Apparatus for aligning body components of a moving vehicle and system and method for moving body components of a moving vehicle

Abstract

According to the present invention, in various types of moving vehicles, vehicle body parts are all mounted in correct positions. That is to say, a system and a method for mounting a body part of a moving vehicle are provided, in which stable support is provided according to the shape of the area in which the body part is mounted for various types of moving vehicles, thereby minimizing assembly deviation of the body part and improving the assembly efficiency. And mounting defects and assembly deviations are reduced by checking and adjusting the mounting positions of the vehicle body parts, so that the commercial value of the vehicle body parts is improved.

Description

Technical Field

[0001] The present disclosure relates to systems and methods for installing body parts for mobile vehicles, and more particularly, to apparatus for aligning body parts for mobile vehicles and systems and methods for installing body parts for mobile vehicles that ensure that the body parts are installed in correct positions in various types of mobile vehicles. Background Art

[0002] Typically, the production of mobile vehicles requires the assembly and welding of various body parts during mass production.

[0003] For example, after a vehicle body panel is produced through a stamping process, the vehicle body panel is moved to a vehicle body factory and each portion of the vehicle body is assembled to form a body-in-white (BIW).

[0004] The body frame thus completed undergoes the process of installing doors, hood, trunk lid, tailgate and fenders. The body is then moved to the paint booth and painted, and the body is completed by assembling powertrain components, interior and exterior trim in the assembly process.

[0005] Vehicle body parts such as panels mounted on a vehicle body are manufactured through a press process, and at a vehicle body assembly line, tasks such as assembling, welding, sealing, and hemming are performed while the panel is placed and fixed in a panel jig device, and painting is performed in a painting process.

[0006] In the vehicle body assembly process, various vehicle body parts such as doors, a hood, a trunk lid, and a tailgate are moved to the vehicle body by a dedicated mounting jig, and these vehicle body parts are assembled manually by workers or automatically using robots and connected to appropriate positions by bolts.

[0007] In the conventional body component installation system as described above, when the body is transported along the transfer track and placed in place, a set of installation jigs or jigs operated by robots move the panel to the body, and then the installation of the body components is completed by the operation of the assembly robot.

[0008] However, conventional body component mounting systems have difficulty responding to changes in the body at positions where moving body components such as door hinges are mounted, and body changes cause problems that reduce the marketability of finished vehicles because installation defects and deviations may occur in assembly when installing door hinges that are positioned by a jig or clamping device that is set to always move to a set position.

[0009] Furthermore, the vehicle body is designed in various ways according to the type of mobile vehicle, but there is a problem that a dedicated robot and a jig need to be replaced in order to appropriately position the door hinge for each vehicle body.

[0010] In this regard, an example of the related art is Korean Patent Application Publication No. 10-2021-0151347.

[0011] The description provided above as a related art of the present disclosure is only for helping understanding the background of the present disclosure and should not be construed as being included in the related art known to those skilled in the art. Summary of the invention

[0012] Technical issues

[0013] The present disclosure aims to solve the above problems in the prior art. The purpose of the present disclosure is to provide a device for aligning a body part of a mobile vehicle and a system and method for installing a body part of a mobile vehicle, which ensure that the body part is installed in the correct position in various types of mobile vehicles.

[0014] Technical Solution

[0015] In order to achieve the above-mentioned purpose, a device for aligning a body component of a mobile vehicle is provided, the device comprising: an alignment module, provided with an alignment unit, the alignment unit being configured to be movable to position the body component on a first side of a mounting portion, the mounting portion being a portion of the body of the mobile vehicle where the body component is mounted; and a fixing module, provided with a supporting unit, the supporting unit being configured to contact a second side of the mounting portion, wherein the supporting unit is designed to match an outer shape of the mounting portion.

[0016] The aligning module and the fixing module may be configured as one device such that the fixing module is mounted on the aligning module, and the aligning module and the fixing module may be arranged to face each other but be spaced apart such that the mounting portion of the mobile vehicle is located between the aligning unit and the supporting unit.

[0017] The alignment module may include: a base on which a support panel is arranged; an alignment unit movably mounted on the base and provided with a clamping unit to which the body part is fixed; and a first operating part mounted on the alignment unit and connected to the support panel to move the alignment unit away from or closer to the support panel during operation.

[0018] The direction in which the alignment unit moves away from or closer to the support panel may be set according to the direction of the position tolerance of the mounting portion, and the range in which the alignment unit moves away from or closer to the support panel may be set according to the degree of the position tolerance of the mounting portion.

[0019] The clamping unit may include: a seat portion fixed to the alignment unit and configured to place the body part; a pressing portion configured to be movable toward the seat portion and configured to press and fix the body part placed on the seat portion; and a second operating portion installed in the alignment unit and connected to the pressing portion to move the position of the pressing portion during operation.

[0020] The pressing portion may be configured to be tiltable in the moving direction, may be provided with a plurality of second operating portions, the plurality of second operating portions may be vertically arranged, and the plurality of second operating portions may be connected to the pressing portion in a manner of being spaced apart in the vertical direction.

[0021] The fixing module may include: a link arm installed to move on the aligning module and equipped with a supporting unit; and a third operating part installed on the aligning module and connected to the link arm to adjust a position of the link arm.

[0022] The support unit may be mounted on the link arm via a fourth operating portion, and the fourth operating portion may be configured to move in a straight line to change a position of the support unit.

[0023] The support unit may include: a shell configured to have an internal space and an open surface; and a pin unit configured to have a plurality of support pins, which are arranged to protrude through the open surface in the internal space of the shell and are elastically supported to change their protruding lengths.

[0024] The apparatus may further include a component support module configured to contact the vehicle body component and fix a position of the vehicle body component in a state where the vehicle body component is positioned on a first side of the mounting portion by an alignment unit of the alignment module and a support unit of the fixing module contacts and supports a second side of the mounting portion.

[0025] The component support module may include: a support arm configured to move toward a fixed body component and contact the body component through an alignment unit; and a fifth operating part installed in the alignment unit and connected to the support arm to allow the support arm to move toward the body component and contact the body component when the fifth operating part is operated.

[0026] The apparatus may further include: a scanner module configured to scan a mounting portion of a mobile vehicle and check a position of a body component positioned on the mounting portion by an alignment module; and a control module configured to compare information input through the scanner module with a pre-stored database to identify a normal position of the body component, and when it is determined that the position of the body component deviates from the normal position, control the alignment module and the fixing module to adjust the position of the body component.

[0027] At the same time, the system for installing body parts of mobile vehicles according to the present disclosure may include: a bin picking robot, configured to take out body parts that meet the specifications of the mobile vehicle; an alignment fixture, configured to place the body parts taken out by the bin picking robot and align the placed body parts at a mounting angle relative to the mounting part; a loading robot, configured to transfer the body parts placed on the alignment fixture to the mounting part, which is the part where the body parts are installed in the body of the mobile vehicle, and allows the body parts to contact the mounting part with a certain pressure while supporting the mounting part; and a fastening robot, configured to fasten the body parts to the mounting part.

[0028] The loading robot may include: an alignment module provided with an alignment unit for fixing a body component; a fixing module designed to match an outer shape of the mounting portion on a second side of the body component to be mounted on the mounting portion; and a component supporting module configured to contact the body component and fix the position of the body component when the body component and the supporting unit are positioned in the mounting portion.

[0029] The alignment fixture may include: a support member configured to place a body component; a first adjustment device and a first drive unit, the first adjustment device is configured to adjust a first side of the body component, and the first drive unit is configured to operate the first adjustment device; and a second adjustment device and a second drive unit, the second adjustment device is configured to adjust a second side of the body component, and the second drive unit is configured to operate the second adjustment device.

[0030] The fastening robot may allow the fastening device to penetrate the vehicle body component fixed by the loading robot and the mounting portion so that the vehicle body component is fixed to the mounting portion.

[0031] At the same time, the method for installing body parts of a mobile vehicle according to the present disclosure so as to properly position and install the body parts on the body of the mobile vehicle may include: a taking-out step, in which the body parts are taken out by a bin picking robot based on information of the mobile vehicle; an alignment step, in which the taken-out body parts are transferred to an alignment fixture and placed on the alignment fixture; a preparation for fastening step, in which the body parts are positioned on a first side of a mounting portion of the mobile vehicle by an alignment module of the loading robot, while the fixing module is brought into contact with the second side of the mounting portion, and the component support module is brought into contact with the body parts; and a fastening step, in which the body parts are fastened to the mounting portion by a fastening robot via a fastening device.

[0032] In the alignment step, the mounted vehicle body component is aligned at a mounting angle of the mounting portion for the moving vehicle based on the information of the moving vehicle.

[0033] The method may further include: an inspection step, performed after the preparing and fastening step, in which the position of the vehicle body component is inspected by a scanner module and it is determined based on a database whether the position of the vehicle body component is normal.

[0034] The method may further include an adjusting step in which, when it is determined in the inspecting step that the position of the vehicle body component deviates from a normal position, the aligning module and the fixing module are controlled to adjust the position of the vehicle body component.

[0035] Beneficial Effects

[0036] According to the apparatus for aligning a body part of a moving vehicle and the system and method for installing a body part of a moving vehicle having the above-described structure, the body part can be installed in a correct position for different types of moving vehicles.

[0037] That is, since stable support is provided in response to the shape of the portion on which the body parts are installed in various types of mobile vehicles, the assembly deviation of the body parts can be minimized, and by checking and adjusting the installation position of the body parts, installation defects and assembly deviations can be reduced, thereby improving marketability. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a view showing an alignment module, a fixing module, and a component supporting module of an apparatus for aligning a body component of a moving vehicle according to the present disclosure;

[0039] Figure 2 is a view showing an alignment module and a fixing module on one side of a mounting portion;

[0040] Figure 3 is a view showing an alignment module and a fixing module on the other side of the mounting portion;

[0041] Figure 4 yes Figure 1 A side view of the alignment module, the fixing module and the component support module shown in FIG.

[0042] Figure 5 is a view showing a clamping unit according to an embodiment of the present disclosure;

[0043] Figure 6 is a view showing a tolerance direction of mounting a vehicle body component to a mounting portion according to the present disclosure;

[0044] Figure 7 is a view showing a supporting unit according to the present disclosure;

[0045] Figure 8 It shows Figure 7 A view of the operating state of the support unit shown in ;

[0046] Fig. 9 is a view showing each robot in a system for installing a body part of a mobile vehicle according to an embodiment of the present disclosure;

[0047] Fig.10 is a view showing a process of taking out a body part using a bin picking robot in the system for installing a body part of a mobile vehicle disclosed in the present invention;

[0048] Fig.11 is a view showing an alignment process of aligning a body part by an alignment jig in a system for mounting a body part of a moving vehicle of the present disclosure;

[0049] Fig.12 It shows Fig.11 A view of a state before operation of the alignment fixture shown in ;

[0050] Fig.13 It shows Fig.11 A view of the state after operation of the alignment fixture shown in ;

[0051] Fig.14 is a view showing an inspection process using a scanner module in the system for installing a body part of a moving vehicle of the present disclosure;

[0052] Fig.15 is a view showing a process of placing a body part in a mounting portion by a loading robot in the system for mounting a body part of a moving vehicle of the present disclosure;

[0053] Fig.16 is a view showing a fastening process in which a body part is fastened to a mounting portion by a fastening robot in the system for mounting a body part of a moving vehicle of the present disclosure;

[0054] Fig.17 is a flow chart of a method for installing a body component of a mobile vehicle of the present disclosure; and

[0055] Fig.18 is a detailed flow chart of a method for installing a body component of a mobile vehicle according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0056] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings, and the same or similar components are given the same reference numerals regardless of the numerals in the drawings, and redundant descriptions thereof will be omitted.

[0057] The terms “module” and “unit” used for components in the following description are given or used interchangeably only for ease of writing the specification and do not have different meanings or roles by themselves.

[0058] In the following description, if it is determined that the detailed description of the known technology related to the present disclosure makes the subject matter of the embodiments described herein unclear, the detailed description thereof will be omitted. In addition, the drawings are provided only to facilitate the understanding of the embodiments disclosed in this specification, the technical spirit disclosed in the specification is not limited by the drawings, and all changes, equivalents and substitutes should be understood to be included in the spirit and scope of the present disclosure.

[0059] Terms including ordinal numbers such as "first", "second", etc. may be used to describe various components, but these components should not be construed as being limited to these terms. These terms are only used to distinguish one component from another component.

[0060] It should be understood that when an element is referred to as being “connected to” or “coupled to” another element, it may be directly connected to or directly coupled to the other element, or connected to or coupled to the other element with other elements interposed therebetween. On the other hand, it should be understood that when an element is referred to as being “directly connected to” or “directly coupled to” another element, it is connected to or coupled to the other element without other elements interposed therebetween.

[0061] Unless the context clearly indicates otherwise, singular forms are intended to include plural forms.

[0062] It should also be understood that the terms “include” or “have” used in this specification refer to the existence of the described features, steps, operations, components, parts or their combinations, but do not exclude the existence or addition of one or more other features, numbers, steps, operations, components, parts or their combinations.

[0063] In addition, the term “unit” or “control unit” included in a motor control unit (MCU), a hybrid control unit (HCU), etc. is merely a widely used term for naming a controller that controls a specific vehicle function, and does not refer to a general functional unit.

[0064] The controller may include a communication device that communicates with another controller or a sensor to control the corresponding function, a memory that stores an operating system or logic commands and input / output information, and one or more processors that perform determinations, calculations, decisions, etc. for controlling the corresponding function.

[0065] Hereinafter, a system and method for installing a body component of a moving vehicle according to preferred embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0066] Figure 1is a view showing an alignment module, a fixing module, and a component supporting module of an apparatus for aligning a body component of a moving vehicle according to the present disclosure, Figure 2 is a view showing an alignment module and a fixing module on one side of a mounting portion, Figure 3 is a view showing an alignment module and a fixing module on the other side of a mounting portion, Figure 4 yes Figure 1 A side view of the alignment module, the fixing module and the component support module shown in FIG. Figure 5 is a view showing a clamping unit according to an embodiment of the present disclosure, Figure 6 is a view showing a tolerance direction of mounting a vehicle body component to a mounting portion according to the present disclosure, Figure 7 is a view showing a supporting unit according to the present invention, and Figure 8 It shows Figure 7 A view of the operating state of the support unit shown in FIG.

[0067] at the same time, Fig. 9 is a view showing each robot in a system for installing a body part of a mobile vehicle according to an embodiment of the present disclosure, Fig.10 is a view showing a process of taking out a body part using a bin picking robot in the system for installing a body part of a moving vehicle disclosed in the present invention, Fig.11 is a view showing an alignment process of aligning a body part by an alignment jig in a system for mounting a body part of a moving vehicle of the present disclosure, Fig.12 It shows Fig.11 A view of the state before the operation of the alignment fixture shown in Fig.13 It shows Fig.11 A view of the state of the alignment fixture after operation shown in Fig.14 is a view showing an inspection process using a scanner module in a system for installing a body part of a moving vehicle of the present disclosure, Fig.15 is a view showing a process of placing a body part in a mounting portion by a loading robot in the system for mounting a body part of a moving vehicle of the present disclosure, and Fig.16 1 is a view showing a fastening process in which a body part is fastened to a mounting portion by a fastening robot in the system for mounting a body part of a moving vehicle of the present disclosure.

[0068] at the same time, Fig.17 is a flow chart of a method for installing a body component of a mobile vehicle of the present disclosure, and Fig.18 is a detailed flow chart of a method for installing a body component of a mobile vehicle according to an embodiment of the present disclosure.

[0069] like Figures 1 to 4As shown, the device for aligning the body parts of a mobile vehicle according to the present disclosure includes: an alignment module 100, which is provided with an alignment unit 110, which positions the body part A on one side of the mounting part B, which is the part where the body part A is to be installed in the body of the mobile vehicle; a fixing module 200, which is provided with a support unit 210 that contacts the other side of the mounting part B, wherein the support unit 210 is designed to match the external shape of the mounting part B; and a component support module 300, which contacts the body part A and fixes the position of the body part A when the body part A is positioned on one side of the mounting part B and the support unit 210 of the fixing module 200 contacts and supports the other side of the mounting part B.

[0070] The present disclosure ensures that, during the process of assembling the body component A to a moving vehicle body, the mounting position of the body component A is maintained at the correct position when the body component A is mounted on a vehicle body transferred along a vehicle body assembly line.

[0071] Specifically, the present disclosure relates to the installation of door hinges in a plurality of vehicle body parts A, and the present disclosure may also be applied to other vehicle body parts of a mobile vehicle, such as a hood, a trunk lid, a tailgate, etc.

[0072] Therefore, in the embodiment of the present disclosure, the pillar on which the door is mounted may be the mounting portion B, and description will be given by taking “a process of mounting the door hinge as the vehicle body component A to the mounting portion B” as an example.

[0073] To this end, a system for mounting a vehicle body component of a moving vehicle according to the present disclosure is composed of an aligning module 100 , a fixing module 200 , and a component supporting module 300 .

[0074] The alignment module 100, the fixing module 200, and the component support module 300 may be configured as a robot. The alignment module 100, the fixing module 200, and the component support module 300 may be integrated into one robot or configured separately, which may be determined according to the workspace for the vehicle body component A. In an embodiment of the present disclosure, the alignment module 100, the fixing module 200, and the component support module 300 are disposed on a loading robot R3, which is a robot arm that controls and changes the positions of the alignment module 100, the fixing module 200, and the component support module 300 on the production line.

[0075] In this case, the alignment module 100 is used to align the body component A with the mounting portion B of the moving vehicle and ensure that the body component A is located on one side of the mounting portion B. The alignment module 100 may be configured to be movable in a vertical direction.

[0076] That is, the aligning module 100 transports the body component A to a portion of the mounting portion B of the moving vehicle where the body component A is to be mounted, so that the body component A can be fastened to the mounting portion B.

[0077] Meanwhile, the fixing module 200 is provided to support the mounting portion B on the opposite side of the vehicle body part A moved to the mounting portion B by the aligning module 100, and is provided with a supporting unit 210 contacting the other side of the mounting portion B. In order to match the outer shape of the mounting portion B, the shape of the supporting unit 210 may be adjusted so that the supporting unit 210 can stably support the mounting portion B by contacting corresponding to the shape of the other side of the mounting portion B. In addition, the shape of the mounting portion B may vary according to different moving vehicles. However, since the shape of the supporting unit 210 may be adjusted to match the outer shape of the mounting portion B, even if the shape of the mounting portion B is diversified, the portion of the mounting portion B on which the vehicle body part A is mounted may be supported in a balanced manner, thereby minimizing installation defects and assembly deviations when the vehicle body part A is installed.

[0078] Therefore, when the alignment unit 110 of the alignment module 100 positions the body component A on one side of the mounting portion B and the support unit 210 of the fixing module 200 supports the other side of the mounting portion B, the component support module 300 contacts the body component A so that the position of the body component A is fixed.

[0079] Therefore, after the vehicle body component A is ready to be mounted on the mounting portion B by the aligning module 100 and the fixing module 200 , the vehicle body component A may be fastened to the mounting portion B by the fastening robot R4 .

[0080] The fastening robot R4 may use various methods such as bolting and welding to attach the body component A to the mounting portion B. In the embodiment of the present disclosure, the body component A is fixed to the mounting component B by a bolt fastening method using fastening devices C such as bolts.

[0081] To describe the present disclosure in detail, the aligning unit 110 and the supporting unit 210 are arranged to face each other but be spaced apart, and the mounting portion B of the mobile vehicle is located between the aligning unit 110 and the supporting unit 210 .

[0082] That is, in the case where the fixing module 200 is mounted on the aligning module 100, the aligning unit 110 and the supporting unit 210 are spaced apart in the direction facing each other, and therefore, the aligning unit 110 may be located on one side of the mounting portion B, and the supporting unit 210 may be located on the other side of the mounting portion B. In this way, the mounting portion B is supported by the aligning unit 110 that moves and contacts the body part A on one side and the supporting unit 210 on the other side. Therefore, the body part A can be fastened by the fastening robot R4 while contacting the mounting portion B, and since the supporting unit 210 supports the mounting portion B, deformation of the mounting portion B is prevented and accurate fastening can be performed while preventing the position of the body part A from being changed.

[0083] To describe the alignment module 100 according to the present disclosure in detail, the alignment module 100 includes: a base 120 on which a support panel 121 is formed; an alignment unit 110, which is movably mounted on the base 120 and is provided with a clamping unit 130, to which a vehicle body part A is fixed; and a first operating part 140, which is mounted on the alignment unit 110 and connected to the support panel 121 to move the alignment unit 110 away from or close to the support panel 121 during operation.

[0084] The base 120 may be mounted on the loading robot R3 , and the aligning unit 110 and the first operating part 140 are mounted on the base 120 to move the vehicle body part A toward the vehicle body.

[0085] In this case, the aligning unit 110 is movably installed on the base 120. That is, the base 120 is provided with a guide rail 122, and the aligning unit 110 may be installed to be movable along the guide rail 122.

[0086] The aligning unit 110 is provided with a clamping unit 130 , and the vehicle body component A is held by the clamping unit 130 .

[0087] In addition, the first operating part 140 is installed in the alignment unit 110 so that when the first operating part 140 is operated, the alignment unit 110 can be moved from the base 120. In this case, the first operating part 140 can be configured as a cylinder or a hydraulic cylinder and connected to the support panel 121 formed on the base 120. To this end, when the first operating part 140 is operated in a tensioning manner, the alignment unit 110 moves in a direction away from the support panel 121, so that the body part A held by the clamping unit 130 can be moved toward the mounting part B.

[0088] Specifically, when the first operating part 140 is configured as an air cylinder or a hydraulic cylinder, an adjuster may be further configured in the air pressure line or the hydraulic line. That is, by the operation of the first operating part 140, the body part A fixed to the clamping unit 130 moves and contacts the mounting part B, but the mounting part B has a tolerance in the lateral direction of the vehicle, and therefore, the operation amount of the first operating part 140 is changed to absorb the difference in the lateral position of the mounting part B that appears within the tolerance range. For this reason, the adjuster is further provided together with the first operating part 140, so that when the body part A and the mounting part B contact each other due to the operation of the first operating part 140, the body part A and the mounting part B contact each other under a constant pressure, thereby preventing damage to the body part A and deterioration of the fastening quality.

[0089] To further illustrate the tolerances when assembling the vehicle body component A according to the present disclosure, Figure 2 and Figure 6 As shown, the direction in which the alignment unit moves away from or closer to the support panel is set according to the direction of the position tolerance of the mounting portion, and the range in which the alignment unit moves away from or closer to the support panel can be set according to the degree of the position tolerance of the mounting portion.

[0090] That is, the tolerance direction is a direction in which the tolerance occurs when the body component is mounted from the side of the mounting portion, and when the aligning unit moves away from the support panel, the tolerance decreases as the body component moved by the aligning unit gets closer to the mounting portion.

[0091] Therefore, the movement range of the alignment unit can be set according to the degree of position tolerance occurring when the body component is mounted on the mounting portion, and can be set so that the body component does not excessively move toward the mounting portion and overlap, or the body component does not separate from the mounting portion and cause the tolerance to increase.

[0092] Meanwhile, the clamping unit 130 includes: a seat 131 fixed to the alignment unit 110 and formed to seat the vehicle body part A; a pressing portion 132 arranged to be movable toward the seat 131 and configured to press and fix the vehicle body part A seated on the seat 131; and a second operating portion 133 installed in the alignment unit 110 and connected to the pressing portion 132 to move the position of the pressing portion 132 during operation.

[0093] That is, the seat 131 may be fixed to the aligning unit 110 and may be formed in a “￢” shape and configured as a pair so that when the vehicle body component A is used as a door hinge, two flanges of the door hinge are clamped.

[0094] The pressing portion 132 is movably installed on the alignment unit 110 and is installed to move toward the seat portion 131 when moving. The pressing portion 132 is connected to the second operating portion 133 installed in the alignment unit 110, and when the second operating portion 133 is operated, the pressing portion 132 moves toward the seat portion 131 to press the body part A seated on the seat portion 131, thereby holding the body part A in a fixed state.

[0095] The second operating portion 133 may be configured as an air cylinder or a hydraulic cylinder, and the pressing portion 132 may be formed in a shape that contacts the seat portion 131 without being biased to one side.

[0096] In this case, an adjuster may be further provided together with the second operating portion 133. That is, although the body component A has various shapes and sizes, the pressure for fixing the body component A needs to be within an appropriate range. By further providing the adjuster together with the second operating portion 133, when the pressing portion 132 is moved by the operation of the second operating portion 133 to fix the body component A, the body component A is fixed with a constant pressure to prevent damage to the body component A and deterioration of fastening quality.

[0097] Meanwhile, the pressing portion 132 may be configured to be tiltable in the moving direction, may be provided with a plurality of second operating portions 133 , which are vertically arranged and connected to the pressing portion 132 in a manner spaced apart in the vertical direction.

[0098] like Figure 5 As shown, in an embodiment of the present disclosure, two second operating parts 133 are provided and arranged vertically, and since the two second operating parts 133 are respectively connected to the upper and lower sides of the pressing part 132, the pressing part 132 can move and perform a tilting operation at the same time according to the forward distance of the upper second operating part 133 and the lower second operating part 133.

[0099] That is, when the body part A is mounted on the mounting portion B, the mounting angle may be set differently according to the outer shape of the mounting portion B. At this time, if the pressing portion 132 moves linearly relative to the body part A to press the body part A, the body part A may not be firmly fixed and may be unstable when mated with the mounting portion B.

[0100] Therefore, by configuring the plurality of second operating portions 133 , the pressing portion 132 is simultaneously moved and tilted to apply the same pressure to the body component A, thereby ensuring accurate matching of the body component A with the mounting portion B.

[0101] Therefore, in the alignment module 100, when the body part A is seated on the seat 131 of the clamping unit 130, the body part A is fixed between the pressing part 132 and the seat 131 in a pressed form by the operation of the second operating part 133, and the alignment unit 110 is moved toward the mounting part B by the operation of the first operating part 140, so that the body part A can be positioned to contact one side of the mounting part B.

[0102] Meanwhile, the fixing module 200 includes a link arm 220 installed to move on the aligning module 100 and equipped with a supporting unit 210 , and a third operating part 230 installed on the aligning module 100 and connected to the link arm 220 to adjust a position of the link arm 220 .

[0103] Therefore, the fixing module 200 is composed of a link arm 220, a supporting unit 210, and a third operating part 230. In this case, the link arm 220 is composed of a plurality of link structures and is installed on the alignment module 100 to be rotatably movable, and the third operating part 230 is connected to the link arm 220 and adjusts the position of the link arm 220 according to the operation of the link arm 220. In this case, the third operating part 230 may be configured as a motor, a cylinder, or a hydraulic cylinder, and the position of the supporting unit 210 connected to the link arm 220 is determined by the third operating part 230.

[0104] In addition, the support unit 210 is mounted on the link arm 220 via the fourth operating portion 240 , and the fourth operating portion 240 is configured to move in a straight line so that the position of the support unit 210 can be changed.

[0105] The fourth operating part 240 may be configured as a cylinder or a hydraulic cylinder, mounted on the link arm 220, and moves the support unit 210 according to its operation. That is, in a state where the link arm 220 rotates and moves and the support unit 210 is located on the other side of the mounting part B, when the fourth operating part 240 is operated, the support unit 210 may move to contact the other side of the mounting part B and be positioned to support the mounting part B.

[0106] Therefore, in the fixing module 200, through the operation of the link arm 220, the support unit 210 can contact the other side of the mounting portion B from the opposite side of the body part A, and through the operation of the fourth operating part 240, the support unit 210 can contact the other side of the mounting portion B to support the mounting portion B.

[0107] Meanwhile, the supporting unit 210 according to the present disclosure is configured to match the outer shape of the mounting portion B.

[0108] like Figures 7 and 8As shown, the support unit 210 includes: a shell 211 having an internal space and an open surface; and a pin unit 212 having a plurality of support pins 213, which are arranged to protrude through the open surface in the internal space of the shell 211 and are elastically supported to change their protruding lengths.

[0109] Therefore, the pin unit 212 is provided in the housing 211 , and the protruding length of each supporting pin 213 constituting the pin unit 212 can be changed to match the shape of the vehicle body component A.

[0110] That is, each support pin 213 is elastically supported in the housing 211 so that its protruding length changes, and when the support unit 210 is positioned to contact the other side of the mounting portion B, as the support pin 213 protrudes through the open surface of the housing 211, each support pin 213 is aligned to match the outer shape of the mounting portion B. The support pin 213 may be elastically supported by an elastic spring.

[0111] The positions of the plurality of support pins 213 can be fixed by applying an electromagnet, pneumatic pressure, or a separate mechanical contact method while being adjusted to match the outer shape of the mounting portion B. Therefore, in the present disclosure, since the support pins 213 maintain contact with the mounting portion B while matching the outer shape of the mounting portion B, the mounting portion B to which the vehicle body component A is fastened can be uniformly and stably supported relative to the contact surface without being biased to one side.

[0112] At the same time, the component support module 300 may include: a support arm 310, which moves toward the fixed body component A and contacts the body component A through the alignment unit 110; and a fifth operating part 320, which is installed in the alignment unit 110 and connected to the support arm 310 to allow the support arm 310 to move toward the body component A and contact the body component A during operation.

[0113] like Figure 1 As shown, the component support module 300 is composed of a support arm 310 and a fifth operating part 320. The support arm 310 is rotatably mounted on the fifth operating part 320, and when the fifth operating part 320 is operated, the support arm 310 rotates toward the body part A and contacts the body part A to prevent the body part A from lifting.

[0114] The support arm 310 may be further provided with a contact portion 311 of a rubber material at a portion contacting the body part A. When the support arm 310 contacts the body part A and presses the body part A toward the mounting portion B, the problem of the body part A being lifted up is eliminated, and the body part A can be correctly fixed in position by the fastening robot R4.

[0115] At the same time, the device for aligning the body parts of a mobile vehicle according to the present disclosure also includes: a scanner module 500, configured to scan the mounting portion B of the mobile vehicle and check the position of the body part A positioned on the mounting portion B through the alignment module 100; and a control module 600, which is configured to control the alignment module 100, the fixing module 200 and the part support module 300, and is configured to compare the information input through the scanner module 500 with the previously stored database 120 to identify the normal position of the body part A, and when it is determined that the position of the body part A deviates from the normal position, control the alignment module 100 and the fixing module 200 to adjust the position of the body part A.

[0116] The scanner module 500 may be configured as a visual sensor. The scanner module 500 scans the mounting portion B, senses the position of the vehicle body component A on the mounting portion B, and transmits corresponding information to the control module 600 .

[0117] The control module 600 receives the information transmitted by the scanner module 500 and determines whether the position of the body part A is normal based on the previously stored database 120. In this case, the database 120 stores the normal position of the body part A of each mobile vehicle in advance. Based on the database 120, the normal position of the body part A can be determined according to the mobile vehicle performing the assembly process, and the position of the body part A input through the scanner module 500 is compared to determine whether the body part A is correctly positioned.

[0118] In this way, when it is determined that the body part A is in the correct position, the control module 600 prompts the body part A to be fastened to the mounting part B by the fastening robot R4, and when it is determined that the body part A deviates from the normal position, the control module 600 controls the alignment module 100 and the fixing module 200 to adjust the position of the body part A to the correct position.

[0119] That is, based on the information sent by the scanner module 500, the control module 600 can compare the input coordinates of the body part A with the coordinates at the normal position stored in the database 120 and measure the gap, and in the event that the coordinates do not match, the control module 600 can adjust the coordinate values ​​and control the alignment module 100 and the fixing module 200 based on the derived values ​​to ensure that the body part A is correctly positioned.

[0120] Therefore, the body part A is correctly positioned on the mounting portion B of the moving vehicle, thereby minimizing assembly deviation of the body part A. In addition, by checking and adjusting the mounting position of the body part A, mounting defects and deviations in assembly are reduced, thereby improving marketability.

[0121] At the same time, if Fig. 9As shown, the system for installing body parts of mobile vehicles disclosed in the present invention includes: a bin picking robot R1, which takes out a body part A that meets the specifications of the mobile vehicle; an alignment fixture R2, which is used to place the body part A taken out by the bin picking robot R1 and align the placed body part A at a mounting angle relative to the mounting part B; a loading robot R3, which transfers the body part A placed on the alignment fixture R2 to the mounting part B (the part where the body part A is installed in the body of the mobile vehicle) and allows the body part A to contact the mounting part B with a certain pressure while supporting the mounting part B; and a fastening robot R4, which is used to fasten the body part A to the mounting part B.

[0122] The bin picking robot R1 takes out the body part A that meets the specifications of the relevant mobile vehicle, and can transport the body part A using an electromagnet or a gripping device.

[0123] In addition, the body part A taken out by the bin picking robot R1 is transferred to the alignment fixture R2, and when the alignment fixture R2 is located within the moving range of the loading robot R3, the loading robot R3 can clamp the body part A placed on the alignment fixture and transfer the body part A to the installation part B.

[0124] Specifically, the alignment fixture R2 may include: a support member 610 configured to place the body part A; a first adjustment device 621 for adjusting one side of the body part A and a first drive unit 622 for operating the first adjustment device 621; and a second adjustment device 631 for adjusting the other side of the body part A and a second drive unit 632 for operating the second adjustment device 631.

[0125] like Figures 11 to 13 As shown, the alignment fixture R2 is composed of a first adjusting device 621, a first driving part 622, a second adjusting device 631 and a second driving part 632, and on the support member 610, the body part A is aligned at an installation angle relative to the installation part B through the first adjusting device 621 and the second adjusting device 631.

[0126] That is, since the mounting portion B has different shapes and sizes, the mounting angle of the body part A relative to the mounting portion B also varies. Therefore, the alignment jig R2 receives the information of the moving vehicle and the mounting angle of the body part A, and when the body part A is placed by means of the bin picking robot R1, the alignment jig R2 operates the first adjustment device 621 and the second adjustment device 631 through the operation of the first driving portion 622 and the second driving portion 632 to adjust and fix the mounting angle of the body part A.

[0127] Specifically, the support member 610 is configured to place the vehicle body component A thereon.

[0128] The first adjusting device 621 is configured to rotate by receiving power from the first driving portion 622. In this case, when the first adjusting device 621 rotates toward the vehicle body component A mounted on the support body 610, it contacts the upper end and the outer end of the vehicle body component A. For example, assuming that the vehicle body component A is configured as a door hinge, the first adjusting device 621 contacts the outer side of the door side panel of the door hinge coupled to the vehicle door and contacts the outer side of the vehicle body side panel of the door hinge coupled to the vehicle body.

[0129] The second adjusting device 631 is configured to move forward or backward by receiving power from the second driving portion 632. Therefore, when the second adjusting device 631 moves forward by the operation of the second driving portion 632, it contacts the inside of the vehicle body component A mounted on the support 610. That is, when the vehicle body component A is configured as a door hinge, the second adjusting device 631 contacts the inside of the vehicle body side panel.

[0130] Therefore, since the body part A is placed on the support 610 at the alignment fixture R2 and then the installation angle is aligned and the position is fixed by the first adjustment device 621 and the second adjustment device 631, the loading robot R3 maintains the installation angle of the body part A aligned by the alignment fixture R2 and matches the body part A with the mounting part B, thereby minimizing the assembly tolerance and improving the assembly quality.

[0131] Meanwhile, the loading robot R3 includes: an alignment module 100 equipped with an alignment unit 110 for fixing the body part; a fixing module 200 designed to match the outer shape of the mounting portion B at the other side of the mounting portion B where the body part A to be mounted is mounted; and a component support module 300 that contacts the body part A and fixes the position of the body part A when the body part A and the support unit 210 are positioned in the mounting portion B. Therefore, in a state where the body part A is positioned on one side of the mounting portion B and the support unit 210 of the fixing module 200 contacts and supports the other side of the mounting portion B, the position of the body part A is fixed by the component support module 300, so that the body part A can remain in contact with the mounting portion B without being lifted up.

[0132] At the same time, the fastening robot R4 allows the fastening device C to penetrate the vehicle body component A and the mounting portion B fixed by the loading robot R3 , so that the vehicle body component A is fixed to the mounting portion B.

[0133] In the present disclosure, the fastening device C may be configured as a bolt, and the fastening robot R4 may rotate the fastening device C through the motor operation so that the fastening device C passes through the body part A and the mounting portion B for fastening. Therefore, the fastening robot R4 fastens and fixes the body part A located on the mounting portion B through the alignment module 100 to the mounting portion B via the fastening device C.

[0134] According to the fastening method of the vehicle body component A, the fastening robot R4 may be configured as a welding machine in addition to performing bolt fastening.

[0135] In this manner, the present disclosure may increase production speeds through automated processes when assembling vehicle body components into the body of a moving vehicle.

[0136] According to the embodiment of the present disclosure described above, the mounting process of the vehicle body component A may be performed as follows.

[0137] like Fig.10 As shown, the information of the moving vehicle is obtained and the body part A corresponding to the moving vehicle is taken out by the box picking robot R1.

[0138] like Figures 11 to 13 As shown, the body component A taken out by the bin picking robot R1 is transferred to the alignment jig, and the alignment jig aligns the body component A at a mounting angle according to a matching surface of a mounting portion B of the moving vehicle.

[0139] In this way, the vehicle body component A aligned by the alignment jig is moved to the mounting portion by the loading robot R3. Figure 2 As shown, when the body component A is arranged on the mounting portion B, the body component A is located on one side of the mounting portion B of the moving vehicle by the alignment unit 110 of the alignment module 100, and the support unit 210 of the fixing module 200 contacts the other side of the mounting portion B.

[0140] At this time, the alignment unit 110 is moved by the first operating part 140 so that the body part A contacts the mounting part B with a constant pressure, thereby eliminating the tolerance.

[0141] At the same time, if Fig.14 As shown, the position of the body part A is checked by the scanner module 500, and it is determined whether the position of the body part A is normal. At this time, when it is determined that the position of the body part A deviates from the normal position, the position of the body part A is adjusted by controlling the alignment module 100 and the fixing module 200 based on the data on the normal position of the body part A.

[0142] Through this process, when the body component A is correctly positioned in the mounting portion B, as shown in FIG. Fig.15 As shown, the body component A is pressed by the component support module 300 so that the body component A does not tilt from the mounting portion B, thereby limiting the position of the body component A.

[0143] Finally, if Fig.16 As shown, the vehicle body component A is fastened to the mounting portion B via the fastening device C by the fastening robot R4.

[0144] At the same time, if Fig.17As shown, the method for installing body parts of a mobile vehicle according to the system for installing body parts of a mobile vehicle disclosed in the present invention includes: a taking-out step S10, in which the body part A is taken out by the bin picking robot R1 based on the information of the mobile vehicle; an alignment step S20, in which the taken-out body part A is transferred to the alignment fixture and placed on the alignment fixture; a preparation for fastening step S30, in which the body part A is positioned on one side of the mounting part B of the mobile vehicle by the alignment module 100 of the loading robot R3, while the fixing module 200 is in contact with the other side of the mounting part B, and the part supporting module 300 is in contact with the body part A; and a fastening step S40, in which the body part A is fastened to the mounting part B by the fastening robot R4 via the fastening device C.

[0145] In this case, the method may further include an inspection step S50 performed after the preparation for fastening step S30 , in which the position of the body part A is inspected by the scanner module 500 and it is determined based on the database 120 whether the position of the body part A is normal.

[0146] In addition, the method may further include an adjusting step S600 , in which the aligning module 100 and the fixing module 200 are controlled to adjust the position of the body part A when it is determined in the checking step S50 that the position of the body part A deviates from the normal position.

[0147] Specifically, Fig.18 As shown, after the process of acquiring S11 the information of the moving vehicle, a process of taking out S12 the body part A corresponding to the moving vehicle by means of the box picking robot R1 is performed.

[0148] Therefore, the body part A taken out by the bin picking robot R1 is transferred to the alignment jig, and the alignment jig performs a process of aligning the transferred body part A at a mounting angle S21 so that the body part A is ready to be matched with the mounting portion B of the moving vehicle.

[0149] Thereafter, process S31 is performed, in which, when the loading robot R3 is driven, the body part A placed on the alignment fixture is positioned on one side of the mounting part B of the mobile vehicle by the alignment unit 110 of the alignment module 100, the support unit 210 of the fixing module 200 is brought into contact with the other side of the mounting part B, and the part support module 300 is brought into contact with the body part A.

[0150] At this time, a process of checking S51 the position of the body part A through the scanner module 500 is performed, and a process of determining S52 whether the position of the body part A is normal is performed.

[0151] In this case, when it is determined that the position of the body part A deviates from the normal position, a process of calculating S61 data to correct the position of the body part A is performed, and a process of adjusting S62 the position of the body part A is performed by controlling the alignment module 100 and the fixing module 200 using the calculated data.

[0152] After determining that the body component A is in the correct position in the mounting portion B, a process of fastening S41 the body component A to the mounting portion B via the fastening device C by the fastening robot R4 is performed.

[0153] The system and method for installing a vehicle body component of a moving vehicle having the above-described structure ensure that the vehicle body component is installed to a correct position in various types of moving vehicles.

[0154] That is, since stable support is provided in response to the shape of the portion on which the body parts are installed in various types of mobile vehicles, the assembly deviation of the body parts can be minimized, and by checking and adjusting the installation position of the body parts, installation defects and assembly deviations can be reduced, thereby improving marketability.

[0155] While the present disclosure has been presented above with respect to specific embodiments shown in the accompanying drawings, it will be apparent to those skilled in the art that the present disclosure may be changed and modified in various ways without departing from the scope of the present disclosure as provided in the appended claims.

[0156] [Explanation of symbols]

[0157] 100: Alignment module 110: Alignment unit

[0158] 120: base 121: support panel

[0159] 130: Clamping unit 131: Seat

[0160] 132: Pressing part 133: Second operating part

[0161] 140: first operating part 200: fixing module

[0162] 210: Support unit 211: Housing

[0163] 212: Pin unit 220: Link arm

[0164] 230: third operating unit 240: fourth operating unit

[0165] 300: Component support module 310: Support arm

[0166] 311: contact portion 320: fifth operating portion

[0167] 400: Scanner module 500: Control module

[0168] 610: Support 621: Support

[0169] 621: first adjustment device 622: first driving unit

[0170] 631: second adjustment device 632: second driving unit

[0171] R1: Bin picking robot R2: Alignment fixture

[0172] R3: Loading robot R4: Fastening robot

[0173] A: Body parts B: Installation part

[0174] C: Fastening device S10: Remove

[0175] S20: Alignment S30: Preparation for fastening

[0176] S40: Tighten S50: Check

[0177] S60: Adjustments

Claims

1. A device for aligning a body part of a moving vehicle, the device comprising: an alignment module provided with an alignment unit configured to be movable to position the vehicle body component on a first side of a mounting portion, the mounting portion being a portion of a vehicle body of a mobile vehicle on which the vehicle body component is mounted; as well as The fixing module is provided with a supporting unit, wherein the supporting unit is configured to contact the second side of the mounting portion, wherein the supporting unit is designed to match the outer shape of the mounting portion.

2. The device according to claim 1, wherein: The alignment module and the fixing module are configured as one device, so that the fixing module is mounted on the alignment module, and The aligning module and the fixing module are arranged to face each other but be spaced apart such that the mounting portion of the mobile vehicle is located between the aligning unit and the supporting unit.

3. The device according to claim 1, wherein: The alignment module comprises: a base on which a support panel is disposed; the alignment unit being movably mounted on the base and provided with a clamping unit to which the vehicle body component is fixed; and A first operating portion is mounted on the alignment unit and connected to the support panel to move the alignment unit away from or closer to the support panel during operation.

4. The device according to claim 3, wherein: The direction in which the alignment unit moves away from or closer to the support panel is set according to the direction of the position tolerance of the mounting portion, and The range in which the aligning unit moves away from or closer to the supporting panel is set according to the degree of positional tolerance of the mounting portion.

5. The device according to claim 3, wherein: The clamping unit comprises: a seat portion fixed to the alignment unit and configured to receive the vehicle body component; A pressing portion, arranged to be movable toward the seat portion and configured to press and fix the vehicle body component mounted on the seat portion; and A second operating portion is installed in the aligning unit and connected to the pressing portion to move a position of the pressing portion during operation.

6. The device according to claim 5, wherein: The pressing portion is configured to be tiltable in the moving direction. A plurality of the second operating parts are provided, the plurality of the second operating parts are arranged vertically, and A plurality of the second operating portions are connected to the pressing portion in a manner spaced apart in a vertical direction.

7. The device according to claim 1, wherein: The fixing module comprises: a linkage arm mounted to move on the alignment module and equipped with the support unit; and A third operating portion is mounted on the alignment module and connected to the link arm to adjust the position of the link arm.

8. The device according to claim 7, wherein: The support unit is mounted on the link arm via a fourth operating portion, and the fourth operating portion is configured to move along a straight line to change a position of the support unit.

9. The device according to claim 1, wherein: The support unit comprises: a housing configured to have an interior space and an open surface; and A pin unit is configured to have a plurality of support pins which are provided to protrude through the opening surface in the inner space of the housing and are elastically supported to change protruding lengths of the plurality of support pins.

10. The apparatus according to claim 1, further comprising: A component support module is configured to contact the vehicle body component and fix the position of the vehicle body component in the following state: wherein the vehicle body component is positioned on the first side of the mounting portion by the alignment unit of the alignment module, and the support unit of the fixing module contacts and supports the second side of the mounting portion.

11. The device according to claim 10, wherein: The component support module comprises: a support arm configured to move toward the secured vehicle body component through the alignment unit and contact the vehicle body component; and A fifth operating portion is installed in the alignment unit and connected to the support arm to allow the support arm to move toward the body component and contact the body component when the fifth operating portion is operated.

12. The apparatus according to claim 1, further comprising: a scanner module configured to scan the mounting portion of the mobile vehicle and check a position of the vehicle body component positioned on the mounting portion by the alignment module; as well as A control module is configured to compare the information input through the scanner module with a pre-stored database to identify a normal position of the body component, and when it is determined that the position of the body component deviates from the normal position, control the alignment module and the fixing module to adjust the position of the body component.

13. A system for mounting a body component of a mobile vehicle, the system comprising: a bin picking robot configured to retrieve body parts that meet the specifications of a moving vehicle; an alignment fixture configured to place the vehicle body component taken out by the bin picking robot and align the placed vehicle body component at a mounting angle relative to a mounting portion; a loading robot configured to transfer the vehicle body component mounted on the alignment jig to the mounting portion, the mounting portion being a portion of a vehicle body of a mobile vehicle where the vehicle body component is mounted, and the loading robot configured to allow the vehicle body component to contact the mounting portion with a certain pressure while supporting the mounting portion; as well as A fastening robot is configured to fasten the vehicle body component to the mounting portion.

14. The system according to claim 13, wherein: The loading robot comprises: an alignment module provided with an alignment unit for fixing the vehicle body component; a fixing module designed to match an outer shape of the mounting portion on an opposite side of the mounting portion to which the vehicle body component is to be mounted; and The component support module is configured to contact the vehicle body component and fix a position of the vehicle body component when the vehicle body component and the support unit are positioned on the mounting portion.

15. The system of claim 13, wherein: The alignment fixture comprises: A support member, configured to place the vehicle body component; a first adjustment device and a first drive portion, the first adjustment device being configured to adjust a first side of the vehicle body component, the first drive portion being configured to operate the first adjustment device; and A second adjusting device and a second driving portion, wherein the second adjusting device is configured to adjust a second side of the vehicle body component, and the second driving portion is configured to operate the second adjusting device.

16. The system of claim 13, wherein: The fastening robot allows a fastening device to penetrate the vehicle body component fixed by the loading robot and the mounting portion so that the vehicle body component is fixed to the mounting portion.

17. A method for installing a body component of a moving vehicle to properly position and install the body component on the body of the moving vehicle, the method comprising: a taking-out step, in which the body parts are taken out by a bin picking robot based on the information of the moving vehicle; an alignment step in which the removed vehicle body component is transferred to an alignment jig and placed on the alignment jig; a preparation for fastening step in which the body component is positioned on a first side of a mounting portion of the mobile vehicle by an alignment module of a loading robot, a fixing module is brought into contact with a second side of the mounting portion, and a component support module is brought into contact with the body component; and A fastening step in which the vehicle body component is fastened to the mounting portion via a fastening device by a fastening robot.

18. The method according to claim 17, wherein: In the alignment step, the placed vehicle body component is aligned at a mounting angle of the mounting portion with respect to the moving vehicle based on information of the moving vehicle.

19. The method according to claim 17, further comprising: An inspection step is performed after the preparation and fastening step, in which the position of the body component is inspected by a scanner module and it is determined based on a database whether the position of the body component is normal.

20. The method according to claim 19, further comprising: an adjusting step, in which, when it is determined in the checking step that the position of the body component deviates from a normal position, the aligning module and the fixing module are controlled to adjust the position of the body component.

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