JP2539337Y2 - Door opening and closing jig - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial application field> The present invention relates to a door opening / closing jig which is attached to a manipulator and automatically opens and closes a door in the middle of a vehicle assembly line.

<Conventional Technology> In a monocoque type vehicle, most of various sheet metal panels forming the vehicle body are spot-welded, and particularly, seam welding is performed only at locations where water tightness is required, thereby assembling the vehicle body. For this reason, a small gap is formed in the joint portion by spot welding that does not require much water tightness, and water droplets are easily held by capillary action, which is a problem in terms of rust prevention. A sealant is applied to seal the body panel.

For example, as shown in FIG. 6 showing a cross-sectional structure of a joint portion between a roof rail and a roof panel, a roof rail outer 1 and a roof panel inner 2 are integrated with each other by spot welding via a drip channel 3. The upper edge of the door panel inner 5 is pressed against the weather strip 4 attached to the tip of the drip channel 3. The opening / closing operation of the door panel 6 causes a slight deformation at the joint portion between the roof rail outer 1 and the drip channel 3, and there is a possibility that water drops may enter the roof rail outer 1 and the drip channel 3. A sealant 7 is applied along the joint.

Usually, the application of the sealant 7 is performed in a process after the door panel 6 is mounted on the vehicle body, and since the door panel 6 covers the application portion of the sealant 7, the worker applies the sealant 7 to the booth. After the door panel 6 of the vehicle carried in is opened, the sealant 7 is applied along the joint between the roof rail outer 1 and the drip channel 3, then the door panel 6 is closed again and the vehicle is sent to the next work booth. .

<Problems to be solved by the invention> In recent years, it has been considered that vehicle assembly work has been automated to reduce the physical burden on workers and at the same time to greatly improve work efficiency, thereby reducing vehicle manufacturing costs. ing.

From such a viewpoint, when considering the application of the sealant 7 along the joint between the roof rail outer 1 and the drip channel 3 shown in FIG. 6, it is necessary to automate the operation of opening and closing the door panel 6 together. is there. In this case, a problem is that a vehicle having a different specification or structure such as the number of doors is randomly sent into the vehicle assembly line, so that the door panel 6 can be opened and closed regardless of such a vehicle type. It is desirable.

<Purpose of the invention> The present invention provides a simple door opening and closing operation that can automatically open and close the door panel even if vehicles with different specifications and structures such as the number of doors are sent into the assembly line. It is intended to provide a jig for use.

<Means for Solving the Problems> The door opening / closing jig according to the present invention is a jig fixed to a jig mounting portion of a manipulator that can rotate around a vertical axis and move up and down along the vertical axis. Tool main body, a pair of turning props attached to the front and rear ends of the jig main body so as to be rotatable around respective vertical axes, and a door panel extending horizontally from upper ends of these turning props, respectively, and being operated by the manipulator. A pair of beams that can penetrate through the openings, a pair of first door opening / closing blocks that are respectively attached to the distal ends of the beams downward and that can contact the door panel, and are substantially opposed to the first door opening / closing blocks. A pair of second door opening / closing blocks which are respectively attached to the front and rear ends of the jig body so as to contact the door panel, and the jig body and the pair of second doors. When the pair of first door opening / closing blocks is provided between the supporting column and the pair of first door opening / closing blocks through the opening of the door panel, the turning positions of the pair of turning columns with respect to the jig body are independently restrained. On the other hand, when the door panel is opened and closed by the pair of first door opening / closing blocks and the pair of second door opening / closing blocks, the turning positions of the pair of turning columns with respect to the jig body are independently released. And a pair of turning restraint means.

<Operation> When the vehicle is sent in, the turning restraint device operates according to the specifications of the door of the vehicle. That is, when the vehicle is a four-door vehicle, the turning of the turning strut corresponding to the pair of beams sent into the opening of the door panel is restrained, and the pair of beams face the opening of the door panel. On the other hand, when the vehicle is a two-door vehicle, the turning strut corresponding to the front beam sent into the opening of the door panel is restrained, while the turning strut corresponding to the rear beam is free without restraint. Only the front beam is directly opposed to the opening of the door panel. In this state, the manipulator is actuated, and the first door opening / closing block on the front end side of the beam is sent into the vehicle interior from the opening of the door panel. Inserted in
In the case of a door car, only the front first door opening / closing block is inserted into the vehicle interior, and the rear first door opening / closing block abuts the vehicle body panel and retreats and turns the beam.

Then, after the manipulator is actuated to lower the jig main body, the turning restraint of each turning column is released to be in a free state. In this state, when the manipulator is operated so that the jig body is separated from the vehicle body, each first door opening / closing block in the vehicle cabin comes into contact with the inside of the door panel, and the door is opened while holding the door panel.

After the work is completed, to close the door panel, when the manipulator is actuated from this state so that the jig body approaches the vehicle body, each second door opening / closing block comes into contact with the outside of the door panel, and while holding this door panel, The door is closed. Alternatively, the first door opening / closing block may be pulled out from the door panel by operating the manipulator, and the door closing operation may be performed while pushing the outside of the door panel by the first door opening / closing block.

<Embodiment> As shown in FIG. 1 showing a plan view and FIG. 2 showing a side view of an embodiment in which a door opening / closing jig according to the present invention is applied to a sealant application booth in a vehicle assembly line, Multiple types of vehicles with different specifications and structures such as the number of doors
In the middle of an assembly line 12 that randomly transports 11 according to a preset production plan, the roof rail of this vehicle 11
Along the line 13 is provided a sealing work station 14 for applying a sealant. 1 and 2 show an example in which a five-door vehicle 11 having a tailgate 15 is carried in.

A locator (not shown) for positioning the vehicle 11 at the sealing work station 14 is installed at the sealing work station 14, and the vehicle 11 is mounted on the locator. Also, this locator has a sealing work station
A shuttle conveyor (not shown) for transferring the vehicle 11 located at 14 to the next work station is mounted.
The shuttle conveyor includes a loading device (not shown) for loading the vehicle 11 from the upstream side (the right side in the figure) of the assembly line 12 to the sealing work station 14 and the vehicle 11 from the next work station to the downstream side of the assembly line 12 (the figure). , Left side) and operates in synchronism with an unillustrated unloading device that unloads the
The upper vehicles 11 are all moved at the same time.

On both sides of the assembly line 12, a horizontal articulated manipulator 18 for opening and closing a front door panel 16 and a rear door panel 17 pivotally attached to the vehicle 11, and a sealant 6 for applying a sealant along a roof rail 13 of the vehicle 11 are provided. A shaft multi-joint manipulator 19 is installed, and the horizontal multi-joint manipulator 18 and the six-axis multi-joint manipulator 19 perform operations pre-taught according to the specifications of the vehicle 11 loaded into the sealing work station 14. Has become.

The horizontal articulated manipulator 18 of the present embodiment has two swing arms 20 and 21 that can swing horizontally, respectively.
A jig main body 23 of the door opening / closing jig of the present invention is fixed to an elevating cylinder 22 mounted on the tip of a turning arm 21 on the tip side so as to be able to go up and down. Also, the 6-axis articulated manipulator 19
Is a main arm 24 that can pivot about a vertical axis and swing about a horizontal axis, and an upper arm 25 that can swing about a horizontal axis with respect to the main arm 24 and reciprocate in the longitudinal direction. And a hand portion 26 at the distal end of the upper arm 25 that is rotatable around an axis along the longitudinal direction of the upper arm 25 and rotatable around an axis perpendicular thereto. A sealant discharge gun is installed.

FIG. 3 showing the front shape of the door opening / closing jig of this embodiment attached to the upper end of the lifting cylinder 22 and FIGS. 4 and 3 showing the bottom shape thereof, and a sectional view taken along the line VV in FIG. As shown in FIG. 5, a lifting cylinder is provided at the center of the bottom surface of the jig body 23 extending along the assembly line 12.
A coupling flange portion 27 for fixing the jig main body 23 is provided at an upper end of a piston rod (not shown) of the 22.

At the front and rear ends of the jig body 23, a cylindrical column 29 having a support ring 28 fitted at the upper end is fixed vertically upward via a flange plate 30. The base end of a horizontally extending beam 32 is integrally fixed via a bracket 33 to the upper end of a turning column 31 that passes vertically through the column 29 and the jig body 23. The bracket 33 and the support ring 28
A thrust metal 34 is interposed therebetween, and a bearing metal 35 is interposed between the turning column 29, the support ring 28 and the flange plate 30, respectively. Therefore, the turning column 31 is rotatable with respect to the column 29 together with the beam 32.

A roller support bolt 38 that rotatably supports a rubber roller 37 via a bearing 36 at the lower end is provided at the tip of the beam 32.
Is screwed, and a rubber roller similar to this rubber roller 37 is used.
39 is attached to the column 29 via a roller support bracket 40. The rubber panels 37, 39, which are the first and second door opening / closing blocks of the present invention, allow the door panels 16, 17 to be opened.
Are loosely held from the inside and the outside, respectively. In this case, since openings for various operations are formed on the inner side of the door panels 16 and 17, the rubber rollers
It is desirable to set the mounting height of 37 at a position where there is no opening. In addition, since the rubber roller 37 needs to be fed into the vehicle cabin through the openings 41 of the door panels 16 and 17 together with the roller support bolts 38 and the like, these height dimensions are set to the door panel 1.
It must be set smaller than the height dimension of the openings 41 of 6,17.

A swivel lever 42 is integrally fixed to the lower end of the swivel support 31, and the beam integrated with the swivel lever 42 is
A pair of stoppers 43 and 44 for restricting the turning range of 32 are fixed to clamp pin guide plates 45 joined to the front and rear ends of the bottom surface of the jig body 23, respectively. Thereby, in this embodiment, the beam 32 can be turned in the range of 45 degrees between the position indicated by the solid line and the position indicated by the two-dot chain line in FIG.

The clamp pin guide plate 45 has a long hole 46 formed along the longitudinal direction of the jig body 23, and a lock pin 47 slidably engaged with the long hole 46 is provided in the jig body. It is fixed to the tip of a piston rod 49 of a clamp cylinder 48 installed on 23. The swivel lever 42 is located between the lock pin 47 and the one stopper 43. Therefore, the lock pin 47 is moved to the one stopper 43 side (left side in FIG. 4) by the operation of the clamp cylinder 48. Then, the turning lever 42 is clamped between the one stopper 43 and the lock pin 47, and is fixed in a standby posture state indicated by a solid line in the drawing. Conversely, when the lock pin 47 moves in a direction away from the one stopper 41 due to the operation of the clamp cylinder 48, the turning lever 42 is in a door opening and closing posture in which the turning is free. That is, in the present embodiment, the turning lever 42, the stopper 43, the lock pin 47, the clamp cylinder 48, and the like constitute the turning restraining means of the present invention.

It should be noted that a well-known mechanism other than the above-described embodiment can be naturally used for the turning mechanism of the turning column 31 and the turning restraining means.

When the vehicle 11 is carried into the sealing work station 14,
The position of the distal end of the turning arm 21 of the horizontal articulated manipulator 18 is adjusted such that the rubber roller 37 and the roller support bolt 38 of the door opening / closing jig in the standby posture face the openings 41 of the door panels 16 and 17, respectively. You. This operation is automatically performed based on a preset value preset according to the vehicle 11 carried into the sealing work station 14.
At this time, the piston rod (not shown) of the lifting / lowering cylinder 22 is in the extended state and pushes the door opening / closing jig upward.

Next, the turning arm 21 of the horizontal articulated manipulator 18 makes a turning movement, and as shown by a two-dot chain line in FIG.
Is sent into the vehicle cabin through the openings 41 of the door panels 16 and 17, and then the piston rod of the lifting / lowering cylinder 22 is pulled back to lower the door opening / closing jig. As a result, the pair of rubber rollers 37, 39 are opposed to each other across the door panels 16, 17.

Thereafter, the clamp cylinder 48 is operated to lock the lock pin.
As a result of 47 moving in the direction away from one stopper 41,
The swivel column 31 integrated with the swivel lever 42 is in a door opening and closing posture in which the swivel is free. In this state, when the turning arm 21 of the horizontal articulated manipulator 18 turns again so as to separate the jig main body 23 from the vehicle 11, the rubber roller 37 moves the inner side of the door panels 16 and 17 as shown by a solid line in FIG. The beam 32 pivots and opens the door panels 16 and 17 while rotating.

After opening the door panels 16 and 17 of the vehicle 11 in this manner, the six-axis articulated manipulator 19 which has been in a standby state until now is provided.
Starts to operate, and the sealant is applied to the seal location along the roof rail 13 of the vehicle 11 by the sealant discharge gun. This operation is also stored in advance by the teaching operation.

When the application of the sealant is completed, the 6-axis multi-joint manipulator 19 is again shifted to the standby state shown by the solid line in FIG. 23 is brought closer to the vehicle 11 side.
As a result, the rubber rollers 39 press against the outer sides of the door panels 16 and 17, and return the door panels 16 and 17 from the open state shown by the solid line to the closed state shown by the two-dot chain line in FIG.

Thereafter, the clamp cylinder 48 is operated again to move the lock pin 47 to the one stopper 43 side, and the turning lever 42
Is fixed in the standby state by being sandwiched between the one stopper 43 and the lock pin 47. Then, the piston rod of the lifting / lowering cylinder 22 extends again, pushes the door opening / closing jig upward, and furthermore, the turning arm 21 of the horizontal articulated manipulator 18 makes a turning motion, and the tip side of the beam 32 is moved to the door panels 16 and 1.
Pull it out of the car from the opening 41 of 7.

After returning to the state before the work in this way, the vehicle 11 is sent to the next work station by a shuttle conveyor (not shown), and at the same time, a new vehicle 11 is sent to the seal work station 14.

By the way, when the vehicle 11 of the two-door type or the like without the rear door panel 17 is carried into the sealing work station 14, the turning column 42 integrated with the turning lever 42 corresponding to the rear door panel 17, Clamp cylinder corresponding to this, so that the door can be freely opened and closed
48 operates to move the lock pin 47 in a direction away from the one stopper 43.

Thereby, the turning arm of the horizontal articulated manipulator 18
When the swivel 21 moves and the leading end of the beam 32 is sent into the vehicle interior from the opening 41 of the door panel 16, the rubber roller 37 attached to the leading end of the beam 32 corresponding to the rear door panel 17 is attached to the vehicle body 11. No inconvenience occurs because the beam 32 automatically retreats and turns in contact.

In this embodiment, the door is opened and closed for sealing work. However, it is obvious that the present invention can be applied to the case where the door is opened and closed for outfitting work in a vehicle interior.

<Effects of the Invention> According to the door opening / closing jig of the present invention, a pair of turning struts are attached to the front and rear ends of the jig body so as to be pivotable about a vertical axis, and extend horizontally from the upper ends of these turning struts. In addition, a pair of first door opening / closing blocks capable of abutting on the door panel are mounted on the distal ends of a pair of beams that can penetrate the opening of the door panel by the operation of the manipulator, and the first
A pair of second door opening / closing blocks capable of abutting on a door panel are attached to the front and rear ends of the jig body so as to substantially face the door opening / closing block, and the first door opening / closing is provided between the jig body and each of the turning columns. When the door block is inserted into the passenger compartment from the opening of the door panel, the turning position of the turning column is independently restricted, and when the door panel is opened and closed by the first and second door opening / closing blocks, the turning position of the turning column is restricted. A pair of turning restraint means to independently release the door panel, so that even if vehicles with different specifications and structures such as the number of doors are sent into the assembly line, it is possible to automatically open and close the door panel became.

[Brief description of the drawings]

FIG. 1 is a plan view of an embodiment in which a door opening / closing jig according to the present invention is applied to a sealant application booth in a vehicle assembly line, FIG. 2 is a side view thereof, and FIG. FIG. 4 is a bottom view of the jig, FIG. 5 is a cross-sectional view taken along the line VV in FIG. 3, and FIG. 6 is an example of a joint between a roof rail and a roof panel of a vehicle. FIG. Also, in the figure, reference numeral 11 is a vehicle, 12 is an assembly line, 14 is a sealing work station, 16 is a front door panel, 17 is a rear door panel, 18 is a horizontal articulated manipulator, 19 is a 6-axis articulated manipulator, and 22 is lifting and lowering Cylinder, 23 is a jig body, 28 is a support ring, 29 is a column, 31 is a swivel support, 32 is a beam, 37 and 39 are rubber rollers, 38 is a roller support bolt, 4
0 is a roller support bracket, 41 is an opening, 42 is a turning lever, 43 and 44 are stoppers, 45 is a clamp pin guide plate, 46 is a long hole, 47 is a lock pin, and 48 is a clamp cylinder.

Claims (1)

(57) [Scope of request for utility model registration] 1. A jig main body fixed to a jig jig mounting portion of a manipulator that can rotate around a vertical axis and move up and down along the vertical axis, and front and rear ends of the jig main body. A pair of swiveling struts each rotatably mounted around a vertical axis, and a pair of beams extending horizontally from the upper ends of these swiveling struts, respectively, and capable of penetrating through the opening of the door panel by the operation of the manipulator, A pair of first door opening / closing blocks which are respectively attached to the distal ends of these beams downward and can contact the door panel,
A pair of second door opening / closing blocks which are respectively attached to the front and rear ends of the jig main body so as to substantially oppose the first door opening / closing blocks and which can come into contact with the door panel;
When the pair of first door opening / closing blocks are provided between the jig main body and the pair of turning columns and are inserted into the vehicle interior from the opening of the door panel, the pair of turning columns with respect to the jig main body. When the door panels are opened and closed by the pair of first door opening / closing blocks and the pair of second door opening / closing blocks while the pair of turning columns are independently restrained, the pair of turning columns are fixed to the jig body. A door opening / closing jig provided with a pair of turning restraint means for independently releasing the turning position restraint.