JPH054949Y2 - - Google Patents

Description

[Detailed description of the invention] [Industrial application field] The present invention is capable of controlling multiple guns of any type, such as spot welding guns, rivet guns, screw mounting guns, and painting guns, at their respective operating positions. The present invention relates to a positioning device.

[Conventional technology]

A conventional positioning device for multiple guns will be described below, taking a spot welding gun as an example. When performing multiple spot welds on the same plane, positioning the spot welding gun to the welding point (operating position) is done by moving the slide mechanism vertically and
Positioning was performed by combining two horizontal axes and controlling each slide axis individually (for example,
58-107283, Japanese Patent Application Laid-Open No. 60-49877).

[Problem that the invention attempts to solve]

However, the prior art has the following problem to be solved.

(a) When positioning one spot welding gun, a two-axis slide mechanism and control of each slide axis are required, making it difficult to weld multiple points within a limited time.

(b) When it is desired to position a plurality of spot welding guns, a large installation space is required, making installation and arrangement in a narrow space difficult.

(c) Furthermore, control also requires control of each slide axis, resulting in a complicated circuit.

[Means for solving problems]

The above problems are solved or alleviated according to the present invention by the following multi-gun general purpose positioning device. That is, supporting each of multiple cancers,
a plurality of first tables, each of which is movable in two axes directions independently of each other; and a plurality of first tables provided for each of the first tables so as to move the corresponding first table in one of the two axes directions; a plurality of first actuators that allow movement in one direction and another direction; one end is located at a desired depth in the one direction and a desired pitch in the other direction, and the other end is directed toward the first table side; a cam plate having a plurality of opening grooves; provided over the entire first table;
A general-purpose positioning device for multiple guns, comprising: a second actuator that moves the entire first table in the other direction by a fixed pitch.

[Effect]

In the device of the present invention, the plurality of guns are moved toward the cam plate by operating the first actuator of the first table that supports each gun, and are guided by the groove of the cam plate to form a biaxial With the movement in the direction, the inner end of the groove is positioned, and the desired position is indexed. When the type of workpiece changes and you want to change the indexing position of the gun, you can either replace only the cam plate with one that corresponds to the workpiece, or set it to automatic switching.

The second actuator only moves the entire first table by a fixed pitch, and the number of the guns is less than the number of guns, for example, one, and each gun is moved to a desired pitch in the other direction by the first actuator. This is done by using the movement and the grooves in the cam plate. Therefore, compared to the conventional device in which actuators and slide mechanisms are provided in two axial directions for each gun, the number of actuators and slide mechanisms is approximately halved. This makes it possible to simplify the equipment, make the space more compact, and facilitate positioning control in the other direction. Furthermore, since the positioning in one direction is automatically performed at the inner end of the groove, the positioning control is simplified and facilitated in both mechanism and operation.

〔Example〕

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of a multi-gun general-purpose positioning device according to the present invention will be described with reference to the drawings.

1 and 2 show a general-purpose positioning device for multiple guns according to an embodiment of the present invention in a front view and a plan view, using a spot welding gun as an example. As shown in the figure, a plurality of spot welding guns (hereinafter simply referred to as guns) 28 are
Each gun 28 is attached to an independent first table 27 which is movable in two axial directions (the left and right directions in FIG. 2 are hereinafter referred to as vertical directions, and the up and down directions are hereinafter referred to as horizontal directions) via respective brackets 27. It is being That is, each gun 28 is connected to each first table 2.
Independent movement from the other first tables 7 allows independent movement relative to the other guns 28.

Each of the first tables 27 has a joint 24, a pair of joints rotatably supported by the joint 24 around its own axis, and sandwiching a portion standing up from the first table 27 in a rotatable manner. They are connected to the respective first actuators 23 via connection rollers 25 and 26, and are operated independently of each other. First actuator 2
3 may be any means as long as it moves the first table 27 connected thereto in the vertical direction; for example, it may be an air cylinder.
The first actuator 23 includes a connecting roller 25,
Since the first table 27 is connected to the first table 27 through a structure that sandwiches the upright portion of the first table 27 at 26, the first table 27 is allowed to move freely in the lateral direction. The first table 27 includes slide units 15 and 16 fixed to the first table 27, provided for each first table 27, and a second slide unit provided below the first table 27. The second table 13 is supported so as to be slidable in the vertical direction by means of a vertically extending rail 14 fixed on the table 13 and a slide. The second table 13 also includes a laterally extending rail 9 fixed on the stationary base body 1;
10 and the slide units 11 and 12 fixed to the lower surface of the second table 13,
It is supported so as to be slidable laterally with respect to the base body 1. Thus, the first table 27
is movable both longitudinally and laterally, thus biaxially, and is driven by the first actuator 23 in the longitudinal direction, allowing movement in the lateral direction.

Cam plates 20 and 8 are provided on the front and rear sides of the first table 27 in the longitudinal direction, respectively. The front cam plate 20 is attached to the base body 1, for example replaceably or switchably, via a bracket 19. The rear cam plate 8 is fixed to a third table 5 that is slidable laterally with respect to the base body 1. The third table 5 can be slid laterally relative to the base body 1 by sliding a slide unit 7 attached to the third table 5 and a rail 6 fixed to the base body 1 and extending laterally. It is. The first actuator 23 is supported by the third table 5 via a bracket 22.

The front cam plate 20 has a plurality of grooves 29, and each groove 29 slides on the tracer roller 18 attached to the front end of the first table 17 so as to be rotatable around its own axis. It has a width that allows it to roll freely. When the first tables 17 are driven forward in the longitudinal direction by the first actuator 23, the tracer rollers 18 are slidably and rollably engaged with the grooves 29, and the respective first tables 17
and each gun 28 attached thereto.
follows the shape of the groove 29 in which the tracer roller 18 attached to the first table 17 is engaged, and moves forward with movement in the vertical direction or in the vertical and horizontal directions, Tracer roller 1
8 is stopped and positioned when it reaches the front end of the groove 29. This position is the operating point of the gun 28 (in the case of spot welding, the spot welding point). More specifically, the groove 29 is positioned so that its front end in the longitudinal direction coincides with the operating point of the gun 28, and its depth end in the longitudinal direction stops the gun 28 at the longitudinal position of the operating point. The gun 28 extends laterally with a pitch that stops the gun 28 at a lateral position of the operating point. Also groove 29
The end on the first table 17 side (the end on the opposite side to the end on the depth side) is at a constant pitch in the lateral direction,
In addition, the opening is open so that the tracer roller 18 can be received, and the tracer roller 18 is received when the first table 17 approaches.

The cam plate 8 provided on the rear side in the longitudinal direction of the first table 17 has a plurality of grooves 30, and the grooves 30 are open toward the front in the longitudinal direction. When the tracer roller 21 on the rear end side, which is rotatably attached around the center, approaches, the tracer roller 21 is received.

A second actuator 3 is provided between the laterally movable third table 5 and the stationary base body 1, and the second actuator 3 drives the third table 5 laterally intermittently at a fixed pitch. 2 actuator 3
is attached to the base body 1 via a bracket 2. The second actuator 3 is made of, for example, an air cylinder, and its axis extends in the lateral direction.

Next, the operation of the general-purpose positioning device configured as described above will be explained.

The first table 17, which is movable in two axes (both vertically and horizontally), independently of each other, together with the gun 28 attached thereto, is moved by the first actuator 23, and the joint 24 is moved by the connecting roller 25. , and the connecting roller 26.

The tracer roller 21 attached to the first table 17 is gradually removed from the restriction zone of the cam plate 8 by a slide mechanism constituted by the track rail 14 and slide units 15 and 16.

At the same time, the tracer roller 18 attached to the first table 17 gradually enters the regulation zone of the cam plate 20 attached to the base body 1 via the bracket 19.

The tracer roller 18 that has entered the regulation zone of the cam plate 20 is moved to the track rail 9 and the track rail 10 and to the second table 1 which is independent for each gun 28.
The groove 29 of the cam plate 20 is moved freely in two axial directions by the slide mechanism constituted by the slide unit 11 and the slide unit 12 attached to the cam plate 3 and the longitudinal slide mechanism of the first table 17.
It moves according to the shape of.

At this time, the second table 13 is free to move in the sliding direction by the connecting rollers 25 and 26. Further, the shape of the cam groove 29 is set so as to guide the gun 28 to an arbitrarily set spot hitting point.

The gun 28, which has been moved to the spot dotting point by the first actuator 23, makes a spot dot, and is removed from the restriction of the cam plate 20 by driving the first actuator 23 again and returned to the restriction position of the cam plate 8.

The third table 5 is moved to a cam groove position next to the cam groove 29 set in the cam plate 20 by a slide mechanism constituted by a track rail 6 and a slide unit 7, and by driving the second actuator 3. Moved by a fixed pitch.

In this way, the operation is repeated until the predetermined operation is completed and the robot returns to its original position.

[Effect of idea]

According to the present invention, the following effects are obtained.

B. Conventionally, for lateral movement, actuators for lateral movement were provided for each table, and complicated positioning was performed for each table, but in the present invention, for example, one lateral movement actuator (second actuator) In step 3), all the first tables 17 are moved by a fixed pitch in the lateral direction, and the independent lateral positioning of each first table 17 is performed by the groove 29 of the cam plate 20, so the number of control actuators is reduced. (almost halved) and the number of constituent slides, the positioning mechanism is simplified, space is reduced, and cost is reduced.

(b) High-density hitting points can be achieved in a short time in a small space.

C. Dot pitch and vertical position can be freely set regardless of whether they are arranged at equal pitches or different pitches, or whether they are arranged in the same row or in parallel.

By replacing or automatically switching the Ni-cam plate 20, it becomes possible to deal with different types of dot positions.

E. The number of guns installed can be changed depending on the number of dots, allowing for optimal planning time.

By fixing the cam plate 8 and changing the cam plate 20, it is possible to correspond to different dot positions for one dot per gun.

By appropriately setting the number of guns installed and the drive stroke of each slide shaft, it becomes possible to use it as a general-purpose mechanism. In the above explanation,
Although a case where the present invention is applied to position indexing of a spot welding gun is shown, the gun is not limited to spot welding guns.

[Brief explanation of the drawing]

FIG. 1 is a front view of a multi-gun general purpose positioning device according to a preferred embodiment of the present invention, and FIG. 2 is a plan view of the device of FIG. 1. 1... Base body, 2... Bracket, 3...
Second actuator, 4...Joint, 5...
...Third table, 6...Truck rail (2
7...Slide unit (4 pieces), 8...Cam plate, 9...Track rail, 10...Track rail, 11...Slide unit, 12...Slide unit, 13...Second table , 14
... Track rail, 15 ... Slide unit, 16 ... Slide unit, 17 ... First table, 18 ... Tracer roller, 19 ... Bracket, 20 ... Cam plate, 21 ... Tracer roller, 22 ... ...Bracket, 23...First actuator, 24...Joint, 25...Connection roller, 27...Bracket, 28...Gun, 2
9...groove, 30...groove.

Claims (1)

[Claims for Utility Model Registration] Supporting each of the plurality of guns, each of which
a plurality of first tables that are movable in two axial directions independently of each other; and a plurality of first tables that are provided for each of the first tables and that move the corresponding first table in one direction of the two axial directions; a plurality of first actuators that are moved by allowing movement in a direction; a plurality of actuators having one end located at a desired depth in the one direction and a desired pitch in the other direction, and the other end opening toward the first table side; a cam plate having a groove; provided over the entire first table;
A general-purpose positioning device for multiple guns, comprising: a second actuator that moves the entire first table in the other direction by a fixed pitch.