JPH0336464Y2 - - Google Patents
Info
- Publication number
- JPH0336464Y2 JPH0336464Y2 JP18218285U JP18218285U JPH0336464Y2 JP H0336464 Y2 JPH0336464 Y2 JP H0336464Y2 JP 18218285 U JP18218285 U JP 18218285U JP 18218285 U JP18218285 U JP 18218285U JP H0336464 Y2 JPH0336464 Y2 JP H0336464Y2
- Authority
- JP
- Japan
- Prior art keywords
- gripping tool
- lid member
- arm
- lid
- opening
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 239000012530 fluid Substances 0.000 claims description 12
- 238000004519 manufacturing process Methods 0.000 claims description 5
- 210000003660 reticulum Anatomy 0.000 description 4
- 238000010422 painting Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 239000003973 paint Substances 0.000 description 1
Landscapes
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Description
【考案の詳細な説明】
（産業上の利用分野）
本考案は、自動車製造ライン中の作業ステーシ
ヨンにボンネツトやトランクリツド等の自動車の
蓋部材を開閉すべく設けられる自動車製造ライン
における蓋部材の開閉装置に関する。[Detailed description of the invention] (Field of industrial application) The present invention is an opening/closing device for lid members in an automobile manufacturing line, which is installed at a work station in the automobile manufacturing line to open and close automobile lid members such as bonnets and trunk lids. Regarding.
（従来の技術）
従来、実開昭55−2441号公報に見られるよう
に、自動車のエンジンルームやトランクルーム等
の内板部の塗装を行う作業ステーシヨンに、先端
にボンネツトやトランクリツド等の蓋部材の把持
具を開閉自在に枢着したアームを備える開閉装置
を配置し、該アームの作動で蓋部材を開放して塗
装ロボツトによる内板部の塗装を行うようにした
ものは知られる。(Prior Art) Conventionally, as seen in Japanese Utility Model Application Publication No. 55-2441, a work station for painting the inner panels of an automobile's engine room, trunk room, etc. is used to attach lid members such as bonnets and trunk lids to the tip. It is known that an opening/closing device including an arm to which a gripper is pivotally connected to open and close the gripping tool is disposed, and the lid member is opened by the operation of the arm so that a painting robot can paint the inner panel.
この場合、把持具は流体アクチユエータによる
開閉動作で蓋部材の開放端に係脱されるように構
成され、且つその枢軸を蓋部材の開放作動時に該
把持爪に作用する蓋部材からの反力の作用線上に
位置させ、把持具を閉じ状態にセルフロツクする
ようにしている。 In this case, the gripper is configured to be engaged with and disengaged from the open end of the lid member by the opening/closing operation by the fluid actuator, and the gripping tool is configured such that its pivot point is adapted to absorb the reaction force from the lid member that acts on the gripping pawl during the opening operation of the lid member. It is positioned on the line of action so that the gripping tool self-locks in the closed state.
（考案が解決しようとする問題点）
上記のものでは、蓋部材に異常があつて開かな
い場合でも、把持具が蓋部材に係合されたままと
なつて、アームの作動力により蓋部材が無理な力
を受けこれに損傷を生ずることがある。本考案
は、蓋部材に無理な力が作用する前に把持具を蓋
部材から離脱させるようにして上記の問題点を解
決した装置を提供することをその目的とする。(Problem to be solved by the invention) In the above device, even if the lid member fails to open due to an abnormality, the gripping tool remains engaged with the lid member, and the lid member is opened by the operating force of the arm. This may cause damage due to excessive force. SUMMARY OF THE INVENTION An object of the present invention is to provide an apparatus that solves the above-mentioned problems by separating the gripping tool from the lid member before an unreasonable force is applied to the lid member.
（問題点を解決するための手段）
本考案では、上記目的を達成すべく、自動車製
造ライン中の作業ステーシヨンにボンネツトやト
ランクリツド等の自動車の蓋部材を開閉すべく設
けられる開閉装置であつて、先端に流体アクチユ
エータにより開閉される蓋部材の把持具を枢着し
たアームを備え、該アームの作動で蓋部材を開閉
するようにしたものにおいて、該把持具の枢軸を
蓋部材の開放作動時に蓋部材からの反力により該
把持具に該枢軸を中心にした開き側へのモーメン
トが作用するよう該反力の作用線からオフセツト
した位置に設け、且つ該流体アクチユエータの負
荷圧の所定値以上への増加で該把持具を開放動す
る圧力応動手段を設けるものとした。(Means for Solving the Problems) In order to achieve the above object, the present invention provides an opening/closing device installed at a work station in an automobile manufacturing line to open and close automobile lid members such as a bonnet and a trunk lid. An arm having a gripping tool for a lid member that is opened and closed by a fluid actuator is pivotally attached to the tip thereof, and the lid member is opened and closed by the operation of the arm, and the pivot of the gripping tool is connected to the lid member when the lid member is opened and closed. The gripper is provided at a position offset from the line of action of the reaction force so that a moment about the pivot axis acts on the gripper due to the reaction force from the member, and the load pressure of the fluid actuator is increased to a predetermined value or higher. A pressure-responsive means is provided to open the gripper when the pressure increases.
（実施例）
第１図乃至第３図を参照して、１は自動車車体
Ｗの搬送路２の途中に設けた塗装用の作業ステー
シヨンを示し、該ステーシヨン１の前部に該搬送
路２を跨ぐように門形の機枠３を立設し、該機枠
３にボンネツトから成る蓋部材Waを開閉する開
閉装置４を搭載するものとした。(Example) Referring to FIGS. 1 to 3, reference numeral 1 indicates a painting work station provided in the middle of a conveyance path 2 for an automobile body W. A gate-shaped machine frame 3 is erected so as to straddle the machine frame 3, and an opening/closing device 4 for opening and closing a cover member Wa consisting of a bonnet is mounted on the machine frame 3.
該開閉装置４は、先端に蓋部材Waの把持具５
を取付けたアーム６を備え、該アーム６の作動で
蓋部材Waを開閉すべく構成されるもので、これ
を詳述するに、該アーム６は関節６ａを介して連
結した１対の第１第２アーム部材６1，６2で構成
されるものとし、該アーム６を機枠３に固定のブ
ラケツト７に吊設したアームホルダ８に該第１ア
ーム部材６1において上下方向に揺動自在に軸設
し、該第２アーム部材６2の先端に、第４図以下
に明示する如く、蓋部材Waをその開放端に予め
係着したＴ字状の把手部材９において把持する２
股形状の把持具５を流体アクチユエータ１０によ
り開閉されるように枢着し、該把持具５を閉じて
把手部材９をこれに把持せしめた後、該アームホ
ルダ８に搭載したシリンダ１１1による該第１ア
ーム部材６1の揺動と、該第１アーム部材６1に搭
載したシリンダ１１2による該第２アーム部材６2
の関節６ａを中心にした揺動とで該第２アーム部
材６2の先端を蓋部材Waのヒンジを中心にした所
定の円弧軌跡に沿つて上下動させ、蓋部材Waの
開閉を行うようにした。 The opening/closing device 4 has a gripper 5 for the lid member Wa at the tip.
The arm 6 has an arm 6 attached thereto, and is configured to open and close the lid member Wa by the operation of the arm 6. To explain this in detail, the arm 6 has a pair of first and second parts connected via a joint 6a. It is composed of second arm members 6 1 and 6 2 , and the arm 6 is attached to an arm holder 8 suspended from a bracket 7 fixed to the machine frame 3 so that the first arm member 6 1 can swing freely in the vertical direction. As shown in FIG .
A crotch-shaped gripper 5 is pivotally mounted so as to be opened and closed by a fluid actuator 10, and after closing the gripper 5 and causing the handle member 9 to be gripped by the gripper 5, the cylinder 111 mounted on the arm holder 8 is operated. The swing of the first arm member 6 1 and the second arm member 6 2 caused by the cylinder 11 2 mounted on the first arm member 6 1
The tip of the second arm member 62 is moved up and down along a predetermined arc trajectory centered on the hinge of the lid member Wa by swinging around the joint 6a of the lid member Wa, thereby opening and closing the lid member Wa. did.
尚、前記アームホルダ８はブラケツト７に対し
垂直軸を中心にして旋回自在とし、車体Ｗの搬送
時は該ホルダ８を機枠３に設けたシリンダ１２に
より旋回させてアーム６を第１図に仮想線で示す
如く側方に回動せしめるようにした。 The arm holder 8 is pivotable about an axis perpendicular to the bracket 7, and when transporting the vehicle body W, the holder 8 is pivoted by a cylinder 12 provided on the machine frame 3, and the arm 6 is rotated as shown in FIG. It was made to rotate laterally as shown by the imaginary line.
ここで本考案によれば、前記把持具５の枢軸５
ａを、蓋部材Waの開放作動時に蓋部材Waから
の反力により該把持具５に該枢軸５ａを中心にし
た開き側へのモーメントが作用するように該反力
Ｆの作用線からオフセツトした位置に設けると共
に、前記流体アクチユエータ１０の負荷圧の所定
値以上の増加で該把持具５を開放動させる圧力応
動手段１３を設けるもので、図示のものでは該流
体アクチユエータ１０を第２アーム部材６2に搭
載したシリンダで構成し、該把持具５をその尾端
のレバー部５ｂにおいてリンク５ｃを介して該シ
リンダのピストンロツド１０ａに連結し、切換弁
１４により該シリンダの下室１０ｂに圧力源１５
からの流体を供給して該ピストンロツド１０ａを
上動させたとき該把持具５が閉じられるように
し、該下室１０ｂの内圧即ち負荷圧を該下室１０
ｂに連る管路に接続した圧力検出器１６で検出し
て、負荷圧が所定値以上になつたときは該検出器
１６からの信号で該切換弁１４をシリンダの上室
１０ｃに流体を供給する側に切換え、該ピストン
ロツド１０ａを下動させて該把持具５を開放させ
るようにした。 Here, according to the present invention, the pivot shaft 5 of the gripping tool 5
a is offset from the line of action of the reaction force F so that when the lid member Wa is opened, a reaction force from the lid member Wa causes a moment toward the opening side about the pivot 5a to act on the gripping tool 5. In the illustrated example, the fluid actuator 10 is moved to the second arm member 6. The gripping tool 5 is connected to a piston rod 10a of the cylinder via a link 5c at a lever portion 5b at its tail end, and a pressure source 15 is connected to a lower chamber 10b of the cylinder by a switching valve 14.
When the piston rod 10a is moved upward by supplying fluid from
When the load pressure is detected by a pressure detector 16 connected to the pipe line leading to the cylinder b and exceeds a predetermined value, a signal from the detector 16 causes the switching valve 14 to inject fluid into the upper chamber 10c of the cylinder. Switching to the supply side, the piston rod 10a is moved downward to open the gripping tool 5.
尚、圧力応動手段１３をシリンダの下室１０ｂ
に連る管路に介設したリリーフバルブで構成し、
負荷圧の所定値以上の上昇でリリーフバルブが開
いて、把持具５に上記した開き側へのモーメント
による開放動が与えられるようにしても良い。 Note that the pressure response means 13 is located in the lower chamber 10b of the cylinder.
Consists of a relief valve installed in the pipeline leading to the
The relief valve may be opened when the load pressure rises to a predetermined value or more, and the opening motion due to the above-mentioned opening side moment may be applied to the gripping tool 5.
又、図示のものでは第２アーム部材６2の先端
に把持具５に対向する左右１対の受片５ｄ，５ｄ
を突設し、該把持具５を閉じたときは該受片５
ｄ，５ｄとの間の把持空間に把手部材９が収納さ
れて、該把持部材９の該把持具５からの脱落が防
止されるようにし、この場合位置誤差を吸収し得
るよう把持空間を大きめに形成する。図面で１７
はピストンロツド１０ａと協働して把持具５の開
閉を検出するリミツトスイツチ、１８は把手部材
９に取付けた反射板１９と協働して蓋部材Waの
開放を検出する光電管スイツチを示す。 In addition, in the illustrated one, a pair of left and right receiving pieces 5d , 5d facing the gripping tool 5 is provided at the tip of the second arm member 62.
is protruded, and when the gripper 5 is closed, the receiving piece 5
The grip member 9 is housed in the grip space between the handles d and 5d to prevent the grip member 9 from falling off the grip 5, and in this case, the grip space is made large enough to absorb positional errors. to form. 17 in drawings
Reference numeral 18 indicates a limit switch which cooperates with the piston rod 10a to detect the opening and closing of the gripping tool 5, and 18 indicates a phototube switch which cooperates with a reflection plate 19 attached to the handle member 9 to detect the opening of the lid member Wa.
（作用）
把持具５を流体アクチユエータ１０の作動で閉
じて蓋部材Waをこれに把持させた状態でアーム
６を作動させ、蓋部材Waを開放するが、蓋部材
Waに異常があつてこれが開かない場合、蓋部材
Waからの反力で把持具５にその枢軸５ａを中心
にした開き側への大きなモーメントが作用し、流
体アクチユエータ１０の負荷圧がそれに応じて上
昇する。(Function) The gripper 5 is closed by the operation of the fluid actuator 10, and the arm 6 is operated with the lid member Wa gripped by the gripper 5, and the lid member Wa is opened.
If there is an abnormality in Wa and it does not open, the lid member
Due to the reaction force from Wa, a large moment acts on the gripper 5 about its pivot 5a toward the opening side, and the load pressure on the fluid actuator 10 increases accordingly.
そして、負荷圧が所定値に上昇すると圧力応動
手段１３が作動して把持具５が開放され、蓋部材
Waから把持具５が離脱されて、蓋部材Waに無
理な力はかからない。 Then, when the load pressure rises to a predetermined value, the pressure response means 13 is activated to open the gripper 5, and the lid member
The gripping tool 5 is removed from Wa, and no unreasonable force is applied to the lid member Wa.
（考案の効果）
以上の如く本考案によるときは、蓋部材が開か
ない場合、蓋部材に無理な力がかかる前に把持具
が蓋部材から離脱され、蓋部材等の損傷を未然に
防止できる効果を有する。(Effect of the invention) As described above, according to the present invention, when the lid member does not open, the gripping tool is detached from the lid member before excessive force is applied to the lid member, and damage to the lid member etc. can be prevented. have an effect.
第１図は本案装置を具備する作業ステーシヨン
の平面図、第２図及び第３図は夫々その側面図と
正面図、第４図はその要部の拡大截断正面図、第
５図及び第６図は夫々第４図の−線及び−
線截断面図である。
Wa……蓋部材、１……作業ステーシヨン、４
……開閉装置、５……把持具、５ａ……把持具の
枢軸、６……アーム、１０……流体アクチユエー
タ、１３……圧力応動手段。
Fig. 1 is a plan view of a work station equipped with the proposed device, Figs. 2 and 3 are its side and front views, respectively, Fig. 4 is an enlarged cutaway front view of its main parts, and Figs. 5 and 6. The figures are the - and - lines of Fig. 4, respectively.
FIG. Wa...Lid member, 1...Work station, 4
... Opening/closing device, 5... Gripping tool, 5a... Pivot of the gripping tool, 6... Arm, 10... Fluid actuator, 13... Pressure response means.
Claims (1)
ネツトやトランクリツド等の自動車の蓋部材を開
閉すべく設けられる開閉装置であつて、先端に流
体アクチユエータにより開閉される蓋部材の把持
具を枢着したアームを備え、該アームの作動で蓋
部材を開閉するようにしたものにおいて、該把持
具の枢軸を蓋部材の開放作動時に蓋部材からの反
力により該把持具に該枢軸を中心にした開き側へ
のモーメントが作用するよう該反力の作用線から
オフセツトした位置に設け、且つ該流体アクチユ
エータの負荷圧の所定値以上への増加で該把持具
を開放動する圧力応動手段を設けたことを特徴と
する自動車製造ラインにおける蓋部材の開閉装
置。 An opening/closing device installed at a work station in an automobile manufacturing line to open and close automobile lid members such as a bonnet and a trunk lid, comprising an arm having a gripping tool for the lid member pivotably attached to the tip thereof to be opened and closed by a fluid actuator, In a device in which the lid member is opened and closed by the operation of the arm, the pivot of the gripping tool is moved to the opening side by a reaction force from the lid member when the lid member is opened. The gripping tool is provided at a position offset from the line of action of the reaction force so that the gripping tool acts on the gripping tool, and is provided with a pressure responsive means that opens the gripping tool when the load pressure of the fluid actuator increases to a predetermined value or more. Opening/closing device for lid members on automobile production lines.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18218285U JPH0336464Y2 (en) | 1985-11-28 | 1985-11-28 | |
| CA514950A CA1263015C (en) | 1985-07-31 | 1986-07-30 | Painting process for inner panel region of motorcar vehicle body and apparatus therefor |
| US06/890,583 US4721630A (en) | 1985-07-31 | 1986-07-30 | Painting process for inner panel region of motorcar vehicle body and apparatus therefor |
| GB8618718A GB2180173B (en) | 1985-07-31 | 1986-07-31 | Painting process and apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18218285U JPH0336464Y2 (en) | 1985-11-28 | 1985-11-28 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6290282U JPS6290282U (en) | 1987-06-09 |
| JPH0336464Y2 true JPH0336464Y2 (en) | 1991-08-01 |
Family
ID=31127740
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18218285U Expired JPH0336464Y2 (en) | 1985-07-31 | 1985-11-28 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0336464Y2 (en) |
-
1985
- 1985-11-28 JP JP18218285U patent/JPH0336464Y2/ja not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6290282U (en) | 1987-06-09 |
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