Automatic drawer door assembly device and automatic drawer door assembly method

Abstract

To provide a drawer door automatic assembling device and a drawer door automatic assembling method which can easily assemble a drawer door to a box body.SOLUTION: A drawer door automatic assembling device assembles a drawer door 10 with two door frames 4 attaned at a box body 20 equipped with a lower freezing compartment 20c with two box body rails 23R, 23L and a vegetable compartment 20d, in which a roller 4e of one door frame 4 is inserted in a pushing manner to one box body rail 23R in such a state that the one door frame 4 is tilted with respect to the side of the one box body rail 23R, and then inserted to the box body rail 23L while restoring the tilt of the other door frame 4 of the drawer door 10.SELECTED DRAWING: Figure 5B

Description

Technical Field

[0001] The present invention relates to a drawer door automatic assembling device and a drawer door automatic assembling method.

Background Art

[0002] Patent Document 1 describes an automation technique for screwing when fixing a door frame to a drawer door using a screwing robot.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, Patent Document 1 does not consider automating the operation of assembling the door to the refrigerator body (cabinet) after screwing the door frame to the drawer door. Therefore, the door is assembled manually while aligning the door frame with the rails provided in the inner box for each model.

[0005]

Means for Solving the Problems

[0006] The present invention relates to an automatic drawer door assembly device for assembling a drawer door, which has two movable rails, to a box body having a storage compartment with two fixed rails, wherein one of the movable rails of the drawer door is connected to the other fixed rail. Insert Subsequently, the movable rail of the other side of the drawer door is connected to the fixed rail of the other side. Insert . [Brief explanation of the drawing]

[0007] [Figure 1] This is a diagram illustrating the assembly process for the drawer door of this embodiment. [Figure 2] This is a diagram showing the configuration of the automatic drawer door assembly device according to this embodiment. [Figure 3] This diagram shows the orientation when the drawer door is handed over from the screw-tightening / transfer robot to the door assembly robot. [Figure 4] This is a front view of the box, showing the detection position by the 3D image sensor. [Figure 5A] This is the assembly process for the drawer door into the box body, and it shows the state before the drawer door is inserted. [Figure 5B] This is the assembly process for the drawer door into the box body, with one side of the door frame inserted. [Figure 5C] This is the assembly process for the drawer door into the box body, with the other part of the door frame inserted. [Figure 5D] This is the assembly process for the drawer door into the box body, with the door frame released from its grip. [Figure 5E] This is the assembly process for the drawer door into the box body, with the drawer door being inserted at an angle. [Figure 5F] This is the assembly process for the drawer door onto the box body, with the drawer door in an almost horizontal position. [Figure 5G] This is the assembly process for the drawer door into the box body, showing the drawer door being inserted horizontally. [Figure 6] The diagrams show the positional relationship between the box body and the door frame when assembling the drawer door to the box body. The left diagram shows the case when the box body tilt is ±0°, the center diagram shows the case when the box body tilt is +θ, and the right diagram shows the case when the box body tilt is -θ. [Modes for carrying out the invention]

[0008] The following describes an embodiment for carrying out the present invention. However, this embodiment is not limited in any way to the following content and can be modified as desired without impairing the gist of the present invention.

[0009] Figure 1 is a diagram illustrating the assembly process of the drawer door in this embodiment. As shown in Figure 1, the automatic drawer door assembly device 100 of this embodiment automates the process of screwing the door frame 4 to the door panel 1 and assembling the drawer door 10 (which is constructed by screwing the door frame 4 to the door panel 1) to a predetermined position in the box body 20 (lower freezer compartment 20c, vegetable compartment 20d). Note that the process enclosed by the dashed line in Figure 1 is automated. Before this automated process, processes S1 and S2 are executed.

[0010] As shown in process S1, the door panel 1 is manufactured as a foamed door product. This door panel 1 is a rectangular plate and is composed of a front panel placed on the front, a rear panel placed on the rear, and a frame placed on the outer circumference between the front and rear panels, and is constructed by filling and foaming urethane inside. The rear panel is also called a liner and is constructed by molding synthetic resin.

[0011] As shown in step S2, a square-frame-shaped packing 2 is attached to the outer circumference of the back surface of the door panel 1. This packing 2 is for sealing and closing the gap between the door panel 1 and the peripheral edges of the openings of each storage compartment in the box body 20.

[0012] As shown in step S3, the door frame 4 (movable rail) is positioned on the back surface of the door panel 1, and the door frame 4 is screwed to the door panel 1 with a plurality of screws 5 (a total of six, three on each of the left and right sides) using a screw-tightening and transfer robot 50 (see Fig. 2) described below. The door frame 4 is made of metal and has left and right guide portions 4a, 4a extending from the back surface of the door panel 1 and fixing portions 4c, 4c for screwing (screw-tightening) to the door panel 1. Each fixing portion 4c is formed with a screw insertion hole 4d through which the screw 5 is inserted during screw-tightening. After the screw 5 is inserted into the screw insertion hole 4d and screwed into the screw hole 1s of the door panel 1, the door frame 4 is screwed to the door panel 1. In Fig. 1, the illustration of the roller 4e provided on the door frame 4 is omitted.

[0013] Then, as shown in step S4, the drawer door 10 obtained by screwing the door frame 4 to the door panel 1 is assembled at the position (lower freezer compartment 20c, vegetable compartment 20d) where the drawer door 10 of the cabinet 20 corresponds, using a door assembly robot 81 described below. In the following, the drawer door 10C corresponding to the lower freezer compartment 20c (storage compartment) of the cabinet 20 and the drawer door 10D corresponding to the vegetable compartment 20d (storage compartment) will be taken as examples for explanation (sometimes collectively referred to as the drawer door 10). These drawer doors 10C, 10D are wider and heavier than the drawer door 10A corresponding to the ice-making compartment 20a and the drawer door 10B corresponding to the upper freezer compartment 20b. Also, in the drawer doors 10C, 10D, unlike the drawer doors 10A, 10B, a connecting portion (joint portion) connecting the tips of the guide portions 4a, 4a is not provided.

[0014] Fig. 2 is a configuration diagram of the apparatus used in the automatic assembly method of the drawer door of the present embodiment. As shown in Fig. 2, the automatic drawer door assembly apparatus 100 is composed of a door loading and frame tightening apparatus 70 (refer to the broken line surrounding on the right side) that executes a door loading and frame tightening process and a door assembly apparatus 80 (refer to the broken line surrounding on the left side) that executes a door assembly process in combination. Also, the automatic drawer door assembly apparatus 100 includes a line for the drawer door 10C for the lower freezer compartment 20c and a line for the drawer door 10D for the vegetable compartment 20d.

[0015] The door and frame inserting and clamping device 70 is composed of a door and frame inserting part 71, a frame screw clamping part 72, a 2D image sensor 73 (two-dimensional image sensor), a screw clamping and transfer robot 50, and a door delivery part 75.

[0016] The door and frame inserting part 71 is used to manually insert the door panel 1 and the door frame 4 into the frame screw clamping part 72.

[0017] The frame screw clamping part 72 is a device that positions the door panel 1 (see Fig. 1) and the door frame 4 (see Fig. 1) so that screw clamping can be performed. When positioning, it is positioned so that the back surface of the door panel 1 faces upward, and on the door panel 1, the screw hole 1s (see Fig. 1) of the door panel 1 and the screw insertion hole 4d (see Fig. 1) formed in the fixing part 4c (see Fig. 1) of the door frame 4 are positioned to overlap each other. In addition, the frame screw clamping part 72 has a butting part (not shown) that abuts and fixes against two sides of the long side and the short side of the door panel 1, and a pressing part (not shown) that presses the remaining two sides of the long side and the short side. Also, the door frame 4 is positioned by adsorbing the guide part 4a using a magnet.

[0018] In addition, the frame screw clamping part 72 is supported movably on the rail 76. The door panel 1 and the door frame 4 are inserted, the positioning of the door panel 1 is performed, and the width dimension of the door panel 1 is confirmed.

[0019] The 2D image sensor 73 detects the position of the screw hole 1s (see Fig. 1) formed on the door panel 1. After detecting the position of the screw hole 1s, the position of the screw insertion hole 4d of the door frame 4 is adjusted.

[0020] In the door loading and frame fastening device 70, after the positioning of the door panel 1 and the door frame 4 is performed, the device moves to the position of the screw fastening and transfer robot 50. Two screw fastening and transfer robots 50 are used to fasten the screws on the door panel 1 and the door frame 4 of the drawer door 10. In other words, when the drawer door 10C for the lower freezer compartment 20c is transported, the two screw fastening and transfer robots 50 work together to fasten the screws on the drawer door 10C. Similarly, when the drawer door 10D for the vegetable compartment 20d is transported, the two screw fastening and transfer robots 50 work together to fasten the screws on the drawer door 10D. After fastening the screws, the drawer doors 10 (10C, 10D) are moved to the door transfer section 75.

[0021] The door transfer unit 75 is a platform on which the drawer door 10, after the screws have been tightened, is placed. When the drawer door 10 is placed on this platform, the door assembly robot 81 receives the drawer door 10 from the door transfer unit 75 and proceeds to the door assembly operation.

[0022] As shown in Figure 2, the door assembly device 80 is configured to include a door assembly robot 81 and a 3D image sensor 84 (three-dimensional image sensor). The 3D image sensor 84 is supported by a frame. The door assembly device 80 is also provided with a conveyor 85 for moving the box body 20 on which the drawer door 10 is assembled.

[0023] The door assembly robot 81 is comprised of a gripping hand 81a (gripping part) that grasps the door frame 4 and a suction hand 81b that suctions the door panel 1. The gripping hand 81a grasps the guide part 4a (see Figure 1) of the door frame 4 by sandwiching it from above and below with its two arms. The suction hand 81b is equipped with multiple suction cups that adhere to the surface of the door panel 1. The door assembly robot 81 also grasps the drawer door 10 placed on the door transfer section 75 with the gripping hand 81a, moves the drawer door 10, and assembles it to the position detected by the 3D image sensor 84. The 3D image sensor 84 is positioned directly above the door assembly robot 81 and above the lower freezer compartment 20c and vegetable compartment 20d, detecting the door assembly positions of the lower freezer compartment 20c and vegetable compartment 20d from an oblique angle above.

[0024] Figure 3 shows the orientation when the drawer door is handed over from the screw-tightening / transfer robot to the door assembly robot. As shown in Figure 3, when the door panel 1 and door frame 4 are inserted from the door / frame insertion section 71 (see Figure 2), the front surface 1a of the door panel 1 is positioned downwards and the back surface 1b is positioned upwards in the frame screw tightening section 72 (see Figure 2), as shown in the left diagram. In addition, the left and right guide sections 4a of the door frame 4 are positioned in the frame screw tightening section 72, extending in the vertical direction. Rollers 4e (bearings) are rotatably supported on the outer surface of the tip of these guide sections 4a. In this state, screw tightening is performed by the screw tightening / transfer robot 50.

[0025] Then, after tightening the screws, the screw-tightening and transfer robot 50 switches to a suction hand to grab the back surface 1b of the door panel 1 (see arrow P1) and move it to the door transfer section 75. At this time, as shown in the right diagram of Figure 3, the front surface (surface 1a) of the door panel 1 is positioned facing the door assembly device 80. In this embodiment, after tightening the screws, the orientation of the drawer door 10 is changed to a position that is easy for the door assembly robot 81 to grasp.

[0026] Then, the door assembly robot 81 (see Figure 2) of the door assembly device 80 grasps the door frame 4 with its gripping hand 81a, as indicated by arrow P2 in the right-hand diagram of Figure 3, and uses its suction hand 81b to hold the surface of the door panel 1, as indicated by arrow P3 in the right-hand diagram of Figure 3. The reason for using the suction hand 81b in addition to the gripping hand 81a is that the drawer door 10 would tilt if only the gripping hand 81a were used, so the suction hand 81b is used to fix it in place.

[0027] Figure 4 is a front view of the box body showing the detection position by the 3D image sensor. Note that Figure 4 shows the box body 20 with the drawer doors 10C and 10D removed. As shown in Figure 4, the lower freezer compartment 20c to which the drawer door 10C is assembled has a box rail 23R on the right side and a box rail 23L on the left side. These box rails 23R and 23L are formed extending in the direction perpendicular to the plane of the paper. Guide grooves 23a are formed in the box rails 23R and 23L, which guide the right door frame 4 (see Figure 3) of the drawer door 10. A box roller r1 is provided on the front side (entrance) of the right box rail 23R in the front-to-back direction (direction perpendicular to the plane of the paper). A box roller r2 is provided on the front side (entrance) of the left box rail 23L in the front-to-back direction (direction perpendicular to the plane of the paper). These box rollers r1 and r2 are supported within the guide grooves 23a so as to be rotatable around an axis extending in the left-to-right direction. Although not shown in the diagram, the vegetable compartment 20d is also equipped with box rails, guide grooves, and box rollers, similar to the lower freezer compartment 20c.

[0028] Furthermore, the gap S between the box body rollers r1, r2 and the box body rails 23R, 23L is narrower (smaller) than the gap between the box body rollers and box body rails in the ice-making compartment 20a and the upper freezer compartment 20b. Therefore, if the door frame 4 is to be assembled to the box body 20 while remaining horizontal, the rollers 4e of the door frame 4 (see Figure 3) will interfere with the box body rollers r1, r2, making assembly impossible. To address this, the drawer door 10 is inserted at an angle to the door frame 4 so that the rollers 4e of the drawer door 10 can overcome the box body rollers r1, r2.

[0029] Furthermore, the drawer doors 10 are assembled to the lower freezer compartment 20c and the vegetable compartment 20d, respectively, according to the rotation angle of the box body 20 and the distance from the box body 20 detected by the 3D image sensor 84.

[0030] Next, the assembly process of the drawer door 10 to the box body 20 will be explained with reference to Figures 5A to 5G. Figure 5A shows the assembly process of the drawer door to the box body, and is the state before the drawer door is inserted. Figure 5B shows the state with one side of the door frame inserted, Figure 5C shows the state with the other side of the door frame inserted, Figure 5D shows the state with the grip of the door frame released, Figure 5E shows the state with the drawer door inserted at an angle, Figure 5F shows the state with the drawer door almost horizontal, and Figure 5G shows the state in the process of inserting the drawer door horizontally. In Figures 5A to 5G, the upper figure shows the drawer door viewed from above, and the lower figure shows the drawer door 10 viewed from the right side.

[0031] As shown in the upper diagram of Figure 5A, the door assembly robot 81 grasps and positions the left and right door frames 4 with its gripping hand 81a, and then the door assembly robot's suction hand 81b uses its suction hand 81b to suction the surface 1a of the door panel 1. This suction hand 81b generates suction force by, for example, creating a vacuum by sucking the air between the door panel 1 and the suction pad of the suction hand 81b. In this way, by using both the gripping hand 81a and the suction hand 81b to suction, the heavy drawer door 10 is supported, preventing the door frame 4 from shifting when the drawer door 10 is assembled to the box body 20.

[0032] Then, the drawer door 10, held by the gripping hand 81a and the suction hand 81b, is moved to the front of the lower freezer compartment 20c (vegetable compartment 20d) of the box body 20. Also, the left and right door frames 4,4 (guide sections 4a,4a) and the box body rails 23R,23L are positioned facing each other.

[0033] Then, the gripping hand 81a that grasps the right guide section 4a and the gripping hand 81a that grasps the left guide section 4a are moved toward each other (in the direction of the white arrows in the upper diagram of Figure 5A) to set the distance between the guide sections 4a to a predetermined dimension L. This setting of the guide sections 4a to dimension L is performed by the robot of the straightening unit 81d, which moves the gripping hands 81a in the left-right direction. If the distance between the left and right door frames 4 is too narrow, the door frames 4 are moved toward each other in the opposite direction (straightened). The reason for straightening the door frames 4 in this way is that the left and right door frames 4 are not connected at their ends, and the drawer door 10 is large, causing variations in the distance between the ends of the left and right door frames 4. Also, the mounting surface (seat) for the door frames 4 is made of resin, and the position of the screw holes 1s is formed by molding, which affects the mounting position of the door frames 4, causing variations in the distance between the door frames 4. If such variations occur and the spacing between the door frames 4 is too large, the rollers 4e of the door frames 4 will interfere with the box rails 23R and 23L, making it impossible to assemble the drawer door 10 to the box 20. Conversely, if the spacing between the door frames 4 is too small, even if the door frames 4 can be inserted, they cannot be stably supported by the box rails 23R and 23L. For this reason, a corrective operation is performed to adjust the dimensions L to be appropriate for assembling the door frames 4 to the drawer door 10, which does not have a frame (connecting part) to connect the door frames 4.

[0034] The dimension L is determined by first detecting the position of the door frame 4 using a 2D image sensor 73 (see Figure 2) and pre-calculating the spacing of the guide sections 4a of the door frame 4. Then, in the process shown in Figure 5A, the spacing of the gripping hands 81a is adjusted to match the calculated dimension L.

[0035] Furthermore, as shown in the lower diagram of Figure 5A, the gripping hand 81a holds the guide portion 4a of the drawer door 10 by clamping it from above and below. The drawer door 10 is also held at an angle such that the front of the guide portion 4a is higher than the rear (sloping downwards from the front to the back). This angle is set to a value that allows it to pass over the box rollers r1 and r2 and be inserted into the box rails 23R and 23L. In the process shown in Figure 5A, the roller 4e of the door frame 4 is located in front of the box rollers r1 and r2 of the box rails 23R and 23L, and is also located above the box rollers r1 and r2. The reason why assembly is performed in this way is that the box rollers r1 and r2 are provided to prevent the drawer door 10 from falling off the box rails 23R and 23L, and the gap S between the box rollers r1 and r2 and the box rails 23R and 23L is narrowed. Therefore, if the door frame 4 (guide section 4a) is to be assembled to the box body 20 while remaining horizontal, the roller 4e of the door frame 4 will interfere with the box body roller r1, making assembly impossible. To address this, the door frame 4 is inserted at an angle so that the roller 4e of the drawer door 10 can overcome the box body rollers r1 and R2.

[0036] Then, as shown in the upper diagram of Figure 5B, with the drawer door 10 held by the gripping hand 81a and the suction hand 81b, rotate the drawer door 10 in the direction of arrow W1, tilting the right door frame 4 (one of the movable rails) toward the box body roller r1 of the box body rail 23R (one of the fixed rails). Then, insert the roller 4e of the right door frame 4 while pressing it against the box body rail 23R. Note that at this time, the left roller 4e is positioned in front of the box body roller r2.

[0037] Furthermore, as shown in the lower diagram of Figure 5B, the roller 4e of the right-hand door frame 4 is positioned above the box body roller r1 of the box body rail 23R, and the roller 4e has not completely passed the box body roller r1. Note that in Figure 5B, the left-hand door frame 4 and roller 4e, the box body rail 23L, and the box body roller r2 are not shown.

[0038] Then, as shown in the upper diagram of Figure 5C, with the door frame 4 (the other movable rail) held by the gripping hand 81a and the suction hand 81b, the door frame 4 is rotated in the opposite direction to that described above, in the direction of arrow W2, so that the guide portion 4a of the door frame 4 and the box rail 23L are parallel. As a result, the left roller 4e is inserted into the box rail 23L, and the positional relationship between the left roller 4e and the box roller r2 becomes the same as the positional relationship between the right roller 4e and the box roller r1, resulting in the state shown in the lower diagram of Figure 5C.

[0039] Then, as shown in the upper and lower diagrams of Figure 5D, the gripping hand 81a releases its grip on the door frame 4, leaving the drawer door 10 supported only by the suction hand 81b. In this case, the roller 4e of the door frame 4 is in the same position as in Figure 5C, inserted into the front end (front) of the box rails 23R and 23L, and has not completely passed the box rollers r1 and r2 of the box rails 23R and 23L.

[0040] Then, as shown in the upper and lower diagrams of Figure 5E, with the drawer door 10 held only by the suction hand 81b, the door frame 4 is inserted in the direction of arrow Y while maintaining its diagonal position. This causes the roller 4e of the door frame 4 to pass over the box body rollers r1 and r2 of the box body rails 23R and 23L. Figure 5E shows the state immediately after the roller 4e has passed behind the box body rollers r1 and r2.

[0041] Then, as shown in the upper and lower diagrams of Figure 5F, with the drawer door 10 held only by the suction hand 81b, the angle is changed around the roller 4e until the door frame 4 of the drawer door 10 is nearly horizontal.

[0042] Then, as shown in the upper and lower diagrams of Figure 5G, the suction hand 81b is released to make the drawer door 10 perfectly horizontal. Then, as shown in the lower diagram of Figure 5G, the push-in part 81c pushes the door panel 1 horizontally, fully inserting the drawer door 10 into the box body 20, and completing the assembly process of the drawer door 10. The push-in part 81c (robot with insertion hand) is, for example, a suction pad without an air-suction tube connected to it. By using an elastic material such as a suction pad, the door panel 1 is not damaged when the drawer door 10 is pushed into the box body 20.

[0043] Figure 6 shows the positional relationship between the box body and the door frame when the drawer door is assembled to the box body. The left figure shows the case when the box body tilt is ±0°, the center figure shows the case when the box body tilt is +θ, and the right figure shows the case when the box body tilt is -θ. By the way, the box body 20 moves along the conveyor belt 85, with the front of the box body 20 facing the door assembly robot 81. At this time, the box body 20 moves along the conveyor belt 85 at varying angles. This angle is the direction of rotation around the vertical axis g of the box body 20 (see the left diagram in Figure 6). In other words, the angle is the angle of inclination of the box body 20 with respect to its widthwise axis relative to the direction of travel of the conveyor belt 85 (see the white arrow).

[0044] The left diagram in Figure 6 shows the case where the tilt of the box body 20 is ±0°. First, with the door frame 4 tilted towards the box body rail 23R (one of the fixed rails), the roller 4e is inserted while being pressed against the box body rail 23R. Then, the tilt is returned to its original position, and the roller 4e of the left side (lower side in the diagram) of the door frame 4 is inserted into the box body rail 23L. Note that in the left diagram of Figure 6, the right roller 4e is inserted first, but conversely, the left roller 4e may be inserted first, and then the right roller 4e may be inserted.

[0045] The central diagram in Figure 6 shows the case where the tilt of the box body 20 is +θ, and it is tilted so that the right side (upper side in the diagram) of the box body 20 is in front and the left side (lower side in the diagram) is in the rear (back). In this case as well, similar to the left diagram in Figure 6, the door frame 4 is first tilted toward the box body rail 23R, and the roller 4e is inserted while being pressed against the box body rail 23R, and then the roller 4e of the left side (lower side in the diagram) door frame 4 is inserted into the box body rail 23L.

[0046] The right-hand diagram of Figure 6 shows the case where the box body 20 is tilted at -θ, and it is tilted so that the right side (upper side in the diagram) of the box body 20 is at the rear (back) and the left side (lower side in the diagram) is at the front, as it rotates counterclockwise around axis g. In this case, first, the left (lower side in the diagram) door frame 4 is tilted towards the box body rail 23L, and the roller 4e is inserted while being pressed against the box body rail 23L, and then the roller 4e of the right (upper side in the diagram) door frame 4 is inserted into the box body rail 23R.

[0047] As described above, the automatic drawer door assembly device of this embodiment is an automatic drawer door assembly device 100 that assembles drawer doors 10 (10C, 10D), which have two door frames 4 (movable rails), to a box body 20 that has a lower freezer compartment 20c and a vegetable compartment 20d (storage compartment) with two box body rails 23R, 23L (fixed rails). The right door frame 4 (one movable rail) of the drawer door 10 is matched to the box body rail 23R (one fixed rail), and then the left door frame 4 (the other movable rail) of the drawer door 10 is matched to the box body rail 23L (the other fixed rail). With this, even if the drawer door 10 is wide and heavy and there is a large variation in the mounting position of the door frame 4, the door frame 4 will not interfere with the box body rails 23R, 23L, and the automatic assembly of the drawer door 10 to the box body 20 will be made easier.

[0048] Furthermore, this embodiment is an automatic drawer door assembly method for assembling drawer doors 10 (10C, 10D), each having two door frames 4 (movable rails), to a box body 20 equipped with a lower freezer compartment 20c and a vegetable compartment 20d (storage compartment) each having two box rails 23R, 23L (fixed rails). The method involves first associating the right door frame 4 (one movable rail) of the drawer door 10 with the box rail 23R (one fixed rail), and then associating the left door frame 4 (the other movable rail) of the drawer door 10 with the box rail 23L (the other fixed rail). This makes it possible to assemble the drawer door 10 to the box body 20 without the door frames 4 interfering with the box rails 23R, 23L, even in drawer doors 10 that are wide and heavy and have large variations in the mounting position of the door frames 4.

[0049] Furthermore, in this embodiment, aligning the right door frame 4 of the drawer door 10 with the box rail 23R means tilting the door frame 4 towards the box rail 23R and pressing the roller 4e of the right door frame 4 against the box rail 23R for insertion, while aligning the left door frame 4 of the drawer door 10 with the box rail 23L means inserting the door frame 4 into the box rail 23L while returning it to its original position. Even if there is a large variation in the mounting position of the door frame 4 of the drawer door 10, the roller 4e of the door frame 4 will not interfere with the box rails 23R and 23L, making it possible to assemble the drawer door 10 to the box 20.

[0050] Furthermore, this embodiment includes a 3D image sensor 84 that detects the rotation angle of the box body 20 and the distance to the box body 20. This makes it possible to determine whether the drawer door 10 can be assembled to the box body 20.

[0051] Furthermore, this embodiment includes a gripping hand 81a for gripping the door frame 4, and a correcting unit 81d for correcting the spacing of the door frames 4 while the door frames 4 are gripped by the gripping hand 81a. With this, even if the door frames 4 have large variations in their mounting positions, the spacing of the door frames 4 can be corrected to a position that makes it easier to install the drawer door 10.

[0052] Furthermore, in this embodiment, a push-in part 81c is provided for pushing the drawer door 10 into the box body 20 with the door frame 4 in a horizontal position, and the push-in part 81c is equipped with a suction pad. This prevents the drawer door 10 from being damaged when it is pushed into the box body 20.

[0053] Furthermore, this embodiment includes a 2D image sensor 73 that detects the position for screwing the door frame 4 to the door panel 1 of the drawer door 10. This allows it to determine whether the door frame 4 is in a position where the drawer door 10 can be assembled to the box body 20.

[0054] Furthermore, in this embodiment, the gripping hand 81a is inserted with the door frame 4 tilted downwards toward the back. This prevents the roller 4e of the door frame 4 from colliding with the box body rollers r1 and r2 of the box body rails 23R and 23L. [Explanation of Symbols]

[0055] 1 Door plate 1a surface 1b back side 2. Packing 4. Door frame (movable rail) 4a Guide section 4c Fixed part 4d Screw insertion hole 4e Laura 5 screws 10, 10C, 10D Drawer Door 20 box body 20°C Lower freezer compartment (storage compartment) 20d Vegetable compartment (storage room) 23R, 23L Box-type rail (fixed rail) 23a Guide groove 50 Screw tightening and transfer robots 70 Door insertion and frame closing device 71 Door / frame insertion section 72 Frame screw tightening section 73 2D Image Sensor (Two-Dimensional Image Sensor) 75 Door handover section 80 Door assembly device 81 Door assembly robot 81a Gripping hand (gripping part) 81b Suction Hand 81c Push part 81d Orthodontics 84 3D Image Sensors (3D Image Sensors) 85 Conveyor 100 Automatic drawer door assembly device r1, r2 Box-type rollers

Claims

1. An automatic drawer door assembly device for assembling a drawer door, which has two movable rails, to a box-shaped body having a storage compartment with two fixed rails, An automatic drawer door assembly device that inserts one of the movable rails of the drawer door into one of the fixed rails, and then inserts the other movable rail of the drawer door into the other fixed rail.

2. An automatic drawer door assembly device according to claim 1, Inserting one of the movable rails of the drawer door into the other fixed rail means inserting the movable rail by pressing it against the other fixed rail while the movable rail is tilted toward the side of the other fixed rail. An automatic drawer door assembly device in which inserting the movable rail of the other drawer door into the fixed rail of the other drawer door means inserting the movable rail into the fixed rail of the other drawer door while returning the tilt of the movable rail to its original position.

3. An automatic drawer door assembly device according to claim 1, An automatic drawer door assembly device equipped with a three-dimensional image sensor that detects the rotation angle of the box and the distance to the box.

4. An automatic drawer door assembly device according to claim 1, A gripping portion for gripping the aforementioned movable rail, An automatic drawer door assembly device comprising: a straightening unit for correcting the spacing of the movable rails while the movable rails are being gripped by the gripping unit;

5. An automatic drawer door assembly device according to claim 1, With the movable rail in a horizontal position, the drawer door is pushed into the box body by a push-in mechanism. The aforementioned pushing section is an automatic drawer door assembly device equipped with a suction pad.

6. An automatic drawer door assembly device according to claim 1, An automatic drawer door assembly device comprising a two-dimensional image sensor that detects the position for screwing the movable rail to the door panel of the drawer door.

7. An automatic drawer door assembly device according to claim 4, The gripping part is an automatic drawer door assembly device that inserts the movable rail while tilted downwards toward the rear.

8. An automatic drawer door assembly method for assembling a drawer door, which has two movable rails, to a box body having a storage compartment with two fixed rails, An automatic assembly method for a drawer door, comprising inserting one of the movable rails of the drawer door into one of the fixed rails, and then inserting the other movable rail of the drawer door into the other fixed rail.

Images