JPH0422749B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a door mounting device for an automobile, and more particularly, a device for attaching a door to a vehicle by adjusting the type and/or mounting location of a vehicle body transported to a door mounting station on a vehicle body assembly line. This invention relates to an automobile door mounting device equipped with a door setting robot that selectively takes out a matching door from a plurality of doors stored in a plurality of pallets and automatically sets it at a door mounting position on a vehicle body. .

(Prior Art) Conventionally, when automatically attaching a door to a car body at an installation station on a car body assembly line using the method described above, a door setting robot has been used, for example, as described in Japanese Patent Publication No. 57-48334. Alternatively, the door setting device itself goes to a predetermined pallet to receive the door, returns to the door setting position, or moves simultaneously with the vehicle body to set and fix the door on the vehicle body.

(Problem to be Solved by the Invention) However, as described above, in the case where the door setting robot itself goes to pick up the door from a predetermined pallet, the door setting robot itself cannot move the door between the door setting position where the vehicle body is located and the pallet during the stroke. The problem was that the robots could not do any work and had poor work efficiency. This problem is particularly noticeable in four-door automobiles.

SUMMARY OF THE INVENTION In view of the above-mentioned problems, it is an object of the present invention to provide an automobile door mounting device with good work efficiency.

(Means for Solving the Problems) The automobile door mounting device of the present invention is characterized in that the door setting robot is fixed and a means is provided for supplying doors that fit the robot from a pallet. Specifically, the robots are arranged at the side of the vehicle body assembly line at the door installation station and are configured to operate according to a predetermined movement path, and the robots are sequentially arranged along the vehicle body assembly line, a plurality of pallets for separately storing a plurality of types of doors; a take-out means disposed in front and behind the robot across the robot in the transport direction of the vehicle body for taking out a door from any of the plurality of pallets; a pair of door transport means for transporting the door taken out by the take-out means to a position where the door is gripped by the robot located in front and rear of the robot with the robot in between; A pair of positioning means performs positioning, and the door extraction means selects the type of door to be installed next from one of the pallets depending on the type of vehicle body to be transported to the door installation station of the vehicle body assembly line. the removed door is transported by the door conveyance means to the gripping position, and the door is positioned at the gripping position by the positioning means;
The present invention is characterized by comprising a control means for controlling the robot to grasp the positioned door and set it on the vehicle body.

(Operations and Effects of the Invention) In the automobile door mounting device of the present invention having the above-described configuration, the door is transported from the pallet to the robot by the door transport means, so that the robot itself can receive the door. This eliminates the need for additional strokes, reducing the cycle time required for door installation. Furthermore, in the present invention, the door is finally positioned by the positioning means provided at the front and rear of the robot before it is received by the robot, so the robot can hold the door in a more accurate position and improve the accuracy of the door installation. will improve.

(Embodiments) Hereinafter, an automobile door mounting device according to a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a schematic plan view showing the configuration of main parts of an example of an automobile door mounting device according to the present invention, and FIGS. 2 to 9 are diagrams showing the configuration of each part in the example shown in FIG. 1. . In addition, in FIG. 1, only one side of the door mounting station is shown.

In FIG. 1, reference numeral 1 denotes a vehicle body assembly line such as a mixed flow line, and in this vehicle body assembly line 1, a plurality of stations including a door mounting station ST are arranged separated from each other by a predetermined distance. There is. In this car body assembly line 1,
Vehicle bodies 2 of different vehicle types are fixedly transferred to each station in sequence by an appropriate conveyance means, for example, a floor conveyor 3, in a conveyance order determined according to the production plan of the day. The parts are assembled or attached to form a completed vehicle body.

In this manner, the vehicle body 2, which is assembled while being conveyed on the vehicle body assembly line 1, has left and right front doors and rear doors 5 attached to it at the door attachment station ST. Each of these doors 5 is provided with a hinge portion 6 that engages with a pillar portion of the vehicle body, as shown in FIGS. 6 and 7, and a taper pin 16 is provided protruding from the hinge portion 6. ing.

There is a frame 1 on the side of the door mounting station ST.
A door setting robot 12 placed on the door is provided. This robot 12 is, for example,
It is a teaching playback type articulated robot, and its wrist 13 has three suction cups 14a, 14b, and 14c attached to the tips to suction doors, as shown in FIGS. 3 and 5. A hand 17 having a U-shaped cross section is attached to grip the door using cylinders 14A, 14B and 14C and receiving members 15A and 15B having elastic pads 15a and 15b fixed to their tips. . The robot 12 is capable of performing movements similar to those of a human's upper limbs, and the entire handling means consisting of a hand 17, a wrist 13 and an arm 19 is attached to a base fixed to a pedestal 10. Moves according to the joint coordinate system. That is, as shown in FIG. 2, for example, V
Rotate 300° in the direction, swing 90° in the W direction, and move in the U direction.
Turn 105°. Furthermore, as shown in Figure 3,
The hand 17 rotates 360 degrees in the α direction and 210 degrees in the β direction with respect to the wrist 13.
is configured to rotate 360 degrees in the γ direction with respect to the arm 19. Therefore, the target position of the hand 17,
That is, the operating amounts of the robot 12 are V, W, U,
It is determined by six parameters indicating the operating rotation angle in each direction of α, β, and γ. Then, the movement path, ie, movement locus data, etc., are taught by the teaching operation panel, and the teaching contents are stored in the memory of the control unit 60. Therefore, from the control unit 60 to the robot 1
When the robot 12 is supplied with a control signal OCp, which will be described later and which defines each of the above-mentioned six parameters representing the amount of operation, the robot 12 will operate according to the teaching contents, in other words, according to a predetermined operation path. Perform the operations necessary to set each door 5 on the vehicle body.

In addition, for the purpose of explaining later, the door mounting station ST is provided with a rail 9 along the line 1 in the front-rear direction from the mount 10 as shown in FIG.
On the sides of this rail 9, there are four pallets 20a, 20 on which doors 5 of different types are placed and stored in parallel at predetermined intervals.
b, 20c, and 20d are arranged and locked in fixed positions. In addition to these four, the number of palettes is 3.
It may be two or more. Each of these palettes is
Wheels are attached to the bottom so that it can be moved, and it has a box-shaped structure with open sides and top, so that each door 5 can be pulled out from the side on the side of the vehicle body assembly line 1.

The above palettes 20a, 20b, 20c, 20d
In order to pull out one door 5 from either one of the doors, pull-out stands 24 and 25 which can be moved on the rails 9 at the front and rear of the pedestal 10 are provided, respectively. The drawer stands 24 and 25 each act as a takeout device for taking out the door 5 from the pallet, and also act as a door conveyance device for conveying the door 5 from the position where it is taken out to the gripping positions 7 and 8 of the door by the robot 12. do. Note that the structure of the drawer stands 24 and 25 may be any structure as long as it allows a predetermined door to be taken out from the pallet. For example, as shown in FIG. It may be provided with an arm 24c or the like having an attraction means such as a magnet 24b.

Door positioning devices 26 and 27 are attached to the door gripping positions 7 and 8 on the gantry 10 before and after the robot 12, respectively.
These door positioning devices 26 and 27 are
The hinge portion 6 of the robot 12 is provided with a positioning hole that engages with a taper pin 16 protruding from the hinge portion 6 to position each door 5 at gripping positions 7 and 8 of the robot 12. This door positioning device 26, 27
For example, it is constructed as follows. That is, as shown in FIGS. 6 and 7, this positioning device 26 is guided by a cylinder 26b fixed to a base plate 26a and a guide bar 31 of a support member 30, and is guided by a piston 26c of the cylinder 26b. It has a positioning plate 33 that can be moved forward and backward in the direction shown by arrow S in FIG. This positioning plate 33 has a positioning hole 33a that engages with a taper pin 16 protruding from the hinge portion 6 of each door 5 placed thereon, and positions each door 5 with respect to the grasping position of the robot 12. It is like that. In addition, 32A and 3
2B is a reference pad that comes into contact with each door 5 and is fixed to the base plate 26a.

In the above configuration, when the vehicle body 2 is conveyed to the door mounting station ST and stopped, center deviation due to inaccuracy of the floor conveyor 3 or loading shift of the vehicle body 2 with respect to the floor conveyor 3 accumulates, and the vehicle body 2 is stopped. There is a possibility that the positional variations may cause a misalignment between the door 5 and the vehicle body 2 with respect to the door attachment portion, and the door 5 may not be able to be attached to the vehicle body 2. Therefore, in this example, a vehicle body measurement device 3 measures the position of the vehicle body 2 from both left and right sides of the vehicle body 2 stopped at the door mounting station ST.
8 is attached to the door mounting station ST.
As shown in FIGS. 8 and 9, this vehicle body actual measuring device 38 has a slide table 39 that can move in parallel along the vehicle body assembly line 1. The portions 40A and 40B are arranged at a predetermined distance from each other. These vehicle body position detection parts 40A and 40
B includes a detection pin 42 whose distal end is tapered to engage with a hole 47 provided in the vehicle body 2, as shown in FIG. Position sensors 44 and 45 are provided which are spaced apart from each other by a predetermined distance in the length direction and abut two points on the side surface of the vehicle body 2. In the vehicle body measurement device 38 configured in this way,
When measuring the position of the vehicle body 2, the detection pin 42 is projected and inserted into the hole 47, and the position sensors 44 and 45 are projected and brought into contact with the vehicle body 2A or 2B.

The detection pin 42 inserted into the hole 47 expands, contracts, and tilts in accordance with the positional deviation of the hole 47 caused by the positional deviation of the vehicle body 2 from the proper position in the door mounting station ST. Then, the amount of positional deviation Δθx of the vehicle body 2 in the X direction is determined by the detection pin 42.
The displacement amount Δθy of the vehicle body 2 in the Y direction is detected based on the protrusion length of the detection pin 42 and the inclination angle with respect to the Y coordinate axis passing through its base. Detected based on the angle. Furthermore, the amount of deviation Δθz of the vehicle body 2 in the Z direction is detected based on the protrusion length of the detection pin 42 and the amounts of positional deviations Δθx and Δθy in the X and Y directions.

On the other hand, the position sensors 44 and 45 expand and contract according to the inclination of the vehicle body 2 in the P direction and the Q direction in FIG. 9, and maintain a state of contact with the vehicle body 2. Then, the amount of inclination Δθp in the P direction and the amount Δθq of inclination in the Q direction of the vehicle body 2 are detected based on the respective protrusion lengths of two sets of position sensors 44 and 45 arranged on both sides of the vehicle body 2, respectively.

The positional deviation amounts Δθx, Δθy, and Δθz in the X, Y, and Z directions and the tilt amounts Δθp and Δθq in the P and Q directions detected in this way are detected by the detection signal IS as shown in FIG. ₁ , _IS2 , _IS3 , _IS4 , and _IS5 and are input to the control unit 60, and the control unit 60 calculates the actual vehicle body position based on these detection signals _IS1 to _IS5 . , corrects the motion locus data, etc. taught to the robot 12, which is stored in the memory, in correspondence with the actual position of the vehicle body 2A or 2B, and converts it into motion locus data, etc. representing the corrected actual position of the vehicle body 2. Initially, a control signal is sent to the robot 12.
Supply OCp. As a result, the robot 12 moves according to a predetermined movement path, and the amount of movement (represented by the six parameters described above) is fed back to the control unit 60.

In this example configured as described above, when each door 5 that is suitable for the vehicle body 2 is selectively attached, the following sequence of operations is performed.

In this example, the vehicle bodies 2A and 2B are delivered to the door mounting station ST in a predetermined order according to the production plan for that day. When the vehicle body 2 is transported to the door mounting station ST and stopped,
First, in order to measure the position of the stopped vehicle body 2, the slide table 39 of the vehicle body measurement device 38 moves,
It stops at a predetermined measurement position (indicated by a chain line in FIG. 1), and the detection pin 42 and position sensors 44 and 45 are made to protrude. As a result, the detection pin 42 is inserted into the hole 47 of the vehicle body 2A or 2B and tilted according to the position of the vehicle body 2, and as described above, the positional deviation amounts Δθx, Δθy, and Δθz in the X direction, Y direction, and Z direction are detected and its detection signal IS ₁
~ IS ₃ is supplied to the control unit 60, and position sensors 44 and 45 are connected to the vehicle body 22B.
As mentioned above, the inclination amounts Δθp and Δθq in the P direction and the Q direction are detected, and the detection signals are
IS ₄ and IS ₅ are supplied to control unit 60. Based on these detection signals _IS1 to _IS5 , the control unit 60 calculates the actual position of the vehicle body 2 and corrects the teaching contents of the robot 12 stored in the memory.

As described above, after the vehicle body measurement device 38 measures the position of the vehicle body 2, the slide table 39 of the vehicle body measurement device 38 is moved backward, and the process of attaching the door 5 to the vehicle body 2 is started. In this installation process, first, the drawer stand 24 or 2
5 moves, and pallets 20a, 20b, 2
It stops at a position located right next to the last door 5 stored in either pallet 0c or 20d.

Next, the door take-out mechanism of the drawer stand 24 or 25 is operated to take out the door 5, hold it in a predetermined state, and transport it to the door positioning devices 26, 27 at the door gripping positions 7, 8 of the robot 12. The door positioning devices 26 and 27 position the transported door 5 in a predetermined state.

After this, the robot 12 operates and the arm 19
Turn the cylinder 14 of the hand 17 by 90 degrees.
A, 14B and 14C are operated to remove the suction part 14.
a, 14b, 14c, grip the door 5 at a predetermined position, and move the arm 19 90 in the opposite direction to the above.
2 degrees to the door set position shown in FIG. Next, the robot 12 brings the door 5 close to the door attachment part (front pillar or rear pillar) of the vehicle body 2 from the state shown in FIG. The door 5 is rotated or swiveled in accordance with the corrected motion locus data, etc., and pressed against the vehicle body 2 with the door 5 in an attachment position to the door attachment portion of the vehicle body 2. At this time, the door 5 is positioned by the positioning device 26,
27, the relative position with respect to the robot 12 is corrected, and the robot 12 is adjusted based on the detection signals _IS1 to _IS5 obtained by the vehicle body measurement device
Since the motion locus data, that is, the motion path, has been corrected to correspond to the actual vehicle body position, the door 5 and the door attachment part of the vehicle body 2 stopped at the door attachment station ST will not be misaligned. This allows the door 5 to be set on the vehicle body 2 smoothly.

In this way, the robot 12 moves the door 5 to the vehicle body 2.
After the door 5 is set at a predetermined mounting position on the vehicle body 2, the door 5 is mounted on the vehicle body 2 at a predetermined position using multiple nut runners 28 and 29 provided on the frame 10. If the door 5 is a front door, the rear door is taken out from the pallet using the drawer stand 24 or 25 and placed on the door positioning device 26 or 27. By doing this, after the robot 22 has installed the front door, it can grasp the next rear door by simply turning the arm 19 90 degrees and move on to the setting and installation work, which is extremely easy. Be efficient.

[Brief explanation of drawings]

FIG. 1 is a schematic plan view showing the configuration of essential parts of an example of an automobile door mounting device according to the present invention, and FIG.
FIG. 9 is a partial detailed diagram showing the configuration of each part of the example shown in FIG. 1 and providing an explanation of its operation;
FIG. 10 is a block diagram for explaining the configuration of the example shown in FIG. 1. 1... Vehicle assembly line, 2... Vehicle body, 3... Floor conveyor, 5... Door, 9... Rail, 12
...Robot, 20...Palette, 24, 25...
...Drawer stand, 26, 27...Door positioning device, 6
0...Control unit, ST...Door mounting station.

Claims (1)

[Claims] 1. A robot is placed on the side of the car body assembly line at a door installation station and is configured to operate according to a predetermined movement path, and a robot is sequentially arranged along the car body assembly line to install a plurality of types of doors, respectively. a plurality of pallets to be stored in compartments; a door take-out means arranged in front and behind the robot across the robot in the conveying direction of the vehicle body, and for taking out a door from any one of the plurality of pallets;
a pair of door conveying means for conveying the door taken out by the door taking out means to a gripping position of the door by the robot located in the front and rear positions with the robot in between; a pair of positioning means for positioning with respect to the robot; and a door removal means for selecting the type of door to be installed next from one of the pallets depending on the type of vehicle body to be transported to the door installation station of the vehicle body assembly line. The taken out door is conveyed to the gripping position by the door conveying means, the door is positioned at the gripping position by the positioning means, and then the door is placed in position. . A control means for controlling the robot to grip the robot and set it on the vehicle body.