JPH0748454Y2 - Vehicle door opening / closing / positioning device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a vehicle door opening / closing / positioning device applied to a process of applying a sealer to a door clinch portion which is automated by using a sealant applying robot.

2. Description of the Related Art A vehicle door formed of steel sheet requires a work of applying a sealant to the clinch portion to prevent water from entering. Therefore, to explain the conventional sealer application work on the door clinch part, the operator opens the door of the vehicle body that is tact-transported on the assembly line, the operator applies the sealant to the necessary parts of the door, and then closes the door. It was carried to the next process, and everything was done by hand. There are also assembly lines that use a sealer application process that uses a sealant application robot, but in this case the positional relationship between the movement of the application operation taught by the robot and the door that applies the sealant becomes a problem. A measure is taken to correct the movement of the robot by arithmetically processing the result of measuring several predetermined points of the opened door.

Problems to be Solved by the Invention By the way, in recent years, automation of automobile assembly lines has been actively promoted, and there is a strong demand for line automation using a sealant coating robot in the sealer coating process of the door clinch portion. However, when using a sealer application robot, an error that occurs between the work taught to the robot and the position of the door that applies the sealant becomes a problem, and it is difficult to prevent this error. It was For this reason, some measures are taken to measure the predetermined points of the door opened to apply the sealant, and the measurement result is arithmetically processed to detect an error, thereby correcting the movement of the sealant applying robot. However, there is an inconvenience that it takes time for measurement and calculation processing. Therefore, an object of the present invention is to provide a vehicle door opening / closing / positioning device capable of automatically positioning / holding by opening a door of a vehicle body for tact conveyance in a sealer application process. An object of the present invention is to provide a vehicle door opening / closing / positioning device that can be applied to a production line that mixes various vehicle types.

Means for Solving the Problems The present invention is to solve the above-mentioned problems, and is a vehicle door for opening, positioning and holding a door of a vehicle body that is tact-transferred in a sealer applying robot sealer applying process to a door clinch part. In the opening / closing / positioning device of FIG. 1, a straight rubber roller protruding from the tip of a slide member that linearly slides on the base plate by the driving force of the cylinder, and a clamp cylinder fixed to the slide member and a link mechanism are used. The swinging rubber roller attached to the arm connected together holds the door,
A door opening and closing mechanism that opens and closes the door by operating the cylinder;
A clamp for pulling in the door opened by the door opening / closing mechanism,
The clamp includes: a locator that interferes with a door drawn into the clamp and regulates an opening degree and a height in a vertical direction; and a switching unit that switches settings of the locator to enable compatibility with a plurality of vehicle types. A door opening / closing / positioning device for a vehicle, comprising a positioning mechanism that cooperates with the locator to position and hold the door.

Action According to the above-mentioned means, the door opening / closing mechanism includes the straight rubber roller which is moved forward by the driving force of the cylinder and is in contact with the door outer plate with respect to the door of the vehicle conveyed in the closed state, and the clamp cylinder. It swings by the link mechanism that operates by receiving the driving force of the door, and the swinging rubber roller that comes into contact with the inner plate of the door through the door opening from the outside of the door cooperates to hold the door between both rubber rollers. To do. When the cylinder is retracted in this state, the door is pulled by the driving force of the cylinder and opened. Next, the positioning mechanism operates to position and hold the opened door, but first retract the door that was opened by the clamp, and remove the door that has been retracted to the locator that regulates the opening degree and vertical height of the door. Position and hold by interfering. In a line where a plurality of vehicle types are mixed, the switching means is operated to change the setting of the locator.

Embodiment An embodiment of a vehicle door opening / closing / positioning device according to the present invention will be described with reference to FIGS. The vehicle door 1 formed of a steel plate requires a sealer application step of applying a sealant 3 to the clinch portion 2 to prevent water from entering, but the door 1 is not in an open state due to structural reasons. And the sealant cannot be applied. Therefore, in order to automate using the sealant application robot 4, a vehicle door opening / closing / positioning device is required. This vehicle door opening / closing / positioning device is combined with a door opening / closing mechanism 5 for opening / closing the door 1. , And a positioning mechanism 6 for positioning and holding the opened door 1. First, the structure of the door opening / closing mechanism 5 will be described. A straight rubber roller 10 that is attached so as to project from the tip of a slide member 9 that linearly slides on the base plate 8 by the driving force of the cylinder 7,
It comprises a clamp cylinder 11 fixed to the slide member 9 and a swing rubber roller 13 attached to an arm 12 connected via a link mechanism, and the straight rubber roller 10 and the swing rubber roller 13 cooperate with each other. Then, the door 1 is clamped and the door 1 is opened and closed by the operation of the cylinder 7. In addition, 14 is a stand, 15 is a bracket, white arrow 16 shows the sliding direction of the straight rubber roller 10, and white arrow 17 shows the rocking direction of the rocking rubber roller 13, respectively. Next, the structure of the positioning mechanism 6 will be described. The clamp 18 for retracting the door 1 opened by the door opening / closing mechanism 5 and the door 1 retracted by the clamp 18 interfere with each other to regulate the opening degree and the vertical height. Locators 19 and 20 and switching means for switching the setting of the clamps so as to be compatible with a plurality of vehicle types, and the clamp 18 and the locators 19 and 20 cooperate to position and hold the door 1. Is configured. And the door 1
As a switching means of the locator 19 for positioning by interfering with the upper end of the locator, the locator 19 that slides in the direction of the white arrow 22 by the operation of the switching cylinder 21 is prepared for the number of vehicle types, and only the locator 19 of the corresponding vehicle type is provided. There is a structure that slides forward to switch. Further, as a switching means for the locator 20 that positions the door 1 by interfering with the lower end of the door 1, there is a structure for providing a drive mechanism 24 for moving the base plate 23 to which the locator 20 is fixed, and moving the back and forth and up and down. Reference numeral 25 is a drive cylinder for swinging the clamp 18 in the direction of the white arrow 26, and 27 is a pedestal.

According to the vehicle door opening / closing / positioning device having the above-described configuration, when the vehicle body that is tact-transported with the door 1 closed reaches the sealer coating step, the cylinder 7 of the door opening / closing mechanism 6 operates and the slide member is moved. 9 is slid toward the front door 1 along the base plate 8, and the base plate 8 is integrated with the straight rubber roller 10, the bracket 15,
Clamp cylinder 11, arm 12 and rocking rubber roller 13
Also advances in the direction of the outlined arrow 16. At this time, the rocking rubber roller 13 is pulled up in the direction of the white arrow 13. And
The straight rubber roller 10 that has moved forward toward the door 1 is a door outer plate.
1a is abutted, and then the clamp cylinder 11 operates to push down the swing rubber roller 13 integrally with the arm 12. The swing rubber roller 13 pushed down in the direction of the white arrow 17 comes into contact with the door inner plate 1b from the outside of the door 1 through the opening for attaching the wind glass, and the straight rubber roller 10 and the swing rubber roller 13 are connected. Insert door 1 in between. In this state, when the cylinder 7 is operated and retracted, the door 1 is pulled by the swing rubber roller 13 and opened. Since the swing rubber roller 13 is configured to be hooked on the door inner 1b and opened, the door opening / closing mechanism 5 can be applied to a wide range of vehicle types. next. The operation of the positioning mechanism 6 will be described. The door 1 opened by the door opening / closing mechanism 5 is in a free state because the holding by the straight rubber roller 10 and the swing rubber roller 13 is released. It is pulled in to the locators 18 and 19 side by the clamp 18 that is brought into contact with.
At this time, the locator 19 is switched by the operation of the switching cylinder 21 so as to correspond to the vehicle type.
Is waiting at a position where the locator corresponding to the vehicle type does not interfere with the door 1 by the operation of the drive mechanism 24. Therefore, when the door 1 drawn into the clamp 18 has its upper end interfered with the locator 19 and its opening is restricted, and the drive mechanism 24 is operated to cause the locator 20 and the lower end of the door 1 to interfere with each other. The height and the opening in the vertical direction are regulated to complete the positioning, and the clamp 18 holds the state as it is. The sealer coating operation is carried out by the teaching movement of the sealant coating robot 4 with respect to the clinch portion 2 of the door 1 thus positioned.

Effect of the Invention According to the above-described present invention, it becomes a vehicle door opening / closing / positioning device that automatically opens and positions and holds the door of the vehicle body for tact transportation, and it is possible to cope with mixed-type vehicle lines. It has a great effect on the automation of the sealer application process using the sealant application robot. Also,
Since the opening and closing and positioning of the door are performed mechanically continuously, there is an effect that the working time can be shortened.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of a vehicle door opening / closing / positioning device according to the present invention, FIG. 2 is a side view showing details of the door opening / closing mechanism of FIG. 1, and FIG. FIG. 4 is a side view showing details of the positioning mechanism, and FIG. 4 is a sectional view showing a door clinch portion coated with a sealant. 1 ... Door, 2 ... Clinch part, 3 ... Sealing agent, 4 ...
… Sealant application robot, 5 …… Door opening / closing mechanism, 6 ……
Positioning mechanism, 7 ... Cylinder, 8 ... Base plate, 9 ... Sliding member, 10 ... Straight rubber roller, 11
…… Clamp cylinder, 12 …… Arm, 13 …… Rotating rubber roller, 14 …… Stand, 15 …… Bracket, 18 …… Clamp, 19,20 …… Locator, 21 …… Switching cylinder, 23…
… Base plate, 24 …… Drive mechanism, 25 …… Drive cylinder, 27 …… Stand.

Claims (1)

[Scope of utility model registration request] 1. A vehicle door opening / closing / positioning device for opening and positioning / holding a door of a vehicle body for tact transportation in a sealer application process for a door clinch part by a sealant application robot. A straight rubber roller which is mounted so as to project from the tip of a linearly sliding slide member, and a swing rubber roller which is mounted on an arm connected to a clamp cylinder fixed to the slide member via a link mechanism. Cooperate with each other to hold the door and open and close the door by operating the cylinder, a clamp that pulls in the door opened by the door opening and closing mechanism, and an opening that interferes with the door pulled in by the clamp. And a switching means for switching the setting of the locator and supporting a plurality of vehicle types. Comprising a closing and positioning device of the vehicle door, characterized in that it is constituted by a positioning mechanism for positioning and retaining the doors in the locator and cooperate with the clamp.