JPH02193781A - Door assembling device - Google Patents

Abstract

PURPOSE:To enable smooth engagement of both hinges without controlling the position of a door assembling means with too high accuracy by releasing the lock of a lock mechanism by a control means in engaging a door hinge with a body hinge, thereby putting a door in the floating state. CONSTITUTION:In engaging a body side hinge 26 with a door side hinge 126, the arm of a robot is rotated to move the hinge 126 toward the hinge 26 up to the position immediately before the insertion into the hinge 26. In this state, a lock mechanism 56 is put in the released state by a control means 140. Further in this state, a door 8 is pushed toward the body side in order to insert the hinge 126 into the hinge 26, thus engaging both hinges. At this time, the door 8 is movable to some extent by a floating mechanism 50, and thereby the hinge 126, while being guided by a circular arc formed corner part 126b, is engagingly inserted into the hinge 26.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a vehicle door assembly device for assembling a door onto a body using a door assembly means such as a robot.

(Prior Art) Conventionally, for example, as described in Japanese Patent Application Laid-Open No. 13-22778, a door holding jig and a hinge pin insertion jig are attached to a robot, and the robot inserts the door holding jig. move the door held by the door to a predetermined assembly position relative to the body, engage the hinges fixed to the door and the body, and insert the hinge pin into the engaged hinge using the hinge pin insertion jig. It is known that the door is assembled to the body.

For example, as shown in FIG. 8, the door-side hinge is engaged with the body-side hinge by moving the door-side hinge 102 fixed to the door by a robot to the body-side hinge 100 located at a predetermined position. This is done by moving it in the direction of the arrow and inserting it.

(Problem to be Solved by the Invention) By the way, in order to move the door side hinge 102 in the direction of arrow A and insert it into the body side hinge 100 as described above, the door side hinge 102 must be moved in the direction of arrow A. When the insertion part 102a is moved to the position (
In this case, the gap ΔL between the opening 100a and the insertion portion 102a (ΔL - 9J1) must be moved in the direction of the arrow A.
If Q, i is the interval between the openings 100a, and z2 is the width of the insertion part 102a) is large, the positioning of the door does not need to be performed with such high precision.

However, in general, the clearance Δ is set to be extremely small, for example, about 0.3 mm, in order to eliminate backlash after the door is assembled, so the robot moves the door in the direction of arrow A and inserts the insertion portion 102a of the door hinge. When attempting to insert the door into the opening 100a of the body-side hinge, the robot must position the door with extremely high precision on the order of 0, IInM, and the robot must hold and move heavy objects such as doors. In reality, it is extremely difficult to control the position with such high precision.

In view of the above-mentioned circumstances, an object of the present invention is to provide a door assembly device capable of smoothly engaging the door side hinge with the body side hinge without having to control the position of the door assembly means such as a robot with such high precision. Our goal is to provide the following.

(Means for Solving the Problems) In order to achieve the above object, a door assembly device according to the present invention includes: a door holding jig is attached to a door assembly means, and the door holding jig is attached to the door holding jig by the door assembly means. A door assembly device for a vehicle that moves a held door to a predetermined assembly position relative to a body and engages a hinge of the door with a hinge of the body, the door assembly device comprising the door assembly means and the door holding jig. a floating mechanism interposed between the door holding jig and the door assembly means to support the door holding jig in a floating state;
a locking mechanism for positioning the door holding jig at a predetermined position with respect to the door assembly means; and a control means for bringing the locking mechanism into an unlocked state when the door hinge is engaged with the body hinge. It is characterized by consisting of:

The above-mentioned "floating mechanism" means a mechanism that supports the door holding jig on the door assembly means in a floating state, that is, in a state where it can be moved by a predetermined amount, and is made of, for example, hard rubber. Note that such a floating mechanism may be any mechanism as long as it can support the door held by the door holding jig in a floating state on the door assembling means. ``Interposed between the door assembly means and the door holding jig'' does not mean that the door holding jig is interposed between the door holding part and the door holding jig, for example, the door holding jig holds the door. If the door holding part substantially functions as a door holding jig and the base can be considered as substantially a part of the door mounting means, the base and This also includes the case where it is interposed between the door holder and the door holder. In addition,
In this case, the locking mechanism positions the door holder at a predetermined position with respect to the base.

(Function) When the locking mechanism is unlocked and the door holding jig is placed in a floating state with respect to the door assembly means, the door holding jig and, by extension, the door held by the holding jig is held by the door assembly means. It is possible to move a predetermined amount relative to the target. Therefore, if the door holding jig is left in a floating state when inserting and engaging the door-side hinge with the body-side hinge, even if the door position determined by the robot deviates from the allowable hinge insertion range and is Even if it is not possible to insert the hinge by pressing the door as it is, by pressing the door, for example, the door hinge can be moved by following the body hinge using the arcuate corner on the front side of the insertion part. It becomes possible to insert the door into the body-side hinge, and therefore, smooth hinge engagement is possible without requiring the robot to control the door position with high precision.

(Embodiments) Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a plan view of a door assembly line using an embodiment of the door assembly apparatus according to the present invention.

The illustrated door assembly device consists of a robot 2 serving as a door assembly means, and a door holding jig 4 and a hinge pin insertion jig 6 that are attached to the robot 2. are configured separately, and the door holding jig 4 is always attached to the robot 2, and the hinge bin insertion jig 6 is attached to and detached from the door holding jig 4 each time each door 8 is assembled to the body 10. It is composed of

The door assembling apparatus is provided with a door assembling station 121, into which the body 10 is conveyed intermittently through a body conveyance line 14, and the door 8 is conveyed through an intermittent conveyance through a door conveyance line 16. A hinge pin insertion jig circulation line 18 is disposed at the door assembly station 12, and the circulation line 18 transfers the hinge pin insertion jig 6 to the jig delivery position 22 and the tweezers via the jig mounting table 20. and the position 24.

The robot 2 to which the door holding jig 4 is always attached first rotates its arm 2a appropriately to position the door holding jig 4 at the jig delivery position 22 of the circulation line 1B. Attach the hinge bin insertion jig 6 with the hinge tweezers in place to the door holding jig 4,
Next, turn the arm 2a in the direction of arrow B to remove the door holding jig 4.
Door assembly station 12 by door conveyance line 1B
The door 8 is placed in the place where the door 8 was carried in, and the door 8 is held by the door holding jig 4, and then the arm 2a is turned in the direction of arrow A to move the door 8 held onto the body. Door assembly station 1 via conveyor line I4
The body 10 that has been carried into 2 and is stopped there.
By doing so, the body side hinge fixed to the body lO and the door side hinge fixed to the door 8 are engaged, and the bin holes of both hinges are aligned. After that, the hinge pins are inserted into the pin holes of both the engaged hinges using the hinge pin insertion jig 6 to complete the assembly of the door. After the assembly of the door is completed, the arm 2a rotates in the direction B, and at the jig delivery position 22, the hinge bin insertion jig 6 with no hinge pin is removed and placed on the jig mounting table 20, and then the above-mentioned The circulation line 18 advances the four jig mounting tables 20 on the line 18 one by one in the direction of the arrow, and the hinge bin insertion jig without a hinge bin is moved to the tweezers position 24.
There, the hinge pins are set manually or automatically, and the hinge pin insertion jig, which has already been set with the hinge pins, is positioned at the jig delivery position 22. The already set hinge bin insertion jig 6 is attached to the door holding jig 4, and then the arm 2a is rotated in the direction of arrow B to attach the next door 8 carried into the door assembly station 12 to the door holding jig. 4, the receiver is taken and held, and the door 8 is assembled in the same manner as described above.

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

As shown in the figure, a door holding jig 4 is attached to the robot 2, and a door 8 is held on the door holding jig 4, and a hinge (not shown) of the door 8 is located at a position. In this case, the hinge bin insertion jig 6 is attached to the door holding jig 4.
The hinge of the bracket door 8 is engaged with the hinge 2G of the body lO (see FIG. 3). When the robot 2 transports the door 8 and engages the hinge of the door 8 with the hinge of the body 10, the pin hole position detection means 28 detects the position of the pin hole of the hinge on the body side. By detecting the bottle hole position and inputting the bottle hole position to the robot 2, the door 8 is moved so that the bottle hole of the door side hinge matches the bottle hole position.
is moved by the robot 2 to engage both hinges.

In the pin hole position detection means 28, the tapered locating pin 30 is advanced toward the body 10 from the state shown in FIG. ), raise the locate pin 30 from that state and insert it into the bottle hole of the body side hinge 2G, and then move the locate pin 30 in the X direction, Y direction,
By determining the position in the Z direction and the inclination with respect to the Z direction, the position of the bottle hole of the body side hinge 2G is detected.

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

In order to smoothly engage the door side hinge with the body side hinge in the door assembly process as described above, the door holding jig 4 is attached to the robot 2, although it is not shown in FIGS. The lock consists of a fixed base and a door holding part that holds the door, a floating mechanism is interposed between the base and the door holding part, and the lock positions the door holding part at a predetermined position with respect to the base. A mechanism is provided, and when the hinge is engaged, the locking mechanism is brought into an unlocked state and the door holding portion is brought into a floating state by means of a control means (not shown).

A more detailed explanation will be given below with reference to FIGS. 4 to 6.

4 is a view of the door holding jig 4 seen from the arrow ■ direction in FIG. 2, and FIG. 5 is a sectional view taken along the line V-V in FIG. cross-sectional view), 6th
The figure is a sectional view taken along the line Vl--Vl in FIG. 2.

As shown in FIGS. 4 and 5, the door holding jig 4 includes a base 40 attached to the robot 2 and a door holder 42 that is supported in a floating state by the base 40 and holds the door 8.
It consists of:

The base 40 is fixed to the second tip 2r of the robot with four bolts 44. 2 on the top and bottom of the base 40
Two rods 46 are arranged, the two rods 46 being supported by a support 48 fixed to the base 40. The holding portion 42 is supported in a floating state by the two rods 46 via a floating mechanism 50. The floating mechanism 50 has a rubber bushing 52 made of an annular hard rubber having an inner cylinder and an outer cylinder fixed to the inner and outer surfaces, respectively, and the rubber bush 52 is supported by a support 54 fixed to the holding part 42. The rod 4 is also inserted into the inner cylinder of the rubber bush 52.
B is slidably inserted in the axial direction of the rod, so that the holding portion 42 can be displaced relative to the base portion 40 by the amount of possible elastic deformation of the rubber bushing 52 when the locking mechanism 5B, which will be described below, is unlocked.

The base portion 40 and the holding portion 42 are provided with a locking mechanism 56 for positioning the holding portion 42 at a predetermined position with respect to the base portion 40. The lock mechanism 56 includes an air cylinder 58 fixed to the holding portion 42, a lock pin 60 with a tapered tip that is reciprocated by the air cylinder 58, and a lock pin 60 fixed to the base 44. and a lock pin fitting member 62 into which the tapered tip of the lock pin fitting member 62 is fitted. Such a locking mechanism 56
As shown in the figure, there are three lock pins 60 of the three lock mechanisms 56, one in the center of the upper part and one on the left and right sides of the lower part, and the lock pins 60 of the three lock mechanisms 56 are fitted into the lock pin fitting member G2 with a predetermined force by the air cylinder 58. By pressing together, the holding part 4
2 is positioned at a predetermined position with respect to the base 40 and is in a locked state.

Further, the holding portion 42 is provided with suction means 64 and a clamper 66 for holding the door 8.

The suction means 64 is provided on one side at the center of the upper part of the holding part 42,
The glass portion of the door 8 is suctioned by a suction cup B4b which is connected to an air suction means (not shown) through an air passage 84a, a part of which is shown in FIG. 4 (see FIG. 5). The clamper 66 is provided one each on the left and right sides of the lower part of the technique maintenance section 42, and consists of a fixed clamp member 68a and a movable clamp member Bed that is rotated about a rotation shaft 86c by an air cylinder 6Bb, as shown in FIG. As shown, the lower edge of the door 8 is clamped by both clamp members 66a, 8.
It is configured to be clamped by f3d.

Furthermore, a hinge bin insertion jig mounting part 68 is formed at the side end of the holding part 42, to which the hinge bin insertion jig 6 described above is mounted. The hinge pin insertion jig mounting part 68 is
As shown in FIGS. 4 and 6, a support plate 70 fixed to the holding part 42, two attachment/detachment means 72 provided on the support plate 70, and a drive means 74 for operating the hinge pin insertion jig 6. It consists of:

The attachment/detachment means 72 is for gripping and releasing a mounting bin 106, which will be described below, which is protruded from the hinge pin insertion jig 6, and attaches to the support plate 70 via a flange portion 78a.
a fitting sleeve 76 which is fixedly fixed to the housing and into which the mounting pin 10B of the hinge pin insertion jig is inserted; and a ball 7B which is provided on the sleeve 76 and engages with the groove 1ota of the mounting pin.
and an air cylinder 80 fixed to the support plate 70,
The press sleeve 84 is reciprocated in the direction of arrow C in the drawing by the cylinder rod 80a of the air cylinder via the connecting rod 82 to press the ball 78 in the direction of the mounting bin 106 and release the pressure. The drive means 74 also includes a drive motor 8B fixed to the support plate 70, and a sleeve-shaped shaft joint 88 that is engaged with, for example, a spline with an output shaft 88a of the motor 8B and rotates together with the output shaft 8[ia]. When the hinge pin insertion jig 6 is installed, the shaft joint 88 engages with, for example, a spline engagement with an input shaft 92 of the jig 6, which will be described below, to rotate the input shaft 92.

Hinge pin insertion jig mounting part 6 configured as described above
8, the suppression sleeve 84 of the attachment/detachment means 72 is previously slid to the left in the direction of arrow C by an air cylinder 80 to release the pressing of the ball 78. The fitting sleeve 76 is set in a state where it can be moved outward in the radial direction, and from that state, the fitting sleeve 76 is fitted into the mounting pin 10B of the hinge pin insertion jig located at the jig delivery position 22 shown in FIG. When the door holding jig 4 is moved by the arm 2a of the robot to fit the mounting bin 108 and the fitting sleeve 7B as shown in FIG. Slide the ball 78 to the right side and press the ball 78 radially inward by the suppression sleeve 84 as shown in the figure to push the ball 78 into the groove 10 of the mounting bottle.
This is done by engaging the ball 6a and inhibiting radial outward movement of the ball. Note that during this installation, the input shaft 92 of the hinge bin insertion jig is also connected to the drive means 74.
The shaft coupling 88 is engaged with the shaft joint 88 of the

As shown in FIG. 6, the hinge pin insertion jig 6 includes a frame 90 and a shaft coupling 8 rotatably supported by the frame 90.
8 and engages with the drive motor 86 via the shaft coupling 88.
The input shaft 92 rotated by the frame 90
A bevel gear 94 is rotatably supported by the input shaft 92.
．． 98, a guide rod 100 fixed to the frame 90, a hinge bin insertion portion 102 that moves up and down along the guide rod 100, and a hinge bin provided to the frame 90. The hinge bin insertion portion 102 includes a wedge-shaped expansion member 104 for expanding the tip and the above-mentioned mounting bin 10B provided on the frame 90, and the hinge bin insertion portion 102 is a nut member screwed onto the screw rod 98. 108, a cylindrical member 110 fixed to the nut member 108 and slidably fitted to the guide rod 100, and a shaft member slidably fitted to the arm member 112 fixed to the cylindrical member 110. 114, a hollow for punching the shaft part provided at one end of the shaft member 114) 11B, a hinge pin holding part 118 made of a magnet provided at the other end of the shaft member 114, and the nut l16 and the hinge pin and a disc spring 120 disposed between the holding part 118 and the holding part 118.

As shown in the figure, the head 122a of the hinge pin 122 is attracted and held in the hinge pin holding portion 11g by a magnet. A vertical slit 122d is formed.

The shaft member 114 and the wedge-shaped expansion member 104 of the hinge bin insertion portion are arranged along an axis 1 parallel to the guide rod 100.
24, and the hinge pin 122 is also located on the axis 1.
24, and when the door 8 is held in a normal state by the door holding jig 4, the bottle hole of the hinge 12B of the door 8 is also located on this axis 124. There is.

In FIG. 4, reference numerals 130 and 132 are stoppers for regulating the lateral position of the holding part 42 with respect to the base 40, and the base 40 is provided with a cylinder 134, and the cylinder rod 134a of the cylinder 134 is a rubber cup. It is connected to the holding part 42 via a ring 136. Further, as shown in FIGS. 4 and 5, a fixed reference pin 138, which will be described below, is provided at the lower right corner of the holding portion 42.

Next, door assembly using the door assembly apparatus configured as described above will be explained.

First, the arm 2a of the robot is rotated to position the door holding jig 4 at the jig delivery position 22 of the hinge pin insertion jig circulation line 18. The tool 6 is attached to the door holding jig 4. The details of this mounting have already been explained, so they will be omitted here.

Next, the door assembly station 1 is moved by the door holding jig 4.
Hold the door 8 carried in at 2. Such holding is carried out by rotating the arm 2a of the robot in a predetermined direction and moving the door holding jig 4 attached to the arm 2a to the door 8 to hold the door 8 carried into the door assembly station 12. The lock mechanism 56 of the door holding jig 4 is placed in the unlocked state (the lock pin 60 is retracted from the lock pin fitting member 62), and the clamp mechanism 66 also moves the movable clamp member 60d as shown in FIG. The door holding jig 4 is rotated in the direction indicated by the middle arrow to make it into an unclamped state, and then the door holding jig 4 is advanced toward the door 8, and the fixing reference pin 138 is installed on the inner surface of the door 8 as shown in FIG. By inserting the door 8 into the predetermined reference hole 140
2, and then rotate the movable clamp member 66d in the direction of arrow E in FIG. The portion is held by suction, and then the locking mechanism 56 is placed in a locked state (the state in which the lock bin 60 is press-fitted to the lock pin fitting member 62).

As described above, the hinge pin insertion jig 6 is inserted into the door holding jig 4.
is attached, the door 8 is held, and the lock mechanism 56 is locked, the robot arm 2a is rotated to position the door 8 in the door assembly position shown in FIG. and the body side hinge 26 as shown in FIG. In order to engage both hinges 2B and 12G, first move the arm 2a of the robot to the body-side hinge 26 which is input from the pin hole position detection means 28 mentioned above.
The door side hinge 126 is moved toward the body side hinge 2B by rotating based on the bottle hole position information, and the door side hinge 126 is moved to the position immediately before insertion into the body side hinge 26, that is, as shown in FIG. 7A. 12B against the body-side hinge 26 and then put it in a position where it can be simply inserted. In this state, the locking mechanism 56 is brought into an unlocked state by the control means 140 shown in FIG. 5, and the door 8 is opened in the unlocked state. Push the door side hinge 126 toward the body 10 side.
A method of inserting and engaging the body side hinge 2G into the body side hinge 2G is used. According to this method, as shown in FIG. 7A, the position of the door side hinge 126 is δ with respect to the body side hinge 26.
1, and this δl is larger than Δ9J/2 (Δ is the gap between both hinges mentioned in the section of the problem to be solved by the invention), so the door side hinge 126 is shifted in the locked state. Even if you try to insert the door 8 into the body-side hinge 26 but cannot insert it, the door 8 is connected to the floating mechanism 50.
Therefore, the door side hinge 12
8 can be inserted into and engaged with the body side hinge 26 while being guided by the arcuate corner portion 126b on the front side of the insertion portion, and after the door side hinge 126 is inserted, both hinges 2
[i, Even if the center position of the bottle hole 126 is slightly shifted (δ2) as shown in FIG.
, 12G, the hinge bin 122 can be inserted into the bin hole.

After engaging both hinges 26.12B as described above,
Rotating the drive motor 86, rotating the clew rod 98 via the output shaft 88a single shaft joint 88, input shaft 92, and bevel gear 94.9G, thereby moving the hinge pin insertion portion 102 in the direction of arrow F, Insert the hinge pin 122 into the pin hole of both the engaged hinges 2B and 12B, and further insert the vertical slit 122d of the tip end 122c of the hinge pin that has passed through the pin hole into the wedge-shaped expansion member 1.
04, the wedge-shaped expansion member 104
The hinge pin tip 122c is expanded through the vertical slit 122d, and the expansion of the tip 122c prevents the hinge pin 122 from being removed from both hinges 2G and 126, thereby allowing the door 8 to be assembled. finish.

Note that while the door holding portion 42 is in a floating state as described above, the door side hinge 12B is connected to the body side hinge 26.
If the door side hinge 126 is inserted into the body side hinge 26, it is possible to insert the door side hinge 126 into the body side hinge 26 without necessarily positioning the door side hinge 126 accurately. It is necessary to position the hinge 126 with respect to the body-side hinge 26 within a predetermined range where the arcuate corner portion 126b can perform the guiding function. However, if the door holding part 42 is in a floating state just before the hinge is inserted, the positional relationship of the door 8 with respect to the robot 2 will not be specified, and as a result, the accuracy of the door position control will be greatly reduced, and the robot will not be able to control the door side hinge 126. Since there is a possibility that the door hinge 126 may not be positioned within the predetermined range, the locking mechanism 56 is kept in the locked state when the door hinge 126 is positioned immediately before engagement with the body hinge 26 (immediately before insertion) as in the above embodiment. This is desirable.

(Effects of the Invention) As described above, in the door assembly device of the present invention, when the door side hinge is engaged with the body side hinge, the locking mechanism is brought into the unlocked state by the control means and the door is placed in the floating state. Even if the position of the door-side hinge is slightly out of the allowable range for insertion into the body-side hinge just before the hinge is engaged, the door-side hinge will be guided by its arcuate corner and will not move until it is inserted into the body-side hinge. It is possible to insert the door, so there is no need to position the door with high precision just before engagement, and therefore the door-side hinge can be smoothly engaged with the body-side hinge even by door assembly means such as a robot. .

[Brief explanation of the drawing]

Fig. 1 is a plan view of a door assembly line using an embodiment of the door assembly device according to the present invention, and Fig. 2 shows a door being positioned at a predetermined assembly position with respect to a body by a robot. A plan view showing the condition. Figure 3 is a view from the direction of the arrow ■ in Figure 2 (however, the door assembly device is not shown). Figure 4 is a view of the door holding jig from the direction of the arrow ■ in Figure 2. Fig. 5 is a sectional view taken along the line V-V in Fig. 4 (however, the lock mechanism part is a sectional view taken along the line Va-Va), Fig. 6 is a sectional view taken along the line VI-Vl in Fig. 2, and Fig. 7A. 7B is a sectional view showing the state of the door side hinge immediately before engagement with the body side hinge, FIG. 7B is a sectional view showing the state of the door side hinge after engagement with the body side hinge, and FIG. 8 is a sectional view of the door side hinge. FIG. 3 is a cross-sectional view showing how the body side hinge is engaged with the body side hinge. 2... Door assembly means 4... Door holding jig 8.
...Door lO...Body 26...
Body side hinge 50...Floating mechanism 56...Lock mechanism 126...Door side hinge 140...Control means Fig. Fig. A Fig. 7B Fig.

Claims (1)

[Scope of Claims] A door holding jig is attached to the door assembly means, and the door held by the door holding jig is moved by the door assembly means to a predetermined assembly position with respect to the body, and the hinge of the door is moved. and a hinge of the body, the door assembling device being interposed between the door assembling means and the door holding jig so as to connect the door holding jig to the door assembling means. a floating mechanism for supporting in a floating state; a locking mechanism for positioning the door holding jig at a predetermined position with respect to the door assembly means; and a locking mechanism for locking the locking mechanism when the door hinge is engaged with the body hinge. A door assembly device comprising: a control means for setting the door in a released state.