JPH09174473A - Positioning jig device for work and work processing method using the jig device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obviate the need for a time and a labor required for replacement of a jig device and a regulation work, reduce an occupation space for a jig device to a minimum, to use a jig for a general purpose use, and rapidly cope with a prototype and development of a new product. SOLUTION: A work positioning jig device comprises a surface plate 1; a plurality of jig units 2 provided with a sea part 21 having a magnetic substance 2 to switch the presence of a magnetic force according to the presence of a feed and a jig part 5 to securely position a work at the upper part of the seat part 21; a conveyance robot 6; a teaching data memory 3d to store teaching data of the conveyance robot 6 classified by a kind of a work; a reverse exciting circuit 3d to release the magnetic force of the magnetic substance 22 through switching due to the presence of a feed or generating of a magnetic force; an input means 3e to input data by which teaching data responding to a kind of the work is selected; and a controller 3a. The jig conveying unit 2 is conveyed and placed in a work positioning position on the surface plate 1 by using the conveyance robot 6, based on teaching data responding to a kind of a selected work, and after conveyance, the jig unit 2 is attracted to the surface plate 1 by the magnetic force of the magnetic substance 22.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a workpiece positioning jig device for positioning and fixing workpieces such as the vehicle door panel and members constituting the same at predetermined positions in an assembly process for assembling a vehicle door panel, and the like. More particularly, the present invention relates to a work positioning jig device that is suitable for all kinds of works and has excellent versatility, and a work processing method using the jig device.

[0002]

2. Description of the Related Art When assembling an automobile door panel, a front panel is attached to a center panel integrally formed with a rear panel and a lower panel to form an inner panel which is an inner panel, and an outer panel which is an outer panel is attached to the inner panel. After attaching by spot welding or the like to form a bag-type door body, various door components such as a window regulator, door glass, and door check are installed inside the door body. The assembly work of such an automobile door panel uses a clamp for positioning and fixing the automobile door panel, and a dedicated positioning jig device in which a reference pin for positioning is fixed to a surface plate such as a jig bed with a bolt or the like. Was being done. Therefore, if the type of vehicle door panel is different, the positioning position is different, so a dedicated positioning jig device is prepared for each type of vehicle door panel, and the assembly work of the vehicle door panel is performed using this positioning jig device. I was going.

[0003]

However, in recent years where high-mix low-volume production has become common, a plurality of types of automobile door panels (for example, 4-door,
There is a case where assembling of different types of vehicles such as 2 doors or difference of front doors and rear doors even for 4 doors). In such a case, conventionally, a jig device for positioning and fixing a member such as an inner panel is conventionally replaced or adjusted every time the type of a vehicle door panel changes. There is a problem in that replacement or adjustment of such a jig device requires time and effort for work.
Further, there is a problem in that a wide variety of jig devices must be owned for each type of vehicle door panel, and a holding space for the jig devices must be secured. Furthermore,
There has been a problem that a large amount of cost is required to manufacture the jig device. Furthermore, there is a problem that it is not possible to respond promptly with the development of prototypes and new products. The present invention was devised to solve such a problem, and it does not take much time and labor to replace or adjust the jig device, and the jig device has a minimum holding space. It is an object of the present invention to provide a work positioning jig device that can be used for general purposes and can quickly respond to the development of prototypes and new products, and a work processing method using the jig device.

[0004]

In order to solve the above problems, the present invention is a work positioning jig device for positioning and fixing a work at a predetermined position in an assembly process or the like. A magnetic body that can be switched between, a paramagnetic body or a surface plate made of the magnetic body, a seat provided with the magnetic body or the paramagnetic body, and a jig section that positions and fixes the work on the seat section. A plurality of jig units provided, a transfer robot that transfers the jig units, and when the transfer robot transfers and places the jig units on the surface plate, the jig units are placed at predetermined positions on the surface plate. Teaching data including position data for placing and teaching data including a transfer procedure, and a teaching data memory that stores the teaching data for each type of the work; and the case where the magnetic body is provided in the seat portion of the jig unit. Magnetism Alternatively, when the platen is the magnetic body, the magnetic body is connected to the magnetic body, and the magnetic force of the magnetic body is released when the jig unit is transported by switching the presence or absence of power supply. Is a reverse excitation circuit for generating a magnetic force in the magnetic body, input means for inputting data for selecting teaching data according to a desired work type in the teaching data memory, the transfer robot, the teaching data memory, the A reverse excitation circuit and a controller that controls the input means are integrated, and the jig unit is placed at a work positioning position on the surface plate using the transfer robot based on teaching data according to the selected work type. It is characterized in that the jig unit is conveyed and placed, and after the conveyance, the jig unit is attracted to the surface plate by the magnetic force of the magnetic body.

The present invention also provides a surface plate made of a paramagnetic material or a magnetic material whose magnetic force can be switched on / off by a power supply on / off, a transfer robot, and a magnetic material whose magnetic power can be switched on / off by a power supply on / off. Alternatively, a paramagnetic body is provided on the seat portion, and a jig unit is provided on the seat portion for positioning the workpiece, and the jig unit is placed on the surface plate using the transfer robot. Machining a workpiece using a workpiece positioning jig device that has teaching data memory for storing teaching data for each type of workpiece and that positions and fixes the workpiece at a predetermined position by the jig unit. In the method, by switching the power supply of the magnetic body when the magnetic body is provided in the seat portion of the jig unit, or when the platen is the magnetic body A step of releasing the force, a step of transporting and placing the jig unit at a workpiece positioning position on the surface plate using the transport robot based on teaching data according to the selected type of the workpiece, A step of generating a magnetic force of the magnetic material by switching the power supply to adsorb the jig unit on the surface plate, and positioning and fixing a predetermined work on the jig portion of the jig unit to process the predetermined work. It is characterized by comprising the steps of:

[0006]

Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is an external view of a work positioning jig device of the present invention. FIG. 2 is a schematic explanatory view of the jig unit and operation panel of the present invention. FIG. 3 is a plan view of the work positioning jig device of the present invention. 1 is a steel surface plate that can be attracted by magnetic force. The material of the platen is not limited to the one made of steel, but may be any paramagnetic material capable of being attracted by magnetic force. 2 is a jig unit. The seat 21 of the jig unit 2 has a magnetic body (for example, a permanent electromagnetic holder) 22, a plug portion 23 connected to the permanent electromagnetic holder 22, and an engaging portion 2 that engages with the transfer robot 6.
5 are provided. The jig portion 5 is provided on the seat portion 21. The jig portion 5 is provided with a reference pin which is fitted into a reference hole on the side of the work for positioning, and a clamp portion which holds the work according to the type of the work. Permanent electromagnetic holder 2
Reference numeral 2 is an electromagnetic open type magnetic body that always generates a magnetic force and is in a magnetized state, and the magnetism is released during power feeding. Reference numeral 24 denotes a drive motor (for example, a stepping motor) provided on the seat portion 21 of the jig unit 2.
The jig portion 5 provided on the seat portion 21 via a driving mechanism such as a pulley and an adjustment bolt (not shown) by driving 4
Goes up and down. The vertical movement of the jig portion 5 is used to adjust the vertical position when positioning and fixing the automobile door panel. The plug portion 23 is also connected to the stepping motor 24.

Reference numeral 3 denotes an operation panel, which comprises a controller 3a, a reverse excitation circuit (degausser) 3b, a motor control section 3c, a teaching data memory section 3d, and an input means 3e. The reverse excitation circuit 3b is connected to the permanent electromagnetic holder 22 of the jig unit 2, and by switching the power supply on / off, the magnetic force of the permanent electromagnetic holder 22 is released when the jig unit 2 is transported, and the permanent magnet holder 22 is transported. After that, it is a circuit for generating a magnetic force in the permanent electromagnetic holder 22. For example, the magnetic force is released by turning on the power to the permanent electromagnetic holder 22, and the magnetic force is generated by turning off the power to bring the magnetized state. The motor control unit 3c controls driving of the stepping motor 24. The teaching data memory 3d stores teaching data including position data for placing the jig unit 2 at a predetermined position on the surface plate 1 and a transportation procedure when the jig unit 2 is transferred and placed on the surface plate 1 by the transfer robot 6. It is stored for each type of work (vehicle door panel). The input means 3e inputs data for selecting a desired vehicle door panel (that is, desired teaching data) from the types of vehicle door panels in the teaching data memory 3d. The controller 3a centrally controls the transfer robot 6, the reverse excitation circuit 3b, the motor controller 3c, the teaching data memory 3d, and the input means 3e. A bus 3f is connected to each unit in the operation panel 3. The bus 3f is connected to the connector portion 4 and the transfer robot 6. The connector portion 4 is detachable from the plug portion 23. Further, it is assumed that the connector portions 4 connected to the bus 3f are provided in the same number as the jig units 2.

The transfer robot 6 is an orthogonal coordinate type robot that transfers the jig unit 2. The transfer robot 6 engages with the jig unit 2 to transfer the hand portion 68 to X,
It is movable in three directions orthogonal to the Y and Z directions, a C-axis rotation direction of the Z-axis, and an A-axis rotation direction of the X-axis based on a command from the controller 3a. That is, movement in the X direction is caused by moving the X direction rail 62 of the base 61 and the X direction rail 6 together.
X-direction guide 6 that slides on 2 by a drive source (not shown)
3 is performed. The movement in the Y direction is performed by the Y direction rail 64 provided upright on the X direction guide 63 and the Y direction rail 64.
A Y-direction guide 65 that slides on the top by a drive source (not shown)
a. Movement in the Z direction is performed by the Y direction guide unit
a column 65 that is integrated with a and this column 6
5 is carried out by an L canag 66 which moves up and down in the Z direction by a drive source not shown. 67 is a neck portion, and movement of the neck portion 67 in the C-axis rotation direction is performed by the C-axis motor 66.
The movement of the hand portion 68 in the A-axis rotation direction is performed by the A-axis motor 67a fixed to the neck portion 67. Reference numeral 69 is an engagement fitting provided at the tip of the hand portion 68. This engaging fitting 69 and the engaging portion 2 of the jig unit 2
When the jigs 5 are engaged, the jig unit 2 can be gripped. In this description, a Cartesian coordinate type robot is used, but a vertical articulated robot may be used as long as the jig unit 2 can be transported.

FIG. 4 is a flow chart of a processing method using the workpiece positioning jig device of the present invention. A processing method using a positioning jig device for a work (for example, an automobile door panel) will be described with reference to FIG. It is assumed that a plurality of jig units 2 are arranged on the surface plate 1 at the standby position E with the plug portion 23 and the connector portion 4 engaged with each other. In addition, the jig unit 2 placed at the standby position E using the transfer robot 6 and the jig unit 2 are mounted on the platen 1.
It is assumed that the teaching data including the position data and the transportation procedure when the vehicle is placed at the above predetermined position is already stored in the teaching data memory 3d for each type of the vehicle door panel.
Further, it is assumed that the processing data for assembling the workpiece after positioning the workpiece is already stored in the teaching data memory 3d for each type of vehicle door panel. The operator has a control panel 3
The input means 3e is operated to select the desired type of the automobile door panel W, and the positioning work and the assembly work are started (step 1). Then, the controller 3a operates the transfer robot 6 based on the selected teaching data and processing data in the teaching data memory 3d. That is, the transfer robot 6 moves to the position of the jig unit 2 placed at the standby position E of the surface plate 1 and engages the engaging portion 25 of the jig unit 2 and the engaging metal fitting 69 at the tip of the hand portion 68. Then, the jig unit 2 is lifted, conveyed to the taught position, and placed. Thereafter, the controller 3a actuates each stepping motor 24 of the jig unit 2 via the motor controller 3c to raise the jig portion 5 of the reference pin and position it at a predetermined height (step 2). ). While the jig unit 2 is being transported to the predetermined position by the transport robot 6, the permanent magnet holder 22 is in the power supply state by the reverse excitation circuit 3b, and the power supply is in the off state at the time when the transport / placement at the predetermined position is completed. To do. As a result, the jig unit 2 is magnetically attracted to a predetermined position on the surface plate 1 (step 3).

Next, based on the processing data, the transfer robot 6
Engages a material handling jig arranged in the robot transfer area with the engaging metal fitting 69 at the tip of the hand portion 68, grips the vehicle door panel W with this material handling jig, and mounts the vehicle door panel W on the jig unit 2. Place it. Thereafter, the controller 3a operates the clamp portion of the jig portion 5 for clamping to hold and fix the vehicle door panel (step 4). The connector portion 4 and the plug portion 23 are cut off to facilitate the work when the assembly and processing of the vehicle door panel W is started (step 5). The suction of the jig unit 2 and the surface plate 1 in step 3 may be performed by cutting off the connector portion 4 and the plug portion 23 in step 5. When the vehicle door panel W is positioned and fixed, a predetermined assembly process is performed based on the process data (step 6). That is, the engaging tool 69 at the tip of the hand portion 68 of the transfer robot 6 is engaged with a work tool (for example, spot welding gun, arc welding torch, etc.) arranged in the robot transfer area for processing. Alternatively, a component of the automobile door panel W is gripped by using a material handling jig engaged with the transfer robot 6 to assemble the automobile door panel W.

In this embodiment, the surface plate 1 is a paramagnetic material, and a magnetic material is provided on the side of the seat 21 of the jig unit 2, and the surface of the surface plate 1 is fixed by switching the magnetic force of the reverse excitation circuit 3b. Although the configuration for adsorbing the unit 2 has been described, as another embodiment, the surface plate 1 side is a magnetic body, and a paramagnetic material is provided on the seat portion 21 side of the jig unit 2 to form a magnetic body on the surface plate 1 side. The configuration in which the reverse excitation circuit 3b is connected (see the chain double-dashed line in FIG. 2) is also included in the scope of the present invention. In that case, the magnetic force of the surface plate (magnetic body) 1 is released when the jig unit 2 is conveyed, and after the jig unit 2 is conveyed, a magnetic force is generated on the surface plate (magnetic body) 1 to cause the surface plate 1 to move. Adsorb the jig unit 2.

[0012]

As described above, according to the present invention,
Rather than bolting the jig unit as in the past, it is possible to use jig parts for general purpose by attracting them to the surface plate by magnetic force, and it has the effect that the holding space of the jig device can be minimized. Also, based on the teaching data according to the type of the work, the transfer robot is used to transfer and place the jig unit to the work positioning position on the surface plate, and after the transfer, the jig unit is moved to the surface plate by the magnetic force of the magnetic material. Since it is configured to be adsorbed, there is an effect that it is possible to quickly respond to the development of a prototype or a new product, because it does not take time and effort to replace or adjust the jig device. Further, since it is possible to assemble, replace, and adjust the work positioning jig device unattended, this device and method can be a means for constructing an FMS.

[Brief description of the drawings]

FIG. 1 is an external view of a work positioning jig device of the present invention.

FIG. 2 is a schematic explanatory view of a jig unit of the present invention.

FIG. 3 is a plan view of a workpiece positioning jig device of the present invention.

FIG. 4 is a flowchart of a processing method using the workpiece positioning jig device of the present invention.

[Explanation of symbols]

1 ... Surface plate 2 ... Jig unit 21 ... Seat portion, 22 ... Permanent electromagnetic holder (magnetic material), 23 ...
Plug section 3 ... Operation panel 3a ... Controller, 3b ... Reverse excitation circuit, 3d ... Teaching data memory, 3e ... Input means 4 ... Connector section 5 ... Jig section 6 ... Transfer robot 68 ... Hand section

Claims (2)

[Claims] 1. A workpiece positioning jig device for positioning and fixing a workpiece at a predetermined position in an assembly process or the like, which comprises a magnetic body capable of switching the presence or absence of magnetic force depending on the presence or absence of power supply, and a paramagnetic body or the magnetic body. And a plurality of jig units provided with the magnetic body or paramagnetic body on the seat portion and a jig portion for positioning and fixing the work on the seat portion, and the jig unit is conveyed. And a teaching data including position data and a carrying procedure for placing the jig unit at a predetermined position on the platen when the jig unit is carried and placed on the platen, A teaching data memory stored for each type of the work, the magnetic body when the magnetic body is provided in the seat portion of the jig unit, or the magnetic body when the surface plate is the magnetic body. Porcelain A reverse excitation circuit that is connected to a magnetic body and switches the presence or absence of power supply to release the magnetic force of the magnetic body when the jig unit is transported and to generate the magnetic force to the magnetic body after the jig unit is transported; An input unit for inputting data for selecting teaching data according to a desired work type in the teaching data memory; and a controller for controlling the transfer robot, the teaching data memory, the reverse excitation circuit, and the input unit. The jig unit is transferred to and placed on the work positioning position on the surface plate by using the transfer robot based on the teaching data corresponding to the selected type of work, and the magnetic force of the magnetic body is transferred after the transfer. A jig for positioning a workpiece, wherein the jig unit is sucked onto the surface plate by means of. 2. A surface plate made of a paramagnetic material or a magnetic material whose presence or absence of magnetic force can be switched by turning power on / off, a transfer robot, and a magnetic body or paramagnetic which can be turned on / off by power feeding. A jig unit provided with a body on a seat portion and a jig portion for positioning a work on the seat portion, and a jig unit for mounting the jig unit on the surface plate using the transfer robot. A method of processing a workpiece using a workpiece positioning jig device, which has a teaching data memory storing teaching data for each type of workpiece, and positions and fixes the workpiece at a predetermined position by the jig unit, The magnetic force is released by switching the power supply of the magnetic body when the magnetic body is provided in the seat portion of the jig unit or when the surface plate is the magnetic body. And the step of transporting and placing the jig unit at the workpiece positioning position on the surface plate using the transport robot based on the teaching data according to the selected type of workpiece, and switching the power supply. From the step of generating the magnetic force of the magnetic body to adsorb the jig unit on the surface plate, and the step of positioning and fixing a predetermined work on the jig portion of the jig unit and processing the predetermined work. A work processing method using a work positioning jig device.