JP2555363B2 - Sealing and welding equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION A. Purpose of the Invention (1) Field of Industrial Application The present invention performs two works, a sealing work for two works and a welding work for welding and joining these two works. Regarding the device.

(2) Conventional Technology Conventionally, a sealing work process and a welding work process are separate processes. In an apparatus for performing a sealing work and a welding work on two works, first, the two works are respectively positioned at the sealing work positions. Positioning device for sealing work to hold and sealing work finished 2
Positioning devices for welding work have been used that move one work to a welding work position and position and hold it at the welding work position.

(3) Problems to be Solved by the Invention That is, in the conventional apparatus for performing the sealing work and the welding work on two works, the place to perform the sealing work on the two works and the welding work on the two works are performed. Due to the different location, two positioning devices were required, a positioning device for the sealing operation and a positioning device for the welding operation.

In this way, when the work is positioned for each process,
There is a problem that the position of the sealing part and the welded part varies due to the variation in the positioning of the work, and the quality deteriorates. In particular, there is a problem that the quality of a work including a deformable portion such as a sash portion of a door skin is significantly deteriorated because accurate positioning is difficult.

The present invention has been made in view of the above circumstances, and in an apparatus that performs sealing work and welding work on two works, reduces variations in the positions of the sealing part and the welding part and efficiently performs the sealing work and the welding work. The purpose is to be able to do it.

B. Configuration of the Invention (1) Means for Solving Problems In order to achieve the above object, the sealing and welding apparatus of the present invention holds the first work in a predetermined position for performing the sealing work and the welding work. The first work positioning device and the first work holding the second work and holding the second work at the sealing work position and the predetermined position.
A gripping robot that holds a welding work position to be joined to a work, a sealing robot that attaches a sealing material to a first work held at the predetermined position and a second work held at the sealing work position, and a sealing robot at the predetermined position A welding robot for welding and joining the held first work and the second work held at a welding work position to be joined to the first work.

(2) Operation In the sealing and welding apparatus of the present invention having the above-described configuration, the first work positioning device holds the first work at the predetermined position where the sealing work and the welding work are performed. Then, by the gripping robot, the second
The work is held in the sealing work position. A sealing material is attached to the second work held at the sealing work position and the first work held at the predetermined position by the sealing robot. The second work after the sealing work is held by the gripping robot at the welding work position where it is joined to the first work. Then, the first work held at the predetermined position and the second work held at the welding work position for joining to the first work are welded and joined by the welding robot. In this way, both the sealing work and the welding work are performed with the first work held in the predetermined position. Therefore, the positional deviation between the sealing portion and the welding portion of the first work is reduced.

(3) Example Hereinafter, an example of the sealing and welding apparatus according to the present invention will be described with reference to the drawings.

1 and 2, the arrow X direction is the front, the arrow Y direction is the left, and the arrow Z direction is the up.

Five columns B _{1 to} B ₅ are erected on the floor surface A.
A horizontal guide C ₁ extending in the left-right direction is supported by the upper ends of the columns B ₁ and B ₂ . A horizontal guide C ₂ extending in the front-rear direction is supported by the upper ends of the columns B ₂ and B ₃ . Further, a horizontal support member C ₃ protruding leftward is coupled to the upper end of the column B _{5, and} the support member C ₃
A horizontal guide C ₄ extending in the front-rear direction is supported by C ₃ and the upper ends of the columns B ₃ . The reason why one end of the horizontal guide C ₄ is supported by the support member C ₃ is that a support column is erected in order to secure a space below the rear end of the horizontal guide C _{4 for} arranging a welding robot G described later. Because you cannot do it.

A gripping robot D is supported on the horizontal guide C _{1 so as} to be slidable left and right. The gripping robot D is a robot that takes out a second work W ₂ from a second work supply device J described later, grips it, and holds it at a position for performing a sealing work and a position for performing a welding work, which will be described later. A robot support guide C ₅ extending horizontally to the right is supported on the horizontal guide C ₂ so as to be slidable in the front-rear direction. The first ceiling robot E is slidably supported in the left-right direction on the robot support guide C ₅ . In addition, the horizontal guide C ₄ has a robot support guide C ₆ extending horizontally to the left.
Is supported slidably in the front-back direction. The second sealing robot F is slidably supported in the left-right direction on the robot support guide C ₆ .

A floor surface A below the horizontal guide C ₁ and close to the pillar B _1.
Is provided with a welding robot G that is rotatable on a base K about a vertical axis and is slidable in the front-rear direction. This welding robot G is equipped with electrodes G ₁ and G ₂ as shown in FIG.

A first work transfer device H extends in the front-rear direction below the center of the horizontal guide C ₁ . The first work transfer device H includes a first work carry-in station S _i , a processing station S _m, and a carry-out station S _o . Then, as will be described later in detail, the first work transfer device H is
The first work W ₁ carried in at the work carry-in station S _i is carried to the processing station S _m and held at a predetermined position, and the first work W ₁ having been worked at the predetermined position is carried to the carry-out station S _o . Is configured to. Further, the processing station S _m is provided with a first work positioning device H _o for holding the first work W ₁ at a predetermined position.

A second work supply device J is arranged on the left side of the processing station S _m . This second work supply device J
Is an apparatus for automatically supplying the second work W ₂ to a position where the gripping robot D can take it out.

 Next, the first work transfer device H will be described.

In FIGS. 1 to 3, the first work W ₁ is a _first skin at equal intervals along the transport direction X of the passenger vehicle door skin.
The work loading station S _i , processing station S _m, and unloading station S _o are set in order, and the first work
W ₁ is loaded into the first work loading station S _i ,
After being subjected to processing such as sealing and welding at the processing station S _m , it is unloaded from the unloading station S _o .

With reference to FIG. 4 and FIG. 5 together, a base 1 extending along the transport direction (front) X is disposed on the floor surface A, and on the base 1 the transport direction X is provided. A pair of guide rails 2 and 2 (see FIGS. 1 and 3) that extend in parallel with each other are laid. A carriage 3 having a length extending between the adjacent stations S _i and S _m or S _m and S _o is arranged so as to be able to travel along both guide rails 2 and 2. A rod tip portion of a cylinder (not shown) arranged in the front-rear direction on the base 1 is fixed to the carriage 3. Then, due to the expansion and contraction of the cylinder, the trolley 3 becomes
It is possible to travel back and forth along the. Stoppers 5 and 6 are provided on the base 1 for contacting both ends of the carriage 3 in the longitudinal direction and for positioning the carriage 3 in the transport direction X.

At the rear end of the carriage 3, as shown in FIGS.
The support frame 9 is supported by the lifting cylinders 7 and 8 so as to be lifted and lowered. The support frame 9 sucks the first work W ₁ 4
.. and a positioning member 11 that engages with the front edge of the first work W ₁ to perform positioning. Further, at the front end portion of the carriage 3, as shown in FIGS. 4, 5 and 7, a support frame 14 is supported by lift cylinders 12 and 13 so as to be liftable. In the support frame 14,
Four vacuum coupler for adsorbing the first workpiece W ₁ 1
5, ..., Positioning members 16 that engage with the front edge of the first work W ₁ to perform positioning are provided.

In the trolley 3, the cylinder (not shown) is expanded and contracted so that one support frame 9 corresponds to the first work loading station S _i and the other support frame 14 corresponds to the processing station S _m (fourth position). (The position shown in the figure) and a position (the position in FIG. 5) in which one support frame 9 corresponds to the processing station S _m and the other support frame 14 corresponds to the unloading station S _O (the position in FIG. 5). It is possible to travel back and forth along 2.

Referring to FIGS. 3 and 6, the loading station S _i
On the right side of the base 1 in, three columns 17, 18, 19 are erected. The column 17 has a receiving member for receiving a side edge portion of the first work W ₁ which is an upper edge portion in the mounting posture on the vehicle.
17a is provided, the struts 18 and 19 are the positioning members 18a, 19a are provided to fulfill a first positioning of the work W ₁ at the portion where the lower edge of the window opening in the mounting position of the vehicle .
Furthermore, a column 20 is erected on the left side of the base 1.
The upper edge of 20 is the first edge that is the lower edge when mounted on the vehicle.
Positioning members for positioning in contact with the side edge of the workpiece W ₁
20a is provided.

Referring to FIG. 3 and FIG. 7, the processing station S _m
On the right side of the dolly 3 on the base 1, the lower end of an elevating cylinder 21 extending vertically is supported and fixed to the base 1, and to a supporting plate 22 connected to the elevating cylinder 21 and extending along the transport direction X, Positioners 23a-23c are provided. As shown in FIG. 3, the positioning member 23a is be positioned engages the reference edge W _1a of the trailing edge along the conveying direction X of the first workpiece W ₁ to the trailing edge at the mounting position of the vehicle Therefore, the positioning tools 23b, 23c are provided on the support plate 22, and the positioning tools 23b, 23c are provided on the support plate 22 so as to be positioned by engaging with the reference edge portion W _1b which is the window opening side edge of the first work W ₁ . . Further, as shown in FIG. 3, suction tools 24a to 24f constituted by vacuum couplers are arranged on the support plate 22. A column 25 (see FIG. 7) is erected on the base 1 on the left side of the carriage 3, and an elevating cylinder 26 having an axis extending vertically is fixed and supported on the column 25. This lifting cylinder
Suction tools 28a, 28b (see FIG. 3 and FIG. 7) composed of vacuum couplers are arranged on a support plate 27 connected to 26.

By the way, at the processing station S _m , the suction tools 24a-2
In the state where the first work W ₁ is held by 4f and 28a, 28b, the upper part (the right end part in FIG. 7) of the mounting position of the first work W _{1 on} the vehicle is not supported, and The portion is bent downward by its own weight as a bending portion W _1c as shown by the solid line in FIG. 7 (B). Correction jig 30
Is for pushing up the bending portion W _1C from below to correct the posture to a normal posture as shown by the chain double-dashed line, and is disposed on the upper right side of the processing station S _m . Figures 1, 2 and 7
In FIG. 8 and FIG. 8, the horizontal guide C ₄ extending along the transport direction X is arranged at one upper side of the base 1.
The correction jig 30 has the horizontal guide C ₄ fixed thereto. As shown particularly well in FIG. 8, this correction jig 30 is rotated around an axis parallel to the carrying direction X and an arm 31 extending from the horizontal guide C ₄ to the first work W ₁ side. A rotatable frame 32 pivotally supported on the tip of the arm 31, a pair of pressing members 33a and 33b fixedly mounted on the rotatable frame 32, and an arm 3 for rotating the rotatable frame 32.
1 and a telescopic cylinder 34 provided between the rotating frame 32.

The rotating frame 32 includes an arm 31 via a support shaft 35 parallel to the transport direction X.
The pressing members 33a and 33b are rotatably supported at the tip of the rotating frame 32 and are attached to the rotating frame 32 at intervals along the transport direction X. At the tip of the arm 31, a rotating frame 32, that is, a pressing member 33.
A stopper bolt 36 capable of abutting on the rotating frame 32 is screwed so as to be capable of advancing and retracting so as to restrict the upward rotation of a and 33b, and when the rotating frame 32 abuts on the stopper bolt 36, both pressing members. 33a, 33b
Is the position where the bending portion W _1c of the first work W ₁ is pushed up from below and corrected to a normal posture.

The end of the telescopic cylinder 34 on the head side is supported by the lower part of the arm 31 via a clevis pin 37 parallel to the support shaft 35, and the tip of the piston rod 38 in the telescopic cylinder 34 is a connecting pin parallel to the support shaft 35. It is connected to the lower part of the rotating frame 32 via 39. Therefore, the rotating frame 32, that is, the pressing members 33a, 33b, is expanded and contracted by expanding and contracting the expanding and contracting cylinder 34.
It is possible to contact the bending portion W _1c of the first work W ₁ from below and push it up.

Further, below the piston rod 38, two limit switches 40 and 41 that are arranged to bend around the connecting pin 39 and are brought into contact with an abutment wheel 32a provided on the rotating frame 32 for switching operation are arranged. These limit switches 40, 41 are supported by a limit switch support plate 42 fixed to the telescopic cylinder 34. With these limit switches 40, 41,
Extension and contraction limits of the telescopic cylinder 34, that is, a rotating frame
The rotation range of the pressing members 33a and 33b fixed to 32 is defined.

As can be understood from the above description, when the first work W ₁ is processed at the processing station S _m shown in FIGS. 3 and 7, the first work W ₁ is received from the support frame 9 of the carriage 3 and positioned and held. At this time, the three positioning tools 23a to 23c
When a total of eight of the suckers 24a~24h and suckers 28a for the first workpiece W ₁ suction, holding, and 28b, the first work W
The pressing member 33 of the correction jig 30 for correcting the deflection of ₁
The a and 33b come into contact with the first work W ₁ . The first work positioning device H ₀ is composed of the members indicated by the reference numerals 21 to 42.

3 and 9, in the carry-out station S ₀ , columns 43 and 44 are erected on the right side of the base 1, and above the columns 43 and 44, the columns of the first work W ₁ are provided. Receiving members 45 and 46 that are engaged with the lower edge of the window opening to perform positioning and receive the first work W ₁ are fixed. Further, columns 47, 48 are erected on the left side of the base 1, and receiving members 49, 50 for receiving the first work W ₁ are fixedly provided on the upper portions of the columns 47, 48. .

Next, the operation of the first work transfer device H will be described. When the first work W ₁ is machined, the carriage 3 is at the position where it comes into contact with the stopper 5 (see FIGS. 3 and 4), and the lifting and lowering is performed. When the cylinders 7, 8 and 12, 13 are contracted and the support frames 9, 14 are in the lower position, the first work W ₁ is loaded into the loading station S _i . The first work carried in
W ₁ is supported while being positioned by the receiving member 17a and the positioning members 18a, 19a (see FIG. 3), 20a and 11. Then, the elevating cylinders 7 and 8 (see FIGS. 4 and 5) are extended to bring the four vacuum couplers 10 (see FIG. 3) into contact with the lower surface of the first work W ₁ , and the vacuum couplers The suction work of 10 sucks the first work W ₁ with the vacuum coupler 10,
Hold. Then, by allowed to extending action of the lifting cylinder 7, 8, input station S _i in receiving member 17a,
The first work W ₁ is lifted from above the positioning members 18a and 19a.

In the meantime, in the processing station S _m , the lifting cylinders 21 and 26 of the first work positioning device H ₀ are in the extended state, and the first work W ₁ during processing is the first work positioning device H _0.
Is suctioned and held by. The first work in this state
The processing work for W ₁ , that is, the sealing work and the welding work will be described in detail later. When the machining work at the machining station S _m is completed, the lifting cylinders 12 and 13 are raised, and the vacuum coupler 15 sucks and grips the first work W ₁ . Then, the lifting cylinders 21 and 26 (see FIG. 7) descend, and the first work W ₁ is supported by the carriage 3.

In this state, the carriage 3 is caused to travel forward along the transport direction X. Then, the support frame 9 is stopped at a position corresponding to the processing station S _m , and the support frame 14 is stopped at a position corresponding to the unloading station S _O. At this time, in the correction jig 30 of the first work positioning device H ₀ , the telescopic cylinder 34 is contracted so that the pressing members 33 a and 33 b are at the lower position, and the first work W ₁ is moved when the carriage 3 travels. It does not come into contact with the correction jig 30.

When the support frame 9 stops at the position corresponding to the processing station S _m , the lifting cylinder of the first work positioning device H ₀
21,26 rises. As a result, the first work W is placed on the suction tools 24a to 24f and 28a, 28b of the first work positioning device H _{0 and} positioned by the positioning tools 23a to 23c. On the other hand, at the unloading station S ₀ , the lifting cylinder 1
The supporting frame 14 descends as the contraction operation of the second and the third parts 13 is performed, and the first work W ₁ after the processing is positioned and placed on the receiving members 45, 46, 49, 50.

At the processing station S _m , the first work W ₁ positioned by the positioning tools 23a to 23c is sucked and held by the suction operation of the suction tools 24a to 24f and 28a, 28b.
Flexure W _1c of the workpiece W ₁ is deflected downward as shown by the solid line in FIG. 7 (B) by its own weight. Therefore, by extending and contracting the telescopic cylinder 34 of the correction jig 30, the rotating frame 32
That is, the pressing members 33a, 33b are rotated from the lower side to the upper side, and the bending portion _W1c is pressed upward by the pressing members 33a, 33b so that a normal posture is obtained as shown by a chain double-dashed line in FIG. 7 (B). To fix. In this state, the first work W ₁ is positioned while maintaining its normal posture. Therefore, if the welding robot G and the sealing robots E and F perform a machining operation at this position, the machining accuracy can be improved.

During the processing, the lifting cylinders 7 and 8 descend, the supporting frame 9 of the carriage 3 corresponds to the loading station S _i , and the supporting frame 14
Drive so that it comes to the position corresponding to the processing station S _m .

After that, by repeating the above procedure, the first work
W ₁ from the first workstation S _i to the processing station
It is possible to sequentially convey to the unloading station S _O via S _m, and perform processing with high precision at the processing station S _m .

Next, the second work supply device J will be described with reference to FIGS. 1 and 2 and 10 to 16.

The second work supply device J is the processing station S _m.
It is a device for sequentially supplying the second work W ₂ to.

As shown in FIGS. 1 and 2, the processing station
A substrate 60 is fixed to the floor surface A at a position to the left of S _m . As shown in FIGS. 2 and 10 and 11, a transfer conveyor 62 is supported by a frame 61 standing on the substrate 60. The transfer conveyor 62 is sprocket 63, 64 rotatably supported by the frame 61 one by one at positions spaced apart along the direction toward the processing station S _m (see FIG. 10).
And an endless chain 65 wound around both sprockets 63, 64. And one sprocket 63
Then, power is transmitted from the servo motor 66 supported by the frame 61. A plurality of receiving members 67 are fixed to the chain 65 at equal pitches in the longitudinal direction, and each receiving member 67 can hold the second work W ₂ from below. The servo motor 66 intermittently travels the chain 65 by a distance corresponding to the pitch between the receiving members 67, so that the upper receiving members 67 ... Head toward the processing station S _m .
Move one pitch at a time along the work transfer direction Y ₁ (see Fig. 10).

Referring to FIGS. 2, 10 and 11, a support frame 68 is arranged at a position substantially corresponding to the end of the transfer conveyor 62 on the side opposite to the processing station S _m . The support frame 68 is composed of a pair of columns 69, 70 standing on the substrate 60, and a connecting member 71 for interconnecting the upper ends of the columns 69, 70. Prop
69 and 70 are erected on the substrate 60 with a space wider than the width of the transfer conveyor 62 between the columns 69 and 70. Guide rails 72, which extend vertically on both sides of these columns 69, 70
73 (see FIGS. 1 and 10 and 11) are fixed to each pair.

In FIGS. 1 and 2 and FIGS. 10 and 11, a pallet holding frame 74 is supported on the support frame 68 so as to be able to move up and down. The pallet holding frame 74 includes a pair of vertically extending rectangular support portions 75 and 76.
It is configured by connecting the upper end of the with a connecting bar 77,
A plurality of rollers 78, 79 (see FIG. 11) axially supported by both supporting portions 75, 76 are fitted to the guide rails 72, 73. As a result, the pallet holding frame 74 is supported by the support frame 68 so as to be vertically movable while sandwiching the columns 69 and 70 from the left and right sides. Further, as shown in FIGS. 11 and 12, rails 80 and 81 extending along the transport direction Y ₁ are associated with each other at a plurality of, for example, four locations that are vertically spaced at equal intervals on the support portions 75 and 76. It is fixed.

As shown in FIG. 2 and FIGS. 10 and 11, sprockets 82 are axially supported at the lower ends of the posts 69 and 70, respectively, and the connecting members 71
Sprockets 83 are axially supported at both ends of the.
Chains 84 are respectively wound around both sprockets 82 and 83, and both ends of these chains 84 are connected to a pallet holding frame 74. Further, power is transmitted to the lower sprocket 82 from a servo motor 85 arranged on the substrate 60, and the driving force thereof causes the chain 84 to move up and down, whereby the pallet holding frame 74 is moved up and down.

Rails 80 provided on both support parts 75, 76 of the pallet holding frame 74,
The pallets 86 are supported by the 81 so as to be movable in the longitudinal direction (left-right direction) thereof. These palettes
As shown in FIG. 12, the 86 includes support members 90 and 91 provided with support protrusions 88 and 89 that are movably fitted to the rails 80 and 81 via bearings 87. These support members 90, 91
Is extended in parallel with the rails 80 and 81 and is connected by a connecting bar 92. Work holding members 93, 94 extending in directions approaching each other are fixedly mounted on the respective support members 90, 91. Moreover, the work holding members 93, 94
When the pallet holding frame 74 is lowered,
The work holding members 93 and 94 are fixed to the support members 90 and 91, respectively, with such a length that the tips of the work holding members 93 and 94 do not interfere with each other. Further, each pallet 86 is provided with a stopper (not shown) for restricting the horizontal movement limit of the rails 80, 81.

The second work W ₂ is attached to the tips of the work holding members 93, 94.
A plurality of receiving members 95, 96 (see FIGS. 10 and 11) for receiving are fixed in correspondence with each other.
Are fixed to the work holding members 93, 94 with the same pitch as the receiving members 67 (see FIGS. 10 and 11) of the transport conveyor 62. Further, the work holding member 94 is fixedly provided with a positioning member 97 (see FIG. 11) for contacting and positioning the one end edge of the second work W ₂ . The pallet 86 is the code
It is composed of the members indicated by 88-97.

As shown in FIG. 11, one of the columns 70 of the support frame 68 has a plurality of spaces, for example, four spaces, which are vertically spaced from each other.
Limit switches L ₁ , L ₂ , L ₃ and L ₄ are fixedly arranged at
The pallet holding frame 74 is provided with those limit switches.
In order to change the switching mode by touching L _{1 to} L ₄ ,
Pressing protrusions 98 are fixedly provided at positions corresponding to the respective pallets 86. These limit switches L _{1 to} L ₄ and the pressing protrusions 98 can detect the upper limit position and the lower limit position of the pallet holding frame 74, and the position where each pallet 86 corresponds to the transport conveyor 62. Further, stoppers 99, 100 (see FIG. 11) for abutting against the pallet holding frame 74 to restrict the upper limit position and the lower limit position thereof are provided at the lower ends of the connecting member 71 and the columns 69, 70 of the support frame 68. There is.

Next, the operation of the second work supply device J will be described. When the second work W ₂ held by the receiving member 67 of the transport conveyor 62 reaches the position closest to the processing station S _m , the second work gripping is performed. The receiving member 67 by the robot D
The upper second workpiece W ₂ is gripped and brought to the processing station S _m , and the sealing work by the sealing robots E and F and the welding work by the welding robot G are performed at the processing station S _m .

The sealing work and the welding work will be described later.

In this way, the second work W ₂ is sequentially introduced from the transfer conveyor 62 to the processing station S _m , but when the second work W ₂ is no longer present on the part of the transfer conveyor 62 corresponding to the second work supply device J. The pallet holding frame 74 of the second work supply device J descends, and the lowermost pallet 86 comes to a position corresponding to the transport conveyor 62 as shown in FIG.
As a result, the plurality of second works W ₂ held by the work holding members 93, 94 of the pallet 86 are received by the receiving member 67 of the transport conveyor 62, and the plurality of second works W ₂ are received by the pallet 86.
Is transferred to the transfer conveyor 62.

By sequentially performing such an operation as shown in FIGS. 14 and 15, the second work W ₂ is sequentially supplied from the second work supply device J to the transport conveyor 62. Then, with the second work W ₂ transferred from the uppermost pallet 86 to the transfer conveyor 62, the lowermost pallet 86
Is pulled out in a direction opposite to the processing station S _m by a manual operation, and the work holding member of the pallet 86 is pulled out.
A plurality of second works W ₂ are placed on 93, 94. After that, each pallet 86 is pulled out in order from the bottom, and the pallet holding frame 74 is raised and returned to the original position with the second work W ₂ placed on each pallet 86 as shown in FIG. 7.

In this way, a plurality of pallets 86 are sequentially brought to the portion corresponding to the transfer conveyor 62, and the second work W ₂ is sequentially transferred from the pallet 86 to the transfer conveyor 62, so that the second work W is transferred to the processing station S _m . ₂ can be supplied sequentially. Moreover, each pallet 86 can be refilled with the second work W ₂ while the second work W ₂ is still placed on the transport conveyor 62. Therefore, the supply of the second work W ₂ is not interrupted, and the replenishment of the second work W ₂ is intermittent, so that the time other than the time of replenishment can be used for other work. Further, a special device for transferring the second work W ₂ from the second work supply device J to the transfer conveyor 62 is not required.

Next, a gripping robot D that grips the second work and holds it at a predetermined position will be described. In FIG. 17, a bracket 104 projecting from a slider 103 guided along a pair of rails 101 and 102 arranged on the side surface of the horizontal guide C ₁ (see FIGS. 1 and 2) has a vertical direction. The telescopic cylinder 105 for telescopic operation is fixed.
The base portion 109 of the gripping arm 108 is supported on the lower end portion of the rod 106 via a bracket 107. Body 110 of gripping arm 108
A rotating shaft 111 integrated with the rotating shaft 111 is supported by a base portion 109 so as to be rotatable and retractable, and the main body 110 of the gripping arm 108 and the rotating shaft 111 are integrally lengthened by an operation of a servo motor 112 supported by the bracket 107. It rotates about a directional (front-rear direction) axis line and can move back and forth in the axial direction by a hydraulic cylinder (not shown) built in the base portion 109. Figures 17 and 18
In the figure, a pair of positioning pins 113 and 114 are arranged on the main body 110 at intervals in the longitudinal direction of the main body 110. Since the configuration of each positioning pin 113, 114 is the same,
The positioning pin 113 will be described in more detail.
A positioning pin 113 is fixed by a bolt 118 to a mounting plate portion 117 at a tip end portion of an arm 116 protruding from a bracket 115 fixed to 10. When positioning a second work W ₂ which is a grasped body, The positioning pin 113 engages with the positioning engagement hole of the second work W ₂ .

The body 110 is further provided with pressing members 119, 120, 121, 122 which are spaced apart from each other in the longitudinal direction of the body 110. The holding members 119, 120, 121, 122 are basically fixed in the same manner, and the holding member 120 will be described. A bracket 123 is fixed to a bracket 115 fixed to the main body 110 by a bolt 124. A pressing member 120 is provided so as to project. The protruding length and shape of each pressing member 120 are set according to the shape of the second work W ₂ .

In FIGS. 17 and 19, the main body 110 is further provided with vacuum suction devices 125, 126, 127 at intervals in the longitudinal direction of the main body 110.
Are arranged. Vacuum pipes 128, 129 and 130 are connected to the suction devices 125, 126 and 127, respectively. Since the structure of each of the suction devices 125, 126, 127 is basically the same, the suction device 125 will be described in more detail as an example. Body 110
A suction device 125 is fixed by a bolt 133 to the tip of an arm 132 protruding from a bracket 131 fixed to the suction pipe 125, and the end of a vacuum pipe 128 is connected to the suction device 125.

Next, an example of a usage mode of the grip arm 108 will be described.
In FIG. 20, the second work W ₂ is nipped by the receiving member 67 of the transfer conveyor 62 in the second work supply device J and sequentially transferred in the direction of arrow a. On the other hand, the gripping arm 108
Moves in the direction of arrow a ′ and approaches the second work W ₂ .
Then, the positioning pins 113 and 114 first performs the positioning for the second gripping arm 108 of the work W ₂ engages with the second engagement hole of the workpiece W _2. As soon as the second work W ₂ is positioned, the suction devices 125, 126, 127 are in a vacuum suction state, and the second work W ₂ is suctioned by the suction devices 125, 126, 127. At this time, the pressing member 119,120,121,122 is in contact with the second workpiece W ₂ strategic points, while maintaining the second workpiece W ₂ position accurately, prevents the second modification of the work W _2.

The gripping arm 108 gripping the second work W ₂ rises along the arrow b (see FIG. 20) and moves above the transport conveyor 62 as shown in FIG. After that, as shown in FIG. 22, the gripping arm 108 rotates 90 ° about the longitudinal axis along the arrow c, and in this state, the second workpiece W ₂ is sealed by the sealing robot E. When the sealing process is completed, the gripping arm 108 moves to the right in the drawing along the arrow d as shown in FIG. 23, and then the gripping arm 108 moves along the longitudinal axis along the arrow e as shown in FIG. Rotate 180 degrees around. Then, when the gripping arm 108 descends along the arrow f as shown in FIG. 25, the second work W ₂ is moved to the first work positioning device H _0.
Is positioned on the first work W ₁ held at a predetermined position. In this state, the welding robot G moves to a predetermined processing position and welds the second work W ₂ to the first work W ₁ by the electrodes G ₁ and G ₂ . When the welding operation by the welding robot G is completed, the gripping arm 108 separates from the second work W ₂ and returns to the original position.

According to the gripping robot D described above, the gripping arm 108 is controlled to move in the horizontal and vertical directions, and is also controlled to rotate about the longitudinal axis, so that the work space is effectively used to efficiently perform the second movement. The workpiece W ₂ can be gripped, moved, and held in the posture required for machining, and the gripping arm 108 causes the positioning pin 11 to move.
Since it has 3,114, it is not necessary to dispose a special positioning device on the non-moving part, and the gripping arm of the second work W ₂ can be efficiently used.
The positioning pin 11 can be positioned relative to the positioning pin 108, and since the gripping arm 108 includes the suction devices 125, 126, and 127.
Positioning of the second work W ₂ by 3,114 can be performed effectively and promptly, the second work W ₂ can be reliably held, and the gripping arm 108 is further held by the pressing members 119-12.
Since it has 2, the positioning pins 113 and 114 and the suction device 12
In cooperation with 5-127, the second work W ₂ can be reliably gripped in an accurate posture while preventing deformation. In addition, the hydraulic cylinder built in the base 109 when changing lots
By moving the gripping arm 108 back and forth in the axial direction, the gripping robot D can be compatible with multiple models.

Next, the operation of the entire embodiment having the above-described configuration will be described.

In the state shown in FIG. 1, the first work W ₁ is positioned by the first work positioning device H _{0 at the} processing station S _m . Then, the second work W ₂ is arranged at a position where it can be taken out by the gripping robot D by the second work supply device J.

The gripping robot D is operated from the state of FIG. 1 to grip the second work W ₂ by the gripping robot D, and the second work W ₂ is held at the sealing work position shown in FIG. . As described above, the relationship with other members when the second work W ₂ is held at the sealing work position is shown by the solid lines in FIGS. 26 and 29. E ₀ , f ₀ , and g _{0 in} FIG. 29 correspond to the positions of the working parts of the sealing robots E and F and the welding robot G in FIG.

From the state shown by the solid lines in FIGS. 26 and 29, while operating the sealing robot E, the positions e ₀ , e ₁ , e ₂ shown in FIG. 29 are moved in this order. In this way,
After performing sealing work of attaching the second workpiece W ₂ to the sealing member by the sealing robot E, holding the second workpiece W ₂ to the welding operation position shown in the FIG. 25. As described above, the relationship with other members when the second work W ₂ is held at the welding work position is shown by the two-dot chain line in FIGS. 27 and 29. While operating the sealing robots E and F from the state shown in FIG. 27, the sealing robot E is moved in the order of positions e ₂ , e ₃ , e ₄ , e ₅ , e ₀ shown in FIG. The position shown in Fig. 29
Move in the order of f ₀ , f ₁ , f ₂ , f ₃ , f ₄ , f ₀ . Further, during the operation of the sealing robots E and F, the welding robot G is operated to sequentially perform spot welding of the welding points g _{1 to} g ₇ shown in FIG. FIG. 28 is a diagram showing a state in which the sealing robots E and F and the welding robot G are operating at the same time.

According to the above-mentioned embodiment, two sealing robots E and F are used.
Since a total of three robots, one welding robot and one welding robot, operate simultaneously, work efficiency is improved. In addition, since the sealing robot E also seals not only the first work W ₁ but also the second work W ₂ , the number of sealing robots can be saved. Furthermore, the gripping robot is the second work.
Since positioning is performed during W ₂ sealing work and welding work, it is not necessary to separately prepare a positioning jig.

Although the embodiments of the sealing and welding apparatus according to the present invention have been described above in detail, the present invention is not limited to the above-mentioned embodiments, without departing from the present invention described in the claims, It is possible to make various design changes.

For example, in the above embodiments, the door skin of the passenger vehicle was taken as the first work for explanation, but the present invention can be applied to other works.
Further, the lifting cylinders 7, 8, 12, 13 on the carriage 3 can be arranged with the rods above instead of the rods below.

C. Effects of the Invention According to the above-described sealing and welding device of the present invention,
Both the sealing work and the welding work are performed with the first work held in a predetermined position. Therefore, the first
Since the positional deviation between the sealing portion and the welded portion of the work is reduced, it is possible to prevent the quality of the product from being deteriorated.

[Brief description of drawings]

The drawings show one embodiment of the present invention. Fig. 1 is a plan view of the whole, Fig. 2 is a view taken along the line II-II of Fig. 1, and Fig. 3 is a view shown in Fig. 1. 1 Enlarged plan view of the work transfer device H,
FIG. 4 is a simplified side view taken along the arrow IV in FIG. 3, and FIG. 5 is a side view corresponding to FIG. 4 showing a state in which the carriage is moved forward from the position shown in FIG. Fig. 3
7A, 7B, and 7C are all sectional views taken along line VII-VII of FIG. 3, showing different operating states, that is, FIG. 7A. ) Is a diagram showing a state in which the first work is conveyed by a trolley, FIG. 7 (B) is a diagram showing a state in which a part of the first work is bent, and FIG. 7 (C) is a first work. FIG. 8 is a view showing a state in which the work is positioned and held by the work positioning device H ₀ , FIG.
The drawing is a sectional view taken along the line IX-IX in FIG. 3, and FIG. 10 is an enlarged vertical side view of the second work feeding device J shown in FIG. 1, and is a sectional view taken along the line XX in FIG. 1 and FIG. Fig. 11, Fig. 11 is a view taken in the direction of arrow XI in Fig. 10, Fig. 12 is an enlarged vertical sectional view of a portion XII in Fig. 11, Fig. 13,
FIGS. 14, 15, and 16 are simplified side views for sequentially showing the operating state of the second work supply device J, and FIG. 17 is an explanatory view of the gripping robot D shown in FIG. Figure 1 XVII
-XVII line arrow view, FIG. 18 is an enlarged cross-sectional view of the main part taken along the line XVIII-XVIII in FIG. 17, and FIG. 19 is an enlarged main part taken along the line XIX-XIX of FIG. Sectional view, Figure 20 shows gripping arm in Figure 17
108 is a side view of an essential part showing a state in which 108 positions the second work W ₂ and sucks and holds the second work W ₂ , and FIG. 21 is a side view of an essential part showing a state where the gripping arm 108 of FIG. 20 is lifted. FIG. 22 is a side view of essential parts showing a state in which the gripping arm 108 of FIG. 21 is rotated 90 ° and the second work W ₂ is held at the sealing work position.
FIG. 24 is a side view of an essential part showing a state where the gripping arm 108 of FIG. 22 horizontally moves, and FIG. 24 is a side view of an essential part showing a state where the gripping arm 108 of FIG. FIG. 26 is a side view of an essential part showing a state in which the gripping arm 108 of FIG. 24 is lowered and the second work W ₂ is pressed against the first work W ₁ and held at the welding work position.
Figures 28 to 28 all show the gripping robot D shown in FIG.
FIG. 29 is an explanatory diagram of the operation of the sealing robots E and F and the welding robot G, and FIG. 29 is an explanatory diagram of the sealing and welding work performed on the first work W ₁ and the second work W ₂ . D: gripping robot, E, F: sealing robot, H ₀
…… 1st workpiece positioning device, R …… Welding robot, W ₁
…… First work, W ₂ …… Second work

Claims (1)

(57) [Claims] 1. A first work positioning device (H ₀ ) for holding a _first work (W ₁ ) at a predetermined position for performing sealing work and welding work, and a second work (W ₂ ) for gripping the work. A gripping robot (D) for holding the second work (W ₂ ) at a welding work position for joining the second work (W ₂ ) to the sealing work position and the first work (W ₁ ) held at the predetermined position, and the holding robot (D) held at the predetermined position. A sealing robot (E, F) that attaches a sealing material to the first work (W ₁ ) and the second work (W ₂ ) held at the sealing work position, and the first work (E) that is held at the predetermined position ( W ₁ ) and a welding robot (G) for welding and joining the second work (W ₂ ) held at the welding work position for joining to the first work (W ₁ ) Sealing and welding equipment.