JPH07329842A - Door opening and closing robot hand - Google Patents

Abstract

PURPOSE:To provide a door opening and closing robot hand, which can securely hold a door, of which installation position is different form each other, for opening and closing with the simple structure. CONSTITUTION:In a door opening and closing robot hand 35 for opening and closing a door at the predetermined carrying position of a car body on a vehicle sealing line, two holding claws 44, 45 opposite to each other are provided in a flat hand main body 42, which is installed in the tip of a robot arm 32 freely to be turned, and while a door guide pushing surface 47 inclined to the tip is provided in the base end of the hand main body 42, and a door receiver surface 48 is provided between the holding claws 44, 45 and the door guide pushing surface 47.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention opens and closes a vehicle door for a vehicle body conveyed along a vehicle manufacturing line at a predetermined working position for assembling work inside the vehicle body, painting work, sealing work and the like. A robot hand for opening and closing a door.

[0002]

2. Description of the Related Art In a vehicle manufacturing process, a vehicle body is transported along a transportation line on a carriage.
In the painting process, all the doors are transported with the vehicle body attached, in order to make the painting colors of the vehicle body and the outer panel of the doors equal to each other by performing the painting work at the same time. Therefore, when performing assembling work, painting work, sealing work, etc. inside the vehicle, the door of the vehicle body is opened and closed by a robot to perform various work.

FIG. 8 shows an outline of a sealing work state inside the vehicle body, and FIG. 9 shows an outline of a conventional door opening / closing robot hand.

As shown in FIG. 8, a swing door 13 is openably and closably attached to a vehicle body 11 by a pair of upper and lower hinges 12 in a vehicle sealing (sealant application) line. The vehicle body 11 is transported along the transportation line and stopped at a predetermined work position. And the vehicle body 11
When performing the sealing work inside the door or inside the door 13, while the door 13 is opened by the door opening / closing mechanism 101 and held by the door positioning mechanism 201,
The sealing robot 301 applies the sealing agent.

In the conventional door opening / closing mechanism 101, an opening / closing cylinder 103 is mounted on a frame 102.
The door holding portion 104 is attached to the front end portion of 3. Then, in this door holding portion 104, as shown in FIG.
As shown in FIG.
The T-shaped mounting bracket 10 is attached to the tip portion 106 of 05.
7, a pair of supporting rollers 108 are pivotally attached to the mounting bracket 107 by supporting pins 109, respectively. The pair of support rollers 108 is used for the door 13
The window frame 14 is provided at a predetermined interval so that the lower part of the window frame 14 can be held, and is made of rubber so as not to damage the door 13 when it comes into contact with the window frame 14.

Further, as shown in FIG. 8, the door positioning mechanism 201 has a holder movable by a plurality of cylinders, and the door 13 opened by each holder.
The door 13 can be positioned by gripping the door from outside and inside. Furthermore, the sealing robot 30
1 is a multi-joint robot equipped with a seal gun at the tip of the arm, and the seal agent can be applied to the inside of the vehicle through the door opening where the door 13 is opened.

As such a door opening / closing mechanism, in addition to the above-mentioned one, there are those disclosed in Japanese Patent Publication No. 60-15513 or Japanese Patent Laid-Open No. 57-89579.

[0008]

By the way, in general,
In order to improve versatility, the vehicle transportation line is a multi-vehicle mixed line, and the vehicle body and the doors have different shapes and sizes. Therefore, even if the above-mentioned vehicle sealing line has different shapes and sizes, it is desirable that each device be compatible with the various vehicle bodies 11 and doors 13. However, in the above-described conventional door opening / closing mechanism 101, the pair of support rollers 108 hold the lower portion of the window frame 14 of the door 13 to open / close the door 13.
Such a holding method has a problem that the doors 13 having different shapes and dimensions cannot be held reliably. That is, the distance between the pair of support rollers 108 in the conventional door opening / closing mechanism 101 is almost the same as the thickness of the door 13, and when the thickness of the door 13 is different for each vehicle type,
I can't hold this. Further, the size of the door 13 varies depending on the vehicle type, and the holding position may shift in the height direction and the width direction of the vehicle. In this case, the positions of the support rollers 108 and the window frame 14 of the door 13 are displaced. The support roller 108 cannot hold the door 13.

In addition to the swing door type vehicle described above, a slide door type vehicle is also conveyed to the multi-vehicle mixed vehicle conveying line.
FIG. 10 is a schematic diagram showing the transport state of a slide door type vehicle.

As shown in FIG. 10, a pair of upper and lower temporary assembly hinges 1 are attached to a vehicle body 16 in a vehicle sealing line.
The slide door 18 is openably and closably attached by means of 7, and the slide door 18 can be fixed by means of a temporary fixing metal piece 19. That is, even in this slide door type vehicle, as described above, the slide door 18 is attached to the outer surface of the vehicle body 16 in order to simultaneously perform the painting work of the vehicle body and the outer panel of the door in the painting process. The sliding mechanism 18 does not slidably support the door opening, but the temporary assembly hinge 17 rotatably supports the sliding door 18.

This temporary assembly hinge 17 is composed of an upward hook 17a fixed to the vehicle body 16 and a support cylinder 17b fixed to the door 18 side and fitted with the hook 17a. Therefore, in the vehicle body 18 in which the slide door 18 is rotatably attached by the temporary assembly hinge 17, the support state is inaccurate, and the variation is large, and
There is wobbling, and the position of the door 18 may shift in the height direction and the width direction of the vehicle even in the same vehicle model.
In the conventional door opening / closing mechanism 101, the supporting rollers 108 are not positionally aligned with the door 18, and there is a risk that the door 18 cannot be reliably held. If the support roller 108 and the door 18 are displaced from each other, the support roller 1
The mounting bracket 107 of 08 may contact the door 18 and damage it.

Further, in such a sliding door type vehicle, when used as a transport vehicle, no window is required and no window opening is formed in the vehicle body. Therefore, in the conventional door opening / closing mechanism 101, the supporting roller 108 is used. The window frame of the door 18 cannot be held. In this case, conventionally, the operator was forced to open and close the door manually, and the work efficiency was not good. In order to solve such a problem, it is possible to install a door position measuring device for accurately positioning the door for a vehicle that is transported through a multi-vehicle type mixing line or a vehicle in which a sliding door is temporarily assembled. Although conceivable, this causes problems such as high cost of the device and a long working time.

The present invention solves such a problem, and an object of the present invention is to provide a door opening / closing robot hand capable of reliably holding and opening doors having different mounting positions with a simple structure.

[0014]

A robot hand for opening and closing a door according to the present invention for achieving the above object is a door for opening and closing a vehicle body on a vehicle manufacturing line at a predetermined transfer position. In the opening / closing robot hand, a flat plate-shaped hand body rotatably attached to the tip end portion of the robot arm, a plurality of holding claws provided at the tip end portion of the hand body opposite to each other, and the hand body A door guide pressing surface provided on the base end portion and inclined toward the tip end side, and a door receiving surface provided between the plurality of holding claws and the door guide pressing surface. is there.

[0015]

When the door of the vehicle body stopped at a predetermined transfer position is opened or closed on the vehicle manufacturing line, the door opening / closing robot is operated to open the hand body rotatably attached to the tip of the robot arm. Located near the holding point of
When the hand main body is moved closer to the door and moved in the door opening direction, the door receiving surface of the hand main body comes into contact with the holding portion of the door and the holding claw is locked at the holding portion of the door, and the door of the further hand main body is locked. By moving in the door opening direction, the door is opened while being held. Then, when the hand main body is moved in the door closing direction while pressing a predetermined portion of the door with the door guide pressing surface of the hand main body against the door in the open state, the door is closed.

[0016]

Embodiments of the present invention will now be described in detail with reference to the drawings.

FIG. 1 is a schematic diagram showing a door opening / closing robot hand according to an embodiment of the present invention, FIG. 2 is an enlarged view of the robot hand main body, FIG. 3 is a front view of a sealing robot, and FIG. 4 is another embodiment of the present invention. An outline showing a door opening / closing robot hand according to an example, and FIGS. 5 to 7 show outlines showing a door opening / closing operation by the door opening / closing robot hand of the present embodiment.

The door opening / closing robot hand of this embodiment is attached to the arm tip of an articulated robot together with a sealing gun, and the articulated robot is arranged laterally of the vehicle transfer line.

As shown in FIG. 3, in the articulated robot 21 of the present embodiment, the swivel base 22 is rotatably supported by a base 23 in a horizontal plane, and the vertical arm 24 has a base end portion. A rotary shaft 25 is rotatably supported on the swivel base 22. The horizontal lever 26 has a base end rotatably supported by a rotary shaft 25 of the swivel base 22, and a tip end thereof is connected to a base end of an auxiliary arm 27 which is substantially parallel to the vertical arm 24. A shaft 28 is rotatably connected. Then, the vertical lever 24 and the auxiliary arm 2
Each of the distal ends of 7 is rotatably supported on the base end side of the horizontal arm 29 by rotating shafts 30 and 31, respectively. Therefore, when the swivel base 22 is swung by the drive motor (not shown), the horizontal arm 29 can be swung in the horizontal plane. The vertical arm 24 is driven by a drive motor (not shown).
When is rotated, the auxiliary arm 26 is also rotated in the same direction, and the horizontal arm 28 can be moved back and forth while maintaining its rotation angle (horizontal state in FIG. 3). When the horizontal lever is rotated, The horizontal arm 29 can be rotated up and down about the rotation shaft 30 via the auxiliary arm 26.

At the tip of the horizontal arm 29, the rotating arm 3 is provided.
2 is rotatably connected on the same axis, and the rotation arm 32
The tip of the wrist has a bifurcated shape, and the support shaft 33 allows the wrist 3 to
4 is rotatably supported. A rotatable drive shaft 37 is attached to the tip of the wrist 34, and a hand 35 and a sealing gun 36 are attached to the drive shaft 37. Therefore, the rotating arm 32 is driven by a motor (not shown).
Alternatively, the drive shaft 37 can be rotated to change the use positions of the hand 35 and the sealing gun 36.
It is possible to change the use angles of the hand 35 and the sealing gun 36 by rotating the shaft about the support shaft 33.

In the hand 35 and the sealing gun 36, as shown in FIG. 1, the wrist portion 34 has a drive shaft 37 which is rotatable by a built-in drive motor (not shown). An L-shaped bracket 38 is fixed. And this bracket 38
A sealing gun 36 for applying a sealant is attached to one end of the. A base plate 39 is fixed to the other end of the bracket 38 with a bolt 40, and a hand 35 is attached to the base plate 39 with a bolt 41.

In this hand 35, as shown in FIGS. 1 and 2, the hand body 42 is made of ultra-high molecular weight polyethylene and has a flat plate shape, and the base plate 39 is fitted and fixed to the lower surface thereof. The groove 43 is formed.
Further, two holding claws 44 and 45 are formed at the tip of the hand body 42 so as to project from the top surface and face each other, and the base end of the hand body 42 is inclined from the top surface via a step 46. A door guide pressing surface 47 is formed. The distance between the two holding claws 44 and 45 is slightly larger than the thickness of the door to be held. And 2
A door receiving surface 48 is formed between the one holding claw 44, 45 and the door guide pressing surface 47.

The mounting form of the hand 35 and the sealing gun 36 on the wrist 34 is not limited to the above-described one, but may be replaced according to the shape of the vehicle body to be worked. For example, as shown in FIG. 4, a Z-shaped bracket 49 is fixed to a rotatable drive shaft 37 of a wrist 34, and the ceiling gun 36 and the hand 35 are attached to the bracket 49 at 90 degrees. You may attach so that it becomes.

The door opening / closing operation of the articulated robot using the above-described door opening / closing robot hand of this embodiment will be described below. First, as shown in FIG.
In the vehicle in which the sliding door 18 is openably and closably attached to the 6 by the pair of upper and lower temporary assembly hinges 17 and is fixed by the temporary fixing metal fittings 19, the articulated robot 21 is operated and the hand 35 is moved to the lower rear end of the sliding door 18. The hand 3 below the slide door 18 in the front-back direction.
Position so that 5 is along. When the hand 35 is moved upward to approach the door, the sliding door 18
When the lower end of the sliding door 18 enters between the holding claws 44 and 45 of the hand body 42 and the hand 35 is moved upward as it is, the door receiving surface 48 slightly lifts the sliding door 18 while receiving the lower end of the sliding door 18. Then, the locking of the slide door 18 by the temporary fixing metal 19 is released.

Then, when the articulated robot 21 is operated to move the hand 35 in the door opening direction, the door receiving surface 48 of the hand 35 holds the lower end of the sliding door 18 and the lower end of the door 18 is held. The one holding claw 44 that has been locked opens the slide door 18. When the opened slide door 18 is positioned and held by a door positioning mechanism (not shown), the articulated robot 21 is operated to separate the hand 35 from the slide door 18. Then, the sealing gun 36 mounted on the articulated robot 21 applies a sealant to a predetermined position on the vehicle body 16 or the slide door 18.

When the sealing operation is completed, the articulated robot 21 is operated again, and the lower end portion of the slide door 18 is locked by the other holding claw 45 of the hand body 42 and the door receiving surface 48 is formed in the same manner as described above. The slide door 18 is slightly lifted while receiving the lower end portion thereof, and at the same time, the positioning of the slide door 18 by the door positioning mechanism is released. When the articulated robot 21 is operated to move the hand 35 in the door closing direction, the slide door 18 held by the hand 35 moves to the door closing position, where the hand 35 is lowered to the door receiving surface 48. When the held slide door 18 is moved slightly downward, the slide door 18 is locked by the temporary fixing metal fitting 19 and is closed.

In this way, the articulated robot 21 is operated,
By using the holding claws 44 and 45 of the hand 35 and the door receiving surface 48, the support state is inaccurate and varies widely, and there is wobble. Even if the slide door 18 is displaced in the height direction and the width direction, the slide door 18 can be reliably held and opened / closed.

Next, in the same manner as described above, the sliding door 18 is supported by the vehicle body 16 by the temporary assembly hinge 17 and the temporary fixing metal fitting 19 so that the hand 35 is different from that of the vehicle.
A case will be described in which the slide door 18 is held and opened / closed depending on how to use. That is, as shown in FIG. 6, the articulated robot 21 is operated to move the hand 35 to the slide door 1
8 from the outside, and is positioned below the lower rear end of the door 18. Then, when the hand 35 is moved upward to approach the door, the lower end of the slide door 18 enters the door receiving surface 48 between the holding claws 44 and 45 of the hand body 42 and the door guide pressing surface 47. Hand 3 as it is
When 5 is moved upward, the door receiving surface 48 slightly lifts the slide door 18 while receiving the lower end portion of the slide door 18, and the slide door 18 is temporarily fixed by the temporary fittings 19.
Is unlocked.

When the hand 35 is moved in the door opening direction by operating the articulated robot 21, the door receiving surface 48 of the hand 35 holds the lower end of the sliding door 18 and the lower end of the door 18 is held. The holding claws 44 and 45 that are locked open the slide door 18. When the opened slide door 18 is positioned and held by a door positioning mechanism (not shown), the articulated robot 21 is operated to separate the hand 35 from the slide door 18. Then, the sealing gun 36 mounted on the articulated robot 21 applies a sealant to a predetermined position on the vehicle body 16 or the slide door 18.

When the sealing operation is completed, the positioning of the slide door 18 by the door positioning mechanism is released, and at the same time, the articulated robot 21 is operated to tilt the hand main body 42 and the door guide pressing surface 47 or the door receiving surface 48.
Thus, the lower end of the slide door 18 is pressed, and the slide door 18 is moved in the door closing direction. When the slide door 18 pushed by the hand 35 moves to the closed position, the slanted hand body 42 is moved substantially horizontally to move upward, and the holding claws 44 and 45 are locked to the lower end portion of the slide door 18. Then, the sliding door 18 is slightly lifted and moved downward again, so that the sliding door 18 is locked to the vehicle body 16 by the temporary metal fitting 19 to be in the closed state.

In this way, the articulated robot 21 is operated,
Holding pawls 44 and 45 of the hand 35 and a door guide pressing surface 47
Alternatively, by using the door receiving surface 48, the supporting state is inaccurate and varies widely, and there is wobbling, and even in the same vehicle model, the door opening / closing position is displaced in the height direction and the width direction of the vehicle. Even if it is, the slide door 18 can be surely held and opened / closed.

Further, a case will be described in which the swing door 13 is held and opened / closed with respect to a vehicle in which the swing door 13 is openably / closably supported on the vehicle body 11 by a normal hinge 12. That is, as shown in FIG. 7, the articulated robot 21 is operated, the hand 35 is approached to the swing door 13 from the outside, and the lower portion of the window frame 14 of the door 13 is held by the holding claws 44 and 45 of the hand body 42. Lock. When the articulated robot 21 is operated in this state to move the hand 35 in the door opening direction, the holding claws 44 and 45 of the hand 35 open the swing door 13. When the opened swing door 13 is positioned and held by a door positioning mechanism (not shown), the articulated robot 21 is operated to operate the hand 3
5 moves away from the swing door 13. Then, the sealing gun 36 attached to the articulated robot 21 applies a sealant to a predetermined position on the vehicle body 11 or the swing door 13.

When the sealing work is completed, the positioning of the swing door 13 by the door positioning mechanism is released and, at the same time, the articulated robot 21 is operated, and the stepped portion 46 of the hand body 42 or the door guide pressing surface 47 causes the window frame of the slide door 18. Press 14. Then, the swing door 13 moves in the door closing direction and is closed with respect to the vehicle body 16.

In this way, the articulated robot 21 is operated,
Holding pawls 44 and 45 of the hand 35 and a door guide pressing surface 47
Alternatively, even if the swing door 13 is correctly supported by the hinge 12 by using the door receiving surface 48,
It can be held securely and opened and closed.

[0035]

As described above in detail with reference to the embodiments, according to the door opening / closing robot hand of the present invention, the tip of the flat plate-shaped hand body rotatably mounted on the tip of the robot arm. A plurality of holding claws facing each other at the same portion, and a door guide pressing surface inclined toward the tip side at the base end of the hand body, and a door receiving surface between the plurality of holding claws and the door guide pressing surface. Since the support position is not accurate and it is displaced in the front / rear, up / down, left / right direction of the vehicle, and the size and position of the door change depending on the vehicle model, multiple holding claws, door guide pressing surfaces, and door support By using the surface, the door can be securely held and opened / closed with a simple structure.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a door opening / closing robot hand according to an embodiment of the present invention.

FIG. 2 is an enlarged view of a robot hand body.

FIG. 3 is a front view of a sealing robot.

FIG. 4 is a schematic view showing a door opening / closing robot hand according to another embodiment of the present invention.

FIG. 5 is a schematic view showing a sliding door opening / closing operation by the door opening / closing robot hand of the present embodiment.

FIG. 6 is a schematic diagram showing a sliding door opening / closing operation by the door opening / closing robot hand of the present embodiment.

FIG. 7 is a schematic diagram showing a swing door opening / closing operation by the door opening / closing robot hand of the present embodiment.

FIG. 8 is a schematic view showing a sealing work state inside the vehicle body.

FIG. 9 is a schematic view of a conventional door opening / closing robot hand.

FIG. 10 is a schematic diagram showing a transportation state of a sliding door type vehicle.

[Explanation of symbols]

 11 Vehicle Body 12 Hinge 13 Swing Door 16 Vehicle Body 17 Temporary Assembly Hinge 18 Sliding Door 19 Temporary Locking Hinge 21 Articulated Robot 32 Rotating Arm 34 Wrist 35 Hand 36 Sealing Gun 42 Hand Main Body 44, 45 Holding Claw 46 Step 47 47 Door Guide Pressing surface 48 Door receiving surface

Claims (1)

[Claims] 1. A door opening and closing robot hand for opening and closing a door of a vehicle body on a vehicle manufacturing line at a predetermined transfer position, which has a flat plate shape rotatably attached to a tip end portion of a robot arm. A hand body, a plurality of holding claws provided at the tip of the hand body so as to face each other, a door guide pressing surface provided at the base end of the hand body and inclined toward the tip, and a plurality of the plurality of holding claws. A door opening / closing robot hand comprising a door receiving surface provided between a holding claw and a door guide pressing surface.