JPH0364346B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a device for opening and closing an opening/closing body that rotates about a single rotation center line and holding it in an accurate open position.

BACKGROUND ART This type of opening and closing device includes a first arm that rotates around a rotation center line that is parallel to the rotation center line of an opening and closing body, and one end that is connected to the first arm and the other end It is known that the opening/closing body is opened and closed by having a second arm engaged with the opening/closing body at a portion thereof, and each of these arms being driven by a separate actuator. In such an opening/closing device, in order to open/close the opening/closing body smoothly, the two actuators must be precisely controlled so that the end of the second arm that engages with the opening/closing body is centered around the center line of rotation of the opening/closing body. However, this is not easy, and the position where the opening/closing body is held may shift during opening/closing, and it is difficult to accurately position the opening/closing body in the open position. There was a certain drawback.

On the other hand, Japanese Utility Model Application Publication No. 55-2441 discloses a fixed arm, a pair of intermediate arms pivotally supported in parallel to the fixed arm, and an actuating arm pivotally supported at the tips of these intermediate arms. An opening/closing device has been proposed that includes a parallel link mechanism. In this opening/closing device, the rotation center line of the opening/closing body and the rotation center line of the integrated intermediate arm are located on one plane,
In addition, the intermediate arm and the opening/closing body are parallel to each other, and when the intermediate arm is rotated by the actuator, the operating arm opens and closes the opening/closing body. If you only need to control one actuator,
The opening/closing body can be opened and closed smoothly.

Problems to be Solved by the Invention However, such a parallel link mechanism has a complicated structure and has an unavoidable problem of increasing equipment cost.

Means for Solving the Problem In order to solve this problem, the present invention provides an opening/closing device that is (a) rotatably provided around the rotational center line of the opening/closing body and driven by an actuator. an arm, (b) a locking and disconnecting device that is attached to the tip of the rotating arm so as to be movable in the tangential direction of the circular arc trajectory drawn by the tip and that can be connected to and disconnected from the opening/closing body; and (c) the locking and disconnecting device. (d) biasing means for biasing the tip of the rotating arm in a backward direction away from the opening/closing body;
and a positioning member that defines the open position of the opening/closing body by coming into contact with the opening/closing body at a predetermined relative position with respect to the rotation center line of the opening/closing body at least in the open state of the opening/closing body. This is what I did.

Function In the switchgear configured as above,
If the rotating arm is rotated after the locking/disengaging device holds the opening/closing body, the rotating arm is rotatably provided around the center line of rotation of the opening/closing body.
As the rotating arm rotates, the opening/closing body is rotated, and the opening/closing body can be opened and closed by rotating the rotating arm in any forward or reverse direction. Further, the open position of the opening/closing body is defined by the positioning member regardless of the engagement position of the engaging/disengaging device with respect to the opening/closing body.

Embodiments Hereinafter, a case in which the present invention is applied to a device for opening and closing the hood of an automobile in an automobile manufacturing line will be described in detail based on the drawings.

In FIG. 1, reference numeral 10 denotes a base for positioning the vehicle body, and the vehicle body 12 transported by a shuttle conveyor or the like is placed on a plurality of supports 14 provided on the base 10 and positioned. Reference numeral 16 denotes a hood that covers the engine room at the front of the vehicle body, and is attached at the rear end of the vehicle body so as to be rotatable around a rotation center line extending in the width direction of the vehicle body 12. When placed on the vehicle body 12, the vehicle body 12 is supported horizontally, and therefore rotates around a horizontal rotation center line.

The base 10 is provided with an opening/closing device as described below to open and close the hood 16. A support post 18 is erected at a portion of the base 10 that will be located on the side of the vehicle body 12, and a rotating arm 20 is provided at the upper end of the support post 18 and rotates around the axis of a horizontal shaft 22. Possibly installed. The rotating arm 20 is rotated by an air cylinder 24 as an actuator attached to the column 18. That is, a piston rod 26 of an air cylinder 24 is connected to a portion of the rotating arm 20 that is separated from the portion supported by the shaft 22, and the expanding and contracting movement of the piston rod 26 causes the rotating arm 2 to move.
0 is made to rotate.

The rotating arm 20 is extended by approximately the same length as the length of the hood 16 in the longitudinal direction of the vehicle body, and then bent toward the center side in the width direction of the vehicle body 12. As shown, the rubber vacuum cup 28 as a locking/disengaging device is attached to the metal support 3.
Attached by 0. The support body 30 is a stepped member having large-diameter parts 34 and 36 at both ends of a small-diameter cylindrical part 32, and a circular arc trajectory drawn by the tip of the rotary arm 20 in the cylindrical part 32 via a bush 38. is held movable in the tangential direction. The vacuum cup 28 is fixed to a large diameter portion 34 of the support 30 on the side that projects from the pivot arm 20 toward the hood 16. A compression coil spring 40 as a biasing means is disposed between the other large diameter portion 36 of the support body 30 and the rotating arm 20, so that the vacuum cup 28 is biased in the backward direction away from the hood 16. In a state in which the opening/closing device is not operated, the large diameter portion 34 is in contact with the rotating arm 20, as shown in FIG. An air passage 42 is formed in the center of the vacuum cup 28 and the support body 30, passing through them in the axial direction, and a vacuum device (not shown) is connected to the air passage 42 by an air hose 44.

On the support column 18, a rotary arm 20 is extended further upward from the attached part, and then extended toward the center side in the width direction of the vehicle body 12 and bent at a right angle toward the front side of the vehicle body 12. A supporting arm portion 46 is provided. A positioning member 48 is attached to the tip of the support arm portion 46 to define the open position of the hood 16.
6 is positioned by abutting against the distal end surface of the positioning member 48 in its open position. That is, in this embodiment, the positioning member 48 is a fixed member that is attached to the support arm portion 46 of the support column 18 fixed to the base 10 and is provided so as to be immovable relative to the rotation center line of the hood 16. Therefore, the rotation limit of the rotating arm 20 in the clockwise direction in FIG. As shown in FIG. 2, the large-diameter portion 34 of the support body 30 is urged by the compression coil spring 40 and comes into contact with the rotating arm 20 (this state exists when the vacuum cup 28 is not suctioning the hood 16). ), the distal end surface of the vacuum cup 28 is set so as to be slightly retracted toward the rotating arm 20 side relative to the distal end surface of the positioning member 48.

In the automobile manufacturing line equipped with the opening/closing device configured as described above, the vehicle body 12 is equipped with a hood 16.
is transported in a closed state, and the opening/closing device allows the vehicle body 12 to be carried in with the rotating arm 20 in the clockwise rotation end position in FIG.
The vehicle body 12 placed thereon is positioned such that the center line of rotation of the hood 16 is located on the same line as the axis of the shaft 22, that is, the center line of rotation of the rotating arm 20. The support column 14 is provided so that the vehicle body 12 can be positioned in this manner. When opening the hood 16, the piston rod 26 is extended to rotate the rotating arm 20 counterclockwise in FIG. 1, and the vacuum cup 28 is stopped when it is in contact with the hood 16. Next, after opening the valve of the vacuum device and adsorbing the hood 16 to the vacuum cup 28, if the rotating arm 20 is rotated clockwise in FIG. 1, the center line of rotation of the rotating arm 20 and Since the hood 16 is positioned on the same line as the rotation center line of the hood 16, the hood 16 draws the same arcuate trajectory as the rotation arm 20 and opens smoothly. Even when the vacuum cup 28 attracts the hood 16, the support body 3 is
The large diameter portion 34 of 0 is maintained in contact with the rotating arm 20, and the hood 16 is opened in this state.
The hood 16 opened in this manner comes into contact with the positioning member 48 in the open position, and as described above, the end of the rotating arm 20 in the direction in which the hood 16 opens is connected to the positioning member 48. Since it is specified that the tip of the arm is retracted toward the rotating arm 20 side,
The hood 16 comes into contact with the positioning member 48 before the rotation arm 20 reaches the rotation end. Therefore, further rotation of the hood 16 is prevented by the positioning member 48, and the vacuum cup 28 adsorbing the hood 16 and the support body 30 to which the vacuum cup 28 is fixed are stopped. , the rotation arm 20 continues to rotate further toward the rotation end. As a result, the rotating arm 20 moves relative to the support body 30, and the compression coil spring 40 is compressed by the distance of the relative movement.
The hood 16 is pressed against the positioning member by the urging force (elastic force).

From another perspective, the compression coil spring 40 absorbs the difference in the amount of rotation of the hood 16 with the rotation arm 20, ensuring that the hood 16 always comes into contact with the positioning member 48. The vacuum cup 28 is made of an elastic material, and the hood 1
The shape of the hood 1 when it is adsorbed is difficult to maintain, and the hood 1
Support 30 and hood 1 in a state where 6 is adsorbed
The relative position with respect to 6 is also not constant. Furthermore, due to manufacturing errors in the vehicle body 12 and the hood 16, there is some variation in the height of the portion of the hood 16 that is attracted by the vacuum cup 28. Therefore, the hood 16 is opened from the closed position and the positioning member 48
Normally, the amount of rotation of the hood 16 and the rotation arm 20 to make contact with the rotation arm 20 differs slightly each time, and this variation in the amount of rotation is absorbed by the difference in the amount of compression of the compression coil spring 40, so that the hood 16 is always positioned correctly. This ensures that it abuts the member 48.

Since the positioning member 48 is fixedly provided at a fixed position, the open position of the hood 16 is always precisely defined.

Note that when closing the hood 16, the rotating arm 20 is rotated in the opposite direction. Then, first,
While the hood 16 remains in contact with the positioning member 48, the rotating arm 20 rotates by a small angle, the compression coil spring 40 expands, and the large diameter portion 34 of the support body 30 contacts the rotating arm 20. After that, food 16
rotates integrally with the rotating arm 20 and is closed. With the hood 16 closed, the vacuum cup 28 and the hood 16 are disengaged by switching the valve of the vacuum device to a position that isolates the vacuum cup 28 from the vacuum device and communicates it with the atmosphere. Subsequently, when the rotating arm 20 is returned to the rotating end position, one hood opening/closing operation is completed.

In this way, the opening/closing device of this embodiment has the hood 16
The rotary arm 20 equipped with a vacuum cup 28 that engages and disengages from the hood 16 is provided so as to be rotatable around the center line of rotation of the hood 16. By rotating the rotary arm 20, the hood 16 It can be opened and closed, has a simple structure, and can be manufactured at low cost.

In addition, the vacuum cup 28 as a locking/disengaging device
is movably attached to the rotating arm 20 by the support member 30 and is biased in the backward direction by the compression coil spring 40. Therefore, the hood holding accuracy of the vacuum cup 28 is poor, or the hood 16 itself is Even if there are manufacturing errors, these errors are absorbed by the movement of the vacuum cup 28, and the hood 16 is positioned at the correct open position by the positioning member 48. In particular, when a rubber vacuum cup is used as the locking and disengaging device as in this embodiment, the open position of the opening/closing body is likely to shift due to variations in the shape of the vacuum cup when the hood is absorbed. This provides the effect of effectively absorbing such deviations.

Furthermore, since the opening position of the hood 16 is accurately positioned by the positioning member 48 in this way, when the opening/closing device of this embodiment is used for opening/closing the hood 16 in the process of applying sealant to the vehicle body 12. , the coating can be applied to an accurate position, and even a thin sealing bead can be applied without fear of being misaligned.

FIG. 3 shows another embodiment of the invention. This embodiment differs from the previous embodiment in that a positioning member for defining the open position of the hood 16 is attached to the rotating arm 20. A pair of air cylinders 50 as actuators are provided at the tip of the rotating arm 20 with a vacuum cup 28 and a support 30 in between.
is installed. These air cylinders 50
Each cylinder body 52 is fixed to the opposite side of the rotating arm 20 and the side facing the hood 16, and the piston rod 54 penetrates the rotating arm 20 and projects toward the hood 16.
A positioning member 56 is screwed onto each of the distal ends so that the piston rod 54 can be moved in a direction substantially parallel to the moving direction of the vacuum cup 28 by expansion and contraction of the piston rod 54. That is, in this embodiment, the positioning member 56 is a movable positioning member, and these positioning members 56
Due to the expansion and contraction of the piston rod 54, when the vacuum cup 28 is not suctioning the hood 16, its distal end surface is held in a position retracted toward the rotating arm 20 side from the distal end of the vacuum cup 28, while the vacuum cup 28 is At any time after suctioning the hood 16, the rotating arm 20
This moving distance is determined by the rotation arm 20 moving away from the hood 16.
When rotated to the end of rotation in the opening direction,
The distal end surface of the positioning member 56 is determined to define the open position of the hood 16.

Therefore, Bakyum Cup 28 is Food 1
The positioning member 56 does not get in the way when suctioning the hood 16, and after the hood 16 is suctioned to the vacuum cup 28 in the same manner as in the previous embodiment, the rotating arm 20 is rotated in the direction to open the hood 16. If the piston rod 54 is extended and the positioning member 56 is moved to a position that defines the open position of the hood 16, the positioning member 56 will come into contact with the hood 16 while Bakyum cup 2 while touching
8 and hood 16 are compression coil springs 40
The hood 16 is moved away from the distal end of the rotating arm 20 against the urging force of the rotating arm 20 and held in that position, and when the rotating arm 20 is rotated to the rotation end, the hood 16 is in the open position. This results in very accurate positioning.

The other configurations, functions, and effects are the same as those of the previous embodiment, and corresponding parts are given the same reference numerals and detailed explanations will be omitted.

The two embodiments of the present invention have been described in detail above, but the present invention is applicable not only to a device for opening and closing the hood of a car body in an automobile manufacturing line, but also to a device for opening and closing a pair of opening and closing pairs that are rotated around a rotation center line. It can be applied to opening/closing devices, and various modifications and improvements can be made based on the knowledge of those skilled in the art, such as using electromagnets, hooks, chucks that can be opened and closed, etc. in place of the vacuum cup as the locking and disconnecting device. It can be implemented in the following manner.

Effects of the Invention As described in detail above, the present invention provides a rotating arm with a locking/disengaging device for engaging and disengaging the opening/closing body, and the rotating arm is rotated around the center line of rotation of the opening/closing body. Therefore, the opening/closing body can be smoothly opened and closed by a simple rotation of the rotation arm, and the structure is simple and the equipment cost can be reduced. In addition, since the locking/unlocking device is movably attached and the opening position of the opening/closing body is determined by a positioning member, there may be problems with poor engagement accuracy of the locking/unhooking device with the opening/closing body or with the opening/closing body itself. Even if there are manufacturing errors, they are absorbed and the opening/closing body is positioned at the correct open position.

[Brief explanation of drawings]

FIG. 1 is a front view showing an automobile manufacturing line equipped with an opening/closing device according to an embodiment of the present invention. Second
The figure is a - sectional view in FIG. 1. FIG. 3 is a diagram corresponding to FIG. 2 of a switching device which is another embodiment of the present invention. 16: Hood (opening/closing body), 20: Rotating arm,
24: Air cylinder (actuator), 28:
Vacuum cup (locking/disengaging device), 40: Compression coil spring (biasing means), 46: Support arm portion,
48: Positioning member, 50: Air cylinder (actuator), 56: Positioning member (movable positioning member).

Claims (1)

[Scope of Claims] 1. A device for opening and closing an opening/closing body that rotates around a rotation center line and holding it in an accurate open position, the device being capable of rotating around a rotation center line of the opening/closing body. a rotating arm that is provided on the rotating arm and is driven by an actuator; and a locking and disengaging device that is attached to the tip of the rotating arm so as to be movable in a tangential direction of a circular arc trajectory drawn by the tip, and that is capable of being engaged and detached from the opening/closing body. a biasing means for biasing the locking/disengaging device in a backward direction away from the opening/closing body with respect to the distal end of the rotating arm; and a positioning member that defines the open position of the opening/closing body by coming into contact with the opening/closing body at a predetermined relative position. 2. The opening/closing device according to claim 1, wherein the positioning member is a fixed member provided so as to be immovable relative to the center line of rotation of the opening/closing body. 3. The positioning member is provided at the tip of the rotating arm in close proximity to the locking/disengaging device, and is moved in a direction substantially parallel to the moving direction of the locking/disengaging device by an actuator different from the actuator. , abutting the opening/closing body held by the locking/disengaging device, and then moving the opening/closing body and the locking device away from the distal end of the rotating arm by a predetermined distance against the biasing force of the biasing means. The opening/closing device according to claim 1, which is a movable positioning member that is moved to a certain position and held at that position. 4. Claim 1, wherein the locking and disengaging device is a vacuum cup that vacuum-adsorbs the opening/closing body.
The switchgear according to any one of Items 1 to 3.