JPS62216876A - Car door mounting device - Google Patents

Abstract

PURPOSE:To enable high precision mounting of car door by sensing the gap between a door and a door opening and the amount of dislocation of accent line, and by correcting the door position with respect to the door opening. CONSTITUTION:A hand 4 of a door mounting robot 3 is fitted with a nut runner 8 for fastening the door hinge bolt, a light source 9, and a visual sensor 10. The main component of this visual sensor 10 is an area sensor to sense photoelectrically the gap between the periphery of each door and door opening edge on the car body side and also the amount of dislocation of the accent line. The amount of each dislocation sensed by the visual sensor corrects the position of the robot 3, which then installs the door on the body.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention This invention relates to a method for assembling a door to a vehicle body during the manufacturing process of a vehicle.

As is well known in the art, when assembling a door into an automobile door opening, it is necessary to make the gap between the door opening side and the door periphery uniform throughout the entire circumference due to aesthetic requirements. is important.

For this reason, conventionally, as shown in Japanese Patent Publication No. 53-36627, for example, the fixture of the door assembly device is provided with a gauge that controls the relative positioning of the fixture and the door, and the tip of this gauge is attached to the vehicle body when the door is set. The above request is met by inserting it into the gap between the side door opening and the door.

On the other hand, as illustrated in FIG. 11, from a design standpoint, a substantially horizontal accent line (character line) Q may be formed on the outer surface of the vehicle body, extending from the front fender Fl to the rear fender F2. This accent line Q is divided into four lines Q1 to Q4 at the front fender Fl, front door DI, rear door D2, and rear fender F2Vc.1. Only when it is assembled to the fenders Fl, F2 and the doors DI, D2 will they be aligned as one continuous accent line Q.

Problems to be Solved by the Invention With the conventional system as described above, if one assembly device is used to assemble doors for multiple vehicle models, it is necessary to switch a large number of gauges to accommodate multiple vehicle models. Therefore, it is not possible to respond flexibly to changes in vehicle models.

Furthermore, there are differences in the positioning of the accent lines on the car body and the door side, so even if the gap between the door opening edge and the door periphery were uniform throughout the entire circumference, For example, as shown in Fig. (This is an exaggerated depiction.)

In particular, this accent line plays a large role in the design and aesthetics of the side of the vehicle, so in addition to equalizing the gaps as described above, it is necessary to eliminate the differences in height and align them as one continuous line. Previously, the operator had no choice but to make corrections in the post-process.

Means for Solving the Problems The present invention attempts to achieve both the above-mentioned uniformity of gaps and consistency as a linear accent line when automatically assembling a door. As shown,
What is the relative positional error in the vertical direction between the accent line on the side of the vehicle body and the accent line on the side of the door, and the width of the gap between the door opening edge on the vehicle body side and the door periphery? Each is detected by a visual sensor installed in the door assembly device, and the position of the door relative to the door opening is determined based on the output of the visual sensor. This is a method of modifying and reassembling.

For example, a teaching playback type industrial robot is used as the door assembly device, and a two-dimensional image sensor (area sensor) is used as the visual sensor.

Note that the term "vehicle body" here refers not only to a vehicle without a door installed at all, but also to a 11i vehicle without a rear door installed, for example.
This also includes those to which either the front or rear body is attached.

Once the door supported by the door assembly device is positioned at the door opening on the vehicle body side, a visual sensor detects the vertical relative positional error between the accent line on the side of the vehicle body and the accent line on the side of the door, and the vehicle body. The width of the gap between the side door opening edge and the door peripheral edge is detected.

Then, after the position of the door is corrected so that the above-mentioned relative position error becomes zero and the width of the gap becomes approximately equal to the reference value, for example, the bolt of the door hinge is fixed.

Embodiment FIG. 1 is a diagram showing an embodiment of the present invention, in which a vehicle body B is continuously conveyed in the E direction at a constant speed by a continuous type conveyor IK. There is a traveling machine 1θ2 on the line side of the conveyor 1, and a self-propelled door assembly device, that is, a door assembly robot (hereinafter referred to as
(simply referred to as a robot) 3 runs while following the vehicle body B in synchronization. For example, if the vehicle is a 4-door type, the rear door D2
゜It will be assembled in the order of the front door DI.

I get kicked.

The robot 3 is equipped with a frame-shaped hand 4 at the tip of its arm, and has a rear door D2 and a front door DxTh@2 placed on tables 5 and 6, and a vacuum cup 7 shown in FIG.
The parts are suction-supported one after another and positioned at the door opening O of one part B. As shown in FIGS. 2 and 3, the hand 4 is equipped with a nut liner 8 for tightening bolts on the door hinge H, as well as a light source 9 and a visual sensor 10. The visual sensor 10 is mainly composed of a two-dimensional image sensor, that is, an area sensor, and detects the gap between the door periphery and the door opening edge on the vehicle body side, as well as the amount of deviation of the accent line Q, as described later. It has a photoelectric detection function.

As mentioned above, the door is the rear door D2. Front door D1
Since it can be assembled instantly, robot 3 can be installed on rear door D2.
7 When positioned at door opening O, visual sensor 1
0, the rear door D2 is opened as shown in Figure 3 and Figure 5.
And rear fender F2 width dl, d2'! I-detects the accent line Q3 of the rear door D29111 and the accent line Q of the rear fender F2 side.
Detect the level difference (shift*) ef with respect to 4. Accent line Q3. Regarding Q4, the step e is detected using the part with the highest contrast, for example, the vCIfi edge R in the case of FIG. 4, as a reference.

Furthermore, the above values di, d2. Based on the correction data Δ2.e, the robot 3 should correct the position as shown in FIG.
ΔY, O2x are calculated, and the robot 3 calculates the values Δ2. ΔY
* Correct the # of rear door D2 based on ezk.

Correction data Δ2. ΔY p ezx is determined by the following equations. However, d is a value set in advance as a reference value of the gap.

ΔZ = e Δy ==: d 1 + d 2 ++ a That is,
In the robot 3, the step e is substantially zero and the gap C is
The rear door D2 is corrected by Ll so that the widths dx and d2 of the rear door D2 are both approximately equal to the reference value d.

After the correction work is completed, the visual sensor 10 performs dl again.

d2. The value of e is determined at 611j, and if it is within the control limits, the door hinge H is bolted using the nut runner 8. On the other hand, if the values of cil, d2, and e are still outside the control limits, will repeat the above correction work.

The above is the assembly of the rear door D2, and the robot 3 then moves on to the assembly of the front door DI.

In other words, the hand 4 of the robot 3 is commonly used for assembling the rear door D2 and the front door D1, and when the rear door D2 is bolted to the vehicle body as described above, the hand 4 opens the rear door Dle. Instead, the front door D1f above the table 5 in FIG. 1:
It is supported and positioned at the door opening O of the vehicle body B in the same way as the rear door.

When this front door D1 is assembled, the visual sensor 10 is installed on the front door D1 as shown in FIGS. 7 and 8.
1 and the rear door D2, the gap CX between the front door D1 and the rear door D2, the accent line Q2 of the front door D1, and the rear door D.
2 and the accent line Q3 are measured, and the direction of the front door D1 is completely corrected in the same manner as above.

If the above series of steps is made into a 70-chart, it will be number 9.
(Al, (B), ((l).Although not shown, once the installation of the front door D1 is completed, the front fender is installed manually.

The standard at this time is 70 nt door DI.

Here, for both the front and rear doors, so-called door sagging may occur mainly on the door hinge side during bolt tightening of the door hinge and during the subsequent door step. In such a case, the correction amount according to the door lowering amount is set to Δ2. It is preferable to add this value to the values of ΔY and ezx.

In addition, in the case of Figures #c5 and #c7, since the measurement of the gap C and the measurement of the step e are performed using the same visual sensor 10, there is a restriction on the size of the span l at the gap width measurement point, and the measurement Errors are likely to occur. Therefore, as shown in FIG. 10, it is also possible to measure the gaps di and d21 between the lower edge of the door D2 (or DI) and the side sill S to determine the value of θZX described above.

Effects of the Invention According to the present invention, the width of the gap between the door and the door opening and the amount of deviation of the accent line are detected respectively, and the position of the door relative to the door opening is corrected, so that the door can be assembled with high precision. In addition to realizing this, it is also possible to flexibly respond to changes in types without requiring the troublesome switching work required in the past.

In addition, since it is possible to achieve both the uniformity of the gap width and the consistency of the accent line mentioned above, it not only improves the aesthetic appearance of the side of the car body, but also reduces the number of man-hours needed for corrections in the subsequent process. It can be reduced.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram showing one embodiment of the present invention, and FIG.
A plan view of the robot hand shown in the figure, Figure 3 is an enlarged view of the main part of Figure @1, Figure 4 is a sectional view along IV-[41 of Figure 3,
5 and 6 are illustrations of image processing of the rear door by a visual sensor, FIGS. 7 and 10 are illustrations of the rear door showing other embodiments, and FIG. 11 is a side view of the vehicle body. 3...Door assembly robot as door assembly device, 4.
...Hand, 9...Light source, 10...Visual sensor,
B...Vehicle body, DI...Front door, D2'--Rear door, Q. Ql, Q2, Q3, Q4-”'7 Kucentrai:
y, C...gap, e...step. Fig. 1 4 - Hand 1 9 -... -'yf: J original 10 - - View tt) - Lift door Fig. 2 Fig. 3 Fig. 5 Fig. 6 Fig. 7 Fig. 8 Fig. 9 (A゛ Fig. 9 (B) ■ Fig. 9 (C)

Claims (1)

[Claims] (1) When positioning and assembling the door supported by the door assembling device to the door opening of the vehicle body based on the positioning operation of the door assembling device, the accent line on the side of the vehicle body and the accent line on the side of the door are A visual sensor installed in the door assembly device detects the relative position error in the vertical direction and the width of the gap between the door opening edge on the vehicle body side and the door periphery, and the door opens based on the output of the visual sensor. A method for assembling an automobile door, characterized by assembling the door by correcting the position of the door relative to the section.