JP3120661B2 - Door positioning device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a door opened from a vehicle for assembling, painting, and sealing the inside of the vehicle at a predetermined working position while the vehicle is being conveyed along a vehicle manufacturing line. The present invention relates to a door positioning device that performs positioning of a door.

[0002]

2. Description of the Related Art In a vehicle manufacturing process, a vehicle body is transported on a carriage along a transport line.
In the painting process, it is desired to make the painting colors of the vehicle body and the door outer panel the same by performing the painting work simultaneously, so that all the doors are transported with the vehicle body attached. Therefore, when performing an assembling operation, a painting operation, a sealing operation, and the like inside the vehicle, various operations are performed by opening and closing a door of the vehicle body by a robot.

FIG. 5 schematically shows a sealing operation state inside a vehicle body, and FIG. 6 schematically shows a conventional door positioning device.

As shown in FIG. 5, a swing door 13 is attached to a vehicle body 11 by a pair of upper and lower hinges 12 so as to be openable and closable in a vehicle sealing (sealing agent application) line. The vehicle body 11 is transported along a transport line and stopped at a predetermined work position. And the body 11
When performing a sealing operation inside the door 13 or the inside of the door 13, the door 13 is opened by the door opening / closing mechanism 101 and held by the door positioning mechanism 201,
The sealing agent is applied by the sealing robot 301.

In a conventional door opening / closing mechanism 101, an opening / closing cylinder 103 is mounted on a frame 102.
3, a door holding portion 104 is attached to the tip end. In the door positioning mechanism 201, as shown in FIG. 6, a pair of air cylinders 203 and 204 are mounted on the upper and lower portions of the frame 202, respectively. An upper holding member 205 and a door lower holding member 206 are attached. An air cylinder 207 is attached to an intermediate portion of the frame 202, and a door frame holding member 208 is attached to a tip of a drive rod of the air cylinder 207.

As shown in FIG. 5, the sealing robot 301 has a multi-joint robot having a seal gun mounted at the tip of the arm thereof. Coating can be performed.

As such a door opening / closing mechanism, there is a mechanism disclosed in Japanese Patent Publication No. 60-15513 in addition to the above-mentioned mechanism.

[0008]

By the way, generally,
The vehicle transport line is a multi-vehicle mixed line in order to increase versatility, and the vehicle body and the door are transported in different shapes and dimensions. Therefore, even in the above-described sealing line of the vehicle, since the objects having different shapes and dimensions are conveyed, it is desirable that each device can correspond to the various vehicle bodies 11 and doors 13. That is,
In addition to the above-described swing door type vehicle, a slide door type vehicle is also transported to such a mixed vehicle type vehicle transport line. FIG. 7 schematically shows a transfer state of a sliding door type vehicle.

As shown in FIG. 7, a pair of upper and lower temporary hinges 17 are attached to a vehicle body 16 at a sealing line of the vehicle.
Thereby, the slide door 18 can be freely opened and closed, and the slide door 18 can be fixed by the temporary fixing metal 19. That is, even in this sliding door type vehicle, as described above, in order to perform the painting work of the vehicle body and the outer plate of the door at the same time in the painting process,
The slide door 18 is not slidably supported with respect to the door opening by a slide mechanism attached to the outer surface of the vehicle body 16.
8 is rotatably supported.

The temporary hinge 17 comprises an upward hook 17a fixed to the vehicle body 16 and a support cylinder 17b fixed to the door 18 and into which the hook 17a is fitted. Therefore, in the vehicle body 18 to which the slide door 18 is rotatably attached by the temporary assembling hinge 17, the supporting state is inaccurate and the variation is large, and
There is also wobble, and even in the same model, the position of the door 18 may be shifted in the height direction and the width direction of the vehicle,
The conventional door positioning mechanism 201 cannot accurately position the door 18. That is, as shown in FIG.
5 and 206 can be positioned at a predetermined position by being sandwiched in the vertical direction. However, in the width direction of the door 18 (door front and rear), a holding member is provided due to the space between the vehicle body 16 and the door 18. The door 18 cannot be pinched from both sides by the lever holding member.

Therefore, conventionally, when performing the sealing work of the slide door 18, the operator must manually apply the sealant, which causes problems such as poor working efficiency and long working time. there were.

An object of the present invention is to solve such a problem, and an object of the present invention is to provide a door positioning device capable of accurately grasping and positioning a door that has been opened.

[0013]

According to the present invention, there is provided a door positioning apparatus for positioning a door opened from a vehicle body at a predetermined transfer position on a vehicle production line. A door holding means for holding the door in an open state, a door position detecting means for detecting a position of the door held by the holding means in a door front-rear direction, and a predetermined reference position in the door front-rear direction. Control means for correcting based on the detection value detected by the door position detection means, wherein the door position detection means
A) It is movable along the front-rear direction and
Contactable detection piece and movable along the door front and rear direction
An air cylinder, which is capable of moving the detection piece and
A detecting unit connected to the cylinder and detecting the detecting unit
And a limit switch .

[0014]

When a door opened by a door opening / closing robot is positioned at a predetermined transfer position on a vehicle manufacturing line, the door holding means holds the door in an open state .
In this state, the door position detection means
When the piece moves and comes into contact with the door-side end surface, the air cylinder
Moves and the limit switch detects the detector
Then, the position of the door in the front-back direction is detected. Then, the control means corrects the preset reference position in the front-rear direction of the door based on the detection value detected by the door position detection means, thereby accurately positioning the opened door.

[0015]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a schematic diagram showing a door positioning device according to an embodiment of the present invention. FIG. 2 is a front view of the door positioning device of this embodiment. FIG. 3 is a side view of the door positioning device. The outline of the hand part is shown.

As shown in FIG. 1, the door positioning device 21 according to the present embodiment is used for a sealing operation, and is disposed alongside a vehicle transfer line together with an articulated robot 22. And this door positioning device 2
Reference numeral 1 denotes upper and lower door holding mechanisms 23 and 24 for holding the door 18 in an open state, and a measuring device as door position detecting means for detecting the position of the door 18 held by the holding mechanisms 23 and 24 in the front-rear direction of the door. 25, and a control device 26 that corrects a preset reference position in the front-rear direction of the door based on the detection value detected by the measuring device 25.

That is, as shown in FIGS. 2 and 3, a pair of parallel rails 32 is fixed to a gantry 31 laid at a predetermined position, and a guide member 33 is fixed to the pair of rails 32. The movable frame 34 is movably supported via the movable frame 34. The end of the drive rod of an air cylinder 35 mounted on the gantry 31 is connected to the moving frame 34, and the moving frame 34 moves toward and away from the door 18 opened by the air cylinder 35. Can be moved to. Then, the upper frame 3 of the moving frame 34
6 is provided with an upper holding mechanism 23. The upper holding mechanism 23 includes a pair of left and right holding levers 37a pivotally attached to the upper frame 36, and an air having a base end pivotally attached to the upper frame 36 and a distal end of a driving rod connected to the holding lever 37a. And a cylinder 38a.

On the other hand, the lower holding mechanism 24 is mounted on the lower frame 39 of the movable frame 34. The lower holding mechanism 24 includes a pair of left and right holding levers 40a pivotally attached to the lower frame 39, and an air having a base end pivotally attached to the lower frame 39 and a distal end of a driving rod connected to the holding lever 40a. And a cylinder 41a.

The central frame 42 of the movable frame 34
Is mounted with a central holding mechanism 43. In the center holding mechanism 43, a rail 44 is fixed to the center frame 42, and a moving plate 46 is movably supported on the rail 44 via a guide member 45.
The moving plate 46 has a central frame 42.
The moving plate 46 is movable by the air cylinder 47 in a direction approaching or moving away from the door 18 that has been opened. Furthermore, this moving plate 4
A holding lever 49 having a roller 48 attached to the front end thereof for pressing the inside of the door is pivotally mounted on the front end of the air cylinder 50.
Can be operated by In addition, moving plate 4
6 is provided with an air cylinder 52a to which a pressing member 51a for pressing the outside of the door is attached to the tip of the drive rod. A holding rod 54 having a roller 53 for pressing the outside of the door at the front end is movably supported by the center frame 42.
Is biased and supported by a spring 55 in the direction of pressing the door.

The door positioning device 21 of the present embodiment can handle at least six types of doors. In the upper holding mechanism 23, each of the holding levers and air cylinders are 4 sets (37a-3
7d, 38a to 38d), and in the lower holding mechanism 24, six sets (40a to 40f, 41a to 41f) of each holding lever and air cylinder are provided. Is provided with one set (49, 50) of each holding lever and air cylinder, and two sets (51a, 51b, 52a, 52,) of the pressing member and air cylinder.

Next, the measuring device 25 for detecting the position of the door 18 in the front-rear direction of the door and the control device 26 for correcting the reference position in the front-rear direction of the door based on the detection value of the measuring device 25 will be described. A main body plate 61 is fixed to the center frame 42 of the movable frame 34 along the front-rear direction of the door 18, and a rail 62 and a magnescale 63 are attached to one end of the main body plate 61. A detection plate 65 having a detection piece 64 is movably mounted on the rail 62. On the other hand, an air cylinder 66 is located at the other end of the main body plate 61, and the tip of the drive rod 67 is connected to the detection plate 65. Also,
A support rod 69 is connected to a base end of the air cylinder 66 by a connection member 68.
The air cylinder 66 is axially movable by supporting the bearing 9 on the bearing 70, and is urged and supported to the left in FIG. A detector 72 is attached to the tip of the support rod 69, and a limit switch 7 for detecting the detector 72 is attached to the main body plate 61.
3 are attached. Also, this limit switch 7
3 is connected to an interface panel 75 for controlling switching of valves of each air cylinder, input signals, and the like. The interface panel 75 is connected to the control device 26 and outputs a signal of measurement completion. On the other hand, the above-described magnescale 63 is connected to a display unit 74, and the display unit 74 is connected to the control device 26 that controls the articulated robot 22.

As shown in FIG. 1, the articulated robot 22 has a vertical arm 82, a horizontal arm 83, and a rotating arm 84 mounted on a swivel table 81. A robot hand 86 and a sealing gun 87 are mounted on the wrist 85. That is, as shown in FIG. 4, the wrist portion 85 has a drive shaft 88 rotatable by a built-in drive motor (not shown), and a Z-shaped bracket 89 is fixed to the drive shaft 88. ing. A sealing gun 87 for applying a sealant is attached to one end of the bracket 89. A base plate 90 is fixed to the other end of the bracket 89, and a hand 86 is attached to the base plate 90. The hand 86 is made of ultra-high-molecular-weight polyethylene and has a flat plate shape. Two opposing holding claws 91 are formed at the distal end, and an inclined door guide pressing surface 92 is formed at the proximal end. A door receiving surface 93 is formed between the two.

Here, a door opening / closing positioning operation using the door positioning device of the present embodiment will be described. First, as shown in FIG. 1, in a vehicle in which a slide door 18 is openably and closably attached to a vehicle body 16 by a pair of upper and lower temporary assembly hinges 17, the articulated robot 22 is operated, and the slide door 18 is held by a hand 86. When the slide door 18 is moved in the door opening direction, the slide door 18 is opened to a predetermined opening degree. In this state, the slide door 18 is positioned by the door positioning device 21.

That is, as shown in FIGS. 2 and 3, the corresponding air cylinder is driven from the upper holding mechanism 23, the lower holding mechanism 24, and the center holding mechanism 43 with respect to the opened slide door 18. Then, the door is held by the holding lever. For example, for the sliding door 18a supported by the temporary assembling hinge 17, the air cylinder 38a is driven in the upper holding mechanism 23, and the air cylinder 41a is driven in the lower holding mechanism 24, so that the upper and lower holding mechanisms are held. The slide door 18a is held by levers 37a and 40a. Since the center holding mechanism 43 is not used, it is retracted.

Next, in the measuring device 25, the air cylinder 66 is driven, and the detecting plate 6 is driven via the driving rod 67.
5 is moved along the rail 62 to the left in FIG.
Then, the detection piece 64 of the detection plate 65 also moves in the same direction, and the slide
a. At this time, the detection piece 64 and the detection plate 65 that have come into contact with each other are prevented from moving in the same direction by the slide door 18a.
2 moves to the right in FIG. With the movement of the air cylinder 66 itself, the detection unit 72 integrally connected also moves in the same direction and separates from the limit switch 73. Then, it is pushed by this detection unit 72 and
The limit switch 73 in the FF state is turned on, and the detection value at this time, that is, the slide door 18a
Is displayed on the display unit 74.
The control device 26 compares the detected position with a preset reference position in the front-rear direction of the door for the slide door 18a, and if the two are different, corrects the reference position with the detected position. Thus, the positioning of the slide door 18a is completed.

When the positioning of the slide door 18a is completed, the articulated robot 22 is operated to retract the hand 35 from the slide door 18. Then, the control device 26 operates the articulated robot 22 so as to correspond to the corrected reference position of the slide door 18a.
The sealing agent is applied to a predetermined position of the slide door 18 by the sealing gun 87 mounted on the slide door 2. When the sealing operation is completed, the articulated robot 22 is operated again to hold the slide door 18 and release the positioning of the slide door 18 by the door positioning device 21 as described above. Then, the multi-joint robot 22 is operated to move the hand 86 in the door closing direction, so that the slide door 18 is closed.

As described above, the door positioning device 2 of the present embodiment
1, the upper holding mechanism 23 and the lower holding mechanism 24
By holding the door 18 in the open state, the door is positioned in the vertical direction, and the control device 26 determines the reference position in the door longitudinal direction that has been set in advance and the door longitudinal direction of the door 18 detected by the measuring device 25. Is compared with the detected value of the position, and the reference value is corrected based on the detected value, whereby the position of the opened door 18 in the front-rear direction of the door is grasped. Therefore, even if the support state of the door 18 is inaccurate and the variation is large, the slide door 18 is reliably held at the door opening position and the positioning thereof is accurately performed.

In the above-described embodiment, the provisionally assembled hinge 1
The upper holding mechanism 23 drives the air cylinder 38a and the lower holding mechanism 24 drives the air cylinder 41a with respect to the slide door 18a supported by the slide door 18a, and the upper and lower holding levers 37a, 41a. Although the sliding door 18a is held, it can also be held against doors of other types of vehicles.

That is, as shown in FIG.
8b, the air cylinder 38b is driven in the upper holding mechanism 23, and the air cylinder 41b is driven in the lower holding mechanism 24, and the upper and lower holding levers 37b and 40 are driven.
b holds the sliding door 18b. The upper holding mechanism 23 drives the air cylinder 38c, and the lower holding mechanism 24 drives the air cylinder 41c for the sliding door 18c.
The slide door 18c is held by c and 40c. Further, for the sliding door 18d, the air cylinder 38d is driven in the upper holding mechanism 23, and the lower holding mechanism 2 is driven.
In No. 4, the air cylinder 41d is driven, and the slide door 18d is held by the upper and lower holding levers 37d and 40d. For the swing door 18e, the air cylinder 50 and the air cylinder 52a (52b) are driven in the central holding mechanism 43, and the air cylinder 41e (41f) is driven in the lower holding mechanism 24. Holding roller 48 and pressing members 51a (51b), 40e (40f)
Holds the sliding door 18e.

[0031]

As described above, according to the door positioning apparatus of the present invention, the door holding means holds the door in the open state, and the door position detecting means holds the door. The position of the door is detected by detecting the position of the door in the front-rear direction of the door, and the control unit corrects a preset reference position in the front-rear direction of the door based on the detection value detected by the door position detection unit. As a result, even if the position of the door in the opened state is not accurate in the front-rear direction, by accurately grasping the position, the door can be securely held and accurately positioned with a simple configuration. be able to.

[Brief description of the drawings]

FIG. 1 is a schematic view illustrating a door positioning device according to an embodiment of the present invention.

FIG. 2 is a front view of the door positioning device according to the embodiment.

FIG. 3 is a side view of the door positioning device of the present embodiment.

FIG. 4 is a schematic view of a hand portion of the sealing robot.

FIG. 5 is a schematic view showing a sealing operation state inside the vehicle body.

FIG. 6 is a schematic view of a conventional door positioning device.

FIG. 7 is a schematic diagram illustrating a transfer state of a sliding door type vehicle.

[Explanation of symbols]

 Reference Signs List 16 vehicle body 17 temporary assembly hinge 18 slide door 19 temporary fixing hinge 21 door positioning device 22 articulated robot 23 upper holding mechanism 24 lower holding mechanism 25 measuring instrument 26 controller 34 moving frame bodies 37a to 37d holding lever 38a to 38d air cylinder 40a ４０40f Holding lever 41a４１41f Air cylinder 43 Center holding mechanism 63 Magnescale 64 Detector 66 Air cylinder 72 Detector 73 Limit switch 74 Display unit 86 Hand 87 Sealing gun

Claims (1)

(57) [Claims] 1. A door positioning device for positioning a door opened from a vehicle body at a predetermined transfer position on a vehicle production line, a door holding means for holding the door in an open state, and holding by the holding means. Door position detecting means for detecting the position of the selected door in the front and rear direction of the door, and control means for correcting a preset reference position in the front and rear direction of the door based on the detection value detected by the door position detecting means. , The door position detecting means extends along the door front-rear direction.
Detection piece that is movable and can contact the end face on the door side
And movable along the front and rear direction of the door and
Air cylinder capable of moving piece and connected to the air cylinder
Detection unit and a limit switch for detecting the detection unit
And a door positioning device.