JP2013198910A - Transporting and coupling device of part - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transporting and coupling device of parts for transporting a part such as a stud bolt, and achieving both fast mobility and load bearing when performing a work with pressurizing.SOLUTION: A transporting and coupling device 1, 2 of parts, for transporting a stud bolt 5 from a standby position 3 to a coupling position 4 to couple to a workpiece 6, includes: a device body 10; a three-claw clamp unit 20 for holding the stud bolt 5; a spidery robot 30, supported to the device body 10, for moving the three-claw clamp unit 20 from the standby position 3 to the coupling position 4; and a pressurizing unit 40 for pressurizing the stud bolt 5 to the workpiece 6 at the coupling position 4. The pressurizing unit 40 is supported to the device body 10 so that the device body 10 receives, independently of the spidery robot 30, a reaction force of pressurization by the pressurizing unit 40.

Description

  The present invention relates to a parts conveying and joining apparatus. More specifically, the present invention relates to a component conveying and coupling device that conveys a stud bolt as a component from a standby position to a welding position in a stud welding machine and pressurizes and welds the stud bolt as a welding position.

  Conventionally, for example, when a bolt is attached to a sheet metal part of a vehicle body, a stud welder is used. A welding head provided with a pressurizing mechanism in a stud welding machine is mounted on an articulated robot. In this case, it is common to further include a feeding device that feeds the bolt to the tip of the welding head.

  In the case of such a stud welder, the feeding device can feed only one type of bolt. Therefore, for example, when welding bolts of different sizes, either a feeding device is prepared for each bolt size, or a feeding device is not used.

When a feeding device is prepared for each bolt size, the investment cost becomes excessive.
On the other hand, when the feeding device is not used, it is possible to cope with bolts of different sizes while suppressing the investment cost.

JP 2000-301342 A

  However, in the case of a stud welding machine that does not use a feeding device, it is necessary for the articulated robot to take the stud bolt to the standby position and transport it to the welding position each time processing is performed. For this reason, the movement time including the idle running time of the articulated robot increases, and the productivity decreases.

  On the other hand, a transport machine specialized for performing a light work by moving an object at a high speed has been conventionally known. A lightweight part such as a stud bolt can be an object to be moved by such a conveyor.

  However, such a transfer machine does not have load resistance that can withstand the pressure load accompanying stud welding.

  The present invention has been made in view of the above-mentioned problems, and when carrying parts such as stud bolts and performing processing with pressurization, both high-speed mobility and load resistance can be achieved. Therefore, an object of the present invention is to provide a component conveying and coupling apparatus capable of conveying and coupling a plurality of types of components without sacrificing productivity.

  The component conveying and coupling device (for example, the component conveying and coupling devices 1 and 2 described later) of the present invention couples a component (for example, a stud bolt 5 described later) from a standby position (for example, a standby position 3 described later). A device that transports to a position (for example, a welding position 4 to be described later) and is coupled to a workpiece (for example, a workpiece 6 to be described later), and a device main body (for example, a device main body 10 to be described later) and a component holding for holding the component Means (for example, a three-claw clamp unit 20 to be described later), a transport means (for example, a spider leg-type robot 30 to be described later) supported by the apparatus main body and moving the component holding unit from a standby position to a coupling position; Pressurizing means (for example, a pressurizing unit 40 to be described later) for pressurizing the parts against the workpiece at the coupling position, and the reaction force of pressurization by the pressurizing means is independent of the conveying means. Device book As is subjected, the pressurizing means is supported on the apparatus main body.

According to this invention, the apparatus main body receives the reaction force of pressurization on the workpiece by the pressurizing means independently of the conveying means. That is, the conveying means does not receive a reaction force of pressurization on the workpiece.
Therefore, it is possible to use a conveyance unit specialized for high-speed movement as the conveyance unit.
Thereby, it is possible to achieve both high-speed mobility of parts by the conveying means and load resistance against pressure applied to the workpiece by the pressing means and the apparatus main body.
Therefore, a plurality of types of parts can be transported and combined without sacrificing productivity.

  In this case, the transport means includes a plurality of arms (for example, an arm 31 described later) each having a joint (for example, an after-mentioned joint 31c), and each arm extends outward from the apparatus main body. One arm member (for example, a first arm member 31b described later) and a second arm member (for example, a second arm member 31d described later) extending inward from the tip of the first arm member through a joint. The component holding means is moved by the plurality of arms performing extension and bending operations in cooperation with each other, and the pressurizing unit is moved from the apparatus main body to the component in a space inside the plurality of arms. It is a rod (for example, a pressure rod 43 described later) extending to the holding means.

According to this invention, the pressurizing means is a rod extending from the apparatus main body to the component holding means in the space inside the plurality of arms of the conveying means.
Therefore, it is possible to effectively use the space inside the plurality of arms of the transport unit.
Thereby, size reduction of the conveyance of a component and a coupling device can be achieved.

  According to the present invention, it is possible to achieve both the high-speed mobility of parts by the conveying means and the load resistance against pressure applied to the workpiece by the pressing means and the apparatus main body, and therefore without sacrificing productivity. Multiple types of parts can be transported and combined.

It is a conceptual diagram which shows one Embodiment of the conveyance and coupling | bonding apparatus of the components of this invention. It is a schematic longitudinal conceptual diagram which shows the lower structure of the apparatus of FIG. It is a schematic longitudinal cross-sectional conceptual diagram of the superstructure which shows other embodiment of the conveyance and coupling | bonding apparatus of the components of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a conceptual diagram showing an embodiment of a component conveying and coupling apparatus 1 according to the present invention. This component conveying and coupling apparatus 1 is configured to move a stud bolt 5 as a component from a standby position 3 in a stud welding machine. It is a device that transports to a welding position 4 as a coupling position and welds a stud bolt 5 to a workpiece 6 placed on a table 7 by applying a voltage from a power source 8 at the welding position 4.

As shown in FIG. 1 and FIG. 2, the component conveying and coupling device 1 is supported by the device main body 10, a three-claw clamp unit 20 as a component holding means for holding the stud bolt 5, and the device main body 10. A spider leg type robot 30 as a conveying means for moving the three-claw clamp unit 20 from the standby position 3 to the welding position 4 and an application as a pressure means for pressing the stud bolt 5 against the workpiece 6 at the welding position 4. Pressure unit 40.
The pressurizing unit 40 is supported by the apparatus main body 10 so that the apparatus main body 10 receives a reaction force of pressurization by the pressurizing unit 40 independently of the spider leg type robot 30.

  As shown in FIG. 1, the apparatus main body 10 is a position suitable for welding the stud bolt 5 to the workpiece 6, and the stud bolt 5 in the standby position 3 can be obtained. , Are arranged at predetermined positions.

As shown in FIG. 2, the three-claw clamp unit 20 is attached to the unit main body 21 having an axis extending in the vertical direction and the unit main body 21 at intervals of 120 ° in the circumferential direction around the axis. The three claws 22 (only two are shown in FIG. 2) and an actuator (not shown) provided in the unit main body 21 for closing and opening the three claws 22 with respect to the central axis. Prepare.
Therefore, the three-claw clamp unit 20 can correspond to the stud bolt 5 having a large diameter from a small diameter to a large diameter.

  As shown in FIG. 1, the spider leg type robot 30 includes three arms 31 (FIG. 1) attached to the apparatus body 10 at intervals of 120 ° in the circumferential direction around an axis extending in the vertical direction. , Only two are shown), and three arm drive motors 32 that are provided in the apparatus main body 10 and individually drive the three arms 31.

  Each arm 31 includes a base 31a attached to the arm drive motor 32, a first arm member 31b extending outward from the base 31a, a joint 31c provided at the tip of the first arm member 31b, and a joint 31c. A second arm member 31d extending inward, an assembly member 31e for assembling the tip portions of the second arm member 31d together, and a guide bush 31f attached to the center of the assembly member 31e are provided.

  The base 31a of each arm 31 is individually driven by each arm drive motor 32 in cooperation with each other, so that the three arms 31 of the spider leg-type robot 30 perform expansion and bending operations in cooperation with each other. . Thereby, the spider leg type robot 30 can freely move the position of the guide bush 31f to a desired arbitrary position.

  As shown in FIG. 1, the pressurizing unit 40 includes a universal bearing 41 attached to the apparatus main body 10, a pressurizing rod 43 provided so as to be movable back and forth along a guide bush 42 attached to the center of the universal bearing 41, and a pressurizing unit 40. A rod pressurizing shaft motor 44 that presses the pressure rod 43.

  The pressure rod 43 extends from the apparatus main body 10 through the guide bush 31 f in the space inside the three arms 31 of the spider leg robot 30. A three-claw clamp unit 20 is attached to the lower end portion of the pressure rod 43.

The pressurizing unit 40 has a function of managing the direction in which the lower end portion of the pressurizing rod 43 extends from the origin and the extending length, with the rotation center of the universal bearing 41 as the origin.
Therefore, the pressure unit 40 recognizes the positions of the three claws 22 of the three claw clamp unit 20 attached to the lower end portion of the pressure rod 43 on the spatial coordinates with the rotation center of the universal bearing 41 as the origin. .

  The rod pressure shaft motor 44 only supports the weight of the pressure rod 43 and the three-claw clamp unit 20 when no driving force is applied to the pressure rod 43. Therefore, at this time, when a slight external force is applied in the axial direction of the pressure rod 43, the pressure rod 43 freely moves back and forth with respect to the origin of the universal bearing 41.

The rod pressure shaft motor 44 extends or shortens the length of the pressure rod 43 extending from the origin of the universal bearing 41 when a driving force is applied to the pressure rod 43. As a result, the rod pressing shaft motor 44 brings the positions of the three claws 22 of the three pawl clamp unit 20 to desired positions on the space coordinates with the rotation center of the universal bearing 41 as the origin.
The rod pressurizing shaft motor 44 is constituted by, for example, a linear motor.

Next, the operation of the component conveying and coupling apparatus 1 configured as described above will be described.
First, when the welding operation is completed at the welding position 4, the rod pressing shaft motor 44 is in a state where the driving force is not applied to the pressing rod 43.

In this state, each arm drive motor 32 of the spider leg type robot 30 drives the base portion 31a of each arm 31 individually and in cooperation with each other. Thereby, the spider leg type robot 30 moves the three claw clamp unit 20 to the standby position 3 of the stud bolt 5.
During the movement from the welding position 4 to the standby position 3 by the spider leg-type robot 30, the length of the pressure rod 43 extending from the origin is adjusted as follows.

  For example, when the standby position 3 is farther than the welding position 4, the guide bush 31f of the assembly member 31e pushes down the unit body 21 as the standby position 3 is approached, thereby extending the length of the pressure rod 43 extending from the origin. Let At this time, since the weight of the pressure rod 43 and the three-claw clamp unit 20 is only supported by the rod pressure shaft motor 44, the spider leg type robot 30 can be accurately and lightly moved at high speed. Follow and move.

  On the other hand, when the length of the pressure rod 43 extending from the origin is shortened during movement, the rod pressure shaft motor 44 acts on the pressure rod 43 to reduce the length to a desired length.

The pressure unit 40 recognizes the positions of the three claws 22 of the three claw clamp unit 20 on the space coordinates with the rotation center of the universal bearing 41 as the origin, and accurately positions the position at the standby position 3.
In the standby position 3, the actuator of the three claw clamp unit 20 closes the three claws 22 with respect to the central axis at the target position of the stud bolt 5. As a result, the three-claw clamp unit 20 securely holds the stud bolt 5.

When the three-claw clamp unit 20 grips the stud bolt 5, each arm drive motor 32 of the spider leg type robot 30 drives the base portion 31a of each arm 31 individually and in cooperation with each other. Thereby, the spider leg type robot 30 moves the three-claw clamp unit 20 to the welding position 4 of the stud bolt 5.
During the movement from the standby position 3 to the welding position 4 by the spider leg type robot 30, the length of the pressure rod 43 extending from the origin is adjusted as described above.

The pressurizing unit 40 recognizes the positions of the three claws 22 of the three claw clamp unit 20 on the space coordinates with the rotation center of the universal bearing 41 as the origin, and accurately positions the position at the welding position 4.
At the welding position 4, the stud 8 is connected to the stud 8 from the power source 8 with a necessary gap between the bottom surface of the stud bolt 5 gripped by the three-claw clamp unit 20 and the surface of the workpiece 6 placed on the table 7. A voltage is applied between the bolt 5 and the table 7. Then, an arc is generated between the stud bolt 5 and the workpiece 6, and this portion is heated and melted.
In this molten state, the rod pressing shaft motor 44 applies a driving force to the pressing rod 43 to pressurize the stud bolt 5 held by the three-claw clamp unit 20 against the workpiece 6. Thereby, the stud bolt 5 and the workpiece 6 are welded to each other.

Immediately after the end of welding, the rod pressing shaft motor 44 applies a driving force in the direction opposite to the pressing to the pressing rod 43, so that the pressing rod 43 is added in preparation for the next movement to the standby position 3. Reduce the required length from the pressure position.
Thereafter, the same operation as described above is repeated.

According to this embodiment, there are the following effects.
(1) When the rod pressing shaft motor 44 is driven and the stud bolt 5 held by the three claw clamp unit 20 at the lower end of the pressing rod 43 is pressed against the work 6, this pressing reaction force Is received by the apparatus main body 10 via the pressure unit 40. That is, the spider leg-type robot 30 does not receive a pressure reaction force against the workpiece 6.
Therefore, both the high-speed mobility of the stud bolt 5 by the spider leg type robot 30 and the load resistance by the pressurizing unit 40 and the apparatus main body 10 can be achieved.
Therefore, a plurality of types of stud bolts 5 can be conveyed and welded without sacrificing productivity.

(2) The pressure rod 43 of the pressure unit 40 extends from the apparatus main body 10 through the guide bush 31 f in the space inside the three arms 31 of the spider leg robot 30. A three-claw clamp unit 20 is attached to the lower end portion of the pressure rod 43.
Therefore, the space inside the three arms 31 of the spider leg type robot 30 can be effectively used.
Thereby, size reduction of conveyance of components and the coupling device 1 can be achieved.

FIG. 3 is a schematic longitudinal sectional view of a superstructure showing another embodiment of the parts conveying and joining apparatus of the present invention.
In this component conveying and coupling apparatus 2, the pressurizing unit 40 includes a rod pressurizing air cylinder 45 instead of the rod pressurizing shaft motor 44 in the above embodiment. Except for this point, the parts conveying and coupling device 2 is substantially the same as that in the above embodiment, and therefore, by indicating the same parts with the same reference numerals as those used in the above embodiments, overlapping Description to be omitted is omitted.

  The rod pressurizing air cylinder 45 only supports the weight of the pressurizing rod 43 and the three-claw clamp unit 20 when not operating. Therefore, at this time, when a slight external force is applied in the axial direction of the pressure rod 43, the pressure rod 43 freely moves back and forth with respect to the origin of the universal bearing 41.

  When operating, the rod pressurizing air cylinder 45 extends or shortens the length of the pressurizing rod 43 extending from the origin of the universal bearing 41. As a result, the rod pressurizing air cylinder 45 brings the positions of the three claws 22 of the three pawl clamp unit 20 to desired positions on the space coordinates with the rotation center of the universal bearing 41 as the origin.

Next, the operation of the component conveying and coupling device 2 configured as described above will be described.
First, when the welding operation is completed at the welding position 4, the rod pressurizing air cylinder 45 is not activated.

In this state, each arm drive motor 32 of the spider leg type robot 30 drives the base portion 31a of each arm 31 individually and in cooperation with each other. Thereby, the spider leg type robot 30 moves the three claw clamp unit 20 to the standby position 3 of the stud bolt 5.
During the movement from the welding position 4 to the standby position 3 by the spider leg-type robot 30, the length of the pressure rod 43 extending from the origin is adjusted as follows.

  For example, when the standby position 3 is farther than the welding position 4, the guide bush 31f of the assembly member 31e pushes down the unit body 21 as the standby position 3 is approached, thereby extending the length of the pressure rod 43 extending from the origin. Let At this time, since the pressure rod 43 and the three-claw clamp unit 20 are only supported by the weight of the rod pressurizing air cylinder 45, the spider leg type robot 30 can be accurately and lightly moved at high speed. Follow and move.

  On the other hand, when the length of the pressure rod 43 extending from the origin is shortened during the movement, the rod pressure air cylinder 45 is actuated to shorten the length to a desired length.

The pressure unit 40 recognizes the positions of the three claws 22 of the three claw clamp unit 20 on the space coordinates with the rotation center of the universal bearing 41 as the origin, and accurately positions the position at the standby position 3.
In the standby position 3, the actuator of the three claw clamp unit 20 closes the three claws 22 with respect to the central axis at the target position of the stud bolt 5. As a result, the three-claw clamp unit 20 securely holds the stud bolt 5.

When the three-claw clamp unit 20 grips the stud bolt 5, each arm drive motor 32 of the spider leg type robot 30 drives the base portion 31a of each arm 31 individually and in cooperation with each other. Thereby, the spider leg type robot 30 moves the three-claw clamp unit 20 to the welding position 4 of the stud bolt 5.
During the movement from the standby position 3 to the welding position 4 by the spider leg type robot 30, the length of the pressure rod 43 extending from the origin is adjusted as described above.

The pressurizing unit 40 recognizes the positions of the three claws 22 of the three claw clamp unit 20 on the space coordinates with the rotation center of the universal bearing 41 as the origin, and accurately positions the position at the welding position 4.
At the welding position 4, the stud 8 is connected to the stud 8 from the power source 8 with a necessary gap between the bottom surface of the stud bolt 5 gripped by the three-claw clamp unit 20 and the surface of the workpiece 6 placed on the table 7. A voltage is applied between the bolt 5 and the table 7. Then, an arc is generated between the stud bolt 5 and the workpiece 6, and this portion is heated and melted.
By operating the rod pressurizing air cylinder 45 in this molten state, the stud bolt 5 held by the three-claw clamp unit 20 is pressed against the workpiece 6. Thereby, the stud bolt 5 and the workpiece 6 are welded to each other.

Immediately after the end of the welding, the rod pressurizing air cylinder 45 is operated in the direction opposite to the pressurization, so that the pressurizing rod 43 is shortened from the pressurizing position by a required length in preparation for the next movement to the standby position 3. .
Thereafter, the same operation as described above is repeated.

  According to this embodiment, there are the same effects as the effects (1) and (2).

1, 2 ... Parts conveying and joining device 3 ... Standby position 4 ... Welding position (joining position)
5 ... Stud bolts (parts)
6 ... Workpiece 10 ... Device body 20 ... Three claw clamp unit (part holding means)
30 ... Spider leg type robot (conveyance means)
DESCRIPTION OF SYMBOLS 31 ... Arm 31b ... 1st arm member 31c ... Joint 31d ... 2nd arm member 40 ... Pressurization unit (pressurization means)
43 ... Pressure rod

Claims (2)

A device that transports parts from a standby position to a joining position and joins them to a workpiece,
The device body;
Component holding means for holding the component;
Conveying means supported by the apparatus main body and moving the component holding means from a standby position to a coupling position;
Pressurizing means for pressurizing the parts against the workpiece at the coupling position;
The component conveying and coupling device is supported by the device main body so that the device main body receives the reaction force of the pressure applied by the pressing means independently of the conveying means. The transport means includes a plurality of arms each having a joint, and each arm includes a first arm member extending outward from the apparatus main body, and an inner portion through a joint from a distal end portion of the first arm member. A second arm member extending in the direction, the plurality of arms moving the component holding means by performing extension and bending operations in cooperation with each other,
The pressurizing means is a rod extending from the apparatus main body to the component holding means in a space inside the plurality of arms.
The apparatus for conveying and joining parts according to claim 1.

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