JPH0133389B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a vehicle door assembling device, and more particularly, it includes a setting jig for positioning and freely setting a door outside an assembling station. The present invention relates to an assembling device which is movable forward and backward toward a door opening of a vehicle body set on the assembling station, and which assembles the door into the door opening by advancing the setting jig.

Conventionally, in this type of device, as known from Japanese Patent Laid-Open No. 54-5276, a setting jig is floatingly supported on a frame that can move forward and backward toward the vehicle body, and the setting jig is connected to a reference hole in the vehicle body. Generally, a matching locating piece is fixed, and when the frame advances, the locating piece engages with the reference hole to move the setting jig to position it at a position corresponding to the door opening. However, with this method, the locating piece is forcibly pushed into the reference hole while moving the setting jig, which tends to damage the vehicle body, and excessive force may be applied to the locating piece. When a balance mechanism is provided to make the movement of the jig easier, the device becomes complicated and expensive.

SUMMARY OF THE INVENTION In order to eliminate such inconveniences, an object of the present invention is to provide a device that can advance a setting jig with the setting jig positioned in advance at a position corresponding to the door opening without using a locating piece. A setting jig is provided on the side of the assembly station to position and freely set the door, and the setting jig is movable toward and away from the door opening of the vehicle body set on the assembly station, In the case where the door is assembled to the door opening by advancing the setting jig, the setting jig is moved in the vehicle length direction and the vehicle height direction from a predetermined origin position corresponding to the normal setting position of the door opening. The setting jig is movable by each drive source, and is provided with a position detector that detects the deviation of the door opening from the set position. The present invention is characterized in that the origin position can be corrected in accordance with the positional deviation of the door opening prior to its forward movement.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to an illustrated embodiment in which the present invention is applied to the assembly of a door of a four-door automobile.

Referring to FIGS. 1 to 4, 1 indicates an assembly station provided in the middle of the conveyance line for the vehicle body a;
The vehicle body a on the transport vehicle 2 that is moved along the line is delivered to the loading vehicles 3, 3 on both sides in the vehicle width direction, which are equipped with a vehicle body receiver 3a that can be raised and lowered in front of the station 1, and then transferred by the loading vehicles 3, 3. The vehicle body a is set on a jig stand 5 equipped with various positioning members 4 provided on the station 1, and the rear and front doors c are opened at the rear and front door openings b and b' of the vehicle body a as described later. , c′, the vehicle body a
to the carrier 2, which is moved backward through the lower space of the jig table 5, and a dispensing cart 2 having the same structure as the lift carts 3, which are reciprocated between the assembly station 1 and its rear position. lift trolley 3',
3' translocation.

There are doors c, respectively on both sides of the station 1.
A setting jig 6 is disposed which can be positioned and set freely by positioning the rear door c'. Then, the front door c' was set on the setting jig 6 in the same manner as above, and this was assembled into the front door opening b'.

The door loading device 7 has double sliding frames 7a and 7, which are supported by a machine frame 8 so as to be movable in the front and rear directions.
b, and the inner slide frame 7a is connected to the cylinder 7.
When the outer slide frame 7b is moved by c, the outer slide frame 7b is given a double stroke movement via a speed doubling mechanism (not shown), and the doors c, c' carried in from above by a hanger etc. are moved by the outer slide frame 7b. 7 is held by a door receiving piece 7d and a clamp member 7e provided therein so as to be able to be transported to a predetermined loading position opposite to the setting jig 6, and the doors c and c' are held in the loading position by the door receiving piece 7d and the clamp member 7e. Jig 6
I set it to this by handing it over to .

The setting jig 6 is mounted on a shift table 9 that can be freely shifted in the longitudinal direction, that is, in the longitudinal direction of the vehicle. A first movable frame 10 that is movable in the vehicle length direction and a first movable frame 10 that is movable in the vehicle width direction are mounted on the shift table 9. A robot mechanism consisting of a second movable frame 11 movable in the vehicle height direction and a third movable frame 12 movable in the vehicle height direction on the second movable frame 11 is mounted, and the robot mechanism is mounted on the third movable frame 12. The setting jig 6 is supported. 9a, 10 in the drawing
Reference characters a, 11a, and 12a indicate drive cylinders for the shift table 9 and the movable frames 10, 11, and 12, respectively.

When setting the door to the setting jig 6 described above, the shift table 9 is shifted to the forward position with the first movable frame 10 in the neutral position as shown in the figure, and the setting jig 6 is set as shown in the figure. Door loading device 7
When assembling the door into the rear door opening b, move the setting jig 6 toward the rear by shifting the shift table 9 backwards. The rear origin position corresponds to the normal set position of the door opening b, and when the door is assembled to the front door opening b', the first movable frame 10 is moved forward from the neutral position. By moving, the setting jig 6 is positioned at the original position on the front side corresponding to the normal setting position of the door opening b', and in this case, each door opening b, b' is set at the normal setting position. If the second movable frame 11 is moved, the setting jig 6 is advanced inward in the vehicle width direction from the respective origin positions, and the respective doors c, c are inserted into the respective door openings b, b'. ' can be assembled, but
In reality, the positions of the door openings b and b' may deviate somewhat from the normal set position in the vehicle width direction and vehicle height direction due to assembly errors of the side panels of the vehicle body a, etc. Therefore, in the present invention, each door opening b,
each drive source is provided with a position detector 13 for detecting the positional deviation of b', and moves the setting jig 6 in the vehicle width direction and vehicle height direction based on a signal from the detector 13;
That is, the driving cylinders 10a, 12a of the first movable frame 10 and the third movable frame 12 are operated, and the origin position of the setting jig 6 is adjusted to the position of the door openings b, b' prior to its advancement. Correction is made according to the positional deviation.

The position detector 13 is configured to detect the position of a reference hole d formed at the lower front end of the side panel and determine the positional deviation of each door opening b, b' from the normal set position. A slide frame 14 provided on the machine frame 8 and movable in the vehicle length direction is supported via a slide frame 15 movable in the vehicle width direction. The details are as shown in FIGS. 8 and 9, and the detector main body 13 attached to the slide frame 15
A first rotating element 13 having an axis 13b extending in the vehicle length direction at a.
c is pivotally supported, and a second rotator 13e having a shaft 13d in the vehicle height direction is pivotally supported on the second rotator 13e.
Attach the stylus 13f that engages with the reference hole d to e,
The stylus 13f can be freely oscillated in any direction by the movement of the rotors 13c and 13e, and the stylus angle in the vehicle height direction is controlled by a first potentiometer 13g that is linked to the shaft 13b, and The head oscillation angle in the longitudinal direction can be detected by the second potentiometer 13h linked to the shaft 13d, and the detector 13 is moved inward in the vehicle width direction by the movement of the slide frame 15. The stylus 13 when the stylus 13f is engaged with the reference hole d
The positional deviation of the reference hole, and therefore the positional deviation of each door opening b, b' in the vehicle length direction and vehicle height direction, is detected from the swing angle in the vehicle length direction and vehicle height direction of f, and the amount of deviation is calculated. Accordingly, the drive cylinders 10a, 12a are operated to correct the origin position of the setting jig 6. In the drawings, reference numerals 14a and 15a indicate drive cylinders for the slide frames 14 and 15, respectively.

Further, on the shift table 9, each door c,
A pair of tightening heads 16, 16' for the rear door and the front door are arranged to bolt c' to the vehicle body a at its door hinges e, e'.
To explain this in more detail, on the shift table 9, a fourth movable frame 17 that is movable in the width direction of the vehicle is connected to a fifth movable frame 18 that is movable in the vehicle length direction, and is movable in the vehicle height direction. 3 formed by assembling the sixth movable frame 19
A second robot mechanism of an axis-orthogonal coordinate type is arranged, and a plurality of nut runners 16a,
The tightening heads 16, 16' having a diameter of 16'a are provided so as to be driven inward in the vehicle width direction by separate feed cylinders 16b, 16'b, respectively, and the machine frame 8 is attached to each nut runner 16a, 16'a. The bolt can be freely set via the bolt receiving device 20 provided in the fifth
By moving the movable frame 18 and the sixth movable frame 19, each tightening head 16, 16' is positioned at a position corresponding to the door hinge e, e' when each door c, c' is assembled. After moving the bolt forward to a predetermined position inward in the vehicle width direction by the fourth movable frame 17, the respective tightening heads are fed and driven inward in the vehicle width direction by the respective feed cylinders 16b, 16'b to perform bolting work. I decided to do it. In the drawings, reference numerals 17a, 18a, and 19a indicate drive cylinders for the respective movable frames 17, 18, and 19.

The bolt receiving device 20 consists of a bolt receiving head 20a on a slide frame 21 provided on the machine frame 8 so as to be movable in the longitudinal direction, and a bolt supply head 20b fixed to the machine frame 8. 20b
With each chucking portion of the receiving head 20a gripping a bolt supplied through a pressure feeding tube 20c connected to The drive cylinder 21a is operated to move the bolt to a bolt delivery position opposite each of the tightening heads 16, 16', and in the delivery position, the bolt is set in each nut runner 16a, 16'a of each of the tightening heads 16, 16'. I tried to force it.

The overall structure of the apparatus of the present invention has been described above, and next, the detailed structure of the setting jig 6 will be explained.

As shown in FIG. 5, the setting jig 6 includes a pair of vacuum pads 2 that suction and hold each door c, c'.
2, 22, a door receiving piece 23 for receiving the lower edge of each door c, c', each door c, c' and each door opening b,
A dust sensor 24 is provided to measure the gap between the door openings b and b'. A pair of sensors are provided, one for measuring the amount of clearance and the other for measuring the amount of clearance in the vehicle height direction between these lower edges.

As shown in FIGS. 5 and 6, each dust sensor 24 has a fixed claw 24 that receives each side edge of the doors c and c'.
a, a movable claw 24b arranged in parallel in the vicinity thereof and movable in the gap measurement direction, and a potentiometer 24c for detecting the amount of displacement of the movable claw 24b with respect to the fixed claw 24a. Fixed claw 2
4a so as to be engaged with the opening side edges of doors c, c' prior to insertion into the door openings b, b', and at this time the fixing claws 24
The detector 2 detects the amount of displacement of the movable claw 24b with respect to a.
4c to determine the amount of clearance between doors c, c' and door openings b, b', and slightly move the setting jig 6 in the vehicle length direction and vehicle height direction so that this clearance amount becomes a predetermined value. After that, the doors c and c' are inserted into the door openings b and b'.

Furthermore, since the shape of the lower edge of the door differs depending on the rear door c, front door c', and model, a plurality of the door receiving pieces 23 are arranged at different heights, as shown in FIG. A rack 23b and a pinion 23 are arranged radially on the same axis and interlock with the cylinder 23a.
Each predetermined door receiving piece 23 is selected at an operating position to receive the lower edge of the door by an indexing mechanism consisting of c.

Next, to explain the operation of the above embodiment, first, the rear door c is set via the door loading device 7 on the setting jig 6 located at the door receiving position, and then the setting jig 6 is set on the assembly station 1. the rear door opening b of the vehicle body a, and then move the position detector 1 to the original position corresponding to the normal setting position of the rear door opening b
3, the setting jig 6 is moved in the vehicle length direction and vehicle height direction as described above according to the positional deviation of the rear door opening b from the set position, and the origin position is corrected. The setting jig 6 is advanced inward in the width direction of the vehicle toward the rear door opening b, and during the forward movement, the pair of dust sensors 24, 24 are activated.
Final positioning of the setting jig 6 is performed so that the amount of clearance between the rear door c and the rear door opening b in the vehicle length direction and the vehicle height direction becomes a predetermined value.
Insert the rear door c into the rear door opening b, and in this state, tighten each nut runner 16a of the tightening head 16.
Then, the door hinge e is bolted to the center pillar of the vehicle body a as shown in Figure 10, and the assembly of the rear door c is completed.

After completing this assembly, return the setting jig 6 to the door receiving position, set the front door c' thereto via the door loading device 7, and then move the setting jig 6 into the front door opening b'. Move it to the original position corresponding to the normal set position, and assemble the front door c' into the front door opening b' using the same procedure as above.

As described above, according to the present invention, the setting jig is moved in the vehicle length direction and vehicle height direction based on the signal from the position detector that detects the positional deviation of the door opening from the normal setting position, and this positional deviation is detected. The origin position of the setting jig can be corrected accordingly, and the setting jig can be advanced toward the door opening while being positioned at a position corresponding to the actual position of the door opening. This has the effect of overcoming the disadvantages of the above-described conventional device in which the setting jig is positioned with respect to the door opening during forward movement using a locating piece provided on the setting jig.

[Brief explanation of drawings]

Fig. 1 is a plan view of one example of the device of the present invention, Fig. 2 is a front view thereof, Fig. 3 is a plan view of the main parts thereof, and Fig. 4 is a plan view of an example of the device of the present invention.
The figure is a side view taken from the - line in Fig. 1, and Fig. 5 is a front view of the setting jig seen from the - line in Fig. 4.
6 and 7 are plan views taken along the line - and - of FIG. 5, respectively, FIG. 8 is a plan view taken along the line ``-'' of the position detector, and FIG.
FIG. 10 is a cutaway plan view showing bolted locations of the rear door. a... Vehicle body, b, b'... Door opening, c, c'...
...Door, 1...Assembling station, 6...Setting jig, 10a, 12a...Drive cylinder (drive source for the vehicle length direction and vehicle length direction of the setting jig), 13...
...Position detector.

Claims (1)

[Claims] 1. A setting jig is provided on the side of the assembly station to position and freely set the door, and the setting jig is movable forward and backward toward the door opening of the vehicle body to be set on the assembly station. In a device in which the door is assembled to the door opening by advancing a jig, the setting jig is driven in the vehicle length direction and the vehicle height direction from a predetermined origin position corresponding to the regular setting position of the door opening. A position detector is provided to detect the deviation of the door opening from the set position, and each drive source is actuated by a signal from the detector to set the set jig at its original position. A vehicle door assembly device characterized in that the door opening can be corrected according to the positional deviation of the door opening prior to its advancement.