JP2735858B2 - Automotive door assembly equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention holds a door at a door receiving position such that the hinge member of the door is engaged with the hinge member of the vehicle body located at the door engaging position. The present invention relates to a door assembling apparatus for an automobile, comprising: a door transfer means for transferring the transfer means; and a control means for operating the transfer means to the door receiving position and the door engaging position based on stored information.

[Conventional technology]

This kind of vehicle door assembling apparatus automates a complicated door assembling operation to save labor and improve efficiency.

That is, for example, at the door receiving position, the door is positioned by the positioning pin, and is held by the door transfer means while being fixed by a clamp, a suction pad, or the like. Then, in that state, it is transported to the door engaging portion based on the information set and stored corresponding to the vehicle type and the like. The two hinge members are engaged at the engagement location. In this state, the hinge pin is inserted through the hinge member (H ₁ ).

[Problems to be solved by the invention]

When the transfer means receives and holds the door at the door receiving location, there is a possibility that a positional shift may occur.

Further, there is a possibility that the displacement of the vehicle body may occur at the engagement portion.

In the related art, there is a possibility that the two hinge members cannot be engaged in a predetermined manner at the engagement portion due to the above-described positional shift.

 An object of the present invention is to eliminate the above-mentioned conventional disadvantages.

[Means for solving the problem]

In order to achieve this object, the characteristic structure of the door assembling apparatus for a vehicle according to the present invention includes a door measuring means for measuring a position by acting on a hinge member of a door held by the transfer means. Measuring means for measuring the position of the hinge member of the vehicle body, and measuring the position of the hinge member. The control means includes measurement information of the measuring means for the door and measuring means for the vehicle body. Is configured to correct the stored information based on the measurement information.

(Operation)

In the vehicle door assembling device having the above-mentioned characteristic configuration, the displacement of the door at the door receiving position and the displacement of the vehicle body at the door engaging portion are determined based on the measurement information of the measuring means for the door and the measuring means for the vehicle body. In the corrected state, the hinge member of the door is engaged with the hinge member of the vehicle body.

That is, hinge members constituting the hinge of the door by being engaged with each other are separately provided on the door side and the vehicle body side, and the two hinge members to be engaged by measuring the both hinge members are respectively provided. The position is measured directly, and the door is transferred based on the measurement information to engage the hinge member of the door with the hinge member of the vehicle body.

〔The invention's effect〕

In the vehicle door assembling apparatus according to the above-described configuration, the door members and the vehicle body side are separately provided with hinge members that constitute the door hinge by engaging with each other. Since the position of the hinge member is measured directly, it is possible to assemble the door in a state where the door is smoothly and accurately positioned with respect to the vehicle body.

Embodiment An embodiment of the present invention will be described below with reference to the drawings.

As shown in FIGS. 1 and 2, the vehicle door assembling apparatus includes a vehicle body transport line (L ₁ ) for transporting a vehicle body (B) and a door for transporting a door (D) to be mounted on the vehicle body. Door transfer means for holding and transferring the door (D) such that the transfer line (L ₂ ) engages with the hinge member (H ₁ ) of the vehicle body and the hinge member (H ₂ ) of the door (D). A), control means (E) for operating the transfer means (A) at a door receiving point (Q ₁ ) and a door engaging point (Q ₂ ) based on stored information, and at a measuring point (Q ₃ ). Door measuring means (W ₂ ) for measuring the position of the hinge member (H ₂ ) of the door (D), and the hinge member (H ₁ ) of the vehicle body (B) at the door engagement point (Q ₂ ) Measuring means (W ₁ ) for measuring the position of the vehicle. (See FIG. 18) However, as clearly shown in FIG. 3, a hinge pin (1) with a head is inserted through the two hinge members (H ₁ ) and (H ₂ ) in a state where they are engaged with each other. A hinge pin mounting means (F) is provided in the transfer means (A).

Therefore, the door (D) conveyed on the door conveyance line (L ₂ ) is engaged with the car body (B) conveyed on the car body conveyance line (L ₁ ) while being transferred by the transfer means (A). Let
Next, the door (D) is assembled in such a manner that the door (D) is assembled in the order in which the hinge members (H ₁ ) and (H ₂ ) engaged by the hinge pin attaching means (F) are penetrated.

 Hereinafter, description will be added while the configuration of each unit is described in detail.

The vehicle body transport line (L ₁ ) is for placing and transporting a jig pallet (P ₁ ) for positioning and holding the vehicle body (B), and is a roller for receiving and guiding the lower surface of the jig pallet (P ₁ ). and 2), and a jig pallet (guide rollers receiving the both lateral sides of the P ₁₎ (3), and moving means for moving the jig pallet (P _1). The moving means is, for example, those jig pallet while traveling along the guide rail (P ₁₎ can be constructed using the mobile to the locking movement, the jig pallet on the engagement portion (Q ₂₎ (P ₁ )
After the door is assembled, the jig pallet (P ₁ ) is conveyed to the lower side of the conveyance.

The door transfer line (L ₂ ) is for placing and transferring a jig pallet (P ₂ ) for positioning and holding the door (D), and has the same configuration as the vehicle body transfer line (L ₁ ). Stop the jig pallet (P ₂ ) at the receiving point (Q ₁ ),
When the door (D) is taken out by the transfer means (A), the jig pallet (P ₂ ) is transferred to the lower side of the transfer.

The transfer means (A) is a base (10) which can be turned freely.
And a swing frame (11) attached to the base (10) so as to be able to swing back and forth around an axis extending in the horizontal direction, and a swing frame (11) around the axis extending along the horizontal direction. An arm (12) that is mounted to freely move up and down, and is freely rotatable around the longitudinal axis along the longitudinal direction of the arm (12), and freely rotatable around the transverse axis perpendicular to the longitudinal axis. And a door holding frame (G) mounted on the door holding frame (G), and the hinge pin mounting means (F) is mounted on the door holding frame (G).

As shown in FIGS. 3 and 4, the door holding frame (G) is supported by the base frame (13) supported by the arm (12) and the base frame (13) so as to be slidably adjustable. Door support (14).

The base frame (13) includes a frame (13A) formed by framing a square pipe into a rectangular shape, a connection frame (13B) for connecting the frame (13A) to the arm (12), and a frame (13A). The main parts are a guide shaft (13C) provided above and below, and a slide operation cylinder (15) for the door support (14).

The fitting part (13D) corresponding to the fitting member (14G) described later
Is located at one place above the frame (13A) and two places below the frame (13A).
It is provided in places.

Also, in FIG. 3, (13E), when the cylinder (15) is driven to slide the door support portion (14), the door support portion (14) comes into contact with the door support portion (14) and slides by a set amount or more. It is a contact part for regulating

The door support (14) includes a frame (14A) formed by framing a square pipe in a rectangular shape as a base, and the frame (14
A), four cylindrical frames (14B) slidably fitted to the upper and lower guide shafts (13C), a door receiving frame (14C) connected to a lower end of the frame (14A), and a cylinder ( 16) A pair of left and right clamps (14D) that are rocked by the swing operation in (16) and hold the lower end of the door (D) between the door receiving frame (14C) and a suction pad ( 14E), a pair of upper and lower positioning pins (14F) to be fitted to the door (D), and a fitting member (14G) which is fitted and disengaged from the fitting portion (13D) by being retracted and operated by the cylinder (17). , And a motor (18) for driving the hinge pin mounting means (F).

The tubular frame (14B) is provided with an elastic material (a) that allows the door support (14) to be displaced with respect to the upper and lower guide shafts (13C).

In short, the door (D) is positioned by a pair of upper and lower positioning pins (14F), and a pair of right and left clamps (14D).
And the suction pad (14E). Therefore, the door (D) is held in the above-mentioned state at the door receiving point (Q ₁ ), and the engagement point (Q ₂ )
Will be transferred to At this time, the fitting member (14G) is fitted to the fitting portion (13D).

Both hinge members in engagement point _{(Q 2) (H 1)} , (H 2)
To explain the engagement of the base, first, the base (1
0), swing frame (11), arm (12), door holding frame (G)
To move the door (D) to the vicinity of the vehicle body (B). Then, the cylinder (17) is retracted to detach the fitting member (14G) from the fitting part (13D). Next, the door support portion (14) is projected by a set amount by the cylinder (15).

At the time of this protrusion, both hinge members (H ₁ ),
Even if there is a small vertical displacement in (H ₂ ), both hinge members (H ₁ ),
(H ₂ ) can be engaged.

In addition, when the hinge pin (1) described later is penetrated and mounted, the cylinder (15) is set in a freely expanding and contracting state.

As shown in FIG. 5, the hinge pin mounting means (F) includes a base frame detachably supported on the door support portion (14) by using a pair of upper and lower connection portions (19). The output shaft (18) of the motor (18) is mounted on the base frame (20).
A) An input shaft (21) detachably connected to the input shaft (A), a pair of screw shafts (22) interlockingly connected to the input shaft (21) by using a bevel gear, and installed in parallel with these screw shafts (22). that the guide shaft (23), and said two hinge members (H _1), provided with a pair of upper and lower stoppers for receiving the distal end portion of the hinge pin (1) which along with the penetration into the (H ₂₎ projecting therefrom (24) ing. Also, a pair of top members (25) screwed to each of the pair of screw shafts (22) is connected to a pair of sliding members (26) slidably fitted to the guide shaft (23). The sliding members (26) are connected and provided with a holder (27) for the hinge pin (1). The holder (27) holds the hinge pin (1) using a magnet.

Further, as shown in FIG. 7 (b), the distal end of the hinge pin (1) is formed to be plastically deformable toward the large diameter side by contact with the stopper (24). That is,
Tip of the hinge pin (1), such that the provided side by side a plurality of bent piece being deformed bent in the radial direction (1a) in the circumferential direction, the hole portion (U ₁₎ and the pore portion of the central portion (U A plurality of kerfs (U ₂ ) extending in the radial direction and connected to ₁ ) are formed.

The stopper (24) is formed in a tapered pin shape. The stopper (24) is urged by a coil spring (28) so as to be able to swing up and down and return to an upright posture.

Here, the procedure of the through mounting of the pin pin (1) will be further described. As shown in FIG. 7 (a), when the hinge members (H ₁ ) and (H ₂ ) are engaged with each other, By actuating (18) to move the holder (27) to the hinge member side, the hinge pin (1) penetrates through both hinge members (H ₁ ) and (H ₂ ) as shown in FIG. The hinge pin (1) is to be attached, and the leading end of the hinge pin (1) is plastically deformed to a larger diameter side in accordance with the penetrating attachment, thereby preventing the hinge pin (1) from coming off.

After the hinge pin (1) is mounted, the door holding frame (G) is moved away from the vehicle body (B). At that time, as shown in FIG. 7 (c), the stopper (24) fitted to the distal end of the hinge pin (1) comes off the hinge pin (1) while falling down. Incidentally, when the door holding frame (G) is moved away from the vehicle body (B) as described above, the holder (27) is retracted to the side separated from the hinge members (H ₁ ) and (H ₂ ). Will be kept.

During Matazu (29), the door is inserted into the hinge member (D) (H _2), hinge pin (1) the hinge member (H ₁₎ at the time of mounting of the band to prevent the deformation of the (H ₂₎ It is a plate-shaped deformation preventing member. As shown in FIG. 6, the deformation preventing member (29) is provided as a pair of upper and lower hinge members (H ₁ ) and (H ₂ ), respectively, and is provided with the hinge pin. It is attached to the base frame (20) of the means (F). By the way, the door (D) at the door receiving point (Q ₁ )
When holding the door, the upper and lower hinge members (H ₂ ) of the door (D)
The door holding frame (G) is moved with reference to the position of the lower hinge member (H ₂ ). For this reason, the upper one of the upper and lower deformation preventing members (29) is vertically movably supported by using the long hole (32), and is formed in an inclined shape such that the front end edge is located higher toward the front end side. It is adapted to be inserted into the hinge member (H ₂₎ while moving upward by Setto the hinge member (H _2).

The control means (E) operates various actuators of the transfer means (A) and the hinge pin mounting means (F) on the basis of the information stored in advance as described above, so that the door (D)
Will be controlled. However, the storage information is corrected based on the measurement information of the door measurement means (W ₂ ) and the vehicle body measurement means (W ₁ ).

Incidentally, the stored information is stored in the host computer (H
It will be changed and set by a command such as a vehicle type command from C). The setting of the storage information is set by the teaching operation.

As shown in FIG. 10, the measuring means (W ₁ ) for the vehicle body includes a lifting frame (33B) operable up and down along a column (33) by a cylinder (33A), and an upper portion of the lifting frame (33B). The support (34) and the support (3
Along 4) slid freely movable frame (35), consisting of the measurement unit which is supported on the movable frame (35) and (K ₁₎ and a control system of the measuring part (K ₁₎ (C ₁₎ . Incidentally, although not described in detail, a sensor for detecting the vertical position of the vertical frame (33B) and the slide position of the movable frame (35) is provided, and the cylinders (33A), (35
A) is to be activated.

Therefore, the movable frame (35) is connected to the hinge member (H ₁ ) to be measured.
, And in that state, the measurement is performed by the measurement unit. Incidentally, the target position for moving the movable frame (35) with respect to the hinge member (H ₁ ) to be measured is set based on the support (33), and the target position is different depending on the type of vehicle. It will be changed and set in accordance with the above. That is, the storage information is changed and set.

The measuring section (K ₁ ) will be described. In the following description, the front-rear direction of the vehicle body (B) is the X axis, and the vehicle body (B)
The horizontal width direction is defined as the Y axis and the vertical direction is defined as the Z axis.

As shown in FIGS. 11 and 12, a U-shaped X-ray guide member (37) slides in the Y-axis direction on a Y-axis guide member (36) fixed to the movable frame (35). Freely supported,
A T-shaped measuring jig (38) in a plan view is supported by the X-axis guide member (37) so as to be slidable in the X-axis direction, and a cylinder that slides the X-axis guide member (37) in the Y-axis direction. (39) is installed between the bracket (35a) attached to the movable frame (35) and the X-axis guide member (37), and the measuring jig (38)
A cylinder (40) that slides the X-axis in the X-axis direction is provided between the measurement jig (38) and the X-axis guide member (37). As shown in FIG. 13, the measurement jig (38) has an L-shaped contact portion (in plan view) applied to the hinge member (H ₁ ) to be measured from the X-axis and Y-axis directions. S), a distance sensor (41) for detecting the position of the measuring jig (38) in the X-axis direction and a distance sensor (42) for detecting the position of the measuring jig (38) in the Y-axis direction. Each of the movable frames (35)
A distance sensor (43) that is fixed to the sensor and detects the distance of the measurement jig (38) to the upper surface of the hinge member (H ₁ ) to be measured.
Is provided above the measurement jig (38).

Each of the distance sensors (41), (42), (43)
Various types such as an optical type using laser light can be used.

Therefore, first operation measures jig (38) in the Y-axis direction, and then operate the X-axis direction, abutment measurement jig (38) onto the target object hinge member (H _1), in that state Each state sensor (4
The position of the hinge member (H ₁ ) to be measured can be detected based on the detection information of 1), (42), and (43). That is, the measuring means (W ₁ ) for the vehicle body is
This is to measure the hinge member (H ₁ ) of the vehicle body (B).

The measuring means (W ₂ ) for the door has substantially the same configuration as the measuring means (W ₁ ) for the vehicle body as shown in FIGS. 14 to 17. That is, the measuring means (W ₂ ) for the door is
The measurement is performed on the hinge member (H ₂ ) of the door (D). However, the measurement jig (38 ') is formed in a shape suitable for measuring the hinge member (H ₂₎ of the door (D). In FIG. 17, the X 'axis is the width direction of the door (D).
The Y 'axis indicates the longitudinal direction of the door (D). It is to be noted that the figure numbers of the respective parts are the same as the figure numbers in the measurement means (W ₁ ) for the vehicle body.

Then, the control means (E) corrects the stored information based on the measurement information of the vehicle body measuring means (W ₁ ) and the door measuring means (W ₂ ).

The procedure of the door mounting step will be described with reference to FIG.

First, in a state where each actuator has returned to the original position, vehicle type command information is received from the host computer (HC), and storage information corresponding to the command information is set. The door transfer means (A) receives the door (D) at the door receiving point (Q ₁ ). Then, the door (D) is transferred to the measurement point (Q ₃ ).

Therefore, the door measuring means (W ₂ ) measures the position of the hinge member (H ₂ ) of the door (D). On the other hand, the measuring means (W ₁ ) for the vehicle body is a hinge member (H ₁ ) of the vehicle body (B). Measure the position of. The stored information is corrected based on the measurement information. The transfer means (A) transfers the door (D) to the door engagement point (Q ₂ ) based on the corrected stored information. The two hinge members (H ₁ ) and (H ₂ ) are engaged. Then, the hinge pin (1) is both hinge members (H _1), penetrating attached to (H _2).
Then, it returns to the original position and waits for the next command.

(Another embodiment)

In the above embodiment, although he is trying to correct the stored information by measuring both the position of the hinge member and (H ₁₎ and the door (D) of the hinge member (H ₂₎ of the vehicle body (B), the door ( Only the position of the hinge member (H ₂ ) in D) may be measured.

Further, the specific configuration of each part such as the transfer means (A) and the measurement means (W ₁ ) and (W ₂ ) can be variously changed.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the structure shown in the attached drawings.

[Brief description of the drawings]

1 shows an embodiment of an automobile door assembling apparatus according to the present invention. FIG. 1 is a schematic plan view of an automobile door assembling apparatus, and FIG.
FIG. 3 is a front view of the same, FIG. 3 is a front view of a door holding frame, FIG. 4 is a side view of the same, FIG.
FIGS. 7 (a), 7 (b), and 7 (c) are side views showing the procedure of through mounting of the hinge pin, FIG. 8 is a perspective view of the hinge pin, and FIG. 9 is an engagement state of the hinge member. 10, FIG. 10 is a side view of the measuring means for the vehicle body, FIG. 11 is a plan view of the measuring unit for the vehicle body, FIG. 12 is a side view thereof, and FIG. 14 is a plan view showing a contact state with a part, FIG.
Fig. 15 is a side view of a measuring means for a door, Fig. 15 is a plan view of a measuring unit for a door, Fig. 16 is a side view of the same, and Fig. 17 shows a contact state between a hinge member of the door and a contacting part. FIG. 18 is a block diagram of a control configuration, and FIG. 19 is an explanatory diagram of a door attaching process. (A) ... door transfer means, (B) ... body, (D) ...
Door (E) Control means (H ₁ ), (H ₂ ) Hinge member, (W ₁ ), (W ₂ ) Measurement means, (Q ₁ ) Door receiving point, (Q ₂ ) ...... Door engagement point.

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Tadami Yabuta 3-2-11 Moundoshima, Nishiyodogawa-ku, Osaka City, Osaka Prefecture (72) Inventor Yasuyuki Nakajima 3-2-1 Migoshima, Nishiyodogawa-ku, Osaka, Osaka No. Daifuku Co., Ltd. (56) References JP-A-63-17190 (JP, A) JP-A-62-216876 (JP, A) JP-A-61-46780 (JP, A)

Claims (1)

(57) [Claims] 1. A vehicle body (B) located at a door engagement point (Q ₂ ).
Door transfer means (A) for holding and transferring the door (D) at the door receiving point (Q ₁ ) such that the hinge member (H ₂ ) of the door (D) is engaged with the hinge member (H ₁ ) of the door (D). ) Is provided, and control means (E) for operating the transfer means (A) at the door receiving point (Q ₁ ) and the door engaging point (Q ₂ ) based on the stored information is provided. A door assembling device, comprising: a door measuring means (W ₂ ) which measures a hinge member (H ₂ ) of a door (D) held by the transfer means (A) to measure its position. And measurement means (W ₁ ) for the vehicle body, which measures the position of the hinge member (H ₁ ) of the vehicle body (B) and measures the position of the hinge member (H ₁ ). on the basis of the measurement information and the measurement information of the measuring means (W ₁₎ for the vehicle body of the measuring means for the door (W ₂₎ Symbol Automobile door assembling apparatus that is configured to correct the information.