JPH0556323U - Door gripping device for car door removal - Google Patents

Abstract

(57) [Summary] [Object] The present invention automatically grips a door to be removed from a body in an automobile assembly line and automatically performs all the work up to a hanger conveyor for conveying the gripped door to a subsequent process. Provided is a door gripping device for an automobile door, which can be carried out. [Structure] An upper cylinder 13a, 13b and a lower cylinder 15a, 15b are mounted on a frame 12 attached to a robot.
Are arranged side by side in the vertical axis direction on the left and right sides, and linear guides are provided on the upper cylinders 13a, 13b. The upper cylinders 13a, 13b are provided with an upper gripping piece 14a that contacts the elevating port 6 of the window glass of the door 5. , 14b, and lower gripping pieces 16a, 16b for supporting the lower surface 6 of the door 5 on the lower cylinders 15a, 15b.
It is characterized in that the upper and lower grip pieces are attached with a scratch-proof material.

Description

[Detailed description of the device]

[0001]

[Industrial application]

 The present invention relates to a vehicle door removing device in an automobile assembly line.

[0002]

[Prior Art]

 In the assembly line of automobiles, when the assembly process is completed and the assembly line is entered, the door is temporarily removed for fitting inside the body, and the door is reattached at the point where the interior fitting is finished.

As shown in FIG. 5, a conventional door removal work is performed by mounting a door support base 4 with casters on a carriage 3 moving on a floor 2 beside a conveyor 1 on which a body B is transported. An operator rides on the dolly 3, loosens the hinge bolts with a hand tool, removes the door 5 from the body B, supports it on the door support 4, and moves the dolly 3 to a hanger conveyor (not shown) to open the door. The door 5 is moved from the support base 4 to the hanger conveyor, and is transported to the assembly station where it is attached to the body B again by the hanger conveyor.

[0004]

[Problems to be solved by the device]

 In the above-mentioned conventional technique, the door 5 removed from the body B is inefficiently supported by the operator on the door support base 4, which is inefficient, and the operator is required to transfer the door 5 to the hanger conveyor. I had to get on top of it and move around, which was a safety issue.

An object of the present invention is to provide a door gripping device for a vehicle door, which solves the above-mentioned conventional problems.

[0006]

Means for Solving the Problems The gist of the present invention for achieving the above object is to provide a frame attached to a robot with an upper cylinder and a lower cylinder provided side by side in the vertical axis direction in parallel. The above-mentioned upper cylinder is provided with a linear guide, the upper cylinder is provided with an upper gripping piece that is in contact with the elevating port of the window glass of the door, and the lower cylinder is provided with a lower gripping piece for supporting the lower surface of the door. It is attached via a coil spring, and the surface of the upper and lower grip pieces is provided with an anti-scratch material.

[0007]

[Action]

 With the above configuration, when the hinge bolt loosening device (not shown) is used to loosen the hinge bolts, the opened door is automatically gripped by the upper and lower gripping pieces and automatically transferred to the hanger conveyor for the next process. It is possible to transfer and carry in.

[0008]

【Example】

 An embodiment of the present invention will be described below with reference to the drawings. In FIG. 1, reference numeral 5 denotes a door, and the device of the present invention grips an elevating port 6 (belt line) of a window glass of the door 5 and a lower surface 6 of the door at two left and right gripping positions C1 and C2.

The structure of the device of the present invention will be described with reference to FIGS. Reference numeral 10 denotes a 6-axis robot arm, and a frame 12 is attached to the robot arm 10 via a robot wrist 11 having a rotating function that allows the robot arm 10 to freely rotate.

The frame 12 is provided with upper cylinders 13a, 13b and lower cylinders 15a, 15b in parallel in the vertical axis direction at left and right positions corresponding to the grip positions C1, C2 in FIG. A linear guide is provided on the upper cylinder, and upper grip pieces 14a, 14b which are in contact with the elevating port 6 of the window glass of the door 5 via the arm 20 are attached to the upper cylinder.

Further, lower holding pieces 16 a, 16 b for supporting the lower surface 6 of the door 5 via the arm 21 are attached to the lower cylinders 15 a, 15 b by a coil spring 22 in a balanced manner.

On the surfaces of the upper and lower grip pieces 14a, 14b, 16a, 16b, in order to prevent the coated surface of the tor 5 from being scratched, a scratch-proof material such as a foamed polyethylene plate is applied. Incidentally, 17 in FIG. 1 is a work detecting device, and 18 is a cylinder of a door opening device.

Since the structure of the present invention is as described above, the frame 12 is transferred to the door of the body conveyed by the conveyor and positioned at the door removal position by the robot learned in advance according to the vehicle type. 5, the upper cylinders 13a, 13b and the lower cylinders 15a, 15b are actuated, and the upper grip pieces 14a, 14b are gripped by the linear guides of the upper cylinders 13a, 13b as the gripping reference. The lower surface 6 of the door 5 is supported by the lower grip pieces 16a and 16b so as to face the elevating port 6.

At this time, even if the vertical position of the frame 12 is slightly out of phase with respect to the door 5, the lower gripping pieces 16a and 16b are floated by the coil springs 22 to be absorbed and securely grip the door 5.

The door 5 gripped by the upper and lower grip pieces 14a, 14b, 16a, 16b is opened to a predetermined angle (about 69 °) by the robot arm 10 and hinged by a hinge bolt loosening device (not shown). The bolts are removed so that the door 5 can be separated from the body, and the door 5 gripped by the robot arm 10 is automatically transferred and carried onto the hanger conveyor for carrying to the next step.

[0016]

[Effect of the device]

 As described above, according to the present invention, the frame attached to the robot is provided with the upper cylinder and the lower cylinder arranged side by side in the vertical axis direction, and the upper cylinder is provided with the linear guide. An upper gripping piece that is in contact with the raising / lowering opening of the window glass of the door is attached to the lower cylinder, and a lower gripping piece that supports the lower surface of the door is attached to the lower cylinder via a coil spring. Since the structure is scratched, the door to be removed from the body can be automatically gripped, and all operations up to the hanger conveyor that transports the gripped door to the subsequent process can be performed automatically. Enables automation of door removal and gripping work in automobile assembly lines, ensuring safety and improving automobile production efficiency It has a point.

[Brief description of drawings]

FIG. 1 is an explanatory view of a grip portion of a door according to the device of the present invention.

FIG. 2 is a front view of the device of the present invention.

FIG. 3 is a plan view of the device of the present invention.

FIG. 4 is a side view of the device of the present invention.

FIG. 5 is a conventional explanatory diagram.

[Explanation of symbols]

 5 door 10 robot 11 robot wrist 12 frame 13a upper cylinder 13b upper cylinder 14a upper gripping piece 14b upper gripping piece 15a lower cylinder 15b processing cylinder 16a lower gripping piece 16b lower gripping piece 22 coil spring

Claims (1)

[Scope of utility model registration request] 1. A frame attached to a robot is provided with an upper cylinder and a lower cylinder arranged side by side in the vertical axis direction, and a linear guide is provided in the upper cylinder, and the upper cylinder is provided with a window glass of a door. An upper gripping piece that is in contact with the elevating port of the door is attached, a lower gripping piece that supports the lower surface of the door is attached to the lower cylinder via a coil spring, and a surface of the upper and lower gripping pieces is provided with a scratchproof material. A door gripping device for removing a door of an automobile, characterized by: