JP7091851B2 - Fixing device - Google Patents

Description

The present invention relates to a fixing device, and more particularly to a fixing device for fixing an object to be processed in a predetermined position.

When processing an object such as cutting, it is necessary to maintain a state in which the object is placed at a predetermined position with respect to the processing device in order to perform accurate processing at a desired location. For example, Patent Document 1 discloses a cutting surface plate for arranging a material to be cut inside a water tank and cutting it. Here, a mounting portion for placing the material to be cut is provided inside the water tank, and this mounting portion is configured so that the material to be cut can be placed and supported on the upper portions of a plurality of insert plates. Has been done. An inclined surface is formed below the mounting portion, and the slag and scrap generated by cutting and dropped into the water tank slide down along the inclined surface provided below the mounting surface, and the inclined surface is formed. It is configured to be transported to the outside of the water tank by an infinite transport member provided in the lowermost casing.

Japanese Unexamined Patent Publication No. 2004-74195

As described in Patent Document 1, when the object is placed on the mounting portion and processing such as cutting is performed, it is desirable that the position of the object shifts on the mounting portion for some reason. It becomes difficult to accurately process the position of. In particular, when processing is performed on various parts of the object while applying motion such as rotation to the mounting portion, the position of the object is likely to be displaced.

Therefore, it is conceivable to fix the object on the mounting portion by using a fixing tool. In this case, if the fixture can be switched between the state in which the object is fixed and the state in which the fixation is released, and if such a fixator is fixed to the mounting portion, the object can be fixed. While exchanging, it becomes possible to continuously process a large number of objects in a state of being placed and fixed on the mounting portion. However, if the dimensions of the object change, the position on the object that is fixed by the fixative by gripping or the like may change, making it difficult to stably fix the object on the mounting portion. .. If the position where the fixture is installed on the mounting part and the dimensions of the fixture can be changed, it is possible to hold and fix the fixture at an appropriate position according to the dimensions of the object. In general, it is not easy to change the installation position and dimensions of the fixative.

An object to be solved by the present invention is to provide a fixing device capable of easily achieving stable fixing of an object even if the dimensions of the object may change.

In order to solve the above problems, the fixing device according to the present invention is fixed to a base, a rail member fixed to the base, a holding member capable of holding and fixing an object, and the holding member. , The slide member slidably engaged with the rail member, the fixed state fixed to the holding member and fixing the sliding position of the slide member on the rail member, and the sliding position fixed. The stopper member that can be switched between the non-released state and the stopper member, when the stopper member is in the released state, comes into contact with the holding member or a member fixed to the holding member and moves. It has a moving means capable of moving the holding member along the rail member.

Here, the holding member may have a grip portion that can be gripped by the moving means.

It is preferable that the moving means can carry the object between a position where the holding member can hold the object and a position away from the holding member.

The holding member has a pair of mounting surfaces and protrusions facing each other, and the pair of mounting surfaces are distances from each other in the direction in which the protrusions are arranged. It is preferable that the protrusions are arranged so as to be separated from each other, and the protrusions can move forward and backward in the direction facing the above-mentioned mounting surface.

The fixing device has a pair of holding members at positions separated from each other along a separation direction, and at least one of the pair of holding members has the slide member fixed to the rail member. It is preferable that the slide member can be moved along the separation direction by sliding the slide member with respect to the slide member.

The fixing device can hold the object by the holding member in a state where at least a part of the object is placed in the liquid, and the constituent members of the holding member penetrate into the inside or stay on the surface. It is preferable that a hole or a groove is provided so that the liquid can be discharged.

It is preferable that the base portion can move while the object is held by the holding member.

In the fixing device according to the above invention, a rail member is provided at the base, and a slide member slidable on the rail member is fixed to a holding member capable of holding and fixing the object. Therefore, by sliding the slide member with respect to the rail member, the position of the holding member can be changed along the rail member. Even if the dimensions of the object change, the stopper member is released, the holding member is moved to a position corresponding to the dimensions of each object, and then the stopper member is fixed to fix the position of the holding member. Then, the position to be held by the holding member on the object can be appropriately set, the object can be stably held, and the object can be fixed to the base. As described above, by using the rail member, the position of the holding member on the base can be reversibly changed, so that the object having various dimensions can be stably held and used for processing or the like. Further, by moving the holding member by the moving means, the holding member can be easily moved according to the size of the object.

Here, when the holding member has a grip portion that can be gripped by the moving means, the holding member is moved along the rail member while the moving means grips the grip portion, so that the holding member is moved along the rail member. The holding member can be stably and smoothly moved to both sides.

The moving means is used to move the holding member along the rail member if the object can be transported between a position held by the holding member and a position away from the holding member. It is possible to introduce the object to be processed or the like into the fixing device by the same motion means as above, and to discharge the object to be processed or the like from the fixing device. As a result, when a large number of objects are continuously processed, it is possible to efficiently perform an operation of fixing a large number of objects, including objects having different dimensions, while sequentially exchanging them.

The holding member has a pair of mounting surfaces and protrusions facing each other so that the pair of mounting surfaces are separated from each other in the direction in which the protrusions are arranged. When the protrusions are capable of advancing and retreating in the direction facing the mounting surface, a pair of objects having a cross section such as a substantially semicircular shape or a substantially U-shape are placed on the outer surface. By placing it on the mounting surface and pressing the protruding portion against the inner surface, the object can be stably held. Further, in such an object, the stability of holding the object can be maintained even if the dimensions of the cross section change.

The fixing device has a pair of holding members at positions separated from each other along the separation direction, and at least one of the pair of holding members is fixed to the slide member, and the slide member is slid with respect to the rail member. When it is possible to move along the separation direction by motion, the long object is stably fixed to the base by holding it at two points in the longitudinal direction by holding members. Can be done. Further, since at least one holding member can move along the separation direction, stable fixing can be maintained even when the dimension of the object in the longitudinal direction changes.

The fixing device can hold the object by the holding member with at least a part of the object placed in the liquid, and can discharge the liquid that has penetrated into the inside or stays on the surface of the constituent members of the holding member. When the hole or groove is provided, the liquid that has entered or stayed in the constituent member of the holding member is less likely to affect each operation of the holding member such as holding the object or moving along the rail member.

When the base is movable while the object is held by the holding member, the position and posture of the object are changed by the movement of the base while the object is stably fixed to the base by the holding member. It can be changed and processed.

It is a perspective view which shows the fixing device which concerns on one Embodiment of this invention. It is an enlarged view which shows the periphery of the holding unit of the said fixing device. It is a perspective view which shows the state which fixed the work with the said fixing device. It is an enlarged view which shows the periphery of the holding unit about the state which fixed the work. It is a perspective view which shows the state which the fixing device which fixed the work is rotated. It is a perspective view which shows the state which the holding unit is moved by a robot. It is a perspective view which shows the state which a work is carried by a robot.

Hereinafter, the fixing device according to the embodiment of the present invention will be described in detail with reference to the drawings. The fixing device according to one embodiment of the present invention fixes an object (work), and the work in a fixed state can be processed by cutting or the like.

[Example of object]
Before explaining the fixing device 1 according to the embodiment of the present invention, an example of an object (work) fixed by the fixing device 1 will be briefly described.

The work W to be fixed may be made of any shape and material, but as will be described in detail later, the fixing device 1 can stably fix the work W even if the dimensions of the work W change. Since it is a thing, it is preferable that it is a long work W whose length may change. Further, it is preferable that the work W has an outwardly convex arc shape such as a substantially semicircular shape or a substantially U-shape, and has an opening at a position facing the arc shape.

As a long work W having a portion having a substantially semicircular cross section, an axle housing main body material 90, which is a metal member constituting the axle housing, can be mentioned. The axle housing is assembled to the rear axle portion of a large vehicle such as a truck, and accommodates the axle, the differential gear, and the like. The main body portion of the axle housing is made of a pair of main body materials 90, 90 having substantially symmetrical shapes as shown in FIGS. 3, 5 and 7.

The pair of axle housing body members 90 each have a body portion 90a and a tubular portion 90b, 90b formed integrally. The body portion 90a is formed by bending a steel plate into a semi-cylindrical shape (substantially U-shaped in cross section) and bulging into a substantially semi-circular ring shape. The tubular portions 90b and 90b are integrally formed at both ends of the body portion 90a, and the steel plate is bent into a semi-cylindrical shape like the body portion 90a. The tubular portions 90b and 90b have a semi-cylindrical shape in the portion on the body portion 90a side, and have a semi-cylindrical shape in the portion near the end on the side opposite to the body portion 90a side. ..

The pair of axle housing main body materials 90 and 90 can be manufactured by bending a steel plate by press forming, respectively. Then, plasma cutting is performed on the end edges 92a and 92b of the two facing surface portions 91a and 91b formed by bending, and the surplus wall is cut. At the time of performing this plasma cutting, the axle housing main body material 90 can be fixed by using the fixing device 1 according to the embodiment of the present invention described below. As described above, the end portion of the axle housing body material 90 is formed into a semi-cylindrical shape, and the fixing device 1 holds the end portion having a substantially semi-circular cross section to fix the axle housing body material 90. ..

After plasma cutting, a pair of axle housing body materials 90, 90 are butted against each other at the new edge obtained by cutting, and the butted portions are welded to each other to fix each other. In this way, the main body portion of the axle housing having a substantially annular body portion and a tubular portion is manufactured. Further, the axle housing as a product can be completed by attaching accessories and the like.

[Fixing device configuration]
Next, the configuration of the fixing device 1 according to the embodiment of the present invention will be described with reference to FIGS. 1 and 2.

The fixing device 1 includes a rotating unit 10, a rail unit 20, a holding unit 30, and a robot (moving means) 40. In the fixing device 1, a pair of rail units 20 are provided on each of the two surfaces 11a and 11b of one rotating unit 10. Then, one holding unit 30 is attached corresponding to each rail unit 20. That is, a total of four holding units 30 are attached to each of the two surfaces 11a and 11b of the rotating unit 10, one pair each.

(1) Configuration of Rotating Unit, Rail Unit, and Holding Unit The rotating unit 10 includes a base 11. The base 11 is configured as a long prismatic member. Of the prismatic side surfaces, the two facing surfaces are the first holding surface 11a and the second holding surface 11b, respectively. Support shafts 12, 12 are coaxially fixed to both ends of the base 11 in the longitudinal direction. By supporting and rotating the support shafts 12 and 12 at both ends, the base portion 11 and each member described later attached to the base portion 11 can rotate around the shaft.

In the following, a description will be given using a direction axis defined as shown in FIG. 1 based on the direction of the rotation unit 10. That is, the direction along the axis of the rotating unit 10 is the longitudinal direction (x direction). The direction orthogonal to the longitudinal direction on the first holding surface 11a and the second holding surface 11b is defined as the width direction (y direction). Further, the direction in which the first holding surface 11a and the second holding surface 11b face each other is the vertical direction (z direction), and the direction in which the first holding surface 11a is arranged is upward (+ z direction), and the second holding surface 11b. The direction in which is arranged is downward (-z direction). When the rotation unit 10 is axially rotated, the y-direction and the z-direction rotate in space.

A pair of rail units 20 and 20 are fixed to the first holding surface 11a of the base 11. The pair of rail units 20, 20 are arranged apart from each other in the longitudinal direction of the base 11. Each rail unit 20 is attached to a rail base 21 fixed to the base 11, a pair of legs 22, 22 in the width direction erected and fixed to the rail base 21, and legs 22, 22, respectively. It has a pair of fixed rail members 23, 23. Each rail member 23 is formed as a thin columnar member, and is fixed to the leg portion 22 on one of the side surfaces of the column shape. The longitudinal direction of each rail member 23 is aligned with the longitudinal axis of the base 11, and the pair of rail members 23, 23 included in one rail unit 20 sandwiches a position corresponding to the center in the width direction of the base 11. It is symmetrically arranged at a position far from each other. The rail unit 20 further has a block-shaped stopper contact portion 24 along the longitudinal direction at a position at the center of the upper surface of the rail base 21 in the width direction.

The holding unit 30 has a holding member 31, slide members 36, 36, and a stopper member 37. The holding member 31 which is the main body of the holding unit 30 has a plate-shaped holding substrate 32. On the upper surface of the holding substrate 32, a mounting portion 33 and a holding portion 34 are provided, which are fixed to the holding substrate 32. The structure and operation of the mounting portion 33 and the pressing portion 34 will be described later, but they can cooperate to hold the work W. Further, a pair of rod-shaped grip portions 35, 35 are fixed to the holding substrate 32 so as to project outward from both side surfaces in the width direction.

A pair of slide members 36, 36 are fixed to the lower surface of the holding substrate 32. The pair of slide members 36, 36 are arranged at positions corresponding to the pair of rail members 23, 23 of the rail unit 20 so as to be separated from each other in the width direction. Each slide member 36 has a U-shaped cross section with an opening on the lower side (-z side), and by accommodating a portion of the rail member 23 in the longitudinal direction in the opening, the rail member 23 has an opening. Can be engaged against. Then, the slide member 36 can slide along the longitudinal direction (x direction) of the rail member 23 in a state of being engaged with the rail member 23. Constricted locking recesses 23a are provided on both side surfaces of the rail member 23 in the width direction along the longitudinal direction. Further, locking projections (reference numerals omitted) protruding inward in the width direction are provided at the tip portions on both sides of the U-shaped slide members 36, 36. By locking the locking projection of the slide member 36 to the locking recess 23a of the rail member 23, the slide member 36 remains in an inescapable state with respect to the rail member 23 in the longitudinal direction of the rail member 23. Can slide on.

A stopper member 37 is further fixed to the lower surface of the holding substrate 32. The stopper member 37 is provided with a stopper shaft 37a capable of advancing and retreating in a direction approaching the holding substrate 32, that is, in a vertical direction, and an air cylinder 37b for driving the advancing and retreating movement of the stopper shaft 37a. The length and position of the stopper shaft 37a are downward to the stopper contact portion 24 on the rail base 21 in a state where the slide members 36, 36 fixed to the holding substrate 32 are engaged with the rail members 23, 23. It is set so that the end faces of the stopper shaft 37a advanced to come into contact with each other. In the stopper member 37, the stopper shaft 37a is advanced and brought into contact with the stopper contact portion 24 to fix the sliding positions of the slide members 36 and 36, and the stopper shaft 37a is retracted so that the slide member 36 is retracted. , 36 can be switched between the released state in which the sliding position is not fixed by the air cylinder 37b.

In the holding unit 30 in which the slide members 36, 36 and the stopper member 37 are fixed to the holding member 31, the slide members 36, 36 are engaged with the rail members 23, 23 fixed to the base 11. By doing so, it can be attached to the base 11. An independent holding unit 30 is attached to each of the pair of rail units 20 and 20.

By sliding the slide members 36, 36 with respect to the rail members 23, 23 in a released state in which the stopper member 37 is retracted to a position where the stopper shaft 37a does not come into contact with the stopper contact portion 24, each holding unit 30 Can be moved along the longitudinal direction of the base 11 independently of the other holding unit 30. At an arbitrary sliding position, the stopper shaft 37a is advanced and pressed against the stopper contact portion 24 of the rail unit 20 to fix the stopper member 37, thereby positioning the holding unit 30 with respect to the rotating unit 10. Can be fixed.

Similar to the first holding surface 11a, a pair of rail units 20 and 20 are fixed to the second holding surface 11b of the base portion 11, and an independent holding unit 30 is attached to each rail unit 20. One rail unit 20 provided on the first holding surface 11a and one rail unit 20 provided on the second holding surface 11b share the rail base 21, and are vertically opposite to the common rail base 21. The rail members 23 and 23 are fixed to the legs 22 and 22 which are erected on the rails 22 and 22, respectively. That is, the rail members 23, 23 are arranged vertically and mirrorly symmetrically on the first holding surface 11a side and the second holding surface 11b side with the longitudinal axis of the base portion 11 interposed therebetween.

As shown in FIG. 6, the rotating unit 10 having a pair of holding units 30 and 30 attached to the first holding surface 11a and the second holding surface 11b of the base 11 is installed in the water tank 80. The entire longitudinal direction of the base 11 is arranged inside the water tank 80, and each of the pair of support shafts 12 and 12 protrudes to the outside of the side wall surface 81 of the water tank 80 in a state where watertightness is ensured by using a sealing material as appropriate. The rotating unit 10 is held in a state of being passed between the facing side wall surfaces 81 of the water tank 80. A servomotor 85 is coupled to the end of one support shaft 12 on the outside of the water tank 80, and the rotary unit 10 can be rotated by the servomotor 85. At this time, as shown in FIG. 5, the holding units 30 and 30 attached to the holding surfaces 11a and 11b, and the work W held by the holding units 30 and 30 as described later, are also together with the rotating unit 10. It rotates and changes its posture around the longitudinal axis of the rotation unit 10. When a liquid such as water is stored in the water tank 80, the rotating unit 10, each holding unit 30, and at least a part of the work W held by the holding unit 30 are arranged in the liquid. ..

(2) Details of Configuration of Holding Member As described above, the holding member 31 constituting the holding unit 30 has a mounting portion 33 and a holding portion 34 on the upper surface of the holding substrate 32. The work W whose cross-sectional shape is substantially semi-circular, substantially U-shaped, or the like and has an outwardly convex arc-shaped portion and an opening is provided with the mounting surfaces 33a and 33a of the mounting portion 33 and the holding portion. It can be sandwiched and held between the protrusions 34c of 34. Hereinafter, the configurations of the mounting portion 33 and the holding portion 34 will be described. As shown in FIGS. 2 and 4, the positions and directions of the respective members will be described based on the case of the holding member 31 attached to the first holding surface 11a.

The mounting portion 33 is configured as a block-shaped member erected on the upper surface of the holding substrate 32, and a pair of mounting surfaces 33a and 33a are formed as the upper end surfaces thereof. The pair of mounting surfaces 33a, 33a are separated from each other in the width direction (y direction) from the lower side to the upper side, and have a substantially V-shaped arrangement that opens in the width direction toward the upper side. A retracting portion 33b, which is cut out downward, is formed between the pair of mounting surfaces 33a and 33a.

The pressing portion 34 has an air cylinder 34a and a pressing plate 34b, and is arranged at a position outside the longitudinal direction (x direction) with respect to the mounting portion 33. The air cylinder 34a is erected on the holding substrate 32 at the lower end, and the holding plate 34b is attached to the upper end.

The holding plate 34b is a plate-shaped member arranged parallel to the surface of the holding substrate 32, and is located inside in the longitudinal direction (x direction) at the center in the width direction, that is, toward the direction in which the mounting portion 33 is arranged. It has a protruding portion 34c integrally. The holding plate 34b provided with the protruding portion 34c can move forward and backward in the vertical direction by the expansion / contraction drive of the air cylinder 34a. In the retracted state in which the pressing plate 34b is retracted to the upper end, the protruding portion 34c is arranged above the mounting surfaces 33a and 33a of the mounting portion 33, and the protruding portions 34c are arranged on the mounting surfaces 33a and 33a. At the bottom of the V-shape, they are in a state of facing each other. The separation distance between the protrusion 34c and the mounting surfaces 33a and 33a is set so that the end portion of the work W can be accommodated in between. From this state, when the holding plate 34b is advanced downward, the protrusion 34c creates a space between the pair of mounting surfaces 33a, 33a (two mounting surfaces 33a, 33a and the mounting surface 33a, Enter the space surrounded by the surface passing through the upper end of 33a). Then, the protruding portion 34c is housed in the retracting portion 33b between the two mounting surfaces 33a and 33a at the position advanced downward. The protruding portion 34c has a locking portion 34d cut upward at the base end portion protruding from the edge of the holding plate 34b. The size and shape of the notch in the locking portion 34d are set so that they can be locked to the edge of the plate material constituting the work W.

As shown in FIG. 4, the end portion of the work W having a substantially semicircular cross section (the end portion of the tubular portion 90b of the axle housing main body 90) is placed on the outer wall surface (the surface corresponding to the outer peripheral side of the convex shape of the cross section). Therefore, it can be mounted on the mounting surfaces 33a and 33a of the mounting portion 33. Then, by pressing the protruding portion 34c of the pressing portion 34 against the inner wall surface of the work W (the surface corresponding to the inner peripheral side of the convex shape of the cross section), the work is formed between the mounting surfaces 33a and 33a and the protruding portion 34c. The end portion of W can be sandwiched and held. By continuing to apply a pressing force from the pressing portion 34 toward the mounting surfaces 33a and 33a to the plate material constituting the work W by the air cylinder 34a, the end portion of the work W is firmly held. The work W can be stably fixed to the base 11. Further, by rotating the base 11, even if the posture of the work W changes, the work W can be maintained in a stable and fixed state.

Although not shown, holes for discharging liquid are provided in each part of the holding part 34 including the mounting part 33 and the holding plate 34b. As described above, the holding unit 30 may be arranged in the liquid stored in the water tank 80, and the holes thereof allow the liquid that has entered the inside of each part of the mounting portion 33 and the holding portion 34. Can be discharged.

(3) Robot Configuration The robot 40 has six drive shafts, and the motion of each drive shaft is driven by a servomotor (not shown). As a result, the robot 40 can move the tip of the articulated arm to the coordinates specified in the space.

As shown in FIGS. 6 and 7, the robot 40 has a pair of robot hands 41 and 41 at the tip of the articulated arm. Each robot hand 41 has two plate-shaped members, a fixed plate 41a and a movable plate 41b, with their surfaces aligned in parallel. The movable plate 41b is coupled to the cylinder 41c, and is driven by the cylinder 41c to move forward and backward in the approaching direction and the separating direction with respect to the fixed plate 41a. The movable range of the movable plate 41b is fixed at a position where the grip portion 35 of the holding unit 30 can be sandwiched and gripped between the fixed plate 41a and the inner side surface of the movable plate 41b as shown in FIG. The outer surfaces of the plate 41a and the movable plate 41b are set so as to include both positions where the work W can be held by pressing the outer surfaces of the work W against the opposite portions on the inner surface of the work W having a substantially semicircular cross section. In the pair of robot hands 41 and 41, the position of each movable plate 41b can be changed independently of the other. The distance between the robot hands 41 and 41 can also be changed.

As shown in FIG. 6, the holding unit is driven by driving the movement of the robot 40 in a state where the grip portion 35 of the holding unit 30 is sandwiched and gripped between the fixed plate 41a and the movable plate 41b of one of the robot hands 41. 30 can be moved. That is, by leaving the stopper member 37 of the holding unit 30 in the released state and moving the robot hand 41 holding the grip portion 35 along the longitudinal direction (x direction) of the rotating unit 10, the rail members 23 and 23 are moved. The slide members 36, 36 can be slid along the slide members 36, and the holding unit 30 can be moved.

Further, as shown in FIG. 7, the robot 40 is in a state where the outer surfaces of the fixed plates 41a and the movable plates 41b of the pair of robot hands 41 and 41 are pressed against the inner surface of the work W having a substantially semicircular cross section. By driving the motion of the work W, the work W can be lifted and transported three-dimensionally in the space. The movable range of the robot 40 is a position where the work W can be held by the holding unit 30 as shown in FIG. It is set so that it can be transported between.

[Fixing the work with a fixing device and processing the fixed work]
Here, as the work W, a method of fixing the axle housing main body material 90 as described above by the fixing device 1 according to the present embodiment, and a method of processing the fixed work W will be described.

As shown in FIGS. 3 and 4, in the fixing device 1, a pair of holding units 30 and 30 are attached to the first holding surface 11a of the base 11 at intervals in the longitudinal direction, and each holding unit 30 is attached. At, 30, the end portion of the work W can be held and the work W can be fixed to the base 11. Similarly, the pair of holding units 30 and 30 attached to the second holding surface 11b can hold the end portion of the work W and fix the work W to the base 11. As described above, the axle housing main body material 90 constitutes one axle housing in a pair, but in the present fixing device 1, one pair of holding units is provided for each of the first holding surface 11a and the second holding surface 11b. By providing 30, 30, a pair of axle housing main body materials 90, 90 can be simultaneously held in a mirror-symmetrical arrangement. Further, by rotating the rotation unit 10 around the axis, the pair of axle housing main body materials 90 and 90 can be rotated at the same time.

Prior to holding the work W by the holding units 30 and 30, the distance between the pair of holding units 30 and 30 is adjusted. The length (dimensions in the longitudinal direction) of the axle housing body material 90 may change depending on the vehicle type to be mounted, but even if the length changes, both ends in the longitudinal direction are securely held by the holding units 30 and 30, respectively. It is necessary to arrange the holding units 30 and 30 at positions corresponding to the length of the work W so as to be possible. At this time, the stopper member 37 of at least one holding unit 30 is in a released state in which the stopper shaft 37a is separated from the stopper contact portion 24. Then, the holding unit 30 is moved along the rail members 23, 23 by sliding the slide members 36, 36 with respect to the rail members 23, 23. At this time, a pair of holdings is provided so that one end of the work W can be placed on the mounting surfaces 33a and 33a of one holding unit 30 and the other end can be placed on the mounting surfaces 33a and 33a of the other holding unit 30. Set the distance between units 30 and 30.

The movement of the holding unit 30 along the rail members 23, 23 can be performed by the robot 40 as shown in FIG. One grip portion 35 of the holding unit 30 is sandwiched and gripped between the fixed plate 41a and the movable plate 41b of one of the pair of robot hands 41 and 41 provided at the tip of the articulated arm, and the robot 40 is gripped. Can be moved back and forth along the rail members 23, 23 by moving the holding unit 30 along the longitudinal direction of the rotating unit 10. With the holding unit 30 arranged at a predetermined position according to the length of the work W, the stopper shaft 37a of the stopper member 37 is advanced and pressed against the stopper contact portion 24 to fix the rail member. The position of the holding unit 30 on 23 and 23 is fixed.

In this way, when the positioning of the holding units 30 and 30 is completed, the work W is introduced into a position that can be held by the pair of holding units 30 and 30. At this time, the rotation position of the rotation unit 10 is arranged so that the first holding surface 11a and the second holding surface 11b face upward and downward in the vertical direction, respectively. Then, one work W is transported from the processing device, the accumulation place, etc. in the previous stage, and the longitudinal end portion of the work W is attached to each of the pair of holding units 30 and 30 provided on the first holding surface 11a. It is mounted on the mounting surfaces 33a and 33a of the mounting portion 33. As shown in FIG. 7, the work W can be transported by the robot 40. A pair of robot hands 41 and 41 are arranged near the ends of the work W, respectively, and the outer surfaces of the fixed plate 41a and the movable plate 41b are pressed against the facing inner wall surfaces. In this state, the work W can be lifted and carried by moving the robot 40 three-dimensionally in the space.

Prior to mounting the work W on the mounting surfaces 33a and 33a, the holding plate 34b of the holding portion 34 is retracted upward to a position where the protruding portion 34c does not interfere with the mounting of the work W. In this state, the robot 40 mounts the end portion of the work W on the mounting surfaces 33a and 33a of the mounting portion 33 on the outer wall surface.

When the end portion of the work W is placed on the mounting surfaces 33a and 33a, the air cylinder 34a of the holding portion 34 is compressed, and the protruding portion 34c is pressed against the bottom of the inner wall surface of the work W as shown in FIG. Then, the end portion of the work W can be held in a state of being sandwiched between the pair of mounting surfaces 33a, 33a and the protruding portion 34c from the outside in the longitudinal direction. The locking portion 34d of the protruding portion 34c is locked to the end edge of the work W. By holding both ends of the work W with a pair of holding units 30 and 30 in this way, the entire work W can be positioned and stably fixed with respect to the first holding surface 11a of the base 11. ..

As described above, when the fixing of one work W to the first holding surface 11a is completed, the rotating unit 10 is rotated by 180 °, so that the second holding surface 11b faces upward in the vertical direction. Then, in the same manner as described above, another transported work W is positioned and fixed with respect to the second holding surface 11b. Then, as shown in FIG. 3, a pair of works W and W are fixed to the first holding surface 11a and the second holding surface 11b. Water is stored in the water tank 80.

Next, the rotating unit 10 to which the two workpieces W and W are fixed is rotated by 90 °, and as shown in FIG. 5, one of the pair of facing surface portions 91a and 91b of each workpiece W is vertically upward. Make it face. In this state, plasma cutting is performed as processing for the work W. In plasma cutting, a plasma arc is emitted from a plasma torch, and the heat of the plasma arc cuts an end edge 92a of a surface portion 91a facing upward in the longitudinal direction. The plasma torch is attached to a robot (not shown) different from the robot 40 provided with the robot hands 41 and 41 for moving the holding unit 30 and transporting the work W, and is attached along the edge 92a of the surface portion 91a of the work W. Then, by being moved by the robot, cutting along the edge 92a is performed. Using two robots, each equipped with a plasma torch, it is possible to cut the edge 92a at the same time for two workpieces W and W fixed side by side with the rotating unit 10 interposed therebetween. By performing plasma cutting in the water tank 80 in which water is stored, a smooth and high-quality cut surface can be obtained. In addition, it is possible to prevent the molten metal from adhering to an unintended portion during cutting. The cut pieces separated from the work W by cutting settle in water. A conveyor device (not shown) is provided at the bottom of the water tank 80, and the cut pieces that reach the bottom of the water tank 80 are carried out of the water tank 80 by the conveyor device.

When the cutting of the end edge 92a of one surface portion 91a is completed for the two workpieces W, W, the rotation unit 10 is rotated by 180 °, and the other surface portion 91b, which has not been cut yet, is directed upward in the vertical direction. .. Then, the end edge 92b is cut by plasma cutting with respect to the surface portion 91b in the same manner as described above.

In this way, when the cutting of the end edges 92a and 92b of the two surface portions 91a and 91b facing each other with respect to the two works W and W is completed, the rotation unit 10 is axially rotated and again as shown in FIG. It is assumed that the work W fixed to the first holding surface 11a is arranged upward in the vertical direction. At the time of this rotation, the water that has entered the inside of the mounting portion 33 and the holding portion 34 is discharged from the liquid discharging holes formed in the mounting portion 33 and the holding portion 34. After the rotation, in the holding units 30 and 30 attached to the first holding surface 11a, the air cylinder 34a of the holding portion 34 is extended to release the pressing on the work W by the protruding portion 34c. As a result, the work W is released from being fixed by the holding units 30 and 30. Then, as shown in FIG. 7, the work W is lifted by the robot 40 and transported to the processing device or the accumulation place in the next process. Further, the rotation unit 10 is rotated by 180 °, and the other work W fixed to the second holding surface 11b is also released from being fixed and transported.

By repeating the above steps, it is possible to perform processing by plasma cutting while exchanging a large number of work Ws one by one and fixing them with the fixing device 1. As a result, the edge edges 92a and 92b can be continuously cut for a large number of workpieces W. If the length of the work W is changed on the way, the position of at least one holding unit 30 may be changed so that both ends of the work W can be held before fixing the work W. ..

[Working dimension change and fixing stability]
In the fixing device 1 according to the present embodiment, the holding unit 30 provided with the holding member 31 for holding the work W can move on the base 11 by sliding the slide members 36, 36 with respect to the rail members 23, 23. This makes it possible to stably hold the work W at both ends even if the length of the work W changes. The holding member 31 in the present embodiment holds the work W by holding the end of the work W from the outside in the longitudinal direction by the protruding portion 34c provided on the holding plate 34b located outside the end of the work W. Since it is a mechanism, the work W cannot be held in the middle of the longitudinal direction. As described above, when the holding member 31 can hold the work W only at a specific part, and even if the work W can be held at a plurality of parts, it is stably held due to the shape of the work W and the like. When the part that can be formed is limited, the work W can be held and fixed at a position where stable holding is possible by moving the holding member 31 according to the change in the dimensions of the work W.

By stably fixing the work W to the base 11, it is possible to improve the stability and position accuracy of the processing when processing the work W such as plasma cutting. In particular, when the work W is moved while being held by the holding member 31, such as when the rotation unit 10 is rotated, the work W is stably moved in order to prevent the work W from being displaced during or after the movement. It is important to hold and fix. In the fixing device 1 according to the present embodiment, after cutting the end edge 92a of one surface portion 91a of the work W, the rotation unit 10 is axially rotated to rotate the end edge 92b of the other surface portion 91b located on the back side. Although cutting is performed, the work W is stably held by the holding member 31 and fixed to the rotating unit 10, so that the work W is still attached to the base 11 even after the axial rotation of the rotating unit 10. It is difficult for misalignment to occur, and it is easy to cut the end edges 92a and 92b of the surface portions 91a and 91b on both sides under the same conditions.

In the present embodiment, a pair of holding members 31 and 31 are provided on the holding surfaces 11a and 11b of the base 11 so as to be separated from each other in the longitudinal direction of the base 11, and each of them can move along the longitudinal direction. However, the separation direction and the movement direction of the pair of holding members 31, 31 may be appropriately set according to the shape of the base 11, the holding members 31, 31, and the work W. Further, if at least one holding member 31 can be moved with respect to the base portion 11, it is possible to cope with a change in the dimensions of the work W. However, by making the pair of holding members 31, 31 movable together as in the present embodiment, the holding position on the work W can be adjusted without changing the position of the center of the work W. .. In addition, the range of work W lengths that can be handled is also widened. The number of holding members 31 used to hold each work W is not particularly limited, and may be one or three or more depending on the shape and size of the work W.

In the holding device according to the present embodiment, the holding member 31 is moved by the robot 40 in order to correspond to the change in the length of the work W. As a result, even when the length of the work W is changed frequently, the labor of the operator is reduced as compared with the form in which the holding member 31 is manually moved, and the work W can be fixed and the subsequent processing can be performed. , Can be carried out easily and efficiently. By moving the moving means such as the robot 40 in contact with the holding member 31 (or another member fixed to the holding member 31), the slide members 36, 36 on the rail members 23, 23 can be moved. As long as it can drive the movement of the holding member 31 by sliding, the type and tip shape of the moving means and the form of contact with the holding member 31 are not particularly limited. However, as in the present embodiment, the holding member 31 is provided with a rod-shaped grip portion 35 so that the holding member 31 can be gripped and moved by the robot 40, so that the holding member 31 is stable in both directions in the longitudinal direction. Then, the holding member 31 can be smoothly moved. Even if the amount of movement of the holding member 31 by the robot 40 is individually set by the operator according to the length of the holding member 31, for example, the robot 40 can obtain information on the length of the work W transferred from the previous step. It may be set automatically by inputting it to the control unit of.

Further, in the present embodiment, the common robot 40 is used for both the movement of the holding member 31 and the transportation of the work W. In this way, by using the robot 40 for moving the holding member 31 together with other operations, the configuration of the fixing device 1 and the related peripheral devices can be simplified.

The specific configuration of the holding member 31 may be determined so that a predetermined portion of the work W can be stably held according to the specific shape of the work W. The holding member 31 in which the work W is sandwiched between the mounting surfaces 33a and 33a of the mounting portion 33 and the protruding portion 34c of the holding portion 34 described above holds the end portion of the work W having a substantially semicircular cross section. However, it is suitable. Since the mounting surfaces 33a and 33a have a substantially V-shape, the substantially semicircular outer wall surface of the work W is symmetrical with respect to the central position in the width direction. Contact. Further, by bringing the protruding portion 34c into contact with the position at the center of the inner wall surface of the work W in the width direction, the work W can be stably supported at three places. Then, by maintaining the state in which the work W is pressed toward the mounting surfaces 33a and 33a by the protruding portion 34c, the work W can be stably held even after the work W is moved by the rotation of the rotation unit 10. Can be done.

Further, even when the dimensions of the cross section of the substantially semicircular or substantially U-shaped work W (radius of curvature and spacing between facing wall surfaces) change, the holding member provided with the mounting portion 33 and the holding portion 34 as described above. If 31 is used, the work W can be stably held. Since the mounting portion 33 has a pair of mounting surfaces 33a and 33a arranged in a substantially V shape, the mounting surface 33a that comes into contact with the outer wall surface of the work W even if the dimensions of the cross section of the work W change. , 33a Only by changing the position, it is possible to maintain the state of contact with the mounting surfaces 33a and 33a at two symmetrical locations with the central position in the width direction in between. Then, the protruding portion 34c can be brought into contact with the position of the central portion of the inner wall surface of the work W. In this way, even if the dimensions of the cross section of the work W change, the state of supporting the work W can be maintained at three places. Further, even if the plate thickness of the work W changes, only the vertical position of the holding plate 34b changes, and the work W is pressed toward the mounting surfaces 33a and 33a by the protruding portion 34c to form a sandwiched state. can. In this way, by using the holding member 31 having the mounting portion 33 and the holding portion 34, the work W having a substantially semicircular or substantially U-shaped cross section at the end, such as the axle housing main body material 90, can be used. Therefore, it can be stably held and fixed not only when the length of the work W but also when the dimensions of the cross section and the plate thickness change. The length, cross-sectional dimension, and plate thickness of the axle housing main body material 90 may be changed depending on the type of vehicle to be mounted.

In the present embodiment, holes for discharging liquid are formed in the mounting portion 33 and the holding portion 34 constituting the holding member 31, and the holding member 31 is placed in the water in the water tank 80 to which the rotating unit 10 is attached. Even when contacted or immersed, water is less likely to stay inside the constituent members of the mounting portion 33 and the pressing portion 34. As a result, it is possible to prevent the stagnant water from affecting the functions of the holding member 31, such as holding the work W and moving along the rail members 23, 23. Instead of a hole capable of discharging the liquid that has entered the inside of the component, or in addition to the hole capable of discharging the liquid, if a groove capable of discharging the liquid accumulated on the surface of the component is provided, water staying on the surface of the component can be discharged. The effect can also be suppressed. The holes and grooves for discharging the liquid can be provided not only in the mounting portion 33 and the holding portion 34, but also in other portions of the holding unit 30, the rotating unit 10 and the rail unit 20.

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above embodiments, and various modifications can be made without departing from the gist of the present invention.

1 Fixing device 10 Rotating unit 11 Base 11a First holding surface 11b Second holding surface 12 Support shaft 20 Rail unit 21 Rail base 22 Leg 23 Rail member 24 Stopper contact part 30 Holding unit 31 Holding member 32 Holding board 33 Placement 33a Mounting surface 34 Holding part 34a Air cylinder 34b Holding plate 34c Protruding part 34d Locking part 35 Grip part 36 Slide member 37 Stopper member 37a Stopper shaft 40 Robot (movement means)
41 Robot hand 41a Fixed plate 41b Movable plate 41c Cylinder 80 Water tank 81 Side wall surface 90 Axle housing body material 91a, 91b Surface parts 92a, 92c (of the surface part) Edge W work

Claims (6)

At the base,
The rail member fixed to the base and
A holding member that can hold and fix an object,
A slide member fixed to the holding member and slidably engaged with the rail member,
A stopper member that is fixed to the holding member and can be switched between a fixed state in which the sliding position of the slide member on the rail member is fixed and a release state in which the sliding position is not fixed.
When the stopper member is in the released state, the holding member can be moved along the rail member by contacting and moving with the holding member or a member fixed to the holding member. With exercise means ,
The moving means is a fixing device characterized in that the object can be transported between a position where the object can be held by the holding member and a position away from the holding member . The fixing device according to claim 1, wherein the holding member has a grip portion that can be gripped by the moving means. The holding member has a pair of mounting surfaces and protrusions facing each other.
The pair of mounting surfaces are arranged so that they are separated from each other in the direction in which the protrusions are arranged.
The fixing device according to claim 1 or 2 , wherein the protruding portion can move forward and backward in a direction facing the above-mentioned mounting surface. The fixing device has a pair of the holding members at positions separated from each other along the separation direction.
A claim, wherein at least one of the pair of holding members has the slide member fixed to the rail member and can move along the separation direction by sliding the slide member with respect to the rail member. The fixing device according to any one of 1 to 3 . The fixing device can hold the object by the holding member in a state where at least a part of the object is placed in the liquid.
The fixing according to any one of claims 1 to 4 , wherein the constituent member of the holding member is provided with a hole or a groove capable of discharging the liquid that has entered or stayed on the surface. Device. The fixing device according to any one of claims 1 to 5 , wherein the base portion can move while the object is held by the holding member.

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