JP2002307192A - Robot working device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot working device capable of reducing the size, simplifying the structure, reducing the number of failures and the facility cost in a multiple-tool system. SOLUTION: This robot working device capable of clamping a work to tool reception pieces by an industrial robot comprises a plurality of tool reception pieces 2 for supporting the work in a switching manner according to the kind of the work W, and the industrial robot 5 disposed close to the tool reception pieces 2, and a material hand 6 having a cylinder device 7 far pressing the work W carried in and set to the tool reception piece 2 against the tool reception piece 2 and clamping it thereto is fitted to a tip of an arm 6 of the industrial robot 5.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot working device in which a work carried into a jig receiving piece is clamped on the jig receiving piece by an industrial robot.

[0002]

2. Description of the Related Art For example, in assembling a sheet metal part (work) such as an automobile body, a work is carried into a jig receiving piece, set, clamped to the jig receiving piece, and spot welded. I have. As a conventional jig receiving piece for performing this kind of work, a single jig shown in FIG. 3 or a multi-type jig shown in FIG. 4 is used.

A single jig shown in FIG. 3 includes cylinders 22 respectively attached to a pair of fixed jig receiving pieces 20 on the left and right sides.
And a clamp device 21 comprising a clamp arm 23 which performs a clamping and unclamping operation by the cylinder 22. A workpiece set on the jig receiving piece 20 by manual loading by an operator or automatic loading by a robot or the like. W is the clamp arm 23 of the clamp device 21
And is clamped by pressing against the jig receiving piece 20 from above.

In the multi-type jig shown in FIG. 4, a plurality of jig receiving pieces 2 corresponding to various works W are provided radially around a rotation shaft 3 on a pair of right and left fixed supports 1, and each jig receiving piece is provided. 2 is provided with a clamping device 21 similar to that of the single jig. The indexing device (not shown) rotates the rotating shaft 3 to index the required jig receiving piece 2 upright on the column 1. The work W set in the jig receiving piece 2 by manual loading by an operator or automatic loading by an industrial robot or the like dedicated to loading the work is pressed against the jig receiving piece 20 from above by the clamp arm 23 of the clamp device 21. It is designed to be clamped.

[0005]

The single jig shown in FIG. 3 replaces the jig receiving piece 20 in order to support a work W corresponding to the vehicle type each time a work of various types is assembled. It is necessary to change the setup, and many kinds of jig receiving pieces 20 must be prepared. In addition, the work of removing and attaching the air pipe to the cylinder 22 of the clamp device 21 is also required, which affects the work efficiency and increases the capital investment.

The multi-type jig shown in FIG. 4 does not require a setup change for exchanging the jig receiving piece 20 by changing a work to be assembled like the above-mentioned single jig. Clamping device 21 for jig receiving piece 2 adjacent when performing
Care must be taken not to cause interference between them or twisting of the long air pipe 24 to the cylinder 22 of the clamp device 21. In addition, since each of the large number of jig receiving pieces 2 is provided with the clamp device 21, the jig becomes large,
There is a problem that the equipment cost is high, as well as the complexity.

SUMMARY OF THE INVENTION An object of the present invention is to provide a robot working apparatus which can reduce the size, simplify the structure, reduce failures, and reduce equipment costs in a variety of jig systems.

[0008]

According to a first aspect of the present invention, a plurality of jig receiving pieces for switching and supporting a workpiece according to the type of the workpiece are provided. A cylinder device comprising an industrial robot arranged in proximity to a jig receiving piece, and pressing a workpiece set in the jig receiving piece at the tip of the arm of the industrial robot against the jig receiving piece and clamping the work. A material hand provided with a material hand is provided.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. In FIG. 1, reference numeral 1 denotes a pair of left and right fixed columns. A plurality of jig receiving pieces 2 corresponding to various works W are provided radially around the rotating shaft 3 on each of the columns 1, and the rotating shaft 3 is rotated by an indexing device (not shown) to perform a required jig. The tool receiving piece 2 is indexed so as to stand upright on the column 1.

An industrial robot 4 is arranged near the jig receiving piece 2. A material hand 6 having a cylinder device 7 that presses and clamps the work W loaded into the jig receiving piece 2 against the jig receiving piece 2 is attached to the tip of the arm 5 of the industrial robot 4. is there. It is desirable that a pressing plate 9 that comes into contact with the workpiece W be attached to the lower end of the piston rod 8 of the cylinder device 7.

Since the present invention has a structure as described above, the plurality of jig receiving pieces 2 are rotated by a not-shown indexing device.
Is rotated to set the required jig receiving piece 2 upright on the support 1, and the work W is set on the jig receiving piece 2 by manual loading by an operator or automatic loading by an industrial robot dedicated to loading the workpiece. You.

After setting the work W on the jig receiving piece 2, the industrial robot 4 is operated to operate the work W of the jig receiving piece 2.
The work W is pressed against the jig receiving piece 2 by the cylinder device 7 with a preset force and clamped by the cylinder device 7, and welding is performed in this clamped state by, for example, a spot welding device.

In the present invention, the work W set on the jig receiving piece 2 is clamped to the industrial robot 4 by the cylinder device 7 provided on the material hand 6 at the tip of the arm 5 as in the prior art. Multiple jig receiving pieces 2
Of the clamp device 21 is abolished.

Therefore, no piping is required on the side of the plurality of jig receiving pieces 2, and the jig receiving pieces 2 are compact and simplified, and when the jig receiving pieces 2 are indexed and rotated, interference between the clamp devices 21 of the adjacent jig receiving pieces 2 occurs. In addition, it is possible to prevent the long air pipe from being twisted to the cylinder 22 of the clamp device 21 or the like.

[0015]

As described above, according to the present invention, it is possible to provide a robot working device which can reduce the size, simplify the structure, and reduce the cost of equipment and the equipment cost in a variety of jig systems. Has advantages.

[Brief description of the drawings]

FIG. 1 is a side view of the present invention.

FIG. 2 is a side view of a main part of the present invention.

FIG. 3 is a side view showing a conventional single jig.

FIG. 4 is a side view showing a conventional multi-type jig.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Support 2 Jig receiving piece 3 Rotation axis 4 Industrial robot 5 Arm 6 Material hand 7 Cylinder device 8 Piston rod 9 Press plate

Claims (1)

[Claims] 1. An industrial robot, comprising: a plurality of jig receiving pieces that are switched in accordance with the type of a work to support the work; and an industrial robot arranged in close proximity to the jig receiving piece. A robot working device, comprising a material hand provided with a cylinder device that presses and clamps a work carried into the jig receiving piece against the jig receiving piece at an end thereof.