JP5279607B2 - Positioning the hood on the car body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a positioning method positioning a hood which is an exterior component so as not to influence on an appearance property. <P>SOLUTION: A middle point 42 between a first left front point 31 and a first right front point 32 on a vehicle body 13 side is calculated, and a middle point 43 between a first left rear point 33 and a first right rear point 34 is calculated, thereby deciding a vehicle body center line 44. A middle point 45 between a second left front point 36 and a second right front point 37 on a hood 12 side is calculated, and a middle point 46 between a second left rear point 38 and a second right rear point 39 is calculated, thereby deciding a hood center line 47. Then, the hood 12 is moved as shown by an arrow so as to make the hood center line 47 coincide with the vehicle body center line 44. The center lines are made to coincide each other, so that there is no risk that the hood is positioned while offsetting in regard to the vehicle body. Consequently, the hood which is the exterior component is positioned so as not to influence on the appearance property. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a hood positioning method for determining the position of a hood with respect to a vehicle body.

  In attaching a member extending in the vehicle width direction to the vehicle body, positioning with a CCD camera is performed in advance (see, for example, Patent Document 1 (FIG. 10)).

The following explanation is described with reference to FIG. 10 (a) in paragraph No. [0024] line 7 and subsequent lines of Patent Document 1.
A procedure for attaching the dashboard panel (7) as a member extending in the vehicle width direction to the vehicle body (1) (the reference numerals in parentheses indicate the reference numerals described in the patent literature, and the same applies hereinafter) is shown. . That is, when the positioning reference pin (P ₃ ) provided on the vehicle body (1) side and the reference hole (Q ₃ ) provided on the dashboard panel (7) side are aligned, An image is taken by a CCD camera (17′a).

The positioning reference pin (P ₃ ) is provided on the right edge of the vehicle body (1) (left and right are determined based on the driver's seat). As described above, a reference is provided on one of the left and right edges of the vehicle body, and it has been widely performed to extend a member from the reference in the vehicle width direction.
An example in which the member extending in the vehicle width direction is a hood will be described with reference to the next drawing.

  FIG. 10 is a diagram for explaining a conventional hood positioning method, in which a positioning reference point 102 is provided at the front right portion of the vehicle body 101. The hood 103 is positioned using the positioning reference point 102 as a reference.

By the way, since the vehicle body 101 and the hood 103 are manufactured through a pressing process and a welding process, the finished dimensions are larger or smaller than normal dimensions (such as drawing dimensions).
As a result, an offset amount of δ is generated between the vehicle body center line 104 and the hood center line 105. As the offset amount δ increases, the hood 103 is biased and positioned, which affects the appearance.

  It is desirable that the hood that is an external component is positioned so as not to affect the appearance.

JP 2000-43767 A

  An object of the present invention is to provide a positioning method in which a hood, which is an external component, is positioned so as not to affect the appearance.

The invention according to claim 1 is a hood positioning method for determining the position of the hood relative to the vehicle body when the hood is attached to the vehicle body via a hinge.
Measuring a plurality of reference points provided on the vehicle body, and determining a vehicle body center line in the vehicle width direction from the measurement information;
In parallel with this step, measuring a plurality of reference points provided in the hood, and determining a hood center line in the vehicle width direction from this measurement information,
Allowing the hood to face the vehicle body so that the hood centerline matches the vehicle body centerline;
Measuring the distance between the front end of the hood and the vehicle body while maintaining the state where the hood center line is matched with the vehicle body center line;
And moving the hood along the vehicle body center line so that the distance becomes a predetermined value .

In the invention according to claim 2, the plurality of reference points provided on the vehicle body are the first left front point, the first right front point, the first left rear point, and the first right side that are provided apart in the vehicle width direction and the vehicle length direction. In the step of defining the vehicle body center line, comprising a rear point, the first front midpoint between the first left front point and the first right front point and the first rear midpoint between the first left rear point and the first right rear point The line passing through is defined as the vehicle body center line,
The plurality of reference points provided in the hood include a second left front point, a second right front point, a second left rear point, and a second right rear point which are provided apart in the vehicle width direction and the vehicle length direction. In the step of determining a center line, a line passing through the second front midpoint between the second left front point and the second right front point and the second rear midpoint between the second left rear point and the second right rear point is defined as the hood center. It is characterized by defining a line.

The invention according to claim 3 is characterized in that the step of measuring the distance is performed using a reference point provided in the vehicle body.

In the invention according to claim 1, the hood center line obtained from the actual hood is aligned with the vehicle body center line obtained from the actual vehicle body. Regardless of the finished dimensions of the vehicle body and the finished dimensions of the hood, the center lines are aligned with each other, so there is no concern that the hood is offset with respect to the vehicle body. As a result, the hood, which is an appearance component, is positioned so as not to affect the appearance.
In addition, in the invention according to claim 1, since the position of the hood with respect to the vehicle body in the longitudinal direction of the vehicle body is determined, the appearance of the hood can be further improved.

In the invention according to claim 2, the vehicle body center line includes the first front midpoint between the first left front point and the first right front point and the first rear midpoint between the first left rear point and the first right rear point. Determined by the line that passes.
Similarly, the hood center line is defined by a line passing through the second front midpoint between the second left front point and the second right front point and the second rear midpoint between the second left rear point and the second right rear point. .
Since the vehicle body center line and the hood center line are determined by extremely simple calculation, it is not necessary to cause the calculation unit to perform complicated calculations, and the calculation unit can be easily reduced in size and cost.

In the invention which concerns on Claim 3 , the step which measures distance utilizes the reference point provided in the vehicle body. The reference point provided on the vehicle body has been measured in the step of determining the vehicle body center line. That is, since the number of measurement points in the step of measuring the distance is reduced, the processing of the step of measuring the distance can be reduced.

It is a perspective view of the hood positioning and attachment apparatus which can implement the method of this invention. It is a perspective view of an article detection sensor. FIG. 3 is an operation explanatory diagram of FIG. 2. It is a top view of a vehicle body front part. It is a bottom view of a hood. It is a figure explaining the determination method of a vehicle body center line and a hood center line. It is a figure explaining the step which measures the distance of the front end of a food | hood, and a vehicle body. FIG. 8 is a cross-sectional view taken along line 8-8 in FIG. 7. It is a figure explaining the effect | action of a nut runner. It is a figure explaining the positioning method of the conventional hood.

  Embodiments of the present invention will be described below with reference to the accompanying drawings. The drawings are viewed in the direction of the reference numerals.

Embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, a hood positioning / mounting device 10 is disposed along a vehicle production line 11, a hood transport robot 14 that sucks and holds a hood 12 and transports the hood 12 to a predetermined position of a vehicle body 13, and a vehicle production line. 11 on the left side (left and right are based on the driver's seat), the left article detection / clamping robot 17 including the article detection sensor 15 and the nut runner 16, and the right side of the vehicle production line 11. The robot includes a right article detection / clamping robot 18 having a detection sensor 15 and a nutrunner 16, and a robot control unit 19 that controls the robots 14, 17, 18.

  The hood transport robot 14 includes a plurality of (four in this example) suction pads 23 via, for example, an H-shaped frame 22 on the robot arm 21, and the hood 12 sucked by these suction pads 23 is transferred to the tertiary. It plays the role of moving originally.

  As shown in FIG. 2, the left and right article detection / clamping robots 17 and 18 emit laser light 27 from the nutrunner 16 and the light projecting unit 26 to the robot arm 25 and receive reflected light at the light receiving unit 28. The article detection sensor 15 for detecting the shape and the distance to the object is provided.

The operation of the article detection sensor 15 will be described with reference to FIG.
As shown in FIG. 3A, the hole 29 is scanned to detect the hole diameter Dx in the x-axis direction and the hole diameter Dy in the y-axis direction. The intersection of the line passing through the midpoint of Dx and the line passing through the midpoint of Dy becomes the center position of the hole 29. This center position is represented by coordinates.

The coordinates of the center position can also be detected by the method described below.
1. A master (for example, a template) provided with a hole having the same shape as the hole 29 is prepared.
2. Remember the shape of the master hole and the center of the hole.
3. A shape similar to the hole of the master, that is, the hole 29 is detected, the hole of the master is overlapped with the hole 29, and the center of the hole of the master is set as a temporary center.
4). Radiation is extended from this temporary center, and the point where this radiation intersects the edge of the hole 29 is measured. The number of radiation is increased, a plurality of points are measured, a circle is drawn by connecting these points, and the center of the drawn circle is set as the center position. Thus, the coordinates of the center position are detected.

  Further, as shown in FIG. 3B, when the hood 12 is mounted on the vehicle body 13 and the laser beam 27 is scanned as indicated by the arrow (2), the stepped portion, that is, the hood 12 is obtained from the read distance information. Can be obtained.

The tip position of the hood 12 can also be obtained by the method described below.
The light projecting unit 26 projects light onto the hood 12, and the projected portion is scanned with a camera (reference numeral 28 in FIG. 2). A location where the color is changed by light or a location where the color is interrupted is recognized as the tip position of the hood 12.

Next, reference points provided on the vehicle body and reference points provided on the hood will be described.
As shown in FIG. 4, the vehicle body 13 surrounding the engine room includes a first left front point 31, a first right front point 32, a first left rear point 33, and a first left side that are provided apart in the vehicle width direction and the vehicle length direction. Four reference points including the right rear point 34 are provided.

  Further, as shown in FIG. 5, a second left front point 36 provided on the back surface of the hood 12 so as to be separated in the vehicle width direction and the vehicle length direction (the left and right sides are reversed because of the back surface), the second right front side. Four reference points including a point 37, a second left rear point 38, and a second right rear point 39 are provided, and hinges 41, 41 are attached to the left and right rear ends.

Next, the operation of the hood positioning / mounting apparatus described above will be described.
First, in FIG. 6, the center point of the first left front point 31, the first right front point 32, the first left rear point 33, and the first right rear point 34 on the vehicle body 13 side is set as an article detection sensor (FIG. 2, reference numeral 15). Detect with. Obtaining these pieces of detection information, the robot controller (FIG. 1, reference numeral 19) calculates the midpoint (first front midpoint 42) of the first left front point 31 and the first right front point 32, and the first A midpoint (first backside midpoint 43) of the left rear point 33 and the first right rear point 34 is calculated. Next, a vehicle body center line 44 passing through the midpoint 42 and the midpoint 43 is determined. Since the above operations are based on simple calculations, the processing is extremely easy.

  Similarly, an article detection sensor (FIG. 2, reference numeral 15) is placed under the hood 12 with the front surface (outer surface) suspended by the robot arm 21, and a second left front point 36 and a second right front point 37 are inserted. The center point of the second left rear point 38 and the second right rear point 39 is detected. Obtaining these pieces of detection information, the robot controller (FIG. 1, reference numeral 19) calculates the midpoint (second front midpoint 45) of the second left front point 36 and the second right front point 37, and the second A midpoint (second backside midpoint 46) of the left rear point 38 and the second right rear point 39 is calculated. Next, a hood center line 47 passing through the midpoint 45 and the midpoint 46 is determined. Since the above operations are based on simple calculations, the processing is extremely easy.

  Next, the hood 12 is moved as indicated by the arrow so that the hood center line 47 matches the vehicle body center line 44. If the center lines 44 and 47 overlap, the hood 12 is not moved in the vehicle width direction thereafter.

  Subsequently, as shown in FIG. 7, laser light is irradiated according to the arrow (4) to obtain the tip position of the hood 12 (this operation will be supplemented in the next figure). Similarly, the tip position of the hood 12 is obtained by irradiating laser light according to the arrow (5). The laser light may pass through the first left front point 31 or the first right front point 32 on the vehicle body 13 side, or may pass through another part.

  As shown in FIG. 8, which is a sectional view taken along line 8-8 in FIG. 7, the distance L between the tip of the hood 12 and the first left front point 31 on the vehicle body 13 side is calculated. Then, the hood 12 is moved in the vehicle length direction by the robot so that the distance L becomes a predetermined value. Thus, the hood 12 is accurately positioned in the vehicle width direction and the vehicle length direction.

  Note that if the first left front point 31 on the vehicle body 13 side is used for the calculation of the distance L, the number of measurement points in the step of measuring the distance is reduced, and therefore the processing of the step of measuring the distance can be reduced. However, it is possible to set a location other than the first left front point 31 for distance calculation.

Next, as shown in FIG. 9, the hinge 41 is bolted to the vehicle body 13 with the nut runner 16. However, the bolting is performed according to the following procedure.
For convenience, the rear bolt is referred to as a first bolt 48, and the front bolt is referred to as a second bolt 49.
First, the first bolt 48 is temporarily tightened with the nut runner 16. Next, the second bolt 49 is finally tightened with the nut runner 16. Subsequently, the first bolt 48 is finally tightened with the nut runner 16.

  Generally, the procedure of first bolt final tightening → second bolt final tightening is performed because it is difficult to switch the torque setting of the nut runner. However, if the first bolt is suddenly tightened, the position of the first bolt is displaced, so that the temporary tightening is performed in the present invention.

  In FIG. 5, a central reference point 50 can be provided on the hood 12. In this case, a line passing through the center reference point 50, the middle point of the second left rear point 38, and the second right rear point 39 can be defined as the hood center line. That is, four reference points can be changed to three. The detection time can be shortened as the number of reference points decreases. That is, the number of reference points may be three or more, and is not limited to four.

  The present invention is suitable for work for positioning and attaching a hood to a vehicle body.

  DESCRIPTION OF SYMBOLS 10 ... Hood positioning and attachment apparatus, 12 ... Hood, 13 ... Vehicle body, 14 ... Hood conveyance robot, 15 ... Article detection sensor, 16 ... Nutrunner, 17, 18 ... Article detection / clamping robot, 19 ... Robot control part, 31- 34, 50 ... Reference point provided on the vehicle body side, 36-39 ... Reference point provided on the hood, 41 ... Hinge, 42, 43, 45, 46 ... Middle point, 44 ... Vehicle body center line, 47 ... Hood center line, L ... Distance.

Claims (3)

A hood positioning method that determines the position of the hood relative to the vehicle body when the hood is attached to the vehicle body via a hinge,
Measuring a plurality of reference points provided on the vehicle body, and determining a vehicle body center line in the vehicle width direction from the measurement information;
In parallel with this step, measuring a plurality of reference points provided in the hood, and determining a hood center line in the vehicle width direction from this measurement information,
Allowing the hood to face the vehicle body so that the hood centerline matches the vehicle body centerline;
Measuring the distance between the front end of the hood and the vehicle body while maintaining the state where the hood center line is matched with the vehicle body center line;
And a step of moving the hood along the vehicle body center line so that the distance becomes a predetermined value . The plurality of reference points provided on the vehicle body includes a first left front point, a first right front point, a first left rear point, and a first right rear point which are provided apart in the vehicle width direction and the vehicle length direction. In the step of determining the center line, a line passing through the first front midpoint between the first left front point and the first right front point and the line passing through the first rear midpoint between the first left rear point and the first right rear point A line,
The plurality of reference points provided in the hood include a second left front point, a second right front point, a second left rear point, and a second right rear point which are provided apart in the vehicle width direction and the vehicle length direction. In the step of determining a center line, a line passing through the second front midpoint between the second left front point and the second right front point and the second rear midpoint between the second left rear point and the second right rear point is defined as the hood center. 2. The method for positioning a hood on a vehicle body according to claim 1, wherein the hood is defined as a line. Step, hood positioning method to the vehicle body according to claim 1, wherein the implemented utilizing a reference point is provided on the vehicle body for measuring the distance.

Images