JP2711466B2 - Door holding method in door assembly process - Google Patents

Description

Description: BACKGROUND OF THE INVENTION (Industrial Application Field) The present invention relates to a door assembly in which a door is held by a door holding device, and the door is moved to the body by moving the door via the door holding device. The present invention relates to the door holding method in the step.

(Prior Art) JP-A-63-22778 discloses that a door holding device and a hinge pin insertion device are attached to a robot, and the robot holds the door held by the door holding device at a predetermined assembly position with respect to a body. A door assembly that is moved to engage the hinges fixed to the door and the body, and that the hinge pin is inserted into the engaged hinge by the hinge pin insertion device to attach the door to the body. An attachment device is described.

In the door assembling step in which the door is held by the door holding device as described above, and the door is moved through the door holding device to position the door at a predetermined assembling position with respect to the body, the door is held by the door holding device. The door holding device is moved by a robot on the assumption that the door is accurately positioned at a predetermined reference position and held by the door holding device, and the door held by the door holding device is moved to a predetermined position with respect to the body. Therefore, when the door holding device holds the door, it is necessary to accurately position and hold the door at the predetermined reference position with respect to the door holding device.

As described above, in order to accurately position and hold the door at a predetermined reference position with respect to the door holding device, conventionally, a reference hole is provided in the door and a fixed reference pin is provided in the door holding device, and the door holding device is mounted by a robot or the like. The door is moved to insert the reference pin provided in the holding device into the reference hole of the door positioned at a predetermined position, and thereby the door is accurately positioned at the predetermined reference position with respect to the door holding device. A method of holding a door by operating a clamp means or the like of a door holding device is generally used.

(Problems to be Solved by the Invention) However, in the conventional method, as described above, the door holding device is moved by the robot or the like, and the fixed reference pin provided on the holding device is moved to the predetermined position. In order to directly insert the fixed reference pin into the reference hole by moving the door holding device by a robot or the like in this way, the position of the door holding device by the robot is extremely high precision. There is a problem that the control must be performed and the door must be positioned at the predetermined position with considerably high accuracy.

In view of the above circumstances, it is an object of the present invention to accurately position and hold a door at a predetermined reference position with respect to a door holding device without performing position control and door position control in a robot with very high accuracy. It is an object of the present invention to provide a door holding method in a door assembling process that can be performed.

(Means for Solving the Problems) The door holding method in the door assembling step according to the present invention includes:
In order to achieve the above object, a door holding method by the door holding device in a door assembling step of holding a door by a door holding device, moving the door via the door holding device, and assembling the door to a body. The door holding device is provided with a clamping means for clamping a lower portion and a side portion of the door, and a movable reference pin which can be inserted into a reference hole formed in the door. At the time of holding, first, the lower part and the side part of the door are once clamped by the clamping means, and with this clamp, the movable reference pin can be inserted into the reference hole of the door with such accuracy as to be able to be inserted.
The door is roughly positioned with respect to the door holding device, and then the clamp is loosened to enable the door to move.Then, the movable reference pin is moved to insert the pin into the reference hole of the door. The door is positioned at a reference position with respect to the door holding device, and then the lower portion and the side portion of the door are clamped again by the clamping means to hold the door.

(Operation) According to the above method, the door is positioned at a substantially predetermined reference position with respect to the door holding device by clamping the lower portion and the side portion of the door once by the clamping means. When the movable pin is advanced toward the door, the movable pin is positioned at a predetermined reference position with such accuracy that the movable pin can be inserted into the reference hole of the door. From this state, once the clamp is loosened to make the door movable, and the movable pin is advanced toward the door and inserted into the reference hole of the door, the door moves as necessary. If the door is accurately positioned at the predetermined reference position and then clamped again, the door is held by the door holding device in a state where the door is correctly positioned at the predetermined reference position.

That is, according to the above method, positioning within the reference pin insertable range between the door and the door holding device, that is, rough positioning is performed by clamping the door with the door holding device, and then moving the movable pin. Therefore, the pin is inserted into the reference hole, so that the positioning between the door and the door holding device is performed in a range in which the door can be clamped with lower precision than the positioning in the range in which the reference pin can be inserted. It is good in positioning.

(Example) Hereinafter, an example of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a plan view of a door assembling line using a door assembling apparatus to which an embodiment of a door assembling method according to the present invention is applied.

The illustrated door assembling apparatus includes a robot 2 and the robot 2
The door holding device 4 and the hinge pin inserting device 6 are separated from each other. The door holding device 4 is always attached to the robot 2 and the hinge pin inserting device. 6
Is the door holding device 4 for each assembly of each door 8 to the body 10.
It is configured to be attached to and detached from.

The door assembling apparatus is disposed at a door assembling station 12, and the door assembling station 12 has a body transfer line 14 therein.
The body 10 is carried in intermittently, the door 8 is carried in intermittently by the door transfer line 16, and a hinge pin insertion device circulation line 18 is provided in the door assembling station 12. The hinge pin insertion device 6 is moved from the transfer position 22 through the mounting table 20.
And the tweezers position 24.

The robot 2 to which the door holding device 4 is always attached is positioned at the transfer position 22 of the circulation line 18 by first rotating the arm 2a as needed. The hinge pin insertion device 6 with the hinge pin set is mounted on the door holding device 4, and then the arm 2 a is turned in the direction of arrow B to move the door holding device 4 to the door assembling station 12 via the door transfer line 16. , The door 8 is received and held by the door holding device 4, and then the arm 8a is turned in the direction of arrow A to hold the door 8 on the body transport line 14.
Is positioned at a predetermined mounting position with respect to the body 10 carried into the door assembling station 12 and stopped there, whereby the body side hinge secured to the body 10 and the door 8 are secured. Engage with the door side hinge that has been made to match the pin holes of both hinges,
Thereafter, the hinge pins are inserted into the pin holes of the two hinges engaged by the hinge pin insertion device 6, and the assembly of the door is completed. After the installation of such a door, the arm
2a is rotated in the direction B, and at the transfer position 22, the hinge pin insertion device 6 having no hinge pin is removed and mounted on the mounting table 20, and the circulation line 18 is moved to the line
The four mounting tables 20 on the 18 are advanced one by one in the direction of the arrow, and the hinge pin insertion device without the hinge pin is located at the tweezer position 24 where the hinge pin is set manually or automatically, and the hinge pin already hinged is set. Since the insertion device is located at the delivery position 22, the hinge pin insertion device 6 with hinge pins set at the delivery position 22 is mounted on the door holding device 4, and then the arm 2a is rotated in the direction of arrow B. Then, the next door 8 carried into the door assembling station 12 is received and held by the door holding device 4, and the door 8 is assembled in the same manner as described above.

FIG. 2 is a plan view showing a state where the door 8 is positioned at a predetermined assembling position with respect to the body 10 by the robot 2, and FIG. 3 is a view as seen from the direction of arrow III in FIG. (However, the door assembling device is not shown).

As shown, the door holding device 4 is attached to the robot 2, and the door holding device 4 holds a door 8 and a hinge pin at a position where a hinge (not shown) of the held door 8 exists. The insertion device 6 is mounted on the door holding device 4 and the hinge of the door 8 is engaged with the hinge 26 of the body 10 (see FIG. 3). When the door 8 is conveyed by the robot 2 and the hinge of the door 8 is engaged with the hinge of the body 10, the pin hole position detecting means 28 for detecting the pin hole position of the hinge on the body side is used. By detecting the pin hole position and inputting the pin hole position to the robot 2, the door 8 is moved by the robot 2 so that the pin hole of the door side hinge matches the pin hole position. Done.

In the pin hole position detecting means 28, the tapered locate pin 30 is advanced toward the body 10 from the state shown in FIG. 2 so as to be positioned almost directly below the pin hole of the body side hinge 26 (see FIG. 3). ), And then locate pin above
The pin hole position of the body side hinge 26 is determined by raising the 30 and inserting it into the pin hole of the body side hinge 26, and obtaining the position of the locate pin 30 in the X, Y, and Z directions and the inclination with respect to the Z direction at that time. Is detected.

Further, in the robot 2, the arm 2a is
The support portion 2b is rotatable around a shaft 32b in the Z-axis direction perpendicular to the paper surface with respect to the base 2c, and the arm 2a is rotatable about an axis 32a with respect to the base 2c. , First tip
2e and a second tip 2f. The first tip 2e is rotatable around an axis 32c with respect to the arm main part 2d.
f is rotatable around the axis 32d with respect to the first tip 2e,
The door holding device 4 is attached to the second tip 2f.

When the door 8 is received and held by the door holding device 4, the door 8 is provided with a reference hole so that the door 8 can be accurately positioned and held at a predetermined reference position with respect to the door holding device 4. The holding device 4 is provided with a clamp means for clamping a lower portion and both side portions of the door 8 and a movable reference pin.

Hereinafter, a more detailed description will be given with reference to FIGS. 4 to 6.

FIG. 4 is a view of the door holding device 4 viewed from the direction of arrow IV in FIG. 2, and FIG. 5 is a cross-sectional view taken along line VV of FIG. 4 (a lock mechanism described below is a cross section taken along line Va-Va). FIG. 6 is a sectional view taken along line VI-VI of FIG.

As shown in FIGS. 4 and 5, the door holding device 4 includes a base frame 40 attached to the robot 2 and a holding frame 42 supported by the base frame 40 in a floating state and holding the door 8. Become.

The base frame 40 is fixed to the second front end 2f of the robot with four bolts 44. Two rods 46 are disposed above and below the base frame 40, and the two rods 46 are attached to the base frame 40.
And is supported by a support 48 fixed to the support. The holding frame 42 is supported by the two rods 46 via a floating mechanism 50 in a floating state. The floating mechanism 50 includes a rubber bush comprising an annular rubber having an inner cylinder and an outer cylinder fixed to an inner surface and an outer surface, respectively.
52, the rubber bush 52 is supported by a support 54 fixed to the holding frame 42, and the rod 46 is inserted into the inner cylinder of the rubber bush 52 so as to be slidable in the axial direction of the rod, Therefore, the holding frame 42 can be displaced relative to the base frame 40 by the possible elastic deformation of the rubber bush 52 when the rod of the lock mechanism 56 described below is released.

The base frame 40 and the holding frame 42 are provided with a lock mechanism 56 for positioning the holding frame 42 at a predetermined position with respect to the base frame 40. The lock mechanism 56 includes an air cylinder 58 fixed to the holding frame 42 and a lock pin 60 having a tapered tip that is reciprocated by the air cylinder 58;
A lock pin fitting member 62 fixed to the base frame 44 and into which the tapered tip of the lock pin 60 is fitted. As shown in the figure, three lock mechanisms 56 are provided, one at the upper center and one at the lower left and right.
The lock pin 60 of the two lock mechanisms 56 is fitted and pressed with the lock pin fitting member 62 with a predetermined force by the air cylinder 58, whereby the holding frame 42 is positioned at a predetermined position with respect to the base frame 40, and the locked state is established. Become.

Further, the holding frame 42 is provided with suction means 64 for holding the door 8 and clamping means 66 for clamping the lower part and both side parts of the door 8. The suction means 64 is attached to the holding frame 42.
In order to adsorb the glass portion of the door 8 by means of an adsorber 64b which is provided at the upper center of the door 8 and which communicates with air suction means (not shown) through an air passage 64a, a part of which is shown in FIG. 5). The above clamping means
66 are provided one by one on the left and right sides of the lower part of the holding frame 42, and one by one on the left and right sides of the holding frame 42.
As shown in FIGS. 2 and 5, reference numeral 66 denotes a fixed clamp member 66a and a rotary clamp member 66d that is rotated about a rotary shaft 66c by an air cylinder 66b (reference numeral in FIG. 2). 66b and 66c are omitted), and the lower portion and both side portions of the door 8 are configured to be clamped by both clamp members 66a and 66d.

The holding frame 42 is reciprocated back and forth toward the air cylinder 138a and the door 8 held by the air cylinder 138a as shown in FIGS. 4 and 5 (omitted in FIG. 2). A movable reference pin means 138 comprising a movable reference pin 138b is provided one above and below. The movable reference pin means 138 inserts the movable reference pin into a reference hole 140 formed in the door 8 by advancing the movable reference pin 138b toward the door 8 held by the holding frame 42, and Is precisely positioned at a predetermined reference position with respect to the holding frame 42.

A hinge pin insertion device mounting portion 68 to which the above-described hinge pin insertion device 6 is mounted is formed at a side end portion of the holding frame 42. The hinge pin insertion device mounting portion 68 is
As shown in FIG. 6 and FIG. 6, a support plate 70 fixed to the holding frame 42, two attaching / detaching means 72 provided on the support plate 70 and a driving means 74 for operating the hinge pin insertion device 6 are provided. Become. The attachment / detachment means 72 is for grasping and releasing the below-described mounting pin 106 protruding from the hinge pin insertion device 6, and via the flange portion 76a.
A fitting sleeve 76 fixedly mounted to the mounting pin 106 and into which the mounting pin 106 of the hinge pin insertion device is inserted, a ball 78 provided on the sleeve 76 and engaging with the mounting pin groove 106a, and fixed to the support plate 70 The air cylinder 80 and the cylinder rod 80a of the air cylinder are reciprocated in the direction of arrow C through the connecting rod 82 by the cylinder rod 80a to press and release the ball 78 in the direction of the mounting pin 106. And a sleeve 84. Further, the driving means 74 includes the support plate
A drive motor 86 fixed to 70, and an output shaft 86 of the motor 86
a and a sleeve-shaped coupling 88 that spline-engages and rotates with the output shaft 86a, the coupling 88 being connected to the input shaft 92 of the hinge pin insertion device 6 described below when the device is mounted, for example. The input shaft 92 is rotated by spline engagement.

Hinge pin insertion device mounting part configured as described above
When the hinge pin insertion device 6 is mounted on the ball 68, the pressing of the ball 78 is released by sliding the pressing sleeve 84 of the attaching / detaching means 72 to the left in the direction of arrow C by the air cylinder 80 in advance. The hinge pin insertion device is located at the delivery position 22 shown in FIG.
The door holding device 4 is moved by the arm 2a of the robot to which the fitting sleeve 76 is to be fitted.
6, the pressing sleeve 84 is slid rightward in the direction of arrow C by the air cylinder 80, and the ball 78 is moved inward in the radial direction by the pressing sleeve 84 as shown in FIG. To engage the ball 78 with the groove 106a of the mounting pin and prohibit the ball from moving outward in the radial direction. In addition,
At this time, the input shaft 92 of the hinge pin insertion device is also engaged with the shaft coupling 88 of the driving means 74.

As shown in FIG. 6, the hinge pin insertion device 6 includes a frame 90, a rotatably supported by the frame 90, engaging with the shaft coupling 88, and driving motor 86 through the shaft coupling 88. An input shaft 92 that is rotated by a screw shaft 98, a screw rod 98 that is also rotatably supported by the frame body 90, and that is rotated by the input shaft 92 through bevel gears 94 and 96, and a guide that is fixed to the frame body 90. A rod 100, a hinge pin insertion portion 102 that moves up and down along the guide rod 100, a wedge-shaped expanding member 104 provided on the frame 90 for expanding the tip of the hinge pin, and a frame 9.
The hinge pin insertion portion 102 includes a nut member 108 screwed to the screw rod 98, and the guide rod 100 fixed to the nut member 108. A cylindrical member 110 slidably fitted to the shaft member, a shaft member 114 slidably fitted to an arm member 112 fixed to the cylindrical member 110, and a shaft member provided at one end of the shaft member 114. Nut 116 for retaining
A hinge pin holding portion 118 made of a magnet provided at the other end of the shaft member 114; the nut 116 and the hinge pin holding portion.
And a coned disc spring 120 disposed therebetween.

The hinge pin holding portion 118 has a hinge pin 1 as shown in the figure.
22 has a head 122a attracted and held by a magnet, and the hinge pin 122 includes the head 122a, a shaft 122b, and a tip 122c, and the tip 122c is formed with a vertically split slit 122d having an open tip.

The shaft member 114 and the wedge-shaped expanding member 104 of the hinge pin insertion portion are positioned on an axis 124 parallel to the guide rod 100, and the hinge pin 122 is also set to be positioned on the axis 124. Door 8 on device 4
Is held at a predetermined reference position, the hinge 12 of the door 8 is
The sixth pin hole is also configured to be located on this axis 124.

In FIG. 4, reference numerals 130 and 132 denote stoppers for regulating the horizontal position of the holding frame 42 with respect to the base frame 40.
The base frame 40 is provided with a cylinder 134, and the cylinder 134
The cylinder rod 134a is connected to the holding frame 42 via a rubber coupling 136.

Next, door assembly by the door assembly apparatus configured as described above will be described in detail.

First, the arm 2a of the robot is rotated to move the door holding device 4 to the transfer position 22 of the hinge pin insertion device circulating line 18.
, And the hinge pin insertion device 6 with the hinge pin set located at the position 22 is attached to the door holding device 4. The details of this mounting have already been described, and thus are omitted here.

Next, the door assembling station is operated by the door holding device 4.
The door 8 carried into 12 is held. Such holding is performed by locking the lock mechanism 56 of the door holding device 4 (lock pin 60).
Is pressed into the lock pin fitting member 62).
Each of the clamp mechanisms 66 rotates the movable clamp member 66d in the direction of arrow D in FIG. 5 so as to be in an unclamped state, and then rotates the arm 2a of the robot in a predetermined direction.
The door holding device 4 attached to the door assembly station 12 is positioned at a predetermined position with respect to the door 8 to hold the door 8 carried into the door assembling station 12, and then each movable clamp member
The lower portion and both side portions of the door 8 are once clamped by rotating 66d in the direction of arrow E in FIG. 5, and the position of the door 8 in the up-down direction and the left-right direction (door front-back direction) is clamped by the clamp means The door 8 is adjusted to be approximately at a predetermined reference position with respect to the door holding frame 42 by adjusting
That is, when the movable reference pin 138a is advanced, the pin 138a is positioned at a predetermined reference position with such accuracy that the pin 138a can be inserted into the reference hole 140 of the door. Thereafter, the clamp is slightly loosened to move the door 8 to the door holding frame 42. Then, the movable reference pin 138b is advanced toward the door 8 by operating the movable reference pin means 138, and the reference pin 138b is inserted into the reference hole 140 of the door. This is performed by accurately positioning the holding frame 42 at a predetermined reference position, then clamping each of the clamp mechanisms 56 again to hold the door 8, and holding the door glass portion by suction by the suction means 64.

After attaching the hinge pin insertion device 6 to the door holding device 4 and holding the door 8 as described above, the robot arm 2a
Is rotated to position the door 8 at the above-described door assembling position shown in FIG. 2, and the door side hinge 126 and the bolt side hinge 26 are engaged as shown in FIG. When engaging the two hinges 26 and 126, extremely high-precision arm rotation control is performed when the door-side hinge 126 is inserted and engaged directly with the body-side hinge 26 by rotating the robot arm 2a. In practice, in this embodiment, the door-side hinge 126 is brought into contact with the body-side hinge 26 with a predetermined accuracy by the robot arm 2a to be in a state immediately before engagement. A method is used in which the lock mechanism 56 is set to an unlocked state, and in this unlocked state, the door 8 is pushed toward the body 10 to push the door-side hinge 126 into the body-side hinge 26 to engage therewith. According to this method, even if the door-side hinge 126 is pushed into the body-side hinge 26 in the locked state and cannot be pushed because the two hinges are not in a correct positional relationship, the door 8 can be moved by the floating mechanism 50. The door-side hinge 126 can be inserted and engaged with the body-side hinge 26 while being guided by the arc portion of the corner, and even if the center positions of the pin holes of both hinges 26 and 126 are slightly shifted, Since the hinge 126 is somewhat movable, it becomes possible to insert the hinge pin 122 into the pin holes of the hinges 26 and 126 described below.

When the two hinges 26, 126 are engaged as described above, the drive motor 86 is rotated, and the screw rod 98 is rotated via the output shaft 86a, the shaft coupling 88, the input shaft 92, and the bevel gears 94, 96. The hinge pin insertion portion 102 is moved in the direction of the arrow F, and the hinge pin 122 is inserted into the pin holes of the hinges 26 and 126 engaged with each other. By pressing against the expanding member 104, the wedge-shaped expanding member 104 expands the hinge pin tip 122c through the vertically split slit 122d, and the hinge pin 122 comes off from both hinges 26 and 126 by expanding the tip 122c. The door 8 is stopped, and the assembly of the door 8 is completed.

In the above embodiment, the side clamping means 66 is provided on the left and right in FIG. 4, but the side clamping means 66 may be provided on either one of the right or left. Further, in this embodiment, as shown in FIG.
However, the door 8 located at the door assembling station 12 in an upright state as shown in FIG. 5 may be held by a door holding device.

(Effect of the Invention) According to the door holding method according to the present invention, as described above, the lower part and the side part of the door are first clamped with such accuracy that the movable reference pin can be inserted into the reference hole of the door. The door is roughly positioned relative to the door retainer, then the clamp is loosened to allow the door to move, and then the movable reference pin is moved to insert the pin into the reference hole in the door and the door is moved into the door. Because the holding device is positioned at the reference position and then the lower part and the side of the door are clamped again, that is, the clamp in the approximate positioning position and the clamp in the final reference position The two-stage clamp is used to position the door or the door holding device when holding the door with low accuracy at first, but eventually the door is positioned relative to the door holding device. There is an effect that accurate positioning can be easily performed.

[Brief description of the drawings]

FIG. 1 is a plan view of a door assembling line using a door assembling apparatus to which an embodiment of a door holding method according to the present invention is applied. FIG. FIG. 3 is a plan view showing a state where the door holding device is positioned at a position, FIG. 3 is a diagram viewed from the direction of arrow III in FIG. 2 (a door assembling device is not shown), and FIG. FIG. 5 is a sectional view taken along the line VV of FIG. 4 (however, the lock mechanism is a sectional view taken along the line Va-Va) of FIG. 4, and FIG. 6 is a line VI-VI of FIG. It is sectional drawing. 4: Door holding device, 8: Door 10: Body, 66: Clamping means 138a: Movable reference pin, 140: Reference hole

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Shunji Sakamoto 3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Prefecture Inside Mazda Co., Ltd. (56) References JP 50-50775 (JP, A) JP 63 229 285 (JP, A) Real opening 1-87835 (JP, U)

Claims (1)

(57) [Claims] 1. A door holding method by a door holding device in a door assembling step of holding a door by a door holding device, moving the door through the door holding device, and assembling the door to a body. The door holding device is provided with clamping means for clamping a lower portion and a side portion of the door, and a movable reference pin which can be inserted into a reference hole formed in the door, and holds the door with the door holding device. At this time, first, the lower portion and the side portion of the door are once clamped by the clamping means, and the movable reference pin is inserted into the reference hole of the door with such accuracy that the movable reference pin can be inserted into the reference hole of the door. The general positioning with respect to the door holding device is performed, and then the clamp is loosened to make the door movable, and then the movable reference pin is moved to move the pin to the base of the door. A door holding device wherein the door is positioned at a reference position with respect to the door holding device by inserting the door into a hole, and then the lower portion and the side portion of the door are again clamped by the clamping means to hold the door. Method.