JP6653149B2 - Work positioning device - Google Patents

Description

  The present invention relates to a work positioning device that determines a position by gripping a work or the like obtained by press molding when performing welding, for example.

  2. Description of the Related Art Conventionally, for example, in a car production line disclosed in Patent Document 1, a jig for positioning a work, a gantry for supporting the jig so that the jig can be attached and detached, and a welding gun attached to a tip of an arm And a jig storage shelf for storing a plurality of jigs are arranged, the jig supported by the gantry positions a plurality of works, and the plurality of works are integrally assembled by the welding robot. It has become. When changing the work to be assembled, remove the welding gun from the welding robot, remove the jig from the gantry with the welding robot, transport it to the jig storage shelf, and then remove the other jigs stored in the jig storage shelf. After the welding robot conveys it to the gantry and attaches it to the gantry, a welding gun is attached to the tip of the arm of the welding robot again to assemble the work.

JP-A-2002-1626

  By the way, the operation of the holding portion of the jig for holding the work is controlled by compressed air and various sensors, and the power of the compressed air and various sensors is supplied from the building of the factory. Therefore, when the jig can be exchanged with respect to the gantry as in Patent Document 1, the connection or disconnection between the wiring / pipe on the gantry side and the wiring / pipe on the jig side during the replacement work of the jig. If this is not performed efficiently, the productivity may be reduced, but this is not considered in Patent Document 1 at all.

  The present invention has been made in view of such a point, and an object of the present invention is to reliably supply compressed air and a power supply to a jig fixed to the apparatus main body even if the jig is repeatedly replaced. It is another object of the present invention to provide a work positioning device that can supply the workpiece to the workpiece and shorten the time required for the replacement work of the jig.

  In order to achieve the above object, the present invention is characterized by devising a structure of a fixing means for fixing the apparatus body and the jig to each other when exchanging the jig.

That is, in the first invention, a jig for positioning a work, a support for supporting the jig so that it can be attached and detached, and a fixing for directly connecting and fixing the support and the jig to each other Means, and wherein the fixing means is provided on one of the jig and the support, and has at least one of a communication path of a wiring connector and a pipe provided on one of the jig and the support. And a second connection portion provided on the other of the jig and the support, and having at least one of a wiring connector and a communication path of a pipe provided on the other of the jig and the support, By the fixing operation of the jig and the support , the first connection portion and the second connection portion are connected and the jig and the support are fixed to each other, while the jig and the support are fixed. the unlocking operation of said first connecting portion and the second A connecting portion is disconnected by, characterized in that it is configured to fixed state between the jig and the support is released.

  In a second aspect based on the first aspect, the fixing means is provided on one of the jig and the support, and is provided with a fitting pin capable of moving forward and backward with respect to the other of the jig and the support. A fitting hole provided in the other of the jig and the support, and fitted in a state where the fitting pin is advanced, wherein the first connection portion is provided inside the fitting pin or in the fitting. It is provided at a position close to the mating pin, and the second connection portion is provided inside the fitting hole or at a position close to the fitting hole.

In a third aspect based on the second aspect, the fitting pin and the fitting hole are provided in a pair at a distance from each other in a predetermined direction, and the first connection portion corresponds to each of the fitting pins. And one of the first connection portions has a communication path for a pipe provided on one of the jig and the support, and is provided inside the one fitting pin, and the other first connection portion is provided on the other side. The first connecting portion has a wiring connector provided on one of the jig and the support and is provided at a position close to the other fitting pin. The second connecting portion is provided with each of the fitting holes. And one second connecting portion has a communication path for piping provided on the other of the jig and the support and is provided inside the one fitting hole, and The other second connection portion is provided on the other of the jig and the support. And characterized in that it is provided at a position close to the other of the fitting hole together with the wiring of the connector.

  According to a fourth aspect, in the third aspect, the other fitting pin is characterized in that a tip end side of the other fitting pin protrudes from the other first connecting portion.

  In the first invention, the wiring operation in the jig, the wiring in the jig and the wiring in the support, and the connection operation between the pipe and the jig are performed using the operation of fixing the jig to the support and the operation of releasing the jig from the support. When the jig is replaced, the wiring inside the jig, the pipes and the wiring inside the support, and the pipes are firmly connected to ensure that compressed air and power are supplied to the jigs. Can be. Further, since the connection operation and the connection release operation of the first connection portion and the second connection portion are performed simultaneously with the fixing operation and the release operation of the jig, the time required for exchanging the jig is equal to the first connection portion and the second connection portion. The time required for the jig replacement operation can be shortened without increasing by the connection operation and disconnection operation with the unit.

  According to the second aspect, when connecting the first connection portion and the second connection portion, the position of the second connection portion with respect to the first connection portion is accurately determined by the fitting operation of the fitting pin into the fitting hole. Therefore, connection failure of the first connection portion and the second connection portion during the fixing operation of the jig to the support is eliminated, and the wires and pipes in the jig are securely connected to the wires and pipes in the support. be able to.

  In the third aspect of the present invention, since the portion for connecting the pipe and the portion for connecting the wiring are separated between the jig and the support, it is easy to arrange the pipe and the wiring in each of the jig and the support. Therefore, maintenance of the jig and the support is facilitated, and the maintenance and management of the apparatus can be facilitated.

  In the fourth aspect, since the first connection portion and the second connection portion are connected after the fitting pin starts to be fitted into the fitting hole, the first connection portion and the second connection portion are fitted. Even in the case of the structure provided at a position close to the pin and the fitting hole, the position of the second connection portion with respect to the first connection portion is accurately determined, and the fixing operation of the jig to the support is performed. The connection between the first connection portion and the second connection portion in the step (1) can be surely succeeded.

It is a front view of the welding line in which the work positioning device concerning the embodiment of the present invention was arranged. FIG. 2 is a diagram corresponding to an arrow A in FIG. 1. FIG. 2 is a diagram corresponding to FIG. 1 while a jig is being replaced. FIG. 4 is a view on arrow B in FIG. 3. FIG. 11 is a schematic plan view showing a state immediately before positioning the jig with respect to the support frame at the jig center lower part when the jig is replaced. FIG. 6 is a view on arrow C in FIG. 5. FIG. 9 is a schematic plan view showing a state immediately after positioning of the jig with respect to the support frame at the lower center of the jig during jig replacement. FIG. 8 is a view on arrow D in FIG. 7. FIG. 10 is a schematic plan view showing a state immediately before positioning the jig with respect to the support frame at the longitudinal end of the jig when the jig is replaced. FIG. 10 is a view as viewed from an arrow E in FIG. 9. FIG. 9 is a schematic plan view showing a state immediately after positioning of the jig with respect to the support frame at the longitudinal end of the jig when the jig is replaced. It is arrow F view of FIG. FIG. 3 is a view on arrow G in FIG. 2 showing a state immediately before fixing a jig to a support frame. FIG. 3 is a view on arrow G of FIG. 2 showing a state immediately after a jig is fixed to a support frame. It is II sectional drawing of FIG. It is JJ sectional drawing of FIG. FIG. 3 is a view taken in the direction of arrow H in FIG. 2, showing a state immediately before fixing a jig to a support frame. FIG. 3 is a view taken in the direction of the arrow H in 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. It should be noted that the following description of the preferred embodiment is essentially merely an example.

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

  As shown in FIG. 2, the work positioning device 2 includes a first motor 4 having a vertically extending rotating shaft 4a, a rectangular frame-shaped rotating frame 5 supported by the rotating shaft 4a, and the work W1, The rotary frame 5 is provided with four jigs 6 for positioning W2, and the rotating frame 5 has a position corresponding to the welding robot 3 (hereinafter referred to as a work welding area X1) and a position corresponding to the worker H1 (hereinafter referred to as a work). The rotation in the R1 direction (forward rotation) and the rotation in the R2 direction (reverse rotation) are alternately performed between the rotation direction (referred to as a set area X2).

  As shown in FIGS. 1 and 4, the jig 6 has a main body frame 61 made of an aluminum alloy extending in the horizontal direction, and a plate-shaped fixture fixed to the upper surface of the main body frame 61 and extending along the main body frame 61. An iron support 62 is provided. The support 62 is provided with a plurality of grippers 62a for gripping the overlapped portions of the works W1 and W2.

  The main body frame 61 is provided with a first elongated aluminum frame 61a having a U-shaped cross section that opens downward, and a plurality of the first aluminum frames 61a arranged at predetermined intervals in the longitudinal direction of the first aluminum frame 61a. And a plate-like second aluminum frame 61b integrally fixed to the first aluminum frame 61a. Each of the second aluminum frames 61b is formed with an insertion hole 61c through which a pipe 68a and a wiring 68b can be inserted. Have been.

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

  As shown in FIGS. 5 to 8, a fixed frame 64 extending in a horizontal direction orthogonal to the first aluminum frame 61a is attached to a lower portion of the first aluminum frame 61a in the center in the longitudinal direction.

  The fixed frame 64 has a shape in which a projecting portion 65 and an engaging portion 66 each having a T-shape in plan view are connected by a linear connecting portion 67 extending in a horizontal direction orthogonal to the first aluminum frame 61a. ing.

  The protruding portion 65 protrudes from the first aluminum frame 61a in a horizontal direction orthogonal to the first aluminum frame 61a so as to protrude from the first aluminum frame 61a, and protrudes from both sides in the horizontal direction from the base end side of the protruding claw 65a. It has a pair of overhangs 65b.

  The engaging portion 66 is provided at a predetermined interval on the opposite side of the projecting direction of the projecting portion 65 and has an engaging claw 66a projecting in the same direction as the projecting claw 65a. A pair of projecting portions 66b projecting from both ends to both sides in the horizontal direction.

  The length of the engagement claw 66a in the longitudinal direction of the first aluminum frame 61a is longer than the length of the connecting portion 67 in the longitudinal direction of the first aluminum frame 61a.

  As shown in FIG. 4, a pair of fixing auxiliary frames 63 extending in the horizontal direction orthogonal 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. That is, the two fixing auxiliary frames 63 are provided symmetrically about the protruding portion 65 on both sides in a direction orthogonal to the protruding direction of the protruding portion 65.

  As shown in FIGS. 9 to 12, the fixing auxiliary frame 63 has an elongated plate shape, and is provided inside the first aluminum frame 61a in the fixing auxiliary frame 63 in the longitudinal direction in the same direction as the protruding claws 65a. A protruding auxiliary fixing claw 63a is provided.

  A pair of L-shaped frames 69 are attached to both ends in the longitudinal direction of the first aluminum frame 61a.

  As shown in FIGS. 13 and 14, an electromagnetic valve 69 d is housed inside one L-shaped frame 69, and the solenoid valve 69 d has an end of the pipe 68 a crawled in the main body frame 61. It is connected.

  A first fitting hole 69a is provided at a portion projecting below one of the L-shaped frames 69 so as to open inside the longitudinal direction of the main body frame 61, and the first fitting hole 69a and the electromagnetic valve are provided. 69d are connected by a connection pipe 69e (second connection portion). That is, the connection pipe 69e is provided at a position corresponding to the first fitting hole 69a.

  On the other hand, a terminal block 69f is accommodated inside the other L-shaped frame 69, as shown in FIGS. 17 and 18, and the terminal block 69f has an end of the wiring 68b crawled in the main body frame 61. The departments are connected.

  A second fitting hole 69 b is provided at a portion projecting below the other L-shaped frame 69 so as to open inside the main body frame 61 in the longitudinal direction.

  That is, the first fitting hole 69a and the second fitting hole 69b are paired apart in the horizontal direction.

  Further, a first connector 69c (second connection portion) which is depressed in a rectangular shape is provided in parallel with a portion protruding below the other L-shaped frame 69 so as to approach the second fitting hole 69b. One connector 69c is connected to the terminal block 69f via a connection wiring 69g. That is, the first connector 69c is provided at a position corresponding to the second fitting hole 69b.

  The rotating shaft 4a of the first motor 4 has a cylindrical shape, and a piping 40a and a wiring 40b on an apparatus main body side, which are connected to an air supply source and a power supply (not shown), are arranged inside the rotating shaft 4a.

  The rotating frame 5 is provided with a first horizontal frame 51 extending horizontally on both sides from the rotating shaft 4a so as to be symmetrical about the rotating shaft 4a, and the first horizontal frame 51 is symmetrical about the first horizontal frame 51. A pair of second horizontal frames 52 extending in the horizontal direction perpendicular to the first horizontal frame 51 from both ends in the longitudinal direction of the horizontal frame 51, between one longitudinal end of each of the second horizontal frames 52, and the second horizontal frame 52; A pair of support frames 53 (supports) for bridging between the other ends in the longitudinal direction of the frame 52 and supporting the jigs 6 in a vertically attachable / detachable manner are provided.

  The first horizontal frame 51 is formed in a rectangular cylindrical shape, and a pipe 40a and a wiring 40b which are laid inside the rotary shaft 4a are laid in the inside thereof so as to go to each of the second horizontal frames 52. .

  Each of the second horizontal frames 52 has a rectangular tubular shape, and the pipes 40a and the wires 40b that are laid inside the first horizontal frame 51 are laid so as to go to the respective support frames 53. .

  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 diagonally upward from both ends in the longitudinal direction of the straight frame 52a.

  A cross roller bearing B1 is provided inside the upper end side of each of the inclined frames 52b.

  Each of the cross roller bearings B1 supports each of the support frames 53 so as to be rotatable around a rotation axis along the longitudinal direction of the first horizontal frame 51. Each of the support frames 53 is The positions of the jigs 6 attached to are changed alternately 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 of the linear frames 52a.

  A second motor 55 whose rotating shaft 55a is oriented in the longitudinal direction of the first horizontal frame 51 is attached to each of the mounts 54, and a first pulley 55b is attached to the rotating shaft 55a so as to rotate integrally therewith. .

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

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

  Then, by the rotation operation of the second motor 55, the support frame 53 rotates in the R3 direction and the R4 direction via the first pulley 55b, the chain belt 56, and the second pulley 53a, respectively. Has become.

  The support frame 53 has a rectangular cylindrical shape, and two adjacent outer peripheral surfaces have a shape corresponding to the L-shaped frame 69.

  Inside each of the support frames 53, the pipes 40a and the wires 40b that crawl inside the second horizontal frames 52 are crawled toward the jigs 6 attached to the respective support frames 53.

  First jig fixing portions 7a for fixing the jigs 6 to the support frames 53 are provided on the upper and lower surfaces at the center in the longitudinal direction of the support frames 53, respectively.

  As shown in FIGS. 5 to 8, the first jig fixing portion 7a located on the upper surface of each of the support frames 53 includes a first block 71 located on the first horizontal frame 51 side and a first block 71 in the first block 71. On the opposite side of the first horizontal frame 51, there is provided a second block 72 located at a predetermined distance from the first block 71.

  The length between the first block 71 and the second block 72 is designed to be longer than the length of the protrusion 65 in the protrusion direction.

  In the center of the first block 71, there are formed fixing holes 71a which penetrate in a horizontal direction orthogonal to the longitudinal direction of the support frame 53 and open on the first horizontal frame 51 side and on the opposite side, respectively. The projecting claw 65a of the projecting portion 65 is inserted into the hole 71a by moving the jig 6 in the projecting direction of the projecting portion 65 with respect to the support frame 53.

  The second block 72 is provided at a predetermined interval on the fixing hole 71a on the side where the protrusion 65 is inserted.

  Further, the second block 72 is formed with an engagement recess 72a extending in a horizontal direction orthogonal to the longitudinal direction of the support frame 53 and having both ends opened.

  The engaging recessed portion 72a extends in a horizontal direction orthogonal to the longitudinal direction of the support frame 53, and is continuous with the slit-shaped opening 72b corresponding to the shape of the connecting portion 67, and the opening 72b. And a wide portion 72c extending in the longitudinal direction of the support frame 53, and has a substantially T-shaped cross section.

The engaging claw 66a of the engaging portion 66 is engaged with the wide portion 72c in accordance with the fitting operation of the projecting portion 65 into the fixing hole 71a.

  The length of the second block 72 in the horizontal direction orthogonal to the first aluminum frame 61a is set shorter than the length of the connecting portion 67 in the longitudinal direction, and the width of the opening 72b is equal to the width of the connecting portion 67. It is set wider.

  The first jig fixing portion 7a located on the lower surface of each support frame 53 is a first jig fixing 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. Since it is only arranged symmetrically with respect to point 7a, detailed description is omitted.

  On each of the upper and lower surfaces near both ends in the longitudinal direction of each of the support frames 53, a second jig fixing portion 7b for fixing each of the jigs 6 to each of the support frames 53 is provided. The two second jig fixing portions 7b on one end side in the longitudinal direction of 53 and the second jig fixing portions 7b on the other end side in the longitudinal direction of each support frame 53 are centered on the first jig fixing portion 7a. Symmetrically located.

  Each of the second jig fixing portions 7b located on the upper surface of each of the support frames 53 has a block shape as shown in FIGS. 9 to 12, and is located on the first horizontal frame 51 side. When attaching the jig 6 to the support frame 53, if the protruding portion 65 is made to correspond to the first jig fixing portion 7 a, each of the second jig fixing portions 7 b corresponds to each of the fixing auxiliary frames 63. Position.

  At the center of each of the second jig fixing portions 7b, fixing auxiliary holes 7c 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 thereof are respectively provided. The fixing auxiliary claw 63a of the fixing auxiliary frame 63 is inserted into the fixing auxiliary hole 7c in accordance with the operation of inserting the projecting portion 65 into the fixing hole 71a.

  The second jig fixing portion 7b located on the lower surface of each support frame 53 is a second jig fixing 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. Since it is only arranged symmetrically with respect to point 7b, detailed description is omitted.

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

  The first fixing unit 8 is provided on a square tube member 81 whose center line extends in the longitudinal direction of the support frame 53, and is provided inside the support frame 53 in the longitudinal direction of the square tube member 81. And a cylinder body 82 having a cylinder rod 82a that expands and contracts in the direction. The distal end side of the cylinder rod 82a protrudes inward from the rectangular tube member 81.

  As shown in FIGS. 15 and 16, a first annular groove 81a extending around the cylinder center line is formed on the inner surface of the rectangular cylinder member 81 on the cylinder body 82 side.

  On the other hand, a second annular concave groove 81b (first connecting portion) extending around the center of the cylinder is formed on the inner surface of the rectangular cylindrical member 81 on the opposite side to the cylinder main body 82, and the second annular concave groove 81b is formed. Is connected to a pipe 40a on the apparatus body side.

  Inside the square tube member 81, a cylindrical first fitting pin 83 whose center line coincides with the center line of the square tube member 81 is slidably fitted in the longitudinal direction of the support frame 53. ing.

  A vertically extending plate-like mounting portion 83a is formed at a position inside the first fitting pin 83 near the cylinder body 82.

  The attachment portion 83a is attached to the tip of the cylinder rod 82a by a bolt 84. When the cylinder rod 82a expands and contracts, the first fitting pin 83 advances and retreats outward in the longitudinal direction of the support frame 53. It has become.

  An end of the first fitting pin 83 on the cylinder body 82 side is provided with a flange portion 83b which protrudes outward and is positioned in the first annular groove 81a. When the rod 82a is extended and the first fitting pin 83 slides outward in the longitudinal direction of the support frame 53, the first fitting pin 83 is caught on the outer peripheral edge of the support frame 53 in the longitudinal direction of the first annular concave groove 81a, and the first fitting is performed. The further slide of the pin 83 is regulated.

  In the middle of the first fitting pin 83, a plurality of air introduction holes 83c penetrating in a direction orthogonal to the cylinder center line are formed around the cylinder center line. The fitting pin 83 slides outward in the longitudinal direction of the support frame 53 so as to correspond to the first annular groove 81a.

  A coil spring 85 is wound around the cylinder rod 82a. One end of the coil spring 85 is in contact with the mounting portion 83a, while the other end of the coil spring 85 is in contact with the cylinder body 82. The coil spring 85 supports the first fitting pin 83 with the support frame 53. Are urged outward in the longitudinal direction.

  On the other hand, as shown in FIGS. 17 and 18, a pair of second fixing units 9 for fixing the jig 6 to the support frame 53 are provided on both side surfaces near the other end in the longitudinal direction of each of the support frames 53. Is provided.

  The second fixing unit 9 includes a block-shaped fixing base 91 fixed to the support frame 53, and a slide rail fixed to the support frame 53 adjacent to the fixed base 91 and extending 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 connected to the support frame 53. And a distal end thereof is connected to the slide plate 93 via a connection frame 95.

  A rectangular plate 96 is attached to an end of the slide plate 93 opposite to the fixed base 91.

  On the surface of the rectangular plate 96 opposite to the fixing base 91, a rectangular plate-like second connector 98 which is connected to the second fitting pin 97 and the wiring 40b on the device fixing side and can be connected to the first connector 69c. (The first connection portion) are arranged in close proximity to each other, and the tip end side of the second fitting pin 97 protrudes from the second connector 98.

  Further, the first fitting pins 83 and the second fitting pins 97 are paired apart in the horizontal direction.

  Then, when the piston rod 94a of the fluid pressure cylinder 94 expands and contracts, the slide operation of the slide plate 93 causes the second fitting pin 97 and the second connector 98 to move forward and backward in the longitudinal direction of the support frame 53. Has become.

  That is, the first fitting pins 83 and the second fitting pins 97 are paired in the advancing / retreating direction on the same side surface of the support frame 53, and advance in the opposite directions.

  The first fitting pin 83, the first fitting hole 69a, the connecting pipe 69e, and the second annular groove 81b constitute the first fixing means 12 of the present invention, and the second fitting pin 97, the second The fitting hole 69b, the first connector 69c, and the second connector 98 constitute the second fixing means 13 of the present invention, and fix the projecting portion 65 of the jig 6 and both fixing auxiliary frames 63 to the support frame 53. When the L-shaped frame 69 of the jig 6 is brought into contact with the outer peripheral surface of the support frame 53 while being fitted into the hole 71a and the two fixing auxiliary holes 7c, respectively, the first fitting pin 83 and the second fitting The mating pin 97 is located at a position corresponding to the first fitting hole 69a and the second fitting hole 69b, and in this state, the first fitting pin 83 and the second fitting pin 97 are advanced to make the first fitting Mating hole 69a and second fitting hole And adapted to fit respectively 9b.

  The connection pipe 69e and the second annular groove 81b are connected by the fixing operation of the jig 6 and the support frame 53.

  Specifically, when the cylinder rod 82a is extended in a state where the first fitting pin 83 corresponds to the first fitting hole 69a, as shown in FIG. 15 and FIG. 83 advances so that the first fitting pin 83 fits into the first fitting hole 69a.

  Further, in a state where the first fitting pin 83 is fitted in the first fitting hole 69a, the inside of the first fitting pin 83 and the connection pipe 69e communicate with each other, and each air introduction hole of the first fitting pin 83 is provided. 83c is located at a position corresponding to the second annular groove 81b of the rectangular tubular member 81, and compressed air is supplied from the pipe 40a on the support frame 53 side to the connection pipe 69e, the first fitting pin 83, each air introduction hole 83c, and The jig 6 is supplied to the pipe 68a through the two annular grooves 81b.

  Further, the first connector 69c and the second connector 98 are connected by the fixing operation of the jig 6 and the support frame 53, and at the same time, the wiring 40b of the support frame 53 via the first connector 69c and the second connector 98. And the wiring 68b of the jig 6 are connected so that each drive unit of the jig 6 is controlled by a control panel 10 described later.

  In addition, the connection pipe 69e and the second annular groove 81b are disconnected by the fixing release operation of the jig 6 and the support frame 53, and the first connector 69c and the second connector 98 are disconnected. It has become.

  Specifically, when the cylinder rod 82a is contracted in a state where the first fitting pin 83 is fitted in the first fitting hole 69a, the first fitting is performed while the coil spring 85 is contracted as shown in FIGS. The mating pin 83 is retracted so that the first fitting pin 83 comes off the first fitting hole 69a.

  Further, in a state where the first fitting pin 83 is disengaged from the first fitting hole 69a, each air introduction hole 83c of the first fitting pin 83 is located at a position not corresponding to the second annular groove 81b of the rectangular tubular member 81. Thus, the air supply to the pipe 68a of the jig 6 is shut off.

  The welding robot 3 is an industrial multi-axis robot having a welding gun 3b attached to the tip of an arm 3a, and 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 of the jigs 6 moves to the work welding area X1 and the work set area X2. It is supposed to.

  Further, the control panel 10 is connected to each of the second motors 55 so that the two jigs 6 attached to the support frames 53 move to the upper position and the lower position, respectively. An operation signal is output to the second motor 55.

  Further, the control panel 10 outputs an operation signal to the jig 6, the first fixing unit 8, and the second fixing unit 9.

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

  FIG. 1 shows a state immediately after the rotation of the rotating frame 5 rotating in the R1 direction, the two jigs 6 holding the assembly 11 in which the works W1 and W2 are integrally assembled move to the work setting area X2, and This shows a state where the two jigs 6 on which the works W1 and W2 are set and positioned have moved to the work welding area X1.

  From the state shown in FIG. 1, first, the welding robot 3 changes the posture of the welding gun 3b to weld the welding portions of the works W1 and W2 positioned on the jig 6 above the work welding area X1.

  When the welding of the workpieces W1 and W2 positioned on the upper jig 6 of the work welding area X1 is completed, the control panel 10 sets one of the upper and lower jigs 6 located in the work welding area X1 so as to be switched. 2 It outputs an operation signal to the motor 55. Then, the jig 6 holding the assembly 11 moves downward, and the jig 6 on which the workpieces W1 and W2 before welding are set and positioned moves upward.

  Next, the welding robot 3 welds the welding locations of the workpieces W1 and W2 on the upper jig 6 whose upper and lower positions have been switched in the workpiece welding area X1.

  On the other hand, while the welding robot 3 is performing welding work in the work welding area X1, in the work set area X2, the worker H1 takes out the assembly 11 from the jig 6 located above.

  Next, the worker H1 sets the works W1 and W2 on the jig 6 located 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 jigs 6 located in the work set area X2 are switched. Then, the jig 6 on which the works W1 and W2 are set moves downward, and the jig 6 holding the assembly 11 moves upward.

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

  Then, the welding of the works W1 and W2 set on the two jigs 6 located in the work welding area X1 is completed, and the two assemblies 11 are completed, and the two jigs 6 located in the work setting area X2. When the setting of the works 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.

  After the rotating frame 5 rotated in the R2 direction stops, the above procedure is repeated to assemble the works W1 and W2 sequentially.

  Next, a procedure for removing the jig 6 from the work 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 welding gun 3b from the support frame 53. 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 fitting pin 83 retreats and comes off the first fitting hole 69a.

  Further, the control panel 10 outputs an operation signal to the second fixed unit 9. Then, the second fitting pin 97 retreats and disengages from the second fitting hole 69b by the sliding operation of the slide plate 93 accompanying the expansion and contraction operation of the piston rod 94a, and the second connector 98 disengages from the first connector 69c.

  Thereafter, the welding robot 3 horizontally pulls the jig 6 toward the welding robot 3. Then, the protruding claws 65a are disengaged from the fixing holes 71a, the engaging claws 66a are disengaged from the engaging concave ridges 72a, and the connecting portions 67 correspond to the openings 72b of the engaging concave ridges 72a.

  Further, when the welding robot 3 pulls the jig 6 in the horizontal direction toward the welding robot 3, the fixing auxiliary claws 63a come off from the fixing auxiliary holes 7c.

  Then, the welding robot 3 raises the jig 6 upward. Then, the connecting portion 67 comes out upward from the opening 72b, and the jig 6 is completely separated from the support frame 53 (see FIG. 3).

  Incidentally, if the jig 6 is located below the support frame 53, the first fitting pin 83 and the second fitting pin 97 are disengaged from the first fitting hole 69a and the second fitting hole 69b. However, since the fixing holes 71a and the fixing auxiliary holes 7c extend in the horizontal direction, the protruding claws 65a and the fixing auxiliary claws 63a are caught by the fixing holes 71a and the fixing auxiliary holes 7c, and the jig 6 is moved to the support frame 53. From falling off.

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

  First, the control panel 10 outputs an operation signal to the welding robot 3 to cut off the welding gun 3b from the tip of the arm 3a of the welding robot 3 and to change 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 section 60.

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

  Next, the connecting portion 67 of the fixing frame 64 of the jig 6 connected to the tip of the arm 3a of the welding robot 3 is made to correspond to the opening 72b of the engaging groove 72a, and the jig 6 is lowered. Then, the connecting portion 67 passes through the opening 72b.

  Thereafter, the welding robot 3 horizontally pushes the jig 6 so as to separate from the welding robot 3. Then, as shown in FIGS. 5 to 8, the protruding claws 65a are inserted into the fixing holes 71a, and the engaging claws 66a are engaged with the wide portions 72c of the engaging concave ridges 72a.

  When the welding robot 3 presses the jig 6 horizontally so as to separate from the welding robot 3, as shown in FIGS. 9 to 12, the fixing auxiliary claws 63a are fitted into the fixing auxiliary holes 7c. .

  The protruding claws 65a are fitted into the fixing holes 71a, the engaging claws 66a are engaged with the wide portions 72c of the engaging concave ridges 72a, and the respective fixing auxiliary claws 63a are inserted into the respective fixing auxiliary holes 7c. Then, both L-shaped frames 69 of the jig 6 contact two adjacent outer peripheral surfaces of the support frame 53. Then, the first fitting pin 83 corresponds to the first fitting hole 69a, the second fitting pin 97 corresponds to the second fitting hole 69b, and the first connector 69c corresponds to the first fitting hole 69a. 2 corresponds to the connector 98.

  Thereafter, the control panel 10 outputs an operation signal to the first fixed unit 8. Then, as shown in FIG. 13 to FIG. 16, the cylinder rod 82a and the coil spring 85 extend, and the first fitting pin 83 moves forward and fits into the first fitting hole 69a. At this time, the inside of the first fitting pin 83 and the connection pipe 69e communicate with each other, and the respective air introduction holes 83c of the first fitting pin 83 correspond to the second annular concave grooves 81b of the rectangular tube member 81. And the compressed air is supplied from the pipe 40a on the support frame 53 side to the pipe 68a of the jig 6 through the connection pipe 69e, the inside of the first fitting pin 83, each air introduction hole 83c, and the second annular groove 81b. Then, the jig 6 becomes operable.

  Further, the control panel 10 outputs an operation signal to the second fixed unit 9. Then, as shown in FIG. 17 and FIG. 18, the second fitting pin 97 moves forward by the sliding operation of the slide plate 93 accompanying the expansion and contraction operation of the piston rod 94a, and is fitted into the second fitting hole 69b. The second connector 98 is connected to the first connector 69c, and at the same time, the wiring 40b of the support frame 53 and the wiring 68b of the jig 6 are connected via the first connector 69c and the second connector 98, and each drive of the jig 6 is performed. The units are controlled by the control panel 10.

  Then, the tip of the arm 3a is cut off from the tool changer (not shown) of the tool changer mounting portion 60 of the jig 6, and the mounting operation of the jig 6 is completed.

  As described above, according to the embodiment of the present invention, the pipe 68 a and the wiring 68 b in the jig 6 are connected to each other by using the operation of fixing the jig 6 to the support frame 53 and the operation of releasing the jig 6 from the support frame 53. Since the connection operation and the disconnection operation between the pipe 40a and the wiring 40b in the support frame 53 are performed, the pipe 68a in the jig 6, the wiring 68b and the pipe 40a in the support frame 53 when the jig 6 is replaced. The wiring 40b is firmly connected to the jig 6, so that compressed air and power can be reliably supplied to the jig 6. Further, simultaneously with the fixing operation and the fixing releasing operation of the jig 6, the connecting operation and the releasing operation of the second annular concave groove 81b (the pipe 40a) and the connecting pipe 69e, and the first connector 69c and the second connector 98 are connected. Is performed, the time required for the replacement of the jig 6 is the connection operation and the disconnection operation between the second annular groove 81b and the connection pipe 69e, and the first connector 69c and the second connector. The time required for the replacement work of the jig 6 can be shortened without increasing by the connection operation and the disconnection operation with the 98.

  When connecting the second annular groove 81b and the connection pipe 69e, the fitting operation of the first fitting pin 83 into the first fitting hole 69a causes the second annular groove 81b to be connected to the connection pipe 69e. Since the position is determined accurately, the failure of the connection between the second annular groove 81b and the connection pipe 69e during the fixing operation of the jig 6 to the support frame 53 is eliminated, and the pipe 68a of the jig 6 and the support frame 53 are connected. Can be reliably connected to the pipe 40a.

  When connecting the first connector 69c and the second connector 98, the position of the second connector 98 with respect to the first connector 69c is accurately determined by the operation of fitting the second fitting pin 97 into the second fitting hole 69b. As a result, the failure of the connection between the first connector 69c and the second connector 98 during the fixing operation of the jig 6 to the support frame 53 is eliminated, and the wiring 68b of the jig 6 and the wiring 40b of the support frame 53 are securely connected. Can be connected to

  Further, since a portion connecting the pipe 68a and the pipe 40a is separated from a portion connecting the wiring 68b and the wiring 40b between the jig 6 and the support frame 53, the pipe 68a is connected to each of the jig 6 and the support frame 53. The arrangement of the pipe 40a, the wiring 68b, and the wiring 40b is facilitated. Therefore, maintenance of the jig 6 and the support frame 53 is facilitated, and maintenance and management of the work positioning device 2 can be facilitated.

  In addition, since the second fitting pin 97 protrudes from the second connector 98, the first connector 69c and the second connector 98 are not fitted after the second fitting pin 97 starts fitting into the second fitting hole 69b. Will be connected. Therefore, even when the first connector 69c and the second connector 98 have a structure like the present invention in which the first connector 69c and the second connector 98 are provided at positions close to the second fitting pin 97 and the second fitting hole 69b, the first connector 69c and the second connector 98 can be used. The position of the second connector 98 is accurately determined, and the connection of the first connector 69c and the second connector 98 during the fixing operation of the jig 6 to the support frame 53 can be surely succeeded.

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

  When the welding robot 3 and the worker H1 work, the second motor 55 may be rotated to tilt the jig 6 so that the welding robot 3 and the worker H1 can work easily.

  Further, a plurality of welding robots 3 may be installed in the work welding area X1.

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

  In the embodiment of the present invention, the works W1 and W2 are assembled by spot welding. However, the present invention is not limited to this, and may be performed by arc welding or laser welding, or may be performed by another joining method. .

  Further, 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 that the support frame 53 rotate.

  In the embodiment of the present invention, the first fitting hole 69a and the second fitting hole 69b are provided in the jig 6, and the first fitting pin 83 and the second fitting pin 97 are provided in the support frame 53. However, the present invention is not limited to this. In addition to providing the first fitting hole 69a and the second fitting hole 69b in the support frame 53, the first fitting pin 83 and the second fitting pin 97 are provided in the jig 6, The jig 6 may be fixed to the support frame 53. At this time, the second annular groove 81b is connected to the pipe 68a, and the connection pipe 69e is connected to the pipe 40a.

  In the embodiment of the present invention, the first connector 69c is provided on the jig 6 and the second connector 98 is provided on the support frame 53. However, the present invention is not limited to this, and the first connector 69c is provided on the support frame 53. At the same time, the second connector 98 may be provided on the jig 6 and connected to each other.

  In the present invention, a portion connected to the pipe 40a on the apparatus main body side is provided inside the first fitting pin 83, and a portion connected to the pipe 68a on the jig 6 side is provided on the inner surface of the first fitting hole 69a. However, the present invention is not limited to this. A portion connected to the pipe 40a on the apparatus main body side is provided at a position close to the first fitting pin 83, and a portion connected to the pipe 68a on the jig 6 is connected to the first. It is provided at a position close to the fitting hole 69a, and is connected to the part connected to the pipe 40a on the apparatus body side and the pipe 68a on the jig 6 side by the fixing operation between the first fitting pin 83 and the first fitting hole 69a. You may make it connect with a part.

  In the present invention, a portion connected to the pipe 40a on the device main body side is provided inside the first fitting pin 83, and a portion connected to the wiring 40b on the device main body side next to the second fitting pin 97 is provided. However, the present invention is not limited to this, and the first fitting pin 83 has a structure in which not only a portion connected to the pipe 40a on the device main body side but also a portion connected to the wiring 40b on the device main body side is provided. In order to correspond to the structure, a structure may be provided in which a portion connected to the piping 68a on the jig 6 and a portion connected to the wiring 68b on the jig 6 are provided on the inner surface of the first fitting hole 69a.

  INDUSTRIAL APPLICABILITY The present invention is suitable for, for example, a work positioning device that determines a position by gripping a work or the like obtained by press forming when performing welding.

2 Work positioning device 6 Jig 12 First fixing means 13 Second fixing means 53 Support frame (support)
69a 1st fitting hole 69b 2nd fitting hole 69c 1st connector (2nd connection part)
69e Connection pipe (second connection part)
81b 2nd annular concave groove (1st connection part)
83 1st fitting pin 97 2nd fitting pin 98 2nd connector (1st connection part)
W1, W2 Work

Claims (4)

A jig for positioning the work,
A support that supports the jig so that it can be attached and detached,
Fixing means for directly connecting and fixing the support and the jig to each other,
The fixing means is provided on one of the jig and the support, and has a first connection portion having at least one of a wiring connector and a pipe communication path provided on one of the jig and the support. A second connector having at least one of a wiring connector and a pipe communication path provided on the other of the jig and the support, and provided on the other of the jig and the support. By the fixing operation with the body , the first connection portion and the second connection portion are connected to fix the jig and the support member to each other, while the fixing release operation between the jig and the support member is performed. A work positioning device , wherein the first connection portion and the second connection portion are disconnected from each other to release the fixed state between the jig and the support . The work positioning device according to claim 1,
The fixing means is provided on one of the jig and the support, a fitting pin that can be advanced and retracted with respect to the other of the jig and the support, and provided on the other of the jig and the support, A fitting hole for fitting when the fitting pin is advanced,
The first connection portion is provided inside the fitting pin or at a position close to the fitting pin,
The work positioning device, wherein the second connection portion is provided inside the fitting hole or at a position close to the fitting hole. The work positioning device according to claim 2,
The fitting pin and the fitting hole are respectively provided in pairs in a predetermined direction,
The first connection portion is provided in a pair at a position corresponding to each of the fitting pins. One of the first connection portions has a communication path for a pipe provided on one of the jig and the support, and the first connection portion has And the other first connecting portion has a wiring connector provided on one of the jig and the support and is provided at a position close to the other fitting pin. And
The second connection portion is provided in a pair at a position corresponding to each of the fitting holes. One of the second connection portions has a communication path for a pipe provided on the other of the jig and the support, and the second connection portion has And the other second connection portion has a wiring connector provided on the other of the jig and the support and is provided at a position close to the other fitting hole. A work positioning device, comprising: The work positioning device according to claim 3,
The work positioning device according to claim 1, wherein the other fitting pin has a tip end protruding from the other first connecting portion.

Images