JP4982448B2 - Work gripping device - Google Patents

Description

  According to the present invention, an outer member is set on the outer member and an inner member is set on the outer member and a sub-assembled work is hemmed on a bent edge around the outer member, and the outer member and the inner member are hemmed. The present invention relates to a workpiece gripping device for loading into a hemming device that integrates members.

  Conventionally, when a workpiece is loaded into the hemming device as described above, the mutual positional relationship between the outer member and the inner member may be displaced, or the outer surface of the outer member may be scratched. It was a problem.

  According to the present invention, a workpiece in which the inner member is set on the outer member and the sub-assembly is placed with the outer member laid down causes mutual displacement between the outer member and the inner member and damage to the outer surface of the outer member. It is an object of the present invention to provide a workpiece gripping device that can be inserted into a hemming device.

According to the present invention, an outer member is set on the outer member and an inner member is set on the outer member and a sub-assembled work is hemmed on a bent edge around the outer member, and the outer member and the inner member are hemmed. In a workpiece gripping device for loading into a hemming device that integrates members,
Among the sub-assembled workpieces, as a gripping tool comprising a pair of gripping claws for gripping bent edge portions of a plurality of sides around the outer member from both inside and outside of the bent edge portion , It has a plurality of gripping tools for gripping the bent edges of a plurality of sides, and some of the plurality of gripping tools are suspended from the robot hand and pivotally supported around the longitudinal axis in the suspension direction. The bending edge portion of the outer member is held by the plurality of holding tools, and the sub-assembled work is put into a hemming device.

  According to the work gripping device of the present invention, when the bent edge portion of the outer member is gripped by the pair of gripping claws, the gripping claws also function as a work presser that prevents the inner member from lifting from the outer member. The displacement of the inner member with respect to is prevented. And since a workpiece | work can be thrown into the hemming apparatus in the state suspended in the air, a workpiece | work can be hemmed with high quality, without being damaged to the outer surface of an outer member.

Further, as the gripping tool including the pair of gripping claws, the gripping tool includes a plurality of gripping tools that grip bent edges of a plurality of sides of the outer member, and some of the plurality of gripping tools are suspended from the robot hand. In addition, even if the normal direction of the gripping portion by the gripping tool at the bending edge portion of the outer member changes depending on the type of workpiece, the gripping tool is supported by pivoting around the longitudinal axis in the hanging direction. However, during the closing operation, it is swung in accordance with the direction of the gripped portion of the bending edge, and each gripping tool can reliably grip the gripped portion from its normal direction.

In the present invention, the plurality of gripping tools include a first gripping tool that grips a bending edge of a predetermined one side of the outer member, and a bending edge of two opposite sides of the outer member that faces the longitudinal direction of the side. The second and third gripping tools are supported by the robot hand so as to be movable in the opposite direction of the opposite side and the longitudinal direction of the opposite side. It is preferable to hang it on the movable frame. According to this, workpieces having different sizes can be gripped.

  In addition, a convex portion is provided on one of a pair of openable and closable gripping claws provided in each gripping tool, and a concave portion is provided on the other, and the bent edge portion of the outer member is partially deformed and gripped between the convex portion and the concave portion. By doing so, it is possible to prevent the bending edge from sliding off from the gripping tool due to the weight of the workpiece, and the workpiece can be gripped more reliably.

  In the embodiment described later, the present invention is applied to a work gripping device for setting a door inner as an inner member on an outer panel of a door as an outer member and putting a vehicle door as a sub-assembled work into a hemming device. However, the present invention is not limited to a vehicle door, and can be similarly applied to a workpiece gripping device for loading a workpiece composed of an outer member and an inner member.

  FIG. 1 shows a vehicle door manufacturing line, and an inner assembly station S1 for assembling a door inner as an inner member by assembling members such as a door sash, a hinge side, and a door beam to an inner panel sequentially from the upstream side of the line; A sub-assembly station S2 for sub-assembling the door by combining a door inner with an outer panel as an outer member; a hemming station S3 for integrating the outer panel and the door inner by hemming a bent edge around the outer panel; And a welding station S4 for welding the parts.

In this production line, the right door WR and the left door WL are produced alternately. The inner assembly station S1 and the turntable 1 is disposed on the turntable 1, placing a second set of jigs 2 ₂ of the first set jig 2 ₁ and the left door WL for the right door WR and, as the first set jig 2 ₁ and the second set of jigs 2 ₂ is reversed alternately and the set location S1b weld location S1a and the line upstream of the line downstream with rotation of the turntable 1 Yes. Then, in each set jig 2 ₁ , 2 ₂ , the components of the door inner WRI, WLI of the corresponding door are set at the set location S ₁ b, and the laser welder 3 attached to a movable mechanism (not shown) at the weld location S 1 a. These constituent members are welded together to assemble the door inner WRI for the right door and the door inner WLI for the left door alternately.

  The sub-assembly station S2 is supplied with an outer panel WRO for the right door and an outer panel WLO for the left door alternately via an outer supply line 4 having an outer charging station S5 and a sealing station S6. The sealing agent is applied to the outer panels WRO and WLO by the sealing robot 5 at the sealing station S6. A common workpiece transfer device 6 in which the door inner WRI for the right door and the door inner WLI for the left door, which are alternately assembled at the welding location S1a, are arranged between the inner assembly station S1 and the subassembly station S2. The right door WR and the left door WL are alternately assembled into the sub-assembly station S2 in combination with the right door outer panel WRO and the left door outer panel WLO which are alternately supplied to the station S2. To do.

Hemming station S3 is divided into a first hemming station S3 ₁ placing the first hemming device _{7 1} for the right door WR, a ₂ second hemming station S3 placing the second hemming device _{7 2} for the left door WL The first and second hemming stations S3 ₁ and S3 ₂ are arranged in parallel on the downstream side of the line of the subassembly station S2. Then, the first hemming station S3 _{1 is provided} by the common work input device 8 in which the right door WR and the left door WL alternately assembled in the subassembly station S2 are arranged between the subassembly station S2 and the hemming station S3. When the second charged alternately and hemming station S3 _2, performs the hemming of the right door WR by the first hemming device 7 _1, by the second hemming device 7 ₂ and hemming the left door WL alternately.

The welding station S4 and the turntable 9 is disposed on the turntable 9, placed a first welding jig 10 ₁ for the right door WR, and a second welding jig 10 ₂ for the left door WL and, as first welding jig 10 ₁ and the second welding jig 10 ₂ is reversed alternately and payout location S4b weld location S4a and the line downstream of the line upstream in the rotation of the turntable 9 Yes. Between the welding station S4 and the hemming station S3, the right door WR which are hemmed at the first hemming station S3 _1, the second hemming station S3 ₂ These hemming station and hemming processed left door WL in S3 ₁ , S3 ₂ common workpiece payout device 11 to the payout alternately from is arranged, by inverting the first welding jig 10 ₁ to the welding location S4a upon payout of the right door WR, the right door WR first welding jig to immediately 10 ₁ to transfer the workpiece dispensing device 11 inverts the second weld fixture 10 ₂ to the welding location S4a upon payout of the left door WL, workpiece dispensing device left door WL in second weld fixture 10 ₂ 11 to transfer. Then, in a welding location S4a, the hemming unit and the spot welding, the dispensing location S4b, from the weld fixture ₁₀ 1, 10 ₂ by a plurality of welding gun provided in the weld fixture ₁₀ 1, 10 ₂ (not shown) Each door WR, WL is removed and paid out to the next process.

As shown in FIG. 2, each of the first and second hemming devices 7 ₁ and 7 ₂ is constituted by a hydraulic press that raises and lowers the ram 7a by a hydraulic cylinder 7b, and each door WR, WL set on the hemming die 7c. The bending edges WOe of the outer panels WRO, WLO are hemmed through a hemming punch (not shown) associated with the lowering of the ram 7a. First a common hydraulic source comprising an electric hydraulic pump respectively lift valve 7d, 7d is connected, both the lift valve 7d, the 7d in the second of the two hemming device 7 _1, 7 ₂ of the hydraulic cylinders 7b, 7b The hydraulic pressure from 7e is selectively supplied via the switching valve 7f.

One cycle of hemming processing of each door WR, WL includes a loading process in which the doors WR, WL are loaded into the hemming devices 7 ₁ , 7 ₂ and set in the hemming die 7c, and a mold clamping in which the ram 7a is lowered and clamped A process, a pressure holding process for holding the ram 6a at the lowered end position, a mold opening process for raising the ram 7a to open the mold, and lifting the doors WR and WL from the hemming die 7c to hemming devices 7 ₁ and 7 _2. It takes about 20 seconds from the start of the mold clamping process to the end of the mold opening process, and about 10 seconds each for the loading process and the dispensing process, and the cycle time of the hemming process of each door WR, WL Is about 40 seconds.

In the present embodiment, the first hemming station S3 _1, according to the first hemming apparatus ₇₁ and the payout of the right door WR by workpiece dispensing device 11 from the work-up device 8 to the first hemming apparatus ₇₁ which is opened mold while performing the introduction of the next right door WR, in the second hemming station S3 _2, carried out the second hemming device 7 ₂ clamping, pressure hold, mold opening, then, the second hemming device 7 and payout of the left door WL by workpiece dispensing device 11 from _2, while the by workpiece introducing device 8 to the second hemming device 7 ₂ is performed and introduction of the next left door WL, the first hemming station S3 ₁ the first hemming device 7 ₁ clamping, pressure hold, perform mold opening, to hemming continuously alternately and right door WR and the left door WL repeat the operations described above . According to this, even if the cycle time of the hemming process of each door WR, WL is 40 seconds as described above, the payout process and the input process in one of the first and second hemming stations S3 ₁ , S3 ₂ are performed. During the 20 seconds, the mold clamping process, the pressure holding process, and the mold opening process on the other side are completed. As a result, the right door WR and the left door WL are alternately and efficiently manufactured at intervals of 20 seconds. .

The outer supply line 4 includes a sealing station S6 and a sub-assembly station in a state where the outer panel WRO for the right door and the outer panel WLO for the left door, which are alternately inserted into the outer charging station S5, are laid so that the inner surfaces face upward. The transfer device 12 sequentially conveys to S2, and each of the stations S5, S6, and S2 is configured to position and support the outer panels WRO and WLO at fixed positions by the positioning devices 13 ₁ , 13 ₂ , and 13 ₃ , respectively. Has been.

Transfer device 12, as shown in FIGS. 3 to 5, reciprocating between the first and the traveling block 120 _1, sealing station S6 and a sub-assembly station S2 to reciprocate between the outer-on station S5 and sealing station S6 And a second traveling platform 120 ₂ that moves. The traveling platform 120 ₁ , 120 ₂ is equipped with a lifting platform 121 and receives three lower surfaces on the lifting platform 121 that are the outer surfaces of the outer panels WRO, WLO. The suction cup 122 is provided.

Each lifting table 121 is vertically movably supported in the driving stage ₁₂₀ 1, 120 ₂ fixed to the support frame 120e erected linear guide 121a guide rail 121b fixed to the leg piece 121b extending downward ' The motor 121c is mounted on the support frame 120e, and a ball screw 121e that is rotationally driven by the motor 121c via the belt 121d is pivotally supported. The ball screw 121e is screwed into a nut 121f fixed to the lower portion of the leg piece 121b. Thus, the elevator 121 is moved up and down by the motor 121c.

  Each suction cup 122 is connected to an idler plate 122b supported by a guide rail 122a fixed to a support plate 121g erected on a lifting platform 121 via an arm-shaped bracket 122c. A spring 122d that urges the idle plate 122b upward and a spring 122e that urges the idle plate 122b downward are provided between the support plate 121g and the support plate 121g so that the idle plate 122b, that is, the suction cup 122 is moved in the vertical direction. Floating freely.

Outer panel WRO, upon conveyance of WLO, first, both the first and second traveling table ₁₂₀ 1, 120 each running board ₂ in a state that was moved backward on the respective outer-on station S5 and sealing station S6 ₁₂₀ 1, 120 ₂ raise the elevator 121 above. According to this, the first positioner 13 ₁ and the second positioning device 13 ₂ and the support has been and outer panel WRO provided on sealing station S6 provided in the outer input station S5, those WLO is sucker 122 to the lower surface It pushed up from the positioning unit ₁₃ 1, 13 ₂ in contact. At this time, the suction cups 122 are reliably attracted to the lower surfaces of the outer panels WRO and WLO by a floating operation in the vertical direction.

Next, both the first and second traveling table ₁₂₀ 1, 120 ₂ is moved forward in a respective sealing station S6 and a sub-assembly station S2, lowers the elevation frame 121 on each traveling platform ₁₂₀ 1, 120 ₂ , to transfer to the respective outer panel WRO, third positioning unit 13 ₃ provided on the second positioning device 13 ₂ and the sub-assembly station S2 in which a WLO to sealing station S6.

Each positioning device 13 ₁ , 13 ₂ , 13 ₃ includes a pair of front and rear reference positioning members 130 that abut on the first side WOa that is the lower side of the outer panels WRO, WLO parallel to the front-rear direction as the transfer direction by the transfer device 12, The first and second guide bars 131 ₁ , 131 are in contact with the second side WOb, which is the upper side of the outer panels WRO, WLO facing the first side WOa in the lateral direction, at two points spaced in the front-rear direction. _2, and third and fourth guide bars 131 ₃ and 131 ₄ that respectively contact the third side WOc and the fourth side WOd that are opposite sides of the outer panels WRO and WLO in the front-rear direction. Yes. The outer panels WRO, WLO are sandwiched between the reference positioning member 130 and the first and second guide bars 131 ₁ , 131 ₂ when the elevator 121 is lowered, and the lateral inclination with respect to the front-rear direction is corrected. It is positioned in the lateral direction in a state, and a third guide bar 131 ₃ is sandwiched between the fourth guide bar 131 ₄ is positioned in the front-rear direction.

Here, the second side WOb of the outer panels WRO and WLO is slightly inclined so as to rise rearward when mounted on the vehicle body. Then, the outer panel WRO for the right door is transported in such a direction that the side on the rear side in the vehicle body mounted state becomes the third side WOc on the front side in the transport direction, and the outer panel WLO for the left door is in the vehicle body mounted state. Since the front side is transported in such a direction that it becomes the third side WOc on the front side in the transport direction, the first and second outer panels WRO are aligned with the first side to match the inclination of the second side WOb. must be respectively displaced a first guide bar 131 ₁ of the front of the second of the two guide bars ₁₃₁ 1, 131 ₂ laterally outward, the second guide bar 131 _{and second} rear laterally inwardly, the left for outer panel WLO the door, the first guide bar 131 ₁ lateral inward, it is necessary to respectively displace the second guide bar 131 ₂ laterally outwardly. Further, each outer panel WRO, the edges become the front of the vehicle body mounting state of WLO for curved convex forward side becomes the rear side is formed in a concave curved shape to the front, and the third guide bar 131 ₃ it is necessary to displace in the longitudinal direction and a fourth guide bar 131 ₄ and the for right door outer panel WRO and the outer panel WLO for the left door.

Further, FIG. 1 shows a state in which the left and right doors WR and WL on the front side are manufactured, but the left and right doors on the rear side may be manufactured. In this case, the first and second doors may be manufactured. It causes totally laterally displaced both guide bars ₁₃₁ 1, 131 _2, it is necessary to displace the third guide bar 131 ₃ and the fourth guide bar 131 ₄ and the respective front-rear direction. Further, even when manufacturing different sizes door for another vehicle type, it is necessary to adjust the position of the guide bars 131 _{1-131 4.}

Therefore, in this embodiment, the reference positioning member 130, and erected at each station S5, S6, S2 one side on the base 4a of, although immovable, first guide bar 131 ₁ and the second guide bar 131 _2, each station S5, S6, the other side a first lateral direction movable independently provided on the base 4b of the movable frame of the second pair ₁₃₂ of S2 1, 132 ₂ above respectively erected and freely positioning laterally, a third guide bar 131 ₃ fourth guide bar 131 _4, which can move independently in the longitudinal direction provided on the base 4a of the one side third and fourth of each upright and on first movable frame ₁₃₂ 3 pairs, 132 _4, and freely positioning in the longitudinal direction, addressed model change of door position adjustment of each guide bar ₁₃₁ 1-131 ₄ I can do it.

The movable frames 132 _{1 to} 132 ₄ are supported so as to be movable in the respective directions along the guide rails 132a on the bases 4a and 4b, and the movable frames 132 ₁ to 4a are supported on the bases 4a and 4a. 132 and the motors 132b for _4, with each ball screw 132d provided which is connected via a belt 132c to the motor 132b, (not shown) fixed nut each ball screw 132d to respective movable frame ₁₃₂ 1-132 ₄ The movable frames 132 _{1 to} 132 ₄ can be moved and controlled by the motors 132b. Further, the first and second movable frames 132 ₁ , 132 ₂ are positioned laterally inward of the first and second guide bars 131 ₁ , 131 ₂ , and the lower surfaces of the outer panels WRO, WLO. The first and second suction cups 133 ₁ and 133 ₂ are mounted, and the third and fourth movable frames 132 ₃ and 132 ₄ are also equipped with the third and fourth guide bars 131 ₃ and 132 ₄ , respectively. 131 ₄ is positioned in the longitudinal inward than the outer panel WRO, third and fourth respective suction cups ₁₃₃ 3 for receiving the lower surface of WLO, 133 ₄ are mounted. Thus, the outer panel WRO, WLO, as well be positioned to the left and right front and rear by the first to fourth guide bar ₁₃₁ 1-131 _4, the first through fourth suction cup ₁₃₃ 1-133 ₄ is positioned in the vertical direction Stable support.

By the way, the height and normal direction of the support part on the second side WOb side of the outer panels WRO, WLO by the first and second suction cups 133 ₁ , 133 ₂ vary depending on the degree of curvature of the door. Therefore, the first and second of each movable frame ₁₃₂ 1, 132 _2, the vertically movable lifting frame ₁₃₄ 1, 134 ₂ is provided, on each elevator frame ₁₃₄ 1, 134 _2, swingable vertically each swing arm ₁₃₅ 1 a, 135 ₂ via the mounting first and one second of each suction cup _133, 133 _2, the elevator frame ₁₃₄ 1, 134 ₂ of vertical movement and the swing arm ₁₃₅ 1, 135 ₂ By adjusting the height and direction of each suction cup 133 ₁ , 133 ₂ by swinging the sway, it is possible to cope with changes in the height and normal direction of the support part on the second side WOb side of the outer panels WRO, WLO. ing. Each elevator frame ₁₃₄ 1, 134 _2, each movable frame ₁₃₂ 1, 132 ₂ are supported vertically movably to the support 132e which is erected on the upper and lower via a ball screw mechanism (not shown) with a belt 134b by a motor 134a Moved. Each swing arm ₁₃₅ 1, 135 ₂ is swung through a reduction gear 135b by a motor 135a mounted on the elevating frame ₁₃₄ 1, 134 _2. In this embodiment, the reference positioning members 130 are provided in a pair of front and rear. However, since the first side WOa is straight, a single reference that is long in the front-rear direction in line contact with the first side WOa. A positioning member may be provided.

  The workpiece transfer device 6 includes a robot 60 and a robot hand 61 attached to the operating end of the robot 60. The robot 60 includes a robot main body 60a that can turn around a vertical axis, a first robot arm 60b that is swingably mounted on the upper end of the robot main body 60a, and a vertical swing at the tip of the first robot arm 60b. The robot is composed of a six-axis robot having a second robot arm 60c that is movably attached and a wrist 60d having a three-axis structure that is an action end attached to the tip of the second robot arm 60.

As shown in FIG. 6, the robot hand 61 includes first to first grips for edge portions of predetermined three holes WIa, WIb, and WIc among a plurality of holes provided in the inner panel of the door inner WRI and WLI. 3, three gripping tools 62 ₁ , 62 ₂ , 62 ₃ are suspended. As shown in FIGS. 7A, 7B, and 7C, these gripping tools 62 ₁ , 62 ₂ , and 62 ₃ include a fixed clamp arm 62a that contacts the upper surface of the hole edge of each hole WIa, WIb, and WIc, A movable clamp arm 62b that is in contact with the lower surface of the edge and sandwiches the edge of the hole with the fixed clamp arm 62a. The cylinder 62c opens and closes the movable clamp arm 62b with a shaft 62e as a fulcrum via a link 62d. I try to make it work.

When gripping the door inner WRI for the right door indicated by a solid line in FIG. 6, the hole edge portion of the first hole WIa which is the lower side in the vehicle body mounted state is the first gripping tool 62 ₁ , which is the front side in the vehicle body mounted state. the hole edge portion of the second hole WIb second gripper 62 _2, respectively grip the hole edge portion of the third hole WIc become rear third gripper 62 ₃ of the vehicle body mounting state, in FIG. 6 When gripping the door inner WLI for the left door indicated by the phantom line, the robot hand 61 is turned by a predetermined angle θ with the movement of the wrist 60d with respect to the door inner, and the hole edge of the first hole WIa is moved to the first gripper 62 _1. , a third hole WIc perforation line portion and the second gripper 62 _2, respectively grip the perforation line of the second hole WIb third gripper 62 _3. Incidentally, opening surface of the second hole WIb and the opening surface of the third hole WIc not identical plane, therefore, the second gripper 62 ₂ and the third gripper 62 _3, respectively, in the robot hand 61 position adjustably and suspended vertically by a cylinder 62f against, vertical positional relationship between the door inner WRI and second gripper 62 ₂ and the third gripper 62 ₃ between the door inner WLI for the left door for right door Is reversed.

  The workpiece input device 8 is a six-axis robot 80 having a robot body 80a, a first robot arm 80b, a second robot arm 80c, and a three-axis wrist 80d, similar to the robot 60 of the workpiece transfer device 6. And a robot hand 81 attached to a wrist 80d as an operation end of the robot 80. The robot 80 is movable along the guide rail 80e between a right door WR closing position on the first hemming station S31 side and a left door WL closing position on the second hemming station S32 side.

Then, when the sub assembly station S2 is arranged near the closing position for the right door WR, the robot 80 is moved to this position, the door is lifted by the robot hand 81 from the sub assembly station S2, and the door is the right door WR. the door from the robot 80 to put the door while placed in this position in the first hemming station S3 _1, if the door is left door WL moves the robot 80 to the on position for the left door WL the charged into the second hemming station S3 _2.

The robot hand 81, as shown in FIGS. 8 to 10, the outer panel WRO, the first gripper 82 ₁ for gripping the bent edge WOe of the first side WOa of WLO, outer panel WRO, the third side of WLO a second gripper 82 ₂ for gripping the bent edge WOe of WOc, outer panel WRO, and a third gripper 82 ₃ to grip the bent edge WOe of the fourth side WOd of WLO are suspended.

Each gripping tool 82 ₁ , 82 ₂ , 82 ₃ is provided with a pair of gripping claws 82b, 82c as shown in FIG. 11, which are opened and closed by a cylinder 82a via a toggle link mechanism (not shown). A convex portion 82d is provided on one of the gripping claws 82b and 82c, and a concave portion 82e is provided on the other, and the bending edge WOe of the outer panels WRO and WLO is gripped by being partially deformed between the convex portion 82d and the concave portion 82e. The bent edges WOe from the tools 82 ₁ , 82 ₂ , and 82 ₃ can be reliably prevented from sliding down due to the weight of the door.

Each gripper _{82 1,} 82 2, 82 ₃ by the outer panel WRO, each side of WLO WOA, WOc, when gripping the bent edge WOe of WOD, work the inner gripping claw 82b to prevent the door inner part WRI, WLI of the raised It also functions as a presser and prevents the positional displacement of the door inners WRI and WLI with respect to the outer panels WRO and WLO.

Each of the second and third gripping tools 82 ₂ , 82 ₃ faces the robot hand 81 so that the third and fourth sides WOc, WOd of the outer panels WRO, WLO are opposed to the robot hand 81. It is supported so as to be movable in the direction and the longitudinal direction of both sides WOc and WOd.

Specifically, the robot hand 81 is provided with a slide frame 83 that can move in the longitudinal direction of the third and fourth sides WOc and WOd, and the slide frame 83 has a pair of moves that can move in the opposing direction of both sides WOc and WOd. The movable frames 84 and 84 are supported, and the second and third gripping tools 82 ₂ and 82 ₃ are attached to the movable frames 84.

  The slide frame 83 is slidably supported by a pair of guide rails 83a and 83a fixed to the base frame 81a of the robot hand 81 connected to the wrist 80d. A motor 83b is mounted on the base frame 81a, and a pair of ball screws 83d and 83d driven by the motor 83b via the belt 83c are pivotally supported, and both the ball screws 83d and 83d are fixed to the slide frame 83. The pair of nuts 83e and 83e are screwed and both the movable frames 84 and 84 are moved by the motor 83b through the slide frame 83 in the longitudinal direction of the both sides WOc and WOd.

  Each movable frame 84 is slidably supported by each guide rail 84 a fixed to the slide frame 83. A motor 84 b is mounted on the slide frame 83, and a pair of ball screws 84 d and 84 d driven by the motor 84 b via the bevel gear 84 c are pivotally supported, and each ball screw 84 d is fixed to each movable frame 84. Screwed into the nut 84e, both the movable frames 84 and 84 are moved closer to and away from the opposite direction of the both sides WOc and WOd by the motor 84b.

Incidentally, the sides WOc, the normal direction of the gripping portion according to the second and third gripper ₈₂ 2, 82 ₃ of the bent edge WOe of WOD are sides WOc, it varies with the degree of curve of WOD. Therefore, the second and third gripping tools 82 ₂ and 82 ₃ are pivotally supported on the movable frames 84 so as to be rotatable around the longitudinal axis in the direction in which the gripping tools 82 ₂ and 82 ₃ are suspended. gripper ₈₂ 2, 82 ₃ of the gripping claws 82b, when closing 82c, pivots following the orientation of the grip portion of each gripper ₈₂ 2, 82 ₃ is bent edges WOE, bent edges WOE is its gripping position It is surely gripped from the normal direction.

Each of the second and third gripping tools 82 ₂ and 82 ₃ has an inner race 82f attached to the upper end thereof inserted from below into an outer race 82g fixed to the movable frame 84, and a retaining nut at the upper end of the inner race 82f. By screwing 82h, the movable frame 84 is pivotally supported. Further, the lower end of the outer race 82 g, square flange 82i of the lower end of the inner race 82f is mounted abutting stopper 82j, gripper ₈₂ 2, 82 ₃ is to be pivoted a predetermined angle range.

In the present embodiment, although the first gripper 82 ₁ axially supported pivotably by axially supported structure similar to the above to the base frame 81a, for gripping the first gripper 82 ₁ is a straight-true because it is bent edges WOe of the first side WOA, it may be the first gripper 82 ₁ fixed to the base frame 81a.

Similar to the robots 60 and 80, the workpiece dispensing apparatus 11 includes a robot 110 having a six-axis structure having a robot body 110a, a first robot arm 110b, a second robot arm 110c, and a wrist 110d having a three-axis structure. The robot hand 111 is attached to the wrist 110d which is the movement end of 110. Robot 110 is movable along a first hemming station S3 ₁ side and a dispensing position right door WR, the second hemming station S3 ₂ side of the left door WL for dispensing position and the guide rail 110e. If the welding station S4 is arranged in the vicinity of the left door WL payout position and the payout door is the right door WR, the robot 110 is moved to the right door WR payout position and the robot hand 111 performs the first hemming. after removing the door from the station S3 _1, was charged with the door to the welding station S4 to move the robot 110 in dispensing position for the left door WL, when paying out the door is left door WL is left door robot 110 WL a second hemming station S3 ₂ is taken out the door to introduce the welding station S4 by left robot hand 111 placed in use dispensing position. The robot hand 111 has first to third gripping tools for gripping the hole edges of the three holes WIa, WIb, and WIc of the door inners WRI and WLI of the doors WR and WL. Since it has the same structure as the robot hand 61 of the apparatus 6, detailed description thereof will be omitted. The robot hand 61 of the workpiece transfer device 6 and the robot hand 111 of the workpiece dispensing device 11 can be shared by the left door WR and the right door WL. However, when the door is changed from the front door to the rear door, When the door is changed, the robot hands 61 and 111 are exchanged.

The top view of the door manufacturing line which comprises this invention apparatus. The front view of the hemming station seen from the arrow II direction of FIG. The enlarged plan view of an outer supply line. The front view of the outer supply line seen from the arrow IV direction of FIG. The side view of the outer supply line seen from the arrow V direction of FIG. The top view of the robot hand of a workpiece transfer apparatus. 6A is a cross-sectional view taken along line VIIA-VIIA in FIG. 6, FIG. 6B is a cross-sectional view taken along line VIIB-VIIB in FIG. 6, and FIG. 6C is a cross-sectional view taken along line VIIC-VIIC in FIG. The top view of the robot hand of a workpiece | work input device. The front view of the robot hand seen from the arrow IX direction of FIG. The side view of the robot hand seen from the arrow X direction of FIG. The enlarged view of the lower end part of the holding | gripping tool hung on the robot hand of FIG.

Explanation of symbols

WRO, WLO ... outer panel (plate-like workpiece), WOa ... first side, WOb ... second side, WOc ... third side, WOd ... fourth side, 7 ₁ ... first hemming device, 7 ₂ ... Second hemming device, 13 ₁ , 13 ₂ , 13 ₃ ... Positioning device, 130 ... Reference positioning member, 131 ₁ ... First guide bar, 131 ₂ ... Second guide bar, 131 ₃ ... Third guide bar, 131 ₄ ... Fourth guide bar, 132 ₁ ... first movable frame, 132 ₂ ... second movable frame, 132 ₃ ... third movable frame, 132 ₄ ... fourth movable frame, 133 _{1 to} 133 ₄ ... sucker, 134 ₁ , 134 ₂ ... elevating frame, 135 ₁ , 135 ₂ ... swing arm.

Claims (3)

Hemming the bent edges of the outer member around the outer member by setting the inner member (WRI, WLI) on the outer member while the outer member (WRO, WLO) is laid and sub-assembling the workpiece. In the workpiece gripping device for feeding into the hemming device that integrates the outer member and the inner member,
Of the sub-assembled workpiece, the bent edges (WOe ) of the plurality of sides (WOa, WOc, WOd) around the outer member (WRO, WLO) are gripped from both the inside and outside of the bent edge. As a gripping tool provided with a pair of gripping claws (82b, 82c), it has a plurality of gripping tools for gripping bent edges of a plurality of sides of the outer member (WRO, WLO),
A number of the plurality of gripping tools are suspended from the robot hand (81) and pivotally supported around the longitudinal axis in the direction of suspension.
A workpiece gripping device, wherein the plurality of gripping tools grip the bent edge (WOe) of the outer member (WRO, WLO) and put the subassembled workpiece into a hemming device. The plurality of gripping tools include a first gripping tool (82 ₁ ) for gripping a bent edge portion of a predetermined one side (WOa) of the outer member (WRO, WLO) , and an outer facing the longitudinal direction of the side. A second and third gripping tool (82 ₂ , 82 ₃ ) that grips the bent edges of the two opposite sides (WOc, WOd) of the member (WRO, WLO) ;
Second, third each gripper ₍₈₂ 2, ₈₂ 3), said robot hand (81) to movably supported by the movable frame in the longitudinal direction of the opposing direction and the pair sides of said opposite sides (84) The workpiece gripping device according to claim 1, wherein the workpiece gripping device is hung on the workpiece. A convex portion (82d ) is provided on one side of the pair of gripping claws (82b, 82c) , and a concave portion (82e) is provided on the other, and the outer member (WRO ) is provided between the convex portion (82d) and the concave portion (82e). , WLO) bending edge (WOE) workpiece holding device according to claim 1 or 2, characterized in that has to be gripped by partially deformed.

Images