JP2005247270A - Soft longitudinal member mounting method and its device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a soft longitudinal member mounting device that contributes to man-hour reduction, can meet many models, and has versatility. <P>SOLUTION: In a run channel mounting method for an automobile door, the run channel 7 for the automobile door is mounted to a recessed groove 9 of an automobile door sash 8. The run channel mounting method comprises a process of setting the run channel 7 for the automobile door in a pair of robot arms 1 and 2, a process of pressing the run channel 7 for the automobile door set in the pair of robot arms 1 and 2 into corner parts 8a and 8b of the automobile door sash 8, and a process of inserting a roller pressing means 12 mounted to at least one robot arm into a recessed part 7a of the run channel 7 for the automobile door, moving it from the corner parts 8a and 8b of the automobile door sash 8, and mounting the run channel 7 for the automobile door to the recessed groove 9 of the automobile door sash 8. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a soft body longitudinal member attaching method and apparatus for attaching a soft body longitudinal member such as a run channel for an automobile door to a concave groove of a substantially concave shaped member such as an automobile door sash.

  Conventionally, as a method of attaching a run channel for an automobile door to the concave groove of an automobile door sash, a spatula portion formed at one end of a rod-like portion bent into a dogleg shape, a pressing protrusion formed at the base of the spatula portion, and a rod-like portion Using a seal rubber fitting jig comprising a push roll provided at the other end of the door, first attach the run channel for the automobile door to the spatula, then fit the spatula to the corner of the automobile door sash, and further press the protrusion A method is known in which a run channel for an automobile door is fitted into a concave groove of an automobile door sash with a push roll (see, for example, Patent Document 1).

JP 2002-205551 A

  However, in the mounting method of the automobile door run channel disclosed in Patent Document 1, the worker attaches the automobile door run channel to the concave groove of the automobile door sash using a seal rubber fitting jig, thereby reducing the man-hours. There was a problem of not contributing.

  The present invention has been made in view of such problems of the prior art, and the object of the present invention is to contribute to reducing man-hours and to attach a flexible longitudinal body member that can be used for many models. A method and apparatus are to be provided.

  In order to solve the above-mentioned problem, the invention according to claim 1 is a soft body longitudinal member mounting method in which a soft body longitudinal member is attached to a groove having a substantially concave section member such as an automobile door sash, and the soft body longitudinal member is attached to a pair of robot arms. A step of pushing the soft body longitudinal member set on the pair of robot arms into the corner portion of the substantially concave member in cross section, and a roller pressing means mounted on at least one of the robot arms is a recess of the soft body longitudinal member. And inserting the soft body longitudinal member into the concave groove of the substantially concave member in cross section.

  The invention according to claim 2 is a soft body longitudinal member mounting method for attaching a soft body longitudinal member to a concave groove of a substantially concave shaped member such as an automobile door sash, wherein the soft body longitudinal member is set on a pair of robot arms; The step of pushing the soft body longitudinal member set on the pair of robot arms into the corner portion of the substantially concave member in cross section, and the soft body longitudinal member pushed into the corner portion of the substantially concave member in cross section by the pressing member mounted on one robot arm And the roller pressing means attached to the other robot arm is inserted into the recess of the soft body longitudinal member and moved from the corner of the substantially concave member in cross section, and the soft body longitudinal member is moved into the groove of the substantially concave member in cross section. And the process of attaching.

  According to a third aspect of the present invention, there is provided a soft body longitudinal member mounting device for attaching a soft body longitudinal member to a groove having a substantially concave section member such as an automobile door sash, and the first robot is a pair of robot arms that operate in cooperation with each other. An arm and a second robot arm, a claw member which can be inserted into a concave portion of a soft longitudinal member provided in the first robot arm and the second robot arm, and the claw member provided in the first robot arm and the second robot arm. A gripping means that presses and holds the soft body longitudinal member from both sides in a state where it is inserted into the recess of the soft body longitudinal member, and at least one of the robot arms, and is inserted into the recess of the soft body longitudinal member and from a rotatable roller The roller pressing means is provided.

  According to a fourth aspect of the present invention, in the soft body longitudinal member mounting device according to the third aspect, the roller pressing means is mounted on a pressing member that presses the soft body longitudinal member inserted in the corner portion of the substantially concave section member. No robot arm provided.

  The invention according to claim 5 is the soft body longitudinal member mounting apparatus according to claim 3, wherein the pressing member that presses the soft body longitudinal member inserted in the corner portion of the substantially concave member in cross section is applied to at least one of the robot arms. Provided.

  As described above, according to the present invention, a soft longitudinal member such as a run channel for an automobile door, which is a longitudinal soft body, can be automatically and accurately attached to a concave groove of a substantially concave section member such as an automobile door sash. . Further, it is possible to improve and stabilize the assembly quality of the soft longitudinal member such as a run channel for automobile doors.

  Embodiments of the present invention will be described below with reference to the accompanying drawings. Here, FIG. 1 is a schematic explanatory diagram of a soft body longitudinal member mounting apparatus according to the present invention, FIG. 2 is a front view of an automobile door (a), a sectional view of a run channel for an automobile door, and FIG. FIG. 4 is a diagram illustrating the operation of the claw member and the gripping means, FIG. 5 is a diagram illustrating the operation of the claw member, FIG. 6 is a diagram illustrating the operation of the roller pressing unit, and FIG. is there.

  As shown in FIG. 1, a soft body longitudinal member mounting apparatus according to the present invention includes a first robot arm 1 and a second robot arm 2 that are a pair of articulated robot arms that are driven in cooperation with each other. A run channel mounting jig 3 provided at the tips of the robot arm 1 and the second robot arm 2 is provided.

  The first robot arm 1 and the second robot arm 2 each have three axis (three degrees of freedom) arm portions 1a and 2a, and three axis (three degree of freedom) wrist portions 1b provided at the tips of the arm portions 1a and 2a. , 2b, both of which are attached to a base 5 having a portal frame 4 as a travel axis S. The run channel mounting jig 3 is attached to the wrist portions 1b and 2b. The base 5 has a turning axis L between the traveling axis S and the robot arms 1 and 2.

  Therefore, this apparatus has a total of 14 axes (14 degrees of freedom). The operation of attaching the run channel for automobile doors by the first robot arm 1 and the second robot arm 2 is taught and reproduced by a control device (not shown).

  As shown in FIG. 2, the automobile door (right front door) 6 is an automobile as a substantially concave member having a cross section for attaching an automobile door run channel (hereinafter referred to as “run channel”) 7 as a soft body longitudinal member. A door sash 8 is provided. The automobile door sash 8 has a front corner portion 8a and a rear corner portion 8b, an upper portion 8c extending from the front corner portion 8a to the rear corner portion 8b, a front portion 8d substantially perpendicular to the front corner portion 8a, and substantially from the rear corner portion 8b. It is formed from a vertical rear portion 8e and has a concave groove 9 respectively. The run channel 7 has a recess 7a.

  As shown in FIG. 3, the run channel mounting jig 3 presses the claw member 10 that can be inserted into the recess 7a of the run channel 7 and the run channel 7 with the claw member 10 inserted into the recess 7a from both sides. Holding means 11, roller pressing means 12 for pushing the run channel 7 into the automobile door sash 8, and corner parts 8a, 8b so that the run channel 7 inserted into the corner parts 8a, 8b of the automobile door sash 8 does not shift. It consists of a rod-shaped pressing member 13 that presses the run channel 7 inserted into the.

  As shown in FIG. 4, the claw member 10 is a plate-like member formed to have a thickness that can be inserted into the recess 7 a, and the first robot arm that is waiting by the operator inserting the claw member 10 into the recess 7 a. This is used when the run channel 7 is set in advance in the first and second robot arms 2. It is also used when the run channel 7 is pushed into the corners 8a, 8b of the automobile door sash 8.

  As shown in FIGS. 3 and 4, the gripping means 11 includes a pair of clamping members 11a, a pair of air cylinders 11b for moving the clamping members 11a forward and backward, a slider 11c with the clamping members 11a fixed at the tip, and a slider 11c. The run channel 7 in a state where the claw member 10 is inserted into the recess 7a is pressed and held from both sides by the clamping member 11a. A rail (not shown) is provided on the lower surface of the slider 11c so as to be slidably engaged with the slide guide 11d.

  The first robot arm 1 and the second robot arm 2 are driven in a state in which the gripping means 11 presses and holds the run channel 7 in which the claw member 10 is inserted into the recess 7a, and the corner portions 8a of the automobile door sash 8 are driven. When the run channel 7 is positioned at 8b, as shown in FIG. 5, the claw member 10 pushes the run channel 7 against the corner portions 8a and 8b simultaneously with the backward movement of the gripping means 11.

  As shown in FIG. 6, the roller pressing means 12 has a rotatable roller 14, presses and inserts the edge portion 14a of the roller 14 into the recess 7a, and moves the roller 14 while sliding. The run channel 7 can be securely attached to the automobile door sash 8.

  In the case of the run channel 7 whose shape is difficult to be deformed, as shown in FIGS. 5 (a) and 6 (a), the claw member 10 and the roller pressing means 12 are simply pushed in by one degree of freedom. The run channel 7 can be attached to the automobile door sash 8.

  However, in the case of the run channel 7 whose shape is easily deformed, as shown in FIGS. 5B and 6B, two degrees of freedom or three degrees of freedom such as twisting by the claw member 10 and the roller pressing means 12 are used. When the run channel 7 is pushed into the automobile door sash 8 by the above operation, the run channel 7 can be attached to the automobile door sash 8.

  As shown in FIG. 7, the pressing member 13 has a corner portion so that the run channel 7 inserted into the corner portions 8 a and 8 b of the automobile door sash 8 does not come off or shift when the roller pressing means 12 is operated. The run channel 7 inserted in 8a, 8b is pressed.

  Here, the gripping means 11 is advanced and retracted by the air cylinder 11b, but the claw member 10, the roller pressing means 12, and the pressing member 13 do not have driving means themselves, and the first robot arm 1 or the second robot arm 2 respectively. It works by the movement of.

  The roller pressing means 12 constituting the run channel mounting jig 3 may be provided only on one of the first robot arm 1 and the second robot arm 2.

Further, the pressing member 13 constituting the run channel mounting jig 3 is not necessarily provided depending on the nature of the run channel 7 and the degree of fitting of the run channel 7 to the corner portions 8a and 8b.
Further, it may be provided only on the robot arm not equipped with the roller pressing means 12, and when the roller pressing means 12 is attached to any one of the robot arms 1 and 2, it is provided only on one of the robot arms. May be.

  The automobile door 6 is conveyed by the conveyor 16 from the previous process to the run channel mounting process in which the run channel mounting apparatus is installed in a state where it is set on the positioning jig 15. The conveyor 16 is continuously fed, and the first robot arm 1 and the second robot arm 2 attach the run channel 7 to the automobile door sash 8 in cooperation with each other in synchronization with the conveyor 16.

  Next, the runway mounting method for automobile doors and the operation of the apparatus according to the present invention will be described with respect to an embodiment in which the pressing member 13 is not used and an embodiment in which the pressing member 13 is used.

  First, an embodiment in which the pressing member 13 is not used will be described with reference to the flowchart showing the run channel attachment work procedure of FIG. Here, the first robot arm 1 and the second robot arm 2 are equipped with a claw member 10, a gripping means 11, and a roller pressing means 12.

  First, in step SP1, as shown in FIG. 9 (a), the claw member 10 of the first robot arm 1 and the claw member of the second robot arm 2 are in standby at the original position and the run channel mounting work is taught in advance. 10, the operator sets the run channel 7. After setting, the gripping means 11 is operated to clamp the run channel 7.

  At that time, the length of the run channel 7 from the claw member 10 of the first robot arm 1 to the claw member 10 of the second robot arm 2 is the length of the upper portion 8c from the front corner portion 8a of the automobile door sash 8 to the rear corner portion 8b. Is almost equal to

  Next, when the start switch is pressed in step SP2, as shown in FIG. 9B, the first robot arm 1 and the second robot arm 2 are driven, and the claw member 10 of the first robot arm 1 is inserted. The run channel 7 is inserted into the front corner 8a, and the run channel 7 is inserted into the rear corner 8b where the claw member 10 of the second robot arm 2 is inserted. When each claw member 10 presses the run channel 7 into the corner portions 8a and 8b and pushes it in, the gripping means 11 is at least retracted.

  Next, at step SP3, as shown in FIG. 9C, the first robot arm 1 operates the roller pressing means 12 to sequentially press the run channel 7 from the front portion 8d in the vicinity of the front corner portion 8a. The roller 14 that presses and inserts the portion 14a into the recess 7a in the vicinity of the front corner portion 8a is moved to the lower end of the front portion 8d while sliding.

  On the other hand, the second robot arm 2 operates the roller pressing means 12 to sequentially push the run channel 7 from the upper portion 8c in the vicinity of the rear corner portion 8b, and presses and inserts the edge portion 14a into the concave portion 7a in the vicinity of the rear corner portion 8b. 14 is moved to the position of about three-quarters of the upper part 8c toward the front corner part 8a while sliding.

  Next, in step SP4, as shown in FIG. 9 (d), the first robot arm 1 uses the roller pressing means 12 to push the run channel 7 into about a quarter of the remaining upper portion 8c. The roller 14 having the edge 14a pressed and inserted into the recess 7a in the vicinity of the front corner 8a is slid and rotated while the distance between the front corner 8a and the rear corner 8b is about two thirds of the upper part 8c. Move back and forth.

  On the other hand, the second robot arm 2 operates the roller pressing means 12 to sequentially push the run channel 7 from the rear portion 8e in the vicinity of the rear corner portion 8b, and presses and inserts the edge portion 14a into the concave portion 7a in the vicinity of the rear corner portion 8b. 14 is moved to the lower end of the rear portion 8e while sliding.

  Thereafter, the first robot arm 1 and the second robot arm 2 return to their original positions, and the operation of attaching the run channel 7 to the automobile door sash 8 is completed.

  Next, an embodiment in which the pressing member 13 is used will be described with reference to the flowchart showing the run channel attachment work procedure of FIG. Here, the first robot arm 1 and the second robot arm 2 are equipped with a claw member 10, a gripping means 11, a roller pressing means 12 and a pressing member 13.

  As described above, the pressing member 13 is used when the roller pressing means 12 is operated depending on the nature of the run channel 7 and the fitting condition between the run channel 7 and the front corner portion 8a and the rear corner portion 8b. This is to prevent the run channel 7 pushed into the front corner portion 8a and the rear corner portion 8b by the claw member 10 from being detached or displaced.

  First, in step SP11, as shown in FIG. 11 (a), the claw member 10 of the first robot arm 1 and the claw member of the second robot arm 2 are in standby at the original position and the run channel mounting work is taught in advance. 10, the operator sets the run channel 7. After setting, the gripping means 11 is operated to clamp the run channel 7.

  At that time, the length of the run channel 7 from the claw member 10 of the first robot arm 1 to the claw member 10 of the second robot arm 2 is the length of the upper portion 8c from the front corner portion 8a of the automobile door sash 8 to the rear corner portion 8b. Is almost equal to

  Next, when the start switch is pressed in step SP12, as shown in FIG. 11B, the first robot arm 1 and the second robot arm 2 are driven, and the claw member 10 of the first robot arm 1 is inserted. The run channel 7 is inserted into the front corner 8a, and the run channel 7 is inserted into the rear corner 8b where the claw member 10 of the second robot arm 2 is inserted. When each claw member 10 presses and pushes the run channel 7 into the corner portions 8a and 8b, the gripping means 11 is at least retracted.

  Next, in step SP13, as shown in FIG. 11 (c), the first robot arm 1 operates the roller pressing means 12 to sequentially push the run channel 7 from the upper portion 8c in the vicinity of the rear corner portion 8b. The roller 14 having been pressed and inserted into the recess 7a in the vicinity of the rear corner portion 8b is moved to the position of about three-quarters of the upper portion 8c toward the front corner portion 8a while sliding.

  At that time, the second robot arm 2 was pushed into the rear corner portion 8b by the attached pressing member 13 so that the run channel 7 pushed into the rear corner portion 8b of the automobile door sash 8 did not come off or shift. Press the run channel 7.

  Next, at step SP14, as shown in FIG. 11 (d), the first robot arm 1 operates the roller pressing means 12 to sequentially press the run channel 7 from the rear portion 8e in the vicinity of the rear corner portion 8b. The roller 14 having been pressed and inserted into the recess 7a in the vicinity of the rear corner portion 8b is moved to the lower end of the rear portion 8e while sliding.

  At that time, the second robot arm 2 maintains the same posture as step SP13, and the pressing member 13 attached to the second robot arm 2 does not cause the run channel 7 pushed into the rear corner portion 8b to be detached or displaced. Further, the run channel 7 pushed into the rear corner portion 8b is pushed.

  Next, in step SP15, as shown in FIG. 11 (e), the second robot arm 2 uses the roller pressing means 12 to push the run channel 7 into the approximately one-fourth portion of the remaining upper portion 8c. The roller 14 having the edge 14a pressed and inserted into the recess 7a in the vicinity of the front corner 8a is slid and rotated while the distance between the front corner 8a and the rear corner 8b is about two thirds of the upper part 8c. Move back and forth.

  At that time, the first robot arm 1 is pushed into the front corner portion 8a by the pressing member 13 attached to the second robot arm 2 so that the run channel 7 pushed into the front corner portion 8a does not come off or shift. The run channel 7 is pressed.

  Next, in step SP16, as shown in FIG. 11 (f), the second robot arm 2 operates the roller pressing means 12 to sequentially push the run channel 7 from the front portion 8d in the vicinity of the front corner portion 8a, and the edge portion. The roller 14 having been pressed and inserted into the recess 7a in the vicinity of the front corner portion 8a is moved to the lower end of the front portion 8d while sliding.

  At that time, the first robot arm 1 maintains the same posture as in step SP15, and the run channel 7 pushed into the front corner portion 8a is not detached or displaced by the pressing member 13 attached to the first robot arm 1. Thus, the run channel 7 pushed into the front corner portion 8a is pushed.

  Thereafter, the first robot arm 1 and the second robot arm 2 return to their original positions, and the operation of attaching the run channel 7 to the automobile door sash 8 is completed.

  As described above, when the pressing member 13 is used, the first robot arm 1 and the second robot arm 2 cannot operate the roller pressing means 12 at the same time to perform the attaching operation of the run channel 7. The cycle time is longer than when the first robot arm 1 and the second robot arm 2 use the roller pressing means 12 at the same time.

  When the run channel 7 is set in the front corner portion 8a and the rear corner portion 8b of the automobile door sash 8, the first robot arm 1 and the second robot arm 2 must be driven at the same time. Need.

However, when the pressing member 13 is not used, the operation of attaching the run channel 7 to the automobile door sash 8 by operating the roller pressing means 12 is not necessarily performed by two robot arms, and is performed by one robot arm. be able to.
Therefore, as described above, the roller pressing means 12 can be provided only in one of the robot arms.

  The present invention contributes to a reduction in the number of man-hours for attaching a soft longitudinal member such as an automobile door run channel, which is a longitudinal soft body, to a substantially concave section member such as an automobile door sash. Further, it is possible to improve and stabilize the assembly quality of the soft longitudinal member such as a run channel for automobile doors.

Outline explanatory drawing of the soft body longitudinal member attaching device concerning the present invention Front view of automobile door (a) and sectional view of run channel for automobile door (b) Perspective view of run channel mounting jig Action explanatory diagram of claw member and gripping means FIG. 4 is a diagram for explaining the operation of the claw member, where (a) is a run channel whose shape is difficult to deform, and (b) is a run channel whose shape is easily deformed. FIGS. 4A and 4B are diagrams for explaining the operation of the roller pressing means, where FIG. 5A shows a run channel whose shape is difficult to deform, and FIG. 8B shows a run channel whose shape is easily deformed. Action illustration of pressing member A low chart showing the run channel installation procedure when no pressing member is used FIG. 4 is an operation explanatory diagram when a pressing member is not used, (a) is an operation for setting a run channel on the robot arm, (b) is an operation for positioning the run channel by the robot arm at the corner, (c), (d) Moves the run channel by the robot arm to the car door sash A low chart showing the run channel installation procedure when using a pressing member (A) is an operation for setting the run channel to the robot arm, (b) is an operation for positioning the run channel by the robot arm at the corner, (c), (d) , (E), (f) is the operation to attach the run channel by the robot arm to the car door sash

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... 1st robot arm, 2 ... 2nd robot arm, 3 ... Run channel attachment jig, 6 ... Automobile door, 7 ... Automobile door run channel (soft body longitudinal member), 7a ... Recess, 8 ... Automobile door sash (cross section) (Substantially concave member), 8a ... front corner, 8b ... rear corner portion, 8c ... upper portion, 8d ... front portion, 8e ... rear portion, 9 ... concave groove, 10 ... claw member, 11 ... gripping means, 12 ... roller press Means, 13 ... pressing member, 14 ... roller.

Claims (5)

A soft body longitudinal member mounting method for attaching a soft body longitudinal member to a concave groove of a substantially concave shaped member such as an automobile door sash, the step of setting the soft body longitudinal member on a pair of robot arms, and a soft body set on the pair of robot arms The step of pushing the longitudinal member into the corner of the substantially concave member in cross section, and the roller pressing means attached to at least one of the robot arms is inserted into the recess of the soft longitudinal member and moved from the corner of the substantially concave member in cross section And attaching the soft body longitudinal member to the groove of the substantially concave member in cross section. A soft body longitudinal member mounting method for attaching a soft body longitudinal member to a groove having a substantially concave section member such as an automobile door sash, the step of setting the soft body longitudinal member on a pair of robot arms, and a soft body set on the pair of robot arms The step of pushing the longitudinal member into the corner portion of the substantially concave member in cross section, the pressing member mounted on one robot arm pressing the soft longitudinal member pushed into the corner portion of the substantially concave member in cross section, and the other robot Inserting the roller pressing means attached to the arm into the concave portion of the soft body longitudinal member and moving it from the corner of the substantially concave member in cross section, and attaching the soft body longitudinal member to the groove of the substantially concave member. A soft longitudinal member mounting method characterized by the above. A soft body longitudinal member mounting device that attaches a soft body longitudinal member to a concave groove of a substantially concave shaped member such as an automobile door sash, a first robot arm and a second robot arm that are a pair of robot arms that operate in cooperation with each other; A claw member that can be freely inserted into the concave portion of the soft body longitudinal member provided in the first robot arm and the second robot arm, and the claw member provided in the first robot arm and the second robot arm are inserted into the concave portion of the soft body longitudinal member. Gripping means that presses and holds the soft body longitudinal member from both sides in this state, and roller pressing means that is provided on at least one of the robot arms and is inserted into the recess of the soft body longitudinal member and is composed of a rotatable roller. A soft body longitudinal member mounting apparatus characterized by the above. 4. The soft body longitudinal member mounting device according to claim 3, wherein a pressing member that presses the soft body longitudinal member inserted in a corner portion of the substantially concave member in cross section is provided on a robot arm not equipped with the roller pressing means. The soft body longitudinal member mounting apparatus according to claim 3, wherein a pressing member that presses the soft body longitudinal member inserted in a corner portion of the substantially concave section member is provided in at least one of the robot arms.