JP5901579B2 - Product processing equipment and product processing method - Google Patents

Description

The present invention relates to a product processing apparatus and a product processing method.
Specifically, the present invention relates to an automotive door trim processing apparatus and a processing method thereof.

  Conventional door trim processing equipment and processing methods include a jig pallet feed station at the upstream position, a set station for mounting the product door trim to the jig pallet, and door trim parts mounted on the jig pallet. A welding station equipped with a welding caulking device for welding caulking to a certain welding boss, a screw fastening station equipped with a screw fastening device for screwing the door trim, and a door trim A clip insertion station provided with a clip insertion device for clip attachment insertion processing, and a return station for removing a door trim that has been processed at a downstream position from the jig pallet are continuously provided on the conveyor. And a jig pallet feed station The automatic door trim processing line and its processing are provided in the lower stage with a conveyor conveyor as a circulation path with lift using electric cylinders at the upstream and downstream positions respectively so that the return station and the return station can circulate A method is known (see, for example, Patent Document 1).

Japanese Patent No. 4572997 (pages 4 to 5, FIGS. 1 and 2)

  However, although the door trim processing line can automatically perform a plurality of processing operations for attaching and processing parts to the door trim, it has a large installation line with a conveyor, so there is sufficient installation space. There was a problem that it was limited to a place with a size.

  In addition, if one of the multiple processing devices for attaching and processing parts to the door trim fails, all other processing operations will stop while repairing the failed processing device. There was a problem that processing efficiency deteriorated.

  An object of the present invention is to provide a product processing apparatus and a product processing method in which the installation location is not limited to a sufficiently wide place and the processing efficiency does not deteriorate.

The first problem solving means of the present invention is:
A jig pallet with detachable products,
An attachment / detachment area for attaching / detaching the product to / from the jig pallet;
A processing area for mounting and processing parts on the product;
An articulated robot provided in the processing area;
A carriage provided to fix the jig pallet to which the product is attached to each of the upper and lower two stages, and to be movable in a horizontal direction between the attachment / detachment area and the processing area,
A lift for raising and lowering the lower carriage provided in the attachment / detachment area;
The lift has a frame for placing the lower carriage, locking means for locking the frame, a balance weight, and a string connecting the frame to one end and the balance weight to the other end. And a rotating body around which the connecting material is wound, the frame body is on one side with the rotating body as a base point, and the balance weight is a boundary between the attachment / detachment area and the processing area It was hung to the side,
The upper carriage is provided with a first handle for movement,
A second handle for movement provided detachably on the lower carriage is provided,
A third handle for raising and lowering the balance weight is provided;
A first engaging portion that engages with the first handle and the second handle, and a second engaging portion that engages with the third handle, together with the processing device, are included in the hand of the articulated robot. A product processing apparatus characterized by being provided.

The second problem solving means of the present invention is:
In the product processing apparatus as the first problem solving means, the height positions of the first handle and the second handle are the same.

The third problem solving means of the present invention is:
A product processing apparatus as a first or second problem solving means, wherein the processing apparatus is any one of a welding caulking device, a retainer insertion device, and a screw fastening device.

The fourth problem solving means of the present invention is:
In the product processing apparatus as the first, second, or third problem solving means, each of the first handle and the second handle is composed of a rotating member that is rotatable in a horizontal direction,
The first engaging portion is made of a concave material capable of covering the rotating member in the vertical direction.

The fifth problem solving means of the present invention is:
A product processing apparatus as a first, second, or third problem solving means, wherein each of the first handle and the second handle comprises a rotating member that is rotatable in a vertical direction,
The first engaging portion is made of a concave material capable of covering the rotating member in the horizontal direction.

The sixth problem solving means of the present invention is:
Using the product processing apparatus as the first problem solving means,
In the attachment / detachment area, a first product is manually attached to a jig pallet fixed to the upper carriage among the carriages provided on the upper and lower two stages, and the articulated robot is moved to move the upper joint. The carriage is moved to the processing area, and the lower carriage is raised from the lower stage to the upper stage by the lift, and is attached to the jig pallet fixed to the upper carriage by the articulated robot in the processing area. While attaching and processing parts to the first product, in the attachment / detachment area, after manually attaching the second product to the jig pallet fixed to the lower carriage,
Moving the articulated robot to lower the lower carriage in the detachable area from the upper stage to the lower stage by the lift;
Further, the articulated robot is moved to move the upper carriage in the processing area to the attachment / detachment area, and to move the lower carriage in the attachment / detachment area to the machining area,
Furthermore, in the processing area, while the parts are attached to the second product attached to the jig pallet fixed to the lower carriage by the articulated robot, the upper carriage is attached to the attachment / detachment area. Remove the processed first product attached to the fixed jig pallet by hand and then attach the third product,
Furthermore, by moving the articulated robot, the lower carriage in the processing area is moved to the attachment / detachment area, and the upper carriage in the attachment / detachment area is moved to the machining area,
Further, in the processing area, while the parts are attached to the third product attached to the jig pallet fixed to the upper carriage by the articulated robot, the lower stage is moved by the lift in the attachment / detachment area. The cart is raised from the lower stage to the upper stage, and the processed second product attached to the jig pallet fixed to the lower stage cart is manually removed, and then the fourth product is attached,
Furthermore, by moving the articulated robot, the lower carriage in the attachment / detachment area is lowered from the upper stage to the lower stage by the lift,
Further, the articulated robot is moved to move the upper carriage in the processing area to the attachment / detachment area, and to move the lower carriage in the attachment / detachment area to the machining area,
A product processing method characterized by sequentially processing products.

  The first problem-solving means of the present invention is not only capable of attaching and processing parts to a product by moving an articulated robot, but also a jig fixed to an upper carriage between an attachment / detachment area and a processing area. The product attached to the pallet and the product attached to the jig pallet fixed to the lower carriage can be moved in the horizontal direction.

Further, the articulated robot can be moved to raise the balance weight and to lower the lower carriage mounted on the lift frame.
Furthermore, when the lift locking means does not work, the lower carriage mounted on the frame can be automatically raised by the weight of the balance weight.

  Therefore, the first product is manually attached to the jig pallet fixed to the upper carriage among the two upper and lower carriages in the attachment / detachment area, and the articulated robot is moved to process the upper carriage. The lower cart is automatically raised from the lower to the upper by the lift, and the parts are placed on the first product attached to the jig pallet fixed to the upper cart by the articulated robot in the machining area. During the attaching process, after the second product is manually attached to the jig pallet fixed to the lower carriage in the attachment / detachment area, the product can be sequentially processed by repeating the following movement.

  First, the articulated robot is moved, the lower carriage in the attachment / detachment area is lowered from the upper stage to the lower stage by a lift, and the articulated robot is moved to move the upper carriage in the processing area to the attachment / detachment area, In the processing area, while the parts are attached to the second product attached to the jig pallet fixed to the lower carriage by the articulated robot in the processing area, The processed first product attached to the jig pallet fixed to the cart of the machine is manually removed, and a third product is newly installed, and the articulated robot is moved to move the lower cart in the processing area. In addition to moving to the detachable area, move the upper carriage in the detachable area to the processing area. In the detachment area, the lower carriage is automatically lifted from the lower stage to the upper stage in the attachment / detachment area while the parts are attached to the third product attached to the jig pallet fixed to the upper carriage by the articulated robot. The processed second product attached to the jig pallet fixed to the lower carriage is manually removed, and a fourth product is newly attached.

  Therefore, since the first problem solving means of the present invention can be used as a single device for each processing type, even if the required number of processing types are assembled, the arrangement can be made free. The installation place is not limited to a sufficiently wide area such as a line having a transfer conveyor.

  In addition, even if one of the assembled devices fails, the other devices can be used as a single device, so all processing operations are possible while repairing the failed device. Therefore, machining efficiency does not deteriorate.

  According to the second problem solving means of the present invention, the height position of the first handle and the second handle is the same in addition to the effect exhibited by the first problem solving means. When two robots are used and one articulated robot moves the upper carriage in the attachment / detachment area to the machining area and the other articulated robot moves the lower carriage in the machining area to the attachment / detachment area, It becomes easy to arrange two articulated robots side by side so that their movements do not touch each other.

  The third problem-solving means of the present invention is a product because the processing device is any one of a welding caulking device, a retainer insertion device, and a screw fastening device, in addition to the effects exhibited by the first or second problem-solving means. The processing device can be either a single device that performs welding caulking, a single device that performs retainer insertion processing, or a single device that performs screw tightening.

  The fourth problem solving means of the present invention has the effect of the first, second, or third problem solving means, in addition to moving the articulated robot so that the carts on the upper and lower stages are separated into the processing area and the attachment / detachment area. When moving between them, for example, with the slight movement of the articulated robot, it is assumed that the first engaging part slightly moved in the horizontal direction around the first handle and the second handle. The first handle and the second handle rotate in the horizontal direction together in the first engaging portion, whereby the friction between the first handle and the second handle and the first engaging portion. Will be suppressed.

  The fifth problem solving means of the present invention, in addition to the effects exhibited by the first, second, or third problem solving means, moves the articulated robot to move each of the upper and lower carts between the machining area and the detachable area. When moving between them, for example, with the slight movement of the articulated robot, it is assumed that the first engaging part slightly moved in the vertical direction around the first handle and the second handle. The first handle and the second handle rotate together in the first engagement portion in the vertical direction, so that friction between the first handle and the second handle and the first engagement portion occurs. Will be suppressed.

According to the sixth problem solving means of the present invention, since the first problem solving means of the present invention can be used as a single device for each processing type and a product can be processed, the number of required processing types is the same. Even if they are used together, the arrangement can be made free, and the product can be processed without using it as a large line like a line having a conveyor.
Therefore, a product can be processed using a product processing apparatus that is not limited to a place where the installation location is sufficiently wide.

  In addition, even if one of the assembled devices fails, the other devices can be used as a single device, so all processing operations are possible while repairing the failed device. Therefore, the product can be processed without deteriorating the efficiency.

It is a cross-sectional side view of the product processing apparatus of this invention. (A) is a front view which shows operation | movement of the product processing apparatus of this invention. (B) is a front view which shows another operation | movement of the product processing apparatus of this invention. It is the elements on larger scale of the product processing apparatus of this invention. It is the elements on larger scale which show operation | movement of the product processing apparatus of this invention. It is another partial enlarged view which shows operation | movement of the product processing apparatus of this invention. (A) is a cross-sectional side view which shows operation | movement of the product processing apparatus of this invention. (B) is a cross-sectional side view which shows another operation | movement of the product processing apparatus of this invention. (A) is a cross-sectional side view which shows operation | movement of the product processing apparatus of this invention. (B) is a cross-sectional side view which shows another operation | movement of the product processing apparatus of this invention. (A) is a cross-sectional side view which shows operation | movement of the product processing apparatus of this invention. (B) is a cross-sectional side view which shows another operation | movement of the product processing apparatus of this invention. (A) is a cross-sectional side view which shows operation | movement of the product processing apparatus of this invention. (B) is a cross-sectional side view which shows another operation | movement of the product processing apparatus of this invention. (A) is a cross-sectional side view which shows operation | movement of the product processing apparatus of this invention. (B) is a cross-sectional side view which shows another operation | movement of the product processing apparatus of this invention. (A) is a cross-sectional side view which shows operation | movement of the product processing apparatus of this invention. (B) is a cross-sectional side view which shows another operation | movement of the product processing apparatus of this invention. (A) is a cross-sectional side view which shows operation | movement of the product processing apparatus of this invention. (B) is a cross-sectional side view which shows another operation | movement of the product processing apparatus of this invention. (A) is a cross-sectional side view which shows operation | movement of the product processing apparatus of this invention. (B) is a cross-sectional side view which shows another operation | movement of the product processing apparatus of this invention.

  The product processing apparatus 10 of this invention is demonstrated based on drawing.

  In the following, description and illustration of the incidental parts such as an air tube, electric wiring, and a photoelectric switch are omitted.

  The product processing apparatus 10 has an attachment / detachment area A for attaching / detaching the door trim W, which is a product, to / from the jig pallet 12 and a welding boss (not shown) which is a part of the door trim W, on the framed base 11. The first articulated robot 13 and the second articulated robot that are continuous with the processing area B for welding and caulking, are provided in two upper and lower stages, and are provided side by side in the processing area B. The upper trolley 15 provided with the robot 14 and the jig pallet 12 to which the door trim W is attached and fixed in a horizontal direction between the attachment / detachment area A and the machining area B, and the jig with the door trim W attached thereto. A lower carriage 16 that is fixed to the pallet 12 and is movable in a horizontal direction between the attachment / detachment area A and the processing area B, and a carriage provided in the attachment / detachment area A for moving the lower carriage 16 up and down. Those having a preparative 17 (see FIGS. 1 and 2).

In each of the detachable area A and the processing area B, a positioning device (not shown) is provided so that the upper carriage 15 or the lower carriage 16 can be stopped at a predetermined position.
Moreover, the product which is the object of the product processing apparatus 10 of the present invention is not limited to the door trim.

  The first articulated robot 13 and the second articulated robot 14 are for welding and crimping a welding boss which is a part on the door trim W, and each hand 18 has a machining device as a machining device. A welding caulking device 19 is provided.

Further, the first articulated robot 13 and the second articulated robot 14 are used for moving the upper carriage 15 and the lower carriage 16 and lowering the lift 17 as described later.
The number of articulated robots is not limited to two.

Further, the processing device is not limited to the welding caulking device 19, and may be a processing device of a type corresponding to the application.
For example, when the retainer is inserted into the door trim W, the welding caulking device 19 is replaced with a retainer inserting device, and when the screw tightening is performed, the welding caulking device 19 may be replaced with a screw tightening device.

Further, each of the hands 18 of the first multi-joint robot 13 and the second multi-joint robot 14 has a concave member 20 which is a first engagement portion provided at the lower portion and a first member provided on the side. A receiving member 21 which is a second engaging portion is provided (see FIG. 3).
In addition, arrangement | positioning of the recessed part material 20 and the receptacle material 21 with respect to the hand 18 is not limited to this.

  The concave member 20 as the first engaging portion is provided with a substantially trapezoidal concave portion in a cross-sectional view, and is provided in a first handle and a lower cart 16 provided in an upper cart 15 described later. The second handle is for vertically covering the second handle.

The first engaging portion is not limited to the recess member 20 and may have any shape as long as it can be engaged with the first handle and the second handle.
Moreover, the recessed part of the recessed part material 20 is not limited to a substantially trapezoidal thing.

  The receiving member 21 as the second engaging portion is formed of a V-shaped convex portion using angle steel, and scoops a third handle provided on the balance weight 22 of the lift 17 described later from below. It is for raising.

The second engaging portion is not limited to the receiving member 21 and may have any shape as long as it can be engaged with the third handle.
Further, the receiving member 21 is not limited to the V-shaped convex part, and any shape such as a U-shaped or L-shaped one can be used as long as the third handle can be scooped up from below. It may be a thing.

  The upper carriage 15 has a rectangular shape in plan view, and a pair of upper first rails 25 provided opposite to an upper portion of a frame 24 of a lift 17 described later in the attachment / detachment area A, and a processing area Rollers 23 are provided at four corners so as to be able to move on a pair of upper second rails 26 provided facing the upper part of the base 11 in B (see FIGS. 1 and 2). .

  The height position of the pair of upper second rails 26 is provided so as to be the same as the height position of the pair of upper first rails 25 when a frame 24 described later is in the lower stage. Yes.

  Further, the upper carriage 15 is provided with a first rotation member 27 that is a first handle for movement and that is rotatable in the horizontal direction via a first attachment member 31.

  The first rotating member 27 is vertically moved from above by a concave member 20 that is a first engaging portion provided in each hand 18 of the first articulated robot 13 or the second articulated robot 14. For covering and fitting (see FIG. 4).

  For this reason, by moving the first multi-joint robot 13 or the second multi-joint robot 14 while covering the concave member 20 in the vertical direction with respect to the first rotating member 27 from above, The carriage 15 can be moved horizontally from the attachment / detachment area A to the processing area B or from the processing area B to the attachment / detachment area A.

  At this time, the movement of the concave member 20 rotating in the horizontal direction around the first rotating member 27 is accompanied by the delicate movement of the first articulated robot 13 or the second articulated robot 14. Even if a little, the first rotating member 27 rotates in the horizontal direction together in the recess member 20, whereby the friction between the first rotating member 27 and the recess member 20 is suppressed.

The first handle for movement may be a rotating member that is rotatable in the vertical direction.
In that case, the upper carriage 15 is attached to the attachment / detachment area by moving the first articulated robot 13 or the second articulated robot 14 after the concave member 20 is horizontally covered with the rotating member. It will be moved horizontally from A to the processing area B or from the processing area B to the detachable area A.

  The lower carriage 16 has a rectangular shape in a plan view like the upper carriage 15, and a pair of lower first trucks provided opposite to a lower portion of a frame 24 of a lift 17 described later in the attachment / detachment area A. The rollers 28 are provided at the four corners so as to be able to move on the rails 28 and a pair of lower second rails 29 provided facing the lower side of the base 11 in the processing area B.

  Note that the height position of the pair of lower second rails 29 is set to be the same as the height position of the pair of lower first rails 28 when a frame 24 described later is in the lower stage. Yes.

  Further, the lower carriage 16 is provided with a second rotating member 30 that is a second handle for movement and that is rotatable in the horizontal direction via a second attachment member 32.

  The second attachment member 32 is provided so as to be movable in the horizontal direction between the attachment / detachment area A and the processing area B via a linear bearing 33 provided below the base 11.

Further, a hook projection 34 is provided at the tip of the second mounting member 32, and is provided so as to be freely inserted into and removed from the projection hole 35 provided at the bottom of the lower carriage 16 (see FIGS. 1 and 2). ).
For this reason, the second rotating member 30 is detachably provided on the lower carriage 16 via the second attachment member 32.

  Therefore, when the frame 24 to be described later rises from the lower stage to the upper stage with the lower carriage 16 placed thereon, the hook projection 34 comes out of the projection hole 35, and the lower carriage 16 and the hook projection 34 Will be disconnected.

  Further, when the frame 24 to be described later descends from the upper stage to the lower stage with the lower carriage 16 placed thereon, the hook protrusion 34 is inserted into the protrusion hole 35, and the lower carriage 16 and the hook protrusion 34 are connected. It will be in the state.

  The second rotating member 30 is vertically oriented from above by a concave member 20 that is a first engaging portion provided in each hand 18 of the first articulated robot 13 and the second articulated robot 14. (See FIG. 4).

  For this reason, the lower carriage 16 and the hooking projection 34 are connected, and the first articulated robot 13 or the second articulated robot 14 is connected to the second rotating member 30 with the concave member 20 from above. The lower carriage 16 can be moved in the horizontal direction from the attachment / detachment area A to the processing area B or from the processing area B to the attachment / detachment area A by moving the cover 16 in the vertical direction.

  At this time, the movement of the concave member 20 rotating in the horizontal direction around the second rotating member 30 is accompanied by the delicate movement of the first articulated robot 13 or the second articulated robot 14. Even if a little, the friction between the second rotating member 30 and the recessed member 20 is suppressed by the second rotating member 30 rotating together in the recessed member 20 in the horizontal direction.

The second handle for movement may be a rotating member that is rotatable in the vertical direction.
In that case, the lower carriage 16 is attached to the attachment / detachment area by moving the first articulated robot 13 or the second articulated robot 14 after the concave member 20 is horizontally covered with the rotating member. It will be moved horizontally from A to the processing area B or from the processing area B to the detachable area A.

In addition, the height position of the 1st rotation member 27 and the 2nd rotation member 30 is provided the same (refer FIG. 1, FIG.2 (b)).
This is because, for example, the second articulated robot 14 moves the upper carriage 15 in the attachment / detachment area A to the machining area B and the first articulated robot 13 moves the lower carriage 16 in the machining area B at the same time. This is also to make it easy to arrange the first articulated robot 13 and the second articulated robot 14 side by side so that their movements do not come into contact with each other even when moving to the attachment / detachment area A. .

  Further, it is not always necessary to provide the same height position for the first rotating member 27 and the second rotating member 30, and the articulated robots are arranged side by side so that their movements do not contact each other by the control method. If possible, the height positions may be different.

  The first rotating member 27 and the second rotating member 30 are provided side by side in a state where the upper carriage 15 is in the processing area B and the lower carriage 16 is in the attachment / detachment area A. (See FIG. 1).

  This is because the first multi-joint robot 13 and the second multi-joint robot 14 are at the same time, for the same reason that the first rotary member 27 and the second rotary member 30 have the same height position. This is because it is easy to arrange them side by side so as not to contact each other when they move.

  The first rotating member 27 and the second rotating member 30 are not necessarily provided so that the upper carriage 15 is in the processing area B and the lower carriage 16 is in the detachable area A at the same time. However, if the articulated robots can be arranged side by side so that their movements do not touch each other by the control method, the arrangement is free.

The lift 17 is for raising and lowering the lower carriage 16 between the upper and lower stages.
The lift 17 includes a frame body 24 for mounting the lower carriage 16, a locking means 36 for temporarily locking the frame body 24, a balance weight 22 including a support member 45, and a balance weight 22 A pair of guides 46 for guiding both sides, a pair of rollers 47 provided on both sides of the balance weight 22 along each of the pair of guides 46, a pair of chains 42 which are string-like connecting materials, A pair of sprockets 43 that are rotating bodies, each having a chain 42 wound around each of two pairs of sprockets 43 provided opposite to each other via a shaft 44, The frame 32 is suspended through a pair of chains 42 so that the frame 32 is on one side and the balance weight 22 is on the other side corresponding to the boundary between the attachment / detachment area A and the processing area B. Those provided Te (see Fig. 1, Fig. 2).

The pair of guides 46 and the pair of rollers 47 are not indispensable.
The two pairs of sprockets 43 are accommodated in a pair of covers 52 provided to face each other.
The string-like connecting material is not limited to the chain, and may be a V belt or a timing belt.
Further, the rotating body is not limited to a sprocket and may be a pulley.

  The frame body 24 is made of a steel frame in a lattice shape. As described above, the pair of upper first rails 25 provided facing the upper portion and the pair of lower steps provided facing the lower portion. The first rail 28 is provided.

  The frame body 24 is attached to two pairs of frames 48 provided vertically opposite to the base 11 via two pairs of linear bearings 49, so that the frame body 24 can be moved up and down stably. Is provided.

  The support member 45 is provided on the balance weight 22 via bolts and nuts, and is provided so that it can be easily replaced with a balance weight having a different weight.

The mass of the balance weight 22 is set larger than the mass of the frame body 24 on which the lower carriage 16 is placed.
For this reason, in a state where the locking means 36 described later is not operated, the frame body 24 on which the lower carriage 16 is placed is automatically raised to the upper stage by the weight of the balance weight 22.

  The frame 48 is provided with two pairs of stoppers 50 and two pairs of shock absorbers 51 that come into contact with a part of the upper portion of the frame 24 so that the raised frame 24 stops at a predetermined height position. (See FIGS. 1 and 2).

The support member 45 of the balance weight 22 is provided with a third rotating member 40 which is a third handle for lifting and lowering and which is rotatable in the vertical direction via a third attachment member 41.
The third rotating member 40 may be provided directly on the balance weight 22.

  The third rotating member 40 is a receiving port formed of a V-shaped convex portion which is a second engaging portion provided in each hand 18 of the first articulated robot 13 and the second articulated robot 14. This is for being scooped up from below by the material 21 (see FIG. 5).

  For this reason, the first multi-joint robot 13 or the second multi-joint robot 14 is moved and the third rotating member 40 is scooped up from the bottom by the receiving member 21, thereby lifting the balance weight 22 and The frame body 24 on which the lower carriage 16 is placed can be lowered to the lower stage (see FIG. 2).

  At this time, the movement of the receiving member 21 rotating in the vertical direction around the third rotating member 40 is accompanied by the delicate movement of the first articulated robot 13 or the second articulated robot 14. Even if a little, the friction between the third rotating member 40 and the receiving member 21 is suppressed by the third rotating member 40 rotating together in the receiving member 21 in the vertical direction.

  The locking means 36 includes a pair of locking pieces 37 provided on both sides of the lower end of the frame 24 and a pressing member 38 provided on the base 11 so as to be attached to the tip of the rod. It consists of a pair of air cylinders 39.

  Therefore, if necessary, the air cylinder 39 is operated to press the pressing member 38 against the locking piece 37 to lock the frame body 24 in the lower stage (see FIG. 2B), and the pressing member 38 is engaged. The release at the lower stage of the frame body 24 can be released by separating from the stop piece 37 (see FIG. 2A).

  Next, a product processing method using the product processing apparatus 10 of the present invention will be described with reference to the drawings.

First, in the attachment / detachment area A, while the frame 24 of the lift 17 on which the lower carriage 16 is placed is locked in the lower stage by the operation of the locking means 36, the jig fixed by hand to the upper carriage 15 is fixed. A first door trim W, which is a product, is attached to the tool pallet 12 (not shown).
At this time, the hook projection 34 is inserted in the projection hole 35 of the lower carriage 16.

  Then, the second articulated robot 14 is moved to fit the concave member 20 of the hand 18 onto the first rotating member 27 of the upper carriage 15 from above (see FIG. 6A), and the upper carriage 15 is moved. It is drawn and moved to the processing area B (see FIG. 6B).

Then, after the upper carriage 15 moves to the processing area B, the operation of the locking means 36 of the lift 17 is released, and the frame 24 on which the lower carriage 16 is placed is automatically moved by the weight of the balance weight 22. To rise.
At this time, the hooking protrusion 34 is in a state of being removed from the protrusion hole 35 of the lower carriage 16.

  Then, in the processing area B, the jig pallet 12 fixed to the upper carriage 15 is fixed to the upper carriage 15 by the welding caulking device 19 provided in each hand 18 of the first articulated robot 13 and the second articulated robot 14. A welding boss (not shown) of the attached first door trim W is welded and crimped (see FIG. 7A).

Meanwhile, in the attachment / detachment area A, the second door trim W is attached to the jig pallet 12 fixed to the lower carriage 16 by hand (not shown).
And the following movement is repeated and the door trim W is processed sequentially.

  First, in the processing area B, after the welding and caulking of the first door trim W is completed, the first articulated robot 13 is moved, and the third rotating member 40 of the balance weight 22 is lowered by the receiving member 21 of the hand 18. (See FIG. 7 (b)).

Then, when the balance weight 22 is lifted, in the attachment / detachment area A, the frame body 24 on which the lower carriage 16 is placed descends to the lower stage.
Then, the locking means 36 of the lift 17 is operated to lock the frame body 24 on which the lower carriage 16 is placed (see FIG. 8A).
At this time, the hook projection 34 is inserted in the projection hole 35 of the lower carriage 16.

  Then, the first articulated robot 13 is moved, and the concave member 20 of the hand 18 is covered with the second rotating member 30 of the lower carriage 16 from above, and the second articulated robot 14 is moved simultaneously. The recessed member 20 of the hand 18 is covered with the first rotating member 27 of the carriage 15 from above (see FIG. 8B).

  Then, the first articulated robot 13 is moved, and the lower carriage 16 in the attachment / detachment area A is attracted and moved to the machining area B. At the same time, the second articulated robot 14 is moved to move the upper articulated robot 14 in the machining area B. The carriage 15 is pushed out and moved to the detachable area A (see FIG. 9A).

  Then, in the processing area B, the jig pallet 12 fixed to the lower carriage 16 is fixed to the lower carriage 16 by the welding caulking device 19 provided in each hand 18 of the first articulated robot 13 and the second articulated robot 14. A welding boss (not shown) of the attached second door trim W is welded and crimped (see FIG. 9B).

  Meanwhile, in the attachment / detachment area A, the processed first door trim W attached to the jig pallet 12 fixed to the upper carriage 15 is manually removed, and a third door trim W is newly attached (not shown). .

  Then, in the processing area B, after the welding and caulking of the second door trim W is completed, the first articulated robot 13 is moved, and the concave member 20 of the hand 18 is moved to the second rotating member 30 of the lower carriage 16. At the same time as covering from above, the second articulated robot 14 is moved, and the concave member 20 of the hand 18 is covered from above with the first rotating member 27 of the upper carriage 15 (see FIG. 10A). .

  Then, the first articulated robot 13 is moved and the lower carriage 16 in the processing area B is pushed out and moved to the attachment / detachment area A. At the same time, the second articulated robot 14 is moved to move the upper articulation robot 14 in the attachment / detachment area A. The carriage 15 is pulled and moved to the processing area B (see FIG. 10B).

Then, after the upper carriage 15 moves to the processing area B, the operation of the locking means 36 of the lift 17 is released, and the frame 24 on which the lower carriage 16 is placed is automatically moved by the weight of the balance weight 22. To rise.
At this time, the hooking protrusion 34 is in a state of being removed from the protrusion hole 35 of the lower carriage 16.

  Then, in the processing area B, the jig pallet 12 fixed to the upper carriage 15 is fixed to the upper carriage 15 by the welding caulking device 19 provided in each hand 18 of the first articulated robot 13 and the second articulated robot 14. A welding boss (not shown) of the attached third door trim W is welded and crimped (see FIG. 11A).

  Meanwhile, in the attachment / detachment area A, the processed third door trim W attached to the jig pallet 12 fixed to the lower carriage 16 is manually removed, and a fourth door trim W is newly attached (not shown). .

  In the processing area B, after the welding and caulking of the third door trim W is completed, the first articulated robot 13 is moved, and the third rotating member 40 of the balance weight 22 is lowered by the receiving member 21 of the hand 18. (See FIG. 11 (b)).

Then, when the balance weight 22 is lifted, in the attachment / detachment area A, the frame body 24 on which the lower carriage 16 is placed descends to the lower stage.
Then, the locking means 36 of the lift 17 is operated to lock the frame body 24 on which the lower carriage 16 is placed (see FIG. 12A).
At this time, the hook projection 34 is inserted in the projection hole 35 of the lower carriage 16.

  Then, the first articulated robot 13 is moved, and the concave member 20 of the hand 18 is covered with the second rotating member 30 of the lower carriage 16 from above, and the second articulated robot 14 is moved simultaneously. The recessed member 20 of the hand 18 is covered with the first rotating member 27 of the carriage 15 from above (see FIG. 12B).

  Then, the first articulated robot 13 is moved, and the lower carriage 16 in the attachment / detachment area A is attracted and moved to the machining area B. At the same time, the second articulated robot 14 is moved to move the upper articulated robot 14 in the machining area B. The carriage 15 is pushed out and moved to the attachment / detachment area A (see FIG. 13A).

  Then, in the processing area B, the jig pallet 12 fixed to the lower carriage 16 is fixed to the lower carriage 16 by the welding caulking device 19 provided in each hand 18 of the first articulated robot 13 and the second articulated robot 14. A welding boss (not shown) of the attached fourth door trim W is welded and crimped (see FIG. 13B).

DESCRIPTION OF SYMBOLS 10 Product processing apparatus 11 Base 12 Jig pallet 13 1st articulated robot 14 2nd articulated robot 15 Upper stage cart 16 Lower stage cart 17 Lift 18 Hand 19 Welding caulking device 20 Recess material 21 Receiving material 22 Balance weight 23 Roller (for upper and lower carts)
24 Frame 25 Upper first rail 26 Upper second rail 27 First rotating member 28 Lower first rail 29 Lower second rail 30 Second rotating member 31 First mounting member 32 Second mounting material 33 Linear bearing (for second mounting material)
34 hook projection 35 projection hole 36 locking means 37 locking piece 38 pressing member 39 air cylinder 40 third rotating member 41 third mounting member 42 chain 43 sprocket 44 shaft 45 support member 46 guide 47 roller (for balance weight) )
48 Frame 49 Linear bearing (for frame)
50 Stopper 51 Shock absorber 52 Cover A Detachment area B Processing area W Door trim (Product)

Claims (6)

A jig pallet with detachable products,
An attachment / detachment area for attaching / detaching the product to / from the jig pallet;
A processing area for mounting and processing parts on the product;
An articulated robot provided in the processing area;
A carriage provided to fix the jig pallet to which the product is attached to each of the upper and lower two stages, and to be movable in a horizontal direction between the attachment / detachment area and the processing area,
A lift for raising and lowering the lower carriage provided in the attachment / detachment area;
The lift has a frame for placing the lower carriage, locking means for locking the frame, a balance weight, and a string connecting the frame to one end and the balance weight to the other end. And a rotating body around which the connecting material is wound, the frame body is on one side with the rotating body as a base point, and the balance weight is a boundary between the attachment / detachment area and the processing area It was hung to the side,
The upper carriage is provided with a first handle for movement,
A second handle for movement provided detachably on the lower carriage is provided,
A third handle for raising and lowering the balance weight is provided;
A first engaging portion that engages with the first handle and the second handle, and a second engaging portion that engages with the third handle, together with the processing device, are included in the hand of the articulated robot. A product processing apparatus characterized by being provided.   The product processing apparatus according to claim 1, wherein the height positions of the first handle and the second handle are the same.   The product processing apparatus according to claim 1, wherein the processing apparatus is any one of a welding caulking apparatus, a retainer insertion apparatus, and a screw fastening apparatus. Each of the first handle and the second handle comprises a rotating member that is rotatable in the horizontal direction,
The product processing apparatus according to claim 1, wherein the first engaging portion is made of a recessed member capable of covering the rotating member in a vertical direction. Each of the first handle and the second handle comprises a rotating member that is rotatable in the vertical direction,
The product processing apparatus according to claim 1, wherein the first engaging portion is made of a concave member capable of covering the rotating member in a horizontal direction. Using the product processing apparatus according to claim 1,
In the attachment / detachment area, a first product is manually attached to a jig pallet fixed to the upper carriage among the carriages provided on the upper and lower two stages, and the articulated robot is moved to move the upper joint. The carriage is moved to the processing area, and the lower carriage is raised from the lower stage to the upper stage by the lift, and is attached to the jig pallet fixed to the upper carriage by the articulated robot in the processing area. While attaching and processing parts to the first product, in the attachment / detachment area, after manually attaching the second product to the jig pallet fixed to the lower carriage,
The articulated robot is moved, and the lower carriage in the attachment / detachment area is lowered from the upper stage to the lower stage by the lift,
Further, the articulated robot is moved to move the upper carriage in the processing area to the attachment / detachment area, and to move the lower carriage in the attachment / detachment area to the machining area,
Furthermore, in the processing area, while the parts are attached to the second product attached to the jig pallet fixed to the lower carriage by the articulated robot, the upper carriage is attached to the attachment / detachment area. Remove the processed first product attached to the fixed jig pallet by hand and then attach the third product,
Furthermore, by moving the articulated robot, the lower carriage in the processing area is moved to the attachment / detachment area, and the upper carriage in the attachment / detachment area is moved to the machining area,
Further, in the processing area, while the parts are attached to the third product attached to the jig pallet fixed to the upper carriage by the articulated robot, the lower stage is moved by the lift in the attachment / detachment area. The cart is raised from the lower stage to the upper stage, and the processed second product attached to the jig pallet fixed to the lower stage cart is manually removed, and then the fourth product is attached,
Furthermore, by moving the articulated robot, the lower carriage in the attachment / detachment area is lowered from the upper stage to the lower stage by the lift,
Further, the articulated robot is moved to move the upper carriage in the processing area to the attachment / detachment area, and to move the lower carriage in the attachment / detachment area to the machining area,
A product processing method characterized by sequentially processing products.

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