Vehicle door assembly device and assembly method

Abstract

To improve the reliability of positioning when a vehicle door in a state that an opening portion of a vehicle body is opened is assembled to the vehicle body.SOLUTION: A vehicle door assembling device that assembles a door fixed with a hinge to a vehicle body in an open state, includes a material handling jig that grips the door, and a working robot that grips the material handling jig to carry the door to an opening portion of the vehicle body. The material handling jig is equipped with a plurality of door positioning means for positioning a plurality of places to the door, and jig positioning means for positioning the material handling jig to the vehicle body so as to open the door. The plurality of places of the door includes hinges. The door positioning means at a place of the hinge abuts on the hinge, and positions the door to the material handling jig by positional regulation that regulates a vehicle body fore-and-aft direction position of the hinge with respect to the vehicle body when positioning the door to the opening portion of the vehicle body in the open state, and rotation regulation that regulates rotations of the hinge when screwing the hinge to the vehicle body.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present invention relates to the assembly of a front-opening rear door for a vehicle. [Background technology]

[0002] Generally, in the case of a rear-opening rear door, even if the door is held by a material handling device and in a closed position covering the opening in the vehicle body, the hinge mounting portion of the center pillar of the vehicle body is exposed. Even if the front door is installed first, the hinge of the rear door in the closed position is exposed when the front door is opened. Therefore, the rear-opening rear door can be installed in the closed position on the vehicle body (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2010-208526 A Summary of the Invention [Problem to be solved by the invention]

[0004] In contrast, in the case of a front-opening rear door, the hinge mounting portion is provided on the pillar at the front end of the rear fender, and when the rear door is closed, the hinge mounting portion is hidden by the rear door and cannot be seen. Therefore, when assembling a front-opening rear door to the vehicle body, it is necessary to open the rear door to expose the hinge mounting portion of the pillar.

[0005] When the door is closed, it is easy to determine the position of the door in the front-rear and up-down directions relative to the vehicle body by looking at the gap between the door and the periphery of the opening in the vehicle body. However, when the door is open, it is difficult to determine the position of the door in the front-rear direction relative to the vehicle body because the gap between the door and the periphery of the opening in the vehicle body cannot be seen.

[0006] The positioning of the door in the open position can be indirectly performed by gripping the inner side of the door with a material handling device to determine the position of the inner side and then positioning the material handling device on the vehicle body. However, since the positioning is performed on the inner side, which has weak rigidity, the positioning accuracy tends to be low, and when the door is rotated to the closed position after being assembled to the vehicle body in the open position, the door is likely to become misaligned in the front-rear direction relative to the vehicle body.

[0007] In addition, when the hinge attached to the door is screwed to the vehicle body, the hinge is subjected to a tightening torque that must not cause co-rotation; in other words, it is necessary to prevent deformation of the hinge mounting portion of the door or displacement of the door due to co-rotation of the hinge.

[0008] The present invention has been made in consideration of the above points, and its object is to provide a method and structure that enables a front-opening rear door, with an opening in the vehicle body in an open position, to be assembled with high positional accuracy using a simple structure and method. [Means for solving the problem]

[0009] In order to achieve the above object, in the present invention, the position of the hinge portion of the vehicle door in the front-rear direction and the rotation of the hinge portion are restricted when the vehicle door is in an open position.

[0010] Specifically, the vehicle door assembly device disclosed herein is a device for assembling a door having a hinge fixed thereto to a vehicle body in an open position, and includes a material handling jig for gripping the door, and a work robot that supports the material handling jig and transports the door to the opening of the vehicle body, the material handling jig comprising a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling jig, and a jig positioning means for positioning the material handling jig relative to the vehicle body so that the door is in an open position, the plurality of locations of the door include the hinge, and the door positioning means at the hinge location abuts against the hinge, positioning the door to the material handling jig with a position regulation that regulates the position of the hinge in the front-rear direction of the vehicle body relative to the vehicle body when the door is positioned in the open position at the opening of the vehicle body, and a rotation regulation that regulates the rotation of the hinge when the hinge is screwed to the vehicle body. The material handling tool grips the door from the inner surface side of the door. It is characterized by:

[0011] According to this assembly device, the door is positioned on the material handling jig by the door positioning means, and the material handling jig is positioned on the vehicle body by the jig positioning means, so that the door is indirectly positioned relative to the vehicle body via the material handling jig. In addition, since the door is positioned on the vehicle body in an open position, the hinge can be screwed to the vehicle body from the outside.

[0012] Thus, when positioning the door relative to the material handling jig, the door has high rigidity and the position of the hinge attached to the vehicle body in the fore-and-aft direction of the vehicle body is restricted. In other words, since the hinge serves as the positioning reference in the fore-and-aft direction of the vehicle body, it is easy to ensure the positioning accuracy in the fore-and-aft direction. In addition, since the rotation of the hinge is restricted when the hinge is screwed to the vehicle body, deformation of the hinge attachment portion of the door and displacement of the door due to the tightening torque can be avoided.

[0013] Therefore, even when the door is assembled to the vehicle body in an open position, the door can be assembled to the vehicle body with high positional accuracy. In other words, the door can be prevented from being misaligned with respect to the vehicle body when the door is closed. 。

[0014] moreover, The door positioning means positions the door relative to the material handling fixture. 、This can be done from the inside surface of the door, which allows a positioning reference hole or the like to be provided as a means for positioning the door, thereby improving positioning.

[0015] Another vehicle door assembly device disclosed herein is a device for assembling a door to which a hinge is fixed, in an open position, to a vehicle body, the device comprising: a material handling jig for gripping the door; and a work robot for supporting the material handling jig and transporting the door to an opening of the vehicle body, the material handling jig comprising a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling jig, and a jig positioning means for positioning the material handling jig relative to the vehicle body so that the door is in an open position, the plurality of locations of the door include the hinge, and the door positioning means at the hinge location abuts against the hinge, and positions the door on the material handling jig with a position restriction for restricting the position of the hinge in the fore-and-aft direction of the vehicle body relative to the vehicle body when the door is positioned in the open position at the opening of the vehicle body, and a rotation restriction for restricting the rotation of the hinge when the hinge is screwed to the vehicle body, The door positioning means at the hinge portion performs the position restriction and the rotation restriction by clamping the hinge from the front-rear direction of the vehicle body.

[0016] In this way, the hinge can be restricted from moving forward and backward and from rotating by a single means for clamping the hinge.

[0017] Another vehicle door assembly device disclosed herein is a device for assembling a door to which a hinge is fixed, in an open position, to a vehicle body, the device comprising: a material handling jig for gripping the door; and a work robot for supporting the material handling jig and transporting the door to an opening of the vehicle body, the material handling jig comprising a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling jig, and a jig positioning means for positioning the material handling jig relative to the vehicle body so that the door is in an open position, the plurality of locations of the door include the hinge, and the door positioning means at the hinge location abuts against the hinge, and positions the door on the material handling jig with a position restriction for restricting the position of the hinge in the fore-and-aft direction of the vehicle body relative to the vehicle body when the door is positioned in the open position at the opening of the vehicle body, and a rotation restriction for restricting the rotation of the hinge when the hinge is screwed to the vehicle body, The hinge comprises a door-side hinge member fixed to the door, a vehicle-body-side hinge member screwed to the vehicle body, and a hinge pin connecting the two hinge members so that they can rotate freely relative to one another, and the vehicle-body-side hinge member comprises a vertical plate portion protruding outward in the vehicle width direction from a side edge of a fixed plate portion screwed to a surface of the vehicle body facing outward in the vehicle width direction and connected to the door-side hinge member by the hinge pin, and the door positioning means at the hinge clamps the vertical plate portion of the vehicle-body-side hinge member from the fore-and-aft direction of the vehicle body.

[0018] This makes it possible to reliably regulate the position and rotation of the hinge.

[0019] In the above-mentioned assembly device, the door positioning means at the hinge location is characterized in that it comprises a fixed abutment member fixed to the material handling jig so as to abut against the vertical plate portion from one side in the fore-and-aft direction of the vehicle body, and a movable abutment member driven in the fore-and-aft direction of the vehicle body by a clamp cylinder device provided on the material handling jig so as to abut against the vertical plate portion from the other side in the fore-and-aft direction of the vehicle body and press the vertical plate portion against the positioning member.

[0020] As a result, the vertical plate portion of the hinge can be clamped from the front-rear direction of the vehicle body by operating the clamp cylinder device.

[0021] In the above-mentioned assembly device, the door is provided with a plurality of hinges spaced apart in the vertical direction of the vehicle body, and the door positioning means at the hinge locations is provided for each of the plurality of hinges.

[0022] In this manner, by positioning the door at a plurality of hinge locations, the door can be accurately positioned in the rotational direction around the vehicle width axis.

[0023] The vehicle door assembling method disclosed herein is a method for assembling a door, to which a hinge is fixed, to a vehicle body in an open position, the method comprising the steps of: gripping the door with a material handling jig; transporting the door gripped by the material handling jig to an opening of the vehicle body; positioning the material handling jig relative to the vehicle body so that the door is in an open position; and connecting the hinge to the vehicle body with the door in the open position, the material handling jig having a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling jig, the plurality of locations of the door including the hinge, and a positioning element is abutted against the hinge at the hinge location to perform a position regulation for regulating a position of the hinge in the fore-and-aft direction of the vehicle body relative to the vehicle body when the door is positioned in the opening of the vehicle body in the open position, and a rotation regulation for regulating rotation of the hinge when the hinge is screwed to the vehicle body. The material handling tool grips the door from the inner surface side of the door. It is characterized by: It is characterized by:

[0024] According to this assembly method, the door is positioned on the material handling jig by the door positioning means, and the material handling jig is positioned on the vehicle body by the positioning means, so that the door is indirectly positioned relative to the vehicle body via the material handling jig. In addition, since the door is positioned on the vehicle body in an open position, the hinge can be screwed to the vehicle body from the outside.

[0025] Thus, when positioning the door relative to the material handling jig, the door has high rigidity and the position of the hinge attached to the vehicle body in the fore-and-aft direction of the vehicle body is restricted. In other words, since the hinge serves as the positioning reference in the fore-and-aft direction of the vehicle body, it is easy to ensure the positioning accuracy in the fore-and-aft direction. In addition, since the rotation of the hinge is restricted when the hinge is screwed to the vehicle body, deformation of the hinge attachment portion of the door and displacement of the door due to the tightening torque can be avoided.

[0026] Therefore, even when the door is assembled to the vehicle body in an open position, the door can be assembled to the vehicle body with high positional accuracy. In other words, the door can be prevented from being misaligned with respect to the vehicle body when the door is closed. 。

[0027] moreover, The door positioning means positions the door relative to the material handling fixture. 、 This can be done from the inside surface of the door, which allows a positioning reference hole or the like to be provided as a means for positioning the door, improving positioning precision.

[0028] Another vehicle door assembling method disclosed herein is a vehicle door assembling method for assembling a door to which a hinge is fixed to a vehicle body in an open position, the method comprising the steps of: gripping the door with a material handling jig; transporting the door gripped by the material handling jig to an opening of the vehicle body; positioning the material handling jig relative to the vehicle body so that the door is in an open position; and connecting the hinge to the vehicle body with the door in the open position, the material handling jig having a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling jig, the plurality of locations of the door including the hinge, and a positioning element is abutted against the hinge at the hinge location to perform a position regulation for regulating a position of the hinge in the fore-and-aft direction of the vehicle body relative to the vehicle body when the door is positioned in the opening of the vehicle body in the open position, and a rotation regulation for regulating rotation of the hinge when the hinge is screwed to the vehicle body, The door positioning means at the hinge portion performs the position restriction and the rotation restriction by clamping the hinge from the front-rear direction of the vehicle body.

[0029] In this way, the hinge portion can be restricted from moving forward and backward and from rotating by a single means for clamping the hinge.

[0030] Another vehicle door assembling method disclosed herein is a vehicle door assembling method for assembling a door to which a hinge is fixed to a vehicle body in an open position, the method comprising the steps of: gripping the door with a material handling jig; transporting the door gripped by the material handling jig to an opening of the vehicle body; positioning the material handling jig relative to the vehicle body so that the door is in an open position; and connecting the hinge to the vehicle body with the door in the open position, the material handling jig having a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling jig, the plurality of locations of the door including the hinge, and a positioning element is abutted against the hinge at the hinge location to perform a position regulation for regulating a position of the hinge in the fore-and-aft direction of the vehicle body relative to the vehicle body when the door is positioned in the opening of the vehicle body in the open position, and a rotation regulation for regulating rotation of the hinge when the hinge is screwed to the vehicle body,The hinge comprises a door-side hinge member fixed to the door, a vehicle-body-side hinge member screwed to the vehicle body, and a hinge pin connecting the two hinge members so that they can rotate freely relative to one another, and the vehicle-body-side hinge member comprises a vertical plate portion protruding outward in the vehicle width direction from a side edge of a fixed plate portion screwed to a surface of the vehicle body facing outward in the vehicle width direction and connected to the door-side hinge member by the hinge pin, and the door positioning means at the hinge clamps the vertical plate portion of the vehicle-body-side hinge member from the fore-and-aft direction of the vehicle body.

[0031] This makes it possible to reliably regulate the position and rotation of the hinge.

[0032] In the above assembly method, the door positioning means at the hinge location is characterized by comprising a fixed abutment member fixed to the material handling jig so as to abut against the vertical plate portion from one side in the fore-and-aft direction of the vehicle body, and a movable abutment member driven in the fore-and-aft direction of the vehicle body by a clamp cylinder device provided on the material handling jig so as to abut against the vertical plate portion from the other side in the fore-and-aft direction of the vehicle body and press the vertical plate portion against the positioning member.

[0033] As a result, the vertical plate portion of the hinge can be clamped from the front-rear direction of the vehicle body by operating the clamp cylinder device.

[0034] In the above-mentioned assembly method, the door is provided with a plurality of hinges spaced apart in the vertical direction of the vehicle body, and the door positioning means at the hinge locations is provided for each of the plurality of hinges.

[0035] In this manner, by positioning the door at a plurality of hinge locations, the door can be accurately positioned in the rotational direction around the vehicle width axis. Effect of the Invention

[0036] According to the present invention, when a door in an open position is attached to a vehicle body, the positional accuracy of the door relative to the vehicle body can be improved. [Brief description of the drawings]

[0037] [Figure 1] FIG. 2 is a perspective view showing the right rear part of the vehicle body. [Diagram 2] FIG. 2 is a front view of the vehicle door as viewed from the inner surface side. [Diagram 3] FIG. 2 is a perspective view showing a hinge of a vehicle door. [Figure 4] FIG. [Diagram 5] FIG. [Figure 6] FIG. 1 shows a hinge clamp device. [Figure 7] FIG. 2 is a schematic diagram showing the structure of a door holder. [Figure 8] FIG. 2 is a perspective view showing the structure of a door holder. [Figure 9] 1 is a diagram showing a hinge portion of a vehicle door held by a material handling jig; [Figure 10] 2 is a perspective view showing a material handling jig holding a vehicle door and a vehicle body. FIG. [Figure 11] 1 is a perspective view showing a vehicle body and a material handling jig holding a vehicle door after being positioned. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0038] Hereinafter, the preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following preferred embodiments are merely illustrative in nature and are not intended to limit the present invention, its applications, or its uses.

[0039] 1 shows the right rear portion of a vehicle body 1. This vehicle body 1 is provided with hinge fastening portions 13 for fastening door hinges (described later) at two locations spaced apart in the vertical direction of the vehicle body (vertical direction in the drawing). This vehicle body 1 is provided with an opening 12 that is opened and closed by a vehicle door. Below this opening 12, a body reference hole 14 is provided.

[0040] In Fig. 2, the forward-opening rear vehicle door 2 is shown from the inner surface side. This vehicle door 2 is a door provided at the rear right side of the vehicle body. Two hinge mounting parts 23 spaced apart in the vertical direction of the vehicle body (vertical direction in the figure) are provided at the right end of the vehicle door 2 in the figure. A hinge 21 shown in Fig. 3 is fixed to this hinge mounting part 23. By fastening the hinge fixed to the vehicle door 2 to the hinge fastening part 13 of the vehicle body 1, the vehicle door is assembled so that the opening 12 of the vehicle body 1 can be opened and closed via the hinge 21. Two door reference holes 22 spaced apart in the vertical direction are provided at approximately the center in the left-right direction of the inner surface of the vehicle door 2.

[0041] FIG. 3 shows the hinge 21. The hinge 21 includes a door-side hinge member 211, a vehicle-body-side hinge member 212, and a hinge pin 213. The door-side hinge member 211 is a member fixed to the hinge mounting portion 23 of the vehicle door 2. The vehicle-body-side hinge member 212 has a fixing plate portion 214. The fixing plate portion 214 is a member screwed to the hinge fastening portion 13 of the vehicle body 1. The fixing plate portion 214 is provided with a vertical plate portion 215 protruding outward in the vehicle width direction from a side edge of the fixing plate portion 214. The vertical plate portion 215 is connected to the door-side hinge member 211 by a hinge pin 213 extending in the up-down direction. In this way, the door-side hinge member 211 and the vehicle-body-side hinge member 212 are connected to each other by the hinge pin 213 so as to be relatively rotatable.

[0042] 4 and 5 show a material handling jig 3 for gripping the vehicle door 2. The vehicle door assembly device according to this embodiment includes the material handling jig 3, a work robot (an arm 7 of the work robot is shown in FIG. 10) that supports the material handling jig 3 and transports the vehicle door 2 to an opening 12 of the vehicle body 1, and a control device that controls the operation of the material handling jig 3 and the work robot. The work robot positions the vehicle door 2 held by the material handling jig 3 in the opening 12 of the vehicle body 1 in an open position in which the hinge fastening portion 13 is exposed to the outer side surface of the vehicle body (the outer side surface in the vehicle width direction). In the following description of the material handling jig 3, the front of the vehicle body, the rear of the vehicle body, and the vehicle width direction are directions in the position of the material handling jig 3 during assembly in FIG. 11. In addition, in the description of the material handling jig 3, the inside of the vehicle width direction is the vehicle body 1 side in FIG. 11, and the outside is the opposite side to the vehicle body 1.

[0043] The material handling jig 3 is composed of a door holder 31 and a stand 32. The door holder 31 is a member for gripping the vehicle door 2 from its inner surface side. The stand 32 is a member for mounting to an arm of a robot. The door holder 31 and the stand 32 are connected by a floating cylinder 4. The floating cylinder 4 holds the door holder 31 floating relative to the stand 32. Also, the vehicle door 2 held by the door holder 31 can be moved in the vertical direction of the vehicle body via the drive of the floating cylinder 4 as necessary.

[0044] The door holder 31 is composed of an outer edge frame 311 and a horizontal frame 312. The outer edge frame 311 is a substantially rectangular frame extending in the vertical direction of the vehicle body. The horizontal frame 312 is a member extending in the vehicle width direction. Both ends of the horizontal frame 312 are fixed to both sides of the outer edge frame 311 in the vehicle width direction. The outer edge frame 311 is provided with three horizontal frames 312 spaced apart in the vertical direction of the vehicle body. The door holder 31 is provided with a door positioning means for positioning each of a plurality of positions of the door relative to the door holder 31. The door holder 31 is also provided with a jig positioning means for positioning the material handling jig 3 relative to the vehicle body 1 so that the door is in an open position.

[0045] A door reference pin 314 that protrudes toward the inner surface of the vehicle door 2 by the operation of a cylinder device 3141 is provided on the horizontal frame 312 located at the top and center in the vertical direction of the vehicle body. The vehicle door 2 is positioned relative to the door holder 31 by inserting the door reference pin 314 into the door reference hole 22 of the vehicle door 1.

[0046] The door holder 31 is provided with two door support / fall prevention devices 315. The door support / fall prevention device 315 is composed of a door support member 3151 that enters a service hole opened on the inner surface of the vehicle door 2, and a door support drive cylinder 3152 that moves the door support member 3151 in and out of the service hole. The door support / fall prevention devices 315 are arranged at intervals in the vertical direction of the vehicle body. The upper door support / fall prevention device 315 is fixed to the connection point between the outer edge frame 311 and the uppermost horizontal frame 312 on the left side in the figure. The lower door support / fall prevention device 315 is fixed to the lowermost horizontal frame 312. The door support member 3151 of these door support / fall prevention devices 315 is directed toward the vehicle door 2 side.

[0047] A body reference pin 313 is provided on the inside in the vehicle width direction (left side in FIG. 4) at the lower end of the outer edge frame 311 in the vertical direction of the vehicle body, and protrudes from the outer edge frame 311 toward the inside in the vehicle width direction by operation of a cylinder device 3131. This body reference pin 313 is inserted into the body reference hole 14 of the vehicle body 1, and functions as a jig positioning means that positions the material handling jig 3 relative to the vehicle body 1 so that the vehicle door 2 is in an open position.

[0048] Two door end clamp devices 316 are provided at an interval in the vertical direction of the vehicle body on the outer side of the door holder 31 in the vehicle width direction (on the right side in FIG. 4). The door end clamp device 316 includes a clamp member 3161 and a clamp cylinder device 3162 for driving the clamp member 3161. The door end clamp device 316 functions as a door positioning means by clamping the front flange of the vehicle door 2 from the inner side and the outer side with the clamp member 3161. The door end clamp device 316 is fixed to the door holder 31, and the clamp member 3161 protrudes from the door holder 31 toward the outer side in the vehicle width direction.

[0049] Two hinge clamp devices 5 are provided as door positioning means at the hinge locations on the inner side (left side in FIG. 4) of the door holder 31 in the vehicle width direction. The number of the hinge clamp devices 5 corresponds to the number of the hinges 21 fixed to the vehicle door 2.

[0050] 6 shows the hinge clamp device 5 that grips the hinge 21. The hinge clamp device 5 is composed of a hinge clamp base 51, a fixed abutment member 52, a movable abutment member 53, and a drive cylinder 534. The hinge clamp base 51 is fixed to the door holder 31. In this way, the hinge clamp device 5 is fixed to the door holder 31.

[0051] The fixed abutment member 52 is a rod-shaped member extending in the front-rear direction of the vehicle body (left-right direction in the figure). A base end of the fixed abutment member 52 is fixed to the hinge clamp base 51. When the hinge clamp device 5 holds the hinge 21, the tip end of the fixed abutment member 52 is abutted against the vertical plate portion 215 of the hinge 21 from the front side of the vehicle body (left side in the figure).

[0052] The movable abutment member 53 is rotatably supported by a support bracket 531 fixed to the hinge clamp base 51 via a pin 532 in the vehicle width direction. A drive cylinder 534 is pivotally supported on the support bracket 531 via a pin 533 in the vehicle width direction. The movable abutment member 53 is rotated by the operation of the drive cylinder 534. The rotating movable abutment member 53 is brought into contact with the vertical plate portion 215 of the hinge 21 from the rear side of the vehicle body (the right side in the figure). As the movable abutment member 53 rotates, the movable abutment member 53 and the fixed abutment member 52 work together to clamp the vertical plate portion 215 of the hinge 21 from the front-rear direction of the vehicle body.

[0053] As shown in Figures 4 and 5, the stand 32 is composed of a horizontal rectangular base member 321 and a rectangular vertical frame 322 that stands up from the base member 321. Slide rails 6 are fixed to the vertical frame portions on both sides of the vertical frame 322 in the vehicle width direction. The base member 321 is supported by an arm 7 of the working robot. The arm 7 is actuated to enable movement.

[0054] A body clamp device 323 is provided at an end of the base member 321 on the inner side in the vehicle width direction (left side in FIG. 4). The body clamp device 323 has a clamp member 3231 and a body clamp drive cylinder 3232. The clamp member 3231 is driven by the operation of the body clamp drive cylinder 3232. When the vehicle door 2 is assembled to the vehicle body 1, the lower side of the opening 12 of the vehicle body 1 in the vehicle vertical direction is clamped by the clamp member 3231 of the body clamp device 323.

[0055] 7, the door holder 31 is attached to the vertical frame 322 so as to be slidable in the up-down direction of the vehicle body (the direction perpendicular to the plane of the paper in the figure). A slide rail 6 extending in the up-down direction of the vehicle body along the vertical frame 322 is provided on the side of the vertical frame 322 facing the door holder 31. In addition, a block 61 having a substantially C-shaped cross section is provided on the side of the door holder 31 facing the vertical frame 322. This block 61 is fixed to the door holder 31 via a joint member 62.

[0056] As shown in Fig. 8, two slide rails 6 are provided on the vertical frame 322 with a gap therebetween in the vehicle width direction. Blocks 61 are fitted to the slide rails 6 so that they can slide. Two blocks 61 are provided for each slide rail 6 with a gap therebetween in the vehicle vertical direction. The operation of the material handling jig 3 by the control device will now be described.

[0057] When the material handling jig 3 grips the vehicle door 2, the door reference pins 314 of the door holder 31 are inserted into the door reference holes 22 of the vehicle door 2. The side of the vehicle door 2 opposite the hinge portion is clamped by a door end clamp device 316 of the door holder 31. Furthermore, the hinge 21 of the vehicle door 2 is clamped by a hinge clamp device 5. As a result, the vehicle door 2 is positioned and held relative to the material handling jig 3. If the vehicle door 2 held by the material handling jig 3 falls, the service hole portion opening on the inner surface of the vehicle door 2 is hooked on the door receiving member 3151 of the door receiving / fall prevention device 315.

[0058] The body reference pin 313 of the material handling jig 3 is inserted into the body reference hole 14 of the vehicle body 1, and the vehicle body 1 is clamped by the body clamp device 323, thereby positioning the vehicle body 1 and the material handling jig 3. The vehicle door 2 is positioned relative to the material handling jig 3 by the positioning means at six locations described above. Therefore, the vehicle door 2 is positioned relative to the vehicle body 1 via the material handling jig 3. When the body reference pin 313 is inserted into the body reference hole 14 of the vehicle body 1, the floating cylinder 4 holds the door holder 31 holding the vehicle door 2 in a floating state relative to the frame 32.

[0059] 9 shows the hinge 21 of the vehicle door 2 held by the material handling jig 3. The vertical plate portion 215 of the hinge 21 is clamped from the front-rear direction of the vehicle body by a fixed abutment member 52 and a movable abutment member 53. This allows the vehicle door 2 to be positioned in the front-rear direction relative to the vehicle body using the hinge 21 as a reference. Furthermore, at the same time as positioning in the front-rear direction, rotation of the hinge 21 itself is restricted when the hinge 21 is screwed to the vehicle body 1.

[0060] <Vehicle door assembly method> The procedure for assembling the vehicle door 2 to the vehicle body 1 will now be described.

[0061] FIG. 10 shows the material handling jig 3 holding the vehicle door 2 and the vehicle body 1. The material handling jig 3 grips the vehicle door 2 as described above. The vehicle door 2 held by the material handling jig 3 is transported to the opening 12 of the vehicle body 1 by the operation of the work robot, and is positioned in the opening 12 in an open position. A cylinder pressure that offsets the load of the vehicle door 2 and the door holder 31 is applied to the floating cylinder 4, and the vehicle door 2 and the door holder 31 are held floatingly on the frame 32. In this state, the body reference pin 313 of the material handling jig 3 is inserted into the body reference hole 14 of the vehicle body 1. Due to the floating holding, the door holder 31 slides up and down on the slide rail 6 to absorb the variation in the vehicle body position, and the vehicle door 2 is positioned on the vehicle body 1. After this positioning, the vehicle body 1 is clamped by the body clamp device 323 of the material handling jig 3, and the positions of the vehicle body 1 and the material handling jig 3 are fixed as shown in FIG.

[0062] The vehicle door 2 held by the material handling jig 3 has its hinge 21 clamped by a hinge clamp device 5. A fixed abutment member 52 and a movable abutment member 53 of the hinge clamp device 5 are abutted against a vertical plate portion 215 of a vehicle body side hinge member 212 of the hinge 21 from the front-rear direction of the vehicle body. This restricts the position of the hinge 21 in the front-rear direction of the vehicle body.

[0063] The vehicle door 2, which has been positioned in an open position relative to the vehicle body 1 via the material handling jig 3, has its hinge 21 screwed to the hinge fastening portion 13 of the vehicle body 1 from the outside of the vehicle body. This is performed by screwing the fixing plate portion 214 of the vehicle body side hinge member 212 of the hinge 21 to a surface of the vehicle body 1 facing outward in the vehicle width direction. In this way, the vehicle door 2 is assembled to the vehicle body 1.

[0064] When the screws are fastened, a tightening torque is generated. The rotation of the hinge 21 caused by the tightening torque is restricted by the fixed contact member 52 and the movable contact member 53 of the hinge clamp device 5 clamping the vertical plate portion 215 from the front-rear direction of the vehicle body.

[0065] <Effects of material handling equipment> Therefore, in the embodiment, the rigidity of the vehicle door 2 is high, and the position of the hinge 21 attached to the vehicle body 1 in the vehicle front-rear direction is restricted. That is, since the hinge 21 serves as a positioning reference in the vehicle front-rear direction, it is easy to ensure the positioning accuracy in the front-rear direction. In addition, since the rotation of the hinge 21 is restricted when the hinge 21 is screwed to the vehicle body 1, deformation of the hinge attachment portion 23 of the vehicle door 2 and displacement of the vehicle door 2 due to the tightening torque are avoided. Therefore, even when the vehicle door 2 is assembled to the vehicle body 1 in an open position, the vehicle door 2 can be assembled to the vehicle body with high positional accuracy. That is, it is possible to avoid the vehicle door 2 being misaligned with respect to the vehicle body 1 when the vehicle door 2 is closed. [Explanation of symbols]

[0066] 1. Vehicle body 12 Opening 2 Car Door 21 Hinge 215 Vertical plate section 3 Material handling fixtures 31 Door Holder 32 Mounting stand 4 Floating Cylinder

Claims

1. A vehicle door assembling device that assembles a door having a hinge fixed thereto to a vehicle body in an open position, A material handling tool that grips the door; a work robot that supports the material handling tool and transports the door to the opening of the vehicle body, The material handling jig includes a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling jig, and a jig positioning means for positioning the material handling jig relative to the vehicle body so that the door is in an open position, The door includes the hinges at a plurality of locations, The door positioning means at the hinge position abuts against the hinge, and positions the door on the material handling jig by a position restriction that restricts the position of the hinge in the front-rear direction of the vehicle body relative to the vehicle body when the door is positioned at the opening of the vehicle body in an open position, and a rotation restriction that restricts the rotation of the hinge when the hinge is screwed to the vehicle body, The assembly device is characterized in that the material handling jig grasps the door from the inner surface side of the door.

2. A vehicle door assembly device for assembling a door having a fixed hinge to a vehicle body in an open position, comprising: A material handling tool that grips the door; a work robot that supports the material handling tool and transports the door to the opening of the vehicle body, The material handling jig includes a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling jig, and a jig positioning means for positioning the material handling jig relative to the vehicle body so that the door is in an open position, The door includes the hinges at a plurality of locations, The door positioning means at the hinge position abuts against the hinge, and positions the door on the material handling jig by a position restriction that restricts the position of the hinge in the front-rear direction of the vehicle body relative to the vehicle body when the door is positioned at the opening of the vehicle body in an open position, and a rotation restriction that restricts the rotation of the hinge when the hinge is screwed to the vehicle body, The door positioning means at the hinge performs the position restriction and the rotation restriction by clamping the hinge from the front-rear direction of the vehicle body.

3. A vehicle door assembly device for assembling a door having a fixed hinge to a vehicle body in an open position, comprising: A material handling tool that grips the door; a work robot that supports the material handling tool and transports the door to the opening of the vehicle body, The material handling jig includes a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling jig, and a jig positioning means for positioning the material handling jig relative to the vehicle body so that the door is in an open position, The door includes the hinges at a plurality of locations, The door positioning means at the hinge position abuts against the hinge, and positions the door on the material handling jig by a position restriction that restricts the position of the hinge in the front-rear direction of the vehicle body relative to the vehicle body when the door is positioned at the opening of the vehicle body in an open position, and a rotation restriction that restricts the rotation of the hinge when the hinge is screwed to the vehicle body, the hinge includes a door-side hinge member fixed to the door, a vehicle-body-side hinge member screwed to the vehicle body, and a hinge pin connecting the two hinge members so as to be rotatable relative to one another; the vehicle body-side hinge member includes a vertical plate portion that protrudes outward in the vehicle width direction from a side edge of a fixing plate portion that is screwed to a surface of the vehicle body facing outward in the vehicle width direction and is connected to the door-side hinge member by the hinge pin; an assembly device for mounting said door on said hinge portion, said door positioning means clamping said vertical plate portion of said vehicle body side hinge member from the front-rear direction of the vehicle body;

4. 4. The assembly device according to claim 3, The door positioning means at the hinge includes: A fixed abutment member fixed to the material handling jig so as to abut against the vertical plate portion from one side in the front-rear direction of the vehicle body; and a movable abutment member that is driven in the fore-and-aft direction of the vehicle body by a clamp cylinder device provided on the material handling jig so as to abut against the vertical plate portion from the other side in the fore-and-aft direction of the vehicle body and press the vertical plate portion against the positioning member.

5. In the assembly device according to any one of claims 1 to 4, The door has a plurality of hinges provided at intervals in the vertical direction of the vehicle body, 2. An assembly device according to claim 1, wherein said door positioning means at said hinges is provided for each of a plurality of said hinges.

6. A method for assembling a vehicle door in which a door having a hinge is mounted to a vehicle body in an open position, comprising the steps of: gripping the door with a material handling tool; transporting the door held by the material handling jig to an opening in the vehicle body; positioning the material handling tool relative to the vehicle body so that the door is in an open position; and connecting the hinge to the vehicle body with the door in an open position. The material handling jig includes a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling jig, The door includes the hinges at a plurality of locations, At the hinge, a positioning element is brought into contact with the hinge to perform a position regulation for regulating a position of the hinge in the front-rear direction of the vehicle body relative to the vehicle body when the door is positioned at the opening of the vehicle body in an open position, and a rotation regulation for regulating a rotation of the hinge when the hinge is screwed to the vehicle body, The assembly method is characterized in that the material handling jig grips the door from the inner surface side of the door.

7. A method for assembling a vehicle door, in which a door having a fixed hinge is assembled to a vehicle body in an open position, comprising the steps of: gripping the door with a material handling tool; transporting the door held by the material handling jig to an opening in the vehicle body; positioning the material handling tool relative to the vehicle body so that the door is in an open position; and connecting the hinge to the vehicle body with the door in an open position. The material handling jig includes a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling jig, The door includes the hinges at a plurality of locations, At the hinge, a positioning element is brought into contact with the hinge to perform a position regulation for regulating a position of the hinge in the front-rear direction of the vehicle body relative to the vehicle body when the door is positioned at the opening of the vehicle body in an open position, and a rotation regulation for regulating a rotation of the hinge when the hinge is screwed to the vehicle body, The door positioning means at the hinge performs the position restriction and the rotation restriction by clamping the hinge from the front-rear direction of the vehicle body.

8. A method for assembling a vehicle door, in which a door having a fixed hinge is assembled to a vehicle body in an open position, comprising the steps of: gripping the door with a material handling tool; transporting the door held by the material handling jig to an opening in the vehicle body; positioning the material handling tool relative to the vehicle body so that the door is in an open position; and connecting the hinge to the vehicle body with the door in an open position. The material handling jig includes a plurality of door positioning means for positioning each of a plurality of locations of the door relative to the material handling jig, The door includes the hinges at a plurality of locations, At the hinge, a positioning element is brought into contact with the hinge to perform a position regulation for regulating a position of the hinge in the front-rear direction of the vehicle body relative to the vehicle body when the door is positioned at the opening of the vehicle body in an open position, and a rotation regulation for regulating a rotation of the hinge when the hinge is screwed to the vehicle body, the hinge includes a door-side hinge member fixed to the door, a vehicle body-side hinge member screwed to the vehicle body, and a hinge pin connecting the two hinge members so as to be rotatable relative to one another; the vehicle body-side hinge member includes a vertical plate portion that protrudes outward in the vehicle width direction from a side edge of a fixing plate portion that is screwed to a surface of the vehicle body facing outward in the vehicle width direction and is connected to the door-side hinge member by the hinge pin; The assembly method according to claim 1, wherein the door positioning means at the hinge clamps the vertical plate portion of the vehicle body-side hinge member from the front-rear direction of the vehicle body.

9. The assembly method according to claim 8, The door positioning means at the hinge includes: A fixed abutment member fixed to the material handling jig so as to abut against the vertical plate portion from one side in the front-rear direction of the vehicle body; and a movable abutment member that is driven in the fore-and-aft direction of the vehicle body by a clamp cylinder device provided on the material handling jig so as to abut against the vertical plate portion from the other side in the fore-and-aft direction of the vehicle body and press the vertical plate portion against the positioning member.

10. The assembly method according to any one of claims 6 to 9, The door has a plurality of hinges provided at intervals in the vertical direction of the vehicle body, A method of assembling, characterized in that the door positioning means at the hinge locations is provided for each of a plurality of the hinges.

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