JP2007190627A - Work positioning device and work positioning method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a work positioning device and a work positioning method which can reduce the cost and achieve space-saving. <P>SOLUTION: This work positioning device 1 includes: first work positioning mechanisms 4A, 4B having NC-controlled multi-axis NC shaft capable of varying the holding position to at least one first work W1 among a plurality of works; and a second work positioning mechanism 5 having a structure which can hold at least one second work different from the first work W1 among the plurality of works, and position the held second work to the first work W1 held by the first work positioning mechanisms 4A, 4B. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a workpiece positioning device and a workpiece positioning method.

  Conventionally, a turntable has been adopted as a method for effectively separating an operator process performed by an operator and a robot process performed by an industrial robot in a production process of vehicle parts and the like (see, for example, Patent Document 1). This turntable is used for the purpose of transporting parts between an operator process and a robot process, and the robot process is provided with one facility having a floor-standing type positioning device for positioning the parts. ing.

  However, since the turntable is positioned as a transport device and does not have a function of gripping parts, it is not suitable for transporting two or more parts or unstable parts.

  In addition, since the turntable does not have a function of gripping the component, the component cannot be accurately positioned. For this reason, even if the worker can install the parts on the turntable in a short time, the robot cannot be welded or sealed while the worker is not working. The capacity cannot be increased and the process time becomes longer.

  Further, since the turntable has a simple structure, for example, it is difficult to produce various types of vehicles on one worktable, and there is a problem that it is expensive to produce a plurality of types of vehicles.

In order to avoid interference between the positioning device and the turntable in the robot process, the turntable is provided with a rotation mechanism and a lifting mechanism. However, the operation cannot be performed while the lifting mechanism is in operation, and the process time is increased. There's a problem.
Japanese Utility Model Publication No. 4-32180

  The present invention has been made to solve the above-described problems associated with the prior art, and an object of the present invention is to provide a work positioning apparatus and a work positioning method capable of reducing cost and saving space.

  A workpiece positioning apparatus according to the present invention that achieves the above object is a first workpiece positioning mechanism having NC axes that are NC controlled and capable of changing a holding position for at least one first workpiece among a plurality of workpieces. And holding at least one second workpiece different from the first workpiece among the plurality of workpieces, and positioning the held second workpiece with respect to the first workpiece held by the first workpiece positioning mechanism And a second workpiece positioning mechanism having a possible structure.

  The workpiece positioning method according to the present invention that achieves the above-described object provides a first workpiece in which at least one first workpiece among a plurality of workpieces is arranged in a first workpiece positioning mechanism having NC axes controlled by NC. A positioning step and at least one second workpiece different from the first workpiece among the plurality of workpieces is held by a second workpiece positioning mechanism capable of holding and positioning the second workpiece; And a second workpiece positioning step for positioning.

  The workpiece positioning device according to the present invention configured as described above is provided with a first workpiece positioning mechanism that can change the holding position relative to the first workpiece by NC control, so that the first workpiece can be positioned at an accurate position. Furthermore, since the second workpiece positioning mechanism is provided, the second workpiece can be accurately positioned with respect to the first workpiece. For this reason, the first work positioning mechanism can hold the first work that does not differ greatly in shape depending on the model, and the second work positioning mechanism can hold the second work that differs greatly in shape depending on the model. The work can be realized, and the work time can be reduced to reduce the process time. Further, since the holding position of the first workpiece positioning mechanism can be changed and it can be used in common for a plurality of models, the cost can be reduced and the space can be saved. Further, since the first workpiece positioning mechanism is provided, an unstable workpiece or a plurality of workpieces can be reliably gripped. In addition, since the first workpiece can be accurately positioned by the first workpiece positioning mechanism, the first workpiece can be welded using a welding robot or the like, and the capacity of the apparatus can be increased. Further, since no lifting device is required, the cost can be reduced.

  The workpiece positioning method according to the present invention configured as described above includes a first workpiece positioning step of placing the first workpiece on the first workpiece positioning mechanism, and the second workpiece relative to the first workpiece by the second workpiece positioning mechanism. Since the second workpiece positioning step for positioning is provided, the first workpiece can be positioned at an accurate position, and the second workpiece can be accurately positioned with respect to the first workpiece. For this reason, the first work positioning mechanism can hold the first work whose shape does not change much, and the second work positioning mechanism can hold the second work whose shape varies greatly depending on the model. Can be realized continuously, and the work process can be reduced to reduce the process time.

  Embodiments of the present invention will be described with reference to the drawings.

  1 is a plan view in which the contours of a plurality of wheel house rear pillars are superimposed, FIG. 2 is a side view in which the contours of a plurality of wheel house rear pillars are superimposed, FIG. 3 is a plan view of the wheel house rear pillar shown as an example, and FIG. It is a top view of other foil house rear pillars shown typically.

  The workpiece positioning apparatus 1 according to the present embodiment is an apparatus that can convey and weld a plurality of workpieces that are the base of a wheel house rear pillar 2 that is a vehicle component, and further perform welding or the like.

  The wheel house rear pillar 2 has a different shape depending on the vehicle type as shown in FIGS. 1 and 2, but the lower panel shape in the figure has a relatively similar shape regardless of the vehicle type as shown by overlapping contours. The shape of the upper panel in the figure varies greatly depending on the vehicle type. For example, as shown in FIGS. 3 and 4, the wheel house rear pillar 2 having such a shape is formed by welding a first work W <b> 1 having the same shape depending on the vehicle type and a second work W <b> 2 having a shape greatly different depending on the vehicle type. Produced. Here, each of the 1st work W1 and the 2nd work W2 can also be constituted from a plurality of works.

  FIG. 5 is an explanatory diagram showing a schematic configuration of the workpiece positioning device according to the present embodiment, and FIG. 6 is a plan view showing a first workpiece positioning mechanism of the workpiece positioning device according to the present embodiment.

  As shown in FIG. 5, the work positioning device 1 includes a work table 3, two first work positioning mechanisms 4 </ b> A and 4 </ b> B installed on the work table 3, and a second work positioning mechanism 5. Yes.

  The work table 3 has a placement surface 6 on which the first workpiece W1 is placed, and the placement surface 6 is configured to be rotatable with respect to the floor surface.

  On the mounting surface 6, two first workpiece positioning mechanisms 4 </ b> A and 4 </ b> B are installed with a shift of about 180 degrees in the rotation direction of the work table 3.

  The first workpiece positioning mechanism 4 is for holding the first workpiece W1, and as shown in FIG. 6, the first workpiece positioning mechanism 4 includes a plurality of locators 7 having NC control axes of three orthogonal axes controlled by NC. Each has a degree of freedom of movement in three axis directions. The locator 7 can accurately control a clamp for gripping a workpiece, a locating pin inserted into a hole formed in the workpiece, and the like to an arbitrary position by NC control. For this reason, the 1st workpiece positioning mechanism 4 can respond | correspond universally to several types of 1st workpiece | work W1. Further, since the first workpiece positioning mechanism 4 is relatively small, it can be installed on the work table 3.

  The locator 7 has, for example, three bases extending in three orthogonal axes, and a base installed above each base is slidable by a ball screw or the like, and is arranged at the uppermost end. A clamp, a locating pin or the like is disposed at the support position 8. Therefore, the clamps and the locating pins are controlled to arbitrary positions in the three axial directions by driving the motors, which are driving sources for driving the respective ball screws, in cooperation with each other.

  The second workpiece positioning mechanism 5 is a handling robot provided with a gripping jig 9 for gripping the second workpiece W2 on a robot having an arm structure or the like, for example. The second workpiece positioning mechanism 5 has a structure in which a dedicated or shared gripping jig 9 can be used properly for each of the second workpieces W2 so that each of the plurality of types of second workpieces W2 can be gripped. is doing. Accordingly, the second workpiece positioning mechanism 5 can grip a plurality of types of second workpieces W2 that are greatly different in shape while changing the gripping jig 9 according to the type of the second workpiece W2. The gripped second workpiece W2 can be accurately positioned at an arbitrary position.

  A first work area S1 into which the first work W1 is carried and a second work area S2 into which the second work W2 is carried are formed around the work table 3 (see FIG. 5).

  In the first work area S1, a carry-in area S3 for the worker P1 to place the first work W1 on the first work positioning mechanism 4 is provided, and the first welding robot 10 is further installed. The first welding robot 10 is set with a welding position according to the type of the first workpiece W1, and can weld a predetermined position according to the type of the first workpiece W1 carried in.

  A carriage 11 for carrying the first workpiece into the vicinity of the worker P1 is provided in the vicinity of the carry-in area S3. A plurality of types of first workpieces W1 are arranged on the carriage 11 in the order in which they are worked.

  A second workpiece positioning mechanism 5 is provided in the second work area S2. A second welding robot 12 is installed in the vicinity of the second workpiece positioning mechanism 5. In the second welding robot 12, a welding position corresponding to the types of the first workpiece W1 and the second workpiece W2 is set, and a predetermined position is set according to the types of the first workpiece W1 and the second workpiece W2 that are carried in. Can be welded.

  Further, in the vicinity of the second workpiece positioning mechanism 5, a temporary table 13 on which the welded first workpiece W <b> 1 and second workpiece W <b> 2 are carried out is provided.

  Next, a method for using the workpiece positioning apparatus 1 according to this embodiment will be described.

  FIG. 7 is an explanatory diagram showing when the first workpiece is placed on the first workpiece positioning mechanism of the workpiece positioning device, FIG. 8 is an explanatory diagram showing when the work table of the workpiece positioning device is rotated, and FIG. 9 is the second workpiece. FIG. 10 is an explanatory diagram showing when the second workpiece is positioned by the positioning mechanism, and FIG. 10 is an explanatory diagram showing when the first workpiece and the second workpiece are carried out of the work table.

  First, as shown in FIG. 7, the worker P1 takes out the first workpiece W1 from the carriage 11, and the first workpiece W1 is transferred to the first workpiece positioning mechanism 4A (or 4B) stopped in front of the worker P1. Is placed (first positioning step). At this time, in the first workpiece positioning mechanism 4A, the support position 8 of the locator 7 is moved by NC control corresponding to the first workpiece W1 corresponding to the vehicle type to be manufactured. Accordingly, the first work W1 placed by the worker P1 is accurately positioned on the work table 3.

  Next, the first work W <b> 1 is welded by the first welding robot 10. At this time, since the first welding workpiece is accurately positioned, the first workpiece W1 can be accurately welded according to the type of the first workpiece W1.

  Next, as shown in FIG. 8, the work table 3 is rotated 180 degrees and stopped. Thereby, the first work positioning mechanism 4A (or 4B) on which the first work W1 is installed stops in the second work area S2, and the other first work positioning mechanism 4B (or 4A) is in the first work area S1. Stop before the worker P1 (workbench rotation process).

  Next, as shown in FIG. 9, a gripping jig 9 corresponding to the type of the second work W2 is attached to the second work positioning mechanism 5, and the second work W2 is gripped using the gripping jig 9, Move to the vicinity of one workpiece W1 (second positioning step). At this time, since the first workpiece W1 is accurately positioned by the first workpiece positioning mechanism 4A, and the second workpiece W2 can be accurately positioned by the second workpiece positioning mechanism 5, the second workpiece W2 is positioned by the first workpiece. It can arrange | position correctly at the welding position with respect to W1.

  Next, the welding positions corresponding to the types of the first workpiece W1 and the second workpiece W2 are welded by the second welding robot 12, and the first workpiece W1 and the second workpiece W2 are joined. At this time, the joining is completed while the second workpiece W2 is held by the holding jig 9 of the second workpiece positioning mechanism 5.

  Thereafter, as shown in FIG. 10, the joined first work W <b> 1 and second work W <b> 2 are moved from the work table 3 to the temporary placement table 13 by the second work positioning mechanism 5 in a state of gripping the second work W <b> 2. Then, it is input to the next process.

  Further, while the work table 3 is stopped for work in the second work area S2, the other work positioning mechanism 4B (or 4A) located in the first work area S1 has the above-described first positioning step. Similarly, the first work W1 is placed by the worker P1.

  Thereafter, similar processes such as welding by the first welding robot 10 and rotation of the work table 3 are repeated.

  FIG. 11 is an explanatory diagram showing a schematic configuration of a conventional workpiece positioning device.

  The conventional workpiece positioning device 1 ′ includes two work tables 2A ′ and 2B ′, two welding robots 3A ′ and 3B ′ installed in the vicinity of the respective work tables, and the first work table 2A ′ to the second work table 2A ′. A first handling robot 4A ′ for moving the work to the work table 2B ′ and a second handling robot 4B ′ for carrying out the work from the second work table 2B ′ are provided. Positioning jigs 6A 'and 6B' are provided on the respective work tables 2A 'and 2B'. In such a conventional workpiece positioning device 1 ′, first, the worker P1 ′ installs the first workpiece W1 ′ on the positioning jig 6A ′ of the first work table 2A ′, and the first welding robot 3A ′ performs the first work. The workpiece W1 ′ is welded. Next, the welded first work W1 ′ is moved to the second work table 2B ′ by the first handling robot 4A ′, and the second work W2 ′ is installed on the second work table 2B ′ by the worker P2 ′. . Thereafter, the first workpiece W1 'and the second workpiece W2' are welded by the second welding robot 3B 'and are carried out by the second handling robot 4B'.

  In the conventional apparatus as described above, when two workers are required, or when one worker holds the workers P1 'and P2', the number of walking is increased, and the burden on the worker is great.

  The work positioning apparatus 1 according to the present embodiment can accurately position the first work W1 on the work table 3 because the work work table 3 is provided with the first work positioning mechanism 4. For this reason, while using the work table 3 for conveyance of a workpiece | work, a workpiece | work can be welded on the work table 3. FIG. Further, since the first workpiece W1 is accurately positioned, the second workpiece W2 can be accurately positioned and welded to the first workpiece W1 on the work table 3. Accordingly, since only one worker is required, the personnel cost can be reduced and the burden on the worker can be reduced. Further, since the work table 3 serves as both a work conveying means and a work table, the work positioning device 1 can be installed in a space-saving manner, and the cost can be reduced.

  Further, since the first work positioning mechanism 4 is installed on the work table 3 and the first work W1 can be accurately positioned, the work can be welded or sealed with a robot or the like on the work table 3, Work time can be shortened.

  In addition, since the first workpiece W1 and the second workpiece W2 can be separately positioned by the first workpiece positioning mechanism 4 and the second workpiece positioning mechanism 5, welding is performed before the first workpiece W1 and the second workpiece W2 are welded to each other. The part that needs to be welded can be first welded by the first welding robot 10, and then the first workpiece W1 and the second workpiece W2 can be welded together.

  In addition, the first work positioning mechanism 4 that can be installed on the work table 3 holds the first work W1 whose shape does not differ greatly depending on the model, and holds the gripping jig 9 on the second work W2 whose shape varies greatly depending on the model. By holding by the changeable second workpiece positioning mechanism 5, work corresponding to a plurality of models can be continuously realized by one workpiece positioning device 1.

  Further, since the two first workpiece positioning mechanisms 4A and 4B are provided on the work table 3, while the worker P1 installs the first workpiece W1 on one of the first workpiece positioning mechanisms 4A (or 4B), the other The second workpiece W2 can be welded to the first workpiece W1 by the first workpiece positioning mechanism 4B (or 4A), and the working time can be shortened.

  In addition, since a conventional turntable device is provided with a positioning mechanism and a turntable separately, a lifting mechanism for raising and lowering the work surface is provided on the turntable to avoid interference between the positioning mechanism and the turntable. In addition, there is a problem that the operation cannot be performed during the operation of the lifting mechanism and the process time becomes long. However, in the present embodiment, the first workpiece positioning mechanism 4 is disposed on the work table 3, and the positioning mechanism does not interfere with the work table 3. Therefore, it is not necessary to provide a lifting device, and work corresponding to the lifting time is performed. Time can be reduced and costs can be reduced.

  Further, the first workpiece positioning mechanism 4 arranged on the work table 3 can accurately hold and transport each of the first workpieces W1 even when there are a plurality of the first workpieces W1, for example. It can also be transported.

  The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the claims. For example, the number of NC axes of the locator 7 is not necessarily three. Further, a robot or the like may be used instead of the worker P1.

It is the top view which accumulated the outline of a plurality of foil house rear pillars. It is the side view which accumulated the outline of a plurality of foil house rear pillars. It is a top view of the wheel house rear pillar shown as an example. It is a top view of other foil house rear pillars shown in an illustration. It is explanatory drawing which shows schematic structure of the workpiece | work positioning device which concerns on this embodiment. It is a top view showing the 1st work positioning mechanism of the work positioning device concerning this embodiment. It is explanatory drawing which shows the time of mounting a 1st workpiece | work in the 1st workpiece positioning mechanism of a workpiece | work positioning device. It is explanatory drawing which shows the time of rotating the working table of a workpiece | work positioning device. It is explanatory drawing which shows the time of positioning a 2nd workpiece | work by a 2nd workpiece positioning mechanism. It is explanatory drawing which shows the time of carrying out a 1st workpiece | work and a 2nd workpiece | work from a worktable. It is explanatory drawing which shows schematic structure of the conventional workpiece positioning apparatus.

Explanation of symbols

1 Work positioning device,
2 Wheelhouse rear pillar,
3 workbench,
4A, 4B first workpiece positioning mechanism,
5 Second workpiece positioning mechanism,
6 Placement surface,
S1 first work area,
S2 second work area,
S3 carry-in area,
P1 worker,
W1 first work,
W2 Second work.

Claims (7)

A first workpiece positioning mechanism having NC controlled multi-axis NC axes capable of changing a holding position of at least one first workpiece among a plurality of workpieces;
At least one second workpiece different from the first workpiece among the plurality of workpieces is held, and the held second workpiece can be positioned with respect to the first workpiece held by the first workpiece positioning mechanism. And a second workpiece positioning mechanism having a structure.   The work positioning apparatus according to claim 1, wherein the first work positioning mechanism is provided on a work table installed on a floor surface.   The work positioning apparatus according to claim 2, wherein the work table is configured to be rotatable with respect to a floor surface.   The work positioning apparatus according to claim 2, wherein two first work positioning mechanisms are installed on the work table. A first workpiece positioning step of disposing at least one first workpiece of the plurality of workpieces on a first workpiece positioning mechanism having NC axes controlled by NC;
A second workpiece is positioned with respect to the first workpiece by holding at least one second workpiece different from the first workpiece among the plurality of workpieces by a second workpiece positioning mechanism capable of holding and positioning the second workpiece. A workpiece positioning method comprising: a workpiece positioning step.   6. The work table rotation process according to claim 5, further comprising a work table rotation process in which the first work positioning mechanism is installed after the first work positioning process to rotate a work table rotatable with respect to the floor surface. Work positioning method.   Two first workpiece positioning mechanisms are installed on the work table. When the first workpiece positioning process is performed in one first workpiece positioning mechanism, the second workpiece positioning process is performed in the other first workpiece positioning mechanism. Is implemented. The workpiece positioning method characterized by the above-mentioned.

Images