JPH10249764A - Work positioning device and method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform a welding work with high accuracy without using a specifial jig for positioning a work on a welding work position, by comprising a robot hand which positions and fixes the works to a positioning mechanism by a positioning part, so that the works are mutually positioned on the regular welding and joining position. SOLUTION: A positioning mechanism 47 for positioning the positioning arms 41c, 43c of the handling robots 15, 17, is installed at a side opposite to the handling robots 15, 17 of a conveying device 2. The positioning mechanism 47 comprises three struts 49 along the conveying device 2, and the upper edges of the struts 49 are connected by a connecting member 51 extended along the conveying device 2. Further four supporting brackets 53 are projected upwardly on the connecting member 51, and the positioning parts 55 to which the points of two positioning arms 41c, 43c of the robot hands 41, 43 are respectively fitted, are formed on the upper edge side parts of the supporting brackets 53, for the positioning.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work positioning apparatus and a work positioning method for moving a work held by a robot hand to a predetermined welding work position for positioning.

[0002]

SUMMARY OF THE INVENTION An object of the present invention is to enable a high-precision welding operation without requiring a special jig for positioning a work at a welding operation position.

[0003]

In order to achieve the above object, the present invention firstly provides a positioning mechanism provided in the vicinity of a welding operation position for a plurality of works to be welded to each other, A plurality of handling robots provided with a robot hand, which is moved to the welding operation position while being gripped by the gripping portion, and the positioning portion is positioned and fixed to the positioning mechanism so that each work becomes a regular welding joint position. Is provided.

According to the work positioning device having such a configuration, the rigidity of each robot hand is increased by positioning and fixing the robot hand holding each of the plurality of works to the positioning mechanism, thereby improving the position accuracy. The work of welding and joining the workpieces with each other becomes highly accurate.

Second, a plurality of workpieces to be welded to each other are set at a predetermined welding work position while being gripped by the corresponding handling robots. At this time, the handling robot is positioned and fixed to a positioning mechanism. As a positioning method.

According to the above positioning method, the robot hand holding each of a plurality of workpieces is positioned and fixed to the positioning mechanism, so that the rigidity of the robot hand is increased and its position accuracy is improved, and a highly accurate welding operation is possible. Becomes

Third, a first handling robot provided with a robot hand for moving a first work to a predetermined welding work position while holding the first work with the holding portion, and a robot installed near the predetermined welding work position. A positioning mechanism that is positioned and fixed by a positioning unit of the robot hand in a state where the robot hand of the first handling robot moves the first work to the predetermined welding operation position; The second work to be welded and joined to the first work robot is moved to a predetermined welded joint portion of the first work in a state where the second work is grasped by the grasping portion, and the robot hand of the first handling robot positioned and fixed to the positioning mechanism is moved. A second handling robot provided with a robot hand in which the positioning section is positioned and fixed to the positioning section.

According to the above configuration, the robot handling of the first handling robot is positioned and fixed to the positioning mechanism while holding the first work, and the second handling gripping the second work with respect to the robot hand. By positioning and fixing the robot hands of the robot, the rigidity of each robot hand is increased, the positional accuracy is improved, and a highly accurate welding operation can be performed.

Fourth, in a state where the robot hand of the first handling robot holding the first work is positioned and fixed to the positioning mechanism, the second work holding the second work to be welded and joined to the first work is held. A work positioning method for positioning and fixing the robot hand of the second handling robot to the robot hand of the first handling robot.

[0010] According to the above positioning method, the robot hands of the second handling robot are positioned and fixed to the robot hands of the first handling robot which is positioned and fixed to the positioning mechanism, so that the rigidity of each robot hand increases. The position accuracy is improved, and a highly accurate welding operation can be performed.

Fifth, the first and second parts are welded to each other.
Each of the first and second handling robots is provided with a robot hand for gripping each of the workpieces by the gripper.
A positioning portion that is positioned and fixed to each other in a state where the first and second workpieces are held against each other while being held;
The first and second workpieces are welded to each other in a state where they are positioned and fixed by the positioning portion.

According to the above configuration, the robot hands holding the first and second workpieces are positioned and fixed by the positioning portion, so that the rigidity of each robot hand is increased, the position accuracy is improved, and welding is performed. Welding work with electrodes can be performed with high precision.

Sixthly, the power supply unit electrically connected to the welding electrode is provided to protrude outside the robot hand, and a power supply robot for supplying welding power to the power supply unit is provided.

According to the above configuration, the power supply robot supplies power for welding to the power supply portion of the welding electrode provided in the handling robot. Wiring becomes unnecessary.

Seventh, a robot hand of a first handling robot holding a first work, and a robot hand of a second handling robot holding a second work welded to the first work. To the first,
This is a positioning method for positioning and fixing the second workpieces facing each other in a state where they face each other.

According to the above positioning method, since the robot hands holding the first and second workpieces are positioned and fixed to each other, the rigidity of each robot hand is increased and the positional accuracy is improved, and the welding operation is performed with high precision. Can be done.

[0017]

According to the first invention or the second invention,
Since the robot hands holding the multiple workpieces that are to be welded to each other are positioned and fixed to the positioning mechanism, the rigidity of each robot hand is increased, and the positional accuracy is improved. It can be performed with high accuracy.

According to the third invention or the fourth invention, the robot hand of the first handling robot is positioned and fixed to the positioning mechanism while holding the first work, and the second hand is fixed to the robot hand. Since the robot hand of the second handling robot holding the workpiece is positioned and fixed, the rigidity of each robot hand is increased, the positional accuracy is improved, and a highly accurate welding operation can be performed.

According to the fifth or seventh aspect of the invention, since the robot hands holding the first and second works are positioned and fixed to each other, the rigidity of each robot hand is increased and the position accuracy is improved. And the welding operation can be performed with high precision.

According to the sixth aspect of the present invention, the power supply robot supplies welding power to the power supply portion of the welding electrode provided in the handling robot. Wiring for power supply becomes unnecessary, and the handling robot can perform a smooth operation with an increased operating range.

[0021]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a plan view showing a schematic overall configuration of a welding line for an automobile part to be a work to which a work positioning device according to an embodiment of the present invention is applied.
The automobile parts handled here are a body side 1 constituting a side surface of a vehicle body, and the body side 1 is illustrated by a transfer device 2 including a chain conveyor or the like in an upright state with a roof rail side being an upper part and a side sill side being a lower part. It is conveyed to the left as indicated by arrow A in FIG.

The body side 1 includes a front outer part 5 and a rear fender part 7 in which the body side outer 3 is welded to each other. The body side outer 3 has a front pillar inner part 9, a center pillar The inner part 11 and the rear pillar inner part 13 are welded to each other.

The first step I in the above welding line is as follows:
Temporary placing table 1 by handling robots 15 and 17
The front outer part 5 and the rear fender part 7 placed on the parts 9 and 21 are gripped and set at a predetermined welding work position on the transfer device 2, and the outer parts 5 and 7 are temporarily fixed to each other by the welding robot 23. .

In a second step II, the temporarily fixed body side outer 3 is subjected to additional welding by the welding robot 23 by means of additional tapping.

In the third step III, the handling robots 27, 2
9 and 31, the front pillar inner part 9, the center pillar inner part 11, and the rear pillar inner part 13 placed on the temporary placing tables 33, 35, and 37 are set at predetermined welding work positions on the transfer device 2, and are illustrated. The parts 9, 11, and 13 are temporarily fixed to the body side outer 3 by a welding robot (not shown in FIG. 6, which is denoted by reference numeral 38).

In a fourth step IV, the temporarily fixed portion is subjected to additional welding by a plurality of welding robots 39, and all welding operations are completed here.
Is obtained. In the following fifth step V, the fourth step IV
Is carried out to a subsequent process by a lifter (not shown) or the like.

FIG. 2 shows a first step of the above welding line.
FIG. 3 is a plan view showing details of I, and a work positioning device according to a first embodiment of the present invention is applied to this step. FIG. 3 corresponds to a view in which the work is viewed from the front side (left side in the figure) to the rear side (right side in FIG. 2) in FIG. 2, and FIG. It corresponds to the figure seen from the side.

The handling robots 15 and 17 have robot hands 41 and 43, respectively.
As shown in FIG. 3, gripping portions 41a, 4
3a, and positioning arms 41c and 43c as positioning portions are provided at the center in the vertical direction. As shown in FIG. 2, two positioning arms 41c and 43c are provided for each of the robot hands 41 and 43.

The holding sections 41a and 43a are
The front outer component 5 and the rear fender component 7 on 21 are respectively gripped and moved onto the transport device 2. The robot 45 arranged on the right side of the temporary placing tables 19 and 21 in FIG.
Is for putting the front outer part 5 and the rear fender part 7 into the temporary placing stands 19 and 21, and is arranged so as to be movable in the same direction as the transfer direction of the transfer device 2. In addition,
In FIG. 2, the holding portions 41a and 43a are omitted.

The handling robot 15 of the transfer device 2
A positioning mechanism 47 for positioning the positioning arms 41c and 43c of the handling robots 15 and 17 is provided on a side opposite to the side 17. As shown in FIG. 4, the positioning mechanism 47 has three columns 49 installed along the transport device 2, and each column 49 is connected by a connecting member 51 whose upper end is extended along the transport device 2. . Four support brackets 53 are further provided on the connecting member 51 so as to protrude upward, and each of the robot arms 41,
43, two positioning arms 41c, 43c
A positioning portion 55 is formed in which the tip of each is fitted and positioned.

The support bracket 53 includes a positioning unit 5
The position and the length are set so that the workpiece 5 does not interfere with the workpiece (the front outer component 5 and the rear fender component 7) as shown in FIG. , 7 can be positioned by the positioning arms 41c, 43c. In the state where the positioning operation has been performed, the welding robot 23 temporarily welds portions B and C shown in FIG. 4, which are joints between the front outer component 5 and the rear fender component 7.

Next, the operation of the work positioning device in the first step I will be described. The handling robots 15 and 17 hold the front outer parts 5 and the rear fender parts 7 on the temporary placing stands 19 and 21 by the grippers 41 a and 4.
Each of them is gripped at 3a and moved to a predetermined welding operation position on the transport device 2. At this time, the positioning arms 41c and 43c of the handling robots 15 and 17 respectively.
Is positioned and fixed by fitting its tip into the positioning portion 55 of the positioning mechanism 47. By this positioning and fixing, the front outer part 5 and the rear fender part 7 are set at the regular welding joint positions. In this state, parts B and C shown in FIG.
By welding the parts, the front outer part 5 and the rear fender part 7 are temporarily fixed.

As described above, by positioning and fixing the handling robots 15 and 17 to the positioning mechanism 47 at the time of setting a work to a predetermined welding operation position, the rigidity of the robot hands 441 and 43 is increased, and the positional accuracy is improved. This eliminates the need for a dedicated jig for work positioning, thereby achieving cost reduction, and by replacing the robot hands 41 and 43, it is possible to support other models and improve versatility.

FIG. 5 is a plan view showing details of the third step III of the welding line shown in FIG. 1, and the work positioning apparatus according to the second embodiment of the present invention is applied to this step. Have been. FIG. 6 corresponds to a view of FIG. 5 as viewed from the front side (left side in the figure) in the transport direction of the workpiece to the rear side (right side in the figure).

A handling robot 57 serving as a first handling robot is provided on the right side of the transfer direction of the transfer device 2 in the third step III. The handling robot 57 includes a robot hand 59. As shown in FIG. 6, the upper and lower ends of the robot hand 59 are formed by a first work that has been additionally beaten in the second step II and the welding and joining work has been completed. A grip portion 59a for gripping a certain body side outer 3 on the transfer device 2 is provided.

At positions off the body side outer 3 near the left and right ends in FIG. 5 of the robot hand 59, a positioning arm 59b as a positioning portion is provided with the handling robot 27 constituting the second handling robot.
Projections are provided on the 29 and 31 sides. On the other hand, a positioning mechanism 61 is provided on the side opposite to the handling robot 57 with respect to the transport device 2, and the distal end of the positioning arm 59 b is fitted into the positioning mechanism 61 to hold the body side outer 3. Robot hand 5
9 is positioned and fixed. The positioning arm 59b and the positioning mechanism 61 are omitted in FIG.

As shown in FIG. 6, the robot hand 59 further includes, near the center in the vertical direction, a united arm 59c serving as a positioning portion protruding toward the handling robot 27, 29, 31 side.
9 and 31 are provided corresponding to the robot hands 63, 65 and 67, respectively. The robot hands 63, 6
5 and 67 are omitted in FIG. On the other hand, on the side of the robot hands 63, 65, 67, a united arm 63a that serves as a positioning portion where the distal end is fitted to the distal end of the combined arm 59c at the fitting portion 69 and the two arms are united and positioned and fixed. , 65a, 67a are provided respectively.

The above-described robot hands 63, 65, 67
Has upper and lower gripping portions 63b, 65b, 67b for gripping a front pillar inner component 9, a center pillar inner component 11, and a rear pillar inner component 13 as a second work. The inner parts 9, 11, and 13 placed above are moved to a predetermined welding portion of the body side outer 3 on the transfer device 2 while holding the inner parts 9, 11, and 13. FIG. 6 of the temporary placing tables 33, 35, and 37
A robot 71 (not shown in FIG. 5) disposed on the right side in the inside places the inner parts 9, 11, and 13 on the temporary placing table 33,
The transfer device 35 is provided so as to be able to move the transfer device 35 in the same direction as the transfer direction of the transfer device 2.

The above-mentioned united arms 59c and 63
a, 65a and 67a are the first handling robot 5
7 is set at a position where it does not interfere with the body side outer 3 with the positioning mechanism 7 positioned on the positioning mechanism 61.

Next, the operation of the work positioning device in the third step III will be described. Second of the previous process
The body side outer 3 that has been additionally beaten in the step II and the welding and joining work has been completed is transported by the transfer device 2 to the third step III.
The handling robot 57 moves the robot hand 59 close to the body side outer 3 and grips the body side outer 3 with the gripping portion 59a, and also fixes the tip of the positioning arm 59b to the positioning mechanism 61.
To perform positioning and fixing of the robot hand 59.

Next, the handling robots 27, 29,
The temporary placing tables 33, 3 are held by the gripping portions 63b, 65b, 67b of the robot hands 63, 65, 67 on the 31 side.
The front pillar inner part 9, the center pillar inner part 11, and the rear pillar inner part 13 on 5 and 37 are respectively gripped and moved to predetermined welding portions of the body side outer 3 on the transfer device 2. At this time, the united arms 63a, 65 of the robot hands 63, 65, 67
The ends of the arms a and 67a are fitted to the ends of the united arms 59c on the handling robot 57 side to unite the two arms. Thus, the robot hand 59 that grips the body side outer part 3 is provided with the respective inner parts 9 and 1.
Robot hands 63 and 6 that respectively hold the hands 1 and 13
5, 67 will be positioned and fixed.

As described above, by positioning and fixing the robot hand 59 holding the body side outer 3 on the transfer device 2 to the positioning mechanism 61, the robot hand 59 is fixed.
The rigidity of the robot hand is increased to improve the position accuracy, and the robot hand 63, 65, 65
67 are combined with each other by the combined arms 59c and 63a, 65a,
By combining the robot hands via the 67a, the rigidity of the robot hands 63, 65, and 67 is also increased, and the positional accuracy is improved.

As a result, similarly to the first embodiment, a dedicated jig for positioning the work is not required, and
Cost reduction can be achieved, and each robot hand 5
By exchanging 9 and 63, 65, 67, it is possible to support other models, and the versatility is improved.

FIG. 7 shows a work positioning apparatus according to a third embodiment of the present invention. In this embodiment, the robot hand 75 of the handling robot 73 that constitutes the first handling robot has the first workpiece 7.
7, the robot hands 81 of the handling robot 79 constituting the second handling robot hold the second work 83, respectively.
5, 81 while positioning and fixing each other,
The three are welded to each other by the built-in welding electrodes 85 and 87.

At the center of the distal end of each of the robot hands 75 and 81, there are provided locate clamps 89 and 91 for gripping the workpieces 77 and 83, respectively. Locate clamp 8
Reference numerals 9 and 91 denote the clamp claws inserted into the locating holes formed in the respective workpieces 77 and 83, which protrude to the side while moving forward, and then retreat, so that the clamp claws and the robot hand 75, Work 77, 83 with 81 side
Is held and gripped.

Support brackets 93 and 95 are provided on both sides on the distal end side of the robot hands 75 and 81 so as to protrude toward the sides. Coupling units 97 and 99 are provided as positioning portions where the sides are united with each other and the robot hands 75 and 81 are positioned and fixed to each other.

In FIG. 7, the upper uniting units 97 and 99 are provided.
The robot hands 75, 81 located inside the robot are provided with the aforementioned welding electrodes 85, 87 for welding the workpieces 77, 83 to each other.
Are connected to welding cables 101 and 103, respectively. The uniting units 97 and 99 also have a role of withstanding the pressing force of the welding electrodes 85 and 89.

Next, the operation of the work positioning device shown in FIG. 7 will be described. The robot hands 75 and 81 are, for example, workpieces 77 and 83 placed on a temporary table (not shown).
Are gripped by the locate clamps 89, 91, and in this state, the hands 75, 81 are abutted against each other to unite the united units 97, 99. At this time, the workpieces 77 and 83 are butted in a state where they are welded and joined to each other. In this state, welding work is performed by the welding electrodes 85 and 87, and the workpieces 77 and 83 are welded to each other.

As described above, also in the work positioning device shown in FIG. 7, the robot hands 75, 81 holding the works 77, 83 are connected to each other by the uniting unit 97,
Since they are combined and positioned and fixed by 99, the rigidity of the robot hands 75 and 81 is increased, and the positional accuracy is improved.
A dedicated jig for work positioning is not required, and cost reduction can be achieved. Further, in this embodiment, since the robot hands 75 and 81 are provided with the locate clamps 89 and 91 for holding the works 77 and 83 and the welding electrodes 85 and 87, respectively, the work clamps and the work clamps are used. It is not necessary to prepare each robot separately, and further cost reduction can be achieved.

FIG. 8 is a modification of FIG. 7, in which united units 113 and 115 are provided on both sides of each of the robot hands 109 and 111 of the handling robots 105 and 107 constituting the first and second handling robots. Each of the robot hands 109 and 111 has a built-in welding electrode 121 and 123 for performing a welding and joining operation on the first and second workpieces 117 and 119, respectively. The welding electrodes 121 and 123 are electrically connected to power supply electrodes 125 and 127 provided to protrude to the side (upward in FIG. 8) of the robot hands 109 and 111. Electrodes 125, 1
27 is supplied with welding power by a power supply robot 129.

FIG. 9 shows a specific example of the above-described FIG. 8, in which the handling robot 105 grips the body side outer corresponding to the first work 117 and the front pillar corresponds to the second work 119. The inner robot is gripped by the handling robot 107. Each robot 10
Each of the robot hands 5 and 107 includes a plurality of robot hands 109 and 111 (three in this case).
29, the other robot hand 10
A welding cable is buried or attached to the base 131 of the robot hand so that welding at 9 and 111 can be performed at the same time.

8 and 9, the robot hands 109 and 111 abut each other with the workpieces 117 and 119 gripped by the gripping parts (not shown) to connect the united units 113 and 115 to each other. After the coupling and joining, the welding operation is performed by the welding electrodes 121 and 123 based on the power supply operation of the power supply robot 129, and the workpieces 117 and 119 are welded to each other.

Therefore, in this example, in addition to having the effects of the embodiment shown in FIG. 7, the welding robot for power supply is not pulled out from the handling robots 105 and 107, so that the operating range of the handling robots 105 and 107 is limited. Wide and smooth operation is possible.

[Brief description of the drawings]

FIG. 1 is a plan view showing a schematic overall configuration of a welding line for automobile parts to which a work positioning device according to an embodiment of the present invention is applied.

FIG. 2 is a plan view of a work positioning device in a first step of the welding line of FIG. 1;

FIG. 3 is a side view of the work positioning device as viewed from a front side in a conveyance direction of the work to a rear side in FIG. 2;

FIG. 4 is a front view of the work positioning device when the work on the transfer device in FIG. 2 is viewed from the handling robot side.

FIG. 5 is a plan view of a work positioning device in a third step of the welding line shown in FIG. 1;

6 is a side view of the work positioning device as viewed from the front side in the conveyance direction of the work in FIG. 5 to the rear side.

FIG. 7 is a detailed view showing a work positioning device according to a third embodiment of the present invention.

FIG. 8 is a detailed view showing a work positioning device showing a modification of the embodiment of FIG. 7;

FIG. 9 is a perspective view showing a specific overall configuration of the example of FIG. 9;

[Explanation of symbols]

3 Body side outer (first work) 5 Front outer part (work) 7 Rear fender part (work) 9 Front pillar inner part (second work) 11 Center pillar inner part (second work) 13 Rear pillar inner part ( Second work) 15, 17 Handling robot 27, 29, 31, 79, 107 Handling robot (Second handling robot) 41, 43, 59, 63, 65, 67, 75, 81, 1
09, 111 Robot hands 41a, 43a, 59a, 63b, 65b, 67b Gripping portions 41c, 43c Positioning arms (positioning portions) 47, 61 Positioning mechanisms 57, 73, 105 Handling robot (first handling robot) 59b Positioning arm ( Positioning part) 59c Merged arm (positioned part) 63a, 65a, 67a Merged arm (positioning part) 77, 117 First work 83, 119 Second work 85, 87, 121, 123 Welding electrode 89, 91 Locate Clamp (gripping part) 97,99,113,115 Combined unit (positioning part) 125,127 Power supply part 129 Power supply robot

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Teruo Segawa 2 Takaracho, Kanagawa-ku, Yokohama, Kanagawa Prefecture Nissan Motor Co., Ltd. (72) Inventor Shoichi Takahashi 2 Takaracho, Kanagawa-ku, Yokohama City, Kanagawa Nissan Motor Co., Ltd.

Claims (7)

[Claims] A positioning mechanism provided in the vicinity of a welding operation position for a plurality of workpieces to be welded to each other; and moving the workpiece to the welding operation position in a state where each of the workpieces is gripped by a gripping portion. And a plurality of handling robots provided with a robot hand whose positioning portion is positioned and fixed to the positioning mechanism so that the position becomes a regular welding joint position. 2. A plurality of works to be welded to each other,
A work positioning method, comprising: setting the welding robot at a predetermined welding work position while holding it by a corresponding handling robot; and positioning and fixing the handling robot to a positioning mechanism. 3. A first handling robot provided with a robot hand for moving a first work to a predetermined welding operation position while holding the first work with a holding portion, wherein the first handling robot is installed near the predetermined welding operation position, A positioning mechanism that is positioned and fixed by a positioning unit of the robot hand in a state where a robot hand of the first handling robot moves the first work to the predetermined welding operation position, and welds the first work to the first work; The second work to be joined is moved to a predetermined welding joint part of the first work in a state where the second work is grasped by the grasping portion, and the position of the robot hand of the first handling robot positioned and fixed to the positioning mechanism is moved. A second handling robot provided with a robot hand having a positioning part fixedly positioned on the part. Positioning device. 4. A second hand holding a second work to be welded and joined to the first work in a state where a robot hand of the first handling robot holding the first work is positioned and fixed to a positioning mechanism. A workpiece positioning method, comprising: positioning and fixing a robot hand of a handling robot to the robot hand of the first handling robot. 5. A robot having first and second handling robots each provided with a robot hand for gripping a first and second work to be welded and joined to each other by a gripper. The hand includes a positioning portion that is positioned and fixed to each other while holding the first and second workpieces while abutting each other, and a first and second workpiece that is positioned and fixed by the positioning portion. A work positioning device, comprising: a welding electrode for welding and joining each other. 6. A power supply robot which supplies a welding power to the power supply portion, the power supply portion being electrically connected to the welding electrode is provided so as to protrude outside the robot hand. Work positioning device. 7. A robot hand of a first handling robot holding a first work, and a robot hand of a second handling robot holding a second work welded to the first work. A work positioning apparatus characterized in that the first and second works are positioned and fixed facing each other in a state where they face each other.