JPS60118391A - Welding and assembling device by robot - Google Patents

Abstract

PURPOSE:To improve the efficiency and accuracy in conveying of parts and to reduce the man-hour for working by gripping a parts holder by a welding robot, conveying plural parts to a work receiving base and welding the work and parts by a welding gun. CONSTITUTION:The 1st receiving base 4a for a parts holder is moved by a moving mechanism 41a to a parts attaching station S where the operator positions and holds respective parts B to a parts holder 3a by using a clamping mechanism and positioning mechanism without tack welding the parts. The base 4a is then returned to the home position. A welding robot 5 engages a hoisting means with a chucking mechanism, grips the holder 3a, conveys the same to the prescribed position of a work receiving base 2 and places the parts B to the work A which is preliminarily set on the base 2. The work A and the parts B are welded and assembled by the welding gun 7 of the robot 5.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a welding assembly device using a robot.

(Prior art) For example, when forming a car body by welding, it is difficult to transport small parts to a large workpiece such as an outer panel using a welding robot and weld the parts with the robot.
This is already known from Japanese Patent Application Laid-Open No. 58-151972. When welding various small parts to a large workpiece, the various parts are temporarily attached in advance and then transported onto the workpiece and then welded together.

However, the above welding assembly equipment requires a tack station and a tack jig stand for welding multiple various parts in advance by a welding robot, etc., making the welding process complicated. This requires a large number of man-hours and is an obstacle to improving processing efficiency and simplifying equipment.

(Object of the Invention) In view of the above circumstances, the present invention is designed to accurately transport multiple parts to be welded to a workpiece without temporarily attaching them to a workpiece, set them at a predetermined position on the workpiece, and directly weld the two parts. The object of the present invention is to provide a robot-based welding assembly device that improves processing efficiency.

(Structure of the Invention) The welding assembly apparatus of the present invention includes a workpiece pedestal for receiving a workpiece, a parts holder for positioning and holding a plurality of parts, a parts holder pedestal for receiving the parts holder, and a swing arm. The welding robot is equipped with a welding gun for welding a workpiece at its tip and a welding robot that grasps the part holder and transports it to a workpiece pedestal, and the part holder pedestal and the workpiece pedestal are within the range of the movement locus of the welding robot. The welding robot welds the parts and the workpieces on the workpiece pedestal. That is.

(Effects of the Invention) According to the present invention, a parts holder for positioning and holding a plurality of parts is provided, and the welding robot grasps this part holder and conveys the plurality of parts to a workpiece pedestal, and then uses a welding gun to By welding the workpiece and parts together, the welding robot can transport the parts with high efficiency and precision, eliminating the need for tacking multiple parts and eliminating the need for a station for tacking. It is possible to improve the number of man-hours and processing efficiency, and it is possible to improve quality and reduce manufacturing costs.

(Example) Hereinafter, the present invention will be explained in detail with reference to the drawings.

FIG. 1 is a plan view schematically showing a part of a car body welding line for an automobile having a welding assembly apparatus 1 according to the present invention. Various parts B such as a front pillar inner and a roof rail inner, and a quarter panel inner C are welded and assembled.

The welding assembly device 1 includes a workpiece pedestal 2 for receiving the workpiece A;
a parts holder 3a that positions and holds a plurality of parts B;
3b1 Two parts holders pedestals 4a, 4b that receive the parts holders 3a, 3b, each parts holder pedestal 4a, 4b
The parts are attached to the station S by a moving mechanism 41a, 41b consisting of a drive cylinder and a welding robot 5.
It is equipped with This welding robot 5 has a welding gun 7 at the tip of a swinging arm 6 for welding a workpiece A and a part B. Further, the workpiece pedestal 2 and the two parts holder pedestals 4a and 4b are connected to the swing arm 6 of the welding robot 5.
This welding robot 5 is installed within the range of the movement locus of the parts holder 3 on the parts holder pedestal 4a or 4b.
A or 3b is gripped, the part B is conveyed onto the workpiece A on the workpiece pedestal 2, and both parts are welded.

Further, a second welding robot E1 is disposed on the workpiece pedestal 2, and this second welding robot E1 welds the quarter panel inner C4- to the workpiece A, and also welds the workpiece A that has been welded and assembled. That is, the cab side F is transferred from the workpiece pedestal 2 to the cab side unloading conveyor G. At that time, the second welding robot E1 uses the holder H that supports the cab side F.
Use 1.

Further, the outer panel work A is transported to the previous stage welding station by the transport conveyor J, and three welding robots E2. E3. After being welded by E4, the welding robot E2 transports the workpiece to the workpiece pedestal 2 using the workpiece holder H2. On the other hand, the quarter panel inner C, to which each part is temporarily attached, is transported by a conveyor L, and a transport robot M1 equipped with a holder H3
Stationary welding machine N1. Five pieces are welded with N2 and transferred to a temporary holding table P, and from this temporary holding table P, they are held by another transfer robot M2, welded with a stationary welding machine N3, and transported to the workpiece pedestal 2. It is.

FIG. 2 shows the welding robot 5, in which a swing post 9 is supported on a base 8 so as to be able to swing and move up and down, and a swing arm 6 is supported on the upper end of the swing post 9 so that it can swing and rotate. At the tip of the swinging arm 6 is a welding tip 7a that applies a high current from a power supply transformer 7b across the welded part.

A welding gun 7 having a welding gun 7a is attached, and a shaft 6a inclined with respect to the axial direction of the swinging arm 6 is interposed in the middle of the swinging arm 6 to increase the degree of freedom of movement of the welding gun 7.

Further, the swing arm 6 near the welding gun 7 is provided with the parts holder 3a.

A hanging tool 10 that removably supports 3b is fixedly installed.

The parts holders 3a and 3b are provided with a chucking mechanism 11 that removably engages with the hanging tool 10, and the chucking mechanism 11 is attached to the frame 13 via a floating unit 12.

The structure of the chucking mechanism 11 is as shown in FIG.
When pressurized air is supplied to the air cylinder 16, the engagement piece 14 moves back and releases the engagement with the hanging tool 10, while the air cylinder 16 is not activated. When the engaging pieces 14 protrude, the parts holders 3a, 3
b is connected to the welding robot 5. In addition, the structure of the floating unit 12 is such that a flange body 17 fixed to a frame 13 is housed in a holder 18, and is in a floating state by a plurality of rollers 19 disposed above and below and a plurality of springs 20 disposed on the outer periphery. The amount of movement is regulated by the contact between the bottle 21 attached to the holder 18 and the regulating piece 22 attached to the flange body 17, and when the frame 13 moves slightly, the welding robot 5 is provided to absorb errors in movement positioning accuracy.

In the example shown in FIG. 4, the frame 13 has four parts 8.
1 to B4, each part 81 to B4
A plurality of clamp mechanisms 23, 24 for holding the parts 81 to B4 and a positioning mechanism 25 for positioning the parts 81 to B4 to the parts holders 3a and 3b are provided. A positioning hole 26 is provided for this purpose. As shown in FIG. 5, the first clamp mechanism 23 has clamp claws 27. which intersect with the opening of part B.
27 is inserted, and the tip pin 28 of the swing lever 28 is inserted into the long holes 27a, 27a formed in the clamp claw 27.27.
a is engaged, and as the swing lever 28 swings, the clamp claws 27 and 27 are opened and closed. This swing lever 28
are urged in the clamping direction by a spring 29, while the clamp claws 27.
27 is driven in the release direction. Further, as shown in FIG. 6, the second clamp mechanism 24 has clamp claws 3 that fix the upper and lower edges of the part B on the upper and lower sides of the frame 13.
0.30 is swingably supported, and both clamp claws 30.3
0 are connected by a link 31 and are opened and closed in conjunction, one clamp claw 30 is provided with an opening/closing operation lever 32, and the other clamp claw 30 is connected to a spring 33, and this spring 33 beam 8-lamp claw 30 The clamp claws 30 and 30 are biased and maintained in a clamped state and an unclamped state beyond the center of rotation as the clamping member rotates. On the other hand, when the operating iron 40 provided on the workpiece pedestal 2 operates one of the clamp claws 30 in the clamped state, both clamp claws 30 and 30 are driven in the releasing direction, resulting in a state as shown in FIG. . Furthermore, as shown in FIG. 7, the positioning mechanism 25
The positioning pin 34 is inserted into the through hole of the bell crank 35, and the positioning pin 34 is connected to one end of the bell crank 35, and a spring 36 is connected to the other end. Cylinder 3 located in
The release lever 38 operated by the part B comes into contact and rotates the positioning bin 34 in the retracting direction, and the positioning bin 34 protrudes when setting the part B and retracts when removing it. These clamp mechanisms 23, 24 and positioning mechanisms 25 are arranged at various parts of the frame 13 as necessary (see FIG. 4).

According to the welding assembly apparatus 1 as described above, first, the first part holder holder 4a is moved to the part mounting station S by moving fJ141a, and the operator attaches each part B to the part holder 3a by the clamping mechanism 23. .24 and the positioning mechanism 25 to position and hold the first part holder holder 4a without temporary attachment, then move the first parts holder holder 4a to the moving mechanism 41.
Step 8 to move back and return to the original position. The welding robot 5 engages the hanging tool 10 with the chucking mechanism 11, grips the parts holder 3a, and transports the part holder 3a to a predetermined position on the workpiece pedestal 2, which is set in advance on the workpiece pedestal 2. Work A
Place part B on. When placed, each part B is guided to the positioning bin provided on the workpiece pedestal 2, some of the clamp mechanisms 24 are released, and then the remaining clamps m1lR23 and positioning mechanisms 25 are released, and the chucking The mechanism 11 is activated and the hanging tool 10 is removed from the chucking mechanism 11. The welding gun 7 of the welding robot 5 then welds the workpiece A and the part B together to assemble the part, and the welding robot 5 returns the empty part holder 3a to the first part holder pedestal 4a. be done. During this time, the second parts holder holder 4b is moved by the moving mechanism 41.
At step b, parts mounting is performed by moving to station S, where the operator similarly positions and holds each part B on the parts holder 3b without temporarily attaching it, and then moves this second parts holder holder 4b using the moving mechanism 41b. The welding robot 5 then holds the part holder 3b of the second part holder holder 4b and transports it to a predetermined position on the workpiece holder 2, and performs welding assembly. This is done sequentially and continuously.

[Brief explanation of drawings]

FIG. 1 is a plan view schematically showing a part of an automobile body welding line having a welding assembly device according to an embodiment of the present invention; FIG. 2 is a side view of a welding robot holding a parts holder; Fig. 3 is an enlarged view of the main part of Fig. 2 with a part cut away, Fig. 4 is a plan view of the parts holder, and Fig. 5 is a view of the first crank along line V-v in Fig. 4. 6 is a sectional view of the second clamping mechanism along the VT-VT line in FIG. 4. FIG. 7 is a sectional view of the positioning mechanism along the W-VT line in FIG. 4. It is a diagram. , A...Work B...Parts...
... Welding assembly device 2 ... Workpiece pedestal 3a,
3b...Parts holder 4a, 4b...Parts holder pedestal 5...
・Welding robot 6... Swinging arm 7...
...Welding gun 12-

Claims (1)

[Claims] (1) A welding assembly device that transports and welds multiple parts to a workpiece, including a workpiece pedestal that receives the workpiece, a parts holder that positions and holds the multiple parts, and a parts holder that receives the part holder. a welding robot that is equipped with a welding gun for welding a workpiece to the tip of a swinging arm and that grips the parts holder and transports it to the workpiece holder, the parts holder holder and The workpiece pedestal is installed within the range of the movement trajectory of the welding robot, and the workpiece pedestal receives multiple parts conveyed by a parts holder gripped by the welding robot, and the parts and workpieces are placed on the workpiece pedestal. A robot welding assembly device characterized in that welding is performed by a welding robot.