JP3399802B2 - Manufacturing method of positioning jig for automotive panel member - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of manufacturing a positioning jig for a vehicle panel member used when a vehicle panel member such as a vehicle door panel is positioned horizontally and welded by a robot or the like.

[0002]

2. Description of the Related Art A positioning jig of this type, as shown in FIG. 2, has a structure in which a plurality of steel molds 2a are assembled on a base,
A horizontal base 2 is constructed by fixing a crown 2b made of a soft iron plate. A number line (not shown) is scribed in a grid pattern on the upper surface of the base 2 or the crown 2b, and a plurality of scales 4 are erected by bolts at predetermined positions on the upper surface of the base 2 with reference to these number lines. . Then, a bracket 6 and a clamp 8 or a bracket 10 and a reference pin 12 are attached to the upper end of each scale 4. The clamp 8 can be opened and closed by a fluid pressure cylinder 14, and the peripheral edge portion of the vehicle panel member 16 can be sandwiched between the clamp 8 and the backing plate 6 from above and below. The reference pin 12 is automatic
It can be fitted into reference holes formed at a plurality of locations in the inner area of the peripheral edge of the vehicle panel member 16.

[0003]

In the positioning jig constructed as described above, the scale 4, the brackets 6, 10, the clamp 8 and the reference pin 12 are stacked and connected on the base 2. The plane processing accuracy of the upper surface of the base 2 and the dimensional accuracy or assembly accuracy of each member cumulatively affect the final positioning accuracy of the vehicle panel member 16.

For this reason, in designing the positioning jig, it is of course necessary to design such that dimensional errors and assembly errors of each member do not occur as much as possible. The allowable dimensional error of each member must be allocated so that the assembly error is within the allowable range. Further, it is necessary to perform the processing of each member with great care, and it takes a lot of time and labor to score the number lines on the base 2 and to form a large number of tap holes for attaching the scales. Furthermore, a measurement test for confirming whether the accuracy of the positioning jig assembled in this way is actually within the allowable range is also essential.

An object of the present invention is to provide a positioning jig for a panel member for an automobile and a method for manufacturing the same, which can greatly reduce the above-mentioned troubles in designing, processing and assembling. .

[0006]

In order to solve the above-mentioned problems, a method of manufacturing a positioning jig for an automobile panel member according to the present invention comprises:

1. An automobile panel member is held substantially horizontally above a base at a predetermined height position, and the peripheral edge of the automobile panel member is clamped by a clamp means standing on the base, and the automobile is A plurality of robots are used in a positioning jig for a panel member for an automobile in which an upper end portion of a reference pin erected on the base is fitted into a reference hole formed in an inner region of a peripheral portion of a panel member for vehicle. , Each
The bot controller must have a reference pin below the reference pin.
Of the base plate for the clamp and the bottom plate of the clamp means.
Enter the 3D information about the placement position to
After teaching the origin position to the tip of the robot, hold the clamp means and the reference pin at the tip of the robot arm,
In the tank body having the upper end opening, the step of relatively positioning the lower part of the clamp means and the lower part of the reference pin by the control of the robot arm, and the base is constituted by filling and solidifying the tank body with the molten resin. And a step of performing.

According to such a manufacturing method of the positioning jig, the positions of the clamping means and the positioning pin initially set by the robot arm become the final positions of the positioning jig as a finished product as they are, resulting in a processing error of the member and the like. The assembling error is independent of the positioning accuracy of the panel member for automobiles , and various work related to the dimension is greatly simplified in each process such as designing, processing and assembling of the positioning jig.

It should be noted that the clamp means and the reference pin are respectively held at the tip of the robot arm in a state where the clamp means and the reference pin are attached to a model panel member having the same shape as an automobile panel member to be actually positioned. By performing the above steps, dimensional errors on the side of the panel member for automobiles can be woven and absorbed in the positions of the clamp means and the reference pin.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to FIG.
It will be described based on. FIG. 1 shows a state immediately after manufacturing the positioning jig according to the present invention. In the figure, 20 is a box-shaped tank body having an open upper end, and the tank body 20 is horizontally installed on the floor F. On the other hand, a plurality of robots 22 and origin poles 24 are arranged on the floor F around the tank body 2. The origin pole 24 is the adjacent robot 2
2 is for teaching the origin position (x = y = z = 0) in the three-dimensional direction, and the upper end portion of the origin pole 24 is the origin position 26.

A reference pin receiving metal 32 having a reference pin 31 at its upper end and a clamp receiving metal 34 are held at the tip of the robot arm 28 via a detaching mechanism 30. The attachment / detachment mechanism 30 includes, for example, a short angular shaft fixed to the tip of the robot arm 28, a shaft hole fixed to the receiving members 32 and 34 and capable of fitting the angular shaft in a specific positional relationship, and the angular shaft serving as the shaft hole. It is composed of a locking member for locking. Such an attachment / detachment mechanism is known as a mechanism for attaching an attachment to the tip of the robot arm, and therefore detailed description and illustration thereof are omitted.

Under the control of the robot arm 28, the reference pin receiver 32 and the clamp receiver 34 are held in a predetermined positional relationship with each other and with respect to the tank body 20, and the molten resin is placed in the tank body 20. The positioning jig is almost completed by pouring. After that, it suffices to unlock the attachment / detachment mechanism 30 at the tip of the robot arm 28 to remove it from the brackets 32 and 34, and mount the clamp 8 and the fluid pressure cylinder 14 as shown in FIG. .
The clamp 8 and the fluid pressure cylinder 14 are used for the robot arm 2
If it does not interfere with 8, it may be installed in advance without any problem.

In this specification, the members involved in the clamp of the automobile panel member 16 shown in FIG. 2, that is, the clamp 8, the clamp receiver 34 and the fluid pressure cylinder 14 are used.
Will be referred to as clamp means.

Next, details of the control of the robot arm 28 will be described. Three-dimensional information regarding the arrangement positions of the reference pin receiver 32 and the clamp receiver 34 is input to the control device of each robot 22 in advance. This information includes
The information includes the position and direction of the reference pin 31, the position and direction of the clamp, and the position of the shaft hole on the side of the receiving pins 32 and 34 with respect to the reference pin 31 or the clamp.

Before fitting the shaft holes of the receiving arms 32 and 34 to the square shaft at the tip of the robot arm 28, the origin position 26 is taught to the tip of the square shaft. As this teaching method, for example, a method of aligning a marker such as an LED arranged at the origin position 26 with a center specific position of the field of view of the CCD camera held at the tip of the angular axis can be considered. By confirming such marker positions from at least two different directions or three or more different directions, the origin position 26 can be taught three-dimensionally with respect to the tip of the angular axis.

Next, the shaft holes on the side of the receiving plates 32 and 34 are fitted to the square shafts, and the receiving plate 3 is attached to the tip of the robot arm 28.
Hold 2, 34. For this work, the robot 22 may be stopped, and the workers may manually attach the catches 32 and 34. After that, the receiving members 32 and 34 held by the robot arm 28 are stored in the robot 22 in advance.
It is moved to a predetermined disposition position inside, and the catches 32 and 34 are held stationary while floating in the air. Then, in this state, the molten resin 36 is poured into the tank body 20 to naturally cool and solidify the molten resin 36. It is preferable that the molten resin 36 has the smallest dimensional change even after being cooled and solidified so that the positions of the reference pin receiving metal 32 and the clamp receiving metal 34 do not change. Further, a resin having a low viscosity is preferable so that the bases 32 and 34 are not moved by the flow of the resin 36 when the molten resin 36 is poured. As such a resin, for example, a polyurethane resin is suitable. Resin 36
When is completely cooled and solidified, the robot arm 28 is removed from the catches 32 and 34, and the manufacturing of the positioning jig is completed.

[0016]

As described above, according to the present invention, the tank body is filled with the molten resin while the lower portion of the clamp means and the lower portion of the reference pin are relatively positioned in the tank body by the robot arm. Since the positions of the clamp means and positioning pin that have been set become the final positions as they are,
The machining and assembly errors of the members will not affect the positioning accuracy of the panel member for automobiles , and various complicated work related to the dimensions in each process such as designing, processing and assembling of the positioning jig will be greatly simplified. To be done.

[Brief description of drawings]

FIG. 1 is a side view at the time of manufacturing a positioning jig for an automobile panel member according to the present invention.

FIG. 2 is a sectional view of a conventional positioning jig for an automobile panel member.

[Explanation of symbols]

20 tank 22 robots 24 origin pole 26 Origin position 28 Robot arm 30 Desorption mechanism 32 Base pin receiver 34 Clamp receiver 36 Molten resin F floor

Front page continuation (58) Fields surveyed (Int.Cl. ⁷ , DB name) B23Q 3/00 B23Q 3/18 B23K 37/04

Claims (2)

(57) [Claims] 1. An automobile panel member is held substantially horizontally above a base at a predetermined height position, and the peripheral edge of the automobile panel member is clamped by a clamp means standing on the base, and the automobile is A plurality of robots are used in a positioning jig for a panel member for an automobile in which an upper end portion of a reference pin erected on the base is fitted into a reference hole formed in an inner region of a peripheral portion of a panel member for vehicle. , Each
The bot controller must have a reference pin below the reference pin.
Of the base plate for the clamp and the bottom plate of the clamp means.
Enter the 3D information about the placement position to
After teaching the origin position to the tip of the robot, hold the clamp means and the reference pin at the tip of the robot arm,
In the tank body having the upper end opening, the step of relatively positioning the lower part of the clamp means and the lower part of the reference pin by the control of the robot arm, and the base is constituted by filling and solidifying the tank body with the molten resin. A method for manufacturing a positioning jig for a panel member for an automobile, comprising : 2. The positioning of a panel member for an automobile according to claim 1, wherein the clamping means and the reference pin are respectively held at the tips of the robot arms with the clamping means and the reference pin attached to the model panel member. Method of manufacturing jig.