JPH0221991B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a door position control device for installing a door of an automobile or the like.

Conventionally, this type of device transports a door to, for example, a door opening in a vehicle body, measures the gap between the periphery of the vehicle body opening and the end of the door, and then adjusts the gap to a predetermined value. It is known to control the robot that transports the door, but since the operation is done in two stages: stopping the robot, measuring the gap, and making a small feed of the robot, there are inconveniences such as long working time and reduced productivity. did.

An object of the present invention is to provide a door position control device that does not have such inconveniences as the conventional ones.
A door setting device that sequentially moves a door and automatically sets it in a door opening of a main body such as a vehicle body, a gap sensor that measures the gap between the periphery of the opening and the edge of the door, and a main body that measures the position of the main body. A position sensor is provided, and the mounting position data of the door setting device is corrected using a deviation signal from a reference value of the gap and body position obtained from the outputs of the gap sensor and the body position sensor. Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 and 2 are a side view of a mechanical section of an embodiment of the present invention and a front view of the main parts as seen from the Y direction in FIG. 1.

In the figure, reference numeral 1 denotes a vehicle body placed on a machine platform 2. The vehicle body 1 is transported by a carrier 2a in a direction perpendicular to the drawing in FIG. 1, and is set on the machine platform 2 from the carrier vehicle 2a. It was to so. Due to assembly errors in the side panels of the vehicle body 1, the position of the door opening of the vehicle body 1 on the machine base 2 will actually deviate somewhat from the normal set position in the vehicle width direction and vehicle height direction. Although not shown in Figure 1, a body position sensor for measuring this displacement was placed along the side of the vehicle body.

Reference numeral 3 denotes a door setting device, that is, a robot, which sets the door 4 in the door opening of the vehicle body 1. The robot 3 is disposed on a slide table 5 that moves in a direction perpendicular to the drawing, and moves in the direction perpendicular to the drawing, that is, the vehicle length. A first movable frame 3a movable in the vehicle width direction, a second movable frame 3b above the second movable frame 3b movable in the vehicle width direction, and a third movable frame 3c movable in the vehicle height direction on the second movable frame 3b. The third movable frame 3c of the robot 3 has a vacuum part 6 that adsorbs the door 4, and a gap between the horizontal part of the periphery of the door opening of the vehicle body 1 and the horizontal end of the door 4 is measured. and a gap sensor 8 that measures the gap between the vertical edge of the door opening of the vehicle body 1 and the vertical end of the door 4.

The main body position sensor is configured to detect the position of a reference hole d formed at the lower front end of the side panel of the vehicle body 1 to determine the positional deviation of the door opening from the normal set position, although it is not shown in the drawings. ,
A first rotator having an axis in the vehicle length direction is pivotally supported on the detector body attached to the frame body, a second rotator having an axis in the vehicle height direction is pivotally supported thereon, and the second rotator is rotatably supported. A stylus that engages with the reference hole d is attached to the child, the stylus can be oscillated in any direction by the movement of the two rotators, and the oscillation angle in the vehicle height direction is linked to the axis. The first potentiometer and the second potentiometer linked to the shaft detect the swing angle in the longitudinal direction of the vehicle, and the sensor is moved inwardly in the vehicle width direction of the frame body. The displacement of the reference hole d is detected from the swing angle of the stylus in the vehicle length direction and the vehicle height direction when the stylus is engaged with the reference hole d.

The distance sensor 8 is arranged in parallel with a fixed claw 8B that receives the side edge of the door 4 shown in FIG.
The movable claw 8A is movable in the measurement direction, and a potentiometer (not shown) detects the amount of displacement of the movable claw 8A with respect to the fixed claw 8B. Let me know, this is door 4
The fixing claw 8 is configured to be engaged with the side edge of the door opening prior to insertion into the door opening.
The distance between the door 4 and the door opening is determined by detecting the amount of displacement of the movable claw 8A with respect to B using a potentiometer. The distance sensor 7 also has a similar structure.

Although not shown in Figures 1 and 3,
A door conveying device is provided along the side of the vehicle body 1, and the door setting robot 3 moves the doors one by one using this device.
The vacuum part 6 is conveyed to a position opposite to the vacuum part 6.

FIG. 4 shows a block diagram of one embodiment of the present invention for controlling the horizontal gap formed by the periphery of a door opening in a vehicle body and the edge of the door.

The gap sensor 8 for measuring the horizontal gap is composed of, for example, a potentiometer that adjusts the output voltage of the sensor 8 to a predetermined voltage (for example, 5V) corresponding to the gap (for example, 5 mm). Clearance measurement value display 11 and comparator 1 via zero adjuster 10
Each was connected to one terminal of 2. The zero regulator 14
If the output of the main body position sensor is not zero when the vehicle body 1 placed on the machine base 2 is in the normal setting position, the output is adjusted to zero.
The body position sensor 13 was connected to a body position measurement value display 15 and one terminal of an AND gate 16 via a zero adjuster 14 . Reference numeral 17 denotes a gap reference value setter for setting a gap reference value, and the setter 17 was connected to the other terminal of the comparator 12. When the measured value of the gap is larger than the reference value of the gap, the comparator 12
An addition command signal is supplied to the reversible counter 19 via the AND gate 18, and a subtraction command signal is supplied to the reversible counter 19 via the AND gate 20 when the measured value of the gap is smaller than the reference value of the gap. I made it so that the output becomes zero when After the door setting device 3 moves from the original position to the door receiving position and receives the door 4 from the door conveying device,
The distance sensor 8 corresponding to the normal setting position of the door opening of the car body 1 moves to the pre-installation position in contact with the car body 1, and then moves from the normal setting position of the door opening according to the output signal of the main body position sensor. According to the positional deviation, it moves in the vehicle length direction and vehicle height direction to correct the pre-installation position, and while making corrections, it moves toward the door opening and moves inward in the vehicle width direction.
The distance sensor 8 measures the distance between the door 4 and the door opening, corrects the mounting position so that the distance between the door 4 and the door opening becomes a predetermined amount, and after final positioning, the door 4 is installed in the door opening. the door 4, and in this state, install the door 4. After this installation is completed, it returns to its original position. The door setting device 3 is taught to perform this series of operations. Reference numeral 21 denotes a door installation step setter, for example, a digital switch, for setting the number of steps when the door setting device 3 performs a step operation from the original position to the original position corresponding to the normal setting position of the door opening.
2 is activated by the door setting operation command signal input by closing the start switch 23, and outputs a step signal for each step, and the door setting device 3 becomes the installation step, and the step value is the value set with the door installation step setting device. , a step controller that outputs an addition command signal outputs a horizontal position data signal corresponding to the step signal from the memory 24 storing the teaching according to each step signal output from the controller 22; Furthermore, the AND gates 18, 20, and 16 are opened by the addition command signal. Reference numeral 25 denotes an adder, and the adder 25 inputs a digital number which is the mounting position data at the step set by the setting device 21 and the clock pulse generator 2.
Add the count value of the reversible counter 19 that counted the output pulses of 6, that is, the digital number corresponding to the deviation value from the reference value between 〓 and the digital number corresponding to the deviation value from the normal set position of the vehicle body 1. The output digital signal is sent to the D/A converter 27.
The signal is converted into an analog signal and applied to the servo amplifier 28.

Reference numeral 29 denotes a servo valve that operates the mechanism of the door setting device 3, and the servo valve 29 is energized by the output of the servo amplifier 28. 30 is a potentiometer connected to the door setting device, that is, the robot 3, and supplies an output corresponding to the movement of the robot 3 to the servo amplifier 28, and the output of this potentiometer 30 matches the output of the D/A converter 27. The robot 3 operates as follows.

Although not shown, a device similar to the block diagram shown in FIG. 4 is provided to control the vertical gap formed between the periphery of the door opening of the vehicle body and the end of the door.

In this case, the gap sensor 7 is used as the gap sensor,
As the main body position sensor 13, one that measures the deviation from the reference position in the vertical direction was used.

Next, the operation of this device will be explained.

First, when the start switch 23 is closed, the step controller 22 sequentially outputs a number of step signals corresponding to the set number of steps, and this signal causes the memory 24 to output the position data signal of each step, such as a door receiving position data signal, The mounting position data signal is read. In steps other than the door installation step, the AND gate 18,
Since 20 and 16 are closed, from adder 25,
Only the position data signal of the memory 24 is output, and D-
The signal is input to the servo amplifier 28 via the A converter 27 and amplified. Thus, by means of the servo valve 29 supplied with the output of the servo amplifier 28, the mechanical section of the door setting device 3 is stepped to each position, for example, a door receiving position, in accordance with the position data signal. The step of the door setting device 3 is the door installation step setting device 2.
When the door installation step reaches the number of steps set in step 1, the AND gates 18, 20, 1 are activated by the addition command signal output from the step controller 22.
6 is opened, the reversible counter 19 performs addition when 〓 is larger than the reference value, subtracts when it is smaller than the reference value, and calculates a digital number corresponding to the size of the deviation from the standard value between 〓. The AND gate 16 also outputs a deviation signal indicating a digital number corresponding to the magnitude of the deviation of the vehicle body 1 from the normal set position, and both deviation signals are input to the adder 25. Thus, the operation of the door setting device 3 in the door installation step is controlled by the adder 2.
This is done using the installation position data signal in the door installation step that is corrected by the clearance deviation signal from the standard value and the deviation signal from the vehicle body standard value output from 5, and at the end of the operation, the horizontal clearance is the standard value. set to the value. Further, in parallel with the above operation, the vertical gap is set to a reference value by a configuration not shown.

As described above, the present invention includes a door setting device that sequentially moves a door based on a plurality of preset position data and automatically sets the door in a door opening of a main body such as a vehicle body; a gap sensor that measures the gap between the door end and the door edge, and a body position sensor that measures the position of the body, and the installation position data of the door setting device is determined from the gap and body position data obtained from the outputs of the gap sensor and the body position sensor. Since the position is corrected using a deviation signal from the reference value, the positional relationship between the vehicle body and the door when stored in the memory will not be affected by the transportation of the main body or the variation in the number of presses for the main body and door. Even if we are different,
The gap value can always be set to the same value, and it is more accurate and faster than the conventional method of measuring the gap separately from the door set and setting the gap as a reference value according to that value. It has the effect of

[Brief explanation of drawings]

FIG. 1 is a side view of a mechanical part of an embodiment of the present invention;
2 is a view seen from the Y direction in FIG. 1, FIG. 3 is a view seen from the C direction in FIG. 2, and FIG. 4 is a block diagram. 1...Vehicle body, 3...Door setting device, 4...Door,
7, 8...Gap sensor, 12...Comparator, 13...Body position sensor, 17...Gap reference value setter, 16,1
8, 20...AND gate, 19...reversible counter,
21...Door step setter, 22...Step controller, 23...Start switch, 24...Memory, 25...Adder, 27...DA converter, 29...
Servo valve, 30...potentiometer.

Claims (1)

[Claims] 1 Based on multiple preset location data,
A door setting device that sequentially moves the door and automatically sets it in the door opening of a main body such as a car body, a distance sensor that measures the distance between the periphery of the opening and the edge of the door, and a distance sensor that measures the position of the main body. It is equipped with a body position sensor to detect the mounting position data of the door setting device.
Obtained from the output of the distance sensor and body position sensor〓
1. A door position control device, characterized in that the door position control device is adapted to correct the gap and body position using deviation signals from reference values.