JPH0447026Y2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field This invention relates to a device for automatically opening and closing objects such as a hood, trunk lid, and back door prior to sealing an automobile body.

2. Description of the Related Art When sealing an automobile body using automated equipment such as a so-called sealing robot, it is necessary to open and close objects such as a hood, trunk lid, and back door each time. As a device of this kind, Utility Model 59-106586
Although this publication is not automated, a switching device as shown in FIGS. 5 and 6, for example, is used as an automated device.

5 and 6 illustrate a hood opening/closing device, in which a swing arm 2 is pivotally supported at the lower end of a support 1 suspended from a ceiling. The swing arm 2 pivots around a pin 4 by the action of a cylinder 3, and a suction pad 5 for suctioning and supporting a hood F is attached to the tip of the swing arm 2 via a bracket 6. The swing arm 2 is regulated in its swing limit position by its stopper blocks 7 and 8 coming into contact with a stopper 9 and a shock absorber 10 on the support body 1 side.

Therefore, with the body B positioned, swing arm 2 is rotated counterclockwise in FIG. Adsorption and support. And swing arm 2
The hood F is opened by rotating the hood F in a clockwise direction. In this case, swing arm 2
In principle, the center of rotation (pin 4) of the hood F and the center of rotation of the hinge of the hood F are aligned, and the hood F itself is in a state where the hood lock mechanism is released.
In other words, the hood F is regulated in advance by a jig (not shown) so that it opens slightly from the fully closed position.

Problems to be solved by the invention Since the conventional opening/closing device has a structure in which the suction pad 5 is fixed to the swing arm 2, the closed state of the hood F depends on the manufacturing accuracy of the jig mentioned above and its setting position. If there is variation in the hood F, if the hood F is opened too far from the specified closed state, the suction pad 5 may press down on the hood F too much and cause damage. On the other hand, if the hood F is closed more than the specified closed state, it becomes difficult for the suction pad 5 to reliably suction and support the hood F.

On the other hand, it is possible to solve the above problem by giving the suction pad 5 a degree of freedom in its suction and support direction. The position of the hood is not stable, and automatic work such as sealing the hood F itself cannot be performed.

In addition, for any of the above-mentioned types of opening/closing devices, the hinge rotation center of the opening/closing body and the swing center of the swing arm 2 must coincide with each other as described above. When the center of hinge rotation of the opening/closing body and the center of rotation of the swing arm 2 become misaligned, it becomes difficult to perform opening/closing operations.

Means for Solving the Problems The present invention is capable of absorbing variations in the closed position of the opening/closing body (the above-mentioned opening state), stabilizing the position of the hood at the opening limit position, and moreover, An object of the present invention is to provide a device that can perform opening/closing operations even when the center of rotation of the hinge and the center of rotation of the swing arm are slightly deviated from each other.

Specifically, as shown in the embodiment, there is provided a swing arm that rotates around a center of rotation of the hinge of an opening/closing body to be opened and closed; The structure includes a suction pad that sucks and supports the opening/closing body from a direction substantially perpendicular to its surface, and a clamp mechanism that clamps and positions the opening/closing body in the open state at the opening limit position of the swing arm, and the swing arm and each suction pad The suction pad is placed between the
An equalizer mechanism is individually installed to support the suction pad so that it can float in the dimensional direction, and the equalizer mechanism is configured to restrict the stroke limit position of the suction pad in the direction perpendicular to the surface when the opening/closing body is clamped by the clamp mechanism. It is characterized by the provision of a stopper plate that determines the final position of the opening/closing body.

In addition to a so-called vacuum cup, an electromagnet can also be used as the suction pad.

Function As mentioned above, since the suction pad has two-dimensional freedom, it will attract even if there is some variation in the closed position of the opening/closing body (the state of the opening/closing body using the aforementioned jig). The pad rotates to securely adsorb and support the opening/closing body. Furthermore, even if the center of hinge rotation of the opening/closing body and the center of rotation of the swing arm are slightly deviated, the equalizer mechanism absorbs the amount of deviation and enables the opening/closing body to open and close.

In addition, at the opening limit position of the opening/closing body, the equalizer mechanism is fully extended to its stroke limit in the direction in which the opening/closing body's own weight acts due to the weight of the opening/closing body, but the clamp mechanism overcomes the dead weight of the opening/closing body and pushes it up. The opening limit position of the opening/closing body is always constant and stabilized.

Embodiment FIGS. 1 to 4 are diagrams showing an embodiment of the present invention, and parts common to those in FIG. 6 are given the same reference numerals.

As shown in FIGS. 1 and 2, an auxiliary arm 11 extends from the tip of the swing arm 2 in a direction perpendicular thereto.
A plurality of equalizer mechanisms 1 are provided with cup-shaped suction pads 5 on the auxiliary arm 11.
2 is installed.

The equalizer mechanism 12 moves the suction pad 5 in the X direction (perpendicular to the plane of the hood F) and in the Y direction (the longitudinal direction of the swing arm 2 or the hood F
The structure is supported so that it can float in both the front and rear directions. More specifically, as shown in FIGS. 3 and 4, a rod 13 having a suction pad 5 at its tip is inserted into a pad holder 15 via a coil spring 14, and this pad holder 15 is inserted into two rods suspended horizontally in a case 16. It is slidably supported by a guide rod 17. The case 16 is integrally fixed to the auxiliary arm 11. Pad holder 15 is held in a neutral position on guide rod 17 by a pair of coil springs 18. Therefore, if an external force in the X direction that is greater than the set load of the coil spring 14 is applied to the suction pad 5, the rod 13 will slide with respect to the pad holder 15, and similarly, if an external force in the X direction that is greater than the set load of the coil spring 18 is applied to the suction pad 5, an When an external force in the direction is applied, the pad holder 15 moves to the guide rod 1.
It will slide along 7.

A flange portion 19 is integrally formed at the upper end of the rod 13 as shown in FIGS.
A stopper plate 20 facing the is attached. The stopper plate 20 is attached to the screw shaft 2
The screw shaft 21 is screwed to the collar 22 on the side of the auxiliary arm 11 and is fixed by an adjuster nut 23. Therefore, the stroke of the suction pad 5 in the X direction is determined by the flange portion 19 of the rod 13 coming into contact with the lock nut 24 and the stopper plate 20. In addition, stopper plate 20
The position can be adjusted by operating the adjuster nut 23.

Reference numeral 25 in FIG. 1 is a clamp mechanism suspended from the ceiling, and this clamp mechanism 25 has a pad 2 attached to a piston rod 27 of a clamp cylinder 26.
8 clamp arms 29 are connected.
As will be described later, it has the function of determining the final position of the hood F opened by the swing arm 2.

Next, the operation of the opening/closing device configured as above will be explained.

The body B (FIG. 5) is transported and positioned directly below the opening/closing device, with the hood F being kept slightly open by a jig not shown, as described above. Then, as shown by the imaginary line in FIG.
rotates counterclockwise, and the suction pad 5 is pressed against the hood F to suction and support the hood F. At this time, the suction pad 5 floats in the X direction to reliably suction and support the hood F even if there are variations in the degree of opening of the hood F using the jig described above, or even if the hood F is slightly raised or lowered depending on the vehicle type.

When the suction pad 5 suction-supports the hood F, the swing arm 2 swings clockwise in FIG. 1 until the stopper block 7 comes into contact with the stopper 9 and the shock absorber 10, thereby opening the hood F. At this time, while the swing arm 2 is at its rotation limit in the clockwise direction, the weight of the hood F acts on the suction pad 5, so the flange portion 19 as shown in FIGS. comes into contact with the lock nut 24, and the rod 13
is in a state of constant growth.

Therefore, the clamp mechanism 25 is activated, and the rod 1
The clamp arm 29 lifts the hood F in the clockwise direction until the flange portion 19 of No. 3 comes into contact with the stopper plate 20. As a result, the hood F is held between the swing arm 2 and the clamp mechanism 25, and the final positional accuracy at the opening limit position is determined by the contact between the flange portion 19 and the stopper plate 20. Ru.

In addition, in the process of the swing arm 2 opening the hood F, even if there is some deviation between the center of rotation of the hood hinge and the center of rotation of the swing arm 2 due to differences in vehicle models, for example, this deviation amount will be compensated by the equalizer mechanism 12. This will be absorbed by the floating mechanism in the Y direction, and the hood F will open without any force.

Effects of the invention According to the invention, an equalizer mechanism is provided to give the suction pad a two-dimensional floating function, and a stopper plate is further provided to regulate the stroke limit of the suction pad in the direction perpendicular to the surface of the hood. This improves the followability of each suction pad to the opening/closing body, ensuring reliable opening/closing even if there are variations in the closed state of the opening/closing body or variations between the hinge rotation center of the opening/closing body and the rotation center of the swing arm. can do the work,
In addition, since the opening/closing body is firmly positioned by the clamp mechanism at the opening limit position, the accuracy of the opening/closing body's opening limit position is stable, and as mentioned above, each suction pad has a two-dimensional floating function. Because they are individually equipped, even if the opening/closing device has unevenness or steps depending on the car model, the opening/closing device can be used in common regardless of the presence or absence of those unevenness or steps. This increases the versatility of the product.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram of the main parts showing one embodiment of the present invention, Fig. 2 is a view taken in the direction of arrow A in Fig. 1, Fig. 3 is an enlarged view of the equalizer mechanism, and Fig. 4 is the same as Fig. 3. Full sectional view, Figure 5 is an explanatory diagram of the conventional device, Figure 6 is the
It is an enlarged view of the main part of the figure. 2... Swing arm, 5... Adsorption pad, 1
2... Equalizer mechanism, 13... Rod, 20...
...stopper plate, 25...clamp mechanism, F
...Hood.

Claims (1)

[Scope of utility model registration request] a swing arm that rotates around a center of rotation of a hinge of an opening/closing body to be opened/closed;
A plurality of suction pads are attached to the tip of the swing arm along the direction of the rotation center and suction and support the opening/closing body from a direction substantially perpendicular to the surface thereof, and clamping the opening/closing body which is in an open state at the opening limit position of the swing arm. An equalizer mechanism is provided between the swing arm and each suction pad to support the suction pad so that it can float in two-dimensional directions perpendicular to the surface and in the front-rear direction of the opening/closing body. In addition to being individually installed, the equalizer mechanism includes a stop that determines the final position of the opening/closing body by regulating the stroke limit position of the suction pad in the direction perpendicular to the surface when the opening/closing body is clamped by the clamp mechanism. An opening/closing device for an automobile opening/closing body, characterized by being provided with a flap plate.