JP7613178B2 - Vehicle door assembly device and assembly method - Google Patents

Description

The present invention relates to the assembly of a front-opening rear door for a vehicle.

In general, in the case of a rear-opening rear door, even when the door is held by a material handling device and in a closed position covering the vehicle body opening, the hinge mounting portion of the center pillar of the vehicle body is exposed. Even if the front door is installed first, the hinge of the rear door in the closed position is exposed when the front door is opened. Therefore, a rear-opening rear door can be installed on the vehicle body in a closed position (Patent Document 1).

JP 2010-208526 A

In contrast, in the case of a front-opening rear door, the hinge mounting portion is provided on the pillar at the front end of the rear fender, and when the rear door is closed, the hinge mounting portion is hidden by the rear door and cannot be seen. Therefore, when assembling a front-opening rear door to the vehicle body, the rear door must be opened to expose the hinge mounting portion of the pillar.

When the door is closed, it is easy to determine the position of the door in the fore-and-aft and up-and-down directions relative to the vehicle body by looking at the gap between the door and the periphery of the opening in the vehicle body. However, when the door is open, it is not possible to see the gap between the door and the periphery of the opening in the vehicle body, making it difficult to determine the position of the door in the fore-and-aft direction.

When the door is in the open position, it can be indirectly positioned relative to the vehicle body by gripping the inner side of the door with a material handling device to determine the position of the inner side and then positioning the material handling device on the vehicle body. However, because positioning is done on the inner side, which has weak rigidity, the positioning accuracy tends to be low, and when the door is assembled to the vehicle body in the open position and then rotated to the closed position, the door is likely to become misaligned in the fore-and-aft direction relative to the vehicle body.

In addition, when the hinge attached to the door is screwed to the vehicle body, the hinge must be subjected to a tightening torque that causes it to rotate together; in other words, it must be ensured that the hinge attachment part of the door does not deform or the door is not displaced due to the hinge rotating together.

The present invention was made in consideration of these points, and its purpose is to make it possible to assemble a front-opening rear door with a vehicle body opening in an open position with good positional accuracy using a simple structure and method.

To achieve the above objective, this invention regulates the front-rear position and rotation of the hinge part of the vehicle door when it is in the open position.

Specifically, the vehicle door assembly device disclosed herein is a device for assembling a door having a hinge fixed thereto to a vehicle body in an open position, and includes a material handling jig for gripping the door,
and a work robot which supports the material handling jig and transports the door to the opening of the vehicle body, the material handling jig comprising a plurality of door positioning means which position each of a plurality of locations of the door relative to the material handling jig, and a jig positioning means which positions the material handling jig relative to the vehicle body so that the door is in an open position, the plurality of locations of the door include the hinge, the door positioning means at the hinge location abuts against the hinge and positions the door on the material handling jig with a position restriction which restricts the position of the hinge in the fore-and-aft direction of the vehicle body relative to the vehicle body when the door is positioned in the opening of the vehicle body in the open position, and a rotation restriction which restricts the rotation of the hinge when the hinge is screwed to the vehicle body, and the material handling jig grips the door from the inner surface side of the door .

With this assembly device, the door is positioned on the material handling jig by the door positioning means, and the material handling jig is positioned on the vehicle body by the jig positioning means, so that the door is indirectly positioned relative to the vehicle body via the material handling jig. In addition, because the door is positioned on the vehicle body in an open position, the hinge can be screwed to the vehicle body from the outside.

As a result, when positioning the door relative to the material handling jig, the door has high rigidity and the position of the hinge attached to the vehicle body in the fore-and-aft direction of the vehicle body is regulated. In other words, since the hinge serves as the positioning reference in the fore-and-aft direction of the vehicle body, it is easy to ensure the accuracy of this fore-and-aft positioning. In addition, by restricting the rotation of the hinge when screwing it to the vehicle body, deformation of the hinge attachment part of the door and displacement of the door due to tightening torque are avoided.

Therefore, even when the door is in an open position, the door can be attached to the vehicle body with high positional accuracy, which prevents the door from being misaligned with respect to the vehicle body when the door is closed .

Furthermore, the door positioning means can position the door relative to the material handling jig from the inside surface side of the door , so that positioning reference holes or the like can be provided as the door positioning means, improving positioning performance.

Another vehicle door assembling device disclosed herein is a device for assembling a door, to which a hinge is fixed, to a vehicle body in an open position, and includes a material handling tool for gripping the door, and a work robot for supporting the material handling tool and transporting the door to an opening of the vehicle body, the material handling tool includes a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling tool, and a tool positioning means for positioning the material handling tool relative to the vehicle body so that the door is in an open position, and the plurality of locations of the door include a front The door positioning means at the hinge abuts against the hinge and positions the door on the material handling jig with a position restriction that restricts the fore-and-aft position of the hinge relative to the vehicle body when the door is positioned in the opening of the vehicle body in an open position, and a rotation restriction that restricts the rotation of the hinge when the hinge is screwed to the vehicle body, and the door positioning means at the hinge performs the position restriction and the rotation restriction by clamping the hinge from the fore-and-aft direction of the vehicle body.

In this way, the hinge can be restricted from moving forward and backward and from rotating by a single means for clamping the hinge.

Another vehicle door assembling device disclosed herein is a device for assembling a door, to which a hinge is fixed, to a vehicle body in an open position, and includes a material handling jig that grips the door, and a work robot that supports the material handling jig and transports the door to an opening in the vehicle body, the material handling jig includes a plurality of door positioning means that position each of a plurality of locations of the door relative to the material handling jig, and a jig positioning means that positions the material handling jig relative to the vehicle body so that the door is in an open position, the plurality of locations of the door include the hinge, and the door positioning means at the location of the hinge abuts against the hinge, and the position of the hinge relative to the vehicle body when the door is positioned in the open position at the opening in the vehicle body is determined by the vehicle body positioning means. The door is positioned on the material handling jig with a positional restriction that restricts the fore-aft position and a rotational restriction that restricts the rotation of the hinge when the hinge is screwed to the vehicle body, the hinge comprising a door-side hinge member fixed to the door, a vehicle-body-side hinge member screwed to the vehicle body, and a hinge pin that connects the two hinge members so that they can rotate freely relative to one another, the vehicle-body-side hinge member comprising a vertical plate portion that protrudes outward in the vehicle width direction from a side edge of a fixed plate portion that is screwed to a surface of the vehicle body facing outward in the vehicle width direction and is connected to the door-side hinge member by the hinge pin, and the door positioning means at the hinge clamps the vertical plate portion of the vehicle-body-side hinge member from the fore-aft direction of the vehicle body.

This ensures that the hinge's position and rotation can be regulated reliably.

In the above-mentioned assembly device, the door positioning means at the hinge location is characterized by comprising a fixed abutment member fixed to the material handling jig so as to abut against the vertical plate portion from one side in the vehicle body longitudinal direction, and a movable abutment member that is driven in the vehicle body longitudinal direction by a clamp cylinder device provided on the material handling jig so as to abut against the vertical plate portion from the other side in the vehicle body longitudinal direction and press the vertical plate portion against the positioning member.

This allows the vertical plate portion of the hinge to be clamped from the front and rear of the vehicle body by operating the clamp cylinder device.

In the above-mentioned assembly device, the door is provided with a plurality of hinges spaced apart in the vertical direction of the vehicle body, and the door positioning means at the hinge locations is provided for each of the plurality of hinges.

In this way, by positioning the door at multiple hinge locations, the door can be precisely positioned in the rotational direction around the vehicle's transverse axis.

The vehicle door assembling method disclosed herein is a method for assembling a door, to which a hinge is fixed, to a vehicle body in an open position, and includes the steps of: gripping the door with a material handling jig; transporting the door gripped by the material handling jig to an opening of the vehicle body; positioning the material handling jig relative to the vehicle body so that the door is in an open position; and connecting the hinge to the vehicle body with the door in the open position. The material handling jig is configured to grip each of a plurality of positions of the door, The door is provided with a plurality of door positioning means for positioning relative to a material handling jig, and the door includes the hinges at a plurality of locations, and at the hinge locations, positioning elements are abutted against the hinges to perform position regulation that regulates the fore-and-aft position of the hinge relative to the vehicle body when the door is positioned in an opening of the vehicle body in an open position, and rotation regulation that regulates the rotation of the hinge when the hinge is screwed to the vehicle body , and the material handling jig grips the door from the inner surface side of the door .
It is characterized by:

According to this assembly method, the door is positioned on the material handling jig by the door positioning means, and the material handling jig is positioned on the vehicle body by the positioning means, so that the door is indirectly positioned relative to the vehicle body via the material handling jig. In addition, because the door is positioned on the vehicle body in an open position, the hinge can be screwed to the vehicle body from the outside.

As a result, when positioning the door relative to the material handling jig, the door has high rigidity and the position of the hinge attached to the vehicle body in the fore-and-aft direction of the vehicle body is regulated. In other words, since the hinge serves as the positioning reference in the fore-and-aft direction of the vehicle body, it is easy to ensure the accuracy of this fore-and-aft positioning. In addition, by restricting the rotation of the hinge when screwing it to the vehicle body, deformation of the hinge attachment part of the door and displacement of the door due to tightening torque are avoided.

Therefore, even when the door is in an open position, the door can be attached to the vehicle body with high positional accuracy, which prevents the door from being misaligned with respect to the vehicle body when the door is closed .

Furthermore, the door positioning means can position the door relative to the material handling jig from the inside surface side of the door , so that positioning reference holes or the like can be provided as the door positioning means, improving positioning precision.

Another vehicle door assembling method disclosed herein is a method for assembling a door, to which a hinge is fixed, to a vehicle body in an open position, the method comprising the steps of: gripping the door with a material handling jig; transporting the door gripped by the material handling jig to an opening of the vehicle body; positioning the material handling jig relative to the vehicle body so that the door is in an open position; and connecting the hinge to the vehicle body with the door in the open position, the material handling jig positioning each of a plurality of locations of the door relative to the material handling jig. The door includes a plurality of door positioning means for restricting a position of the hinge relative to the vehicle body in the fore-aft direction when the door is positioned in an opening of the vehicle body in an open position, and a positioning element is abutted against the hinge at the hinge location to perform a position restriction that restricts a position of the hinge relative to the vehicle body in the fore-aft direction when the door is positioned in an opening of the vehicle body in an open position, and a rotation restriction that restricts a rotation of the hinge when the hinge is screwed to the vehicle body, and the door positioning means at the hinge location performs the position restriction and the rotation restriction by clamping the hinge from the fore-aft direction of the vehicle body.

In this way, forward and backward movement and rotation of the hinge part can be restricted by a single means for clamping the hinge.

Another vehicle door assembling method disclosed herein is a vehicle door assembling method for assembling a door to which a hinge is fixed to a vehicle body in an open position, the method comprising the steps of: gripping the door with a material handling jig; transporting the door gripped by the material handling jig to an opening of the vehicle body; positioning the material handling jig relative to the vehicle body so that the door is in an open position; and connecting the hinge to the vehicle body with the door in the open position, the material handling jig having a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling jig, the plurality of locations of the door including the hinge, and a positioning element is abutted against the hinge at the location of the hinge to move the door to the vehicle body in the open position. The hinge includes a position restriction that restricts the fore-and-aft position of the hinge relative to the vehicle body when it is positioned at an opening in the body, and a rotation restriction that restricts the rotation of the hinge when it is screwed to the vehicle body , the hinge comprising a door-side hinge member fixed to the door, a vehicle-body-side hinge member screwed to the vehicle body, and a hinge pin that connects the two hinge members so that they can rotate freely relative to one another, the vehicle-body-side hinge member comprising a vertical plate portion that protrudes outward in the vehicle width direction from a side edge of a fixed plate portion that is screwed to a surface of the vehicle body facing outward in the vehicle width direction and is connected to the door-side hinge member by the hinge pin, and the door positioning means at the hinge clamps the vertical plate portion of the vehicle-body-side hinge member from the fore-and-aft direction of the vehicle body.

This ensures that the hinge's position and rotation can be regulated reliably.

In the above assembly method, the door positioning means at the hinge includes a fixed abutment member fixed to the material handling jig so as to abut against the vertical plate portion from one side in the vehicle body longitudinal direction, and a movable abutment member that is driven in the vehicle body longitudinal direction by a clamp cylinder device provided on the material handling jig so as to abut against the vertical plate portion from the other side in the vehicle body longitudinal direction and press the vertical plate portion against the positioning member.

This allows the vertical plate portion of the hinge to be clamped from the front and rear of the vehicle body by operating the clamp cylinder device.

In the above assembly method, the door is provided with a plurality of hinges spaced apart in the vertical direction of the vehicle body, and the door positioning means at the hinge locations is provided for each of the plurality of hinges.

In this way, by positioning the door at multiple hinge locations, the door can be precisely positioned in the rotational direction around the vehicle's transverse axis.

The present invention makes it possible to improve the positioning accuracy of the door relative to the vehicle body when assembling the door in the open position to the vehicle body.

FIG. 2 is a perspective view showing the right rear part of the vehicle body. FIG. 2 is a front view of the vehicle door as viewed from the inner surface side. FIG. 2 is a perspective view showing a hinge of a vehicle door. FIG. FIG. FIG. 1 shows a hinge clamp device. FIG. 2 is a schematic diagram showing the structure of a door holder. FIG. 2 is a perspective view showing the structure of a door holder. 1 is a diagram showing a hinge portion of a vehicle door held by a material handling jig; 2 is a perspective view showing a material handling jig holding a vehicle door and a vehicle body. FIG. 1 is a perspective view showing a vehicle body and a material handling jig holding a vehicle door after being positioned. FIG.

The following describes in detail an embodiment of the present invention with reference to the drawings. The following description of the preferred embodiment is merely exemplary in nature and is in no way intended to limit the present invention, its applications, or its uses.

Figure 1 shows the right rear portion of a vehicle body 1. This vehicle body 1 is provided with hinge fastening portions 13 at two locations spaced apart in the vertical direction of the vehicle body (vertical direction in the figure) for fastening door hinges, which will be described later. This vehicle body 1 is provided with an opening 12 that is opened and closed by a vehicle door. A body reference hole 14 is provided below this opening 12.

In FIG. 2, the forward-opening rear vehicle door 2 is shown from the inner surface side. This vehicle door 2 is a door provided at the rear right side of the vehicle body. Two hinge mounting parts 23 spaced apart in the vertical direction of the vehicle body (vertical direction in the figure) are provided at the right end of the vehicle door 2 in the figure. A hinge 21 shown in FIG. 3 is fixed to this hinge mounting part 23. By fastening the hinge fixed to the vehicle door 2 to the hinge fastening part 13 of the vehicle body 1, the vehicle door is assembled so that the opening 12 of the vehicle body 1 can be opened and closed via the hinge 21. Two door reference holes 22 spaced apart in the vertical direction are provided at approximately the center in the left-right direction of the inner surface of the vehicle door 2.

Figure 3 shows the hinge 21. The hinge 21 includes a door-side hinge member 211, a vehicle-body-side hinge member 212, and a hinge pin 213. The door-side hinge member 211 is a member that is fixed to the hinge mounting portion 23 of the vehicle door 2. The vehicle-body-side hinge member 212 has a fixing plate portion 214. The fixing plate portion 214 is a member that is screwed to the hinge fastening portion 13 of the vehicle body 1. The fixing plate portion 214 is provided with a vertical plate portion 215 that protrudes outward in the vehicle width direction from the side edge of the fixing plate portion 214. The vertical plate portion 215 is connected to the door-side hinge member 211 by a hinge pin 213 that extends in the up-down direction. In this way, the door-side hinge member 211 and the vehicle-body-side hinge member 212 are connected by the hinge pin 213 so as to be relatively rotatable.

4 and 5 show a material handling jig 3 for gripping the vehicle door 2. The vehicle door assembly device according to this embodiment includes the material handling jig 3, a work robot (the arm 7 of the work robot is shown in FIG. 10) that supports the material handling jig 3 and transports the vehicle door 2 to the opening 12 of the vehicle body 1, and a control device that controls the operation of the material handling jig 3 and the work robot. The work robot positions the vehicle door 2 held by the material handling jig 3 in the opening 12 of the vehicle body 1 in an open position in which the hinge fastening portion 13 is exposed to the outer surface of the vehicle body (the outer surface in the vehicle width direction). In the following description of the material handling jig 3, the front of the vehicle body, the rear of the vehicle body, and the vehicle width direction are the directions in the position of the material handling jig 3 during assembly in FIG. 11. In addition, in the description of the material handling jig 3, the inside of the vehicle width direction is the vehicle body 1 side in FIG. 11, and the outside is the opposite side to the vehicle body 1.

The material handling jig 3 is composed of a door holder 31 and a stand 32. The door holder 31 is a member for gripping the vehicle door 2 from its inner surface side. The stand 32 is a member for mounting to the arm of a robot. The door holder 31 and the stand 32 are connected by a floating cylinder 4. The floating cylinder 4 holds the door holder 31 floating relative to the stand 32. In addition, the vehicle door 2 held by the door holder 31 can be moved in the vertical direction of the vehicle body via the drive of the floating cylinder 4 as necessary.

The door holder 31 is composed of an outer edge frame 311 and a horizontal frame 312. The outer edge frame 311 is a substantially rectangular frame extending in the vertical direction of the vehicle body. The horizontal frame 312 is a member extending in the vehicle width direction. Both ends of the horizontal frame 312 are fixed to both sides of the outer edge frame 311 in the vehicle width direction. Three horizontal frames 312 are provided on the outer edge frame 311 at intervals in the vertical direction of the vehicle body. The door holder 31 is provided with a door positioning means for positioning each of the multiple locations of the door relative to the door holder 31. The door holder 31 is also provided with a jig positioning means for positioning the material handling jig 3 relative to the vehicle body 1 so that the door is in an open position.

The horizontal frame 312, which is located at the top and center in the vertical direction of the vehicle body, is provided with a door reference pin 314 that protrudes toward the inner surface of the vehicle door 2 by the operation of a cylinder device 3141. The vehicle door 2 is positioned relative to the door holder 31 by inserting this door reference pin 314 into the door reference hole 22 of the vehicle door 1.

The door holder 31 is provided with two door support/fall prevention devices 315. The door support/fall prevention device 315 is composed of a door support member 3151 that enters a service hole opened on the inner surface of the vehicle door 2, and a door support drive cylinder 3152 that moves the door support member 3151 in and out of the service hole. The door support/fall prevention devices 315 are arranged at intervals in the vertical direction of the vehicle body. The upper door support/fall prevention device 315 is fixed to the connection point on the left side of the figure between the outer edge frame 311 and the top horizontal frame 312. The lower door support/fall prevention device 315 is fixed to the bottom horizontal frame 312. The door support member 3151 of these door support/fall prevention devices 315 is directed toward the vehicle door 2.

A body reference pin 313 is provided on the inside of the vehicle width direction (left side in FIG. 4) at the lower end of the outer edge frame 311 in the vertical direction of the vehicle body, and protrudes from the outer edge frame 311 toward the inside of the vehicle width direction by the operation of a cylinder device 3131. This body reference pin 313 is inserted into the body reference hole 14 of the vehicle body 1, and functions as a jig positioning means that positions the material handling jig 3 relative to the vehicle body 1 so that the vehicle door 2 is in an open position.

Two door end clamp devices 316 are provided on the outer side of the door holder 31 in the vehicle width direction (the right side in Figure 4) with a gap in the vertical direction of the vehicle body. The door end clamp device 316 includes a clamp member 3161 and a clamp cylinder device 3162 for driving the clamp member 3161. The door end clamp device 316 functions as a door positioning means by clamping the front flange of the vehicle door 2 from the inner side and the outer side with the clamp member 3161. The door end clamp device 316 is fixed to the door holder 31, and the clamp member 3161 protrudes from the door holder 31 toward the outer side in the vehicle width direction.

Two hinge clamp devices 5 are provided on the inside of the door holder 31 in the vehicle width direction (left side in FIG. 4) as door positioning means at the hinge location. The number of these hinge clamp devices 5 corresponds to the number of hinges 21 fixed to the vehicle door 2.

Figure 6 shows the hinge clamp device 5 that grips the hinge 21. The hinge clamp device 5 is composed of a hinge clamp base 51, a fixed abutment member 52, a movable abutment member 53, and a drive cylinder 534. The hinge clamp base 51 is fixed to the door holder 31. In this way, the hinge clamp device 5 is fixed to the door holder 31.

The fixed abutment member 52 is a rod-shaped member that extends in the fore-aft direction of the vehicle body (left-right direction in the figure). The base end of the fixed abutment member 52 is fixed to the hinge clamp base 51. When the hinge clamp device 5 holds the hinge 21, the tip end of the fixed abutment member 52 abuts against the vertical plate portion 215 of the hinge 21 from the front side of the vehicle body (left side in the figure).

The movable abutment member 53 is supported rotatably by a pin 532 in the vehicle width direction on a support bracket 531 fixed to the hinge clamp base 51. A drive cylinder 534 is pivotally supported on this support bracket 531 by a pin 533 in the vehicle width direction. This movable abutment member 53 is rotated by the operation of the drive cylinder 534. The rotating movable abutment member 53 is abutted against the vertical plate portion 215 of the hinge 21 from the rear side of the vehicle body (the right side in the figure). As the movable abutment member 53 rotates, the movable abutment member 53 and the fixed abutment member 52 work together to clamp the vertical plate portion 215 of the hinge 21 from the fore-aft direction of the vehicle body.

As shown in Figures 4 and 5, the stand 32 is composed of a horizontal rectangular base member 321 and a rectangular vertical frame 322 that rises from the base member 321. Slide rails 6 are fixed to the vertical frame portions on both sides of the vertical frame 322 in the vehicle width direction. The base member 321 is supported by an arm 7 of the work robot. It can be moved by operating this arm 7.

A body clamp device 323 is provided at the inner end (left side in FIG. 4) of the base member 321 in the vehicle width direction. The body clamp device 323 has a clamp member 3231 and a body clamp drive cylinder 3232. The clamp member 3231 is driven by the operation of the body clamp drive cylinder 3232. When the vehicle door 2 is assembled to the vehicle body 1, the lower side of the opening 12 of the vehicle body 1 in the vertical direction of the vehicle body is clamped by the clamp member 3231 of the body clamp device 323.

As shown in FIG. 7, the door holder 31 is attached to the vertical frame 322 so that it can slide in the vertical direction of the vehicle body (perpendicular to the plane of the paper in the figure). A slide rail 6 that extends in the vertical direction of the vehicle body along the vertical frame 322 is provided on the side of the vertical frame 322 facing the door holder 31. In addition, a block 61 with a roughly C-shaped cross section is provided on the side of the door holder 31 facing the vertical frame 322. This block 61 is fixed to the door holder 31 via a joint member 62.

As shown in Fig. 8, two slide rails 6 are provided on the vertical frame 322 with a gap therebetween in the vehicle width direction. Blocks 61 are fitted to the slide rails 6 so that they can slide. Two blocks 61 are provided for each slide rail 6 with a gap therebetween in the vertical direction of the vehicle body. The operation of the material handling jig 3 by the control device will now be described.

When the material handling jig 3 grips the vehicle door 2, the door reference pins 314 of the door holder 31 are inserted into the door reference holes 22 of the vehicle door 2. The side of the vehicle door 2 opposite the hinge portion is clamped by the door end clamp device 316 of the door holder 31. Furthermore, the hinge 21 of the vehicle door 2 is clamped by the hinge clamp device 5. As a result, the vehicle door 2 is positioned and held relative to the material handling jig 3. If the vehicle door 2 held by the material handling jig 3 falls, the service hole portion opening on the inner surface of the vehicle door 2 is hooked on the door receiving member 3151 of the door receiving/fall prevention device 315.

The body reference pin 313 of the material handling jig 3 is inserted into the body reference hole 14 of the vehicle body 1, and the vehicle body 1 is clamped by the body clamp device 323, thereby positioning the vehicle body 1 and the material handling jig 3. The vehicle door 2 is also positioned relative to the material handling jig 3 by the positioning means at six locations described above. Therefore, the vehicle door 2 is positioned relative to the vehicle body 1 via the material handling jig 3. When the body reference pin 313 is inserted into the body reference hole 14 of the vehicle body 1, the floating cylinder 4 holds the door holder 31 holding the vehicle door 2 in a floating state relative to the frame 32.

Figure 9 shows the hinge 21 of the vehicle door 2 held by the material handling jig 3. The vertical plate portion 215 of the hinge 21 is clamped from the front-rear direction of the vehicle body by a fixed abutment member 52 and a movable abutment member 53. This allows the vehicle door 2 to be positioned in the front-rear direction relative to the vehicle body using the hinge 21 as a reference. Furthermore, at the same time as positioning in the front-rear direction, the rotation of the hinge 21 itself is restricted when the hinge 21 is screwed to the vehicle body 1.

<Vehicle door assembly method>
The procedure for assembling the vehicle door 2 to the vehicle body 1 will now be described.

Figure 10 shows the material handling jig 3 holding the vehicle door 2 and the vehicle body 1. The material handling jig 3 grips the vehicle door 2 as described above. The vehicle door 2 held by the material handling jig 3 is transported to the opening 12 of the vehicle body 1 by the operation of the work robot, and is positioned in the opening 12 in an open position. A cylinder pressure that offsets the load of the vehicle door 2 and the door holder 31 is applied to the floating cylinder 4, and the vehicle door 2 and the door holder 31 are held floating on the frame 32. In this state, the body reference pin 313 of the material handling jig 3 is inserted into the body reference hole 14 of the vehicle body 1. Due to the floating holding, the door holder 31 slides up and down on the slide rail 6 to absorb the variation in the vehicle body position, and the vehicle door 2 is positioned on the vehicle body 1. After this positioning, the vehicle body 1 is clamped by the body clamp device 323 of the material handling jig 3, and the positions of the vehicle body 1 and the material handling jig 3 are fixed as shown in FIG. 11.

The vehicle door 2 held by the material handling jig 3 has its hinge 21 clamped by the hinge clamp device 5. The fixed abutment member 52 and the movable abutment member 53 of the hinge clamp device 5 abut against the vertical plate portion 215 of the vehicle body side hinge member 212 of the hinge 21 from the fore-aft direction of the vehicle body. This regulates the position of the hinge 21 in the fore-aft direction of the vehicle body.

The vehicle door 2 is positioned in an open position relative to the vehicle body 1 via the material handling jig 3, and the hinge 21 is screwed to the hinge fastening portion 13 of the vehicle body 1 from the outside of the vehicle body. This is done by screwing the fixing plate portion 214 of the vehicle body side hinge member 212 of the hinge 21 to the surface of the vehicle body 1 facing outward in the vehicle width direction. In this way, the vehicle door 2 is assembled to the vehicle body 1.

When the screws are fastened, a tightening torque is generated. The rotation of the hinge 21 caused by this tightening torque is restricted by the fixed contact member 52 and the movable contact member 53 of the hinge clamp device 5 clamping the vertical plate portion 215 from the front-rear direction of the vehicle body.

<Effects of material handling equipment>
Therefore, in the embodiment, the rigidity of the vehicle door 2 is high, and the position of the hinge 21 attached to the vehicle body 1 in the vehicle front-rear direction is restricted. That is, since the hinge 21 serves as a positioning reference in the vehicle front-rear direction, it is easy to ensure the positioning accuracy in the front-rear direction. In addition, since the rotation of the hinge 21 is restricted when the hinge 21 is screwed to the vehicle body 1, deformation of the hinge attachment portion 23 of the vehicle door 2 and displacement of the vehicle door 2 due to the tightening torque are avoided. Therefore, even when the vehicle door 2 is assembled to the vehicle body 1 in an open position, the vehicle door 2 can be assembled to the vehicle body with high positional accuracy. That is, it is possible to avoid the vehicle door 2 being misaligned with respect to the vehicle body 1 when the vehicle door 2 is closed.

REFERENCE SIGNS LIST 1 vehicle body 12 opening 2 vehicle door 21 hinge 215 vertical plate portion 3 material handling jig 31 door holder 32 stand 4 floating cylinder

Claims (10)

A vehicle door assembling device that assembles a door having a hinge fixed thereto to a vehicle body in an open position,
A material handling tool that grips the door;
a work robot that supports the material handling tool and transports the door to the opening of the vehicle body,
The material handling jig includes a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling jig, and a jig positioning means for positioning the material handling jig relative to the vehicle body so that the door is in an open position,
The door includes the hinges at a plurality of locations,
The door positioning means at the hinge position abuts against the hinge, and positions the door on the material handling jig by a position restriction that restricts the position of the hinge in the front-rear direction of the vehicle body relative to the vehicle body when the door is positioned at the opening of the vehicle body in an open position, and a rotation restriction that restricts the rotation of the hinge when the hinge is screwed to the vehicle body ,
The assembly device is characterized in that the material handling jig grasps the door from the inner surface side of the door . A vehicle door assembling device that assembles a door having a hinge fixed thereto to a vehicle body in an open position,
A material handling tool that grips the door;
a work robot that supports the material handling tool and transports the door to the opening of the vehicle body,
The material handling jig includes a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling jig, and a jig positioning means for positioning the material handling jig relative to the vehicle body so that the door is in an open position,
The door includes the hinges at a plurality of locations,
The door positioning means at the hinge position abuts against the hinge, and positions the door on the material handling jig by a position restriction that restricts the position of the hinge in the front-rear direction of the vehicle body relative to the vehicle body when the door is positioned at the opening of the vehicle body in an open position, and a rotation restriction that restricts the rotation of the hinge when the hinge is screwed to the vehicle body,
The door positioning means at the hinge performs the position restriction and the rotation restriction by clamping the hinge from the front-rear direction of the vehicle body . A vehicle door assembling device that assembles a door having a hinge fixed thereto to a vehicle body in an open position,
A material handling tool that grips the door;
a work robot that supports the material handling tool and transports the door to the opening of the vehicle body,
The material handling jig includes a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling jig, and a jig positioning means for positioning the material handling jig relative to the vehicle body so that the door is in an open position,
The door includes the hinges at a plurality of locations,
The door positioning means at the hinge position abuts against the hinge, and positions the door on the material handling jig by a position restriction that restricts the position of the hinge in the front-rear direction of the vehicle body relative to the vehicle body when the door is positioned at the opening of the vehicle body in an open position, and a rotation restriction that restricts the rotation of the hinge when the hinge is screwed to the vehicle body,
the hinge includes a door-side hinge member fixed to the door, a vehicle body-side hinge member screwed to the vehicle body, and a hinge pin connecting the two hinge members so as to be rotatable relative to one another;
the vehicle body-side hinge member includes a vertical plate portion that protrudes outward in the vehicle width direction from a side edge of a fixing plate portion that is screwed to a surface of the vehicle body facing outward in the vehicle width direction and is connected to the door-side hinge member by the hinge pin;
an assembly device for clamping the vertical plate portion of the hinge member on the vehicle body side from the front-rear direction of the vehicle body, the assembly device comprising: a door positioning means for clamping the vertical plate portion of the hinge member on the vehicle body side from the front-rear direction of the vehicle body; 4. The assembly device according to claim 3 ,
The door positioning means at the hinge includes:
A fixed abutment member fixed to the material handling jig so as to abut against the vertical plate portion from one side in the front-rear direction of the vehicle body;
and a movable abutment member that is driven in the fore-and-aft direction of the vehicle body by a clamp cylinder device provided on the material handling jig so as to abut against the vertical plate portion from the other side in the fore-and-aft direction of the vehicle body and press the vertical plate portion against the positioning member. The assembly device according to any one of claims 1 to 4 ,
The door has a plurality of hinges provided at intervals in the vertical direction of the vehicle body,
2. An assembly device according to claim 1, wherein said door positioning means at said hinges is provided for each of a plurality of said hinges. A method for assembling a vehicle door in which a door having a hinge is mounted to a vehicle body in an open position, comprising the steps of:
gripping the door with a material handling tool;
transporting the door held by the material handling jig to an opening in the vehicle body;
positioning the material handling tool relative to the vehicle body so that the door is in an open position;
and connecting the hinge to the vehicle body with the door in an open position.
The material handling jig includes a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling jig,
The door includes the hinges at a plurality of locations,
At the hinge, a positioning element is brought into contact with the hinge to perform a position regulation for regulating a position of the hinge in the front-rear direction of the vehicle body relative to the vehicle body when the door is positioned at the opening of the vehicle body in an open position, and a rotation regulation for regulating a rotation of the hinge when the hinge is screwed to the vehicle body ,
The assembly method is characterized in that the material handling jig grips the door from the inner surface side of the door . A method for assembling a vehicle door in which a door having a hinge is mounted to a vehicle body in an open position, comprising the steps of:
gripping the door with a material handling tool;
transporting the door held by the material handling jig to an opening in the vehicle body;
positioning the material handling tool relative to the vehicle body so that the door is in an open position;
and connecting the hinge to the vehicle body with the door in an open position.
The material handling jig includes a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling jig,
The door includes the hinges at a plurality of locations,
At the hinge, a positioning element is brought into contact with the hinge to perform a position regulation for regulating a position of the hinge in the front-rear direction of the vehicle body relative to the vehicle body when the door is positioned at the opening of the vehicle body in an open position, and a rotation regulation for regulating a rotation of the hinge when the hinge is screwed to the vehicle body,
The door positioning means at the hinge performs the position restriction and the rotation restriction by clamping the hinge from the front-rear direction of the vehicle body . A method for assembling a vehicle door in which a door having a hinge is mounted to a vehicle body in an open position, comprising the steps of:
gripping the door with a material handling tool;
transporting the door held by the material handling jig to an opening in the vehicle body;
positioning the material handling tool relative to the vehicle body so that the door is in an open position;
and connecting the hinge to the vehicle body with the door in an open position.
The material handling jig includes a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling jig,
The door includes the hinges at a plurality of locations,
At the hinge, a positioning element is brought into contact with the hinge to perform a position regulation for regulating a position of the hinge in the front-rear direction of the vehicle body relative to the vehicle body when the door is positioned at the opening of the vehicle body in an open position, and a rotation regulation for regulating a rotation of the hinge when the hinge is screwed to the vehicle body,
the hinge includes a door-side hinge member fixed to the door, a vehicle body-side hinge member screwed to the vehicle body, and a hinge pin connecting the two hinge members so as to be rotatable relative to one another;
the vehicle body-side hinge member includes a vertical plate portion that protrudes outward in the vehicle width direction from a side edge of a fixing plate portion that is screwed to a surface of the vehicle body facing outward in the vehicle width direction and is connected to the door-side hinge member by the hinge pin;
The assembly method according to claim 1, wherein the door positioning means at the hinge clamps the vertical plate portion of the vehicle body side hinge member from the front-rear direction of the vehicle body. The assembly method according to claim 8 ,
The door positioning means at the hinge includes:
A fixed abutment member fixed to the material handling jig so as to abut against the vertical plate portion from one side in the front-rear direction of the vehicle body;
and a movable abutment member that is driven in the fore-and-aft direction of the vehicle body by a clamp cylinder device provided on the material handling jig so as to abut against the vertical plate portion from the other side in the fore-and-aft direction of the vehicle body and press the vertical plate portion against the positioning member. The assembly method according to any one of claims 6 to 9 ,
The door has a plurality of hinges provided at intervals in the vertical direction of the vehicle body,
A method of assembling, characterized in that the door positioning means at the hinge locations is provided for each of a plurality of the hinges.

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