JPH0624314Y2 - Door positioning device - Google Patents

Description

[Detailed Description of the Invention] Industrial Field of the Invention The present invention is applied to processing and parts of the door while the door is suspended by a hanger and conveyed, such as a door sub-assembly assembly line in the automobile manufacturing process. The present invention relates to a door positioning device for line equipment that performs work such as assembly.

2. Description of the Related Art In various assembly lines in the manufacturing process of automobiles, it is common to carry out the assembly work on the transported work without stopping the conveyor for transporting the work. Therefore, the robot performing the assembly work It is necessary to synchronously move the work machine such as the work machine along the conveyor and position the work with high accuracy with respect to the work machine, but the conveyor that conveys the work and the traveling carriage equipped with the work machine move separately. Positioning is difficult because
If the position of the work on the conveyor varies, it is difficult to perform highly accurate positioning.

Therefore, in the above-mentioned conventional assembly line and the like,
Since the relative position accuracy between the work conveyed to the conveyor and the work machine on the trolley running in parallel with the conveyor is low, it has not been possible to meet the mechanization needs such as complete automation of the line.

Therefore, in order to position the work and the working machine with high accuracy, a method of improving the mounting position accuracy of the work on the conveyor to secure a highly accurate relative position between the work and the working machine during synchronous traveling, By temporarily supporting the work on the conveyor on a trolley or the like that carries a working machine and travels synchronously, positioning and performing a predetermined work by the working machine while moving the work integrally with the working machine. However, in the case of the former method, the number of steps for performing relative positioning between the conveyor and the work increases, and
It is necessary to take measures such as detecting and correcting misalignment with a visual system, etc., and there is the inconvenience that the cycle time is extended, etc. It was

Further, as the latter method, for example, JP-A-56-103
There are techniques described in Japanese Patent No. 668 and Japanese Patent Laid-Open No. 56-103668. Since this is a device for setting attachment members such as doors, it is necessary to position the automobile body and the door with high accuracy when installing the door to the automobile body being transported by the transport carriage without interrupting the transport. In addition, on both sides of the conveyor that conveys the car body, the carriages equipped with the door mounting device are synchronously run, and during the synchronous travel, the car body is supported by both carriages from both sides and can be lifted from the conveyor. ing. Therefore, when mounting the door, the car body is supported by the bogies on both sides and moves integrally with the door mounting device, so that the door can be accurately positioned with respect to the car body. Has become.

However, since the above-described device for setting the mounting member such as the door is a device for attaching the door to the car body which is a heavy object, the car body can be mounted on the conveyor to be transported, It is not necessary to provide a fixing means or the like by simply supporting it on the vehicle and raising it, and it can be moved integrally with the trolley without causing displacement by simply disengaging the engagement with the conveyor. The door can be attached and the work can be performed.

However, as in the case of a door sub-assembly assembly line, for example, when a relatively lightweight door is suspended from a hanger of an overhead conveyor for transportation, and various outfitting parts are assembled to the door during transportation. In addition, since the door suspended on the hanger easily swings, it is more difficult to position the door with high accuracy with respect to the working machine for assembling the parts.

This invention was made under the above technical background,
An object of the present invention is to provide a door positioning device capable of accurately positioning a door being hung on a hanger and being transported, with respect to a working machine.

Means for Solving the Problems As a means for solving the above problems, a door positioning device of the present invention is a conveyor provided with a hanger for suspending a door, a traveling carriage that travels in synchronization with the conveyor, and is mounted on the traveling carriage. In addition, a working machine for assembling parts to the door, a chuck mechanism provided on a traveling carriage for gripping the hanger, a support release mechanism for temporarily releasing the support of the door by the hanger, and a hanger A floating holding mechanism that holds the released door movably in at least a direction parallel to the transport direction, and a positioning fixing mechanism that positions the door held on the floating holding mechanism with respect to the working machine and temporarily fixes the door. It is characterized by having and.

With the above configuration, when the door on which the hanger is suspended reaches a predetermined position, the traveling carriage equipped with the work machine starts synchronous traveling, and the traveling carriage is parallel to the door suspended on the hanger. When running, after the chuck mechanism grips the hanger, the support release mechanism on the traveling carriage mechanically engages the hanger to release the door support by the hanger, and the floating holding mechanism moves the door in the transport direction. Is kept in a possible state. When the door is held by the floating holding mechanism, the positioning and fixing mechanism on the traveling carriage operates to position the door at a predetermined position with respect to the working machine mounted on the traveling carriage. At this time, since the door is held by the floating holding mechanism so as to be movable in the carrying direction, the door is easily and accurately positioned. Further, the hanger that has released the support of the door is gripped by the chuck mechanism so as to be movable in the transport direction, and moves while holding the position relative to the traveling carriage.

Then, the working machine performs a predetermined work on the door fixed to the predetermined position by the positioning and fixing mechanism, and when the work is completed, the door support by the released hanger is restored and the door is supported. At the same time, the holding of the door by the floating holding mechanism is released, the grip of the hanger by the chuck mechanism is released, the door is supported only by the hanger, and the synchronous traveling of the traveling carriage ends.

When the synchronous traveling ends, the traveling vehicle travels in the direction opposite to the transport direction and returns to the initial position.

Embodiment An embodiment in which the present invention is applied to a door positioning device for a door sub-assembly assembling line in an automobile manufacturing process will be described below with reference to FIGS. 1 to 6.

The door positioning device 1 is provided on a traveling carriage 5 which is provided on rails 3 and 3 laid on a base 2 on the floor so as to be able to travel via linear motion bearings 4, and above the traveling carriage 5. An overhead conveyor 7 is provided in parallel with the rails 3 and 3 for suspending the upper part of the hanger 6 which clamps and supports the door D and moving in the transport direction (from left to right in FIG. 1).

Further, the door D is fixed to the lower portion by the fixed attachments 6a and 6b of the hanger 6, and the fixed attachment 6a
Both sides are respectively clamped by c and the movable attachment 6d, and the movable attachment 6d moves the movable lever 6f upward with respect to the lever 6e integrally attached to the hanger 6 to move the door D to the lower part. While being supported by the fixed attachments 6a, 6b of FIG. 1, the door D is allowed to move in the left-right direction, and while the movable lever 6f is in the lower position, the door D is held by the hanger 6a. It is supposed to be fixed against.

An assembling robot 8 is installed on the traveling carriage 5 at a position deviated laterally (rightward in FIG. 3) from directly below the overhead conveyor 7 in the substantially center of the vehicle body. Further, on the rear side (left side in FIG. 1) of the assembly robot 8 on the traveling carriage 5 in the conveying direction, a motor 9 for traveling drive and a detector (not shown) for detecting position change information of the overhead conveyor 7 are shown. (Not shown), a synchronous controller (not shown) for controlling the drive of the motor 9 is provided so that the traveling carriage 5 runs in parallel with the overhead conveyor 7 on the basis of the information from the motor 9. The rotation is transmitted to the reduction gear 10, and the pinion 11 provided on the output shaft of the reduction gear 10 and arranged on the lower surface side of the traveling carriage 5 is rotated. The pinion 11 meshes with a rack 12 laid in parallel between the rails 3 and 3 on the base 2 to drive the traveling carriage 5 in the forward and backward directions.
However, they can run synchronously without contact with the overhead conveyor 7.

Furthermore, the overhead conveyor 7 on the traveling carriage 5
A clamp release base 13 provided with a mechanism for temporarily releasing the clamp of the door D by the hanger 6 is provided on the rear side of the vehicle body directly below the vehicle, and a floating mechanism 15 is provided on a support base 14 provided on the traveling carriage 5. It is provided through.

The floating mechanism 15 includes rails 15a and 15a laid on the support base 14 in parallel with the carrying direction, and linear motions provided on the lower surface side of the clamp release base 13 and engaged with the rails 15a and 15a. A mechanism that includes guides 15b and 15b and that slidably supports the clamp release base 13 in a direction parallel to the transport direction, a spring plunger housing 17 attached to the lower surface of the clamp release base 13, and the spring plunger housing. A pair of plungers 17a respectively inserted into both ends from the both ends, a spring 17b compressed between the plungers 17a, 17a and elastically biasing them in a direction to separate them, and the support base 14 Mounted on the side of each of the plungers 17a
Of the stopper plates 17c, 17c that come into contact with the extension-side end of the plunger to restrict the movement of each plunger 17a.
When an external force is applied to the clamp release base 13, the slide operation in the transport direction is buffered, and when the external force is removed, the clamp release base 13 is moved to the rail 15
a, 15a, and a mechanism for returning to an initial position substantially in the center in the longitudinal direction.

On the other hand, a clamp releasing mechanism 18 that releases the clamp of the door D by the hanger 6 during synchronous traveling is provided on the clamp releasing base 13. The clamp release mechanism 18 includes an arm 20 having a lower end rotatably supported by a pin 19a that is horizontally inserted through an upper portion of a bracket 19 that is vertically erected on the clamp release base 13.
Similarly, the bracket 20 is rotatably supported on the clamp release base 13, and the knuckle portion 22a at the tip of the rod is connected to the lower end of the arm 20 so that the arm 20 is rotationally driven within a range of about 15 degrees. An air cylinder 22 is provided, and an air cylinder 23 with a guide is attached to the upper end of the arm 20.

A rail 24 is attached to the tip of the rod 23a of the air cylinder 23 with a guide in the vertical direction, and an upper finger 26 is slidably attached to the upper side of the rail 24 via a linear motion guide 25. A lower finger 28 is slidably attached to the lower side of the rail 24 via a linear motion guide 27. Further, an air cylinder 29 is fixed to the upper finger 26, a rod of the air cylinder 29 is connected to the lower finger 28, and the lower finger 28 descends by its own weight unless an external force acts. Then, it abuts on a stopper 24a at the lower end of the rail 24.

Further, another support base 30 (see FIG. 5) is provided on the clamp release base 13, and this support base 3
A chuck mechanism 31 for holding the hanger 6 is provided on the top of the hull 0. In this chuck mechanism 31, a rail 32 is mounted on the support base 30 in a direction parallel to the carrying direction, similar to the rail 15a, and a front side (right side in FIG. 5) of the rail 32 in the carrying direction. , The pin 3 in which the rotating claw 33 is horizontally provided via the bracket 32a
The bracket 32a is rotatably attached, and a pusher 34 is attached to the bracket 32a. A slider 35 is slidably provided on the rail 32, and a rotary claw 37 is horizontally provided on the slider 35 via a bracket 36.
The slider 35 is rotatably attached by a.
Is connected to a rod of an air cylinder 38 fixed on the support base 30 by a knuckle 38a and slidably driven. When the rod is retracted from the extended state (state of FIG. 5). The slider 35 is slid from right to left in FIG. 5, the rotary claw 33 automatically rotates 90 degrees clockwise in FIG. 5, and the rotary claw 37 on the slider 35 is rotated by the pusher 34. Is disengaged and rotates 90 degrees counterclockwise by its own weight. When the rod of the air cylinder 38 extends, the rotating claw 33 rotates counterclockwise by the action of the slider 35 and the pusher 34, and the rotating claw 34 rotates 90 degrees in the clockwise direction. The hanger 6 can be grasped from both sides between the rotating claws 33 and 37.

A floating holding mechanism 39 and a positioning and fixing mechanism 40 are provided on the front side of the vehicle just below the overhead conveyor 7 on the traveling carriage 5.

The floating holding mechanism 39 includes a pair of air cylinders 41, 41 provided vertically on the traveling carriage 5, and a floating table 42 provided at the tip of the rod of each air cylinder 41 with guide.
It has and. This floating table 42
A vertical attachment 43, which is attached to the tip of the rod through an orthogonal linear motion bearing having a central holding function, and which contacts the lower side of the door D, is provided at the center of the upper surface of the floating table 42.

In addition, the positioning and fixing mechanism 40 has a rotary shaft 4 perpendicular to a pair of brackets 44 provided on the traveling carriage 5.
4a has a pair of support columns 45 and 46 which are rotatable and vertically provided.
6 is driven by air cylinders 48, 48 respectively provided on the traveling carriage 5 via brackets 47, and is rotated 90 degrees while maintaining a vertical posture about the rotary shaft 44a. . Further, the one side (left in FIG. 1) support pillar 45 is provided with left and right attachments 49, 49 and front and rear attachments 50 for contacting and positioning one side (left side in FIG. 1) of the door D, respectively. Has been. Further, at the positions corresponding to the left-right attachments 49, 49 of the support column 45, left-right retainers 51, 51 (only one is shown in FIG. 2) are provided with guide rods 52, 52 and slide guides 53, 53. 2 and is slid up and down in FIG. 2 by being driven by air cylinders 54, 54 also attached to the support pillar 45. Similarly, to the other support pillar 46, left and right attachments 55, 55 (only one is shown in FIG. 2),
Left and right pressers 56, 56, guide rods 57, 57, slide guides 58, 58, and air cylinders 59, 59 are attached, respectively. Further, the support pillar 46
A movable front-back attachment 60 is attached to the via a guide rod 61 and a slide guide 62.
It is driven by the air cylinder 63 and slides in the left-right direction in FIG.

Next, the operation of this embodiment configured as described above will be described.

In the stand-by state of the traveling carriage 5, in the clamp releasing mechanism 18 provided on the clamp releasing base 13 of the door positioning device 1, the rod of the air cylinder 22 is retracted and the arm 20 is shown by a chain double-dashed line in FIG. Located in place,
An air cylinder 23 with a guide at the tip of the arm 20 retracts the rod 23a, and an air cylinder 29 attached to the tip of the rod 23a extends the rod. An air cylinder 38 mounted on the support base 30
Makes the rod retract, and the rotating claw 33 and the rotating claw 37, which are arranged to face each other, are spaced apart from each other at their upper portions and are open at the upper side. Further, a pair of air cylinders with guides 41, 41 provided vertically on the traveling carriage 5 lowers the vertical attachments 43, 43 by retracting the rods respectively, and a pair of air cylinders horizontally provided on the traveling carriage 5. The air cylinders 48, 48 retract the rods respectively, and
From the state shown in the figure, both support columns 46, 47 are located at the standby position rotated by 90 degrees in the direction in which they are separated from each other,
Air cylinder 5 provided on both support columns 46, 47
4, 54, 59 and 59 extend the rods, respectively, and the air cylinder 63 retracts the rods to hold the door D in an unclamped state.

Then, the door D is clamped by the hanger 6 and continuously conveyed by the overhead conveyor 7 to approach the standby position of the traveling carriage 5, and the conveyed door D is at a position corresponding to the position of the traveling carriage 5 (see FIG. 1). (State), the motor 9 is driven based on a signal from a conveyor speed detection device such as an encoder (not shown), the rotation of the motor 9 is transmitted to the pinion 11 via the speed reducer 10, and the pinion 11 When the rack 12 meshes with and rotates, the traveling carriage 5 starts synchronous traveling with respect to the door D conveyed to the overhead conveyor 7.

When the door D and the traveling carriage 5 start synchronous traveling, the air cylinder 38 of the chuck mechanism 31 operates to extend the rod, and the rotating pawl 33 rotates 90 degrees counterclockwise in FIG. 5 and rotates. The claw 37 is rotated clockwise by 90 degrees, and the lower part of the hanger 6 is gripped between the rotating claws 33 and 37. Then, the air cylinder 22 of the clamp release mechanism 18
Operates to extend the rod and rotate the arm 20 counterclockwise in FIG. 3 by about 30 degrees. When the arm 20 finishes rotating, the air cylinder with guide 23 attached to the tip of the arm 20 operates to extend the rod 23a, and when the extension limit is reached, the air cylinder 29 attached to the tip of the rod 23a. Activates and retracts the rod. When the rod of the air cylinder 29 is retracted, first, the upper finger 26 is driven to move down along the rail 24 to come into contact with the lever 6e of the hanger 6, and then the lower finger 28 is driven to move to the rail 24. The movable lever 6f rises along with it and contacts the movable lever 6f, and further rises to move the movable lever 6f upward. When the movable lever 6f moves upward, the movable attachment 6d of the hanger 6 can move in the left-right direction in FIG. Next, when the air cylinder 23 with a guide is operated to retract the rod 23a, the movable attachment 6d moves from the right to the left in FIG. 1 to release the clamp of the door D by the hanger 6. .

Further, while the operation of releasing the clamp of the door D by the clamp releasing mechanism 18 is being performed, the air cylinders 48, 48 of the positioning and fixing mechanism 40 are operated to extend the respective rods, and the support pillar 45 is moved to the first position. In FIG. 2, while rotating clockwise by 90 degrees, the other support pillar 46 is rotated counterclockwise by 90 degrees and stands by in this state. Even when the door D is unclamped by the hanger 6 in this state, since the left and right attachments 49, 49, 55, 55 are located in the vicinity of the door D, the door D is attached to the movable attachment 6d. It does not fall due to movement.

When the clamp release mechanism 18 releases the clamp of the door D, the air cylinders 41, 41 with guides of the floating support mechanism 39 are actuated to extend the rods, and the floating cylinders provided at the tips of the rods. The vertical attachments 43, 43 on the tables 42, 42 are raised, and the door D is moved by the vertical attachments 43, 43.
Lift it slightly (a few cm), and support it in a floating state so as to follow the movement in the front-back direction and the left-right direction.

Next, the air cylinder 63 attached to the upper portion of the support column 46 is actuated to extend the rod, and the door D is pushed through the movable front-back direction attachment 60 to slightly move (a few cm) in FIG. Front-rear attachment 5 that moves to the left and is placed opposite to the other support pillar 45
The position of the door D in the front-rear direction (left-right direction in FIG. 1) is positioned by abutting 0.

When the position of the door D in the front-rear direction is determined, the air cylinders 54, 54 and the air cylinders 59, 59 provided on both support columns 45, 46 are actuated next to retract the respective rods to the tip of each rod. The left and right pressers 51 and 51 and the left and right pressers 56 and 56 provided respectively are moved downward in FIG. 2 to abut the door D, and the door D is pushed to move the left and right attachments 4
9 and 49 and the left-right attachments 55, 55 are pressed to determine the left-right position (up-down direction in FIG. 2) of the door D.

In addition, the air cylinder 63 and the air cylinder 54,
When each of 54, 59 and 59 operates, the door D
Moves with respect to the traveling carriage 5, but at this time the floating tables 42, 42 follow the moving direction to prevent the relative position of the door D and the vertical attachments 43, 43 from changing, and Is prevented from being damaged on the painted surface of the door D by moving on the vertical attachments 43, 43 supporting the load.

In this way, the door D is lifted up / down / front / back / on the traveling carriage 5 in a state where the clamp by the hanger 6 is released.
Positioned in each of the left and right directions, by the assembly robot 8 mounted on the traveling carriage 5 during the synchronous traveling,
Predetermined work such as assembly of parts is performed.

Then, when the work by the assembly robot 8 is completed, first, the air cylinder 63 of the positioning and fixing mechanism 40 operates to retract the rod, and at the same time, the air cylinders 54, 5
4 and the rods of the air cylinders 59, 59 respectively extend to release the positioning of the door D and release the door D from the traveling carriage 5. Next, air cylinder with guide 2
3 operates to extend the rod 23a, thereby returning the movable attachment 6d to the original position. At this time, even if the traveling carriage 5 and the hanger 6 are slightly out of synchronization with each other, the clamp release base 13 is provided on the traveling carriage 5 via the floating mechanism 15 that allows movement in the transport direction. The clamp release base 13 and the hanger 6 are grasped by the rotating claws 33 and 37 of the chuck mechanism 31 and integrally connected, so that the movable attachment 6 is
d is exactly returned to its original position. Further, when the movable attachment 6d is returned to its original position, the door D is slightly moved with respect to the traveling carriage 5. At this time, the force with which the air cylinder with guide 23 pushes the door D is increased. Since the reaction force is received by the hanger 6 via the rotating claws 33 and 37 of the chuck mechanism 31, the hanger 6 is prevented from escaping from the air cylinder 23 with a guide. In addition, when the movable attachment 6d is returned to its original position, the traveling carriage 5
When a deviation of more than the allowable value occurs due to the synchronization of the hanger 6 and the hanger 6, the deviation amount between the traveling carriage 5 and the clamp release base 13 is detected, and each device of the traveling carriage 5 and the overhead conveyor 7 is stopped. Alternatively, it is also possible to feed back the data of the deviation amount to the synchronous control device to correct the synchronous traveling speed of the traveling vehicle 5.

Then, when the movable attachment 6d of the hanger 6 is returned to its original position, the air cylinder 29 of the clamp release mechanism 18 is actuated, the rod thereof is extended, and the movable lever 6 is extended.
f to the lower position, and the rod 2 of the air cylinder 23
3a is retracted again, and at the same time, the air cylinders 41, 41 with guides of the floating support mechanism 39 are actuated to retract the rods respectively, and the door D lifted via the vertical attachments 43, 43 is lowered to lower the hanger. The fixed attachments 6a and 6b of 6 are returned and supported. Then, the air cylinder 22 of the clamp release mechanism 18 is activated to retract the rod and move the arm 20.
3 in the clockwise direction in FIG. 3, the air cylinders 48, 48 of the positioning and fixing mechanism 40 are actuated to retract the rods, and the support columns 45, 46 are moved.
Rotate 90 degrees away from each other. When the arm 20 and the support pillars 45 and 46 return to their original positions, the air cylinder 3 of the chuck mechanism 31 is moved.
8 is actuated to reduce the lot, and the locking of the hanger 6 by the both rotation claws 33 and 37 is released. As a result, the traveling carriage 5
And the hanger 6 are all disengaged, and the carriage 5
And the synchronous operation of the overhead conveyor 7 are completed.

When the synchronous operation ends, the motor 9 of the traveling vehicle 5 reversely rotates, the traveling vehicle 5 travels in the direction opposite to the transport direction, and returns to the initial position.

Advantageous Effects of Invention As described above, the door positioning device of the present invention includes a conveyor having a hanger for suspending the door, a traveling carriage that travels in synchronization with the conveyor, and is mounted on the traveling carriage and is a component for the door. At least a working machine for performing work such as assembling, a chuck mechanism provided on a traveling carriage for gripping the hanger, a support release mechanism for temporarily releasing support of the door by the hanger, and a door released from support by the hanger. A floating holding mechanism that holds the movable holding member in a direction parallel to the conveying direction and a positioning fixing mechanism that positions the door held on the floating holding mechanism relative to the working machine and temporarily fixes the door are arranged. Therefore, it is possible to mechanically position the door that is suspended and transported by the hanger on the traveling carriage that travels synchronously.
It is possible to greatly improve the positioning accuracy of the door with respect to the work machine on the traveling carriage. Further, since the relative position between the traveling carriage and the hanger is maintained constant by gripping the hanger by the chuck mechanism, it is possible to reliably separate the door from the hanger and return the door to the hanger. Have an effect.

[Brief description of drawings]

1 to 6 show an embodiment of the present invention. FIG. 1 is a front view of a traveling carriage provided with a door positioning device, FIG. 2 is a plan view of FIG. 1, and FIG. FIG. 1 is a left side view of FIG. 1, FIG. 4 is a view on arrow IV of FIG. 1, FIG. 5 is a view on arrow V of FIG. 3, and FIG. 6 is a view on arrow VI of FIG. 1 ... Door positioning device, 5 ... Traveling vehicle, 6 ... Hanger, 6d ... Movable attachment, 6f ... Movable lever, 7 ... Overhead conveyor, 8 ... Assembly robot, 9 ... Motor, 11 ... ... pinion, 12 ... rack, 13 ... crank release base, 15 ... floating mechanism, 18 ... clamp release mechanism, 20 ... arm, 22, 23 ... air cylinder, 26 ... upper finger, 28 ... Lower finger, 29 ... Air cylinder, 31 ... Chuck mechanism, 33, 37 ... Rotating claw, 3
8 ... Air cylinder, 39 ... Floating support mechanism, 40 ... Positioning and fixing mechanism, 41 ... Air cylinder, 42 ... Floating table, 43 ... Vertical attachment, 45, 46 ... Support pillar, 48 ...
… Air cylinder, 49… Attachment in left and right direction, 5
0 ... Front-rear attachment, 51 ... Left-right retainer, 54 ... Air cylinder, 55 ... Left-right attachment, 56 ... Left-right retainer, 59 ... Air cylinder, 60 ... Movable front-rear attachment, 63 ......
Air cylinder, D ... Door.

Claims (1)

[Scope of utility model registration request] 1. A conveyor provided with a hanger for suspending a door, a traveling carriage that travels in synchronization with the conveyor, and a working machine that is mounted on the traveling carriage and carries out work such as assembling parts to the door. , A chuck mechanism provided on the traveling carriage for gripping the hanger, a support release mechanism for temporarily releasing the support of the door by the hanger, and a door that is released from the support of the hanger so as to be movable at least in a direction parallel to the transport direction. And a positioning and fixing mechanism for positioning the door held on the floating holding mechanism relative to the working machine and temporarily fixing the door.