JPH0339864B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Invention The present invention relates to a device for opening and closing an opening/closing body that rotates around a single rotation center line.

BACKGROUND OF THE INVENTION The present applicant proposed one of the above-mentioned switching devices in Japanese Patent Application No. 175623/1983. This opening/closing device is provided with a rotating arm attached with a locking/disengaging device that engages/disengages from the opening/closing body so that it can rotate around the center line of rotation of the opening/closing body, and by rotating the rotating arm. This device opens and closes the opening/closing body with a simple structure, can be manufactured at low cost, and has the advantage that the opening/closing body can be easily held in an accurate open position.

Problems to be Solved by the Invention However, in such an opening/closing device, it is necessary to align the rotation center line of the opening/closing body with the rotation center line of the rotation arm, and the rotation center line must match the rotation center line of the rotation arm. There is a problem that it cannot be used to open/close an opening/closing body that is different from the center line of rotation of the movable arm, and cannot be used to open/close multiple types of opening/closing bodies. Furthermore, even if the opening/closing body is of the same type whose rotation center line coincides with the rotation center line of the rotation arm, the positioning of the opening/closing body with respect to the opening/closing device may not be performed accurately, and the two rotation center lines may be misaligned. If this occurs, opening and closing will not be performed properly, and furthermore, the opening/closing body cannot be installed so that both rotation center lines coincide with each other in relation to jigs, etc. installed around the opening/closing device. In such cases, the switchgear cannot be used.

Means for Solving the Problems The present invention has been made to solve the above problems, and its gist is as follows:
The opening and closing device includes (a) a rotation arm that is rotatably provided around a rotation center line that is parallel to and close to the rotation center line of the opening and closing body and is driven by an actuator; (b) At the tip of the rotating arm, there is a normal movement allowance mechanism that allows movement in the normal direction of the arc trajectory drawn by the tip, and a tangential movement that allows movement in the tangential direction of the arc trajectory. (c) a movable member attached to the movable member so as to be movable in the normal direction and the tangential direction via a permitting mechanism; (c) an engagement/disengagement device attached to the movable member and capable of engaging with the opening/closing body; (e) a movable member regulating device that maintains the movable member at a predetermined position when the engagement/disengagement device engages with the opening/closing body and allows movement in the normal direction after engagement; (f) biasing means for urging the movable member in a backward direction away from the opening/closing body with respect to the distal end of the rotating arm; and a positioning member that defines the open position of the opening and closing body against the urging force of the urging means by coming into contact with the opening and closing body at a predetermined position.

Operation In the opening/closing device configured as described above, the movable member is attached to the tip of the rotating arm via a normal direction movement permitting mechanism, and allows movement in the normal direction of the circular arc trajectory drawn by the tip of the rotating arm. Therefore, the rotation center line of the rotating arm does not match the rotation center line of the opening/closing body, and as the rotating arm and the opening/closing body rotate, the normal line between the tips of the two Even if a directional shift occurs, the shift is absorbed by the movable member moving relative to the rotating arm in the normal direction, and the locking/disengaging device attached to the rotating arm is the same as the opening/closing body. It will rotate in a circular arc.

In addition, the movable member is attached in a state in which it can move not only in the normal direction of the arc locus drawn by the tip of the rotating arm but also in the tangential direction, and by providing the positioning member, the movable member can be opened as described above. The opening/closing body is positioned at an accurate open position regardless of the accuracy of the engagement position of the engaging/disengaging device with respect to the opening/closing body.

Embodiment Hereinafter, as an embodiment of the present invention, a device for automatically opening and closing the hood of an automobile in an automobile production line will be described in detail based on the drawings.

In FIG. 1, reference numeral 10 denotes a base for positioning the vehicle body, and the vehicle body 12 transported by a shuttle conveyor or the like is placed on a plurality of supports 14 provided on the base 10 and positioned. Reference numeral 16 denotes a hood that covers the engine room at the front of the vehicle body, and the rear end of the hood is connected to the vehicle body 12 by a shaft 17.
When the vehicle body 12 is placed on the support column 14, the vehicle body 12 is supported horizontally, so that the vehicle body 12 rotates around the horizontal center line extending in the width direction. It will rotate to. Note that a plurality of types of vehicle bodies having different positions of the hoods with respect to the base 10 are supplied to this automobile manufacturing line, including a vehicle body having a hood 16a shown by a chain double-dashed line in the figure.

The base 10 is provided with the following opening/closing device for opening and closing the hood 16. base 1
A column 18 is erected on the side of the vehicle body 12 of the vehicle 0, and a rotating arm 20 is attached to the upper end of the column 18 and is rotatable around the axis of a horizontal shaft 22. is attached to. The rotating arm 20 is rotated by an air cylinder 24 as an actuator attached to the support column 18. That is, a piston rod 26 of an air cylinder 24 is connected to a portion of the rotating arm 20 that is separated from the portion supported by the shaft 22, and the rotating arm 20 is caused to rotate as the piston rod 26 expands and contracts. -ing

After the rotating arm 20 is extended to an appropriate length from the portion attached to the support column 18, the rotating arm 20 is attached to the vehicle body.
2, and an air cylinder 30 is connected to the tip via a bracket 28.
is installed. The air cylinder 30 is the fourth
As shown in the figure, the piston rod 32 extends from the rotating arm 20 toward the hood 16, and
The piston rod 32 is attached to extend and contract in the tangential direction of the arc trajectory drawn by the rotating arm 20, and a plate 34 extending in the width direction of the vehicle body 12 is fixed to the tip of the piston rod 32. One end of a hollow shaft 36 that sandwiches the air cylinder 30 and extends in a direction parallel to the axis of the air cylinder 30 is fixed to both ends of the plate 34, respectively. These hollow shafts 3
6 is fitted in a pair of guide bushes 38 fixed to the bracket 28 so as to be movable in the axial direction, so that when the plate 34 is moved by the expansion and contraction of the piston rod 32, the plate 34 is guided to move in the tangential direction. Moreover, a slide pin 40 is fitted inside each of them so as to be movable in the axial direction. A large-diameter bottomed hole 42 is formed at the end of each hollow shaft 36 opposite to the side fixed to the plate 34.
The slide pin 40 is urged away from the hood 16 by a compression coil spring 44 disposed between the bottom surface of the slide pin 2 and the rear end of the slide pin 40, and one end of the slide pin 40 is always biased away from the hood 16. A large-diameter portion 46 provided at the plate 34 is in contact with the plate 34.

A support member 48 is fixed to the large diameter portion 46 of the slide pin 40. The support member 48 is the third
As shown in the figure, it is a U-shaped member in cross section, and two guide rods 50 are passed between its side walls so as to extend in the normal direction of the arc trajectory drawn by the tip of the rotating arm 20. These guide rods 50
A slider 54 that holds a support shaft 52 as a pair of movable members is attached to the slider 54 . That is, in the longitudinally intermediate portion of the slider 54, a second
As shown in the figure, a pair of ears 56 are provided that extend outward from the slider 54 at right angles, and a support shaft 52 is attached to each of these ears 56, and the support shaft 52 supports the slider 54. The distal end of the rotary arm 20 is guided by a guide rod 50 through the rotary arm 20 so that it can move in the normal direction of the arc trajectory drawn by the distal end of the rotary arm 20. That is, in this embodiment, the guide rod 50 and the slider 54
The normal direction movement permitting mechanism is constructed by the above.

Further, one air cylinder 58 is attached to the side wall of the support member 48 so that its piston rod 60 extends toward the slider 54. That is, these air cylinders 58 are disposed to face each other with the slider 54 in between in the normal direction, and when the piston rod 60 is extended, it abuts against the slider 54 and thereby While the support shaft 52, which is a movable member, is prevented from moving along the guide rod 50, it is allowed to move in the contracted state. That is, in this embodiment, the two air cylinders 58 arranged in this manner
functions as a movable member regulating device.

As shown in FIGS. 3 and 4, the support shaft 52 is guided in its relative movement in the axial direction by a guide bush 62 fixed to the ear 56 of the slider 54.
A rubber vacuum cup 64 as a locking/disengaging device is attached to the side projecting end. A compression coil spring 66 is fitted between the protruding portion of the support shaft 52 from the guide bush 62 and the vacuum cup 64, thereby urging the vacuum cup 64 in a direction away from the ear portion 56. The limit of movement of the support shaft 52 based on the biasing force of the spring 66 is defined by a large diameter stopper portion 68 provided on the side of the support shaft 52 opposite to the side to which the vacuum cup 64 is attached. When the stopper portion 68 is in contact with the guide bush 62, the support shaft 52 is connected to the compression coil via the slider 54 that holds it, the support member 48 that supports the slider 54, the slide pin 40 to which the support member 48 is fixed, etc. Spring 44
As a result, it is urged in the backward direction away from the hood 16. That is, in this embodiment, the compression coil spring 44 functions as a biasing means for biasing the support shaft 52, which is a movable member, in the backward direction. Moreover, while the stopper part 68 comes into contact with the guide bush 62 in this way,
The large diameter portion 46 of the slide pin 40 is connected to the plate 3.
When the piston rod 32 is extended while in contact with the rotary arm 4, the support shaft 52 moves toward the hood 16 along the tangential direction of the arc trajectory drawn by the tip of the rotating arm 20 via the support member 48, slider 54, etc. When the piston rod 32 is moved and the piston rod 32 is contracted, the support shaft 52 is biased by the compression coil spring 44, so that the piston rod 32 is compressed.
2 and move away from the hood 16. That is, in this embodiment, a tangential movement permitting mechanism is constituted by the hollow shaft 36, guide bush 38, slide pin 40, etc. that guide the movement of the support shaft 52 in the tangential direction.

Reference numeral 70 denotes an air hose, which connects an air passage (not shown) formed through the support shaft 52 and the center of the vacuum cup 64 to the vacuum device.

Furthermore, a pair of positioning members 72 are attached to the distal end of the rotating arm 20 to define the open position of the hood 16 with the supporting member 48 and the like interposed therebetween.

Note that the rotation range of the rotation arm 20 is determined as follows. As shown in Figure 1, the hood 1
The rotation limit position of the rotation arm when the rotation arm 6 is open (this position is referred to as the open position) is such that the hoods 16, 16a, etc. do not open too much for all of the multiple types of vehicle bodies provided to this automobile manufacturing line. determined in position. It is desirable that the hoods 16, 16a, etc. be opened as wide as possible in order to facilitate work such as applying sealant.
The rotating arm 20 can be rotated to a fixed open position regardless of the type of vehicle body, and the open position of the hoods 16, 16a, etc. is determined by a positioning member 72 fixed to the rotating arm 20. Therefore, the open position of the hoods 16, 16a, etc. is also constant regardless of the type of vehicle body. If the open position is constant, among the multiple types of car body hoods,
Normally, the opening angle of the hood that is lowest when closed is the maximum, but in order to prevent the hood from opening too much and causing damage, the rotating arm 2
The open position of 0 is determined. Further, the closed position of the rotating arm 20 shown in FIG. 5, that is, the rotation limit position of the rotating arm 20 when the hood is closed,
When the vacuum cup 64 is contracted and the vacuum cup 64 is moved backward most, the vacuum cup 64 is set at a position immediately before contacting the hood of the vehicle body whose closed hood is the highest among the plurality of types of vehicle bodies.

Then, the piston rod 3 of the air cylinder 30
The expansion/contraction limit of No. 2 is determined as follows. first,
The extension limit of the piston rod 32 is the rotation arm 2.
0 is in the closed position shown in FIG. 5, the position of the closed hood of the plurality of vehicle bodies is set at a position sufficient to bring the vacuum cup 64 into contact with the hood of the lowest one, and the contraction limit is When the pivot arm 20 is in the open position as shown in FIG. As mentioned above, since the rotating arm 20 can be rotated to a fixed open position regardless of the type of vehicle body, the position of the positioning member 72 fixed thereto is also constant, and the position of the portion of the hood that contacts the positioning member 72 is fixed. is always constant regardless of the type of vehicle body, but the position of the positioning member 72 with respect to the vacuum cup 64 is shifted in the normal direction of the arc trajectory drawn by the tip of the rotating arm 20, and
Since the rotation center line of the rotation arm 20 and the rotation center line of the hood are also misaligned, the position of the portion of the hood that is attracted to the vacuum cup 64 of multiple types of vehicle bodies is slightly different. The piston rod 32 is moved to a position sufficient to bring all types of hoods into contact with the positioning member 72.
is made to contract.

In the automobile manufacturing line equipped with the opening/closing device configured as described above, the vehicle body 12 is equipped with a hood 16.
is transported in a closed state and placed on the support column 14. At this time, the opening/closing device is operated so that the rotating arm 20 is in the open position, that is, the position shown in FIG.
2, and the vehicle body 12 placed on the support column 14 has the center line of rotation of the hood 16 aligned with the rotation arm 20.
It will be located near the center line of rotation. Further, the large diameter portion 46 of the slide pin 40 is in contact with the plate 34 due to the biasing force of the compression coil spring 44, and the piston rod 60 of the air cylinder 58 is expanded to move the slider 54 approximately halfway between the guide rod 50. The support shaft 52 is maintained at a fixed position by stopping at a certain position. Further, the vacuum cup 64 and the support shaft 52 are biased by a compression coil spring 66, and the guide bush 62 is biased by a compression coil spring 66.
The stopper portion 68 of the support shaft 52 is in contact with the guide bush 62, while the piston rod 32 of the air cylinder 30 is contracted and the plate 34 and the support member supported by it are in the most protruding position. 48, the vacuum cup 64, etc. are at the rearward end position.

When opening the hood 16, the piston rod 26 is first extended and the rotating arm 2
0 counterclockwise from the open position shown in FIG. 1 to the closed position shown in FIG. In the closed position, the vacuum cup 64, which is maintained at the retracted end position by the contraction of the piston rod 32, is just about to abut against the hood 16, so the piston rod 32 is extended from that state and the plate 34, support member 48,
The support shaft 52 etc. are advanced, and the vacuum cup 64 is
is brought into contact with the hood 16. At this time, the extension limit of the piston rod 32 is set so that the vacuum cup 64 can come into contact with the lowest hood in the closed state.
is further expanded after the vacuum cup 64 contacts the hood 16, but this extra amount of expansion is absorbed by the compression of the compression coil spring 66.

After the vacuum cup 64 comes into contact with the hood 16 in this way, the valve of the vacuum device (not shown) is switched so that the vacuum cup 64 attracts the hood 16, and the air cylinder 5
The piston rod 60 of No. 8 is retracted so that the slider 54 and the support shaft 52 can move along the guide rod 50. From this state, the piston rod 26 is retracted to rotate the rotating arm 20 clockwise in FIG. 1. As the rotating arm 20 rotates, the stopper portion 6 of the support shaft 52
When the hood 8 comes into contact with the guide bush 62, the hood 1
6 begins to open. The rotational force of the rotation arm 20 is transferred to the air cylinder 30, piston rod 32, plate 34, hollow shaft 36, compression coil spring 44,
It is transmitted to the hood 16 via the slide pin 40, the support member 48, the guide rod 50, the slider 54, the guide bush 62, the stopper part 68, the support shaft 52 and the vacuum cup 64, and the hood 16
rotates together with the rotating arm 20. However, since the rotational center line of the hood 16 is at a position shifted from the rotational center line of the rotation arm 20, the hood 16
The free end of the rotating arm 20 rotates along an arcuate trajectory shown by the thin line in FIG. In other words, if the shaft 17 and the shaft 22 are not on the same straight line as shown in an exaggerated manner in FIG.
Point P on the hood 16 and point Q on the rotating arm 20, which were at the same longitudinal position, move around the axes 17 and 22, respectively, as the rotating arm 20 rotates in the direction of opening the hood 16. The rotating arm 20 moves along the circular arc, and relatively moves in the longitudinal direction of the rotating arm 20. Therefore, food 1
If the support shaft 52 whose axis passes through the point Q when the hood 16 of the rotating arm 20 is closed,
If the hood 16 does not move relative to the rotation arm 20 when rotating in the opening direction and maintains the position shown by the two-dot chain line, then the hood 16 would have been attracted at a point P on the hood 16 in a closed state. The vacuum cup 64 has no choice but to deviate from the position of point P. If the support shaft 52 moves in the longitudinal direction of the rotating arm 20 to the position shown by the broken line, the vacuum cup 64 does not need to shift from the position of point P, but if the support shaft 52 does not move from the position of point Q. , the vacuum cup 64 is forced to deviate from the position of point P. However, Bakyum Cup 64 has a hood of 16
Since it is adsorbed to the hood 16, it does not easily slide on the hood 16, and unreasonable force is applied to each part at the opening/closing position, making it difficult to open/close smoothly. In some cases, the vacuum cup 64 may be forcibly deformed, resulting in gaps on the suction surface.
Air flows in between the holes and the suction force decreases, causing the hood 1
There is even a possibility that 6 may come off from the vacuum cup 64. On the other hand, in this switchgear,
Since the support shaft 52 is movable in the longitudinal direction of the pivot arm 20 as the pivot arm 20 rotates, the vacuum cup 64 does not need to slide on the hood 16. The vacuum cup 64 moves the slider 5 so that the support shaft 52 moves in the normal direction of the arc locus drawn by the rotating arm 0.
4, the hood 16 rotates in the same direction as the free end of the hood 16 while moving in the same direction with respect to the rotation arm 20, so the hood 16 remains attracted to the vacuum cup 64 and rotates smoothly. It will be opened to the public. and,
After the pivot arm 20 is stopped in the open position of FIG.
4. The slider 54, support shaft 52, vacuum cup 64, etc., which are connected to the piston rod 32 via the slide pin 40, the support member 48, and the guide rod 50, are moved in the direction of further opening the hood 16 following the piston rod 32. , the hood 16 eventually comes into contact with the positioning member 72 . At this time, the retraction limit of the piston rod 32 is set at a position sufficient to bring the hood of all types of vehicle bodies into contact with the positioning member 72 when the rotating arm 20 is in the open position as described above. Therefore, the piston rod 32 is contracted even after the hood 16 contacts the positioning member 72, but this extra amount of contraction is absorbed by the plate 34 and the hollow shaft 3.
6 moves away from the hood 16 while compressing the compression coil spring 44, that is, the support shaft 52 moves in the tangential direction of the arc trajectory drawn by the tip of the rotating arm 20, and the hood 16 is absorbed. is pressed against the positioning member 72 and held in the correct open position. Since the compression coil spring 44 transmits the rotational force of the rotation arm 20 to the hood 16 as described above, it is given a preload large enough to prevent it from being compressed by the weight of the hood 16. , while the rotating arm 20 is rotating to the open position, the large diameter portion 46
is kept in contact with the plate 34, and members on both sides of the compression coil spring 44 (one group is the plate 34, the hollow shaft 36, etc., the other group is the support member 48,
However, after the hood 16 contacts the positioning member 72, it is compressed by the compression force applied by the air cylinder 30, and the members on both sides of the compression coil spring 44 are moved together. Allow relative movement to occur. Due to the action of the compression coil spring 44, the hood is always opened to the correct position defined by the rotation arm 20 and the positioning member 72, despite variations in the shape of the vacuum cup 64 when the hood is attracted. That's what happens.

Note that when closing the hood 16, after the piston rod 32 is extended and the hood 16 is separated from the positioning member 72, the rotating arm 2
0 is rotated counterclockwise in FIG. 1, the hood 16 is closed. Thereafter, the valve of the vacuum device is switched to supply air to the vacuum cup 64 and disengage it from the hood 16.

In addition, the hood 16a indicated by the two-dot chain line in FIG.
The opening and closing of the hood 16 is also performed in the same manner as the opening and closing of the hood 16 described in detail above.

As described above, according to the opening/closing device of this embodiment, it is possible to smoothly open and close the hoods of various vehicle bodies whose rotational center line is deviated from the rotational centerline of the rotation arm 20. This opening/closing is performed by a simple combination of movement of the support shaft 52 in the normal direction and rotation of the rotation arm 20, which simplifies the structure of the device and makes it inexpensive. It can be manufactured.

In addition, in this opening/closing device, the positioning member 7
2 is provided and the support shaft 52 is allowed to move in the tangential direction. Therefore, even if the hood holding precision of the vacuum cup 64 is poor or there is a manufacturing error in the hood 16 itself, the support shaft 52 can be moved in the tangential direction. These errors are absorbed by the movement in the tangential direction, and the hood 16 is moved to the positioning member 72.
It is positioned in the correct open position by the . In particular, when a rubber vacuum cup is used as the locking/disengaging device as in this example,
Although the open position of the opening/closing body tends to shift due to variations in the shape of the vacuum cup when the hood is adsorbed, this shift can be effectively absorbed.

Furthermore, since the opening position of the hood 16 is accurately positioned by the positioning member 72 in this way, when the opening/closing device of this embodiment is used for opening/closing the hood 16 in the process of applying the sealant to the hood 16. , it can be applied to an accurate position, and even a thin sealing bead can be applied without fear of being misaligned.

In the above embodiment, the amount of rotation of the rotating arm 20 is set according to the type of vehicle body placed on the support column 14, and when the rotating arm 20 is rotated to the closed position shown in FIG. If 64 is made so that it can come into contact with the outer surface of the hood,
There is no need to provide a compression coil spring 66 to absorb the difference in height of the hood from the base 10.

Another embodiment of the invention is shown in FIGS. 6 and 7.

In this embodiment, a normal direction movement permitting mechanism, a tangential direction movement permitting mechanism, and other components are attached to a support bracket 80 fixed to the tip of the rotating arm 20, making the structure simpler. There is. The support bracket 80 is a member having a U-shaped cross section as shown in FIG. It holds a support shaft 84 as a member. The slider 86 consists of an ear part 88 and a boss part 90. The guide rod 82 is inserted through the ear part 88, and the support shaft 84 is movable in the boss part 90 provided perpendicularly to the guide rod 82. It is fitted. The guide rod 82 extends in the normal direction of the arc trajectory drawn by the distal end of the rotating arm 20, and the boss portion 90 extends in the tangential direction of the arc trajectory.
2 and the ear portion 88 of the slider 86 to guide the movement in the normal direction, and the boss portion 90 to guide the movement in the tangential direction. The guide rod 82 and the lug 88 of the slider 86 function as a mechanism for allowing movement in the normal direction, and the boss portion 90 of the slider 86 functions as a mechanism for allowing movement in the tangential direction.

Furthermore, two compression coil springs 92 having the same biasing force are attached to each guide rod 82 with the ear portion 88 in between.
These springs 92 keep the ear 88 at a fixed position approximately in the middle of the guide rod 82, but when the hood is opened or closed, the ear 88 moves along the guide rod 82 while compressing the spring 92 facing the direction of movement of the support shaft 84. These compression coil springs 92 function as a movable member restricting device.

The support shaft 84 is a stepped shaft-like member as shown in FIG. 7, and a vacuum cup 94 is attached to the end on the large diameter side, and a compression coil is installed between the vacuum cup 94 and the boss portion 90. A spring 96 is disposed between a spring receiver 98 fixed to the end of the small diameter portion of the support shaft 84 and another spring receiver 100 inserted into the small diameter portion. A compression coil spring 102 with a strong biasing force is provided. Therefore, the support shaft 84 is urged in the backward direction away from the hood by the spring 102, and in this embodiment, the spring 102
functions as a biasing means for biasing the support shaft 84, which is a movable member, in the backward direction, and the spring receiver 100
0 and the stepped surface 104 of the support shaft 84
is in contact with the spring receiver 100.

Although not shown, the positioning member is a tip of an L-shaped support member that extends toward the center in the width direction of the vehicle body from the support column 18 to which the rotating arm 20 is attached, and is capable of contacting the hood. position and defines the hood in the correct open position.

In the opening/closing device configured in this way, the amount of rotation of the rotating arm 20 in the direction of closing the hood is as follows:
The vacuum cup 94 is set to a size sufficient to abut the lowest hood of the various vehicle bodies placed on the pillar 14, and the amount of rotation caused by the difference in the height of the hood is This difference is absorbed by the compression of the compression coil spring 96. Then, when the rotating arm 20 is rotated after the vacuum cup 94 attracts the hood, the hood begins to open when the boss portion 90 comes into contact with the spring receiver 100, as in the case of the previous embodiment. By moving the support shaft 84 together with the slider 86 in the normal direction, the vacuum cup 94 moves following the rotation of the hood, allowing the hood to be opened smoothly.

Further, the amount of rotation of the rotating arm 20 in the direction of opening the hood is set to be large enough to ensure that all the hoods come into contact with the positioning member even if there is an error in the suction of the hoods by the vacuum cup 94. After the hood contacts the positioning member, the rotation of the rotation arm 20 is caused by the compression coil spring 102.
The hood is pressed against the positioning member and held in the correct open position.

Although the two embodiments of the present invention have been described in detail above, these are literally illustrative, and the present invention can be implemented in other embodiments.

For example, in the embodiments shown in FIGS. 1 to 5, after the rotating arm 20 is moved to the rotating end in the direction in which the hood 16 is opened, the hood 16 is opened.
6 was supposed to be positioned in the open position, but
The hood 16 may be positioned by coming into contact with the positioning member 72 at any time after the hood 16 starts to be opened.

In addition, the movable member does not necessarily have to be able to move in both forward and reverse directions in the normal direction of the circular trajectory of the rotating arm, and the direction of deviation of the rotation center line of the opening and closing body from the rotation center line of the rotation arm is If it is constant, it may be possible to move in either forward or reverse direction. In this case, one end of the movable range becomes the home position of the movable member.

Further, in the above two embodiments, a rubber vacuum cup is used as the locking/disengaging device, but an electromagnet, a hook, an openable/closeable jacket, etc. can be used in place of this.

Furthermore, the present invention can be applied not only to a device for opening and closing the hood of a vehicle body in an automobile manufacturing line, but also to an opening/closing device for an opening/closing body that is rotated about a rotation center line.

In addition, although not illustrated in detail, the present invention can be implemented with various modifications and improvements made to the normal direction movement permitting mechanism, tangential direction movement permitting mechanism, etc. based on the knowledge of those skilled in the art.

Effects of the Invention As detailed above, according to the present invention, the movable member to which the locking/disengaging device is attached can be moved in the normal direction of the circular arc trajectory drawn by the tip of the rotating arm. Even if the rotation center line of the rotation arm and the rotation center line of the opening/closing body are misaligned, the opening/closing body can be opened and closed smoothly.
Unlike the opening/closing device of No. 59-175623, it is not necessary to match the rotation center line of the opening/closing body with the rotation center line of the rotating arm, so it is possible to open/close multiple types of opening/closing bodies with different positions of the rotation center line. It can also be used for cases where the rotation center line of the opening/closing body is misaligned with the rotation center line of the rotation arm, even if the opening/closing body is one type.
Even if the center lines of rotation of the opening/closing body and the opening/closing device cannot be made to coincide with each other due to a jig installed around the opening/closing device, the opening/closing operation can be performed satisfactorily. Furthermore, since the opening and closing of the opening and closing body by this opening and closing device is performed by a simple operation of a combination of rotation of a rotating arm and movement of a movable member in the normal direction, it can be opened and closed by an industrial robot. It is easier to improve the rotation locus and the positioning accuracy of the opening/closing body than in the case where the opening/closing body is moved, and the device has the advantage of being simple in structure and requiring less equipment cost.

In addition, since the opening position of the opening/closing body is determined by the positioning member, in addition to the above effects, there may be problems such as poor engagement accuracy of the locking/disengaging device with the opening/closing body, manufacturing errors in the opening/closing body itself, etc. Even if there is a problem, it is absorbed and the opening/closing body is positioned at an accurate open position.

[Brief explanation of the drawing]

FIG. 1 is a front view showing an automobile manufacturing line equipped with an opening/closing device according to an embodiment of the present invention. Second
4 through 4 are a rear view, a front view (partially sectional), and a plan view (partially sectional) showing the distal end of the rotating arm of the opening/closing device shown in FIG. 1, respectively. FIG. 5 is a front sectional view showing a state before the opening/closing device of FIG. 1 opens the hood. FIG. 6 is a second embodiment showing a switchgear which is another embodiment of the present invention.
FIG. FIG. 7 is a - sectional view in FIG. 6. FIG. 8 is a schematic diagram for explaining the operation of the opening/closing device shown in FIG. 1. 16: Hood (opening/closing body), 20: Rotating arm,
24: Air cylinder (actuator), {36:
Hollow shaft, 38: Guide bush, 40: Slide pin (tangent direction movement permitting mechanism), 44: Compression coil spring (biasing means), {50: Guide rod, 54: Slider} (normal direction movement permitting mechanism),
52: Support shaft (movable member), 58: Air cylinder (movable member regulating device), 64: Vacuum cup (locking/disengaging device), 72: Positioning member, {82: Guide rod, 88: Ear portion} (normal direction movement allowed) mechanism), 84: Support shaft (movable member), 90: Boss portion (tangential movement permitting mechanism), 92: Compression coil spring (movable member restriction device), 94: Vacuum cup (locking and disengaging device), 102: Compression coil spring (biasing means).

Claims (1)

[Scope of Claims] 1. A device for opening and closing an opening/closing body that rotates around a rotation center line, the rotation being parallel to and close to the rotation center line of the opening/closing body. A rotating arm that is rotatable around a center line and driven by an actuator, and a normal direction that allows the tip of the rotating arm to move in the normal direction of the arc trajectory drawn by the tip. a movable member attached to be movable in the normal direction and the tangential direction via a movement permitting mechanism and a tangential movement permitting mechanism that permits movement in the tangential direction of the circular arc trajectory; , an engaging/disengaging device that can engage with the opening/closing body; when the engaging/disengaging device engages with the opening/closing body, the movable member is maintained at a predetermined position, and after the engagement, the normal line is a movable member regulating device that permits movement in the opening and closing body; a biasing device that biases the movable member in a backward direction away from the opening and closing body with respect to the distal end of the rotating arm; and at least in the open state of the opening and closing body. and a positioning member that defines the open position of the opening/closing body against the biasing force of the biasing means by coming into contact with the opening/closing body at a predetermined position around the center line of rotation of the opening/closing body. Features a switchgear.