JPH0647392B2 - How to hold the door - Google Patents
How to hold the doorInfo
- Publication number
- JPH0647392B2 JPH0647392B2 JP1093800A JP9380089A JPH0647392B2 JP H0647392 B2 JPH0647392 B2 JP H0647392B2 JP 1093800 A JP1093800 A JP 1093800A JP 9380089 A JP9380089 A JP 9380089A JP H0647392 B2 JPH0647392 B2 JP H0647392B2
- Authority
- JP
- Japan
- Prior art keywords
- door
- holding
- inner plate
- reference surface
- plate
- 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 - Lifetime
Links
Landscapes
- Automatic Assembly (AREA)
- Manipulator (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 この発明は、車体組立ラインのドア組付ステーションに
おいて、ドアを車体に供給する際のドアの保持方法に関
するものである。Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a door holding method for supplying a door to a vehicle body at a door assembly station of a vehicle body assembly line.
車体組立ラインのドア取付ステーションにおいて、車体
にドアを取付けるには、例えば特開昭61−146688号公報
に開示されているように、ハンガー式搬送装置にて吊下
げ状態で搬送されてきた左右一対のドアを、ロボットの
アーム先端に取付けた保持治具にて夫々保持させ、ロボ
ットの動作によって、保持したドアをハンガー式搬送装
置から取外して、車体の開口部へ供給して取付けてい
る。To install a door on a vehicle body at a door mounting station of a vehicle body assembly line, for example, as disclosed in Japanese Patent Laid-Open No. 61-146688, a pair of left and right transported by a hanger type transportation device in a suspended state. Each of the doors is held by a holding jig attached to the tip of the arm of the robot, and the held door is removed from the hanger type transfer device by the operation of the robot and supplied to the opening of the vehicle body to be attached.
ところで、上記ドアの保持は、例えば第4図及び第5図
に示す様に、ロボットのアーム(1)の先端に取付けら
れたフレーム(2)の上下左右の4個所にバキュームカ
ップ(3)(3)…を設け、かつフレーム(2)の下端
にドア受け部(4)を取付けた保持治具(5)を用い、
ドア(6)の下端をドア受け部(4)にて支持し、複数
のバキュームカップ(3)(3)…にてドア(6)の外
板(6a)を吸着して、ドア(6)を保持して組付けに供
している。By the way, as shown in FIGS. 4 and 5, for example, the door is held by holding the vacuum cups (3) (4) on the upper, lower, left and right sides of the frame (2) attached to the tip of the robot arm (1). 3) is provided and the holding jig (5) having the door receiving portion (4) attached to the lower end of the frame (2) is used,
The lower end of the door (6) is supported by the door receiving portion (4), and the outer plates (6a) of the door (6) are adsorbed by the plurality of vacuum cups (3) (3) ... Is held and used for assembly.
また他の方法としては、第6図及び第7図に示す様に、
ロボットのアーム(1)の先端に取付けられる門型フレ
ーム(7)の一方端に受け部材(8)(8)を設け、他
方端にシリンダ(9)(9)を設け、前記受け部材
(8)(8)の先端に弾性パッド(8a)(8a)を取付
け、シリンダ(9)(9)の先端に吸盤(9a)(9a)を
取付けた保持治具(10)を用い、前記弾性パッド(8a)
(8a)と吸盤(9a)(9a)とでドア(6)の内外板(6
b)(6b)を挾持して組付けに供している。As another method, as shown in FIGS. 6 and 7,
Receiving members (8) and (8) are provided at one end of the gate-shaped frame (7) attached to the tip of the robot arm (1), and cylinders (9) and (9) are provided at the other end thereof. ) (8) has elastic pads (8a) (8a) attached to the tips thereof, and cylinders (9) (9) has suction cups (9a) (9a) attached to the holding jig (10) using the elastic pads. (8a)
The inner and outer plates (6) of the door (6) are formed by the (8a) and the suction cups (9a) (9a).
b) Hold (6b) for assembly.
従来の保持方法は、前者の場合、ドア(6)の外板(6
a)をバキュームカップ(3)(3)…で吸着して保持
するものであるから、ドア(6)の形状、特に外板(6
a)の曲率等が変ると、保持できず、多種少量の生産を
行う場合、形状の異なるドアに合わせて専用の保持治具
(5)を複数用意して、交換し乍ら作業せねばならず、
作業性が非常に悪かった。また強い力で吸着すると、外
板(6a)に歪みや変形を生じ、不良品となる問題があ
り、安定してドア(6)を保持できなかった。In the case of the former holding method, in the former case, the outer plate (6) of the door (6) is
Since a) is adsorbed and held by the vacuum cups (3) (3) ..., The shape of the door (6), especially the outer plate (6)
When the curvature of a) changes and cannot be held, and when a large amount of small quantities are to be produced, it is necessary to prepare a plurality of dedicated holding jigs (5) according to the doors of different shapes and replace them. No
Workability was very poor. Further, if the suction force is strong, the outer plate (6a) may be distorted or deformed, resulting in a defective product, and the door (6) cannot be stably held.
また後者の場合、ドア(6)を挾持するものであるか
ら、強い力で挾持すると、ドア(6)の外板(6a)及び
内板(6b)が変形してしまうし、挾持力が弱いとドア
(6)が搬送途中で落下する恐れがあり、調整が難し
く、常に安定した供給を行えない。Further, in the latter case, since the door (6) is held, if held with a strong force, the outer plate (6a) and the inner plate (6b) of the door (6) will be deformed, and the holding force is weak. The door (6) may drop during transportation, adjustment is difficult, and stable supply cannot always be performed.
この発明は、ドアの大きさや形状に関係なく、かつドア
に歪みや変形を生じさせることなく、安定したドアを保
持できる保持方法を提供しようとするものである。The present invention is intended to provide a holding method capable of holding a stable door regardless of the size and shape of the door and without causing the door to be distorted or deformed.
この発明におけるドアの保持は、ドアの内板の上部コー
ナ部が当る略直交した基準面を有する保持フレームの、
前記基準面をドアの内板の上部コーナ部へ当てがい、前
記保持フレームの上部に昇降並びに水平動自在に設けた
フックを、前記ドアの内板と外板との間に挿入し、かつ
内板のウインドガラス案内部の下縁に係合させて、前記
ドアを前記基準面に押付け、前記保持フレームの下部に
設けた吸着手段にて前記ドアの外板の下部を吸着させる
ようにしたものである。The holding of the door in the present invention is performed by a holding frame having a substantially orthogonal reference surface with which the upper corner portion of the inner plate of the door abuts,
The reference surface is applied to the upper corner portion of the inner plate of the door, and a hook provided on the upper part of the holding frame to be vertically movable and horizontally movable is inserted between the inner plate and the outer plate of the door, and A structure in which the lower edge of the outer panel of the door is sucked by the suction means provided at the lower portion of the holding frame by engaging the lower edge of the window glass guide portion of the plate and pressing the door against the reference surface. Is.
上記保持方法であれば、フックにてドアを吊下げ支持
し、基準面と吸着手段とでドアの振れを防止するので、
ドアを安定よく保持できる。また基準面によってドアを
常に一定の状態に保持でき、定められた場所へ確実に供
給できる。さらにドアの荷重をフックで受けているの
で、吸着手段は単にドアの振れを防止するだけでよく、
強い力で吸着しなくてもよいので、外板が歪んだり変形
したすることがない。またフックが係合しているドア内
板のウインドガラス案内部が変形しても、外部から見え
ず、何ら支承をきたさない。またドアの外板の形状が変
わってもウインドガラス案内部の形状は変らず、問題な
く保持でき、多種類のドアを保持できる。With the above holding method, the door is hung and supported by the hook, and the reference surface and the suction means prevent the door from swinging.
Can hold the door stably. Further, the reference surface allows the door to be constantly held in a constant state, so that the door can be reliably supplied to a predetermined place. Furthermore, since the load of the door is received by the hook, the suction means need only prevent the door from swinging,
Since it does not need to be attracted with a strong force, the outer plate is not distorted or deformed. Further, even if the window glass guide portion of the door inner plate with which the hook is engaged is deformed, it cannot be seen from the outside and does not cause any bearing. Further, even if the shape of the outer panel of the door changes, the shape of the wind glass guide portion does not change, and it can be held without any problem, and various types of doors can be held.
以下、この発明の実施例を第1図乃至第3図を参照して
説明する。An embodiment of the present invention will be described below with reference to FIGS.
第1図乃至第3図は本発明の実施に際して使用される保
持治具を示す図面である。保持治具は作業用ロボット
(図示せず)のアームの先端に取付けられ、作業用ロボ
ットによって所定の範囲内で移動させられるようになっ
ている。1 to 3 are drawings showing a holding jig used for carrying out the present invention. The holding jig is attached to the tip of an arm of a work robot (not shown) and can be moved within a predetermined range by the work robot.
保持治具を構成しているフレーム(15)は、矩形状の上
部枠(16)の両側に脚片(17)(17)を設け、脚片(1
7)(17)の下端間を連結板(18)にて連結してある。
前記上部枠(16)の先端下面には基準板(19)を設けて
略直交する基準面(20)を構成し、該基準面(20)に弾
性を有する緩衝部材(21)(22)を取付けてある。前記
上部枠(16)には幅方向に2本のガイドロッド(23)
(23)を架設し、このガイドロッド(23)(23)に水平
シリンダ(24)をスライド自在に設け、水平シリンダ
(24)内のピストン(図示せず)をガイドロッド(23)
(23)に結合してある。従って水平シリンダ(24)のピ
ストン前室或いはピストン後室に油圧が供給されると、
水平シリンダ(24)が移動する。水平シリンダ(24)に
はT形状の可動フレーム(25)を取付け、可動フレーム
(25)の垂直板(25a)に上下方向に2本のガイドロッ
ド(26)(26)を架設し、このガイドロッド(26)(2
6)に昇降シリンダ(27)をスライド自在に設け、昇降
シリンダ(27)内のピストン(図示せず)をガイドロッ
ド(26)(26)に結合してある。この昇降シリンダ(2
7)のピストン前室或いはピストン後室に油圧が供給さ
れると昇降シリンダ(27)が昇降する。そして昇降シリ
ンダ(27)にドア(6)を支持するためのフック(28)
を取付けてある。フック(28)はドア(6)の外板(6
a)と内板(6b)の間の隙間に入る厚みで、かつ保持フ
レーム(15)より長い範囲に亘って形成されている。前
記フック(28)は水平シリンダ(24)の水平移動でもっ
て幅方向に移動させられ、昇降シリンダ(27)の昇降動
作でもって昇降させられ、ドア(6)の内板(6b)のウ
インドガラス案内部(6c)に係合する。保持フレーム
(15)の下端の連結板(18)の下面には幅方向に沿って
吸着用シリンダ(29)(29)を2個並設し、この吸着用
シリンダ(29)(29)のピストンロッド(29a)(29a)
に吸着手段、例えば蛇脱状の吸盤(30)(30)を取付け
てある。また吸盤(30)(30)の両側3個所に、ドア
(6)の外板(6a)の位置決めを行う位置決めブロック
(31)(31)(31)を取付けてある。この位置決めブロ
ック(31)(31)…は外板(6a)を傷付けないように弾
性部材で形成してある。上記吸着用シリンダ(29)(2
9)が伸長動作したとき、吸盤(30)(30)の前端面が
位置決めブロック(31)(31)…の前面より僅かに突出
するように設定してある。The frame (15) forming the holding jig is provided with leg pieces (17) and (17) on both sides of a rectangular upper frame (16).
7) The lower ends of (17) are connected by a connecting plate (18).
A reference plate (19) is provided on the lower surface of the tip of the upper frame (16) to form a reference surface (20) that is substantially orthogonal to the reference surface (20), and buffer members (21) (22) having elasticity are provided on the reference surface (20). It is installed. The upper frame (16) has two guide rods (23) in the width direction.
(23) is installed, a horizontal cylinder (24) is slidably provided on the guide rods (23) and (23), and a piston (not shown) in the horizontal cylinder (24) is attached to the guide rod (23).
It is connected to (23). Therefore, when hydraulic pressure is supplied to the piston front chamber or the piston rear chamber of the horizontal cylinder (24),
The horizontal cylinder (24) moves. A T-shaped movable frame (25) is attached to the horizontal cylinder (24), and two guide rods (26) and (26) are vertically installed on a vertical plate (25a) of the movable frame (25). Rod (26) (2
An elevating cylinder (27) is slidably provided on 6), and a piston (not shown) in the elevating cylinder (27) is connected to guide rods (26) (26). This lifting cylinder (2
When hydraulic pressure is supplied to the piston front chamber or the piston rear chamber in 7), the lifting cylinder (27) moves up and down. And the hook (28) for supporting the door (6) on the lifting cylinder (27)
Is installed. The hook (28) is attached to the outer plate (6) of the door (6).
It has a thickness that fits in the gap between a) and the inner plate (6b) and is formed over a range longer than the holding frame (15). The hook (28) is moved in the width direction by the horizontal movement of the horizontal cylinder (24), and is raised and lowered by the raising and lowering operation of the raising and lowering cylinder (27), and the windshield of the inner plate (6b) of the door (6). Engage with the guide portion (6c). Two suction cylinders (29) (29) are juxtaposed along the width direction on the lower surface of the connecting plate (18) at the lower end of the holding frame (15), and the pistons of the suction cylinders (29) (29) are arranged. Rod (29a) (29a)
A suction means, for example, a serpentine suction cup (30) (30) is attached to the. Positioning blocks (31) (31) (31) for positioning the outer plate (6a) of the door (6) are attached to three positions on both sides of the suction cups (30) (30). The positioning blocks (31) (31) ... Are formed of elastic members so as not to damage the outer plate (6a). Adsorption cylinder (29) (2
It is set so that the front end faces of the suction cups (30) (30) slightly project from the front faces of the positioning blocks (31) (31) ...
上記構成の保持治具は、待機時、水平シリンダ(24)を
外側へ移動させ、かつ昇降シリンダ(27)を下降させ、
さらに吸着用シリンダ(29)(29)を短縮させておく。
この状態で作業用ロボットを動作させて、保持治具をド
ア(6)の側方まで持って行き、フック(28)をドア
(6)の外板(6a)と内板(6b)との間に挿入すると共
に基準面(20)をドア(6)の内板(6b)の上部コーナ
部に接触させる。次に水平シリンダ(24)を内側へ移動
させてフック(28)を内板(6b)のウインドガラス案内
部(6c)に接触させ、続いて昇降シリンダ(27)を上昇
させ、フック(28)をウインドガラス案内部(6c)に係
合させ、かつ内板(6b)を保持フレーム(15)の基準面
(20)に押付ける。次に吸着用シリンダ(29)(29)が
伸長動作して吸盤(30)(30)をドア(6)の外板(6
a)に接触させ、吸盤(30)(30)に外板(6a)を吸着
させる。The holding jig configured as described above moves the horizontal cylinder (24) outward and lowers the elevating cylinder (27) during standby.
Further, the suction cylinders (29) (29) are shortened.
In this state, the work robot is operated to bring the holding jig to the side of the door (6), and the hook (28) between the outer plate (6a) and the inner plate (6b) of the door (6). The reference surface (20) is brought into contact with the upper corner portion of the inner plate (6b) of the door (6) while being inserted therebetween. Next, the horizontal cylinder (24) is moved inward to bring the hook (28) into contact with the window glass guide portion (6c) of the inner plate (6b), and then the lifting cylinder (27) is raised to move the hook (28). Is engaged with the window glass guide portion (6c), and the inner plate (6b) is pressed against the reference surface (20) of the holding frame (15). Next, the suction cylinders (29) (29) extend to move the suction cups (30) (30) to the outer plate (6) of the door (6).
The outer plate (6a) is adsorbed to the suction cups (30) (30) by contacting with a).
上記の如くドア(6)を保持すると、作業用ロボットを
動作させて、ドア(6)を車体側へ送り、車体の所定の
位置へセットする。そして、ドア(6)が車体に組付け
られると、吸着用シリンダ(29)(29)が短縮動作し
て、吸盤(30)(30)を外板(6a)から外し、同時に昇
降シリンダ(27)が下降して、フック(28)を内板(6
b)のウインドガラス案内部(6c)から外し、続いて水
平シリンダ(24)が外側に移動してフック(28)を外板
(6a)側に移動させ、ドア(6)を開放する。ドア開放
後、作動ロボットを動作させて、保持治具をドア(6)
から離す。When the door (6) is held as described above, the work robot is operated to send the door (6) to the vehicle body side and set it at a predetermined position on the vehicle body. Then, when the door (6) is assembled to the vehicle body, the suction cylinders (29) (29) are shortened to remove the suction cups (30) (30) from the outer plate (6a), and at the same time, the lifting cylinder (27). ) Descends and hooks (28) engage the inner plate (6
The horizontal cylinder (24) is moved to the outside to move the hook (28) to the outer plate (6a) side, and the door (6) is opened. After opening the door, operate the operating robot to attach the holding jig to the door (6).
Keep away from.
この発明によれば、ドアの内板のウインドガラス案内部
を吊下げ支持し、かつ保持フレームの基準面とフックと
でドア上部を位置決め保持し、さらにドアの外板の下部
を吸着保持するので、ドアを安定よく保持できる。しか
も、フックにてドアの荷重を支えているので、基準面及
び吸着手段はドアの振れを防止するだけでよく強い力で
押付ける必要がないので、ドアに歪みや変形を生じさせ
ることがない。またドア内板のウインドガラス案内部
は、ドアの外形が変わっても略一定の形状に成形される
ものであり、しかも吸着手段は振れを防止するだけでよ
く、外板の形状が変形しても吸着でき、一つの治具で多
種類のドアを保持することができる。According to this invention, the window glass guide portion of the inner plate of the door is suspended and supported, and the upper portion of the door is positioned and held by the reference surface of the holding frame and the hook, and further the lower portion of the outer plate of the door is suction-held. , Can hold the door stably. Moreover, since the load of the door is supported by the hook, the reference surface and the suction means only need to prevent the door from swinging and need not be pressed with a strong force, so that the door is not distorted or deformed. . Further, the window glass guide portion of the inner plate of the door is formed into a substantially constant shape even if the outer shape of the door is changed. Moreover, the suction means only needs to prevent the runout, and the shape of the outer plate is deformed. Can also adsorb, and one jig can hold many types of doors.
第1図は本発明に使用される保持治具の正面図、第2図
はその一部破断側面図、第3図は一部破断平面図であ
る。第4図は従来の保持治具の正面図、第5図はその側
面図、第6図は他の従来の保持治具の正面図、第7図は
その側面図である。 (15)……保持フレーム、(20)……基準面、 (28)……フック、(30)……吸盤。1 is a front view of a holding jig used in the present invention, FIG. 2 is a partially cutaway side view thereof, and FIG. 3 is a partially cutaway plan view thereof. FIG. 4 is a front view of a conventional holding jig, FIG. 5 is a side view thereof, FIG. 6 is a front view of another conventional holding jig, and FIG. 7 is a side view thereof. (15) …… Holding frame, (20) …… Reference surface, (28) …… Hook, (30) …… Sucker.
Claims (1)
た基準面を有する保持フレームの、前記基準面をドアの
内板の上部コーナ部へ当てがい、前記保持フレームの上
部に昇降並びに水平動自在に設けたフックを、前記ドア
の内板と外板との間に挿入し、かつ内板のウインドガラ
ス案内部の下縁に係合させて、前記ドアを前記基準面に
押付け、前記保持フレームの下部に設けた吸着手段にて
前記ドアの外板の下部を吸着させるようにしたことを特
徴とするドアの保持方法。1. A holding frame having a substantially orthogonal reference surface with which an upper corner portion of an inner plate of a door abuts, the reference surface is applied to an upper corner portion of an inner plate of a door, and the upper and lower parts of the holding frame are elevated and lowered. A horizontally movable hook is inserted between the inner plate and the outer plate of the door, and is engaged with the lower edge of the wind glass guide portion of the inner plate to press the door against the reference surface, A method of holding a door, characterized in that a lower portion of an outer plate of the door is sucked by a suction means provided in a lower portion of the holding frame.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1093800A JPH0647392B2 (en) | 1989-04-12 | 1989-04-12 | How to hold the door |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1093800A JPH0647392B2 (en) | 1989-04-12 | 1989-04-12 | How to hold the door |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH02270686A JPH02270686A (en) | 1990-11-05 |
JPH0647392B2 true JPH0647392B2 (en) | 1994-06-22 |
Family
ID=14092494
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP1093800A Expired - Lifetime JPH0647392B2 (en) | 1989-04-12 | 1989-04-12 | How to hold the door |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0647392B2 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05104474A (en) * | 1991-10-18 | 1993-04-27 | Sankiyuu Kk | Article gripping hand with hanging ring |
KR100440115B1 (en) * | 2001-08-09 | 2004-07-12 | 현대자동차주식회사 | Parts assembling jig for automotive |
-
1989
- 1989-04-12 JP JP1093800A patent/JPH0647392B2/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
JPH02270686A (en) | 1990-11-05 |
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