CA1234482A - Method and apparatus for mounting automobile parts to both sides of a body - Google Patents
Method and apparatus for mounting automobile parts to both sides of a bodyInfo
- Publication number
- CA1234482A CA1234482A CA000480402A CA480402A CA1234482A CA 1234482 A CA1234482 A CA 1234482A CA 000480402 A CA000480402 A CA 000480402A CA 480402 A CA480402 A CA 480402A CA 1234482 A CA1234482 A CA 1234482A
- Authority
- CA
- Canada
- Prior art keywords
- aye
- main body
- movable
- carriage
- robot
- 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.)
- Expired
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000001360 synchronised effect Effects 0.000 claims abstract description 8
- 230000000712 assembly Effects 0.000 claims 5
- 238000000429 assembly Methods 0.000 claims 5
- 238000001514 detection method Methods 0.000 description 13
- 241000282320 Panthera leo Species 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011144 upstream manufacturing Methods 0.000 description 2
- 241000700605 Viruses Species 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
-
- 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
- Y10S29/00—Metal working
- Y10S29/044—Vacuum
-
- 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
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49826—Assembling or joining
- Y10T29/49828—Progressively advancing of work assembly station or assembled portion of work
- Y10T29/49829—Advancing work to successive stations [i.e., assembly line]
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- 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
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49826—Assembling or joining
- Y10T29/49828—Progressively advancing of work assembly station or assembled portion of work
- Y10T29/49831—Advancing station
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- 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
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49998—Work holding
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- 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
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
- Y10T29/5191—Assembly
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- 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
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
- Y10T29/5196—Multiple station with conveyor
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- 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
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53039—Means to assemble or disassemble with control means energized in response to activator stimulated by condition sensor
- Y10T29/53048—Multiple station assembly or disassembly apparatus
- Y10T29/53052—Multiple station assembly or disassembly apparatus including position sensor
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- 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
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53039—Means to assemble or disassemble with control means energized in response to activator stimulated by condition sensor
- Y10T29/53061—Responsive to work or work-related machine element
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- 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
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/534—Multiple station assembly or disassembly apparatus
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- 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
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53435—Means to assemble or disassemble including assembly pallet
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- 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
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53539—Means to assemble or disassemble including work conveyor
- Y10T29/53543—Means to assemble or disassemble including work conveyor including transporting track
- Y10T29/53548—Means to assemble or disassemble including work conveyor including transporting track and work carrying vehicle
Abstract
ABSTRACT OF THE DISCLOSURE
A method of mounting parts to both sides of a main body characterized by moving a carriage at a predetermined speed along a specified path of transport with the main body placed on the carriage; moving a pair of movable tables in synchronism with the carriage in the same direction as the movement thereof, the movable tables being disposed at opposite sides of the transport path and each carrying at least one robot and an assembling device; causing the movable tables to support the main body during the synchronized movement;
setting a part held by the robot in a specified position on the main body attaching the part to the main body by the assembling device; and thereafter delivering the main body from the movable tables onto the carriage. Since the carriage is moved during the assembly of parts, this method assures the assembly line of a high-speed operation.
A method of mounting parts to both sides of a main body characterized by moving a carriage at a predetermined speed along a specified path of transport with the main body placed on the carriage; moving a pair of movable tables in synchronism with the carriage in the same direction as the movement thereof, the movable tables being disposed at opposite sides of the transport path and each carrying at least one robot and an assembling device; causing the movable tables to support the main body during the synchronized movement;
setting a part held by the robot in a specified position on the main body attaching the part to the main body by the assembling device; and thereafter delivering the main body from the movable tables onto the carriage. Since the carriage is moved during the assembly of parts, this method assures the assembly line of a high-speed operation.
Description
aye METHOD AND APPARATUS FOR MOUNTING/PARTS
TO BOTH SIDES Of' ON BODY
FIELD OF ART
The present invention relates to a method of mount-in parts to both sides of a main body, for example, for use in a motor vehicle assembly line for automatically attaching doors to a motor vehicle body which is sent forward.
BACKGROUND AND SUMMARY OF THE INVENTION
Conventionally doors are mounted on the bodies of motor vehicles by causing a body transporting carriage to accurately stop at an assembly station which is provided with a door supplying device and an automatic screw -tight-eying device, moving -the door supplying device in a predator--mined mode to set the door in the door attaching opening of the body on the carriage, and thereafter operating the screw tightening device in a predetermined mode to fasten the door to the body by bolting.
With this conventional method, however, the carriage is completely held at rest during the mounting of the door, consequently producing an adverse effect on the flow speed of the overall motor vehicle assembly line to reduce the overall operation efficiency.
To overcome the above drawback, -the present invention OF .
~3~l482 provides a method of mounting parts to both sides of a main body characterized by moving a carriage at a predetermined speed along a specified path of transport with the main body placed on the carriage; moving a pair of movable tables in swanker-noisome with the carriage in the same direction as -the movement thereof, the movable tables being disposed at opposite sides of the path of transport and each carrying at least one robot and an assembling device causing the movable tables to support the main body during the synchronized movement;
setting a par-t held by the robot in a specified position on the main body; attaching the part to the main body by the assembling device and thereafter delivering the main body from the movable tables on-to the carriage.
Another object of the present invention is to provide an apparatus suitable for practicing the above method.
Another object of the invention is to supply parts to the robot at a suitable position according to the kind of the par-t.
Still another object of the invention is to enable the robot to receive the part reliably.
These and other objects will become apparent from the following description of embodiments of the invention with reference to the accompanying drawings.
I
BRIEF DESCRIPTION OF THE DRAWINGS
Fig. 1 is an overall perspective view showing a mounting apparatus embodying the present invention;
Fig. 2 is a plan view showing the apparatus;
Fig. 3 is a front view showing the apparatus;
Ego. 4 and Fig. 5 are a side elevation and a front view, respectively, showing a door type sensor and a door supplying device;
Fig. 6 is a side elevation showing a body type sensor Figs. 7 to 9 are a side elevation, front view and plan view showing a stopping-correcting device;
Figs. 10 and 11 are a front view and a side elevation showing a door delivering device;
Figs. 12 and 13 are a side elevation and a plan view showing movable tables and devices associated therewith;
Fig. 14 is a plan view showing a body receiving device;
Fig. 15 is a front view partly in section and showing a centering assembly which is a component of the body receiving device;
Fig. 16 is a front view partly in section and showing a seat assembly which is a component ox the body receiving device;
Fig. 17 is an enlarged view showing the seat ~L~23~
assembly;
Fig. 18 is a front view showing image sensor means;
Fig. 19 is a diagram schematically showing a system for controlling the mounting apparatus;
Ergs 20 and 21 are a plan view and a front view showing another embodiment of the invention;
Ego. 22 is a side elevation showing a door -type sensor and a door supplying device according to the second embodiment; and Fig. 23 is a diagram schematically showing a system for controlling the second embodiment.
DESCRIPTION OF EMBODIMENTS
Figs. 1 to 3 show the body 1 of a motor vehicle as an example of the main body to be worked on and doors PA, 2B as examples of parts to be mounted to both sides of the body 1. However, the present invention is not limited to -this case but can be applied to the assembly of various structures such as machine tools. The body 1 is formed at:
its sides with openings PA, 3B for attaching the doors PA, 20 2B. Screw holes PA, 5B are formed in the edges PA, 4B
defining the openings close to their front portions.
Figs. 3 to 5 and Fig. 8 show a door conveyor device 10 of the hanger -type which comprises a -trolley guide rail 11, a trolley drive means rail 12 provided above the Jo _ rail 11 coextensive therewith, a trolley assembly 13 movable by being guided by the rail 11, a hanger 14 connected to the trolley assembly 13, and trolley drive means, such as a chain conveyor 15, guidable by the rail 12. The trolley assembly 13 is provided at its front portion with a driven dog 17 biased upward and engage able by virtue of vertical movement with a drive projection 16 projecting downward iron the chain conveyor 15, and a hold dog 18 which is pivot able and opposed to the driven dog 17. (Although only one drive projection 16 is shown, the conveyor has a plurality of projections 16 as arranged longitudinally -thereof at a spacing.) The hanger 14, which is adapted for holding the pair of doors PA, 2B, has at opposite sides of its front and rear portions pairs of heckle engaging members lea, lob engage able with the doors PA, 2B and further has at opposite sides of its lower portion a pair of bearing members AYE, 20B adapted to bear against the inner surfaces of the doors PA, 2B. The hanger 14 is further provided at an upper portion thereof with a pair of arms AYE, 21B extending Saudis. These arms AYE, 21B have at their outer ends swing preventing rollers AYE, 24B which are restrained by guide rails AYE, 23B attached to a frame 22. The conveyor device of the illustrated embodiment, which is of -the hanger type, may be one adapted to carry the part as placed thereon.
The drive protection 16 may be made movable vertically and engage able with -the driven dog 17 which, in this case, is fixed in position.
Referring to Figs. 1 to 3, disposed below the conveyor device 10 is a carriage 31 which is movable along a booty transport path 30 parallel to the door transport path. The carriage 31 is provided thereon with support brackets 32 for supporting the body 1 for transport. The force for moving the carriage 31 is given by a floor conveyor 34 to a driven pin 33 projecting from the bottom side of the carriage 310 The floor conveyor 34 has a drive chain 35 which is provided with a plurality of projections 36 engage able with the driven pin 33. The drive chain 35 is revved around a sprocket coupled to a servo motor 37 for driving the chain 35. A pulse generator 38 coupled to the servo motor 37 detects the speed of travel of the carriage I
and the detected speed signal 39 is fed to a controller 48.
An assembly station 40 is provided at a specified portion of the body transport path 30. At the inlet end of the assembly station 40, there is a door -type sensor 44 which comprises a multiplicity of photoelectric switches 43 attached to a holder 42 connected to the fixed frame 22 as seen in Figs. 4 and 5. In the vicinity of the inlet end of the assembly station 40, a body type sensor 47 is disposed which comprises a multiplicity of photoelectric switches 46 attached to stands 45 on the floor (Figs. 2 and 6).
The shape and size of the body 1 and the doors I us are different with the type of motor vehicles, and the number and locations of photoelectric switches 43, 46 which function at the same time differ-from type to -type. These switches 43, 46 are connected to the controller 48, which detects -the type of vehicle according to the combination of such number and locations. If the body 1 and the doors PA, 2B
are for different types, the transport is discontinued with an alarm given.
The assembly station 40 is provided at its inlet end with a stopping-correcting device 50 for stopping the trolley assembly 13 and correcting the stopped position.
As shown in Figs. 7 to 9, a guide rail 51 is fixedly provided in parallel to the rail 12. A movable beam 53 guidable along the guide rail 51 by means of a slider 52 is reciprocatingly movable by cylinder means 54. The movable beam 53 is provided with a trolley stopping assembly 55 and a clamp assembly 56 adapted to act on -the arm 21B on the hanger 14. The trolley stopping assembly 55 comprises a pair of guide plates 57 attached to one end of the movable beam 53 and extending perpendicular to -the body transport path 30, and a stopper plate 58 supported and guided by the guide plates 57. By the action of cylinder means 59, the stopper plate 58 is advanced to a position above the trolley guide rail 11 to retract the driven dog 17 downward out of I
engagement with the drive projection 16 and stop the trolley assembly 13. The clamp assembly 56, which is mounted on the other end of the movable beam 53, comprises a pair of brackets 60 extending downward from the movable beam 53, a pair of rotary shafts 61 mounted on the brackets 60 and extending perpendicular to the body transport path 30, a pair of coupling gears 62 meshing with each other and fixed to the shafts 61, a pair of clamp arms 63 attached to the rotary shafts 61, and cylinder means 64 connected between the free end of one of the clamp arms 63 and the movable beam 53.
As seen in Figs. 1 to 3, movable worktables AYE, 70B are disposed on opposite sides of the assembly station 40.
Each worktable AYE (70B) is supported and guided by floor rails AYE (71B) through sliders AYE (72B). A rack AYE (73B) provided along the floor rails AYE (71B) is in mesh with a pinion AYE (74B), which is driven by a servo motor AYE (75B) mounted on the work-table AYE (70B) to reciprocatingly move the work-table. In -the vicinity of the servo motor AYE (75B), a pulse generator AYE (76B) is provided for detecting the speed of movement of -the worktable AYE (70B). As seen in Fig. 19, the pulse generator feeds a detection signal AYE (77~) to the controller 48, which calculates the difference between the speed and the above-mentioned speed signal 39 and feeds -to the servo motor AYE (75B) a control signal AYE
(78B) based on the speed difference. The worktable ~70B) I
is provided thereon with a door handling robot AYE (80B) toward its one end, a screw tightening device 100 A (loo), an example of assembling device, -toward the other end thereof, and a body receiving device AYE (120B) between these devices at the inner side of the worktable.
With reference to Figs. 1 to 3, 10 and 11, the robot AYE (80B) has a drive unit AYE (81B) mounted on the worktable AYE (70B) and a three-dimensionally movable manipulating arm AYE (82B). A door holder AYE (83B), which is attached to the free end of the arm AYE (82B), comprises a generally rectangular mount frame AYE (85B) rotatable connected to the free end of the manipulating arm by a center shaft AYE (8~B), hook arms AYE (88B) pivoted to a plurality of (e.g. two) lower end portions of the mount frame AYE (85B) by pins AYE (86B) and having a support face AYE (87B) engage able with the lower edge of the door PA 92B), cylinder means AYE
(89B) mounted on the mount frame AYE (85B) to act on the hook arm, and vacuum cups AYE (JOB) serving as suction means and attached -to the mount frame AYE (85B) close to its four corners.
As seen in Figs. 1 to 3, 12 and 13, the screw tightening device loo (loo) comprises a first slider AYE
(102B) mounted on a guide Lola (loll) on the worktable AYE
(70B) and movable in parallel to the transport path 30, a first drive unit AYE (103B) for reciprocatingly moving the I
first slider, a second slider AYE (104B) mounted on the first slider AYE (102B) and movable perpendicular to the -transport path 30, a second drive unit AYE (lost) for reciprocatingly moving the second slider, a lift AYE (106B) mounted on the second slider AYE (104B) and vertically movable on a pair of guide rods lea (lob), a lift drive unit AYE (107B) for vertically moving the lift by rotating a feed screw AYE (112B), a screw tightening tool AYE (108B) mounted on the lift AYE (106B) and a drive unit Lola (109B) for the tool. Indicated at Lola (lob) is a bolt feeder.
Referring to Figs. 14 to 17, the body receiving device AYE (120B) comprises a pair of side supports AYE
(121B) connected to the inner side of the worktable AYE (70B) a guide rail AYE (122B) vertically attached to the free end 15 of each side support, a lift beam AYE (124B) supported and guided by the guide rails AYE (122B) through sliders AYE (123B), cylinder means AYE (125B) attached to a central support AYE (160B) between the side supports AYE
(121B) and connected to the lift beam by a link AYE (byway 20 seat assembly AYE (126B) mounted on each end of the lift beam AYE (124B), and a centering assembly AYE (127B) disposed adjacent -to each seat assembly AYE (126B).
As best seen in Fig. 17, each seat assembly AYE
(126B) comprises a base plate AYE (128B) mounted on the lift beam AYE (124B), a first slide plate AYE (130B) slid ably I
supported on the base plate AYE (128B) by a pair of roller guides AYE (129B) extending perpendicular to the transport path 30, first spring means (not shown) for biasing the first slide plate AYE (130B) toward the initial position relative to the base plate AYE (128B), a second slide plate AYE (133B) supported on the first slide plate AYE (130B) by a pair of roller guides AYE (132B) extending along the path of transport 30 so as to be slid able, second spring means (not shown) for biasing the second slide plate AYE
(133B) toward the initial position relative to the first slide plate, and a receiving member AYE (137B) mounted on the second slide plate AYE (133B) by an annular roller bearing AYE (135B) and rotatable about a vertical axis AYE (136B).
As best seen in Figs. 14 and 15, each centering assembly AYE (127B) comprises a pair of guide rods AYE
(139B) mounted on the lift beam AYE (124B) by a frame AYE
(138B) and extending perpendicular to the transport path 30, a screw rod AYE (140B) disposed in parallel to the guide 20 rods AYE (139B), a movable member AYE (141B) screwed on the screw rod AYE (140B) and movable on the guide rods, a pusher AYE (142B) mounted on -the top of the movable member, a servo motor AYE (143B) for driving the screw rod AYE
(140B), and a pulse generator AYE (144B) coupled to the servo motor for detecting the amount of movement of the pusher I
AYE (142B). As shown in Flog 19, the pulse generator AYE
(144~) feeds a detection signal AYE (145B) to the controller 48, which gives the robot AYE (80B) an operation instruction AYE (146B) based on the amount of movement and also gives the screw tightening device loo (loo) an operation instruct lion AYE (147B) based on the amount of movement.
With reference to Figs. 12, 18 and 19, each movable work-table AYE (70B) is provided with image sensor means AYE
(lob) for detecting clearances AYE (151B) and AYE (152B) between the body opening edge PA (4B) and the door edge PA
(6B). The image sensor means AYE (150B) comprises a first image sensor AYE (153B) for detecting the clearance AYE
151B) in the direction of height of the vehicle a-t a front portion of the door, a second image sensor AYE (154B) for detecting the clearance in the same direction at a rear portion of the door, and a third image sensor AYE (155B) for detecting the clearance AYE (152B) in the lengthwise direction of the vehicle at -the rear of the door. While the third image sensor AYE (155B) serves also to detect the absolute position of the body 1, another sensor may be used specifically therefore The values detected by -the image sensors AYE (153B), AYE (154B) and AYE (155B) are fed through an amplifier AYE (l56B~) to the controller 48, which compares the values with reference values and gives a control signal AYE (157B) to the robots AYE (80B) based aye on the differences there between.
The operation of the apparatus will now be described.
The hanger 14 holding the doors PA, 2B with its engaging members lea, lob, namely the trolley assembly 13 is trays-ported as supported by the guide rail 11, with the drive projection 16 of the chain conveyor 15 in engagement with the driven dog 17 which is spring-biased to a projected position At the location where the door PA (2B) is opposed to the door type sensor 44 as seen in Figs. 4 and 5, the stopper plate 58, which is projecting laterally as shown in Figs. 8 and 9, acts on the driven dog 17, which in turn is lowered against a spring action and brought out of engagement with the drive projection 16. Consequently, the stopper plate 58 comes into contact with the hold dog 18 to thereby stop the trolley assembly 13. The type of the door PA (2B) thus halted is detected by the door type sensor 44, and the detection signal aye is fed to the controller 48. Simulate-nuzzle with the stopping of the trolley assembly 13, the clamp arms 63 are pivotal moved by the cylinder means 64 from the phantom-line position to the solid-line position shown in Fig. 7 to clamp the arm 21B. Based on the detection signal aye, the controller 48 gives a door type signal 44b to the cylinder means 54 to move the hanger 14 along with the movable beam 53. When the door PA (2B) has reached a position specified for the type concerned, the cylinder I
means 54 is stopped in response to a stop signal 44c given by the controller 48.
On the other hand, the carriage 31 supporting a body l -thereon is moved on the transport path 30 at a S predetermined speed by the engagement of the driven pin 33 with a projection 36 on the drive chain 35. The body 1 has its type detected when passing by the body type sensor 47, and the detection signal aye is fed to the controller 48, which proceeds to the next step when the two detection signals aye and aye are found to match. When these signals are not found to match (different types), the controller stops the carriage 31 and gives an alarm.
The robot AYE (80B) acts on the door PA (2B) brought to the delivery position corrected according to the vehicle type. At this position, the robot AYE (80B) performs a basic action according to the vehicle type. The arm AYE (88B) is raised and advanced to bring the mount frame AYE (85B) close to the door PA (2B) and, in this state, the hook arms AYE (88B) are pivotal moved to bring their support faces AYE (87B) into contact with the lower end of the door from below and raise the door, whereby the door is disengaged from the engaging members lea (19B). Accordingly, even if the door PA (2B) is held by the hanger 14 with its lower edge inclined, the position of the door is automatically corrected horizontally by the raising action of thwack arms ^~3~Z
AYE (88s) which are at the same level. Suction is there-after applied to the vacuum cups AYE (JOB), to which the outer surface of the door PA (2B) is held attracted as seen in Fig. 10. By the action of the robot AYE (ooze), the door S is completely unloaded from the hanger 14 and carried to the body 1 as will be described below. During this procedure, the door is prevented from falling due to shake or the like by the suction of the vacuum cups AYE (JOB) and the support of the door lower end by the hook arms AYE (88B).
With the door PA (2B) received by the robot AYE
(80B) and its type detected, the two movable tables AYE (70B) are moved in synchronism with the continuous travel of the carriage 31 by operating the servo motor AYE (75B). During this step, the speed value of the carriage 31 is fed to the controller 48 from the pulse generator 38 as a speed signal 39, while the speed value of the movable table AYE (70B) is fed from the pulse generator AYE (76B) to the controller 48 as a detection signal AYE (77B). The speed difference between the speed signal 39 and the detection signal AYE
(77B) is calculated by the controller 48, which gives the servo motor AYE (75B) a control signal AYE (78B) based on the speed difference, whereby the movable table AYE (70B) has its speed controlled so as to move in perfect synchronism with the carriage 31. During this synchronized movement, the body 1 on the carriage 31 is raised and supported by I
the movable -table AYE (70B). Stated more specifically, the lift beam AYE (124B) in its lowered position is raised by the cylinder means AYE (125B) to thereby raise the receiving members AYE (137B) into contact with the lower end of the body 1 and raise the body 1 to the state shown in Fig. 15.
Subsequently, the centering assembly AYE (127B) having its pusher AYE (142B) opposed to the lower edge of the body 1 from outside is operated according to the vehicle type signal aye obtained from the body type sensor 47. Thus, the servo motor AYE (143B) is driven to cause the movable member AYE (141B) to move the pusher AYE (142B) toward the other pusher 142B (AYE). The two pushers AYE, 142B therefore hold the lower edges of the body 1 from opposite sides to center the body 1. At this time, the body lower end acts to slide relative to the receiving members AYE (137B) depending on the initial rested position of the body 1 relative to the receiving members AYE (137B), but this is absorbed by the movement of the first slide plate AYE (130B), against the first spring means, in -the direction of width of the vehicle, by the movement of the second slide plate AYE (133B), against the second spring, in the lengthwise direction of the vehicle, and by the rotation of the receiving member AYE
(137B) about the vertical axis (AYE (136B) with respect to the circumferential direction. Consequently, no sliding movement of the body occurs. The width of the body 1 is not I
definite but varies randomly from body to body within the range of several millimeters. Accordingly the amount of movement of the pusher AYE (142B) for centering is indefin-tie even for vehicles of the same type. The actual amount of movement of the pusher AYE (142B~ is detected by the pulse generator AYE (144B), and the detection signal AYE
(145B) is given to the controller 48. Based on the signal, the controller 48 gives the robot AYE (80B) and the screw tightening device loo (loo) operation instructions (chiefly amounts of advance) AYE (146B) and AYE (147B) in accordance with the width of the body 1.
The door PA (2B) is supplied to the centered body 1. First, by the basic action of the robot AYE (80B) according to the vehicle type concerned, the door PA (2B) is positioned close to and as opposed to the body opening PA I
outside thereof. Next, the clearance AYE (151B) in the direction of height is detected by the first image sensor AYE (153B) and the second image sensor AYE (154B), and the lengthwise clearance AYE (152B) and the absolute position of the body 1 are detected by the third image sensor AYE (155B). The detection signals are fed to the controller 48, which in turn feeds a control signal AYE (157B) to the ;
robot AYE (80B). In response to the control signal AYE
(157B) indicating the direction of movement, the robot moves 25 the door PA (2B) so that the clearances AYE (151B) and ~L23~4L8'~
AYE (152B) will become reference values. At this time, the posture of the door PA (2B) is adjusted also by the presence of the first image sensor AYE (153B) and the second image sensor AYE (154B). Further according to the positions of the clearances AYE (151B) and AYE (152B), the controller 48 gives the screw tightening device loo (loo) an instruction signal Lola (lllB) for movement. When the amounts of clearances AYE (151B) and AYE (152B) have reached the reference values as mentioned above, the control signal AYE
(157B) is discontinued. Further before or after this, the hook arms AYE (88B) are lowered as indicated in a phantom line in Fig. 10. An instruction is given to the robot to push the door PA (2B) in. The amount of pushing is based on -the operation instruction AYE (146B) mentioned. After the door has been pushed in place, the screw tightening device loo (loo) operates under the control of the controller 48 to attach the door to the body 1 by screwing bolts as specified. The device loo (loo) is then brought to its standby position, the vacuum cups AYE (JOB) are freed from suction and the robot AYE (80B) is brought to its standby position.
The body 1 completely assembled is returned onto the carriage 31 again which is positioned immediately below the body 1 by virus of the synchronized movement of the 25 movable table AYE (70B) and the carriage 31. Accordingly I
the body 1 can be delivered onto the support brackets 32 on the carriage 31 by lowering the lift beam AYE (124B).
The carriage 31 with the body 1 placed thereon is moved to the next process. On completion of unloading by the robot, the clamp arms 63 and stopper plate 58 are freed from engagement in response to a signal from the controller, so that the unloaded hanger 14 has already been transferred to the location of next process. Immediately after the transfer, -the stopping-correcting device 50 is returned to its standby position. After the delivery of the body 1, the unloaded movable table AYE (70B) is returned at a high speed for receiving the next door PA (2B).
While the controller 48 gives the control signals AYE and 78B to the servo motors AYE and 75B, only one of these control signal can be given via a coupled movement-single movement switch 170 to operate the two movable tables AYE, 70B in synchronism as seen in Fig. 19. However, switch 170 is not an essential component.
Another embodiment of the invention will be described next with reference to Figs. 20 to 23.
The embodiment shown in Figs. 20 to 23 are adapted to assemble Eour-door vehicles and have the same construction as the embodiment of Figs. 1 to 19 except the following features.
I The motor vehicle body 1 shown of course has glue two pairs of openings PA, 3B and AYE, 3'B. Indicated at PA, 4B and AYE, 4'B are opening edges.
TO BOTH SIDES Of' ON BODY
FIELD OF ART
The present invention relates to a method of mount-in parts to both sides of a main body, for example, for use in a motor vehicle assembly line for automatically attaching doors to a motor vehicle body which is sent forward.
BACKGROUND AND SUMMARY OF THE INVENTION
Conventionally doors are mounted on the bodies of motor vehicles by causing a body transporting carriage to accurately stop at an assembly station which is provided with a door supplying device and an automatic screw -tight-eying device, moving -the door supplying device in a predator--mined mode to set the door in the door attaching opening of the body on the carriage, and thereafter operating the screw tightening device in a predetermined mode to fasten the door to the body by bolting.
With this conventional method, however, the carriage is completely held at rest during the mounting of the door, consequently producing an adverse effect on the flow speed of the overall motor vehicle assembly line to reduce the overall operation efficiency.
To overcome the above drawback, -the present invention OF .
~3~l482 provides a method of mounting parts to both sides of a main body characterized by moving a carriage at a predetermined speed along a specified path of transport with the main body placed on the carriage; moving a pair of movable tables in swanker-noisome with the carriage in the same direction as -the movement thereof, the movable tables being disposed at opposite sides of the path of transport and each carrying at least one robot and an assembling device causing the movable tables to support the main body during the synchronized movement;
setting a par-t held by the robot in a specified position on the main body; attaching the part to the main body by the assembling device and thereafter delivering the main body from the movable tables on-to the carriage.
Another object of the present invention is to provide an apparatus suitable for practicing the above method.
Another object of the invention is to supply parts to the robot at a suitable position according to the kind of the par-t.
Still another object of the invention is to enable the robot to receive the part reliably.
These and other objects will become apparent from the following description of embodiments of the invention with reference to the accompanying drawings.
I
BRIEF DESCRIPTION OF THE DRAWINGS
Fig. 1 is an overall perspective view showing a mounting apparatus embodying the present invention;
Fig. 2 is a plan view showing the apparatus;
Fig. 3 is a front view showing the apparatus;
Ego. 4 and Fig. 5 are a side elevation and a front view, respectively, showing a door type sensor and a door supplying device;
Fig. 6 is a side elevation showing a body type sensor Figs. 7 to 9 are a side elevation, front view and plan view showing a stopping-correcting device;
Figs. 10 and 11 are a front view and a side elevation showing a door delivering device;
Figs. 12 and 13 are a side elevation and a plan view showing movable tables and devices associated therewith;
Fig. 14 is a plan view showing a body receiving device;
Fig. 15 is a front view partly in section and showing a centering assembly which is a component of the body receiving device;
Fig. 16 is a front view partly in section and showing a seat assembly which is a component ox the body receiving device;
Fig. 17 is an enlarged view showing the seat ~L~23~
assembly;
Fig. 18 is a front view showing image sensor means;
Fig. 19 is a diagram schematically showing a system for controlling the mounting apparatus;
Ergs 20 and 21 are a plan view and a front view showing another embodiment of the invention;
Ego. 22 is a side elevation showing a door -type sensor and a door supplying device according to the second embodiment; and Fig. 23 is a diagram schematically showing a system for controlling the second embodiment.
DESCRIPTION OF EMBODIMENTS
Figs. 1 to 3 show the body 1 of a motor vehicle as an example of the main body to be worked on and doors PA, 2B as examples of parts to be mounted to both sides of the body 1. However, the present invention is not limited to -this case but can be applied to the assembly of various structures such as machine tools. The body 1 is formed at:
its sides with openings PA, 3B for attaching the doors PA, 20 2B. Screw holes PA, 5B are formed in the edges PA, 4B
defining the openings close to their front portions.
Figs. 3 to 5 and Fig. 8 show a door conveyor device 10 of the hanger -type which comprises a -trolley guide rail 11, a trolley drive means rail 12 provided above the Jo _ rail 11 coextensive therewith, a trolley assembly 13 movable by being guided by the rail 11, a hanger 14 connected to the trolley assembly 13, and trolley drive means, such as a chain conveyor 15, guidable by the rail 12. The trolley assembly 13 is provided at its front portion with a driven dog 17 biased upward and engage able by virtue of vertical movement with a drive projection 16 projecting downward iron the chain conveyor 15, and a hold dog 18 which is pivot able and opposed to the driven dog 17. (Although only one drive projection 16 is shown, the conveyor has a plurality of projections 16 as arranged longitudinally -thereof at a spacing.) The hanger 14, which is adapted for holding the pair of doors PA, 2B, has at opposite sides of its front and rear portions pairs of heckle engaging members lea, lob engage able with the doors PA, 2B and further has at opposite sides of its lower portion a pair of bearing members AYE, 20B adapted to bear against the inner surfaces of the doors PA, 2B. The hanger 14 is further provided at an upper portion thereof with a pair of arms AYE, 21B extending Saudis. These arms AYE, 21B have at their outer ends swing preventing rollers AYE, 24B which are restrained by guide rails AYE, 23B attached to a frame 22. The conveyor device of the illustrated embodiment, which is of -the hanger type, may be one adapted to carry the part as placed thereon.
The drive protection 16 may be made movable vertically and engage able with -the driven dog 17 which, in this case, is fixed in position.
Referring to Figs. 1 to 3, disposed below the conveyor device 10 is a carriage 31 which is movable along a booty transport path 30 parallel to the door transport path. The carriage 31 is provided thereon with support brackets 32 for supporting the body 1 for transport. The force for moving the carriage 31 is given by a floor conveyor 34 to a driven pin 33 projecting from the bottom side of the carriage 310 The floor conveyor 34 has a drive chain 35 which is provided with a plurality of projections 36 engage able with the driven pin 33. The drive chain 35 is revved around a sprocket coupled to a servo motor 37 for driving the chain 35. A pulse generator 38 coupled to the servo motor 37 detects the speed of travel of the carriage I
and the detected speed signal 39 is fed to a controller 48.
An assembly station 40 is provided at a specified portion of the body transport path 30. At the inlet end of the assembly station 40, there is a door -type sensor 44 which comprises a multiplicity of photoelectric switches 43 attached to a holder 42 connected to the fixed frame 22 as seen in Figs. 4 and 5. In the vicinity of the inlet end of the assembly station 40, a body type sensor 47 is disposed which comprises a multiplicity of photoelectric switches 46 attached to stands 45 on the floor (Figs. 2 and 6).
The shape and size of the body 1 and the doors I us are different with the type of motor vehicles, and the number and locations of photoelectric switches 43, 46 which function at the same time differ-from type to -type. These switches 43, 46 are connected to the controller 48, which detects -the type of vehicle according to the combination of such number and locations. If the body 1 and the doors PA, 2B
are for different types, the transport is discontinued with an alarm given.
The assembly station 40 is provided at its inlet end with a stopping-correcting device 50 for stopping the trolley assembly 13 and correcting the stopped position.
As shown in Figs. 7 to 9, a guide rail 51 is fixedly provided in parallel to the rail 12. A movable beam 53 guidable along the guide rail 51 by means of a slider 52 is reciprocatingly movable by cylinder means 54. The movable beam 53 is provided with a trolley stopping assembly 55 and a clamp assembly 56 adapted to act on -the arm 21B on the hanger 14. The trolley stopping assembly 55 comprises a pair of guide plates 57 attached to one end of the movable beam 53 and extending perpendicular to -the body transport path 30, and a stopper plate 58 supported and guided by the guide plates 57. By the action of cylinder means 59, the stopper plate 58 is advanced to a position above the trolley guide rail 11 to retract the driven dog 17 downward out of I
engagement with the drive projection 16 and stop the trolley assembly 13. The clamp assembly 56, which is mounted on the other end of the movable beam 53, comprises a pair of brackets 60 extending downward from the movable beam 53, a pair of rotary shafts 61 mounted on the brackets 60 and extending perpendicular to the body transport path 30, a pair of coupling gears 62 meshing with each other and fixed to the shafts 61, a pair of clamp arms 63 attached to the rotary shafts 61, and cylinder means 64 connected between the free end of one of the clamp arms 63 and the movable beam 53.
As seen in Figs. 1 to 3, movable worktables AYE, 70B are disposed on opposite sides of the assembly station 40.
Each worktable AYE (70B) is supported and guided by floor rails AYE (71B) through sliders AYE (72B). A rack AYE (73B) provided along the floor rails AYE (71B) is in mesh with a pinion AYE (74B), which is driven by a servo motor AYE (75B) mounted on the work-table AYE (70B) to reciprocatingly move the work-table. In -the vicinity of the servo motor AYE (75B), a pulse generator AYE (76B) is provided for detecting the speed of movement of -the worktable AYE (70B). As seen in Fig. 19, the pulse generator feeds a detection signal AYE (77~) to the controller 48, which calculates the difference between the speed and the above-mentioned speed signal 39 and feeds -to the servo motor AYE (75B) a control signal AYE
(78B) based on the speed difference. The worktable ~70B) I
is provided thereon with a door handling robot AYE (80B) toward its one end, a screw tightening device 100 A (loo), an example of assembling device, -toward the other end thereof, and a body receiving device AYE (120B) between these devices at the inner side of the worktable.
With reference to Figs. 1 to 3, 10 and 11, the robot AYE (80B) has a drive unit AYE (81B) mounted on the worktable AYE (70B) and a three-dimensionally movable manipulating arm AYE (82B). A door holder AYE (83B), which is attached to the free end of the arm AYE (82B), comprises a generally rectangular mount frame AYE (85B) rotatable connected to the free end of the manipulating arm by a center shaft AYE (8~B), hook arms AYE (88B) pivoted to a plurality of (e.g. two) lower end portions of the mount frame AYE (85B) by pins AYE (86B) and having a support face AYE (87B) engage able with the lower edge of the door PA 92B), cylinder means AYE
(89B) mounted on the mount frame AYE (85B) to act on the hook arm, and vacuum cups AYE (JOB) serving as suction means and attached -to the mount frame AYE (85B) close to its four corners.
As seen in Figs. 1 to 3, 12 and 13, the screw tightening device loo (loo) comprises a first slider AYE
(102B) mounted on a guide Lola (loll) on the worktable AYE
(70B) and movable in parallel to the transport path 30, a first drive unit AYE (103B) for reciprocatingly moving the I
first slider, a second slider AYE (104B) mounted on the first slider AYE (102B) and movable perpendicular to the -transport path 30, a second drive unit AYE (lost) for reciprocatingly moving the second slider, a lift AYE (106B) mounted on the second slider AYE (104B) and vertically movable on a pair of guide rods lea (lob), a lift drive unit AYE (107B) for vertically moving the lift by rotating a feed screw AYE (112B), a screw tightening tool AYE (108B) mounted on the lift AYE (106B) and a drive unit Lola (109B) for the tool. Indicated at Lola (lob) is a bolt feeder.
Referring to Figs. 14 to 17, the body receiving device AYE (120B) comprises a pair of side supports AYE
(121B) connected to the inner side of the worktable AYE (70B) a guide rail AYE (122B) vertically attached to the free end 15 of each side support, a lift beam AYE (124B) supported and guided by the guide rails AYE (122B) through sliders AYE (123B), cylinder means AYE (125B) attached to a central support AYE (160B) between the side supports AYE
(121B) and connected to the lift beam by a link AYE (byway 20 seat assembly AYE (126B) mounted on each end of the lift beam AYE (124B), and a centering assembly AYE (127B) disposed adjacent -to each seat assembly AYE (126B).
As best seen in Fig. 17, each seat assembly AYE
(126B) comprises a base plate AYE (128B) mounted on the lift beam AYE (124B), a first slide plate AYE (130B) slid ably I
supported on the base plate AYE (128B) by a pair of roller guides AYE (129B) extending perpendicular to the transport path 30, first spring means (not shown) for biasing the first slide plate AYE (130B) toward the initial position relative to the base plate AYE (128B), a second slide plate AYE (133B) supported on the first slide plate AYE (130B) by a pair of roller guides AYE (132B) extending along the path of transport 30 so as to be slid able, second spring means (not shown) for biasing the second slide plate AYE
(133B) toward the initial position relative to the first slide plate, and a receiving member AYE (137B) mounted on the second slide plate AYE (133B) by an annular roller bearing AYE (135B) and rotatable about a vertical axis AYE (136B).
As best seen in Figs. 14 and 15, each centering assembly AYE (127B) comprises a pair of guide rods AYE
(139B) mounted on the lift beam AYE (124B) by a frame AYE
(138B) and extending perpendicular to the transport path 30, a screw rod AYE (140B) disposed in parallel to the guide 20 rods AYE (139B), a movable member AYE (141B) screwed on the screw rod AYE (140B) and movable on the guide rods, a pusher AYE (142B) mounted on -the top of the movable member, a servo motor AYE (143B) for driving the screw rod AYE
(140B), and a pulse generator AYE (144B) coupled to the servo motor for detecting the amount of movement of the pusher I
AYE (142B). As shown in Flog 19, the pulse generator AYE
(144~) feeds a detection signal AYE (145B) to the controller 48, which gives the robot AYE (80B) an operation instruction AYE (146B) based on the amount of movement and also gives the screw tightening device loo (loo) an operation instruct lion AYE (147B) based on the amount of movement.
With reference to Figs. 12, 18 and 19, each movable work-table AYE (70B) is provided with image sensor means AYE
(lob) for detecting clearances AYE (151B) and AYE (152B) between the body opening edge PA (4B) and the door edge PA
(6B). The image sensor means AYE (150B) comprises a first image sensor AYE (153B) for detecting the clearance AYE
151B) in the direction of height of the vehicle a-t a front portion of the door, a second image sensor AYE (154B) for detecting the clearance in the same direction at a rear portion of the door, and a third image sensor AYE (155B) for detecting the clearance AYE (152B) in the lengthwise direction of the vehicle at -the rear of the door. While the third image sensor AYE (155B) serves also to detect the absolute position of the body 1, another sensor may be used specifically therefore The values detected by -the image sensors AYE (153B), AYE (154B) and AYE (155B) are fed through an amplifier AYE (l56B~) to the controller 48, which compares the values with reference values and gives a control signal AYE (157B) to the robots AYE (80B) based aye on the differences there between.
The operation of the apparatus will now be described.
The hanger 14 holding the doors PA, 2B with its engaging members lea, lob, namely the trolley assembly 13 is trays-ported as supported by the guide rail 11, with the drive projection 16 of the chain conveyor 15 in engagement with the driven dog 17 which is spring-biased to a projected position At the location where the door PA (2B) is opposed to the door type sensor 44 as seen in Figs. 4 and 5, the stopper plate 58, which is projecting laterally as shown in Figs. 8 and 9, acts on the driven dog 17, which in turn is lowered against a spring action and brought out of engagement with the drive projection 16. Consequently, the stopper plate 58 comes into contact with the hold dog 18 to thereby stop the trolley assembly 13. The type of the door PA (2B) thus halted is detected by the door type sensor 44, and the detection signal aye is fed to the controller 48. Simulate-nuzzle with the stopping of the trolley assembly 13, the clamp arms 63 are pivotal moved by the cylinder means 64 from the phantom-line position to the solid-line position shown in Fig. 7 to clamp the arm 21B. Based on the detection signal aye, the controller 48 gives a door type signal 44b to the cylinder means 54 to move the hanger 14 along with the movable beam 53. When the door PA (2B) has reached a position specified for the type concerned, the cylinder I
means 54 is stopped in response to a stop signal 44c given by the controller 48.
On the other hand, the carriage 31 supporting a body l -thereon is moved on the transport path 30 at a S predetermined speed by the engagement of the driven pin 33 with a projection 36 on the drive chain 35. The body 1 has its type detected when passing by the body type sensor 47, and the detection signal aye is fed to the controller 48, which proceeds to the next step when the two detection signals aye and aye are found to match. When these signals are not found to match (different types), the controller stops the carriage 31 and gives an alarm.
The robot AYE (80B) acts on the door PA (2B) brought to the delivery position corrected according to the vehicle type. At this position, the robot AYE (80B) performs a basic action according to the vehicle type. The arm AYE (88B) is raised and advanced to bring the mount frame AYE (85B) close to the door PA (2B) and, in this state, the hook arms AYE (88B) are pivotal moved to bring their support faces AYE (87B) into contact with the lower end of the door from below and raise the door, whereby the door is disengaged from the engaging members lea (19B). Accordingly, even if the door PA (2B) is held by the hanger 14 with its lower edge inclined, the position of the door is automatically corrected horizontally by the raising action of thwack arms ^~3~Z
AYE (88s) which are at the same level. Suction is there-after applied to the vacuum cups AYE (JOB), to which the outer surface of the door PA (2B) is held attracted as seen in Fig. 10. By the action of the robot AYE (ooze), the door S is completely unloaded from the hanger 14 and carried to the body 1 as will be described below. During this procedure, the door is prevented from falling due to shake or the like by the suction of the vacuum cups AYE (JOB) and the support of the door lower end by the hook arms AYE (88B).
With the door PA (2B) received by the robot AYE
(80B) and its type detected, the two movable tables AYE (70B) are moved in synchronism with the continuous travel of the carriage 31 by operating the servo motor AYE (75B). During this step, the speed value of the carriage 31 is fed to the controller 48 from the pulse generator 38 as a speed signal 39, while the speed value of the movable table AYE (70B) is fed from the pulse generator AYE (76B) to the controller 48 as a detection signal AYE (77B). The speed difference between the speed signal 39 and the detection signal AYE
(77B) is calculated by the controller 48, which gives the servo motor AYE (75B) a control signal AYE (78B) based on the speed difference, whereby the movable table AYE (70B) has its speed controlled so as to move in perfect synchronism with the carriage 31. During this synchronized movement, the body 1 on the carriage 31 is raised and supported by I
the movable -table AYE (70B). Stated more specifically, the lift beam AYE (124B) in its lowered position is raised by the cylinder means AYE (125B) to thereby raise the receiving members AYE (137B) into contact with the lower end of the body 1 and raise the body 1 to the state shown in Fig. 15.
Subsequently, the centering assembly AYE (127B) having its pusher AYE (142B) opposed to the lower edge of the body 1 from outside is operated according to the vehicle type signal aye obtained from the body type sensor 47. Thus, the servo motor AYE (143B) is driven to cause the movable member AYE (141B) to move the pusher AYE (142B) toward the other pusher 142B (AYE). The two pushers AYE, 142B therefore hold the lower edges of the body 1 from opposite sides to center the body 1. At this time, the body lower end acts to slide relative to the receiving members AYE (137B) depending on the initial rested position of the body 1 relative to the receiving members AYE (137B), but this is absorbed by the movement of the first slide plate AYE (130B), against the first spring means, in -the direction of width of the vehicle, by the movement of the second slide plate AYE (133B), against the second spring, in the lengthwise direction of the vehicle, and by the rotation of the receiving member AYE
(137B) about the vertical axis (AYE (136B) with respect to the circumferential direction. Consequently, no sliding movement of the body occurs. The width of the body 1 is not I
definite but varies randomly from body to body within the range of several millimeters. Accordingly the amount of movement of the pusher AYE (142B) for centering is indefin-tie even for vehicles of the same type. The actual amount of movement of the pusher AYE (142B~ is detected by the pulse generator AYE (144B), and the detection signal AYE
(145B) is given to the controller 48. Based on the signal, the controller 48 gives the robot AYE (80B) and the screw tightening device loo (loo) operation instructions (chiefly amounts of advance) AYE (146B) and AYE (147B) in accordance with the width of the body 1.
The door PA (2B) is supplied to the centered body 1. First, by the basic action of the robot AYE (80B) according to the vehicle type concerned, the door PA (2B) is positioned close to and as opposed to the body opening PA I
outside thereof. Next, the clearance AYE (151B) in the direction of height is detected by the first image sensor AYE (153B) and the second image sensor AYE (154B), and the lengthwise clearance AYE (152B) and the absolute position of the body 1 are detected by the third image sensor AYE (155B). The detection signals are fed to the controller 48, which in turn feeds a control signal AYE (157B) to the ;
robot AYE (80B). In response to the control signal AYE
(157B) indicating the direction of movement, the robot moves 25 the door PA (2B) so that the clearances AYE (151B) and ~L23~4L8'~
AYE (152B) will become reference values. At this time, the posture of the door PA (2B) is adjusted also by the presence of the first image sensor AYE (153B) and the second image sensor AYE (154B). Further according to the positions of the clearances AYE (151B) and AYE (152B), the controller 48 gives the screw tightening device loo (loo) an instruction signal Lola (lllB) for movement. When the amounts of clearances AYE (151B) and AYE (152B) have reached the reference values as mentioned above, the control signal AYE
(157B) is discontinued. Further before or after this, the hook arms AYE (88B) are lowered as indicated in a phantom line in Fig. 10. An instruction is given to the robot to push the door PA (2B) in. The amount of pushing is based on -the operation instruction AYE (146B) mentioned. After the door has been pushed in place, the screw tightening device loo (loo) operates under the control of the controller 48 to attach the door to the body 1 by screwing bolts as specified. The device loo (loo) is then brought to its standby position, the vacuum cups AYE (JOB) are freed from suction and the robot AYE (80B) is brought to its standby position.
The body 1 completely assembled is returned onto the carriage 31 again which is positioned immediately below the body 1 by virus of the synchronized movement of the 25 movable table AYE (70B) and the carriage 31. Accordingly I
the body 1 can be delivered onto the support brackets 32 on the carriage 31 by lowering the lift beam AYE (124B).
The carriage 31 with the body 1 placed thereon is moved to the next process. On completion of unloading by the robot, the clamp arms 63 and stopper plate 58 are freed from engagement in response to a signal from the controller, so that the unloaded hanger 14 has already been transferred to the location of next process. Immediately after the transfer, -the stopping-correcting device 50 is returned to its standby position. After the delivery of the body 1, the unloaded movable table AYE (70B) is returned at a high speed for receiving the next door PA (2B).
While the controller 48 gives the control signals AYE and 78B to the servo motors AYE and 75B, only one of these control signal can be given via a coupled movement-single movement switch 170 to operate the two movable tables AYE, 70B in synchronism as seen in Fig. 19. However, switch 170 is not an essential component.
Another embodiment of the invention will be described next with reference to Figs. 20 to 23.
The embodiment shown in Figs. 20 to 23 are adapted to assemble Eour-door vehicles and have the same construction as the embodiment of Figs. 1 to 19 except the following features.
I The motor vehicle body 1 shown of course has glue two pairs of openings PA, 3B and AYE, 3'B. Indicated at PA, 4B and AYE, 4'B are opening edges.
(2) A hanger 14 is provided at its front and rear portions with four pairs of hawklike engaging members lea, lob and Lowe, lob for holding two pairs of doors PA, 2B and AYE, 2'B in suspension. Indicated at PA, 6B and AYE, 6'B are door edges.
(3) At two locations above the path 30 of transport of the body 1, stopping-correcting devices 50, 50' having exactly the same construction as the foregoing one are disposed.
(4) Because screws are tightened up on the body 1 a-t -two locations which are apart longitudinally of the body 1, screw tightening device loo (loo) includes a guide Lola (loll) which is longer than the one in the foregoing embody-mint and a first slider AYE (102B) which is movable over an increased range.
(5) Image sensor means AYE, 150B comprise image sensors AYE, 153B; AYE, 154B; AYE, 155B; AYE, 153'B;
20 AYE, 154'B and AYE, 155'B, i.e. twelve sensors in total.
20 AYE, 154'B and AYE, 155'B, i.e. twelve sensors in total.
(6) A robot AYE (80B) is movable on the movable table AYE (70B). For this purpose, a pair of guide rails AYE (200B) are provided on the movable table AYE (70B) in parallel with the body transport path 30. The robot has a 25 base AYE (202B) slid ably mounted on the guide rails AYE
YO-YO
(200B) by sliders AYE (201B). The robot can be reciprocated by drive means AYE (203B).
The apparatus of the above construction operates in the following manner.
First, the trolley assembly 13, i.e. the hanger 14 is stopped by the upstream stopping-correcting device 50, with the front door PA (2B) oppose to the door type sensor.
Consequently, the position of the front door PA (2B) is corrected in accordance with a detection signal aye from the door type sensor 44. The robot AYE (80B) and the screw tightening device loo (loo) in the initial position indicated in solid lines in Fig. 20 thereafter operate to completely mount the front door PA (2B) in the body front opening PA
(3B) in exactly the same manner as in the foregoing embody-mint.
After the front door PA (2B) has been completely attached, the carriage 31 and the movable table AYE (70B) are halted at the same time. By this time, the hanger 14 is already brought to a downstream position as halted by the downstream stopping-correcting device 50' and has its position corrected according to a detection signal obtained when the rear door AYE (2'B) passed by the door type sensor 44. The robot AYE (80B) is moved upstream on the movable table AYE (70B) and brought to the phantom-line position in Fig. 20. (However, the movable table is moved forward.) I
The rear door AYE (2'B) is thereafter held by the robot AYE
(80B) in the same manner as above, and the carriage 31 and the movable table BOA (JOB) are then caused to run in synchronism again. The robot AYE (80B) supplies the rear S door AYE (2'B) -to the body 1. More specifically, the rear door AYE (2'B) is positioned close to the body opening AYE
(Boyce opposed thereto from outside by a basic action according to the vehicle type concerned. The rear door clearance AYE (151'B) in the direction of height of the vehicle is detected by the fourth image sensor AYE (153'B) and the fifth image sensor AYE (154'B). The rear door clearance AYE (152'B) in the lengthwise direction is further detected by the sixth image sensor AYE (155'B).
The detection signals are fed through the amplifier AYE
(156'B) -to the controller 48, which feeds a control signal AYE (157'B) to -the robot AYE (80B). In response to the control signal AYE (157'B) which indicates the direction of movement, the robot AYE (80B) moves the rear door AYE
(2'B) so that -the clearances AYE (151'B) and AYE (152'B) become reference values. At this time, the posture of -the rear door AYE (2'B) is adjusted also by the presence of -the fourth and fifth image sensors AYE (153'B), AYE (154'B).
Further according to the position of the clearances AYE
(151'B), AYE (152'B), the controller 48 gives a movement instruction signal Lowe (lll'B) to the screw tightening ~3~2 device loo (loo). As in the case of the foregoing embody-mint, when the amounts of clearances AYE (151'B), AYE
(152'B) have reached the reference values, the control signal AYE (157'B) to the robot AYE (80B) is discontinued.
Before or after this, the hook arms AYE (88B) are pivotal moved downward (see Fig. 10). The robot is given an instruct lion to push in the rear door AYE (2'B), the amount of pushing being based on the operation instruction AYE (147'B) as in the foregoing embodiment. After the door has been pushed in place, the screw tightening device loo (loo) operates under the control of the controller 43 to attach the rear door AYE (2'B) to the body by screwing as contemplated.
The device loo (loo) is thereafter brought to its standby position, the door is released from the suction of the vacuum cups AYE (JOB), and the robot AYE (80B) is set in its standby position. The same operation as in the foregoing embodiment thereafter follows.
According to the embodiment of Figs. 20 to I the pair of robots AYE (80B) mounted on the two movable tables AYE (70B) are made movable on the tables along the body transport path 30. However, when two pairs of robots are mounted on the movable -tables, four doors can be attached to a motor vehicle body at the same time automatically without shifting these robots.
YO-YO
(200B) by sliders AYE (201B). The robot can be reciprocated by drive means AYE (203B).
The apparatus of the above construction operates in the following manner.
First, the trolley assembly 13, i.e. the hanger 14 is stopped by the upstream stopping-correcting device 50, with the front door PA (2B) oppose to the door type sensor.
Consequently, the position of the front door PA (2B) is corrected in accordance with a detection signal aye from the door type sensor 44. The robot AYE (80B) and the screw tightening device loo (loo) in the initial position indicated in solid lines in Fig. 20 thereafter operate to completely mount the front door PA (2B) in the body front opening PA
(3B) in exactly the same manner as in the foregoing embody-mint.
After the front door PA (2B) has been completely attached, the carriage 31 and the movable table AYE (70B) are halted at the same time. By this time, the hanger 14 is already brought to a downstream position as halted by the downstream stopping-correcting device 50' and has its position corrected according to a detection signal obtained when the rear door AYE (2'B) passed by the door type sensor 44. The robot AYE (80B) is moved upstream on the movable table AYE (70B) and brought to the phantom-line position in Fig. 20. (However, the movable table is moved forward.) I
The rear door AYE (2'B) is thereafter held by the robot AYE
(80B) in the same manner as above, and the carriage 31 and the movable table BOA (JOB) are then caused to run in synchronism again. The robot AYE (80B) supplies the rear S door AYE (2'B) -to the body 1. More specifically, the rear door AYE (2'B) is positioned close to the body opening AYE
(Boyce opposed thereto from outside by a basic action according to the vehicle type concerned. The rear door clearance AYE (151'B) in the direction of height of the vehicle is detected by the fourth image sensor AYE (153'B) and the fifth image sensor AYE (154'B). The rear door clearance AYE (152'B) in the lengthwise direction is further detected by the sixth image sensor AYE (155'B).
The detection signals are fed through the amplifier AYE
(156'B) -to the controller 48, which feeds a control signal AYE (157'B) to -the robot AYE (80B). In response to the control signal AYE (157'B) which indicates the direction of movement, the robot AYE (80B) moves the rear door AYE
(2'B) so that -the clearances AYE (151'B) and AYE (152'B) become reference values. At this time, the posture of -the rear door AYE (2'B) is adjusted also by the presence of -the fourth and fifth image sensors AYE (153'B), AYE (154'B).
Further according to the position of the clearances AYE
(151'B), AYE (152'B), the controller 48 gives a movement instruction signal Lowe (lll'B) to the screw tightening ~3~2 device loo (loo). As in the case of the foregoing embody-mint, when the amounts of clearances AYE (151'B), AYE
(152'B) have reached the reference values, the control signal AYE (157'B) to the robot AYE (80B) is discontinued.
Before or after this, the hook arms AYE (88B) are pivotal moved downward (see Fig. 10). The robot is given an instruct lion to push in the rear door AYE (2'B), the amount of pushing being based on the operation instruction AYE (147'B) as in the foregoing embodiment. After the door has been pushed in place, the screw tightening device loo (loo) operates under the control of the controller 43 to attach the rear door AYE (2'B) to the body by screwing as contemplated.
The device loo (loo) is thereafter brought to its standby position, the door is released from the suction of the vacuum cups AYE (JOB), and the robot AYE (80B) is set in its standby position. The same operation as in the foregoing embodiment thereafter follows.
According to the embodiment of Figs. 20 to I the pair of robots AYE (80B) mounted on the two movable tables AYE (70B) are made movable on the tables along the body transport path 30. However, when two pairs of robots are mounted on the movable -tables, four doors can be attached to a motor vehicle body at the same time automatically without shifting these robots.
Claims (15)
1. A method of mounting parts to both sides of a main body characterized by moving a carriage at a predetermined speed along a specified path of transport with the main body placed on the carriage; moving a pair of movable tables in synchronism with the carriage in the same direction as the movement thereof, the movable tables being disposed at opposite sides of the transport path and each carrying at least one robot and an assembling device; causing the movable tables to support the main body during the synchronized movement;
setting a part held by the robot in a specified position on the main body; attaching the part to the main body by the assembling device; and thereafter delivering the main body from the movable tables onto the carriage.
setting a part held by the robot in a specified position on the main body; attaching the part to the main body by the assembling device; and thereafter delivering the main body from the movable tables onto the carriage.
2. A method as defined in claim 1 wherein the speed of movement of the carriage and the speed of movement of each movable table are individually detected and fed to a controller, and the controller individually controls servo-motors as drive means for the movable tables based on the difference between the speed of movement of the carriage and the speed of movement of each movable table to move the movable tables in synchronism with the carriage.
3. A method as defined in claim 2 wherein the speed of movement of the carriage is detected by a pulse generator coupled to drive means for the carriage, and the speed of movement of each movable table is detected by a pulse generator coupled to the servomotor for the table.
4. A method as defined in claim 1 wherein the main body has at least one opening at each side thereof, and the clearance between the opening defining inner edge and the outer edge of the part is detected by a sensor when the part held by the robot is positioned close to the opening, the detected value being fed to a controller for the controller to compare the detected value with a predetermined reference value, to correct the position of the part relative to the opening by controlling the robot in accordance with the difference and to thereafter set the part in the opening.
5. A method as defined in claim 1 wherein the movable tables are provided with a pair of centering devices each having an element engageable with a side portion of the main body by projecting toward the transport path, and the amount the element moves before the main body is completely centered is given to a controller for the controller to give the robot and the assembling device an operation instruction based on the amount of movement.
6. A method of mounting parts to both sides of a main body characterized by moving a carriage at a predetermined speed along a specified path of transport with the main body placed on the carriage; moving a pair of movable tables in synchronism with the carriage in the same direction as the movement thereof, the movable tables being disposed at opposite sides of the transport path and each carrying at least one robot and an assembling device;
causing the movable tables to support the main body during the synchronized movement; setting a first part held by the robot in a first specified position on the main body during the synchronized movement attaching the first part to the main body by the assembling device; thereafter stopping the two movable tables and the carriage at the same time; causing the robot to hold a second part during the stopping; causing the two movable tables and the carriage to run again in synchronism, thereafter causing the robot to set the second part in a second specified position on the main body and attaching the second part to the main body by the assembling device; and subsequently delivering the main body from the movable tables onto the carriage.
causing the movable tables to support the main body during the synchronized movement; setting a first part held by the robot in a first specified position on the main body during the synchronized movement attaching the first part to the main body by the assembling device; thereafter stopping the two movable tables and the carriage at the same time; causing the robot to hold a second part during the stopping; causing the two movable tables and the carriage to run again in synchronism, thereafter causing the robot to set the second part in a second specified position on the main body and attaching the second part to the main body by the assembling device; and subsequently delivering the main body from the movable tables onto the carriage.
7. An apparatus for mounting parts to both sides of main bodies comprising a carriage for placing the main body thereon; first drive means for moving the carriage along a specified path of transport; a pair of movable tables disposed on opposite sides of the transport path and movable in parallel therewith; second and third drive means for driving the two movable tables; part supplying means for transporting a plurality of parts in a direction parallel to the transport path; a controller coupled to the first, second and third drive means for causing the carriage and the two movable tables to run in synchronism; a body receiving device mounted on each movable table for transferring the main body from the carriage onto the movable table and causing the movable table to support the transferred main body thereon during the synchronized running; at least one robot mounted on each movable table for receiving the part from the part supplying means and setting the part in a specified position on the main body in accordance with an operation instruction from the controller; and at least one assembling device mounted on each movable table for attaching the part set on the main body to the main body in response to an operation instruction from the controller.
8. An apparatus as defined in claim 7 wherein the part supplying means comprises a trolley assembly having a part supporter and guidable by a trolley guide rail in parallel with the body transport path, a trolley drive means for moving the trolley assembly along the guide rail through a mechanism for releasably engaging the trolley assembly, and a stopping-correcting device disposed at least at one specified location on the path of transport of parts, the stopping-correcting device comprising a movable beam recipro-catingly movable by reciprocation drive means and parallel to the guide rail, stopper means mounted on the movable beam to act on the engaging mechanism to release the trolley assembly, and clamp means mounted on the movable beam for gripping a portion of the trolley assembly.
9. An apparatus as defined in claim 8 which further comprises a part type sensor for detecting the type of the part transported by the part supplying means and feeding the detected value to the controller, the controller being operable to control the amount of movement of the movable beam by the reciprocation drive means in accordance with the detected value.
10. An apparatus as defined in claim 7 which further comprises a body type sensor disposed at a specified location on each side of the body transport path for detecting the type of the main body and feeding the detected value to the controller.
11. An apparatus as defined in claim 7 wherein the robot has a mount frame, and hook arms provided on a plurality of lower end portions of the mount frame are pivotally movable by moving means and have a receiving face engageable with the lower end of the corresponding part, the mount frame being provided with a plurality of suction members for holding the outer surface of the part as attracted thereto
12. An apparatus as defined in claim 11 wherein each of the suction members is a vacuum cup.
13. An apparatus as defined in claim 7 wherein the body receiving device on each movable table comprises a lift beam vertically movable by lift means, a pair of seat assemblies mounted on opposite ends of the lift beam, and a pair of centering assemblies mounted on the lift beam and positioned adjacent to the seat assemblies.
14. An apparatus as defined in claim 13 wherein each of the seat assemblies comprises a base plate fixed to the lift beam, a first slide plate slidable on the base plate in a direction perpendicular to the body transport path and biased by a spring toward a specified position relative to the base plate, a second slide plate slidable on the first slide plate in a direction parallel to the body transport path and biased by a spring toward a specified position relative to the first slide plate, and a receiving plate rotatable on the second slide plate about a vertical axis.
15. An apparatus as defined in claim 13 wherein each of the centering assemblies comprises a movable member movable by drive means in a direction perpendicular to the body transport path, and a pusher mounted on the movable member and engageable with a side portion of the main body.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26916584A JPS61146690A (en) | 1984-12-19 | 1984-12-19 | Assembly of parts onto both sides of assembled body |
| JP269165/1984 | 1984-12-19 | ||
| JP27912484A JPS61150878A (en) | 1984-12-24 | 1984-12-24 | Assembly method of parts to both sides of main body being assembled |
| JP279124/1984 | 1984-12-24 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1234482A true CA1234482A (en) | 1988-03-29 |
Family
ID=26548641
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000480402A Expired CA1234482A (en) | 1984-12-19 | 1985-04-30 | Method and apparatus for mounting automobile parts to both sides of a body |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US4589184A (en) |
| CA (1) | CA1234482A (en) |
| DE (1) | DE3516284A1 (en) |
| FR (1) | FR2574691B1 (en) |
| GB (1) | GB2168934B (en) |
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-
1985
- 1985-04-30 CA CA000480402A patent/CA1234482A/en not_active Expired
- 1985-04-30 GB GB08510960A patent/GB2168934B/en not_active Expired
- 1985-05-03 US US06/730,340 patent/US4589184A/en not_active Expired - Lifetime
- 1985-05-07 DE DE19853516284 patent/DE3516284A1/en active Granted
- 1985-05-10 FR FR8507106A patent/FR2574691B1/en not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| US4589184A (en) | 1986-05-20 |
| FR2574691A1 (en) | 1986-06-20 |
| GB2168934A (en) | 1986-07-02 |
| GB2168934B (en) | 1988-07-27 |
| FR2574691B1 (en) | 1988-12-30 |
| GB8510960D0 (en) | 1985-06-05 |
| DE3516284A1 (en) | 1986-06-19 |
| DE3516284C2 (en) | 1993-04-15 |
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