JPH02279478A - Detachable device for automobile door - Google Patents

Abstract

PURPOSE:To enable the detachment of a door so easily by installing a retractile mechanism, inserting or extracting a pin into or from an automobile body and the door, and a door holding mechanism independently each, in a detachable device for the door being attached to the automobile body closably via the pin. CONSTITUTION:This detachable device is equipped with a vertical pair of detecting mechanisms 61 comprising a sensing claw 2 detecting each position of both upper and lower pins 4 for attaching door 123 closably to a body frame of an automobile, and a vertical pair of retractile mechanism 1 subject to a positional compensation on the bias of the position of the pins 4 detected by these detecting mechanisms 61 and inserting or extracting these pins 4 into or from the body frame 60 and the door 123. Also there is provided with a holding mechanism 117, holding the door 123, subject to the positional compensation on the basis of each position of these pins 4 detected by the detecting mechanism 61, and being driven independently apart from the retractile mechanisms 1. Each retractile mechanism 1 is made up of providing a pin presser claw 8, a pin holding claw 9 and a pin inserting claw 10.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device for attaching and detaching a door that is openably and closably attached to an automobile body via a pin in an automobile assembly line.

[Prior art]

On an automobile assembly line, the door is assembled in advance to the main body frame of the automobile along with the trunk, bonnet, etc. In this case, the door is attached to the main body frame via two upper and lower pins so that it can be opened and closed with respect to the main body frame. This is intended to absorb dimensional errors and create a smooth body line, which tends to occur when the door etc. formed by sheet metal press processing is assembled to the main body frame.

When painting a door assembled as described above, remove the door from the main body frame and use it as a single component, hold the surface to be painted horizontally and spray the paint, and reassemble after drying. You can get a painted quality car body. This is because lacquering of the paint can be prevented if the painting surface of the part is kept horizontal when painting.

In such an assembly line, when automatically disassembling and assembling the door, it is important to automatically insert and remove the pin and to grip the door.

Therefore, in recent years, devices as shown in FIGS. 14(a) and 14(b), for example, have been developed.

The device shown in FIG. 14 is used when attaching a door to the main body frame of an automobile, and when removing the door from the main body frame, another device having almost the same configuration as the device shown in FIG. 14 is used. The work is done by the device.

That is, in the apparatus shown in the figure, a set of claws 51.5L provided on the jig 50, a set of claws 53 provided on the base 52, and a set of vacuum blades 54.54 provided on the base 52. The door (not shown) is held by the door (not shown). The molds 51 and 51 respectively support hinge parts provided at the upper and lower positions of the door, and the mold 53 is inserted into a catch part provided on the door. Further, the vacuum panod 54, 54 is for suctioning the door body.

The setting angle of the jig 50 is corrected by a position correction mechanism 55. Further, the position of the mold 53 is corrected by a position correction mechanism 56.

As above, the claw 51.53 and the vacuum panod 5
4, a pin (not shown)
is inserted. As a result, the door is attached to the main body frame.

Note that the above device is not provided with a mechanism for detecting the position of the pin or a mechanism for holding the pin.

Therefore, it is necessary for the operator to support the pin after the robot main body is moved to a previously taught position.

(Problem to be Solved by the Invention) However, in the above-mentioned conventional device, since the mechanism for gripping the door and the mechanism for inserting and extracting the pin are installed on a common robot, the amount of movement and correction thereof is limited. There are limitations. Therefore,
This method has the problem of not being able to handle cases where the position of the pin relative to the main body frame of the vehicle is large or for different vehicle models, and lacks versatility when it comes to attaching and detaching the door.

Therefore, the first object of the present invention is to separate the mechanism for inserting and extracting the pin from the mechanism for gripping the door, thereby making it possible to deal with cases where the position of the door or pin is large or for different vehicle models. An object of the present invention is to provide a highly versatile automobile door attachment/detachment device.

Furthermore, a second object of the present invention is to interlock the mechanism for inserting and extracting the pin separated as described above and the gripping mechanism for the door, so that the pin can be reliably inserted and extracted according to the position of the pin and the door, and the door An object of the present invention is to provide an automobile door attachment/detachment device having a function of reliably gripping an automobile door.

[Means to solve the problem]

In order to achieve the above-mentioned first object, the first means adopted by the present invention is a door attachment/detachment device which is attached to the automobile body via a pin so as to be openable and closable, An automobile door attachment/detachment device according to the present invention, wherein an insertion/extraction mechanism for inserting and extracting a pin into and from the automobile body and the door, and a gripping mechanism for gripping the door are each provided independently and can be driven individually. It is.

Further, in order to achieve the above second object, the second means adopted by the present invention is a door attachment/detachment device that is attached to the automobile body via a pin so as to be openable and closable. , a detection mechanism that detects the position of the pin with respect to the vehicle body; and a security mechanism that corrects the position based on the position of the pin detected by the detection mechanism and that inserts and extracts the pin into and out of the vehicle body and door. and a gripping mechanism that grips the door and whose position is corrected based on the position of the pin detected by the detection mechanism.

(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 appearance of an attachment/detachment device according to an embodiment of the present invention, and FIG. 1(a) is a side view.

FIG. 2(b) is a plan view, FIG. 2 is a block diagram of the control system of the above-mentioned detachment device, and FIG. is a front view, (b) is a plan view in (a), (C) is a right side view in (a), and (d) is a view from arrow G in (C). 4 shows the structure of the gripping mechanism constituting the above-mentioned attachment/detachment device. FIG. 4(a) is a front view, FIG. 4(b) is a plan view of FIG. Figure (C
) is the left side view in figure (a), and Figure 5 is the above-mentioned poster I.
! ! ! It shows the main structure of the horizontal part, and the figure (a) is the front view, the figure (1)) is the left side view in the figure (a),
The same figure (cj is a plan view in the same figure (b), FIG. 6 shows the structure of the support mechanism that constitutes the above-mentioned extraction mechanism, the same figure (a) is a front view, the same figure (b) is a left side view in the same figure (a), the same figure (C) is a right side view in the same figure (a), the same figure (d) is a plan view in the same figure fa), the same figure (e)
is a bottom view of the same figure (a), and the same figure (f) is a bottom view of the same figure (a)
HH' arrow equivalent view in the same figure (gl is the same figure (a)
7(a), (bl is a circuit diagram of the drive system of the rear entry mechanism, and FIG. 8 is a diagram showing another embodiment of the structure of the support mechanism, Figure 6(a) is a diagram corresponding to Figure 6(f), figure (+) is a diagram corresponding to Figure 6 (cloudy), and Figure 9 is another implementation of the position detection member constituting the rear entry mechanism. Fig. 10(a) is a plan view, Fig. 10(a) is a side sectional view, and Fig. 10 is a main part structure of the gripping mechanism constituting the above-mentioned detachment/detachment device. The same figure (a
) is a front view in a partially broken state, the same figure [exist]) is a left side view in the same figure (a) 5 the same figure (C) is a right side view in a partially broken state in the same figure (al) , FIG. 11(a),
Figures 12(a) to 12(e) are basic configuration diagrams of essential parts of gripping mechanisms according to other embodiments, and Figures 12fa) to 12(e) show the above-mentioned insertion/extraction based on the position of the pin detected by the detection mechanism constituting the above-mentioned attachment/detachment device. FIGS. 13(a) and 13(b) are explanatory diagrams showing the procedure for correcting the positions of the mechanism and the gripping mechanism. FIGS. 13(a) and 13(b) are flowcharts showing the procedure for removing and attaching the door using the above-described attachment/detachment device.

The attachment/detachment device according to this embodiment is shown in FIGS. 1, 3, and 4.
As shown in the figure, there is a detection mechanism 61 that detects the position of the pin 4 (FIG. 7) with respect to the main body frame 60 of the automobile, and the position of the pin 4 is corrected based on the position of the pin 4 detected by the detection mechanism 61. The position of the pin 4 is corrected based on the position of the pin 4 detected by the detection mechanism 61, and the insertion/extraction mechanism 1 is a separate The gripping mechanism l17 is independently driven to grip the door 123.

In the device of this embodiment, the main body frame 60 is provided with two pins 4 at upper and lower positions that allow the door 123 to be opened and closed. Two units are installed at the top and bottom positions. The detection mechanism 61 is integrated into the rear entry mechanism 1. Furthermore, since four doors 123 are attached to one main body frame 60, four sets of devices such as the gripping mechanism 117 are provided.

As shown in FIGS. 5, 6, and 7, the rear entry mechanism 1 has an opening 2 that opens in a tapered shape, and a pin inserted into a through hole 3 (FIG. 7). The opening 2a is located in the shaft portion of 4.
a sensing claw 2 (position detection member) that is fitted through the opening and can be engaged with the pin 4; and an opening 2 that contacts the shaft of the pin 4 when the sensing claw 2 is inserted into the pin 4. a floating device 5 (support mechanism) (FIG. 6) that supports the sensing claw 2 movably in the X, Y, and Z directions so that the sensing claw 2 can be moved by being guided by the angle;
A potentiometer 6.7 (FIG. 6) detects the position of the pin 4 from the amount of movement of the sensing claw 2 when the sensing claw 2 moves guided by the opening 2a in contact with the shaft of the pin 4. and a control device that stores the position of the pin 4 detected by the potentiometers 6 and
2) and one end of the pin 4 inserted into the through hole 3 is pressed in the axial direction.
A pin holding claw 8 is supported by the floating device 5 and moves together with the sensing claw 2 to push the pin 4 into place as the sensing claw 2 is inserted into the pin 4. A pin gripping claw 9 that is positioned with respect to the axis of the pin 4 and supports the pin 4 that has been pulled out of the through hole 3 by the action of the pin holding claw 8, and a pin holding claw 9 that supports the pin 4 that is positioned with respect to the axis of the Based on this, the other end of the pin 4, which is corrected and positioned together with the pin gripping claw 9 and supported by the pin gripping claw 9, is pressed in the axial direction to insert the pin 4 into the through hole 3. It is configured to include a pin insertion claw lO.

In this case, the sensing claw 2. floating device 5
and the detection mechanism 61 by potentiometers 6, 7, etc.
is configured.

In this embodiment, since the device of this embodiment is provided with two pins 4 at the upper and lower positions, even when the two pins 4 and 4 are removed, the detection mechanism 61 detects the pins 4. Posture correction and positioning are performed based on the position. The details will be described later.

Each of the above components will be explained in detail below.

The sensing claw 2 is slid in the Y direction by an air cylinder 11. As shown in FIG. 9, the shape of the opening 2a of the sensing claw 2 is changed by providing a parallel part (E part) in the Y direction following the tapered part CD part). When the sensing claw 2 is inserted into the shaft portion of the pin 4, it is guided by the tapered portion of the opening 23 that contacts the shaft portion of the pin 4, and the sensing claw 2
After being positioned with respect to the direction, the Y of the sensing claw 2
When moving in the direction, X
No unnecessary force is applied in any direction.

In the floating device 5 (FIGS. 5 and 6), the sensing claw 2 and the air cylinder 11 are connected to the frame 12.
The cough frame 12 is supported by a base 13
is attached to. The base 13 is supported by a slide hair ring 14 so as to be slidable in the X direction relative to the base 15. Brackets 16.17 are attached to the base 13, and shafts 18.19 are fitted into each of the brackets 16.17 so as to be slidable in the X direction. The above axis is 1 day.

19 is always elastically biased by a spring 20 in a direction opposite to the X direction, and the upper end of the shaft 18 and the lower end of the shaft 19 are in contact with the upper and lower parts of the base 15, respectively. There is.

Therefore, the base 13 is always elastically held at a neutral point (with respect to the X direction) with respect to the base 15 by the action of the spring 20.

That is, if it is assumed that the base 13 moves downward, for example, in FIG. 6(a), the shaft 18 moves downward together with the base 13 and presses the spring 20. At this time, the movement of the shaft 19 is restricted by the base 15, and the shaft 19 maintains its current position. On the other hand, when the base 13 moves upward, the base 13 is always elastically held at a neutral point with respect to the base 15 by zero or more movements that are opposite to the above. When the floating device 5 is moved at high speed, the initial force of the spring 20 causes the base 13 to move in an X direction relative to the base 15.
There is no wobbling about direction.

The base 15 is supported by a slide bearing 21 so as to be slidable in the X direction with respect to the base 22. Brackets 23, 24 (
Figure 6 (Ne) is attached, and the bracket 23
．． Shafts 25 and 26 are fitted into each of the shafts 24 so as to be slidable in the X direction. An air cylinder 27 is attached to one end of the shaft 25, and a piston rod 273 of the air cylinder 27 is in contact with one end of the shaft 26. The other end portions of the shafts 25 and 26 are connected to stone bars 28 attached to both sides of the base 22.
．． 29, respectively.

The air cylinder 27 has substantially the same effect as the spring 20, and is for holding the base 15 with respect to the base 22 at a neutral point in the X direction. however,
An air cylinder 27 is used instead of the spring 20 as described above.
By using this, the value of the holding force can be freely set and changed from O to an appropriate value according to the air pressure.

Therefore, in this case, it is also possible to use a spring 30 in place of the air cylinder 27 (see FIG. 8 et al.).

The amount of movement of the base 15 in the X direction with respect to the base 22 is detected by the potentiometer 6.

The base 22 is supported by a slide bearing 31 so as to be slidable in the Y direction relative to the base 32 . Brackets 33, 34 (
6(f)) is attached, and the main body of an air cylinder 35 is fitted into the first racket 33. And the piston rod 35 of the air cylinder 35
a is in contact with a shaft 36 that is fitted into the bracket 34 so as to be slidable in the Y direction. Furthermore, the above-mentioned axis 3
The other end of 6 is in contact with a stopper 37 attached to the side of the base 32.

The air cylinder 35 holds the base 22 at the stroke end position with respect to the base 32 by the same action as the air cylinder 27, and instead of the air cylinder 35, a spring 38 is used. It is also possible to use (see FIG. 8(a)).

The amount of movement of the base 22 in the Y direction with respect to the base 32 is detected by the potentiometer 7.

The base 32 is attached to the upper and lower positions of arms 39 (FIGS. 1 and 3), and the three arms are attached to rotating shafts that are orthogonal to each other. Then, the motor 62 swings it in the B direction, and the motor 63 drives it in the T direction.
It is oscillated in the direction J. In this way, it is constructed to be able to accommodate the inclination of the pin 4.4.

In this case, the arm 39 is further provided in the U direction (horizontal direction).
It is also possible to provide a rotation axis to.

As a result, the insertion/extraction mechanism 1 can be passed around the narrow gap between the main body frame 60 and the door 123, and the teaching operation can be carried out more conveniently.

Further, the arm 39 connects to the arm 64 via the rotation shaft.
The arm 64 is slid on a base 65 by a motor 66 in the X direction. The base 65 is slid on an arm 67 by a motor 68 in the Y direction.

The arm 67 is attached to a base 69, and the base 69 is slid on a frame 70 by a motor 71 in the X direction.

The arm 39 is positioned at a predetermined position that has been taught in advance by driving each of the Mokuro 2.63 and 66.6871.

Here, a procedure for detecting the position of the pin 4 using the sensing claw 2 supported by the floating device 5 will be described.

First, when the arm 39 is moved in the Y direction and the sensing claw 2 is forcibly pushed into the shaft of the pin 4, the sensing claw 2 is guided into the opening 2a that is in contact with the shaft of the pin 4. Move in the X direction.

The amount of movement at this time is detected by the potentiometer 6. Then, the arm 39 is feedback-controlled based on the detected amount of deviation, and the position of the arm 39 is corrected with respect to the position of the pin 4. Incidentally, the positive amount of 1li1f in the Y direction is detected by a potentiometer.

In this case, if a high pressure is constantly applied to the air cylinders 27 and 35, the pin 4 and the arm 39 will be bent by being pushed by the sensing claw 2, making it impossible to perform accurate detection. Therefore, in the X direction, the pressure of the air cylinder 27 is approximately O. Regarding the Y direction, it is preferable to set the pressure of the air cylinder 35 to a relatively low value.

As a result, the force acting on the pin 4 and the arm 39 is only in the Y direction, which has a relatively low value, and errors in the detected amount due to deflection can be easily almost eliminated.

Note that in order to more accurately obtain the detected amount in the Y direction, taking into account the influence of the bending of the arm 39, etc., first move the arm 39 in the Y direction so that the potentiometer 7 reaches a predetermined value. let The amount of movement of the arm 39 at this time is the amount of movement of the potentiometer 7 itself plus the amount of movement of the arm 39.
This is the value obtained by adding the amount of deflection such as 9. After teaching the position at this time, lower the arm 39, and the operator moves the arm 39 again to a position where the sensing claw 2 and the shaft of the pin 4 lightly contact each other, and then teach the amount of movement of the arm 39 at this time. do. As described above, since the amount of movement taught by the operator by moving the arm 39 includes the amount of deflection, the amount of movement of each potentiometer of the first taught value and the later taught value is It is possible to grasp the amount of deflection of the arm 39 and the like during sensing.

By performing correction based on this value, the position of the pin 4 in the Y direction can be accurately detected during the reproduction operation.

The pin holding pawl 8 is supported by the frame 12, as shown in FIGS. 5 and 7, and is slid by an air cylinder 40 in the Z direction.

The pin gripping claw 9 and the pin insertion claw 10 are supported by a slide bearing 41 to be slidable in the Z direction with respect to the frame 12, and are slidably driven by an air cylinder 42. The pin gripping claw 9 is further slid in the Y direction by an air cylinder 43.

In this embodiment, an engagement hole 10a (see FIG. 7(a)) is formed at the tip of the pin insertion claw 0, and this engagement hole 10a is formed at the end of the pin 4. It is possible to engage with a tapered portion 4a formed in the section.

Then, the taper portion 4a of the pin 4 is inserted into the pin insertion claw 1.
When the pin 4 is engaged with the engagement hole 102 of No. 0, the pin 4 that has been removed from the through hole 3 is held by gripping the collar 4b formed at the end of the pin 4 with the pin gripping claw 9. be done.

That is, in the device of this embodiment, the pin gripping claw 9 and the pin insertion claw 10 cooperate to hold the pin.

In addition, by configuring the pin 4 to be gripped by a set of gripping members that are driven to open and close by an actuator instead of the pin gripping claw 9 as described above, the taper portion 4a of the pin 4 and the pin insertion claw can be Machining of the IO engagement hole 101 and the like can be omitted.

When the pin gripping claw 9 and the sensing claw 2 are slid by the air cylinders 43 and 11, respectively, the pin gripping claw 9. The respective axes of the sensing claw 2 and the engagement hole 10a of the pin insertion claw 10 are constructed so as to collapse once.

The insertion/extraction mechanism 1 according to this embodiment is configured as described above.

In the gripping mechanism 117, as shown in FIG. 4 and 10th (a) (
As shown in b) and (C), gripping claws 119, 119 and 120 are arranged facing each other on the frame 11B.

The gripping claws 119, 119 are attached to the lower end of a base 124, and the base 124 is supported by a slide bearing 121 so as to be slidable in the vertical direction.

The gripping claw 120 is attached to the upper end of the base 126, and the base 126 is attached to the slide bearing 1.
22 so as to be slidable in the vertical direction.

The above-mentioned gripping claws 119, 119 and 120 are for gripping the door 123 when the door 123 is disassembled and reassembled to be assembled to the main body frame 60 (FIG. 1) on an automobile assembly line. be.

On the base 124 is the main body 1 of the air cylinder +25.
25. is attached, and a piston rod 125b of the air cylinder 125 is fixed to the base 126.

Therefore, the air cylinder 125 and the gripping claw 119.1
20 is movable in the opening/closing direction (vertical direction) of the cough gripping claws 119 and 120 relative to the frame 11B.

A rack 127 is attached to the base 124, and a gear 128 meshing with the rack 127 is attached to the output shaft 1 of the brake 129 attached to the frame 118.
It is fixed at 29□.

The brake 129 controls the position of the gripping claws 119, 120 relative to the door 123 by operating the brake 129 after the air cylinder 125 closes the gripping claws 119, 120 to grip the door 123. It is intended to hold.

In the figure, 130 is a stopper, and 131 is a coil spring. The gripping claws 119 and 120 are always elastically biased toward each other in the closing direction by the coil spring 131, and even if the air pressure in the air cylinder 125 decreases for some reason during the operation of the gripping mechanism 117, , the state of gripping the door 123 is maintained.

Furthermore, in the gripping mechanism 117 according to this embodiment, the frame 118 is connected to a motor 133 via a reducer 132, and the motor 133
It is rotationally driven in a plane perpendicular to the axis 133a of. The above frame 118° deceleration m132. Motor 133
4;! , M-speed 4fi 134, and the frame 118 is rotatably driven by the motor 135 in a plane orthogonal to the axis 135a of the motor 135.

Furthermore, the frame 118. The reducers 132 and 134 and the motors 133 and 135 are connected to the motor 13 via the reducer 136.
7, and the frame 228 is rotationally driven by the motor 137 in a plane perpendicular to the axis 137a of the motor 137.

Therefore, in the gripping mechanism 117, the motor 133.
By driving the doors 135 and 137, the door 123
It is possible to correspond to the slope of

And the above frame II8. Reducer 132°134.
136, motors 133, 135, 137 are Braken)
It is supported by a base 150 (FIG. 4) via 138.

The base 150 is slid on the arm 151 by a motor 152 in the Z direction. The arm 151 is attached to a base 153, and the base 153 is slid on the arm 154 by a motor 155 in the Y direction. Further, the arm 154 is slid on a base 156 by a motor 157 in the X direction.

And each of the above motors 133, 135 137152.
By driving 155 and 157, the gripping mechanism 1
17 is positioned at a predetermined position taught in advance.

In the above embodiment, the gripping claws 119 and 120 are driven to open and close by the air cylinder 125, but instead of the air cylinder 125, the gripping claws 119 and 120 are driven to open and close by a motor with a brake. It is also possible to configure it to do so.

Examples of this case are shown in FIGS. 11(a) and 11(b).

In the gripping mechanism 139 shown in FIG. 11 (al), the gripping claws 11
9.120 is slidably supported by a shaft 140, and this gripping claw 119. A motor 141 with a brake is supported so as to be slidable in the +20 opening/closing direction. The gear 142 attached to the output shaft of the motor with brake 141 is connected to the grooved portion 119 carved in the gripping claw 119, 120! , 1.20. is engaged with.

In the gripping mechanism 143 shown in FIG. 11 Φ), the gripping claw 119
．． 120 is slidably supported by a shaft 140, and a motor 1 with a brake is mounted on one of the gripping claws 119.
41 is attached. A gear 142 attached to the output shaft of the motor 141 with a brake is meshed with a rack portion 120a carved in the other gripping claw 120.

In the gripping mechanisms 139 and 143, the motors with brakes 141 are rotationally driven, so that the motors with brakes 141 also move in the closing direction of the gripping claws 119120 as the gripping claws 119 and 120 close.

Then, the door 123 is gripped by the gripping claws 119 and 120, which move to follow the position of the door 123.

Subsequently, based on FIG. 2 and FIG. 12, two detection mechanisms 61 are used, and the insertion/extraction mechanism l is detected based on the positions of the pins 4, 4 detected by the detection mechanisms 61.61.
The procedure for correcting the position of the gripping mechanism 117 will be explained.

In FIG. 2, each arm control section is for controlling the operating axis of each arm of the insertion/extraction mechanism 1 and the gripping mechanism 117, and each hand control section is for controlling the operation axis of each arm of the insertion/extraction mechanism 1 and the gripping mechanism 117. Sensing claws provided at each tip of the mechanism 117 2. Pin holding claw 8. Pin gripping claw9. Pin insertion claw 10 and gripping claw 1
This is for controlling ffl such as 19 and 120.

The AD converter is a detection mechanism 6 incorporated in the above-mentioned insertion/extraction mechanism 1.
Input the sensor signal from the potentiometer 67 of No. 1,
These are for outputting as digital signals to the calculation units, and each calculation unit performs calculations for processing detection data shown in calculation formulas to be described later and correcting the positions of the insertion/extraction mechanism 1 and the gripping mechanism 117.

The data transmission unit transmits information regarding the position data of the pins 4, 4 detected by the detection mechanism 61 to the gripping mechanism 11.
The data receiving unit is for transmitting correction data (
location data). For example, the transmitting and receiving unit is R3232.
A C line interface or the like is used.

The synchronous control input/output section includes the above-mentioned insertion/extraction mechanism 1 and gripping mechanism 117.
This input/output signal is for inputting/outputting a synchronization signal accompanying the completion of an operation from the other device to/from the control device of the other device, and these input/output signals are set in advance during the operation program of the above-mentioned insertion/extraction mechanism 1 and gripping mechanism 117. taught.

Then, the position correction of the above-mentioned insertion/extraction mechanism 1 and gripping mechanism 117 is performed, for example, in the following procedure.

Note that the potentiometer 6.7 has a maximum extension dimension of 201 for each detection rod. A potentiometer 6 for detecting the amount of movement in the X direction of the sensing claw 2 engaged with the pin 4 located above is designated as POTI. It is assumed that the pulses generated when the detection rod of the 1-pot potentiometer 6 is in the extended state are 10 pulses, and the pulses generated when the detection rod is in the contracted state are 990 pulses.

The potentiometer 7 for detecting the amount of movement in the X direction of the sensing claw 2 located above is referred to as POT2, and the sensing claw 2 is engaged with the pin 4 located below.
Let POT3 be the potentiometer 6 for detecting the amount of movement in the X direction. Furthermore, a potentiometer 7 for detecting the amount of movement of the sensing claw 2 located below in the X direction is designated as POT4. And the above P
OT2. It is assumed that the number of pulses generated when each of the detection rods of POT3 and POT4 is in the extended state is 10 pulses, and the number of pulses generated when each of the detection rods in the POT3 and POT4 is in the contracted state is 990 pulses.

In this case, the above POT2. POT3 and POT4 are set so that the direction of expansion and contraction of their detection rods is opposite to that of the POTI.

First (see FIG. 12(a)), when the sensing claw 2 located above is displaced in the +X direction, the POTI detection rod contracts and the number of generated pulses increases.

In this case, the displacement i1PUX(mn) is PBX(m+a
) = (PIIX(pulse) -epux)/dpux
It is expressed as

Here, dpux=49.0 (pulse/am),
epux=10 (pulses) and is given as a parameter in advance.

When the sensing claw 2 located above is displaced in the +YX direction, the detection rod of the POT 2 extends and the number of generated pulses decreases.

The displacement amount PUY (ms) in this case is PUY (m) = (Puy (pulse) ePuy)
/dpuy.

Here, dpuy = -49,0 (pulse/+n
+i), epuy=990 (pulses), which is given as a parameter in advance.

When the sensing claw 2 located below is displaced in the +X direction, the detection rod of the POT 3 extends and the number of generated pulses decreases.

The displacement amount PLX (kaku) in this case is PLX (M) = (PLX (pulse) - epLx)/
It is expressed as dpcx.

Here, dpLx = 49.0 (pulse/III
l), epLx-990 (pulse), which is given as a parameter in advance.

When the sensing claw 2 located below is displaced in the +Y force direction, the detection rod of the POT 4 extends and the number of generated pulses decreases.

Displacement in this case! lPLY(am) is Pl, Y(ms
) = (PLy(BJl/S) -epLy) /d
It is expressed as pLy.

Here, dpLy = 49.0 (Pulse/Kaku)
, epLy=990 (pulses), which are given as parameters in advance.

Next, a procedure for calculating the amount of positional deviation of the pins 4, 4 will be explained (see FIGS. 12(b), (C), and (d)).

In this case, it is assumed that the axes of the pins 4.4 are on the same axis, and that there is no structural difference between the pins 4, 4. Therefore, the pins 4.4 are inclined in the same direction and at the same angle on the same axis.

First, set S as a reference point for the work, and use this S as the origin to move the sensing claw 2 in the movable direction of Xs, Ys, z.
, define the coordinates of .

In the X, -Z plane, UX + LX D = y, -z' In the s plane, UY + LY D, = □ Here, r = constant, r - r"+ (UX - LX)" Uχ = PUX
-PtlXO.

LX=PLX −PLXOl UY=PUY −PUY
O.

LY=PLY-PLYOl and PUXO, PLXOlPLIYO, PLYO are reference value data measured in advance.

Further, the parallel movement It (not detected in this example) DZ in the direction of the Zs force is set to 0, 2, . 〃Rotation angle around the axis (pin 4
Since it is cylindrical, detection is not necessary) DA is set to O.

From the above, in the sensor coordinate system x,,y,,zs, the amount of parallel movement is (D, D,,D,)s, and the amount of rotational movement is (D
T, DB, DA)s.

Then, Xs, Ys, Za of the insertion/extraction mechanism 1
, Ba.

Correction control is performed for each axis of TII, and the work reference point is changed from S to S', the work posture is changed to B, and the T direction is DT and DB.
The position is corrected based on the value of .

Note that the conversion in this case is based on the following correction calculation formula.

Origin S (upper sensing claw 2 and lower sensing claw 2)
The X, , Y, , Z coordinate values of (the midpoint of ) are (x, y,
z), sensor coordinate axes Xs, Ys, Zs
Letting H be the posture matrix for the coordinates (XR, Yl, L) of the insertion/extraction mechanism 1, the correction is performed as follows.

Furthermore, here, Old′: Posture matrix of sensor coordinate axes after correction.

On the other hand, the grip a mechanism 117 receives the amount of positional deviation of the pin 4 from the detection mechanism 61 via the control device of the insertion/extraction mechanism 1, and performs its own position correction like the insertion/extraction mechanism 1.
(See FIG. 12(e)).

The amount of deviation of the pin 4 transferred from the control device of the above-mentioned insertion/extraction mechanism 1 is at the pin-to-pin center point S, and since the deviation at the gripping point of the gripping mechanism 117 is not small, the amount of deviation of the pin 4 transferred from the control device of the above-mentioned insertion/extraction mechanism 1 is not small. Correction calculations are performed assuming that eight points on the mechanism 1 are reference points for the operation of the gripping mechanism 117.

As a prerequisite, (2) it is assumed that the working postures of the movable XY force direction gripping mechanism 117 of the insertion/extraction mechanism 1 are taught to be parallel to each other in the X, Y, and Z directions.

■Grasp from pin center S point to wrist tip P of Fltz7
, are always taught in a predetermined positional relationship.

Based on the above premise, the wrist pressure [X,
, Y, , Zw, the position vector P. S is registered as a parameter in advance as a calculation work reference point for the gripping mechanism 117.

Then, the detection mechanism 61 detects C (that is, Ts, B
Grip a horizontal 11 using To(xs, Ys force direction, parallel deviation of pin center)
7 corrects 8 points as work reference points and corrects Xs, YM, and Zs as work postures.

The correction calculation formula in this case is the same as that for the above-mentioned insertion/extraction mechanism 1.

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

Next, the procedure for removing the door 123 from the main body frame 60 of the automobile using the above-mentioned detaching device and attaching it to a parts carrier (not shown) for painting, for example, will be explained (see Fig. 13(a), ])reference).

In addition, in the same figure, Sl, S2. ...indicates each operation step.

Furthermore, in the figure, a module is a collection of points that teach the operation of each device, and includes a series of operations. For each module, it can be specified whether or not to correct the position of the device itself using the sensink data.

Further, in the figure, broken arrows between the flowcharts of each device indicate the exchange of signals for synchronization between the devices.

In the above-mentioned operation program, the next operation is started by sending and receiving an operation completion signal from each device, so that mutual interference between devices can be prevented and work reliability can be achieved. Also,
As shown in each module in the above motion program, by specifying the first half as no correction and the second half as having correction, it is possible to define a series of motions in a single motion program. Become.

First, when removing the door 123 from the main body frame 60 (see FIG. 13 (al)), the main body frame 60 has been conveyed to a predetermined position on the line, and the inserting/extracting machine #II and the gripping mechanism 117 are placed at their original positions. (Sl, 32).

Thereafter, as the motors 66 68 71 are driven, the detection mechanism 61 together with the insertion/extraction mechanism 1 moves toward the predetermined position taught in advance, targeting the pin 4.4 on the main body frame 60 (S3), and the door 123 and approaches the main body frame 60 (S4).

When the movement of the insertion/extraction mechanism 1 is started in S3, a standby release signal (T) is output to the gripping mechanism 117, and upon receiving this release signal (T+), the gripping mechanism 117 activates the motors 152, 155, 157. The robot starts moving toward the position of the door 123 (S5), and is positioned at a predetermined position near the door 123 taught in advance (S6).

Then, a standby release signal (T2) is output from the gripping mechanism 117 to the detection mechanism 61 incorporated in the insertion/extraction mechanism I, and each sensing claw 2 provided in the two detection mechanisms 61 is moved in the X direction. By moving to pin 4,
4, the amount of deviation in the X and X directions is detected (S7
).

That is, the air cylinder 11 slides the sensing claw 2 in the X direction. Then, the sensing claw 2 is guided by the opening 2a in contact with the shaft of the pin 4 and moves in the X direction. At this time, the amount of movement of the sensing claw 2 in the X direction is detected by the potentiometer 6, and the amount of movement in the X direction is detected by the potentiometer 7. Then, the amount of movement of the sensing claw 2 is processed, and the accurate position of the pin 4 is calculated and stored in a memory within the control device.

Then, in S8, the position of the detection mechanism 61 and the insertion/extraction mechanism 1 is determined by driving the motors 62, 63, etc., based on the amount of positional deviation of the pin 4.4 in the X and X directions detected in the above S7. 1 arrest will be made.

The detection data (T,) of the amount of positional deviation of the pins 4, 4 detected in S7 is output to the gripping mechanism 117, and a signal (T4) for canceling the standby state of the gripping mechanism 117 is also output at the same time. be done.

Then, based on the above detection data, motor 133.1
35, 137, the position of the gripping mechanism 117 is corrected (S9), and the door 123 is gripped by the gripping mechanism 117 (SIO).

That is, when the brake 129 is released and the air cylinder 125 is operated in the contraction direction, the gripping claws 1191
．． 20 are supported by slide bearings 121 and 122, respectively, and move in the closing direction. The gripping claw 119,
When one of the doors 120 comes into contact with the lower end or the upper end of the door 123 and its operation stops, the door 1
Only the gripping claws 119 or +20 that have not yet come into contact with 23 move further in the closing direction.

The other gripping claw 119 or 120 is attached to the door 123.
When it comes into contact with the lower end or upper end of the door 123,
is in a state of being gripped by the gripping claws 119 and 120. That is, the air cylinder 125 causes the gripping claws 119,
By closing the gripping claws 120, the gripping claws 11.9,
1. With the closing operation of 20, the air cylinder 125 also moves in the closing direction. Then, the door 123 is gripped by the gripping claws 119 and 120 at a position that follows the door 123.

After that, by operating the brake 129,
The relative position of the gripping claw 119120 with respect to the door 123 is maintained.

Therefore, in the gripping mechanism 117, complicated control is not required, and the door 123 and the gripping claws 1, 19, 120 can be easily positioned without accurate positioning or position correction. 23
The door 123 can be easily grasped by following the position shown in FIG.

When the door 123 is gripped as described above, a signal (T5) for canceling the standby state is output to the insertion/extraction mechanism 1.

Then, in S11, the pin 4 is removed by the above-mentioned insertion/extraction mechanism I.
．． 4 is removed.

That is, when the sensing claw 2 is slid in the X direction by the air cylinder II, the pin 4 of the sensing claw 2
Along with the insertion operation, the sensing claw 2 and the
Pin holding claw 8. A pin gripping claw 9 and a pin insertion claw 10 are positioned relative to the axis of the pin 4.

Thereafter, the pin holding claw 8 is slid downward by the air cylinder 40, so that the end of the pin 4 inserted into the through hole 3 is pressed in the axial direction.
The pin 4 is removed from the through hole 3. Then, the tapered portion 4a at the other end of the pin 4 engages with the engagement hole 10a of the pin insertion claw 10, and is slid forward by the air cylinder 43 of the pin gripping claw 9, whereby the pin 4
is retained.

When the pin 4 is variably inserted into the through hole 3, the pin 4 held by the pin gripping claw 9 and the pin insertion claw lO is slid upwardly by the air cylinder 42, so that the pin 4 is inserted into the through hole 3 in a variable manner. The other end is the pin insertion claw l
It is pressed in the axial direction by O. As a result, the pin 4 is reinserted into the through hole 3.

That is, according to the device of this embodiment, even if there is some variation in the insertion position of the pin 4, the pin 4 can be reliably and easily inserted and extracted by following the position of the pin 4.

When the pin 4.4 is removed by the insertion/extraction mechanism 1 as described above, a signal (T6) for canceling the standby state is output to the gripping mechanism 117, and the gripping mechanism 117 is activated by the motor 15.
2,155,157 by driving the door 12.
3 (S12), and grasps the 1g door 123 and retreats to the original position (513).

At the same time, a signal (T,) for canceling the standby state is output to the insertion/extraction mechanism 1, and the press-in mechanism 1 is also activated by the motor 66.
68. 71, the pin 4.4 is retracted to the original position while being held (S14).

Next, an outline of the procedure for attaching the door 123 to a parts carrier for painting will be explained (No. 13).
(See Figure (b)), the detailed operation of each device in this case follows a procedure that is almost the reverse of the procedure for removing the door 123 described above.

The outline of the procedure is as follows: First, a parts carrier is carried into a predetermined position on the line.

Then, the insertion/extraction mechanism 1 starts moving toward the parts carrier while holding the pins 4, 4 (S
15. 516). Then, when the ejecting/extracting mechanism l is positioned at a predetermined position near the parts carrier (517),
The pins 4, 4 are inserted into the through holes of the parts carrier at predetermined positions taught in advance (51).
8).

Incidentally, when the movement of the insertion/extraction mechanism 1 is started in S16, a signal (T,) is output to the gripping mechanism 117 to cancel the standby state of the gripping mechanism 117.

Then, the gripping mechanism 117 starts moving from the origin position toward a predetermined position near the parts carrier.
19, 320), and is positioned at a predetermined position near the parts carrier (321).

Then, a signal (T,) for canceling the standby state is output to the insertion/extraction mechanism 1, and the detection mechanism 61 releases the pin 4.
, 4 in the χ, Y direction is detected (S22), and based on the data of the positional deviation, the position and orientation of the insertion/extraction mechanism 1 is corrected (S22).
23), the pin 4.4 is removed from the parts carrier again (S24).

The detection data (T+o) regarding the displacement amount of the pin 4.4 detected in S22 is output to the gripping machine 74117 together with the signal (T11) for canceling the standby state, and based on this detection data, the cough grip The position and orientation of the mechanism 117 is also corrected (S25).

Furthermore, in S24, the pin 4 is removed by the insertion/extraction machine fI 1.
．． 4 is removed from the parts carrier, a signal (TI2) is sent to the gripping mechanism 117 to cancel the standby state again.
is output, and the door 123 is inserted into the hinge portion of the parts carrier (S26).

Then, the gripping mechanism 117 outputs a signal (T+3) to the insertion/extraction mechanism 1 to release the standby state, and the extraction/extraction mechanism 1 causes the pin 4.4 to be attached to the door 123 and the hinge part of the parts carrier. It is inserted (S27).

Then, a signal (TI4) is output to the gripping mechanism 117 to release the standby state, and the gripping mechanism 117 releases the grip on the door 123 (32B), and retreats to the original position (S29). At the same time, a signal (T'5) for canceling the standby state is output to the insertion/extraction mechanism 1, and the insertion/extraction mechanism 1
The gripping state of the pins 4, 4 is also released and the pins 4 are retracted to the original position (330).

After the door 123 is attached to the parts carrier as described above, it is transported out.

Since the attachment/detachment device according to this embodiment is configured as described above, by separating the mechanism for inserting/extracting the pin from the mechanism for gripping the door, it is possible to use the mechanism in cases where the position of the door or pin is large, or when the car model is different. This makes it extremely versatile.

Moreover, since the above-mentioned insertion/extraction mechanism I and the gripping mechanism 117 can move following the positions of the pin 4 and the door 123, it is possible to sufficiently cope with the case where the main body frame 60 is relatively roughly positioned on the line. can.

Furthermore, since the positions and orientations of both the insertion/extraction mechanism 1 and the gripping mechanism 117 are corrected according to the positions of the pins 4.4 detected by the detection mechanism 61, the positions of the pins 4, 4 and the door 123 are corrected. The pin 4.4 can be reliably inserted and removed by following the posture, and the door 123 can also be reliably gripped and removed.

〔Effect of the invention〕

As described above, the present invention is an attachment/detachment device for a door that is attached to an automobile body via a pin so as to be openable and closable, and includes: (1) an insertion/extraction mechanism for inserting/extracting the pin into/from the automobile body and the door; This is an automobile door attachment/detachment device characterized in that each of the gripping mechanisms for gripping the door is independently provided and can be driven individually. Therefore, by separating the mechanism for inserting and extracting the pin and the mechanism for gripping the door and driving them separately, it is possible to deal with cases where the position of the door or pin is large or for different car models.
Extremely versatile.

Furthermore, as described above, the present invention is a one-piece attachment/detachment device that is attached to a car body via a pin so that it can be opened and closed, and includes a detection mechanism that detects the position of the pin with respect to the car body, and a detection mechanism that detects the position of the pin with respect to the car body. An insertion/extraction mechanism that corrects the position of the pin based on the position of the pin detected by the mechanism, and inserts and removes the pin into and out of the vehicle body and the door, and a position of the pin detected by the detection mechanism. This is an automobile door attachment/detachment device characterized by comprising a gripping mechanism for gripping the door, the position of which is corrected, and a gripping mechanism for gripping the door, which is separated as described above. By interlocking with the mechanism, the pin can be reliably inserted and removed according to the position of the pin and the door, and the door can be reliably gripped.

[Brief explanation of drawings]

FIG. 1 shows the external appearance of an attachment/detachment device according to an embodiment of the present invention, in which (a) is a side view, FIG. 2 (a) is a plan view, and FIG. FIG. 3 is a block diagram showing the structure of a rear entry mechanism constituting the above-mentioned attachment/detachment device, and FIG. 3(a) is a front view. The same figure (b) is a plan view of the same figure (a), the same figure (C) is the right side view of the same figure (a), the same figure (dl is the same figure (C))
4 shows the structure of the gripping mechanism that constitutes the above-mentioned attachment/detachment device.
is a front view, (b) is a plan view of (a), (C) is a left side view of (a), and Figure 5 shows the main structure of the queen insertion and removal mechanism. In this figure, (a) is a front view. The same figure (bl is the left side view of the same figure (a), the same figure (C)
6 is a plan view of the same figure (b), and FIG.
) is a front view, (b) is a left side view in (a), (C) is a right side view in (a), and (d) is a front view.
) is a plan view of the same figure (a), and the same figure (e) is a plan view of the same figure (a).
) bottom view 2 (f) is the bottom view (H in al.
-H' arrow equivalent view, the same figure (the turbidity is I- in the same figure (a)
7(a), (bl is a circuit diagram of the drive system of the above-mentioned insertion/extraction mechanism, and FIG. 8 shows another example structure of the above-mentioned support il. (a) is Fig. 6(f)
FIG. 6(b) is a corresponding view of FIG. is a plan view, same figure 0]
) is a side sectional view, and FIG. The same figure (left side view in al, same figure FC) is a right side view in a partially broken state in the same figure (a), and FIGS. 11 (a) and (b) are respectively gripping mechanisms according to other embodiments. 12(a) to 12(e) are basic configuration diagrams of the main parts of the system, and FIG. Explanatory diagrams showing the procedure, FIGS. 13(al) and 13(b) are flowcharts showing the procedure for removing and attaching a door using the above-described attachment/detachment device, and FIG. 14 shows a schematic configuration of an example of a conventional detachment/detachment device. The same figure (a) is an overall perspective view, and the same figure (b)
This is an enlarged view of a portion viewed from arrow F in FIG. [Explanation of symbols] 1... Insertion/extraction mechanism 2... Sensing claw 4... Pin 5... Floating device 6.7... Botensidimeter 8... Pin holding claw 9... Pin gripping claw IO...Pin insertion claw 60...Body frame 61...Detection mechanism 117...Gripping mechanism 123...Door.

Claims (1)

[Scope of Claims] 1. An attachment/detachment device for a door that is attached to an automobile body via a pin so as to be openable and closable, which includes an insertion/extraction mechanism for inserting and extracting the pin into and from the automobile body and the door, and a mechanism for inserting and extracting the door into and out of the automobile body and the door. 1. An automobile door attachment/detachment device, characterized in that a gripping mechanism for gripping is independently provided and can be driven individually. 2. A door attachment/detachment device that is attached to a car body so as to be openable and closable via a pin, comprising a detection mechanism for detecting the position of the pin with respect to the car body, and a detection mechanism based on the position of the pin detected by the detection mechanism. an inserting/extracting mechanism whose position is corrected based on the position of the pin detected by the detection mechanism and which grips the door; An automobile door attachment/detachment device comprising: