JP2010159034A - Lid opening/closing system, lid opening/closing tool, and lid opening/closing method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a lid opening/closing system, a lid opening/closing tool, and a lid opening/closing method securely opening/closing a lid member openably/closably attached to a body member of an object. <P>SOLUTION: A door opening/closing system 100 opening/closing a door 3 of an automobile 1 includes: a door opening/closing tool 110 including a body 111 fixed to the door 3, a positioning plate 136 formed with a reference plane 136a, a releasing part 141 moving between a standby position and a releasing position, and a tool side engaging part 151; an operation arm 170 including a hook 172 and an arm side engaging part 171 having an optical sensor 173 emitting and receiving light at the tip of the hook 172; and a control unit 181 making the arm side engaging part 171 abut on the releasing part 141 to release the locking of the door 3 based on the relative position detected by the light reflected on the reference plane 136a and received by the optical sensor 173 and making the arm side engaging part 171 move in an engaged state to the tool side engaging part 151 to open the door 3. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

The present invention relates to a technique for opening and closing a lid member locked to a main body member by a locking member when the lid member is attached to a main body member of an object so as to be opened and closed and is closed.
More specifically, the present invention relates to a technique that can reliably open and close the lid member by accurately detecting the position of the lid member.

Conventionally, when painting a part of an automobile body that is hidden from the outside by a door that is attached to the vehicle body so that it can be opened and closed (the part that overlaps the door), the operator manually opens the door and causes the problem. A series of operations were performed in which the part that overlaps the door was painted with a spray gun and the door was manually closed again.
However, in recent years, automation of automobile painting has progressed, and along with this, a device for automatically opening and closing the automobile door (independent of the hand of the operator) is being used. For example, as described in Patent Document 1, Patent Document 2, and Patent Document 3.

  In the devices described in Patent Document 1 and Patent Document 2, a claw that engages with a door of an automobile is provided at the tip of the robot arm, and a door sensor including a proximity switch is provided in the middle of the robot arm. The position of the door in the left-right direction of the body of the automobile is detected by contacting the surface or the interior surface, and the claw is engaged with the predetermined position of the door by operating the robot arm based on the detection result of the door sensor. Open and close the door.

However, the devices described in Patent Document 1 and Patent Document 2 have a problem that the contact of the proximity switch with a portion of the exterior or interior surface of the door that has already been painted causes contamination of the coating film. Have
Therefore, in order to eliminate such problems, (a) the position of the door before the exterior surface is painted is detected by a proximity switch, and then the distance by which the vehicle body moves to the position for opening and closing the door is taken into account. Calculating the position of the door when the vehicle body is in a position to open and close the door, or (b) bringing the proximity switch into contact with an unpainted portion of the exterior or interior surface of the door. It is necessary to take measures.
However, even if the measure (a) is taken, a transport device that moves the vehicle body from a position where the position of the door is detected by the proximity switch to a position where the door is opened and closed, and the vehicle body of the vehicle are fixed thereto. The problem that the detection accuracy of the position of the door when the body of the automobile is in a position to open and close the door due to play of a jig or the like cannot be solved.
Even if the measure (b) is taken, the range of selection of the position where the proximity switch is brought into contact is remarkably limited, so that the position where the proximity switch is brought into contact is suitable for accurately measuring the position of the door. There are cases where it is difficult to set the position.
In addition, since the devices described in Patent Document 1 and Patent Document 2 do not detect the position of the door in the front-rear direction of the vehicle body from the beginning, the position of the door in the front-rear direction of the vehicle body is used as a reference. If it is greatly deviated, the claw engages with a position different from the predetermined engagement position on the door, and the coating film may be soiled or the vehicle body or door of the automobile may be damaged.

The device described in Patent Document 3 is provided with a finger and a magnetic field sensor that engage with the door of an automobile at the tip of the robot arm, and moves the tip of the robot arm in the left-right direction above the door and is detected by the magnetic field sensor. The position of the door in the left-right direction of the car body of the automobile is detected based on the inflection point of the magnetic field strength, and the robot arm is operated based on the detection result of the magnetic field sensor to bring the finger to a predetermined position on the door. The door is opened and closed by engaging.
However, the apparatus described in Patent Document 3 detects the position of the door in the left-right direction of the body of the automobile of the door based on the inflection point of the magnetic field strength detected by the magnetic field sensor. It is difficult to detect.
Similarly to the devices described in Patent Document 1 and Patent Document 2, the device described in Patent Document 3 does not detect the position of the door in the front-rear direction of the body of the automobile.
Therefore, even in the apparatus described in Patent Document 3, the fingers may engage at a position different from the predetermined engagement position on the door, and the coating film may be soiled or the vehicle body or the door of the automobile may be damaged.

JP 63-106189 A JP 7-232110 A Special table 2008-514504 gazette

  The present invention has been made in view of the above circumstances, and a lid opening / closing system, a lid opening / closing jig, and a lid capable of reliably opening and closing a lid member attached to the body member of the object so as to be opened and closed. Provide an opening and closing method.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

That is, in claim 1,
A lid opening and closing system that opens and closes a lid member that is locked to the body member by a locking member when the lid is attached to the body member of the object so as to be opened and closed,
A body portion that is detachably fixed at a predetermined position on the lid member, a positioning portion that is formed with a reference surface and is fixed to the body portion, a standby position that does not contact the locking member, and A lid provided with a release portion movable between release positions for releasing the lock of the lid member by the lock member by contacting the lock member, and a jig side engagement portion fixed to the body portion An opening and closing jig;
An operation arm including a cylindrical hook that engages with the jig-side engagement portion, an arm-side engagement portion having a sensor accommodated in the hook, and an arm body that movably supports the arm-side engagement portion. When,
A relative position between the reference surface and the arm side engaging portion is detected based on a detection result of the sensor, and the arm side engagement is determined based on the detected relative position between the reference surface and the arm side engaging portion. By bringing the joint part into contact with the release part, the release part is moved from the standby position to the release position to release the locking of the lid member by the locking member, and the arm side engaging part is A control device that opens the lid member by moving the arm side engaging portion in a state of contacting the release portion and engaging the jig side engaging portion;
It comprises.

In claim 2,
The sensor is an optical sensor that projects and receives light from the tip of the hook,
The control device includes:
The reference surface and the arm side engagement based on the light reflected by the reference surface and received by the optical sensor when the arm side engaging portion is moved in a state where the optical sensor is projected. The position relative to the part is detected.

In claim 3,
The reference plane is
Having a first reference side and a second reference side that are not parallel to each other;
The control device includes:
The arm-side engaging portion is moved in a state where the optical sensor projects, thereby causing the light projected by the optical sensor to irradiate the reference surface across the first reference side, and then the second Detecting the intensity of light received by the optical sensor when irradiated outside the reference plane across a reference side, and based on a change in intensity of light received by the optical sensor, the reference plane and the The relative position with respect to the arm side engaging portion is calculated.

In claim 4,
The second reference side is
The release portion is disposed at a position adjacent to the contact portion with the arm side engagement portion and the jig side engagement portion.

In claim 5,
A lid opening / closing jig used for opening and closing a lid member that is locked to the body member by a locking member when the object is attached to the body member so as to be opened and closed and closed.
A body part that is detachably fixed to a predetermined position of the lid member in a predetermined posture;
A positioning part formed with a reference surface and fixed to the body part;
A release portion that is movable between a standby position that does not contact the locking member and a release position that releases the locking of the lid member by the locking member by contacting the locking member;
A jig side engaging portion fixed to the body portion;
Comprising
The release unit is
The arm side engaging portion of the operation arm having a cylindrical hook and an arm side engaging portion having a sensor housed in the hook and an arm main body movably supporting the arm side engaging portion comes into contact with each other. Move from the standby position to the release position;
The jig side engaging portion is
It is engageable with the hook.

In claim 6,
The reference plane is
The first reference side and the second reference side are not parallel to each other.

In claim 7,
The second reference side is
The release portion is disposed at a position adjacent to the contact portion with the arm side engagement portion and the jig side engagement portion.

In claim 8,
A lid member that is attached to the main body member of the object so as to be openable and closable and is closed by the locking member by the locking member is detachably fixed at a predetermined position of the lid member in a predetermined posture. A body part, a positioning part formed with a reference surface and fixed to the body part, a standby position not in contact with the locking member, and engagement of the lid member by the locking member by contacting the locking member A release part movable between release positions for releasing the stop, a lid opening / closing jig provided with a jig side engagement part fixed to the body part, and a cylinder engaged with the jig side engagement part A lid-opening / closing method using an arm-side engagement portion having a hook-like hook and a sensor housed in the hook, and an operation arm having an arm body that movably supports the arm-side engagement portion. And
A fixing step of detachably fixing the lid opening / closing jig to a predetermined position of the lid member in a predetermined posture;
An arrangement step of arranging the object at a predetermined position;
A relative position detecting step for detecting a relative position between the reference surface and the arm side engaging portion based on a detection result of the sensor;
The arm-side engagement portion is brought into contact with the release portion by moving the arm-side engagement portion based on the detected relative position between the reference surface and the arm-side engagement portion. Moving from the standby position to the release position, and releasing the locking of the lid member by the locking member;
A lid opening step of opening the lid member by moving the arm side engagement portion in a state where the arm side engagement portion is in contact with the release portion and engaged with the jig side engagement portion;
It comprises.

In claim 9,
The sensor is an optical sensor that projects and receives light from the tip of the hook,
In the relative position detection step,
The reference surface and the arm side engagement based on the light reflected by the reference surface and received by the optical sensor when the arm side engaging portion is moved in a state where the optical sensor is projected. The position relative to the part is detected.

In claim 10,
The reference plane is
Having a first reference side and a second reference side that are not parallel to each other;
In the relative position detection step,
The arm-side engaging portion is moved in a state where the optical sensor projects, thereby causing the light projected by the optical sensor to irradiate the reference surface across the first reference side, and then the second Detecting the intensity of light received by the optical sensor when irradiated outside the reference plane across a reference side, and based on a change in intensity of light received by the optical sensor, the reference plane and the The relative position with respect to the arm side engaging portion is calculated.

In claim 11,
The second reference side is
The release portion is disposed at a position adjacent to the contact portion with the arm side engagement portion and the jig side engagement portion.

  The present invention has an effect that the lid member attached to the main body member of the object can be opened and closed reliably.

The plane schematic diagram which shows the whole structure of one Embodiment of the lid | cover opening / closing system which concerns on this invention. The perspective view which shows one Embodiment of the jig | tool for lid | cover opening / closing which concerns on this invention. The perspective view which similarly shows one Embodiment of the jig | tool for lid | cover opening / closing which concerns on this invention. The perspective view which shows the attachment / detachment mechanism in one Embodiment of the jig | tool for lid | cover opening / closing which concerns on this invention. The perspective view which shows the cancellation | release part in one Embodiment of the jig | tool for lid | cover opening / closing which concerns on this invention. The rear view which shows the time of the start of the procedure which fixes one Embodiment of the jig | tool for lid | cover opening / closing which concerns on this invention to a door. The rear view which shows the time of completion | finish of the 1st step of the procedure which fixes one Embodiment of the jig | tool for lid | cover opening / closing which concerns on this invention to a door. The rear view which shows the time of completion | finish of the 2nd step of the procedure which fixes one Embodiment of the jig | tool for lid | cover opening / closing which concerns on this invention to a door. The rear view which shows the time of completion | finish of the 3rd step of the procedure which fixes one Embodiment of the jig | tool for lid | cover opening / closing which concerns on this invention to a door. The flow figure showing one embodiment of the lid opening and closing method concerning the present invention. The top view which shows the positional relationship of the jig | tool for door opening and closing and the arm side engaging part in the start time of the relative position detection process of one Embodiment of the lid | cover opening / closing method which concerns on this invention. The left view which shows the positional relationship of the jig | tool for door opening and closing and the arm side engaging part at the time of completion | finish of the relative position detection process of one Embodiment of the lid | cover opening / closing method concerning this invention. The left view which shows the positional relationship of the door opening / closing jig | tool at the time of completion | finish of the cancellation | release process of one Embodiment of the lid | cover opening / closing method which concerns on this invention, and an arm side engaging part.

Hereinafter, a door opening / closing system 100 as an embodiment of a lid opening / closing system according to the present invention will be described with reference to FIGS. 1 to 13.
A door opening and closing system 100 shown in FIG. 1 is a system for opening and closing a door 3 of an automobile 1.

The automobile 1 is an embodiment of an object according to the present invention.
The automobile 1 includes a vehicle body 2, a door 3, a locking hook 4, and the like.

The vehicle body 2 is an embodiment of a main body member according to the present invention.
The vehicle body 2 is one of the main structures of the automobile 1, and other members constituting the automobile 1 are attached to the vehicle body 2. A plurality of openings are formed in the vehicle body 2.

The door 3 is one embodiment of a lid member according to the present invention.
The door 3 is a member that is detachably attached to an opening for a passenger to get on and off the automobile 1 among a plurality of openings formed in the vehicle body 2.
A hinge 3a is formed at one end (front end) of the door 3, and the door 3 is attached to the vehicle body 2 via the hinge 3a. The door 3 opens and closes by rotating around the hinge 3a.
The lower half of the door 3 forms a main body portion of the door 3, and the upper half of the door 3 forms a window frame portion.
As shown in FIG. 6, the main body portion of the door 3 has a hollow structure having two plates, an exterior plate 3 b and an interior plate 3 c, and a window lifting mechanism and a door 3 locking mechanism are provided inside the door 3. Etc. are accommodated.
On the upper end surface (surface facing the window frame) of the main body portion of the door 3, the window is moved up and down (for moving the window between the window frame portion of the door 3 and the main body portion of the door 3). A window elevating groove 3d as an opening is formed.
On the interior plate (the inner surface of the main body portion) of the door 3, a working opening 3 e is formed as an opening for assembling various members and the like inside the door 3.

A locking hook 4 shown in FIG. 1 is an embodiment of a locking member according to the present invention.
The locking hook 4 is rotatably supported at an end (rear end) opposite to the end of the door 3 on which the hinge 3a is formed. The posture can be changed (rotatable) from the posture protruding outward (backward).
The locking hook 4 protrudes to the outside of the door 3 when the door 3 is closed, and engages with a locking hole 2a formed in the vehicle body 2 to lock the door 3 to the vehicle body 2 (the locking hook). Unless the door 4 is retracted into the door 3, the door 3 is kept closed).

The object according to the present invention is not limited to the automobile 1 as in this embodiment. Specific examples of the object according to the present invention include various devices and instruments in addition to vehicles such as automobiles and freight cars.
The lid member according to the present invention broadly includes a member attached to the main body member so as to be openable and closable (movable between a position where the opening formed in the main body member is opened and a position where the opening is closed). Thus, the present invention is not limited to the one attached to the opening for the passenger to pass through. Other examples of the lid member according to the present invention include a hatch, bonnet, fuel lid, and the like of an automobile luggage compartment.
The mode of opening and closing of the lid member according to the present invention is not limited to the mode of rotating around the hinge as in the present embodiment, but other modes (for example, the mode of the lid member sliding (sliding) with respect to the main body, etc. )

  As shown in FIG. 1, the door opening / closing system 100 includes a door opening / closing jig 110, an operation arm 170, and a control unit 180.

Below, the detail of the door opening / closing jig | tool 110 is demonstrated using FIGS. 2-4.
The door opening / closing jig 110 is an embodiment of the lid opening / closing jig according to the present invention, and is used in a state of being fixed to a predetermined position of the door 3.
Note that the door opening / closing jig 110 of the present embodiment is fixed to the right door 3 of the automobile 1, but the door opening / closing jig having a symmetrical shape with respect to the door opening / closing jig 110 is used. By separately manufacturing, the door opening / closing jig can be fixed to the left door (not shown) of the automobile 1.

  Below, according to the up-down direction, the front-rear direction, and the left-right direction of the automobile 1 with the right-side door 3 closed, the up-down direction, the front-rear direction, and the left-right direction of the door opening / closing jig 110 fixed to the right door 3 A direction is defined and each member which comprises the door opening / closing jig | tool 110 is demonstrated using these directions.

As shown in FIGS. 2 and 3, the door opening / closing jig 110 includes a body part 111, a positioning plate 136, a releasing part 141, and a jig side engaging part 151.
In FIG. 3, for the sake of convenience, the door opening / closing treatment is performed in a state in which a part of the body 111 (specifically, a combination of the rotating shaft 124, the lever 125, and the engagement pin 126) and the release portion 141 are omitted. Tool 110 is illustrated.

Below, the detail of the trunk | drum 111 is demonstrated.
The body part 111 is an embodiment of the body part according to the present invention, and is detachably fixed to a predetermined position of the door 3 in a predetermined posture.
2, 3, and 4, the body portion 111 includes an upper main frame 112, a lower main frame 113, a front main frame 114, a rear main frame 115, a front lower engagement pin 116, a rear lower engagement pin 117, Front contact bar 118, rear contact bar 119, lower contact bar 120, rear support bar 121, rear reinforcement bar 122, shaft support member 123, rotating shaft 124, lever 125, engagement pin 126 (only in FIG. 4) A rotation restriction hook 127, a right support bar 128, a left support bar 129, a rotation support bar 130, a front reinforcing bar 131, and a rotation restriction bar 132.

As shown in FIGS. 2 and 3, a combination of the upper main frame 112, the lower main frame 113, the front main frame 114, and the rear main frame 115 is a member constituting the main structure of the body portion 111.
The upper main frame 112, the lower main frame 113, the front main frame 114, and the rear main frame 115 are all made of metal round bars.

  The upper main frame 112 is arranged in a posture in which the longitudinal direction is parallel to the front-rear direction. The front end portion of the upper main frame 112 is fixed to the middle portion of the front main frame 114, which will be described in detail later, by welding. The rear end portion of the upper main frame 112 is fixed to a middle portion of the rear main frame 115, which will be described in detail later, by welding.

  The lower main frame 113 is arranged at a position below the upper main frame 112 with a predetermined interval in a posture in which the longitudinal direction is parallel to the front-rear direction. The front end portion of the lower main frame 113 is fixed to the lower end portion of the front main frame 114, which will be described in detail later, by welding. The rear end portion of the lower main frame 113 is fixed to the lower end portion of the rear main frame 115, which will be described in detail later, by welding.

The front main frame 114 is arranged in a posture in which the longitudinal direction is parallel to the vertical direction. A portion of the front main frame 114 that is above the position at which the front end portion of the upper main frame 112 is welded forms a locking portion 114a. The locking portion 114a has a shape that is bent from the portion of the front main frame 114 where the front end portion of the upper main frame 112 is welded and extends rightward, and further bent and extended obliquely downward to the right.
The locking part 114a is locked to the window elevating groove 3d.

  The rear main frame 115 is arranged in such a posture that its longitudinal direction is parallel to the vertical direction. A portion of the rear main frame 115 located above the position where the rear end portion of the upper main frame 112 is welded forms a locking portion 115a. The locking portion 115a has a shape that is bent from the portion of the rear main frame 115 where the rear end portion of the upper main frame 112 is welded and extends rightward, and further bent and extends obliquely downward to the right. The locking part 115a is locked to the window elevating groove 3d.

The front lower engagement pin 116 is made of a metal round bar, and the left end portion thereof is fixed by welding at a position slightly in front of the lower main frame 113. The longitudinal direction of the front lower engagement pin 116 is substantially parallel to the left-right direction, and the right end portion of the front lower engagement pin 116 forms a locking portion 116a.
The locking portion 116a is bent from the body portion of the front lower engagement pin 116 and has a shape extending slightly diagonally downward to the right. The locking portion 116a is locked to the upper end surface of the work opening 3e.

The rear lower engagement pin 117 is made of a metal round bar, and the left end portion thereof is fixed by welding at a position slightly behind the lower main frame 113. The longitudinal direction of the rear lower engagement pin 117 is substantially parallel to the left-right direction, and the right end portion of the rear lower engagement pin 117 forms a locking portion 117a.
The locking portion 117a has a shape that is bent from the body portion of the rear lower engagement pin 117 and extends slightly diagonally downward to the right. The locking portion 117a is locked to the upper end surface of the work opening 3e.

The front abutting bar 118 is made of a short metal bar, and is fixed to the middle part of the right side surface of the front main frame 114 by welding so that its longitudinal direction is parallel to the vertical direction.
The locking portion 114a and the locking portion 115a are locked to the window elevating groove 3d, and the locking portion 116a of the front lower engagement pin 116 and the locking portion 117a of the rear lower engagement pin 117 are formed on the work opening 3e. When locked to the upper end surface, the front abutting bar 118 abuts against the interior plate of the door 3, thereby stabilizing the posture of the body portion 111 and thus the door opening / closing jig 110.

The rear contact bar 119 is made of a short metal bar, and is fixed to the middle portion of the right side surface of the rear main frame 115 by welding in a posture in which the longitudinal direction is parallel to the vertical direction.
The locking portion 114a and the locking portion 115a are locked to the window elevating groove 3d, and the locking portion 116a of the front lower engagement pin 116 and the locking portion 117a of the rear lower engagement pin 117 are formed on the work opening 3e. When locked to the upper end surface, the rear abutment bar 119 abuts against the interior plate of the door 3, thereby stabilizing the posture of the body portion 111 and thus the door opening / closing jig 110.

The lower contact bar 120 is made of a metal round bar, and its longitudinal direction is substantially parallel to the front-rear direction.
A body portion (a portion in which the longitudinal direction is parallel to the front-rear direction) of the lower contact bar 120 is disposed on the right side and slightly above the lower main frame 113.
The front end portion of the lower contact bar 120 is bent from the body portion of the lower contact bar 120 and extends leftward, and is welded to the front end portion of the upper surface of the lower main frame 113 and the lower end portion of the rear surface of the front main frame 114 by welding. Fixed. The rear end portion of the lower abutment bar 120 is bent from the body portion of the lower abutment bar 120 and extends toward the left, and is fixed by welding at a position slightly behind the upper surface of the lower main frame 113 by welding. .
The locking portion 114a and the locking portion 115a are locked to the window elevating groove 3d, and the locking portion 116a of the front lower engagement pin 116 and the locking portion 117a of the rear lower engagement pin 117 are formed on the work opening 3e. When locked to the upper end surface, the middle part of the lower abutment bar 120 abuts against the interior plate of the door 3, thereby stabilizing the posture of the body part 111 and thus the door opening / closing jig 110.

The rear support bar 121 is a member obtained by appropriately bending a metal round bar. More specifically, the rear support bar 121 extends rearward from one end thereof, is bent at a midway portion, extends leftward, is bent and extends upward, is bent and extends rightward, and is bent and forwards. It has a shape that extends to the other end.
One end of the rear support bar 121 is fixed to the lower end of the rear surface of the rear main frame 115 by welding, and the other end of the rear support bar 121 is fixed to the middle portion of the rear surface of the rear main frame 115 by welding.

  The rear reinforcing bar 122 is made of a metal round bar, and one end of the rear reinforcing bar 122 is slightly below the position where the other end of the rear support bar 121 is welded in the middle of the rear surface of the rear main frame 115. The other end portion of the rear reinforcing bar 122 is fixed to a portion of the rear support bar 121 in the middle of the longitudinal direction in parallel with the vertical direction.

The pivot member 123 is a member that pivotally supports a pivot shaft 124 (which is a combination of the pivot shaft 124, the lever 125, and the engagement pin 126), which will be described in detail later.
The shaft support member 123 is a thin hexagonal columnar member having a pair of end surfaces and six side surfaces, and the shaft support member 123 is formed with a through-hole penetrating the pair of end surfaces.
The shaft support member 123 is welded to the middle part of the lower surface of the lower main frame 113. The longitudinal direction (penetration direction) of the through hole of the shaft support member 123 welded to the middle part of the lower surface of the lower main frame 113 is parallel to the left-right direction.

  As shown in FIGS. 2 and 4, the combination of the rotation shaft 124, the lever 125, and the engagement pin 126 constitutes an attachment / detachment mechanism for the body portion 111 (mechanism for removably locking the body portion 111 to the door 3). .

  The rotation shaft 124 is a metal member including a cylindrical shaft portion and a thin hexagonal column head. The shaft portion of the rotation shaft 124 is inserted into the through hole of the shaft support member 123 such that the head of the rotation shaft 124 is disposed on the left side of the shaft support member 123, and the shaft shaft is pivotable to the shaft support member 123. Be supported.

The lever 125 is a member made of a metal round bar, and has a shape (substantially L-shaped) bent substantially vertically in the middle. A ring portion 125 a is formed at one end of the lever 125 so that an operator can easily grip the lever 125.
A bent portion (a portion bent substantially vertically) of the lever 125 is fixed to the head of the rotating shaft 124 by welding.

  The engagement pin 126 shown in FIG. 4 is a substantially cylindrical member made of a metal round bar, and one end thereof is fixed to the outer peripheral surface of the shaft portion of the rotating shaft 124 by welding. The longitudinal direction (axial direction) of the engaging pin 126 fixed to the rotating shaft 124 is perpendicular to the axial direction of the rotating shaft 124.

As shown in FIGS. 2 and 3, the rotation restriction hook 127 is a member that restricts the rotation of the lever 125 around the rotation shaft 124.
The rotation restricting hook 127 of the present embodiment is made of a metal round bar, and its base end is fixed to the middle part of the lower surface of the lower main frame 113 by welding. The rotation restricting hook 127 has a shape that extends leftward from its base end, bends in the middle, extends obliquely toward the upper right, further bends, extends obliquely toward the upper left, and reaches the tip.
As shown in FIG. 2, when the lever 125 is rotated counterclockwise as viewed from the left side about the rotation shaft 124, the other end of the lever 125 (the end where the ring portion 125a is not formed) is The rotation restricting hook 127 abuts and moves while elastically deforming the rotation restricting hook 127. As a result, when the other end of the lever 125 reaches the front of the rotation shaft 124, a boundary portion (bent portion) between a portion extending to the left and a portion extending obliquely to the upper right in the rotation restriction hook 127. To fit.
As described above, the rotation of the lever 125 around the rotation shaft 124 is restricted by the rotation restriction hook 127 (unless an external force that elastically deforms the rotation restriction hook 127 is applied to the lever 125, the lever 125 125 postures are maintained).

  As shown in FIGS. 2 and 3, the combination of the right support bar 128, the left support bar 129, the rotation support bar 130, the front reinforcement bar 131, and the rotation restriction bar 132 includes a release portion 141, which will be described in detail later, and This is a member for supporting the jig side engaging portion 151 on the main structure of the body portion 111 (a combination of the upper main frame 112, the lower main frame 113, the front main frame 114, and the rear main frame 115).

  The right support bar 128 is made of a metal round bar. The right support bar 128 is fixed to the middle portion of the lower surface of the upper main frame 112 by welding. The longitudinal direction of the right support bar 128 fixed to the upper main frame 112 is parallel to the longitudinal direction of the upper main frame 112 (front-rear direction).

  The left support bar 129 is made of a metal round bar having the same shape as the right support bar 128. The left support bar 129 is arranged on the left side of the right support bar 128 with a predetermined interval. The longitudinal direction of the left support bar 129 disposed on the left side of the right support bar 128 is parallel to the longitudinal direction of the right support bar 128 (front-rear direction).

  The rotation support bar 130 is made of a metal round bar. One end of the rotation support bar 130 is fixed by welding at a position slightly behind the lower surface of the right support bar 128, and the other end of the rotation support bar 130 is slightly in the middle of the lower surface of the left support bar 129. It is fixed by welding at the rear position. The longitudinal direction of the rotation support bar 130 fixed to the right support bar 128 and the left support bar 129 is parallel to the left-right direction.

  The front reinforcing bar 131 is made of a metal round bar. One end of the front reinforcing bar 131 is fixed to the front end of the lower surface of the right support bar 128 by welding, and the other end of the front reinforcing bar 131 is fixed to the front end of the lower surface of the left supporting bar 129 by welding. The longitudinal direction of the front reinforcing bar 131 fixed to the right support bar 128 and the left support bar 129 is parallel to the left-right direction.

  The rotation restricting bar 132 is made of a short metal round bar. The rotation restricting bar 132 is fixed to the middle part of the upper surface of the front reinforcing bar 131 by welding. The longitudinal direction of the rotation restricting bar 132 fixed to the front reinforcing bar 131 is parallel to the longitudinal direction of the front reinforcing bar 131 (left and right direction).

Hereinafter, a procedure for fixing the body portion 111 (and eventually the door opening / closing jig 110) to a predetermined position of the door 3 will be described with reference to FIGS. This procedure consists of the following operations (1) to (3).
At the time of starting this procedure, the combination of the rotation shaft 124, the lever 125, and the engagement pin 126 is rotated clockwise around the rotation shaft 124 in the left side view, and the ring portion 125a is The engaging pin 126 is disposed at a position in front of the rotation shaft 124 and protrudes rearward from the rotation shaft 124 (position lying on its side).

(1) First, as shown in FIG. 6, while holding the body portion 111 (door opening / closing jig 110) in a posture inclined downward to the right, the locking portion 114a and the locking portion 115a are moved upward to the window elevating groove 3d. Insert from below.
As a result, as shown in FIG. 7, the locking portion 114a and the locking portion 115a are locked to the window elevating groove 3d.

(2) Next, the body portion 111 (door opening / closing jig 110) is locked while returning to the original posture (the posture in which the longitudinal direction of the front main frame 114 and the rear main frame 115 is parallel to the vertical direction). The portion 116a and the locking portion 117a are inserted into the work opening 3e from the left to the right.
As a result, as shown in FIG. 8, the locking portion 116a and the locking portion 117a are locked to the upper end surface of the work opening 3e, and the locking portion 114a, the locking portion 115a, the locking portion 116a, and the locking portion. 117a restricts the vertical movement of the body portion 111 and thus the door opening / closing jig 110 with respect to the door 3.
Further, the front contact bar 118, the rear contact bar 119, and the lower contact bar 120 contact the interior plate of the door 3.
Further, the right half of the rotation shaft 124 and the engagement pin 126 are accommodated inside the main body portion of the door 3 through the work opening 3e.

(3) Subsequently, the combination of the rotation shaft 124, the lever 125 and the engagement pin 126 is rotated counterclockwise around the rotation shaft 124 as viewed from the left side, and the ring portion 125 a is rotated to the rotation shaft 124. It arranges in the position which becomes below.
As a result, as shown in FIG. 9, the engaging pin 126 protrudes upward from the rotating shaft 124, and the engaging pin 126 contacts the inner wall surface of the interior plate 3c of the door 3 (more specifically, The inner pin 3c is sandwiched between the engaging pin 126 and the lower abutment bar 120) and the engaging claws 3f formed on the inner wall surface of the inner plate 3c of the door 3 are engaged, As a result, the movement of the door opening / closing jig 110 in the left-right direction is restricted.
Further, when the combination of the rotation shaft 124, the lever 125, and the engagement pin 126 is rotated counterclockwise when viewed from the left side, the tip of the engagement pin 126 moves forward while drawing an arc. Therefore, the engaging pin 126 pushes an engaging claw (not shown) formed on the inner wall surface of the exterior plate of the door 3 forward, and as a reaction, the body portion 111 is pushed backward. As a result, the rear support bar 121 abuts against a plate forming the rear surface of the door 3 (a plate extending from the rear end portion of the exterior surface), and the body portion 111 with respect to the door 3 by the engagement pin 126 and the rear support bar 121. As a result, the movement of the door opening / closing jig 110 in the front-rear direction is restricted.

  Through the above operations, the body portion 111 (and thus the door opening / closing jig 110) is fixed to a predetermined position of the door 3 in a predetermined posture.

Below, the detail of the structure of the positioning plate 136 is demonstrated.
The positioning plate 136 is an embodiment of the positioning unit according to the present invention.
As shown in FIGS. 2 and 3, the positioning plate 136 is a metal plate on which a pair of substantially rectangular plate surfaces are formed. In the present embodiment, one of the pair of plate surfaces (upper plate surface) formed on the positioning plate 136 is a reference surface 136a, and the right side of the four sides of the rectangular reference surface 136a is a first reference side 136b. The rear side is defined as a second reference side 136c.
In the present embodiment, the first reference side 136b and the second reference side 136c are orthogonal to each other. However, the present invention is not limited to this, and it is sufficient if the first reference side and the second reference side intersect with each other (the first reference side). The first reference side and the second reference side may not be parallel to each other).

Below, the detail of the cancellation | release part 141 is demonstrated.
The release unit 141 is an embodiment of the release unit according to the present invention.
As shown in FIGS. 2 and 5, the release portion 141 includes an arm 142, a ring 143, a contact plate 144, a support bar 145, a connection bar 146, a connection bar 147, and a release bar 148.

The arm 142 is a member that forms the main structure of the release portion 141.
The arm 142 of the present embodiment is made of a metal round bar bent in a substantially L shape, and is divided into two parts, a main arm part 142a and a rotation restricting part 142b, with the bent part as a boundary. The main arm portion 142a is the longer one of the two portions having the bent portion of the arm 142 as a boundary, and the rotation restricting portion 142b is the two portions of the arm 142 having the bent portion as a boundary. The shorter overall length.

The ring 143 is a thin hexagonal columnar metal member having a pair of end surfaces and six side wall surfaces, with through holes penetrating the pair of end surfaces.
The ring 143 is fixed to the middle portion of the outer peripheral surface of the main arm portion 142a by welding. The longitudinal direction (penetrating direction) of the through hole of the ring 143 fixed to the main arm portion 142a is perpendicular to both the longitudinal direction of the main arm portion 142a and the longitudinal direction of the rotation restricting portion 142b.

  The abutting plate 144 is a member that abuts on a hook 172 of the arm side engaging portion 171 described in detail later. The contact plate 144 is a metal plate on which a pair of substantially rectangular plate surfaces are formed. The rear end portion of the lower plate surface of the contact plate 144 is fixed to the outer peripheral surface of the ring 143 by welding. .

  The support bar 145 is a member that supports the contact plate 144 on the main arm portion 142a, and is made of a metal round bar. One end portion of the support bar 145 is fixed to the front end portion of the lower plate surface of the contact plate 144 by welding, and the other end portion of the support bar 145 is fixed to the middle portion of the outer peripheral surface of the main arm portion 142a by welding. .

  The connecting bar 146 is made of a metal round bar, and is fixed to the rear end portion of the outer peripheral surface of the main arm portion 142a by welding. The longitudinal direction of the connecting bar 146 fixed to the main arm portion 142a is parallel to the longitudinal direction of the main arm portion 142a.

  The connecting bar 147 is a substantially L-shaped member obtained by bending a metal round bar vertically in the middle. One end of the connection bar 147 is fixed to the connection bar 146 by welding. The longitudinal direction of one end of the coupling bar 147 fixed to the coupling bar 146 is parallel to the longitudinal direction of the coupling bar 146 (and thus the longitudinal direction of the main arm portion 142a). The longitudinal direction of the other end portion of the coupling bar 147 fixed to the coupling bar 146 is perpendicular to the longitudinal direction of the coupling bar 146 (and hence the longitudinal direction of the main arm portion 142a), and the longitudinal direction of the rotation restricting portion 142b. Is parallel to.

  The release bar 148 is made of a metal round bar, and is fixed to the other end of the connecting bar 147 by welding. The longitudinal direction of the release bar 148 fixed to the other end of the connecting bar 147 is parallel to the longitudinal direction of the other end of the connecting bar 147 (and thus the longitudinal direction of the rotation restricting portion 142b).

Below, the detail of the jig side engaging part 151 is demonstrated.
The jig side engaging portion 151 is an embodiment of the jig side engaging portion according to the present invention.
As shown in FIGS. 2 and 3, the jig side engaging portion 151 includes a lower support bar 152, a right engagement bar 153, a left engagement bar 154, a left front support bar 155, a rear reinforcing bar 156, and a guide plate 157.

The lower support bar 152 is a member obtained by appropriately bending a metal round bar. More specifically, the lower support bar 152 has a shape that extends leftward from one end thereof, is bent at a midway portion thereof, extends forward, is then bent and extends rightward, and reaches the other end portion.
One end portion of the lower support bar 152 is fixed to the middle portion of the left surface of the upper main frame 112 by welding, and the other end portion of the lower support bar 152 is a middle portion of the left surface of the front main frame 114 (the front end portion of the upper main frame 112 and Fixed at the same height) by welding.
Accordingly, a portion of the lower support bar 152 whose longitudinal direction is parallel to the front-rear direction is arranged on the left side with a predetermined interval from the upper main frame 112.
Further, a portion of the lower support bar 152 whose longitudinal direction is parallel to the front-rear direction is fixed to the upper surface of the left support bar 129 by welding.

The right engagement bar 153 is a member obtained by appropriately bending a metal round bar. More specifically, the right engagement bar 153 has a shape (substantially L-shaped in a side view) that extends rearward from one end portion thereof, is bent at a midway portion thereof, extends downward, and reaches the other end portion.
A middle portion of the right engagement bar 153 whose longitudinal direction is parallel to the front-rear direction is a middle portion of the left side surface of the front main frame 114 (specifically, the locking portion 114a and the other portions of the front main frame 114). The other end portion (rear end portion) of the right engagement bar 153 is fixed to the middle portion of the upper main frame 112 by welding.

The left engagement bar 154 is a member obtained by appropriately bending a metal round bar. More specifically, the right engagement bar 153 has a shape that extends rightward from one end portion thereof, is bent at a midway portion thereof, extends backward, is then bent and extends downwardly, and reaches the other end portion.
One end portion of the left engagement bar 154 is fixed to one end portion (front end portion) of the right engagement bar 153 by welding, and the other end portion of the left engagement bar 154 is a middle portion of the lower support bar 152 (more specifically, The lower support bar 152 is fixed to the rear bent portion) by welding.

  The left front support bar 155 is made of a metal round bar. One end of the left front support bar 155 is fixed by welding to a middle portion of the left engagement bar 154 (more specifically, a middle portion of the left engagement bar 154 whose longitudinal direction is parallel to the front-rear direction). The other end of the left front support bar 155 is fixed to the middle part of the lower support bar 152 (more specifically, the bent portion on the front side of the lower support bar 152) by welding. The longitudinal direction of the left front support bar 155 fixed to the left engagement bar 154 and the lower support bar 152 is parallel to the vertical direction.

  The rear reinforcing bar 156 is made of a metal round bar. One end of the rear reinforcing bar 156 is fixed by welding at a position in the middle of the left side of the upper main frame 112 and slightly forward of the position where one end of the lower support bar 152 is fixed. The end portion is fixed by welding to a middle portion of the lower support bar 152 (a position slightly closer to the front than the bent portion on the rear side of the lower support bar 152).

The guide plate 157 is rearward in a space sandwiched between a portion of the right engagement bar 153 whose longitudinal direction is parallel to the front-rear direction and a portion of the left engagement bar 154 whose longitudinal direction is parallel to the front-rear direction. It is a member for guiding the arm side engaging part 171 described in detail in FIG.
The guide plate 157 of this embodiment is a metal plate having a pair of substantially rectangular plate surfaces elongated in the front-rear direction. The left end portion of the lower plate surface of the guide plate 157 is fixed by welding to a portion of the right engagement bar 153 whose longitudinal direction is parallel to the front-rear direction. The upper plate surface (guide surface) of the guide plate 157 fixed to the right engagement bar 153 is lowered to the left.

As shown in FIG. 2, the right end, front end, and left end of the lower plate surface of the positioning plate 136 are the front end portions of the upper surface of the portion of the right engagement bar 153 whose longitudinal direction is parallel to the front-rear direction. The left engagement bar 154 is welded to the upper surface of the portion whose longitudinal direction is parallel to the left-right direction and the front end portion of the upper surface of the portion of the left engagement bar 154 whose longitudinal direction is parallel to the front-rear direction. It is fixed by.
As described above, the positioning plate 136 is fixed to the body portion 111 via the jig side engaging portion 151.

As shown in FIGS. 2, 12, and 13, the release portion 141 can be rotated by inserting the rotation support bar 130 of the body portion 111 into the through hole formed in the ring 143 of the release portion 141 so as to be rotatable. The part 111 is rotatably supported.
The contact plate 144 of the release portion 141 rotatably supported by the body portion 111 is a portion where the longitudinal direction of the right engagement bar 153 is parallel to the front-rear direction and the longitudinal direction of the left engagement bar 154. Are arranged in a space sandwiched between portions parallel to the front-rear direction.

In addition, “the moment around the rotation support bar 130 that acts on the release portion 141 due to the weight of the portion of the release portion 141 that is closer to the rear than the ring 143” is “more than the ring 143 in the release portion 141. It is larger than the “moment about the rotation support bar 130 acting on the release portion 141 due to the weight of the portion that is closer to the front”.
Therefore, as shown in FIG. 2 and FIG. 12, when no external force is applied to the release portion 141, the release portion 141 rotates clockwise by its own weight, and the upper end of the rotation restricting portion 142b is connected to the positioning plate 136. The posture is held in contact with the lower plate surface. Hereinafter, the position of the release unit 141 that assumes the posture shown in FIGS. 2 and 12 is defined as a “standby position of the release unit 141”.
When the upper end portion of the rotation restricting portion 142b is in contact with the lower plate surface of the positioning plate 136, the longitudinal direction of the main arm portion 142a of the arm 142 is parallel to the front-rear direction.

  On the other hand, as shown in FIG. 13, when the abutment plate 144 of the release portion 141 is pressed downward with a predetermined force, the release portion 141 rotates counterclockwise when viewed from the left side against its own weight. The lower plate surface of the contact plate 144 is in contact with the rotation restricting bar 132, and the release bar 148 is held in the posture of moving upward. Hereinafter, the position of the release unit 141 in the posture illustrated in FIG. 13 is defined as “release position of the release unit 141”.

Hereinafter, details of the operation arm 170 will be described with reference to FIG.
The operation arm 170 is an embodiment of the operation arm according to the present invention.
The operation arm 170 includes an arm side engaging portion 171 and an arm main body 176.

The arm side engaging portion 171 is an embodiment of the arm side engaging portion according to the present invention.
The arm side engaging portion 171 has a hook 172 and an optical sensor 173.

The hook 172 is an embodiment of the hook according to the present invention, and is a member that engages with the jig side engaging portion 151 of the door opening / closing jig 110. The hook 172 of this embodiment is a cylindrical member made of a resin material with a slightly tapered tip (lower end).
In addition, the shape of the hook according to the present invention is not limited to a cylindrical shape, and may be a cylindrical shape (a shape in which through holes penetrating a pair of end surfaces are formed).

The optical sensor 173 is an embodiment of the sensor according to the present invention and an embodiment of the optical sensor according to the present invention, and includes a light projecting unit 173a and a light receiving unit 173b.
The optical sensor 173 is accommodated in the hook 172 (arranged inside a through hole formed in the hook 172).

The light projecting unit 173a generates (projects) light having a predetermined wavelength (strictly speaking, laser light excellent in convergence and straightness). The light projecting unit 173a can be achieved using an existing medium such as a semiconductor (a substance capable of causing stimulated emission).
The direction (light path direction) of light generated by the light projecting unit 173a accommodated in the hook 172 is parallel to the longitudinal direction of the hook 172 (longitudinal direction of the through hole formed in the hook), and the light projecting unit 173a. The light that is generated is projected from the front end (lower end) of the hook 172 to the outside.

The light receiving unit 173b detects the intensity of received light (irradiated from the outside) (generates and transmits an electric signal having a voltage corresponding to the intensity of the received light). The light projecting unit 173a can be achieved by an existing semiconductor element such as a photodiode or a solid-state imaging element.
Since the light receiving portion 173b is accommodated in the hook 172, the light receiving portion 173b detects the intensity of light incident on the inside of the hook 172 from the tip end portion of the hook 172.

The arm main body 176 is an embodiment of the arm main body according to the present invention, and supports the arm side engaging portion 171 so as to be movable.
The arm body according to the present invention can be achieved by an existing industrial robot or the like.
The arm body 176 has a base 177, a first arm 178 and a second arm 179.

The base 177 is a member that forms the base of the arm body 176. The base 177 is installed at a position on the left side of the position on which the automobile 1 is placed so as to be able to turn (rotate about a vertical axis).
A turning servo motor (not shown) is provided inside the base 177, and the base 177 is turned by the driving force generated by the turning servo motor.

  The first arm 178 is a rectangular tube-like member, and a base end portion thereof is rotatably connected to the base 177. A servo motor (not shown) for rotating the first arm 178 with respect to the base 177 is provided at a connecting portion between the base 177 and the first arm 178.

The second arm 179 is a rectangular tube-shaped member, and a base end portion thereof is rotatably connected to the first arm 178. A servo motor (not shown) for rotating the second arm 179 with respect to the first arm 178 is provided at a connecting portion between the first arm 178 and the second arm 179.
A proximal end portion (upper end portion) of the hook 172 of the arm side engagement portion 171 is coupled to the distal end portion of the second arm 179 so as to be swingable and rotatable about the axis of the hook 172.
A connecting portion between the second arm 179 and the hook 172 is a servo motor (not shown) for rotating the hook 172 around the first axis with respect to the second arm 179, and a hook with respect to the second arm 179. Servo motor (not shown) for rotating 172 around a second axis (axis orthogonal to the first axis), and a servo motor for rotating hook 172 around the axis of hook 172 ( (Not shown) is provided.

Hereinafter, the control unit 180 will be described with reference to FIG.
The control unit 180 includes a control device 181, an input device 182, and a display device 183.

The control device 181 is an embodiment of the control device according to the present invention.
The control device 181 can store various programs and the like, can develop these programs and the like, can perform predetermined calculations according to these programs and the like, and can store the results of the calculations and the like. The result of the calculation can be output to the outside.

The control device 181 is essentially configured such that a CPU (Central Processing Unit), a ROM (Read-Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), and the like are connected to each other via a bus. Alternatively, a configuration including a one-chip LSI (Large Scale Integration) or the like may be used.
Although the control device 181 in this embodiment is a dedicated product, it can also be achieved by appropriately storing a program or the like in a commercially available personal computer or workstation.

The control device 181 is connected to the optical sensor 173, more specifically, to the light projecting unit 173a and the light receiving unit 173b.
The control device 181 can transmit a signal for instructing on / off of the light projecting unit 173a, that is, light projection (light irradiation) from the tip of the hook 172 and its stop to the light projecting unit 173a.
Further, the control device 181 can receive information related to the received light intensity detected by the light receiving unit 173b (electrical signal having a voltage corresponding to the intensity of the received light) from the light receiving unit 173b.
The information related to the received light intensity detected by the light receiving unit 173b corresponds to an embodiment of the detection result of the sensor according to the present invention.

The control device 181 is connected to an arm body 176, more specifically, a servo motor group provided on the arm body 176.
The control device 181 can receive a signal indicating the rotation angle of each servo motor constituting the servo motor group provided in the arm body 176 from each servo motor.
Further, the control device 181 can transmit a command signal indicating that the servomotors constituting the servomotor group provided in the arm body 176 are rotationally driven at a desired rotational speed to a desired rotational angle.
The details of the operation control of the operation arm 170 by the control device 181 will be described in “Procedure for opening the door 3 of the automobile 1 by the door opening / closing system 100” described later.

The input device 182 inputs various information / instructions related to the opening / closing of the door 3 of the automobile 1 by the door opening / closing system 100 to the control device 181, and is connected to the control device 181.
The input device 182 of the present embodiment is a dedicated product, but may be achieved by, for example, a commercially available keyboard, mouse, pointing device, button, switch, or the like.

The display device 183 displays the input contents from the input device 182 to the control device 181, the operation status of the door opening / closing system 100, and the like, and is connected to the control device 181.
Although the display device 183 of this embodiment is a dedicated product, for example, a commercially available liquid crystal display (LCD), a CRT display (Cathode Ray Tube Display), or the like may be used.

  In the present embodiment, the input device 182 and the display device 183 are separate bodies, but the present invention is not limited to this. For example, the input device and the display device may be integrated by using a touch panel that functions as the input device and the display device.

Below, the opening / closing method of the door 3 of the motor vehicle 1 by the door opening / closing system 100 is demonstrated using FIG.1, FIG.10, FIG.11, FIG.12 and FIG.
The method for opening and closing the door 3 of the automobile 1 by the door opening and closing system 100 corresponds to an embodiment of the lid opening and closing method according to the present invention.
As shown in FIG. 10, the method for opening and closing the door 3 of the automobile 1 by the door opening and closing system 100 includes a fixing step S1100, an arrangement step S1200, a relative position detecting step S1300, a releasing step S1400, and a lid opening step S1500.

Fixing step S1100 is a step of detachably fixing the door opening / closing jig 110 to a predetermined position of the door 3 in a predetermined posture.
In the fixing step S1100, the worker fixes the door opening / closing jig 110 at a position closer to the inner rear side of the door 3 according to the procedures (1) to (3) (see FIGS. 6 to 9).
When the fixing step S1100 is completed, the process proceeds to the arrangement step S1200.

Arrangement step S1200 is a step of arranging the automobile 1 at a predetermined position (working position).
In the arrangement step S1200, the automobile 1 is transported to a work position (position where the door 3 is opened) by a transport device (belt conveyor) (not shown), and the transport apparatus stops when the automobile 1 reaches the work position.
If arrangement | positioning process S1200 is complete | finished, it will transfer to relative position detection process S1300.
In the present embodiment, the process moves to the placement process S1200 after the fixing process S1100 is completed, but the present invention is not limited to this. That is, after the arrangement process is completed, the process may be shifted to the fixing process, or the fixing process and the arrangement process may be performed in parallel.

The relative position detection step S1300 is a step of detecting the relative position between the reference surface 136a and the arm side engaging portion 171 based on the detection result of the optical sensor 173.
In the present embodiment, in the relative position detection step S1300, light that is reflected by the reference surface 136a and received by the optical sensor 173 when the arm-side engagement portion 171 is moved in a state where the optical sensor 173 is projected. Based on (reflected light from the reference surface 136a), the relative position between the reference surface 136a (and thus the door 3 to which the door opening / closing jig 110 is fixed) and the arm side engaging portion 171 is detected.
In the following, for convenience, a coordinate system is defined in which the left direction, the front direction, and the upward direction of the automobile 1 when arranged in the correct posture (orientation) at the work position are the positive directions of the X axis, the Y axis, and the Z axis, respectively. The operation of each part of the door opening / closing system 100 in the relative position detection step S1300 will be described using the coordinate system.

As shown in FIG. 11, at the time before the start of the relative position detection step S1300, the hook 172 is held in a posture in which the longitudinal direction is parallel to the vertical direction, and the light projection direction of the optical sensor 173 is downward. The arm side engaging portion 171, more specifically, the center of the front end surface (lower end surface) of the hook 172 (the position through which light emitted from the optical sensor 173 passes on the lower end surface of the hook 172) is disposed at the start position P 0. As described above, the arm side engaging portion 171 is supported by the arm body 176.
The start position P0 is a position on the right side of the automobile 1 when correctly placed at the work position and higher than the body portion of the door 3 attached to the automobile 1 in a closed state (a position corresponding to the window frame of the door 3). ). The coordinates of the start position P0 in this embodiment are (X0, Y0, Z0).

In the relative position detection step S1300, first, the control device 181 transmits a command signal for turning on the light projecting unit 173a to the light projecting unit 173a of the optical sensor 173 in accordance with a program stored in the control device 181. The light projecting unit 173a that has received the command signal generates (projects) light according to the command signal.
Next, in accordance with a program stored in the control device 181, the control device 181 provides a command signal for moving the arm side engagement portion 171 from the start position P 0 to the first direction change position P 2. Send to motor group. The servo motor group that has received the command signal is driven to rotate in accordance with the command signal.
As a result, the arm side engaging portion 171 moves from the start position P0 to the first direction changing position P2 while projecting downward from the tip end (lower end) of the hook 172.

The first direction change position P2 of the present embodiment is the correct position on the door 3 that is mounted in a state where the automobile 1 is placed in the correct posture (orientation) at the work position and the door opening / closing jig 110 is closed to the automobile 1. Is positioned above the reference surface 136a of the positioning plate 136 in a plan view (overlapping the reference surface 136a) and is in the positive direction of the X axis with respect to the start position P0. Set to The coordinates of the first direction change position P2 in this embodiment are (X2, Y0, Z0).
Therefore, when the arm side engaging portion 171 moves from the start position P0 to the first direction changing position P2, the arm side engaging portion 171 passes through the window frame of the door 3 and enters the interior of the automobile 1. Become.

While the arm side engaging portion 171 moves from the start position P0 to the first direction changing position P2, the light projected downward from the tip end (lower end) of the hook 172 crosses the first reference side 136b.
That is, while the arm-side engagement portion 171 moves from the start position P0 to the first direction change position P2, the light projected downward from the tip end (lower end) of the hook 172 is a plan view of the reference surface 136a. The state of irradiation to the outside (state of not irradiating the outside of the reference surface 136a) shifts to the state of irradiation to the reference surface 136a.
The light projected downward from the tip end (lower end) of the hook 172 from the time when the arm side engaging portion 171 starts from the start position P0 until it passes above the first reference side 136b is the reference surface 136a. Is not irradiated or reflected. Therefore, the light receiving intensity detected by the light receiving unit 173b of the optical sensor 173 during this time is weak (small).
The light projected downward from the tip end portion (lower end portion) of the hook 172 until the arm side engaging portion 171 passes over the first reference side 136b and reaches the first direction changing position P2 is The reference surface 136a is irradiated and reflected. Therefore, the light receiving intensity detected by the light receiving unit 173b of the optical sensor 173 during this time becomes stronger (greater than the time from when the hook 172 starts from the start position P0 until it passes above the first reference side 136b). Become).
Accordingly, the arm-side engaging portion 171 has a light receiving intensity detected by the light-receiving portion 173b of the optical sensor 173 while the arm-side engaging portion 171 moves from the start position P0 to the first direction changing position P2. The position corresponds to the position of the arm side engaging portion 171 when the light projected downward from the tip end portion (lower end portion) of the hook 172 crosses the first reference side 136b.

  The control device 181 is based on the respective rotation angles of the servo motor groups provided in the arm body 176 when the received light intensity detected by the light receiving unit 173b of the optical sensor 173 increases according to the program stored in the control device 181. The coordinates (X1, Y0) of the first passing position P1, which is the position of the arm side engaging portion 171 when the light projected downward from the tip end (lower end) of the hook 172 crosses the first reference side 136b. , Z0) is calculated and stored.

Subsequently, according to the program stored in the control device 181, the control device 181 is provided with a command signal for moving the arm-side engagement portion 171 from the first direction change position P <b> 2 to the movement correction position P <b> 4. Send to servo motor group. The servo motor group that has received the command signal is driven to rotate in accordance with the command signal.
As a result, the arm side engaging portion 171 moves from the first direction change position P2 to the movement correction position P4 while projecting downward from the tip end portion (lower end portion) of the hook 172.

  The movement correction position P4 of the present embodiment is correct at the correct position on the door 3 that is mounted in a state where the automobile 1 is in the correct posture (orientation) at the work position and the door opening / closing jig 110 is closed to the automobile 1. When fixed in the posture (orientation), it is not above the reference surface 136a of the positioning plate 136 (does not overlap with the reference surface 136a in plan view) and is negative on the Y axis with respect to the first direction change position P2. Is set to a position in the direction of. The coordinates of the movement correction position P4 in this embodiment are (X2, Y2, Z0).

While the arm side engaging portion 171 moves from the first direction change position P2 to the movement correction position P4, the light projected downward from the tip end (lower end) of the hook 172 crosses the second reference side 136c.
That is, while the arm-side engagement portion 171 moves from the first direction change position P2 to the movement correction position P4, the light projected downward from the tip end (lower end) of the hook 172 is a reference surface 136a in plan view. Shifts from a state irradiated to the reference surface 136a to a state irradiated to the outside of the reference surface 136a (a state where the reference surface 136a is not irradiated).
The light projected downward from the tip end portion (lower end portion) of the hook 172 from when the arm side engaging portion 171 starts from the first direction change position P2 until it passes above the second reference side 136c is The reference surface 136a is irradiated and reflected. Therefore, the light receiving intensity detected by the light receiving unit 173b of the optical sensor 173 during this period is strong (large).
The light projected downward from the tip end portion (lower end portion) of the hook 172 until the arm side engaging portion 171 passes the second reference side 136c and reaches the movement correction position P4 is the reference plane. 136a is not irradiated and is not reflected. Therefore, the light reception intensity detected by the light receiving portion 173b of the optical sensor 173 during this period is from when the arm side engaging portion 171 starts from the first direction change position P2 until it passes above the second reference side 136c. It becomes weaker (smaller) than between.
Therefore, while the arm side engaging portion 171 moves from the first direction change position P2 to the movement correction position P4, the arm side engaging portion 171 when the light receiving intensity detected by the light receiving portion 173b of the optical sensor 173 decreases. This position corresponds to the position of the arm side engaging portion 171 when the light projected downward from the tip end portion (lower end portion) of the hook 172 crosses the second reference side 136c.

  The control device 181 is based on the respective rotation angles of the servo motor groups provided in the arm main body 176 when the received light intensity detected by the light receiving unit 173b of the optical sensor 173 decreases according to the program stored in the control device 181. The coordinates (X2, Y1) of the second passing position P3 that is the position of the arm side engaging portion 171 when the light projected downward from the tip end (lower end) of the hook 172 straddles the second reference side 136c , Z0) is calculated and stored.

In accordance with the program stored in the control device 181, the control device 181 performs the first based on the coordinates (X1, Y0, Z0) of the first passage position P1 and the coordinates (X2, Y0, Z0) of the first direction change position P2. An X coordinate difference δX (= X2−X1) between the direction change position P2 and the first passage position P1 is calculated and stored.
In accordance with the program stored in the control device 181, the control device 181 performs the second operation based on the coordinates (X2, Y0, Z0) of the first direction change position P2 and the coordinates (X2, Y1, Z0) of the second passage position P3. A difference δY (= Y1−Y0) of the X coordinate between the passing position P3 and the first direction changing position P2 is calculated and stored.

The control device 181 is arranged in the correct posture (orientation) at the correct position on the door 3 attached with the door opening / closing jig 110 being closed to the automobile 1 while the vehicle 1 is arranged in the correct posture (orientation) at the work position. The X coordinate difference δX0 between the first direction change position P2 and the first passage position P1 in the case of being fixed, and the vehicle 1 is arranged in the correct posture (orientation) at the work position, and the door opening / closing jig 110 Is the Y coordinate difference δY0 between the second passing position P3 and the first turning position P2 when the door is attached to the door 3 attached to the automobile 1 in the correct position in the correct posture (orientation). Pre-stored.
In accordance with the program stored in the control device 181, the control device 181 determines the X-axis side correction value ΔX (= δX0−δX) as the difference between δX0 and δX and the Y-axis correction value ΔY (= (δY0−δY) are calculated and stored.
The X-axis side correction value ΔX is the correct posture (orientation) in the correct position on the door 3 attached with the door opening / closing jig 110 closed to the automobile 1 while the automobile 1 is arranged in the correct posture (orientation) at the work position. ) Is a value indicating the displacement of the positioning plate 136 and the door 3 in the X-axis direction (left-right direction) when the fixed state is used as a reference.
The Y-axis side correction value ΔY is the correct posture (orientation) at the correct position on the door 3 attached with the door opening / closing jig 110 closed to the automobile 1 while the automobile 1 is arranged in the correct posture (orientation) at the work position. ) Is a value indicating the displacement of the positioning plate 136 and the door 3 in the Y-axis direction (front-rear direction) when the fixed state is used as a reference.

When the automobile 1 is arranged in the correct posture (orientation) at the work position and the door opening / closing jig 110 is fixed in the correct position (orientation) at the correct position on the door 3 attached in a closed state to the automobile 1 The position of the arm side engaging portion 171 located at the movement correction position P4 with respect to the reference surface 136a of the positioning plate 136 (the relative position between the reference surface 136a and the arm side engaging portion 171 located at the movement correction position P4) is unambiguous. Determined.
Further, by correcting the movement correction position P4 using the X-axis side correction value ΔX and the Y-axis side correction value ΔY, the door opening / closing door fixed to the door 3 of the automobile 1 provided for the relative position detection step S1300 is performed. It is possible to uniquely determine (detect) the relative position between the reference surface 136a of the jig 110 and the arm side engaging portion 171 located at the movement correction position P4.
Therefore, the calculation of the X-axis side correction value ΔX and the Y-axis side correction value ΔY by the control device 181 is substantially a door opening / closing operation fixed to the door 3 of the automobile 1 provided for the relative position detection step S1300. This is the same as detecting the relative position between the reference surface 136a of the jig 110 for use and the arm side engaging portion 171 located at the movement correction position P4.
When the relative position detection step S1300 ends, the process proceeds to the release step S1400.

  In the releasing step S1400, “the reference surface 136a of the door opening / closing jig 110 fixed to the door 3 of the automobile 1 and the arm side engaging portion 171 located at the movement correction position P4 detected in the relative position detecting step S1300 are detected. The arm side engaging portion 171 is moved by moving the arm side engaging portion 171 based on the relative position (in this embodiment, strictly speaking, the calculated value of the X axis side correction value ΔX and the Y axis side correction value ΔY). The release portion 141 is brought into contact with the release portion 141 to move the release portion 141 from the “standby position of the release portion 141” to the “release position of the release portion 141” to release the locking of the door 3 to the vehicle body 2 by the locking hook 4. It is a process.

The control device 181 is arranged in the correct posture (orientation) at the correct position on the door 3 attached with the door opening / closing jig 110 being closed to the automobile 1 while the vehicle 1 is arranged in the correct posture (orientation) at the work position. The coordinates (X30, Y30, Z0) of the reference second direction changing position P50, which is the position where the arm side engaging portion 171 starts engaging with the jig side engaging portion 151 when it is fixed, are stored in advance. ing.
In accordance with the program stored in the control device 181, the control device 181 performs the first operation based on the X-axis side correction value ΔX and the Y-axis side correction value ΔY and the coordinates (X30, Y30, Z0) of the reference second direction change position P50. The coordinates (X3, Y3, Z0) of the two-way turning position P5 are calculated and stored.
Here, the coordinates (X3, Y3, Z0) of the second direction change position P5 are positions based on the position at which the arm-side engaging portion 171 starts engaging with the jig-side engaging portion 151 (reference first number). The bi-directional change position P50) is corrected using the X-axis side correction value ΔX and the Y-axis side correction value ΔY, and X3 = X30−ΔX and Y3 = Y30−ΔY are established.

The control device 181 is a servo motor group provided in the arm main body 176 with a command signal for moving the arm side engaging portion 171 from the movement correction position P4 to the second direction changing position P5 in accordance with a program stored in the control device 181. To send to. The servo motor group that has received the command signal is driven to rotate in accordance with the command signal.
As a result, the arm side engaging portion 171 moves from the movement correction position P4 to the second direction change position P5.

The control device 181 is provided with a command signal for moving the arm side engaging portion 171 from the second direction change position P5 to the contact / engagement position P6 according to the program stored in the control device 181. Send to servo motor group. The servo motor group that has received the command signal is driven to rotate in accordance with the command signal.
As a result, the arm side engaging portion 171 moves from the second direction change position P5 to the contact / engagement position P6.
The contact / engagement position P6 in this embodiment is set to a position that is a predetermined distance away from the second direction change position P5 in the negative direction (downward) of the Z axis. The coordinates of the contact / engagement position P6 in this embodiment are (X3, Y3, Z1).

When the arm-side engagement portion 171 moves from the second direction change position P5 to the contact / engagement position P6, the tip (lower end) of the hook 172 of the arm-side engagement portion 171 is located above the contact plate 144. Abutting against the plate surface, the abutting plate 144 is pushed down. As a result, the release unit 141 rotates counterclockwise when viewed from the left side from the “standby position of the release unit 141” illustrated in FIG. 12 to the “release position of the release unit 141” illustrated in FIG.
As shown in FIG. 12, when the release portion 141 is in the “standby position of the release portion 141”, the release bar 148 that forms the rear end portion of the release portion 141 is disposed below the front end portion of the locking hook 4. Therefore, as shown in FIG. 13, when the release portion 141 moves (rotates) to the “release position of the release portion 141”, the release bar 148 comes into contact with the front end portion of the lock hook 4, and the lock hook 4 Will push up the front end of the.
As a result, the locking hook 4 rotates clockwise when viewed from the left side, and the rear end portion of the locking hook 4 is fitted in the locking hole 2a of the vehicle body 2 (that is, the door 3 is locked by the locking hook 4). Is locked to the vehicle body 2).
When the releasing step S1400 is completed, the process proceeds to the lid opening step S1500.

In the lid opening process S1500, the arm-side engagement portion 171 is moved while the arm-side engagement portion 171 (hook 172) is in contact with the release portion 141 and engaged with the jig-side engagement portion 151. It is the process of opening.
The control device 181 sends a command signal to the arm body 176 to move the arm-side engagement portion 171 from the contact / engagement position P6 to the release position P7 (see FIG. 11) in accordance with a program stored in the control device 181. It transmits to the servo motor group provided. The servo motor group that has received the command signal is driven to rotate in accordance with the command signal.
As a result, the arm side engaging portion 171 moves from the contact / engagement position P6 to the release position P7.
The opening position P7 is opposite to the contact / engagement position P6 by a predetermined opening angle φ in plan view with the coordinates of the hinge 3a of the door 3 corrected by the X-axis side correction value ΔX and the Y-axis side correction value ΔY as the center. Set to the position moved clockwise. The coordinates of the open position P7 in this embodiment are (X4, Y4, Z4).
The control device 181 calculates the coordinates of the hinge 3a of the door 3 corrected by the X-axis side correction value ΔX and the Y-axis side correction value ΔY, and the horizontal plane with the calculated coordinates of the hinge 3a of the door 3 as the center. The arm-side engagement portion 171 is moved from the contact / engagement position P6 to the release position P7 along an arcuate path parallel to the (XY plane).

In this embodiment, the distance between the right engagement bar 153 and the left engagement bar 154 and the outer diameter of the hook 172 are substantially the same, and the arm side engagement portion 171 has already been engaged with the jig side when the release step S1400 is completed. It is in a state of being engaged with the joint portion 151.
Therefore, while the arm side engaging portion 171 moves from the contact / engagement position P6 to the release position P7, the arm side engagement portion 171 (hook 172) contacts the release portion 141, and the door 3 is formed by the locking hook 4. Since the state where the engagement with the vehicle body 2 is released is maintained, the engagement hook 4 does not obstruct the opening of the door 3.

When the door opening / closing system 100 is applied to the painting line of the automobile 1, painting of a predetermined position of the vehicle body 2 of the automobile 1 is performed by a painting apparatus (not shown) after the lid opening step S1500 is completed.
After painting by a painting device (not shown), the control device 181 abuts and engages the arm-side engagement portion 171 from the open position P7 (see FIG. 11) according to a program stored in the control device 181. A command signal for moving to the position P6 is transmitted to the servo motor group provided in the arm main body 176. The servo motor group that has received the command signal is driven to rotate in accordance with the command signal.
As a result, the arm side engaging portion 171 moves from the open position P7 to the contact / engagement position P6, and the door 3 is closed.

As described above, the door opening and closing system 100 is
When the door 1 is attached to the vehicle body 2 of the automobile 1 so that it can be opened and closed and is closed, the door 3 locked by the vehicle body 2 is opened and closed by a locking hook 4.
Waiting position where body part 111 detachably fixed at a predetermined position on door 3, reference surface 136 a is formed, positioning plate 136 fixed to body part 111, and locking hook 4 are not contacted And a release portion 141 that can be moved between release positions for releasing the lock of the door 3 (to the vehicle body 2) by the lock hook 4 by contacting the lock hook 4 and a jig fixed to the body portion 111. A door opening and closing jig 110 including a tool side engaging portion 151;
A cylindrical hook 172 that engages with the jig side engaging portion 151, an arm side engaging portion 171 having a sensor (optical sensor 173) accommodated in the hook 172, and the arm side engaging portion 171 are movable. An operation arm 170 including an arm body 176 to be supported;
Based on the detection result of the sensor (optical sensor 173), the relative position between the reference surface 136a and the arm side engaging portion 171 is detected, and based on the detected relative position between the reference surface 136a and the arm side engaging portion 171. Then, the arm-side engagement portion 171 is brought into contact with the contact plate 144 of the release portion 141 to move the release portion 141 from the standby position to the release position, whereby the door 3 is engaged (to the vehicle body 2) by the locking hook 4. The controller 181 opens the door 3 by releasing the stop and moving the arm side engaging portion 171 while the arm side engaging portion 171 contacts the releasing portion 141 and is engaged with the jig side engaging portion 151. When,
It comprises.
This configuration has the following advantages.
That is, the door opening / closing system 100 is provided with the positioning plate 136 on the door opening / closing jig 110 fixed in a predetermined posture at a predetermined position of the door 3 and detects the positioning plate 136 with the optical sensor 173. It is possible to accurately detect the relative position between the positioning plate 136 and the arm-side engaging portion 171, and thus the relative position between the door 3 and the arm-side engaging portion 171 regardless of the shape or color.
Further, since the door opening / closing system 100 is provided with the jig side engaging portion 151 in the door opening / closing jig 110, the arm side engaging portion 171 does not directly touch the door 3 when the door 3 is opened and closed. As a result, breakage of the door 3 and contamination of the surface of the door 3 can be prevented.
Further, since the door opening / closing system 100 is provided with the release portion 141 for releasing the locking hook 4 in the door opening / closing jig 110, the “operation for engaging the arm side engaging portion 171 with the jig side engaging portion 151” is described. ”And“ operation for releasing the locking of the door 3 to the vehicle body 2 by the locking hook 4 ”can be performed as a series of operations, and the work efficiency is good (the time required for opening and closing the door 3 is shortened) Is possible).
Further, the door opening / closing system 100 is arranged on the arm side based on the relative position between the positioning plate 136 detected by the optical sensor 173 and the arm side engaging portion 171, and the relative position between the door 3 and the arm side engaging portion 171. In order to engage the arm side engaging portion 171 with the jig side engaging portion 151 after correcting the moving amount (moving distance) of the engaging portion 171, the door 3 is slightly shifted (from a desired position). Even if it exists, the arm side engaging part 171 can be reliably engaged with the jig side engaging part 151, and the door 3 can be opened and closed.
Further, the door opening / closing system 100 is provided with the optical sensor 173 in the arm side engaging portion 171, so that “the arm side engaging portion 171 for engaging the arm side engaging portion 171 with the jig side engaging portion 151 is used. Can be performed simultaneously and the operation efficiency is improved (the operation of detecting the relative position between the door 3 and the arm-side engagement portion 171). It is possible to reduce the time required to open and close the door 3).

The sensor of the door opening and closing system 100 is an optical sensor 173 that projects and receives light from the tip of the hook 172.
The control device 181
When the arm side engaging portion 171 is moved in a state where the optical sensor 173 is projected, the reference surface 136a and the arm side engaging portion are reflected on the light reflected by the reference surface 136a and received by the optical sensor 173. The relative position with respect to 171 is detected.
With this configuration, the relative position between the reference surface 136a and the arm side engaging portion 171 can be determined without contact in the process of moving the arm side engaging portion 171 to engage the jig side engaging portion 151. It can be detected, and the work efficiency is good (the time required for the work of opening and closing the door 3 can be shortened).

The reference surface 136a formed on the positioning plate 136 of the door opening / closing system 100 is:
A first reference side 136b and a second reference side 136c that are not parallel to each other;
The control device 181
By moving the arm side engaging portion 171 with the optical sensor 173 projecting light, the light projected by the optical sensor 173 is irradiated across the first reference side 136b to the reference surface 136a, and then the second reference The intensity of light received by the optical sensor 173 when the light is irradiated outside the reference surface 136a across the side 136c is detected, and the reference surface 136a and the arm are detected based on the change in the intensity of light received by the optical sensor 173. The relative position with the side engaging portion 171 is calculated.
With this configuration, the reference surface 136a and the arm side engagement in two different directions parallel to the reference surface 136a (in this embodiment, the X-axis direction (left-right direction) and the Y-axis direction (front-rear direction)). It is possible to detect the relative position with the unit 171 with high accuracy.
Further, the arm-side engagement portion 171 can change the relative position between the reference surface 136a and the arm-side engagement portion 171 by performing a single turn on a plane parallel to the reference surface 136a (on the horizontal plane in this embodiment). It is possible to calculate, the movement of the arm side engaging portion 171 can be minimized, and the work efficiency is good (the time required for the work of opening and closing the door 3 can be shortened). .
Further, the direction in which the arm side engaging portion 171 moves until the light projected by the optical sensor 173 is irradiated on the reference surface 136a across the first reference side 136b, and the second reference side 136c. Since the arm-side engaging portion 171 is different from the direction in which the arm-side engaging portion 171 moves before being irradiated to the outside of the reference surface 136a and is not parallel to each other, the load on the mechanism for moving the arm-side engaging portion 171 is small. .
In particular, in this embodiment, the servo motor group provided in the arm main body 176 does not perform the forward rotation → stop → reverse operation within a short time, so the load on the servo motor group and the driving force transmission mechanism (gears, etc.) It is possible to extend the life of these components (to reduce management and maintenance costs).

The second reference side 136c of the reference surface 136a formed on the positioning plate 136 of the door opening / closing system 100 is:
The release portion 141 is disposed at a position adjacent to the contact portion (contact plate 144) with the arm side engagement portion 171 and the jig side engagement portion 151 (in the present embodiment, the second reference side 136c is positioned). The contact plate 144 and the jig-side engagement portion 151 are disposed on the rear side of the reference surface 136a of the plate 136 and behind the positioning plate 136).
With this configuration, when the optical sensor 173 detects the relative position between the positioning plate 136 and the arm-side engaging portion 171 and eventually the relative position between the door 3 and the arm-side engaging portion 171. From the position of the arm side engaging portion 171 (movement correction position P4 in this embodiment), the arm side engaging portion 171 contacts the contact portion (contact plate 144) with the arm side engaging portion 171 and is cured. It is possible to reduce the distance to the position (in this embodiment, the contact / engagement position P6) that engages with the tool side engaging portion 151, and the work efficiency is good (required for the work of opening and closing the door 3). Can save time).

As described above, the door opening / closing jig 110 is
It is attached to the vehicle body 2 of the automobile 1 so as to be openable and closable and used to open and close the door 3 locked to the vehicle body 2 by a locking hook 4 when closed.
A torso portion 111 detachably fixed at a predetermined position of the door 3 in a predetermined posture;
A positioning plate 136 on which a reference surface 136a is formed and fixed to the body portion 111;
A release portion 141 that is movable between a standby position that does not contact the locking hook 4 and a release position that releases the locking of the door 3 (to the vehicle body 2) by the locking hook 4 by contacting the locking hook 4. When,
A jig side engaging portion 151 fixed to the body portion 111;
Comprising
The release unit 141
Arm of the operation arm 170 including a cylindrical hook 172 and an arm side engaging portion 171 having a sensor (optical sensor 173) accommodated in the hook 172, and an arm main body 176 movably supporting the arm side engaging portion 171. When the side engagement portion 171 comes into contact, it moves from the “standby position of the release portion 141” to the “release position of the release portion 141”.
The jig side engaging portion 151 is
The hook 172 can be engaged.
This configuration has the following advantages.
That is, the door opening / closing jig 110 is fixed at a predetermined position on the door 3 in a predetermined posture, and the positioning plate 136 provided on the door opening / closing jig 110 is detected by the optical sensor 173. The relative position between the positioning plate 136 and the arm side engaging portion 171 and the relative position between the door 3 and the arm side engaging portion 171 are detected with high accuracy regardless of the shape or color of the door.
Further, since the door opening / closing jig 110 is provided with the jig side engaging portion 151, the arm side engaging portion 171 does not directly touch the door 3 when performing the opening / closing operation of the door 3. And damage to the surface of the door 3 are prevented.
Further, since the door opening / closing jig 110 is provided with a release portion 141 for releasing the locking hook 4, “operation for engaging the arm side engagement portion 171 with the jig side engagement portion 151” and “ The operation | movement which cancels | releases the latching of the door 3 to the vehicle body 2 by the stop hook 4 "can be performed as a series of operations, and work efficiency is good (it is possible to shorten the time required for the operation | work which opens and closes the door 3). Is).
Further, the arm-side engagement portion 171 moves based on the relative position between the positioning plate 136 and the arm-side engagement portion 171 detected by the optical sensor 173, and thus the relative position between the door 3 and the arm-side engagement portion 171. By correcting the amount (movement distance) and engaging the arm side engaging portion 171 with the jig side engaging portion 151, even if the door 3 is at a position slightly deviated (from a desired position), the arm side It is possible to reliably engage the engaging portion 171 with the jig-side engaging portion 151 and thus open and close the door 3.
Further, by providing the optical sensor 173 in the arm side engaging portion 171, “the arm side engaging portion 171 is engaged with the jig side engaging portion 151 in order to engage the arm side engaging portion 171 with the jig side engaging portion 151. It is possible to simultaneously perform the “operation of approaching the joint portion 151” and the “operation of detecting the relative position between the door 3 and the arm-side engagement portion 171”, and the work efficiency is good (opening and closing the door 3). It is possible to reduce the time required for the work).

The reference surface 136a formed on the positioning plate 136 of the door opening / closing jig 110 is:
The first reference side 136b and the second reference side 136c are not parallel to each other.
With this configuration, the reference surface 136a and the arm side engagement in two different directions parallel to the reference surface 136a (in this embodiment, the X-axis direction (left-right direction) and the Y-axis direction (front-rear direction)). It is possible to detect the relative position with the unit 171 with high accuracy.
Further, the arm-side engagement portion 171 can change the relative position between the reference surface 136a and the arm-side engagement portion 171 by performing a single turn on a plane parallel to the reference surface 136a (on the horizontal plane in this embodiment). It is possible to calculate, the movement of the arm side engaging portion 171 can be minimized, and the work efficiency is good (the time required for the work of opening and closing the door 3 can be shortened). .
Further, the direction in which the arm side engaging portion 171 moves until the light projected by the optical sensor 173 is irradiated on the reference surface 136a across the first reference side 136b, and the second reference side 136c. Since the arm-side engaging portion 171 is different from the direction in which the arm-side engaging portion 171 moves before being irradiated to the outside of the reference surface 136a and is not parallel to each other, the load on the mechanism for moving the arm-side engaging portion 171 is small. .
In particular, in this embodiment, the servo motor group provided in the arm main body 176 does not perform the forward rotation → stop → reverse operation within a short time, so the load on the servo motor group and the driving force transmission mechanism (gears, etc.) It is possible to extend the life of these components (to reduce management and maintenance costs).

The second reference side 136c of the reference surface 136a formed on the positioning plate 136 of the door opening / closing jig 110 is:
The release portion 141 is disposed at a position adjacent to the contact portion (contact plate 144) with the arm side engagement portion 171 and the jig side engagement portion 151 (in the present embodiment, the second reference side 136c is positioned). The contact plate 144 and the jig-side engagement portion 151 are disposed on the rear side of the reference surface 136a of the plate 136 and behind the positioning plate 136).
With this configuration, when the optical sensor 173 detects the relative position between the positioning plate 136 and the arm-side engaging portion 171 and eventually the relative position between the door 3 and the arm-side engaging portion 171. From the position of the arm side engaging portion 171 (movement correction position P4 in this embodiment), the arm side engaging portion 171 contacts the contact portion (contact plate 144) with the arm side engaging portion 171 and is cured. It is possible to reduce the distance to the position (in this embodiment, the contact / engagement position P6) that engages with the tool side engaging portion 151, and the work efficiency is good (required for the work of opening and closing the door 3). Can save time).

As described above, one embodiment of the lid opening / closing method according to the present invention is as follows.
A fuselage which is detachably fixed to a predetermined position of the door 3 at a predetermined position of the door 3, which is attached to the vehicle body 2 of the automobile 1 so as to be openable and closable and is closed by a locking hook 4. Portion 111, reference surface 136 a is formed, positioning plate 136 fixed to body portion 111, standby position not in contact with locking hook 4, and contact of locking hook 4 to contact door 3 with locking hook 4. The door opening / closing jig 110 including the release portion 141 movable between the release positions for releasing the locking, the jig side engagement portion 151 fixed to the body portion 111, and the jig side engagement portion 151 An arm side engaging portion 171 having a cylindrical hook 172 to be engaged and a sensor (optical sensor 173) accommodated in the hook 172, and an arm movably supporting the arm side engaging portion 171. An operating arm 170 with a beam body 176, a method for opening and closing with,
A fixing step S1100 for detachably fixing the door opening / closing jig 110 to a predetermined position of the door 3 in a predetermined posture;
An arrangement step S1200 for arranging the automobile 1 at a predetermined position;
A relative position detection step S1300 for detecting a relative position between the reference surface 136a and the arm side engaging portion 171 based on a detection result of the sensor (optical sensor 173);
By moving the arm-side engagement portion 171 based on the detected relative position between the reference surface 136a and the arm-side engagement portion 171, the arm-side engagement portion 171 is moved to the release portion 141 (in this embodiment, the contact position). The release portion 141 is moved from the “standby position of the release portion 141” to the “release position of the release portion 141” so that the door 3 is locked (to the vehicle body 2) by the locking hook 4. Canceling step S1400 to cancel,
A lid opening step S1500 for opening the door 3 by moving the arm side engaging portion 171 while the arm side engaging portion 171 is in contact with the releasing portion 141 and engaged with the jig side engaging portion 151;
It comprises.
This configuration has the following advantages.
That is, according to an embodiment of the lid opening / closing method of the present invention, the positioning plate 136 is provided on the door opening / closing jig 110 fixed to a predetermined position of the door 3 in a predetermined posture, and the positioning plate 136 is used as an optical sensor. Therefore, the relative position between the positioning plate 136 and the arm side engaging portion 171 and the relative position between the door 3 and the arm side engaging portion 171 are detected with high accuracy regardless of the shape or color of the door 3. It is possible.
Further, in the embodiment of the lid opening / closing method according to the present invention, since the jig side engaging portion 151 is provided in the door opening / closing jig 110, the arm side engaging portion 171 is provided when the door 3 is opened and closed. Without touching the door 3 directly, it is possible to prevent damage to the door 3 and contamination of the surface of the door 3.
In addition, according to an embodiment of the lid opening / closing method of the present invention, the door opening / closing jig 110 is provided with a release portion 141 for releasing the locking hook 4, so that “the arm side engagement portion 171 is connected to the jig side engagement”. The operation of engaging the joint 151 and the operation of releasing the locking of the door 3 to the vehicle body 2 by the locking hook 4 can be performed as a series of operations, and work efficiency is good (the door 3 is It is possible to shorten the time required for opening and closing work).
Further, according to an embodiment of the lid opening / closing method of the present invention, the relative position between the positioning plate 136 and the arm side engaging portion 171 detected by the optical sensor 173, that is, the door 3 and the arm side engaging portion 171. In order to engage the arm side engaging portion 171 with the jig side engaging portion 151 after correcting the movement amount (movement distance) of the arm side engaging portion 171 based on the relative position of the Even at a position slightly deviated from the position, the arm side engaging portion 171 can be reliably engaged with the jig side engaging portion 151, and the door 3 can be opened and closed.
Further, according to an embodiment of the lid opening / closing method of the present invention, since the optical sensor 173 is provided in the arm side engaging portion 171, “the arm side engaging portion 171 is engaged with the jig side engaging portion 151. Therefore, it is possible to simultaneously perform the “operation for bringing the arm side engagement portion 171 closer to the jig side engagement portion 151” and the “operation for detecting the relative position between the door 3 and the arm side engagement portion 171”. Therefore, the work efficiency is good (it is possible to shorten the time required to open and close the door 3).

The sensor in one embodiment of the lid opening / closing method according to the present invention is an optical sensor 173 that projects and receives light from the tip of the hook 172,
In the relative position detection step S1300,
When the arm side engaging portion 171 is moved in a state where the optical sensor 173 is projected, the reference surface 136a and the arm side engaging portion are reflected on the light reflected by the reference surface 136a and received by the optical sensor 173. The relative position with respect to 171 is detected.
With this configuration, the relative position between the reference surface 136a and the arm side engaging portion 171 can be determined without contact in the process of moving the arm side engaging portion 171 to engage the jig side engaging portion 151. It can be detected, and the work efficiency is good (the time required for the work of opening and closing the door 3 can be shortened).

Further, the reference surface 136a of the door opening / closing jig 110 used in the embodiment of the lid opening / closing method according to the present invention is:
A first reference side 136b and a second reference side 136c that are not parallel to each other;
In the relative position detection step S1300,
By moving the arm side engaging portion 171 with the optical sensor 173 projecting light, the light projected by the optical sensor 173 is irradiated across the first reference side 136b to the reference surface 136a, and then the second reference The intensity of light received by the optical sensor 173 when the light is irradiated outside the reference surface 136a across the side 136c is detected, and the reference surface 136a and the arm are detected based on the change in the intensity of light received by the optical sensor 173. The relative position with the side engaging portion 171 is calculated.
With this configuration, the reference surface 136a and the arm side engagement in two different directions parallel to the reference surface 136a (in this embodiment, the X-axis direction (left-right direction) and the Y-axis direction (front-rear direction)). It is possible to detect the relative position with the unit 171 with high accuracy.
Further, the arm-side engagement portion 171 can change the relative position between the reference surface 136a and the arm-side engagement portion 171 by performing a single turn on a plane parallel to the reference surface 136a (on the horizontal plane in this embodiment). It is possible to calculate, the movement of the arm side engaging portion 171 can be minimized, and the work efficiency is good (the time required for the work of opening and closing the door 3 can be shortened). .
Further, the direction in which the arm side engaging portion 171 moves until the light projected by the optical sensor 173 is irradiated on the reference surface 136a across the first reference side 136b, and the second reference side 136c. Since the arm-side engaging portion 171 is different from the direction in which the arm-side engaging portion 171 moves before being irradiated to the outside of the reference surface 136a and is not parallel to each other, the load on the mechanism for moving the arm-side engaging portion 171 is small. .
In particular, in this embodiment, the servo motor group provided in the arm main body 176 does not perform the forward rotation → stop → reverse operation within a short time, so the load on the servo motor group and the driving force transmission mechanism (gears, etc.) It is possible to extend the life of these components (to reduce management and maintenance costs).

The second reference side 136c of the door opening / closing jig 110 used in the embodiment of the lid opening / closing method according to the present invention is:
The release portion 141 is disposed at a position adjacent to the contact portion (contact plate 144) with the arm side engagement portion 171 and the jig side engagement portion 151 (in the present embodiment, the second reference side 136c is positioned). The contact plate 144 and the jig-side engagement portion 151 are disposed on the rear side of the reference surface 136a of the plate 136 and behind the positioning plate 136).
With this configuration, when the optical sensor 173 detects the relative position between the positioning plate 136 and the arm-side engaging portion 171 and eventually the relative position between the door 3 and the arm-side engaging portion 171. From the position of the arm side engaging portion 171 (movement correction position P4 in this embodiment), the arm side engaging portion 171 contacts the contact portion (contact plate 144) with the arm side engaging portion 171 and is cured. It is possible to reduce the distance to the position (in this embodiment, the contact / engagement position P6) that engages with the tool side engaging portion 151, and the work efficiency is good (required for the work of opening and closing the door 3). Can save time).

As shown in FIG. 12, the release portion 141 of the door opening / closing jig 110 according to the present embodiment does not come into contact with the locking hook 4 when placed in the “standby position of the release portion 141”. The standby position of the release portion of the lid opening / closing jig is not limited to this, and the release portion is in contact with the locking member as long as the locking member can hold the state where the lid member is locked to the main body member. Even so, it is possible to set this as the standby position.
That is, the release position according to the present invention is not limited to a position where the release portion is not physically in contact with the locking member (the release portion is separated from the locking member), or even when the release portion is in contact with the locking member. A position where the locking member does not hinder the state where the lid member is locked to the main body member is also included.

  As shown in FIGS. 12 and 13, the release portion 141 of the door opening / closing jig 110 according to the present embodiment changes its posture by rotating, and such a change in posture also occurs between the standby position and the release position. Included in the move.

In the present embodiment, the case where the door 3 of the automobile 1 in a stationary state is opened and closed has been described. However, the present invention is not limited to this, and the present invention is also applicable when the object is moving at a predetermined speed. .
For example, when opening and closing a door of a car being transported by a transport device, an operation arm is provided along the transport path of the car by the transport device, and the operation arm is moved parallel to the transport path and at the same speed as the transport speed of the car. It should be possible.

1 car (object)
2 Body (main body member)
3 Door (lid member)
4 Locking hook (locking member)
100 Door opening and closing system (lid opening and closing system)
110 Door opening and closing jig (lid opening and closing jig)
111 Body part 136 Positioning plate (positioning part)
136a Reference surface 136b First reference side 136c Second reference side 141 Release part 151 Jig side engagement part 170 Operation arm 171 Arm side engagement part 172 Hook 173 Optical sensor 176 Arm main body 181 Control device

Claims (11)

A lid opening and closing system that opens and closes a lid member that is locked to the body member by a locking member when the lid is attached to the body member of the object so as to be opened and closed,
A body portion that is detachably fixed at a predetermined position on the lid member, a positioning portion that is formed with a reference surface and is fixed to the body portion, a standby position that does not contact the locking member, and A lid provided with a release portion movable between release positions for releasing the lock of the lid member by the lock member by contacting the lock member, and a jig side engagement portion fixed to the body portion An opening and closing jig;
An operation arm including a cylindrical hook that engages with the jig-side engagement portion, an arm-side engagement portion having a sensor accommodated in the hook, and an arm body that movably supports the arm-side engagement portion. When,
A relative position between the reference surface and the arm side engaging portion is detected based on a detection result of the sensor, and the arm side engagement is determined based on the detected relative position between the reference surface and the arm side engaging portion. By bringing the joint part into contact with the release part, the release part is moved from the standby position to the release position to release the locking of the lid member by the locking member, and the arm side engaging part is A control device that opens the lid member by moving the arm side engaging portion in a state of contacting the release portion and engaging the jig side engaging portion;
A lid opening and closing system. The sensor is an optical sensor that projects and receives light from the tip of the hook,
The control device includes:
The reference surface and the arm side engagement based on the light reflected by the reference surface and received by the optical sensor when the arm side engaging portion is moved in a state where the optical sensor is projected. The lid opening / closing system according to claim 1, wherein the lid opening / closing system detects a relative position to the unit. The reference plane is
Having a first reference side and a second reference side that are not parallel to each other;
The control device includes:
The arm-side engaging portion is moved in a state where the optical sensor projects, thereby causing the light projected by the optical sensor to irradiate the reference surface across the first reference side, and then the second Detecting the intensity of light received by the optical sensor when irradiated outside the reference surface across a reference side, and based on a change in the intensity of light received by the optical sensor, the reference surface and the The lid opening / closing system according to claim 2, wherein a relative position with respect to the arm side engaging portion is calculated. The second reference side is
The lid opening / closing system according to claim 3, wherein the lid opening / closing system is disposed at a position adjacent to the contact portion of the release portion with the arm side engagement portion and the jig side engagement portion. A lid opening / closing jig used for opening and closing a lid member that is locked to the body member by a locking member when the object is attached to the body member so as to be opened and closed and closed.
A body part that is detachably fixed to a predetermined position of the lid member in a predetermined posture;
A positioning part formed with a reference surface and fixed to the body part;
A release portion that is movable between a standby position that does not contact the locking member and a release position that releases the locking of the lid member by the locking member by contacting the locking member;
A jig side engaging portion fixed to the body portion;
Comprising
The release unit is
The arm side engaging portion of the operation arm having a cylindrical hook and an arm side engaging portion having a sensor housed in the hook and an arm main body movably supporting the arm side engaging portion comes into contact with each other. Move from the standby position to the release position;
The jig side engaging portion is
A lid opening / closing jig that can be engaged with the hook. The reference plane is
The lid opening / closing jig according to claim 5, having a first reference side and a second reference side that are not parallel to each other. The second reference side is
The lid opening / closing jig according to claim 6, wherein the lid opening / closing jig is disposed at a position adjacent to a contact portion of the release portion with the arm side engagement portion and the jig side engagement portion. A lid member that is attached to the main body member of the object so as to be openable and closable and is closed by the locking member by the locking member is detachably fixed at a predetermined position of the lid member in a predetermined posture. A body part, a positioning part formed with a reference surface and fixed to the body part, a standby position not in contact with the locking member, and engagement of the lid member by the locking member by contacting the locking member A release part movable between release positions for releasing the stop, a lid opening / closing jig provided with a jig side engagement part fixed to the body part, and a cylinder engaged with the jig side engagement part A lid-opening / closing method using an arm-side engagement portion having a hook-like hook and a sensor housed in the hook, and an operation arm having an arm body that movably supports the arm-side engagement portion. And
A fixing step of detachably fixing the lid opening / closing jig to a predetermined position of the lid member in a predetermined posture;
An arrangement step of arranging the object at a predetermined position;
A relative position detecting step for detecting a relative position between the reference surface and the arm side engaging portion based on a detection result of the sensor;
The arm-side engagement portion is brought into contact with the release portion by moving the arm-side engagement portion based on the detected relative position between the reference surface and the arm-side engagement portion. Moving from the standby position to the release position, and releasing the locking of the lid member by the locking member;
A lid opening step of opening the lid member by moving the arm side engagement portion in a state where the arm side engagement portion is in contact with the release portion and engaged with the jig side engagement portion;
A lid opening and closing method. The sensor is an optical sensor that projects and receives light from the tip of the hook,
In the relative position detection step,
The reference surface and the arm side engagement based on the light reflected by the reference surface and received by the optical sensor when the arm side engaging portion is moved in a state where the optical sensor is projected. The lid opening / closing method according to claim 8, wherein a relative position with respect to the part is detected. The reference plane is
Having a first reference side and a second reference side that are not parallel to each other;
In the relative position detection step,
The arm-side engaging portion is moved in a state where the optical sensor projects, thereby causing the light projected by the optical sensor to irradiate the reference surface across the first reference side, and then the second Detecting the intensity of light received by the optical sensor when irradiated outside the reference plane across a reference side, and based on a change in intensity of light received by the optical sensor, the reference plane and the The lid opening / closing method according to claim 9, wherein a relative position with respect to the arm side engaging portion is calculated. The second reference side is
The lid opening / closing method according to claim 10, wherein the lid is disposed at a position adjacent to the abutment portion of the release portion with the arm side engagement portion and the jig side engagement portion.

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