JPH0629177Y2 - Robotic device for opening / closing car doors - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION "Industrial field of application" The present invention relates to a vehicle door opening / closing robot apparatus, and is particularly useful as an apparatus for opening / closing a vehicle door for coating the inside of a vehicle body. Is.

"Prior Art" A robot apparatus has been conventionally known in which a locking tool is provided on a wrist of a robot and the locking tool is engaged with a door to open and close the door in order to paint a car body.

Such a conventional device is disclosed, for example, in Japanese Utility Model Laid-Open No. 58-78164.
JP-A-58-78165 and JP-A-58-95558.

[Problems of the Prior Art] In order to engage the lock for opening and closing the door with the door, it is necessary to drive the wrist of the robot so as to move the lock to the correct door position.

If the position of the door is constant, it is sufficient to teach the position to the robot.However, the position of the door may shift due to variations in the assembly of the vehicle body or vibrations when it is carried by a conveyor. is there.

When the door is displaced in this way, there is a problem that the conventional device cannot properly cope with it.

[Object of the Invention] The purpose of the present invention is to open / close an automobile door that can detect the position of the door even if the position of the door is slightly deviated and correctly engage the locking tool with the door. It is to provide a closed robot apparatus.

[Construction of the Invention] The vehicle door opening / closing robot apparatus according to the present invention engages a locking tool provided on the wrist of the robot with a window glass groove of the vehicle door in order to paint the inside of the vehicle body. Door opening /
In a vehicle door opening / closing robot apparatus for closing, a sensor provided on a wrist of the robot for detecting a window glass groove of the door, and a front surface side or a back surface side of the door at the open position or the closed position of the car door Position data of the robot at the sensing start position and the sensing end position of the sensor defined in the vicinity of, the operation start command data of the sensor at the sensing start position, and the operation end command data of the sensor at the sensing end position ,
Position data of the robot in a state where the locking tool is virtually engaged with the window glass groove between the sensing start position and the sensing end position, the locking at the open position or the closed position of the automobile door. Teaching means for teaching the position data of the robot in a state in which a tool is virtually engaged with the window glass groove, a teaching storage section for storing each teaching data taught by the teaching means, and the teaching While operating the sensor from the sensing start position to the sensing end position in response to receiving the sensor operation start command data at the sensing start position and the sensor operation end command data at the sensing end position stored in the storage unit, the sensor At the output position of the detection signal to the window glass groove from the sensing start position stored in the teaching storage unit The position data of the robot in a state where the locking tool is virtually engaged with the window glass groove between the end position and the end position are corrected so that the locking tool is engaged with the window glass groove, It is characterized by further comprising: a controller for moving the locking tool to a position where the locking tool and the window glass groove are engaged with each other at the stored open or closed position of the automobile door.

Here, the term "open / closed" is meant to include both those that perform only an opening operation, those that perform only a closing operation, and those that perform both an opening operation and a closing operation.

[Operation] In the vehicle door opening / closing robot apparatus of the present invention, a sensor for detecting the actual position of the window glass groove of the door is provided, and according to each position data of the robot taught in advance,
The door is equipped with a control unit that moves the locking device to the position of the door actually detected by the above-mentioned sensor which is turned on during the regenerating operation, engages it with the window glass groove of the door, and then opens and closes the door. Even when the position is slightly shifted, the locking tool can be properly engaged with the window glass groove of the door to open and close the door.

Further, by appropriately changing and teaching each position data of the robot such as the sensing start position and the sensing end position by the teaching means, it is suitable even when the shape of the door is changed and the body of the automobile is tilted. Can be adapted.

[Embodiment] The present invention will be described in more detail based on the embodiment shown in the drawings.

1 is a schematic view of a robot apparatus for painting a vehicle body including an embodiment of the present invention, FIG. 2 is an enlarged external view of a wrist portion of the robot of the apparatus shown in FIG. 1, and FIG. FIG. 4 is an explanatory view for explaining the operation of opening the door by the device shown in FIG. 1, FIG. 4 is an explanatory view for explaining the operation of closing the door by the device shown in FIG. 1, and FIG. 5 is shown in FIG. 7 is a flowchart of a main part for performing an operation of opening a door by the device shown. The present invention is not limited to the embodiments shown in the drawings.

In FIG. 1, a car body B is carried to the vicinity of the robot 1 by a conveyor C with a door D being substantially closed. However, the drawing is drawn with the door D open.

On the wrist of the robot 1, as shown in detail in FIG.
A spray gun 2 for painting, a sensor 3 for detecting the door position,
A door opening / closing claw 4 is attached.

The control device 5 controls the robot 1 and the spray gun 2.

Further, the output signal of the sensor 3 is monitored by the control device 5.

The operator controls the control device 5 via the control panel 6 (teaching means).
It is possible to teach and store the conditions for painting and the conditions for opening / closing the door D in the (teaching storage unit).

That is, the apparatus shown in FIG. 1 is an apparatus for opening / closing the door D of the automobile and painting the vehicle body B by one robot 1.

The sensor 3 is an optical sensor that detects the position of the door D and the position of the glass groove G by the difference between the reflection of light on the upper end surface U of the door D and the reflection of light on the glass groove G. In addition,
Instead of this, it is possible to use a contact type sensor having a probe or a magnetic type sensor that utilizes that the door D is made of metal.

When the door D is opened, the operator teaches the control device 5 to store the positions of the points as shown in FIGS. 3 (a) and 3 (b) via the control panel 6.

That is, the standby position P ₁ and the sensing start position P
₂ , the sensing end position P _3, and the position P where the tip of the door opening / closing claw 4 arrives at the completion of insertion when the door opening / closing claw 4 is inserted into the glass groove G of the door D at the sensing end position P _{3. 4} (the state at this position corresponds to the virtual engagement state) and the intermediate position P ₅ of the arcuate locus for opening the door D
A position P ₆ for stopping the opening of the door D, a position P ₇ for completing the pulling-out of the door opening / closing claw 4, and a standby position P ₈ before the door painting is started.

In this case, the engaging position at this time by teaching the position (insertion completed position) P ₄ where the tip of the door opening and closing arm 4 as described above is reached is taught.

The teaching may be performed by directly moving the wrist of the robot 1 manually.

Here, the sensing start position P ₂ is the position closest to the robot 1 on the front surface side of the door D where the door D may be located first in the vehicle body B of the automobile conveyed by the conveyor C. Also, the sensing end position P
₃ is the position farthest from the robot 1 on the back side of the door D.

When the teaching is completed and the operator gives an instruction to start the door opening operation, the control device 5 drives the robot 1 to perform the operation shown in the flowchart of FIG.

First, the robot wrist is moved from the standby position P ₁ to the sensing start position P ₂ while performing interpolation calculation (S1).

When it reaches the sensing start position P ₂ (S2), while monitoring the signal from the sensor 3 (S3), it moves from the sensing start position P ₂ to the sensing end position P ₃ according to an interpolation calculation (S1).

If there is an input signal from the sensor 3 during this movement (S
3) The movement is interrupted (S4), the distance from the position P ₃ ′ to the sensing end position P ₃ is calculated, and the position P ₄ ′ obtained by shifting the teaching position P ₄ by that distance is calculated (S 4).
5).

Next, the wrist is driven to control the posture of the door opening / closing claw 4, and the door opening / closing claw 4 is inserted from the position P ₃ ′ to the position P ₄ ′ according to the interpolation calculation (S6).

When the insertion completion position P ₄ ′ is reached, the robot wrist is moved according to the interpolation calculation of the arc connecting the position P ₄ ′, the teaching position P _5, and the teaching position P ₆ (S1). This allows
The door D is opened in an arc shape.

When the door opening completion position P ₆ is reached, the door opening / closing claw 4 is moved to the teaching position P ₇ , and the door opening / closing claw 4 is pulled out from the glass groove G, and then moved from the extraction completion position P ₇ to the next standby position P _8. (S1).

If reaching the final standby position P ₈ (S7), the process proceeds to the next coating operation.

As can be understood from the above description, if the position of the door D is between the sensing start position P ₂ and the sensing end position P ₃ , the door opening / closing claw 4 can be correctly operated even if there is some misalignment.
Can be inserted into the glass groove G of the door D.

Next, as shown in FIG. 4, the operation of closing the opened door D ′ is only the reverse of the teaching points P ₁ to P ₈ shown in FIG. Therefore, its operation will be easily understood from the above description.

As another embodiment, in the above embodiment, the engagement posture is taught by teaching the insertion completion position P ₄ when the door opening / closing claw 4 is inserted at the sensing end position P ₃ ; however, instead of this The engagement posture may be taught by teaching the insertion completion position P ₄ assuming that the door opening / closing claw 4 is inserted at the sensing start position P ₂ .

"Effect of the invention" According to the present invention, in order to coat the inside of an automobile body,
An opening / closing robot device for an automobile door, which engages a locking tool provided on a wrist of a robot with a window glass groove of a door of an automobile to open / close the door. A sensor that detects a window glass groove, and the position data of the robot at the sensing start position and the sensing end position of the sensor defined near the front side or the back side of the door at the open position or the closed position of the automobile door, The operation start command data of the sensor at the sensing start position, the operation end command data of the sensor at the sensing end position, and the locking device in the window glass groove between the sensing start position and the sensing end position. The position data of the robot in the engaged state, the locking tool at the window door or the closed position at the automobile door open position or closed position. The teaching means of the robot for teaching the position data of the robot in the state of being virtually engaged with the groove, the teaching storage section for storing each teaching data taught by the teaching means, and the teaching storage section. The window from the sensor while operating the sensor from the sensing start position to the sensing end position in response to the sensor operation start command data at the sensing start position and the sensor operation end command data at the sensing end position Position of the robot in a state in which the locking tool is virtually engaged with the window glass groove between the sensing start position and the sensing end position stored in the teaching storage unit at the output position of the detection signal with respect to the glass groove Correcting the data to engage the locking tool with the window glass groove to open or close the automobile door stored in the teaching memory. In the opening / closing robot apparatus for an automobile door, there is provided a controller for moving the locking tool to a position where the locking tool and the window glass groove are engaged with each other. The door position of the vehicle can be detected and the locking tool can be engaged with the window glass groove of the door at that actual position. Even if the position is not constant, the door can be opened / closed without any trouble. Furthermore, by appropriately teaching the engagement posture (position in the virtual engagement state) of the locking tool, even if the door is tilted (for example, even in a line where the body of an automobile is tilted and conveyed), The locking tool can be opened / closed by appropriately engaging with the inclination and engaging the window glass groove of the door.

Furthermore, in the robot apparatus according to the present invention, it is sufficient for the operator to teach only each position data of the robot while keeping the sensor in the off state during teaching, that is, without considering the detection processing speed by the sensor. The teaching work can be performed relatively easily.

[Brief description of drawings]

FIG. 1 is a schematic external view of a vehicle body painting robot apparatus including an embodiment of the present invention, FIG. 2 is an enlarged perspective view of a wrist portion of the robot of the apparatus shown in FIG. 1, and FIG. a) is a perspective view for explaining the operation of opening the door by the device shown in FIG. 1, FIG. 3 (b) is a schematic side view taken along arrow A in FIG. 3 (a), and FIG. 4 (a). , (B) are respectively FIG. 3 (a), for explaining the operation of closing the door by the device shown in FIG.
(b) Corresponding figure, FIG. 5 is a main part flowchart for performing the operation of opening the door by the apparatus shown in FIG. (Explanation of symbols) 1 ... Robot 2 ... Spray gun for painting 3 ... Sensor, 4 ... Door opening / closing claw 5 ... Control device (teaching memory unit), 6 ... Control panel (teaching means) B ... ... Car body, C ... Conveyor D ... Door G ... Glass groove P ₂ ... Sensing start position P ₃ ... Sensing end position P ₄ ... Insertion completion position.

Claims (4)

[Scope of utility model registration request] 1. An automobile door opening / closing, in which a locking tool provided on a wrist of a robot is engaged with a window glass groove of an automobile door to open / close the door in order to paint the inside of the automobile body. In a robot device, a sensor for detecting a window glass groove of the door provided on the wrist of the robot, and sensing of the sensor defined near the front side or the back side of the door at the open or closed position of the automobile door Position data of the robot at the start position and sensing end position, operation start command data of the sensor at the sensing start position, operation end command data of the sensor at the sensing end position, sensing start position and sensing end position Position data of the robot in a state in which the locking tool is virtually engaged with the window glass groove between Teaching means for teaching the position data of the robot in the state where the locking tool is virtually engaged with the window glass groove at the open position or the closed position of the robot, and each teaching taught by the teaching means. From the sensing start position, which receives the teaching storage unit that stores data and the sensor start command data at the sensing start position and the sensor end command data at the sensing end position that are stored in the teaching storage unit While operating to the sensing end position, at the output position of the detection signal from the sensor to the window glass groove, the locking device is held between the sensing start position and the sensing end position stored in the teaching storage unit. The position data of the robot in the state of being virtually engaged with the window glass groove is corrected to engage the locking tool with the window glass groove, An automobile, comprising: a control unit that moves the locking tool to a position where the locking tool and the window glass groove engage with each other at an open position or a closed position of the vehicle door stored in the memory. Door opening / closing robot device. 2. A vehicle door opening / closing robot apparatus according to claim 1, wherein the sensing start position is a position closest to the robot, which is expected to initially have a door position. 3. A vehicle door opening / closing robot apparatus according to claim 1 or 2, wherein the sensing end position is the position farthest from the robot where the door position is expected to be located first. 4. The automobile according to claim 1, 2, or 3, wherein the locking tool is a claw member, and the claw member is inserted into the glass groove portion of the door to engage with the utility model. Door opening / closing robot device.