JPH02279475A - Handling device for trunk or bonnet - Google Patents

Abstract

PURPOSE:To improve operation efficiency by constituting a coating line in an automobile factory and a handling device at time of automatically disassembling or reassembling a trunk or the like in providing a holding mechanism holding the trunk or the like after a position of the trunk or the like in a state of being opened. CONSTITUTION:This handling device 3 has an on-off mechanism opening or closing a trunk 1 to a body frame and a holding mechanism 5 holding the trunk 1 after a position of the trunk 1 being opened by this on-off mechanism. This mechanism 4 is made up of supporting a set of arms 7 on both sides of a frame 6 in this holding mechanism 5 free of rocking motion, and these arms 7 are rocked and driven by a cylinder 8, and an on-off claw being driven by a cylinder 10 is installed at the side of a free end of the arms 7 free of rocking motion. On the other hand, the holding mechanism 5 has holding claws 14, 15 and 16, 17 set up in opposition to the frame 6, and front and rear ends of the trunk 1 are held by the claws 14, 15 and symmetrical sides of the trunk 1 by the claws 16, 17, respectively.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device for handling a trunk or bonnet that is openable and closable on a car body in a car assembly line.

[Prior Art and Problems to be Solved by the Invention] On an automobile assembly line, trunks, bonnets, etc., along with doors, etc., are assembled in advance to the main body frame of the automobile. In this case, for example, the trunk is supported by a hinge fixed to the body frame with, for example, a bolt so that it can be opened and closed with respect to the body frame.

This is because dimensional errors tend to occur when assembling the trunk, bonnet, etc., which are formed by sheet metal press processing, to the main body frame, but this dimensional error is absorbed.
The purpose is to create a smooth body line.

When painting a trunk, bonnet, etc. assembled as described above, remove the trunk or bonnet together with the hinges from the main body frame, make it a single part, hold the painted surface horizontally, spray the paint, and after drying. By reassembling it, a car body with excellent paint quality can be obtained. This is because it is possible to prevent paint from dripping if the paint surface of the part is kept horizontal when painting.

In such an assembly line, when automatically disassembling and assembling trunks and the like, it is important to automatically handle the trunks.

However, since the trunk is closed to the main body frame on the assembly line, no gap is formed between the trunk and the main body frame to insert the plurality of gripping members for handling. Therefore, it is necessary to open the trunk to the main body frame, but as mentioned above, since the trunk is assembled to the main body frame by matching the actual parts, there will be variations in the mounting position, The gripping member cannot be easily positioned relative to the trunk.

Therefore, automated handling of trunks and the like has not yet been realized.

Therefore, an object of the present invention is to open a trunk or bonnet that is assembled to the body frame of an automobile, and to grasp the trunk or bonnet by following the position of the trunk or bonnet. An object of the present invention is to provide a handling device.

[Means for Solving the Problems] In order to achieve the above object, the main means adopted by the present invention is a device for handling a trunk or bonnet provided in an openable/closable manner in a car body. an opening/closing mechanism for opening and closing the trunk or bonnet with respect to the vehicle body; a gripping member disposed facing the base so as to be openable and closable; and a relatively movable drive means, the drive means causes the gripping member to close, and the opening/closing mechanism follows the position of the trunk or bonnet in an open state. This is a trunk or hood handling device comprising a gripping mechanism for gripping the hood.

[Effect]

In the trunk or hood handling device according to the present invention, when the trunk or hood is opened to the vehicle body by the opening/closing mechanism, the gripping member constituting the gripping mechanism is closed by the drive means on the base. Then, the gripping member moves to follow the position of the trunk or bonnet and grips the trunk or bonnet.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples embodying the present invention will be described below with reference to the accompanying drawings to provide an understanding of the present invention. It should be noted that the following examples are examples embodying the present invention, and are not intended to limit the technical scope of the present invention.

FIG. 1 shows the structure of a handling device according to an embodiment of the present invention, and FIG.
) is a plan view, and the same figure (b) is the same figure (A-A' in al
Arrow sectional view, the same figure (C) is BB' in the same figure (a)
Side view in the direction of arrows, the same figure (d) is c-c' in the same figure (b)
A plan view in the direction of arrows, the same figure (e) is DD' in the same figure 0))
A side view in the direction of arrows and FIG. 2 are perspective views of essential parts showing a state in which a trunk that can be handled by the handling device is attached to a main body frame of an automobile.

On an automobile assembly line, for example, a trunk l is assembled in advance to the main body frame 2 in accordance with the actual item.
Since it is in a closed state (see Figure 2), there is no gap formed between the trunk 1 and the body frame 2 for inserting a plurality of gripping members for handling (see Figure 2). , F section) Therefore, when handling the trunk 1, it is necessary to open the trunk 1 to the main body frame 2 in advance.

Therefore, as shown in FIGS. 1(a) to (e), the handling device 3 according to this embodiment includes an opening/closing mechanism 4 for opening and closing the trunk 1 with respect to the main body frame 2, and an opening/closing mechanism 4 for opening and closing the trunk 1 with respect to the main body frame 2. The trunk 1 is gripped by a gripping mechanism 5 that grips the trunk 1 in a manner similar to the position of the trunk 1 in the "opened state".

In the above-mentioned opening/closing mechanism 4, (a), (cl, (d))
As shown in FIG. 2, a pair of arms 7.7 are swingably supported on both sides of the frame 6 constituting the gripping mechanism 5, which will be described in detail later, and each arm 7.7 is swingably driven by a cylinder 8.8. . An opening/closing claw 9 is disposed on the free end side of the arm 7 so as to be slidable in the longitudinal direction of the opening/closing claw 9, and is slidably driven by a cylinder 10.

The opening/closing claw 9 is inserted into a gap formed between the lower end of the trunk l that is closed to the main body frame 2 and the main body frame 2, and is used to open the trunk 1. (See FIG. 2), before opening the trunk I, the frame 6, arm 7, cylinder 8. In the same figure (C), it is positioned in a state where it is slightly swung clockwise along with lO and the like. and,
As the cylinder 8 contracts, the arm 7 is driven to swing from the position shown by the two-dot chain line to the position shown by the solid line, and the opening/closing claw 9 is moved between the lower end of the trunk 1 and the main body frame 2.
It is inserted into the gap formed between the Thereafter, as the cylinder 10 contracts, the opening/closing pawl 9 comes into contact with the lower end of the trunk 1. Then, the trunk I is opened to the main body frame 2 by swinging the frame 6 in the direction shown by an arrow 12 in FIG. 2 by a motor 11 with a speed reducer.

The motor 11 is attached to the tip of the arm 13 of the robot. When opening the trunk 1, the arm 13 moves the opening/closing claw 9 so that the locus of tz movement around the motor 11 and the swing locus of the trunk 1 around the hinge 1a match. , is driven to move on a pre-taught trajectory.

In this embodiment, the trunk 1 can be opened approximately 20 degrees.

In the gripping mechanism 5, gripping claws 14, 15 and 16, 17 (gripping members) are arranged to face the frame 6 (base), respectively.

The gripping claws 14 and 15 grip the front end 1b and the rear end 1c of the trunk 1 opened at a predetermined angle by the opening/closing mechanism 4, and the gripping claws 16 and 17 grip the side part 1d of the trunk 1. 1d is grasped (see FIG. 2).

The gripping claws 14 are attached to both sides of the lower end of the base 18, and the base 18 is supported by slide bearings 19 so as to be slidable in the direction of arrow 20 on the frame 6. The gripping claws 15 are attached to both sides of the upper end of the base 21, and the base 21 is supported by slide bearings 22 so as to be slidable in the direction of arrow 20 on the frame 6. On the base 2I above,
A main body 23a of a cylinder 23 (driving means) is attached, and a piston rod 23b of the cylinder 23 is fixed to the base 18.

Therefore, the cylinder 23 and the gripping claws 14, 15 are movable relative to the frame 6 in the direction of opening and closing of the gripping claws 14, 15 (in the direction of arrow 20).

A rack 24 is attached to the base 18, and a gear 25 that meshes with the rack 24 is fixed to an output shaft 26a of a brake 26 attached to the frame 6.

The brake 26 is connected to the gripping claw 1 by the cylinder 23.
4 and 15 to grip the front end 1b and rear end 1c of the trunk 1, the relative position of the grip claws 14 and 15 with respect to the trunk 1 is maintained by operating the brake 26. It is for.

In the figure, 27 is a coil spring.

By the coil spring 27, the gripping claws 14°15
are always elastically biased towards each other in the closing direction, and even if the pressure inside the cylinder 23 decreases for some reason during the operation of the gripping mechanism 5, the state of gripping the trunk 1 is maintained.

The gripping claw 16 is attached to a base 28, and
The boar base 28 is supported by a slide bearing 29 so as to be slidable in the direction of the arrow 30 on the base 21 . The gripping claw 17 is attached to a base 31, and the base 31 is supported by a slide bearing 32 so as to be slidable in the direction of the arrow 30 on the base 21.

A main body 33a of a cylinder 33 (driving means) is mounted on the base 28, and a piston rod 33b of the cylinder 33 is fixed to the base 31.

Therefore, the cylinder 33 and the gripping claws 16, 17 are movable relative to the frame 6 and the base 21 in the direction of opening and closing of the gripping claws 16, 17 (in the direction of arrow 30).

A rack 34 is attached to the base 31,
A gear 35 that meshes with the rack 34 is fixed to an output shaft 36a of a brake 36 attached to the base 21.

The brake 36 is connected to the gripping claw 1 by the cylinder 33.
6 and 17 are closed to grip the side parts 1d and 1d of the trunk l, the brake 36 is operated to maintain the relative position of the gripping claws 16 and 17 with respect to the trunk 1. It is something.

In the figure, 37 is a coil spring.

The above-mentioned gripping claw 16°]7 by the above-mentioned coil spring 37
are always elastically biased toward each other in the closing direction, and even if the pressure inside the cylinder 33 decreases for some reason during the operation of the gripping mechanism 5, the state of gripping the trunk 1 is maintained.

In the gripping mechanism 5, since the gripping claws 16 and 17 are disposed facing each other on the base 21 as described above, when the trunk I is gripped by the gripping claws 14I5, the gripping claws 16. 17 is automatically positioned in the direction of arrow 20 with respect to the trunk 1.

Subsequently, the handling device 3 configured as described above
The following describes the procedure for handling trunk 1 using .

First, the handling device 3 is positioned at a predetermined position taught in advance by a robot device (not shown).

In this case, the above-mentioned handling device 3 is in a state of being driven clockwise by 90° in the same figure.
iU (C) is a state in which it is swung 90 degrees counterclockwise).

Then, as the cylinder 8 contracts, the arm 7 is driven from the position shown by the two-dot chain line to the position shown by the solid line (♂), and the opening/closing claw 9 is formed between the rear lower end of the trunk I and the main body frame 2. Then, as the cylinder IO contracts, the opening/closing pawl 9 comes into contact with the rear lower end of the trunk 1.

Thereafter, the motor 11 rotates the frame 6 a second time in the direction of the arrow 12, and the arm 13 is driven to move on a predetermined trajectory, so that the trunk 1 is rotated at a predetermined angle around the hinge 1a. It will be released.

When the brake 26 is released and the cylinder 23 is operated in the contracting direction for the trunk 1 which has been opened to a predetermined angle as described above, the gripping claws 1415 are supported by slide bearings 19 and 22 and move in the closing direction. do. When one of the gripping claws 14, 15 comes into contact with the leading end 1b or the rear end]C of the trunk 1 and stops its operation, only the gripping claws 14 or 15 that have not yet come into contact with the trunk 1 are further removed. Moved in the closing direction.

When the other gripping claws 14 or 15 come into contact with the front end 1b or the rear end 1c of the trunk 1, the trunk 1 is held by the gripping claws 14 and 15. That is, by causing the gripping claws 14 and 15 to close using the cylinder 23, the cylinder 23 also moves in the closing direction as the gripping claws 14 and 15 close, and the trunk is moved to a position that follows the trunk l. 1 is the gripping claw 14, 15
gripped by. Thereafter, by operating the brake 26, the gripping claws 14,
15 relative positions are maintained.

Subsequently, the brake 36 is released and the cylinder 3
3 in the contracting direction, the gripping claws 16 and 17 are supported by slide bearings 29 and 32 and moved in the closing direction. When one of the gripping claws 16, 17 comes into contact with one side 1d or the other side 1d of the trunk 1 and stops its operation, the gripping claws 16 or 17 that have not yet come into contact with the trunk 1
The chisel moves further in the closing direction.

When the other gripping claws 16 or 17 come into contact with one side 1d or the other side 1d of the trunk 1, the sides 1d, ld of the trunk 1 are in a state of being gripped by the gripping claws 16, 17. becomes.

That is, by closing the gripping claws 16.17 using the cylinder 33, the gripping claws 16.17 are closed. With the closing operation of +7, the cylinder 33 also moves in the closing direction, and the trunk 1 is gripped by the gripping claws 16 and 17 at a position that follows the side portions 1d and ld of the trunk 1. Thereafter, by operating the brake 36, the side portion 1 of the trunk l is
The relative position of the gripping claws 16,17 with respect to d, ld is maintained.

Thereafter, a bolt (not shown) for fixing the hinge la, which supports the trunk 1 so as to be openable and closable with respect to the main body frame 2, is automatically loosened by a nut runner device (not shown).

Then, the motor 1 and the arm 13 are driven to move according to a predetermined trajectory taught in advance, and the trunk 1 is completely separated from the main body frame 2.

In this case, by memorizing the attachment position of the trunk 1 to the main body frame 2, the trunk 1 can be automatically attached to the main body frame 2 again by reversing the procedure described above.

Therefore, in the handling device 3, it is possible to open the trunk 1 assembled to the main body frame 2 according to the actual condition, and also to automatically grip the trunk 1 following the position of the trunk 1.

Note that, in place of the trunk 1 described above, the device of this embodiment can also be applied to a bonnet (not shown) having a similar attachment structure.

〔Effect of the invention〕

As described above, the present invention is a device for handling a trunk or bonnet provided in an openable/closable manner on an automobile body, comprising: an opening/closing mechanism for opening/closing the trunk or bonnet with respect to the automobile body; The gripping member includes gripping members arranged opposite to each other so as to be openable and closable, and a driving means provided to be movable relative to the base in the opening and closing direction of the gripping member together with the gripping member, and the driving means drives the gripping member. and a gripping mechanism that grips the trunk or bonnet by following the position of the trunk or bonnet that is opened by the opening/closing mechanism. Therefore, it is possible to open the trunk or bonnet assembled to the main body frame of the automobile and to automatically grasp the trunk or bonnet by following the position of the trunk or bonnet.

[Brief explanation of drawings]

FIG. 1 shows the structure of a handling device according to an embodiment of the present invention, and shows a state in which the handling device grips an opened trunk (al is a plan view, and FIG. is a sectional view taken along line AA' in figure (a), figure (C) is a side view taken along line B-B' in figure (a), and figure (d) is a cross-sectional view taken along line AA' in figure (b). Fig. 2 is a plan view taken along line D-D' in Fig. It is a perspective view of the main parts shown. [Explanation of symbols] 1- Trunk 1a... Hinge 2...
・Body frame 3...Handling device 4...
- Opening/closing mechanism 5... Gripping mechanism 6... Frame (base) 7... Arm 8.10... Cylinder 9... Opening/closing claw 11... Motor 4.15,
16.17... Gripping claw (gripping member) 8.21, 28.
31...Base 9 22.29.32...Slide bearing 3.3
3... Cylinder (driving means) 3a, 33a... Main body 3b, 33b... Piston rod. Applicant: Honda Motor Co., Ltd. Kobe Steel, Ltd.

Claims (1)

[Scope of Claims] 1. A device for handling a trunk or bonnet provided in an openable/closable manner on an automobile body, comprising: an opening/closing mechanism for opening/closing the trunk or bonnet with respect to the automobile body; and an opening/closing mechanism disposed on a base. The gripping member is provided so as to be able to face each other, and a driving means is provided so as to be movable with respect to the base in the opening/closing direction of the gripping member together with the gripping member, and the gripping member is driven by the driving means. A trunk or bonnet handling device comprising: a gripping mechanism that grips the trunk or bonnet by following the position of the trunk or bonnet when the trunk or bonnet is in a closed state and opened by the opening/closing mechanism.