JP2697516B2 - Door handling robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a door handling robot for holding a door panel in an automobile assembly line.

[0002]

2. Description of the Related Art In recent years, in the assembly line of an automobile, when performing rigging work for a cabin such as seats and interior materials, the workability is reduced due to a restriction on a door opening degree, and the work is erected on a vehicle body panel in advance. In many cases, so-called doorless outfitting is adopted, in which the door panel attached and adjusted is once removed from the vehicle body panel, and after this outfitting work, the door panel is assembled again to the body panel.

By the way, the applicant of the present application has developed a door handling robot suitable for the doorless outfitting with the development of a door mounting structure capable of easily achieving automatic door mounting or removing. No. 143,477.

[0004] This is because, for example, when the door mounting with the nut runner attached to the arm tip and the removal of the door are automated in cooperation with the removing robot, the work space of the nut runner is particularly loosened from the work space due to the restriction of the door opening. In some cases, it is necessary to move the door panel side in the axial direction of the bolt in response to the screw's screw rotation. The slide is configured to be freely held.

[0005]

However, in the above-described conventional door handling robot, a series of operations are completed by closing the door panel with respect to the vehicle body panel in a half-door state after the door panel is mounted. However, since there was no means to reliably detect whether the door panel was closed, the body panel was transported on the line without the door panel being securely closed, and the door panel was opened carelessly during the transport There was a problem that the device was damaged by interference with other objects.

Accordingly, an object of the present invention is to provide a door handling robot with a door closing confirmation device for detecting that a door panel is closed with respect to a vehicle body panel, and to solve the above-mentioned problem.

[0007]

According to a first aspect of the present invention, there is provided an articulated robot in which a finger is attached to a hand at the end of an arm via a support member. A base frame that is supported on the support member by a cylinder so that the door panel can slide in the front-rear direction freely, and a plurality of support blocks that are provided on the base frame and support a plurality of surfaces of the door panel, respectively. A door closing confirmation device for detecting that the door panel is in a closed state with respect to the body panel while providing a predetermined supporting block of the blocks so as to be able to move forward and backward with respect to the door panel by a cylinder attached to the base frame. A door closing confirmation device is provided on the side of the frame at the rear support portion of the door panel.
The detector rod and the push rod move up and down inside the main unit.
Movably in the direction to contact and separate from the door panel
Normally, the tip of the detection rod is younger than the tip of the push rod.
Urged to the door panel side while protruding to the door panel side
Of the object to be detected provided at the base end of the detection rod.
Proximity switch for detecting displacement is externally attached to the main unit.
Characterized in that was.

[0008]

According to the above construction, while the door panel can be easily automated, the vehicle body panel is prevented from being transported on the line without the door panel being securely closed.

[0009]

An embodiment of the present invention will be described below with reference to the accompanying drawings. As shown in FIG. 13, on the floor located on both sides of the shuttle conveyor 2 for transporting the vehicle body panel 11,
A door handling robot 3 of a vertical articulated system and a door mounting robot 4 of an orthogonal coordinate system are arranged in pairs. Further, a pallet conveyor 5 is disposed on the floor located outside the robots 3 and 4, and the door panel 7 in the pallet 6 conveyed by the conveyor is moved to the body panel 1 by the robots 3 and 4. It is designed to be attached.

The door mounting robot 4 is a normal robot having a nut runner 9 mounted on the tip of an arm 8 thereof.
Further description is omitted.

The door handling robot 3 has a base 1
A body 11 is supported on the upper part 0 so as to be freely rotatable horizontally, and an upper arm 12 is extended from the body 11 to bend freely.
A forearm 13 extends from the tip of the upper arm 12 to bend freely, and a hand 14 is connected to the tip of the forearm 13 so as to freely bend and rotate vertically (FIGS. 2 and 3).
reference). The configuration up to this point is the same as that of the conventional vertical articulated robot.

In this embodiment, as shown in FIGS. 1 to 3, a finger 16 is attached to the hand 14 via a support member 15.

The support member 15 is formed in a plate shape, and rail supports 18 extending in the front-rear direction of the door panel 7 are attached to four corners on the front surface thereof.

The finger 16 includes first to sixth support blocks 20 to 25 for supporting the upper, lower, front and rear, and six inner and outer surfaces of the door panel 7 on the front side of the base frame 19 supported by the support member 15. It is arranged (see FIG. 12).

The base frame 19 includes two upper and lower horizontal frame members 26.
a, 26b, vertical frame members 27a, 27b connecting both ends of the two horizontal frame members 26a, 26b, and two leg members 28a, 28b suspended at a predetermined distance from the lower horizontal frame member 26b.
And a beam 2 erected between these two legs 28a and 28b.
9 and a rear plate 30 attached from the upper horizontal frame member 26a to the beam member 29, and attached to the rear plate 30.
As shown in FIG. 4, the upper and lower guide rails 31 are slidably fitted in the rail receiver 18 described above.

A first air cylinder 33 for sliding a base frame is provided on one side of the rear plate 30 via a bracket 32.
Is mounted laterally, and the tip of the piston rod 33a is connected to one side of the support member 15 via a universal joint. Therefore, the base frame 19 can slide freely in the front-rear direction of the door panel 7 within the range of the stroke of the first air cylinder 33 with respect to the support member 15. In the drawings, 35a and 35b are rubber stoppers.

As shown in FIG. 5, a support table 40 is provided on the upper horizontal frame member 26a at an intermediate portion in the longitudinal direction thereof, and is fixed to one side of the upper surface of the support table 40. The second air cylinder 42 for clamping is attached to the L-shaped bracket 41 downward. The distal end of the piston rod 42a of the second air cylinder 42 is connected to a mounting member 44 via a universal joint 43, and the lower surface of the mounting member 44 supports the first support block 2 supporting the upper surface of the door panel 7 described above.
0 is fixed. Two guide shafts 46 are erected from the upper surface of the mounting member 44, and these guide shafts 46 slidably pass through a cylindrical shaft receiver 47 erected on the L-shaped bracket 41. I have.

On the other hand, the second supporting the lower surface of the door panel 7
The support block 21 is fixed to lower ends of both leg members 28a and 28b via an L-shaped bracket 48. A proximity switch 49 for detecting the presence or absence of the door panel 7 is attached to both L-shaped brackets 48.

As shown in FIG. 6, a third air cylinder 50 is fixed on the support table 40 in a horizontal direction, and a third air cylinder 50 is located above and parallel to the third air cylinder 50 for clamping. A fourth air cylinder 51 is provided. The tip of the piston rod 51a of the fourth air cylinder 51 is connected to the upper end of the lever 52 with a pin 53, and the middle of the lever 52 is connected to the tip of the piston rod 50a of the third air cylinder 50 via a universal joint 54. Fulcrum member 5
5 is connected to a pin 56. The third support block 24 that supports the inner surface of the door panel 7 is fixed to the lower end of the lever 52 via a mounting plate 57. Also, the mounting plate 5
A proximity switch 58 for detecting the presence or absence of the door panel 7 is attached to 7. Further, two guide shafts 59 extend from the fulcrum member 55, and these guide shafts 59 slidably penetrate a shaft receiver 60 fixed on the support table 40, and the guide shafts 59. The shaft end is connected to the forked connecting member 61. The base end of the fourth air cylinder 51 is connected to the connecting member 61 with a pin 62. Therefore, the clamp-unclamp action is obtained by the expansion and contraction of the fourth air cylinder 51, and the pivot point of the lever 52 is changed by the expansion and contraction of the third air cylinder 50, so that the door panel 7 of various dimensions can be accommodated.

On the other hand, as shown in FIG. 7, a fifth air cylinder 64 for clamping is attached obliquely downward through a bracket 63 on the minus side of the lower surface of the upper horizontal frame member 26a. A mounting plate 65 is connected to a distal end via a universal joint 66. The fourth support block 25 that supports the outer surface of the door panel 7 is fixed to the front surface of the mounting plate 65. A guide shaft 68 projects obliquely upward from the rear surface of the mounting plate 65, and the guide shaft 68 slidably passes through a linear guide bearing (ball spline) 69 mounted on the bracket 63.

Further, on the lower horizontal frame member 26b, FIG.
As shown in FIG. 9 and FIG. 9, a sixth air cylinder 70 for clamping is mounted laterally, and its piston rod 7
The leading end of the first sliding link 73 is slidable in the front-rear direction of the door panel 7 along the guide rail 72 on the lower horizontal frame member 26b via the universal joint 71.
A base end of an L-shaped second sliding link 74 is also fitted on the guide rail 72 so as to be slidable in the front-rear direction of the door panel 7, and the second end of the second slide link 74 is located rearward of the base end. A compression spring 75 is interposed between the sliding link 73 and the base end. The distal end of the second sliding link 74 is connected to the minus side of the L-shaped mounting plate 76 with a pin 77, and the other side of the mounting plate 76 and the distal end of the first sliding link 73 are connected to the small link 78. And pins 79 and 80, respectively. The fifth support block 22 that supports the front surface of the door panel 7 is fixed to the inner surface of the mounting plate 76. In the figure, 81 is a spring guide, 82 is a stopper fixed to the mounting plate 76, and 83 is a stopper fixed to the second sliding link 74. Therefore, the sixth air cylinder 7
0, the mounting plate 76 is brought into the state shown in the drawing (clamp state) by the stoppers 82 and 83, and in the contracting operation of the sixth air cylinder 70, first, the initial stroke (compression spring 7) is performed.
Only the mounting plate 76 (the second sliding link 74 is in a stopped state) rotates 90 ° about the pin 77 and retreats from the door panel 7, and the first and second sliding members are moved in the subsequent stroke. The entirety of the moving links 73 and 74 moves inward of the base frame 19.

On the other hand, the upper horizontal frame member 26a and the vertical frame member 27b
A seventh air cylinder 84 for clamping is supported laterally on the upper part via a bracket as appropriate, and a mounting plate 86 is mounted via a universal joint 85 to the tip of the piston rod 84a. The sixth support block 23 that supports the rear surface of the door panel 7 described above is fixed to the inner surface of the mounting plate 86. A guide bar 88 with a rail 87 protrudes from the inner surface of the mounting plate 86. The guide bar 88 is attached to a rail receiver 89 fixed to the base frame 19 side.
Are slidably guided in the front-rear direction. The outer side surface of the mounting plate 86 has a door panel 7 with respect to the vehicle body panel 1.
A door closing confirmation device 90 for detecting that the door is closed in a half-door state is assembled.

As shown in FIG. 11, the door closing confirmation device 90 includes a detection rod 92 and a pushing rod 93 in a device main body 91 fixedly mounted on a mounting plate 86. It penetrates movably in the direction of contact and separation, and is normally urged toward the door panel 7 by compression springs 94 and 95. A nylon contact member 96 is connected to the end of the detection rod 92, and a urethane contact member 97 is connected to the end of the push rod 93. Usually, the contact member 96 of the detection rod 92 is the push rod. 93
Slightly protrudes from the contact member 97 toward the door panel 7 side. On the other hand, a nut 98 as an object to be detected is screwed to the base end of the detection rod 92, and the displacement of the object to be detected 98 is detected by a proximity switch 100 mounted on the upper surface of the apparatus main body 91 via a bracket 99. It is supposed to be. Therefore, when the door panel 7 is closed after being attached to the vehicle body panel 1, the upper arm 12 moves to first bring the two contact members 96 and 97 into contact with the outer surface of the door panel 7, and thereafter, are urged by the compression spring 95 having a large spring constant. The applied contact member 97 presses the door panel 7 until the door panel 7 enters the half-door state. Thereafter, the abutment member 97 is slightly retracted from the door panel 7 and returns to the detection position (the position shown). At this time,
When the door panel 7 is securely closed in the half-door state, a gap is formed between the contact member 97 and the door panel 7, and the contact member 96 merely approaches the door panel 7 and the detection rod 92.
Never retreat. Thereby, the proximity switch 1
No signal is output from 00, and the door handling robot 3 shifts to the next new operation. Conversely, when the door panel 7 is not securely closed, the contact member 97 and the door panel 7 approach each other, and the detection rod 9 is moved via the contact member 96.
2 retracts and the nut 98 faces the proximity switch 100. At this time, the signal from the proximity switch 100 causes the door handling robot 3 to perform the door closing operation again.
This is repeated until the signal from the proximity switch 100 disappears.

FIG. 12 schematically shows the support positions of the first to sixth support blocks 20 to 25 with respect to the door panel 7.

Further, the first to seventh air cylinders 33, 42, 50, 51, 64, 70 and 84 described above.
Are respectively connected to an air supply source (not shown) in a circuit, and are driven and controlled by a microcomputer (not shown) through an electromagnetic switching valve interposed in the circuit.

With this configuration, in the finger 16 of the door handling robot 3, the second to seventh air cylinders 42, 50, 51, 64, 70 and 84 are set to predetermined positions by signals from the proximity switches 49 and 58 and the like. , The upper and lower, front and rear, and inner and outer surfaces of the door panel 7 are supported by the first to sixth support blocks 20 to 20.
It is self-evident that the door panel can be unclamped by clamping at 25 and conversely contracting.

Also, at the time of the clamping, the fifth support block 22 for supporting the front surface of the door panel 7 by contracting the sixth air cylinder 70 at the time of mounting or removing the door panel 7 is provided in the base frame 19. It can be retracted greatly, and does not hinder any work.

In the process of mounting the door panel 7,
In the door closing confirmation device 90, the door panel 7 is
It can be confirmed whether or not the door panel 7 has been securely closed in the half-door state, whereby the vehicle body panel 1 is transported to the next process without the door panel 7 being securely closed. It can be prevented from being easily opened and damaged by interference with other objects.

Also, at the time of the clamping, when the nut runner 9 is operated for mounting or removing the door panel 7, the first air cylinder 33 expands and contracts.
Since the base frame 19 can be slid in the front-rear direction of the door panel 7 with respect to the support member 15, the nut runner 9 can be slid.
The door panel 7 is moved in the axial direction of the bolt in response to the screw rotation of the bolt while the working position of the bolt is fixed, and automation such as door installation can be easily performed as in the past.

The present invention is not limited to the above embodiment,
It goes without saying that various changes such as a structural change of the door closing confirmation device 90 are possible without departing from the gist of the present invention.

[0031]

As described above, according to the door handling robot of the present invention, it is possible to easily automate the installation or removal of the door by the simple slide mechanism and the door closing confirmation device, while the line is being transported. Of the door can be avoided.

[Brief description of the drawings]

FIG. 1 is a main part front view showing an embodiment of a door handling robot according to the present invention.

FIG. 2 is a plan view of FIG.

FIG. 3 is a side view of FIG. 1;

FIG. 4 is a plan view showing the slide structure of the base frame.

FIG. 5 is a side view showing the structure of the first support block.

FIG. 6 is a side view showing the structure of the third support block.

FIG. 7 is a side view showing the structure of the fourth support block.

FIG. 8 is a plan view showing the structure of a fifth support block.

FIG. 9 is a front view of FIG. 8;

FIG. 10 is a front view showing the structure of the sixth support block.

FIG. 11 is a side sectional view of the door closing confirmation device.

FIG. 12 is an explanatory diagram showing a support position of a support block.

FIG. 13 is an overall perspective view of a door-mounted booth.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Body panel 3 Door handling robot 7 Door panel 13 Forearm 14 Hand 15 Support member 16 Finger 19 Base frame 20-25 Support block 33, 42, 50, 51, 64, 70, 84 Air cylinder 90 Door closing confirmation device

Claims (1)

(57) [Claims] 1. A hand at the tip of an arm via a support member
An articulated robot equipped with a finger,
The finger is a door panel by a cylinder on the support member.
A base frame freely slidable in the front-rear direction,
Arranged on the base frame to support each side of the door panel
And a plurality of support blocks,
A predetermined support block of the base was attached to the base frame.
The cylinder can move freely to and from the door panel.
At the same time, the door panel is closed with respect to the body panel
The door closing confirmation device for detecting that there is
The door closing confirmation device is provided on the rear support portion of the panel. The door closing confirmation device is configured such that a detection rod and a pushing rod are movably penetrated in a direction in which the detection rod and the pushing rod come into contact with and separate from the door panel in a vertical direction. that but along with being urged door panel side so as to protrude slightly the door panel side of the push rod end, a proximity switch for detecting the displacement of the detection object provided in said detection rod proximal and external to the apparatus main body
A unique door handling robot.