JPH06246486A - Hand for welding parts transfer - Google Patents

Abstract

PURPOSE:To save the space occupied for transfer by constituting the hand to be movable by holding two welding parts where the lap welding of end parts is performed by the first and the second holding parts. CONSTITUTION:The first holding part 2 of a work A is mounted on the wrist part 12a of a robot arm 12, and the edge part of the base frame 8 of the second holding part 3 of a work B, is pivotally mounted on the edge part of the base frame 4 of the first holding part 2. And, the second holding part 3 is driven by a cylinder device to make it rotatable between an elongation position and a bending position. Consequently, when the second holding part 3 is made rotatably in the elongation position, the edge parts of the works A and B can be made to a stacked state. When holding and transferring the works A and B at a state in which the second holding part 3 is made rotatable in the bending position, the layout restriction conditions of a welding line are reduced, further space-saving for transfer can be attained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding part conveying hand which is attached to a wrist part of a robot arm, and more particularly, to a plurality of welding parts which are welded with their ends overlapped with each other. The present invention relates to a welding component carrying hand capable of holding parts in a state of being overlapped with each other.

[0002]

2. Description of the Related Art Conventionally, in a welding line, a transfer robot having a structure in which a welding part transfer hand holding a welding part is attached to the wrist of a robot arm has been used. For example, as disclosed in Japanese Unexamined Patent Publication No. 64-78676, a welding part conveying hand of the above conveying robot has a plurality of holding portions for respectively holding a plurality of welding parts to be welded to each other. is there.

For example, in a welding line for welding a trunk floor pan (hereinafter referred to as a work A) of an automobile and a center floor pan (hereinafter referred to as a work B), as shown in FIG. , And a second holding portion 52 that holds the work B by a plurality of suction pads 52a, and the end portions of the two works A and B are vertically moved. A transfer robot is used in which a welding component transfer hand 50 that can be held in an overlapped state is attached to a wrist portion 53a of a robot arm 53.

In the above-mentioned transfer robot, the two work pieces A and B are transferred to a predetermined welding station in a state where the end portions of the two work pieces A and B are piled up and down, as described above. These works A and B are set on a positioning jig provided.

[0005]

However, in the above-mentioned conventional configuration, when the transfer robot holds both works A and B, the one in which the work A and B are superposed on each other (in the figure, There is a restriction that it is necessary to hold A) first, and then hold the one with the lower stack (work B in the figure). In this way, the transfer robot is used to set the work A mounting station and the work B.
Since the work taking-out order (holding order) when picking up the works A and B from the respective mounting stations and carrying them to the predetermined welding station is automatically decided, the installation position of the carrying robot and the work A and B There is a restriction on the installation position of the mounting station, etc., and the degree of freedom in the layout of the welding line is low, which makes it difficult to save space in the welding line.

Further, the above-mentioned transfer robot is used for both works A and B.
In order to convey the workpiece from the above-mentioned placing station to the predetermined welding station, it is necessary to provide a space on the locus, but in the above configuration, the two large works A and B are held in parallel. And the work A
A large space is required to secure the transport path of the transport hand 50 holding B. From this point as well, it is difficult to save space in the welding line with the above-described conventional configuration.

Further, as described above, in the conventional transfer hand 50, the two large works A and B are held in parallel, so that the robot is provided at the central portion of the transfer hand 50. Even if the wrist portion 53a of the arm 53 is attached, the work A is placed at a position away from the wrist portion 53a.
・ B will be retained. For this reason, works A and B
The center of gravity of the transfer hand 50 holding the position is located far from the wrist 53a of the robot arm 53, and during transfer of the works A and B by the transfer robot,
A very large moment of inertia acts on the wrist portion 53a of the robot arm 53 supporting the carrying hand 50. Therefore, in the above conventional configuration, the wrist portion 53a of the robot arm 53 needs to have a considerable strength, and the mass of a work that can be carried and the carrying speed are severely limited.

The present invention has been made in view of the above, and an object thereof is to increase the degree of freedom of layout by eliminating the restriction of the holding order of welded parts and to reduce the space for transportation. , Save space, and
It is an object of the present invention to provide a welding part conveying hand capable of relaxing the restrictions on the mass of a welded part that can be transferred and the transfer speed.

[0009]

A welding component carrying hand according to the present invention is welded with its ends overlapped with each other.
A movable support provided with a first holding part and a second holding part for respectively holding two welding parts, capable of holding the ends of the two welding parts in a state of being overlapped with each other, and movably provided. It is attached to (for example, a robot arm), and is characterized by taking the following means in order to solve the above problems.

That is, the first holding portion is attached to the movable support, and the end portion of the second holding portion is pivotally attached to the end portion of the first holding portion. Further, in the welding component carrying hand, the second holding part is provided between an extended position in which the second holding part is in parallel with the first holding part and a bending position in which the second holding part is rotated a predetermined angle from the extended position to the moving support side. A second holding portion drive means for rotating the second holding portion, and when the second holding portion is rotated to the extended position by the second holding portion driving means, the welding component held by the first holding portion and the second welding portion 2 The ends of the welded part held by the holding part are in a superposed state.

[0011]

According to the above construction, the second holding portion is driven by the second holding portion driving means to be in a parallel state with the first holding portion supported by the moving support, and the extension position. It is configured to rotate between a position and a bending position in which the movable support is rotated by a predetermined angle.

Therefore, if the two welded parts are respectively held by the first holding part and the second holding part while the second holding part is rotated to the bending position, the two welding parts are held by the first holding part. The welded part to be welded and the welded part to be held by the second holding part do not have an overlapping portion, and therefore, the holding order of the welded part does not have the conventional restriction, and the first holding part or the second holding part. The holding operation may be performed from any of the above.
For this reason, the layout constraints in the welding line are reduced, and the degree of freedom in layout is higher than before,
It is easy to save space.

When the movable support is moved to convey the welding component held by the welding component conveying hand, if the second holding portion is kept rotated at the bending position, the conveyance is performed. The space for can be reduced more than ever before. That is, as compared with the conventional case where two welded parts are conveyed in parallel, the case where the second holding portion is bent toward the movable support as described above is conveyed in the conveying path. The space for securing the space is reduced, and from this point as well, the space can be further saved.

As described above, during the transportation of the welded parts,
If the second holding part is kept in the bent position,
The mass of the welded parts that can be carried and the restrictions on the carrying speed can be relaxed more than before. That is, when the second holding portion is bent toward the moving support, the second holding portion holding the welding part approaches the moving support side, so that the position of the center of gravity of the welding part carrying hand holding the welding part is conventionally set. It is closer to the moving support than. For this reason, when a welding component is conveyed by a turning operation or the like, the moment of inertia acting on the supporting portion of the moving support supporting the welding component conveying hand becomes smaller than before, and the welding component having a larger mass than before. It is possible to increase the transfer speed and the transfer speed.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The following will describe one embodiment of the present invention with reference to FIGS.

Hand 1 for transporting welded parts according to this embodiment
1 is used for a transfer robot installed on a welding line for welding a trunk floor pan (hereinafter referred to as a work A) and a center floor pan (hereinafter referred to as a work B) of an automobile, and is provided in FIG. As shown, the robot arm (movable support) 12 is attached to the wrist 12a.

The welding part conveying hand 1 has a first holding part 2 for holding the work A as a welding part and a second holding part 3 for holding the work B as a welding part. .

The first holding portion 2 is basically a base frame 4 (see FIG. 3), a plurality of suction tubes 5 provided at predetermined positions of the base frame 4, and the plurality of suction tubes. It is composed of a suction pad 6 having flexibility attached to each end of 5 and a plurality of positioning support members 7 provided at predetermined positions of the base frame 4.

A contact portion 7a is formed at the tip of the positioning support member 7, and when the work A is held by the suction force of the suction pads 6 ,.
a is in contact with a predetermined portion of the work A to support the work A. Further, a positioning hole 7b is bored in the abutting portion 7a, and the work A is placed in the positioning hole 7b.
By fitting the positioning boss portion protrudingly provided at the predetermined position, the workpiece A in the holding state can be reliably positioned.

The second holding portion 3 is basically
A base frame 8 (see FIG. 3), a plurality of suction tubes 9 provided at predetermined positions of the base frame 8, and flexibility attached to each end of the plurality of suction tubes 9 ... Suction pad 10 ... and the base frame 8
Of a plurality of positioning support members 11 ...
It consists of and.

The positioning support member 11 has the same structure as that of the positioning support member 7, has an abutting portion 11a having a positioning hole 11b at its tip, and positions and supports the workpiece B in the holding state. It is supposed to do.

A robot mounting portion 4a (see FIG. 3) is provided on the base frame 4 of the first holding portion 2, and the wrist portion 12a of the robot arm 12 is mounted on the robot mounting portion 4a. .

The ends of the base frame 4 of the first holding portion 2 and the base frame 8 of the second holding portion 3 are pivotally attached to each other by hinge members 13. Cylinder devices (second holding unit driving means) 15 and 15 rotatably supported by a supporting member 14 are attached to the base frame 4, and the output shaft 15a of the cylinder devices 15 and 15 is attached.・ The end of 15a
It is rotatably attached to a flange 16 provided on the base frame 8 of the second holding portion 3. Then, the second holding portion 3 is driven by the cylinder devices 15 and 15 to be in an extended position in which the second holding portion 3 is in parallel with the first holding portion 2 as shown by a solid line in FIG. So that the robot arm 12 is approached by 90 ° from the extended position.
It can be rotated between a bent position that is rotated and stands substantially perpendicular to the first holding unit 2.

When the second holding portion 3 is rotated to the extended position by the cylinder devices 15 and 15, the first holding portion 3 moves to the first position.
Ends of the work A held by the holding unit 2 and the work B held by the second holding unit 3 (sites where welding is performed)
Arrangement positions of the suction pipes 5 and the positioning support members 7 provided on the base frame 4 and their lengths (distance between the base frame 4 and their ends), and The arrangement positions of the suction pipes 9 and the positioning support members 11 provided on the base frame 8 and their lengths (the distance between the base frame 8 and their ends) are set.

The operation of the transfer robot having the above structure will be described below.

The transfer robot takes out the works A and B from the placement station on which the work A is placed and the placement station on which the work B is placed, and sets these works A and B in a predetermined manner. The workpieces A and B are transferred to a welding station and set on a positioning jig provided at the station.

Here, the above-mentioned transfer robot is used for the works A and B.
In the case where the welding parts are taken out from the respective mounting stations, in the welding component carrying hand 1, as shown in FIG. 2, the second holding portion 3 is driven by the cylinder devices 15 and 15 and is rotated to the bending position. Has become. In this state, the transfer robot holds one of the works A and B on one of the first holding part 2 and the second holding part 3 of the welding component transfer hand 1 and then
The other of the first holding portion 2 and the second holding portion 3 is the work A / B.
Hold the other.

In this case, since the work A held by the first holding unit 2 and the work B held by the second holding unit 3 do not have overlapping portions, either of the works A and B is held first. May be.

After that, the works A and B are conveyed to a predetermined welding station, and the conveyance robots convey the works A and B to the welding station, ie, the holding state, that is, the second holding unit 3. It is performed in a state where it is still rotated to the bending position.

Then, at the welding station, as shown in FIG. 1, the second holding portion 3 is driven by the cylinder devices 15 and 15 to be rotated to the extended position. As a result, the ends of the work A held by the first holding unit 2 and the work B held by the second holding unit 3 are in a superposed state. In this state, the transfer robot sets the works A and B on a positioning jig provided at the welding station.

As described above, in the welding component carrying hand 1 of this embodiment, the first holding part 2 for holding the work A is attached to the wrist part 12a of the robot arm 12, and
The end of the base frame 8 of the second holding part 3 that holds the work B is pivotally attached to the end of the base frame 4 of the first holding part 2, and the second holding part 3 is attached to the cylinder devices 15 and 15. It is driven so as to be rotatable between an extended position and a bent position, and the second holding portion 3 is connected to the cylinder device 15
The ends of the work A held by the first holding unit 2 and the work B held by the second holding unit 3 are in a superposed state when rotated to the extended position by 15. .

Since the works A and B are held while the second holding part 3 is rotated to the bending position, the work A and the work A held by the first holding part 2 are, as described above. The work B held by the second holding unit 3 does not have an overlapping portion, and therefore the order of holding the works A and B does not have the conventional restrictions. In other words, layout constraints on the welding line are reduced, and the degree of freedom in layout is higher than in the past, so that it is easy to save space.

Further, since the second holding portion 3 is in the state of being rotated to the bending position during the transfer of the works A and B by the transfer robot, the space for the transfer can be reduced as compared with the conventional case. You can That is, as compared with the case where two large works A and B are conveyed in parallel as in the conventional case, the second holding part 3 for holding the work B is the wrist part of the robot arm 12 as in the present embodiment. The space for securing the transport path is smaller when transported in the state of being rotated by approximately 90 ° to the 12a side. From this point as well, in this embodiment, space saving in the welding line can be achieved as compared with the conventional case.

Further, as described above, since the second holding portion 3 is in the bent position during the transportation of the works A and B performed by the turning operation of the transportation robot or the like,
The restrictions on the mass of work that can be transported and the transport speed are alleviated. In other words, conventionally, two large works A and B are carried in parallel, so that the center of gravity of the carrying hand holding the works A and B is far from the wrist of the robot arm. On the other hand, in the present embodiment, the second holding portion 3 that holds the work B is rotated by the second holding portion 3 to the wrist portion 12a side of the robot arm 12 by approximately 90 °. Part 12
Since it approaches "a", the center of gravity of the carrying hand 1 holding the works A and B is closer to the wrist 12a of the robot arm 12 than in the conventional case. For this reason, the moment of inertia acting on the wrist 12a of the robot arm 12 supporting the hand 1 for transportation during the transportation of the works A and B by the turning operation of the transportation robot becomes smaller than before, and the mass becomes smaller than before. It is possible to transfer large workpieces and increase the transfer speed.

In this embodiment, the welding component carrying hand 1 capable of holding only two works A and B has been described, but the present invention is not limited to this, and as shown in FIG. It can also be applied to those that can hold the work D, E, F. The welding part conveying hand 21 shown in the figure is
The wrist 32a of the robot arm 32 as a moving support is attached to the first holding portion 22 that holds the central work D among the three works D, E, and F as welding parts, and the work D is welded to each. Work E on both sides
The second holding portions 23 and 23 'for holding F are pivotally attached to both ends of the first holding portion 22, respectively, and the second holding portion 23 is driven by the second holding portion driving means such as a cylinder device (not shown). When 23 'is rotated between the extended position indicated by the solid line and the bending position indicated by the phantom line, and the second holding portions 23, 23' are rotated to the extended position,
Both ends (regions to be welded) of the work D overlap each end (regions to be welded) of the works E and F.

The above-mentioned embodiments are intended to clarify the technical contents of the present invention, and should not be construed in a narrow sense by limiting to such specific examples. Various modifications can be made within the scope of the claims.

[0037]

As described above, the hand for conveying welded parts of the present invention is provided with the first holding part and the second holding part which respectively hold two welded parts whose ends are overlapped and welded. The first holding portion is attached to the movable support, the end portion of the second holding portion is pivotally attached to the end portion of the first holding portion, and the second holding portion is The second holding unit includes a second holding unit driving unit that rotates between an extended position that is in parallel with the holding unit and a bending position that is rotated from the extended position toward the movable support by a predetermined angle. Second
When the holding part driving means is rotated to the extended position, the ends of the welded part held by the first holding part and the welded part held by the second holding part are in a superposed state. .

Therefore, in the state where the second holding part is rotated to the bending position, the two welding parts are respectively attached to the first holding part and the second holding part.
If the holding part holds the welding parts held by the first holding part and the welding parts held by the second holding part, there will be no overlapping portion, and therefore, the welding parts will be held in the conventional order. Since such restrictions do not occur, the degree of freedom in layout becomes higher than in the past, and space saving can be easily realized.

When the movable support is moved to convey the welding component held by the welding component conveying hand, if the second holding portion is rotated to the bending position and is conveyed. As compared with the conventional case where two welded parts are conveyed in parallel, the space for securing the conveying path is reduced, and further space saving can be achieved.

As described above, during the transportation of the welded parts,
If the second holding part is kept in the bent position,
Since the position of the center of gravity of the welding part transfer hand that holds the welding parts is closer to the moving support than before, the inertia acting on the support part of the moving support that supports the welding part transfer hand during the transfer of welding parts As a result, the moment is smaller than in the conventional case, and therefore, the mass of the welded parts that can be conveyed and the restriction on the conveying speed can be relaxed more than before.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention and is a schematic front view showing a welding component carrying hand attached to a wrist portion of a robot arm.

FIG. 2 is a schematic front view showing a state in which a second holding portion of the welding component carrying hand is rotated to a bending position.

FIG. 3 is a schematic plan view showing an outline of the above-mentioned welding component carrying hand.

FIG. 4 is a schematic front view showing another embodiment of the present invention, showing a welding component carrying hand attached to the wrist of a robot arm.

FIG. 5 shows a conventional example and is a schematic front view showing a welding component carrying hand attached to a wrist portion of a robot arm.

[Explanation of symbols]

 1 Hand for Transporting Welding Parts 2 First Holding Part 3 Second Holding Part 4.8 Base Frame 5.9 Suction Tube 6/10 Suction Pad 7/11 Positioning Support Member 12 Robot Arm (Movable Support) 12a Wrist 13 Hinge Member 15 Cylinder device (second holding part drive means) A / B work (welding part)

Claims (1)

[Claims] 1. A state in which a first holding part and a second holding part for respectively holding two welded parts to be welded with their ends overlapped with each other are provided, and the ends of the two welded parts are overlapped with each other. In a welding component transfer hand attached to a movable support provided movably, the first holding portion is attached to the movable support,
An end portion of the second holding portion is pivotally attached to an end portion of the first holding portion, and the second holding portion is moved from the extended position to the extended position where the second holding portion is in a parallel state with the first holding portion. A second holding portion drive means for rotating between a folding position rotated by a predetermined angle to the second holding portion driving means for rotating the second holding portion to an extended position by the second holding portion driving means. A welded part conveying hand, characterized in that the welded part held by the first holding part and the welded part held by the second holding part are in an overlapping state.