CN113799102B - Automatic door hinge mounting device and automatic door hinge mounting method - Google Patents
Automatic door hinge mounting device and automatic door hinge mounting method Download PDFInfo
- Publication number
- CN113799102B CN113799102B CN202111196022.6A CN202111196022A CN113799102B CN 113799102 B CN113799102 B CN 113799102B CN 202111196022 A CN202111196022 A CN 202111196022A CN 113799102 B CN113799102 B CN 113799102B
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- Prior art keywords
- door hinge
- robot
- door
- vehicle body
- hinge
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000009434 installation Methods 0.000 claims description 19
- 230000005484 gravity Effects 0.000 claims 1
- 230000002265 prevention Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The invention provides an automatic door hinge mounting device and an automatic door hinge mounting method, which can reduce the cost for mounting a door hinge. The door hinge automatic mounting device is suitable for mounting a door hinge to a vehicle body, wherein a first robot arm and a third robot arm are configured to face one side portion of the door hinge, a second robot arm is configured to face the other side portion of the door hinge, a control part controls the first robot arm to move to a combined position configured to face one side portion of the door hinge and to position the first door hinge at a mounting position of one side portion of the door hinge after holding the first door hinge, a control part controls the third robot arm to move to the combined position and to move the second door hinge to a delivery position after holding the second door hinge, and a control part controls the second robot arm to move to the delivery position and to position the second door hinge at a mounting position of the other side portion after receiving the second door hinge from the third robot arm.
Description
Technical Field
The invention relates to an automatic door hinge mounting device and an automatic door hinge mounting method.
Background
During assembly of the vehicle, the door hinge is mounted on the pillar of the vehicle body, and the door is mounted to the vehicle body through the door hinge. Currently, there is a door hinge mounting jig capable of positioning and mounting door hinges at both sides of a vehicle body. However, in the conventional door hinge mounting jig, the robots disposed on both sides of the vehicle body can only handle the door hinges placed on the same side. Therefore, the operator needs to place the door hinges on both sides of the vehicle body, respectively, to mount the door hinges on both sides of the vehicle body, thereby increasing the cost of manually carrying the door hinges.
[ Prior Art literature ]
[ Patent literature ]
[ Patent document 1] Japanese patent laid-open No. 2002-068037
[ Patent document 2] Japanese patent laid-open No. 2002-068038
Disclosure of Invention
The invention relates to an automatic door hinge mounting device and an automatic door hinge mounting method, which can reduce the cost of mounting a door hinge.
The door hinge automatic mounting device of the present invention is adapted to mount a door hinge to a vehicle body carried into the door hinge automatic mounting device by a carrying device, wherein a first door hinge is positioned on one side face portion of one side in a left-right direction of the vehicle body by a first robot and mounted by a first fastening device, and a second door hinge is positioned on the other side face portion of the other side in the left-right direction of the vehicle body by a second robot and mounted by a second fastening device. Wherein the first robot is configured to face the one side portion and has a first door hinge holding member holding the first door hinge, and the second robot is configured to face the other side portion and has a second door hinge holding member holding the second door hinge. The door hinge automatic installation device further includes: a third robot configured to face the one side portion and having a temporary holding member temporarily holding the second door hinge; and a control unit that controls the movements of the first robot hand, the second robot hand, the third robot hand, the first fastening device, and the second fastening device. The control means controls the first robot so that the first door hinge holding means moves to a combination position provided to face the one side portion and holds the first door hinge, then positions the first door hinge at a mounting position of the one side portion, the control means controls the first fastening device, the first door hinge positioned by the first robot is mounted to the one side portion, the control means controls the third robot so that the temporary holding means moves to the combination position and holds the second door hinge, then moves the second door hinge to a delivery position, the control means controls the second robot so that the second door hinge holding means moves to the delivery position and receives the second door hinge from the temporary holding means, then positions the second door hinge at a mounting position of the other side portion, and the control means controls the second fastening device, and the second door hinge positioned by the second robot is mounted to the other side portion.
The door hinge automatic mounting method of the present invention is suitable for mounting a door hinge to a vehicle body carried into a door hinge automatic mounting device by a carrying device, wherein a first door hinge is positioned on one side face portion of one side in a left-right direction of the vehicle body by a first robot and mounted by a first fastening device, and a second door hinge is positioned on the other side face portion of the other side in the left-right direction of the vehicle body by a second robot and mounted by a second fastening device. The automatic door hinge mounting method comprises the following steps: a first step of moving the second door hinge from a combination position provided to face the one side portion to a delivery position by means of a temporary holding member temporarily holding the second door hinge through a third robot configured to face the one side portion, and moving a second door hinge holding member holding the second door hinge to the delivery position through the second robot configured to face the other side portion; a second step of delivering the second door hinge from the temporary holding member to the second door hinge holding member, and moving a first door hinge holding member holding the first door hinge to the combination position through the first robot arm configured to face the one side portion thereof, and receiving the first door hinge combined in the combination position; a third step of positioning the first door hinge holding member holding the first door hinge at an attachment position of one side portion thereof through the first robot hand, positioning the second door hinge holding member holding the second door hinge at an attachment position of the other side portion thereof through the second robot hand, and moving the temporary holding member to the combination position through the third robot hand; and a fourth step of attaching the first door hinge to the one side portion through the first fastening means, attaching the second door hinge to the other side portion through the second fastening means, and attaching a second door hinge attached to a next vehicle body carried into the door hinge automatic mounting device to the temporary holding member and attaching a first door hinge attached to the next vehicle body to the combination position at the combination position.
In an embodiment according to the present invention, the delivery position is located directly above the vehicle body, and the control part controls the third robot and the second robot to deliver the second door hinge during conveyance of the vehicle body by the conveyance device.
In an embodiment according to the present invention, the temporary holding member includes: a first positioning member engaged with a bolt hole of a main body side hinge arm of the second door hinge; a second positioning member abutting a door mounting surface of a door-side hinge arm of the second door hinge; and a fall prevention member provided on the lower side of the first positioning member and the second positioning member in the gravitational direction.
Based on the above, in the door hinge automatic mounting device of the present invention, the first robot, the third robot and the combined position are arranged to face one of the side portions, and the second robot is arranged to face the other side portion. The control part controls the first robot to move to the combined position to hold the first door hinge, and then positions the first door hinge at the installation position of one side surface part of the first door hinge. The control unit controls the third robot to move to the combination position to hold the second door hinge, then moves the second door hinge to the delivery position, moves the second robot to the delivery position, and positions the second door hinge at the installation position of the other side surface portion after receiving the second door hinge from the third robot. In this way, the operator does not need to separately place the door hinges on both sides of the vehicle body, but can place only one side of the vehicle body and deliver the door hinges to the other side of the vehicle body using the third robot hand, thereby attaching the door hinges to both sides of the vehicle body. Thus, the cost of manually conveying the door hinge by an operator can be reduced. Accordingly, the automatic door hinge mounting device and the automatic door hinge mounting method can reduce the cost for mounting the door hinge.
In order to make the above features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
FIG. 1 is a schematic perspective view of an automatic door hinge mounting apparatus according to an embodiment of the present invention;
FIG. 2 is a perspective view of another state of the door hinge automatic mounting device of FIG. 1;
FIG. 3 is a schematic perspective view of the temporary holding section of FIG. 1;
FIG. 4 is a schematic illustration of the operation of the third robot of FIG. 2 in delivering a second door hinge with a second robot;
fig. 5 is a flowchart of a door hinge automatic installation method according to an embodiment of the present invention.
Description of the reference numerals
10: A vehicle body;
12: one side surface part;
14: a face portion on the other side;
20: a conveying device;
30: a first door hinge;
40: a second door hinge;
42: a vehicle body side hinge arm;
42a: bolt holes;
44: a door side hinge arm;
44a: a door mounting surface;
44b: a side surface portion;
100: door hinge automatic mounting device;
110: a first robot;
112: a first door hinge holding member;
120: a first fastening means;
120a: a front side first fastening means;
120b: a rear first fastening means;
130: a second robot;
132: a second door hinge holding member;
140: a second fastening means;
140a: a front side second fastening means;
140b: a rear second fastening means;
150: a third robot;
152: a temporary holding member;
152a: a first positioning member;
152a1: a pin clamp;
152a2: a pin;
152b: a second positioning member;
152b1: a conical plate;
152b2: a contact portion;
152c: an anti-falling member;
160: a control part;
P1: a combining position;
P2: a mounting position;
P3: a delivery location;
201 to 204: and (3) step (c).
Detailed Description
Reference will now be made in detail to the exemplary embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings and the description to refer to the same or like parts.
Fig. 1 is a perspective view of a door hinge automatic mounting device according to an embodiment of the present invention, and fig. 2 is a perspective view of another state of the door hinge automatic mounting device of fig. 1. In the present embodiment, the door hinge automatic mounting device 100 is used to mount door hinges (first door hinge 30, second door hinge 40) placed on one side of the vehicle body 10 on both sides of the vehicle body 10, respectively. The specific structure of the door hinge automatic mounting device 100 according to the present embodiment will be described with reference to fig. 1 and 2, but the present invention is not limited thereto.
In the present embodiment, the door hinge automatic mounting device 100 is adapted to mount door hinges (first door hinge 30, second door hinge 40) to the vehicle body 10 carried into the door hinge automatic mounting device 100 by the carrying device 20. The first door hinge 30 is positioned on one side surface portion 12 of one side in the left-right direction of the vehicle body 10 by the first robot arm 110 and is mounted by the first fastening device 120, and the second door hinge 40 is positioned on the other side surface portion 14 of the other side in the left-right direction of the vehicle body 10 by the second robot arm 130 and is mounted by the second fastening device 140.
More specifically, in the present embodiment, the first fastening device 120 has a front side first fastening device 120a that mounts one of the first door hinges 30 as a hinge for a front door, and a rear side first fastening device 120b that mounts the other of the first door hinges 30 as a hinge for a rear door, and the first robot arm 110 is disposed between the front side first fastening device 120a and the rear side first fastening device 120 b. The second fastening device 140 includes a front side second fastening device 140a that mounts one of the second door hinges 40 as a front door hinge, and a rear side second fastening device 140b that mounts the other of the second door hinges 40 as a rear door hinge, and the second robot 130 is disposed between the front side second fastening device 140a and the rear side second fastening device 140 b. However, the number and positions of the fastening devices can be adjusted according to the requirements, and the invention is not limited thereto.
In detail, in the present embodiment, the first robot 110 is configured to face one of the side portions 12, and has a first door hinge holding member 112 holding the first door hinge 30. The second robot 130 is configured to face the other side surface part 14, and has a second door hinge holding part 132 holding the second door hinge 40. In addition, the door hinge automatic mounting apparatus 100 further includes a third robot 150. The third robot 150 is configured to face one of the side sections 12, and has a temporary holding member 152 that temporarily holds the second door hinge 40. And, a combination position P1 for placing the door hinges (the first door hinge 30, the second door hinge 40) is provided to face one of the side face portions 12. That is, the first robot 110 and the third robot 150 are located at the same side of the combining position P1, and the second robot 130 is located at the other side of the combining position P1.
In the present embodiment, the control unit 160 controls the operations of the first robot 110, the second robot 130, the third robot 150, the first fastening device 120, and the second fastening device 140. The control part 160 controls the first robot 110 such that the first door hinge holding part 112 moves to the combining position P1 (shown in fig. 2) and positions the first door hinge 30 at the mounting position P2 (shown in fig. 1) of one of the side portions 12 after holding the first door hinge 30. And, the control part 160 controls the first fastening device 120 to mount the first door hinge 30 positioned by the first robot 110 to one of the side surfaces 12. Thereby, the mounting of the first door hinge 30 is completed at one side surface portion 12 of the vehicle body 10.
Further, in the present embodiment, the control part 160 controls the third robot 150 such that the temporary holding part 152 moves to the combining position P1 (shown in fig. 1), and after holding the second door hinge 40, moves the second door hinge 40 to the delivery position P3 (shown in fig. 2). And, the control part 160 controls the second robot 130 such that the second door hinge holding part 132 moves to the delivery position P3 (as shown in fig. 2), and after receiving the second door hinge 40 from the temporary holding part 152, the control part 160 positions the second door hinge 40 at the installation position P2 (as shown in fig. 1) of the other side surface part 14, and the control part 160 controls the second fastening device 140 to install the second door hinge 40 positioned by the second robot 130 to the other side surface part 14. Thereby, the installation of the second door hinge 40 is completed at the other side face portion 14 of the vehicle body 10.
In the present embodiment, the step of holding the first door hinge 30 at the combination position P1 by the first robot 110 (as shown in fig. 2) is offset from the step of holding the second door hinge 40 at the combination position P1 by the third robot 150 (as shown in fig. 1), and therefore the first robot 110 and the third robot 150 do not interfere with each other at the combination position P1. Preferably, when the first robot arm 110 grips the first door hinge 30 at the combining position P1 (i.e., in the state shown in fig. 2), the third robot arm 150 delivers the gripped second door hinge 40 to the second robot arm at the delivering position P3. Preferably, when the third robot 150 grips the second door hinge 40 at the combined position P1 (i.e., in the state shown in fig. 1), the first robot 110 positions the gripped first door hinge 30 at the installation position P2 of the one side surface portion 12 therein, and the second robot 130 positions the received second door hinge 40 at the installation position P2 of the other side surface portion 14.
In this way, the operator does not need to place the door hinges (the first door hinge 30, the second door hinge 40) on both sides of the vehicle body 10, respectively, but can place only one side of the vehicle body 10 (for example, at the combination position P1 provided to face one side face portion 12 thereof) with the door hinges (the first door hinge 30, the second door hinge 40), and deliver the door hinge 40 to the other side of the vehicle body 10 with the third robot 150, thereby attaching the door hinges (the first door hinge 30, the second door hinge 40) on both sides of the vehicle body 10, respectively. Thus, the cost of manually conveying the door hinges (the first door hinge 30 and the second door hinge 40) by the operator can be reduced.
Further, in the present embodiment, the delivery position P3 is located directly above the vehicle body 10. The control unit 160 controls the third robot 150 and the second robot 130 to deliver the second door hinge 40 while the vehicle body 10 is being conveyed by the conveying device 20. In this way, interference between the vehicle body 10 and the second door hinge 40 can be reduced, and a space at a position immediately above that has not been used in the past for conveying the vehicle body can be effectively used. Further, since the second door hinge 40 is delivered by the time the vehicle body 10 is conveyed, it is possible to avoid affecting the mounting operation of the second door hinge 40.
Fig. 3 is a perspective view of the temporary holding section of fig. 1, and fig. 4 is a schematic view of an operation when the third robot arm and the second robot arm of fig. 2 deliver the second door hinge. As shown in fig. 3, in the present embodiment, the temporary holding member 152 of the third robot 150 includes a first positioning member 152a, a second positioning member 152b, and a fall prevention member 152c. The first positioning member 152a is engaged with the bolt hole 42a of the main body side hinge arm 42 of the second door hinge 40. More specifically, the first positioning member 152a has a pin clip 152a1 on one of the two bolt holes 42a and a pin 152a2 on the other, and the back surface of the main body side hinge arm 42 is brought into contact with the contact surface of the first positioning member 152a provided on the base end side of the pin clip 152a1, whereby positioning is performed while the main body side hinge arm 42 is held in a positioned state by the movable claw of the pin clip 152a 1. The second positioning member 152b abuts against the door mounting surface 44a of the door-side hinge arm 44 of the second door hinge 40. More specifically, the second positioning member 152b is configured by a tapered plate 152b1 that contacts the door mounting surface 44a of the door-side hinge arm 44, and a contact portion 152b2 that contacts the side surface portion 44b of the door-side hinge arm 44. The door-side hinge arm 44 is held from rotating clockwise with respect to the main body-side hinge arm 42 by abutting against the tapered plate 152b1, and is held from rotating counterclockwise by abutting against the contact portion 152b 2. The fall prevention member 152c is provided below the first positioning member 152a and the second positioning member 152b in the gravitational direction.
Further, as shown in fig. 4, when the temporary holding member 152 of the third robot 150 and the second door hinge holding member 132 of the second robot 130 are delivered to the second door hinge 40, the temporary holding member 152 and the second door hinge holding member 132 are located on both sides of the second door hinge 40, respectively, and the vehicle body side hinge arm 42 and the door side hinge arm 44 of the second door hinge 40 are separated from the temporary holding member 152 and joined to the second door hinge holding member 132. Accordingly, the first positioning member 152a and the second positioning member 152b of the temporary holding member 152 ensure that the second door hinge 40 is held in a predetermined posture when the second door hinge 40 is delivered, and thus the second door hinge can be accurately aligned with the second door hinge holding member 132 and properly delivered to the second door hinge holding member 132. In addition, if the second door hinge 40 is accidentally dropped during delivery, the fall arrest member 152c can catch the second door hinge 40 while preventing the second door hinge 40 from dropping onto other members.
In addition, in the present embodiment, a door hinge assembly jig (not shown) may be provided at the assembly position P1, and door hinges (first door hinge 30, second door hinge 40) may be assembled to the door hinge assembly jig and provided at the assembly position P1 by means of the door hinge assembly jig. When the first door hinge holding means 112 of the first robot 110 and the temporary holding means 152 of the third robot 150 are moved to the assembly position P1, the door hinges (the first door hinge 30 and the second door hinge 40) combined with the door hinge combining jig can be received.
Fig. 5 is a flowchart of a door hinge automatic installation method according to an embodiment of the present invention. Referring to fig. 5, the door hinge automatic installation method of the present embodiment is to install door hinges (first door hinge 30, second door hinge 40) placed at one side of the vehicle body 10 on both sides of the vehicle body 10 via the aforementioned door hinge automatic installation device 100, respectively. The door hinge automatic installation method includes the following steps.
In the first step 201, the second door hinge 40 is moved from the combination position P1 provided to face one of the side sections 12 to the delivery position P3 by the temporary holding member 152 temporarily holding the second door hinge 40 through the third robot 150 arranged to face one of the side sections 12, and the second door hinge holding member 132 holding the second door hinge 40 is moved to the delivery position P3 through the second robot 130 arranged to face the other side section 14. Next, in a second step 202, the second door hinge 40 is delivered from the temporary holding member 152 to the second door hinge holding member 132, and the first door hinge holding member 112 holding the first door hinge 30 is moved to the combining position P1 through the first robot 110 configured to face one of the side portions 12, and the first door hinge 30 combined in the combining position P1 is received. The first step 201 and the second step 202 correspond to the state of transition from fig. 1 to fig. 2, for example, but are not limited thereto.
Next, in the third step 203, the first door hinge holding member 112 holding the first door hinge 30 is positioned at the mounting position P2 of one of the side face portions 12 through the first robot hand 110, the second door hinge holding member 132 holding the second door hinge 40 is positioned at the mounting position P2 of the other side face portion 14 through the second robot hand 130, and the temporary holding member 152 is moved to the combining position P1 through the third robot hand 150. Finally, in a fourth step 204, the first door hinge 30 is mounted to one of the side sections 12 via the first fastening device 120 and the second door hinge 40 is mounted to the other side section 14 via the second fastening device 140. Further, at the combination position P1, the second door hinge 40 mounted to the next vehicle body 10 carried in the door hinge automatic mounting device 100 is attached to the temporary holding member 152, and the first door hinge 30 mounted to the next vehicle body 10 is attached to the combination position P1. The third step 203 and the fourth step 204 are, for example, corresponding to the state of transition from fig. 2 to fig. 1, but are not limited thereto.
In this way, the operator does not need to place the door hinges (the first door hinge 30, the second door hinge 40) on both sides of the vehicle body 10, respectively, but can place only one side of the vehicle body 10 (for example, at the combination position P1 provided to face one side face portion 12 thereof) and deliver the door hinge 40 to the other side of the vehicle body 10 with the third robot hand 150, so that the door hinges (the first door hinge 30, the second door hinge 40) can be mounted on both sides of the vehicle body 10, respectively. Thus, the cost of manually conveying the door hinges (the first door hinge 30 and the second door hinge 40) by the operator can be reduced. Further, when the door hinges (the first door hinge 30 and the second door hinge 40) are attached by the first fastening device 120 and the second fastening device 140, the first door hinge 30 and the second door hinge 40 to be attached to the next vehicle body 10 can be simultaneously carried. Thus, the overall working time can be shortened.
In summary, in the automatic door hinge mounting device of the present invention, the first robot, the third robot and the combined position are disposed to face one of the side portions, and the second robot is disposed to face the other side portion. The control part controls the first robot to move to the combined position to hold the first door hinge, and then positions the first door hinge at the installation position of one side surface part of the first door hinge. The control unit controls the third robot to move to the combination position to hold the second door hinge, then moves the second door hinge to the delivery position, moves the second robot to the delivery position, and positions the second door hinge at the installation position of the other side surface portion after receiving the second door hinge from the third robot. In this way, the operator does not need to separately place the door hinges on both sides of the vehicle body, but can place only one side of the vehicle body and deliver the door hinges to the other side of the vehicle body using the third robot hand, thereby attaching the door hinges to both sides of the vehicle body. Thus, the cost of manually conveying the door hinge by an operator can be reduced. Accordingly, the automatic door hinge mounting device and the automatic door hinge mounting method can reduce the cost for mounting the door hinge.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (4)
1. An automatic door hinge mounting device adapted to mount a door hinge to a vehicle body carried into the automatic door hinge mounting device by a carrying device, wherein a first door hinge is positioned by a first robot on one side face portion of one side in a left-right direction of the vehicle body and mounted by a first fastening device, and a second door hinge is positioned by a second robot on the other side face portion of the other side in the left-right direction of the vehicle body and mounted by a second fastening device, the automatic door hinge mounting device characterized in that,
The first robot is configured to face the one side portion and has a first door hinge holding member holding the first door hinge,
The second robot is configured to face the other side face portion and has a second door hinge holding member holding the second door hinge,
The door hinge automatic installation device further includes:
A third robot configured to face the one side portion and having a temporary holding member temporarily holding the second door hinge; and
A control unit configured to control operations of the first robot hand, the second robot hand, the third robot hand, the first fastening device, and the second fastening device, wherein
The control part controls the first robot so that the first door hinge holding part moves to a combined position provided to face the one side portion and positions the first door hinge at an installation position of the one side portion after holding the first door hinge,
The control part controls the first fastening means to mount the first door hinge positioned by the first robot arm to one of the side portions,
The control part controls the third robot so that the temporary holding part moves to the combination position and moves the second door hinge to the delivery position after holding the second door hinge,
The control part controls the second robot so that the second door hinge holding part moves to the delivery position and positions the second door hinge at the installation position of the other side face part after receiving the second door hinge from the temporary holding part, and
The control part controls the second fastening device to mount the second door hinge positioned by the second robot arm to the other side surface part.
2. The door hinge automatic installation device according to claim 1, wherein,
The delivery position is located directly above the vehicle body,
The control unit controls the third robot and the second robot to deliver the second door hinge while the vehicle body is being conveyed by the conveying device.
3. The door hinge automatic installation device according to claim 2, wherein,
The temporary holding member includes:
a first positioning member engaged with a bolt hole of a main body side hinge arm of the second door hinge;
a second positioning member abutting a door mounting surface of a door-side hinge arm of the second door hinge; and
And the anti-falling component is arranged at the lower side of the first positioning component and the second positioning component in the gravity direction.
4. An automatic door hinge mounting method adapted to mount a door hinge to a vehicle body carried into an automatic door hinge mounting device by a carrying device, wherein a first door hinge is positioned on one side face portion of one side in a left-right direction of the vehicle body by a first robot and mounted by a first fastening device, and a second door hinge is positioned on the other side face portion of the other side in the left-right direction of the vehicle body by a second robot and mounted by a second fastening device, the automatic door hinge mounting method characterized by comprising:
A first step of moving the second door hinge from a combination position provided to face the one side portion to a delivery position by means of a temporary holding member temporarily holding the second door hinge through a third robot configured to face the one side portion, and moving a second door hinge holding member holding the second door hinge to the delivery position through the second robot configured to face the other side portion;
A second step of delivering the second door hinge from the temporary holding member to the second door hinge holding member, and moving a first door hinge holding member holding the first door hinge to the combination position through the first robot arm configured to face the one side portion thereof, and receiving the first door hinge combined in the combination position;
A third step of positioning the first door hinge holding member holding the first door hinge at an attachment position of one side portion thereof through the first robot hand, positioning the second door hinge holding member holding the second door hinge at an attachment position of the other side portion thereof through the second robot hand, and moving the temporary holding member to the combination position through the third robot hand; and
A fourth step of attaching the first door hinge to the one side portion through the first fastening means, attaching the second door hinge to the other side portion through the second fastening means, and attaching a second door hinge attached to a next vehicle body carried into the door hinge automatic mounting device to the temporary holding member and attaching a first door hinge attached to the next vehicle body to the combination position at the combination position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111196022.6A CN113799102B (en) | 2021-10-14 | 2021-10-14 | Automatic door hinge mounting device and automatic door hinge mounting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111196022.6A CN113799102B (en) | 2021-10-14 | 2021-10-14 | Automatic door hinge mounting device and automatic door hinge mounting method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113799102A CN113799102A (en) | 2021-12-17 |
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Citations (6)
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|---|---|---|---|---|
| JPH03270829A (en) * | 1990-03-22 | 1991-12-03 | Toyota Motor Corp | Apparatus for automatically attaching automobile door |
| JPH05139349A (en) * | 1991-11-20 | 1993-06-08 | Mazda Motor Corp | Mounting of work on vehicle and device therefor |
| JPH05139347A (en) * | 1991-11-21 | 1993-06-08 | Mazda Motor Corp | Installation of lidding thing for automobile |
| JPH09207843A (en) * | 1996-01-30 | 1997-08-12 | Mazda Motor Corp | Demounting device of vehicle door |
| JP2010012938A (en) * | 2008-07-03 | 2010-01-21 | Honda Motor Co Ltd | Automatic tire assembling method and tire assembling device |
| JP2020132055A (en) * | 2019-02-22 | 2020-08-31 | マツダ株式会社 | Door attachment method, door moving device for use in the same and jig |
-
2021
- 2021-10-14 CN CN202111196022.6A patent/CN113799102B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03270829A (en) * | 1990-03-22 | 1991-12-03 | Toyota Motor Corp | Apparatus for automatically attaching automobile door |
| JPH05139349A (en) * | 1991-11-20 | 1993-06-08 | Mazda Motor Corp | Mounting of work on vehicle and device therefor |
| JPH05139347A (en) * | 1991-11-21 | 1993-06-08 | Mazda Motor Corp | Installation of lidding thing for automobile |
| JPH09207843A (en) * | 1996-01-30 | 1997-08-12 | Mazda Motor Corp | Demounting device of vehicle door |
| JP2010012938A (en) * | 2008-07-03 | 2010-01-21 | Honda Motor Co Ltd | Automatic tire assembling method and tire assembling device |
| JP2020132055A (en) * | 2019-02-22 | 2020-08-31 | マツダ株式会社 | Door attachment method, door moving device for use in the same and jig |
| CN113412174A (en) * | 2019-02-22 | 2021-09-17 | 马自达汽车株式会社 | Door mounting method, door moving device used therefor, and self-weight droop measuring device |
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| CN113799102A (en) | 2021-12-17 |
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