Door hoist apparatuses including multi-bar actuation assemblies with suction end effectors and methods using the same

A door hoist apparatus for use in installing a vehicle door to a vehicle, the door hoist apparatus comprising:

• a multi-bar actuation assembly comprising:
• a drive comprising a piston arm and a casing that movably receives the piston arm;
• a multi-bar linkage comprising:
• a base support structure;
• a first bar link pivotally connected to the base support structure;
• a second bar link pivotally connected to the drive and the base support structure;
• and
• a toggle link connected to the first bar link at a first bar link pivot and to the second bar link at a second bar link pivot;
• and
• a suction end effector pivotally connected to the toggle link at an end effector pivot that engages a window of the vehicle door, the end effector pivot at a different location on the toggle link than the first bar link pivot and the second bar link pivot;
• wherein the first bar link is longer than the second bar link;
• and
• a mast that comprises one or more rolling supports that support the vehicle door as the vehicle door is rotated about a door arc pivot axis from a vehicle door initial position to a vehicle door installation position, wherein
• the drive is actuatable to move the end effector pivot and the suction end effector along a door arc about the door arc pivot axis with the suction end effector engaged with the window of the vehicle door.

A method of installing a vehicle door to a vehicle, the method comprising:

• extending a suction end effector comprising one or more suction cups attached to a multi-bar actuation assembly to engage a window of the vehicle door thereby placing the multi-bar actuation assembly in a multi-bar actuation assembly initial position, the multi-bar actuation assembly comprising:
• a drive comprising a piston arm and a casing that movably receives the piston arm;
• a multi-bar linkage comprising:
• a base support structure;
• a first bar link pivotally connected to the base support structure;
• a second bar link pivotally connected to the drive and the base support structure;
• and
• a toggle link connected to the first bar link at a first bar link pivot and to the second bar link at a second bar link pivot;
• and
• the suction end effector is pivotally connected to the toggle link at an end effector pivot that engages the window of the vehicle door, the end effector pivot at a different location on the toggle link than the first bar link pivot and the second bar link pivot;
• wherein the first bar link is longer than the second bar link;
• capturing the vehicle door at the window of the vehicle door with the suction end effector;
• and
• moving the piston arm, thereby moving the end effector pivot along a door arc about a door pivot axis.