Automatic assembling apparatus and automatic assembling method

Abstract

To assemble a vehicle body and a ceiling component with high accuracy and at low cost.SOLUTION: The robot system includes a robot 200, a hand 100, a vehicle hole 401,402 of a vehicle body 400, and a control part 600 for calculating a deviation amount of a ceiling component hole 301,302 of a ceiling component 300. The hand 100 includes a sun visor holder assembling portion 110 that has a first hole recognition camera 117 (see FIG. 5) and assembles the sun visor holder 310 and a front portion of the ceiling component 300 to the vehicle body 400, and a rear fixing clip assembling portion 120 that has a second hole recognition camera 124 and assembles a rear portion of the ceiling component 300 to the vehicle body 400. The control unit 600 calculates a deviation amount of the position of the vehicle hole 401,402 corresponding to the ceiling part hole 301,302 acquired by the first hole recognition camera 117 and the second hole recognition camera 124, and the sun visor holder assembly part 110 and the rear fixing clip assembly part 120 are assembled in a state where the positional deviation is adjusted.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an automatic assembly device and an automatic assembly method for vehicle ceiling components. [Background technology]

[0002] In recent years, a system has been used that automatically transports a molded headliner to a vehicle and assembles the headliner to the vehicle using clips.

[0003] Patent Document 1 discloses an assembly system that uses an assembly jig that has a gripper mechanism that grips the headliner and a pressure unit that inserts clips to secure the headliner to the vehicle. This assembly system has an image capture unit that captures images of the vehicle fastening portion and the assist grip to correct the assembly position of the headliner and the vehicle using the assembly jig. This assembly system is composed of one articulated robot for the assembly jig and two articulated robots for the image capture unit. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2023-075019 Summary of the Invention [Problem to be solved by the invention]

[0005] In the assembly system disclosed in Patent Document 1, pins fixed to the assembly jig are inserted into the sun visor holder mounting holes of the vehicle in order to align the assembly jig with the vehicle, making it impossible to assemble the sun visor holder.

[0006] Furthermore, there is a concern that the camera unit may be subject to positional deviation errors during the robot teaching operation and positioning errors of the robot, which are added to the image recognition position error and are therefore thought to affect the accuracy of assembly position calculation.

[0007] Furthermore, because the system is made up of three articulated robots, the robots must be taught at least three times as preparation work, which increases costs. The use of three articulated robots, the complex headliner positioning mechanism, and the large number of parts used also increase costs.

[0008] The present disclosure provides an automatic assembly device and an automatic assembly method for automatically assembling ceiling components in a vehicle with high precision and at low cost. [Means for solving the problem]

[0009] An automatic assembling device according to the present disclosure is an automatic assembling device for assembling a vehicle body and a ceiling component, and includes a robot having multiple joints, a hand attached to the robot, and a control unit that calculates a displacement amount of a vehicle hole provided in the vehicle body and a ceiling component hole provided in the ceiling component, the hand having a first hole recognition camera and including a sun visor holder assembling unit that assembles a sun visor holder and a front portion of the ceiling component to the vehicle body, and a rear fixing clip assembling unit that is provided with a second hole recognition camera and assembles a rear portion of the ceiling component to the vehicle body using a rear fixing clip, the robot moves the hand to a predetermined position within the vehicle body with the ceiling component placed on the hand, and the control unit calculates a displacement amount of a vehicle hole provided in the vehicle body and a ceiling component hole provided in the ceiling component, the hand having a first hole recognition camera and including a sun visor holder assembling unit that assembles a sun visor holder and a front portion of the ceiling component to the vehicle body, and a rear fixing clip assembling unit that is provided with a second hole recognition camera and the control unit calculates a positional deviation between a first ceiling component hole provided in the ceiling component and a first vehicle hole provided in the vehicle body directly opposite the first ceiling component hole, the positional deviation being adjusted according to the amount calculated by the control unit; and the control unit calculates a positional deviation between a second ceiling component hole provided in the ceiling component recognized in accordance with the image acquired by the second hole recognition camera and a second vehicle hole provided in the vehicle body directly opposite the second ceiling component hole, the sun visor holder assembly unit assembles the sun visor holder to the front part of the ceiling component in a state in which the positional deviation between the first ceiling component hole and the first vehicle hole has been adjusted according to the amount calculated by the control unit; and the rear fixing clip assembly unit assembles the rear part of the ceiling component to the vehicle body in a state in which the positional deviation between the second ceiling component hole and the second vehicle hole has been adjusted according to the amount calculated by the control unit. This allows the positional deviation to be calculated from the position of each hole captured by a camera attached to the hand, which is an assembly jig, and assembly can be performed while adjusting the position.

[0010] Further, an automatic assembly method according to the present disclosure is an automatic assembly method for an automatic assembly device including a robot having multiple joints, a hand attached to the robot, and a control unit that calculates a displacement amount of a vehicle hole provided in a vehicle body and a ceiling component hole provided in a ceiling component, the hand having a first hole recognition camera and a sun visor holder assembling unit that assembles a sun visor holder and a front portion of the ceiling component to the vehicle body, and a rear fixing clip assembling unit that is provided with a second hole recognition camera and assembles a rear portion of the ceiling component to the vehicle body with a rear fixing clip, wherein the robot moves the hand to a predetermined position within the vehicle body with the ceiling component placed on the hand, and the control unit calculates a displacement amount of the ceiling component hole recognized in response to image acquisition by the first hole recognition camera. The control unit calculates the amount of misalignment between a first ceiling component hole provided in a ceiling component and a first vehicle hole provided in the vehicle body directly opposite the first ceiling component hole, and the sun visor holder assembly unit assembles the sun visor holder to the front part of the ceiling component with the misalignment between the first ceiling component hole and the first vehicle hole adjusted according to the amount calculated by the control unit, and the control unit calculates the amount of misalignment between a second ceiling component hole provided in the ceiling component recognized according to image acquisition by the second hole recognition camera and a second vehicle hole provided in the vehicle body directly opposite the second ceiling component hole, and the rear fixing clip assembly unit assembles the rear part of the ceiling component to the vehicle body with the misalignment between the second ceiling component hole and the second vehicle hole adjusted according to the amount calculated by the control unit. This allows the positional deviation to be calculated from the position of each hole captured by a camera attached to the hand, which is an assembly jig, and assembly can be performed while adjusting the position. [Effects of the Invention]

[0011] According to the present disclosure, it is possible to provide an automatic assembly device and an automatic assembly method for assembling a ceiling part to a vehicle body with high precision and at low cost. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a perspective view showing components, an object to be assembled, and part of the operation of the automatic assembly apparatus according to the first embodiment. FIG. [Figure 2] FIG. 2 is a diagram showing a configuration of a hand according to the first embodiment. [Figure 3] FIG. 2 is a diagram showing a ceiling component according to the first embodiment. [Figure 4] 1 is a side view of a ceiling component according to a first embodiment placed on a hand. FIG. [Figure 5] 2 is a perspective view of a sun visor holder assembly portion and a rear fixing clip assembly portion according to the first embodiment. FIG. [Figure 6] 3 is an operation flowchart of the automatic assembly device according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] Embodiment 1 DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An automatic assembly device and an automatic assembly method for vehicle ceiling components according to the present embodiment will be described below with reference to the drawings.

[0014] 1 is a diagram showing components, objects to be assembled, and operations of the automatic assembly apparatus 1. The automatic assembly apparatus 1 has a hand 100, an assembly robot 200 having multiple joints (hereinafter referred to as "multi-joint"), and a control unit 600. The control unit 600 is a computer having a main memory device, an auxiliary memory device, an arithmetic unit, etc.

[0015] 1 also shows, as objects to be assembled, a ceiling component 300 which is a molded ceiling component, and a vehicle body 400. Furthermore, as an initial state of the hand 100, a state in which it is placed on a hand rest 500 is shown.

[0016] 2(a) is a perspective view of an example of a long hand 100. Here, the hand 100 is assumed to be placed on a hand rest 500, and the description will be given with the horizontally extending long dimension as the X direction, the horizontally extending short dimension as the Y direction, and the up-down direction (height direction) as the Z direction. The X direction, Y direction, and Z direction are perpendicular to one another. In addition, in the long dimension X direction, the side to which the robot 200 is connected may be described as the rear end, and the other end as the front end.

[0017] First, we will explain an example of the basic operation of the automatic assembling apparatus 1. The robot 200 is attached to the hand 100 placed on the hand rest 500. This position is referred to as the take-out position 210. Thereafter, the robot 200 moves from the take-out position 210 to the pre-assembly position 220.

[0018] Here, the pre-assembly position 220 is a position before the ceiling component 300 is assembled to the vehicle body 400, and is a state in which the hand 100 on which the ceiling component 300 is placed is positioned in front of the vehicle body 400.

[0019] Furthermore, the automatic assembly device 1 operates the robot 200 to insert the hand 100 from the pre-assembly position 220 into the vehicle body 400 through the front opening thereof. The position of the robot 200 where the hand 100 is inserted into the vehicle body 400 in this manner is defined as the assembly position 230.

[0020] Thereafter, the automatic assembly device 1 uses a first hole recognition camera 117 provided in the sun visor holder assembly unit 110 of the hand 100 (described later) to photograph the first ceiling component hole 301 provided in the ceiling component 300 and the first vehicle hole 401 provided in the vehicle body 400 (see FIGS. 3(a) and 3(b)), and outputs the photographs to the control unit 600. At this time, the first vehicle hole 401 and the first ceiling component hole 301 are positioned so as to face each other.

[0021] The control unit 600 calculates the amount of misalignment between the first vehicle hole 401 and the first ceiling component hole 301 based on the image capture results from the first hole recognition camera 117 (see FIG. 5(a)). Then, the automatic assembly apparatus 1 operates the robot 200 based on the amount of misalignment calculated by the control unit 600, and aligns the ceiling component 300 placed on the hand 100 with the vehicle body 400. Note that, for example, the control unit 600 is located at a position away from the hand 100 and the robot 200, and can transmit and receive image information and information on the calculated amount of misalignment via wireless communication.

[0022] Similarly, the automatic assembly device 1 photographs the second vehicle hole 402 and the second ceiling component hole 302 (see Figures 3(a) and 3(c)) at the rear fixing clip assembly section 120 using the second hole recognition camera 124 (see Figure 5(b)) and outputs the photographs to the control section 600.

[0023] The control unit 600 calculates the amount of misalignment between the second vehicle hole 402 and the second ceiling component hole 302 based on the image captured by the second hole recognition camera 124. Then, the automatic assembly device 1 operates the robot 200 based on the amount of misalignment calculated by the control unit 600, and aligns the ceiling component 300 placed on the hand 100 with the vehicle body 400.

[0024] After completing the alignment of these holes, the automatic assembly device 1 raises the hand 100 and moves it to a position where the ceiling component 300 and the vehicle body 400 come into contact with each other.

[0025] 3(a) to 3(c), the ceiling component 300 and the vehicle body 400 will be described. Fig. 3(a) is a diagram showing a state in which the ceiling component 300 is attached to the hand 100 shown in Fig. 2.

[0026] When the ceiling component 300 is placed on the hand 100, it has a first ceiling component hole 301 that is located above the sun visor holder assembly portion 110 of the hand 100, and a second ceiling component hole 302 that is located above the rear fixing clip assembly portion 120. Note that in FIG. 3(a), the ceiling component 300 is shown as having a plurality of first ceiling component holes 301 and one second ceiling component hole 302, but the number and arrangement of these holes can be changed according to vehicle holes 401 and 402, which will be described later.

[0027] The vehicle body 400 has a first vehicle hole 401 and a second vehicle hole 402. Figures 3(b) and 3(c) are diagrams showing a state in which the holes in the ceiling component 300 and the holes in the vehicle body 400 are aligned when the ceiling component 300 is attached to the vehicle body 400. Note that Figures 3(b) and 3(c) are shown from the perspective of the vehicle body 400.

[0028] Specifically, as shown in Fig. 3(b), the first ceiling component hole 301 of the ceiling component 300 and the first vehicle hole 401 of the vehicle body 400 are aligned. Also, as shown in Fig. 3(c), the second ceiling component hole 302 of the ceiling component 300 and the second vehicle hole 402 of the vehicle body 400 are aligned.

[0029] Next, we will explain the configuration of the hand 100. The hand 100 has, as a frame section, a hand base section 101 arranged on the base side, and two frames 102a and 102b extending from the hand base section 101 toward the tip in the X direction.

[0030] When the hand 100 is in the removal position 210, two sun visor holders 310 and a rear fixing clip 320 are attached as shown in FIG. 2(a). Furthermore, a ceiling component 300 is attached to the hand 100 as shown in FIG. 3(a). The sun visor holders 310 and rear fixing clips 320 may be attached to the ceiling component 300 either manually or by using an attachment device. The sun visor holder 310 is a component that can be separated into a front portion and a rear portion.

[0031] 2(a), the hand base 101 is formed to be long in the Y direction and short in the X and Z directions. Typically, a protrusion 101a is provided on the rear side of the hand base 101 in the X direction. One end of the robot 200 is connected to the protrusion 101a.

[0032] The frames 102a and 102b are two frames that extend from the ends of the hand base 101 in the Y direction toward the tip ends in the X direction, and are arranged in parallel to each other.

[0033] The frame 102a will be described below, but the frame 102b has a similar configuration. The frame 102a is a plate-like member that is thin in the Y direction. The frame 102a is also formed with a predetermined thickness in the Z direction, and its width in the Z direction decreases toward the tip in the X direction.

[0034] 4 is a view showing the state in which the ceiling component 300 is placed on the frame 102a, as viewed from the Y direction. The frame 102a has a plurality of through holes 103a that penetrate in the Y direction and are continuous in the X direction. At the tip end of the frame 102a in the X direction, a marginal portion 104a is formed that is tapered toward the lower end in the Z direction, thereby reducing the width in the Z direction. This allows the frames 102a and 102b to have a shape that is effectively lightweight and has high flexural rigidity.

[0035] Returning to FIG. 2( a ), the hand 100 is provided with a sun visor holder assembly part 110 , a rear fixing clip assembly part 120 , a plurality of positioning pins 130 , and a plurality of support point pins 140 .

[0036] The sun visor holder assembly part 110 is provided between the frame 102a and the frame 102b, near the hand base part 101, i.e., on the rear side in the X direction. On the other hand, the rear fixing clip assembly part 120 is provided between the frame 102a and the frame 102b, on the tip side in the X direction.

[0037] The positioning pins 130 are arranged at predetermined positions on the outer side surfaces of the frames 102a and 102b in the Y direction. Here, the hand 100 is provided with four positioning pins 130, two on the frame 102a side and two on the frame 102b side. The two positioning pins 130 on the frame 102a side are spaced a predetermined distance apart in the X direction. The same applies to the frame 102b side.

[0038] When the ceiling component 300 is placed on the hand 100, the positioning pin 130 is inserted into a hole (not shown) in the ceiling component 300, and positions the ceiling component 300 in the horizontal direction.

[0039] 2(b) is an enlarged perspective view of the positioning pin 130. The positioning pin 130 includes a pin part 131, a spring 132, and a pin bearing part 133. The pin part 131 is positioned upward by the spring 132, and is configured to slide away from the pin bearing part 133 when an excessive force is applied. This allows the ceiling part 300 to be effectively brought into close contact with the vehicle body 400 when the ceiling part 300 is assembled to the vehicle body 400.

[0040] The support pins 140 are arranged at predetermined positions on the outer side surfaces of the frames 102a and 102b in the Y direction. Here, six support pins 140 are provided on the hand 100, three on the frame 102a side and three on the frame 102b side. The three support pins 140 on the frame 102a side are arranged at predetermined distances from each other in the X direction. The same applies to the frame 102b side.

[0041] The ceiling component 300 is placed on the hand 100 and positioned horizontally by the positioning pins 130, and then rests on the evenly arranged support pins 140. As a result, the ceiling component 300 is positioned in the height direction by its own weight.

[0042] Next, the detailed configuration and operation of the hand 100 will be described with reference to Figures 5(a), 5(b), and 6. Specifically, an example of the detailed configuration and operation of the sun visor holder assembly part 110 and the rear fixing clip assembly part 120 provided on the hand 100 will be described.

[0043] It is assumed that the automatic assembly device 1 performs the operations of steps S101 to S104 shown in Fig. 6. In the initial state, the hand 100 is not attached to the robot 200.

[0044] The robot 200 moves to the take-out position 210 (step S101). Here, the hand 100 placed on the hand rest 500 is connected to the robot 200.

[0045] At the removal position 210, the hand 100 is fitted with the two sun visor holders 310, the rear fixing clip 320, and the ceiling component 300 (step S102).

[0046] The robot 200 moves to the pre-assembly position 220 so that the hand 100 to which the ceiling component 300 and the like have been attached in step S102 is disposed in front of the vehicle body 400 (step S103).

[0047] The robot 200 moves to the assembly position 230 so that the hand 100 is inserted into the vehicle body 400 (step S104).

[0048] 5(a) and 6, the assembly of the sun visor holder 310 and the front part of the ceiling component 300 to the vehicle body 400 by the sun visor holder assembly unit 110 will be described. The sun visor holder assembly unit 110 has assembly mechanisms for assembly to the two first vehicle holes 401 and the first ceiling component hole 301, respectively.

[0049] More specifically, the sun visor holder assembling section 110 has a sun visor holder installation guide part 111, a sun visor holder gripping claw 112, a gripping actuator 113, an assembling actuator 114, a pushing actuator 115, a stage changing actuator 116, and a first hole recognition camera 117. Furthermore, the sun visor holder assembling section 110 has a sun visor holder 310 arranged therein.

[0050] First, the sun visor holder assembly unit 110 aligns the first vehicle hole 401 with the first ceiling component hole 301. Specifically, the first hole recognition camera 117 captures an image at a position where the first vehicle hole 401 and the first ceiling component hole 301 are directly opposite each other (step S201).

[0051] Here, the control unit 600 calculates the amount of misalignment between the first vehicle hole 401 and the first ceiling component hole 301 from the image acquired by the first hole recognition camera 117. At this time, the robot 200 adjusts the position of the hand 100 based on the amount of misalignment calculated by the control unit 600 so as to reduce the misalignment between the positions of the first vehicle hole 401 and the first ceiling component hole 301 (step S202).

[0052] The sun visor holder 310 slides laterally in response to the power from the stage change actuator 116 while being guided by the sun visor holder installation guide part 111. This positions the sun visor holder 310 so that it faces the first vehicle hole 401 and the first ceiling part hole 301 (step S203).

[0053] The sun visor holder gripping claws 112 perform a closing operation by the power of the gripping actuator 113. As a result, the sun visor holder gripping claws 112 grip the sun visor holder 310 installed on the sun visor holder installation guide part 111 (step S204).

[0054] The sun visor holder 310 operates in response to the power from the assembly actuator 114. Specifically, in response to the power from the assembly actuator 114, the tip of the sun visor holder 310 moves upward from the interior side of the vehicle body 400 toward the first vehicle hole 401 and the first ceiling component hole 301. As a result, the tip of the sun visor holder 310 is assembled into the first ceiling component hole 301 and the first vehicle hole 401 (step S205).

[0055] The sun visor holder gripping claws 112 perform an opening operation in response to the power from the gripping actuator 113, and release the grip on the sun visor holder 310 (step S206).

[0056] The sun visor holder 310 operates in response to the power from the pushing actuator 115. Specifically, the rear portion of the sun visor holder 310 moves upward toward the first vehicle hole 401 and the first ceiling component hole 301 in response to the power from the pushing actuator 115 (step S207). This completes the assembly to the sun visor holder assembly part 110.

[0057] Next, with reference to Figures 5(b) and 6, the components of the rear fastening clip assembling unit 120 and the rear fastening clip assembling operation using these components will be described. The rear fastening clip assembling unit 120 has a rear fastening clip installation guide part 121, a pushing actuator 122, a stage changing actuator 123, and a second hole recognition camera 124. The rear fastening clip assembling unit 120 is provided with a rear fastening clip 320. The rear fastening clip assembling unit 120 uses the rear fastening clip 320 to assemble the vicinity of the rear of the ceiling part 300 to the vehicle body 400.

[0058] The rear fixing clip assembly unit 120 aligns the second vehicle hole 402 with the second ceiling component hole 302. Specifically, the second hole recognition camera 124 captures an image at a position where the second vehicle hole 402 and the second ceiling component hole 302 are directly opposite each other (step S301).

[0059] Here, the control unit 600 calculates the amount of misalignment between the second vehicle hole 402 and the second ceiling component hole 302 from the image acquired by the second hole recognition camera 124. At this time, the robot 200 adjusts the position of the hand 100 based on the amount of misalignment calculated by the control unit 600 so as to reduce the misalignment between the positions of the second vehicle hole 402 and the second ceiling component hole 302 (step S302).

[0060] The rear fastening clip 320 slides laterally in response to the power from the stage change actuator 123 while being guided by the rear fastening clip installation guide component 121. This positions the rear fastening clip 320 so that it faces the second vehicle hole 402 and the second ceiling component hole 302 (step S303).

[0061] The rear fastening clip 320 operates in response to the power from the pushing actuator 122. Specifically, the rear fastening clip 320 moves upward from the interior side of the vehicle body 400 toward the second vehicle hole 402 and the second ceiling component hole 302 in response to the power from the pushing actuator 122. As a result, the rear fastening clip 320 is assembled into the second ceiling component hole 302 and the second vehicle hole 402 (step S304).

[0062] In this way, using a single articulated robot, the positional deviation can be calculated from the position of each hole captured by a camera attached to the hand, which is an assembly jig, and assembly can be performed while adjusting the position.

[0063] More specifically, in the automatic assembly device 1, a first hole recognition camera 117 that confirms the positions of the first ceiling component hole 301 and the first vehicle hole 401, and a second hole recognition camera 124 that confirms the positions of the second ceiling component hole 302 and the second vehicle hole 402 are each provided on the hand 100. This eliminates concerns about misalignment of the camera image relative to the ceiling component 300 mounted on the hand 100, and is expected to reduce assembly defects.

[0064] Furthermore, the automatic assembly device 1 is configured to use one articulated robot 200 to move the hand 100. Therefore, compared to using multiple articulated robots, costs can be reduced, and the work required for robot teaching is reduced to one-third, reducing the workload.

[0065] Furthermore, the connection of the ceiling component 300 to the hand 100 is achieved by a simple mechanism using four positioning pins 130 and six support pins 140, thereby reducing costs. The support pins 140 are configured so that when excessive force is applied, the force is released to the springs 132, which is expected to absorb tilt of the vehicle body 400 and prevent excessive load from acting on the ceiling component 300 and the vehicle body 400.

[0066] The present invention is not limited to the above-described embodiment, and can be appropriately modified without departing from the spirit of the present invention. In other words, the above description has been omitted or simplified as appropriate for the sake of clarity, and a person skilled in the art can easily modify, add, or convert each element of the embodiment within the scope of the present invention.

[0067] For example, the control unit 600 is located at a position away from the hand 100 or the robot 200, and can wirelessly send and receive image information and information on the calculated amount of deviation, but this is not limited to this, and the control unit 600 may be located on the hand 100 or the robot 200, or may use wired communication. [Explanation of symbols]

[0068] 1 Automatic assembly device, 100 Hand, 101 Hand base, 101a Protrusion, 102a, 102b Frame, 103a Through hole, 104a Edge portion, 110 Sun visor holder assembly portion, 111 Sun visor holder installation guide part, 112 Sun visor holder gripping claw, 113 Grip actuator, 114 Assembly actuator, 115 Push-in actuator, 116 Stage change actuator, 117 First hole recognition camera, 120 Rear fixing clip assembly portion, 121 Rear fixing clip installation guide part, 122 Push-in actuator, 123 Stage change actuator, 124 Second hole recognition camera, 130 Positioning pin, 131 Pin part, 132 Spring, 133 Pin bearing part, 140 Support point pin, 200 Robot, 210 Removal position, 220 Pre-assembly position, 230 assembly position, 300 ceiling part, 301 first ceiling part hole, 302 second ceiling part hole, 310 sun visor holder, 320 rear fixing clip, 400 vehicle body, 401 first vehicle hole, 402 second vehicle hole, 500 hand rest, 600 control unit

Claims

1. An automatic assembly device for a vehicle body and a ceiling part, a robot having multiple joints; a hand attached to the robot; a control unit that calculates a displacement amount between a vehicle hole provided in the vehicle body and a ceiling part hole provided in the ceiling part, The hand a sun visor holder assembly unit that is provided with a first hole recognition camera and that assembles a sun visor holder and a front portion of the ceiling component to the vehicle body; a rear fixing clip assembling section that is provided with a second hole recognition camera and that assembles a rear portion of the ceiling component to the vehicle body using a rear fixing clip; The robot With the ceiling component placed on the hand, the hand is moved to a predetermined position within the vehicle body; The control unit calculating a positional deviation between a first ceiling component hole provided in the ceiling component recognized in response to image acquisition by the first hole recognition camera and a first vehicle hole provided in the vehicle body directly facing the first ceiling component hole; calculating a positional deviation between a second ceiling component hole provided in the ceiling component recognized in response to image acquisition by the second hole recognition camera and a second vehicle hole provided in the vehicle body directly facing the second ceiling component hole; The sun visor holder assembly portion is and assembling the sun visor holder and the front portion of the ceiling part in a state in which the positional deviation between the first ceiling part hole and the first vehicle hole is adjusted according to the amount calculated by the control unit; The rear fixing clip assembly portion is and assembling the rear portion of the ceiling component and the vehicle body in a state in which the positional deviation between the second ceiling component hole and the second vehicle hole is adjusted in accordance with the amount calculated by the control unit. Automatic assembly equipment.

2. The hand A plurality of positioning pins provided at predetermined positions; and a plurality of support pins provided at predetermined positions, The plurality of positioning pins are When the ceiling component is placed on the hand, the hand is inserted into a hole provided in the ceiling component to position the ceiling component in the horizontal direction; The plurality of support pins are When the ceiling component is placed, the ceiling component is positioned in the height direction by its own weight. The automatic assembly device according to claim 1 .

3. The robot At the take-out position, the hand is attached to the hand rest, After the hand on which the ceiling component is placed is moved to the front of the vehicle body, the hand is inserted through a front opening of the vehicle body; the control unit moves the hand to adjust the positional deviation in accordance with the amount of deviation of each position calculated from the information acquired by the first hole recognition camera and the second hole recognition camera.

3. The automatic assembly apparatus according to claim 1 or 2.

4. The sun visor holder assembly portion is a sun visor holder installation guide component for guiding the operation of the sun visor holder; an actuator that generates power to operate the sun visor holder, The rear fixing clip assembly portion is a rear fixing clip installation guide component that guides the operation of the rear fixing clip; generating power to operate the rear securing clip; 4. The automatic assembly apparatus according to claim 3.

5. a robot having multiple joints; a hand attached to the robot; a control unit that calculates a displacement amount between a vehicle hole provided in a vehicle body and a ceiling part hole provided in a ceiling part, The hand a sun visor holder assembly unit that is provided with a first hole recognition camera and that assembles a sun visor holder and a front portion of the ceiling component to the vehicle body; an automatic assembly method for an automatic assembly device having a rear fixing clip assembly unit that is provided with a second hole recognition camera and that assembles a rear portion of the ceiling component to the vehicle body using a rear fixing clip, The robot With the ceiling component placed on the hand, the hand is moved to a predetermined position within the vehicle body; The control unit calculating a positional deviation between a first ceiling component hole provided in the ceiling component recognized in response to image acquisition by the first hole recognition camera and a first vehicle hole provided in the vehicle body directly facing the first ceiling component hole; The sun visor holder assembly portion is and assembling the sun visor holder and the front portion of the ceiling part in a state in which the positional deviation between the first ceiling part hole and the first vehicle hole is adjusted according to the amount calculated by the control unit; The control unit calculating a positional deviation between a second ceiling component hole provided in the ceiling component recognized in response to image acquisition by the second hole recognition camera and a second vehicle hole provided in the vehicle body directly facing the second ceiling component hole; The rear fixing clip assembly portion is and assembling the rear portion of the ceiling component and the vehicle body in a state in which the positional deviation between the second ceiling component hole and the second vehicle hole is adjusted in accordance with the amount calculated by the control unit. Automatic assembly method.

Images