JP2003260626A - Positioning clamp device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a positioning clamp device having a mechanism which can detect the positioning condition of a panel by one sensor unnecessary for changing the fitting position built therein. <P>SOLUTION: A work contact surface 24c with the panel brought into contact therewith is formed on a work receiving cylindrical body 24, and a locate pin 23 with a positioning hole of the panel fitted thereto is protruded therefrom. A clamp arm 26 to tighten the panel in a freely advancing/retracting manner is provided in a slit 25 of the locate pin 23. A detection rod 41 is protruded from the work contact surface 24c in an advancing/retracting manner, and the detection rod 41 is connected to a sensor plunger 42 having a magnet 45 via a sleeve 43 provided so as to surround the clamp arm 26. When the panel is brought into contact with the work contact surface 24c, the detection rod 41 is retracted, and the sensor plunger 42 is also moved. When the magnet 45 faces a magnetic sensor switch 46, the signal is output, and the positioning of the panel is confirmed. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning clamp device for positioning and fixing a panel material at a predetermined position.

[0002]

2. Description of the Related Art An automobile body is formed by joining a plurality of panel materials by spot welding. When performing spot welding, it is necessary to position and clamp various panel materials constituting the automobile body. . for that reason,
A plurality of positioning clamp devices are attached to a welding stage arranged on an automobile production line in order to positionally clamp a panel material. Further, a positioning clamp device is attached to the tip of the robot arm, and the panel material is positioned and clamped by the positioning clamp device by operating and moving the robot arm.

In any case, the conventional positioning clamp device has a locate pin that fits into a positioning hole formed in a panel material that is a workpiece, and positions the panel material by fitting the locate pin into the positioning hole. I am trying to do it. Further, in order to clamp the panel material, a clamp arm is incorporated in a slit formed in the locate pin, and when the panel material is clamped, the clamp arm is pushed out of the slit. A positioning clamp device of this type is disclosed, for example, in Japanese Patent Laid-Open No. 2000-176874.

[0004]

However, when clamping the panel material, it is first necessary to detect whether or not the panel material is positioned at a predetermined position. It is necessary to install a detection device such as a proximity sensor in addition to the positioning clamp device. In that case, if the panel material changes and the clamp target changes, it is necessary to change the mounting position of the proximity sensor according to the type, and the work becomes complicated and the number of steps increases. Further, if a plurality of sensors are arranged in order to eliminate the work of changing the position of the sensor, the structure of the device becomes complicated and the cost of the device increases, and improvement thereof is desired.

An object of the present invention is to provide a positioning clamp device provided with a mechanism for detecting the positioning state of the panel material by a single sensor which does not require a change in the mounting position.

[0006]

A positioning clamp device of the present invention is attached to a work receiving cylinder having a work contacting surface with which a panel material comes into contact with the tip, and the work receiving cylinder protruding from the work contacting surface. , A locate pin into which a positioning hole formed in the panel material fits, and a forward position that is provided in a slit formed in the locate pin and enters the slit, and a retracted position in which a tip portion comes out of the slit. Free clamp arm,
A detection rod movably provided along the axial direction on the work receiving cylinder, and one end side of which is arranged to be retractable with respect to the work contact surface, and an axial direction so as to surround the locating pin in the work receiving cylinder. It is movably installed,
A sleeve that is attached to the other end side of the detection rod and operates integrally with the detection rod, and one end side of the sleeve is provided so as to surround the locate pin, and the detection rod projects the sleeve from the work contact surface. Elastic member that urges in the direction of rotation, a sensor plunger that is attached to the sleeve and moves axially in the workpiece receiving cylinder with the movement of the detection rod, and a position detection magnet attached to the sensor plunger. And a sensor means that is installed in the vicinity of the sensor plunger and detects the movement of the sensor plunger by detecting the magnetism of the position detection magnet to detect the movement of the detection rod. .

Further, the positioning clamp device of the present invention is
The work receiving cylinder is provided with a guide member on which the sleeve is slidably inserted.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings. 1 is a perspective view showing a positioning clamp device according to an embodiment of the present invention, FIG. 2 is an enlarged sectional view taken along the line AA in FIG. 1, and FIG. 3 is a left side view of FIG. FIG. 4 is a partially enlarged sectional view of FIG.

The positioning clamp device shown in the drawing is applied to position and fix a panel material constituting an automobile body, and is provided with a work support 10. The work pedestal 10 has a mounting flange portion 10a and a cylindrical portion 10b integrated with one surface of the mounting flange portion 10a.
Part 0a will be attached to a predetermined assembly stage in the automobile production line. Mounting flange part 10
A cylinder tube 11 is fixed to the other surface of a, and inside the cylinder tube 11, as shown in FIG.
A piston 12 is mounted so as to be reciprocally movable in the axial direction.

As shown in FIG. 2, the piston rod 13 fixed to the piston 12 penetrates a rod cover 14 attached to one end of the cylinder tube 11 and is inserted into the cylindrical portion 10b of the work receiving base 10. ing. A head cover 15 is fixed to the other end of the cylinder tube 11, a retracting air pressure chamber 16a is formed between the rod cover 14 and the piston 12, and an advancing air pressure chamber 16b is formed between the head cover 15 and the piston 12. Has been formed. Supply / exhaust ports 17a, 17b are formed in the cylinder tube 11 so as to communicate with the respective air pressure chambers 16a, 16b. Therefore, when compressed air is supplied from the supply / discharge port 17a, the piston rod 13 moves backward, and when compressed air is supplied from the supply / discharge port 17b, the piston rod 13 moves forward.

As shown in FIG. 2, in order to fasten the piston rod 13 to the head cover 15 while the piston rod 13 is moved to the retracted position, the head cover 15 is at a right angle to the moving direction of the piston rod 13. A lock piston 18 is provided so as to be movable in any direction, and a lock rod 19 is attached to the piston 12. An engagement recess 19a is formed in the lock rod 19, and the lock piston 1
The engaging projection 18a provided at the tip of the
Is adapted to engage with. The spring force in the forward direction is applied to the lock piston 18 by the compression coil spring 21, and the lock piston 18 is moved backward to move the engaging projection 18
In order to disengage “a” from the engaging recess 19 a, the flow path 22 communicating with the supply / discharge port 17 b opens into the pneumatic chamber of the lock piston 18. Therefore, the piston rod 13
When is moved to the backward limit position, the engaging projection 18a of the lock piston 18 enters the engaging recess 19a by the spring force, and the piston rod 13 is fixed at the backward limit position. Under this condition, when compressed air is supplied to the supply / discharge port 17b, the lock piston 18 moves backward, the lock piston 18 and the lock rod 19 are disengaged, and the lock piston 18 flows into the forward air pressure chamber 16b. Due to the compressed air, the piston rod 13 moves forward. However, a supply / discharge port may be formed in the head cover 15, and the lock piston 18 may be moved backward by the compressed air supplied from the supply / discharge port.

At the tip of the work cradle 10, the pin body 2
The locate pin 23 in which 3a and the mounting flange portion 23b are integrated is mounted at the mounting flange portion 23b. FIG. 5 is a perspective view showing the structure of the locate pin. As shown in FIG. 5, the tip of the locate pin 23 has a hemispherical shape. Locating pin 23 pin body 2
A cylindrical portion 24a and a mounting flange portion 24b are provided on the outer side of 3a.
The work receiving cylinder 24 in which the and are integrated is fitted. Then, the locate pin 23 is provided at the mounting flange portion 24b.
It is attached to the work pedestal 10 via the attachment flange portion 23b. The tip end surface of the work receiving cylinder 24 is a work contact surface 24c that comes into contact with the surface of the panel material that is the work, and the locating pin 23 is fitted into the positioning hole formed in the panel material to position the panel material. To be done.

As shown in FIGS. 2 and 4, a slit 25 is formed in the locate pin 23, and a clamp arm 26 is arranged in the slit 25. The base end of the clamp arm 26 is connected to the tip of the piston rod 13 by a connecting pin 27. Both ends of the connecting pin 27 are slidably supported in a long hole formed in the cylindrical portion 10b of the work pedestal 10 along the axial direction. The axial length of the long hole is the piston rod 13 It almost corresponds to the reciprocating stroke of. Therefore, when the piston rod 13 moves forward, the clamp arm 26 moves forward in the slit 25, and when the piston rod 13 moves backward, the clamp arm 26 moves backward.

A cam pin 31 is fixed to the cylindrical portion 10b of the work holder 10 in parallel with the connecting pin 27,
The cam pin 31 penetrates a cam groove 32 formed in the clamp arm 26. The cam groove 32 has a straight portion 32a which is parallel to the longitudinal direction of the clamp arm 26 and an inclined portion 32b which is connected to the rear end portion of the straight portion 32a. Therefore, when the piston rod 13 reaches the backward limit position,
As shown by the solid line in FIG. 4, the tip portion of the clamp arm 26 is in a state of protruding from the slit 25. On the other hand, when the piston rod 13 reaches the forward limit position, the clamp arm 26 moves toward the inclined portion 32b as indicated by the chain double-dashed line in FIG.
Since the cam pin 31 enters the clamp arm 2,
The tip of 6 enters into the slit 25.

At the tip of the clamp arm 26, there is provided a clamp piece 33 which is bent laterally from the tip. FIG. 6 is a sectional view showing a state in which the panel material P is positioned and clamped by the clamp arm 26. As shown in FIG. 6, a positioning hole H is formed in the panel material P constituting the automobile body, and the locating pin 2 is formed therein.
When the clamp arm 26 is moved backward in the state in which 3 is fitted, the panel material P is sandwiched between the clamp piece 33 and the work contact surface 24c.

The work receiving cylinder 24 has a structure shown in FIGS.
As shown in, the detection rod 41 is provided slidably along the axial direction thereof, and the tip end portion on one end side thereof is capable of projecting and retracting from the work contact surface 24c supporting the panel material P. On the other hand, the other end side of the detection rod 41 is provided with a sleeve 4 which is axially movable in the workpiece receiving cylinder 24.
It is attached to 3. The sleeve 43 is formed in a stepped disc shape having a through hole in the center, and is attached so as to surround the locate pin 23. A metal guide shaft (guide member) 29 fixed in the mounting flange portion 24b of the work receiving cylinder 24 is interposed between the sleeve 43 and the locate pin 23. The outside of the shaft 29 slides along the axial direction. That is, the sleeve 43
The guide shaft 29 along with the movement of the detection rod 41.
As a guide, it slides in the axial direction without falling.

A groove portion 42a of a sensor plunger 42 arranged in parallel with the detection rod 41 is engaged with a flange portion 43a of the sleeve 43. The sensor plunger 42 is slidably mounted on the side of the apparatus in the axial direction, and is provided from the work receiving cylinder 24 through the mounting flange portion 23b of the locate pin 23 to the work receiving base 10. In this way, the sensor plunger 42 is connected to the detection rod 41 via the sleeve 43, and moves integrally with the sleeve 43 as the detection rod 41 moves.

A compression coil spring (elastic member) 44 is provided on the lower end surface side of the sleeve 43 between the sleeve 43 and the mounting flange portion 23b. A spring holding portion 43b is provided on the sleeve 43, and a compression coil spring 44 is provided between the sleeve 43 and the spring receiving groove 23c provided on the upper surface of the mounting flange portion 23b. The compression coil spring (elastic member) 44 is also attached so as to surround the locate pin 23, and the sleeve 43 is connected to the work contact surface 24 by the detection rod 41.
It is biased in a direction projecting from c.

A magnet 45 for position detection is attached to the sensor plunger 42. Further, a magnetic sensor switch (sensor means) 46 that is sensitive to the magnetic force of the magnet 45 and outputs a detection signal is attached to the workpiece pedestal 10 in proximity to the sensor plunger 42. The magnet 45 comes close to the magnetic sensor switch 46 when the detection rod 41 reaches the backward limit position. That is, when the detection rod 41 sinks from the work contact surface 24c, the magnet 45 causes the magnetic sensor switch 4 to move.
6, the detection signal is output.

As described above, since the detection rod 41 is incorporated into the work receiving cylinder 24 having the support surface for guiding the locate pin 23 and supporting the panel material P, the panel material P is mounted on the work contact surface 24c. Then,
Panel material P with one sensor, regardless of the type of panel material
The positioning state of can be detected. Therefore, it is not necessary to replace the sensor according to the type of the panel material, the work efficiency can be improved, the number of sensors can be reduced, and the device cost can be reduced. Further, the positioning clamp device can be downsized as compared with the case where the detection rod 41 is attached to the outside of the work receiving cylinder 24, and the locate pin 2 of the panel material P is used.
The detection rod 41 is near the part fitted to the panel 3
Since it is in contact with, it is possible to reliably detect that the panel material P is positioned.

Further, the sleeve 43 connecting the detection rod 41 and the sensor plunger 42 is attached so as to surround the locate pin 23, and is arranged so as to slide on the outer periphery of the guide shaft 29 along the axial direction. The sleeve 43 is guided by the guide shaft 29 and operates in the axial direction without falling down even if the eccentric pressing force is applied. Therefore, the addition of the tilt direction does not act on the detection rod 41, the detection rod 41 smoothly moves back and forth in the axial direction according to the contact of the panel material P, and the panel material P can be reliably detected. Become.

Next, the procedure for positioning and fastening the panel material P using such a positioning clamp device will be described. The panel material P in which the positioning hole H having a predetermined shape is formed in advance is carried to the welding stage by the carrying device, and the locate pin 23 is fitted into the positioning hole H. At that time, since the tip of the locate pin 23 has a hemispherical shape, the locate pin 23 is reliably fitted into the positioning hole H even if there is an error in the carry-in position. Further, at the time of fitting, the positioning piston rod 13 is at the forward limit position by the piston 12, and the clamp arm 26 is inserted in the slit 25 as shown by the chain double-dashed line in FIG. The panel material P fitted to the locate pin 23 comes into contact with the work contact surface 24c at the tip of the work receiving cylinder 24.

When the panel material P comes into contact with the work contact surface 24c, the detection rod 41 moves backward by the panel material P, and the sensor plunger 42 connected to this through the sleeve 43 also moves backward. When the detection rod 41 is pushed in and is depressed from the work contact surface 24c, the sensor plunger 4
The second magnet 45 faces the magnetic sensor switch 46, and the magnetic sensor switch 46 operates. The output signal from the magnetic sensor switch 46 confirms that the panel material P is positioned at a predetermined position.

Next, when compressed air is supplied from the supply / discharge port 17a, the piston rod 13 moves backward and the tip of the clamp arm 26 squeezes out from the slit 25, and between the clamp piece 33 and the work receiving cylinder 24. Panel material P
Are concluded. At this time, the engagement protrusion 18a of the lock piston 18 engages with the engagement recess 19a of the lock rod 19, and the clamped state of the panel material P by the clamp arm 26 is maintained.

The present invention is not limited to the above-mentioned embodiment, but various modifications can be made without departing from the scope of the invention. For example, as shown above, the positioning clamp device shown in the figure is mounted not only on the support base of the assembly stage of the automobile body but also on the arm of the industrial robot to position the panel material by robot operation. May be. Further, instead of the above-mentioned compression coil spring 44, rubber or synthetic resin may be used. Further, as the guide shaft 29, it is possible to use a synthetic resin having a small friction coefficient such as a fluorine resin.

[0026]

As described above, according to the present invention, since the detection rod is incorporated in the work receiving cylinder, the positioning state of the panel material can be detected by one sensor regardless of the type of the panel material. it can. Therefore, it is not necessary to replace the sensor according to the type of the panel material, the work efficiency can be improved, the number of sensors can be reduced, and the device cost can be reduced. Further, the positioning clamp device can be downsized as compared with the case where the detection rod is attached to the outside of the workpiece receiving cylinder, and the detection rod comes into contact with the panel material near the portion fitted to the locate pin. Therefore, it is possible to reliably detect that the panel material is positioned. Further, since the sleeve connecting the detection rod and the sensor plunger is attached so as to surround the locate pin, the sleeve operates in the axial direction without falling. Therefore, the addition of the tilt direction does not act on the detection rod, the detection rod smoothly moves back and forth in the axial direction, and it becomes possible to reliably detect the panel material.

[Brief description of drawings]

FIG. 1 is a perspective view showing a positioning clamp device according to an embodiment of the present invention.

FIG. 2 is an enlarged cross-sectional view taken along the line AA in FIG.

FIG. 3 is a left side view of FIG.

FIG. 4 is a partially enlarged sectional view of FIG.

FIG. 5 is a perspective view showing the structure of a locate pin.

FIG. 6 is a sectional view showing a state in which a panel material is positioned and clamped.

[Explanation of symbols]

10 Work stand 10a Mounting flange part 10b tube 11 cylinder tube 12 pistons 13 Piston rod 14 Rod cover 15 head cover 16a Pneumatic chamber for retreat 16b Forward pneumatic chamber 17a, 17b supply / discharge port 18 Lock piston 18a engagement protrusion 19 Rock rod 19a Engagement recess 21 Compression coil spring 22 flow path 23 Locating pin 23a pin body 23b Mounting flange part 23c Spring receiving groove 24 Work receiving cylinder 24a cylindrical part 24b Mounting flange part 24c Work contact surface 25 slits 26 Clamp arm 27 connecting pin 29 Guide shaft 31 cam pins 32 cam groove 32a straight part 32b slope 33 clamp pieces 41 Detection rod 42 Sensor Plunger 42a groove 43 sleeve 43a Flange part 43b Spring holding part 44 Compression coil spring (elastic member) 45 magnet 46 Magnetic sensor switch (sensor means) H positioning hole P panel material

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Claims (2)

[Claims] 1. A work receiving cylinder having a work contacting surface at the tip with which a panel material contacts, and a positioning hole formed in the panel material, which is attached to the work receiving cylinder so as to project from the work contacting surface. A locating pin to match, and provided in a slit formed in the locating pin,
A clamp arm that is movable between an advancing position that enters the slit and a retracted position where the tip portion approaches the slit, and a clamp arm that is movably provided along the axial direction on the workpiece receiving cylinder, and one end side of the workpiece contact surface. With respect to the detection rod, and a detection rod provided in the work receiving cylinder so as to be movable in the axial direction so as to surround the locate pin, and the other end side of the detection rod is attached to be integrated with the detection rod. An operating sleeve; an elastic member provided on one end side of the sleeve so as to surround the locate pin; and an elastic member for urging the sleeve in a direction in which the detection rod projects from the work contact surface. A sensor plunger that moves in the axial direction in the workpiece receiving cylinder along with the movement of the detection rod; A position detecting magnet attached to a runner, and a sensor that is installed in the vicinity of the sensor plunger and detects the movement of the sensor plunger by detecting the magnetism of the position detecting magnet to detect the movement of the detection rod. And a positioning clamp device. 2. The positioning clamp device according to claim 1, wherein a guide member on which the sleeve is slidably inserted is provided on the workpiece receiving cylinder.