JPH02193782A - Door assembling device - Google Patents

Abstract

PURPOSE:To engage hinge brackets on the door side and the body side smoothly by providing a hinge bracket position detecting means for detecting a body side hinge bracket position and a control means for controlling the operation of a robot based on the position information outputted from the hinge bracket position detecting means. CONSTITUTION:A door holding jig 4 is fitted at a robot 2, and thus a door 8 is held at the jig 4. In engaging the hinge bracket of the door 8 carried by a robot 2 with the hinge bracket of a body 10, the pin hole position as the body side hinge bracket position is detected by a pin hole position detecting means 28 (a hinge bracket position detecting means), and this pin hole position information is inputted into a control means 30. The action control of the robot 2 is performed to engage the door side hinge bracket with the body side hinge bracket by this control means 30.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a vehicle door assembly device in which a door is moved by a robot to engage a door-side hinge bracket with a body-side hinge bracket.

(Prior Art) Conventionally, as described in, for example, Japanese Unexamined Patent Publication No. 83-22778, a door holding jig and a hinge bin insertion jig are attached to a robot, and the robot operates the door holding jig. Position the held door at a predetermined assembly position with respect to the body, engage the hinge brackets fixed to the door and the body, and insert the hinge bin into the engaged hinge bracket using the hinge bin insertion jig. It is known that the above-mentioned door is assembled to the above-mentioned body.

In the door assembly device described above, when the door is moved by the robot to engage the door-side hinge bracket with the body-side hinge bracket, for example, a predetermined position at which the body will be positioned is set in advance, and the predetermined position and body size are Find the position of the body-side hinge bracket when the body is at the predetermined position, input that position information into the robot's control device, stop the body at the predetermined position, and move the robot to the position specified above. Methods that are used include operating and engaging the robot based on position information, and engaging the robot by operating the robot while the worker visually confirms the positional relationship of the door-side hinge bracket with respect to the body-side hinge bracket. .

(Problem to be Solved by the Invention) However, in the former method, the body is not always accurately positioned at a predetermined position, and therefore the actual position of the body-side hinge bracket varies; As a result, even if the robot is operated based on the input position information, there is a risk that the door-side hinge bracket cannot be engaged with the body-side hinge bracket, and the latter method requires a worker. Therefore, there are problems such as it is not possible to fully automate the door assembly or the assembly work takes a long time.

SUMMARY OF THE INVENTION In view of the above circumstances, an object of the present invention is to provide a door assembly device that allows a robot to always smoothly engage a door-side hinge bracket with a body-side hinge bracket.

(Means for Solving the Problems) In order to achieve the above object, the door assembly device according to the present invention includes a robot that holds the door and moves the door to a predetermined assembly position with respect to the body. A vehicle door assembly device that engages a fixedly installed door side hinge bracket with a body side hinge bracket that is fixedly installed on the body, the device comprising: hinge bracket position detection means for detecting the position of the body side hinge bracket; , and control means for controlling the operation of the robot based on the position information of the body-side hinge bracket output from the hinge bracket position detection means.

(Function) As described above, the position of the body-side hinge bracket, for example, the position of the bottle hole of the hinge bracket is detected by the hinge bracket position detection means, and the bottle hole position information is fed back to the robot side to control the operation of the robot. By doing this, even if the stopping position of the body varies from the above-mentioned predetermined position, the robot can always operate with the aim of accurately positioning the hinge bracket on the body side. The hinge bracket can always be smoothly engaged with the body side hinge bracket.

(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, a door holding jig 4 and a hinge pin insertion jig 6 that are attached to the robot 2, and the door holding jig 4 and the hinge pin insertion jig 6 are configured separately. The door holding jig 4 is always attached to the robot 2 and the hinge pin insertion jig 6 is attached to the robot 2 at all times.
is configured to be attached to and detached from the door holding jig 4 each time each door 8 is assembled to the body 10.

The door assembling device is disposed at a door assembling station 12, into which the body lO is conveyed in an intermittent manner by a body conveyance line 14, and the door 8 is conveyed by an intermittently conveyed manner by a door conveyance line 16. A hinge pin insertion jig circulation line 18 is disposed at the door assembly station I2, and the circulation line 18 transfers the hinge pin insertion jig 6 to the jig delivery position 22 and the bin via the jig mounting table 20. It is circulated between the set position 24 and the set position 24.

The robot 2 to which the door holding jig 4 is always attached first positions the door holding jig 4 at the jig delivery position 22 of the circulation line 18 by appropriately rotating its arm 2a. Attach the positioned hinge pin insertion jig 6 with hinge pin set 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 by conveyor line 14
2 and is stopped there.
By doing so, the body-side hinge bracket fixed to the body 10 and the door-side hinge bracket fixed to the door 8 are engaged, and the pins of both hinge brackets are positioned at a predetermined assembly position. The holes are matched, and then the hinge pins are inserted into the pin holes of both hinge brackets that have been engaged 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 pin 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, positions the hinge pin insertion jig without a hinge pin at the tweezers position 24, and sets the hinge pin there manually or automatically. At the same time, the hinge pin insertion jig, which has already been set with hinge tweezers, is placed in the jig delivery position 22. Therefore, the hinge pin insertion jig 6, which has been set with hinge tweezers and which has been placed in this jig delivery position 22, is transferred to the door holding jig 4. After that, the arm 2a is rotated in the direction of arrow B, and the next door 8, which is being carried into the door assembly station 12, is held by the door holding jig 4, and the same procedure as above is carried out. The door 8 is assembled.

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 10 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 bracket (not shown) for the held door 8 is present. At this position, the hinge pin insertion jig 6 is attached to the door holding jig 4, and the hinge bracket of the door 8 is engaged with the hinge bracket 2B of the body 10 (see FIG. 3).

When the robot 2 transports the door 8 and engages the hinge bracket of the door 8 with the hinge bracket of the body 1O, the hinge bracket position on the body side is determined by the pin hole position detection means 28 which is a hinge bracket position detection means. detects the pin hole position of the body side hinge bracket 2B, inputs the pin hole position information to the control means 30, and the control means 30 controls the robot 2 to engage the door side hinge bracket with the body side hinge bracket. Operation control is performed.

In addition, 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, a second tip 2'', and a first
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.

Next, a more detailed explanation will be given with reference to FIGS. 4 to 9.

4 is a view of the door holding jig 4 seen from the arrow ■ direction in FIG. 2, and FIG. 5 is a cross-sectional view taken along the line V-V in FIG. cross-sectional view) , j
Figure i6 is a sectional view taken along the line Vl-VI in Figure 2, and Figures 7 to 9 are views showing the hinge bracket position detection means.
The figure is a plan view, and FIGS. 8 and 9 are views viewed from the direction of the arrow ``■'' and the arrow ``■'' in FIG. 7, respectively. However, the portion near the fifth base in FIG. 8 is a sectional view taken along the line ■a--■a in FIG. 7.

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

The base frame 40 is fixed to the second tip 2f of the robot with four bolts 44. Two rods 46 are disposed above and below the base frame 40, and these two rods 46
is supported by a support 48 fixed to the base frame 40. A floating mechanism 5 is attached to the two rods 46.
0, the holding frame 42 is supported in a floating state. The floating mechanism 50 has a rubber bushing 52 made of annular rubber having an inner cylinder and an outer cylinder fixed to its inner and outer surfaces, respectively, and this rubber bushing 52 is supported by a support 54 fixed to the holding frame 42 and The rod 46 is inserted into the inner cylinder of the rubber bush 52 so as to be slidable in the axial direction of the rod, so that when the locking mechanism 56 described below is released from the base frame 40, the holding frame 42 is inserted into the inner cylinder of the rubber bush 52.
The relative displacement is possible by the amount of possible elastic deformation.

The base frame 40 and the holding frame 42 have a holding frame 42 attached to the base frame 4.
Locking mechanism 5 for positioning at a predetermined position relative to 0
6 is provided. The locking mechanism 56 is attached to the holding frame 42
An air cylinder 58 fixedly attached to the air cylinder 5
The lock bin 60 has a tapered tip that is reciprocated by the lock bin 60, and a lock bin fitting member 62 is fixed to the base frame 44 and into which the tapered tip of the lock bin 60 is fitted. As shown in the figure, the locking mechanisms 5G are provided on three sides, one in the center of the upper part and one on the left and right sides of the lower part. By fitting and pressing the holding frame 42, the holding frame 42 is positioned at a predetermined position with respect to the base frame 40, and is in a locked state.

Further, the holding frame 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 upper center of the holding frame 42,
A suction cup [i4b
to attract the glass part of door 8 (see Figure 5).
It is configured. The clamper 6B is provided one each on the left and right sides of the lower part of the holding frame 42, and consists of a fixed clamp member 68a and a movable clamp member 6[id that is rotated about a rotation shaft 86c by an air cylinder 66b.
As shown in the figure, both clamp members 66a,
66d.

Further, a hinge bin insertion jig mounting portion B8 is formed at the side end portion of the holding frame 42 to which the above-mentioned hinge bin insertion jig 6 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 frame 42, two attachment/detachment means 72 provided on the support plate γ0, and a drive means 74 for operating the hinge bin insertion jig 6. It consists of:

The attachment/detachment means 72 is for gripping and releasing the attachment bin 10G, which will be described below, which is protruded from the hinge bin insertion jig 6, and attaches to the support plate 70 via the flange portion 78a.
a fitting sleeve 76 which is fixed to the housing and into which the mounting bin 106 of the hinge bin insertion jig is inserted; and a ball 7 which is provided on the sleeve 76 and engages with #1 OBa of the mounting bin.
8, an air cylinder 80 fixed to the support plate 70, and a cylinder rod 80a of the air cylinder that reciprocates in the direction of arrow C in the figure via a connecting rod 82 to move the ball 78 in the direction of the mounting bin 10B. and a suppression sleeve 84 for suppressing and releasing the pressure. Also,
The drive means 74 includes a drive motor 86 fixed to the support plate 70, and a sleeve-shaped shaft joint 88 that engages with, for example, an output shaft 88a of the motor 86 through a spline and rotates together with the output shaft 88a. When the hinge bin 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
To attach the hinge bin insertion jig 6 to the ball 78, the suppression sleeve 84 of the attachment/detachment means 72 is previously slid to the left in the direction of arrow C by the air cylinder 80 to release the pressure on the ball 78. The fitting sleeve 7B is set in a state where it can be moved outward in the radial direction, and from that state, the fitting sleeve 7B is fitted into the mounting bin 106 of the hinge bin 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 10B and the fitting sleeve 76 as shown in FIG. Slide the ball 78 to the right side and press the ball 78 radially inward by the pressing 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 preventing the ball from moving outward in the radial direction. 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 bin 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 provided at one end of the shaft member 114) 11B, a hinge bin holding portion 118 made of a magnet provided at the other end of the shaft member 114, and the nut 116 and the hinge pin. and a disc spring 120 disposed between the holding part 11B and the holding part 11B.

As shown in the figure, the head 122a of the hinge pin 122 is attracted and held in the hinge pin holding portion 118 by a magnet, and the hinge pin 122 consists of the head t22as, a shaft portion 122b, and a tip portion 122c. A split 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 addition, in FIG. 4 above, 180 and 132 indicate the base frame 40.
The base frame 40 is provided with a cylinder 134, and is a stopper for regulating the lateral position of the holding frame 42 relative to the base frame 40.
A cylinder rod 134a of the cylinder 134 is connected to the holding frame 42 via a rubber coupling 138. Further, as shown in FIGS. 4 and 5, a fixed reference bin 138, which will be described below, is provided at the lower right corner of the holding frame 42.

As shown in Fig. 7.8.9, the bottle hole position detecting means 28, which is the hinge bracket position detecting means, has a rail 142 extending in the Y direction, and is placed on the rail 142 so as to be slidable in the Y direction. A first base 144 and the first base 14
Cylinder rod 146 that slides 4 back and forth in the Y direction
, a second base 150 provided on the first base 144 via a hard rubber 148 so as to be tiltable in the Z direction, and a front end portion of the second base 150 (in FIG. 7.8). A third base 152 is fixed to the right side (that is, the side facing the body), and a linear guide 154 is provided on the third base 152 and extends in the Y direction. A fourth base 158 that can be slid in the direction;
A fifth base 160 is provided via a linear guide 158 extending in the X direction and is slidable in the X direction with respect to the fourth base 156, and a guide rod 1B2 is erected on the fifth base 180 and extends in two directions. a locate pin support member 184 that is movable up and down along a locking mechanism 168 for positioning the fifth base 1110 at a predetermined position; a Y-direction linear sensor 170 for detecting the relative position of the fourth base 156 in the Y direction with respect to the third base 152; An X-direction linear sensor 172 that detects the relative position of the fifth base 160 in the X direction with respect to the fourth base 156, and a Z-direction linear sensor 174 that detects the relative position of the locate pin 166 in two directions with respect to the fifth base 180. and an inclination sensor 17B that detects the inclination of the second base 150 in the Z direction (weight direction).The locate pin support member 164 is moved up and down in the Z direction by a cylinder 178, and The cylinder 168a is fixed to the third base 152, the lock pin 168b has a tapered tip (upper end) that is moved up and down in the Z direction by the cylinder 188a, and the lock pin 168b is fitted with the lock pin 168b. 5
A tapered fitting hole 168c formed in the base 160, and the Y-direction linear sensor 170 includes a rod portion 170a fixed to the third base 152 and extending in the Y direction, and a fourth base 15B. The rod portion 170a is fixedly attached to the rod portion 170a.
The X-direction linear sensor 172 is fixed to the fourth base 15B, and the X-direction linear sensor 172 is
a rod portion 172a extending in the direction; and an annular portion 1 fixed to the fifth base 160 and into which the rod portion 172a is inserted.
72b, and the Z-direction linear sensor 174 has a rod 1 fixed to the fifth base 160 and extending in the Z-direction.
74a and an annular portion 174b which is fixed to the locate pin support member 164 and into which the rod portion 174a is inserted. The relative position can be detected.

Next, a specific example of door assembly using the door assembly apparatus configured as described above will be described.

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 locking mechanism 56 of the door holding jig 4 is placed in the unlocked state (the locking pin 60 is retracted from the locking pin fitting member 62), and the clamping mechanism 66 also moves the movable clamping member Bed 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, the door 8 is attached to the holding frame 4.
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.
After attaching the door 8 and holding the door 8, the robot arm 2a
is rotated to position the door 8 in the above-mentioned door assembly position shown in FIG. 2, and the door-side hinge bracket 12B and the body-side hinge bracket 26 are engaged as shown in FIG. 6.

As described above, the engagement of both hinge brackets 28, 128 is achieved by detecting the bottle hole position of the body-side hinge bracket 26 by the bottle hole position detection means 28, and controlling the robot by the control means 30 based on the bottle hole position information. This is done by controlling the operation of 2.

That is, first, the first base 144 is moved by the cylinder rod 14B.
is advanced to the right side in the Y direction in FIG. 78 (upper side in the Y direction in FIG. ), from that state, the locking mechanism 168 is set to the unlocked state shown in the figure, and the fifth base IGO can slide in the X and Y directions with respect to the third base 152 via the fourth base 156, and the cylinder 178
, the locate pin IB6 is raised upward in the Z direction via the locate pin support member 164, and the locate pin 1
BB is inserted into the pin hole of the body side hinge bracket 2B, and when the base 188a of the locate pin 16B comes into contact with the body side hinge bracket 2B, the locate pin IB is inserted.
Stop 6. When inserting the locate pin 16B,
If the center lines of the bottle hole and the locate pin 166 do not match, the locate pin 186 is guided by the tapered tip and moved along with the fifth base 1130 by
If the pin hole is inserted while moving a predetermined amount in the Y direction and the pin hole center line is inclined with respect to the Z direction, the locate pin 16
6 is the above 2nd to 5th base 150.152.158,180
It is inserted at an angle. Therefore, the above locate pin 1
Each of the above-mentioned sensors 17G and 17 after inserting the sensor 86 into the bottle hole
2.174.178 The relative position of the fifth base 1B[) in the X and Y directions with respect to the fourth base 15B, the third base 152, and the two directions of the locate pin support member 184 with respect to the fifth base 180 By adding the relative position base of and the tilt of the second base 150 in the Z direction to the position where the first base 144 was first advanced and stopped, the position (including the tilt) of the locate pin 188 and the body can be determined. The pin hole position of the side hinge bracket 26 can be detected.

After detecting the pin hole position of the body side hinge bracket 2B as described above, the locate pin 1BB is moved back to the original position, and the detected pin hole position information is input to the control means 30, and the control means 30 performs the above input. The robot 2 is controlled based on the determined pin hole position information to move the door 8 and engage the door side hinge bracket 12B with the body side hinge bracket 26.

In order to engage both hinge brackets 26.12B, in this embodiment, the arm 2a of the robot abuts the door-side hinge bracket 12B against the body-side hinge bracket 2B to bring it into a state immediately before engagement, and in that state, the above-mentioned A method is used in which the lock mechanism 56 is brought into an unlocked state, and in the unlocked state, the door 8 is pushed toward the body 10 side, and the door-side hinge bracket 12B is pushed into and engaged with the body-side hinge bracket 26. According to this method, even if you try to push the door side hinge bracket 12B into the body side hinge bracket 26 while it is in the locked state, it may not be possible to do so because both hinge brackets are not in the correct positional relationship. door 8
is somewhat movable by the floating mechanism 50, so that the door side hinge bracket 126 can be inserted into and engaged with the body side hinge bracket 26 without being guided by its corner arc, and the pins of both hinge brackets 28, 128 can be inserted into the body side hinge bracket 26. Even if the center position of the hole is slightly shifted, the door side hinge bracket 12B can be moved to some extent, so that the hinge pin 122 can be inserted into the pin holes of both hinge brackets 26 and 128, which will be described below.

After the hinge brackets 28 and 128 are engaged as described above, the drive motor 8B is rotated, and the output shaft 86 is rotated.
The screw rod 98 is rotated via the a1 shaft joint 88, the input shaft 92, and the bevel gears 94 and 96, thereby moving the hinge pin insertion portion 102 in the direction of arrow F, and both hinge brackets 2B with which the hinge bin 122 is engaged. ,
The vertical slit 122d of the tip portion 122c of the hinge bottle inserted into the bottle hole 126 and further passed through the bottle hole.
By pressing the wedge-shaped expanding member 104 against the wedge-shaped expanding member 104, the wedge-shaped expanding member 104 opens the vertically divided slit 122d.
The hinge pin tip 122c is expanded through the hinge pin! By expanding the tip 122c, the hinge pin! 22 from being removed from both hinge brackets 2Et and 12B,
This completes the assembly of the door 8.

(Effects of the Invention) As explained above, the door assembly device according to the present invention detects the position of the body-side hinge bracket by the hinge bracket position detection means, and inputs the position information of the body-side hinge bracket to the control means. However, since the control means is configured to control the robot based on the input position information to move the door and engage the door side hinge bracket with the body side hinge bracket, even if the body stops Even if there are variations in position, the robot can always operate with the aim of accurately positioning the body-side hinge bracket, so the robot can always smoothly engage the door-side hinge bracket with the body-side hinge bracket. .

[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. 5 is a sectional view taken along the line v-v in FIG. 4 (however, the locking mechanism part is a sectional view taken along the line Va-Va), FIG. 9 to 9 are diagrams showing the hinge bracket position detection means, and FIG.
The figure is a plan view, Figures 8 and 9 are arrows ■ in Figure 7,
It is a diagram seen from the direction of arrow ■. 2...Robot 8...Door 10...
・Body 26...Body side hinge bracket 28...Hinge bracket position detection means 30...Control means 12B...Door side hinge bracket Figure 6

Claims (1)

[Claims] A door-side hinge bracket fixed to the door by holding the door by a robot and moving the door to a predetermined assembly position with respect to the body; and a body-side hinge bracket fixed to the body. A door assembly device for a vehicle that is engaged with a vehicle door, said hinge bracket position detection means for detecting the position of said body side hinge bracket, and based on position information of said body side hinge bracket outputted from said hinge bracket position detection means. and control means for controlling the operation of the robot.