JP4386825B2 - Soft member mounting device - Google Patents

Description

  The present invention relates to a soft body member mounting device for mounting a soft body member such as a run channel for an automobile door having a substantially concave cross section in a concave groove of a substantially concave cross section member such as an automobile door sash.

  Conventionally, as a method of attaching a run channel for an automobile door to a concave groove of an automobile door sash, a spatula part formed at one end of a bar-like part bent in a dogleg shape, a pressing protrusion formed at a base part of the spatula part, and a bar-like part Using a seal rubber fitting jig comprising a push roll provided at the other end of the door, first attach the run channel for the automobile door to the spatula, then fit the spatula to the corner of the automobile door sash, and further press the protrusion A method is known in which a run channel for an automobile door is fitted into a concave groove of an automobile door sash with a push roll (see, for example, Patent Document 1).

JP 2002-205551 A

  However, in the mounting method of the automobile door run channel disclosed in Patent Document 1, the worker attaches the automobile door run channel to the concave groove of the automobile door sash using a seal rubber fitting jig, thereby reducing the number of steps. There was a problem of not contributing.

  The present invention has been made in view of such problems of the prior art, and the object of the present invention is to contribute to reducing man-hours and to have a versatile soft member mounting apparatus that can be used for a variety of models. Is to provide.

In order to solve the above-mentioned problems, the present invention is a soft member mounting apparatus for attaching a soft member having a groove having a long shape and a substantially concave shape to a groove of a member to be attached having a long shape and a substantially concave shape. A longitudinally-shaped support member made of an elastic member having a thin cross section, and a roller rotatably attached to a shaft member provided perpendicularly to the front end surface of the support member, and a roller that can be inserted into the groove of the soft body member, Control means connected to the base end side of the support member to freely control the posture of the support member, and by moving the support member along the concave groove of the mounted member by the control means, The support member is bent by following the concave groove of the attached member, and the soft body member is attached to the concave groove of the attached member .

  As described above, according to the present invention, the run channel for an automobile door, which is a long soft body with a relatively simple control method, does not place a heavy burden on the control means due to the operation of the roller due to the bending of the support member. Such a soft member can be automatically and accurately attached to a concave groove of a substantially concave member having a cross section such as an automobile door sash. Moreover, the improvement and stabilization of the assembly | attachment quality to the ditch | groove of soft body members, such as a run channel for motor vehicle doors, can be achieved.

  Embodiments of the present invention will be described below with reference to the accompanying drawings. Here, FIG. 1 is a schematic explanatory view of an automobile door run channel mounting device, FIG. 2 is a perspective view of the automobile door (a), a sectional view of the automobile door run channel (b), and FIG. 3 is a run channel mounting jig. 4 is a schematic diagram of the first gripping means and the pressing means, FIG. 5 is a schematic diagram of the upper roller, FIG. 6 is a schematic diagram of the sliding means, and FIG. 7 is a schematic diagram of the second gripping means and the lower roller. FIG. 8 and FIG. 8 are diagrams for explaining the operation of the lower roller and the slide rail.

  As shown in FIG. 1, the automobile door run channel mounting apparatus includes a first robot arm 1 and a second robot arm 2 that are a pair of articulated robot arms that are driven in cooperation with each other, and the first robot arm. Run channel mounting jigs 3 provided at the tips of the first and second robot arms 2 are provided.

  The first robot arm 1 and the second robot arm 2 each have three axis (three degrees of freedom) arm portions 1a and 2a, and three axis (three degree of freedom) wrist portions 1b provided at the tips of the arm portions 1a and 2a. , 2b, both of which are attached to a base 5 having a portal frame 4 as a travel axis S. The run channel mounting jig 3 is attached to the wrist portions 1b and 2b. The base 5 has a turning axis L between the traveling axis S and the robot arms 1 and 2.

  Accordingly, the automobile door run channel mounting device has a total of 14 axes (14 degrees of freedom). The operation of attaching the run channel for automobile doors by the first robot arm 1 and the second robot arm 2 is taught (teaching) and reproduced (played back) by a control device (not shown).

  As shown in FIG. 2 (a), the automobile door (right front door) 6 has a cross section for attaching an inner panel 6a, an outer panel 6b, and a car door run channel (hereinafter referred to as "run channel") 7. The vehicle door sash 8 is a substantially concave member. The run channel 7 has a recess 7a as shown in FIG. The inner panel 6a and the outer panel 6b form a gap 6c.

  The automobile door sash 8 includes a front corner portion 8a and a rear corner portion 8b. The upper portion 8c extends from the front corner portion 8a to the rear corner portion 8b, the upper front portion 8d that is substantially perpendicular to the front corner portion 8a, and the rear corner portion 8b. A substantially vertical upper rear part 8e, a lower front part 8f covered with an inner panel 6a and an outer panel 6b following the upper front part 8d, and a lower rear part 8g covered with an inner panel 6a and an outer panel 6b following the upper rear part 8e. And each has a concave groove 9. The upper portion 8c, the upper front portion 8d, and the upper rear portion 8e are referred to as an upper sash, and the lower front portion 8f and the lower rear portion 8g are referred to as a lower sash.

  As shown in FIG. 3, the run channel mounting jig 3 includes first gripping means 10 that grips both corner portions 7 b and 7 c of the run channel 7, and both corner portions 7 b of the run channel 7 that are gripped by the first gripping means 10. , 7c are pressed to the corner portions 8a, 8b of the upper sash, a rotatable upper roller 12 that presses the run channel 7 and fits into the upper sash, and both end portions 7d, 7e of the run channel 7 are provided. The distance between the second gripping means 13 for gripping, the rotatable lower roller 14 that presses the run channel 7 into the lower sash, and the distance between the second gripping means 13 and the lower roller 14 relative to the first gripping means 10 is arbitrarily set. It consists of slide means 15 that can be set. FIG. 3 shows a run channel attachment jig 3 attached to the tip of the second robot arm 2.

  As shown in FIG. 4A, the first gripping means 10 can be opened and closed by a claw member 20 having a thickness that can be inserted into the recess 7a of the run channel 7, a hinge 21 provided on the claw member 20, and a spring (not shown). And an opening / closing member 22 that clamps the run channel 7 with a spring force together with the claw member 20 inserted into the recess 7a. As shown in FIG. 3, the claw member 20 is fixed to the guide member 24 via the mounting bracket 20 a, and the guide member 24 is attached to the attachment surfaces of the wrist portions 1 b and 2 b via the force sensor 23.

  As shown in FIG. 4B, when the run channel 7 is gripped by the claw member 20, the run channel 7 has the claw member 20 and the open / close member 22 at the distal end of the open / close member 22. A taper portion 22a is formed to widen the gap formed in step (b) so that it can easily enter between them. In addition, the tapered portion 22a allows the corner portions of the sash 8 to smoothly open the first gripping means 10 even when the corner portions 7b and 7c of the run channel 7 gripped by the first gripping means 10 are fitted into the sash 8. It plays a role of assisting the pressing of the opening / closing member 22 to be in a state.

  In order to grip both corners 7b, 7c of the run channel 7 with the first gripping means 10, the claw member 20 may be covered with the recess 7a of the run channel 7. Then, the run channel 7 is gripped by the spring force by the claw member 20 and the opening / closing member 22 while the claw member 20 is fitted in the recess 7a. In order to fit both corners 7 b and 7 c of the run channel 7 into the corner portions 8 a and 8 b of the sash 8, the corner portions 7 b and 7 c of the run channel 7 are pushed into the corner portions 8 a and 8 b of the sash 8 with the claw member 20. After that, the claw member 20 may be released from the run channel 7.

  The pressing means 11 fulfills its function when the claw member 20 is inserted into the recess 7a of the run channel 7 and pressed and fitted into the corner portions 8a and 8b of the upper sash.

  As shown in FIG. 5A, the upper roller 12 is rotatably attached to a shaft member 26 provided on the guide member 24 via a bracket 25. The shaft member 26 is provided so as to be substantially at the center of the attachment surface of the wrist portions 1b and 2b and substantially perpendicular to the attachment surface. Further, the edge 12 a of the upper roller 12 is formed to have a thickness that can be inserted into the recess 7 a of the run channel 7.

  The upper roller 12 can securely attach the run channel 7 to the automobile door sash 8 by pressing and inserting the edge 12a into the recess 7a of the run channel 7 and moving it while sliding. In the case of the run channel 7 whose shape is not easily deformed, the run channel 7 is attached to the automobile door sash 8 by a single-degree-of-freedom operation by the upper roller 12 as shown in FIG. 5B. Can do.

  However, in the case of the run channel 7 whose shape is easily deformed, as shown in FIG. 5 (c), the run channel 7 is moved to the automobile by the operation of 2 degrees of freedom or 3 degrees of freedom that is twisted by the upper roller 12. The run channel 7 can be attached to the automobile door sash 8 by being pushed into the door sash 8.

  As shown in FIG. 6A, the slide means 15 includes a guide rail 24 and a slide rail 30 formed of an elastic member having a thin plate shape and a substantially U-shaped cross section that is slidably fitted to the guide member 24. A rack 31 laid on one surface of the slide rail 30, a pinion 32 that meshes with the rack 31, a servo motor 33 that fixes the pinion 32 to the rotating shaft, and a drive amount of the slide rail 30 by driving the servo motor 33. It comprises a control unit (not shown) provided with a position detector and a motor drive circuit for control. The servo motor 33 is fixed to the guide member 24 via a bracket 34.

  Further, as shown in FIG. 6B, the slide means 15 includes a slide on the opposite side where the rack 31 is laid in order to prevent the slide rail 30 from contracting due to a load when the servo motor 33 is stopped. A pad 35 that presses the surface of the rail 30 and a cylinder 36 that applies a desired pressing force to the pad 35 are provided. The cylinder 36 is fixed to the guide member 24 via a bracket (not shown). Reference numeral 37 denotes a bearing for smoothening the expansion / contraction operation of the slide rail 30.

  As shown in FIGS. 7A and 7B, the second gripping means 13 includes a plate-like member 38 provided near the tip of the slide rail 30, and both end portions 7 d of the run channel 7 together with the plate-like member 38. , 7e and an opening / closing member 39, and a cylinder 40 for applying a gripping force to the opening / closing member 39. Reference numeral 39 a denotes a shaft pin for rotating the opening / closing member 39. The opening / closing member 39 can be opened / closed by the forward / backward movement of the cylinder 40. Note that the display of the run channel 7 is omitted in FIG.

  In order to grip both ends 7d and 7e of the run channel 7 with the second gripping means 13, as shown in FIG. 7 (b), the cylinder 40 is moved backward to open the opening / closing member 39, and both ends 7d, 7e may be positioned between the slide rail 30 and the opening / closing member 39, and the cylinder 40 may be moved forward to close the opening / closing member 39. Then, the run channel 7 is gripped by the pressing force of the cylinder 40 by the plate-like member 38 and the opening / closing member 22.

  As shown in FIG. 7A, the lower roller 14 is rotatably attached to a shaft member 41 provided perpendicularly to the front end surface of the slide rail 30 made of an elastic member. The shaft member 41 is substantially parallel to the shaft member 26 of the upper roller 12. Moreover, as shown in FIG.7 (c), the edge part 14a of the roller 14 for lowers is formed in the thickness which can be inserted in the recessed part 7a.

  When the run channel 7 is pushed into the concave grooves 9 of the lower front portion 8f and the lower rear portion 8g using the lower roller 14, the slide rail 30 has a predetermined angle with respect to the vertical direction as shown in FIG. It is tilted by α and β. Then, the lower roller 14 attached to the tip of the slide rail 30 inclined by the predetermined angles α and β is connected to the lower front portion 8f via the run channel 7 as shown in FIGS. 8B and 8C. A state where the concave groove 9 at the upper end of the lower rear portion 8g is pressed is a teaching point TP, and the edge portion 14a of the lower roller 14 extends downward from above the teaching point TP along the shape of the lower front portion 8f and the lower rear portion 8g. To move in a straight line TL. In FIG. 8B, the lower rear portion 8g is shown, and the run channel 7 is not shown.

  If taught in this way, the lower roller 14 attached to the tip of the slide rail 30 made of an elastic member, due to the deflection of the slide rail 30 and the reaction force from the lower front portion 8f and the lower rear portion 8g during reproduction, As shown in FIGS. 8D and 8E, the fitting state through the run channel 7 is maintained in the concave grooves 9 of the lower front portion 8f and the lower rear portion 8g that form a slight curved shape in the left-right direction. It moves along the curve PL while performing a complicated operation. Then, the run channel 7 is smoothly fitted in the concave groove 9 having a substantially concave cross section of the lower front portion 8f and the lower rear portion 8g.

  In this way, by utilizing the deflection of the slide rail 30 and the reaction force from the lower front portion 8f and the lower rear portion 8g due to the lower roller 14 fitting into the concave groove 9 via the run channel 7, the lower Even if the front part 8f and the lower rear part 8g have some curved shapes, as shown in FIG. 8B, the movement of the straight line TL along the shapes of the lower front part 8f and the lower rear part 8g with respect to the lower roller 14 It is only necessary to teach the operation, and teaching of the moving operation following the curved shapes of the lower front portion 8f and the lower rear portion 8g is not required, so that the teaching work of the first robot arm 1 and the second robot arm 2 can be easily performed. Can do.

  The soft member mounting apparatus according to the present invention includes the lower roller 14, the slide rail 30 that supports the lower roller 14, and the lower front portion 8f and the lower rear portion 8g of the sash 8 by the operation of the lower roller 14. The first robot arm 1 and the second robot arm 2 are configured to freely control the posture of the slide rail 30 so that the run channel 7 is attached to the groove 9.

  Next, the operation of the automobile door run channel mounting device will be described with reference to a flowchart showing the run channel mounting work procedure of FIG. 9 and an explanatory diagram showing the run channel mounting work procedure of FIG. In FIG. 10, the outer panel 6b is not shown.

  First, in step SP1, as shown in FIG. 10 (a), the robot waits in its original position, and is attached to the first robot arm 1 and the second robot arm 2 in which the program for the run channel attachment work is taught in advance. The first gripping means 10 and the second gripping means 13 cause the operator to grip both corner portions 7b and 7c and both end portions 7d and 7e of the run channel 7 coated with lucene.

  At that time, the slide rail 30 is extended to the maximum extent. The length of the run channel 7 from the claw member 20 of the first robot arm 1 to the claw member 20 of the second robot arm 2 is the length of the upper portion 8c from the front corner portion 8a of the automobile door sash 8 to the rear corner portion 8b. Is almost equal to

  Next, in step SP2, when the start switch is pressed, the reproduction of the run channel attachment work program by the first robot arm 1 and the second robot arm 2 is started. Then, as shown in FIG. 10B, the first robot arm 1 and the second robot arm 2 are driven, and the lower roller 14 and the second gripping of the run channel mounting jig 3 attached to the first robot arm 1. The means 13 is inserted from a gap (width is about 25 mm) 6c formed by the inner panel 6a and the outer panel 6b opened near the base (for example, 10 cm from the base) of the automobile door sash 8 (upper front portion 8d).

  Similarly, the lower roller 14 and the second gripping means 13 of the run channel attachment jig 3 attached to the second robot arm 2 are also located near the base of the automobile door sash 8 (upper rear portion 8e) (for example, 10 cm from the base). It is inserted from a gap (gap width is about 25 mm) 6c formed by the opened inner panel 6a and outer panel 6b.

  Further, the lower roller 14 and the second gripping means 13 provided at the end of the slide rail 30 extended to the maximum are inserted to a predetermined position without interfering with the inner panel 6a and the outer panel 6b.

  Next, in step SP3, the second gripping means 13 is opened, and both end portions 7d and 7e of the run channel 7 are released. Further, as shown in FIG. 10 (c), the slide rail 30 is contracted to the maximum in order to allow the lower roller 14 to escape from the gap 6c formed by the inner panel 6a and the outer panel 6b.

  Then, the lower roller 14 and the second gripping means 13 escape from the gap 6c formed by the inner panel 6a and the outer panel 6b, while both end portions 7d and 7e of the run channel 7 are located between the inner panel 6a and the outer panel 6b. Will remain hung down.

  Next, in step SP4, as shown in FIG. 10D, the first robot arm 1 and the second robot arm 2 are driven, and the corner of the run channel 7 into which the claw member 20 of the first robot arm 1 is inserted. The corner portion 7 c of the run channel 7 into which the claw member 20 of the second robot arm 2 is inserted is fitted into the front corner portion 8 b of the sash 8.

  When each claw member 20 presses the run channel 7 and fits into each corner portion 8a, 8b of the sash 8, as shown in FIG. 4 (b), the opening / closing member 22 has a tapered portion 22a with the corner portions 8a, 8b. The first gripping means 10 is automatically opened by the corners of the first gripping means 10 against the spring force.

  Next, in step SP5, as shown in FIG. 10E, the first robot arm 1 inserts the edge portion 12a into the front corner in order to fit the run channel 7 sequentially from the upper front portion 8d in the vicinity of the front corner portion 8a. The upper roller 12 pressed and inserted into the concave portion 7a near the portion 8a is moved to the lower end of the upper front portion 8d while sliding.

  On the other hand, the second robot arm 2 slides the upper roller 12 in which the edge portion 12a is pressed and inserted into the concave portion 7a in the vicinity of the rear corner portion 8b to sequentially fit the run channel 7 from the upper portion 8c in the vicinity of the rear corner portion 8b. While moving, it is moved toward the front corner portion 8a to a position of about three-quarters of the upper portion 8c.

  Next, in step SP6, as shown in FIG. 10 (f), the first robot arm 1 moves the edge portion 12a to the front to push the run channel 7 into the approximately one-fourth portion of the remaining upper portion 8c. The upper roller 12 pressed and inserted into the concave portion 7a in the vicinity of the corner portion 8a is reciprocated by a distance of about two thirds of the upper portion 8c from the front corner portion 8a toward the rear corner portion 8b while slidingly rotating.

  On the other hand, the second robot arm 2 slides and rotates the upper roller 12 in which the edge 12a is pressed and inserted into the recess 7a near the rear corner 8b in order to sequentially push the run channel 7 from the upper rear 8e near the rear corner 8b. And move to the lower end of the upper rear portion 8e.

  Next, in step SP7, as shown in FIG. 10 (g), when the slide rail 30 is extended to a predetermined length, the first robot arm 1 sequentially runs from the upper part of the lower front part 8f near the upper front part 8d. In order to push 7 in, the edge roller 14a is moved to the lower end of the lower front portion 8f while slidingly rotating the lower roller 14 having been inserted into the recess 7a in the vicinity of the upper front portion 8d.

  At this time, as shown in FIG. 8A, the slide rail 30 with the lower roller 14 attached to the tip thereof is provided with a predetermined angle α with respect to the vertical direction and presses the lower roller 14 against the run channel 7. ing. Then, as shown in FIGS. 8B and 8C, the teaching locus TL is reproduced by the lower roller 14 from the teaching point TP in a state where the lower roller 14 is pressed against the run channel 7.

  Then, due to the bending of the slide rail 30 and the reaction force from the lower front portion 8f, as shown in FIGS. 8D and 8E, the lower roller 14 puts the run channel 7 in the concave groove 9 of the lower front portion 8f. Therefore, the run channel 7 is smoothly fitted into the concave groove 9 having a substantially concave cross section of the lower front portion 8f.

  On the other hand, similarly to the first robot arm 1, the second robot arm 2 extends the slide rail 30 to a predetermined length, and in order to push the run channel 7 sequentially from the upper part of the lower rear part 8g near the upper rear part 8e, the edge part 14a Is moved to the lower end of the lower rear portion 8g while performing complicated movement.

  At this time, in the case of the first robot arm 1, the slide rail 30 with the lower roller 14 attached to the tip thereof provides a predetermined angle β with respect to the vertical direction and presses the lower roller 14 against the run channel 7. This is to obtain the same operational effects.

  When the attachment of the run channel 7 to the lower front portion 8f and the lower rear portion 8g is completed, the first robot arm 1 and the second robot arm 2 are formed with the lower roller 14 by the inner panel 6a and the outer panel 6b, respectively. While removing from the gap 6c, it returns to its original position, and the operation of attaching the run channel 7 to the automobile door sash 8 is completed.

  The present invention contributes to a reduction in the number of man-hours for attaching a run channel for an automobile door, which is a long soft body, to an automobile door sash. Moreover, the assembly quality of the run channel for automobile doors can be improved and stabilized.

Outline explanatory diagram of run channel mounting device for automobile doors A perspective view of an automobile door (a) and a sectional view of an automobile door run channel (b) It is a schematic diagram of the run channel mounting jig, (a) is a front view, (b) is a side view. It is a schematic diagram of a 1st holding means and a press means, (a) is a perspective view, (b) is operation explanatory drawing. It is a schematic diagram of the upper roller, (a) is a side view, (b), (c) is an operation explanatory diagram It is a schematic diagram of a sliding means, (a) is a front view, (b) is a cross-sectional view taken along line AA in FIG. It is a schematic diagram of a 2nd holding means and a roller for lower, (a) is a front view, (b) is a BB line section view figure of Drawing (a), and (c) is a side view of a roller for lower. (A) is an explanatory diagram of the operation of the slide rail, (b) is an explanatory diagram of a teaching / reproducing locus of the lower roller, (c), (d), (e) Is an operation explanatory diagram of the roller for lower Low chart showing run channel installation work procedure FIG. 4 is an explanatory diagram showing a run channel installation work procedure, where (a) is an operation for setting the run channel to the robot arm, (b) is an operation for inserting the run channel into the door gap, and (c) is an opening operation for the second gripping means. (D) is the operation of fitting both corners of the run channel into the sash corner, and (e), (f), (g) are the operation of fitting the run channel into the automobile door sash by the robot arm.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... 1st robot arm, 2 ... 2nd robot arm, 3 ... Run channel attachment jig, 6 ... Car door, 6a ... Inner panel, 6b ... Outer panel, 7 ... Run channel for motor vehicle doors, 7a ... Recessed part, 7b, 7c ... Corner, 7d, 7e ... End, 8 ... Automobile door sash, 8a ... Front corner, 8b ... Rear corner, 8c ... Upper, 8d ... Upper front, 8e ... Upper, 8f ... Lower front, 8g DESCRIPTION OF SYMBOLS ... Lower rear part, 9 ... Groove, 10 ... 1st holding means, 11 ... Pressing means, 12 ... Upper roller, 13 ... 2nd holding means, 14 ... Lower roller, 15 ... Slide means, 30 ... Slide rail ( Support member).

Claims (1)

A soft body member attaching device for attaching a soft body member having a groove having a substantially concave shape in a longitudinal shape and a cross section to a concave groove of a to-be-attached member having a longitudinal shape and a substantially concave shape in cross section. A longitudinally-shaped support member, and a roller that is rotatably attached to a shaft member provided perpendicular to the distal end surface of the support member, and is inserted into a groove of the soft member, and connected to the base end side of the support member. Control means for freely controlling the posture of the support member is provided, and the roller follows the concave groove of the mounted member by moving the support member along the concave groove of the mounted member by the control means. Thus, the support member is bent, and the soft body member is attached to the recessed groove of the attached member.