JPS6264675A - Door opening and closing device on manufacturing line of automobile - Google Patents

Abstract

PURPOSE:To give a circular motion centering round a door hinge to a lock so as to remove a relative movement to door opening or closing by positioning a robot main body so that the oscillating shaft of an arm may accord with the axis line of a door hinge in a space below the car body. CONSTITUTION:A robot 4 is composed of a robot main body 5 arranged in a space below a car body W on the side part of a transferring passage 1 and an arm 6 whose axis is so installed as to be free in oscillating motion centering round a oscillating shaft 6a being vertical to this. Moreover, the arm 6 is so crooked as to be nearly L letter shaped upwards and at the upper end of it a hand part 7 which is provided with a lock 3 is installed. And then the robot main body 5 is made free in so positioning that the oscillating shaft 6a accord the axis line X of a door hinge Wb. By so composing it is made possible to remove the relative motion of the lock to the door opening or closing by giving a circular motion centering a door hinge to the lock. Further the robot is arranged in a space below the car body, thereby it is made possible to secure a side space widely as a work space.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a door opening/closing device in an automobile manufacturing line.

(Prior art) In an automobile manufacturing line, for example, a painting line, a robot opens and closes the door of an automobile body on a transport path in order to paint the area around the door.
It is known from Publication No. 27572@.

The details are as shown in Fig. 1.A door opening/closing robot b and a painting robot C are arranged side by side in two stages on the side of a conveyance path a, where the door opening/closing robot b is A first arm e extending from the robot body d and swingable in the horizontal direction, and a second arm connected to the tip thereof so as to be swingable in the horizontal direction.
an articulated robot arm consisting of an arm f; an engager q is attached to the tip of the second arm f to engage with a proper position of the door 14a of the automobile body W via a suitable wrist part; With the locking element 9 engaged toward the door, the first and second arms e and f are swung so that the locking element 9 moves along a predetermined arcuate locus centered on the door hinge, and the door is closed. A is opened and closed.

(Problems to be Solved by the Invention) In the above method, the cost increases because the door opening/closing robot b is equipped with a robot arm with a connecting part consisting of a first arm e and a second arm f. , and in order to give the engager q an arcuate motion about the door hinge by the combined movement of the first arm e and the second arm f, the engager g
Accuracy control of the movement trajectory becomes troublesome, and maintenance work becomes troublesome as the structure is 11 meters long.

Here, if the engaging element 9 is engaged with the door Wa in a window glass insertion groove etc. so as to be movable back and forth, the engaging element Q
Although the door a can be opened and closed without giving an arcuate motion around the door hinge, in this case, the door 14a of the engager
The paint film may peel off due to movement in the front and back direction against the door I4.
Despite this problem, the current situation is that robots equipped with jointed robot arms are used to open and close doors.

SUMMARY OF THE INVENTION In order to solve the above problems, an object of the present invention is to provide a door opening/closing device in which an arcuate motion about a door hinge can be applied to an engager using a robot arm having a single axis structure without joints. do.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides automatic 1
(i) A vehicle body door is opened and closed by a robot equipped with an engaging element that connects the door to an appropriate position, and the robot is arranged in a space below the vehicle body on the side of the conveyance path, and a robot body. The arm is configured to be swingable around a swing axis perpendicular to the robot. A feature of the present invention is that the main body can be freely positioned so that the swing axis coincides with the axis of the door hinge.

(Function) The robot body is positioned below the mounting position of the door hint on the car body on the transport path so that the swing axis of the arm matches the axis of the door hinge, and in this state, the door of the engager is engaged in the appropriate position. to swing the arm.

In this case, the engaging element is given an arcuate motion about the door hinge, and the door is opened and closed without any movement of the engaging element relative to the door.

Furthermore, since the robot body is disposed in the space below the car body, a large space on the side of the car body can be secured as a work space, and the layout of work robots such as painting robots is facilitated.

(Example) Embodiments of the present invention will be described based on the drawings.

Referring to FIGS. 2 to 4, (1) shows a longitudinally longitudinal vehicle body conveyance path, (2) a conveyor with a trolley (2a) installed on the conveyance path (1), and W placed on the trolley (2a) is stopped at a predetermined position on the transport path (1) while being transported in a tact manner, and when the car body W is stopped, an engagement member is provided that engages the door direction of the vehicle body W at the appropriate position. The goggles (3) are opened and closed by a robot (4) attached thereto, and predetermined work is performed by painting and other work robots (not shown) placed to the side of the heavy object stopping position.

The robot (4) has a robot body (5) disposed in a space below the automobile body W on the side of the conveyance path (1), and a swing axis (6a) that is perpendicular to the robot body (5). It is equipped with an arm (6) which is pivotably mounted on the
The arm (6) is bent upward in an oval shape, and a hand portion (7) including the engaging element (3) is attached to the upper end of the arm (6).
The robot body (5) can be freely positioned so that the swing axis (6a) coincides with the axis X of the door hinge persimmon.

To explain this in more detail, in the illustrated example, there are provided on the side of the conveyor (2) at a stop position so that the front door I4a, Ha' of the automobile body W can be opened and closed by a common robot (4). Existing car body W! A guide frame (8) with a length reaching the rear door from the end is laid, and a pair of upper and lower guide rails (8a) (8a) fixed to the guide frame <8) are installed.
A movable table (9) is provided supported by a movable table (9), and a pinion 110 that engages with a rack (8b) fixed to the guide frame (8) and a rotary actuator (10a) serving as its driving source are mounted on the movable table (9). The movable base (9) is movable back and forth along the guide frame (8) by the actuator (10a), and a cylinder (+1) is mounted on the movable base (9) to move the movable base (9) back and forth along the guide frame (8). A pair of fixed front and rear guide rails (9a
The robot body (5) is supported so as to be moved left and right along H9a), and the robot body (5) is mounted on the moving table (
9), a standby position A near the front end of the automobile body W;
Front door opening/closing position B below door hinge-b of front door Wa
and a rear door opening/closing position C below the door hinge 14b° toward the rear door, and each door opening/closing position a
In B and C, the robot body (5) is moved left and right so that the swing axis (6a) of the arm (6) on which it is mounted coincides with the axis X of each door hinge -b and IL4b'.

The arm (6) is swung in and out within a predetermined angle range regulated by a pair of stoppers (13) on the robot body (5) by a cylinder (2) mounted on the robot body (5). and the hand portion (D is the arm (
6) Cylinder C@ and guide bars on both sides (
151 (+51)
e, and a holder mounted on the elevating frame qe so that it can move forward and backward using a cylinder (+7) and guide bars ($8) on both sides, and a window of each door HaSIAa' is attached to the holder (1gJ). An engaging element (3) with a visual sensor (not shown) that can be inserted from above is attached to the glass insertion groove, and the holder (1411) is moved forward or backward based on a signal from the visual sensor to insert the engaging element (3) through the window glass. move it directly above the groove, then move the elevating frame (le down) to remove the engager (
3) was inserted into the groove.

In the drawing, (15a) is an arm (15a) through which the guide bar aS is inserted.
6) shows a fixed guide sleeve, and (18a) shows a guide sleeve fixed to the elevating frame ae through which the guide bar (2) is inserted.

Note that the robots (4) are provided on a pair of left and right sides, one for the right door and the other for the left door of the automobile body.

According to the above configuration, the robot body (5) is connected to the arm (6).
) is positioned so that it matches the axis X of the door hinges Wb and 14b' of each door 14a and Wa', and then the engager (3) is inserted toward each door into the windowpane insertion groove of Wa'. By inserting it into the arm (6) and swinging the arm (6),
The engaging element (3) can be accurately moved along an arcuate locus centered on the door hinge b, tub', and the engaging element (3) can move toward the door a without moving back and forth relative to the door aS. , 14a' are opened and closed.

(Effects of the Invention) As described above, according to the present invention, the engaging element can be accurately moved in an arc around the door hinge by the uniaxial arm without joints, and the accuracy of the movement trajectory of the engaging element can be easily controlled. At the same time, the structure of the arm is simplified, which reduces costs and makes maintenance work easier.Furthermore, by placing the robot body in the space below the car body, the space on the side of the car body can be widely used as a work space. This has the effect of making the layout of the working robot easier.

[Brief explanation of the drawing]

Fig. 1 is a plan view of a conventional device, Fig. 2 is a plan view of an example of the device of the present invention, Fig. 3 is a side view thereof, and Fig. 4 is an IV of Fig. 3.
-rV II is a cutaway front view. (1)...Conveyance path (3)...Engager (4)...Robot (5)...Robot body (6)...Arm (7)...Hand section 11! ! Run

Claims (1)

[Claims] A door of an automobile body on a conveyance path is opened and closed by a robot equipped with an engaging element that engages at an appropriate position on the door, and the robot is arranged in a space below the vehicle body on the side of the conveyance path. , an arm is provided on the robot body so as to be swingable about a vertical swing axis, and the arm is bent upward and a hand portion including the engager is attached to the upper end of the arm. A door opening/closing device for an automobile manufacturing line, characterized in that the robot main body can be freely positioned so that the swing axis coincides with the axis of a door hinge.