JPS6146780A - Door setting device for automobile - Google Patents

Abstract

PURPOSE:To dispense with any positional correction of a door to a car body by an operator, by making its accurate positioning control at the time of setting the door to the car body so as to be automatically performed by a robot. CONSTITUTION:A door setting device consists of a door setting robot 12 mounted on a truck 10 moving in a direction going along a car body assembling line and constituted so as to perform the preset motion, plural pallets 20 disposed along a traveling direction of the truck 10 and housing plural doors 5, 7 and 8 as classified each and a positioning mechanism 26 where these doors taken out of these pallets by the robot 12 are accurately position to the robot 12. Owing to the said positioning mechanism 26, since each position of these doors to the robot becomes so accurate enough, any positional slip of each door to a car body to be produced at the time of setting the door to the car body is made well reducible.

Description

Detailed Description of the Invention (Industrial Field of Application) The present invention provides a system for storing vehicle bodies that are separated into a plurality of pallets according to the type and/or mounting location of the vehicle body transported to the door mounting station controller on the vehicle body assembly line. The present invention relates to a door mounting device for an automobile, which is equipped with a door-sent robot that selectively picks out a suitable door from a plurality of doors placed in the vehicle and automatically places the door at a door-mounting position on a vehicle body.

(Prior Art) Conventionally, when automatically attaching a door to a car body at a door installation station on a car body assembly line, for example,
As shown in Japanese Patent Publication No. 57-48334,
After supplying the door to be attached to the vehicle body from the door delivery means to the automatic door centering device, the automatic door centering device is activated to bring the door close to the vehicle body, and when the door is approximately in the installation position, the worker attaches the door to the vehicle body. We are trying to correct any misalignment that may occur between the two. As described above, although a certain degree of automation has been achieved with conventional automobile door mounting devices when attaching the door to the vehicle body, it is difficult to mechanically control the positioning of the door attached to the vehicle body. Some parts still remain,
For this reason, new measures are needed to further improve automation, labor saving, etc.

By the way, in recent years, industrial robots have been used in various fields, especially in
This industrial robot is becoming widespread in the manufacturing and processing industry, and it is being considered to introduce it into the process of attaching doors to car bodies.As a robot that can be used to attach doors to car bodies, For example, playback type articulated robots that operate according to predetermined movement paths have already been developed.

However, in order to cope with the diversification of production car models and specifications, the car body assembly line is made into a mixed flow line, and when installing doors corresponding to each car model on multiple car models transported to the door installation station, or when installing a door corresponding to a single car model, Multiple doors (e.g. front door and rear door) installed at different locations on a car body being transported to a door installation station on a car body assembly line.
When installing a door, if a robot is used to selectively set the corresponding door on the vehicle body depending on the type of vehicle body or the installation location in order to automate or save labor, the following problems will occur. ing.

That is, when multiple types of doors are selectively attached to the vehicle body using a robot as described above, multiple types of doors to be attached to the vehicle body are prepared in advance on a pallet for each door, and the prepared doors are If the robot grasps the door and inserts it into the vehicle body, it should be possible to easily insert the door into the vehicle body. However, the door pallets normally used in the above-mentioned mixed flow lines require versatility so that they can accommodate different types of doors, and are also portable due to ease of work and cost when replacing them. Although it is manufactured in a possible bogie format, its dimensional accuracy is not very high, and the door stored in this pallet has a little extra space inside the pallet so that it can be removed smoothly when attached to the car body. If you use a robot that operates according to a predetermined movement path, the robot will be stored at the specified position regardless of the position of the door. If the position of the pallet with respect to the robot or the position of the door within the pallet is not accurate, the grip position of the robot with respect to the door will be inaccurate, and the door cannot be set on the vehicle body. In this case, there is a possibility that the position of the vehicle body and the door may be misaligned, leading to a situation where it becomes impossible to attach the door to the vehicle body.

(Object of the Invention) In view of the above, the present invention provides a robot that operates according to a predetermined movement path to perform multiple door installation operations according to the type and/or installation location of a vehicle body transported to a door installation station on a vehicle body assembly line. When selectively taking out multiple doors stored separately on pallets and automatically placing them on the vehicle body, the robot grips the door in an accurate position to reduce misalignment between the vehicle body and the door. To provide an automobile door mounting device which can be attached to a vehicle body accurately and reliably.

(Structure of the Invention) The present invention provides a door sensor 1~ robot that is mounted on a truck that moves in a direction along a car body assembly line and operates according to a predetermined movement path, and a robot that moves along a moving direction of the truck. A plurality of pallets that are arranged in sequence and store a plurality of types of doors in sections, and a positioning mechanism on which doors taken out by a robot from the pallets are placed and which positions the placed doors with respect to the robot. The robot selectively takes out a door corresponding to the type and/or installation location of the car body to be transported to the door installation station of the car body assembly line from the pallet, and after the taken out door is positioned by a positioning mechanism, The robot is configured to grip the door and insert it into the vehicle body.

With this configuration, the door can be efficiently taken out by the robot from the pallet, and the taken out door is positioned by the positioning mechanism so that the position relative to the robot is appropriate.
The door gripping position of the robot can be maintained at an appropriate position at all times, thereby reducing misalignment of the door relative to the vehicle body when the door is placed on the vehicle body.

(Example) Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic plan view showing the configuration of main parts of an example of an automobile door mounting device according to the present invention, and FIGS. 2 to 9 are diagrams showing the configuration of each part in the example shown in FIG. 1. .

In FIG. 1, reference numeral 1 denotes a vehicle body assembly line such as a mixed flow line, and in this vehicle body assembly line 1, a plurality of stations ST including a door mounting station STa are arranged at a predetermined distance from each other. There is. In this vehicle body assembly line 1, vehicle bodies 2A and 2B of different vehicle types are fixedly moved by a suitable conveying means, for example, a floor conveyor.
The conveyor 3 transports each component one pinch at a time to each station. For example, each component is assembled or installed at each station in sequence in a transport order determined according to the production plan for that day. and assembled into a completed car body.

In this way, the vehicle bodies 2A and 2B, which are assembled while being conveyed on the vehicle body assembly line 1, are moved to the door installation station S.
At Ta, front doors 5 on both left and right sides are attached to the vehicle body 2A, and front doors 7 and rear doors 8 on both left and right sides are attached to the vehicle body 2B. As shown in FIGS. 6 and 7, each of these doors is provided with a hinge portion 6 that engages with a portion of the pillar of the vehicle body, and a taper pin 16 is provided protruding from the hinge portion 6. There is.

As shown in FIGS. 1 and 2, the door installation station ST includes a door cent robot mounted on a trolley 10 that runs on rails 9 laid parallel to the car body assembly line 1. 12 are provided. This robot 12 is, for example, a teaching play bank type articulated robot, and its list 13 includes suction cups 14a and 14'b that suck a door at the tip, as shown in FIGS. 3 and 5. and 14C are attached to the three cylinders 14A, 14B and 14C, and the receiver member 15A has elastic pads 15a, 15b and 15c fixed to the tips.
, 15B, and 15C (not shown) are attached to the hand 17, which has a U-shaped cross section and is adapted to grip the door. The hand 17 also carries doors 5, 7, . and 8 are provided. The robot 12 is capable of performing movements similar to those of a human's upper limbs, and has hands 17. The entire handling means consisting of wrist 13 and arm 19 moves according to the joint coordinate system. That is, as shown in FIG. 2, for example, it rotates 300 degrees in the ■ direction, swings 90 degrees in the W direction, and rotates 1
Turn 05°.

Furthermore, as shown in FIG.
The wrist 13 is rotated 360 degrees in the α direction with respect to the arm 19 and 210 degrees in the β direction, and the wrist 13 is rotated 360 degrees in the T direction with respect to the arm 19. Therefore, the target position of the hand 17, that is, the amount of movement of the robot 12 is V
, W, U, α, β, and γ. Then, the movement path, that is, movement locus data, etc., are taught by the teaching operation panel, and the teaching content is stored in the memory of the control unit 60. Therefore, when the control unit 60 supplies the robot 12 with a control signal OCp, which will be described later, and which defines each of the six parameters described above that determines the amount of motion, the robot 12 will follow the teaching content, in other words, the robot 12 will control the amount of motion determined in advance. The operation necessary for each door 5, 7, and 8 to be attached to the vehicle body is performed according to the determined operation path.

Furthermore, as shown in FIG.
sequentially along the direction of movement of the front door 5. A plurality of valets 20 are arranged and locked in fixed positions for storing the front door 7 and the rear door 8 in parallel at predetermined intervals. Each of these valets 20 has wheels attached to the bottom so that it can be moved, and is formed with a box-shaped structure with side and top openings, so that each door 5, 7, and 8 can be connected to the vehicle body assembly line l side. It is designed to be pulled out from the side.

Furthermore, pull-out stands 24 and 25 are installed on the above-mentioned cart 10 in front and behind the robot 12, sandwiching the robot 12 when viewed along the moving direction. As shown in FIGS. 2 and 4, the drawer stands 24 and 25 have a bottom portion 21 and a back surface @ 22.
rollers 5 are provided on the bottom part 21 and the back plate 22.
1 and 52 are pivoted, so that each door 5, 7, and 8, which is pulled out from the valet 20 by the robot 12 and placed thereon, can easily move laterally or upwardly.

One of the drawer stands 24 and 25, the drawer stand 24
is provided with a positioning mechanism 26 for positioning each door 5, 7, and 8 placed thereon. The positioning mechanism 26, as shown in FIGS. 6 and 7,
Guided by the cylinder 2B fixed to the support part 22a extending from the rear plate 22 of No. 4 and the guide bar 31 of the support member 30, the cylinder 28 is guided by the piston 29 of the cylinder 28 in the direction shown by the arrow S in FIG. It has a positioning plate that can be moved forward and backward. This positioning plate is attached to the hinge portion 6 of each door 5, 7, and 8 to be placed.
A positioning hole 33 that engages with a taper pin 16 protruding from the
a, and each door 5 for the grasping position of the robot 12,
7 and 8. In addition, 3
Reference pads 2Δ and 32B are in contact with each door 5, 7, or 8, and are fixed to the support portion 22a.

In the above configuration, when the vehicle body 2A or 2B is conveyed to the door attachment station ST and stopped, there may be a center shift due to the inaccuracy of the floor conveyor 3, or a loading shift of the vehicle body 2A or 2B with respect to the floor conveyor 3, etc. are accumulated, and their stopping positions vary, and the front door 5, front door 7, or rear door 8 and the vehicle body 2A
Or, the position of door 5 may be misaligned with respect to the door mounting part of 2B.
There is a possibility that it will not be possible to attach 7 or 8 to the vehicle body 2A or 2B. Therefore, in this example, the vehicle body 2A or 1 stopped at the door installation station ST.
The vehicle body measurement device 38 that measures the position of the vehicle body 2A or 2B from both left and right sides of the vehicle body 2B is located at the door mounting station ST,
attached to. As shown in FIGS. 8 and 9, this vehicle body actual measuring device 38 has a slide table 39 that is movable in parallel along the vehicle body assembly line 1. Part 40
A and 40B are arranged at a predetermined distance from each other.

The vehicle body position detecting portions 40A and 40B have a detection pin 42 having a tapered tip and engaging with a hole 47 provided in the vehicle body 2A or 2B, as shown in FIG. Position sensors 44 and 45 are provided so as to come into contact with two points on the side surface of the vehicle body 2A or 2B at a predetermined distance from each other in the height direction and length direction of the vehicle body 2A or 2B, respectively. In the vehicle body measurement device 38 configured as described above, when measuring the position of the vehicle body 2A or 2B, the detection pin 42 is protruded and inserted into the hole 47, and the position sensors 44 and 45 are protruded to measure the position of the vehicle body 2A or 2B. 2
Bring it into contact with A or 2B. At this time, the vehicle body 2A or 2B
If the position of is deviated in the X direction or the Y direction in FIG. At the same time, the Z
On the other hand, the vehicle body 2A or 2B is detected in the longitudinal and lateral directions (P direction and Q direction in the figure).
direction), the position sensors 44 and 4
5 detects the inclination amounts Δθp and Δθq, respectively.

The positional deviation amounts ΔθX, Δθy, and Δθ2 in the X direction, Y direction, and Z direction detected in this way and the tilt amounts Δθp and Δθq in the P direction and Q direction are used as a detection signal IS as shown in FIG. ,, IS2+ rs3. These detection signals IS4 and IS5 are input to the control unit 60, and the control unit 60 receives these detection signals IS4 and IS5.
+~ISs is used to calculate the actual vehicle body position, and the motion locus data etc. taught to the robot 12 stored in the memory are corrected to correspond to the actual vehicle body positions of the two people or 2B. , this corrected actual vehicle body 2A
Alternatively, the position of 2B is also used as motion locus data, etc., and an operation signal OCp is supplied to the robot 12. As a result, the robot 12 moves according to a predetermined movement path, and the movement amount (as determined by the six parameters described above) is fed to the control unit 60.

In this example configured as described above, the following sequence of operations is performed when selectively attaching the doors 5, 7, and 8 that suit the vehicle bodies 2A and 2B, respectively.

In this example, the car body 2 people and 2B are installed at the door installation station STD in a predetermined order according to the production plan for that day.
However, when the vehicle body 28 or 2B is transported to the door installation station STD and stopped, the slide table 39 of the vehicle body measurement device 38 is first moved to measure the position of the stopped vehicle body 2A or 2B. , and stop at a predetermined measurement position (indicated by a chain line in Fig. 1).
, the detection pin 42 and position sensors 44 and 45 are made to protrude. As a result, the detection bin 42 is inserted into the hole 47 of the vehicle body 2A or 2B and tilted according to the position of the vehicle body 2A or 2B, and as described above, the positional deviation amounts ΔθX, Δθy and Δθ2 is detected, and its detection signal TS+ ~Is.

is supplied to the control unit 60, and the position sensors 44 and 45 come into contact with the vehicle body 2A or 2B, and as described above, the inclination amounts Δθp and Δ
θq is detected, and its detection signals I S a and H I S
5 is supplied to the control unit 60. These detection signals 431~Is, ! Depending on the actual vehicle body 2A or 2, the control unit 60
Robot 1 calculates the position of B and stores it in memory
Correct the teaching contents of 2.

As described above, after the vehicle body measurement device 38 measures the position of the vehicle body 2A or 2B, the slide table 39 of the vehicle body measurement device 3B moves backward, and the installation process of the front door 5 to the vehicle body 2A or the front door 7 and rear door is completed. 8 starts to be attached to the vehicle body 2B. In this installation process, first, the cart 10 carrying the robot 12 moves to take out the door 5, 7, or 8, and the drawer stand 24 or 25 is placed on the pallet 20.
It stops at a position located right next to the last door 5, 7, or 8 stored in the interior (see Figure 2).

Next, the robot 12 is actuated and the arm 19 is rotated to engage the hook 18 with the frame of the door 5, 7 or 8, as shown in FIG.
0 and place it on the drawer stand 24 or 25. At this time, since the drawer stands 24 and 25 are disposed in front and behind the robot 12 with the robot 12 between them when viewed in the direction of movement of the trolley 10, for example, the front door 5 of the car body 2A or the front door 7 of the car body 2B is If the rear door 8 of the vehicle body 2B is pulled out and placed on the pull-out stand 25, the rear door 8 of the vehicle body 2B can be pulled out and placed on the pull-out stand 25. The travel distance can be shortened and the working time can be shortened.

Of the doors 5, 7 and 8 that are pulled out and placed on the drawer stands 24 and 25 in this way, the rear door 8 placed on the drawer stand 25 is opened by the robot 12 using the cylinders 14A, 14B and 14C is activated to remove the suction part 14a.
, 14b and 14c are protruded, the rear door 8 is held at a predetermined position and rotated 180 degrees, and the front door 8 is transferred to the drawer stand 24, and the front doors 5 and 7 placed on the drawer stand 24 remain as they are. The positioning mechanism 2 is used to position each door 5, 7, and 8 relative to the robot 12 when setting the front door 5 on the vehicle body 2A or when placing the front door 7 and rear door 8 on the vehicle body 2B.
6.

That is, when the cylinder 28 of the positioning mechanism 26 operates,
As shown in FIGS. 6 and 7, the piston rod 29
is pulled in, and the positioning hole 33a of the positioning plate 33 engages with the taper pin 16 of the hinge portion 6 attached to the door 5.7 or 8. At this time, if the door 5, 7 or 8 is out of position with respect to the Roposo 1-12, the door 5, 7 or 8 will slide on the drawer stand 24 in the T direction in the figure and move to the correct position. I am forced to do it.

With the door 5, 7 or 8 positioned at the correct position in this way, the robot 12 grasps and lifts the door 5, 7 or 8, and at the same time the trolley 10 moves to the door center position, 7 or 8 from the state shown in FIG. 2, bring the arm 19.
The wrist 13 and the hand 17 are rotated or swiveled by a predetermined angle according to the corrected movement locus data as described above, and the door 5, 7 or 8 is placed in the mounting position on the door mounting portion of the vehicle body 2A or 2B. Press it onto 2A or 2B. At this time, the relative position of the door 5.7 or 8 with respect to the robot 12 is corrected by the positioning mechanism 26,
And the detection signal IS1 obtained by the vehicle body measurement device 38
~Is.

Since the motion locus data of the robot 12, that is, the motion path, has been corrected based on the actual position of the vehicle body, the door 5, 7 or 8 and the door mounting station ST
The door attachment portion of the vehicle body 2A or 2B stopped at position D matches without any positional deviation, and the door 5, 7 or 8 is smoothly attached to the vehicle body 2A or 2B. As a result, the work for fixing the door 5, 7 or 8 to the vehicle body 2A or 2B after attaching the door 5, 7 or 8 to the mounting portion of the vehicle body 2A or 2B can be performed without any hindrance. 7 or 8 can be attached to the vehicle body 2A or 2B accurately and reliably.

Note that in the above example, the positioning mechanism 26
Although the vehicle door mounting device according to the present invention does not necessarily have to have such a configuration, for example, as shown by the two-dot chain line in FIG. , in place of the positioning mechanism 26, a positioning mechanism 26' is arranged near the area where the trolley 10 moves,
Door 5 taken out from pallet 20 by robot 12
Place ゜7 or 8 on this positioning mechanism 26゛ and close the door 5.
, 7 or 8 may be used.

(Effects of the Invention) As is clear from the above description, according to the automobile door mounting device according to the present invention, the vehicle door mounting device according to the present invention can adjust the speed according to the type and/or mounting location of the vehicle body that has been conveyed to the door mounting station of the vehicle body assembly line and stopped. , doors that fit the door are selectively taken out by the robot from a plurality of pallets, and after the taken out door is positioned by the positioning mechanism, it is gripped by the robot and set on the vehicle body. The position of the door relative to the robot is determined to be appropriate, and the door gripping position of the robot can be kept constant at the appropriate position at all times.This reduces the misalignment of the door relative to the vehicle body that occurs when the door is inserted into the vehicle body. be able to. As a result, the work of fixing the door to the car body after setting it on the car body can be done smoothly, and the door can be attached to the car body accurately.
And it will be certain.

Furthermore, according to the automobile door mounting device according to the present invention, accurate positioning is automatically performed by the robot when mounting the door on the vehicle body. This eliminates the need for an operator to correct the position of the door with respect to the vehicle body, thereby promoting automation or labor saving in the entire automobile body assembly line.

[Brief explanation of drawings]

FIG. 1 is a schematic plan view showing the configuration of essential parts of an example of an automobile door mounting device according to the present invention, and FIGS. 2 to 9 show the configuration of each part of the example shown in FIG. 1, and , a partial detailed diagram for explaining the operation thereof, and FIG. 10 is a block diagram for explaining the configuration of the example shown in FIG. In the figure, 1 is a car body assembly line, 2A and 2B are car bodies, 3 is a floor-conveyor, 5 and 7 are front doors, 8 is a rear door, 10 is a trolley, 12 is a robot, 17 is a hand, 1
8 is a hook, 2o is a pallet, 24 and 25 are drawers,
26 is a positioning mechanism, 38 is a vehicle body measurement device, 40A and 40B are vehicle body position detectors, 60 is a control unit, and sTD is a door mounting station. Figure 10 Procedural Amendment Form 1985 G-0 1, Indication of the Case Showa Swa Patent Application No. 1 Bq/, 27 No. 2, Title of Invention Automobile Door Mounting Device 3, Person Making Amendment Case Relationship with Patent Applicant Address 3 Shinchi, Fuchu-cho, Aki-gun, Hiroshima Prefecture / Title Name
(3/3) Mazda Motor Corporation Representative Ken Yamamoto - 4 Agent 〒150 6. Number of inventions increased by amendment No. 11 In the specification, page 4, line 8, ``When attached,'' Correct to "To install." (2) Same, page 4, lines 11-13, ``If you set it, you should be able to easily attach the door to the vehicle body.'' is set. ” is corrected. (3) Same, page 4, line 18, ``Not elevated,'' is corrected to ``Not elevated.'' (4) Ibid., page 5, line 2, "because it occurs," is replaced with [- arises. Therefore, it is corrected to ``. (5) Same, page 5, line 5, "I will hold it," is corrected to "I will hold it, but." (6) Same, page 9, line 5 and page 18, line 11, "14b and" are corrected to r14b (not shown in the figure) and J. (7) Same, page 9, lines 6-9 “Elastic pads 15a, 15b
The receiver to which 15c and 15c are fixed is member 15A. 15B and 15C (not shown in the figure)" should be corrected to "The receiver to which the elastic pads 15a and 15b are fixed is made up of members 15A and 15B." ((8)
) Same, page 9, line 19, "300° in the V direction" is corrected to "300° in the Y direction." (9) Same, page 10, line 20, 1 trolley 9” [truck 1
Correct to 0J. 00) Same, page 12, line 6, "piston 29" is corrected to "piston rod 29." 0υ Same, page 12, lines 8 and 9 "Positioning plate"
Correct the statement to "positioning plate 33". ■ Same, page 13, line 2, ``with rear door 8'' is corrected to ``1 with rear door 8''. Alpha turbidity Same, page 14, lines 6 to 17, "At this time, detect each..." should be corrected as follows by starting a new line. [The detection pin 42 inserted into the hole 47 expands, contracts, and tilts in accordance with the positional deviation of the hole 47 caused by the positional deviation of the vehicle body 2A or 2B from the proper position at the door attachment station ST. Then, the amount of positional deviation ΔθX of the vehicle body 2A or 2B in the X direction is detected based on the protrusion length of the detection pin 42 and the inclination angle with respect to the The positional deviation amount Δθy is detected based on the protrusion length of the detection pin 42 and the inclination angle with respect to the Y coordinate axis passing through the base thereof. Further, a positional deviation amount Δθ2 of the vehicle body 2A or 2B in the Z direction is detected based on the protrusion length of the detection pin 42 and positional deviation amounts ΔθX and Δθy in the X and Y directions. On the other hand, the position sensors 44 and 45 expand and contract according to the inclination of the vehicle body 2A or 2B in the P direction and the Q direction in FIG. 9, and maintain a state of contact with the vehicle body 2A or 2B. Then, the amount of inclination Δθp and Q of the vehicle body 2A or 2B in the P direction
The amount of inclination Δθq in the direction is detected based on the respective protrusion lengths of two sets of position sensors 44 and 45 arranged on both sides of the vehicle body 2 or 2B. ” 00 Same, page 15, line 10 “Correct the operation signal 0Cpj to [control signal 0CpJ.”

Claims (1)

[Claims] It is mounted on a trolley that moves along the car body assembly line.
A robot configured to operate according to a predetermined movement path; a plurality of pallets that are sequentially arranged along the moving direction of the cart and store a plurality of types of doors in sections; and the plurality of pallets. A door taken out by the robot from one of the above is placed thereon, and a positioning mechanism for positioning the placed door with respect to the robot, the robot installs the door from the pallet on the vehicle body assembly line. After selectively taking out doors according to the type and/or attachment location of the vehicle body to be transported to the station, and positioning the taken out doors by the positioning mechanism, the robot grasps the positioned doors and An automobile door mounting device characterized in that it is set on a vehicle body.