JP5571724B2 - Work mounting method on work mounting device, work removing method from work mounting device, work holding device for work mounting device, work support for work mounting device, and work mounting system - Google Patents

Description

  The present invention relates to a method for mounting a workpiece to be welded on a workpiece mounting device (for example, a 3-axis, 4-axis, 5-axis, etc. positioner developed by the present applicant), a method for removing the workpiece from the workpiece mounting device, and a workpiece mounting device. The present invention relates to a workpiece holder that can clamp a workpiece mounted on the workpiece, a workpiece support that can fix the workpiece holder, and a workpiece mounting system that includes the workpiece support.

  There are various forms, sizes, and weights of welds (workpieces) such as automobile parts, construction / civil engineering machine parts, and other various industrial machine parts. One of the workpieces is a box type, for example, a bucket for a hydraulic excavator as shown in FIG. Such a box-shaped workpiece is called a “box” at the welding site. Also, some workpieces are heavy, with several tons, and such heavy ones are called “heavy objects” at the welding site.

  The applicant has developed a positioner (work loading device) that combines a positioner that can load a workpiece and a welding robot. This positioner can be driven up and down, swiveled (vertical rotation), and rotated (horizontal rotation). The height of the workpiece can be adjusted by raising and lowering, and the horizontal angle of the workpiece can be adjusted by rotation. The direction angle can be adjusted. There are welding robots that can only move laterally above the positioner, and those that can move both laterally and back and forth, so that the welding robot's torch can be accurately positioned at the welding location of the workpiece. It is.

Since the positioner is a system in which a work is placed on a rotating table, the following problems have been encountered in the case of a box work.
(1) If the internal space of the box work is placed downward and placed on the rotating disk, the internal space is blocked by the rotating disk and the internal space cannot be welded. On the contrary, if the inner space is faced upward and placed on the rotating disk, the bottom surface comes into contact with the rotating disk and welding cannot be performed, so that a welding residue is generated.
(2) Since the parts that cannot be welded must be welded in the subsequent process, it is troublesome, workability is poor, and the cost is high.
(3) When joint welding is performed on the previously welded portion in a subsequent process, poor welding is likely to occur at the joint welding portion, and reworking is often required, resulting in wasteful welding work.

  In order to solve this problem, the present applicant has developed a positioner that does not cause welding residue even in box work. This positioner can hold and hold a box work from the left and right with the support tools of the two support arms facing each other, rotate the work by rotating the support tool, and adjust the lateral angle of the work. The vertical angle of the workpiece can be adjusted by turning, the workpiece height can be adjusted by raising and lowering the support arm, and the welding robot's torch can be adjusted by moving the welding robot back and forth or back and forth and laterally. It can be aligned with. According to this positioner, there is an advantage that no welding residue occurs in the box work.

  Since it is difficult to operate a large and heavy work piece of several tons, it was troublesome to load and unload the work on the positioner (work loader).

  The present invention relates to a work mounting method capable of easily mounting and removing a workpiece for welding to a work mounting device, in particular, a box work, a method for removing the work, a work holder used for mounting and removing the work, and a work support. It provides a workpiece mounting system that can easily mount and remove workpieces and workpieces.

The work mounting method to the work mounting apparatus of the present invention is a work mounting method in which a box work is mounted between work supports arranged opposite to each other with a gap between the work mounting apparatuses. It is a box shape that is surrounded by a peripheral wall and has an open front surface. Opposite portions of the peripheral wall are held by separate workpiece holders, and the workpiece holder and the workpiece held by the workpiece holder are placed on a table. The work support is placed on a support board, and the support board is moved between the work support tools from above the table by a moving tool, and the work support tool and the box work are moved to the work support tool of the work mounting device. The work holder and the box work on the support board are transferred from the support board to the work support tool of the work mounting device at the set position, and the work holder is used as the work support tool. Linking If the workpiece support is lifted, rotated, or swiveled, the workpiece holder and the box work are supported between the workpiece supports so that they do not fall off the workpiece support. is moved by immediately and removed from between the workpiece support, wherein a workpiece mounting device positioner, positioner includes an arm which is opposed spaced laterally protruding inside the arms of each said A work support is provided, and the arm is moved up and down, rotated, and the support swivels to lift, rotate and swivel the work supported by the work support. The opposing peripheral walls of the workpiece can be held in an open state in which the arm and torch of the welding robot can be inserted without concealing the inner side of the peripheral wall by the warper holder. And it can be provided and removal on the workpiece support. In the work mounting method to the workpiece mounting device, by lowering the moving unit a support plate, or entrainment device is raised by raising the work support, the support plate being set above the work support The upper workpiece holder and the box workpiece held by the workpiece holder can be transferred to the workpiece support.

Work removal method from the workpiece mounting device of the present invention, the entrainment method to the workpiece mounting device is supported by the work support, which is opposite spaced entrainment device, mounted on the workpiece mounting device the box was workpiece being, in the work removal process to remove collected, the supporting plate is moved by the movement of the moving member between said workpiece support, the workpiece retainer is supported by the work support and Hakobutsu work Arranged below, release the connection and fixing of the workpiece support and the workpiece holder, remove the workpiece holder and the box work held by it from the workpiece support, and then lift the support plate by the moving tool Or by lowering the work support of the work mounting device, the work holder and the box work are moved to the support board, and the movement Moved by moving the support plate of the transferred instead was workpiece retainer and Hakobutsu workpiece on a support plate can be removed from between the support plate each of said work support.

The workpiece holder for a workpiece mounting apparatus according to the present invention is a workpiece holder used in a method for mounting a workpiece on the workpiece mounting device . The workpiece holder has a bottom, a periphery is surrounded by a peripheral wall, and a front surface is open. A clamp part capable of holding and releasing a peripheral wall of a box work, a support board set part which can be set on a support board, a support tool set part which can be set on a work support tool of a work mounting device, and a work support tool A connecting portion that can be connected and fixed by a fixing tool, wherein the clamp portion, the support plate setting portion, the support tool setting portion, and the connecting portion are provided on one holder base; The work support tool can be connected and fixed to the work support tool by a fixing tool so that the work support tool does not fall off from the work support tool even when the work support tool is lifted, swung, or rotated, and the work mounting device is a positioner. Each arm is equipped with a work support tool that protrudes inward from each arm, and the arms are moved up and down, rotated, and the support tool swivels. The workpiece supported by the tool can be moved up, down, rotated, and swiveled, and the workpiece holder is configured so that the opposing peripheral walls of the box work are covered by the welding robot without the inner side of the peripheral wall being hidden by the workpiece holder. The arm and the torch can be held in an open state where they can be inserted, and can be installed / removed on the workpiece support .

The workpiece support for a workpiece mounting device according to the present invention is a workpiece support used in the workpiece mounting method for the workpiece mounting device , wherein the workpiece mounting device is a positioner, and the positioners are arranged to face each other with an interval in the lateral direction. Each of the arms is provided with a workpiece support projecting inwardly, and the workpiece support includes a holder set portion on which a workpiece holder can be set, and a workpiece set on the holder set portion. Fixing tools that can be connected and fixed to a holding tool, and these are provided on one support tool base, and the holding tool set portion is provided on the support tool base, and the work holding tool support tool set. part can set, the fixture is provided coupleable to said supporting member base and the connecting portion of the workpiece retainer, which is set in the holder setting part, the arm moves up and down, rotating And it is even support to pivot said workpiece retainer capable connected and fixed to the workpiece support so as not to fall off from the workpiece support.

The workpiece mounting system of the present invention is a workpiece mounting system used in the method of mounting a workpiece on the workpiece mounting device , and can hold a peripheral wall of a boxed workpiece having a bottom and surrounded by a peripheral wall and having an open front surface. Two work holders, a support board on which two work holders holding a box work can be set, a table on which the support board can be set, and the support board can be set on the table. The workpiece holder includes a clamp unit that can hold and release the workpiece, a support plate set portion that can be set on the support plate, and a support set that can be set on the workpiece support device. And a connecting portion that can be connected and fixed by a fixture of the work support tool is provided on one holding tool base, and the moving tool moves the support disk between the work support tools by the movement, and supports the moving tool. On the board The two workpiece holders and the box work that have been set can be disposed above the work support, and the work holder and the box work on the support board are placed on the work support between the work supports. The fixing tool can connect and fix the work holding tool to the work support after the transfer, and the moving tool moves the support plate after the connection and fixing to move from between the work support tools. The workpiece mounting device is a positioner, and the positioner includes arms that are arranged to face each other at a distance in the lateral direction, and each arm is equipped with a workpiece support that projects inward, and the arms are moved up and down. The clamp of the work holder can hold the opposing peripheral walls of the box work without hiding the inner side of the peripheral wall, and the inner side of the box work can be rotated. Those that can be kept in the open state can be inserted an arm and torch of the welding robot. In the work mounting system, the moving tool can lower the support board between the work support tools of the work mounting apparatus , and transfer the work holding tool and the box work on the support board to the work support tool. The support plate can be raised between the work supports, and the work holder and the box work mounted on the work support can be transferred onto the support plate.

The method of mounting a workpiece on the workpiece mounting device of the present invention includes clamping a workpiece mounted on the workpiece mounting device with a holder, and then moving the workpiece together with the workpiece holder with a moving tool (for example, a forklift). Is set on the workpiece support of the workpiece mounting device, the workpiece can be mounted on the workpiece mounting device, so that the workpiece mounting operation is facilitated. The method of removing the workpiece from the positioner according to the present invention includes operating the workpiece mounted on the workpiece mounting device with a moving tool and removing the workpiece holder from the workpiece support of the workpiece mounting device. Since it can be removed, the workpiece can be easily removed.

  In the work mounting method, a self-propelled stand is used as a moving tool, a number of stands are prepared, a work clamped by a holder is placed in advance on the stand, and these places are placed. If the platform automatically travels at a predetermined time and moves to the vicinity of the workpiece mounting device, the workpiece can be set on the workpiece support of the workpiece mounting device one after another at a predetermined time. In the workpiece removal method, a self-propelled table is used as a moving tool, and a large number of tables are prepared, so that an empty table automatically runs at a predetermined time and moves to the vicinity of the workpiece mounting device. In this case, the workpiece set on the workpiece mounting device can be placed on the table by removing the workpiece support of the workpiece mounting device sequentially at a predetermined time. For this reason, by using a self-propelled stand, it is possible to perform unmanned operation by automating loading and unloading of workpieces, and continuous operation is possible for 24 hours.

The work holder for a work mounting apparatus of the present invention has the following effects.
(1) Since it has a clamp that can hold and release the workpiece, it can easily hold and release the workpiece, and it also has a support set that can be set on the workpiece support of the workpiece mounting device. It is easy to load the workpiece on the mounting device.
(2) Since it also has a support plate setting part that can be set on a support plate on which a work can be set, the support plate set part of the work holder that clamps the work is set on the support plate and mounted on the work mounting device. Since the workpiece to be mounted can be prepared, the workpiece mounting work on the workpiece mounting device is facilitated. In addition, since the workpiece removed from the workpiece mounting device can be installed (temporarily placed) on the support board, the workpiece removal operation from the workpiece mounting device is facilitated.

The work support tool for the work mounting apparatus of the present invention is provided with the equipment part attached to the work mounting apparatus, the work holder clamped with the work is set on the holder set part, and the work holder is fixed with the fixture. The workpiece can be easily set on the workpiece mounting device.

The workpiece mounting system of the present invention has the following effects.
(1) Since the workpiece can be clamped and held by two arms from two directions, no welding residue is generated even with a box workpiece, and various problems when conventional welding residue occurs are eliminated.
(2) Since the two arms can be lifted, swung, and rotated to adjust the workpiece height, lateral angle, and vertical angle, the workpiece welding point can be directed to the welding robot, and the workpiece welding point can be secured. Can be welded to.
(3) Since the welding robot is mounted on the upper side of the two arms so as to be laterally movable, laterally movable, and forward / backward movable, the welding robot's torch can be reliably welded to the welded part toward the welded part of the workpiece. it can.

Explanatory drawing of the workpiece mounting method to the workpiece mounting apparatus of this invention. The side view of an example of the workpiece mounting apparatus used for the workpiece mounting method to the workpiece mounting apparatus of this invention. The front view of an example of the workpiece mounting apparatus used for the workpiece mounting method to the workpiece mounting apparatus of this invention. The side view which shows the state which mounted the workpiece | work in the workpiece mounting apparatus used for the workpiece mounting method to the workpiece mounting apparatus of this invention. The top view which shows the state which equipped the arm with the workpiece | work support tool of the workpiece | work mounting apparatus used for the workpiece | work mounting method to the workpiece | work mounting apparatus of this invention. BRIEF DESCRIPTION OF THE DRAWINGS Front explanatory drawing of the state which mounted the workpiece | work on the fixed mounting base in the workpiece | work mounting method to the workpiece | work mounting apparatus of this invention. The front explanatory drawing of the state which lifted the workpiece | work from the fixed mounting stand in the workpiece | work mounting method to the workpiece | work mounting apparatus of this invention. Front explanatory drawing before setting a workpiece | work to a workpiece support in the workpiece | work mounting method to the workpiece | work mounting apparatus of this invention. BRIEF DESCRIPTION OF THE DRAWINGS Front explanatory drawing of the state which mounted the workpiece | work on the workpiece support in the workpiece mounting method to the workpiece | work mounting apparatus of this invention.

(Embodiment 1 of workpiece mounting method on workpiece mounting device )
An example of an embodiment of a workpiece mounting method on a workpiece mounting device of the present invention is shown in FIGS. In this embodiment, a work 1 having the shape shown in FIG. 1 is mounted on a positioner (work mounting apparatus) 2 shown in FIG. 2 as shown in FIGS. In the present invention, the case where the two workpiece holders 3 and the two workpiece supports 4 shown in FIG. The workpiece support 4 is mounted on the inner side of the tip of the two arms 5 (FIGS. 3 and 5) of the workpiece mounting device 2. The installation procedure is shown below.

(1) The two side walls of the workpiece 1 are clamped by the two workpiece holders 3 in FIG. 1, and the workpiece 1 is placed on the support plate 7 on the movable table 6 shown in FIG. Install it. The support board 7 is set on the table 6 by fitting the fitting hole 8 to the insertion shaft 9 of the table 6. The two workpiece holders 3 are set on the support board 7 by fitting the fitting holes 10 to the insertion shafts 11 of the support board 7.
(2) The cradle 6 in FIG. 2 is moved in the direction of the arrow a and moved between the two arms 5 of the work mounting apparatus 2, and then the cradle 6 is lowered to lower the support plate 7, The fitting hole 12 of the holder 3 (FIG. 1) is fitted to the fitting shaft 13 of the work support 4 (FIGS. 1 and 5) mounted on the arm 5, and the work 1 on the support board 7 is attached. As shown in FIGS. 4 and 5, the workpiece is mounted on the workpiece support 4 inside the arm 5 of the workpiece mounting device 2. The workpiece holder 3 is fixed to the workpiece support 4 by an arbitrary fixing means. Thereby, the workpiece 1 clamped by the workpiece holder 3 is mounted and fixed on the workpiece support 4 of the workpiece mounting device 2. Thereafter, the cradle 6 is moved in the direction of arrow b (FIG. 2) and removed from under the workpiece 1.

(Embodiment 2 of a method of mounting a workpiece on a workpiece mounting device )
The mounting method is a method of moving the movable table 6 and mounting the workpiece 1 installed on the platform 6 on the workpiece support 4 of the arm 5 of the workpiece mounting device 2. In Embodiment 2 of the method, separately from the mounting method, the workpiece 1 clamped by the workpiece holder 3 is placed on the support board 7 on the stationary table 6 (FIG. 6), and the workpiece 1 is attached. This is a method of lifting and moving with a moving tool (for example, a forklift claw) 21 (FIG. 7) and mounting it on the work support 4 of the arm 5 of the work mounting device 2. The setting of the support plate 7 on the fixed table 6 (FIG. 6) is the same as the setting of the support plate 7 on the movable table 6 (FIG. 1) of FIG. The fitting hole 8 of 6) is set to be fitted to the insertion shaft 9 of the table 6. The method for installing the workpiece 1 on the fixed table 6 (FIG. 6) is the same as the method for installing the workpiece 1 on the movable table 6 in FIG. 1, and the fitting holes 10 of the two workpiece holders 3 (FIG. 6). Is carried out by fitting it into the insertion shaft 11 of the support board 7.

  In this work mounting method, as shown in FIG. 6, the work 1 clamped by the two work holders 3 installed on the stationary table 6 is lifted by the moving tool 21 as shown in FIG. Two workpiece holders 3 that hold the workpiece 1 by transporting (moving) it onto the workpiece support 4 (FIG. 8) of the mounting apparatus 2 and lowering the movable tool 21 as shown in FIG. Is set on the work support 4 of the two arms 5. Also in this case, the fitting hole 12 of the workpiece holder 3 (FIG. 9) is fitted to the fitting shaft 13 of the workpiece support 4 (FIG. 9) equipped on the arm 5, and the workpiece 1 on the support board 7 is fitted. 9 is set on the work support 4 inside the arm 5 as shown in FIG. The workpiece holder 3 is fixed to the workpiece support 4 by an arbitrary fixing means. Thereby, the workpiece 1 clamped by the workpiece holder 3 is mounted and fixed on the workpiece support 4 of the workpiece mounting device 2. Thereafter, the moving body 21 is lowered to lower the support board 7, and the support board 7 is removed from the bottom of the work 1 and returned to the table 6 (FIG. 6).

(Embodiment 1 of work removal method from work mounting apparatus )
To remove the workpiece 1 mounted on the workpiece support 4 of the workpiece mounting device 2 from the workpiece support 4 by the workpiece holder 3 as shown in FIGS. A method of using the moving tool 21, and other methods. As an example, the case where the movable stage 6 is used will be described below. In this case, the stand 6 is moved below the workpiece 1 supported by the workpiece support 4 of the workpiece mounting device 2, and the table 6 is raised in the direction of the arrow d in FIG. The support board 7 on the table 6 is raised, and the work 1 is supported by the support board 7. In this state, the cradle 6 and the support board 7 are further raised, the work 1 is transferred from the work support 4 of the work mounting apparatus 2 to the support board 7, and the cradle 6 is moved to remove the work 1 from the work mounting apparatus 2. Move away.

(Embodiment 2 of workpiece removal method from workpiece mounting device )
Although the said embodiment is a case where the stand 6 is used, the moving tool 21 (FIG. 9) can also be used in this invention. In this case, the supporting plate 7 is supported by the moving tool 21 and the supporting plate 7 is mounted on the work supporting device 4 of the work mounting device 2 by the work holding device 3 as shown in FIG. Set to. In this state, the moving tool 21 is raised to raise the support board 7, and the work 1 held by the work holding tool 4 on the work support 4 inside the arm 5 is supported by the support board 7. In this state, the moving tool 21 is further raised, the work holding tool 2 is detached from the work supporting tool 4 and placed on the support board 7, and the work 1 is fixed on the supporting table 6 by the moving tool 21 (FIG. 6). Then, the moving tool 21 is lowered, the support board 7 is placed on the stationary table 6, and the workpiece 1 is placed on the table 6 as shown in FIG. At this time, the fitting hole 8 of the support board 7 is fitted to the fitting shaft 9 of the table 6. As a result, the work 1 is placed on the support board 7 on the table 6.

(Embodiment of workpiece holder for workpiece mounting device )
An example of the workpiece holder 3 of the present invention is shown in FIG. The workpiece holder 3 can hold and release the workpiece 1, and can be fixed to and removed from the workpiece support 4 (FIG. 1) of the workpiece mounting device 2 while holding the workpiece 1. A clamp part 30 that can be set, a support tool set part 31 (two fitting holes 12) that can be set on the work support tool 4 of the work mounting device 2, and a support board set part 32 that can be set on the support board 7 (two The fitting hole 10) and a connecting portion 33 for connecting and fixing the work holder 3 to the work support 4 are provided.

  The clamp portion 30 is installed on a base 34, and a fastening screw 36 is inserted inward and downward into an upward U-shaped bracket 35 having insertion spaces into which both side walls of the workpiece 1 can be inserted. Both side walls of the workpiece 1 inserted into the insertion space can be clamped and fixed by tightening the tightening screw 36, and the fixing can be released by loosening the tightening screw 36.

  The support tool set portion 31 is composed of two fitting holes 12 opened in the base 34. When the fitting hole 12 is fitted to the fitting shaft 13 of the work support tool 4, the work holding tool 3. Is set on the workpiece support 4. The two fitting shafts 13 (FIG. 1) constitute the holder setting portion 4a (FIG. 1).

  The support board set portion 32 is composed of two fitting holes 10 opened in the base plate 34. When both the fitting holes 10 are fitted to the insertion shafts 11 of the support board 7, the work holder 3 is supported by the support board. 7 is set.

  The connecting portions 33 are formed two at the upper surface position near the rear end surface of each of the bases 34, have an upper surface shape rectangle, and are inclined obliquely downward toward the rear end surface.

(Embodiment of workpiece support for workpiece mounting device )
As an embodiment of the workpiece support 4, the one shown in FIG. 1 is provided with two fitting shafts 13 projecting from the upper surface of the horizontal plate 45 of the L-shaped base 40 and two fixtures 42. . When the fitting shaft 13 is fitted into the fitting hole 12 of the workpiece holder 3, it can be set on the workpiece support 4 as shown in FIG. An air cylinder or a hydraulic cylinder can be used as the fixture 42. The movable parts 43 of these cylinders can be reciprocated back and forth by operating the drive part 44, and the movable part 43 is connected to the connecting part 33 (FIG. 1) of the work holder 3 set on the work support tool 4 when moving forward. The board 34 of the workpiece holder 3 is fixed on the base 40 of the workpiece support 4 by riding on the upper side and retracted from above the connecting portion 33 (FIG. 1) of the workpiece holder 3 when sliding backward. I can do it. The upper surface of the connecting portion 33 is inclined upward toward the inside, and the bottom surface of the distal end portion of the movable portion 43 is wedge-shaped with an inclination opposite to the inclination of the upper surface of the connecting portion 33. In this manner, the connecting portions 33 (FIG. 1) and the movable portion 43 riding on the connecting portions 33 are wedge-fitted by being inclined in opposite directions. After the wedge fitting, even if the air cylinder or hydraulic cylinder hose is damaged or the supply of air or hydraulic pressure is stopped, it cannot be removed.

  The vertical plate 46 of the L-shaped base 40 of the work support 4 is provided inside the tip of the arm 5 of the work support device 2 (FIGS. 1, 3, and 5). The workpiece support 4 can be rotated forward and backward in the same direction by rotating the vertical plate 46 forward and backward in the direction of the arrow CC with the drive mechanism 50 (FIG. 3). Thus, the workpiece supported by the workpiece support 4 can be rotated forward and backward.

(Embodiment of workpiece mounting system )
An example of a workpiece support device according to the present invention is a five-axis positioner, which is equipped with a positioner (work mounting portion) 53 below a vertically long column 52 (FIG. 2) and a welding robot 54 above. ing. The positioner 53 includes a square plate-like lifting plate 55 that can be moved up and down in the direction of the arrow AA in FIG. 2 along the support column 52, a disk-shaped swivel plate 56 that is disposed vertically on the front surface of the lifting plate 55, and It is composed of two arms 5 projecting forward from the swivel board 56 in a cantilevered manner. The elevator board 55 can be raised and lowered by an elevator mechanism 60 (FIG. 2), and the swivel board 56 can be turned by a turning drive mechanism (not shown). The elevating mechanism 60 includes a screw shaft 62 (FIG. 2) that rotates in the same direction by forward / reverse rotation of a driving body 61 (FIG. 2) such as a motor, and an elevating body 63 (FIG. 2) that moves up and down along the rotation. The lift board 55 is connected to the lift body 63 and can be lifted and lowered together with the lift body 63.

  Two arms 5 are projected in parallel from the both ends in the axial direction of the horizontally long connecting member 51 mounted on the front surface of the swivel board 56 (FIG. 3) (FIG. 5). The horizontally long connecting member 51 can be swung in the same direction as the swivel board 56 rotates forward and backward. The work support 4 is mounted on the inner side of the distal end of each arm 5 (FIGS. 3 and 5), and each work support 4 is moved by an arrow CC by a rotation drive mechanism 65 (FIG. 5). It can be rotated in the direction (FIG. 5). The rotation drive mechanism 65 includes a drive body 66 (FIG. 5) such as a motor, a drive gear 67, a reduction gear 68, and the like, and the work support 4 (FIG. 5) is provided on a rotation shaft 69 (FIG. 5) of the reduction gear 68. Thus, the workpiece support 4 is rotated in the same direction by forward / reverse rotation of the rotation shaft 69.

  A horizontally long guide 70 (FIGS. 2 and 3) is installed and fixed on the upper portion of the support column 52 (FIG. 2) so as to cross the support column 52. A robot support arm 71 (FIGS. 2 and 3) protrudes forward from the lateral guide 70 with a cantilever support, and the welding robot 54 is suspended from the robot support arm 71 (FIG. 2). The robot support arm 71 can reciprocate in the left and right (horizontal) axial directions along the axis of the horizontally long guide 70, and the welding robot 54 can reciprocate in the front and rear axis directions of the robot support arm 71. The workpiece support device can drive a total of five axes, ie, a two-axis movement (drive) of the welding robot 54 in the left and right directions and a forward and backward movement, a rotation of the work support 4 of the positioner, a swing of the arm, and a three-axis drive of the arm. Yes. The workpiece mounting apparatus 2 used in the present application is a one-axis movement (total: four-axis drive) in which the welding robot 54 does not move back and forth without moving back and forth, or a positioner only without a welding robot, Other configurations may also be used.

  The lateral movement of the robot support arm 71 (reciprocating movement in the direction of arrow XX in FIG. 3) is performed by a lateral movement mechanism. The lateral movement mechanism includes a rotating shaft 72 (FIG. 3) and a moving body (not shown) that reciprocally moves in the axial direction in accordance with the forward / reverse rotation thereof, and the robot support arm 71 is attached to the moving body. It is connected so that it can reciprocate with the moving body.

  The welding robot 54 moves back and forth (reciprocating in the direction of arrows Y-Y in FIG. 2) by a back-and-forth moving mechanism. The back-and-forth movement mechanism includes a rotating shaft 74 (FIG. 2) that is rotationally driven by a motor 73 (FIG. 2), and a moving body 75 that reciprocates in the axial direction in accordance with the forward / reverse rotation. Is connected to the moving body 75 so that it can reciprocate together with the moving body 75.

  The shape, structure, mechanism, and the like of each member illustrated are merely examples, and members other than these shape, structure, and mechanism can be used in the present invention. The cradle 6 can also be a lifter type lifting type. The cradle 6 can be automatically started or stopped (automatically controlled) at a predetermined time according to a program of the control device. Moreover, raising / lowering, turning, and driving of the workpiece mounting device 2 can be automatically controlled. The control system program design allows automatic loading of the workpiece onto the workpiece mounting device 2, automatic welding to the workpiece by the welding robot, and automatic removal of the welded workpiece from the workpiece mounting device 2 for 24 hours, unattended. An automatic welding operation can also be performed.

1 Work 2 Positioner (Work loading device)
3 Work holder 4 Work support 5 Arm 6 Stand (movable, fixed, liftable, etc.)
7 Supporting board 8 Supporting board fitting hole 9 Mounting base insertion shaft 10 Work holder fitting hole 11 Supporting board insertion shaft 12 Work holding tool fitting hole 13 Work support fitting shaft 21 Moving tool ( For example, forklift claws)
30 clamp part 31 support set part 32 support plate set part 33 connecting part 34 clamp part base 35 bracket 36 clamping screw 40 work support base 42 fixing tool 43 movable part 44 of air cylinder or hydraulic cylinder air cylinder or Hydraulic cylinder drive unit 45 L-shaped base plate 46 L-shaped base plate 50 Vertical plate drive mechanism 51 Horizontal coupling member 52 Post 53 Positioner (work mounting portion)
54 Welding robot 55 Elevating board 56 Swivel board 60 Elevating mechanism elevating mechanism 61 Elevating mechanism drive body 62 Screw shaft 63 Elevating body 65 Rotating drive mechanism driving mechanism 66 Rotating drive mechanism driving body 67 Rotation driving mechanism drive gear 68 Reduction gear 69 of rotation drive mechanism Rotation shaft 70 of reduction gear Horizontal guide 71 Robot support arm 72 Rotation shaft 73 of lateral movement mechanism Motor 74 of forward / backward movement mechanism Rotation shaft 75 Moving object

Claims (7)

In a work mounting method for mounting a box work between work support tools arranged opposite to each other with a space between work mounting devices,
A box-shaped work is a box with a bottom and is surrounded by a peripheral wall and the front is open. Opposite parts of the peripheral wall are held by separate work holders and held by the work holder and the work holder. Placed work is placed on the support board on the table,
The support board is moved between the work support tools from above the table by a moving tool, and the work holding tool and the box work are set above the work support tool of the work mounting device,
The workpiece holder and box work on the support plate at the set position are transferred from the support plate to the workpiece support of the workpiece mounting device,
The work holder is connected and fixed to the work support, and is supported between the work supports so that the work holder and the box work do not fall off the work support even when the work support is lifted, rotated, or rotated. ,
The support board after the transfer is moved by a moving tool and removed from between the work support tools,
The workpiece mounting device is a positioner, and the positioner includes arms arranged opposite to each other with a space in the lateral direction. Each arm is equipped with the workpiece support projecting inward, and the arms are moved up and down and rotated. The workpiece supported by the workpiece support can be moved up and down, rotated and rotated by the rotation of the support.
The work holding tool can hold the surrounding peripheral wall of the box work in an open state in which the arm and torch of the welding robot can be inserted without the inner side of the peripheral wall being hidden by the work holding tool, It can be installed and removed on the workpiece support.
Entrainment method to the work mounting apparatus characterized by. In the work loading method to the work loading device according to claim 1,
A workpiece holding tool on the supporting plate set above the workpiece support by raising the workpiece support of the workpiece mounting device by lowering the support plate with a moving tool or by raising the workpiece support of the workpiece mounting device. The held box work is transferred to the work support.
Entrainment method to the work mounting apparatus characterized by. A box mounted on the workpiece mounting device by the workpiece mounting method according to claim 1 or 2 , wherein the workpiece mounting device supports the workpiece mounting device disposed opposite to the workpiece mounting device at an interval . the work, in the work removal how to remove collected,
The support plate is moved between the work supports by moving the moving tool, and is placed under the work holder and the box work supported by the work support,
Release the connection and fixation of the workpiece support and the workpiece holder, remove the workpiece holder and the box work held by the workpiece holder from the workpiece support, and then lift the support board with the moving tool, or the workpiece By lowering the work support tool of the mounting device, the work holder and the box work are moved and transferred to the support board,
The support plate is moved by moving the moving tool, and the work holder and the box work transferred to the support plate are removed from between the work support tools together with the support plate.
A method for removing a workpiece from a workpiece mounting device . In the workpiece holder used for the workpiece mounting method to the workpiece mounting device according to claim 1 or 2 ,
The work holding tool has a clamp part that can hold and open the peripheral wall of a box work that has a bottom, is surrounded by a peripheral wall, and is open on the front surface. A support tool set part that can be set on the work support tool of the apparatus, and a connecting part that can be connected and fixed by a work tool fixing tool,
The clamp part, the set part for the support plate, the set part for the support tool, and the connecting part are provided on one base for the holder,
The connecting portion can be connected and fixed to the work support by a fixing tool so that the work support does not fall off from the work support even if the work support moves up and down, swivels, and rotates.
The workpiece mounting device is a positioner, and the positioner includes arms that are opposed to each other with a space therebetween in the lateral direction, and each arm is equipped with a workpiece support that projects inward, and the arms move up and down and rotate. The workpiece supported by the workpiece support can be moved up and down, rotated and rotated by the rotation of the support.
The work holding tool can hold the surrounding peripheral wall of the box work in an open state in which the arm and torch of the welding robot can be inserted without the inner side of the peripheral wall being hidden by the work holding tool, It can be installed and removed on the workpiece support.
A workpiece holder for a workpiece mounting device . In the workpiece support used for the workpiece mounting method to the workpiece mounting apparatus according to claim 1 or 2 ,
The workpiece mounting device is a positioner, and the positioner has arms arranged opposite to each other with a space in the lateral direction.
A work support is provided on each of the arms so as to protrude inside thereof,
The workpiece support includes a holder set portion on which a workpiece holder can be set, and a fixture that can be connected and fixed to the workpiece holder set on the holder set portion, which are provided on one support base. And
The holder setting part is provided on the support tool base, and can set the support tool set part of the work holder,
The fixture is provided coupleable to said supporting member base and the connecting portion of the workpiece retainer, which is set in the holder setting part, the arm moves up and down, rotated, said even support to pivot the workpiece The holder can be connected and fixed to the workpiece support so that the holder does not fall off the workpiece support.
A workpiece support for a workpiece mounting device . In the workpiece mounting system used for the workpiece mounting method to the workpiece mounting apparatus according to claim 1 or 2 ,
Two workpiece holders capable of holding a peripheral wall of a box work that is bottomed and surrounded by a peripheral wall and open on the front surface, and a support board that can set two work holders holding a box workpiece; A pedestal on which the support plate can be set; and a moving tool that can be set on the pedestal and can be moved from the pedestal.
The workpiece holder includes a clamp portion that can hold and release a workpiece, a support plate set portion that can be set on a support plate, a support set portion that can be set on the workpiece support, and a workpiece support fixture. A connecting part that can be connected and fixed is provided on one base for the holder,
The moving tool can move the support board between the work support tools by the movement, and the two work holders and box work set on the support board can be arranged above the work support tool. The workpiece holder and the box work on the support board can be transferred between the workpiece supports on the workpiece support,
The fixture can connect and fix the workpiece holder to the workpiece support after the transfer,
The moving tool can be removed from between the work support tools by moving the support plate after the connection and fixing,
The work mounting device is a positioner, the positioner includes arms arranged opposite to each other with a gap in the lateral direction, each arm is equipped with a work support protruding inside, and the arms can be moved up and down and rotated, The support can swivel,
The clamp part of the work holder can hold the opposing peripheral walls of the box work without concealing the inside of the peripheral wall, and can hold the arm and torch of the welding robot in the open state so as to be inserted into the inside of the box work. Is,
A workpiece mounting system characterized by this. The work mounting system according to claim 6 ,
The moving tool can lower the support board between the work support tools of the work mounting device and transfer the work holding tool and the box work on the support board to the work support tool. The support board can be raised between the work holder and the box work mounted on the work support can be transferred onto the support board.
A workpiece mounting system characterized by this.

Images