JP2017060966A - Work positioning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work positioning device capable of surely supplying compressed air and a power source to a jig fixed to the device body side even if the jig is repeatedly replaced, and capable of also shortening time required for replacement work of the jig.SOLUTION: A work positioning device comprises first fixing means 12 for mutually fixing a support frame 53 and a jig 6. The first fixing means 12 comprises a connection pipe 69e provided in the jig 6 and connected to a pipe 68a and a second annular recessed strip groove 81b provided in the support frame 53 and connected to a pipe 40a. While connecting the connection pipe 69e and the second annular recessed strip groove 81b by fixation operation of the jig 6 and the support frame 53, the connection of the connection pipe 69e and the second annular recessed strip groove 81b is released by fixation release operation of the jig 6 and the support frame 53.SELECTED DRAWING: Figure 16

Description

  The present invention relates to a workpiece positioning apparatus that, for example, grips a workpiece or the like obtained by press molding when performing welding to determine the position.

  Conventionally, for example, in an automobile production line disclosed in Patent Document 1, a jig for positioning a workpiece, a pedestal for supporting the jig so that the jig can be attached and detached, and a welding gun attached to the tip of an arm The welding robot and a jig storage shelf for storing a plurality of jigs are arranged, the jig supported by the gantry positions the plurality of workpieces, and the plurality of workpieces are assembled together by the welding robot. It is like that. When changing the workpiece to be assembled, the welding gun is removed from the welding robot and the welding robot removes the jig from the gantry and transports it to the jig storage shelf. After that, the other jig stored in the jig storage shelf is removed. After the welding robot is transported to the frame and attached to the frame, the workpiece is assembled again by attaching a welding gun to the arm tip of the welding robot.

JP 2002-1626 A

  By the way, operation | movement of the holding part which hold | grips the workpiece | work in a jig | tool is controlled by compressed air and various sensors, and the power of these compressed air and various sensors is supplied from the building of a factory. Therefore, when the jig can be exchanged with respect to the gantry as in Patent Document 1, connection or disconnection between the gantry side wiring / piping and the jig side wiring / piping is performed during the jig exchanging operation. If this is not performed efficiently, the productivity may be reduced. However, Patent Document 1 does not consider this at all.

  The present invention has been made in view of such a point, and an object of the present invention is to ensure that compressed air and a power source are securely applied to a jig fixed to the apparatus main body side even when the jig is repeatedly exchanged. It is another object of the present invention to provide a workpiece positioning device that can reduce the time required for jig replacement.

  In order to achieve the above object, the present invention is characterized in that the structure of the fixing means for fixing the apparatus main body and the jig to each other when the jig is replaced is devised.

  That is, in the first invention, a jig for positioning the workpiece, a support for supporting the jig so as to be attached and removable, and a fixing means for fixing the support and the jig to each other are provided. The fixing means is provided on one of the jig and the support, a first connection portion connected to at least one of a wiring and a pipe provided on one of the jig and the support, and the jig and the support. And the second connection portion connected to at least one of the wiring and the pipe provided on the other of the jig and the support, and the first and the first by the fixing operation of the jig and the support. While connecting a connection part and the said 2nd connection part, it is comprised so that the connection of the said 1st connection part and the said 2nd connection part may be cancelled | released by the fixed release operation | movement of the said jig | tool and the said support body. Features.

  According to a second invention, in the first invention, the fixing means is provided on one of the jig and the support, and can be moved forward and backward with respect to the other of the jig and the support. A fitting hole provided on the other of the jig and the support body and fitting in a state in which the fitting pin is advanced, and the first connecting portion is inside the fitting pin or the fitting. It is provided at a position close to the mating pin, and the second connecting portion is provided inside the fitting hole or at a position close to the fitting hole.

  According to a third aspect, in the second aspect, the fitting pin and the fitting hole are provided in pairs in a predetermined direction, and the first connection portion corresponds to each fitting pin. A pair of first connection portions are provided at positions where the first connection portion is connected to a pipe provided on one of the jig and the support and is provided inside the one fitting pin, and the other first connection is provided. The portion is connected to the wiring provided on one of the jig and the support and is provided at a position close to the other fitting pin, and the second connecting portion is provided at a position corresponding to each fitting hole. A pair is provided, and one second connection portion is connected to a pipe provided on the other of the jig and the support and is provided inside the one fitting hole, and the other second connection portion is Connected to the wiring provided on the other side of the jig and support and above Characterized in that is provided at a position close to the other of the fitting hole.

  According to a fourth aspect, in the third aspect, the other fitting pin is characterized in that the tip end side of the pin protrudes from the other first connecting portion.

  In the first invention, the operation of fixing the jig to the support and the operation of releasing the fixing of the jig from the support using the wiring in the jig, the pipe and the wiring in the support, and the connection between the pipe And when the jig is replaced, the wiring in the jig, the pipe and the wiring in the support body, and the pipe are securely connected to supply the compressed air and power to the jig securely. Can do. Further, since the connecting operation and the releasing operation of the first connecting portion and the second connecting portion are performed simultaneously with the fixing operation and the fixing releasing operation of the jig, the time required for exchanging the jig is connected to the first connecting portion and the second connecting portion. The time required for the jig replacement operation can be shortened without increasing by the amount of the connection operation and the connection release operation with the part.

  In the second invention, when connecting the first connecting portion and the second connecting portion, the position of the second connecting portion with respect to the first connecting portion is accurately determined by the fitting operation of the fitting pin into the fitting hole. Therefore, when the jig is fixed to the support, there is no failure in connecting the first connection part and the second connection part, and the wiring in the jig, the pipe and the wiring in the support body, and the pipe are securely connected. be able to.

  In the third aspect of the invention, since the portion connecting the pipe and the portion connecting the wiring are separated between the jig and the support, the piping and the wiring are easily arranged in each of the jig and the support. Therefore, the jig and the support can be easily maintained, and the ease of maintenance in the apparatus can be enhanced.

  In the fourth invention, since the first connecting portion and the second connecting portion are connected after the fitting pin starts to be fitted into the fitting hole, the first connecting portion and the second connecting portion are fitted. Even in the case of a structure provided close to the pin and the fitting hole, the position of the second connection portion with respect to the first connection portion is accurately determined, and the jig is fixed to the support body. The connection of the 1st connection part and 2nd connection part in can be succeeded reliably.

It is a front view of the welding line by which the workpiece positioning apparatus which concerns on embodiment of this invention is arrange | positioned. It is an A arrow equivalent figure of FIG. FIG. 2 is a view corresponding to FIG. 1 in the middle of exchanging the jig. FIG. 4 is a view taken in the direction of arrow B in FIG. 3. It is a schematic plan view which shows the state just before positioning the jig with respect to a support frame in the jig center lower part at the time of jig replacement. It is C arrow line view of FIG. It is a schematic plan view which shows the state immediately after positioning the jig with respect to the support frame in the jig center lower part at the time of jig replacement. It is a D arrow line view of FIG. It is a schematic plan view which shows the state immediately before positioning a jig with respect to a support frame in the longitudinal direction edge part of the jig at the time of jig replacement | exchange. It is E arrow line view of FIG. It is a schematic top view which shows the state immediately after positioning the jig with respect to a support frame in the longitudinal direction edge part of the jig at the time of jig replacement | exchange. It is F arrow line view of FIG. FIG. 3 is a G arrow view of FIG. 2 showing a state immediately before fixing the jig to the support frame. FIG. 3 is a G arrow view of FIG. 2 showing a state immediately after the jig is fixed to the support frame. It is II sectional drawing of FIG. It is JJ sectional drawing of FIG. FIG. 3 is an H arrow view of FIG. 2 showing a state immediately before fixing a jig to a support frame. FIG. 3 is an H arrow view of FIG. 2 showing a state immediately after the jig is fixed to the support frame.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The following description of the preferred embodiment is merely exemplary in nature.

  FIG. 1 shows a production line 1 according to an embodiment of the present invention. This production line 1 is configured to integrally assemble two press-formed workpieces W1 and W2 by spot welding, a workpiece positioning device 2 that positions the workpieces W1 and W2, and a welding robot 3 that performs a welding operation. The worker H1 sets the workpieces W1, W2 on the workpiece positioning device 2 on the opposite side of the welding robot 3 in the workpiece positioning device 2.

  As shown in FIG. 2, the workpiece positioning device 2 includes a first motor 4 having a rotary shaft 4a extending vertically, a rectangular frame-shaped rotary frame 5 supported by the rotary shaft 4a, and the workpieces W1, W1. The rotary frame 5 includes a position corresponding to the welding robot 3 (hereinafter referred to as a workpiece welding region X1) and a position corresponding to the worker H1 (hereinafter referred to as a workpiece). The rotation in the R1 direction (forward rotation) and the rotation in the R2 direction (reverse rotation) are alternately performed with the set region X2.

  As shown in FIGS. 1 and 4, the jig 6 has a body frame 61 made of aluminum alloy that extends in the horizontal direction, and a plate-like shape that is fixed to the upper surface of the body frame 61 and extends along the body frame 61. The support base 62 is provided with a plurality of gripping tools 62a for gripping the overlapped portions of the workpieces W1 and W2.

  A plurality of the main body frames 61 are disposed in the first aluminum frame 61a with a predetermined interval in the longitudinal direction of the first aluminum frame 61a and an elongated first aluminum frame 61a having a U-shaped cross section that opens downward. And a plate-like second aluminum frame 61b fixed integrally to the first aluminum frame 61a. Each second aluminum frame 61b has an insertion hole 61c through which a pipe 68a and a wiring 68b can be inserted. Has been.

  A substantially block-shaped tool changer mounting portion 60 for mounting a tool changer (not shown) is provided on the side surface of the first aluminum frame 61a at the center in the longitudinal direction.

  As shown in FIGS. 5 to 8, a fixed frame 64 extending in the horizontal direction perpendicular to the first aluminum frame 61a is attached to the lower central portion of the first aluminum frame 61a in the longitudinal direction.

  The fixed frame 64 has a shape in which a projecting portion 65 and an engaging portion 66 each having a T shape in plan view are connected by a linear connecting portion 67 extending in the horizontal direction orthogonal to the first aluminum frame 61a. ing.

  The protruding portion 65 protrudes in a horizontal direction perpendicular to the first aluminum frame 61a so as to protrude from the first aluminum frame 61a, and projects from the base end side of the protruding claw 65a to both sides in the horizontal direction. It has a pair of overhang | projection parts 65b.

  The engaging portion 66 is provided on the opposite side of the protruding direction of the protruding portion 65 with a predetermined interval, and has an engaging claw 66a protruding in the same direction as the protruding claw 65a, and a base of the engaging claw 66a. A pair of projecting portions 66b projecting from the end side to both sides in the horizontal direction are provided.

  The length of the first aluminum frame 61 a in the longitudinal direction of the engagement claw 66 a is longer than the length of the first aluminum frame 61 a in the longitudinal direction of the connecting portion 67.

  As shown in FIG. 4, a pair of fixed auxiliary frames 63 extending in the horizontal direction perpendicular to the first aluminum frame 61a are provided on one end side and the other end side in the longitudinal direction of the first aluminum frame 61a. That is, the both fixed auxiliary frames 63 are provided symmetrically about the protruding portion 65 on both sides in a direction orthogonal to the protruding direction of the protruding portion 65.

  The fixing auxiliary frame 63 has an elongated plate shape as shown in FIGS. 9 to 12, and the fixing auxiliary frame 63 has a longitudinal inner side of the first aluminum frame 61a in the same direction as the protruding claws 65a. A protruding auxiliary claw 63a is provided.

  A pair of L-shaped frames 69 are attached to both ends in the longitudinal direction of the first aluminum frame 61a.

  As shown in FIGS. 13 and 14, an electromagnetic valve 69d is accommodated in one L-shaped frame 69, and the end of the pipe 68a passed in the main body frame 61 is accommodated in the electromagnetic valve 69d. It is connected.

  In addition, a first fitting hole 69a is provided in a portion projecting downward from one L-shaped frame 69 so as to open inward in the longitudinal direction of the main body frame 61, and the first fitting hole 69a and the solenoid valve are provided. 69d is connected with the connection piping 69e (2nd connection part). That is, the connection pipe 69e is provided at a position corresponding to the first fitting hole 69a.

  On the other hand, as shown in FIGS. 17 and 18, a terminal block 69f is accommodated in the other L-shaped frame 69, and the terminal block 69f has an end of the wiring 68b passed in the main body frame 61. The departments are connected.

  Further, a second fitting hole 69 b is provided at a portion protruding downward of the other L-shaped frame 69 so as to open to the inside in the longitudinal direction of the main body frame 61.

  That is, the first fitting hole 69a and the second fitting hole 69b are paired apart in the horizontal direction.

  Further, a first connector 69c (second connection portion) that is recessed in a rectangular shape is juxtaposed to the second fitting hole 69b at a portion protruding below the other L-shaped frame 69, and the first connector One connector 69c is connected to the terminal block 69f via a connection wiring 69g. That is, the first connector 69c is provided at a position corresponding to the second fitting hole 69b.

  The rotating shaft 4a of the first motor 4 has a cylindrical shape, and an apparatus main body side piping 40a and wiring 40b connected to an air supply source and a power source (not shown) are provided inside the rotating shaft 4a.

  The rotating frame 5 has a first horizontal frame 51 extending from the rotating shaft 4a to both sides in the horizontal direction so as to be symmetric with respect to the rotating shaft 4a, and the first horizontal frame 51 to be symmetric with respect to the first horizontal frame 51. A pair of second horizontal frames 52 extending in the horizontal direction orthogonal to the first horizontal frame 51 from both ends in the longitudinal direction of the horizontal frame 51, between the longitudinal ends of the second horizontal frames 52, and the second horizontal frames A pair of support frames 53 (supports) are provided for bridging the other ends in the longitudinal direction of the frame 52 and for supporting the jig 6 so as to be attachable and detachable two above and below.

  The first horizontal frame 51 has a rectangular tube shape, and the pipe 40a and the wiring 40b wound inside the rotary shaft 4a are wound inside the first horizontal frame 51 so as to face the second horizontal frames 52. .

  Each of the second horizontal frames 52 has a rectangular tube shape, and a pipe 40a and a wiring 40b routed inside the first horizontal frame 51 are wound inside the second horizontal frame 52 so as to face the support frames 53. .

  Each of the second horizontal frames 52 includes a straight frame 52a that extends straight in the horizontal direction and an inclined frame 52b that extends obliquely upward from both longitudinal ends of the straight frame 52a.

  Cross roller bearings B1 are provided on the inner sides of the upper ends of the inclined frames 52b.

  The cross roller bearings B1 support the support frames 53 so as to be rotatable around a rotation axis along the longitudinal direction of the first horizontal frame 51, and the support frames 53 are supported by the support frames 53. The position of each jig 6 attached to is alternately switched by rotation in the R3 direction (forward rotation) and rotation in the R4 direction (reverse rotation).

  A rectangular plate-like mounting base 54 extending in the horizontal direction is provided on the central upper surface of each linear frame 52a.

  Each mounting base 54 is attached with a second motor 55 whose rotating shaft 55a is oriented in the longitudinal direction of the first horizontal frame 51, and a first pulley 55b is integrally attached to the rotating shaft 55a. .

  On the other hand, a second pulley 53 a is attached to one end in the longitudinal direction of each of the support frames 53, and the first pulley 55 b attached to one second motor 55 and the second pulley 53 a of one support frame 53. And an endless chain belt 56 is wound around the first pulley 55b attached to the other second motor 55 and the second pulley 53a of the other support frame 53. .

  The chain belt 56 and the first pulley 55 b and the second pulley 53 a around which the chain belt 56 is wound are covered with a protective cover 57.

  The support frame 53 is rotated in the R3 direction and the R4 direction through the first pulley 55b, the chain belt 56, and the second pulley 53a by the rotation of the second motor 55, respectively. It has become.

  The support frame 53 has a rectangular tube shape, and two adjacent outer peripheral surfaces thereof have a shape corresponding to the L-shaped frame 69.

  Inside each of the support frames 53, the pipes 40 a and the wirings 40 b passed inside the second horizontal frames 52 are wound toward the jigs 6 attached to the support frames 53.

  First jig fixing portions 7 a for fixing the jigs 6 to the support frames 53 are respectively provided on the upper and lower surfaces in the longitudinal center of the support frames 53.

  As shown in FIGS. 5 to 8, the first jig fixing portion 7 a located on the upper surface of each support frame 53 includes a first block 71 located on the first horizontal frame 51 side, and a first block 71. A second block 72 is provided on the opposite side of the first horizontal frame 51 from the first block 71 with a predetermined interval.

  The length between the first block 71 and the second block 72 is designed to be longer than the length of the protruding portion 65 in the protruding direction.

  A fixing hole 71a is formed in the center of the first block 71 so as to penetrate in the horizontal direction perpendicular to the longitudinal direction of the support frame 53 and open on the first horizontal frame 51 side and the opposite side. The hole 71 a is configured such that the protruding claw 65 a of the protruding portion 65 is fitted and inserted by moving the jig 6 in the protruding direction of the protruding portion 65 with respect to the support frame 53.

  The second block 72 is provided at a predetermined interval on the fitting insertion side of the protrusion 65 in the fixing hole 71a.

  The second block 72 is formed with an engaging groove 72a that extends in a horizontal direction perpendicular to the longitudinal direction of the support frame 53 and that opens at both ends thereof.

  The engaging recess 72a extends in a horizontal direction orthogonal to the longitudinal direction of the support frame 53, and is continuous with the slit-like opening 72b corresponding to the shape of the connecting portion 67, and the opening 72b. And a wide portion 72c extending in the longitudinal direction of the support frame 53, and its cross-sectional shape is substantially T-shaped.

  An engaging claw 66a of the engaging portion 66 is engaged with the wide portion 72c in accordance with an insertion operation of the protruding portion 65 into the fixing hole 71a.

  The horizontal length of the second block 72 perpendicular to the first aluminum frame 61 a is set to be shorter than the length of the connecting portion 67 in the longitudinal direction, and the width of the opening 72 b is the width of the connecting portion 67. It is set more widely.

  The first jig fixing portion 7 a located on the lower surface of each support frame 53 is a first jig fixing portion located on the upper surface of each support frame 53 when viewed in the rotation axis direction of each support frame 53. The detailed description is omitted because it is merely arranged symmetrically with respect to 7a.

  A second jig fixing portion 7b for fixing the jigs 6 to the support frames 53 is provided on the upper and lower surfaces of the support frames 53 near both ends in the longitudinal direction. Both the second jig fixing portions 7b on one end side in the longitudinal direction of 53 and the second jig fixing portions 7b on the other end side in the longitudinal direction of each support frame 53 are centered on the first jig fixing portion 7a. Located symmetrically.

  As shown in FIGS. 9 to 12, each second jig fixing portion 7b located on the upper surface of each support frame 53 has a block shape and is located on the first horizontal frame 51 side. When attaching the jig 6 to the support frame 53, if the protrusion 65 is made to correspond to the first jig fixing part 7 a, the second jig fixing part 7 b corresponds to the fixing auxiliary frame 63. It is a position to do.

  At the center of each second jig fixing portion 7b, there is a fixing auxiliary hole 7c that penetrates in the horizontal direction perpendicular to the longitudinal direction of the support frame 53 and opens to the first horizontal frame 51 side and the opposite side. The fixed auxiliary claw 63a of the fixed auxiliary frame 63 is inserted into the fixed auxiliary hole 7c as the protruding portion 65 is inserted into the fixed hole 71a.

  The second jig fixing portion 7b located on the lower surface of each support frame 53 is a second jig fixing portion located on the upper surface of each support frame 53 when viewed in the direction of the rotation axis of each support frame 53. The detailed description is omitted because it is only arranged symmetrically with respect to 7b.

  As shown in FIGS. 13 and 14, a pair of first fixing units 8 for fixing the jig 6 to the support frame 53 is provided on both side surfaces of the support frames 53 near one end in the longitudinal direction. Yes.

  The first fixing unit 8 is provided on the inner side in the longitudinal direction of the support frame 53 of the square tube member 81, and the rectangular tube member 81 having a tube center line extending in the longitudinal direction of the support frame 53. And a cylinder body 82 having a cylinder rod 82a that expands and contracts in the direction, and the tip end side of the cylinder rod 82a protrudes inward of the rectangular tube member 81.

  As shown in FIGS. 15 and 16, a first annular groove 81a extending around the cylinder center line is formed on the inner surface of the square cylinder member 81 on the cylinder body 82 side.

  On the other hand, a second annular groove groove 81b (first connection portion) extending around the center of the cylinder is formed on the inner surface of the rectangular tube member 81 opposite to the cylinder body 82, and the second annular groove groove 81b. Is connected to a pipe 40a on the apparatus main body side.

  A cylindrical first fitting pin 83 having a tube center line coinciding with the tube center line of the square tube member 81 is slidably inserted in the longitudinal direction of the support frame 53 inside the square tube member 81. ing.

  A plate-like attachment portion 83 a extending vertically is formed at a position near the cylinder body 82 inside the first fitting pin 83.

  The attachment portion 83a is attached to the tip of the cylinder rod 82a by a bolt 84. When the cylinder rod 82a expands and contracts, the first fitting pin 83 advances and retracts toward the outside in the longitudinal direction of the support frame 53. It has become.

  At the end of the first fitting pin 83 on the cylinder body 82 side, there is provided a flange portion 83b that protrudes outward and is positioned in the first annular groove groove 81a. When the rod 82a extends and the first fitting pin 83 slides outward in the longitudinal direction of the support frame 53, the first fitting pin 83 is caught by the peripheral edge of the first annular groove 81a in the longitudinal direction of the support frame 53. Further sliding of the pin 83 is restricted.

  Further, a plurality of air introduction holes 83c penetrating in the direction perpendicular to the cylinder center line are formed in the middle portion of the first fitting pin 83 around the cylinder center line. The fitting pin 83 is adapted to correspond to the first annular groove 81a in a state where the fitting pin 83 is slid outward in the longitudinal direction of the support frame 53.

  A coil spring 85 is wound around the cylinder rod 82a. One end of the coil spring 85 is in contact with the mounting portion 83 a, while the other end of the coil spring 85 is in contact with the cylinder body 82, and the coil spring 85 supports the first fitting pin 83 on the support frame 53. Is biased outward in the longitudinal direction.

  On the other hand, as shown in FIGS. 17 and 18, a pair of second fixing units 9 for fixing the jig 6 to the support frame 53 is provided on both side surfaces of the support frames 53 near the other end in the longitudinal direction. Is provided.

  The second fixing unit 9 includes a block-shaped fixing base 91 fixed to the support frame 53 and a slide rail that is fixed to the support frame 53 adjacent to the fixing base 91 and extends in the longitudinal direction of the support frame 53. 92, a slide plate 93 slidably fitted to the slide rail 92, and a fluid pressure cylinder 94 attached to the fixed base 91. The piston rod 94a of the fluid pressure cylinder 94 is provided with the support frame 53. The front end of the slide plate 93 is connected to the slide plate 93 via a connecting frame 95.

  A rectangular plate 96 is attached to the end of the slide plate 93 opposite to the fixed base 91.

  The rectangular plate 96 has a rectangular plate-like second connector 98 that is connected to the second fitting pin 97 and the wiring 40b on the apparatus fixing side and is connectable to the first connector 69c on the opposite surface of the fixing base 91. The first fitting portion 97 is juxtaposed with each other, and the tip end side of the second fitting pin 97 protrudes from the second connector 98.

  The first fitting pin 83 and the second fitting pin 97 are paired apart in the horizontal direction.

  When the piston rod 94a of the fluid pressure cylinder 94 expands and contracts, the second fitting pin 97 and the second connector 98 are moved forward and backward in the longitudinal direction of the support frame 53 by the sliding operation of the slide plate 93. It has become.

  That is, the first fitting pin 83 and the second fitting pin 97 are paired in the advancing / retreating direction on the same side surface of the support frame 53 and advance in opposite directions.

  The first fitting pin 83, the first fitting hole 69a, the connection pipe 69e, and the second annular groove 81b constitute the first fixing means 12 of the present invention, and the second fitting pin 97, second The fitting hole 69b, the first connector 69c, and the second connector 98 constitute the second fixing means 13 of the present invention, and the protruding portion 65 of the jig 6 and the both fixing auxiliary frames 63 are fixed to the support frame 53. When the both L-shaped frames 69 of the jig 6 are brought into contact with the outer peripheral surface of the support frame 53 while being respectively inserted into the holes 71a and the fixing auxiliary holes 7c, the first fitting pin 83 and the second fitting The mating pin 97 is located at a position corresponding to the first fitting hole 69a and the second fitting hole 69b, and the first fitting pin 83 and the second fitting pin 97 are advanced in this state to advance the first fitting. Joint hole 69a and second fitting hole And adapted to fit respectively 9b.

  The connecting pipe 69e and the second annular groove 81b are connected by the fixing operation of the jig 6 and the support frame 53.

  Specifically, when the cylinder rod 82a is extended in a state where the first fitting pin 83 corresponds to the first fitting hole 69a, as shown in FIG. 15 and FIG. 83 advances, and the 1st fitting pin 83 fits in the 1st fitting hole 69a.

  Further, the inside of the first fitting pin 83 communicates with the connection pipe 69e in a state where the first fitting pin 83 is fitted in the first fitting hole 69a, and each air introduction hole of the first fitting pin 83 is also connected. 83c is a position corresponding to the second annular concave groove 81b of the rectangular tube member 81, and compressed air flows from the pipe 40a on the support frame 53 side to the connection pipe 69e, the first fitting pin 83, each air introduction hole 83c, and the first It is supplied to the pipe 68a of the jig 6 through the two annular grooves 81b.

  Further, the first connector 69c and the second connector 98 are connected by the fixing operation of the jig 6 and the support frame 53, and at the same time, the wiring 40b of the support frame 53 is connected via the first connector 69c and the second connector 98. Are connected to the wiring 68b of the jig 6 so that each drive unit of the jig 6 is controlled by a control panel 10 described later.

  Further, the connection pipe 69e and the second annular groove 81b are disconnected by the fixing release operation of the jig 6 and the support frame 53, and the first connector 69c and the second connector 98 are disconnected. It is like that.

  Specifically, when the cylinder rod 82a is contracted in a state where the first fitting pin 83 is fitted in the first fitting hole 69a, as shown in FIGS. 15 and 16, the first fitting is performed while the coil spring 85 is contracted. The mating pin 83 is retracted, and the first fitting pin 83 is detached from the first fitting hole 69a.

  In addition, each air introduction hole 83c of the first fitting pin 83 is in a position not corresponding to the second annular groove 81b of the rectangular tube member 81 in a state where the first fitting pin 83 is disengaged from the first fitting hole 69a. Thus, the air supply to the pipe 68a of the jig 6 is cut off.

  The welding robot 3 is an industrial multi-axis robot in which a welding gun 3b is attached to the tip of an arm 3a. The welding robot 3 can perform welding by freely changing the posture of the welding gun 3b.

  A control panel 10 is connected to the first motor 4, and the control panel 10 outputs an operation signal to the first motor 4 so that each jig 6 moves to the workpiece welding region X1 and the workpiece setting region X2. It is supposed to be.

  The control panel 10 is connected to the second motors 55, and the two jigs 6 attached to the support frames 53 are moved to an upper position and a lower position, respectively. 2 An operation signal is output to the motor 55.

  Further, the control panel 10 outputs an operation signal to the jig 6, the first fixed unit 8, and the second fixed unit 9.

  Next, production of the production line 1 will be described.

  FIG. 1 shows a state immediately after the rotating frame 5 that rotates in the R1 direction stops, the two jigs 6 that hold the assembly 11 in which the workpieces W1 and W2 are assembled together move to the workpiece setting region X2, and The state where the two jigs 6 on which the workpieces W1, W2 are set and positioned has moved to the workpiece welding region X1 is shown.

  From the state shown in FIG. 1, first, the welding robot 3 changes the posture of the welding gun 3b and welds the welded portions of the workpieces W1 and W2 positioned on the jig 6 on the upper side of the workpiece welding region X1.

  When the welding of the workpieces W1 and W2 positioned on the jig 6 on the upper side of the workpiece welding area X1 is completed, the control panel 10 allows one of the upper and lower jigs 6 positioned in the workpiece welding area X1 to be switched. 2 An operation signal is output to the motor 55. Then, the jig 6 holding the assembly 11 moves downward, and the jig 6 positioned and positioned with the workpieces W1, W2 before welding moves upward.

  Next, the welding robot 3 welds the welded portions of the workpieces W1 and W2 in the upper jig 6 whose upper and lower positions are switched in the workpiece welding region X1.

  On the other hand, while the welding robot 3 is performing the welding operation in the workpiece welding region X1, in the workpiece setting region X2, the worker H1 takes out the assembly 11 from the jig 6 positioned on the upper side.

  Next, the worker H1 sets the workpieces W1 and W2 on the jig 6 positioned on the upper side.

  Thereafter, the worker H1 presses a jig switching button (not shown). Then, the control panel 10 outputs an operation signal to the other second motor 55 so that the upper and lower two jigs 6 positioned in the work set region X2 are switched. Then, the jig 6 on which the workpieces W1 and W2 are set moves downward, and the jig 6 that holds the assembly 11 moves upward.

  Thereafter, the worker H1 takes out the assembly 11 from the jig 6 positioned on the upper side, and sets the workpieces W1 and W2 on the jig 6 positioned on the upper side.

  Then, the welding of the workpieces W1 and W2 set on the two jigs 6 positioned in the workpiece welding area X1 is completed, and the two assemblies 11 are completed, and the two jigs 6 positioned in the workpiece setting area X2 are completed. When the setting of the workpieces W1 and W2 is completed, the control panel 10 outputs an operation signal to the first motor 4 so that the rotating frame 5 starts rotating in the R2 direction.

  After the rotating frame 5 rotated in the R2 direction is stopped, the above-described procedure is repeated to sequentially assemble the workpieces W1 and W2.

  Next, a procedure for removing the jig 6 from the workpiece positioning device 2 will be described.

  First, the control panel 10 outputs an operation signal to the welding robot 3 to separate the welding gun 3b from the tip of the arm 3a of the welding robot 3 and to remove the tool from the support frame 53 from the tool changer mounting portion 60 of the jig 6. The tip of the arm 3a is connected to a changer (not shown).

  Next, the control panel 10 outputs an operation signal to the first fixed unit 8. Then, the first fitting pin 83 moves backward and comes out of the first fitting hole 69a.

  In addition, the control panel 10 outputs an operation signal to the second fixed unit 9. Then, the second fitting pin 97 is retracted and removed from the second fitting hole 69b by the sliding operation of the slide plate 93 accompanying the expansion / contraction operation of the piston rod 94a, and the second connector 98 is detached from the first connector 69c.

  Thereafter, the welding robot 3 pulls the jig 6 toward the welding robot 3 in the horizontal direction. Then, the protruding claw 65a is removed from the fixing hole 71a, the engaging claw 66a is removed from the engaging groove 72a, and the connecting portion 67 corresponds to the opening 72b of the engaging groove 72a.

  Further, when the welding robot 3 pulls the jig 6 in the horizontal direction toward the welding robot 3, each fixing auxiliary claw 63 a is detached from each fixing auxiliary hole 7 c.

  Then, the welding robot 3 lifts the jig 6 upward. Then, the connecting portion 67 comes out upward from the opening 72b, and the jig 6 is completely separated from the support frame 53 (see FIG. 3).

  If the jig 6 is positioned below the support frame 53, the first fitting pin 83 and the second fitting pin 97 are disengaged from the first fitting hole 69a and the second fitting hole 69b. However, since the fixing hole 71a and each fixing auxiliary hole 7c extend in the horizontal direction, the protruding claw 65a and each fixing auxiliary claw 63a are caught by the fixing hole 71a and each fixing auxiliary hole 7c, and the jig 6 is supported by the support frame 53. It is designed not to fall off.

  Next, a procedure for attaching the jig 6 to the workpiece positioning device 2 will be described.

  First, the control panel 10 outputs an operation signal to the welding robot 3 to separate the welding gun 3b from the tip of the arm 3a of the welding robot 3 and to a tool changer in the jig 6 stored in a jig storage shelf (not shown). The tip of the arm 3a is connected to a tool changer (not shown) of the mounting portion 60.

  Next, the control panel 10 outputs an operation signal to the welding robot 3 and moves the jig 6 connected to the tip of the arm 3 a to above the support frame 53.

  Next, the connecting portion 67 of the fixing frame 64 of the jig 6 connected to the tip of the arm 3a in the welding robot 3 is made to correspond to the opening 72b of the engaging groove 72a, and the jig 6 is lowered. Then, the connection part 67 passes the opening part 72b.

  Thereafter, the jig 6 is pushed horizontally so that the welding robot 3 moves away from the welding robot 3. Then, as shown in FIGS. 5 to 8, the projecting claw 65a is inserted into the fixing hole 71a, and the engaging claw 66a is engaged with the wide portion 72c of the engaging groove 72a.

  Further, when the welding robot 3 pushes the jig 6 horizontally so as to move away from the welding robot 3, as shown in FIGS. 9 to 12, each fixing auxiliary claw 63 a is inserted into each fixing auxiliary hole 7 c. .

  The projecting claws 65a are fitted into the fixing holes 71a, the engaging claws 66a are engaged with the wide portions 72c of the engaging recesses 72a, and the fixing auxiliary claws 63a are inserted into the fixing auxiliary holes 7c. Then, both L-shaped frames 69 of the jig 6 abut against two adjacent outer peripheral surfaces of the support frame 53. Then, the first fitting pin 83 corresponds to the first fitting hole 69a, the second fitting pin 97 corresponds to the second fitting hole 69b, and the first connector 69c is connected to the first fitting hole 69b. 2 corresponds to the connector 98.

  Thereafter, the control panel 10 outputs an operation signal to the first fixed unit 8. Then, as shown in FIGS. 13 to 16, the cylinder rod 82a and the coil spring 85 are extended, and the first fitting pin 83 is advanced to be fitted into the first fitting hole 69a. At this time, the inside of the first fitting pin 83 and the connection pipe 69e communicate with each other, and each air introduction hole 83c of the first fitting pin 83 corresponds to the second annular groove 81b of the rectangular tube member 81. Compressed air is supplied from the pipe 40a on the support frame 53 side to the pipe 68a of the jig 6 through the connection pipe 69e, the inside of the first fitting pin 83, the air introduction holes 83c and the second annular groove 81b. Thus, the jig 6 becomes operable.

  In addition, the control panel 10 outputs an operation signal to the second fixed unit 9. Then, as shown in FIGS. 17 and 18, the second fitting pin 97 is advanced by the sliding operation of the slide plate 93 accompanying the expansion / contraction operation of the piston rod 94a and is fitted into the second fitting hole 69b. The second connector 98 is connected to one connector 69c, and at the same time, the wiring 40b of the support frame 53 and the wiring 68b of the jig 6 are connected via the first connector 69c and the second connector 98, and each driving of the jig 6 is performed. The unit is controlled by the control panel 10.

  And the front-end | tip of the arm 3a is cut | disconnected from the tool changer (not shown) of the tool changer attaching part 60 of the jig | tool 6, and the attachment operation | work of the jig | tool 6 is complete | finished.

  As described above, according to the embodiment of the present invention, the fixing operation of the jig 6 to the support frame 53 and the fixing release operation of the jig 6 from the support frame 53 are used. Since the connection operation and the connection release operation between the pipe 40a and the wiring 40b in the support frame 53 are performed, the pipe 68a and the wiring 68b in the jig 6 and the pipe 40a in the support frame 53 when the jig 6 is replaced. The wiring 40b is firmly connected so that compressed air and power can be reliably supplied to the jig 6. Further, simultaneously with the fixing operation and the fixing release operation of the jig 6, the connection operation and the connection releasing operation of the second annular groove 81b (pipe 40a) and the connection pipe 69e, and the first connector 69c and the second connector 98, The connection operation and the connection release operation are performed, so that the time required for replacing the jig 6 is a connection operation and a connection release operation between the second annular groove 81b and the connection pipe 69e, and the first connector 69c and the second connector. The connection operation with 98 and the connection release operation are not increased, and the time required for replacing the jig 6 can be shortened.

  Further, when the second annular groove 81b and the connection pipe 69e are connected, the fitting of the first fitting pin 83 to the first fitting hole 69a causes the second annular groove 81b to be connected to the connection pipe 69e. Since the position is accurately determined, the connection failure of the second annular groove 81b and the connection pipe 69e is eliminated during the fixing operation of the jig 6 to the support frame 53, and the pipe 68a of the jig 6 and the support frame 53 are eliminated. The pipe 40a can be securely connected.

  Further, when connecting the first connector 69c and the second connector 98, the position of the second connector 98 relative to the first connector 69c is accurately determined by the fitting operation of the second fitting pin 97 into the second fitting hole 69b. Therefore, the connection failure of the first connector 69c and the second connector 98 is eliminated during the fixing operation of the jig 6 to the support frame 53, and the wiring 68b of the jig 6 and the wiring 40b of the support frame 53 are securely connected. Can be connected to.

  Furthermore, the pipe 68a and the portion connecting the pipe 40a are separated from the portion connecting the wiring 68b and the wiring 40b between the jig 6 and the support frame 53, so the pipe 68a, The piping 40a, the wiring 68b, and the wiring 40b can be easily arranged. Therefore, the jig 6 and the support frame 53 can be easily maintained, and the ease of maintenance and management in the workpiece positioning device 2 can be enhanced.

  In addition, since the second fitting pin 97 protrudes from the second connector 98, the first connector 69c and the second connector 98 are started after the second fitting pin 97 starts to be fitted into the second fitting hole 69b. And come to connect. Therefore, even if the first connector 69c and the second connector 98 have the structure of the present invention in which the first connector 69c and the second connector 98 are provided close to the second fitting pin 97 and the second fitting hole 69b, The position of the second connector 98 is accurately determined, and the connection of the first connector 69c and the second connector 98 during the fixing operation of the jig 6 to the support frame 53 can be reliably performed.

  In the embodiment of the present invention, the two jigs 6 attached to the support frame 53 are the same jig 6, but different kinds of jigs 6 may be attached.

  Further, when the welding robot 3 and the worker H1 work, the welding robot 3 and the worker H1 may be easily operated by rotating the second motors 55 and tilting the jig 6.

  A plurality of welding robots 3 may be installed in the workpiece welding region X1.

  In the embodiment of the present invention, there is one worker H1, but a plurality of workers H1 may work in the work set area X2.

  In the embodiment of the present invention, the workpieces W1 and W2 are assembled by spot welding. However, the present invention is not limited thereto, and may be performed by arc welding or laser welding, or may be performed by other joining methods. .

  In the embodiment of the present invention, the support frame 53 rotates around the rotation axis extending in the horizontal direction, but it is not essential for the support frame 53 to rotate.

  In the embodiment of the present invention, the first fitting hole 69 a and the second fitting hole 69 b are provided in the jig 6, and the first fitting pin 83 and the second fitting pin 97 are provided in the support frame 53. However, the present invention is not limited to this, and the first fitting hole 69 a and the second fitting hole 69 b are provided in the support frame 53, and the first fitting pin 83 and the second fitting pin 97 are provided in the jig 6. The jig 6 may be fixed to the support frame 53. At this time, the second annular groove 81b is connected to the pipe 68a, and the connection pipe 69e is connected to the pipe 40a.

  In the embodiment of the present invention, the first connector 69 c is provided on the jig 6 and the second connector 98 is provided on the support frame 53. However, the present invention is not limited thereto, and the first connector 69 c is provided on the support frame 53. At the same time, the second connector 98 may be provided on the jig 6 to be connected to each other.

  In the present invention, a portion connected to the pipe 40a on the apparatus main body side is provided in the first fitting pin 83, and a portion connected to the pipe 68a on the jig 6 side is provided on the inner surface of the first fitting hole 69a. However, the present invention is not limited thereto, and a portion connected to the pipe 40a on the apparatus main body side is provided at a position approaching the first fitting pin 83, and a portion connected to the pipe 68a on the jig 6 side is the first. It is provided at a position approaching the fitting hole 69a and connected to the pipe body 40a on the apparatus main body side and the pipe 68a on the jig 6 side by the fixing operation of the first fitting pin 83 and the first fitting hole 69a. You may make it connect a part.

  In the present invention, a portion connected to the apparatus main body side piping 40a is provided inside the first fitting pin 83, and a portion connected to the apparatus main body side wiring 40b is adjacent to the second fitting pin 97. Although not limited to this, the first fitting pin 83 has a structure in which not only a part connected to the pipe 40a on the apparatus main body side but also a part connected to the wiring 40b on the apparatus main body side is provided. In order to correspond to the structure, a structure may be provided in which a portion connected to the pipe 68a on the jig 6 side and a portion connected to the wiring 68b on the jig 6 side are provided on the inner surface of the first fitting hole 69a.

  The present invention is suitable, for example, for a workpiece positioning device that determines a position by gripping a workpiece obtained by press forming when welding is performed.

2 Work positioning device 6 Jig 12 First fixing means 13 Second fixing means 53 Support frame (support body)
69a 1st fitting hole 69b 2nd fitting hole 69c 1st connector (2nd connection part)
69e Connection piping (second connection part)
81b Second annular groove (first connection part)
83 1st fitting pin 97 2nd fitting pin 98 2nd connector (1st connection part)
W1, W2 work

Claims (4)

A jig for positioning the workpiece;
A support for supporting the jig so as to be attachable / detachable;
A fixing means for fixing the support and the jig to each other;
The fixing means is provided on one of the jig and the support, and includes a first connection portion connected to at least one of a wiring and a pipe provided on one of the jig and the support, and the jig and the support. A second connecting portion provided on the other side and connected to at least one of the wiring and piping provided on the other side of the jig and the support, and the first connection by the fixing operation of the jig and the support. The first connecting portion and the second connecting portion are configured to be disconnected by a fixing releasing operation between the jig and the support body, while the first connecting portion and the second connecting portion are connected. Work positioning device. The work positioning apparatus according to claim 1,
The fixing means is provided on one of the jig and the support, and is provided on the other of the jig and the support, a fitting pin that can advance and retreat with respect to the other of the jig and the support, A fitting hole that fits in a state in which the fitting pin is advanced,
The first connecting portion is provided inside the fitting pin or at a position close to the fitting pin,
The work positioning apparatus, wherein the second connecting portion is provided inside the fitting hole or at a position close to the fitting hole. In the workpiece positioning device according to claim 2,
A pair of the fitting pins and the fitting holes are provided apart from each other in a predetermined direction,
A pair of the first connection portions are provided at positions corresponding to the respective fitting pins, and one of the first connection portions is connected to a pipe provided on one of the jig and the support and the one of the fittings. Provided inside the pin, and the other first connection portion is connected to the wiring provided on one of the jig and the support and provided at a position close to the other fitting pin,
A pair of the second connection portions are provided at positions corresponding to the respective fitting holes, and one of the second connection portions is connected to a pipe provided on the other of the jig and the support and the one of the fittings. The other second connecting portion provided inside the hole is connected to the wiring provided on the other of the jig and the support and is provided at a position close to the other fitting hole. A workpiece positioning device. In the workpiece positioning device according to claim 3,
The workpiece positioning device, wherein the other fitting pin has a pin tip side protruding from the other first connection portion.

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