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WO2008018192A1 - Dispositif et procédé pour corriger un cadre de portière d'une automobile - Google Patents

Dispositif et procédé pour corriger un cadre de portière d'une automobile Download PDF

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Publication number
WO2008018192A1
WO2008018192A1 PCT/JP2007/053143 JP2007053143W WO2008018192A1 WO 2008018192 A1 WO2008018192 A1 WO 2008018192A1 JP 2007053143 W JP2007053143 W JP 2007053143W WO 2008018192 A1 WO2008018192 A1 WO 2008018192A1
Authority
WO
WIPO (PCT)
Prior art keywords
sash
door
correction
jig
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2007/053143
Other languages
English (en)
Japanese (ja)
Inventor
Makoto Tominaga
Takahiro Horiyama
Naoya Unemoto
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hirotec Corp
Original Assignee
Hirotec Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hirotec Corp filed Critical Hirotec Corp
Publication of WO2008018192A1 publication Critical patent/WO2008018192A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D1/00—Straightening, restoring form or removing local distortions of sheet metal or specific articles made therefrom; Stretching sheet metal combined with rolling
    • B21D1/12—Straightening vehicle body parts or bodies

Definitions

  • the present invention relates to an automobile door sash straightening device and straightening method.
  • an automobile door sash correction device as disclosed in Patent Document 1 is known.
  • This straightening device detects a position of a predetermined portion of the sash, a correction portion that is movably attached to the main body of the device, a driving source that moves the correction portion and presses it against the sash, and applies a deformation force to the sash.
  • a control device for controlling the drive source based on the signal of the sensor. The control device obtains the sash installation position based on the signal from the sensor, calculates the sash correction amount if the installation position is out of the predetermined tolerance range, and calculates the sash correction amount based on this correction amount. It is configured to obtain the amount of sash bending deformation.
  • the door is fixed to the main body of the device by a clamp mechanism. After that, the position of a predetermined part of the sash is measured with a sensor. If the installation position of the sash obtained from the measurement results falls within the tolerance range, no correction is required and the process is completed. On the other hand, if the installation position of the sash is out of the tolerance range! /, If the sash is deformed by moving the correction part by the amount of deformation obtained by the control device, the sash is deformed.
  • Patent Document 1 Japanese Utility Model Publication No. 61-92413
  • the present invention has been made in view of such a point, and an object of the present invention is to freely set the position of the correction portion in a short time in a multi-mix production door production line.
  • the goal is to reduce the number of door manufacturing steps.
  • the installation position of the sash of the door attached to the automobile is out of a predetermined tolerance range force
  • the installation position is set to the predetermined tolerance.
  • An automotive door sash correcting device configured to correct the sash by deforming the sash by an amount of deformation obtained based on an amount of correction to be within a range.
  • a correction robot having a robot arm to which the correction part is attached, and the sash building position measuring sensor, and the correction robot
  • the control unit controls the deformation amount when the sash installation position obtained by the sash installation position measurement sensor is out of a predetermined tolerance range. It is assumed that the correction unit is moved by moving the robot arm so that the sash is deformed.
  • the jig portion may include a first door jig and a second door jig that fix the first door and the second door in a positioned state.
  • the two-door correction preparation work can be performed in parallel, and the number of door manufacturing steps can be further reduced.
  • the correcting robot may be arranged on one side and the other side of the first door in the longitudinal direction.
  • one and the other correction robots can be simultaneously corrected by applying a deformation force in both the longitudinal direction of the door of the sash.
  • the sash building position measuring sensor may be attached to the jig portion via an attaching / detaching device.
  • the jig force sash building position measuring sensor that is currently installed is installed.
  • the sensor can be removed and attached to the jig after replacement. Therefore, even if the type of the door is changed, the same sash building position measuring sensor can be used, and the cost of the sash correction device can be reduced.
  • the robot arm of one of the correction robots is provided with a correction unit and a tightening device for fastening and fixing a positioning pin to the vehicle body of the door hinge attached to the door,
  • the robot arm of the other straightening robot has a straightening section and a detachable support. You may provide the holding
  • the positioning pin of the door hinge is fastened and fixed using one correcting robot, and the sash built-in position measuring sensor is attached and detached using the holding device of the other correcting robot. Is possible.
  • the door sash correction device preferably includes a door transfer robot for transferring the door.
  • the jig is provided with a first attaching / detaching portion and a second attaching / detaching portion, and the jig frame provided on the jig portion has a jig frame side attaching / detaching portion attached to and detached from the first attaching / detaching portion of the jig.
  • the robot arm of the door transfer robot may be provided with an arm side attaching / detaching portion that attaches / detaches to / from the second attaching / detaching portion of the jig.
  • the jig is fixed to the jig frame by attaching the first attaching / detaching portion to the jig frame side attaching / detaching portion.
  • the door transfer robot removes the jig. It can be removed from the jig frame and carried out. After removing this jig, it becomes possible to carry in jigs corresponding to different types of doors by the door transfer robot and fix them to the jig frame. This makes it possible to automate jig replacement.
  • the correction section includes an inner correction head that comes into contact with the sash from the passenger compartment side, an outer correction head that comes into contact with the outer side of the sash, and the outer correction head along the contact surface of the sash.
  • U which has a movable mechanism to move to.
  • the inner correction head comes into contact with the sash from the passenger compartment side to apply a deformation force to the outside of the vehicle.
  • the outer correction head comes into contact with the sash from the outer side of the vehicle to apply a deformation force to the passenger compartment side.
  • the outer correction head comes into contact with the outer surface of the sash constituting the design surface of the automobile. At this time, the outer correction head moves along the contact surface of the sash by the movable mechanism.
  • the outer straightening head can be brought into stable contact with the outer surface of the sash and damage can be caused by the outer straightening head coming into contact with the outer surface of the sash. Can be suppressed.
  • the correction amount for keeping the installation position within the predetermined tolerance range is obtained.
  • the sash is corrected by moving the correction unit by the robot arm of the correction robot, and different types of door sashes are corrected.
  • the correction amount for keeping the installation position within the predetermined tolerance range is obtained.
  • a door sash correction method for an automobile that corrects the sash by deforming the sash by a deformation amount obtained based on the door, a door fixing step of fixing the door body portion in a state of being positioned on a jig; and
  • the sash building position measurement process in which the sash building position measurement sensor measures the building position of the door sash fixed in the door fixing process, and the sash building position obtained by the sash building position measurement sensor is a predetermined position.
  • the sash is deformed by the amount of deformation when it is out of the tolerance range.
  • a sash correction process is provided in which the sash is corrected by moving the correction unit attached to the robot arm of the correction robot.
  • the correction unit is moved by the correction robot! /, So that the position of the correction unit can be easily and quickly changed. In addition, the operator does not need to confirm and check the position of the corrected part after the change.
  • a door transporting process for transporting the door to the jig by the door transporting robot, and a positioning pin for positioning and fixing the positioning pin to the vehicle body of the door hinge attached to the door are fastened to the door hinge.
  • Pin fixing process, door fixing process, sash building position measurement process, sash correction process, and after the sash correction process, the sash building position measurement sensor again measures the sash building position and determines
  • the installation position confirmation process for confirming whether it is within the tolerance range of the above and the unloading process for removing the door from the jig by the unloading robot after the above-mentioned installation position confirmation process are carried out at one station. You may do it.
  • the positioning pin of the door hinge of the door fixed to the jig is fastened and fixed, the sash is corrected, and after the correction result is confirmed, the door is unloaded. These processes can be performed together at one station on the door production line. Thereby, the number of stations in the door production line can be reduced.
  • the jig corresponding to the type of door to be taken out is installed from the jig storage section, and after the jig installation process, the robot arm of the door transfer robot is set to the next door type.
  • Corresponding door Attaching a support attachment and attaching the sensor to the jig installed in the jig installation step by holding the mounting position measuring sensor in the sensor storage section by the correction robot holding device.
  • a second mode switching step of switching the correction robot and the door transfer robot to the sash correction mode corresponding to the type of the next door may be performed. ,.
  • the sash building position measurement sensor is attached to and detached from the jig by the correcting robot, and the jig is automatically replaced by the door transport robot. Done.
  • the correction unit is attached to the robot arm of the robot for correction, and the correction unit is moved by the control unit of the robot to correct the sash.
  • the position of the parts can be easily and quickly adapted to different types of door sashes, and the number of door manufacturing steps can be reduced.
  • FIG. 1 is a plan view of a factory where a sash correction device according to Embodiment 1 of the present invention is installed.
  • FIG. 2 is a view of the jig device as seen from the left side jig side force.
  • FIG. 3 is a side view of the jig device.
  • FIG. 4 is a view corresponding to FIG. 2 with the left door fixed.
  • FIG. 5 is a view corresponding to FIG. 3 with the left door jig removed from the jig frame force.
  • FIG. 6 is a diagram illustrating a process of removing the jig force from the first sash building position measuring sensor.
  • FIG. 7 is a view of the first and second correction robots and the jig device as viewed from the left door jig side.
  • FIG. 8 is a side view of the robot arm tip and the first correction attachment of the first correction robot.
  • FIG. 9 is a side view of the robot arm tip and the second correction attachment of the second correction robot.
  • FIG. 10 is a block diagram of a sash correction device.
  • FIG. 11 is a flowchart illustrating a sash correction process. 12] A flowchart illustrating a process of replacing the jig.
  • FIG. 13 is a diagram corresponding to FIG. 7 according to Embodiment 2 of the present invention.
  • FIG. 1 is a plan view of a factory in which an automotive door sash straightening device 1 according to Embodiment 1 of the present invention is installed.
  • This factory has a door production line.
  • This door production line includes a left door D1 and a right door D2 arranged on the front side of the automobile, a left door and a right door (not shown) arranged on the rear side, and a left door and a right door ( (Not shown) is a production line that employs a multi-mix production system that is configured to perform production.
  • a joining station is provided for joining the inner panels and the outer panels of the doors Dl and D2 to obtain the doors Dl and D2.
  • the doors Dl and D2 having the sash S (shown in FIGS. 3 and 4) for holding the window glass are manufactured.
  • the vehicle front side of the doors Dl and D2 is simply “front” and the vehicle rear side is simply “rear”.
  • the doors Dl and D2 obtained at the joining station are transported to the downstream correction station T.
  • the sash S is straightened, and at the same time, the positioning pin P is fastened and fixed to the vehicle body on the door hinge H (shown in Fig. 4)! /
  • the doors D1 and D2 whose sash S has been corrected at the correction station T are assembled into windshields and door trims at other stations to become finished products. This finished product will be transported to the automobile production line set up in another factory and attached to the car body.
  • a first support base 10, a second support base 11, a first door transfer robot 12, and a second door transfer robot 13 are provided on the upstream side of the production line of the correction station T (upper side in FIG. 1). It has been.
  • a jig device 15 as a jig part for fixing the left door D1 and the right door D2 during the straightening work of the sash S
  • 1st and 2nd jig storage stands 17 and 18 as jig storage parts, 1st straightening robot 20, 2nd straightening robot 21 and sash S Robot 22 is set up!
  • the first support base 10 is for supporting the left door D1 obtained at the joining station.
  • the second support 11 is for supporting the right door D2.
  • the left door D1 and the right door D2 obtained at the joining station are gripped by a robot (not shown) and transported to the first support base 10 and the second support base 11! /.
  • the first jig storage stand 17 is disposed on the side of the first door transfer robot 12, and stores a jig Y for positioning and fixing the door D1. Is for.
  • the first jig storage stand 17 stores a plurality of types of jigs Y such as a front door, a rear door, and a door of a different vehicle type. It is like that.
  • a turntable 23 that rotates about a vertical axis is provided below the first jig storage stand 17.
  • three jig support members 24 are arranged at intervals in the circumferential direction of the vertical axis, and a plurality of stages are arranged in the vertical direction.
  • the position and number of these jig support members 24 can be arbitrarily set.
  • the jig Y is supported by the jig support members 24, and the jig Y is stored in this state.
  • a total of three rod-like portions 25 protruding outward in the radial direction are provided between the jig support members 24 adjacent to each other in the circumferential direction of the vertical axis.
  • a pin 25a protruding upward is fixed to the tip of these rod-like portions 25.
  • the jig support member 24 and the rod-like portion 25 are integrated, and rotate together around the vertical axis.
  • the first door transfer robot 12 is a well-known multi-axis control type industrial robot configured to transfer the left door D1 supported by the first support 10 to the jig device 15. It has been done.
  • the robots that appear below are all multi-axis control industrial robots.
  • An auto tool changer 19 is provided at the tip of the robot arm 12a of the first door transfer robot 12, and a door support feature 26 is attached via the auto tool changer 19. ing.
  • the door support attachment 26 has a known structure configured to clamp the left door D1.
  • Reference numeral 28 in FIG. 1 will be described in detail later. However, when replacing the jig Y corresponding to the following door type, This is an attachment stand for temporarily placing the attachment 26.
  • the auto tool changer 19 is composed of, for example, a pneumatically driven automatic tool changer, and includes a robot side adapter 19a (shown in FIG. 5) and a door side attachment 26 side tool side adapter (not shown).
  • the second door transfer robot 13 is configured to transfer the right door D2 to the jig device 15, and at the tip of the robot arm 13a, A door support 26 is detachably attached via an auto tool changer 19.
  • the second jig storage stand 18 is disposed on the side of the second door transfer robot 13, and, like the first jig storage stand 17, the turntable 23 and the jig support.
  • the member 24 is provided with a rod-like portion 25 and a pin 25a.
  • the jig device 15 includes a jig frame 33 fixed to the ground of a factory. On the jig frame 33, a left door jig Y1 and a right door jig Y2 can be attached.
  • This jig frame 33 is composed of two support posts 34 erected on the upper surface of the base, and an auto tool changer 36 fixed to a connecting member provided so as to connect the support posts 34 to the jig frame side adapter.
  • the jig frame side adapter 36a constitutes a jig frame side attaching / detaching portion.
  • support members 41 are provided on the upper and lower portions of the support post 34 so as to protrude to the jig Yl and the flange 2 side, respectively.
  • the left door jig Yl is for fixing the left door D1 in a state in which the left door D1 is positioned so that the outer surface of the vehicle faces the column 34 side. It has.
  • a first jig side adapter 36b as a first attaching / detaching portion coupled to the jig frame side adapter 36a is provided at a substantially central portion of the main body 40, and the first jig side adapter 36b is cured.
  • the left door jig Y1 is fixed to the jig frame 33 while being connected to the fixture frame side adapter 36a.
  • the main body portion 40 includes a front-side fixing mechanism 42 that clamps door hinges H that are respectively attached to the top and bottom of the front portion of the left door D1, and a door latch that is set at the middle portion of the rear portion of the left door D1.
  • a rear side fixing mechanism 43 that clamps the mounting portion is provided.
  • These front and rear fixing mechanisms 42 and 43 operate using a pneumatic cylinder as a power source. By the expansion and contraction of this pneumatic cylinder, the fixing parts of the front and rear fixing mechanisms 42 and 43 are fixed and fixed. It can be switched to the release state.
  • the left door D1, which is in a fixed state is configured such that the rear side vicinity of the belt line is supported by the outside force by the jig Y1.
  • the fixing mechanisms 42 and 43 the body part below the sash S of the door D1 is fixed to the jig Y1! /.
  • the two door hinges H are fastened and fixed to the left door D1 by fastening members on the upstream side of the correction station T in the production line.
  • the lower door hinge H is provided with a positioning pin P that is inserted into a positioning hole (not shown) of the vehicle body when the left door D1 is assembled to the vehicle body, and the positioning pin P is inserted into the positioning hole.
  • the positioning pin P is the lower door hinge.
  • the force that is fixed to the H by a nut (not shown). This positioning pin P needs to be adjusted according to the manufacturing tolerance, so the left door D1
  • the nut is temporarily fixed to the lower door hinge H in a loose state until it is transported to the correction station T. Then, the positioning pin P is fastened and fixed at a predetermined position at the correction station T.
  • the main body portion 40 supports the peripheral portion of the left door D1 and positions the left door D1 at a predetermined position.
  • a positioning mechanism 44 is provided.
  • the positioning mechanism 44 operates using a pneumatic cylinder as a power source, and can be switched between a positioning state and a positioning release state by an expansion / contraction operation of the pneumatic cylinder.
  • the positioning pin P is clamped while being positioned with respect to the left door D1 by a pin clamping portion (not shown) of the positioning mechanism 44.
  • First and second sash building position measuring sensors 50 and 51 are attached to the main body 40.
  • the first and second sash building position measuring sensors 50 and 51 are well-known non-contact distances configured to irradiate the detection target with laser light and detect the distance to the detection target in a non-contact manner. It is a sensor.
  • the laser beam of the first sash installation position measuring sensor 50 is irradiated on a first measurement surface set at a substantially central portion in the front-rear direction of the upper edge portion of the outer surface of the sash S.
  • the laser light of the second sash installation position measuring sensor 51 is irradiated on the second measurement surface set at the rear of the upper edge portion of the vehicle outer surface of the sash S.
  • the positions of the first and second measurement surfaces are obtained by the first and second sash building position measuring sensors 50, 51, and the building positions of the V and sash S are based on the positions of the two measurement surfaces. Is now available! /
  • the first sash installation position measuring sensor 50 is attached to the main body 40 via a fixing bracket 53 fixed to the upper part of the main body 40 and a detachable bracket 54 attached to and detached from the fixing bracket 53. It is attached.
  • the fixing bracket 53 and the detachable bracket 54 are detachable by an auto tool changer 55 as a detachable device.
  • the attachment / detachment bracket 54 has a substantially L shape, and the first support is formed on the attachment / detachment bracket 54.
  • the shushing position measuring sensor 50 is fixed.
  • the fixed bracket 53 is provided with a fixed adapter 50a of the auto tool changer 50
  • the detachable bracket 54 is provided with a detachable adapter 55b coupled to the fixed adapter 55a.
  • a holding portion 56 that is held by a sensor holding device 68 described later is provided.
  • the holding portion 56 is formed with two holes 56a and 56a that open upward.
  • a sleeve 57 is fitted and fixed to the inner peripheral surface of each hole 56a.
  • the cylindrical member 58 is disposed so as to be movable in a substantially vertical direction, which is the center line direction of the sleeve 57, and so as not to escape upward from the sleeve 57.
  • An engaging portion 58 a that engages with the sensor holding device 68 is provided on the upper edge portion of the cylindrical member 58 so as to protrude inward of the cylindrical member 58.
  • a coil panel 59 that urges the cylindrical member 58 upward is disposed between the bottom surface of each hole 56a and the cylindrical member 58.
  • the second sash building position measuring sensor 51 is also mounted on the upper portion of the main body 40 via a fixed bracket 53, a detachable bracket 54, and an auto tool changer 55. It is detachably fixed.
  • a holding portion 56 is also provided on the attachment / detachment bracket 54 of the second sash installation position measuring sensor 51.
  • the reason why the first and second sash mounting position measuring sensors 50 and 51 are detachable is that when the jig Y1 is replaced with a different jig (not shown), the sensors 50 and 51 are the same. This is to make things usable. That is, the positions of the first and second sash building position measuring sensors 50 and 51 are determined to be positions corresponding to the shapes of the sashes S of the doors Dl and D2, depending on the shape of the fixing bracket 53 of the jig Y1. It has become. For example, in a large door, the sash S is larger than the small door, and the upper edge portion is positioned on the upper side. The second sash building position measuring sensors 50 and 51 are positioned upward.
  • the right door jig Y2 is the same as the left door jig Y1, the main body portion 40, the first and second jig side adapters 36b and 30b, the front side and the rear side.
  • a fixing mechanism 42, 43, a positioning mechanism 44, first and second sash installation position measuring sensors 50, 51, fixing and detachable brackets 53, 54, an auto tool changer 55, and a holding part 56 are provided.
  • the right door D2 is fixed to the jig Y2 with the outer surface of the right door D2 facing the post 34 side of the jig frame 33.
  • the first and second sash building position measuring sensors 50 and 51 of the left door jig Y1, and the first and second of the right door jig Y2 are provided on the upper part of the jig frame 33.
  • a holder 61 is provided for removing and holding the position measuring sensors 50 and 51 from the jigs Yl and ⁇ 2 for the second sash installation.
  • the holder 61 is provided with four adapters 61a that are coupled to the adapter 55b of the detachable bracket 54. By connecting the adapter 55b of the detachable bracket 54 to the adapter 61a, the four sash installed position measuring sensors 50 and 51 are held and put in the retracted state.
  • the holder 61 constitutes the sensor storage unit.
  • the first straightening robot 20 is configured to perform a straightening operation of the sash S and a work of removing the first and second sash building position measuring sensors 50 and 51 from the jig Y. As shown in FIG. 7, they are arranged behind the doors Dl and D2 fixed to the jig device 15 (one in the longitudinal direction of the door). As shown in FIG. 8, a first correction attachment 65 is attached to the tip of the robot arm 20a of the first correction robot 20.
  • the first correction attachment 65 includes a base member 66 fixed to the tip of the robot arm 20a, a correction part 67, and a sensor holding device 68.
  • the distal end side of the base member 66 is composed of a bent portion 66a bent so as to form an L shape as a whole.
  • a bracket 69 is fixed to the base end side of the base member 66 so as to face the bent portion 66a.
  • an inner straightening head 70 having a grease blocking force is fixed on the surface of the bent portion 66a facing the bracket 69.
  • the inner straightening head 70 abuts against the sash S (shown in phantom lines in FIG. 8) from the passenger compartment side during the straightening operation, and applies a deformation force to the outer side of the vehicle.
  • the bracket 69 of the first correction attachment 65 is provided with an outer correction head 71 so as to face the inner correction head 70.
  • the outer straightening head 71 is used to abut against the sash S from the outside of the vehicle during the straightening work and to apply deformation force to the passenger compartment. It is composed of a base portion 71a made of a resin block and a cushion member 71b made of a plate rubber fixed to the inner straightening head 70 side of the base portion 71a.
  • the outer straightening head 71 is moved in a direction to contact with and separate from the inner straightening head 70 by a position adjusting mechanism 72 including a screw shaft and a plurality of nuts.
  • a universal joint 73 force is provided between the position adjustment mechanism 72 and the outer correction head 71, and the outer correction head 71 is attached to the position adjustment mechanism 72 via the universal joint 73.
  • the universal joint 73 includes a spherical portion provided on the outer correction head 71 side of the screw shaft and a fitting portion provided on the outer correction head 71, and the spherical portion is a fitting portion. It comes to fit in. In this fitted state, the outer straightening head 71 swings freely in multiple directions along the outer periphery of the spherical portion with respect to the spherical portion of the screw shaft.
  • This universal joint 73 constitutes a movable mechanism of the outer correction head 71.
  • the inner straightening head 70, the outer straightening head 71, the position adjusting mechanism 72, and the universal joint 73 constitute the straightening portion 67.
  • the sensor holding device 68 is provided on the opposite side of the correcting portion 67 of the base member 66, and as shown in Fig. 6, between the holes 56a and 56a of the holding portion 56 of the detachable bracket 54.
  • Two columnar inserts 74, 74 arranged at the same interval as the interval are provided.
  • Each insertion portion 74 has a size that can be inserted into the cylindrical member 58 of the holding portion 56.
  • the insertion portion 74 is provided with a movable claw 74a. The movable claw 74a is retracted to a position where the outer peripheral surface force of the insertion portion 74 is projected by an actuator using air pressure or the like and to a position substantially the same as the outer peripheral surface.
  • the second straightening robot 21 is configured to perform a straightening operation of the sash S and a fastening and fixing operation of the positioning pin P of the door hinge H. As shown in FIG. It is arranged in front of both doors Dl and D2 fixed to the device 15 (the other in the longitudinal direction of the door). As shown in FIG. 9, a second correction attachment 76 is attached to the tip of the robot arm 21 a of the second correction robot 21. Similar to the first correction attachment 65, the second correction attachment 76 includes a base member 66, a bent portion 66a, and a bracket 69, as well as an inner correction head 70, an outer correction head 71, and a position adjustment mechanism 72. And a straightening part 67 comprising a universal joint 73.
  • a nut runner 77 as a fastening device for fastening a fastening nut of the positioning pin P is attached to the second straightening attachment 76 on the opposite side of the straightening portion 67 of the base member 66. ing.
  • the nutrunner 77 is configured to operate using air pressure or the like as a power source.
  • the carry-out robot 22 is mounted and fixed on the slide base 80a of the slide device 80 and moves.
  • a door support attachment 26 similar to the door support attachment 26 of the door transfer robots 12 and 13 is attached to the tip of the robot arm 22a of the carry-out robot 22.
  • the moving direction of the slide base 80a is substantially the same as the direction in which the left door jig Y1 and the right door jig Y2 are arranged.
  • a line control panel 81 In the door manufacturing line, as shown in FIG. 10, a line control panel 81, a first robot controller 82 for controlling the first straightening robot 20, and a second robot for controlling the second straightening robot 21 A control device 83 and a sensor controller 84 are provided.
  • the line control panel 81 is connected to the control devices 82 and 83 of the robots 12, 13, 20, 21, and 22 on the door production line, and various sensors, and is configured to control these in an integrated manner. Yes.
  • a force not shown in the figure is also connected to each of the first door transfer robot 12, the second door transfer robot 13, and the unloading robot 22. These robot control devices are connected to the line control panel 81. Has been.
  • the first and second sash building position measuring sensors 50, 51 attached to / carrying to the left door jig Y1 are connected to a sensor controller 84.
  • the measurement results of the first and second sash mounted position measurement sensors 50 and 51 are input to the sensor controller 84. It is supposed to be.
  • the first and second sash building position measuring sensors 50 and 51 attached to the right door jig Y2 are also connected to the sensor controller 84.
  • the sensor controller 84 is connected to the first robot controller 82, and the measurement results of the sensors 50 and 51 are input to the first robot controller 82.
  • the first robot controller 82 determines whether the installation position of the sash S is within a predetermined tolerance range, whether the V is out of the tolerance range. It is configured to determine When the first robot controller 82 falls outside the predetermined tolerance range, the first robot controller 82 moves the installation position of the sash S into the predetermined tolerance range based on a predetermined program and data stored in advance about the sash S. The corrective amount to be stored is obtained, and based on this correction amount, the robot arms 20a, 21a of the first and second correction robots 20, 21 are deformed so that the sash S is deformed by the deformation amount obtained. The amount of movement is determined.
  • the movement amount for the second correcting robot 21 obtained by the first robot controller 82 is output to the line control panel 81, and is input from the line control panel 81 to the second robot controller 83. Yes. Then, the correcting robots 20 and 21 are operated by the first and second robot control devices 82 and 83.
  • the line control panel 81, the first robot control device 82, and the second robot control device 83 constitute a control unit.
  • the door hinge H is fastened and fixed to the left door D1 transported to the first support base 10 and the door hinge H is fastened and fixed to the right door D2 transported to the second support base 10 as well.
  • the left door D1 is transferred to the left door jig Y1 by the first door transfer robot 12, and is held by the jig Y1.
  • This is a door conveyance process.
  • the left door jig Y1 is positioned by the nutrunner 77 provided on the second straightening attachment 76 of the second straightening robot 21 after positioning the left door D1 and the positioning pin P by the positioning mechanism 44. Fasten and fix pin P. This is the positioning pin fixing step. After that, the positioning mechanism 44 is released.
  • the right door D2 supported by the second support 11 is transported to the right door jig Y2 by the second door transport robot 13, and is held by the jig Y2. .
  • the sash S of the left door Dl is corrected.
  • the left door D1 is fixed while being positioned by the front and rear fixing mechanisms 42, 43 of the left door jig Y1. This is the door fixing process.
  • the first and second sash building position measurement sensors 50 and 51 are turned on, and the first and second measurement surfaces of the sash S are irradiated with laser light.
  • the measurement result is input to the first robot controller 82 via the sensor controller 84, and the first robot controller 82 can obtain the installation position of the sash S. This is the sash installation position measurement process.
  • step SA2 the first robot controller 82 determines whether the installation position of the sash S is within the predetermined tolerance range, and whether it is out of the tolerance range! If YES in step SA2, the process proceeds to step SA3 and the robot arms 20a and 21a of the first and second straightening robots 20 and 21 are moved to the left. Set robots 20 and 21 to their original positions so that they do not interfere with door D1. In subsequent step SA4, it is determined that the installation position of the sash S of the left door D1 is acceptable, and a pass signal is output to the line control panel 81 together with the identification number of the left door D1.
  • step SA2 if the installation position of sash S is out of the predetermined tolerance range and it is determined as NO, the process proceeds to step SA5, and first robot controller 82 determines the installation position of sash S.
  • the robot arm 20a of each of the first and second straightening robots 20 and 21 is obtained so that a correction amount for obtaining a predetermined tolerance range is obtained and the sash S is deformed by the deformation amount obtained based on the correction amount.
  • the amount of movement of 21a is determined.
  • step SA6 proceeds to step SA6, and before the sash S is corrected, the first and second correction robots 20 and 21 move the first and second correction attachments 65 and 76 to the correction origin.
  • the first correction attachment 65 is at the correction origin, as shown in FIG.
  • the rear portion of the upper edge of the sash S is positioned between the inner correction head 70 and the outer correction head 71.
  • the middle portion in the front-rear direction at the upper edge of the sash S is positioned between the inner straightening head 70 and the outer straightening head 71. ing.
  • step SA7 the first and second straightening robots 20 and 21 Perform correction work.
  • This is the sash correction process.
  • This correction work will be explained in detail.
  • the rear part of the sash S may be deformed to the passenger compartment side and the middle part in the front-rear direction may be deformed to the vehicle exterior side.
  • the first straightening attachment 65 of the first straightening robot 20 is moved toward the passenger compartment side of the left door D1, and the outer straightening head 71 is brought into contact with the outer surface (contacting surface) of the sash S.
  • the movement amount of the first correction attachment 65 and the movement amount of the second correction attachment 76 may be the same or different.
  • step SA8 the first and second sash building position measuring sensors 50 and 51 are turned on.
  • step SA9 the sash is moved in the same manner as in step SA2. It is judged whether the installation position of S is within the specified tolerance range, out of tolerance range. This is the installation position confirmation process. As a result of the second determination, if it is determined that it is within the tolerance range of YES, the process proceeds to steps SA3 and SA4.
  • step SA9 when the installation position of sash S is out of the predetermined tolerance range and is determined to be NO in step SA9, the process proceeds to step SA10, and in the same way as in step SA5, the first and second corrections are performed. The amount of movement of each robot arm 20a, 21a of the robot 20, 21 is determined. Then, go to Step SA11 and perform the second correction work as in Step SA7.
  • step SA12 the first and second sash building position measuring sensors 50 and 51 are turned on
  • step SA13 the sash S It is judged whether the installation position is out of the force and tolerance range within the specified tolerance range. As a result of this third determination, it is determined that the value is within the tolerance range of YES. If determined, go to steps SA3 and SA4.
  • step SA13 if the installation position of sash S is out of the predetermined tolerance range and the determination is NO, the process proceeds to step SA14, and the first and second straightening robots 20 are the same as in step SA5. , 21 determines the amount of movement of each robot arm 20a, 21a, proceeds to step SA15, and performs the third correction work. Thereafter, the process proceeds to step SA16, where the first and second sash building position measuring sensors 50 and 51 are turned ON, and the first and second straightening robots 20 and 21 are set to their original positions.
  • step SA17 the process proceeds to step SA17, and in the same manner as in step SA2, it is determined whether the installation position of the sash S is within a predetermined tolerance range or out of the tolerance range. As a result, if it is determined that it is within the tolerance range of YES, the process proceeds to Step SA4.
  • step SA17 if it is determined in step SA17 that the installation position of sash S is out of the predetermined tolerance range, the process proceeds to step SA18, and the line control panel 81 is informed with the identification number of the left door D1. Outputs a pass signal. This left door D1 can be extracted on the downstream side of the door production line.
  • the right door D2 includes the left door D1 and the left door D1 based on the installation position of the sash S obtained by the first and second sash installation position measuring sensors 50 and 51 of the right door jig Y2. Similarly, the sash S is corrected by the first and second correction robots 20 and 21. At this time, the straightening unit 67 is attached to the robot arms 20a and 21a of the first and second straightening robots 20 and 21, so that the robot 20 and 21 can be positioned to match the shape of the sash S of the right door D1. Move to.
  • the same robots 20 and 21 and the straightening unit 67 can perform straightening work on the sash S of different types of doors Dl and D2.
  • the positioning pin P is also fastened and fixed in the right door D1.
  • the jig device 15 is provided with the left door jig Y1 and the right door jig Y2, so the sash S of the left door D1 is corrected and the right door D2 is conveyed. It is also possible to perform the work in parallel.
  • a door type change signal is output from the line control panel 81 at step SB1.
  • the first and second door transfer robots 12 and 13 and the first and second correction robots 20 and 21 are switched to the door type change mode. This is the first mode switching step.
  • step SB2 the first correction robot 20 performs the first adjustment of the left door jig Y1.
  • the first robot controller 82 that has received the door type change signal moves the first straightening feature 65 by the first straightening robot 20 and, as shown in phantom lines in FIG.
  • the movable claw 74a is protruded and engaged with the engaging portion 58a.
  • the stop position of the robot arm 20a is slightly shifted so that the insertion portion 74 can be inserted deeper than the target position.
  • the cylindrical member 58 is easily moved in the insertion direction of the insertion portion 74. As a result, it is possible to prevent damage that is difficult to apply an excessive force to the holding portion 56 and the like.
  • the first sash installation position measuring sensor 50 and the attaching / detaching bracket 54 together with the left door jig Y1 Detach from the main body part 40.
  • the first sash building position measuring sensor 50 is held by the holder 61 of the jig frame 33. In this way, the four sash mounting position measuring sensors 50 and 51 are removed in order and held in the holder 61. This is the sensor storage process. Thereafter, the process proceeds to step SB3, and the robot arms 20a and 21a of the first and second straightening robots 20 and 21 are moved to a non-interference position where the jigs Yl and ⁇ 2 to be replaced do not interfere.
  • step SB4 the process proceeds to step SB4.
  • the first door transfer robot As shown in Fig. 4, after the robot side adapter 19a attached to the tip of the robot arm 12a of the first door transfer robot 12 is coupled to the adapter 30b of the left door jig Y1, the jig adapter Release the coupling of 36b and remove the left door jig Y1 from the jig frame 33.
  • the left door jig Y1 is transported to the first jig storage stand 17 and held on the stand 17. This is the jig storing step.
  • the hole 29a of the pin engaging portion 29 attached between the tip of the robot arm 12a and the robot side adapter 19a of the auto tool changer 19 is inserted into the first jig storage stand.
  • the stand 17 is rotated by being engaged with the pin 25a of 17 and pulled or pushed, and the jig corresponding to the type of the next door is brought to the position facing the first door transfer robot 12.
  • the robot side adapter 19a is coupled to a jig adapter (not shown) corresponding to the next door,
  • the jig is removed from the stand 17 and conveyed to the jig frame 33, and the adapter 36 a of the jig frame 33 is coupled and fixed to the jig frame 33.
  • This is the jig installation process.
  • the robot side adapter 19a attached to the tip of the robot arms 12a and 13a of the first and second door transfer bots 12 and 13 is connected to the tool side of the door support attachment 26. Join the adapter.
  • step SB5 the process proceeds to step SB5, where the four sash building position measuring sensors 50 and 51 held in the holder 61 are held in order by the first correcting robot 20, and then transported to a new jig. Fix it. This is the sensor mounting process.
  • step SB6 the process proceeds to step SB6, and the mouth bot arms 20a, 21a of the first and second straightening robots 20, 21 are moved to their original positions.
  • the line control panel 81 then switches the first and second door transfer robots and the first and second correction robots 20 and 21 to the next door sash correction mode. This is the second mode switching step.
  • the sash correction of the rear door is performed in the same manner as the front doors Dl and D2.
  • the shape of the sash of this rear door is different from the shape of the sash of the front doors Dl and D2.
  • the force of the first and second straightening robots 20 and 21 By moving the robot arms 20a and 21a, it is possible to move the correction attachments 65 and 76 to a position that matches the shape of the sash S. This makes it possible to easily and quickly change the position of the correction unit 67 using the robots 20 and 21 without removing the correction unit 67 in the door manufacturing line of the multi-mix production system. Furthermore, by changing the position of the corrector 67 attached to the robot arm 20a, 2 la in this way, it is not necessary for the operator to check and check the changed position.
  • the correction attachments 65 and 76 are attached to the robot arms 20a and 21a of the correction robots 20 and 21, and the robot 20 21 is used to correct sash S, so that the position of the correction part 67 can be easily and quickly adapted to different types of doors Dl and D2 in a multi-mix production door production line. Manufacturing man-hours for doors Dl and D2.
  • the left door jig Y1 and the right door jig Y2 are fixed to the jig device 15, for example, the sash S of the left door D1 fixed to the left door jig Y1 is corrected.
  • the right door D2 can be transported and fixed to the right door jig Y2, and preparations for correction can be made in parallel. As a result, the number of manufacturing steps for the doors Dl and D2 can be further reduced.
  • first and second straightening robots 20 and 21 are disposed behind and in front of the left door D1, both sides of the sash S in the front-rear direction can be straightened simultaneously.
  • the sash building position measuring sensors 50 and 51 can be attached to the jigs Yl and ⁇ 2 so that they can be attached and detached. Therefore, even if the type of the doors Dl and D2 changes, Position measuring sensors 50 and 51 can be used, and the cost of the sash correction device 1 can be reduced.
  • the first fixing robot 20 can be used to fasten and fix the positioning pin ⁇ of the door hinge ⁇ ⁇ while the doors Dl and D2 are fixed to the jig Yl and ⁇ 2. This can save labor at the work site.
  • the jig Y can be automatically replaced by the first and second door transfer robots 12 and 13, thereby further saving labor. be able to.
  • the outer correction head 71 can be moved along the contact surface of the sash S, so that the outer correction head 71 contacts the outer surface of the sash S. It is possible to suppress damage such as dents.
  • the positioning pin P of the door hinge H is fastened and fixed, the sash S is straightened, the result is confirmed, and each process from the doors Dl and D2 being carried out is carried out as one straightening station T. Can be implemented. This can reduce the number of stations on the door production line.
  • the first and second sash building position measuring sensors 50, 51 are non-contact type, the sensors 50, 51 do not hit the sash S during measurement. Can be prevented.
  • two jigs Yl and ⁇ 2 are fixed to the jig frame 33.
  • only one jig ⁇ is fixed to the jig frame 33. Or you can fix three or more.
  • the fastening operation of the positioning pin ⁇ ⁇ ⁇ of the door hinge ⁇ may be performed at another station.
  • the jig Yl, the positioning mechanism 44 of the rod 2 and the nut runner 77 of the correction attachment 76 can be omitted.
  • FIG. 13 shows a sash correction device 1 according to Embodiment 2 of the present invention.
  • the sash straightening device 1 of the second embodiment is different from that of the first embodiment in that the robot 20, 21, 90 has the jig Y1 and the first and second sash building position measuring sensors 50, 51. Is different.
  • the same parts as those in the first embodiment are denoted by the same reference numerals, and different parts will be described in detail.
  • This straightening device 1 includes first and second straightening robots 20 and 21, a jig Y1 for fixing the door D1 in a positioned state, and a jig gripping robot 90 having the jig Y1.
  • a correction tool 91 is attached to the tip of the robot arms 20a, 21a of the first and second correction robots 20, 21.
  • These correction attachments 91 and 91 are provided with a correction portion 67 configured in the same manner as in the first embodiment.
  • the first sash installation position measuring sensor 50 is attached to the correction attachment 91 of the second correction robot 21 via the bracket 92
  • the correction attachment 91 of the first correction robot 20 is The second sash installation position measurement sensor 51 is attached via the bracket 92.
  • the jig Y 1 is attached to the distal end portion of the robot arm 90 a of the jig holding robot 90 via the auto tool changer 93.
  • This jig Y1 is configured in the same manner as in the first embodiment, and can be replaced with a jig Y for a different type of door.
  • the door D1 transferred by the transfer robot 12 is fixed to the jig Y1.
  • the robot arm 90a of the jig gripping robot 90 is powered and stopped so that the left door D1 is at the correction preparation position.
  • the robot arms 20a, 21a of the first and second straightening robots 20, 21 are moved so that the first and second sash building position measuring sensors 50, 51 are opposed to the first and second measurement surfaces of the sash S. Move to position.
  • the installation position of the sash S is measured, and when it is out of the predetermined tolerance range, the correction attachment 91 is moved to perform the correction work.
  • the currently fixed jig Y1 is stored in the first jig storage stand 17, and then the next jig is transferred from the stand 17 to the robot arm 9. Fix to Oa.
  • the correction unit 67 is moved by the first and second correction robots 20 and 21 as in the first embodiment. Therefore, in the door production line of the multi-mix production system, the position of the straightening part 67 can be easily and quickly adapted to the sash S of different types of doors Dl and D2, and the manufacturing man-hours of the doors Dl and D2 can be reduced. Can be reduced.
  • a positioning mechanism may be attached to the jig Y1, and a nut runner may be attached to the correction tool 92 to perform fastening and fixing work of the positioning pin P of the door hinge H.
  • the automobile door sash correction device can be introduced into, for example, a door manufacturing line configured to manufacture a left door and a right door of an automobile. it can.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Straightening Metal Sheet-Like Bodies (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Automatic Assembly (AREA)

Abstract

Une partie de correction (67) comprenant une tête de correction est ajustée sur le bras de robot (20a, 21a) d'un robot de correction (20, 21). Des capteurs de mesure de la position de montage du cadre (50, 51) destinés à mesurer la position de montage du cadre (S) d'une portière (D1), fixés à un dispositif de serrage (15), sont ajustés sur le dispositif de serrage (15). Les capteurs de mesure de la position de montage du cadre (50, 51) sont reliés à un dispositif de commande de robot. Lorsque la position de montage du cadre (S) fournie par les capteurs de mesure de la position de montage du cadre (50, 51) se trouve hors d'une plage de tolérance prédéterminée, le dispositif de commande de robot déplace les bras du robot (20a, 21a) de manière à déplacer la partie de correction (67).
PCT/JP2007/053143 2006-08-11 2007-02-21 Dispositif et procédé pour corriger un cadre de portière d'une automobile Ceased WO2008018192A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2006220305A JP3924001B1 (ja) 2006-08-11 2006-08-11 自動車用ドアサッシュ矯正装置及び矯正方法
JP2006-220305 2006-08-11

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EP2130624A1 (fr) * 2008-06-06 2009-12-09 Blackhawk SA Châssis de redressage pour conteneurs
GB2473191A (en) * 2009-09-02 2011-03-09 Univ Sheffield Wall Mounted Robotic Arm and Position Sensing System
WO2011060683A1 (fr) * 2009-11-23 2011-05-26 北汽福田汽车股份有限公司 Procédé pour la correction de la courbure d'une portière de véhicule
CN111283417A (zh) * 2019-11-18 2020-06-16 中车浦镇庞巴迪运输系统有限公司 一种用于单轨车辆车体组装装置及其支架
CN114798816A (zh) * 2021-01-18 2022-07-29 上海赛科利汽车模具技术应用有限公司 一种窗框门总成自动整形系统及方法
CN116944282A (zh) * 2023-07-26 2023-10-27 中国第一汽车股份有限公司 一种汽车后门内板矫形工装

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US9285203B1 (en) 2014-09-11 2016-03-15 Honda Motor Co., Ltd. Methods and apparatus for determining vehicular assembly tolerances
KR101714156B1 (ko) 2015-06-08 2017-03-08 현대자동차주식회사 검사장치
KR102371596B1 (ko) * 2016-12-16 2022-03-07 현대자동차주식회사 차량용 멤버 교정장치 및 교정방법

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2130624A1 (fr) * 2008-06-06 2009-12-09 Blackhawk SA Châssis de redressage pour conteneurs
GB2473191A (en) * 2009-09-02 2011-03-09 Univ Sheffield Wall Mounted Robotic Arm and Position Sensing System
GB2473191B (en) * 2009-09-02 2013-11-27 Univ Sheffield Wall Mounted Robotic Arm and Position Sensing System
WO2011060683A1 (fr) * 2009-11-23 2011-05-26 北汽福田汽车股份有限公司 Procédé pour la correction de la courbure d'une portière de véhicule
CN111283417A (zh) * 2019-11-18 2020-06-16 中车浦镇庞巴迪运输系统有限公司 一种用于单轨车辆车体组装装置及其支架
CN114798816A (zh) * 2021-01-18 2022-07-29 上海赛科利汽车模具技术应用有限公司 一种窗框门总成自动整形系统及方法
CN116944282A (zh) * 2023-07-26 2023-10-27 中国第一汽车股份有限公司 一种汽车后门内板矫形工装

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