JPH02279477A - Detachable device for automobile trunk or bonnet - Google Patents

Abstract

PURPOSE:To facilitate the detachment of a trunk or the like by opening the trunk or the like assembled to a body frame of an automobile by means of gauging, and holding the said trunk or the like after a position of this trunk or the like, while clamping or loosening a thread member screwed in an automobile body. CONSTITUTION:When a trunk 1 is removed from a body frame 2 of an automobile and carried into a coating process or the like, first an on-off mechanism 4, a holding mechanism 5 and a nut runner 121 are located to a specified position in relation to the body frame 2 placed in a specified position and then an arm 13 is moved onto a specified track by motors 38, 40, opening the trunk 1. Next, the trunk 1 is held by the holding mechanism 5, and a trunk locking bolt 102 is loosened by the nut runner 121. At this time, a detecting member 138 is moved in X and Y directions by an air cylinder, and the extent of travel till this member 138 comes into contact with the side of a head part 102a of the bolt 102 is detected by a potentiometer, and according to the detected result, a positional compensation for the runner 121 is carried out.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to an apparatus for attaching and detaching a trunk or a trunk that is attached to an automobile body via a hinge mechanism fixed to the automobile body by a screw member in an automobile assembly line. It is related to.

[Prior Art and Problems to be Solved by the Invention] On an automobile assembly line, trunks, bonnets, etc., along with doors, etc., are preliminarily attached 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. 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 the trunk, bonnet, etc. assembled as described above, the trunk and bonnet are removed from the main body frame together with the hinges and painted as a single component. It becomes easier to do because there are no more things.

On such an assembly line, when trying to automatically disassemble, install, and remove trunks, etc., it is important to automatically handle the trunk and automatically tighten and loosen bolts. .

However, since the trunk is closed to the main body frame on the assembly line, a gap is formed between the trunk and the main body frame into which a plurality of gripping members can be inserted. Not done. 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, and The gripping member cannot be easily positioned relative to the trunk.

In addition, there are some variations in the screwing position of the above bolts between the main body frames of each car, so even if you try to automatically tighten and loosen the above bolts using a nut runner, for example, the nut runner is attached to a robot that only performs simple repetitive movements. It is not possible to accurately position the bolts by simply using the bolts.

Therefore, automated attachment and detachment 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, grasp the trunk or bonnet by following the position of the trunk or bonnet, and tighten the screws. To provide a trunk or bonnet attachment/detachment device capable of tightening/loosening a screw member according to the position of the member.

[Means to solve the problem]

In order to achieve the above object, the main means adopted by the present invention is a trunk or bonnet attachment/detachment device that is attached to the automobile body via a hinge mechanism fixed to the automobile body by a screw member, an opening/closing mechanism for opening and closing the trunk or bonnet with respect to the vehicle body; a gripping member disposed opposite to the trunk so as to be openable and closable on a base; and a cough gripping member relative to the base in the opening/closing direction of the gripping member. and a driving means movably provided at the gripping member, the driving means causing the gripping member to close,
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; a detection mechanism that detects the position of the screw member; and a detection mechanism that detects the position of the screw member; This is a trunk or bonnet attachment/detachment device comprising a nut runner mechanism whose position is corrected by a position correction mechanism according to the position of the screw member and which tightens or loosens the screw member.

[Effect]

In the trunk or bonnet attachment/detachment device according to the present invention, when the trunk or bonnet is opened to the automobile 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.

Further, the position of the screw member screwed onto the automobile body is detected by the detection mechanism, and the position of the nut runner mechanism is corrected in accordance with the position of the screw member detected by the detection mechanism. Thereafter, the nut runner mechanism tightens and loosens the screw member.

In addition, when assembling the trunk or bonnet, the procedure is the reverse of the above.

[Examples] 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.

Here, FIG. 1 shows the configuration of an attachment/detachment device according to an embodiment of the present invention, and FIG. 1(a) is a front view.
is a plan view of the same figure (a), and the same figure (C) is a plan view of the same figure (a)
Figure 2 (d) is a left side view of the figure (al), and Figure 2 shows the structure of the opening/closing mechanism and gripping mechanism that constitute the above-mentioned attachment/detachment device. The same figure (a) is a front view, and the same figure (b) is the same figure (A in al.
- A' arrow sectional view, fc in the same figure) is B in the same figure (al)
- B' arrow side view, the same figure (d) is c in the same figure (b)
-c' is a plan view as viewed from the arrow; FIG. FIG. 4 is a perspective view of the main parts showing the installed state, and FIG. The left side view (fc) is the right side view in (a), the figure (d) is a partial front view taken along the line C-G' in (b), and the figure (e) is the right side view in figure (a). A) is a bottom view of the section viewed from arrow H in FIG. , the same figure (a) is the front view, the same figure (a) is the same figure (a)
6 is a block diagram of the control system of the nut runner, and FIG. 7 is an explanatory diagram showing the procedure for detecting the position of the screw member with respect to the socket by the detection mechanism forming the attachment/detachment device described in -1- , FIG. 8(aL(b)) is a flowchart showing the procedure for removing and attaching the trunk using the above-mentioned attachment/detachment device.

On an automobile assembly line, for example, the trunk 1 is assembled in advance to the main body frame 2 in accordance with the actual item.
Since it is in a closed state (see FIGS. 1(a) and 3), a gap is formed between the trunk l and the main body frame 2 in which a plurality of gripping members can be inserted for gripping. (parts E and F in Figure 3), so,
j2. When gripping the trunk 1, it is first necessary to open the trunk 1 to the main body frame 2.

Therefore, in the attachment/detachment device according to this embodiment, as shown in FIG. 1, FIG. 2, FIG. 4, and FIG.
1 and 2), a gripping mechanism 5 (FIGS. 1 and 2) that grips the trunk 1 following the position of the trunk 1 opened by the opening/closing mechanism 4, and a bolt 1.
A detection mechanism 129 for detecting the position of o2 and (411J (411J)
a)) The position of the bolt 102 is corrected by the position correction mechanism 130 (FIGS. 1 and 5) according to the position of the bolt 102 detected by the detection mechanism 129, and the Nand runner 12 tightens and loosens the bolt 102] (FIG. 1) and FIG. 4).

In the opening/closing mechanism 4, FIGS. 2(a), (C), (d
), a pair of arms 7.7 is swingably supported on both sides of a frame 6 constituting the gripping mechanism 5, which will be described in detail later, and cylinders 8, 8 respectively
dynamically driven. An opening/closing claw 9 is provided on the free end side of the arm 7.
is arranged so as to be slidable in its longitudinal direction, and is slidably driven by a cylinder lO.

The opening/closing claw 9 is inserted into a gap formed between the lower end of the trunk 1 which is closed to the main body frame 2 and the main body frame 2, and is used to open the trunk 1. (See Figure 3) 2. Before opening the trunk 1, the frame 6, arm 7,
Together with the cylinder 810 and the like, it is positioned after being moved 90 degrees counterclockwise in FIG. 1C (see FIG. 1A), and as the cylinder 8 contracts, the arm 7 The opening/closing claw 9 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 inserted into the gap formed between the lower end of the trunk l and the main body frame 27. Thereafter, as the cylinder 10 (G) contracts, the opening/closing claw 9 (L) comes into contact with the lower end of the trunk 1. Then, the trunk 1 is opened to the main body frame 2 by swinging the frame 6 in the direction indicated by an arrow 12 in FIG. 3 by a motor 11 with a speed reducer.

Note that the motor 11 is attached to the tip of the arm 13.

As shown in FIG. 1, the arm 13 is slid by a motor 38 on a base 39 in the Z direction, and the base 39 is slid by a motor 40 on an arm 41 in the Y direction. Further, the arm 41 has a base 42.
The base 44 is supported by the motor 43 and is slid in the X direction on the base 44 .

When opening the trunk 1, the arm 13 is centered around the motor 11 of the opening/closing claw 9)
Each of the motors 38 and 40 is driven to move on a pre-taught trajectory so that the two-movement trajectory and the swing trajectory centered on the hinge 1a of the trunk 1 are mutually exclusive.

In the device of this embodiment, the trunk 1 is rotated at an angle of about 20 degrees.
It is configured so that it can be opened.

In the gripping mechanism 5, as shown in FIG. 2, the gripping claws 14, 15 and 16.17 (
gripping members) are arranged facing each other.

The gripping claws 14 and 15 grip the front end 1b and rear end 1c of the trunk 1 opened at a predetermined angle by the opening/closing machine tl14, and the gripping claws 1G and 17 grip the side part 1d of the trunk 1. 1d is grasped (see FIG. 3).

The gripping claws 14 are attached to both sides of the lower end of the base 18, and the cough base 18 has a sliding ring 19.
It is supported on the frame G so as to be slidable in the direction of arrow 20. The gripping claws 15 are attached to both sides of the upper end of the base 21, and the base 21 is supported by a slide ring 22 so as to be slidable in the direction of arrow 20 on the frame 6. A main body 233 of the cylinder 23 (driving means) is mounted on the base 21, and a piston rod 23b of the J-cylinder 23 is mounted.
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,
A gear 25 that meshes with the rack 24 is fixed to an output shaft 26 of a brake 26 attached to the frame 6.

The brake 26 is connected to the gripping claw 1 by the cylinder 23.
After gripping the front end 1b and rear end 1c of the trunk 1 by closing 4.15, the relative positions of the gripping claws 14 and 15 with respect to the trunk 1 are maintained by operating the brake 26. It's no good.

In the figure, 27 is a coil spring.

The gripping claws 1415 are always elastically biased toward each other in the closing direction by the coil spring 27, and even if the pressure inside the cylinder 23 decreases for some reason during the operation of the waiting mechanism 5, the trunk 1 The state of grip is maintained.

The gripping claw ■6 is attached to the base 28,
The base 28 is supported by a slide F' 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.

On the base 28 is a main body 33 of a cylinder 33 (driving means). is attached to the piston rod 33. of the cylinder 33. is fixed to the base 31.

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

A rank 34 is attached to the base 31,
A gear 35 meshing with the rack 34 is connected to an output shaft 36 of a brake 36 attached to the base 2I. Fixed.

The brake 36 is connected to the gripping claw 1 by the cylinder 33.
6.17 is closed to close the sides 1d of trunk 1 and 1. i
After gripping the trunk 1, the brake 36 is operated to maintain the position of the gripping claws 16, 17 relative to the trunk 1.

In the figure, 37 is a coil spring.

The gripping claws 16° 17 are held by the 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 addition, in the gripping mechanism 5, as described above, the gripping claws 16. Since the trunk 1 is gripped by the gripping claws 14 and 15, the trunk 1 of the gripping claw I6.17 is placed oppositely on the base 21.
The positioning in the direction of arrow 20 with respect to is automatically performed.

The detection mechanism 129 and the position correction mechanism 130 are assembled into the NAND runner 121 in the device of this embodiment.

Therefore, the Nand runner 121 engages the socket 122 with the head 102a of the bolt 102, as shown in FIGS. 4(a) to (f), FIGS. 5(a), (b), and FIG. A drive mechanism 111 that rotationally drives the socket 122
a detection mechanism 129 for detecting the position of the bolt 102 screwed onto the main body frame 2 (see FIG. 3); and a storage means 112 for storing the position of the bolt 102 detected by the detection mechanism 129. a position correction mechanism 130 for moving the socket 122 according to the position of the bolt 102 stored in the storage means 112;
The bolt 102 is separated from the main body frame 2 by rotating the bolt 22, and a holding mechanism 113 is provided.

Incidentally, in the case of a structure in which the trunk 1 can be removed without separating from the main body frame 2 by simply loosening the bolts 102, the storage means 112 and the holding mechanism 113 can be omitted.

In the drive mechanism 111, the socket 122 is fitted into the tip of the drive shaft (not shown) so as to be slidable in the directions of arrows 123 and 124, but not rotatable, and is always held in the direction of the arrow by a coil spring (not shown). It is elastically biased in the 123 direction. The drive shaft is connected to an air motor 135 via a reducer 134, and this air motor 1
35 for forward rotation or reverse rotation.

In the detection mechanism 129, an annular detection member 138 is supported by a bracket 139.
is loosely fitted into the bolt 102 and moved in the X and X directions in a plane substantially perpendicular to the axis of the bolt 102 and comes into contact with it, thereby detecting the position of the bolt 102 with respect to the socket 122. It is for the purpose of

That is, the bracket 139 is attached to the slide bearing 1
40 so as to be slidable in the direction of arrow X, and is slidably driven by an air cylinder 141. The amount of movement of the detection member 138 in the X direction at this time is detected by the potentiometer 142. Further, the bracket 139 is supported by a slide bearing 143 so as to be slidable in the X direction together with the slide spring 140, and is slidably driven by an air cylinder 144. The amount of movement of the detecting member 138 in the X direction at this time is detected by the potentiometer 145.

The detection member 138. Bracket 139, slide pull 140.143 Air cylinder 141
．． 144. The potentiometers 142 and 145 are supported by slide hair rings 1 and 16 on the bracket 136 so as to be slidable in the X direction, and are slidably driven by an air cylinder 147.

The storage means 112 is constituted by a memory in a control device 114 (see FIG. 6) that controls the nut runner 121.

In the position correction mechanism 130 (see FIG. 5), a drive mechanism 111 supported by a bracket 136, a socket 1
22. The detection mechanism 129 and the like are supported by a slide bearing 14 so as to be slidable in the X direction, and the heald 1
It is slidably driven by a ball screw 151 driven by a motor 150 via a motor 150 .

Furthermore, the above slide bearing 14th, bracket 136
．． Motor 150. Belt 149. ball screw 151
etc. are supported so as to be slidable in the Y direction by a slide bearing 152, and are slidably driven by a ball screw 155 which is rotationally driven by a motor 154 via a belt 153.

Next, a procedure for detecting the position of, for example, the head 1023 of the bolt 102 with respect to the socket 122 by the detection mechanism 129 and correcting the position by moving the socket 122 by the position correction mechanism 130 will be explained (see FIG. 7). .

For the above-mentioned potentiometers 142 and 145, the extensible dimension of the detection rod is O to 20 mm, and the extended state (20 I
IIIl), resistance, 0Ω, voltage, OV, generated pulse, 0 pulse, reduced state (On+m), resistance, lk
Ω, voltage, 5V, generated pulses, 1000 pulses.

First, when the detection member 138 moves leftward on the X-axis in FIG. 4(a), the button yometer 145 contracts;
The displacement IBX (aua) is BX (M) − (BX
(pulse) −eBX ) /dBX.

In addition, here, dBX = 50.0 (pulse/mm),
It is eBX-〇 (pulse).

Furthermore, when the detection member 138 moves leftward on the Y-axis in FIG.
BY (pulse) −eB'/ ) /dBY.

In addition, here, dBY = -50,0 (pulse/(t))
, eBY=1000 (pulses).

When the center of the head 102a of the bolt 102 is located at the center of the detection member 138, the amount of leftward displacement of the detection member 138 on the X-axis is BXO1, and the amount of downward displacement on the Y-axis is BYO. (In addition, the above BX
O, BYO are given in advance as parameters), Pol l
-102, the correction fiDX of the position correction mechanism 130 in the X direction is given by DX (am)=BXO-BX, and the correction amount DY in the Y upward direction is given by DY=BYO-BY.

Therefore, the motor 150 is rotationally driven based on the value of DX, and the position of the socket 122 is corrected in the X-axis direction. Also, based on the value of DY, the motor 154
is rotationally driven, and the position of the socket 122 is corrected in the Y-axis direction.

In the holding mechanism 113, one side of the gripping claw 1 grips the bolt 102 which is engaged with the socket 122 and warmed, and is ready to be applied to the main body frame 2.
56.156.

The second gripping claw 156 is driven to open and close by an actuator 157 below the socket 122.

The gripping claw 156. The actuator 157 is supported by a bracket 158.
is supported by a slide bearing 159 so as to be slidable in the Y direction (front-back direction). Then, it is slid and driven by the air cylinder 160.

Further, the bracket 158 is supported so as to be slidable in the Z direction (vertical direction) by a slide hair ring I61 together with the slide hair ring 1.59, etc., and is slidably driven by an air cylinder 162 fixed to the bracket 136. Ru.

In the apparatus of this embodiment, the nut runner 121. Two sets of a detection mechanism 1295, a position correction mechanism 1.30, etc. are provided (see FIG. 1), and are mounted on the base 45. The base 45 is slidably driven on the arm 13 in the Z direction by a motor 46. Therefore, the above-mentioned Nand runners 121, 121 are connected to the opening/closing mechanism 4.
1 The motor 46.1 is independent of the horizontal gripping machine 5.
50.154 allows for positioning in the x, y, and z directions.

In this embodiment, the nut runners 121121 are mounted on a common base 45 via the position correction mechanisms 130, 130, but it is also possible to provide two sets of bases 45 and slide the nut runners 12+121 individually. You can do it like this.

Furthermore, in the attachment/detachment device according to this embodiment, as shown in FIG.
Two sets of hinge support devices 231 are provided to support the hinge 11 so that it does not swing downward when the bolt 102 is automatically tightened or loosened using the NAND runner 121.

Due to the friction of the rotating portion of the hinge 13, the bolt 102
If it does not swing downwards with the same pressing force during tightening/loosening work (
Immediately after an automobile is assembled on a production line, the hinge 1a of the trunk 1 is relatively stiff and difficult to swing), so the hinge support device 231 may be omitted.

In the hinge support device 231, as shown in FIG. 1, a contact member 234 that contacts the lower surface of the hinge 11 is supported by an arm 235.

It is always elastically biased upward by a coil spring (not shown). The abutting member 234 is
The bolt 102 that fixes the hinge 13 to the main body frame 2 is connected to the bolt 1 by the nut runner 121.
When automatically tightening and loosening while pressing in the direction of movement (downward) when screwing the bolt 102, the hinge 1a is constantly pressed in the opposite direction to the direction of movement when the bolt 102 is screwed in, so that the hinge 1a moves downward (downward). This is to restrict the swinging of the bolt in the direction of movement when the bolt is screwed.

The arm 235 is swingably supported in a horizontal plane relative to a base 240, and is driven to swing by a rotary actuator 243 within a range regulated by a stopper (not shown) mounted on the base 240. Ru. When the arm 235 comes into contact with one of the stoppers, the contact member 234 is in a standby state, and the arm 235
When the contact member 234 contacts the other stopper, the contact member 234 is moved to a position corresponding to the lower surface of the hinge 12. At this time, the abutting member 234 is inserted into the main body frame 2 from the space in which the rear door of the main body frame 2 is attached.

The base 240 is supported so as to be movable up and down by lifting guide posts 245, 245 attached to a stand 244, and is driven up and down by a cylinder 246.

A two-stage switching stopper 24 is provided on the upper surface of the stand 244.
7 is slidably supported, and the cylinder 2t18
The slide is driven by. The above two-stage switching stopper 24
7 is slid and driven and the engagement between the stopper 247 and the base 240 is released, the arm 2353 and the contact member 234 supported by the base 240 move upward to the uppermost position. be done. In this state, the abutment member 234 abuts against the lower surface of the hinge 1a and presses the hinge 1a upward, causing the hinge 1. It becomes possible to regulate the fluctuation of the

On the other hand, when the stopper 247 is slid and driven and the stopper 247 and the base 240 become engageable, the contact member 234. Arm 235 is moved upwardly by cylinder 246 to a lower position. In this state, the trunk 1 is attached to the main body frame 2 together with the hinge 13.
This is applied when it is removed from the trunk and attached to, for example, a parts carrier for painting (the trunk 1 above).
The mounting position on the parts truck is set lower than the mounting position on the main body frame 2).

The attachment/detachment device according to this embodiment is configured as described above.

Next, use the above-mentioned attachment/detachment device to attach the main body frame 2 of the automobile.
The procedure for removing the trunk 1 from the vehicle and attaching it to a parts trolley (not shown) for painting will be explained (see Fig. 8(a) and (bl)).

When removing the trunk 1 from the main body frame 2 (see FIG. 8(a)), first remove the motors 3B, 40.
3 to position the opening/closing mechanism 4, the gripping mechanism 5, and the nut runner 121 at predetermined positions taught in advance. Then, the cylinder 8 of the opening/closing mechanism 4 is contracted, and the arm 7 is driven by one movement, and the opening/closing claw 9 is moved to the trunk 1.
It is inserted into the gap formed between the lower rear end of the main frame 2 and the main body frame 2. Then, as the cylinder 10 contracts, the opening/closing pawl 9 comes into contact with the rear lower end of the trunk l.

Thereafter, the frame 6 is rotated by the motor 11 in the direction of the arrow 12 shown in FIG. It is opened at a predetermined angle about 1a.

At the same time, the contact member 234 of the hinge support device 231 is swing-driven by the rotary actuator 243 and positioned at a predetermined position below the hinge 1a that supports the trunk 1.

Thereafter, the abutting member 234 is driven upward by the cylinder 246 and comes into contact with the lower surface of the hinge 1a. By pressing the hinge 1a upward, the swinging of the hinge 1a is restricted.

When the brake 26 of the gripping mechanism 5 is released and the cylinder 23 is operated in the contraction direction for the trunk 1 which has been opened at a predetermined angle as described above, the gripping claws 14 and 15 are supported by slide bearings 19 and 22, respectively. and moves in the closing direction.

Which of the gripping claws 14 and 15 is the trunk l
When the gripping claw 14 or 15 comes into contact with the leading end 1b or the rear end 1c of and stops its operation, only the gripping claw 14 or 15 that has not yet come into contact with the if + - rank l is further moved in the closing direction.

When the other gripping claw 14 or 15 comes into contact with the front end 1b or the rear end 1c of the trunk l, the trunk l is moved by the gripping claw 14. +5, it becomes a gripped state. That is, by closing the gripping claws 14 and 15 using the cylinder 23, the cylinder 23 also moves in the closing direction as the gripping claws 14 and 15 close, and the cylinder 23 is moved to a position following the trunk I. The trunk 1 has the above-mentioned gripping claws 14,1.
5. Thereafter, by operating the brake 26, the gripping claws 14 for the trunk l are
．． +5 relative position is retained.

Subsequently, the brake 36 is released and the cylinder 3
3 in the contraction direction, the gripping claws 16 and 17 are supported by the slide rings 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 claw 16 or 17 that has not yet come into contact with the trunk I
The no. 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, 1d of the trunk 1 are in a state of being gripped by the gripping claws 16, 17. becomes.

That is, the gripping claws 16. +7 is closed, the cylinder 33 also moves in the closing direction as the cough gripping claws 16 and 17 close, and the trunk 1 is moved to the position following the side portions 1d and 14 of the trunk 1 when the gripping claws 16 and 17 are closed. 16 and 17. Thereafter, by operating the brake 36, the side portion 1 of the trunk 1 is
The relative position of the gripping claws 16, 17 to a, 1 (I is maintained).

After that, a bolt 102 for fixing the hinge l that supported the trunk 1 so as to be openable and closable with respect to the main body frame 2
is automatically loosened by the nut runner 121.

First, the NAND runner 121 is driven down by the motor 46 to a predetermined position taught in advance.

Thereafter, the detection member 138 is further driven downward by the air cylinder 147 (in the Z-axis direction), and is moved by the air cylinder 144 to a position below the socket 122 and corresponding to above the head 102a of the port 102.

Further, the detection member 138 is connected to the head 102 by an air cylinder [47]. is driven down to a position where it can be fitted loosely,
It is driven to move in the X and Y directions by air cylinders 141 and 144. Then, the detection member 138 is connected to the head 10.
The amount of movement until the bolt 2a contacts the side surface is detected by the potentiometers 142 and 145, respectively, and the amount of position correction of the bolt 102 relative to the socket 122 is detected.

When the detection of the position correction amount of the bolt 102 is completed through the above procedure, the position of the bolt 102 is calculated together with the position correction amount, and these values are stored in the memory 112. Note that the detection member 138 is connected to the air cylinder 14.
．． i, 147 is driven to retreat from the head 1021 of the bolt 102.

Then, the motors 150 and 154 are rotationally driven in accordance with the position correction amount of the socket 122 with respect to the head 102a of the bolt 102 detected by the potentiometers 142 and 145, and the position of the socket 122 with respect to the head 1023 of the bolt 102 is corrected. be exposed.

Thereafter, the socket foot 122 is further driven downward by the motor 46, and the head 102. mated to por l
A loosening operation for -102 is performed.

When the bolt 102 is loosened by the above procedure and becomes separable, the gripping claw 156 is driven downward by the air cylinder 162, and the air cylinder 160 moves forward to a position where it can grip the threaded portion of the bolt 102. Driven. Thereafter, the gripping claw 156 is closed by the actuator 157, so that the gripping claw 156
The bolt 102 is held by the bolt 102.

The nut runner 121 is then returned to the predetermined original position while holding the pole l-102 by the gripping claws 156.

At the same time, the hinge support device 231 is also returned to its original position, and the gripping mechanism 5 that grips the trunk l is moved to the opening and closing mechanism 4.
It retreats upward together with the nut runner 121 and the like.

After that, the main body frame 2 is carried out.

When attaching the trunk 1 to the main body frame 2 again, since the position of the bolt 102 is stored in the storage means 112, the bolt 102 is attached to this position.
02 can be re-screwed accurately.

Furthermore, since the bolt 102, which is now in a separable state, is held by the gripping claws 156 until it is screwed again, the operator is freed from the trouble of managing the bolt 102.

Next, the procedure for attaching the trunk 1 to a parts truck for painting will be described (see FIG. 8(b)), but the procedure in this case is almost the reverse of the procedure for removing the trunk 1 described above.

The outline of the procedure is as follows: First, a parts cart is transported to a predetermined position on the line.

Then, the motors 3B and 40.43 are driven, and the opening/closing mechanism 4, the gripping mechanism 5, and the nut runner 121 are positioned at predetermined positions taught in advance.

After that, the hinge 1a is pressed against the parts cart,
The abutment member 234 of the hinge support device 231 is driven to pivot upward and press the hinge 1a.

Subsequently, the NAND runner 121 is driven downward and positioned at a predetermined position taught in advance. After that, the bolt 102 is pressed and the socket 122
By rotating the bolt 102, the bolt 102 is attached to the hinge 1.
2 and is screwed onto the parts trolley. - In this way, the trunk l is attached to the parts truck.

Thereafter, the gripping mechanism 5 opens the trunk 1, and the abutment member 234 of the hinge support device 231 is driven downward and rotated, and the nut runner 12
1 retreats upward.

Thereafter, the trunk I is closed by the opening/closing mechanism 4, and the parts truck is taken out.

Subsequently, in this embodiment, the trunk 1 assembled to the main body frame 2 of the automobile is opened, the trunk 1 is grasped, and the bolts 10 are
The bolt 102 can be automatically tightened or loosened according to the position shown in FIG.

In other words, accurate positioning of the main body frame 2 is not required.

The device of this embodiment can also be applied to a ponent (not shown) that uses a similar mounting structure instead of the trunk 1 described above.

〔Effect of the invention〕

As described above, the present invention is a trunk or bonnet attachment/detachment device that is attached to an automobile body via a hinge mechanism fixed to the automobile body by a screw member, and which opens and closes the trunk or bonnet with respect to the automobile body. comprising a mechanism, a gripping member disposed facing the base so as to be openable and closable, and a driving means provided to be movable together with the gripping member relative to the base in the opening/closing direction of the gripping member, The driving means causes the gripping member to close, and the opening and closing mechanism detects the position of the gripping mechanism that grips the trunk or bonnet and the screw member by following the position of the trunk or bonnet in an open state. An automobile trunk or bonnet comprising: a detection mechanism; and a nut runner mechanism that corrects the position of the screw member by a position correction mechanism according to the position of the screw member detected by the detection mechanism, and tightens or loosens the screw member. Since this is an attachment/detachment device, the trunk or bonnet assembled to the main body frame of the automobile is opened, and the trunk or bonnet is grasped following the position of the trunk or bonnet, and the trunk or bonnet is grasped according to the position of the screw member. The screw member can be automatically tightened and loosened.

[Brief explanation of drawings]

FIG. 1 shows the configuration of an attachment/detachment device according to an embodiment of the present invention, in which FIG. 1(a) is a front view, FIG. 1(a) is a plan view of FIG. (C) is a left side view in Figure (a), Figure (d) is a right side view in Figure (a), and Figure 2 shows the structure of the opening/closing mechanism and gripping mechanism that constitute the above-mentioned attachment/detachment device. The same figure (
a) is a front view, and the same figures) are AA' in the same figure (a)
Arrow sectional view, fc) in the same figure is B-8' in fa) in the same figure.
Arrow side view, the same figure (dl is C-c' in the same figure (b)
A plan view in the direction of arrows, (e) shows the G node (D-) in (1)) of the same figure.
3 is a perspective view of the main part showing how the trunk, which can be attached and detached by the above-mentioned detachment device, is attached to the main body frame of the automobile; FIG. 4 shows the structure of the trunk runner that constitutes the above-mentioned detachment device It is shown in the same figure (
a) is a front view, figure ■) is a left side view in figure (a), figure (C) is a right side view in figure (a), figure (d)
) is a partial front view taken along c-c' arrows in the same figure, et al.
e) is a bottom view of l in the same figure (a), the same figure (f
) is a bottom view in the direction of the arrow ■ in figure (b), and FIG. ) is a left side view in FIG. 6(a), FIG. 6 is a brochure diagram of the control system of the nut runner, and FIG. 7 is a diagram of the procedure for detecting the position of the screw member relative to the socket by the detection mechanism that constitutes the above-mentioned attachment/detachment device. 8(a) and 8(b) are flowcharts showing the procedure for removing and attaching the trunk using the above-mentioned attachment/detachment device. [Explanation of symbols] 1...Trunk la...Hinge 2...Body frame 4...Opening/closing mechanism 5...Gripping mechanism 6...Frame (base) 9...Opening/closing claw 4. 15, 16.17...Gripping claw (gripping member) 3.3
3... Cylinder (driving means) 2... Bolt 23... Head l... Nut runner 9... Detection mechanism O... Position correction mechanism. Applicant: Honda Motor Co., Ltd. Kobe Steel, Ltd.

Claims (1)

[Scope of Claims] 1. A trunk or bonnet attachment/detachment device attached to an automobile body via a hinge mechanism fixed to the automobile body by a screw member, the opening/closing mechanism opening and closing the trunk or bonnet with respect to the automobile body. and a gripping member disposed facing the base so as to be openable and closable, and a driving means provided to be movable together with the gripping member relative to the base in the opening/closing direction of the gripping member, A gripping mechanism that closes the gripping member by a driving means and grips the trunk or bonnet by following the position of the trunk or bonnet in an open state by the opening/closing mechanism, and a detection unit that detects the position of the screw member. and a nut runner mechanism that corrects the position of the screw member by a position correction mechanism according to the position of the screw member detected by the detection mechanism, and tightens or loosens the screw member. Detachment device.