CN107735217A - Working piece positioning device - Google Patents
Working piece positioning device Download PDFInfo
- Publication number
- CN107735217A CN107735217A CN201580081489.2A CN201580081489A CN107735217A CN 107735217 A CN107735217 A CN 107735217A CN 201580081489 A CN201580081489 A CN 201580081489A CN 107735217 A CN107735217 A CN 107735217A
- Authority
- CN
- China
- Prior art keywords
- mentioned
- fixture
- engagement pin
- framework
- length direction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 229910000838 Al alloy Inorganic materials 0.000 claims abstract description 11
- 239000004411 aluminium Substances 0.000 claims description 56
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 56
- 229910052782 aluminium Inorganic materials 0.000 claims description 56
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 description 67
- 238000009434 installation Methods 0.000 description 9
- 239000000956 alloy Substances 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000000280 densification Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/18—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for positioning only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
- Jigs For Machine Tools (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
Scaffold (53) includes the first fixture location division (7a) that can be along the first engagement pin (8b) and the second engagement pin (97) that the length direction of main body frame (61) moves forward and backward and between the first engagement pin (8b) and the second engagement pin (97).On the aluminium alloy main body frame (61) of fixture (6), provided with first engaging framework (64), the first connecting hole (69a) and the second connecting hole (69b) that are located at the length direction both sides of main body frame (61) and engage with the first engagement pin (8b) and the second engagement pin (97) positioned at main body frame (61) center and with what the first fixture location division (7a) coordinated.
Description
Technical field
The present invention relates to a kind of Working piece positioning device, to workpiece for being obtained using punch forming etc. when e.g. being welded
The Working piece positioning device for being clamped and being positioned.
Background technology
Prior art is such：For example, on the auto production line disclosed in patent document 1, fixture, supporting are disposed with
Platform, welding robot and fixture retractable frame, wherein, fixture be used for workpiece is positioned, supporting station be used for support the fixture and
The fixture is dismantled and assembled, and the mechanical arm top of welding robot is equipped with welding gun, and fixture retractable frame is used for the multiple fixtures of folding and unfolding；By supporting
The fixture that platform is supported positions to multiple workpiece, and is assembled integrally the plurality of workpiece with above-mentioned welding robot.
When changing the workpiece to be assembled, welding gun is removed from welding robot, and fixture is removed simultaneously from supporting station with welding robot
Fixture retractable frame is transported to, then, other fixtures of folding and unfolding in fixture retractable frame are transported to supporting station simultaneously by welding robot
After being installed on the supporting station, then welding gun is attached to the mechanical arm top of welding robot and carrys out assembled workpiece.
Prior art literature
Patent document
Patent document 1：JP 2002-1626 publications
The content of the invention
Invention technical problems to be solved
For the fixture disclosed in patent document 1, multiple clamping devices for being positioned to workpiece are installed, its
Weight is very heavy.Therefore, it is necessary to which preparing to carry the larger large-scale welding robot of weight carrys out handling gripper, can take many more
Installing space.
In order to avoid the above situation, it is contemplated that form the major part of fixture with aluminium alloy material and make fixture lightweight.
But the linear expansion coefficient of aluminium alloy material differs greatly with iron material, therefore the shape of fixture may be because of temperature Change
And change, fixture is installed to installation site when on supporting station to shift.
The present invention is exactly to complete in view of the above problems.Its object is to：A kind of lighter Working piece positioning device is provided,
Fixture is dismantled and assembled, and can make compacter around device, and even if environment changes, the installation site of fixture will not also be sent out
It is raw to deviate.
To solve the technical scheme of technical problem
In order to achieve the above object, it is a feature of the present invention that：The major part of fixture is formed with aluminium alloy material and at it
Center sets reference component, and has descended the time on the part of stationary fixture.
Specifically, using Working piece positioning device as object, following solution is employed.Wherein, above-mentioned workpiece positioning dress
Put including fixture and supporting mass, the fixture is used to position workpiece, and the supporting mass is used to support the fixture and the fixture can
Dismounting.
That is, first aspect is characterised by, above-mentioned fixture includes horizontally extending aluminium alloy main body frame, on
Stating supporting mass includes the first engagement pin and the second engagement pin and fixture location division, above-mentioned first engagement pin and above-mentioned second engaging
Pin predetermined distance arrangement apart, and being moved forward and backward along the length direction of aforementioned body framework in the horizontal direction, it is above-mentioned
Fixture position point is provided with auxiliary section and the between first engagement pin and second engagement pin on aforementioned body framework
One connecting hole and the second connecting hole, above-mentioned matching part in main body frame center, and coordinate above-mentioned fixture location division relative to
Above-mentioned supporting mass positions to fixture, and above-mentioned first connecting hole and above-mentioned second connecting hole are located at the length of aforementioned body framework
Direction both sides and in the state of above-mentioned first engagement pin and above-mentioned second engagement pin advance respectively with above-mentioned first engagement pin and
Above-mentioned second engagement pin engaging.
Second aspect is on the basis of first aspect, it is characterised in that aforementioned body framework includes the first elongated aluminium
Second aluminium chassis of framework and tabular, wherein, the sections of above-mentioned first aluminium chassis is in approximate U-shaped, multiple above-mentioned second aluminium frames
Be located at side by side in above-mentioned first aluminium chassis length direction of the frame along first aluminium chassis predetermined distance apart, and with this
One aluminium chassis are integrally fixed, and the center of each second aluminium chassis is formed with the jack passed through for deposited components.
3rd invention is on the basis of first or second aspect, it is characterised in that above-mentioned supporting mass prolongs in the horizontal direction
Stretch and the rectangular shape of section, in the two end portions on the length direction of aforementioned body framework, provided with outer with above-mentioned supporting mass
A pair of L-shaped frameworks corresponding to side face, in the state of each L-shaped framework is abutted on above-mentioned supporting mass, above-mentioned first
Engagement pin and above-mentioned second engagement pin are located at the position relative with above-mentioned first connecting hole and above-mentioned second connecting hole.
Fourth aspect be first into the third aspect on the basis of either side, it is characterised in that above-mentioned fixture positioning
Portion has a positioning hole, and above-mentioned positioning hole is arranged side by side what direction was intersected to above-mentioned first engagement pin and above-mentioned second engagement pin
Horizontal direction opening, above-mentioned auxiliary section is prominent to the direction orthogonal with the length direction of aforementioned body framework, also, above-mentioned cooperation
Portion engages with above-mentioned positioning hole and can departed from from above-mentioned positioning hole.
The effect of invention
In the first aspect, because forming the major part of fixture with aluminium alloy material, the overall weight of fixture is lighter.
Therefore, can be set around device can carry the less welding robot of weight, so as to make densification around device.Cause
Main body frame to be made up of aluminium alloy material is in horizontally extending shape, once so temperature change will be along it
Length direction stretches.But by being that auxiliary section is located in the length direction of main body frame by the positioning datum relative to supporting mass
Centre, and auxiliary section is engaged with the i.e. fixture location division of positioning datum of supporting mass, the center of fixture is just bound to and supporting mass
Positioning datum it is consistent.Moreover, in the length direction both sides of main body frame, the length of two engagement pins of supporting mass along main body frame
Engage before degree direction and then with two connecting holes of main body frame, therefore even if main body frame stretches along its length, only by card
The change for the advance amount that dowel pin occurs relative to connecting hole, it can also maintain the fastening state between engagement pin and connecting hole.Therefore,
Even if environment changes, fixture is securely held to supporting mass in the state of can also not deviateing in reference position
On.
In second aspect, because each second aluminium chassis play the effect in the joint in the first aluminium chassis, it can carry
The rigidity of high main body frame.Deposited components are inserted into the jack of each second aluminium chassis, it becomes possible to by each drive division with fixture
The fitly folding and unfolding of connected deposited components is in the first aluminium chassis.Moreover, because of deposited components folding and unfolding in the first aluminium chassis, institute
In the case of being welded in the workpiece to having navigated on fixture, deposited components can be also protected not welded caused
Splash influences.The shape that first aluminium chassis are open in a part for outer peripheral face, therefore deposited components are for example routed to first
When in aluminium chassis, the operation of operator is just simple easy.
In a third aspect, positioning of the fixture on the direction that the length direction with supporting mass intersects becomes simple easy.
Once position of the fixture on the direction that the length direction with supporting mass intersects determines that then at the same time engagement pin is just changed into
The state that can be engaged with connecting hole.Therefore, it is possible to shorten the time needed for clamp-replacing operation.
In fourth aspect, fixture is set to advance to the projected direction of engagement pawl relative to supporting mass, engagement pawl will be with branch
Hold the positioning hole engaging of body.Therefore, fixture will be simply easy relative to the positioning operation of supporting mass.
Brief description of the drawings
Fig. 1 is the front view of welding production line, is disposed with above-mentioned welding production line involved by embodiments of the present invention
And Working piece positioning device.
Fig. 2 be comparable to Fig. 1 A to regarding figure.
Fig. 3 is comparable to the figure of Fig. 1 during clamp-replacing.
Fig. 4 is Fig. 3 B direction views.
Fig. 5 is the diagrammatic top view of fixture central lower, and when showing to change fixture, fixture will be entered relative to scaffold
State before row positioning.
Fig. 6 is Fig. 5 C direction views.
Fig. 7 is the diagrammatic top view of fixture central lower, and when showing to change fixture, just fixture has been entered relative to scaffold
The state gone after positioning.
Fig. 8 is Fig. 7 D direction views.
Fig. 9 is the diagrammatic top view of the length direction end of fixture, will be right relative to scaffold when showing to change fixture
Fixture positioned before state.
Figure 10 is Fig. 9 E direction views.
Figure 11 is the diagrammatic top view of the length direction end of fixture, when showing to change fixture, relative to scaffold just
State after positioning has been carried out to fixture.
Figure 12 is Figure 11 F direction views.
Figure 13 is Fig. 2 G direction views, is shown relative to scaffold i.e. by the state before stationary fixture.
Figure 14 is Fig. 2 G direction views, shows just to have fixed the state after fixture relative to scaffold.
Figure 15 is Fig. 2 H direction views, is shown relative to scaffold i.e. by the state before stationary fixture.
Figure 16 is Fig. 2 H direction views, shows just to have fixed the state after fixture relative to scaffold.
Embodiment
Embodiments of the present invention are described in detail with reference to the accompanying drawings.It should be noted that it is preferable to carry out below
The explanation of mode is only example substantially.
Fig. 1 shows the production line 1 involved by embodiments of the present invention.The production line 1 is as follows：It will be struck out using spot welding
Two workpiece W1, W2 of type are assembled integrally, and the production line 1 includes the and of Working piece positioning device 2 positioned to workpiece W1, W2
Carry out weld job welding robot 3, operator H1 by workpiece W1, W2 be installed on above-mentioned Working piece positioning device 2 with it is upper
State the opposite side of welding robot 3.
As shown in Fig. 2 above-mentioned Working piece positioning device 2 includes the first motor 4, rotating frame 5 and fixture 6, the first motor 4 has
Have the rotary shaft 4a vertically extended, rotating frame 5 is supported by above-mentioned rotary shaft 4a and rectangular frame-shaped, fixture 6 have four and
Above-mentioned workpiece W1, W2 are positioned, above-mentioned rotating frame 5 is in position (hereinafter referred to as work corresponding with above-mentioned welding robot 3
Part welding region X1) the alternately R1 between position corresponding with above-mentioned operator H1 (hereinafter referred to as workpiece setting region X2)
The rotation (rotating forward) and the rotation in R2 directions (reversion) in direction.
Above-mentioned rotating frame 5 includes first level framework 51, a pair of second horizontal frames 52 and a pair of (branch of scaffold 53
Hold body).Wherein, first level framework 51 extends and centered on above-mentioned rotary shaft 4a from rotary shaft 4a to horizontal direction both sides
Symmetrically, a pair of second horizontal frames 52 from the length direction both ends of the first level framework 51 respectively to the first level framework
51 orthogonal horizontal directions extensions and symmetrical centered on the first level framework 51, a pair of scaffolds 53 respectively by this each the
Bridge between length direction one end of two horizontal frames 52 and between the length direction other end of above-mentioned each second horizontal frame 52
Pick up and carry out and support respectively two removable above-mentioned fixtures 6 up and down.
Above-mentioned each second horizontal frame 52 includes straight line framework 52a and tilt frame 52b.Wherein, straight line framework 52a is along water
Square extend obliquely upward respectively from straight line framework 52a length direction both ends to straight extension, tilt frame 52b.
Crossed roller bearing B1 is respectively equipped with inside the upper end side of each tilt frame 52b.
Each crossed roller bearing B1 supports above-mentioned each scaffold 53 and above-mentioned each scaffold 53 can be surrounded along upper
The axis of rotation rotation of the length direction extension of first level framework 51 is stated, each scaffold 53 utilizes the rotation in R3 directions
(rotating forward) and the rotation in R4 directions (reversion) alternately switch the position for each fixture 6 being arranged on each scaffold 53.
On above-mentioned each straight line framework 52a central upper surface, the installation provided with horizontally extending rectangular plate-like
Platform 54.
Second motor 55 is installed on each erecting bed 54, the rotary shaft 55a of the second motor 55 is towards above-mentioned first water
The length direction of flat frame 51, first pulley 55b, first pulley 55b and rotary shaft 55a are installed on above-mentioned rotary shaft 55a
Integratedly rotate.
On the other hand, second belt wheel 53a, the second belt wheel are installed in length direction one end of above-mentioned each scaffold 53
53a integratedly rotates with scaffold 53, the supporting frame of first pulley 55b and side on the second motor 55 of side
The supporting frame of first pulley 55b and opposite side between second belt wheel 53a of frame 53, on the second motor 55 of opposite side
Between second belt wheel 53a of frame 53, the chain conveyor 56 of annular is wrapping with respectively.
Above-mentioned chain conveyor 56 and it is wrapping with the first pulley 55b and the second belt wheel 53a of the chain conveyor 56 and is protected
Shield 57 covers.
Using the spinning movement of above-mentioned second motor 55, above-mentioned scaffold 53 is via above-mentioned first pulley 55b, above-mentioned chain
Formula conveyer belt 56 and above-mentioned second belt wheel 53a rotate to R3 directions and R4 directions respectively.
Above-mentioned each scaffold 53 is horizontally extending and the rectangular shape of section, in the upper surface in its length direction center
With the first fixture location division 7a is respectively equipped with lower surface.
As shown in Fig. 5 to Fig. 8, the first fixture location division 7a is located at the upper surface of above-mentioned each scaffold 53, the first fixture
Location division 7a includes the first block portion 71 and a pair of second block portions 72.Wherein, the first block portion 71 is located at the side of first level framework 51,
The side opposite with first level framework 51 and with above-mentioned the when a pair second block portions 72 are positioned on the basis of first block portion 71
One block portion 71 is separated by predetermined distance at a distance of predetermined distance, length direction of a pair of second block portions 72 along above-mentioned scaffold 53
And set.
In the center of above-mentioned first block portion 71 formed with the first positioning hole 71a, the first positioning hole 71a edges and above-mentioned supporting frame
The orthogonal horizontal direction of the length direction of frame 53 is through the first block portion 71 and in the side of first level framework 51 and and first level
The opposite side of framework 51 is open respectively.
Formed with locating slot 72a, locating slot 72a edges and above-mentioned supporting on above-mentioned each second block portion 72 face relative to each other
The horizontal direction that the length direction of framework 53 is orthogonal extends.
It should be noted that along above-mentioned each scaffold 53 axis of rotation direction observe when, positioned at each scaffold 53
First fixture location division 7a of lower surface and the first fixture location division 7a of the upper surface positioned at above-mentioned each scaffold 53 is in point
Symmetrically, therefore detailed description will be omitted.
The second folder is respectively equipped with the upper and lower surface at the close length direction both ends of above-mentioned each scaffold 53
Has location division 7b, positioned at two the second fixture location division 7b of the side of length direction one of above-mentioned each scaffold 53 and positioned at upper
Two the second fixture location division 7b of the length direction another side of each scaffold 53 are stated, are located at and above-mentioned first fixture respectively
Location division 7a is at a distance of the position of same intervals.
As shown in Fig. 9 to Figure 12, the second fixture location division 7b positioned at the upper surface of above-mentioned each scaffold 53 is in bulk,
And it is located at the above-mentioned side of first level framework 51, and in the second fixture location division 7b center formed with the second positioning hole 7c, second
Positioning hole 7c is along the horizontal direction orthogonal with the length direction of above-mentioned scaffold 53 through the second fixture location division 7b and the
The side of one horizontal frame 51 and the side opposite with first level framework 51 are open respectively.
It should be noted that along above-mentioned each scaffold 53 axis of rotation direction observe when, positioned at each scaffold 53
Second fixture location division 7b of lower surface and the second fixture location division 7b of the upper surface positioned at above-mentioned each scaffold 53 is in point
Symmetrically, therefore detailed description will be omitted.
As shown in Figure 13 and Figure 14, it is provided with two sides of close length direction one end of above-mentioned each scaffold 53
A pair of first fixed cells 8, the first fixed cell 8 are used to above-mentioned fixture 6 being fixed to above-mentioned scaffold 53.
First fixed cell 8 includes unit main body 8a and the first engagement pin 8b, unit main body 8a along above-mentioned scaffold
53 length direction extension, the first engagement pin 8b can on the outside of the length direction towards above-mentioned scaffold 53 in the state of advance
And retrogressing, it has been internally formed air duct (not shown), air duct and the above-mentioned side of rotating frame 5 in first engagement pin 8b
Pipeline be connected.
On the other hand, as shown in Figure 15 and Figure 16, above-mentioned each scaffold 53 the close length direction other end two
Individual side is provided with a pair of second fixed cells 9, and the second fixed cell 9 is used to above-mentioned fixture 6 being fixed to above-mentioned scaffold
On 53.
Second fixed cell 9 includes fixed station 91, slide rail 92, sliding panel 93 and fluid-pressure cylinder 94, and fixed station 91 is in block
Shape and it is fixed on above-mentioned scaffold 53, slide rail 92 is fixed on the side of above-mentioned fixed station 91 on above-mentioned scaffold 53, sliding
Length direction extension of the rail 92 along above-mentioned scaffold 53, sliding panel 93 is chimeric with the slide rail 92 and slidably, fluid-pressure cylinder 94
On above-mentioned fixed station 91.Length directions of the piston rod 94a of the fluid-pressure cylinder 94 along above-mentioned scaffold 53 stretches, living
Stopper rod 94a top is connected through connecting member 95 with above-mentioned sliding panel 93.
Rectangular slab 96 is installed on the end with the above-mentioned opposite side of fixed station 91 of above-mentioned sliding panel 93, in the rectangle
The second engagement pin 97 and the first connector 98, the first connection are provided with the face with the above-mentioned opposite side of fixed station 91 of plate 96 side by side
98 rectangular tabular of device and it is connected with the electric wire of the side of rotating frame 5.
If the piston rod 94a of above-mentioned fluid-pressure cylinder 94 stretches, above-mentioned sliding panel 93 will carry out sliding action, above-mentioned
Two engagement pins 97 and above-mentioned first connector 98 are because of the sliding action of above-mentioned sliding panel 93 and along the length of above-mentioned scaffold 53
Direction moves forward and backward.
That is, above-mentioned two the first engagement pin 8b and the second engagement pin of above-mentioned two 97 in the horizontal direction at a distance of predetermined distance and
If during above-mentioned first fixture location division 7a is located between above-mentioned two the first engagement pin 8b and the second engagement pin of above-mentioned two 97
At centre.
As shown in Figure 1 and Figure 4, above-mentioned fixture 6 includes the main body frame 61 of aluminium alloy and the iron supporting station 62 of tabular,
Main body frame 61 is horizontally extending, and supporting station 62 is fixed on the upper surface of the main body frame 61 and prolonged along the main body frame 61
Stretch.Multiple clamping device 62a are installed on the supporting station 62, for clamping the above-mentioned equitant part of workpiece W1, W2.
Aforementioned body framework 61 includes the first aluminium chassis 61a and the second aluminium chassis 61b.Wherein, the first aluminium chassis 61a is thin
Long, opening and section is u-shaped downwards, length directions of multiple second aluminium chassis 61b along first aluminium chassis 61a phase each other
It is located in first aluminium chassis 61a, multiple second aluminium chassis 61b are plate-like and consolidate with the first aluminium chassis 61a away from predetermined distance
It is fixed integral.On each second aluminium chassis 61b the deposited components of pipeline or electric wire etc. are available for formed with jack 61c, jack 61c
68 pass through.
It is provided with the side opposite with first level framework 51 in above-mentioned first aluminium chassis 61a length direction center approximate
Block tool replacing apparatus installation portion 60, tool replacing apparatus installation portion 60 are used to install tool replacing apparatus (not shown).
As shown in Fig. 5 to Fig. 8, the first engaging frame is installed in above-mentioned first aluminium chassis 61a length direction central lower
Frame 64 (auxiliary section), the first engaging framework 64 extend along the horizontal direction orthogonal with above-mentioned first aluminium chassis 61a.
The first engaging framework 64 is linked in front side engaging framework 65 and rear side engaging framework 66 by framework 67
Shape, front side engaging framework 65 and rear side engaging framework 66 are in T shape when overlooking, framework 67 it is linearly and along with
Horizontal direction extension orthogonal above-mentioned first aluminium chassis 61a.
Above-mentioned front side engages framework 65 from the first aluminium chassis 61a to the level side orthogonal with above-mentioned first aluminium chassis 61a
To prominent, and it is made up of front side engagement pawl 65a and a pair of forward side tabs 65b.Wherein, front side engagement pawl 65a and above-mentioned first
Positioning hole 71a engages and can departed from from above-mentioned first positioning hole 71a, and a pair of forward side tabs 65b are from the front side engagement pawl
The 65a lateral horizontal direction both sides of cardinal extremity protrude.
That is, above-mentioned front side engagement pawl 65a with the first positioning hole 71a by engaging and the phase together with first positioning hole 71a
Fixture 6 is positioned for above-mentioned scaffold 53.Wherein, the first positioning hole 71a to above-mentioned first engagement pin 8b and upper
That states the second engagement pin 97 is arranged side by side the intersecting horizontal direction opening in direction.
Design of length of the above-mentioned front side engaging framework 65 in the horizontal direction orthogonal with above-mentioned first aluminium chassis 61a must compare
Length between the second block portion of above-mentioned first block portion 71 and above-mentioned two 72 is short.
Length of the above-mentioned framework 67 in the horizontal direction orthogonal with above-mentioned first aluminium chassis 61a is set to than above-mentioned
Length length of two the second block portions 72 in the horizontal direction orthogonal with above-mentioned first aluminium chassis 61a, above-mentioned framework 67 exist
Length on above-mentioned first aluminium chassis 61a length direction is set to shorter than the length between the second block portion of above-mentioned two 72.
Above-mentioned rear side engaging framework 66 is longer on above-mentioned first aluminium chassis 61a length direction than above-mentioned framework 67
Degree length, and the two end portions of above-mentioned rear side engaging framework 66 are made up of rear side engagement pawl 66a and a pair of rear side projections 66b.Its
In, rear side engagement pawl 66a can engage and can also depart from from locating slot 72a with the locating slot 72a of above-mentioned each second block portion 72,
A pair of rear side projections 66b from rear side engagement pawl 66a lateral horizontal direction both sides of cardinal extremity protrude.
As shown in figure 4, it is provided with a pair second cards in the above-mentioned first aluminium chassis 61a side of length direction one and another side
Framework 63 is closed, a pair second engaging frameworks 63 extend along the horizontal direction orthogonal with above-mentioned first aluminium chassis 61a.
As shown in Fig. 9 to Figure 12, the second engaging framework 63 is in elongated plate-like, upper on the above-mentioned second engaging framework 63
State and outside engagement pawl 63a is provided with the inside of the first aluminium chassis 61a length direction, outside engagement pawl 63a and above-mentioned front side engagement pawl
65a is prominent to same direction, and outside engagement pawl 63a engages with above-mentioned second positioning hole 7c and can be from above-mentioned second positioning hole 7c
Middle disengaging.
A pair of L-shaped frameworks 69 (L-shaped shape portion) are installed at above-mentioned first aluminium chassis 61a length direction both ends, one
It is corresponding with two Adjacent circumferential faces of above-mentioned scaffold 53 to L-shaped framework 69.
As shown in Figure 13 and Figure 14, the part that the L-shaped framework 69 of one end protrudes downwards is provided with the first connecting hole
69a, the first connecting hole 69a engage in the state of above-mentioned first engagement pin 8b advances with above-mentioned first engagement pin 8b, the first card
Close hole 69a side openings into the length direction of main body frame 61.
As shown in Figure 15 and Figure 16, the part that the L-shaped framework 69 of the other end protrudes downwards is provided with the second connecting hole
69b, the second connecting hole 69b engage in the state of the advance of above-mentioned second engagement pin 97 with above-mentioned second engagement pin 97, the second card
Close hole 69b side openings into the length direction of main body frame 61.
Middle positions of the above-mentioned first positioning hole 71a between above-mentioned first connecting hole 69a and the second connecting hole 69b.
The part that the L-shaped framework 69 of the other end protrudes downwards is provided with the second connector 69c, the second connector 69c
Depression and be arranged side by side in be available for that above-mentioned first connector 98 connects rectangular-shaped and with above-mentioned second connecting hole 69b, above-mentioned the
Two connector 69c are connected with the electric wire of the side of fixture 6.
Moreover, in the state of above-mentioned each L-shaped framework 69 is abutted on above-mentioned scaffold 53, above-mentioned first engaging
Pin 8b and the second engagement pin 97 are located at the position relative with above-mentioned first connecting hole 69a and the second connecting hole 69b.
Above-mentioned welding robot 3 is industrial multi-axis robot, and welding gun 3b is provided with mechanical arm 3a top, and can
Freely change above-mentioned welding gun 3b posture to be welded.
Control panel 10 is connected with above-mentioned first motor 4, the control panel 10 is believed to the above-mentioned output services of first motor 4
Number, above-mentioned each fixture 6 is moved to workpiece welding region X1 and workpiece setting region X2.
Above-mentioned control panel 10 is connected with above-mentioned each second motor 55 and to above-mentioned each output services signal of second motor 55, made
Two fixtures 6 on above-mentioned each scaffold 53 move to upper side position and lower position respectively.
Illustrate how production line 1 produces below.
State shown in Fig. 1 is：After the rotating frame 5 rotated along R1 directions just stops, be clamped with by workpiece W1,
Two fixtures 6 of the assembly 11 that W2 is assembled integrally and formed are moved to workpiece setting region X2, also, mount and position
Two fixtures 6 for having workpiece W1, W2 are moved to workpiece welding region X1.
Based on the above-mentioned state shown in the Fig. 1, first, welding robot 3 changes above-mentioned welding gun 3b posture and to being determined
Welded to the overlapping welding positions of workpiece W1, W2 on the fixture 6 on the upside of workpiece welding region X1 position.
After workpiece W1, W2 welding on the fixture 6 being positioned on the upside of workpiece welding region X1 terminates, above-mentioned control panel
10 to side the output services signal of the second motor 55, two fixtures 6 up and down positioned at workpiece welding region X1 is mutually exchanged.
So, the fixture 6 for being clamped with assembly 11 moves with regard to downward side, mounts and positions the fixture 6 of workpiece W1, W2 before welding just
Upward side movement.
Then, welding robot 3 welds to the overlapping welding position of workpiece W1, W2 on fixture 6, the fixture 6
It is the fixture 6 for being located at upside after workpiece welding region X1 has exchanged upper-lower position.
On the other hand, when welding robot 3 is during workpiece welding region X1 carries out weld job, operator H1 exists
Workpiece setting region X2 from the fixture 6 of upside take out assembly 11.
Then, workpiece W1, W2 are installed in place on the fixture 6 of upside by operator H1.
Then, operator H1 presses fixture switching push button (not shown).So, above-mentioned control panel 10 will be to opposite side
The output services signal of second motor 55, two fixtures 6 up and down positioned at workpiece setting region X2 are made mutually to exchange.Then, install
The 6 downward side of fixture for having workpiece W1, W2 is moved, and is clamped with 6 upward side of the fixture movement of assembly 11.
Then, operator H1 is from the taking-up assembly 11 on the fixture 6 of upside, and workpiece W1, W2 are also mounted into position
In on the fixture 6 of upside.
After workpiece W1, W2 welding being mounted on workpiece welding region X1 two fixtures 6 terminate, just it is made
Two assemblies 11, also, after workpiece W1, W2 are installed in place on two fixtures 6 in workpiece setting region X2, above-mentioned control
Disk 10 will make above-mentioned rotating frame 5 start to rotate along R2 directions to the output services signal of the first motor 4.
After the rotating frame 5 rotated along R2 directions stops, repeat the above steps and workpiece W1, W2 are assembled.
The step of illustrating to remove fixture 6 from Working piece positioning device 2 below.
First, control panel 10 is to the output services signal of welding robot 3, from the mechanical arm 3a of welding robot 3 top
Welding gun 3b is removed, also, mechanical arm 3a top is connected to the tool changing dress for the fixture 6 to be removed from scaffold 53
Put on the tool replacing apparatus (not shown) of installation portion 60.
Then, control panel 10 is to the output services signal of the first fixed cell 8.So, the first engagement pin 8b retreat and from the
Depart from one connecting hole 69a.
Control panel 10 is also to the output services signal of the second fixed cell 9.So, piston rod 94a carries out expanding-contracting action, therewith
Sliding panel 93 carries out sliding action, and the second engagement pin 97 retreats because of the sliding action, and departs from from the second connecting hole 69b,
First connector 98 also departs from from the second connector 69c.
Then, welding robot 3 moves fixture 6 to welding robot 3 side in the horizontal direction.So, front side engagement pawl
65a will depart from from the first positioning hole 71a, and rear side engagement pawl 66a can also depart from from two locating slot 72a, also, link
Framework 67 is between two the second block portions 72.
When welding robot 3 moves fixture 6 to welding robot 3 side in the horizontal direction, each outside engagement pawl 63a from
Depart from each second positioning hole 7c.
Then, welding robot 3 lifts fixture 6 upward.So, framework 67 just leave two the second block portions 72 it
Between and be moved to top go, fixture 6 is just removed (reference picture 3) from scaffold 53 completely.
Illustrate step fixture 6 being installed on Working piece positioning device 2 below.
First, control panel 10 is to the output services signal of welding robot 3, from the mechanical arm 3a of welding robot 3 top
Welding gun 3b is removed, also, mechanical arm 3a top is connected to the instrument of fixture 6 of the folding and unfolding on fixture retractable frame (not shown)
On the tool replacing apparatus (not shown) of more changing device installation portion 60.
Then, to the output services signal of welding robot 3, the fixture 6 for making to be connected to mechanical arm 3a tops moves control panel 10
Move the top of scaffold 53.
Then, the first of the fixture 6 on the mechanical arm 3a tops for making to be connected to welding robot 3 engages the link in framework 64
Framework 67 allows fixture 6 to decline between two the second block portions 72.So, framework 67 passes through two the second block portions
Between 72.
Then, the Level Promoting fixture 6 of welding robot 3, fixture 6 is made away from the welding robot 3.So, such as Fig. 5 to figure
Shown in 8, the first positioning hole 71a engages with front side engagement pawl 65a, and rear side engagement pawl 66a engages with two locating slot 72a.This
When, not only front side engagement pawl 65a engage with the first positioning hole 71a, rear side engagement pawl 66a also with positioned at than the first positioning hole 71a
Two locating slot 72a closer to the side of welding robot 3 engage, therefore the impetus of fixture 6 can be prevented too quickly with the first folder
Rotate to the side opposite with welding robot 3 and fallen down from scaffold 53 centered on tool location division 7a.
When the Level Promoting fixture 6 of welding robot 3, when making fixture 6 away from the welding robot 3, such as Fig. 9 to Figure 12 institutes
Show, each outside engagement pawl 63a engages with each second positioning hole 7c.
If front side engagement pawl 65a engages with the first positioning hole 71a, rear side engagement pawl 66a and two locating slot 72a cards
Close, and each outside engagement pawl 63a engages with each second positioning hole 7c, then the two of fixture 6 L-shaped framework 69 will abut to branch
On two Adjacent circumferential faces of support frame frame 53.So, above-mentioned first engagement pin 8b will be relative with above-mentioned first connecting hole 69a,
Above-mentioned second engagement pin 97 is relative with above-mentioned second connecting hole 69b, and above-mentioned first connector 98 and above-mentioned second connector 69c
Relatively.
Then, control panel 10 is to the output services signal of the first fixed cell 8.So, as shown in Figure 13 and Figure 14, the first card
Engage before dowel pin 8b and then with the first connecting hole 69a, at the same time, the pipe via the first engagement pin 8b from the side of rotating frame 5
Road supplies compressed air to each drive division of fixture 6, and fixture 6 is just changed into can working condition.
Control panel 10 is also to the output services signal of the second fixed cell 9.So, as shown in Figure 15 and Figure 16, piston rod 94a
Expanding-contracting action is carried out, sliding panel 93 carries out sliding action therewith, and the second engagement pin 97 advances because of the sliding action, and with second
Connecting hole 69b engages, and the first connector 98 also connects with the second connector 69c, at the same time, the side of rotating frame 5
Electric wire and the electric wire of the side of fixture 6 connect via the first connector 98 and the second connector 69c, each drive division of fixture 6
It is under the control of control panel 10.
Mechanical arm 3a top is removed from the tool replacing apparatus (not shown) of the tool replacing apparatus installation portion 60 of fixture 6
End, thus terminate the installation exercise of fixture 6.
As described above, according to the embodiment of the present invention, because forming the major part of fixture 6 with aluminium alloy material, folder
The overall weight of tool 6 is lighter.Therefore, can be set around Working piece positioning device 2 can carry the less welding robot of weight
3, so as to make surrounding's densification of Working piece positioning device 2.
Because the main body frame 61 being made up of aluminium alloy material is in horizontally extending shape, once temperature occurs
Change will stretch along its length.But by being that the first engaging framework 64 is set by the positioning datum relative to scaffold 53
In the length direction center of main body frame 61, and make positioning datum i.e. the first fixture of the first engaging framework 64 and scaffold 53
Location division 7a is engaged, and the center of fixture 6 is just bound to consistent with the positioning datum of scaffold 53.Moreover, in main body frame
61 length direction both sides, the length direction of the first engagement pin 8b and the second engagement pin 97 of scaffold 53 along main body frame 61
It is preceding and then engage respectively with the first connecting hole 69a and the second connecting hole 69b of main body frame 61, therefore, even if main body frame 61
Stretch along its length, only by the first engagement pin 8b and the second engagement pin 97 relative to the first connecting hole 69a and the second connecting hole
The change for the advance amount that 69b occurs, also can reliably carry out engaging between the first engagement pin 8b and the first connecting hole 69a and
Engaging between second engagement pin 97 and the second connecting hole 69b.Therefore, also can be in reference position even if environment changes
Fixture 6 is securely held on scaffold 53 in the state of not deviateing.
Because each second aluminium chassis 61b plays the effect in the joint in the first aluminium chassis 61a, body frame can be improved
The rigidity of frame 61.Deposited components 68 are injected in each second aluminium chassis 61b jack 61c, it becomes possible to by each driving with fixture 6
The connected fitly folding and unfolding of deposited components 68 in portion is in the first aluminium chassis 61a.Moreover, because the folding and unfolding of deposited components 68 is in the first aluminium
In framework 61a, so when workpiece W1, W2 to having navigated on fixture 6 are welded, can protect deposited components 68 not by
Splash caused by welding influences.The shape that first aluminium chassis 61a is open in a part for outer peripheral face, therefore for example will laying
When part 68 is routed in the first aluminium chassis 61a, the operation of operator is just simple easy.
Because L-shaped framework 69 is respectively provided at the length direction both ends of main body frame 61, fixture 6 with scaffold
Positioning on the intersecting direction of 53 length direction just becomes simple easy.Once fixture 6 is in the length side with scaffold 53
Determined to the position on intersecting direction, then at the same time the first engagement pin 8b and the first connecting hole 69a, the second engagement pin
97 are just changed into the state that can engage with the second connecting hole 69b, therefore can shorten the time needed for the replacement operation of fixture 6.
Fixture 6 is set to advance relative to scaffold 53 to front side engagement pawl 65a projected direction, front side engagement pawl 65a is just
Engage with the first positioning hole 71a of scaffold 53.Therefore, fixture 6 will be simple relative to the positioning operation of scaffold 53
Easily.
It should be noted that in embodiments of the present invention, two fixtures 6 being installed on scaffold 53 are identical
Fixture 6, but different types of fixture 6 can also be installed.
When welding robot 3 and operator's H1 operations, each rotation of second motor 55 can also be made to allow fixture 6 to tilt,
So as to be easy to welding robot 3 and operator's H1 operations.
The welding robot 3 for being arranged on workpiece welding region X1 can also be multiple.
In embodiments of the present invention, operator H1 is one, but can also allow several operator H1 in workpiece setting
Region X2 operations.
In embodiments of the present invention, workpiece W1, W2 assembling is carried out by spot welding, but not limited to this, can also be led to
Cross electric arc welding or laser welding is carried out, can also be carried out by other joint methods.
In embodiments of the present invention, scaffold 53 rotates around horizontally extending axis of rotation, but props up
Support frame frame 53 not necessarily rotates.
Industrial applicability
The present invention is applied to a kind of Working piece positioning device, workpiece when e.g. being welded to being obtained using punch forming
Etc. the Working piece positioning device for being clamped and being positioned.
Description of reference numerals
2 Working piece positioning devices
6 fixtures
The first fixtures of 7a location division
The engagement pins of 8b first
53 scaffolds (supporting mass)
61 main body frames
The aluminium chassis of 61a first
The aluminium chassis of 61b second
61c jacks
64 first engaging frameworks (auxiliary section)
Engagement pawl on front side of 65a
68 deposited components
69 L-shaped frameworks
The connecting holes of 69a first
The connecting holes of 69b second
The positioning holes of 71a first
97 second engagement pins
W1, W2 workpiece
Claims (4)
1. a kind of Working piece positioning device, including fixture and supporting mass, wherein, above-mentioned fixture is used to position workpiece, above-mentioned
Supporting mass supports the fixture and the fixture is dismantled and assembled, and above-mentioned Working piece positioning device is characterised by,
Above-mentioned fixture includes horizontally extending aluminium alloy main body frame,
Above-mentioned supporting mass includes the first engagement pin and the second engagement pin and fixture location division, above-mentioned first engagement pin and above-mentioned
Two engagement pins predetermined distance arrangement apart, and can advancing along the length direction of aforementioned body framework with after in the horizontal direction
Move back, above-mentioned fixture position point between first engagement pin and second engagement pin,
Auxiliary section and the first connecting hole and the second connecting hole are provided with aforementioned body framework, above-mentioned matching part is in the main body
Framework center, and coordinate above-mentioned fixture location division to be positioned relative to above-mentioned supporting mass to fixture, above-mentioned first connecting hole and
Above-mentioned second connecting hole is located at the length direction both sides of aforementioned body framework and in above-mentioned first engagement pin and above-mentioned second engaging
Pin engages with above-mentioned first engagement pin and above-mentioned second engagement pin respectively in the state of advancing.
2. Working piece positioning device according to claim 1, it is characterised in that
Aforementioned body framework includes the second aluminium chassis of elongated the first aluminium chassis and tabular, wherein, above-mentioned first aluminium chassis
Section is in approximate U-shaped, length direction apart predetermined distance of multiple above-mentioned second aluminium chassis along first aluminium chassis
It is located in above-mentioned first aluminium chassis, and is integrally fixed with first aluminium chassis side by side,
The center of each second aluminium chassis is formed with the jack passed through for deposited components.
3. Working piece positioning device according to claim 1 or 2, it is characterised in that
Above-mentioned supporting mass is horizontally extending and the rectangular shape of section,
In two end portions on the length direction of aforementioned body framework, provided with corresponding with the outer peripheral face of above-mentioned supporting mass a pair
L-shaped framework, in the state of each L-shaped framework is abutted on above-mentioned supporting mass, above-mentioned first engagement pin and above-mentioned
Two engagement pins are located at the position relative with above-mentioned first connecting hole and above-mentioned second connecting hole.
4. the Working piece positioning device according to any one of Claim 1-3, it is characterised in that
Above-mentioned fixture location division has a positioning hole, above-mentioned positioning hole to above-mentioned first engagement pin and above-mentioned second engagement pin and
The intersecting horizontal direction opening of setting direction is arranged,
Above-mentioned auxiliary section is prominent to the direction orthogonal with the length direction of aforementioned body framework, also, above-mentioned auxiliary section with it is above-mentioned
Positioning hole engages and can departed from from above-mentioned positioning hole.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2015/003915 WO2017021999A1 (en) | 2015-08-04 | 2015-08-04 | Workpiece aligning device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107735217A true CN107735217A (en) | 2018-02-23 |
| CN107735217B CN107735217B (en) | 2019-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580081489.2A Active CN107735217B (en) | 2015-08-04 | 2015-08-04 | Working piece positioning device |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP6180656B2 (en) |
| KR (1) | KR102016167B1 (en) |
| CN (1) | CN107735217B (en) |
| MY (1) | MY190047A (en) |
| WO (1) | WO2017021999A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019077726A1 (en) * | 2017-10-19 | 2019-04-25 | 株式会社キーレックス | Welding device |
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| JP4621334B2 (en) | 2000-06-21 | 2011-01-26 | 株式会社エイチワン | Automatic jig changing method in welding line |
| KR20090040011A (en) * | 2007-10-19 | 2009-04-23 | 기아자동차주식회사 | Jig apparatus for a penal welding |
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2015
- 2015-08-04 KR KR1020177036833A patent/KR102016167B1/en active IP Right Grant
- 2015-08-04 JP JP2016557084A patent/JP6180656B2/en active Active
- 2015-08-04 CN CN201580081489.2A patent/CN107735217B/en active Active
- 2015-08-04 MY MYPI2018000127A patent/MY190047A/en unknown
- 2015-08-04 WO PCT/JP2015/003915 patent/WO2017021999A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0543652B2 (en) * | 1987-05-19 | 1993-07-02 | Glasstech Inc | |
| JPH0825088A (en) * | 1994-07-19 | 1996-01-30 | Mitsubishi Electric Corp | Positioner tuilting device for welding robot |
| JPH08118076A (en) * | 1994-10-21 | 1996-05-14 | Daiwa House Ind Co Ltd | Jig and method for welding end member of truss frame member |
| JP2007319866A (en) * | 2006-05-30 | 2007-12-13 | Takagi Manufacturing Co Ltd | Workpiece carrying apparatus to be used in welding process |
| CN102161144B (en) * | 2010-02-16 | 2015-04-01 | 株式会社神户制钢所 | Welding supporting table for joints |
| CN102781622A (en) * | 2010-02-23 | 2012-11-14 | 帕斯卡工程株式会社 | Work pallet positioning and affixing device |
| JP2011251362A (en) * | 2010-06-01 | 2011-12-15 | Hirotec Corp | Positioning device of workpiece |
| CN102593034A (en) * | 2011-01-17 | 2012-07-18 | 揖斐电株式会社 | Electronic part positioning jig |
| CN103476564A (en) * | 2011-04-05 | 2013-12-25 | 日本省力机械株式会社 | Workpiece removal and finishing device |
| CN102922160A (en) * | 2012-11-16 | 2013-02-13 | 天津万华车辆配件有限公司 | Automatic welding device for steel back of train brake shoe |
Also Published As
| Publication number | Publication date |
|---|---|
| MY190047A (en) | 2022-03-23 |
| KR20180009788A (en) | 2018-01-29 |
| KR102016167B1 (en) | 2019-08-29 |
| JP6180656B2 (en) | 2017-08-16 |
| JPWO2017021999A1 (en) | 2017-08-03 |
| WO2017021999A1 (en) | 2017-02-09 |
| CN107735217B (en) | 2019-09-06 |
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