JPS59109472A - Welding jig for car body assembly - Google Patents

Abstract

PURPOSE:To give flexibility to a jig itself and facilitate the precision error correction by movably constituting jig members at predetermined positions. CONSTITUTION:The first manipulator 20 and the second manipulator 21 are adjacently erected on a jig base 3. When a gauge plate 22 and a locate pin 28 are to be shifted for their position correction, etc., predetermined position data as shift quantity command values are applied to control units of individual manipulators 20, 21, then only necessary axes of the manipulators 20, 21 are operated, and the gauge plate 22 and locate pin 28 are set at predetermined positions.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a method for welding and assembling predetermined workpieces in an automobile body assembly process.

This invention relates to a welding jig for vehicle body assembly for mutually positioning and clamping parts.

As is well known, in the automobile assembly process, many car body components, including panels, are assembled by welding, and each workpiece is positioned and clamped using a welding jig that serves as a shape receiver. It is generally used for welding.

Figure 1 shows an example of the welding jig for car body assembly.
1 is a welding robot equipped with a spot welding gun 2 on the lift part, 3 is the center of a welding jig 4 for car body assembly? A gauge post 5 and a locate post 6 are set upright on the jig pace 4 of the jig base, and the upper end of the gauge post 5 has a gauge surface 5a as a shape receiver corresponding to the shape of the workpiece W. In addition, a workpiece W is placed at the upper end of the locate boss 6.
A locating pin 7 to be inserted into the locating hole on the side is provided for each. A clamp device 8 is attached to the gauge boss 5, and this clamp device 8 includes a clamper 9 that rotates to open and close with respect to the gauge surface 5a, and an actuator IO that drives the clamper 9 to open and close.
As shown in the figure, the gauge surface 5a and the locate pin 7 move the workpiece W? : While positioning, it is firmly clamped with a clamper 8, and then a predetermined welding is performed with a spot welding gun 2.

In addition, 11 is a knock bottle that controls the relative positioning of the jig base 3 and the gauge post 5 or the locate post 6;
2 is a mounting bolt.

However, in the above-mentioned conventional welding jig for car body assembly, the accuracy of the product after welding is determined by the accuracy of the welding jig, so the jig base 3, gauge post 5, and jig base 3 and locate post 6 are fixed with mounting bolts 12, and dowel pins 11 are used to ensure the final accuracy of the jig itself. Gauge Bost 5. Because it is affected by processing accuracy errors of the locate post 6, etc., and assembly errors when assembling each component, in some cases the required accuracy may not be achieved, and a large amount of man-hours are required to ensure accuracy. There is a problem that it is necessary.

In other words, with conventional jigs, each component is fixed around the jig base 3, so it is not easy to correct the accuracy of the jig after assembly is completed, and Depending on the jig, a method is often used in which the process from positioning and clamping to welding is performed using the completed jig, and then all machining errors of the workpiece W are corrected on the jig side, but in the conventional case, all Since the constituent ammonium is fixed, the gauge surface 5a, the locate pin 7, etc. cannot be easily moved and corrected.

Here, a specific method for correcting the accuracy of a conventional jig will be described. Let us briefly explain the method shown in FIG. 2(A).

As shown in (B) and (0), the gauge surface 5a is x1*
YI * zI *θ,.

Assuming that an error of θ, θ has occurred, θ1゜θ
Regarding 2, the contact surface of the gauge post 5 against the top surface of the base (the shaded area in FIG. 3 (A), ■) is corrected by cutting or grinding, and the gauge post 5 and the jig base 3 are corrected by cutting or grinding.
Correct the perpendicularity with. On the other hand, for Z, either insert the shim plate 13 for height adjustment between the gauge post 5 and the jig base 3 (Fig. 4 (A)), or insert the gauge post 5 against the jig base 3 as described above. The contact surface of (
The area (shaded area in FIG. 4(B)) is corrected by cutting or grinding. Regarding θ8 @ xl * Yl, the holes for the mounting bolts of the gauge post 5 are machined (FIG. 5), and the position of the entire gauge post 5 on the jig base 3 is corrected.

In this way, in conventional jigs, processing accuracy errors and assembly errors of each component are accumulated around the jig base 3, so it takes a large amount of time and effort to correct them. In addition to requiring man-hours for disassembling and assembling the IC, in severe cases it may involve multiple IC operations, and in both cases there is a problem of lack of flexibility.

In view of the above points, the present invention was made for the purpose of providing a welding jig for car body assembly in which the jig itself has flexibility and accuracy errors can be easily corrected.
For this purpose, in the present invention, jig members such as a gauge plate, a clamp device, and a locate pin are held by a predetermined manipulator such as a robot, and all of the jig members are movable to predetermined positions by the operation of this manipulator. It is characterized by what it did.

Hereinafter, embodiments of the present invention will be described in detail based on the drawings.

That is, FIG. 6 shows an embodiment of the present invention, in which a first manipulator 20 and a second manipulator 21 are erected adjacent to each other on a jig base 3. At the tip of the first manipulator 20, there is a gauge surface 221L' as a shape receiver corresponding to a predetermined workpiece shape.
A jig member, that is, a gauge plate 22 having f- is attached via a holder 23, and a jig member consisting of a clamper 24 and an actuator 25, and a barrel clamp device 2, are attached to this gauge plate 22 as described above.
6 is installed. On the other hand, a locate post 27 is vertically attached to the second manipulator 2, and a locate pin serving as a jig member is held at the tip thereof.

These first and second manipulators 20 and 21 each move a gauge plate 22, which is a jig member, to a position according to the position information by giving electrical position information of the appointed leader. Clamp device 26 or locate bin 2
8, each manipulator 2
As the form of 0 and 21, any of the articulated cylindrical type, rectangular coordinate type, polar coordinate type, etc. may be used alone, or a plurality of types may be selected and combined from among them. In the case of this embodiment, the first manipulator 20 is each actuator M+ *Mt *Ms? A total of 6 axes type robot was used, which is a combination of an orthogonal coordinate type 3 axis type robot 29 equipped with a robot 29 and an articulated type 3 rotary axis type robot 30 equipped with actuators M4, sM5, and mM6. Each uses an orthogonal coordinate type three-axis type robot 31 having actuators MyeMs+Ms+k.

The number of axes for each manipulator 20 and 21 may be selected and set as necessary, and depending on the installation conditions of the entire welding jig, all jig spaces 3 may be omitted and each manipulator 2
0 and 21 may be installed directly on the floor or the like.

Therefore, according to the welding jig having the above configuration, when moving the gauge plate 22 and the locate pin 28 to correct their positions, each manipulator 2 (
If predetermined position information is provided as a movement amount command value to the control devices 1 and 21, each manipulator 20 and 2
Only the necessary shafts among the two are operated, and the gauge plate 22 and locate pin 28 are set in predetermined positions.

For example, Fig. 7 (A), (B), (0) l'c
As shown, the gauge plate 22 as in the case of FIG.
θ1. θ7. θ,,X,.

Assuming that an error of y,,z has occurred, for θ, actuator M is moved in the direction of arrow m11, θ!
Regarding actuator M+? The correction is made by operating the actuators M and e in the direction of arrow m4, and for θ, in the direction of arrow m6. Similarly, for Xl, move the actuator M+k in the direction of the arrow m1, and for Y, move the actuator M in the direction of the arrow m1. In the direction, and for 2, the actuator Ms2! i--Arrow m, operate each in the direction to correct it. In this case, the operation of each actuator is performed by each manipulator 20, 2 as described above.
This is performed via one control device, and each actuator may be actuated singly (or a plurality of actuators may be actuated simultaneously).

In this way, according to the above-mentioned welding jig, the amount of correction can be directly given to the control device as information, without having to modify the gauge post or locate post, or disassemble and reassemble them, as in the past. The error correction method can be performed easily and quickly. In addition, the gauge plate 22
Since the locating pin 28'f can be moved arbitrarily, it is possible to change the accuracy itself during assembly, thereby correcting the accuracy error due to defects in the workpiece shape or the accuracy error of the locating hole to perform predetermined positioning. It is something that can be done.

FIGS. 8(A) and 8(B) show another embodiment of the present invention.

In this embodiment, a plurality of workpieces W having the same cross-sectional shape and locate hole diameter but different overall shapes,
For example, one welding jig can be used for both left and right-handed workpieces. That is, in the case of work W, the work W1 is positioned at the position shown by the solid line in FIGS. 8(A) and 8(B), while work W! In this case, the first manipulator 20 is operated to move the gauge plate by xI o zl #θ1, and the second manipulator 21 is similarly operated to move the locate pin 28 by xIs2, as shown in the figure. Position the workpiece W at the position indicated by the dashed-dotted line.

In this way, the gauge plate 22 and locate pin 2
8 can be moved arbitrarily, so if the shape of the gauge receiving surface and the diameter of the locating hole are the same, multiple workpieces W can be moved.
, , W, one welding jig can all be used in common.

As is clear from the above description, according to the present invention, jig members such as a gauge plate, a clamp device, and a locating pin are held by a predetermined manipulator and can be moved to a predetermined position. Accuracy error O correction 5. In addition to being able to perform correction easily and quickly, the jig machining time, assembly time, and precision work time can be significantly reduced.
Furthermore, it has the advantage that one jig can be applied to multiple types of workpieces within a certain range.

[Brief explanation of the drawing]

Figure 1 is a perspective view showing an example of a conventional welding jig for car body assembly, Figures 2 (A), (B), (0), and Figure 3 (A).
), (B), Figure 4 (A), (B) and Figure 5
The figures are explanatory diagrams for explaining the error correction method of the welding jig shown in Fig. 1, Fig. 6 is a perspective view showing one embodiment of the welding jig according to the present invention, and Figs. B) , (0
) is an explanatory diagram for explaining the error correction method of the welding jig shown in FIG. 6, and FIG. 8(A). (B) is an explanatory plan view and an explanatory front view showing another embodiment of the present invention. 3... Jig base, 20... First manipulator,
21・Second manipulator, 22...cage plate (jig member), 26...clamp device (jig member)
, 4... Locate pin (jig member), W, W,, W,...
··work. Figure 5 Figure 6

Claims (1)

[Claims] (1) In a welding jig for vehicle body assembly that positions and clamps a predetermined workpiece when welding and assembling the workpiece in the process of assembling an automobile body, a gauge plate and a clamping device control the positioning or clamping of the workpiece. A bath attachment jig for car body assembly, characterized in that a jig member such as a locate pin is held by a predetermined manipulator, and the jig member is movable to a predetermined position by the operation of the manipulator.