, and an assist transportation mode which can reduce a
worker's burden although a worker's intervention is needed. When a
mode change over switch is switched to the automatic transportation
mode, the grip/installation mechanism 6 is automatically moved in a
route the teaching of which was performed beforehand, and when
being switched to the assist transportation mode, it is enabled to
reduce a worker's burden when the worker moves the
grip/installation mechanism 6 indirectly with an operating handle
or the like.
[0043] Next, the grip/installation mechanism 6 will be
explained.
[0044] As shown in FIG. 4, the grip/installation mechanism 6
provides a device base table 31 connected to the above-mentioned
vertical arm 26 through a bracket not shown, and a grip mechanism
section 32 for gripping the door glass lifting/lowering regulator
R, a positioning mechanism section 33 for positioning in the
predetermined position of the door W, and a clamping mechanism
section 34 for installing the door glass lifting/lowering regulator
R in the door W are provided on this device base table 31. Then,
the door glass lifting/lowering regulator R gripped by the grip
mechanism section 32 is inserted into a space section between an
inner panel Wi and an outer panel Wo through an aperture section H
of the inner panel Wi of the door W as shown in FIG. 5, and is
positioned by the positioning mechanism section 33 to be fastened
and fixed thereafter with bolts or the like by the clamping
mechanism section 34.
[0045] The above-mentioned grip mechanism section 32 provides a
first cylinder 35 installed in the front face of the
above-mentioned device base table 31, a substrate 36 linked to a
tip of a cylinder rod 35a of this first cylinder 35, a motor 37
installed in the front face of this substrate 36, and a table 38
installed on a rotary shaft in a front face side of this motor 37,
A plurality of adsorption pads 41 and a plurality of boss locating
pins 42 are installed to this table 38 through respective brackets
39, and this boss locating pin 42 is enabled to be inserted into a
guide hole k of the door glass lifting/lowering regulator R (FIG. 6
(b)). In addition, while a slide rail not shown is provided in a
side section of the above-mentioned substrate 36, this slide rail
is slidably fit to a slide guide 43 extended from a front face of
the device base table 31.
[0046] For this reason, the substrate 36 is slidable in a direction
perpendicular to a surface of the device base table by the
operation of the first cylinder 35, and, the table 38 is rotatable
by a predetermined angle by the operation of the motor 37.
[0047] Then, it is made possible to grip the door glass
lifting/lowering regulator R by making the adsorption pads 41
adsorb a surface of a plate section (surface in FIG. 6(b)) of the
door glass lifting/lowering regulator R in the state of inserting
the boss locating pins 42 into the guide holes k of the door glass
lifting/lowering regulator R. In addition, it is made possible to
change the attitude of door glass lifting/lowering regulator R to
installation attitude after inclining and inserting the door glass
lifting/lowering regulator R in the attitude of not interfering
with a circumference of the aperture section H of the inner panel
Wi by the motor 37.
[0048] As for the above-mentioned positioning mechanism section 33,
a support member 44 is installed through a bracket 50 in an end
section of a post 47 extending from a front face of the device base
table 31, and a boss pin 45 for insertion into an inner panel guide
hole, and an inner panel abutting member 46 which abuts on a
predetermined part of the inner panel and is made of resin or
rubber are installed on this supporting member 44. Then, a pair of
these positioning mechanism sections 33 is provided in the state of
sandwiching the grip mechanism section 32.
[0049] Then, it is made that the alignment of the door W with the
grip/installation mechanism 6 is performed by making the inner
panel abutting member 46 abut on the inner panel Wi in a
predetermined location at the same time when the boss pins 45 of
these positioning mechanism sections 33 are inserted into the guide
holes t of the inner panel (FIG. 5).
[0050] The above-mentioned clamping mechanism section 34 provides a
nut runner 48 slidably engaging through a slide guide with a slide
rail which is not shown in a drawing and is formed on a side face
of the post 47 fixed to a side of the device base table 31, and a
second cylinder 51 for making this nut runner 48 advance and
retreat toward the inner panel Wi, and this second cylinder 51 is
connected through a connection member 52 to the table 49 with the
slide guide which is integrated with the side of the nut runner
48.
[0051] Then, the nut runner 48 is made to advance and retreat
toward the inner panel Wi by expansion and contraction of the
second cylinder 51.
[0052] In addition, a pair of these nut runners 48 is also
provided.
[0053] Then, when the door glass lifting/lowering regulator R is
positioned in installation attitude, the nut runner 48 moves
forward and fixation is made to perform by bolting.
[0054] Furthermore, an operating handle and a deadman switch, which
are not shown, for a worker performing movement in the assist
transportation mode are provided in the above grip/installation
mechanisms 6. When a worker pushes the operating handle in a
direction, to which he/she wants to move, with grasping the deadman
switch, it is switched from the automatic transportation mode to
the assist transportation mode, and it is made possible to perform
transportation by light power. When the worker moves his/her hand
from the deadman switch, it is made to change to the automatic
transportation mode.
[0055] Next, the outline of operation at the time of installing the
door glass lifting/lowering regulator R in the motor vehicle door W
will be explained.
[0056] When the pair of right and left doors W are given pitch feed
along the door transportation line 2, in connection with this, the
door glass lifting/lowering regulator R is automatically
transported by the component transportation means 4 to the
installation position B. That is, when the grip/installation
mechanism 6 grips the door glass lifting/lowering regulator R in
the component supply position A, the automatic transportation is
performed to a predetermined point near the installation position B
according to the set route set in the automatic transportation
mode.
[0057] Here, the grip of the door glass lifting/lowering regulator
R by the grip/installation mechanism 6 may be sufficient in either
case of the grip in the automatic mode or the grip in the assist
mode.
[0058] When it reaches the predetermined point near the
installation position B, a mode of each actuator changes to the
assist transportation mode by the control means. For this reason,
by continuously pushing the operating handle in a direction, to
which he/she wants to move it, with grasping the deadman switch of
the grip/installation mechanism 6, a worker moves the
grip/installation mechanism to the installation position B. Then,
when it passes the aperture section H of the inner panel Wi of the
door W, as shown in FIG. 7(a), he/she inclines and inserts the door
glass lifting/lowering regulator R in the attitude of not
interfering with a circumference of the aperture section H with
operating another switch.
[0059] Then, after the above-mentioned passing work of the aperture
section H, positioning is performed by making the inner panel
abutting member 46 abut on a surface of the inner panel Wi at the
same time of inserting the boss pin 45 of the positioning mechanism
section 33 into the guide hole in the predetermined location of the
inner panel Wi until a boss section abuts on its surface. Then, by
return the inclination of the door glass lifting/lowering regulator
R and moving it toward the inner panel Wi a little, the door glass
lifting/lowering regulator R is made to abut on the inner panel
Wi.
[0060] Subsequently, the nut runner 48 in the state of mounting a
bolt advances toward the inner panel Wi to insert the bolt through
a bolt hole x of the inner panel Wi. Then, when being fastened and
fixed to a nut which is mounted on the door glass lifting/lowering
regulator R, it is installed in the state as shown in FIG.
7(b).
[0061] When the installation work to one of the right and left
doors W is completed, the worker moves his/her hand from the
deadman switch. Then, the operation mode of the grip/installation
mechanism 6 changes to the automatic transportation mode, and the
grip/installation mechanism 6 moves to the component supply
position A automatically with following a defined route. After
that, with gripping a next door glass lifting/lowering regulator R,
it performs automatic transportation in the same procedure nearby
the installation position B. Then, when the transportation is
performed to a predetermined point, the mode changes to the assist
transportation mode in the same procedure as the above description,
and installation is performed in the same procedure to another of
the right and left doors W. Then, transportation of the door
transportation line 2 is kept stopped until the installation to two
doors W is completed. When the installation to the two doors W is
completed, the next pallet p (door W) comes by pitch
transportation.
[0062] Although the above work is usually general work procedure,
depending on a production form, it is always possible to change the
automatic transportation mode to the assist transportation mode, or
to change the assist transportation mode to the automatic
transportation mode. Hence, it is possible to perform extremely
efficiently such work that the door glass lifting/lowering
regulator R is installed to the door W.
[0063] In addition, since the positioning is performed in the
assist mode when the door glass lifting/lowering regulator R is
installed to the door W in the above procedure, it is possible to
perform it extremely efficiently, and to omit a complicated
facility relating to transportation as much as possible. And also,
it is possible to secure a work space, and to work efficiently.
[0064] Furthermore, if a certain trouble arises during work in the
automatic transportation mode, it is possible to perform
transportation between all the points in the assist mode by
switching a control switch to the assist mode. At this time,
impedance setting at the time of returning the component
transportation means 4 to a defined point or area in the automatic
transportation mode is performed automatically.
[0065] Moreover, the present invention is not limited to the
embodiments like the above what has the same construction
substantially as the items described in the appended claims of the
present invention and demonstrates the same operation and effect
belongs to the technical scope of the present invention.
[0066] For example, the receiving body is not limited to the door
W, and the installed component is not limited to the door glass
lifting/lowering regulator R.
[0067] In addition, it is also good to adopt the automatic mode
also with including installation work.
INDUSTRIAL APPLICABILITY
[0068] According to the present invention, it is possible to work
with responding adequately even when there is a change of a
production form or the like, and it is possible to respond promptly
even when abnormal circumstances such as a trouble arise.
[0069] In addition, it is possible to omit a complicated facility
and the like for positioning, and it is possible to work
efficiently with making a person and a machine coexist.
[0070] Furthermore, it is possible not only to omit a facility
relating to transportation, but also to work efficiently.
DESCRIPTION OF SYMBOLS
[0071] 1 . . . MOTOR VEHICLE DOOR ASSEMBLING LINE [0072] 2 . . .
DOOR TRANSPORTATION LINE [0073] 4 . . . COMPONENT TRANSPORTATION
MEANS [0074] 6 . . . GRIP/INSTALLATION MECHANISM [0075] A . . .
COMPONENT SUPPLY POSITION [0076] B . . . INSTALLATION POSITION
[0077] R . . . DOOR GLASS LIFTING/LOWERING REGULATOR [0078] W . . .
DOOR
* * * * *