JPH02193783A - Door holding device in door assembling process - Google Patents

Abstract

PURPOSE:To position and hold a door accurately in the fixed reference position by providing a door holding device with a clamping means for clamping the lower part and the side part of the door and a movable reference pin insertable into a reference hole formed at the door. CONSTITUTION:The lower part and the side part of a door 8 are clamped once by a clamp mechanism 66, and by this clamping, the vertical and lateral positions of the door are adjusted following each clamp mechanism 66, and the door 8 is moved forward into the approximately fixed reference position against a door holding frame 42, that is, a movable reference pin 138a is moved forward, and thus the pin 138a is positioned in the fixed reference position with accuracy to the extent of making it insertable into the reference hole 140 of the door. Afterwards, the clamping is slightly loosened so as to make the door 8 movable against the holding frame 42, a movable reference pin means 138 is operated to move a movable reference pin 138b so as to be inserted into the reference hole 140 of the door and position the door 8 into the fixed reference position accurately against the holding frame 42, and finally each clamp mechanism clamps again to hold the door 8.

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention relates to a door assembly method in which a door is held by a door holding device, the door is moved via the door holding device, and the door is assembled to a body. The present invention relates to the door holding device in the process.

(Prior art) Japanese Patent Application Laid-Open No. 63-22778 discloses that a door holding device and a hinge pin insertion device are attached to a robot, and the robot moves the door held by the door holding device to a predetermined assembly position with respect to the body. A door assembly in which the door is moved to engage the hinges fixed to the door and the body, and the hinge pin is inserted into the engaged hinge by the hinge pin insertion device to assemble the door to the body. attached equipment is listed.

In the door assembly process in which the door is held by the door holding device as described above and the door is moved via the door holding device to position the door at a predetermined assembly position with respect to the body, the door is held by the door holding device. The door holding device is moved by the robot and the door held by the door holding device is held in a predetermined position with respect to the body. Therefore, when the door is held by the door holding device, it is necessary to accurately position and hold the door at a predetermined reference position with respect to the door holding device.

In order to accurately position and hold the door in a predetermined reference position with respect to the door holding device in this way, conventionally, a reference hole is provided in the door and a fixed reference pin is provided in the door holding device, and the door holding device is moved by a robot or the like. The reference bottle provided on the holding device is moved and inserted into the reference hole of the door positioned at a predetermined position, thereby accurately positioning the door at the predetermined reference position with respect to the door holding device. A commonly used method is to hold the door by activating a clamping means or the like of a door holding device.

(Problem to be Solved by the Invention) However, in the conventional method, as described above, the door holding device is moved by a robot or the like, and the fixed reference pin provided on the holding device is moved to a predetermined position. The door holding device is inserted into the reference hole, and in order to move the door holding device using a robot or the like and directly insert the fixed reference bottle into the reference hole, the position of the door holding device must be determined by the robot with considerable precision. There is a problem in that the door must be controlled and the door must be positioned at the predetermined position with considerable precision.

In view of the above circumstances, it is an object of the present invention to enable a door holding device to accurately position and hold a door at a predetermined reference position without having to control the position of the robot or the door with high precision. It is an object of the present invention to provide a door holding device in a door assembly process that enables the following.

(Means for Solving the Problems) In order to achieve the above object, the door holding device in the door assembly process according to the present invention holds the door with the door holding device and moves the door via the door holding device. The door holding device is used in the door assembly step of assembling the door to the body, the door holding device comprising a clamp means for clamping a lower part and a side part of the door, and a movable member that can be inserted into a reference hole formed in the door. A reference pin is provided, and after once clamping the lower and side portions of the door by the clamping means, the clamp is loosened to make the door movable, and then the movable reference bin is moved to place the pin on the door. The door is inserted into a reference hole, and then the clamp means clamps the lower part and side of the door again to hold the door.

(Function) According to the holding device, the door is positioned at approximately a predetermined reference position with respect to the door holding device by once clamping the bottom and side portions of the door with the clamping means.
In other words, for example, when the movable bin is advanced toward the door, the movable bin is positioned at a predetermined reference position with such precision that it can be inserted into the reference hole of the door. From this state, once the clamp is loosened to make the door movable, the movable bin is advanced toward the door and inserted into the reference hole of the door, and the door is moved as necessary. When the door is accurately positioned at a predetermined reference position and then clamped again, the door is held by the door holding device while being accurately positioned at the predetermined reference position.

That is, according to the above-mentioned device, positioning within the range where the reference pin can be inserted between the door and the door holding device is performed by clamping the door with the door holding device,
After that, the movable pin is moved to insert the pin into the reference hole, and therefore, the positioning between the door and the door holding device is even less precise than the positioning of the reference pin into the insertable range. It is sufficient to position it within a clampable range.

(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 device 4 and a hinge pin insertion device 6 attached to the robot 2, and the door holding device 4 and the hinge pin insertion device 6 are configured separately. The device 4 is permanently attached to the robot 2 and has a hinge bin insertion device 6.
is configured to be attached to and detached from the door holding device 4 each time each door 8 is assembled to the body lO.

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 device circulation line 18 is disposed at the door assembly station 12, and the hinge pin insertion device 6 is moved between the delivery position 22 and the tweezers position 24 via the mounting table 20 by the circulation line 18. It is circulated.

The robot 2 to which the door holding device 4 is always attached first rotates its arm 2a appropriately to position the door holding device 4 at the delivery position 22 of the circulation line 18 and is located at the position 22. The hinge bin insertion device 6 with the hinge tweezers set is attached to the door holding device 4, and then the arm 2a is rotated in the direction of arrow B, and the door holding device 4 is carried into the door assembly station 12 by the door conveying line 16. , the door 8 is held by the door holding device 4, and then the arm 2
A is rotated in the direction of arrow A to position the door 8 being held at a predetermined assembly position relative to the body lO which is carried to the door assembly station 12 by the body transport line 14 and stopped there. , whereby the body side hinge and door 8 are fixed to the body 10.
The door side hinges fixed to the door side are engaged to align the pin holes of both hinges, and then the hinge pins are inserted into the pin holes of both the hinges that have been engaged by the hinge pin insertion device 6 to open the door. Finish assembly. After the assembly of the door is completed, the arm 2a rotates in the direction B, and at the delivery position 22, the hinge bin insertion device 6 with no hinge pin is removed and placed on the mounting table 20, and then the circulation line 18 is placed on the mounting table 20. The four mounting tables 20 on the line 18 are advanced one by one in the direction of the arrow, and the hinge bin insertion device without a hinge bin is positioned at the tweezers position, position 24, where the hinge pins are set manually or automatically, and the hinge tweezers are already set. Since the finished hinge bin insertion device 6 is placed in the delivery position 22, the hinge bin insertion device 6 with the hinge tweezers set in the delivery position 22 is attached to the door holding device 4, and then the arm 2a is moved in the direction of arrow B. The next door 8 which has been rotated and carried into the door assembly station 12 is received and held by the door holding device 4, and the door 8 is held in the same manner as above.
Perform the assembly.

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 device 4 is attached to the robot 2, and a door 8 is held on the door holding device 4, and a hinge bin is located at a position where a hinge (not shown) of the door 8 is present. The insertion device 6 is the door holding device 4
The hinge of the door 8 is engaged with the hinge 2B of the body 1O (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 pin hole position and inputting the pin hole position to the robot 2, the door 8 is moved so that the pin hole of the door side hinge matches the pin hole position.
is moved by the robot 2 to engage both hinges.

In the pin hole position detecting means 28, the tapered locating pin 30 is advanced from the state shown in FIG. 2 toward the body 1O side and positioned approximately directly below the pin hole of the body side hinge 2B (see FIG. 3). ), raise the locate pin 30 from that state and insert it into the bottle hole of the body side hinge 2B, and then move the locate pin 30 in the X direction, Y direction,
The position of the bottle hole of the body-side hinge 26 is detected by determining the position in the Z direction and the inclination with respect to the Z direction.

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.
d1 consists of a first tip 2es and a second tip 2f;
The tip 2c can rotate around a shaft 32c with respect to the arm main portion 2d, and the second tip 2f can rotate around an axis 32d with respect to the first tip 2e. 2r
The door holding device 4 is attached to the door holding device 4.

When the door 8 is received and held by the door holding device 4, the door 8 is provided with a reference hole in order to accurately position and hold the door 8 at a predetermined reference position with respect to the door holding device 4. The door holding device 4 is provided with clamping means for clamping the lower part and both sides of the door 8 and a movable reference pin.

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

4 is a view of the door holding device 4 seen from the arrow ■ direction in FIG. 2, and FIG. 5 is a sectional view taken along the line v-v in FIG. Figure), 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 device 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 2'' 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 5B includes a holding frame 42
An air cylinder 58 fixedly attached to the air cylinder 5
8, and a lock pin fitting member 62, which is fixed to the base frame 44 and into which the tapered tip of the lock pin 60 is fitted. There is. As shown in the figure, the locking mechanisms 56 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, and the locking pins 60 of the three locking mechanisms 56 are fitted with a predetermined force by an air cylinder 58. By fitting and pressing the member 62, 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 for holding the door 8 and clamp means 6C for clamping the lower part and both sides of the door 8. The suction means 84 is provided on one side at the center of the upper part of the holding frame 42, and is connected to an air suction means (not shown) through an air passage 64a, a part of which is shown in FIG. (see Figure 5). The clamping means 6B is provided one each on the left and right sides of the lower part of the holding frame 42, and one each is provided on the left and right side parts of the holding frame 42, and each clamping means 66 is provided as shown in FIGS. 2 and 5. Fixed clamp member fiBa and air cylinder 6
It consists of a movable clamp member 6 [id (numbered 6 in FIG. 2) that is rotated around a rotation axis Bee by a
6b, [t8c omitted), the lower part and both sides of the door 8 are configured to be clamped by both clamp members 66a, 6f3d.

Further, as shown in FIGS. 4 and 5 (not shown in FIG. 2), the holding frame 42 is provided with an air cylinder 138a and an air cylinder 138a, which is caused to reciprocate back and forth toward the door 8 held by the air cylinder 138a. Movable reference bin means 138 consisting of movable reference bins 138b are provided one each on the upper and lower sides. The movable reference bin means 138 moves the movable reference bin 138b forward toward the door 8 held by the holding frame 42, inserts the movable reference bin into a reference hole 140 formed in the door 8, and closes the door 8. This is for accurately positioning the holding frame 42 at a predetermined reference position.

Furthermore, a hinge bin insertion device mounting portion 68 is formed at the side end portion of the holding frame 42 to which the above-mentioned hinge bin insertion device 6 is mounted. The hinge bin insertion device mounting portion 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 70, and a drive means 74 for operating the hinge bin insertion device 6 are provided. Be prepared.

The attachment/detachment means 72 is for gripping and releasing a mounting pin 10B, which will be described below, which is provided in a protruding manner on the hinge bin insertion device 6.
a fitting sleeve 7B which is fixed to the housing and into which the mounting bin 10B of the hinge bin insertion device is inserted; and a ball 78 which is provided on the sleeve 76 and engages with the groove 106a of the mounting pin.
and an air cylinder 80 fixed to the support plate 70,
It consists of a suppression sleeve 84 which is reciprocated in the direction of arrow C in the figure by a cylinder rod 80a of the air cylinder via a connecting rod 82 to suppress and release the suppression of the ball 78 in the direction of the mounting bin 106. Further, the drive means 74 includes a drive motor 86 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 88a. When the hinge bin insertion device 6 is installed, the shaft coupling 88 is connected to the input shaft 9 of the device 6, which will be described below.
For example, the input shaft 92 is rotated through spline engagement with the input shaft 92.

Hinge bin insertion device mounting section 6 configured as described above
8, the pressing sleeve 84 of the attaching/detaching means 72 is slid to the left in the direction of arrow C by the air cylinder 80 to release the suppression of the ball 78, that is, the radius of the ball 78 is The robot is set in a state where it can move outward in the direction, and from this state, the robot is moved to fit the fitting sleeve 7G into the mounting pin 10B of the hinge bin insertion device located at the delivery position 22 shown in FIG. After the door holding device 4 is moved by the arm 2a and the mounting pin 106 and the fitting sleeve 76 are fitted together as shown in FIG. 6, the air cylinder 80 is used to slide the suppression sleeve 84 to the right in the direction of arrow C. The ball 78 is pressed radially inward by the suppression sleeve 84 as shown in FIG.
This is accomplished by engaging the ball and inhibiting radial outward movement of the ball. Incidentally, during this installation, the input shaft 92 of the hinge bin insertion device is also engaged with the shaft coupling 88 of the drive means 74.

As shown in FIG. 6, the hinge bin insertion device 6 includes a frame 90 and a shaft coupling 8 rotatably supported by the frame 90.
8 and the drive motor 8B 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.
．． 96, 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 pin 10B provided on the frame 90, and the hinge bin insertion portion 102 is a nut member screwed onto the screw rod 98. 10B, a cylindrical member 110 fixed to the nut member 10g and slidably fitted to the guide rod 100, and a shaft member slidably fitted to the arm member 112 fixed to the cylindrical member 11G. 114, a nut 116 provided at one end of the shaft member 114 to prevent the shaft member from coming off, a hinge pin holding portion 118 made of a magnet provided at the other end of the shaft member 114, the nut 11B and the hinge pin holding portion 118. and a disc spring 120 disposed between.

As shown in the figure, the hinge pin holding portion 118 attracts and holds the head 122a of the hinge bin 122 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 bin 122 is also located on the axis 1
24, and when the door 8 is held at a predetermined reference position by the door holding device 4, the bottle hole of the hinge 128 of the door 8 is also located on the axis 124. There is.

In addition, in FIG. 4 above, 130 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 13B.

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

First, the arm 2a of the robot is rotated to position the door holding device 4 at the delivery position 22 of the hinge bin insertion device circulation line 18, and the hinge bin insertion device 6 with the hinge tweezers located at the position 22 is held at the door. It is attached to the device 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 device 4.
Hold the door 8 carried in at 2. Such holding is performed when the lock mechanism 56 of the door holding device 4 is in a locked state (the state in which the lock bin 60 is press-fitted to the lock bin fitting member 62).
Then, each clamp mechanism 66 rotates the movable clamp member 8Gd in the direction indicated by the arrow in FIG. The door holding device 4 is placed at a predetermined position relative to the door 8 to hold the door 8 carried into the door assembly station 12, and then each movable clamp member BBd is moved in the direction of the arrow E in FIG. The lower part and both sides of the door 8 are once clamped by rotating the door 8, and with this clamp, the vertical force and the position of the door 8 in the left and right direction (front and back direction of the door) are adjusted by making each clamping means 6B do the same. When the movable reference bin f38a is moved forward, the door 8 is positioned at a predetermined reference position with respect to the door holding frame 42 with an accuracy that allows the bin 138a to be inserted into the reference hole 140 of the door. After that, loosen this clamp a little and attach the door 8 to the door holding frame 42.
Then, the movable reference bin means 138 is operated to advance the movable reference bin 138b toward the door 8, and the reference bin 138b is moved into the reference hole 14 of the door.
0, the door 8 is accurately positioned at a predetermined reference position with respect to the holding frame 42, and then each clamp mechanism 5G is clamped again to hold the door 8, and the door glass portion is held by the suction means 64. This is done by holding by suction.

As described above, the hinge bin insertion device 6 is inserted into the door holding device 4.
After attaching the door 8 and holding the door 8, the robot arm 2a
2 to position the door 8 in the above-mentioned door assembly position shown in FIG.
6 as shown in FIG. Both hinges 2B
, 12B, the robot's arm 2a
By rotating the door side hinge 126
In order to insert and engage the door side hinge 26 into the body side hinge 26, it is necessary to control the arm rotation with extremely high precision, which is actually quite difficult. Therefore, in this embodiment, the door side hinge 12G against the body-side hinge 26 with a predetermined precision to bring it into a state immediately before engagement, and in that state, the locking mechanism 56 is brought into an unlocked state, and in the unlocked state, the door 8 is pushed toward the body 10 side to lock the door-side hinge 26. 126 is pushed into and engaged with the body side hinge 2B. According to this method, the door side hinge 126 is moved to the body side hinge 2 while the door side hinge 126 is in the locked state.
Even if you try to push the door 8 into position B but cannot do so because both hinges are not in the correct positional relationship, the door 8 can still be moved somewhat by the floating mechanism 50.
Therefore, the door side hinge 126 can be inserted into and engaged with the body side hinge 2B while being guided by the arc portion of the corner, and even if the center positions of the pin holes of both hinges 26 and 128 are slightly shifted, the door side hinge 12B can be inserted and engaged with the body side hinge 2B. Being movable allows the hinge bin 122 to be inserted into the bin holes of both hinges 26.12B as described below.

After engaging both hinges 2B and 126 as described above,
The drive motor 8B is rotated to rotate the screw rod 98 via the output shaft 86a single shaft joint 88, the input shaft 92, and the bevel gears 94 and 90, thereby moving the hinge pin insertion portion 102 in the direction of arrow F. The wedge-shaped expansion member 1 is inserted into the pin holes of both the engaged hinges 2B and 12B, and further passes through the pin holes through the vertical slit 122d of the tip 122c of the hinge pin.
04, the wedge-shaped expansion member 104
The hinge pin tip 22c is expanded through the vertical slit 122d, and the expansion of the tip 122c prevents the hinge pin 122 from being pulled out from both hinges 2B and 126, thereby assembling the door 8. ends.

In the above embodiment, the side clamping means 6B are provided on the left and right in FIG. 4, but the side clamping means 66 may be provided only on either the left or the right.

Further, in this embodiment, the door 8, which is located in the door assembly station 12 in a horizontal state as shown in FIG. 1, is held by the door holding device 4, but as shown in FIG. The door 8 located in the door assembly station 12 in an upright state may be held by a door holding device.

(Effects of the Invention) As described above, in the door holding device according to the present invention, positioning within the range where the reference pin can be inserted between the door and the door holding device is achieved by clamping the door by the clamping means of the door holding device. The movable reference pin is then inserted into the reference hole of the door by moving the movable reference pin, so that the positioning between the door and the door holding device is achieved by moving the movable reference pin into the reference hole. It is sufficient to position the door in the clampable range, which is even less precise than positioning in the insertable range, and therefore it is possible to control the position of the door or door holding device when holding the door with lower precision than before. Become.

[Brief explanation of the drawing]

Fig. 1 is a plan view of a door assembly line using an embodiment of the door holding device according to the present invention, and Fig. 2 is a state in which the door is positioned at a predetermined assembly position with respect to the body by a robot. Figure 3 is a plan view of the door holding device viewed 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 device viewed from the direction of the arrow ■ in Figure 2. Figure 5 is a cross-sectional view taken along the line V--V of FIG. 4 (however, the lock mechanism portion is a cross-sectional view taken along the line Va--Va), and FIG. 6 is a cross-sectional view taken along the line Vl--Vl of FIG. 4... Door holding device 8... Door 10...
Body 6B...clamping means 138a
...Movable reference pin 140...Reference hole Figure 1 Figure Figure 1

Claims (1)

[Scope of Claims] The door holding device in a door assembly step of holding a door by a door holding device, moving the door via the door holding device, and assembling the door to a body, the door holding device comprising: and a movable reference pin that can be inserted into a reference hole formed in the door, and after the clamping means has once clamped the lower part and the side of the door, the clamp loosen the door to make it movable, then move the movable reference pin to insert it into the reference hole of the door, and then clamp the lower and side parts of the door again by the clamping means. A door holding device configured to hold the door.