JPS63106189A - Automative door opener - Google Patents

Abstract

PURPOSE:To aim at improvement in reliability on a door opener, by operating a difference between the detecting door position detected by a door sensor and a reference closing door position, and on the basis of the result, making the data of a reference claw engaging position and a reference opening door position so as to be corrected. CONSTITUTION:A coating booth 10 is installed for coating a body 14 by a coating robot 16. Inside this booth 10, there is provided with a door on-off robot 20 which opens a door up to the specified position for coating the inside of the body and holds the door at that position. The coating robot 16 and the door on-off robot 20 are installed by one unit each on a traveling device at both sides of a conveyor 12. A door on-off controller 36 is designed so as to control each operation of a travel driver 24 for these robots 16 and 20 and the door on-off robot 20, and in a read-only memory of the door on-off control ler 36, a program for controlling the door on-off robot 20 and the travel driver 24 is stored.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to an improvement in an automobile door opening device for automatically opening a door on an automobile body in an automobile manufacturing line.

BACKGROUND OF THE INVENTION On an automobile production line, it may be necessary to hold a door attached to a body open to a predetermined position. For example, in a refitting line, it is necessary to hold a door in an open position to allow a painting robot to paint the inside surface of the body or door.

In such cases, you can have the door opening robot open the door,
Conventionally, it has been held in a constant open position. For example, the door can be opened by engaging a claw attached to the tip of the arm of a door-opening robot with a part of the door groove ring door that is the window glass entrance, or by engaging with an opening/closing jig attached to the door. Let it happen. However, it is inevitable that there will be some degree of error in the position of the body, so if the door opening/closing robot always repeats the same movements, it is not guaranteed that its claws will properly engage the door groove or the opening/closing jig. do not have.

Therefore, conventionally, the position of the door was detected at a position upstream of the door opening/closing robot on the conveyor line, and data for controlling the operation of the door opening/closing robot was changed based on the detection result. A door position that is equipped with a door sensor such as a proximity switch at a position upstream of the door opening/closing robot, an actuation device that moves the door sensor toward and away from the door, and an actuation amount detector that detects the actuation amount of the actuation device. A detection device is provided, and the difference between the closed door position detected by this device (hereinafter referred to as the closed door position) and a predetermined reference closed door position is calculated, and corrections are made commensurate with the difference. is applied to the reference pawl engagement position and the standard closed door position, and the door opening/closing robot performs an action to engage the pawl with the door groove etc. at the corrected pawl retaining position, and performs an action to open the door to the corrected door position. This is how it is done.

Problems to be Solved by the Invention As described above, when the door position detection device provided upstream of the door opening/closing robot detects the position of the door and the operation of the door opening/closing robot is changed based on the detection result, ,
The position of the door may shift after the door position is detected until the body moves to the position of the door opening/closing robot, which may result in a situation where the claws of the door opening/closing robot cannot properly engage with the door groove, etc. be.

In addition, a door position detection device and its installation space are required, which increases equipment costs.Furthermore, the system including the door position detection device and door opening/closing robot becomes complex, resulting in poor maintainability and operability. There is a problem.

In addition, when teaching a door opening/closing robot how to open a door, it is necessary to flow the body from the upstream side of the door position detection device to detect the door position, and use the detected position as the reference closed door position. Therefore, there is also the problem that the number of man-hours for teaching work increases.

Means for Solving the Problems In order to solve the above-mentioned problems, the present invention provides a door that is provided with an engaging pawl at the tip of the arm that engages directly with the automobile door or indirectly through an opening/closing jig. Opening robot and pre-stored reference closing door position.

An automobile door opening device including a control device for controlling a door opening robot based on data of a reference pawl engagement position and a reference door closing position, wherein a door sensor for detecting an automobile door is attached to an arm of the door opening robot, and a door sensor for detecting an automobile door is attached to an arm of the door opening robot; The control device calculates the difference between the detected amount door position detected by the door sensor and the reference closed door position,
A door position error correction means is provided for correcting the data of the reference pawl engagement position and the reference closed door position based on the calculation results.

According to the door opening device configured as described above, the position of the closed door is detected using the movement of the door opening/closing robot, and the reference claw is set based on the difference between the detected door position and the reference closed door position. The data of the engagement position and the reference closed door position are corrected, and the corrected pawl retention position and the corrected amount door position are determined. Then, the door opening/closing robot engages the claw with the door or the opening/closing jig at the corrected claw engagement position, and opens the door to the corrected inter-door position.

Effects of the Invention Therefore, unlike in conventional devices, there is almost no possibility that the door position will change between the time the door position is detected and the door opening/closing robot engages with the door, etc., and the reliability of the door opening device is improved. The effect of improving sex can be obtained.

In addition, since a dedicated door position detection device and installation space are not required, equipment costs can be reduced.Furthermore, the overall configuration of the device is simplified, improving maintainability and
The effect of improving operability can also be obtained.

In addition, when teaching the door opening/closing robot how to open the door, the body can be stopped near the door opening/closing robot from the beginning, which reduces the number of teaching steps.

Example Hereinafter, one embodiment of the present invention will be described based on the drawings.

In FIG. 1, 10 is a painting booth, and a conveyor 12 is installed passing through this painting booth 10. This conveyor 12 supports and continuously moves the body 14 of the automobile. The painting booth 10 is provided for painting the body 14 by a painting robot 16, and in order to paint the inside of the body 14, it is necessary to open the door 18 to a predetermined position and hold it at that position. . For this purpose, a door opening/closing robot 20 is provided inside the painting booth 10.

One painting robot 16 and one door opening/closing robot 20 are provided on traveling devices 22 on both sides of the conveyor 12. The traveling device 22 is driven by a traveling drive device 24, and a line encoder 26 that detects the amount of movement of the conveyor 12 and a travel encoder 28 that detects the amount of travel of the traveling device 22 are connected to the traveling device 24. The travel drive device 24 moves the painting robot 16 and the door opening/closing robot 20 at the same speed and in the same direction as the body 14 on the conveyor 12 based on signals from both encoders 26 and 28. So-called conveyor tracking is performed.

The upstream and downstream sides of the robot zone 30 where the robots 16 and 20 move are separated by a safety fJl 132° 33, and a limit switch 34 is disposed close to the conveyor 12 just inside the safety shelf 32. has been done. When the body 14 conveyed by the conveyor 12 contacts this limit switch 34, an output signal of the limit switch 34 is supplied to the door opening/closing control device 36. The line encoder 26 is connected to this door opening/closing control device 36, and the line encoder 26 is connected to the door opening/closing control device 36.
When the amount of movement reaches a certain value, the door opening/closing control device 36 issues a travel start command signal to the travel drive device 24, and the travel drive device 24 instructs the robots 16, 20 to move the conveyor belt based on the command signal. Start tracking.

The door opening/closing control device 36 is also connected to and controls the door opening/closing robot 20. Further, the painting robot 16 is controlled by a painting robot control device 38.

The recontrol devices 36 and 38 are connected to each other, and a teaching box 40 is connected to the recontrol devices. The door opening/closing control device 36, as shown in FIG.
PU50°RAM52. ROM54. Timer 55. I1
0 baud) 56, 58 and a bus 6° connecting them. Similarly, the painting robot control device 38 also controls the CP.
U64. RAM66, ROM68. Timer 69. I10
Ports 70, 72 and bus 74 are provided.

The ROM 68 of the painting robot control device 38 stores a program for controlling the operation of the painting robot 16, and the ROM 54 of the door opening/closing control device 36 stores a program for controlling the door opening/closing robot 20 and the travel drive device 24. has been done. Of these programs, only the parts deeply related to the present invention are selected and their flowcharts are shown in FIGS. 3 and 4. Details of these control programs will be explained later along with the operation of the device.

A door sensor 76 is connected to the I10 boat 56 of the door opening/closing control device 36 via a door detection circuit 78. The door sensor 76 is a proximity switch, and as shown in FIG. 5, it is attached to a bracket 84 hanging from an arm 82 at the tip end of the door opening/closing robot 20. Arm 82
At the tip of the door 18, a claw 88 that engages with a door groove 86 through which the window glass of the door 18 enters and exits is attached downward, but the bracket 84 is provided at a certain distance from this claw 88. When the pawl 88 is engaged with the door groove 86, the door sensor 76 is sufficiently separated from the door 18, and the paint is applied to the door sensor 76 when painting the inner surface of the door 18.
to prevent it from adhering to the surface.

In order to automatically perform painting with the device configured as described above, the painting robot 16 and the door opening/closing robot 2 are required.
It is necessary to teach the necessary movements to each of the robots. This teaching will be explained with reference to the flowchart in FIG.

First, the body 14 is conveyed by the conveyor 12 to a position in the painting booth 1O where the door can be opened, and then stopped. In this state, the operator operates the teaching box 40 to memorize the necessary actions for the door opening/closing robot 20, but at the same time as the teaching starts, step SL (hereinafter simply referred to as 81) of the teaching subroutine in FIG. The same applies to the step), the judgment result is YES,
As the arm 82 of the door opening/closing robot 20 is moved forward, S2. S3 is executed, and data representing the forward movement of the arm 82 is stored in the RAM 52 at regular intervals, and it is determined whether the door sensor 76 has detected the door 18.

As shown by the broken line in FIG. 5, if the arm 82 moves forward to the position where the door sensor 76 detects the door 18,
The determination result of S3 becomes YES, and the arm 82 at that time
The position is stored in the RAM 52 as reference closed door position data representing the position of the door 18 in the closed state (S4).

Thereafter, the arm 82 has a claw 8 provided at its tip.
8 is retracted until it is located directly above the door groove 86 (S
5) When a signal instructing that the claw engagement position should be stored is input from the teaching box 40, the determination result in S6 becomes YES, and the reference claw engagement position data is stored in the RAM 52 in S7.

Subsequently, the arm 82 is lowered, and the pawl 88 is inserted into the door groove 8.
6 and the arm 82 is further retracted to open the door 18. During this time, the data of these operations is stored in the RAM 52 in S8, and the door 18 is opened.
8 is opened to a predetermined position, and a signal is supplied from the teaching pendant 40 instructing that the data of the door open position should be stored, the determination result of S9 is YE.
S, and the reference closed door position data is RA in SIO.
It is stored in M52.

Thereafter, in step 311, the data for the post-processing operation of closing the door 18, disengaging the claw 88 from the door groove 86, and returning the arm 82 to its original position is stored, but this process is not understood by the present invention. The explanation will be omitted as it is not essential. In addition, in SIO, after the reference closed door position data is stored, the painting robot 1
Teaching of the operations necessary for painting to the robot 6 is also performed by operating the teaching box 40.
Explanation of this will also be omitted.

Next, the operation of this apparatus will be explained based on the flowchart of FIG.

If the body 14 conveyed by the conveyor 12 contacts the limit switch 34, the determination result in S21 is YES.
S, and S22 is executed.

That is, the amount of movement of the body 14 is detected based on the signal from the line encoder 26, and it is determined whether or not this amount of movement matches a predetermined amount of movement. If the determination result in S22 is YES, the traveling drive device 24 is activated in S23, and conveyor tracking is started.

Subsequently, in S24, the arm 82 moves forward until the determination result in S25 becomes YES, that is, until the door sensor 76 detects the closed door 18.
The action is read wt.

If the determination result in S25 is YES, the arm 82 is stopped, and in 326, data on the position of the arm, that is, the position of the closed door 18 (detected closed door position data)
is stored in the RAM 52.

Although the bodies 14 are placed at predetermined positions on the conveyor 12, it is inevitable that the positions of each body 14 will change little by little. Therefore, the detected closed door position data stored in the above S26 usually does not match the reference closed door position data stored during the teaching, and the difference between the two is calculated in 327.

For example, as shown in FIG.
8 was in the position shown by the two-dot chain line, while the door 18 of the body 14 actually sent is in the position shown by the solid line.
The distance Δα is calculated at step 327. Note that β is the distance at which the door sensor 76 detects the door 18.

Next, in step 328, the correction pawl retaining position and the correction amount door position are calculated. That is, the reference pawl engagement position data and the reference closed door position data stored in the RAM 52 during the teaching are corrected by the distance Δα calculated in S27, and the corrected pawl engagement position data and the correction amount door position data are obtained. is required.

Subsequently, in S29, the arm 82 is moved backward, and the seventh
As shown in the figure, when the pawl 88 reaches the corrected pawl engagement position calculated in S28, the determination result in S30 is Y.
ES, and the backward movement of the arm 82 is stopped.

Next, S31 and S32 are executed, the pawl 88 is engaged with the door groove 86, and the door 18 is
The door is opened by the corrected amount calculated in . If the determination result in S32 is YES, the opening operation of the door 18 is stopped, and the door 18 is held at the door position during correction. Further, in S33, a signal indicating that the door opening operation has ended is supplied to the painting robot control device 38. In response to this, the painting robot control device 38 controls the painting robot 1.
6 to automatically perform the painting, but since this painting operation is well known, the explanation will be omitted.

When the painting is completed, a painting end signal is supplied from the painting robot control device 38 to the door opening/closing control device 36, and the process proceeds to step S34.
The determination result is YES. As a result, S35 is executed, the door 18 is closed, the claw 88 is removed from the door groove 86, the arm 82 is moved back to its original position, and the traveling drive device 24 moves the painting robot 16
The door opening/closing robot 20 is then returned to its original position, but since these points are not essential to understanding the present invention, a detailed explanation will be omitted.

As is clear from the above explanation, in this example, T is
The area in which the ROM 54 (7) stores the program for executing S24 to S28, and the CPU 50 and RAM 52 for executing the program constitute door position error correction means.

It should be noted that in this embodiment, the claw 88 of the door opening/closing robot 20 is engaged with the door groove 86, but an opening/closing jig is attached to the door 18, and the claw 88 of the door opening/closing robot 20 is engaged with the door groove 86. It is also possible to engage the pawl 88 with the portion. In addition, door opening/closing robot 20. Nail 88. It is also possible to change the configuration of the door sensor 76, etc., and the present invention can be implemented with various modifications and improvements based on the knowledge of those skilled in the art, although no examples will be given in detail. .

[Brief explanation of the drawing]

FIG. 1 is a system diagram showing a painting line including a door opening/closing device according to an embodiment of the present invention. FIG. 2 is a block diagram showing the electrical control portion of the above device. 3 and 4 are flowcharts showing a teaching subroutine for a door opening operation and a door opening operation program, respectively, among the control programs stored in the ROM of the door opening/closing control device shown in the above block diagram. Figure 5 is the first
FIG. 3 is a perspective view showing the engaging claw of the door opening/closing robot and the door sensor in the device shown in the figure, together with the surrounding situation. FIG. 6 is a perspective view showing how the door is detected by the door sensor, and FIG. 7 is a perspective view showing the claw moved to a position where it can be held on the door. 10: Paint booth 12: Conveyor 14: Body
16: Painting robot 18 two doors 2
0: Door opening/closing robot 22: Traveling device 36: Door opening/closing control Device 38: Painting robot control device 40: Teaching box 76: Door sensor 78: Door detection circuit 82: Arm 86: Door groove 88: Claw

Claims (1)

[Scope of Claims] A door opening robot having an engaging claw at the tip of an arm that engages directly with an automobile door or indirectly through an opening/closing jig; a reference closing door position stored in advance; An automobile door opening device including a control device that controls the door opening robot based on data on a reference pawl engagement position and a reference door opening position, the door opening device comprising: a door sensor for detecting an automobile door attached to an arm of the door opening robot; The control device is configured to calculate the difference between the detected closed door position detected by the door sensor and the reference closed door position, and to correct the data of the reference pawl engagement position and the reference open door position based on the calculation result. An automobile door opening device characterized in that it is provided with means for correcting a door position error.