JPS59144595A - Welding jig for assembling vehicle body - Google Patents

Abstract

PURPOSE:To position plural kinds of works with one jig and to improve the versatility of the jig by holding a gage unit which permits optional changing of the shape of a gage surface according to need in a manipulator. CONSTITUTION:The feed of an ultrasonic oscillator unit 29 conforming to the sectional shape of plural works is controlled to generate the gage surface 28a meeting the sectional shape of each work. A thin sheet laminated body 26 is used as a gage plate 28 in this stage so that plural kinds of panel works are bandled with a sheet of the gage plate 28.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a welding jig for car body assembly for positioning predetermined workpieces (Sl, O) when welding and assembling predetermined workpieces in an automobile assembly process. In the automobile assembly process, many car body components, including panels, are assembled by welding, and each workpiece is positioned using a welding jig that serves as a shape receiver and subjected to the above-mentioned welding. is common.

FIG. 1 shows an example of a conventional welding jig for assembling a vehicle body, and the jig is illustrated as a jig for fixing a front pillar w'1 position as a 1% wafer.

As shown in the figure, there are a plurality of gauge plates 3 on the jig base, each having a gauge surface 3a at the end thereof as a shape receiver corresponding to the cross-sectional shape of each part of the workpiece W.
are attached to each of them, and an opening cavity 5 is attached via a bracket if necessary. Each gauge plate 3 is equipped with a clamping device B, and this clamping device has a
It consists of a clamper 7 that rotates to open and close relative to a, and an actuator that drives the clamper 7 to open and close.
As shown in the figure, the workpiece W is firmly clamped between the hinge surface 3a and the clamper 7, and then a predetermined welding process is performed using a Nangai welding robot. .

Note that 9 is a knock pin that controls the relative positioning of the jig base and each gauge boss dot, and 10 is a mounting bolt.

In such conventional welding jigs for car body assembly, the accuracy of the product after welding is determined by the accuracy of the welding jigs, so the gauge plate 3 and the gauge postco are firmly fixed. With.

This cage post 2 is fixed to the jig base/ with a mounting bolt IO, and the final accuracy of the jig itself is guaranteed with a dowel pin 9. Therefore, the gauge surface of the gauge plate 3, ? The shapes of a and the clamper 7 are limited to and specialized for only one type of workpiece W. For this reason, 1. For example, in the so-called mixed production system where multiple car models are assembled on the same line, it is not possible to handle multiple car models unless the entire jig including the jig base is replaced, resulting in a lack of versatility. be.

In view of the above points, this invention was made mainly for the purpose of making welding jigs more general-purpose.For this purpose, in the present invention, the shape of the gauge surface can be changed arbitrarily as necessary. Changeable gauge play) Flu is held by an industrial robot that is a manipulator, and by effectively combining the gauge surface change function described above with the robot function, it can be applied to various types and shapes of workpieces! It is characterized by the fact that it is made to do so.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail based on the drawings shown in FIG. 2 and the following drawings.

2 and 3 show an embodiment of the present invention, where // is a jig base, / is an articulated robot as a manipulator disposed on the jig base, and this robot / 2 corresponds to the gauge post 2 mentioned above. And, on the wrist part of the robot 7.2, there are multiple gauge plays via the mounting bracket)/Ji)/ll-
a, /'i' b, /qc, IQ-d,
, /4' e 'i (have gauge unit 15
+J has been taken.

This gauge unit 15 has five gauge plates/4L a each having a different gauge surface shape on the outer periphery of a rotating seat 17 which is rotationally driven by a switching actuator/B.
, /lJ,b, IQ c, /'A d,
/φef equal pitch and radially arranged 1
Multiple gauge plays by rotating rotating seat/7) IQ
The structure is such that it can handle a total of five types of workpieces W by selecting one from a to /IIe and positioning it at the erect position 0. Furthermore, as shown in FIG. 3, each gauge plate lva~/l/, e has a clamp device 20 consisting of a hinge lever set/clamp/<-7g and an actuator 19 for opening/closing the clamper/gf. It is attached. That is, the entire cross-sectional shape of the workpiece W that can be accommodated by the gauge boss dot 75 in FIG.
If there are 5 types shown in E+, 1 individual gauge plate/I
The gauge surfaces 1/a to 2/e of Ia-/4Cθ and the pressurizing surfaces of clampers/zas a to lzaC are formed to match the cross-sectional shape of each workpiece.

Here, the above-mentioned manipulator/co.
The gauge unit 15 is moved to I-hide and positioned at 6γ.As for the robot form, joint type, force/cylindrical type, p-cross coordinate type, polar coordinate type QIJ, etc. may be used alone or in combination. In addition, the number of axes, control method, etc. may be arbitrarily set depending on the intended operating range. In this embodiment, the actuators M1 and M! , Ml
A rotary 311111111 line 1 axis gold side 4 axis robot 1.2 with M4 is used.

However, according to the welding jig with the above configuration, when changing a workpiece, a gauge plate is selected from among five gauge plates having a gauge surface that matches the cross-sectional shape of the workpiece W, and the selected required value is selected by the operation of the actuator/B. The entire giant 1 translocation/7 may be rotated and positioned until the gauge plate reaches the second south erect position (vertical position) o.

For example, in the case of FIG. 2, the gauge plate/II c is in the upright position.

Instead, when processing the workpiece W shown in Fig. 4(B), rotate the rotary seat 17 clockwise by θ to position the gauge plate/Qb appropriate for the workpiece at the upright position 0. Bye.

Furthermore, depending on the shape of the workpiece W, it may be necessary to change the position of the gauge unit/3 itself.

In that case, as shown in FIG. 5, the actuators M8 to M4 of the robot are actuated to move the movement of the robot itself and position it at the desired position. Of course, for operations such as 1 or more, position 1 blue report @-, which is recorded in advance in the I111 equipment rules for H, for example, Jl?
This is done automatically by extracting each time based on the type signal.

As described above, with the bath welding jig of this embodiment, even if the plurality of workpieces W have different cross-sectional shapes,
By equipping the gauge unit 13 with a plurality of gauge plates/IIa-/Qθ corresponding to the cross-sectional shapes of those workpieces, one welding jig can handle a plurality of workpieces. Tona Ru.

In addition, in conventional jigs, all of the components are fixed, so it takes a lot of man-hours to correct or change the positioning accuracy of the jig itself, but with the jig of this example. Since the gauge unit lj can be moved as needed, corrections and changes in positioning accuracy can be performed easily and quickly by applying the correction amount as 1r1-information to the robot. be able to.

FIGS. 6 and 7 show the second fruit of this invention. In this embodiment, the gauge plate is constructed from a thin plate laminate made by laminating a large number of thin steel plates, and one gauge It is designed to handle multiple workpieces by changing the shape of the gauge surface as appropriate by using only the plate.

First of all, to explain its composition, 2/ is the base.

, 22 are orthogonal s-axis type robots), , j4' are Geschnits attached to each robot n via the mounting bracket 5. This cajuninto, 7 pieces are,
As shown in FIG. 7, a thin plate laminate 26 formed by layering a large number of thin steel plates of the same shape in a case song 26 is attached to a pair of horns.
J (accommodated with F plate, 27 and gauge plate-2
J'('i?
! ? This ultrasonic 4-channel unit,
2 is a pulse motor, 10, , ? It is configured to be able to move in the two-dimensional direction of Y by means of screw shirts (screw shirts), 13, and rods, which are each rotationally driven by /. And the thin plate laminate:), A, the Akusenyueta 3 that is being clamped! The pressure metal is weakened to such an extent that the thin plate laminate 24 does not come apart, and by applying force to feed in the X and Y directions while driving the ultrasonic transducer unit 2, the upper end surface of the thin plate laminate 2 is Cage surface of desired shape on side, 2Jat-
It is something that can be created.

1-, 7j Therefore, according to this embodiment, 1, for example, FIG. 8C
)(B)(C1(:4 types of panel work W shown in Dl
□,w,.

wl+,...,44, the ultrasonic transducer unit, 2q, has numerical information corresponding to the cross-sectional shape of each pile work W,', W,, W8, W4.
Fig. 9 (A) (B)
As shown in (C1(D)), it is sufficient to create a pair of gauge surfaces, 2.ra, for each workpiece cross-sectional shape. By using the thin plate laminate 26f as the gauge plate, it is possible to handle a plurality of types of panel work with only one gauge plate 2g.

Furthermore, as a modification of this embodiment, as shown in FIG. 10, the above gauge unit 2q and the articulated robot 3A can be combined to be used as a positioning jig for assembling the body side wb'4. FIG. 11 shows a third embodiment of the present invention. In this embodiment, a set of fingers is used as the gauge unit 37 to position all 61 of the tunnel works W by one point contact. This is how it was done.

In FIG. 11, the gauge unit 37 is connected to the robot through the mounting bracket 3. ? is attached to the wrist portion of the device, and by actuation of the first actuator to.

P, , head in direction P). The gauge unit 37 includes a pair of finger gauges 2 that open and close with the hinge bin ψ/ as the center of rotation, a link that engages with a bead protruding from the base end of the finker gauge. This link is fully reciprocated by a second actuator, and when the second actuator operates, the finger gauge 2 opens and closes, thereby causing the finker gauge, which is a point contact type gauge surface, to open and close. This allows the digit @ at the tip of u to be variable.

Therefore, in the case of this embodiment, as shown in FIG. 1, when the first actuator is operated, the entire storage unit 37 is oscillated to change its position, for example, Qi t Qs +Qs. : By fully opening and closing the finker gauge and changing the position of its tip, four types of workpieces with different shapes can be created. +
It is possible to position each of Ws r W4f.

FIG. 12 shows a fourth embodiment of the invention.

As shown in the figure, t and t4 are attached to the wrist part of the robot Buddha via a mounting bracket≠7, and P is activated by the operation of the first actuator 7.
The cage unit l/-6 is pivoted on the gauge plate 50 and the cage brake 3/ through the hinge pin 5.2. It is composed of a moving gauge plate, a rate S3, a rank sea shaft stt connected to the movable gauge plate 53, and an actuator jt that rotationally drives a vinyl member that meshes with the rank sea shaft.

Movable gauge play)! By rotating J'i, the angle 01'(f-
13 (AI (B)
fc) and No.] 4 Figures (A) and (B) (As shown in 01, this is a system that can handle the positioning of multiple workpieces W1 r ``'II I'' 11 whose flange portions F have different bending angles. .

In addition, the above-mentioned 3. In the fourth embodiment, Robon) J
I have omitted the details of 9 and II. The shape of the pot, etc. can be freely determined as necessary.

As is clear from the above description, according to the present invention, the gauge surface shape can be arbitrarily changed as required, and the gauge is held by a manipulator such as an industrial robot. It can be applied to multiple workpieces, has excellent versatility, and has the effect of making it easier and faster to correct errors in precision of jig objects and make changes compared to conventional methods.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing the configuration of a conventional welding jig for car body assembly, FIG. 2 is an explanatory front view showing a first embodiment of the welding jig for car body assembly according to the present invention, and FIG. 2 is an explanatory view of the right side of Fig. 2, Fig. 4 (Al (B) (C1 (D)) (g) is an explanatory view of the operation of the thick part of Fig. Figure 6 is a perspective view showing the second embodiment of the invention;
Figure 7 is an enlarged view of the main part of Figure 6, Figure 8 (A) (B) (
C) (DJ and Figure 9 (A) (B) (0) (
DJ is an operational explanatory diagram of the main part of FIG. 6, FIG. 10 is a perspective view showing a modification of FIG. 6, FIG. 11 is an explanatory diagram showing the eighth embodiment of this invention, and No. Explanatory diagrams showing the fourth embodiment of the present invention, FIG. 13 (At (B) (C)) and FIG. 14 (Al (B1 (0) is an explanatory diagram of the main part operation of FIG. 12.・・Articulated robot (manipulator) 15・
・Pagege = 7t h, 2/' + 2/ b g
2/O+ 2/d+j/e...Cage surface 5j-2...Robot (manipulator). J... Gauge unit, 128 a... Gauge surface,
37...Cage unit, 3q...Robot (manipulator). Even...gauge unit, tsu...robot (manipulator), 5oa, 5Ja-...gauge surface SW,
Wl + W++ +WssW4...Panel work. 5L1 18 Fig. 6 561- Fig. 8 (A) CB) (D) Fig. 9 4 and → Fig. 12) 4 If 6

Claims (1)

[Claims] (11 When welding and assembling predetermined workpieces in the automobile assembly process, in a welding jig for car body assembly that positions all the workpieces, the shape of the gauge surface that controls the positioning of the workpieces can be arbitrarily changed as necessary. A welding jig for car body assembly, characterized in that a gauge unit capable of LIJ is held by a predetermined manipulator.