JPS5848067Y2 - Workpiece transfer device for industrial robots - Google Patents

Description

[Detailed description of the invention] This invention uses a workpiece gripping device attached to the tip of the arm of an industrial robot to grip the workpiece (object to be welded) and transfer the workpiece on the workpiece positioning table to the spot welding device and eject the workpiece. This invention relates to a workpiece transfer device for an industrial robot that sequentially transfers workpieces to and from a table.

Industrial robots are used for a variety of purposes, but conventionally, those used for spot welding have a welding gun attached to the end of the arm of the industrial robot, and the posture of the welding gun relative to a fixed workpiece. It was common practice to change the parts and perform welding work.

In such welding equipment, a secondary cable that supplies welding current to the welding gun, an air hose that supplies air that operates the cylinder, a water hose that supplies cooling water, etc. are connected between the welding gun and the robot base. As a result, these weights and the load of the welding gun are added to the arm of the industrial robot, which limits the movement of the industrial robot in space and time, making it difficult for the industrial robot to fully operate. There was a problem that made it impossible to utilize it.

This idea aims to provide a workpiece transfer device that solves these problems.Unlike conventional devices, the workpiece to be welded is gripped and moved by the arm of an industrial robot. This eliminates the inconveniences of the previous device.

Next, one embodiment of this invention will be explained with reference to the diagram.
In the figure, 1 is a floor, and on this floor 1, there is a workpiece positioning table 4 near a radius line 3 at a certain distance from a point 2 as the center.
, a spot welding device 5, and a work discharge table 6 are provided.

Details of each of these devices will be described later.

Further provided on the floor 1 is an arm 8 of an industrial robot 7 which pivots around the aforementioned point 2.

FIG. 2 is a perspective view of this industrial robot 7. This industrial robot 7 has a base 9 placed on the floor 1, and is attached to the upper part of this base 9. An arm holder 10 that rotates as a turning center, an arm 8 attached to the tip of the arm holder 10 so as to be able to move forward and backward, and an arm head 11 that is pivotally attached to the tip of the arm 8 so as to be pivotable in horizontal and vertical directions. and a gripping device 12 integrally attached to this arm head 11.

The structure of the gripping device 12 will be described later.

Returning to FIG. 1, the workpiece positioning table 4, spot welding device 5, and workpiece discharge table 6 will be explained.

The workpiece positioning table 4 is a table-like table provided on the floor 1, and has brackets 1 provided at both ends and in the center.
3, 14, and 15 (see FIG. 3), a workpiece 16 is removably mounted thereon.

The workpiece 16 may have any shape, but it is preferable that the workpiece 16 be raised above the workpiece positioning table 4 as shown in FIG.

This workpiece positioning table 4 is located inside the radius line 3.

The spot welding device 5 supplies power to a spot gun mount 17, two spot guns 18 and 19 mounted on the spot gun mount 17 with their tips close to each other, and the spot guns 18 and 19. It consists of spot transformers 20 and 21.

As shown in FIG. 4, the spot gun 18 is attached to a shaft 23 at the upper end of a bracket 22 provided on the spot gun mount 17.
It consists of two arms 24, 25 that rotate around , and when the workpiece 16 is spot welded, it is held between the two arms 24, 25.

The spot gun 19 also has a completely similar configuration.

Next, the gripping device 12 attached to the tip of the arm 8 of the industrial robot 7 will be explained. In FIG. This is for making the piston rod 29 appear and disappear.

This cylinder 26 is attached to the workpiece 30 at both ends of the gripping device 12, and the tip of the piston rod 29 is connected to the workpiece 30 through a link 32.
0, and the workpiece holder is also connected by a link 31 to a workpiece holding arm 34 which is pivotally connected to the material 30 by a shaft 33.

Therefore, by operating the cylinder 26, the work holding arm 34 can be rotated about the shaft 33 as a fulcrum.

A work holding member 35 is attached to the tip of the work holding arm 34, and a reference pin 36 is installed in the work receiving member 30 at a position opposite to the work holding member 35.

By inserting this reference pin 36 into a hole provided in the workpiece 16, the workpiece 16 is placed on a certain position on the workpiece 30, and the workpiece holding member 35 and the workpiece support are placed on the material 30,
The workpiece 16 is gripped by the reference pin 36 (see FIG. 3).

In this device configured in this way, the industrial robot I-
By appropriately operating the rotation of the arm 7, the protrusion and retraction of the arm 8, and the supply of working fluid to the cylinder 26, the workpiece 16 placed on the workpiece positioning table 4 is gripped, carried to the spot welding device 5, and then welded there. After completion of spot welding, the workpiece 16 can be carried to the workpiece discharge table 6.

In this case, the timing of placing the workpiece 16 on the workpiece positioning table 4, opening/closing the spot guns 18 and 19, gripping and energizing the workpiece 16, and removing the workpiece 16 from the workpiece discharge table 6 is adjusted. There is a need.

Since this device is constructed as described above, there is no spatial restriction due to secondary cables, etc. unlike conventional ones, and there is no restriction on movement due to the load of secondary cables or welding guns, etc., making welding work easier. , will definitely be carried out,
Industrial robots can be used efficiently.

Furthermore, by appropriately adjusting the degree of protrusion of the reference pin 36, it is easy to hold various workpieces 16 of various shapes and sizes at a desired fixed position. 35 can be made extremely small enough to grip the workpiece 16 positioned by the reference pin 36, the gripping device 12 as a whole can be made smaller and lighter, and the operating speed of the arm 8 can be increased to improve work efficiency. It is possible to improve the

Furthermore, since the gripping device 12 is miniaturized, it becomes easier to avoid the welding point position of the spot welding device 5.

If the workpiece 16 is a sheet metal part for an automobile,
Both the right-hand side part and the left-hand side part, which are symmetrical to each other, can be gripped by one gripping device 12.

[Brief explanation of drawings]

Fig. 1 is a plan view of an embodiment of this invention, Fig. 2 is a perspective view of the outside of the industrial robot hole shown in Fig. 1, Fig. 3 is a front view seen from direction ■ in Fig. 1, Fig. 4 FIG. 5 is a side view showing details of the gripping device shown in FIGS. 1 and 2. FIG. 1...floor, 2...point, 3...
Radius line, 4... Work positioning table, 5...
...Spot welding device, 6... Workpiece release table,
7...Industrial robot, 8...Arm, 12...Gripping device, 30...Workpiece holder is material, 35...Workpiece Pressing material, 36...
...Reference bin.

Claims (1)

[Scope of utility model registration request] A workpiece positioning table, a spot welding device, and a workpiece discharge table are arranged near a radius line at a certain distance from one point on the floor, and the workpiece is rotated on the floor with the one point as the center. An arm of an industrial robot is provided, and at the tip of the arm, a workpiece is gripped by a workpiece, a reference pin is set on the workpiece, and the workpiece is gripped between the reference pin and the workpiece. A workpiece transfer device for an industrial robot, characterized in that a workpiece gripping device comprising a workpiece holding member is attached.