Workpiece mounting system, workpiece mounting method, sunroof unit holding device, and sunroof unit holding method

Abstract

A workpiece mounting system which is highly versatile and can reduce a cycle time. A workpiece mounting system ( 1 ) mounts a sunroof member ( 3 ) to an inner panel ( 2 A) of a body ( 2 ). The workpiece mounting system ( 1 ) is provided with a first robot ( 5 ), a second robot ( 6 ), and a control device ( 7 ) for controlling the first and second robots. The control device ( 7 ) performs a step of calculating as positional information the position of the sunroof member ( 3 ) and the position of the inner panel ( 2 A) by means of a CCD camera of the first robot ( 5 ), a step of holding and conveying the sunroof member ( 3 ) by means of the first robot ( 5 ) on the basis of the positional information and positioning the sunroof member ( 3 ) relative to the inner panel ( 2 A), a step of temporarily fixing the sunroof member ( 3 ) to the inner panel ( 2 A) by means of the first robot ( 5 ), and a step of finally fixing the sunroof member ( 3 ) to the inner panel ( 2 A) by means of the second robot ( 6 ) on the basis of the already calculated positional information.

1 . A workpiece mounting system for mounting a first workpiece to a mounting portion of a second workpiece, comprising:
 a first robot including a preliminary fixing means for performing preliminary fixing of the first workpiece to the second workpiece, a holding means for holding the first workpiece, and a position detecting means for detecting a position of the first workpiece and a position of a mounting portion of the second workpiece;   a second robot including a main fixing means for performing main fixing of the first workpiece to the second workpiece; and   a control device configured to control the first robot and the second robot,   wherein the control device executes:   a positional information calculating process of calculating a position of the first workpiece and a position of the mounting portion of the second workpiece as positional information by way of the position detecting means of the first robot,   a positioning process of holding the first workpiece by way of the holding means of the first robot, and transporting to position the first workpiece at the mounting portion of the second workpiece by way of the first robot, based on the positional information calculated in the positional information calculating process,   a preliminary fixing process of performing preliminary fixing of the first workpiece to the second workpiece by way of the preliminary fixing means of the first robot, and   a main fixing process of performing main fixing of the first workpiece to the second workpiece by way of the main fixing means of the second robot, based on the positional information calculated in the positional information calculating process.   
     
     
         2 . A workpiece mounting method for mounting a first workpiece to a mounting portion of a second workpiece, the method comprising the steps of:
 calculating a position of the first workpiece and a position of the mounting portion of the second workpiece as positional information by way of a first robot;   holding the first workpiece and transporting to position the first workpiece at the mounting portion of the second workpiece by way of the first robot, based on the positional information calculated in the calculating step;   performing preliminary fixing of the first workpiece to the second workpiece by way of the first robot, and   performing main fixing of the first workpiece to the second workpiece by way of a second robot, based on the positional information calculated in the calculating step.   
     
     
         3 . A sunroof unit holding device for holding a sunroof unit having a substantially U-shaped main frame and a center frame configured to connect portions of the main frame extending substantially in parallel to each other, the device comprising:
 a center frame seating portion on which a bottom of the center frame sits;   a main frame seating portion on which a bottom of a portion of the main frame substantially parallel to the center frame sits; and   a pair of pressing portions configured to press the portions of the main frame extending substantially parallel to each other from inner lateral sides thereof.   
     
     
         4 . A sunroof unit holding method for holding a sunroof unit having a substantially U-shaped main frame and a center frame configured to connect portions of the main frame extending substantially in parallel to each other, the method comprising the steps of:
 supporting a bottom of the center frame and a portion of the main frame substantially parallel to the center frame; and   holding the sunroof unit by pressing the portions of the main frame substantially parallel to each other from inner lateral sides thereof.