Control device of vehicle body component assembling apparatus

Abstract

To provide a control device of a vehicle body component assembling apparatus which corrects misalignment between respective attachment parts of two components so that a fastener can be engaged.SOLUTION: A control device of a vehicle body component assembling apparatus 1 automatically assembling an interior member 5 to a prescribed portion 4 through assembling a fastener 9 to a first attachment part 8 of the interior member 5 and a second attachment part 7 of the prescribed portion 4 of a vehicle body 3 by an assembling mechanism 13 comprises: a detection part 11 which detects a position of the first attachment part 8 and a position of the second attachment part 7; an adjustment mechanism 12 which adjusts the position of the first attachment part 8 to the position of the second attachment part 7; and a controller 14 which controls the assembling mechanism 13 and the adjustment mechanism 12. The controller 14 includes: a difference amount detection part 36 which acquires difference amount that represents magnitude of deviation between the position of the first attachment part 8 and the position of the second attachment part 7; and an adjustment mechanism control part 38 which controls the adjustment mechanism 12 to decrease the difference amount.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to the control of equipment that assembles parts at predetermined positions on a vehicle body, and more particularly to a control device for vehicle body part assembly equipment that can automatically position and assemble parts. [Background technology]

[0002] Patent Document 1 discloses an apparatus for attaching a molded ceiling made of resin such as urethane to a vehicle roof panel. In the vehicle disclosed in Patent Document 1, the molded ceiling is attached to the roof panel by driving clips into multiple assist grip mounting holes and clip mounting holes formed in the roof panel and multiple insertion holes formed to correspond to the mounting holes when the panels are aligned. The apparatus disclosed in Patent Document 1 includes a first robot that transports the molded ceiling into the vehicle, a second robot that attaches the transported molded ceiling to the vehicle roof panel, a computer that controls the first and second robots, an industrial camera that photographs and detects the positions of the assist grip mounting holes and clip mounting holes formed in the roof panel, and a distance sensor that detects the positions of the assist grip mounting holes and clip mounting holes and the vehicle's posture by detecting the distance to the assist grip mounting holes and clip mounting holes. The apparatus disclosed in Patent Document 1 uses the camera sensor and distance sensor to detect the mounting positions of the assist grips and clips and the posture of the vehicle. The first robot is then controlled based on the detected positions and orientations to transport the molded ceiling so that the mounting holes formed in the roof panel are aligned with the insertion holes formed in the molded ceiling.The second robot is then controlled to tighten the assist grip mounting screws into the insertion holes and mounting holes, and drive the clip into the roof panel. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 03-292276 Summary of the Invention [Problem to be solved by the invention]

[0004] According to Patent Document 1, a computer-controlled robot transports and installs a molded ceiling, which reduces the burden on the worker compared to manual installation. However, when forming a molded ceiling or roof panel, processing errors and deformation errors may occur. In such cases, the positions of the insertion holes formed in the molded ceiling and the mounting holes formed in the roof panel may deviate from their designed positions. In other words, a misalignment may occur between the spacing between the insertion holes formed in the molded ceiling and the spacing between the mounting holes formed in the roof panel, resulting in some locations where the insertion holes and the mounting holes are aligned in the penetration direction and other locations where they are misaligned.

[0005] However, in the device of Patent Document 1, if the spacing between the multiple insertion holes and the spacing between the multiple mounting holes differ, the second robot cannot perform the fastening operation. Therefore, for example, a worker must temporarily remove the molded ceiling from the first robot and adjust it so that the positions of the mounting holes and the positions of the insertion holes match. This could temporarily stop the production line or require manual work, resulting in a decrease in productivity.

[0006] The present invention has been made in light of the above-mentioned technical problems, and aims to provide a control device for vehicle body part assembly equipment that, when assembling two components by engaging fasteners with each other's paired mounting portions, can correct any misalignment between the mounting portions and engage the fasteners. [Means for solving the problem]

[0007] In order to achieve the above object, the present invention provides a control device for vehicle body part assembling equipment that includes a deformable interior member that is attached to a predetermined portion of a vehicle body, a first attachment portion formed on the interior member, a second attachment portion formed in the predetermined portion, a fastener that engages with the first attachment portion and the second attachment portion, and an assembly mechanism that supports the interior member and is capable of assembling the fastener to the first attachment portion and the second attachment portion, and that controls the assembly mechanism to automatically assemble the interior member to the predetermined portion, the control device including: a detection unit that detects the positions of the first attachment portion and the second attachment portion; an adjustment mechanism that is capable of aligning the position of the first attachment portion with the position of the second attachment portion by applying a load to the interior member; and a controller that controls the assembly mechanism and the adjustment mechanism, the controller including: a difference amount detection unit that determines a difference amount that is the magnitude of the deviation between the position of the first attachment portion and the position of the second attachment portion detected by the detection unit; and an adjustment mechanism control unit that controls the adjustment mechanism to apply a load to the interior member so as to reduce the difference amount determined by the difference amount detection unit.

[0008] Moreover, the controller in the present invention may further include a difference amount determination unit that determines whether the difference amount found by the difference amount detection unit is smaller than a predetermined threshold value that is set in advance, and the adjustment mechanism control unit may be configured to, when the difference amount determination unit determines that the difference amount is equal to or greater than the predetermined threshold value, apply a load to the interior member by the adjustment mechanism so that the difference amount becomes smaller than the predetermined threshold value.

[0009] Furthermore, the assembly mechanism in the present invention may have a support part that supports the interior member and is movable in response to the operation of the adjustment mechanism, and the adjustment mechanism may have a movable part attached to the support part and an actuator connected to the movable part, and the adjustment mechanism control part may be configured to control the actuator when it is determined that the difference amount is equal to or greater than the predetermined threshold value so that the difference amount becomes smaller than the predetermined threshold value.

[0010] Furthermore, the assembly mechanism according to the present invention may include a robot arm that moves the interior member to a position facing the predetermined portion, a base that is connected to the robot arm and supports the interior member, an assembly unit that assembles the fastener from the first mounting portion side toward the second mounting portion, and an elastic member that is disposed between the base and the assembly unit and allows displacement of the assembly unit.

[0011] Furthermore, in this invention, the first attachment portion may have a through hole penetrating through the interior member in a thickness direction, the second attachment portion may have an insertion hole formed in the thickness direction of the predetermined portion, the fastener may have a clip to be inserted into the through hole and the insertion hole, a tapered guide portion that guides insertion of the clip into the through hole and the insertion hole may be attached to a tip of the clip, and the assembly mechanism may be configured to assemble the clip into the through hole and the insertion hole with the tip of the guide portion inserted into the through hole.

[0012] Furthermore, the detection unit in the present invention may include a first detection unit that is provided in the assembly mechanism and detects the position of the first attachment unit and the position of the second attachment unit by detecting reflected light of light irradiated onto the surfaces of the interior member and the predetermined portion, and a second detection unit that is installed at a position a predetermined distance away from the first detection unit and detects the position of the predetermined portion and the position of the interior member based on the relative positions of the predetermined portion and the first detection unit. [Effects of the Invention]

[0013] In an embodiment of the present invention, a control device for vehicle body part assembly equipment controls an assembly mechanism to automatically assemble an interior member to a predetermined location on a vehicle body. When assembling the interior member to the predetermined location, fasteners are attached to a first attachment portion formed on the interior member and a second attachment portion formed in the predetermined location. This fixes the interior member to the predetermined location on the vehicle body. When such assembly is performed, a detection unit detects the positions of the first attachment portion and the second attachment portion and detects a discrepancy, which is the magnitude of deviation between the positions. An adjustment mechanism is controlled to apply a load to the interior member to change the position of the first attachment portion so as to reduce the discrepancy. In other words, the deviation between the first attachment portion and the second attachment portion is automatically detected, and a load is automatically applied to the interior member to reduce the detected deviation. Therefore, even if a deviation occurs between the positions of the first attachment portion and the second attachment portion due to processing errors, deformation errors, or the like, the adjustment mechanism can automatically reduce the deviation and assemble the fastener. Therefore, even if a situation arises during line work where a fastener cannot be fastened due to such misalignment, it is possible to eliminate the need to temporarily halt line work or for a worker to manually correct the misalignment, thereby preventing an increase in work processes and a decrease in productivity.

[0014] Furthermore, it is determined whether the difference between the first and second mounting portions is smaller than a predetermined threshold, and if the difference is equal to or greater than the predetermined threshold, the adjustment mechanism is controlled to adjust the position of the first mounting portion. In other words, since the adjustment mechanism is controlled only when the difference is equal to or greater than the predetermined threshold, the frequency with which the adjustment mechanism operates can be reduced. Therefore, an increase in the number of work steps and a decrease in productivity can be suppressed.

[0015] In addition, an assembly section for assembling the fastener into the first and second mounting sections of the assembly mechanism is provided in the assembly mechanism via an elastic member that allows displacement of the assembly section. Furthermore, a guide section is attached to the tip of the fastener to guide its entry into the first and second mounting sections. Therefore, even if the adjustment mechanism causes deformation or displacement of the molded ceiling, the elastic member and the guide section can prevent the fastener from becoming misaligned with the first mounting section due to that deformation or displacement. This can prevent or suppress the fastener from shifting from the first mounting section, making it impossible to assemble, or the occurrence of relatively large shear stress in the fastener or the assembly section. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is an overall view for explaining an example of the overall configuration of a vehicle body part assembly facility according to an embodiment of the present invention. [Figure 2] 2 is an overall view showing the process in which the molded ceiling shown in FIG. 1 is carried into the body by an assembly mechanism. FIG. [Figure 3] A figure showing a molded ceiling being held by an assembly mechanism, where (a) is a top view of the molded ceiling seen from above in a vertical direction, and (b) is a side view of the molded ceiling seen from a horizontal direction. [Figure 4] 10 is a cross-sectional view illustrating the assembly mechanism, the molded ceiling, and the roof panel in a state where the molded ceiling has been carried in to a position opposite the roof panel. FIG. [Figure 5] 1 is a block diagram illustrating a functional configuration of a control device for a vehicle body part assembly facility according to an embodiment of the present invention. [Figure 6] 3 is a flowchart showing an example of control executed by a control device of the vehicle body part assembly facility according to the embodiment of the present invention. [Figure 7] 10A and 10B are cross-sectional views illustrating a modified example of a holding portion in an assembly mechanism. DETAILED DESCRIPTION OF THE INVENTION

[0017] Next, the present invention will be described based on the embodiments shown in the drawings. Note that the embodiments described below are merely examples of specific embodiments of the present invention, and are not intended to limit the present invention.

[0018] A control device for vehicle body part assembly equipment in an embodiment of the present invention is a device that controls equipment for assembling predetermined vehicle body parts onto vehicle bodies that are conveyed by line work or the like at a work site. The vehicle body part assembly equipment in an embodiment of the present invention is equipment that supports the predetermined vehicle body part, moves the vehicle body part to an attachment position on the vehicle body that is conveyed by line work, and assembles the vehicle body part at the attachment position with fasteners. An example of such a control device for vehicle body part assembly equipment is shown in Figures 1, 2, 3, and 4.

[0019] As shown in Figures 1 and 2, vehicle body part assembly equipment 1 in an embodiment of the present invention is equipment for assembling a molded ceiling 5, which is a vehicle body part, to a roof panel 4 of a vehicle body 3 at a work site 2. The molded ceiling 5 is fixed to the roof panel 4 by attaching fasteners to each mounting portion formed on the roof panel 4 and the molded ceiling 5.

[0020] As shown in FIG. 1 , the body 3 is transported by a conveyor 6, such as an automated guided vehicle (AGV), in an assembly line at a work site 2, and no window glass or the like is attached to it. That is, the portion where a window glass, such as a windshield, is to be attached is left open. Therefore, as shown in FIGS. 1 and 2 , a molded ceiling 5 is carried in through the open portion and attached to the inner surface of a roof panel 4 that constitutes the roof of the body 3. The inner surface of the roof panel 4 is formed with a plurality of insertion holes 7 that run in the thickness direction of the roof panel 4. Fasteners, which will be described later, are inserted into the insertion holes 7 to secure the molded ceiling 5 to the roof panel 4. A plurality of the insertion holes 7 are formed in the roof panel 4. The portion of the roof panel 4 that forms the inner surface of the body 3 corresponds to a predetermined portion in an embodiment of the present invention, and the insertion holes 7 correspond to a second mounting portion in an embodiment of the present invention.

[0021] The molded ceiling 5 is an interior member that constitutes the interior surface of the ceiling of the body 3. The molded ceiling 5 is formed of multiple layers, such as a skin layer, a base layer, a ventilation layer, and a reflective layer, each made of different materials. This can improve the interior design of the vehicle and prevent radiant heat from sunlight passing through the roof panel 4 from entering the vehicle compartment. The molded ceiling 5 corresponds to the interior member in this embodiment of the present invention.

[0022] Furthermore, the molded ceiling 5 has a plurality of through holes 8 formed therethrough in the thickness direction of the molded ceiling 5, corresponding to the plurality of insertion holes 7 formed in the roof panel 4. Therefore, the molded ceiling 5 is carried in so that the opening positions of the insertion holes 7 in the roof panel 4 and the through holes 8 in the molded ceiling 5 are aligned. Then, clips 9, which are an example of fasteners, are attached with the positions of the insertion holes 7 and the positions of the through holes 8 corresponding to each other. This fixes the molded ceiling 5 to the roof panel 4. The through holes 8 correspond to first mounting portions in this embodiment of the present invention.

[0023] Clip 9 is also called a push rivet or liner clip 9, and is a component that is inserted into through-hole 8 in molded ceiling 5 and insertion hole 7 in molded ceiling 5. Clip 9 has a shaft that is inserted into through-hole 8 and insertion hole 7, and a head that is formed with a larger diameter than the shaft and prevents the shaft from being inserted too far. Note that clip 9 corresponds to the fastener in this embodiment of the present invention.

[0024] As described above, the vehicle body part assembly facility 1 transports the molded ceiling 5 into the body 3 and assembles the molded ceiling 5 to the roof panel 4. Specifically, the vehicle body part assembly facility 1 transports the molded ceiling 5 through an opening in the front portion of the body 3 so that the positions of the above-mentioned insertion holes 7 and the positions of the through holes 8 coincide with each other, and then the molded ceiling 5 is brought into close contact with the roof panel 4 and clips 9 are inserted into the insertion holes 7 and the through holes 8, thereby assembling the molded ceiling 5 to the inner surface of the roof panel 4. As shown in FIGS. 1, 2, and 3, the vehicle body part assembly facility 1 in this embodiment of the present invention mainly includes an assembly robot 10, a scan system 11, an adjustment mechanism 12, an assembly mechanism 13, and a controller 14.

[0025] As shown in FIGS. 1 and 2 , the assembly robot 10 carries the molded ceiling 5 into the body 3. The assembly robot 10 is an articulated robot that moves the molded ceiling 5 to a desired position. The assembly robot 10 includes a main body 15 placed at the work site 2 and an arm 17 having multiple joints 16. The arm 17 carries the molded ceiling 5 to a desired position by, for example, moving the multiple joints 16 and links (not shown) connecting the multiple joints 16 using an actuator (not shown). The multiple joints 16 allow the arm 17 to have a wide range of motion and also enable fine movements such as inserting the arm 17 into the body 3. The operation of the assembly robot 10 is controlled by a controller 14 (described later). That is, the control amount (movement amount), movement direction, movement speed, etc. of the actuator (not shown) are controlled based on the characteristics of the actuator, components such as gears provided on the arm 17, the position of the roof panel 4, etc. The assembly robot 10 only needs to be configured to be able to operate the arm portion 17 so as to enter the interior of the body 3 as described above, and may be, for example, a vertical multi-joint robot in which multiple links are connected in series, or a horizontal multi-joint robot in which multiple links are connected in parallel.

[0026] The scanning system 11 detects the relative positions of the insertion hole 7 formed in the roof panel 4 and the through hole 8 formed in the molded ceiling 5. The scanning system 11 is, for example, a non-contact optical 3D scanner that irradiates the body 3 or the molded ceiling 5 with a laser (light) and detects the angle of the reflected laser, etc., thereby determining the relative positions or distances of the insertion hole 7 and the through hole 8 with respect to the scanning system 11 as a reference. The scanning system 11 has a camera sensor unit 18 installed on the floor or the like of the work site 2, and a scanning unit 19 installed in the assembly mechanism 13. Note that the scanning system 11 corresponds to the detecting unit in the embodiment of the present invention, the camera sensor unit 18 corresponds to the second detecting unit in the embodiment of the present invention, and the scanning unit 19 corresponds to the first detecting unit in the embodiment of the present invention.

[0027] The camera sensor unit 18 has, for example, two cameras (not shown) aligned horizontally, and is installed on the floor of the work site 2 a predetermined distance away from the scan unit 19. The camera sensor unit 18 uses the two cameras to capture images of the body 3, the molded ceiling 5, etc. From the captured image data, information such as the relative position, interval (distance), and posture of the body 3 and the molded ceiling 5 with respect to the camera sensor unit 18 is obtained.

[0028] The scanning unit 19 is installed in the assembly mechanism 13 and is used to acquire position information of the through-holes 8 formed in the molded ceiling 5 and the insertion holes 7 formed in the roof panel 4. The scanning unit 19 is installed so as to be able to detect the surfaces of the molded ceiling 5 and the roof panel 4 facing the molded ceiling 5 while the molded ceiling 5 is held by the assembly mechanism 13. The scanning unit 19 acquires data related to the posture and position of the body 3 and the molded ceiling 5 by irradiating the body 3 and the molded ceiling 5 with a laser and sensing the reflected laser. Specifically, the scanning unit 19 acquires data related to the shape and size of the body 3 and the molded ceiling 5 by detecting the reflection angle of the reflected laser and the time from irradiation to detection of the reflected laser. The scanning unit 19 also generates point cloud data based on the acquired data. For example, the scanning system 11 determines the positions of the insertion holes 7 and the relative positions of the through-holes 8 based on the data acquired by the camera sensor unit 18 and the scanning unit 19 by performing mesh processing to convert the point cloud data into polygon data.

[0029] The adjustment mechanism 12 is provided on a base portion 26 (described later) of the assembly mechanism 13 and is configured to slightly deform the molded ceiling 5. As shown in FIGS. 3(a) and 3(b), a plurality of adjustment mechanisms 12 are provided at positions adjacent to the molded ceiling 5 in the planar direction. The adjustment mechanisms 12 generate loads to hold the molded ceiling 5 when assembling it and to slightly deform the molded ceiling 5. To explain an example of the configuration, the adjustment mechanism 12 has a first adjustment mechanism 20 that deforms the molded ceiling 5 in the fore-and-aft direction of the body 3 (the direction of travel of the vehicle), and a second adjustment mechanism 21 that deforms the molded ceiling 5 in the lateral direction (left-right direction) of the body 3. The left-right direction in FIGS. 3(a) and 3(b) corresponds to the fore-and-aft direction of the body 3, the up-and-down direction in FIG. 3(a) corresponds to the left-and-right direction of the body 3, and the up-and-down direction in FIG. 3(b) corresponds to the up-and-down direction of the body 3.

[0030] As shown in Figures 3(a) and 3(b), two first adjustment mechanisms 20 are arranged on the rear side of the molded ceiling 5, and each has a first adjustment actuator 22 and a first movable part 23. These two first adjustment mechanisms 20 are arranged side by side in the horizontal direction on the rear side of the body 3. Note that since the two first adjustment mechanisms 20 are configured similarly to each other, only one of the first adjustment mechanisms 20 will be described below, and a description of the other first adjustment mechanism 20 will be omitted.

[0031] The first adjustment actuator 22 is an actuator that can perform small movements accurately, and is configured, for example, by a stepping motor, a servo motor, etc. The mechanical movement of the first adjustment actuator 22 applies a load to the molded ceiling 5 via the first movable part 23.

[0032] The first movable part 23 converts the rotational motion input from the first adjustment actuator 22 into linear motion. For example, the first movable part 23 is a feed screw mechanism using a ball screw having a screw shaft (feed screw), a nut, balls (steel balls), and a ball circulation part. Therefore, the mechanical action of the first adjustment actuator 22 acts to move the molded ceiling 5 in the forward and backward directions via the first movable part 23. The first movable part 23 is connected to the above-mentioned assembly mechanism 13 so that a load can be applied to the molded ceiling 5 by such linear motion.

[0033] For example, in the first movable part 23, a load (or torque) due to the rotational motion generated by the first adjustment actuator 22 is applied to the screw shaft of the first movable part 23. This causes a ball arranged between the screw shaft and the nut to roll, so the nut moves linearly without rotating. A holding part (described later) of the assembly mechanism 13 is connected to the nut, and a load based on this linear movement is applied to the holding part. In this way, the first adjustment mechanism 20 is configured to apply a load to the molded ceiling 5.

[0034] As shown in Figures 3(a) and 3(b), two second adjustment mechanisms 21 are arranged on the left side of the molded ceiling 5, and each has a second adjustment actuator 24 and a second movable part 25. These two second adjustment mechanisms 21 are arranged side by side in the front-to-rear direction on the left side of the body 3. Note that since the two second adjustment mechanisms 21 are configured similarly to each other, only one of the second adjustment mechanisms 21 will be described below, and a description of the other second adjustment mechanism 21 will be omitted.

[0035] The second adjustment actuator 24 is an actuator that can perform small movements accurately, and is configured, for example, by a stepping motor, a servo motor, etc. The mechanical movement of the second adjustment actuator 24 applies a load to the molded ceiling 5 via the second movable part 25.

[0036] The second movable part 25 converts the rotational motion input from the second adjustment actuator 24 into linear motion. For example, the second movable part 25 is a feed screw mechanism using a ball screw having a screw shaft (feed screw), a nut, balls (steel balls), and a ball circulation part. Therefore, the mechanical action of the second adjustment actuator 24 acts to move the molded ceiling 5 laterally via the second movable part 25. The second movable part 25 is connected to the above-mentioned assembly mechanism 13 so that a load can be applied to the molded ceiling 5 by such linear motion.

[0037] For example, in the second movable part 25, a load (or torque) due to the rotational motion generated by the second adjustment actuator 24 is applied to the screw shaft of the second movable part 25. This causes a ball arranged between the screw shaft and the nut to roll, so that the nut moves linearly without rotating. A holding part (described later) of the assembly mechanism 13 is connected to the nut, and a load based on this linear movement is applied to the holding part. In this way, the second adjustment mechanism 21 is configured to apply a load to the molded ceiling 5. The above-mentioned first adjustment actuator 22 and second adjustment actuator 24 correspond to actuators in the embodiments of this invention.

[0038] The assembly mechanism 13 is attached to the tip of the arm 17 of the assembly robot 10. The assembly mechanism 13 holds the molded ceiling 5 and inserts the clips 9 into the through holes 8 and the insertion holes 7. To achieve this, the assembly mechanism 13 is mainly provided with a base 26, a holding portion 27, an elastic member 28, an assembly actuator 29, and a guide portion 30, as shown in FIG.

[0039] The base portion 26 is a plate-like member fixed to the tip of the arm portion 17, and is formed so that the surface of the molded ceiling 5 facing the base portion 26 is approximately the same size as the surface of the base portion 26 facing the molded ceiling 5. The above-mentioned scanning unit 19 is fixed to the upper surface of the base portion 26 on the side opposite the arm portion 17. In addition, a holding portion 27 for holding the molded ceiling 5 is attached to the base portion 26. As shown in FIG. 3, the adjustment mechanism 12 is also provided on the base portion 26.

[0040] The retaining portion 27 protrudes upward from the base portion 26 and holds the molded ceiling 5 from its underside. The retaining portion 27 has a shaft-shaped portion connected to the base portion 26 and is bent at a right angle to the base portion 26, forming, for example, an L-shape when viewed from the side. As a result, the retaining portion 27 holds the underside and side of the molded ceiling 5. A plurality of retaining portions 27 are provided on the base portion 26 and hold the molded ceiling 5 by sandwiching it from the front-rear and lateral directions. Specifically, the retaining portion 27 holds the molded ceiling 5 with a plurality of pairs of retaining portions 27 arranged opposite each other in the front-rear direction of the body 3 and a plurality of pairs of retaining portions 27 arranged opposite each other in the lateral direction of the body 3. Each retaining portion 27 has a fixed retaining portion 31 fixed to the base portion 26 and a movable retaining portion 32 movable in a direction parallel to the upper surface of the base portion 26. The fixed-side holding portion 31 is fixed to the base portion 26, and is disposed on the opposite side of the movable-side holding portion 32 across the molded ceiling 5. The holding portion 27 corresponds to the support portion in this embodiment of the present invention.

[0041] The movable-side holding part 32 is configured so that the part that holds the side of the molded ceiling 5 can move (slide) in a direction parallel to the upper surface of the jig, moving toward or away from the molded ceiling 5. The above-mentioned adjustment mechanism 12 is also connected to the movable-side holding part 32. Therefore, a load is applied to the movable-side holding part 32 by the mechanical action transmitted from each adjustment actuator 22, 24 via each movable part 23, 25.

[0042] For example, the movable-side holding part 32 is connected to the base part 26 via a guide mechanism (not shown), such as a guide rail. The guide mechanism is arranged to guide the movable-side holding part 32 in the same direction as the movement of the above-mentioned movable parts 23, 25. In other words, when the movable-side holding part 32 is pressed by the load from the movable parts 23, 25, the movable-side holding part 32 moves in the direction of the pressure along the guide mechanism, such as the guide rail. As a result, a load is applied from the movable-side holding part 32 to the molded ceiling 5 in the horizontal direction, compressing or pulling the molded ceiling 5. At that time, the molded ceiling 5 is fixed to the fixed-side holding part 31, which is located on the opposite side of the movable-side holding part 32 across the molded ceiling 5. Therefore, deformation occurs in the molded ceiling 5 according to the direction of the load applied to it.

[0043] A plurality of elastic members 28 are attached to the upper surface of the base portion 26, which is the surface facing the molded ceiling 5. In particular, the elastic members 28 are, for example, rectangular members made of a resin material or the like, and are capable of deformation or displacement in a direction parallel to the upper surface of the base portion 26. For example, the elastic members 28 are cubic members fixed in surface contact with the base portion 26. The lower surface of the elastic members 28 is fixed to the base portion 26, and an assembly actuator 29 is fixed to the upper surface. The elastic members 28 are capable of deformation in a direction parallel to the upper surface of the base portion 26 when in an upright state.

[0044] It should be noted that elastic member 28 may be configured with other members or mechanisms as long as it is capable of such movement. Therefore, even if there is a slight misalignment in the horizontal direction between clip 9 and molded ceiling 5, elastic member 28 absorbs the misalignment, allowing clip 9 to be inserted into through-hole 8 and insertion hole 7.

[0045] The assembly actuator 29 pushes the clip 9 (workpiece) into the through-hole 8 in the molded ceiling 5 and the insertion hole 7 in the roof panel 4. The assembly actuator 29 is fixed to the base portion 26 via an elastic member 28. The assembly actuator 29 is an actuator that can generate a linear pressing force from the base portion 26 toward the molded ceiling 5, and is, for example, an electric linear actuator.

[0046] The guide portion 30 is attached to the tip of the shank of the clip 9. The guide portion 30 is a tapered member formed so that its diameter gradually decreases toward the tip of the clip 9. The guide portion 30 is formed from an elastically deformable material such as resin and functions to prevent the clip 9 from slipping out of the molded ceiling 5 and the roof panel 4. That is, when the guide portion 30 is inserted into the through hole 8 and the insertion hole 7, the guide portion 30 elastically deforms to reduce its diameter in accordance with their shapes. After that, as the guide portion 30 passes through the through hole 8 and the insertion hole 7, the guide portion 30 expands and returns to its original shape. As a result, the outer diameter of the guide portion 30 becomes larger than the diameters of the through hole 8 and the insertion hole 7, and the guide portion 30 can function as a so-called latch portion that prevents or inhibits the clip 9 from slipping out of the through hole 8 and the insertion hole 7. The guide portion 30 also functions as a guide to prevent the clip 9 from becoming unable to be inserted into the through hole 8 and the insertion hole 7 due to misalignment when inserting the clip 9 into the through hole 8 and the insertion hole 7. In other words, even if the position of the clip 9 and the position of the molded ceiling 5 are slightly misaligned in the horizontal direction, the elastic force of the guide portion 30 can guide the clip 9 into the through hole 8 and the insertion hole 7. In other words, the guide portion functions to align the axis of the guide portion with the central axes of the through hole 8 and the insertion hole 7, so that the clip 9 can be guided into the through hole 8 and the insertion hole 7. The assembly actuator 29 and the guide portion 30 correspond to the assembly portion in this embodiment of the present invention.

[0047] Like conventionally known controllers, controller 14 is mainly composed of a microcomputer. Controller 14 is configured to receive signals from scan system 11 and the like, and to output results obtained based on the received signals and pre-stored maps and arithmetic expressions as control command signals to assembly robot 10 and the like. Data input to controller 14 includes the above-mentioned position information of insertion holes 7 in roof panel 4 and position information of through holes 8 in molded ceiling 5, etc.

[0048] The controller 14 also has a functional configuration for assembling the molded ceiling 5 to the roof panel 4 using the assembling mechanism 13 configured as described above. Specifically, as shown in FIG. 5 , the controller 14 has an arm control unit 33, a through-hole detection unit 34, an insertion hole detection unit 35, a difference amount detection unit 36, an assembly determination unit 37, an adjustment mechanism control unit 38, and an assembling mechanism control unit 39.

[0049] The arm control unit 33 controls the assembly robot 10 to transport the molded ceiling 5 inside the body 3. The arm control unit 33 activates the arm unit 17 when the scan system 11 detects that the body 3 transported by the conveyor 6 has reached a predetermined point. For example, the scan system 11 acquires the three-dimensional positions of the body 3, roof panel 4, and molded ceiling 5 based on the origin position and orientation of the scan unit 19 relative to the camera sensor unit 18. The position of each of these components is acquired by, for example, determining position coordinates or distances with the camera sensor unit 18 or the scan unit 19 as the origin.

[0050] The arm control unit 33 controls the arm unit 17 based on the detected position, causing the molded ceiling 5 to be carried into the body 3 through an opening in the portion of the body 3 where the windshield is attached. The arm unit 17 is then controlled so that the through-holes 8 in the molded ceiling 5 held by the assembly mechanism 13 are aligned with the insertion holes 7 in the roof panel 4. In this manner, the arm control unit 33 acquires data regarding the position of the body 3 from the sequential scan system 11, and controls the assembly robot 10 based on that data to carry the molded ceiling 5 into the body 3. Note that, because the operation of the conveyor 6, the shape of the body 3, and the shape of the molded ceiling 5 are predetermined, the arm control unit 33 may be configured to control the assembly robot 10 based on preset values ​​corresponding to the shape of the body 3, the speed of the conveyor 6, the shape of the molded ceiling 5, etc.

[0051] The through hole detection unit 35 acquires data relating to the positions of the through holes 8 formed in the molded ceiling 5 by the above-described scanning system 11. Specifically, based on the data relating to the positions of the through holes 8 acquired from the scanning system 11, the through hole detection unit 35 acquires the position coordinates of the through holes 8 with the scanning system 11 as the origin, the distance to the through holes 8 with the scanning system 11 as the reference, or the distance between different through holes 8. In this way, the positions of the through holes 8 are identified.

[0052] The insertion hole detection unit 34 acquires data relating to the positions of the insertion holes 7 formed in the roof panel 4 by the above-described scan system 11. Specifically, based on the data relating to the positions of the insertion holes 7 acquired from the scan system 11, the insertion hole detection unit 34 acquires the position coordinates of the insertion holes 7 with the scan system 11 as the origin, the distance to the insertion holes 7 with the scan system 11 as the reference, or the distance between different insertion holes 7. In this way, the positions of the insertion holes 7 are identified.

[0053] The difference amount detection unit 36 ​​determines the deviation between the position of the through hole 8 and the position of the insertion hole 7. The difference amount detection unit 36 ​​compares the position data of the through hole 8 and the insertion hole 7 to determine the difference amount (deviation amount) that represents the magnitude of the deviation as a comparable value such as coordinates or distance. For example, the difference amount detection unit 36 ​​compares the three-dimensional position (coordinates) of the through hole 8 detected by the through hole detection unit 35 with the three-dimensional position (coordinates) of the insertion hole 7 to determine the difference amount between the positions of the through hole 8 and the insertion hole 7. Note that the difference amount detection unit 36 ​​only needs to determine the difference amount between the position of the through hole 8 and the position of the insertion hole 7 in a direction parallel to the plane where the molded ceiling 5 and the roof panel 4 face each other. In other words, the difference amount detection unit 36 ​​is not limited to the three-dimensional difference amount, and may be configured to determine the two-dimensional difference amount in a plane perpendicular to the direction in which the clip 9 is inserted.

[0054] The assembly determination unit 37 determines whether the molded ceiling 5 can be assembled to the roof panel 4 based on the actual difference calculated by the difference amount detection unit 36. The assembly determination unit 37 determines whether the actual difference calculated by the difference amount detection unit 36 ​​is smaller than a predetermined threshold value. The predetermined threshold value is set to a value that enables determination that the deviation between the positions of the through holes 8 and the insertion holes 7 is large enough to allow the clips 9 to be inserted, based on positional tolerances (deviations) based on the through holes 8, the insertion holes 7, and the clips 9. If the actual difference amount is smaller than the predetermined threshold value, the assembly determination unit 37 determines that the clips 9 can be immediately assembled into the through holes 8 and the insertion holes 7. Conversely, if the actual difference amount is equal to or greater than the predetermined threshold value, the clips 9 cannot be assembled into the through holes 8 and the insertion holes 7, and therefore determines that the positions of the through holes 8 and the insertion holes 7 must be adjusted so that the actual difference amount becomes smaller than the predetermined threshold value. The assembly determination unit 37 corresponds to the difference amount determination unit in the embodiment of the present invention.

[0055] The adjustment mechanism control unit 38 controls the adjustment mechanism 12 so that the position of the through hole 8 and the position of the insertion hole 7 coincide to an extent that allows the clip 9 to be assembled using the assembly determination unit 37. The adjustment mechanism control unit 38 calculates the control amount (operation amount) of each adjustment actuator 22, 24 based on the difference between the actual difference amount and a predetermined threshold. For example, if the position of the through hole 8 and the position of the insertion hole 7 are misaligned in both the front-rear direction and the lateral direction of the body 3, the adjustment mechanism control unit 38 calculates the control amount of the first adjustment actuator 22 and the second adjustment actuator 24 so as to reduce the difference amount in each direction. Based on the control amount calculated in this manner, the adjustment mechanism control unit 38 controls the adjustment actuators 22, 24 or the adjustment mechanism 12 so as to reduce the misalignment between the position of the through hole 8 and the position of the insertion hole 7.

[0056] The assembly mechanism control unit 39 controls the assembly mechanism 13 to assemble the clip 9 into the through-hole 8 and the insertion hole 7. When the actual difference amount is smaller than a predetermined threshold, the assembly mechanism control unit 39 controls the assembly actuator 29 to insert the clip 9 into the through-hole 8 and the insertion hole 7. The control amount of the assembly actuator 29 at this time may be set in advance depending on the shape, size, etc. of the clip 9.

[0057] Next, the control executed by the controller 14 configured as described above will be described. FIG. 6 shows an example of the control executed when the molded ceiling 5 is attached to the roof panel 4 using the clips 9. As shown in FIG. 6, first, in step S1, it is determined that the body 3 being transported from the conveyor 6 on the line has reached a predetermined position. The body 3 is transported by the conveyor 6 to the vicinity of the assembly mechanism 13. In step S1, it is determined that the body 3 has been transported to a predetermined position where the assembly mechanism 13 can assemble the molded ceiling 5. Whether the body 3 has been transported to the predetermined position is determined based on position information acquired by the scan system 11. If the body 3 has not been transported to the predetermined position and therefore the determination in step S1 is NO, the routine shown in this flowchart is temporarily terminated without executing the subsequent control.

[0058] On the other hand, if the body 3 has been transported to its predetermined position and therefore the determination in step S1 is YES, the process proceeds to step S2, and the molded ceiling 5 is transported into the body 3. In step S2, the assembly robot 10 is controlled based on the position information of the body 3 and the molded ceiling 5 detected by the scan system 11, and the molded ceiling 5 is transported into the body 3. The molded ceiling 5 is then transported to a position opposite the roof panel 4 within the body 3, where the positions of the through holes 8 in the molded ceiling 5 and the positions of the insertion holes 7 formed in the roof panel 4 coincide in the up-down direction of the body 3.

[0059] The molded ceiling 5 is carried in with the tip of the clip 9 set in the through-hole 8 of the molded ceiling 5. Specifically, the clip 9 is set in the assembly actuator 29 of the base 26. A guide portion 30 is attached to the tip of the clip 9, and the molded ceiling 5 is held in the holding portion 27 with the guide portion 30 slightly inserted into the through-hole 8. Therefore, when the molded ceiling 5 is set in the assembly mechanism 13, for example, the clip 9 with the guide portion 30 attached is set in the assembly actuator 29, and the molded ceiling 5 is placed in the holding portion 27 in this state. At this time, the molded ceiling 5 is placed in the holding portion 27 with the adjustment mechanism 12 slightly widening the gap between each movable-side holding portion 32 and each fixed-side holding portion 31, and so that the axis of the guide portion 30 coincides with the center axis of the hole. Thereafter, the adjustment mechanism 12 slightly narrows the gap between each movable-side holding portion 32 and each fixed-side holding portion 31, thereby holding the molded ceiling 5.

[0060] After the molded ceiling 5 has been carried in to a position opposite the roof panel 4, the process proceeds to step S3, where the position of the through-hole 8 is detected. In step S3, the scanning unit 19 detects data such as relative coordinates relating to the position of the through-hole 8. For example, in the scanning system 11, the scanning unit 19 irradiates the molded ceiling 5 with a laser, and acquires data such as the detection angle of the reflected laser and the time taken to detect it. Based on the acquired data, point cloud data indicating the shape of the molded ceiling 5 and the position of the through-hole 8 is generated.

[0061] After the position of the through hole 8 is detected, the process proceeds to step S4, where the position of the insertion hole 7 is detected. In step S4, the scan system 11 detects data such as coordinates relating to the position of the insertion hole 7 formed in the roof panel 4. For example, the scan system 11 identifies the coordinates of the insertion hole 7 and the relative distance from the scan system 11 based on the position information of the body 3 detected in step S2 and the position information of the insertion hole 7 detected by the scan unit 19. In step S4, point cloud data is generated that enables the shape of the detected roof panel 4 and the position of the insertion hole 7 to be determined.

[0062] After the position of the insertion hole 7 is detected, the process proceeds to step S5, where the amount of difference between the position of the through hole 8 and the position of the insertion hole 7 is determined. In step S5, the amount of difference, which is the magnitude of deviation in the horizontal direction between the position of the through hole 8 and the position of the insertion hole 7, is determined based on the position information of the through hole 8 determined in step S3, the position information of the insertion hole 7 determined in step S4, and position information of the scan unit 19 relative to the camera sensor unit 18. This amount of difference is determined, for example, in the coordinate system of the through hole 8 and the insertion hole 7, and may be a value based on the amount of deviation in each of the x coordinate, y coordinate, and z coordinate.

[0063] After the difference between the positions of the through-hole 8 and the insertion hole 7 is determined, the process proceeds to step S6, where it is determined whether the actual difference is smaller than a predetermined threshold. In step S6, the actual difference determined in step S5 is compared with a pre-stored predetermined threshold. The predetermined threshold may be set in advance based on the positions at which the clip 9 can be inserted into the through-hole 8 and the insertion hole 7, based on a positional tolerance or positional accuracy set based on the dimensions of the through-hole 8, the insertion hole 7, the clip 9, and the guide portion 30.

[0064] If the determined difference is equal to or greater than a predetermined threshold value and therefore step S6 returns NO, the process proceeds to step S8, where the movement amounts of the adjustment actuators 22, 24 are determined. When the process proceeds to step S8, it has been determined that the misalignment between the positions of the through-holes 8 and the insertion holes 7 is large, and that there are locations where the clips 9 cannot be attached. Therefore, in step S8, the movement amounts of the adjustment actuators are determined based on the actual difference and a predetermined threshold value in order to adjust the position of the through-holes 8. For example, if the positions of the insertion holes 7 and the through-holes 8 are misaligned in the fore-and-aft direction of the body 3, the first adjustment mechanism 20 is controlled. If the positions of the insertion holes 7 and the through-holes 8 are misaligned in the lateral direction of the body 3, the second adjustment mechanism 21 is controlled. Furthermore, if the horizontal distance between the insertion holes 7 and the through-holes 8 is to be reduced, the movement amounts of the adjustment actuators 22, 24 are set to deform the molded ceiling 5 in a direction pushing it from the left and right. Conversely, when the horizontal distance between the insertion hole 7 and the through-hole 8 is increased, the operation amount of each adjustment actuator 22, 24 is set so that the molded ceiling 5 is deformed in a direction pulling it from the left and right.

[0065] After the movement amounts of the adjustment actuators 22, 24 are set, the process proceeds to step S9, where the position of the through hole 8 is adjusted. In step S9, the adjustment actuators 22, 24 are actuated based on the movement amounts determined in step S8, thereby applying a load to the molded ceiling 5. At this time, the assembly actuator 29 for inserting the clip 9 into the through hole 8 and the insertion hole 7 is fixed to the base portion 26 via the elastic member 28. Therefore, when the load applied from the adjustment actuators 22, 24 to the molded ceiling 5 is applied to the assembly actuator 29 via the guide portion 30 set in the through hole 8, the elastic member 28 allows the assembly actuator 29 to move horizontally. In other words, it is possible to prevent the guide portion 30 and the clip 9 from coming off the through hole 8 while suppressing the generation of large shear stress in the clip 9, the assembly actuator 29, etc.

[0066] If the difference amount found in step S6 is smaller than a predetermined threshold, resulting in a negative determination in step S6, or after the position of the through holes 8 has been adjusted in step S9, the process proceeds to step S7. When the process proceeds to step S7, all of the through holes 8 and the insertion holes 7 are positioned such that the clips 9 can be inserted. Therefore, in step S7, the molded ceiling 5 is assembled to the roof panel 4. Specifically, the robot arm 10 is controlled to move the roof panel 4 toward the molded ceiling 5 and to press or bring the roof panel 4 into close contact with or against the molded ceiling 5. In this state, the assembly actuator 29 is actuated to insert clips 9 into each of the through holes 8 and the insertion holes 7. When the guide portions 30 of the clips 9 are inserted into the through holes 8 and the insertion holes 7, the guide portions 30 elastically deform and shrink, primarily in the radial direction. After the clips 9 pass through the through holes 8 and the insertion holes 7, the load acting on the guide portions 30 is released, and the guide portions 30 expand radially to their original size. As a result, the outer diameter of the guide portion 30 becomes larger than the inner diameters of the through-hole 8 and the insertion hole 7, so that the guide portion 30 functions as a latch portion that prevents or inhibits the clip 9 from falling out of the through-hole 8 and the insertion hole 7. In this way, the assembly of the molded ceiling 5 to the roof panel 4 is completed.

[0067] As described above, the control device of the vehicle body part assembly equipment 1 in this embodiment of the present invention uses the scan system 11 to detect the positions of the body 3 and the molded ceiling 5 and the position information of the insertion holes 7 and through-holes 8 formed therein. Based on the detected position information, the assembly robot 10 and the assembly actuator 29 are controlled to insert clips 9 into the through-holes 8 and the insertion holes 7, thereby assembling the molded ceiling 5 to the roof panel 4. When the molded ceiling 5 is carried under the roof panel 4 and the clips 9 are inserted, the scan system 11 detects a discrepancy amount, which is a physical quantity representing the magnitude of the horizontal deviation between the positions of the through-holes 8 and the insertion holes 7. Then, it is determined whether the obtained actual discrepancy amount is smaller than a predetermined threshold value. If the actual discrepancy amount is equal to or greater than the predetermined threshold value, the adjustment actuators 22, 24 of the adjustment mechanism 12 are operated to slightly deform the molded ceiling 5. This allows the position of the through-holes 8 to be slightly adjusted, automatically reducing the actual discrepancy amount.

[0068] With this configuration, if a dimensional error or other reason causes a misalignment between the through-hole 8 and the insertion hole 7 to the extent that the clip 9 cannot be inserted, the adjustment mechanism 12 automatically adjusts the position of the through-hole 8 to coincide with the position of the insertion hole 7, allowing the molded ceiling 5 to be assembled to the roof panel 4. In other words, even if such a misalignment occurs, the position of the through-hole 8 is automatically adjusted, eliminating the need to stop the line or manually correct the misalignment. This prevents an increase in the number of work processes and a decrease in productivity. Furthermore, in the assembly mechanism 13, the assembly actuator 29 is attached to the base portion 26 via the elastic member 28, and the tip of the clip 9 is set in the through-hole 8 via the guide portion 30. Therefore, even if the position of the through-hole 8 is displaced due to deformation of the molded ceiling 5, it is possible to prevent the clip 9 from coming off the through-hole 8 or to prevent large shear stresses on the clip 9 and the assembly actuator 29.

[0069] While the above describes an embodiment of the present invention, the present invention is not limited to the above example and may be modified as appropriate within the scope of achieving the object of the present invention. For example, the shape of the retaining portion 27 is not limited to the L-shaped cross section described above, and may be any shape that allows for the application of a lateral (horizontal) load to the molded ceiling 5. For example, the retaining portion 40 shown in FIG. 7 may have a sharp tip on both the fixed and movable sides of the retaining portion 40 facing the molded ceiling 5, and the sharp tip may be inserted at a position other than the through-hole 8 in the molded ceiling 5 to hold or engage the molded ceiling 5. Even with this configuration, when the adjustment mechanism 12 operates, the load associated with that operation can be applied to the molded ceiling 5. Note that, for convenience of explanation, the assembly actuator 29 and other components are not shown in FIG. 7. [Explanation of symbols]

[0070] 1 Body parts assembly facility 3 Body 4 roof panels 5. Molded ceiling 7 Insertion hole 8 through holes 9 clips 10 Assembly robot 11 Scanning System 12 Adjustment mechanism 13 Assembly mechanism 14 Controller 18 Camera sensor unit 19 Scanning section 20 1st adjustment mechanism 21 Second adjustment mechanism 22 First adjustment actuator 23 1st moving part 24 Second adjustment actuator 25 Second moving part 26 Base 27,40 Holding part 28 Elastic member 29 Assembled Actuator 30 Guide section 33 Arm control unit 34 Insertion hole detection unit 35 Through-hole detection unit 36 Difference detection unit 37 Assembly judgment section 38 Adjustment mechanism control section 39 Assembly mechanism control section

Claims

1. A control device for vehicle body part assembling equipment includes: a deformable interior member that is to be assembled to a predetermined portion of a vehicle body; a first attachment portion formed on the interior member; a second attachment portion formed at the predetermined portion; a fastener that engages with the first attachment portion and the second attachment portion; and an assembly mechanism that supports the interior member and is capable of assembling the fastener to the first attachment portion and the second attachment portion, and that controls the assembly mechanism to automatically assemble the interior member to the predetermined portion, a detection unit that detects a position of the first attachment portion and a position of the second attachment portion; an adjustment mechanism that can align a position of the first mounting portion with a position of the second mounting portion by applying a load to the interior member; a controller that controls the assembly mechanism and the adjustment mechanism, The controller a difference amount detection unit that determines a difference amount, which is the magnitude of a deviation between the position of the first attachment portion and the position of the second attachment portion detected by the detection unit; an adjustment mechanism control unit that controls the adjustment mechanism to apply a load to the interior member so that the difference amount found by the difference amount detection unit becomes smaller. A control device for vehicle body part assembly equipment.

2. The control device for vehicle body part assembly equipment according to claim 1, the controller further includes a difference amount determination unit that determines whether the difference amount calculated by the difference amount detection unit is smaller than a predetermined threshold value that is set in advance, The adjustment mechanism control unit is configured to apply a load to the interior member by the adjustment mechanism so that the difference amount becomes smaller than the predetermined threshold when the difference amount determination unit determines that the difference amount is equal to or greater than the predetermined threshold. A control device for vehicle body part assembly equipment.

3. 3. The control device for vehicle body part assembly equipment according to claim 2, the assembly mechanism has a support portion that supports the interior member and is movable in response to the operation of the adjustment mechanism, The adjustment mechanism includes: a movable part attached to the support part; an actuator coupled to the movable portion, The adjustment mechanism control unit is configured to control the actuator so that the difference amount becomes smaller than the predetermined threshold value when it is determined that the difference amount is equal to or greater than the predetermined threshold value. A control device for vehicle body part assembly equipment.

4. 3. The control device for vehicle body part assembly equipment according to claim 1 or 2, The assembly mechanism includes: a robot arm that moves the interior member to a position facing the predetermined portion; a base portion connected to the robot arm and supporting the interior member; an assembly portion that assembles the fastener from the first attachment portion side toward the second attachment portion; an elastic member disposed between the base portion and the assembly portion, the elastic member allowing the assembly portion to be displaced; A control device for vehicle body part assembly equipment.

5. 3. The control device for vehicle body part assembly equipment according to claim 1 or 2, The first mounting portion has a through hole that penetrates the interior member in a thickness direction, the second mounting portion has an insertion hole formed in the thickness direction of the predetermined portion, the fastener has a clip inserted into the through hole and the insertion hole, a tapered guide portion that guides the clip when inserted into the through hole and the insertion hole is attached to a tip of the clip; The assembly mechanism is configured to assemble the clip into the through hole and the insertion hole with the tip of the guide portion inserted into the through hole. A control device for vehicle body part assembly equipment.

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