Door separation device that is used for multi kinds of vehicles

1. A door separation device used for various kinds of vehicles to detach a door mounted on a vehicle body through a door hinge in a door separation process, comprising:

an upper side gripper and a lower side gripper respectively mounted on a base frame 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, so as to selectively grip an upper end and a lower end of the door;

a moving frame 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 mounted to the moving frame and respectively having a pair of motorized runners for separating a bolt engaged with the door and an upper side hinge and a lower side hinge of the vehicle body,

wherein the motorized runners mounted on the moving frame are configured to reciprocate in a vehicle width direction on the upper side bolt separation unit and the lower side bolt separation unit,

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

wherein the upper side gripper includes:

a first gripper arm 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,

a second attachment disposed on the first gripper arm to support the upper end of the door,

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

wherein the upper side bolt separation unit includes a first mounting bracket rotatably disposed on an upper side of the moving frame through a first rotation element,

wherein a first pair of motorized runners is disposed on the first mounting bracket through a second moving element to reciprocate in a width direction of a vehicle,

wherein the lower side bolt separation unit includes a second mounting bracket rotatably disposed at a lower side of the moving frame through a second rotation element,

wherein a second pair of motorized runners is disposed on the second mounting bracket to reciprocate in the width direction of the vehicle through a third moving element, and

wherein the upper side gripper and the lower side gripper are configured to be movable up and down through a drive motor and a LM (Linear Motion) module.

2. The door separation device of claim 1 , wherein 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.

3. The door separation device of claim 1 , comprising a plurality of vision sensors that is disposed on the base frame to detect a position of the bolt of the door hinge.

4. The door separation device of claim 1 , wherein the lower side gripper includes:

a second gripper arm disposed on a fourth 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

the first attachment disposed on the second gripper arm to support the lower end of the door.

5. The door separation device of claim 1 , wherein the moving frame is disposed on the base frame to reciprocate in the transfer direction of the vehicle body by a fifth moving element having an operating cylinder.

6. The door separation device of claim 1 , wherein 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.

7. The door separation device of claim 1 , wherein the motorized runners include a motorized nut runner portion and a bolt socket portion that is connected to the motorized nut runner portion.

8. A door separation device that is used for various kinds of vehicles to detach a door mounted on a vehicle body through a door hinge in a door separation process, comprising:

a base frame disposed on an arm end of a robot;

an upper side gripper and a lower side gripper disposed on the base frame and movable in an upper direction and a lower direction to grip an upper end and a lower end of the door;

a moving frame disposed on the base frame to be movable in a transfer direction of the vehicle body;

an upper side bolt separation unit disposed to an upper side of the moving frame to be movable in a width direction of a vehicle, and including a first pair of motorized runners mounted on the moving frame and separating a bolt engaged with an upper side door hinge of the vehicle body and a door;

a lower side bolt separation unit disposed to reciprocate in the width direction of the vehicle, including a second pair of motorized runners mounted on the moving frame and separating a bolt engaged with a lower side door hinge of the vehicle body and the door, and 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;

rotating elements disposed on the moving frame and each of the rotating elements respectively rotating 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 disposed on the base frame to detect a position of a bolt of the door hinge,

wherein the motorized runners include a motorized nut runner portion having an operating unit at a first side end portion thereof and a bolt separation socket portion connected to a second side end portion of the motorized nut runner portion,

wherein the upper side bolt separation unit and the lower side bolt separation unit are rotatably coupled on the moving frame via a first rotating element and a second rotating element of the rotating elements, respectively, and rotatable in an upper direction and a lower direction of the moving frame corresponding to the engagement angle of the door hinge, and

wherein 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.

9. The door separation device of claim 8 , wherein the moving frame reciprocates on the base frame in the transfer direction of the vehicle body through an operating cylinder and a guider.

10. The door separation device of claim 8 , wherein the lower side bolt separation unit reciprocates on the moving frame in the upper and lower direction through an operating cylinder and a guider.

11. The door separation device of claim 8 , wherein the motorized runners reciprocate on the moving frame in the width direction of the vehicle through an operating cylinder and a guider.

12. The door separation device of claim 8 , wherein the vision sensor detects a trim hole that is formed in an inner panel of the door.