JPH05337653A - Moving device for work machine - Google Patents

Abstract

PURPOSE:To miniaturize the work machine by using in common parts of a work machine moving mechanism by constituting the mechanism so that by an ascending/descending block being movable vertically, a machine supporting block can be subjected to reciprocating rotation at a prescribed angle in the horizontal direction, and a ball spline can turn the machine supporting block in the shaft rotating direction. CONSTITUTION:When a work machine 2 completes a work to a work 10, a third cylinder 9 allows an ascending/descending block 4 to descend to the lower limit. The work machine 2 separates from the work 10. A second cylinder 8 rotates a ball spline by a prescribed angle in the left direction. By this rotation, a machine supporting block 3 and the whole unit supported thereby are rotated and oscillated, and the work machine 2 is saved to a prescribed position separated enough from the work 10. Another work machine 11 moves to a work position in which the work 10 exists and executes a work. The work machine 2 can be miniaturized because a guide shaft for moving forward and backward and a rotation driving shaft are used in common by one piece of ball spline.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving device for moving a working machine such as a welding gun of a welding robot for the purpose of retracting it from a predetermined working position.

[0002]

2. Description of the Related Art A plurality of types of welding guns for welding robots for spot welding a work such as an automobile body are prepared in correspondence with a plurality of welding points of the work and used in a predetermined order.

For example, there are cases in which a plurality of locations on a workpiece are spot-welded in sequence with one welding gun and then another location on the workpiece is spot-welded with another welding gun. In such a case, it is necessary to retract the previously used welding gun from the work to a position where it does not interfere with the work of the next welding gun to be used. The welding gun that needs to be retracted is attached to a moving device that moves up and down and back and forth with respect to the work in the fixed work position, or that rotates and rocks as needed.

The above-mentioned moving device lowers the supported welding gun from the work at the fixed work position and retracts it laterally from the lowered position to largely retract the welding gun from the work.

[0005]

By the way, a moving device that shifts a plurality of spots of a work in a fixed work position and sequentially spot-welds them from the work before the work of another welding gun has a mechanism. However, it was complicated and large, and there was a problem that it was difficult to install in a narrow space.

That is, such a moving device has a structure in which a mechanism for moving the welding gun up and down, a mechanism for moving the welding gun back and forth or rotating, and a mechanism for shifting the welding gun with respect to the work are combined. .. Since the plurality of mechanisms of these moving devices are independent ones each including a drive source such as a cylinder and a guide means for movement,
The entire mobile device is complicated and inevitably increases in size.

An object of the present invention is to simplify and miniaturize the entire structure by sharing parts of a mechanism for supporting a work machine such as a welding gun and shifting it back and forth, a mechanism for vertically moving it, and a mechanism for rotating it. To provide a mobile device.

[0008]

SUMMARY OF THE INVENTION According to the present invention, a work machine for automatically performing a specific work is moved back and forth in the work direction, moved up and down, and horizontally rotated. The above object is achieved by providing a moving device including:

That is, a machine support block for mounting and supporting a work machine, an elevating block for supporting the machine supporting block so as to be capable of reciprocating rotation at a predetermined angle in the lateral direction, and a fixed device main body for supporting the elevating block so as to be movable up and down. And a guide shaft function that is pivotally supported by the lifting block and guides the forward and backward movement of the machine support block, and a rotation drive shaft that integrally rotates the machine support block in the axial direction by rotating the machine support block. With a ball spline with a function,

A first front-rear driving cylinder supported by the machine support block via a ball spline to reciprocate the machine support block in a front-back direction orthogonal to the rotation direction thereof.

A second rotary drive which is supported by the elevating block and rotates the ball spline back and forth at a constant angle.
A cylinder and a third vertical drive cylinder that is supported by the apparatus body and vertically moves the lifting block by a constant stroke.

[0012]

Operation: A guide shaft for forward and backward movement of the machine support block when the work machine and the machine support block are moved back and forth by the first cylinder, and a rotational drive when the work machine and the machine support block are rotationally rocked by the second cylinder. One ball spline doubles as the shaft, and this doubles the work machine longitudinal movement mechanism and the work machine rotation mechanism, thereby simplifying and downsizing.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment shown in the drawings will be described below.

The moving device (1) shown in FIGS. 1 and 2.
Supports a working machine for automatically performing a specific work, for example, a welding gun (2) of a welding robot, and swings it vertically and horizontally and horizontally. The movement of the welding gun (2) is performed for the purpose of withdrawing from the work (10) which is the member to be welded.

The work (10) is an automobile body or the like,
Positioned in a predetermined work position. The welding gun (2) sequentially shifts a plurality of welding points of the work (10) in a constant work position, for example, three points P1 to P3 lined up at regular intervals on a straight line of the work (10) as shown in FIG. Spot welding.

The moving device (1) has a function of moving the welding gun (2) back and forth in the direction of arrangement of the welding points P1 to P3 (horizontal direction in FIG. 2) of the work (10), and the welding gun (2). Equipped with a vertical rotation rocking function to retract from (10). The state when the welding gun (2) is retracted from the work (10) is shown in FIG.

After the welding gun (2) is retracted from the work (10), the welding gun (11) of another welding robot moves to the work (10). The leading welding gun (2) is set so that it does not interfere with the work of this trailing welding gun (11).
Save from 0).

The welding gun (2) includes a pair of open / close arms (13) and (14) for opening / closing and a pair of open / close arms (13).
A column (15) that supports the opening and closing fulcrum of (14) and a pressurizing cylinder (1 that drives the pair of opening and closing arms (13) and (14) to open and close.
Have 6). The moving device (1) supports the column (15) of the welding gun (2) and swings it back and forth, up and down, and rotationally.

The moving device (1) supports the machine support block (3) on which the welding gun (2) is mounted and supported, and the machine support block (3) so as to be capable of reciprocating rotation in the lateral direction (left and right direction in FIG. 1). It has a lifting block (4) and a device body (5) that supports the lifting block (4) so that it can move up and down. Further, the moving device (1) includes one ball spline (6) having a guide shaft function for moving the welding gun (2) back and forth and a rotary drive shaft function for swinging. Further, the moving device (1) has three first to third cylinders (7), (8) and (9) as driving sources for front, rear, up and down, and rotation.

The machine support block (3) is a welding gun (2).
Mounting seat (3a) for fixing the lower end of the column (15) of
A frame portion (3b) integral with the mounting seat portion (3a) is provided. A ball spline (6) penetrates the frame (3b) so as to be slidable in the axial direction, and both ends of the ball spline (6) are mounted on the front side of the vertical plate structure lifting block (4) with bearings (17) (18). It is rotatably supported. The machine support block (3) is rotatably and rotatably supported on the front surface of the lifting block (4) about a ball spline (6) as a pivot.

The elevating block (4) includes a vertical portion (4a) supported by the apparatus body (5) so as to be vertically movable, and a vertical portion (4a).
An extension portion (4b) integrally extending from one side to the front (rightward in FIG. 2), and a cylinder support portion (4c) integrally provided on the front lower surface of the tip of the extension portion (4b). Vertical part (4a)
Is connected to a linear guide member (19) fixed vertically to the device body (5). As shown in FIG. 3A, a ball spline (6) is held by a pair of bearings (17) and (18) parallel to the front surfaces of the vertical portion (4a) and the extension portion (4b).

The first cylinder (7) is fixed to the bracket (20) fixed to the rear end of the ball spline (6). The first cylinder (7) is a multistage indexing cylinder of a drive source that sequentially shifts the welding gun (2) to the three welding points P1 to P3 of the work (10), and the tip portion of its piston rod (7 '). Is the frame part (3b) of the machine support block (3)
Connected to. The first cylinder (7) is arranged parallel to the ball spline (6), and the piston rod (7 ') is projected and retracted so that the machine support block (3) is guided by the ball spline (6) to move back and forth. Welding gun (2)
Shifts the welding points P1 to P3 of the work (10) back and forth.

Cylinder support (4) of the lifting block (4)
The second cylinder (8) is mounted on c). The second cylinder (8) pivots the ball spline (6) at a predetermined angle, and causes the mechanical support block (3) to rotate and swing about the ball spline (6) as a spindle. By rotating the rotary lever (21) fixed orthogonally to the tip of the ball spline (6) by the piston rod (8 ') of the second cylinder (8), the ball spline (6) is moved to the second position. It is driven to rotate by a cylinder (8).

The third cylinder (9) for moving the lifting block (4) up and down is the linear guide member (19) of the apparatus body (5).
It is fixed vertically on the rear side. 3rd cylinder (9)
The tip portion of the piston rod (9 ') is connected to the vertical portion (4a) of the elevating block (4). The third cylinder (9) includes an elevating block (4) and first and second blocks supported by the elevating block (4).
The units of the second cylinder (7) (8), the machine support block (3), and the welding gun (2) are moved vertically with a constant stroke.

The ball spline (6) is shown, for example, in FIG.
The shaft has a substantially triangular cross section as shown in (b), and has a spline groove (22) in the axial direction at the apex of the outer periphery. The frame portion (3b) of the machine support block (3) is slidably fitted into the spline groove (22), and the longitudinal shift of the machine support block (3) is guided.

Next, the retracting operation of the welding gun (2) by the moving device (1) will be described.

In the state shown in FIGS. 1 and 2, the welding gun (2)
Spot welding of the work (10) is performed. That is, the welding gun (2) at the solid line position in FIGS. 1 and 2 is operated once to spot-weld the first welding point P1 of the work (10). Next, the first cylinder (7) is operated one step to shift the machine support block (3) one step forward with the ball spline (6) as a guide, and the welding gun (2) is used to move the workpiece (2) to Spot welding is performed on the second welding point P2. Further, the first cylinder (7) is operated in two steps to shift the machine support block (3) two steps forward with the ball spline (6) as a guide, and the welding gun (2) is used to shift the third position of the work (10) to the third position. Spot weld the welded portion P3.

When the welding of the work (10) by the welding gun (2) is completed, as shown in FIG. 4, the third cylinder (9)
Use to lower the lifting block (4) to the lower limit position. The welding gun (2) descends with the open / close arms (13) (14) fully open, and separates from the work (10).

Next, as shown in FIG. 5, the ball spline (6) is rotated by the second cylinder (8) to the left in FIG. 5 by a predetermined angle. This rotation causes the machine support block (3) and the entire unit supported by the machine to rotate and swing, and the welding gun (2) is retracted to a predetermined position sufficiently separated from the work (10). After the withdrawal of the welding gun (2) is confirmed, another welding gun (11) moves to a work position where the work (10) is located and welds the work (10).

The retracted welding gun (2) is returned to the original work-weldable position by the reverse operation of the moving device (1), and welding of another new work is started.

The present invention is not limited to the above embodiment, but is applicable to a working machine other than a welding gun, for example, a moving device for a working machine such as a clamp transfer machine that grips an article at a fixed position and moves it to another fixed position away from the welding gun. Is also applicable.

[0032]

According to the present invention, one ball spline serves as a guide shaft for moving the work machine such as a welding gun back and forth and a rotary drive shaft for rotating the work machine. Since it is also used, the work machine forward / backward movement mechanism and the work machine rotation mechanism are simplified, the installation space is small, and the installation space is small. Therefore, it is suitable for various movements of various types of work machines and highly versatile work. A machine moving device can be provided.

[Brief description of drawings]

FIG. 1 is a front view of a moving device showing an embodiment of the present invention.

FIG. 2 is a side view of the apparatus shown in FIG.

3 (a) is a plan view in which the working machine of the apparatus of FIG. 1 is omitted, and FIG. 3 (b) is an enlarged sectional view taken along line AA.

FIG. 4 is a front view of the working machine of FIG.

FIG. 5 is a front view of the working machine of FIG. 1 when the working machine is descending and rotating and rocking (during evacuation).

[Explanation of symbols]

 1 Moving device 2 Work machine 3 Machine support block 4 Lifting block 5 Device body 6 Ball spline 7 First cylinder for longitudinal drive 8 Second cylinder for rotational drive 9 Third cylinder for vertical drive

Claims (1)

[Claims] 1. A machine support block for mounting and supporting a work machine for automatically performing a specific work, a lift block for supporting the machine support block so as to be capable of reciprocating rotation at a predetermined angle in a lateral direction, and a lift block capable of moving up and down. A fixed device main body that is supported by the elevating block, a guide shaft function that is supported by the elevating block so as to be rotatable, and guides forward and backward movement of the machine supporting block, and
A ball spline having a rotary drive shaft function that integrally rotates the machine support block in the axial direction by rotating the shaft, and the machine support block is supported by the machine support block via the ball spline, and the machine support block is rotated in the rotation direction. A first cylinder for front-rear drive that reciprocates in a front-rear direction that is substantially orthogonal to the second cylinder, a second cylinder for rotation drive that is supported by the elevating block and reciprocally rotates the ball spline at a constant angle, and is supported by the device body. And a third cylinder for vertically driving the vertically moving block, which vertically moves the lifting block by a constant stroke.