JP3694195B2 - Work setting jig clamping device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a clamping device for a work setting jig for positioning and clamping a work setting jig provided at the tip of an arm of a robot while being mounted on the tip of the arm.
[0002]
[Prior art]
In general, when loading workpieces in various production lines, etc., a work set jig placed on a traveling carriage is attached to the workpiece by an operator, or an overhead device after the workpiece is set on a preset jig. For example, a method of gripping the workpiece and loading the workpiece into a jig is adopted. However, in this type of system, there is a problem that pits are required and the equipment space is increased, and the apparatus is further complicated to increase the cost.
[0003]
Therefore, for example, as disclosed in Japanese Patent Publication No. 2-25711, a parts holder for positioning and holding a plurality of parts at the same time is provided, and the parts holder is gripped by a welding robot to simultaneously work the plurality of parts. 2. Description of the Related Art There is known a welding assembly apparatus configured to weld a workpiece and a plurality of parts with a welding gun after being transported to a cradle.
[0004]
[Problems to be solved by the invention]
However, in the above-described prior art, after the operator positions and holds each part with respect to the parts holder, the welding robot grips the parts holder on the parts holder cradle. The operation of accurately positioning the robot with respect to the parts holder is complicated and difficult. Thereby, the problem that the attaching / detaching work of the parts holder cannot be efficiently performed has been pointed out. In addition, there is a problem that a parts holder receiving base for placing the parts holder is installed and the equipment pace is increased.
[0005]
The present invention solves this type of problem, and a work set jig clamp capable of efficiently positioning and clamping a work set jig provided at the tip of a robot arm with a simple and inexpensive configuration. An object is to provide an apparatus.
[0006]
[Means for Solving the Problems]
In the work setting jig clamping device according to the present invention, when the work setting jig is mounted on the tip of the arm of the robot and guided to the positioning portion of the jig fixing base under the guiding action of the guide mechanism, A positioning pin member provided on the work setting jig is held by the jig fixing base via a pin lock mechanism, and the work setting jig is fixed to the jig fixing base via a jig lock mechanism. Is done. Therefore, the operator can set the workpiece directly on the workpiece setting jig.
[0007]
For this reason, for example, compared to the conventional structure where the robot grips the work after the worker sets the work on the preset jig, the equipment space is effectively reduced and the structure of the whole equipment is effectively simplified. Is done. Moreover, after the work setting jig is positioned and held with high efficiency with respect to the jig fixing base via the guide mechanism, the pin lock mechanism and the jig lock mechanism, the work is set on the work setting jig. Thus, the workpiece is quickly put into a line or the like under the action of the robot.
[0008]
Further, the guide mechanism includes a jig guide member in which a V-groove for positioning the positioning pin member is formed. For this reason, it is possible to easily and reliably position the work setting jig with respect to the jig fixing base simply by arranging the positioning pin member in the V groove.
[0009]
Furthermore, the guide mechanism includes a jig positioning member formed with a long groove into which a plurality of roller members provided in the work setting jig are integrally inserted. Therefore, by simply inserting a plurality of roller members into the long groove, the work setting jig can be accurately held at a desired angular position, and the operator's working posture with respect to the work setting jig can be arbitrarily changed. It becomes possible.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a perspective explanatory view of a clamping device 10 according to an embodiment of the present invention, and FIG. 2 is a side explanatory view of the clamping device 10. The clamp device 10 has a function of positioning and clamping in a state where a work setting jig 16 provided at the tip of the arm 14 constituting the robot 12 is attached to the tip of the arm 14.
[0011]
The frame 20 constituting the work setting jig 16 is provided with a plurality of work clamping means 24 and work supporting means 26 for positioning and holding the work 22 such as a panel. The work 22 is composed of, for example, a pair of left and right panel members, and a plurality of work clamp means 24 and work support means 26 are provided on both sides of the surface of the frame 20 facing the operator 28, corresponding to each panel member. Is provided.
[0012]
On the back surface side of the frame 20, rollers 30a and 30b and rollers 32a and 32b spaced apart by a predetermined distance in the attaching / detaching direction of the work setting jig 16 (in the direction of arrow A in FIG. 2) are arranged in the width direction (in the direction of arrow B). They are provided at a predetermined interval. Positioning pin members 34a, 34b are located on the frame 20 so as to be located outward from the respective rollers 30a, 30b and 32a, 32b, and corresponding to substantially intermediate positions between the rollers 30a, 30b and 32a, 32b. Provided.
[0013]
As shown in FIGS. 1 to 3, the clamping device 10 is provided on a base 40 to hold a work fixing jig 16 and a jig fixing base 42, and the work setting jig 16 to the jig fixing base. 42, a guide mechanism 44 for guiding to a positioning portion, a pin lock mechanism 46 for holding positioning pin members 34a, 34b provided on the work setting jig 16 on the jig fixing base 42, and the work setting jig 16 And a jig lock mechanism 48 for holding the work setting jig 16 to the jig fixing base 42 by gripping the frame 20 constituting the structure.
[0014]
The jig fixing base 42 includes short first struts 50a and 50b and long second struts 52a and 52b which are provided on the base 40 so as to correspond to both left and right ends. Jig guide members 54a and 54b constituting the guide mechanism 44 are fixed to the first support columns 50a and 50b. V-grooves 56a and 56b in which the positioning pin members 34a and 34b are disposed are formed on the upper portions of the jig guide members 54a and 54b, and one end side of the V-grooves 56a and 56b, that is, opposite to the pin lock mechanism 46. On the side, bulging portions 58a and 58b for protruding upward are provided so as to protrude upward.
[0015]
The first cylinders 60a and 60b constituting the pin lock mechanism 46 are fixed in the vertical direction along the second support columns 52a and 52b. Oscillating claws 66a and 66b are connected to rods 62a and 62b protruding upward from the first cylinders 60a and 60b via cam means 64a and 64b, respectively. It has a function of holding the positioning pin members 34a and 34b disposed on the members 54a and 54b.
[0016]
The second cylinders 68a and 68b constituting the jig lock mechanism 48 are respectively disposed at the upper ends of the second support columns 52a and 52b so as to be inclined at a predetermined angle with respect to the vertical direction. The axial directions of the second cylinders 68a and 68b are set in a direction (arrow C direction) orthogonal to the attachment / detachment direction (arrow A direction) of the work setting jig 16. The mounting members 70a and 70b for fixing the second cylinders 68a and 68b to the second support columns 52a and 52b are provided with fixed grip portions 72a and 72b for gripping the frame 20, and project from the second cylinders 68a and 68b. The movable gripping portions 76a and 76b are pivotably connected to the rods 74a and 74b facing the fixed gripping portions 72a and 72b.
[0017]
On the base 40, a pair of jig positioning members 80a and 80b constituting the guide mechanism 44 is erected and positioned inward of the first support columns 50a and 50b. The jig positioning members 80a and 80b are formed in a bent plate shape, and are long grooves 82a for integrally inserting the rollers 30a and 30b and the rollers 32a and 32b provided in the work setting jig 16, respectively. , 82b are formed in the direction of arrow A. Tapered portions 84a and 84b are provided at the open ends of the long grooves 82a and 82b so as to expand outward.
[0018]
The operation of the clamping device 10 configured as described above will be described below.
[0019]
First, in order to set the workpiece 22 on the workpiece setting jig 16 provided at the tip of the arm 14 of the robot 12, the workpiece setting jig 16 moves to the clamping device 10 side under the action of the robot 12. In the clamp device 10, the swinging claw portions 66 a and 66 b are retracted in a direction away from the jig guide members 54 a and 54 b under the action of the first cylinders 60 a and 60 b constituting the pin lock mechanism 46. At this time, the swinging claw portions 66 a and 66 b are arranged at positions that do not interfere with the entering operation of the work setting jig 16. On the other hand, the movable gripping portions 76 a and 76 b are arranged at positions that do not interfere with the entering operation of the work setting jig 16 via the second cylinders 68 a and 68 b constituting the jig locking mechanism 48.
[0020]
In this state, when the work setting jig 16 enters the direction of the arrow A1 under the action of the robot 12, the rollers 30a and 32a provided on the back side of the frame 20 constituting the work setting jig 16 are tapered. It is inserted into the long grooves 82a and 82b provided in the jig positioning members 80a and 80b under the guiding action of the portions 84a and 84b.
[0021]
When the work setting jig 16 further moves in the direction of the arrow A1, the rollers 30b and 32b provided on the back side of the frame 20 are inserted into the long grooves 82a and 82b under the guiding action of the taper portions 84a and 84b. (See FIG. 4). As a result, a pair of rollers 30a, 30b and 32a, 32b are integrally inserted into the long grooves 82a, 82b of the jig positioning members 80a, 80b, respectively, so that the work setting jig 16 is reliably at a desired angular position. Positioned and held.
[0022]
When the work setting jig 16 enters in the direction of the arrow A1 under the guiding action of the long grooves 82a and 82b and the rollers 30a, 30b and 32a and 32b, the positioning pin members 34a and 34b provided in the work setting jig 16 Are arranged in the V grooves 56a and 56b of the jig guide members 54a and 54b (see FIG. 5). For this reason, the work setting jig 16 is accurately positioned and held at a desired angular position.
[0023]
Next, the pin lock mechanism 46 and the jig lock mechanism 48 are driven. In the pin lock mechanism 46, the rods 62a and 62b are displaced upward under the driving action of the first cylinders 60a and 60b, and the swinging claw portions 66a and 66b are moved to the jig guide member 54a and the cam means 64a and 64b, respectively. It swings to the 54b side. Therefore, the positioning pin members 34 a and 34 b are positioned and held with respect to the jig guide members 54 a and 54 b under the action of the pin lock mechanism 46.
[0024]
On the other hand, the movable gripping portions 76a and 76b swing toward the frame 20 via the rods 74a and 74b under the driving action of the second cylinders 68a and 68b constituting the jig lock mechanism 48. For this reason, the frame 20 is directly gripped by the movable gripping portions 76a and 76b and the fixed gripping portions 72a and 72b.
[0025]
Therefore, the worker 28 sets the workpiece 22 composed of a pair of panel members on the workpiece setting jig 16 that is positioned and fixed by the clamping device 10. In the work setting jig 16, the work 22 is positioned and fixed with respect to the work setting jig 16 under the action of the work supporting means 26 and the work clamping means 24. After the workpiece 22 is set on the workpiece setting jig 16, the pin lock mechanism 46 and the jig lock mechanism 48 are driven, and the gripping action of the positioning pin members 34a and 34b and the gripping action of the frame 20 are released.
[0026]
Next, when the robot 12 is driven and the work setting jig 16 moves in the direction of arrow A2, the positioning pin members 34a and 34b provided on the work setting jig 16 are detached from the jig guide members 54a and 54b. Further, the work setting jig 16 is detached from the clamping device 10 when the rollers 30a, 30b and 32a, 32b are taken out from the long grooves 82a, 82b of the jig positioning members 80a, 80b, and the next work is performed via the robot 12. Transported to position.
[0027]
In this case, the clamping device 10 according to the present embodiment includes a guide mechanism 44 that guides the work setting jig 16 to the positioning portion of the jig fixing base 42, and a positioning pin member 34a provided on the work setting jig 16. A pin lock mechanism 46 for holding 34b and a jig lock mechanism 48 for fixing the frame 20 constituting the work setting jig 16 are provided. For this reason, the work setting jig 16 mounted on the robot 12 can be securely positioned at a desired angular position, and can be firmly held so that the work setting jig 16 does not move unnecessarily. .
[0028]
Accordingly, the worker 28 can ensure a good working posture and smoothly perform the work of setting the workpiece 22, can reduce the burden on the worker 28, and does not require a conventional preset jig or the like. Thus, the effect that various operations on the workpiece 22 are efficiently performed is obtained. In particular, the workpiece 22 can be set directly on the workpiece setting jig 16 mounted on the robot 12, and the entire facility can be easily simplified as well as the work efficiency.
[0029]
In addition, the angular position of the work setting jig 16 can be accurately positioned and held only by changing the setting of the angles of the long grooves 82a and 82b provided in the jig positioning members 80a and 80b constituting the guide mechanism 44. For this reason, there exists an advantage that the burden of the operator 28 can be reduced.
[0030]
In the present embodiment, the jig positioning members 80a and 80b also have a function of preventing the robot 12 from unnecessarily moving from the specified position to the worker 28 side. Has the effect of being performed more reliably. When the work set jig 16 can be reliably positioned and held at a desired angular position by the jig guide members 54a and 54b for placing the positioning pin members 34a and 34b and the jig lock mechanism 48, the jig The positioning members 80a and 80b can be dispensed with.
[0031]
【The invention's effect】
In the work setting jig clamping device according to the present invention, the work setting jig is guided to the jig fixing base under the guiding action of the guide mechanism, the positioning pin member is fixed by the pin lock mechanism, and the workpiece The set jig is fixed by a jig lock mechanism. As a result, the work setting jig can be held with high accuracy and strength, and the work can be set directly on the work setting jig mounted on the tip of the robot arm. A jig or the like is not required, and the entire facility can be downsized.
[Brief description of the drawings]
FIG. 1 is an explanatory perspective view of a clamp device according to an embodiment of the present invention.
FIG. 2 is an explanatory side view of the clamp device.
FIG. 3 is a front explanatory view of the clamping device.
FIG. 4 is an operation explanatory diagram when a work setting jig is inserted into the clamping device.
FIG. 5 is an operation explanatory view when locking a positioning pin member constituting the clamp device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 ... Clamping device 12 ... Robot 14 ... Arm 16 ... Work setting jig 20 ... Frame 22 ... Work 24 ... Work clamping means 26 ... Work support means 30a, 30b, 32a, 32b ... Rollers 34a, 34b ... Positioning pin member 42 ... Jig fixing base 44 ... Guide mechanism 46 ... Pin lock mechanism 48 ... Jig lock mechanisms 54a, 54b ... Jig guide members 56a, 56b ... V grooves 60a, 60b ... Cylinders 66a, 66b ... Oscillating claws 68a, 68b ... Cylinders 72a, 72b ... fixed gripping portions 76a, 76b ... movable gripping portions 80a, 80b ... jig positioning members 82a, 82b ... long grooves

Claims (3)

In order to clamp the work set jig provided at the arm tip of the robot in a state where the work set jig is attached to the arm tip, the clamp device is provided separately from the robot ,
A jig fixing base for holding the work setting jig;
A guide mechanism for guiding the work setting jig to a positioning portion of the jig fixing base;
A pin lock mechanism that is provided on the jig fixing base and holds a positioning pin member provided on the work setting jig;
A jig locking mechanism provided on the jig fixing base for fixing the work setting jig;
A clamping device for a work setting jig, comprising:   2. The work set according to claim 1, wherein the guide mechanism includes a jig guide member provided on the jig fixing base and having a V-groove in which the positioning pin member is disposed. Jig clamp device. The clamping device according to claim 1 or 2, wherein the guide mechanism includes a plurality of roller members provided in the work setting jig,
A jig positioning member provided on the jig fixing base, in which a plurality of the roller members are integrally inserted to form a long groove for holding the work setting jig at a predetermined angular position;
A clamping device for a work setting jig, comprising:

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