JPS6015513B2 - Automatic opening/closing system for car doors on car conveyor lines - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic opening/closing system for automobile doors in an automobile comparison line.

Generally, on automobile manufacturing lines, such as painting lines and assembly lines, it is often necessary to paint or assemble cars with the side doors open, but conventionally, workers waiting on both sides of the conveyor The side doors are opened and closed manually, and in particular, despite partial automation by employing painting robots for painting and assembly robots for assembly, the side doors cannot be opened and closed manually. A fully automatic work system had not been established in which the side door was closed after painting and assembly, which was a bottleneck in efforts to save labor and fully automate the process.

The present invention has been made in view of the above-mentioned conventional problems.
Basically, a door opening device that opens the side door is placed in the first position of the car comparison line, and a work robot that paints the car with the door opened is placed in the second position in front of it. , A door closing device that closes the open door is placed in the third position in front of the door, so that the side door can be opened, painted, etc., and then closed afterward, creating a fully automatic work system. The purpose of this project is to provide a new automatic opening/closing system for automobile doors in the automobile comparison line that has been established.

Hereinafter, one embodiment of the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIGS. 1 and 2, the automobile comparison line in the painting line is constructed by aligning automobiles 3, . . . , 3 having side doors 2, . It is equipped with a conveyor 4 that carries the conveyors at intervals of , and moves them continuously in one direction.

The conveyor 4 is provided with an entrance 6 and an exit 7 that surround the entire circumference of the painting space from the ground 5, including the work floor 1 in the middle position, and allow the automobile 3 to enter and exit at the front and rear of the conveyor 4.
A painting room 8 in the form of a closed room is formed. In front of the entrance 6 of the painting room 8, there are photoelectric switches 9, 9 for detecting the car 3 being moved by the conveyor 4. In the first position, there is an engagement mechanism 10 that can engage the inside of the window frame 2a of the door 2 of the automobile 3, and a movement mechanism 11 that moves the engagement mechanism 10 in the door opening direction. In front of the first position and in the second position in the center of the painting room 8, there are door opening devices A and A for left- and right-hand use, respectively, for painting the car 3 with the door 2 open. Working robot B, B
are arranged respectively, and in front of the second position, an outlet 7 of the painting chamber 8 is placed.
In the third position immediately in front of is a door closing device C for left and right hands, which has a support mechanism 12 that can come into contact with the outer surface of the opened door 3.
, C are arranged respectively.

The painting robot B is connected to a rotating shaft 14 of a drive motor 13 installed outside the entrance 6 side of the painting room 8, and runs along the conveyor 4 through a husband plate 20' of a support frame 19 fixed on the ground 5. It is equipped with a cart 15 that is reciprocated on laid rails 15a, 15a, and on the rigging cart 15, a spray gun 16 is provided at the tip, and a spray arm 17 is mounted.
The spray arm 17 is pivoted so as to be able to swing up and down, back and forth, and swing freely, and while the trolley 15 is moved within a predetermined range L following the automobile 3 being moved by the conveyor 4, the spray arm 17 is extended and contracted, swings, and swings. Then, paint is sprayed around the outside of the car 3 from a spray gun 16.

Evening: The painting robot B is placed inside the partition walls 8a, 8a of the painting room 8 to prevent paint from adhering, and only the tip side of the spray arm 17 protrudes from the curtain wall 21. The paint floating inside and the paint falling into the hopper 22 below the work floor 1 are
It is collected into the powder feed tank 23 and reused.

On the other hand, as shown in detail in FIGS. 3 and 4, the door opening device A includes the engaging mechanism 10 and the moving mechanism 1 as described above.
1, the moving mechanism 11 is a rotating mechanism in which a vertical arm 25 is integrally fixed to an inverted L-shaped base frame 24 installed on the work floor 1 on the side of the conveyor 3 with a stay 25a attached to one end. A piston rod 30 of a swing actuator 29, which pivotally supports the other shaft portion 27 of the arm 26 and whose rear end is connected to the base frame 24 with a pin 28, is connected to the swing arm 26 with a pin 31 to form the swing actuator 29.
The operation causes the swing arm 26 to swing in the door opening direction within a horizontal plane. The engagement mechanism 10 includes:
At the upper end of the vertical support 25, one end of an upper swing arm 32 and a lower swing arm 33 are coaxially and swingably supported by a pin 34.

The upper swing arm 32 and the lower swing arm 33 are
In the horizontal position shown in the figure, where they overlap in parallel, they are held against each other by a damper 35 fixed to the vertical support 25 to maintain the horizontal state.

The upper swinging arm 32 connects a piston rod 38 of a swinging actuator 37 whose rear end is connected to the vertical support 25 with a pin 36 to an extension arm 3 at one end of the upper swinging arm 32.
2a by a pin 39, and the upper swing arm 32 is caused to swing up and down in a vertical plane by the operation of a swing actuator 37.

The upper swing arm 32 and the lower swing arm 33 are
As shown in detail in FIG. 5, the shaft portion of the bolt 40 with a long ratchet is fixed to the upper swinging arm 32, and the shaft portion is passed through the long hole 41 of the lower swinging arm 33, and the tip of the bolt 40 is fixed to the upper swing arm 32. Then, the damper 42 is ironed and the nut 43 is screwed on, and when the upper swing arm 32 and the lower swing arm 33 reach a certain opening angle or more, both swing arms 32 and 33 become interlocked.

As shown in FIG. 6, at the other end of the upper swinging arm 32, an inverted L-shaped bridge arm 45, which is normally biased in the upright direction by a torsion spring 44, is pivotally supported by a pin 46. A claw arm 48 having an elastic claw member 47 that can be engaged with the inside of the window frame 2a of the door 2 of the automobile 3 is pivotally supported by a pin 49 at the extended end of the prezzle arm 45. 48 and the bent portion of the bridge arm 45, tension coil springs 50, 50 are tensioned so that the claw member 47 of the claw arm 48 is always perpendicular to the bridge arm 45. .

A stopper roller 51 is provided on the rising side of the ridge arm 45, and a guide plate 52 is fixed to the lower swing arm 33 corresponding to the stopper roller 51, so that the upper swing arm 32 is connected to the lower swing arm 33. When approached, the stopper roller 51 is stopped by the guide plate 52, the ridge arm 45 is swung against the biasing force of the torsion spring 44, and the claw member 47 is engaged with the inside of the window frame 2a of the door 2. become.

Next, as shown in FIGS. 7 and 8, the door closing device is provided with an abutting mechanism 12 at the upper end of a straight ball 53 fixed to the work floor 1. As shown in FIGS.

The contact mechanism 12 has a roller arm 56 having an elastic support roller 55 rotatably supported on a collar shaft 54 fixed to the upper end of a vertical pole 53, and biased in one direction by a torsion spring 57. In this state, a stopper 58 is used to stop the layer at a predetermined position. Therefore, the outer surface of the door 2 of the automobile 3 moved by the conveyor 4 is brought into contact with the abutting roller 5.
5, as the car 3 moves, the door 2
will be automatically closed. In the automobile comparison line configured as described above, when the automobile 3 is moved by the conveyor 4 and enters the painting room 8 from the entrance 6,
First, the door opening devices A, A start operating.

As shown in FIG. 9a, in the door opening device A before the start of operation, the swing actuator 29 is shortened and the swing arm 26 is connected to the conveyor 4.
The swing actuator 37 is shortened, the upper and lower swing arms 32 and 33 are in the vertical position, and the bridge arm 45 is also in the upright position due to the torsion spring 44.

As shown in FIG. 9b, when the swing actuator 29 first extends and swings the upper swing arm 32 in the horizontal direction, the lower swing arm also swings in the horizontal direction, and the lower swing arm 32 swings in the horizontal position. When the movable arm 33 is stopped by the damper 35 and the upper swing arm 32 is further swung so as to be overlapped in parallel, the prezzle arm 45 is moved by the biasing force of the torsion spring 44 via the stopper roller 51 that is stopped against the guide plate 52. As shown in Figure 9c,
The claw member 47 comes to engage with the inside of the window frame 2a of the door 2.

As shown in FIG. 9d, when the swing actuator 29 is extended in this state, the swing arm 26 swings, and the door 2 of the automobile 3 is opened wide by the pawl member 47.

When the door 2 opens, the limit switch LS attached to the vertical arm 25 is turned on by the door 2, and the door 2 is turned on.
You can confirm that it has been opened. Then, as shown in FIG. 9e, when the swing actuator 37 is shortened, the upper swing arm 32 swings in the vertical position direction, and the prezzle arm 4 is released from its abutment by the guide plate 52.
5 returns to the upright position and is disengaged from the window frame 2a, and when the upper swing arm 32 swings to a certain angle, the lower swing arm 33 also swings to the vertical position via the bolt 40. Then, the upper and lower swing arms 32, 33 are oriented in a vertical position.

Thereafter, the swing actuator 29 is shortened to return the swing arm 26 to its original position in preparation for the next operation.

The car 3 with the door 2 opened is further moved by the conveyor, and when it comes to the position of the painting work robots B, B, the spray arm 17 is moved by the trolley 15 and expands and contracts, vibrates and swings, and the spray gun 16 is moved. , door 2
Paint is sprayed on the outer circumference of the opened car 3.

When the painting work robots B and B finish spraying the paint, the car 3 with the door 2 open moves to the exit 7 side of the painting room 8, and the outer surface of the door 2 touches the door closing device C,
When the bales are placed on the bale rollers 55, 55 of C, the door 2 is closed as the car 3 is moved by the conveyor 4, and then moved from the exit 7 to the outside of the painting room 8.

According to the above embodiment, the door opening device A basically consists of a swing arm 26 having a vertical support, a double-structured upper and lower swing arm, and a swing arm 26 attached to a base frame 24 on the work floor 1. 32, 33, and a bridge arm 45 having a claw portion 47, these can be operated by two actuators, a swing actuator 29 and a swing actuator 37, and the door closing device C is Basically, it consists of a vertical pole 55 with support rollers 55, and the work floor 1
It is fixed on top.

As is clear from the above description, the present invention provides an automobile door in which a door opener is placed in the first position of an automobile comparison line, a working robot is placed in the second position, and a door closing device is placed in the third position. Since it is an automatic opening/closing system, it is possible to fully automate the series of operations such as opening the car door, painting and assembling it, and then closing the door afterwards, which can greatly contribute to labor savings.

In particular, in the comparison line, automatic opening of automobile doors was not considered at all in conventional systems, but this has been achieved in the present invention.

[Brief explanation of the drawing]

Fig. 1 is a plan view showing an automatic opening/closing system for automobile doors in an automobile painting comparison line, Fig. 2 is a side view of Fig. 1, Fig. 3 is a plan view of the door opening device, and Fig. 4 is a plan view of Fig. 3. 5 is a side view showing the mounting structure of the upper and lower swinging arms, FIG. 6 is a side view showing the mounting structure of the bridge arm, and FIG. 7 is a sectional side view of the main part of the door closing device. Figure 8 is the seventh
Plan views of the figures, Figure 9a, Figure 9b, Figure 9c, Figure 9d
, and FIG. 9e are perspective views showing the order of operation of the door-related counterfeit, respectively. 2...Side door, 2a...Window frame, 3
...Car, 4...Conveyor, 8...
...Painting room, A...Door opening device, 10...
...Engagement mechanism, 11...Movement mechanism, B...
...Painting robot, C...Door closing device, 1
2...This Aya organization. Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 8 Figure 7 Figure 9 '01 Figure 9 'b1 Figure 9 [c' Figure 9 [d1 Figure 9 01

Claims (1)

[Scope of Claims] 1. In a conveyor line on which automobiles having side doors are mounted and continuously moved, an engagement mechanism capable of engaging with the inside of the window frame of the door is provided at a first position of the conveyor line. and a moving mechanism for moving the engagement mechanism in the door opening direction, and a door opening device is placed at a second position in front of the first position on the conveyor line to perform painting, etc. on a car with an open door. An automobile characterized in that a robot is disposed, and a door closing device having an abutting mechanism capable of abutting against the outer surface of the opened door is disposed at a third position in front of the second position of the conveyor line. Automatic opening/closing system for car doors on conveyor lines. 2. The engagement mechanism of the door opening device includes a bridge arm that supports a claw member that can engage the inside of the window frame of the door at its tip, and swings the bridge arm between a window frame engagement position and a non-engagement position. The movement mechanism consists of a swing actuator and a
A vehicle door assembly in an automobile conveyor line according to claim 1, characterized in that the vehicle door comprises a pivot arm that supports the bridge arm and a swing actuator, and a pivot actuator that pivots the pivot arm in a door opening direction. Automatic opening and closing system. 3. The other end of the swing arm, which has a vertical arm erected at one end, is pivoted to a base frame installed on the floor on the side of the conveyor line, and the swing actuator attached to the base frame is connected to the swing arm. to rotate the swing arm in the door opening direction in a horizontal plane,
One end of each of an upper swing arm and a lower swing arm is coaxially and swingably pivoted to the upper end of the vertical support, and the swing actuator attached to the vertical support is connected to the upper swing arm. The upper swing arm and the lower swing arm are connected to one end by a connecting member that interlocks when the opening angle exceeds a certain level, and the upper swing arm and the lower swing arm are connected in the vertical direction in a vertical plane. At the same time, the bridge arm, which is normally biased in the upright direction, is swingably supported at the other end of the upper swing arm, and the upper swing arm is pivoted at the other end of the lower swing arm. Claim 2, characterized in that the bridge arm is provided with a stopper that rests on the bridge arm and swings against the urging force when the bridge arm approaches, and swings the bridge arm in the window frame engagement direction within a vertical plane. An automatic opening/closing system for automobile doors in an automobile conveyor line as described in Section 3.