JP3585856B2 - Work transfer device - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a work transfer device that transfers a work between adjacent stations.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, in a work transfer device of this type, a carriage on which a jig capable of holding a work is mounted is provided between two adjacent stations in a reciprocating manner.
[0003]
In addition, in order to allow a work to be freely transferred to and from such a jig-type transfer device, a pair of movable frames facing in a direction orthogonal to the work transfer direction is provided so as to be reciprocally movable between two adjacent stations. Also, a frame-type transfer device capable of holding a work between both movable frames via a clamp member mounted on both movable frames has been considered.
[0004]
[Problems to be solved by the invention]
In the above-described frame-type transfer device, generally, both movable frames are connected via a rigid bridging member, and both movable frames are reciprocated between stations in synchronization with each other by a single drive source. It is conceivable that a bridging member may not be provided to avoid interference with other members such as a jig-type transfer device and a work robot. In this case, it is necessary to reciprocate the two movable frames in synchronization with each other between the two stations under the synchronous control of the different driving sources independent of each other. However, in this case, in the event of an abnormality such as a power failure in which the drive source stops carelessly, the two movable frames are shifted back and forth due to the difference in inertia, and the work held between the two movable frames is deformed, May be damaged.
[0005]
In view of the above, it is an object of the present invention to provide a work transfer device capable of preventing a pair of movable frames reciprocated by different driving sources from being shifted back and forth when an abnormality occurs.
[0006]
[Means for Solving the Problems]
In order to solve the above problem, the present invention is a work transfer device for transferring a work between adjacent stations, comprising a pair of movable frames facing in a direction orthogonal to the work transfer direction, and having a pair of movable frames between both movable frames. In a configuration in which a work can be held via a clamp member mounted on a frame, and both movable frames are reciprocated in synchronization with each other between two stations by synchronous control of respective independent driving sources. Along with the miracle of movement of one movable frame, a first endless movable member composed of a belt or a chain interlocking with the one movable frame is provided, and along the movement trajectory of the other movable frame. A second endless movable member comprising a belt or a chain interlocked with the other movable frame, and the first and second endless movable members are moved in synchronization with each other. It is provided belt-driven means for connecting as.
[0007]
According to the present invention, when one of the two movable frames attempts to overrun the other at the time of an abnormality in which each drive source for each movable frame is inadvertently stopped, the inertial force of the movable frame on the overrun side is reduced. It is transmitted to the movable frame on the non-overrun side via one endless movable member, the wrapping transmission means, and the other endless movable member that are linked. Therefore, the movable frame on the non-overrun side also moves following the movable frame on the overrun side, and the front and rear displacement of both movable frames is prevented.
[0008]
In addition, a synchronous shaft that straddles the movement trajectory of both movable frames is supported, and pinions that mesh with racks fixed to both movable frames are fixed to both ends of the synchronous shaft. It is also possible to prevent it. However, in this case, the inertial mass of each movable frame becomes heavier due to the rack fixed thereto, so that the moving speed of the movable frame must be reduced, and the cycle time becomes longer. On the other hand, in the present invention, since the endless movable member including the belt and the chain is used, the inertial mass of each movable frame does not increase to the left, and the above-described disadvantage does not occur.
[0009]
BEST MODE FOR CARRYING OUT THE INVENTION
1 and 2 show a side panel assembly line for assembling left and right side panels W, W of an automobile. As shown in FIG. 11, the side panel W is assembled by welding various inner members such as an outer stiffener Wb, a front pillar inner Wc, a center pillar inner Wd, and a rear inner We to an outer skin Wa.
[0010]
In the side panel assembly line, a charging station ST1, a first set station ST2, a first welding station ST3, a second set station ST4, a second welding station ST5, and a dispensing station ST6 are arranged in series from the line upstream end. I have. Then, in the loading station ST1, the outer loading robot 1 and the coating robot 2 arranged on both sides of the station ST1 perform the loading operation of the outer skin Wa of the left and right side panels W, W and the application of the sealing agent to the outer skin Wa. In the first set station ST2, the inner set robot 3 arranged on both sides of the station ST2 performs the work of setting the inner member composed of the outer stiffener Wb on the outer skin Wa of the left and right side panels W, W, and the first welding station. In ST3, welding work of the outer stiffener Wb to the outer skin Wa of the left and right side panels W, W is performed by the welding robots 4 arranged on both sides of the station ST3, and in the second set station ST4. An inner set robot 5 disposed on both sides of the station ST4 performs an operation of setting an inner member including a front pillar inner Wc, a center pillar inner Wd and a rear inner We with respect to the outer skin Wa of the left and right side panels W, W, and the second welding station. In ST5, the welding robots 6 arranged on both sides of the station ST5 perform welding work of the inner members Wc, Wd, We to the outer skin Wa of the left and right side panels W, W to assemble the left and right side panels W, W. In the payout station ST6, the right and left side panels W, W are paid out to an overhead conveyor (not shown) by the payout robots 7 arranged on both sides of the station ST6.
[0011]
Further, the side panel assembly line, frame dolly ₈ 1 of the first to third respective pair of left and _right, 8 2, _{8 3} and jig carriage ₉ of the first and second respective pair of left and right, _{9 2} Are provided. Then, a first frame carriage _{8 1} a dosing station ST1 and reciprocably the first setting station ST2, and reciprocally ₁ a first jig carriage ₉ in the first setting station ST2 and the first welding station ST3 the second frame carriage _{8 2} and reciprocably the first welding station ST3 and the second set of station ST4, reciprocate the second jig carriage _{9 2} and the second setting station ST4 and a second welding station ST5 The third frame cart is reciprocally movable between the second welding station ST5 and the payout station ST6.
[0012]
As shown in FIGS. 3 and 4, each of the frame carts 8 ₁ , 8 ₂ , and 8 ₃ includes a lower frame 80 that is long in the front-rear direction, which is a line longitudinal direction, and an upper frame 81 that is long in the front-rear direction. The lower frame 80 is equipped with _three front and rear clamp members 82 ₁ , 82 ₂ , 823 for gripping the lower edge of the side panel W. The upper frame 81 is mounted on the left and right side panels W. Three clamp members 83 ₁ , 83 ₂ , 83 ₃ for gripping the edge are mounted, and these clamp members 82 ₁ , 82 ₂ , 82 ₃ , 83 ₁ are provided between the lower frame 80 and the upper frame 82. , so that can hold the side panel W through the 83 _2, 83 ₃ in the standing position inward toward the vehicle width direction outer side laterally inwardly.
[0013]
Also, _one lateral outer side of the first lower track frame 10 and a transverse second lower track frame 10 _{and second} inner well as parallel to each pair respectively symmetrically to the line floor, the plurality over the line A pair of upper track frames 12 are arranged side-by-side symmetrically via the struts 11, and the lower frames 80 of the frame carriages 8 ₁ , 8 ₂ , 8 ₃ on the left and right sides are connected to the first lower track frames 10 on the left and right sides. ₁ of the upper surface outer portion in a fixed guide rails 10a, movably supporting via the linear guide 80a mounted around a plurality of locations of the lower frame 80 to 10a, also, each frame dolly 8 in the right and left _sides, 82 , movably upper frame 81 of 8 ₃ lateral guide rails 12a fixed to the upper track frame 12 of each side, 12a to via a linear guide 81a mounted around a plurality of locations of the upper frame 81 I support it. The a lower frame 80 and upper frame 81, respectively, as a drive source a motor having a first lower track frame 10 ₁ and the upper track frame 12 and the fixed rack 10b, pinions 84a on the output shaft meshing with 12b, and 85a The lower frame 80 and the upper frame 81 are self-propelled in the longitudinal direction of the line in synchronization with each other by synchronous control of the motors 84 and 85.
[0014]
Note that abnormality such as a power failure the motor 84, 85 is stopped inadvertently, each frame dolly 8 _1, 8 _2, 8 lower frame 80 serving as a movable frame of a pair of ₃ and the upper frame 81 and the front and rear in the difference of inertia the displacement, the side panel W is or deformed by this displacement, the clamping member 82 _{1-83 3} may be damaged. Therefore, in order to prevent the lower frame 80 and the upper frame 81 from shifting back and forth in the event of an abnormality, the first toothed belt 86 as an endless movable member disposed along the movement trajectory of the lower frame 80 and the upper frame 81 Winding transmission that connects a second toothed belt 87 as an endless movable member and a first and second double toothed belt 86, 87 that are arranged along the movement trajectory so as to move in synchronization with each other. A synchronization mechanism comprising the means 88 is provided.
[0015]
The first toothed belt 86, the first lower track frame 10 ₁ lateral frames carriage _{81 outwardly,} 8 _2, 8 ₃ reciprocating strokes slightly to exist a greater distance than the front and rear pair of the axially mounted The lower frame 80 is wound around the pulleys 86a and 86b, and is connected to the first toothed belt 86 via the connecting piece 86c so that the first toothed belt 86 is interlocked with the lower frame 80. . The second toothed belt 87, transverse frames carriage _{81 inside,} 8 _2, 8 ₃ reciprocating in the front-rear pair of the axially mounted to exist a greater distance slightly than the stroke pulley of the upper track frame 12 The upper frame 81 is wound around between the upper frame 81 and the second toothed belt 87 via a connecting piece 87c so that the second toothed belt 87 is interlocked with the upper frame 81. The wrapping transmission means 88 includes a rotating shaft 88a that is supported across the first and second lower track frames 10 ₁ and 10 ₂ , and a first tooth fixed to an outer lateral end of the rotating shaft 88a. Pulley 88b, a second toothed pulley 88c fixed to the laterally inner end of the rotary shaft 88a, a coaxial third toothed pulley 88d and a fourth toothed pulley 88e coaxially mounted on the column 11, and a second toothed pulley 88e. The third toothed belt 88f is wound around the toothed pulley 88c and the third toothed pulley 88d, and the first toothed belt 86 is provided with the first toothed belt via the guide pulleys 86d and 86d. While being wound around the pulley 88b, the second toothed belt 87 is wound around the fourth toothed pulley 88e via the guide pulleys 87d, 87d. Thus, when the lower frame 80 attempts to overrun the upper frame 81 with one of the lower frame 80 and the upper frame 81 at the time of an abnormality such as a power failure due to the inertia force, the inertia force of the lower frame 80 becomes the first tooth. The belt 86, the first toothed pulley 88b, the rotating shaft 88a, the second toothed pulley 88c, the third toothed belt 88f, the third toothed pulley 88d, the fourth toothed pulley 88e, and the second toothed belt 87 The upper frame 81 is moved to follow the lower frame 80 via the upper frame 81 and the front and rear frames 81 and 81 are prevented from being shifted in the front-rear direction. Note that a chain can be used instead of the first to third toothed belts 86, 87, and 88f. In the figure, reference numerals 86e, 87e and 88g are tension pulleys.
[0016]
Each clamping member 82 _{1-83 3,} as can deal with model change of the side panel W, and is located adjustably mounted on the lower frame 80 and upper frame 81. To describe this in detail, a horizontal coordinate axis substantially perpendicular to a plane including the lower frame 80 and the upper frame 81 is set as an X axis, and a vertical coordinate axis orthogonal to the X axis is set as a Y axis, and the lower frame 80 is mounted on the lower frame 80. The position adjusting mechanisms of the front and middle clamp members 82 ₁ and 82 ₂ and the front and middle clamp members 83 ₁ and 83 ₂ mounted on the upper frame 81 are as shown in FIGS. 3, 5 and 6, respectively. Guide frames 82a and 83a, which are fixed to the frames 80 and 81 in the X-axis direction, are supported by the guide frames 82a and 83a by servo motors 82b and 83b so as to be movable in the X-axis direction via feed screw mechanisms. Guide frames 82c and 83c that are long in the Y-axis direction, and are supported by the respective guide frames 82c and 83c so as to be movable in the Y-axis direction via feed screw mechanisms by servomotors 82d and 83d. Body 82e, is composed of two axes orthogonal coordinate type movable mechanism having a 83e, the movable member 82e, each clamp member 83e ₈₂ 1 of the position adjusting _mechanism, 82 _2, 83 1, 83 ₂ a supporting arm It is attached via 82f and 83f. Position adjusting mechanism of the clamp member 82 ₃ of the rear side to be mounted on the lower frame 80, as shown in FIGS. 3 and 4, the length of the guide frame 82g in the longitudinal direction that is fixed to the lower frame 80, similar to the movable mechanism A two-axis orthogonal coordinate type movable mechanism having an X-axis direction guide frame 82a, a Y-axis direction guide frame 82c, and a movable body 82e is supported by the X-axis direction guide frame 82a, and is driven by a servomotor 82h via a feed screw mechanism. The axial guide frame 82a is configured to be movable in the front-rear direction. The position adjusting mechanism of the clamp member 83 ₃ of the rear side to be mounted on the upper frame 81, as shown in FIGS. 3 and 4, the length of the guide frame 83g obliquely vertically fixed to the upper frame 81, the movable mechanism A two-axis orthogonal coordinate type movable mechanism having an X-axis direction guide frame 83a, a Y-axis direction guide frame 83c, and a movable body 83e similar to the above is supported by the X-axis direction guide frame 83a, and the X-axis direction guide frame is supported by a cylinder 83h. 83a is configured to be movable diagonally up and down.
[0017]
As shown in FIGS. 7 to 9, the jig carts 9 ₁ and 9 ₂ are attached to guide rails 10 c and 10 c fixed to the upper surfaces of the first and second lower track frames 10 ₁ and 10 ₂ , respectively. A plurality of side panel clamp members (not shown) are mounted on a trolley body 90 movably supported via a linear guide 90a, and the side panels W are respectively held in an inward standing posture from the lateral direction. It is configured such that a possible set jig 91 is mounted. Then, one end of the carriage body 90, is attached a motor 92 having a pinion 92a on the output shaft that meshes with the rack 10d fixed to the inner surface of the first lower track frame 10 _1, the jig carriage 9 _1, 9 ₂ Is driven in the longitudinal direction of the line along the guide rail 10c by the operation of the motor 92.
[0018]
The setting jig 91, on the carriage body 90, laterally outward of the transfer position and lateral inward retraction for transferring the side panel W between the respective frame dolly 8 _1, 8 _2, 8 ₃ It is supported so that it can move forward and backward. To describe this in detail, as shown in FIGS. 9 and 10, a support plate 93 for supporting a set jig 91 is provided on a bogie main body 90 by a plurality of front and rear longitudinally fixed in the X-axis direction. The guide plate 94 is provided so as to be movable in the X-axis direction, and the support plate 93 is moved by the servo motor 95 in the X-axis direction via the feed screw mechanism 95a, so that the set jig 91 supported by the support plate 93 is moved. It is configured to move back and forth between a delivery position on the outside in the X-axis direction and a retracted position on the inside in the X-axis direction.
[0019]
The set jig 91 is configured as a dedicated jig corresponding to the type of the side panel W. The set jig 91 is detachably supported on the support plate 93 by a plurality of jig clampers 96 provided on the support plate 93. ing. Also, with each jig carriage ₉ 1, _{9 2} provided lifting rail 97, 97 to be raised and lowered respectively a cylinder 97a in the front and rear ends, are attached to the front and rear ends of the jig 91 roller 91a, a 91a. When the jig is replaced, the set jig 91 is retracted to the retracted position. In this state, the jig clamper 96 is unclamped to elevate the elevating rail 97, and the set jig 91 is moved by the elevating rail 97 via the roller 91a. To push up from the support plate 93.
[0020]
Upon assembly of the side panels W, first, in the input station ST1, each of the left and right side panels W of the left and right by the outer put the robot 1 between the first frame carriage 8 ₁ of the lower frame 80 and upper frame 81 of each side remit the outer skin Wa, the outer skin Wa clamping member ₈₂ 1 mounted on the lower frame 80 and upper frame _81, 82 _{2, 82} 3, 83 _1, 83 2, 83 ₃ in the first frame carriage ₈₁ via the After the holding, the sealing agent is applied to the outer skin Wa by the application robot 2.
[0021]
Next, dissipate forward the first frame carriage _{8 1} to the first setting station ST2, the first jig carriage _{9 1} by backward to the first setting station ST2, a set of the first jig carriage ₉ on ₁ The jig 91 is advanced to the delivery position. Then, by setting the outer stiffener Wb which is one of the inner member by the inner setting robot 3 in outer skin Wa held in the first frame carriage _81, the outer skin Wa held with the outer stiffener Wb in the jig 91, then, the forward movement of the setting jig 91 is retracted to the retracted position, the first frame carriage 8 ₁ causes the backward movement to the loading station ST1 in this state, ₁ the first jig carriage 9 to the first welding station ST3 Then, the outer stiffener Wb is tack-welded to the outer skin Wa by the welding robot 4.
[0022]
Then, tack the second frame carriage 8 ₂ during the welding moved backward to the first welding station ST3, after tack welding, it is advanced the first jig carriage 8 ₁ on the setting jig 91 in the delivery position, outer skin Wa clamp member ₈₂ 1 mounted on its lower frame 80 to the second frame carriage ₈₂ and the upper frame _82, 82 _{2, 82} 3, 83 _1, 83 2, 83 ₃ via a hold. Next, the setting jig 91 is retracted to the retracted position, the first jig carriage 8 ₁ in this state causes a backward movement to the first setting station ST2, the outer skin Wa held in ₂ second frame carriage 8 The outer stiffener Wb is additionally welded by the welding robot 4.
[0023]
After additional welding, dissipate forward the second frame carriage 8 ₂ to the second setting station ST4, by backward the second jig carriage 9 ₂ in the second set station ST4, second jig carriage 9 ₂ above Set jig 91 is advanced to the delivery position. Then, by setting the inner member composed of a front pillar inner Wc and a center pillar inner Wd and Riyain'na We by inner setting robot 5 to outer skin Wa held in ₂ second frame carriage 8, the outer skin Wa in the jig 91 holding these inner members Wc, Wd, with We, the second frame carriage _{8 2} in this state causes a backward movement to the first welding station ST3, to forward the second jig carriage _{9 2} in the second welding station ST5 Then, the inner members Wc, Wd, and We are tack-welded to the outer skin Wa by the welding robot 6.
[0024]
Then, during the tack welding, the third frame carriage 8 ₃ moved backward to the second welding station ST5, and a second jig carriage 9 ₂ on the setting jig 91 is advanced to a delivery position in this state, the side clamping members ₈₂ 1 to the panel W is mounted on the third frame carriage _{8 3} on the the lower frame 80 and upper frame _82, 82 _{2, 82} 3, 83 _1, 83 2, 83 ₃ via a hold. Then, to retracted the setting jig 91 in the retracted position, the second jig carriage 9 ₂ causes the backward movement to the second setting station ST4 in this state, the side panels W to be held in the third frame carriage 8 ₃ Is subjected to additional welding by the welding robot 6. After additional welding, to forward the third frame carriage 8 ₃ dispensing station ST6, paid out operations of the side panel W by dispensing robot 6.
[0025]
As described above, the embodiment in which the present invention is applied to the work transfer device including the frame carriages 8 ₁ , 8 ₂ , and 8 ₃ in the side panel assembly line has been described. The present invention can be widely applied as a work transfer device that reciprocates between adjacent stations by different drive sources.
[0026]
【The invention's effect】
As is clear from the above description, according to the present invention, it is possible to prevent the pair of movable frames from shifting back and forth in the event of an abnormality such as a power failure, deform the work held between the two movable frames, Fail-safe operation can be achieved without being damaged, and a decrease in the work transfer speed due to an increase in the inertial mass of the movable frame can be prevented, thereby improving productivity.
[Brief description of the drawings]
FIG. 1 is a plan view of an example of a side panel assembly line equipped with the apparatus of the present invention. FIG. 2 is a side view of the side panel assembly line as viewed from the line II-II in FIG. 1. FIG. FIG. 4 is a front view of the frame truck viewed from the left side of FIG. 3; FIG. 5 is a sectional view taken along line VV of FIG. 3; FIG. 6 is a sectional view taken along line VI-VI of FIG. 8 is a front view of the jig cart viewed from the left side of FIG. 7 [FIG. 9] A plan view of the jig cart with the set jig removed [FIG. 10] X in FIG. FIG. 11 is an exploded perspective view of a side panel.
W side panel (work)
8 _{1, 8} 2, _{8 3} frame bogie (workpiece transfer device)
80 Lower frame (one movable frame)
81 Upper frame (other movable frame)
82 ₁ , 82 ₂ , 82 ₃ , 83 ₁ , 83 ₂ , 83 ₃ Clamping members 84, 85 Motor (drive source)
86 first toothed belt (first endless movable member)
87 Second toothed belt (second endless movable member)
88 Winding transmission means

Claims (1)

A work transfer device for transferring a work between adjacent stations,
With a pair of movable frames facing in the direction perpendicular to the work transfer direction, and configured to be able to hold the work between both movable frames via the clamp members mounted on both movable frames,
In a system in which both movable frames are reciprocated in synchronization with each other between two stations by synchronous control of respective independent driving sources independent of each other,
Along with the movement trajectory of one movable frame, a first endless movable member including a belt or a chain interlocking with the one movable frame is provided,
Along with the movement trajectory of the other movable frame, a second endless movable member composed of a belt or a chain interlocked with the other movable frame is provided,
A winding transmission means for connecting the first and second endless movable members so as to move in synchronization with each other;
Work transfer device characterized by the following:

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