JPH0113675Y2 - - Google Patents

Description

[Detailed Description of the Invention] This invention relates to the structure of a hand portion of an automatic door opening/closing device for automobiles, etc.

Painting robots have recently been used for painting the interior of automobiles. In this case, it is necessary to open the doors of the car delivered on a conveyor, have the painting robot enter the interior of the car, apply the paint, and then close the doors after the painting is complete for the front and rear doors. However, conventional door opening/closing devices do not have a sensor for detecting the door position, so they lack reliability in operation.

Therefore, this invention not only provides reliable operation but also incorporates a visual sensor in the hand and an air purge device to prevent paint from adhering.
The purpose is to provide this type of device that is highly adaptable to the working environment.

Hereinafter, an embodiment of the present invention will be explained based on the drawings. In Fig. 1, D indicates the door body, and since automobiles are sent to the painting line without the door glass installed, there is a groove for the glass. The cylindrical insertion part 1 is inserted into C and moved laterally to open and close the door. The insertion section 1 is provided protrudingly from the main body 4 of the hand section H and has a cylindrical shape. The tip of an optical fiber 2 is incorporated into the insertion section 1 to serve as a detection section, and the optical fiber 2 is connected to a reflective phototube shown at 3 in FIG. 3 to detect the position of the door. Furthermore, a gap space 1' is provided between the inner periphery of the insertion portion 1 and the outer periphery of the optical fiber 2 as an air passage. The main body 4 of the hand part H is fixed to the block 5 via a shear pin 6, and is structured to be cut at the constricted part 6' of the shear pin 6 in the event of an abnormal operation such as when the hand part H collides with the door main body D. . Furthermore, if a hollow part 7 is provided in the shear pin 6 and air is passed through a pipe 8, air will be ejected from the hollow part 7 and the pressure of the air will decrease when the shear pin 6 is cut. ), the shear pin breakage is detected.

The main body 4 of the hand portion H and the block 5 are connected by a fall prevention wire 9 (see FIG. 2).

The operation of detecting the groove position of the door is as shown in FIG. That is, a in the figure represents the search starting point, and the insertion section 1 moves to the right as indicated by the arrow by a cylinder mechanism (not shown), and when it reaches position b, the door position is detected and the phototube is turned on.

Moving further to the right, the end of door groove C is detected at point c, and the phototube is turned off. At position d, which is a certain distance α further advanced from this position, the insertion portion 1 descends and enters the center of the groove C. After the insertion portion 1 is securely engaged with the groove C in this way, the third
As shown in the figure, the arm body 10 is operated by a cylinder mechanism (not shown) to open and close the door body D.

Since this device is generally used in a paint booth, there is a possibility that paint may adhere to it. For this purpose, air is made to flow through the pipe 11 into the gap space 1' between the inside of the insertion section 1 and the optical fiber 2. In this way, adhesion of paint can be prevented.

Also, if the insertion part 1 does not fit into the groove of the door body and rides on the door body, or if the hand part falls too far, the limit switch shown at 12 in Fig. 3 can detect this and issue an abnormal signal. It is.

Since the present invention is constructed as described above, it is not only possible to reliably detect the position of the door body, but it can also withstand use even in bad atmospheres such as painting booths, and has the advantage of being able to be stored compactly. have.

[Brief explanation of the drawing]

Figure 1 is an enlarged sectional view of the hand section, Figure 2 is a side view, Figure 3 is a front view showing how it is attached to the arm body, and Figure 4 is an explanatory diagram of the operation of detecting the position of the door groove. . H...Hand part, 1...Insertion part, 1'...Gap space, 2...Optical fiber, 4...Body of the hand part.

Claims (1)

[Scope of utility model registration request] The tip of the optical fiber is housed in a cylindrical insertion part protruding from the main body part to serve as a detection part of the door groove, and the gap space between the inner periphery of the insertion part and the outer periphery of the optical fiber is used as an air passage. The structure of the hand part of the automatic door opening/closing device is characterized by: