JP6180656B2 - Work positioning device - Google Patents

Description

  The present invention relates to a workpiece positioning apparatus that, for example, grips a workpiece or the like obtained by press molding when performing welding to determine the position.

  Conventionally, for example, in an automobile production line disclosed in Patent Document 1, a jig for positioning a workpiece, a pedestal for supporting the jig so that the jig can be attached and detached, and a welding gun attached to the tip of an arm The welding robot and a jig storage shelf for storing a plurality of jigs are arranged, the jig supported by the gantry positions the plurality of workpieces, and the plurality of workpieces are assembled together by the welding robot. It is like that. When changing the workpiece to be assembled, the welding gun is removed from the welding robot and the welding robot removes the jig from the gantry and transports it to the jig storage shelf. After that, the other jig stored in the jig storage shelf is removed. After the welding robot is transported to the frame and attached to the frame, the workpiece is assembled again by attaching a welding gun to the arm tip of the welding robot.

JP 2002-1626 A

  By the way, the jig | tool currently disclosed by patent document 1 has many holding tools etc. for positioning a workpiece | work, and the weight is very heavy. Therefore, it is necessary to prepare a large welding robot for carrying the jig, which has a large portable weight, and wastes installation space.

  In order to avoid this, it is conceivable to reduce the weight of the jig by forming the main part of the jig from an aluminum alloy material.

  However, since the linear expansion coefficient of the aluminum alloy material is significantly different from that of the iron material, the shape of the jig may change due to a change in temperature, and the attachment position of the jig to the gantry may be shifted.

  The present invention has been made in view of such a point, and the object of the present invention is to allow a jig to be mounted and removed, to make the apparatus periphery compact, and even if the environment changes. An object of the present invention is to provide a lightweight workpiece positioning device in which the jig mounting position does not shift.

  In order to achieve the above object, the present invention is that the main part of the jig is formed of an aluminum alloy material, a reference member is provided at the center thereof, and further, the device for fixing the jig is devised. Features.

  Specifically, the following solution was taken for a workpiece positioning device including a jig for positioning the workpiece and a support that supports the jig so that the jig can be attached and detached.

  That is, in the first invention, the jig includes a main body frame made of an aluminum alloy extending in the horizontal direction, and the support body is separated in the horizontal direction at a predetermined interval and in the longitudinal direction of the main body frame. The first and second engaging pins that can be advanced and retracted, and a jig positioning portion positioned between the first and second engaging pins, the main body frame is located at the center of the main body frame, and In a state in which the first and second engaging pins are moved forward in association with the jig positioning portion, provided on the both sides in the longitudinal direction of the main body frame, and a linkage portion for positioning the jig with respect to the support. A first engagement hole and a second engagement hole that engage with each other are provided.

  According to a second aspect, in the first aspect, the main body frame includes a long and narrow first aluminum frame having a substantially U-shaped cross section, and the first aluminum frame at a predetermined interval in the longitudinal direction of the first aluminum frame. And a plate-like second aluminum frame fixed in one piece to the first aluminum frame, and an insertion hole through which the routing member can be inserted at the center of each second aluminum frame. It is formed.

  In a third invention, in the first or second invention, the support body extends in the horizontal direction and has a rectangular cross section, and the longitudinal end portions of the main body frame correspond to the outer peripheral surface of the support body. A pair of L-shaped frames are provided, and the first and second engaging pins correspond to the first and second engaging holes in a state where the L-shaped frames are in contact with the support. It is comprised so that it may become.

  According to a fourth invention, in any one of the first to third inventions, the jig positioning portion has a positioning hole that opens in a horizontal direction intersecting a parallel arrangement direction of the first and second engagement pins. The linking portion is an engaging claw that protrudes in a direction orthogonal to the longitudinal direction of the main body frame and that is detachably engaged with the positioning hole.

  In the first invention, since the main part of the jig is formed of the aluminum alloy material, the weight of the entire jig is reduced. Therefore, a welding robot having a small portable weight can be installed around the apparatus, and the apparatus can be made compact. In addition, the main body frame made of an aluminum alloy material has a shape extending in the horizontal direction, and therefore expands and contracts in the longitudinal direction when the temperature changes. However, the linkage part, which is the positioning reference for the support, is provided at the center in the longitudinal direction of the main body frame, and the center of the jig is always supported by linking the linkage part to the jig positioning part, which is the positioning reference for the support. Match body positioning criteria. Moreover, on both sides of the main body frame in the longitudinal direction, the two engaging pins of the support advance in the longitudinal direction of the main body frame and engage with the two engaging holes of the main body frame, so that the main body frame expands and contracts in the longitudinal direction. However, the engagement state of the engagement pin and the engagement hole is maintained only by changing the advancement amount of the engagement pin with respect to the engagement hole. Therefore, even if the environment changes, the jig can be securely fixed to the support body in a state where the reference position does not shift.

  In the second invention, since each second aluminum frame plays a role of a node in the first aluminum frame, the rigidity of the main body frame can be increased. Moreover, the routing member connected to each drive part of a jig | tool can be accommodated in the 1st aluminum frame in a well-organized manner by inserting the routing member through the insertion holes of the second aluminum frames. Furthermore, since the routing member is accommodated in the first aluminum frame, even if the workpiece positioned on the jig is welded, the routing member can be protected from spatter generated during welding. it can. And since the 1st aluminum frame makes the shape which a part of outer peripheral surface opens, for example, when a wiring member is turned in the 1st aluminum frame, the operation | work by an operator is easy and easy.

  In the third invention, positioning of the jig in the direction intersecting with the longitudinal direction of the support becomes easy and easy. Further, the position of the jig in the direction intersecting with the longitudinal direction of the support is determined, and at the same time, the engagement pin can be engaged with the engagement hole. Therefore, it is possible to shorten the time required for the jig replacement operation.

  In 4th invention, when a jig | tool is advanced with respect to a support body in the protrusion direction of an engaging claw, an engaging claw will engage with the positioning hole of a support body. Therefore, the jig positioning operation with respect to the support is easy and easy.

It is a front view of the welding line by which the workpiece positioning apparatus which concerns on embodiment of this invention is arrange | positioned. It is an A arrow equivalent figure of FIG. FIG. 2 is a view corresponding to FIG. 1 in the middle of exchanging the jig. FIG. 4 is a view taken in the direction of arrow B in FIG. 3. It is a schematic plan view which shows the state just before positioning the jig with respect to a support frame in the jig center lower part at the time of jig replacement. It is C arrow line view of FIG. It is a schematic plan view which shows the state immediately after positioning the jig with respect to the support frame in the jig center lower part at the time of jig replacement. It is a D arrow line view of FIG. It is a schematic plan view which shows the state immediately before positioning a jig with respect to a support frame in the longitudinal direction edge part of the jig at the time of jig replacement | exchange. It is E arrow line view of FIG. It is a schematic top view which shows the state immediately after positioning the jig with respect to a support frame in the longitudinal direction edge part of the jig at the time of jig replacement | exchange. It is F arrow line view of FIG. FIG. 3 is a G arrow view of FIG. 2 showing a state immediately before fixing the jig to the support frame. FIG. 3 is a G arrow view of FIG. 2 showing a state immediately after the jig is fixed to the support frame. FIG. 3 is an H arrow view of FIG. 2 showing a state immediately before fixing a jig to a support frame. FIG. 3 is an H arrow view of FIG. 2 showing a state immediately after the jig is fixed to the support frame.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The following description of the preferred embodiment is merely exemplary in nature.

  FIG. 1 shows a production line 1 according to an embodiment of the present invention. This production line 1 is configured to integrally assemble two press-formed workpieces W1 and W2 by spot welding, a workpiece positioning device 2 that positions the workpieces W1 and W2, and a welding robot 3 that performs a welding operation. The worker H1 sets the workpieces W1, W2 on the workpiece positioning device 2 on the opposite side of the welding robot 3 in the workpiece positioning device 2.

  As shown in FIG. 2, the workpiece positioning device 2 includes a first motor 4 having a rotary shaft 4a extending vertically, a rectangular frame-shaped rotary frame 5 supported by the rotary shaft 4a, and the workpieces W1, W1. The rotary frame 5 includes a position corresponding to the welding robot 3 (hereinafter referred to as a workpiece welding region X1) and a position corresponding to the worker H1 (hereinafter referred to as a workpiece). The rotation in the R1 direction (forward rotation) and the rotation in the R2 direction (reverse rotation) are alternately performed with the set region X2.

  The rotating frame 5 has a first horizontal frame 51 extending from the rotating shaft 4a to both sides in the horizontal direction so as to be symmetric with respect to the rotating shaft 4a, and the first horizontal frame 51 to be symmetric with respect to the first horizontal frame 51. A pair of second horizontal frames 52 extending in the horizontal direction orthogonal to the first horizontal frame 51 from both ends in the longitudinal direction of the horizontal frame 51, between the longitudinal ends of the second horizontal frames 52, and the second horizontal frames A pair of support frames 53 (supports) are provided for bridging the other ends in the longitudinal direction of the frame 52 and for supporting the jig 6 so as to be attachable and detachable two above and below.

  Each of the second horizontal frames 52 includes a straight frame 52a that extends straight in the horizontal direction and an inclined frame 52b that extends obliquely upward from both longitudinal ends of the straight frame 52a.

  Cross roller bearings B1 are provided on the inner sides of the upper ends of the inclined frames 52b.

  The cross roller bearings B1 support the support frames 53 so as to be rotatable around a rotation axis along the longitudinal direction of the first horizontal frame 51, and the support frames 53 are supported by the support frames 53. The position of each jig 6 attached to is alternately switched by rotation in the R3 direction (forward rotation) and rotation in the R4 direction (reverse rotation).

  A rectangular plate-like mounting base 54 extending in the horizontal direction is provided on the central upper surface of each linear frame 52a.

  Each mounting base 54 is attached with a second motor 55 whose rotating shaft 55a is oriented in the longitudinal direction of the first horizontal frame 51, and a first pulley 55b is integrally attached to the rotating shaft 55a. .

  On the other hand, a second pulley 53 a is attached to one end in the longitudinal direction of each of the support frames 53, and the first pulley 55 b attached to one second motor 55 and the second pulley 53 a of one support frame 53. And an endless chain belt 56 is wound around the first pulley 55b attached to the other second motor 55 and the second pulley 53a of the other support frame 53. .

  The chain belt 56 and the first pulley 55 b and the second pulley 53 a around which the chain belt 56 is wound are covered with a protective cover 57.

  The support frame 53 is rotated in the R3 direction and the R4 direction through the first pulley 55b, the chain belt 56, and the second pulley 53a by the rotation of the second motor 55, respectively. It has become.

  Each of the support frames 53 extends in the horizontal direction and has a rectangular cross section, and a first jig positioning portion 7a is provided on each of an upper surface and a lower surface in the center in the longitudinal direction.

  As shown in FIGS. 5 to 8, the first jig positioning portion 7 a located on the upper surface of each support frame 53 includes a first block 71 located on the first horizontal frame 51 side, and a first block 71. A pair of second blocks 72 are provided on the opposite side of the first horizontal frame 51 with a predetermined interval from the first block 71 and provided with a predetermined interval in the longitudinal direction of the support frame 53. I have.

  In the center of the first block 71, there is formed a first positioning hole 71a penetrating in a horizontal direction orthogonal to the longitudinal direction of the support frame 53 and opening to the first horizontal frame 51 side and the opposite side. Yes.

  A positioning groove 72 a extending in the horizontal direction perpendicular to the longitudinal direction of the support frame 53 is formed on the surfaces of the second blocks 72 facing each other.

  The first jig positioning portion 7 a located on the lower surface of each support frame 53 is a first jig positioning portion located on the upper surface of each support frame 53 when viewed in the rotation axis direction of each support frame 53. The detailed description is omitted because it is merely arranged symmetrically with respect to 7a.

  Second jig positioning portions 7b are respectively provided on the upper surface and the lower surface of the support frames 53 near both ends in the longitudinal direction, and both the second jig positioning portions 7b on one end side in the longitudinal direction of the support frames 53 and the above. Each of the second jig positioning portions 7b on the other end side in the longitudinal direction of each support frame 53 is at a position equidistant from the first jig positioning portion 7a.

  The second jig positioning portion 7b located on the upper surface of each support frame 53 has a block shape and is located on the first horizontal frame 51 side, as shown in FIGS. In the center, a second positioning hole 7c is formed which penetrates in the horizontal direction perpendicular to the longitudinal direction of the support frame 53 and opens on the first horizontal frame 51 side and the opposite side.

  The second jig positioning portion 7b located on the lower surface of each support frame 53 is a second jig positioning portion located on the upper surface of each support frame 53 when viewed in the direction of the rotation axis of each support frame 53. The detailed description is omitted because it is only arranged symmetrically with respect to 7b.

  As shown in FIGS. 13 and 14, a pair of first fixing units 8 for fixing the jig 6 to the support frame 53 is provided on both side surfaces of the support frames 53 near one end in the longitudinal direction. Yes.

  The first fixing unit 8 includes a unit main body 8a extending along the longitudinal direction of the support frame 53, and a first engagement pin 8b that can be advanced and retracted outward in the longitudinal direction of the support frame 53. An air passage (not shown) connected to the pipe on the rotating frame 5 side is formed inside the one engagement pin 8b.

  On the other hand, as shown in FIGS. 15 and 16, a pair of second fixing units 9 for fixing the jig 6 to the support frame 53 is provided on both side surfaces of the support frames 53 near the other end in the longitudinal direction. Is provided.

  The second fixing unit 9 includes a block-shaped fixing base 91 fixed to the support frame 53 and a slide rail that is fixed to the support frame 53 adjacent to the fixing base 91 and extends in the longitudinal direction of the support frame 53. 92, a slide plate 93 slidably fitted to the slide rail 92, and a fluid pressure cylinder 94 attached to the fixed base 91. The piston rod 94a of the fluid pressure cylinder 94 is provided with the support frame 53. The front end of the slide plate 93 is connected to the slide plate 93 via a connecting member 95.

  A rectangular plate 96 is attached to the end of the slide plate 93 on the opposite side of the fixed base 91, and the second engaging pin 97 and the rotation of the rectangular plate 96 on the opposite surface of the fixed base 91 are attached. A rectangular plate-shaped first connector 98 connected to the wiring on the frame 5 side is provided in parallel.

  When the piston rod 94a of the fluid pressure cylinder 94 expands and contracts, the second engagement pin 97 and the first connector 98 advance and retract in the longitudinal direction of the support frame 53 by the sliding operation of the slide plate 93. ing.

  That is, the first engagement pins 8b and the second engagement pins 97 are spaced apart from each other by a predetermined distance in the horizontal direction, and the first jig positioning portion 7a is It is located at the center between the engaging pin 8b and the second engaging pins 97.

  As shown in FIGS. 1 and 4, the jig 6 has a body frame 61 made of aluminum alloy that extends in the horizontal direction, and a plate-like shape that is fixed to the upper surface of the body frame 61 and extends along the body frame 61. The support base 62 is provided with a plurality of gripping tools 62a for gripping the overlapped portions of the workpieces W1 and W2.

  A plurality of the main body frames 61 are disposed in the first aluminum frame 61a with a predetermined interval in the longitudinal direction of the first aluminum frame 61a and an elongated first aluminum frame 61a having a U-shaped cross section that opens downward. A plate-like second aluminum frame 61b fixed integrally to the first aluminum frame 61a, and the second aluminum frame 61b can be inserted with a wiring member 68 such as a pipe or a wiring. A hole 61c is formed.

  A substantially block-shaped tool changer mounting portion 60 for mounting a tool changer (not shown) is provided on the opposite side of the first horizontal frame 51 at the longitudinal center of the first aluminum frame 61a.

  As shown in FIGS. 5 to 8, a first engagement frame 64 (linking portion) extending in the horizontal direction perpendicular to the first aluminum frame 61a is attached to the lower central portion in the longitudinal direction of the first aluminum frame 61a. ing.

  The first engagement frame 64 has a straight connection frame 67 in which a front engagement frame 65 and a rear engagement frame 66 each having a T shape in plan view extend in a horizontal direction perpendicular to the first aluminum frame 61a. The shape is connected by.

  The front engagement frame 65 protrudes so as to protrude from the first aluminum frame 61a in a horizontal direction orthogonal to the first aluminum frame 61a, and engages with the first positioning hole 71a in a detachable manner. It consists of a joint claw 65a and a pair of front projecting portions 65b projecting from the base end side of the front engagement claw 65a to both sides in the horizontal direction.

  That is, the front engaging claw 65a is engaged with the first positioning hole 71a that opens in the horizontal direction intersecting the juxtaposed direction of the first and second engaging pins 8b and 97, thereby the first positioning hole. The jig 6 is positioned with respect to the support frame 53 in conjunction with 71a.

  Further, the length of the front engagement frame 65 in the horizontal direction perpendicular to the first aluminum frame 61 a is designed to be shorter than the length between the first block 71 and the second blocks 72.

  The horizontal length of the connecting frame 67 perpendicular to the first aluminum frame 61a is set to be longer than the horizontal length of the second blocks 72 perpendicular to the first aluminum frame 61a. The length of the first aluminum frame 61a in the longitudinal direction is set shorter than the length between the second blocks 72.

  The rear engagement frame 66 is longer than the length of the first aluminum frame 61a in the longitudinal direction of the connection frame 67, and both end portions thereof can be engaged with and disengaged from the positioning grooves 72a of the second blocks 72. The side engaging claw 66a and a pair of rear protruding portions 66b protruding from the base end side of the rear engaging claw 66a to both sides in the horizontal direction.

  As shown in FIG. 4, a pair of second engagement frames 63 extending in the horizontal direction perpendicular to the first aluminum frame 61a are provided on one end side and the other end side in the longitudinal direction of the first aluminum frame 61a. Yes.

  The second engagement frame 63 has an elongated plate shape as shown in FIGS. 9 to 12, and the front engagement is provided on the inner side in the longitudinal direction of the first aluminum frame 61 a in the second engagement frame 63. An outer engaging claw 63a that protrudes in the same direction as the claw 65a and engages and disengages with the second positioning hole 7c is provided.

  A pair of L-shaped frames 69 (L-shaped portions) corresponding to two adjacent outer peripheral surfaces of the support frame 53 are attached to both ends in the longitudinal direction of the first aluminum frame 61a.

  As shown in FIG. 13 and FIG. 14, a first engagement hole 69 a that engages with the first engagement pin 8 b moving forward is formed in a portion protruding downward of one L-shaped frame 69. It is provided so that it may open in the longitudinal direction inner side.

  Further, in the portion projecting downward from the other L-shaped frame 69, as shown in FIGS. 15 and 16, a second engagement hole 69b that engages with the second engagement pin 97 being advanced is provided in the main body. The frame 61 is provided so as to open on the inner side in the longitudinal direction.

  The first positioning hole 71a is located at the center position between the first engagement hole 69a and the second engagement hole 69b.

  In addition, a second connector 69c that is recessed in a rectangular shape to which the first connector 98 can be connected is juxtaposed with the second engagement hole 69b at a portion projecting downward from the other L-shaped frame 69. The 2 connector 69c is connected to the wiring on the jig 6 side.

  Further, the first engagement pin 8b and the second engagement pin 97 are brought into the first engagement hole 69a and the second engagement hole 69b in a state where the L-shaped frames 69 are in contact with the support frame 53. It is comprised so that it may become a corresponding position.

  The welding robot 3 is an industrial multi-axis robot in which a welding gun 3b is attached to the tip of an arm 3a. The welding robot 3 can perform welding by freely changing the posture of the welding gun 3b.

  A control panel 10 is connected to the first motor 4, and the control panel 10 outputs an operation signal to the first motor 4 so that each jig 6 moves to the workpiece welding region X1 and the workpiece setting region X2. It is supposed to be.

  The control panel 10 is connected to the second motors 55, and the two jigs 6 attached to the support frames 53 are moved to an upper position and a lower position, respectively. 2 An operation signal is output to the motor 55.

  Next, production of the production line 1 will be described.

  FIG. 1 shows a state immediately after the rotating frame 5 that rotates in the R1 direction stops, the two jigs 6 that hold the assembly 11 in which the workpieces W1 and W2 are assembled together move to the workpiece setting region X2, and The state where the two jigs 6 on which the workpieces W1, W2 are set and positioned has moved to the workpiece welding region X1 is shown.

  From the state shown in FIG. 1, first, the welding robot 3 changes the posture of the welding gun 3b and welds the welded portion where the workpieces W1 and W2 positioned on the jig 6 on the upper side of the workpiece welding region X1 are overlapped. To do.

  When the welding of the workpieces W1 and W2 positioned on the jig 6 on the upper side of the workpiece welding area X1 is completed, the control panel 10 allows one of the upper and lower jigs 6 positioned in the workpiece welding area X1 to be switched. 2 An operation signal is output to the motor 55. Then, the jig 6 holding the assembly 11 moves downward, and the jig 6 positioned and positioned with the workpieces W1, W2 before welding moves upward.

  Next, the welding robot 3 welds the welded portions where the workpieces W1 and W2 are overlapped in the upper jig 6 whose upper and lower positions are switched in the workpiece welding region X1.

  On the other hand, while the welding robot 3 is performing the welding operation in the workpiece welding region X1, in the workpiece setting region X2, the worker H1 takes out the assembly 11 from the jig 6 positioned on the upper side.

  Next, the worker H1 sets the workpieces W1 and W2 on the jig 6 positioned on the upper side.

  Thereafter, the worker H1 presses a jig switching button (not shown). Then, the control panel 10 outputs an operation signal to the other second motor 55 so that the upper and lower two jigs 6 positioned in the work set region X2 are switched. Then, the jig 6 on which the workpieces W1 and W2 are set moves downward, and the jig 6 that holds the assembly 11 moves upward.

  Thereafter, the worker H1 takes out the assembly 11 from the jig 6 positioned on the upper side, and sets the workpieces W1 and W2 on the jig 6 positioned on the upper side.

  Then, the welding of the workpieces W1 and W2 set on the two jigs 6 positioned in the workpiece welding area X1 is completed, and the two assemblies 11 are completed, and the two jigs 6 positioned in the workpiece setting area X2 are completed. When the setting of the workpieces W1 and W2 is completed, the control panel 10 outputs an operation signal to the first motor 4 so that the rotating frame 5 starts rotating in the R2 direction.

  Then, after the rotating frame 5 rotated in the R2 direction stops, the above-described procedure is repeated to assemble the workpieces W1 and W2.

  Next, a procedure for removing the jig 6 from the workpiece positioning device 2 will be described.

  First, the control panel 10 outputs an operation signal to the welding robot 3 to separate the welding gun 3b from the tip of the arm 3a of the welding robot 3 and to remove the tool from the support frame 53 from the tool changer mounting portion 60 of the jig 6. The tip of the arm 3a is connected to a changer (not shown).

  Next, the control panel 10 outputs an operation signal to the first fixed unit 8. Then, the first engagement pin 8b moves backward and comes out of the first engagement hole 69a.

  In addition, the control panel 10 outputs an operation signal to the second fixed unit 9. Then, the second engagement pin 97 is retracted and disengaged from the second engagement hole 69b by the slide operation of the slide plate 93 accompanying the expansion / contraction operation of the piston rod 94a, and the first connector 98 is disengaged from the second connector 69c.

  Thereafter, the welding robot 3 pulls the jig 6 toward the welding robot 3 in the horizontal direction. Then, the front engagement claw 65a is removed from the first positioning hole 71a, the rear engagement claw 66a is removed from both the positioning grooves 72a, and the connecting frame 67 corresponds between the second blocks 72.

  Further, when the welding robot 3 pulls the jig 6 in the horizontal direction toward the welding robot 3, the outer engaging claws 63 a are detached from the second positioning holes 7 c.

  Then, the welding robot 3 lifts the jig 6 upward. Then, the connecting frame 67 is pulled upward from between the second blocks 72, and the jig 6 is completely separated from the support frame 53 (see FIG. 3).

  Next, a procedure for attaching the jig 6 to the workpiece positioning device 2 will be described.

  First, the control panel 10 outputs an operation signal to the welding robot 3 to separate the welding gun 3b from the tip of the arm 3a of the welding robot 3 and to a tool changer in the jig 6 stored in a jig storage shelf (not shown). The tip of the arm 3a is connected to a tool changer (not shown) of the mounting portion 60.

  Next, the control panel 10 outputs an operation signal to the welding robot 3 and moves the jig 6 connected to the tip of the arm 3 a to above the support frame 53.

  Next, the connecting frame 67 in the first engagement frame 64 of the jig 6 connected to the tip of the arm 3a in the welding robot 3 is made to correspond between both the second blocks 72, and the jig 6 is lowered. Then, the connecting frame 67 passes between both the second blocks 72.

  Thereafter, the jig 6 is pushed horizontally so that the welding robot 3 moves away from the welding robot 3. Then, as shown in FIGS. 5 to 8, the front engagement claw 65a engages with the first positioning hole 71a, and the rear engagement claw 66a engages with both positioning grooves 72a. At this time, not only the front engaging claws 65a engage with the first positioning holes 71a, but also the rear engaging claws 66a engage with both positioning grooves 72a located on the welding robot 3 side of the first positioning holes 71a. Therefore, it is possible to prevent the jig 6 from excessively rotating around the first jig positioning portion 7 a on the opposite side of the welding robot 3 and falling from the support frame 53.

  Further, when the jig 6 is pushed horizontally so that the welding robot 3 moves away from the welding robot 3, the outer positioning claws 63a are also engaged with the second positioning holes 7c as shown in FIGS. Match.

  The front engaging claws 65a are engaged with the first positioning holes 71a, the rear engaging claws 66a are engaged with the positioning grooves 72a, and the outer engaging claws 63a are engaged with the second positioning holes 7c. As a result, both L-shaped frames 69 of the jig 6 abut against two adjacent outer peripheral surfaces of the support frame 53. Then, the first engagement pin 8b corresponds to the first engagement hole 69a, the second engagement pin 97 corresponds to the second engagement hole 69b, and the first connector 98 corresponds to the first engagement hole 69b. This corresponds to the two connector 69c.

  Thereafter, the control panel 10 outputs an operation signal to the first fixed unit 8. Then, as shown in FIGS. 13 and 14, the first engagement pin 8b advances and engages with the first engagement hole 69a, and at the same time, the piping on the rotary frame 5 side through the first engagement pin 8b. Thus, the compressed air is supplied to each drive unit of the jig 6 so that the jig 6 can be operated.

  In addition, the control panel 10 outputs an operation signal to the second fixed unit 9. Then, as shown in FIGS. 15 and 16, the second engagement pin 97 advances and engages with the second engagement hole 69b by the slide operation of the slide plate 93 accompanying the expansion and contraction operation of the piston rod 94a. One connector 98 is connected to the second connector 69c, and at the same time, the wiring on the rotating frame 5 side and the wiring on the jig 6 side are connected via the first connector 98 and the second connector 69c to drive each of the jigs 6. The unit is controlled by the control panel 10.

  And the front-end | tip of the arm 3a is cut | disconnected from the tool changer (not shown) of the tool changer attaching part 60 of the jig | tool 6, and the attachment operation | work of the jig | tool 6 is complete | finished.

  As described above, according to the embodiment of the present invention, since the main part of the jig 6 is formed of the aluminum alloy material, the weight of the entire jig 6 is reduced. Therefore, the welding robot 3 with a small transportable weight can be installed around the workpiece positioning device 2, so that the periphery of the workpiece positioning device 2 can be made compact.

  Moreover, since the main body frame 61 made of an aluminum alloy material has a shape extending in the horizontal direction, it expands and contracts in the longitudinal direction when the temperature changes. However, a first engagement frame 64 that is a positioning reference for the support frame 53 is provided in the center in the longitudinal direction of the main body frame 61, and the first engagement frame 64 is a first jig positioning portion that is a positioning reference for the support frame 53. By linking to 7 a, the center of the jig 6 always matches the positioning reference of the support frame 53. Moreover, on both sides in the longitudinal direction of the main body frame 61, the first engagement pins 8b and the second engagement pins 97 of the support frame 53 move forward in the longitudinal direction of the main body frame 61, and the first engagement holes 69a of the main body frame 61 and The first engagement pin 8b and the second engagement with respect to the first engagement hole 69a and the second engagement hole 69b are engaged even if the main body frame 61 expands and contracts in the longitudinal direction because the second engagement hole 69b is engaged. The engagement between the first engagement pin 8b and the second engagement pin 97 and the first engagement hole 69a and the second engagement hole 69b is reliably performed only by changing the advancement amount of the pin 97. Therefore, even if the environment changes, the jig 6 can be reliably fixed to the support frame 53 in a state where the reference position does not shift.

  Further, since each second aluminum frame 61b serves as a node in the first aluminum frame 61a, the rigidity of the main body frame 61 can be increased. Moreover, the routing member 68 connected to each drive part of the jig 6 can be accommodated in the first aluminum frame 61a in a well-organized manner by inserting the routing member 68 through the insertion holes 61c of the second aluminum frames 61b. it can. Furthermore, since the routing member 68 is accommodated in the first aluminum frame 61a, when welding the workpieces W1 and W2 positioned on the jig 6, it is possible to protect the routing member 68 from spatter generated during welding. it can. Since the first aluminum frame 61a has a shape in which a part of the outer peripheral surface is opened, for example, when the routing member 68 is wound in the first aluminum frame 61a, the work by the operator is easy and easy.

  In addition, since the L-shaped frames 69 are provided at both ends in the longitudinal direction of the main body frame 61, the jig 6 can be easily positioned in a direction intersecting the longitudinal direction of the support frame 53. Further, the position of the jig 6 in the direction intersecting the longitudinal direction of the support frame 53 is determined, and at the same time, the first engagement pin 8b and the second engagement pin 97 are connected to the first engagement hole 69a and the second engagement hole 69b. Therefore, the time required for the jig 6 replacement work can be shortened.

  Further, when the jig 6 is advanced with respect to the support frame 53 in the protruding direction of the front engagement claw 65 a, the front engagement claw 65 a is engaged with the first positioning hole 71 a of the support frame 53. Therefore, the positioning operation of the jig 6 with respect to the support frame 53 is easy and easy.

  In the embodiment of the present invention, the two jigs 6 attached to the support frame 53 are the same jig 6, but different kinds of jigs 6 may be attached.

  Further, when the welding robot 3 and the worker H1 work, the welding robot 3 and the worker H1 may be easily operated by rotating the second motors 55 and tilting the jig 6.

  A plurality of welding robots 3 may be installed in the workpiece welding region X1.

  In the embodiment of the present invention, there is one worker H1, but a plurality of workers H1 may work in the work set area X2.

  In the embodiment of the present invention, the workpieces W1 and W2 are assembled by spot welding. However, the present invention is not limited thereto, and may be performed by arc welding or laser welding, or may be performed by other joining methods. .

  In the embodiment of the present invention, the support frame 53 rotates around the rotation axis extending in the horizontal direction, but it is not essential for the support frame 53 to rotate.

  The present invention is suitable, for example, for a workpiece positioning device that determines a position by gripping a workpiece obtained by press forming when welding is performed.

2 Work positioning device 6 Jig 7a First jig positioning part 8b First engagement pin 53 Support frame (support)
61 Body frame 61a First aluminum frame 61b Second aluminum frame 61c Insertion hole 64 First engagement frame (linkage part)
65a Front engagement claw 68 Routing member 69 L-shaped frame 69a First engagement hole 69b Second engagement hole 71a First positioning hole 97 Second engagement pin W1, W2 Workpiece

Claims (4)

A jig for positioning the workpiece;
A workpiece positioning device comprising a support for supporting the jig so as to be attachable / detachable;
The jig includes a body frame made of an aluminum alloy extending in the horizontal direction,
The support body is spaced apart in the horizontal direction at a predetermined interval and can be moved back and forth in the longitudinal direction of the main body frame, and the support positioned between the first and second engagement pins. A tool positioning part,
The main body frame is provided in the center of the main body frame and on both sides of the main body frame in the longitudinal direction of the main body frame, and a linkage portion for positioning the jig with respect to the support in cooperation with the jig positioning portion. And the workpiece positioning apparatus characterized by providing the 1st and 2nd engagement hole which each engages in the state which the said 1st and 2nd engagement pin advanced. The work positioning apparatus according to claim 1,
The main body frame has a long and narrow first aluminum frame having a substantially U-shaped cross section, and a plurality of the main body frames are arranged in parallel in the first aluminum frame at a predetermined interval in the longitudinal direction of the first aluminum frame. And a plate-like second aluminum frame fixed integrally with the
A workpiece positioning device, wherein an insertion hole through which the routing member can be inserted is formed at the center of each second aluminum frame. In the workpiece positioning device according to claim 1 or 2,
The support body extends in the horizontal direction and has a rectangular cross section,
A pair of L-shaped frames corresponding to the outer peripheral surface of the support body are provided at both longitudinal ends of the main body frame, and the first and first L-frames are brought into contact with the support body. 2. A workpiece positioning apparatus, wherein the two engaging pins are arranged at positions corresponding to the first and second engaging holes. In the workpiece positioning device according to any one of claims 1 to 3,
The jig positioning portion includes a positioning hole that opens in a horizontal direction intersecting the juxtaposed direction of the first and second engagement pins,
The work positioning apparatus, wherein the linking portion is an engaging claw that protrudes in a direction orthogonal to the longitudinal direction of the main body frame and engages and disengages with the positioning hole.

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