Door separation device that is used for multi kinds of vehicles

A door separation device that is used for various kinds of vehicles to detach a door that is mounted on a vehicle body through a door hinge in a door separation process may include an upper side gripper and lower side gripper that is respectively on a base frame that can be mounted on an arm end of a robot and is movable in an upper and lower direction, and grips an upper end and a lower end of a door, a moving frame that is disposed on the base frame to be movable in a transfer direction of a vehicle body, and an upper side bolt separation unit and a lower side bolt separation unit that respectively has a pair of motorized runners for separating a bolt that is engaged with a door and an upper side hinge and a lower side hinge of a vehicle body.

CROSS-REFERENCE TO RELATED APPLICATION

The present application claims priority to Korean Patent Application No. 10-2013-0081606 filed on Jul. 11, 2013, the entire contents of which is incorporated herein for all purposes by this reference.

BACKGROUND OF THE INVENTION

Field of the Invention

An exemplary embodiment of the present invention is related to a door separation device that is used for various kinds of vehicles. More particularly, the present invention relates to a door separation device that is used for various kinds of vehicles so as to mount fittings in a vehicle body in a fitting process.

Description of Related Art

Generally, a mounting quality of a front door and a rear door of a vehicle is a core item that decides an inner side and an outer side quality of a vehicle. A component precision enhancement and a door mounting process quality enhancement are simultaneously necessary so as to improve the mounting quality of the door.

When a door is assembled on a vehicle body on a vehicle assembly line, a door hinge is mounted on a vehicle body through a door hinge mounting jig and a door is mounted on the door hinge, in a condition that a door is set on a vehicle body through a door mounting jig in a vehicle body factory of a vehicle assembly line.

Then, a gap and a height difference that is formed between a vehicle body and a door is measured in a gap and a height difference measuring process, and the gap and the height difference of the door are adjusted depending on the measured data.

Meanwhile, a vehicle body that the door is assembled on a vehicle body is transferred to a fitting factory through a transfer line. The door is separated from the door hinge so as to mount various kinds of fittings in a vehicle body in a fitting factory.

In this case, the door that is separated from the vehicle body is transferred to a next process through a transfer line and a hanger and the vehicle body passes a chassis mounting process, a final process, and so on to enter into a door mounting process, in a condition that various kinds of fittings are mounted therein.

In the separation process as described above, because the door that is assembled in a vehicle body factory is not fixed by a striker on a vehicle body and is fixed by a door fixation band, a door fixation band has to be eliminated so as to separate the door from the vehicle body.

Then, in a condition that the door is opened from the vehicle body in a separation process and the door is gripped by a loader, a manual tool is used to separate an engagement bolt that is engaged with a door hinge and a door, the door is separated from the vehicle body, and the door is put on a hanger.

As describe above, the manual tool is used to separate an engagement bolt and a series of process that separates a door from a vehicle body is performed by about four workers so as to separate a door from a vehicle body that is different from each other depending on the kinds of vehicles in a narrow space and with an uncomfortable pose.

BRIEF SUMMARY

Various aspects of the present invention are directed to providing a door separation device that is used for various kinds of vehicles having advantages of automatically separating a door from various kinds of vehicles in a separation process of a fitting factory.

In an aspect of the present invention, the door separation device that is used for various kinds of vehicles to detach a door that is mounted on a vehicle body through a door hinge in a door separation process, may include an upper side gripper and a lower side gripper that are respectively mounted on a base frame that is configured to be mounted on an arm end of a robot, wherein the upper side gripper and the lower side gripper are movable in an upper direction and a lower direction of the base frame, and selectively grip an upper end and a lower end of the door, a moving frame that is disposed on the base frame to be movable in a transfer direction of the vehicle body, and an upper side bolt separation unit and a lower side bolt separation unit that are mounted to the moving frame and respectively may have a pair of motorized runners for separating a bolt that is engaged with the door and an upper side hinge and a lower side hinge of the vehicle body.

The motorized runners are disposed to be configured to reciprocate in a vehicle width direction on the upper side bolt separation unit and the lower side bolt separation unit.

The lower side bolt separation unit is disposed on the moving frame to move in an upper and lower direction corresponding to a distance between door hinges based on the upper side bolt separation unit.

The upper side bolt separation unit and the lower side bolt separation unit are rotatably disposed on the moving frame in an upper direction and a lower direction corresponding to an engagement angle of the door hinge.

The door separation device may include a plurality of vision sensors that is disposed on the base frame to detect a position of the bolt of the door hinge.

The upper side gripper may include a first gripper arm that is slidably disposed on a first moving element disposed on the base frame to be configured to reciprocate in the upper direction and the lower direction, and a first attachment that is disposed on the first gripper arm to support the upper end of the door.

The lower side gripper may include a second gripper arm that is disposed on a second moving element disposed on the base frame and is disposed on one straight line passing the first moving element to reciprocate in the upper and lower direction, and a second attachment that is disposed on the second gripper arm to support the lower end of the door.

The second attachment is disposed on the second gripper arm to be configured to swivel through a ball joint and a swivel pad corresponding to a lower end portion angle of the door.

The moving frame is disposed on the base frame to reciprocate in the transfer direction of the vehicle body by a third moving element having an operating cylinder.

The upper side bolt separation unit may include a first mounting bracket that is rotatably disposed on an upper side of the moving frame through a first rotation element, and a first pair of motorized runners is disposed on the first mounting bracket through each fourth moving element to reciprocate in a width direction of a vehicle.

The lower side bolt separation unit may include a second mounting bracket that is rotatably disposed at a lower side of the moving frame through a second rotation element, and a second pair of motorized runners is disposed on the second mounting bracket to reciprocate in the width direction of the vehicle through each fifth moving element.

The lower side bolt separation unit is disposed on the moving frame through a sixth moving element having an operating cylinder to reciprocate in the upper direction and the lower direction.

The motorized runners may include a motorized nut runner portion and a bolt socket portion that is connected to the motorized nut runner portion.

In another aspect of the present invention, a door separation device that is used for various kinds of vehicles to detach a door that is mounted on a vehicle body through a door hinge in a door separation process, may include a base frame that is disposed on an arm end of a robot, an upper side gripper and a lower side gripper that are disposed on the base frame and is movable in an upper direction and a lower direction to grip an upper end and a lower end of the door, a moving frame that is disposed on the base frame to be movable in a transfer direction of the vehicle body, an upper side bolt separation unit that is disposed to an upper side of the moving frame to be movable in a width direction of a vehicle, and may include a first pair of motorized runners that separate a bolt that is engaged with an upper side door hinge of a vehicle body and a door, a lower side bolt separation unit that is disposed to reciprocate in the width direction of the vehicle, may include a second pair of motorized runners that separate a bolt that is engaged with a lower side door hinge of the vehicle body and the door, and is disposed at a lower side of the moving frame to reciprocate in an upper and lower direction corresponding to a distance distribution between door hinges based on the upper side bolt separation unit, a rotation element that is disposed on the moving frame and respectively rotates the upper side bolt separation unit and the lower side bolt separation unit corresponding to an engagement angle distribution of the door hinge, and a plurality of vision sensors that is disposed on the base frame to detect a position of a bolt of the door hinge.

The moving frame reciprocates on the base frame in the transfer direction of the vehicle body through an operating cylinder and a guider.

The lower side bolt separation unit reciprocates on the moving frame in the upper and lower direction through an operating cylinder and a guider.

The upper side gripper and the lower side gripper reciprocate on the base frame in the upper direction and the lower direction through a drive motor and a LM (Linear Motion) module respectively.

The motorized runners reciprocate on the moving frame in the width direction of the vehicle through an operating cylinder and a guider.

The vision sensor detects a trim hole that is formed in an inner panel of the door.

The motorized runners may include a motorized nut runner portion having an operating unit at a first side end portion thereof and a bolt separation socket portion that is connected to a second side end portion of the motorized nut runner portion.

An exemplary embodiment of the present invention varies the position of the motorized runner corresponding to a door, a distance between a door hinge, and an engagement angle of a door hinge that is respectively different from each other depending on the kinds of vehicles such that the door is automatically separated from the vehicle body.

Accordingly, because the door is automatically separated from the vehicle body in an exemplary embodiment of the present invention, a work time for separating the door is reduced, the work is convenient, and a separation of a painting film of an inner panel is prevented, wherein the separation of the painting film is caused by an interference between a bolt separation tool and a door inner panel in a narrow space.

Also, because the door is automatically separated in a fitting factory in an exemplary embodiment of the present invention, a cycle time and work force in the fitting factory can be reduced, a safety accident and a physical damage of a worker can be reduced, and production cost and investment cost of the vehicle can be saved.

Further, because the position of the motorized runner is adjusted corresponding to a door, a distance between a door hinge, and an engagement angle of a door hinge that is different from each other depending on the kinds of vehicles in an exemplary embodiment of the present invention, the flexible productivity of various kinds of vehicles is improved.

DETAILED DESCRIPTION

Portions having no relation with the description will be omitted in order to explicitly explain an exemplary embodiment of the present invention, and the same reference numerals will be used for the same or similar elements throughout the specification.

In the drawings, size and thickness of each element is approximately shown for better understanding and ease of description. Therefore, the present invention is not limited to the drawings, and the thicknesses of layers, films, panels, regions, etc., are exaggerated for clarity.

Discriminating the names of components with the first, the second, etc. in the following description is for discriminating them for the same relationship of the components and the components are not limited to the order in the following description.

Throughout the specification, unless explicitly described to the contrary, the word “include” and variations such as “comprises” or “comprising”, will be understood to imply the inclusion of stated elements but not the exclusion of any other elements.

In addition, the terminologies such as “ . . . unit”, “ . . . means”, “ . . . part”, or “ . . . member”, which are disclosed in the specification, refer to a unit of an inclusive constituent which performs at least one of the functions or operations.

FIG. 1shows an engagement state that a vehicle body and a door are engaged with each other by using a door separation device that is used in various kinds of vehicles according to an exemplary embodiment of the present invention,FIG. 2is a perspective view showing a door separation device that is used in various kinds of vehicles according to an exemplary embodiment of the present invention.

Referring toFIG. 1andFIG. 2, a door separation device100that is used in various kinds of vehicles according to an exemplary embodiment of the present invention can be applied to a separation process that separates a door3that is assembled on a vehicle body1in a vehicle body factory of a vehicle assembly line. The door3is separated from the vehicle body1so as to mount fittings in the vehicle body1in a fitting factory.

For example, a door hinge5is mounted on a vehicle body1through a door hinge assemble jig in a vehicle body factory of a vehicle assembly line, and a door3is engaged therewith through a bolt.

In a vehicle body factory, a door3is not fixed on a vehicle body1through a striker, in a condition in which a door fixation band is used to fix a door3corresponding to a vehicle body1, a vehicle body1is transferred to a fitting factory.

Accordingly, the door fixation band is eliminated in a separation process of a fitting factory, a door3is opened from a vehicle body1, and a bolt that is engaged on the door hinge5and the door3is disjointed by a door separation device that is used in various kinds of vehicles according to an exemplary embodiment of the present invention.

In this case, in a condition that a door hinge5is engaged with an upper side and a lower side of a front side pillar and a rear side pillar at a side assembly6of a vehicle body1, the door hinge5can be engaged with the door3through a bolt.

The door hinge5includes a vehicle body side hinge bracket that is combined with a vehicle body side, a door side hinge bracket that is combined with a door side, and a hinge pin that combines the vehicle body side hinge bracket and the door side hinge bracket through a hinge structure.

Here, the door hinge5that is mounted on an upper side and a lower side of a pillar of the vehicle body1is engaged with the door3through a pair of bolts. Further, a distance between the door hinge5that is respectively mounted on a pillar upper side and lower side of the vehicle body1is different depending on the kinds of vehicles, and the engagement angle of the door hinge5with the door3can be different depending on the kinds of vehicle.

In an exemplary embodiment of the present invention, a door3is opened from a vehicle body1that is transferred along a transfer line, the opened door3is separated from the body1in a separation process of a fitting factory, and therefore the direction that this device100is positioned on the door3can be defined to a transfer direction of the vehicle body1.

A transfer direction of a vehicle body is a T direction, a width direction of a vehicle body is a L direction, and a height direction of a vehicle body is a H direction in a field of this art, in an exemplary embodiment of the present invention, the direction is not defined by the LTH direction, the direction is defined by a transfer direction of a vehicle body, a vehicle width direction, and a height direction.

The door separation device100that is used in various kinds of vehicles according to an exemplary embodiment of the present invention has a structure that the door3is automatically separated from the vehicle body1having various kinds in a separation process of a fitting factory.

That is, an exemplary embodiment of the present invention provides a door separation device100that is used in various kinds of vehicle corresponding to different kinds of door3, a different distance between door hinges5, and a different engagement angle of the door hinge5so as to automatically separate the door3.

For this, the door separation device100that is used in various kinds of vehicles according to an exemplary embodiment of the present invention includes a base frame10, an upper side gripper20, a lower side gripper30, a moving frame40, an upper side bolt separation unit50, a lower side bolt separation unit70, and a vision sensor90.

The base frame10is mounted or separated on or from a front end of the arm9of the robot7and includes a tool changer11that is selectively combined on a front end of the arm9of the robot7.

All constituent elements that will be described can be mounted on the base frame10that is described above. The base frame10is used to support the constituent elements and has auxiliary elements such as a block, a plate, a housing, a cover, a collar, and so on.

However, the auxiliary elements is used to mount each constituent elements on the base frame10, and the auxiliary elements can be called as a base frame10except exceptional cases in an exemplary embodiment of the present invention.

For example, the base frame10has a structure that unit frames having a bar shape are connected in a horizontal direction and a vertical direction.

In an exemplary embodiment of the present invention, the upper side gripper20grasps an upper end portion of the door3, for example, a door belt line side of the door3and is disposed to reciprocate in an upper direction and a lower direction at an upper side of the base frame10.

The upper side gripper20includes a first gripper arm21and a first attachment22. The first gripper arm21is disposed to reciprocate in an upper direction and a lower direction at an upper side of the base frame10by the first moving element23.

Here, the first moving element23is a motorized unit that moves in an upper direction and a lower direction and is disposed in an upper and lower direction at an upper side of the base frame10. The first moving element23includes a first drive motor24and a first LM module25.

The first drive motor24is disposed on the base frame10, and the first LM module25is connected to the first drive motor24and is disposed on the base frame10. The first gripper arm21is slidably combined with the first LM module25to transform rotation movement of the first drive motor24to a linear straight movement, which can be a LM guide having a housing, a guide rail, a guide block, and a lead screw.

The first moving element23includes a LM movement device that has well known to a person skilled in the art, and further description thereof will be omitted in this specification.

Accordingly, when the first drive motor24of the first moving element23is operated, the first LM module25transforms rotation movement of the first drive motor24to a linear straight movement such that the first gripper arm21can reciprocate in an upper and lower direction through the first LM module25.

The first attachment22is supports an upper end portion of the door3to be disposed on an end portion of the first gripper arm21and has a U shape that is opened toward a lower side to have a wider type attachment.

As an alternative embodiment, it is described that the number of the first attachment22of the upper side gripper20is one and is disposed at an end portion of the first gripper arm21in an exemplary embodiment of the present invention, but it is not limited thereto, another first attachment22can be disposed at an end portion that is combined with a LM module of the first gripper arm21.

That, two first attachments22of the upper side gripper20according to an exemplary embodiment of the present invention can grasp both sides of an upper end portion of the door3.

In an exemplary embodiment of the present invention, the lower side gripper30grasps or supports a lower end portion of the door3and can be disposed to be reciprocate in an upper and lower direction on the base frame10according to an the upper side gripper20.

The lower side gripper30includes the second gripper arm31and the second attachment32. The second gripper arm31can be disposed at a lower side of the base frame10to reciprocate in an upper and lower direction by the second moving element33.

Here, the second moving element33is a motorized unit that moves in an upper and lower direction to be disposed at a lower side of the base frame10in an upper and lower direction and is disposed at one straight line corresponding to the first moving element23. The second moving element33includes a second drive motor34and a second LM module35.

The second drive motor34is disposed on the base frame10and the second LM module35is connected to the second drive motor34to be disposed on the base frame10. The second gripper arm31is slidably combined with the second LM module35to transform rotation movement of the second drive motor34to a linear straight movement and can have a LM guide having a housing, a guide rail, a guide block, and a lead screw LM guide.

The second moving element33includes a LM movement device that has well known to a person skilled in the art, and further description thereof will be omitted in this specification.

Accordingly, when the second drive motor34of the second moving element33is operated, the second LM module35transforms rotation movement of the second drive motor34to a linear straight movement such that the second gripper arm31can reciprocate in an upper and lower direction through the second LM module35.

The second attachment32is supports a lower end portion of the door3to be disposed on an end portion of the second gripper arm31and has a U shape that is opened toward an upper side to have a wider type attachment.

Meanwhile, in an exemplary embodiment of the present invention, the second attachment32of the lower side gripper30can be disposed at a free end portion of the second gripper arm31to swivel corresponding to an angle of a lower end of the door3.

For this, as shown inFIG. 3, a ball joint37is fixed on a free end of the second gripper arm31and a swivel pad39is combined on the ball joint37to swivel. And, the second attachment32is fixed on the swivel pad39.

Accordingly, in a case in which the second gripper arm31is moved in an upper and lower direction through the second moving element33and the door3is grasped by the second attachment32, the second attachment32is swiveled by the ball joint37and the swivel pad39to absorb a lower end angle of the door3such that the lower end thereof is grasped.

Referring toFIG. 1andFIG. 2, in an exemplary embodiment of the present invention, the moving frame40is used to a mount upper side bolt separation unit50and a lower side bolt separation unit70that will be described later and is disposed on the base frame10to reciprocate in a transfer direction of the vehicle body1(refers toFIG. 4).

The moving frame40has a structure that unit frames having bar type are connected in a horizontal direction and a vertical direction and a separate plate is attached on the unit frame and can reciprocate in a transfer direction of the vehicle body1by the third moving element41as shown inFIG. 4.

The third moving element41is used to move the moving frame40in a transfer direction of the vehicle body1on the base frame10and includes a first operating cylinder43and a pair of first guider45.

The first operating cylinder43is fixed on the base frame10and is connected to the moving frame40through the first operating rod44.

The first guider45is respectively disposed at an upper side and a lower side between the base frame10and the moving frame40based on the drawing. The first guider45includes a first guide rail47that is fixed on the base frame10and a first guide block49that is fixed on the moving frame40to be slidably combined with the first guide rail47.

Accordingly, when the first operating cylinder43is operated, the first operating rod44is moved forward or backward, the moving frame40slides along the first guide rail47through the first guide block49and can reciprocate in a transfer direction of the vehicle body1on the base frame10.

Referring toFIG. 1andFIG. 2, in an exemplary embodiment of the present invention, the upper side bolt separation unit50grasps an upper end portion and a lower end portion of the door3through the upper side gripper and the lower side gripper20and30and is used to disjoint an upper side door hinge5and a pair of bolts that is engaged with the door3of the vehicle body1.

The upper side bolt separation unit50is rotatably disposed at an upper side of the moving frame40in an upper and lower direction corresponding to an engagement angle of the upper side door hinge5of the vehicle body1that is different depending on the kinds of a vehicle.

The upper side bolt separation unit50includes a first mounting bracket51that is disposed at an upper side of the moving frame40and a pair of first motorized runner52that is disposed at the first mounting bracket51.

FIG. 5andFIG. 6shows an upper side bolt separation unit and a lower side bolt separation unit that is used in various kinds of vehicles according to an exemplary embodiment of the present invention.

Referring toFIG. 5andFIG. 6, in the upper side bolt separation unit50according to an exemplary embodiment of the present invention, the first mounting bracket51is used to mount a pair of first motorized runners52that will be described later and is rotatably disposed at an upper side of the moving frame40through the first rotation element53in an upper and lower direction.

The first mounting bracket51includes a pair of mounting base54that are in parallel with each other and is disposed in a width direction of a vehicle width direction and a rotation base55that is connected to the mounting base54to be combined with the first rotation element53that will be described later.

Here, the first rotation element53is an operating source that rotates the first mounting bracket51on the moving frame40in an upper and lower direction, is fixed on an upper side of the moving frame40, and is connected to the rotation base55of the first mounting bracket51.

The first rotation element53includes a servo motor that is well known to a person skilled in this art so as to offer a torque and a harmonic drive so as to decelerate the rotation speed of the servo motor.

The harmonic drive of them has high rotation precision having a low back lash in a gear structure, the size thereof is smaller than that of a deceleration unit of an equal capacity and the vibration thereof is low, and therefore the harmonic drive has been used as a rotation shaft deceleration unit of a robot.

The pair of first motorized runner52is used to disjoint the upper side door hinge5of a vehicle body1and a pair of bolts that is engaged with the door3in a motorized method, is respectively disposed on the mounting base54of the first mounting bracket51in a width direction of vehicle, and is disposed on the mounting base54through the fourth moving element57to reciprocate in a width direction of a vehicle.

Each first motorized runner52includes a motorized nut runner portion59having an operating unit58such as a motor at one side end portion and a bolt disjoint socket portion61that is connected to the other end portion of the motorized nut runner portion59.

The motorized nut runner portion59is rotated by the operating unit58, and the bolt disjoint socket portion61is combined with a bolt that engages the upper side door hinge5and the door3and receives torque from the motorized nut runner portion59to disjoint the bolt.

The first motorized runner52is a motorized nut runner device that is well known to a person skilled in this art, and the detailed description thereof will be omitted.

Meanwhile, each fourth moving element57that is configured to reciprocate a pair of first motorized runner52in a width direction of a vehicle on the mounting base54of the first mounting bracket51includes a second operating cylinder63and a second guider65.

The second operating cylinder63is fixed on the mounting base54of the first mounting bracket51and is substantially connected to the first motorized runner52through the second operating rod64.

The second guider65includes a first connection bracket66that is connected to the second operating rod64of the second operating cylinder63, a first moving block67that is fixed on the first connection bracket66and is combined with the motorized nut runner portion59of the first motorized runner52, a second guide rail68that is fixed on the mounting base54of the first mounting bracket51, and a second guide block69that is fixed on the first connection bracket66and is slidably combined with second guide rail68.

Accordingly, when the second operation cylinder63is operated to move forward or backward the second operating rod64, the first connection bracket66can reciprocate in a width direction of a vehicle through the second guide block69along the second guide rail68.

Thereby, because a pair of first motorized runner52is fixed on the first connection bracket66through the first moving block67, the first connection bracket66can reciprocate in a width direction of a vehicle width direction.

Referring toFIG. 1andFIG. 2, in an exemplary embodiment of the present invention, the lower side bolt separation unit70grasps an upper end portion and a lower end portion of the door3through the upper side gripper and lower side gripper20and30and disjoints a pair of bolts that are engaged with a lower side door hinge5of a vehicle body1and the door3, in a condition in which the moving frame40is moved to the door3side along the transfer direction of the vehicle body1.

The lower side bolt separation unit70is rotatably disposed at a lower side of the moving frame40in an upper and lower direction corresponding to an engagement angle of the lower side door hinge5of the vehicle body1that is different depending on kinds of a vehicle.

And, the lower side bolt separation unit70is disposed to reciprocate in an upper and lower direction on the moving frame40at a lower side of the upper side bolt separation unit50corresponding to a distance between an upper side and a lower side of the door hinge5of the vehicle body1side.

The lower side bolt separation unit70includes a second mounting bracket71that is disposed at a lower side of the moving frame40and a pair of second motorized runner72that is disposed at the second mounting bracket71.

Referring toFIG. 5andFIG. 6, in the lower side bolt separation unit70according to an exemplary embodiment of the present invention, the second mounting bracket71is used to mount a pair of second motorized runners72that will be described later and is rotatably disposed at an upper side of the moving frame40through the second rotation element53in an upper and lower direction.

The second mounting bracket71includes a pair of mounting base74that are in parallel with each other and is disposed in a width direction of a vehicle width direction and a rotation base75that is connected to the mounting base74to be combined with the second rotation element73that will be described later.

Here, the second rotation element73is an operating source that rotates the second mounting bracket71on the moving frame40in an upper and lower direction, is fixed on an upper side of the moving frame40, and is connected to the rotation base75of the second mounting bracket71.

The second rotation element73includes a servo motor that is well known to a person skilled in this art so as to offer a torque and a harmonic drive so as to decelerate the rotation speed of the servo motor.

The harmonic drive of them has high rotation precision having a low back lash in a gear structure, the size thereof is smaller than that of a deceleration unit of an equal capacity and the vibration thereof is low, and therefore the harmonic drive has been used as a rotation shaft deceleration unit of a robot.

The pair of second motorized runner72is used to disjoint the upper side door hinge5of a vehicle body1and a pair of bolts that is engaged with the door3in a motorized method, is respectively disposed on the mounting base74of the second mounting bracket71in a width direction of vehicle, and is disposed on the mounting base54through the fifth moving element77to reciprocate in a width direction of a vehicle.

Each second motorized runner72includes a motorized nut runner portion79having an operating unit88such as a motor at one side end portion and a bolt disjoint socket portion81that is connected to the other end portion of the motorized nut runner portion79.

The motorized nut runner portion79is rotated by the operating unit78, and the bolt disjoint socket portion81is combined with a bolt that engages the upper side door hinge5and the door3and receives torque from the motorized nut runner portion79to disjoint the bolt.

The second motorized runner72is a motorized nut runner device that is well known to a person skilled in this art, and the detailed description thereof will be omitted.

Meanwhile, each fifth moving element77that is configured to reciprocate a pair of second motorized runner72in a width direction of a vehicle on the mounting base74of the second mounting bracket71includes a third operating cylinder83and a third guider85.

The third operating cylinder83is fixed on the mounting base54of the second mounting bracket71and is substantially connected to the second motorized runner72through the third operating rod84.

The third guider65includes a second connection bracket86that is connected to the third operating rod84of the third operating cylinder83, a second moving block87that is fixed on the second connection bracket86and is combined with the motorized nut runner portion79of the second motorized runner72, a third guide rail88that is fixed on the mounting base54of the second mounting bracket71, and a third guide block89that is fixed on the second connection bracket86and is slidably combined with the third guide rail88.

Accordingly, when the third operation cylinder83is operated to move forward or backward the third operating rod84, the second connection bracket86can reciprocate in a width direction of a vehicle through the third guide block89along the third guide rail88.

Thereby, because a pair of second motorized runner72is fixed on the second connection bracket86through the second moving block87, the second connection bracket86can reciprocate in a width direction of a vehicle width direction.

Meanwhile, as described above, the lower side bolt separation unit70according to an exemplary embodiment of the present invention can be disposed to reciprocate in an upper and lower direction on the moving frame40through a sixth moving element110at a lower side of the upper side bolt separation unit50as shownFIG. 7corresponding to a distance between an upper side and a lower side of the door hinge5of a vehicle body1side.

Referring toFIG. 7, in an exemplary embodiment of the present invention, the sixth moving element110is used to reciprocate the lower side bolt separation unit70in an upper and lower direction on the moving frame40and includes a fourth operating cylinder111and a fourth guider113.

The fourth operating cylinder111is fixed on an upper side of the moving frame40and is connected to the lower side bolt separation unit70through the fourth operating rod115. That is, the fourth operating rod115can be connected to the second rotation element73of the lower side bolt separation unit70.

The fourth guider113includes a fourth guide rail117that is fixed on the moving frame40in an upper and lower direction and a fourth guide block119that is fixed on the second rotation element73of the lower side bolt separation unit70to be slidably combined with the fourth guide rail117.

Accordingly, when the fourth operating cylinder111is operated, the fourth operating rod115moves forward or backward, the lower side bolt separation unit70slides on the fourth guide rail117through the fourth guide block119in an upper and lower direction to reciprocate in an upper and lower direction on the moving frame40.

Meanwhile, as shownFIG. 1andFIG. 2, the vision sensor90in an exemplary embodiment of the present invention is used to detect a position of a bolt of the door hinge5of the vehicle body through a vision method.

Several vision sensors90can be disposed on the base frame10, wherein the sensors90can be disposed at left right both sides and at an upper side of the base frame10based on the drawings. The vision sensor90is a stereo type of 3D camera, detects a trim hole that is provided in an inner panel of the door3, and can output the detected signal (vision data) to a controller.

Accordingly, the controller acquires the vision data from the vision sensor90, analyzes this, and can detect a position of a bolt of an upper and lower side bolt of the vehicle body1. That is, the controller acquires the vision data from the vision sensor90, analyzes the position of a trim hole of an inner panel of the door that is different from each other depending on the kinds of a vehicle, and can detect a position of a bolt of the door hinge5depending on the position of the trim hole.

The vision sensor90is a stereo 3D camera that is well known to a person skilled in this art, and the detailed description thereof will be omitted in this specification.

Hereinafter, the operation of the door separation device100that is used in various kinds of vehicles according to an exemplary embodiment of the present invention will be described with reference to the drawings.

Firstly, in a vehicle body factory of a vehicle assembly line, a door hinge5is mounted on a vehicle body1through a door hinge mounting jig, and a door3is engaged with the door hinge5through a bolt. In this condition, a vehicle body1is transferred to a fitting factory along a transfer line.

Here, the door hinge5is respectively engaged with a front side pillar and a rear side pillar at the side assembly6of the vehicle body1, and the door hinge5is engaged with the door3through a bolt. And, the door3is not fixed on the vehicle body1through a striker, and the door3is fixed on the vehicle body1through a door fixation belt.

In this condition, the door3has to be separated from the vehicle body1so as to mount any kinds of fittings in the vehicle body1. For this, the door3is opened from the vehicle body1in the separation process.

Then, in an exemplary embodiment of the present invention, the door separation device100that is used in various kinds of vehicles that is mounted on the arm9of the robot7is moved toward an inner panel of the door3by the robot7.

Here, the first gripper arm21of the upper side gripper20is moved toward an upper side direction by the first moving element23, and the second gripper arm31of the lower side gripper30is moved toward a lower side direction by the second moving element33.

In this condition, the first gripper arm21of the upper side gripper20is moved toward a lower side direction by the first moving element23and the second gripper arm31of the lower side gripper30is moved toward an upper side direction by the second moving element33.

Then, the upper side gripper20grasps an upper end portion of the door3through the first attachment22that is disposed on the first gripper arm21and the lower side gripper30grasps a lower end portion of the door through the second attachment32that is disposed on the second gripper arm31.

In this case, the second attachment32of the lower side gripper30is swiveled by the ball joint37and the swivel pad39to absorb an angle of a lower end portion of the door3and grip the lower end portion thereof.

After passing this process, in an exemplary embodiment of the present invention, a trim hole of an inner panel of the door3is detected (shot) by the vision sensors90and the detected signal (vision data) is outputted to a controller.

The controller acquires the vision data from the vision sensor90, analyzes the position of a trim hole of an inner panel of the door that is different from each other depending on the kinds of a vehicle, and can detect a position of a bolt of the door hinge5depending on the position of the trim hole.

Because a position of a trim hole of a predetermined inner panel is different depending on the kinds of vehicles, it is evident that a position of the door hinge5and a bolt position of the door hinge5can be detected through logic of a controller.

After this, in an exemplary embodiment of the present invention, the moving frame40is reciprocated in a transfer direction of a vehicle body1through the third moving element41based on the bolt position of the door hinge5that is detected by the controller such that the position of the upper side bolt separation unit50and lower side bolt separation unit70is adjusted depending on the transfer direction of the vehicle body1.

While the above process is being performed, in an exemplary embodiment of the present invention, the lower side bolt separation unit70is reciprocated by the sixth moving element110in an upper and lower direction based on the upper side bolt separation unit50corresponding to a distance between an upper side and a lower side of the door hinge5of the vehicle body1such that the position of the lower side bolt separation unit70is adjusted in an upper and lower direction of the moving frame40.

Also, in an exemplary embodiment of the present invention, the upper side bolt separation unit50is rotated in an upper and lower direction by the first rotation element53to adjust the position of upper side bolt separation unit50corresponding to an engagement angle of an upper side door hinge5of a vehicle body1that is different from each other depending on the kinds of vehicles.

Simultaneously, in an exemplary embodiment of the present invention, the lower side bolt separation unit70is rotated in an upper and lower direction through the second rotation element73such that the position of the lower side bolt separation unit70is adjusted corresponding to an engagement angle of a lower side door hinge5of a vehicle body1that is different from each other depending on the kinds of vehicles.

In a condition that the position of the upper side bolt separation unit50and lower side bolt separation unit70is adjusted depending on the kinds of the vehicles, the first motorized runner52of the upper side bolt separation unit50is reciprocated by the fourth moving element57in a width direction of a vehicle to combine the bolt disjoint socket portion61of the first motorized runner52with a bolt of the upper side door hinge5in an exemplary embodiment of the present invention.

Simultaneously, the second motorized runner72of the lower side bolt separation unit70is reciprocated by the fifth moving element77in a width direction of a vehicle to combine the bolt disjoint socket portion81of the second motorized runner72with a bolt of the lower side door hinge5In an exemplary embodiment of the present invention.

Then, when each motorized nut runner portion59and79is respectively operated by an operating unit78and58of the first and second motorized runner52and72in an exemplary embodiment of the present invention, a bolt of the upper side and lower side door hinge5is separated by the bolt disjoint socket portion81of the first and second motorized runner52and72.

Finally, after separating a bolt that engages the door hinge5with the door3, the bolts is recovered and the door3is separated from the vehicle body1through the robot7or a separate jig in an exemplary embodiment of the present invention.

As described above, in a door separation device100that is used in various kinds of vehicles according to an exemplary embodiment of the present invention, the door3is automatically separated from various kinds of vehicle body1in a separation process of a fitting factory.

Also, the position of the motorized runner is varied corresponding to a door3, a distance between a door hinge5, and an engagement angle of a door hinge5that is respectively different from each other depending on the kinds of vehicles such that the door3is automatically separated from the vehicle body in an exemplary embodiment of the present invention.

Accordingly, because the door3is automatically separated from the vehicle body1in an exemplary embodiment of the present invention, a work time for separating the door3is reduced, the work is convenient, and a separation of a painting film of an inner panel is prevented, wherein the separation of the painting film is caused by an interference between a bolt separation tool and a door inner panel in a narrow space.

Also, because the door3is automatically separated in a fitting factory in an exemplary embodiment of the present invention, a cycle time and work force in the fitting factory can be reduced, a safety accident and a physical damage of a worker can be reduced, and production cost and investment cost of the vehicle can be saved.

Further, because the position of the motorized runner is adjusted corresponding to a door3, a distance between a door hinge5, and an engagement angle of a door hinge5that is different from each other depending on the kinds of vehicles in an exemplary embodiment of the present invention, the flexible productivity of various kinds of vehicles is improved.

The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the invention to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teachings. They are not intended to be exhaustive or to limit the invention to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teachings as well as various alternatives and modifications thereof. It is intended that the scope of the invention be defined by the Claims appended hereto and their equivalents.