JPH0725340B2 - Vehicle door desorption device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for attaching and detaching a door that is mounted on a vehicle body so as to be openable and closable via pins in an automobile assembly line.

[Prior art]

In an automobile assembly line, a door is preliminarily assembled together with a trunk, a hood, and the like to a body frame of the automobile. In this case, the door is attached to the main body frame via two upper and lower pins so that the door can be opened and closed with respect to the main body frame. This is because a dimensional error is likely to occur when the door or the like formed by sheet metal press working is assembled to the main body frame, but the purpose is to absorb the dimensional error and finish the body line to be smooth.

When painting the door assembled as above, this door is removed from the body frame as a single component, the painting surface is kept horizontal and sprayed with paint, and it is assembled again after drying, which is excellent. It is possible to obtain a car body of painting quality. This is because when the parts are painted with the painted surface in a horizontal state, the paint can be prevented from dripping.

In such an assembly line, when attempting to automatically disassemble and assemble the door, it is a major point to automatically pull out the pin and grasp the door.

Therefore, in recent years, for example, an apparatus as shown in FIGS. 14 (a) and 14 (b) has been developed.

The device shown in the figure is used when attaching the door to the body frame of the automobile, and when removing the door from the body frame, another device having substantially the same configuration as the device shown in FIG. 14 is used. The work is performed by the device.

That is, in the apparatus shown in the figure, a pair of claws 51, 51 provided on the jig 50, a claw 53 provided on the base 52 and a set of vacuum pads 54, 54 provided on the base 52. Holds the door (not shown). The pawls 51, 51 support hinge portions provided at the upper and lower positions of the door, respectively, and the pawl 53 is inserted into a catch portion provided on the door. The vacuum pads 54, 54 are for sucking the door body.

Then, the jig 50 is position-corrected by the position correction mechanism 55. Further, the claw 53 is a position correction mechanism.
The position is corrected by 56.

A pin (not shown) is inserted into the door held by the claws 51, 53 and the vacuum pad 54 as described above by the action of the pair of claws 57, 57 provided on the jig 50. As a result, the door is attached to the body frame.

The device is not provided with a mechanism for detecting the position of the pin or a mechanism for holding the pin. Therefore, it is necessary for the operator to support the pin after the robot body is moved to the pre-teached position.

[Problems to be Solved by the Invention]

However, in the above-mentioned conventional device, the mechanism for gripping the door and the mechanism for pulling out the pin are provided on a common robot to cope with a large positional deviation of the pin with respect to the body frame of the automobile or a different vehicle type. However, there is a problem in that it is not versatile when attaching and detaching the door.

Therefore, the object of the present invention is to cope with large displacement of doors and pins and to different vehicle types, so that the pins can be reliably inserted and removed according to the positions of the doors and the doors. An object of the present invention is to provide a vehicle door attachment / detachment device having a grippable function.

[Means for Solving the Problems]

In order to achieve the above-mentioned object, the main means adopted by the present invention is a gist of a door attaching / detaching device that is openably and closably attached to an automobile body through a pin, A detection mechanism for detecting the position,
Positioning is corrected based on the position of the pin detected by the detection mechanism, and an insertion / removal mechanism for inserting / removing the pin into / from the vehicle body and door, and a gripping member that is openably and closably disposed on the base. Driving means for movably opening and closing the gripping member relative to the base so as to open and close the gripping member, and position fixing means for fixing the position of the gripping member on the base. The position is corrected based on the position of the pin detected by the detection mechanism,
After operating the driving means to close the gripping member and grip the door following the position of the door,
A vehicle door attachment / detachment device according to claim 1, further comprising: a gripping mechanism that fixes the position of the gripping member by operating the position fixing means and holds the gripping member according to the position of the door. .

〔Example〕

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings to provide an understanding of the present invention. It should be noted that the following embodiments are examples of embodying the present invention and are not of the nature to limit the technical scope of the present invention.

Here, FIG. 1 shows an appearance of a desorption device according to an embodiment of the present invention. FIG. 1 (a) is a side view, FIG. 1 (b) is a plan view, and FIG. FIG. 3 is a block diagram of a control system of the apparatus, and FIG. 3 shows the structure of the withdrawal mechanism that constitutes the above-mentioned attachment / detachment apparatus. FIG. 3 (a) is a front view and FIG. 3 (b) is the same figure (a). FIG. 4C is a plan view, FIG. 6C is a right side view in FIG. 7A, FIG. 7D is an enlarged view in the direction of arrow G in FIG. 4C, and FIG. The structure of a mechanism is shown, (a) is a front view, (b) is a plan view in (a), (c) is a left side view in (a), FIG. 5 shows the structure of the main part of the above-mentioned withdrawal mechanism. FIG. 5 (a) is a front view, FIG. 5 (b) is a left side view in FIG. 5 (a), and FIG. Flat in the figure (b) FIGS. 6A and 6B show the structure of a support mechanism that constitutes the above-mentioned withdrawal mechanism. FIG. 6A is a front view, FIG. 6B is a left side view in FIG. Figure (c) is a right side view in Figure (a), Figure (d) is a plan view in Figure (a), Figure (e) is a bottom view in Figure (a), and Figure (f). Is a view corresponding to the arrow H-H 'in FIG. 7 (a), FIG. 7 (g) is a view corresponding to the arrow I-I' in FIG. 7 (a), and FIGS. FIG. 8 is a circuit diagram of a drive system of the insertion mechanism, and FIG. 8 shows the structure of another embodiment of the support mechanism. FIG. 6 (a) is an equivalent view of FIG. 6 (f), and FIG. Is an equivalent view of FIG. 6 (g),
9A and 9B show the structure of another embodiment of the position detecting member constituting the above-mentioned pulling-out mechanism. FIG. 9A is a plan view, FIG. 9B is a side sectional view, and FIG. 2A and 2B show a structure of a main part of a gripping mechanism that constitutes the above-mentioned detaching / attaching device, wherein FIG. 1A is a front view in a partially broken state, and FIG.
FIG. 11C is a left side view, FIG. 11C is a right side view of FIG. 11A in a partially broken state, and FIGS. 11A and 11B are views of a gripping mechanism according to another embodiment. Part basic configuration diagram,
12 (a) to 12 (e) are explanatory views showing a procedure for correcting the positions of the withdrawal mechanism and the gripping mechanism on the basis of the position of the pin detected by the detection mechanism constituting the detachable device, 13 (a) and 13 (b) are flow charts showing a procedure for removing / attaching the door by the detaching / attaching device.

The desorption device according to this embodiment is shown in FIGS. 1, 3, and 4.
As shown in the figure, pin 4 to the body frame 60 of the automobile
(FIG. 7) The position of the detection mechanism 61 for detecting the position is corrected, and the position of the pin 4 is corrected based on the position of the pin 4 detected by the detection mechanism 61.
On the other hand, the position of the pin 4 is corrected based on the position of the pull-in mechanism 1 and the pin 4 detected by the detection mechanism 61, and the pull-in mechanism 1 is driven independently and independently to grip the door 123. And a gripping mechanism 117.

In the apparatus of this embodiment, the body frame 60 is provided with two pins 4 for opening and closing the door 123 at the above-mentioned position. Therefore, the detection mechanism 61 and the withdrawal mechanism 1 have one door 12
Two units are installed in the upper and lower positions with respect to 3. The detection mechanism 61 is integrally incorporated in the extraction mechanism 1. Further, the door 12 is attached to one body frame 60.
Since four 3 are mounted, four sets of devices such as the gripping mechanism 117 are provided.

As shown in FIGS. 5, 6, and 7, the extraction mechanism 1 has an opening 2a that opens in a substantially tapered shape, and has a through hole 3
Sensing claw 2 that can be engaged with the pin 4 by being inserted into the shaft portion of the pin 4 inserted in (Fig. 7) through the opening 2a.
(Position detecting member), the sensing claw 2 and the pin 4
The opening that contacts the shaft of the pin 4 when it is inserted into the
The floating device 5 (supporting mechanism) (FIG. 6) for movably supporting the sensing claw 2 in the X, Y, Z directions so that the sensing claw 2 can be moved by being guided by 2a, and the pin 4 When the sensing claw 2 is guided by the opening 2a that is in contact with the shaft of the sensing claw 2, the potentiometers 6, 7 (sixth part) for detecting the position of the pin 4 from the moving amount of the sensing claw 2
2), the memory (in the arithmetic unit) in the control device (FIG. 2) that stores the position of the pin 4 detected by the potentiometers 6 and 7, and the pin 4 inserted in the through hole 3.
One end of the pin is pushed in the axial direction to push the pin 4 into the through hole 3
The pin pressing claw 8 that is pulled out from the pin 4 and the sensing claw 2 that is supported by the floating device 5 and is inserted into the pin 4 and moves together with the sensing claw 2 with respect to the axis of the pin 4. The pin holding claw 9 that supports the pin 4 that has been positioned and is removed from the through hole 3 by the action of the pin pressing claw 8 and the position of the pin 4 stored in the memory. A pin insertion claw 10 which is posture-corrected and positioned together with the grip claw 9 and pushes the other end of the pin 4 supported by the pin grip claw 9 in the axial direction to insert the pin 4 into the through hole 3. It is configured to include.

In this case, the sensing mechanism 61 is configured by the sensing claw 2, the floating device 5, the potentiometers 6, 7, and the like.

In the apparatus of this embodiment, since the two pins 4 are provided at the upper and lower positions, the position of the pin 4 detected by the detection mechanism 61 is detected even when the pins 4 and 4 are pulled out. Based on this, the posture correction and the positioning are performed. The details will be described later.

Hereinafter, each of the above components will be described in detail.

The sensing claw 2 is slid in the Y direction by an air cylinder 11. As shown in FIG. 9, the shape of the opening 2a of the sensing claw 2 is tapered (D
Section), a parallel portion (E section) is provided in the Y direction, so that when the sensing claw 2 is fitted into the shaft section of the pin 4, the opening section is in contact with the shaft section of the pin 4.
After the sensing claw 2 is positioned in the X direction by being guided to the tapered portion of 2a, an unnecessary force acts on the sensing claw 2 in the X direction as the sensing claw 2 moves in the Y direction. There is nothing to do.

In the floating device 5 (FIGS. 5 and 6), the sensing claw 2 and the air cylinder 11 are supported by a frame 12, and the frame 12 is attached to a base 13. The base 13 is a slide bearing 14
Is supported by the base 15 so as to be slidable in the Z direction. Brackets 16 and 17 are attached to the base 13, and shafts 18 and 19 are fitted into the brackets 16 and 17 so as to be slidable in the Z direction. The shafts 18 and 19 are constantly elastically biased by springs 20 in opposite directions with respect to the Z direction, and the upper end portion of the shaft 18 and the lower end portion of the shaft 19 are located above and below the base 15, respectively. Abutted.

Therefore, the base 13 is always elastically held at the neutral point (in the Z direction) with respect to the base 15 by the action of the spring 20.

That is, assuming that the base 13 moves downward, for example, in FIG. 6A, the shaft 18 moves downward together with the base 13 and presses the spring 20. At this time, axis 19
The base 15 has its movement regulated by the base 15 and holds the current position. On the other hand, when the base 13 moves upward, the reverse movement is performed. By the above operation, the above base
The base 13 is elastically held at all times with respect to the base 15. When the floating device 5 is moved at high speed, the initial force of the spring 20 prevents the base 13 from wobbling with respect to the base 15 in the Z direction.

The base 15 has a slide bearing 21 and a base 22.
It is supported slidably in the X direction. Brackets 23, 24 are provided on the upper surface of the base 15 (Fig. 6 (g)).
The shafts 25 and 26 are slidably inserted in the brackets 23 and 24 in the X direction, respectively. An air cylinder 27 is attached to one end of the shaft 25, and a piston rod 27a of the air cylinder 27 is in contact with one end of the shaft 26. And the shaft 25
The other ends of the contacts 26 and 26 are in contact with stoppers 28 and 29 attached to both sides of the base 22, respectively. The air cylinder 27 has substantially the same function as the spring 20, and is for holding the base 15 with respect to the base 22 at a neutral point in the X direction. However, by using the air cylinder 27 instead of the spring 20 as described above, the value of the holding force can be freely set and changed from 0 to an appropriate value according to the air pressure.

Therefore, in this case, the spring 30 can be used instead of the air cylinder 27 (see FIG. 8B).

The amount of movement of the base 15 with respect to the base 22 in the X direction is detected by the potentiometer 6.

The base 22 is a base 32 with a slide bearing 31.
It is slidably supported in the Y direction. Brackets 33 and 34 are provided on the upper surface of the base 22 (FIG. 6 (f)).
The main body of the air cylinder 35 is fitted into the bracket 33. Then, the piston rod 35a of the air cylinder 35 is attached to the bracket 34.
It is in contact with a shaft 36 that is slidably inserted in the direction. Further, the other end of the shaft 36 is in contact with a stopper 37 attached to a side part of the base 32.

The air cylinder 35 holds the base 22 at the stroke end position with respect to the base 32 by the same action as the case of the air cylinder 27. Instead of the air cylinder 35, a spring 38 is used. It is also possible (see FIG. 8 (a)).

The amount of movement of the base 22 with respect to the base 32 in the Y direction is detected by the potentiometer 7.

The base 32 is attached to the upper and lower positions of an arm 39 (FIGS. 1 and 3), and the arm 39 is attached to rotating shafts orthogonal to each other. Then, the motor 62 swings and drives in the B direction, and the motor 63 swings and drives in the T direction. In this way, the pins 4 and 4 are configured to be able to cope with the inclination.

In this case, it is possible to further provide the arm 39 with a rotary shaft in the U direction (horizontal direction). As a result, the withdrawal mechanism 1 can be placed around the narrow gap between the main body frame 60 and the door 123, and the teaching work can be performed more easily.

Further, the arm 39 is attached to the arm 64 via the rotary shaft, and the arm 64 is mounted on the base 65 by a motor.
It is slid in the Z direction by 66. The base 65 is slid on the arm 67 by a motor 68 in the Y direction. The arm 67 is attached to a base 69, and the base 69 is slid on a frame 70 by a motor 71 in the X direction.

Then, by driving the motors 62, 63, 66, 68, 71, the arm 39 is positioned at a predetermined position taught in advance.

Here, a procedure for detecting the position of the pin 4 using the sensing claw 2 supported by the floating device 5 will be described.

First, when the arm 39 is operated in the Y direction and the sensing claw 2 is forcibly pushed into the shaft of the pin 4, the sensing claw 2 is guided to the opening 2a in contact with the shaft of the pin 4. Move in X direction. The amount of movement at this time is detected by the potentiometer 6. Then, the arm 39 is feedback-controlled based on the detected shift amount, and the position of the arm 39 is corrected with respect to the position of the pin 4. The position correction amount in the Y direction is detected by the potentiometer 7.

In this case, if a high pressure is constantly applied to the air cylinders 27 and 35, the pin 4 is pushed by the sensing claw 2.
Also, the arm 39 bends and accurate detection cannot be performed. Therefore, in the X direction, the air cylinder
The pressure of 27 is set to about 0. Regarding the Y direction, it is preferable to set the pressure of the air cylinder 35 to a relatively low value. As a result, the force acting on the pin 4 and the arm 39 is only in the Y direction, which has a relatively low value, and the error in the detection amount due to the bending can be easily eliminated.

In order to obtain the detection amount in the Y direction more accurately in consideration of the influence of the bending of the arm 39, the arm 39 is first moved in the Y direction so that the potentiometer 7 has a predetermined value. Move to. The movement amount of the arm 39 at this time is a value obtained by adding the bending amount of the arm 39 and the like to the movement amount of the potentiometer 7 itself. After teaching the position at this time, the arm 39 is lowered, and the operator again moves the arm 39 to a position where the sensing claw 2 and the shaft portion of the pin 4 are lightly contacted, and the movement amount of the arm 39 at this time is taught. To do. As described above, since the movement amount taught by the operator moving the arm 39 includes the bending amount, from the operation amount of each potentiometer of the value taught first and the value taught later. Arm 39 during sensing for pin 4
It is possible to grasp the amount of bending such as. By performing correction based on this value, the Y of pin 4 above is reproduced during playback operation.
The directional position is accurately detected.

The pin pressing claw 8 is supported by the frame 12 as shown in FIGS.
It is driven to slide in the direction.

The pin gripping claw 9 and the pin inserting claw 10 are slidably supported in the Z direction with respect to the frame 12 by a slide bearing 41, and are slid by an air cylinder 42. The pin gripping claw 9 is further provided on the air cylinder 43.
Is slid in the Y direction.

In the device of this embodiment, an engaging hole 10a (see FIG. 7 (a)) is formed in the tip portion of the pin inserting claw 10, and the engaging hole 10a is formed in the end portion of the pin 4. It has an engaging function with the formed tapered portion 4a. And the taper part of the pin 4
When the pin 4a engages with the engaging hole 10a of the pin insertion claw 10, the brim portion 4b formed at the end of the pin 4 is inserted into the pin grip claw 9
The pin 4 pulled out from the through hole 3 is held by being gripped by.

That is, in the apparatus of this embodiment, the pin gripping claw 9 and the pin inserting claw 10 cooperate with each other to hold the pin.

It should be noted that instead of the pin gripping claw 9 as described above, the pin 4 is gripped by a pair of gripping members that are driven to open and close by an actuator, so that the taper portion 4a of the pin 4 and the pin insertion claw are formed. Processing of the ten engaging holes 10a and the like can be omitted.

When the pin grip claw 9 and the sensing claw 2 are slid by the air cylinders 43 and 11, respectively,
The pin gripping claw 9, the sensing claw 2, and the pin inserting claw 10
The engaging holes 10a are configured so that their respective axial cores coincide with each other.

The withdrawal mechanism 1 according to the present embodiment is configured as described above.

In the gripping mechanism 117, FIG. 4 and FIG.
As shown in (b) and (c), holding claws 119, 119 and 120 (holding members) are arranged opposite to each other on the frame 118 (base) so that they can be opened and closed. The grip claws 119, 119 are attached to the lower end of the base 124, and the base 124 is supported by a slide bearing 121 so as to be slidable in the vertical direction.

The grip claw 120 is attached to the upper end of a base 126, and the base 126 is supported by a slide bearing 122 so as to be vertically slidable.

The gripping claws 119, 119 and 120 are for gripping the door 123 when disassembling and assembling the door 123 which is assembled to the main body frame 60 (FIG. 1) in an actual assembly in an automobile assembly line.

A main body 125a of an air cylinder 125 (driving means) is mounted on the base 124, and a piston rod 125b of the air cylinder 125 is fixed to the base 126.

Therefore, the air cylinder 125 and the grip claws 119, 120 are movable relative to the frame 118 in the opening / closing direction (vertical direction) of the grip claws 119, 120.

A rack 127 is attached to the base 124, and a gear 128 that meshes with the rack 127 is provided on an output shaft 129 of a brake 129 (position fixing means) attached to the frame 118.
It is fixed to a.

The brake 129 is gripped by the air cylinder 125.
By closing the doors 119 and 120 to grip the door 123, the brake 129 is actuated to fix the positions of the gripping claws 119 and 120 together with the air cylinder 125 on the frame 118, so that the gripping claws 119 and 120 relative to the door 123. This is for holding the desired position.

In the figure, 130 is a stopper and 131 is a coil spring. By the coil spring 131, the gripping claws 119, 1
20 are always elastically biased toward each other in the closing direction, and even if the pressure of the air in the air cylinder 125 drops due to some cause during the operation of the gripping mechanism 117, the door 123
The state of gripping is retained.

Further, in the gripping mechanism 117 according to the present embodiment, the frame 118 is connected to the motor 133 via the speed reducer 132, and is driven to rotate in the plane orthogonal to the axis 133a of the motor 133 by the motor 133. To be done. The frame 118, the speed reducer 132, and the motor 133 are connected to the motor 135 via the speed reducer 134, and the frame 118 is rotated by the motor 135 in a plane orthogonal to the axis 135a of the motor 135. Driven.

Further, the frame 118, reduction gears 132, 134, motors 133, 135
Is connected to a motor 137 via a speed reducer 136, and the frame 118 is rotationally driven by the motor 137 in a plane orthogonal to the axis 137a of the motor 137.

Therefore, in the gripping mechanism 117, the motors 133, 135, 137 are
It is possible to cope with the inclination of the door 123 by driving the.

Then, the frame 118, the speed reducers 132, 134, 136 and the motor 1
33, 135, 137 are mounted on the base 150 (fourth bracket) via the bracket 138.
Supported).

The base 150 is slid on the arm 151 by the motor 152 in the Z direction. The arm 151 is attached to a base 153, which is mounted on the arm 154 by a motor.
It is slid in the Y direction by 155. Further, the arm 154 is slid on the base 156 by a motor 157 in the X direction.

Then, by driving the motors 133, 135, 137, 152, 155, 157, the gripping mechanism 117 is positioned at a predetermined position where teaching is performed in advance.

In the above embodiment, the case where the gripping claws 119 and 120 are driven to open and close by the air cylinder 125 has been described as an example, but instead of the air cylinder 125, the gripping claws 119 and 120 are driven to open and close by a motor with a brake. It is also possible.

An example of this case is shown in FIGS. 11 (a) and 11 (b).

In the gripping mechanism 139 shown in FIG. 11A, the gripping claws 119 and 120 are slidably supported by the shaft 140, and the motor 141 with a brake is slidably supported in the opening / closing direction of the gripping claws 119 and 120. And the above motor with brake
The gear 142 attached to the output shaft of the 141 has the above-mentioned grip claw 11
The rack portions 119a and 120a engraved on the 9,120 are meshed with each other.

In a gripping mechanism 143 shown in FIG. 11 (b), gripping claws 119 and 120 are slidably supported by a shaft 140, and a motor 141 with a brake is mounted on one of the gripping claws 119. The gear 142 attached to the output shaft of the brake motor 141 is meshed with the rack portion 120a formed on the other grip claw 120.

In each of the gripping mechanisms 139 and 143, the gripping claw 11 is rotated by driving the motor 141 with a brake.
With the closing operation of 9,120, the motor 141 with brake also has the gripping claws.
Move in the closing direction of 119 and 120. Then, the door 123 is moved by the grip claws 119 and 120 that move so as to follow the position of the door 123.
Is gripped.

Subsequently, based on FIGS. 2 and 12, two detection mechanisms 61 by the above mechanism are used, and based on the positions of the pins 4, 4 detected by the detection mechanisms 61, 61, the withdrawal mechanism 1 and the gripping mechanism. 1
A procedure for correcting the position of 17 will be described.

In FIG. 2, each arm control unit is for controlling the operation axis of each arm of the withdrawal mechanism 1 and the gripping mechanism 117, and each hand control unit has the above-mentioned withdrawal mechanism 1 and the gripping mechanism 117. mechanism
Sensing claw 2 and pin pressing claw provided on each tip of 117
This is for controlling the pin gripping claw 9, the pin inserting claw 10, the gripping claws 119 and 120, and the like.

The AD converter inputs the sensor signals from the potentiometers 6 and 7 of the detection mechanism 61 incorporated in the extraction mechanism 1 and outputs it as a digital signal to the arithmetic unit. Processing for processing the detection data shown in the formula and calculation for correcting the positions of the pulling mechanism 1 and the gripping mechanism 117 are performed.

The data transmission unit is for transmitting information regarding the position data of the pins 4, 4 detected by the detection mechanism 61 to the control device of the gripping mechanism 117, and the data reception unit is for controlling the extraction mechanism 1. It is for receiving correction data (information about position data) based on the position data of the pins 4, 4 transmitted from the device. An RS232C line interface or the like is used as the transmission / reception unit.

The synchronization control input / output unit is for inputting / outputting a synchronization signal between the pulling-out mechanism 1 and the control device of the gripping mechanism 117 upon completion of the operation from the counterpart device, and these input / output signals are It is taught in advance in the operation programs of the above-mentioned pull-out mechanism 1 and gripping mechanism 117.

Then, the position correction of the pulling mechanism 1 and the gripping mechanism 117 is as follows.
For example, the procedure is as follows.

In the potentiometers 6 and 7, the maximum extension dimension of each detection rod is 20 mm. And the pin 4 located above
Let POT1 be the potentiometer 6 for detecting the amount of movement of the sensing pawl 2 which is engaged with the X direction. The pulse generated when the detection rod of the potentiometer 6 is in the extended state is 10 pulses, and the pulse generated when the detection rod is in the contracted state is 990 pulses.

Let POT2 be a potentiometer 7 for detecting the amount of movement of the above-mentioned sensing claw 2 in the Y direction.
X of the sensing pawl 2 engaged with the pin 4 located below
Let POT3 be the potentiometer 6 for detecting the amount of movement in the direction. The potentiometer 7 for detecting the amount of movement of the sensing claw 2 located below in the Y direction is POT4. Then, the above POT2, POT3 and POT
The number of pulses generated when the detection rods of OT4 are in the extended state is 10 pulses, and the number of pulses generated when the detection rods are in the contracted state is 990 pulses. In this case, the POT2, POT3 and POT4 are
In contrast to 1, the expansion and contraction direction of the detection rod is set to be the opposite direction.

First (see FIG. 12 (a)), when the sensing claw 2 located above is displaced in the + X direction, the detection rod of POT1 contracts and the number of generated pulses increases.

The displacement amount PUX (mm) in this case is represented by PUX (mm) = (Pux (pulse) -epux) / dpux.

Here, dpux = 49.0 (pulse / mm) and epux = 10 (pulse), which are given as parameters in advance.

When the sensing claw 2 located above is displaced in the + Y direction, the detection rod of POT2 expands and the number of generated pulses decreases.

The displacement amount PUY (mm) in this case is expressed by PUY (mm) = (Puy (pulse) -epuy) / dpuy.

Here, dpuy = −49.0 (pulse / mm) and epuy = 990 (pulse), which are given in advance as parameters.

When the sensing claw 2 located below is displaced in the + X direction, the detection rod of POT3 extends and the number of generated pulses decreases.

The displacement amount PLX (mm) in this case is represented by PLX (mm) = (P _L x (pulse) −ep _L x) / dp _L x.

Here, dp _L x = −49.0 (pulse / mm) and ep _L x = 990 (pulse), which are given as parameters in advance.

When the sensing claw 2 located below is displaced in the + Y direction, the detection rod of POT4 extends and the number of generated pulses decreases.

Displacement of this case PLY (mm) is expressed by _{PLY (mm) = (P L} y ( _{pulse) -ep L y) / dp L} y.

Note here, dp _L y = -49.0 (pulse / mm), an ep _L y = 990 (pulse) is given in advance as parameters.

Next, a procedure for calculating the positional deviation amount of the pin 4.4 will be described (see FIGS. 12 (b), (c) and (d)).

In this case, the axes of the pins 4 and 4 are on the same axis, and there is no structural displacement between the pins 4 and 4. Therefore, the pins 4 and 4 are inclined on the same axis in the same direction and at the same angle.

First, S is set as a work reference point, and the coordinates of Xs, Ys, and Zs are defined in the movable direction of the sensing claw 2 with this S as the origin.

In the Xs-Zs plane In the Ys-Z's plane Here, r = constant, UX = PUX-PUXO, LX = PLX-PLXO, UY = PUY-PUYO, LY = PLY-PLYO, and PUXO, PLXO, PUYO, PLYO are reference value data measured in advance.

Further, the parallel displacement amount in the Zs direction (not detected in this embodiment) D _{Z is set} to O, and the rotation angle around the Zs 〃 axis (detection is unnecessary because the pin 4 is cylindrical) DA is set to O.

From the above, in the sensor coordinate system Xs, Ys, Zs, the parallel movement amount is (Dx, Dy, Dz) s and the rotation movement amount is (DT, DB, DA) s.

Then, correction control is performed for each of the X _R , Y _R , Z _R , B _R , and T _R axes of the extraction mechanism 1, and the work reference point is from S to S ′, and the work posture is in the B and T directions. The position is corrected based on the values of DT and DB.

The conversion in this case is based on the following correction calculation formula.

Origin S (upper sensing claw 2 and lower sensing claw 2
X _R , Y _R , Z _R coordinate value of the intermediate point of (x, y, z), and the coordinates (X _R , Y _R , Z _R of sensor mechanism axis X _S , Y _S , Z _S ) For the attitude matrix Then the correction is By.

In addition, here Is.

On the other hand, the gripping mechanism 117 receives the positional deviation amount of the pin 4 from the detection mechanism 61 via the control device of the extraction mechanism 1,
The position is corrected in the same manner as the above-mentioned insertion / removal mechanism 1 (12th
(See FIG. (E)).

The shift amount of the pin 4 transferred from the control device of the pulling mechanism 1 is at the point S between the pins, and the gripping mechanism is used.
Since it is not the shift amount at the gripping point of 117, the correction calculation is also performed in the gripping mechanism 117 assuming that the point S in the withdrawal mechanism 1 is the work reference point of the gripping mechanism 117.

As a premise, it is assumed that the movable XY direction of the extraction mechanism 1 and the work postures X _H , Y _H , Z _H directions of the gripping mechanism 117 are taught in parallel.

From the pin center point S to the wrist front end P _H of the gripping mechanism 117 it is always assumed to be teaching in a predetermined positional relationship.

Based on the above premise, the position vector from the wrist tip P _H of the gripping mechanism 117 to the pin center S point by the wrist coordinates X _W , Y _W , Z _W of the gripping mechanism 117. Is registered in advance as a calculation work reference point of the gripping mechanism 117.

Then, the detection mechanism 61 detects (That is, rotation deviation in T _S and B _S directions) By using (parallel displacement of the pin center in the X _S and Y _S directions), the gripping mechanism 117 uses the S point as the work reference point, and
Correct X _H , Y _H , Z _H as the work posture.

The correction calculation formula in this case is the same calculation formula as in the case of the ejecting mechanism 1.

The desorption device according to the present embodiment is configured as described above.

Next, the procedure for removing the door 123 from the body frame 60 of the automobile using the above-mentioned attachment / detachment device and attaching it to, for example, a parts carrier (not shown) for painting will be described (see FIGS. 13 (a) and 13 (b)). ).

In the figure, S1, S2, ... Show each operation step.

Further, in the figure, a module is a set of points that teach the operation of each device, and includes a series of operations. Then, for each module, it is possible to specify whether or not to perform position correction of the device itself based on the sensync data.

Further, in the figure, what is indicated by a dashed arrow between the flow charts of the respective devices is the transmission and reception of a signal for synchronizing the devices.

In the above operation program, the next operation is started by transmitting and receiving the operation completion signal of each device, so that mutual interference between the devices can be prevented and work can be reliably performed. Further, as indicated by each module in the above operation program, it is possible to specify that the first half part is not corrected and the second half part is corrected, so that a series of operations can be defined in a single operation program. It will be possible.

First, when the door 123 is removed from the main body frame 60 (see FIG. 13 (a)), with respect to the main body frame 60 conveyed to a predetermined position on the line, the extraction mechanism 1 and the gripping mechanism
Each 117 is reset at the origin position. (S1, S2).

After that, by driving the motors 66, 68, 71, the detection mechanism 61 moves together with the extraction mechanism 1 toward the predetermined position pre-teached with the pins 4, 4 on the body frame 60 as a target (S3), The door 123 and the body frame 60 are approached (S4).

When the movement of the withdrawal mechanism 1 is started in S3, a standby release signal (T ₁ ) is output to the gripping mechanism 117, and upon receipt of this release signal (T ₁ ), the gripping mechanism 117 causes the motors 152, 155, 1
By driving 57, the door starts moving toward the position of the door 123 (S5), and the door that has been previously taught is moved.
It is positioned at a predetermined position near 123 (S6).

Then, the holding mechanism 117 outputs a standby release signal (T ₂ ) to the detection mechanism 61 incorporated in the extraction mechanism 1, and the two sensing claws 2 provided on the two detection mechanisms 61 are turned on. By moving the pins 4, 4 in the X and Y directions, the shift amount is detected (S7).

That is, the sensing claw 2 is slid in the Y direction by the air cylinder 11. Then, it is guided to the opening 2a which is in contact with the shaft of the pin 4, and the sendin claw 2 moves in the X direction.
The amount of movement of the sensing claw 2 in the X direction at this time is detected by the potentiometer 6, and the amount of movement of the sensing claw 2 in the Y direction is detected by the potentiometer 7. And
The movement amount of the sensing claw 2 is arithmetically processed, and the accurate position of the pin 4 is calculated and stored in the memory in the control device.

Then, in S8, the pin 4, detected in S7,
Based on the amount of positional deviation in the X and Y directions of 4, the motors 62,6
The position of the detection mechanism 61 and the withdrawal mechanism 1 is corrected by driving 3 and the like.

The detection data (T ₃ ) of the positional deviation amount of the pins 4 and 4 detected in S7 is output to the gripping mechanism 117, and at the same time, the signal (T ₄ ) for canceling the standby state of the gripping mechanism 117 is also output. Is output.

Then, based on the above detection data, the motors 133, 135, 13
The position of the gripping mechanism 117 is corrected by driving 7 (S9), and the door 123 is gripped by the gripping mechanism 117 (S10).

That is, the brake 129 is released and the air cylinder 125
Is operated in the contracting direction, the grip claws 119 and 120 are supported by the slide bearings 121 and 122, respectively, and operate in the closing direction. When one of the gripping claws 119 and 120 comes into contact with the lower end portion or the upper end portion of the door 123 and the operation thereof stops, the gripping claw 119 that is not yet in contact with the door 123.
Alternatively, only 120 moves further in the closing direction.

When the other grip claw 119 or 120 comes into contact with the lower end portion or the upper end portion of the door 123, the door 123 is locked by the grip claw 1.
It will be held by 19,120. That is, by closing the gripping claws 119 and 120 by the air cylinder 125, the air cylinder 1 is closed according to the closing operation of the gripping claws 119 and 120.
25 also moves in the closing direction. Then, the door 123 is gripped by the grip claws 119 and 120 at a position following the door 123.

Then, the brake 129 is operated to operate the frame 118.
By fixing the positions of the gripping claws 119, 120 together with the air cylinder 125, the gripping claws 119, 1 for the door 123 are fixed.
Twenty relative positions are retained.

Therefore, in the gripping mechanism 117, complicated control is not required, and the door 123 is extremely simply copied in accordance with the position of the door 123 without performing accurate positioning and position correction of the door 123 and the gripping claws 119 and 120. Can be gripped.

When the door 123 is gripped as described above, the extraction mechanism 1
A signal (T ₅ ) for canceling the standby state is output to.

Then, in S ₁₁ , the pins 4, 4 are pulled out by the pulling-out mechanism 1.

That is, when the sensing claw 2 is slid in the Y direction by the air cylinder 11, the sensing claw 2 and the pin pressing claw 8, the pin gripping claw 9 and The pin insertion claw 10 is positioned with respect to the axis of the pin 4.

After that, when the pin pressing claw 8 is slid downward by the air cylinder 40, one end of the pin 4 inserted into the through hole 3 is pressed in the axial direction, and the pin 4 is pushed through the through hole. Removed from 3. The tapered portion 4a at the other end of the pin 4 engages with the engagement hole 10a of the pin insertion claw 10 and is slid forward by the air cylinder 43 of the pin gripping claw 9, whereby the pin 4 is moved. Retained.

When the pin 4 is reinserted into the through hole 3, the pin 4 held by the pin gripping claw 9 and the pin inserting claw 10 is slid upward by the air cylinder 42, so that the pin 4 is moved. The other end of the pin is pressed in the axial direction by the pin insertion claw 10. As a result, the pin 4 is reinserted into the through hole 3.

That is, according to the device of the present embodiment, even if there is some variation in the insertion position of the pin 4, the pin 4 can be reliably and easily inserted and removed by following the position of the pin 4.

When the pins 4 and 4 are pulled out by the pulling mechanism 1 as described above, a signal (T
6) is output, and the gripping mechanism 117 drives the motors 152, 155, 157 to remove the door 123 and (S1
2) Hold the door 123 and retract it to the origin position (S1
3).

At the same time, a signal (T ₇ ) for canceling the standby state is output to the withdrawal mechanism 1, and the press-in mechanism 1 also receives the motors 66, 68, 71.
Is driven to retract to the origin position while the pins 4 and 4 are held (S14).

Next, the outline of the procedure for attaching the door 123 to the part carrier for painting will be described (see FIG. 13 (b)). The detailed operation of each device in this case is the same as the procedure for removing the door 123 described above. By almost the reverse procedure.

The outline of the procedure is that the parts carrier is first carried in to a predetermined position on the line.

Then, the extraction mechanism 1 starts moving toward the parts carrier while holding the pins 4 and 4 (S15,
S16). Then, when the ejecting mechanism 1 is positioned at a predetermined position near the parts carrier (S17), the pins 4 and 4 are inserted into the through holes of the parts carrier at the predetermined positions, which are previously taught (S18). .

It should be noted that when the movement of the extraction mechanism 1 is started in S16, a signal (T ₈ ) for canceling the standby state of the gripping mechanism 117 is output to the gripping mechanism 117.

Then, the gripping mechanism 117 starts moving from the origin position to a predetermined position near the parts carrier (S19,
S20), positioning is performed at a predetermined position near the parts carrier (S21).

Then, a signal (T ₉ ) for releasing the standby state is output to the extraction mechanism 1 and the detection mechanism 61 detects that the pins 4, 4
The displacement amount in the X and Y directions is detected (S2
2). Then, the position and orientation of the insertion / removal mechanism 1 is corrected based on the positional deviation amount data (S23), and the parts 4 and 4 are again extracted from the parts carrier (S2).
Four).

The detection data (T ₁₀ ) relating to the amount of positional deviation of the pins 4 and 4 detected in S22 is output to the gripping mechanism 117 together with the signal (T ₁₁ ) for canceling the standby state, and based on this detection data, The position and orientation of the gripping mechanism 117 is also corrected (S25).

Further, when the pins 4 and 4 are removed from the parts carrier by the removing mechanism 1 in S ₂₄ , a signal (T ₁₂ ) for canceling the standby state is output to the gripping mechanism 117 again, and the door 123 is released. Is inserted into the hinge part of the parts carrier (S26).

Then, the gripping mechanism 117 outputs a signal (T ₁₃ ) for canceling the standby state to the withdrawal mechanism 1, and the withdrawal mechanism 1 causes the pins 4, 4 to the hinge portion of the door 123 and the parts carrier. Is inserted (S27).

Then, a signal (T ₁₄ ) for releasing the standby state is output to the gripping mechanism 117, the grip on the door 123 is released (S28), and the door 123 is retracted to the origin position (S29). At the same time, a signal (T ₁₅ ) for releasing the standby state is output to the withdrawal mechanism 1, and the withdrawal mechanism 1 also releases the gripped state of the pins 4 and 4 and retracts to the origin position (S30).

As described above, after the door 123 is attached to the parts carrier, it is carried out.

Since the attachment / detachment device according to the present embodiment is configured as described above, by separating the mechanism for inserting / removing the pin and the mechanism for gripping the door, the displacement of the door or the pin is large or different vehicle types are used. It can also be used, and its versatility is extremely high.

Further, the withdrawal mechanism 1 and the gripping mechanism 117 can move in accordance with the positions of the pin 4 and the door 123, and therefore can sufficiently cope with the case where the position of the main body frame 60 is relatively rough on the line. it can.

Further, since both the pull-in mechanism 1 and the gripping mechanism 117 are respectively corrected in position and orientation according to the positions of the pins 4 and 4 detected by the detection mechanism 61, the positions of the pins 4 and 4 and the door 123 and The pins 4 and 4 can be surely inserted and removed according to the posture, and the door 123 can be surely grasped and removed.

[Advantages of the Invention] The present invention is, as described above, a door attachment / detachment device that is openably / closably attached to a vehicle body via a pin, and includes a detection mechanism for detecting the position of the pin with respect to the vehicle body, A position correction is performed based on the position of the pin detected by the detection mechanism, and an insertion / removal mechanism for inserting / removing the pin into / from the vehicle body and the door, and a gripping member that is openably and closably disposed on the base. A driving means provided to be movable relative to the base in the opening / closing direction of the gripping member to open / close the gripping member; and a position fixing means for fixing the position of the gripping member on the base. After the position of the pin is corrected based on the position of the pin detected by the detection mechanism, the driving member is operated to close the gripping member, and after gripping the door in accordance with the position of the door. ,the above A detaching device for an automobile door, comprising: a holding mechanism that fixes the position of the gripping member by operating the position fixing means and holds the gripping member according to the position of the door. Therefore, even if there is some assembly error due to the fact that the pin withdrawal mechanism and the door gripping mechanism are interlocked, and there is some assembly error when assembled in the actual vehicle body frame, damage will be applied to the door. The door can be surely gripped according to the position of the door without causing the inconvenience of attaching, and the pin is automatically and surely pulled in and out according to the position of the pin to remove the door. You can

By allowing the door to be grasped and the pin to be pulled in and out in accordance with the position of the door and the pin, the position between the door and the automobile body can be maintained even when the door is reattached to the automobile body. The original smooth body line can be reproduced without causing deviation.

Further, as described above, the fact that the mounting error of the door or the pin with respect to the vehicle body can be tolerated does not require high precision in positioning the vehicle body with respect to the attachment / detachment device, and a relatively rough positioning is required. Can also build a car assembly line.

[Brief description of drawings]

FIG. 1 is an external view of a desorption device according to an embodiment of the present invention. FIG. 1 (a) is a side view, FIG. 1 (b) is a plan view, and FIG. 2 is a control of the desorption device. System block diagram, 3rd
The figure shows the structure of the withdrawal mechanism that constitutes the above-mentioned detaching / attaching device. The figure (a) is a front view, the figure (b) is a plan view in the figure (a), and the figure (c) is FIG. 4A is a right side view of FIG. 4A, FIG. 4D is an enlarged view of a portion indicated by arrow G in FIG. 2C, and FIG. 4 is a structure of a gripping mechanism that constitutes the detaching device. The same figure (a) is a front view, the same figure (b) is a plan view in the same figure (a), the same figure (c) is a left side view in the same figure (a), and FIG. FIG. 1A is a front view, FIG. 1B is a left side view in FIG. 1A, and FIG. 1C is a plan view in FIG. 6A and 6B show the structure of the support mechanism that constitutes the above-mentioned withdrawal mechanism. FIG. 6A is a front view, FIG. 6B is a left side view in FIG. ) Is in the figure (a) Right side view, FIG. (D) are a plan view in FIG. (A), FIG. (E) is a bottom view in FIG. (A), FIG. (F) is in FIG. (A) H-
A view equivalent to the arrow H ', and FIG.
FIG. 7 (a) and FIG. 7 (b) are circuit diagrams of the drive system of the withdrawal mechanism, and FIG. 8 shows the structure of another embodiment of the support mechanism. FIG. 6A is a view corresponding to FIG. 6F, FIG. 6B is a view corresponding to FIG. 6G, and FIG. 9 is another embodiment of the position detecting member that constitutes the above-mentioned extraction mechanism. The structure is shown in the figure (a) is a plan view and the figure (b).
Fig. 10 is a side sectional view, Fig. 10 shows a main structure of a gripping mechanism which constitutes the above detaching device, and Fig. 10 (a) is a front view in a partially broken state, and Fig. 10 (b) is FIG. 11A shows a left side view, FIG. 11C shows a right side view of FIG. 11A in a partially broken state, and FIGS. 11A and 11B show other examples. FIG. 12 (a) to FIG. 12 (e) is a basic configuration diagram of a main part of the gripping mechanism, in which the position of the pull-out mechanism and the gripping mechanism are corrected based on the position of the pin detected by the detection mechanism constituting the detaching device. 13 is an explanatory view showing the procedure for doing
FIGS. 14 (a) and 14 (b) are flowcharts showing a procedure for removing / attaching a door by the detaching / attaching device, FIG.
FIG. 1 shows a schematic configuration of an example of a conventional desorption device. FIG. 1A is an overall perspective view, and FIG.
FIG. 6 is an enlarged view of an arrow F portion in FIG. [Explanation of symbols] 1 …… Withdrawal mechanism 2 …… Sensing claw 4 …… Pin 5 …… Floating device 6,7 …… Potentiometer 8 …… Pin pressing claw 9 …… Pin gripping claw 10 …… Pin inserting claw 60 ...... Main body frame 61 …… Detection mechanism 117,139,143 …… Grip mechanism, 118 …… Frame (base),
119,120 …… Gripping claw (grasping part), 125 …… Air cylinder (driving means), 123 …… Door, 129 …… Brake (position fixing means)

Front page continued (72) Inventor Koji Watanabe 1-3-18 Wakihamacho, Chuo-ku, Kobe-shi, Hyogo Inside Kobe Steel Works (72) Inventor Mitsuyoshi Obata 1-3-3 Wakihama-cho, Chuo-ku, Kobe-shi, Hyogo No. 18 Inside Kobe Steel Co., Ltd. (72) Inventor Masahiko Yomota 1-3-3 Wakihama-cho, Chuo-ku, Kobe-shi, Hyogo Inside No. 18 Kobe Steel Co., Ltd. (72) Shijuo Maeda 1 Wakihama-cho, Chuo-ku, Kobe-shi, Hyogo 3-18, Kobe Steel Works, Ltd. (56) References Japanese Patent Laid-Open No. 63-265787 (JP, A)

Claims (1)

[Claims] 1. A door attachment / detachment device mounted on a vehicle body so as to be openable and closable via a pin, the detection mechanism detecting a position of the pin relative to the vehicle body, and the pin detected by the detection mechanism. A position-corrected mechanism based on the position and a mechanism for inserting / removing the pin into / from the vehicle body and the door, a gripping member provided on the base so as to be openable and closable, and relative to the base. It is provided with a driving means that is movably provided in the opening / closing direction of the gripping member and that drives the gripping member to open and close, and a position fixing means that fixes the position of the gripping member on the base, and is detected by the detection mechanism. The position of the pin is corrected based on the position of the pin, and the driving member is operated to close the gripping member to grip the door following the position of the door, and then the position fixing device is operated. Desorber door for a motor vehicle, characterized by comprising; and a gripping mechanism for holding the gripping member following the position of the door to more fixing the position of said gripping member.