JPS6082296A - Device for positioning automatically and conveying work for welding robot - Google Patents

Abstract

PURPOSE:To make welding operation efficient without stopping a welding machine for set-up of a work by conveying a prepn. table on which a work pallet is installed to a welding table and enabling the positioning of said tables. CONSTITUTION:A titled conveying device consists of a work pallet 1, a prepn. table 2 which supports the pallet and can convey the pallet in a longitudinal direction, a welding table 3 and a hoisting device 5. The pallet 1 is projected with shaft parts 16, 17 in the longitudinal horizontal direction and a work 10 is assembled thereon. The table 3 is provided with a positioning device 35 which supports the pallet 1 in the prescribed position. The above-mentioned hoisting device 5 which is supported on a rail 50 hoists and supports the supporting device 6 of the pallet 1 and is provided with an elevating device and a moving device which moves back and forth between the tables 2 and 3. The device 6 is provided with a detaining device 60 which detains openably and closably the shaft parts 16, 17 of the pallet 1 and a turnover device 60 which rotates the pallets 1 by 180 deg..

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a welding table that positions workpieces assembled on a pallet with respect to a welding line of an arc welding robot, a spot welding robot, etc., and performs automatic welding.

Conventionally, automatic welding involves assembling workpieces on a conveyor line that moves intermittently or continuously, and automatically welding according to a program in which the welding line is memorized. Since it is necessary to carry out the work in accordance with the production schedule, the assembly line for the workpieces inevitably becomes long and the equipment costs become high. For this reason, automatic welding was considered optimal for mass production, but not suitable for high-mix, low-volume production.

In addition, when assembling workpieces on the table in front of the welding machine, the welding machine stops while the workpieces are being assembled, resulting in poor efficiency.Even if the welding machine itself is automated and highly efficient, The performance of the welding machine was not fully demonstrated due to setup issues.

The present invention discloses an automatic welding joint that is effectively applicable not only to products produced in small quantities in large quantities, but also to products produced in small quantities in a wide variety of products.

The present invention includes a work pallet for assembling workpieces, a preparation stand that supports the work pallet and can be transported in the front and rear directions, a total joint, a positioning device that holds the work pallet at a predetermined welding position, and a welding sound and a transition above the preparation stand. The work pallet support device is composed of a hanging device that suspends and supports the work pallet support device so that it can be raised and lowered, and the work pallet support device includes a locking device that can be opened and closed with respect to the work pallet, and a reversing device that rotates the work pallet by 180 degrees. It is characterized by having the following.

In the present invention, a work pallet on which works have been assembled in advance is placed on a preparation stand, and the pallet is conveyed and positioned by a welding sound.

After automatic welding, the work pallet support device that was waiting directly above the pallet is lowered, the pallet is locked to the support device and lifted up, and then the pallet is rotated 180 degrees and lowered, making a +1r sound and a welding sound. Install it on top, position it, and perform welding. During welding of the work assembled on the work pallet and during the process of turning the pallet upside down, the second work pallet is placed on the preparation stand and stands by.

When welding is completed, the work pallet support device lowers again, locks the pallet, lifts it up, and moves it above the preparation table, and when the pallet space becomes vacant, the second pallet waiting on the preparation table is transferred. Then, welding is performed in the same manner, and the workpieces that have been welded are unloaded onto the preparation stand where the pallet space has become vacant and removed from the support device.

The present invention uses workpieces assembled on pallets,
Since this is automatically carried into the welding sound and automatically welded, there is no need to set up the work on the welding line, and there is no need for a work assembly line.

Next, the present invention will be specifically explained based on embodiments shown in the drawings.

The present invention is for welding products such as building sashes, which have different dimensions for each building and come in a wide variety of products, but the quantity of each product is small and is produced in small quantities.

The work U [is assembled onto a frame-shaped work pallet (1), and a large number of pallets (1) are prepared in advance.

The pallet (1) has reference planes (11
)12 f13) +14), and wedge-shaped incisions lIωu9 are formed on both sides. Round shaft part Oe on front and rear sides
0η protrudingly provided, and a U-shaped metal fitting (181) protrudingly provided at the tip of one round shaft portion Uη, and a work pallet support device (6
) and the reversing device (7).

An indicator (II) is provided on the lower front surface of the work pallet (1) or other appropriate place to indicate the type of work assembled on the pallet using a protrusion or magnetically, and indicates the entry position or preparation of the welding sound (3). It corresponds to the country of the detector installed on the stand (2), and the pallet (
When the workpiece 1) is carried from the preparation stand (2) to the welding sound (3), the display (1! (4), and switch the welding program according to the signal on the display.

The preparation table (2) is equipped with a transport device ω consisting of two endless strips on the top surface, and is connected to a drive device (2I) to transport the work pallet (1) placed on the transport device (4). This is what is conveyed to welding sound (3). The welding sound (3) has a support roller row (3I) and a guide roller row on the upper surface, and the support roller row (31) is connected to a drive device capable of forward and reverse rotation to form a conveyance device (to). .

Further, on the opposite side of the work pallet transport path facing the guide roller row @, a presser roller (to) located between each roller of the guide roller row and driven by a silling device is arranged so as to be able to appear and retract from the pallet transport path. , constitutes a positioning device (to). The positioning device f (351 is a work pallet (
1) is transported from the preparation stand (2) to the welding joint (3), and when the wedge-shaped notch on the side of the pallet faces the front of the first presser roller (2), the transport is stopped and the presser roller 041 is advanced to remove the workpiece. By pressing the reference plane a11 on the side of the pallet to the guide roller row (to) and supporting the reference plane (141) on the side of the pallet by the support roller row C311,
The work pallet is clamped while maintaining its horizontal and horizontal reference position.

Once the welding machine (4) has finished automatically welding the front half of the workpiece, the first presser roller (to) retreats to release the workpiece pallet, and the transport device (to) transfers the workpiece pallet to the second presser roller (34a). position, and positioning device c (5) again.
11 Thus, while the work pallet is clamped, the rear half of the work is welded, and when welding is completed, the work pallet clamp is released.

At this time, the hanging device (5) and the work pallet support device (6) are standing by at the center of the work pallet (1) on the weld joint (3).

The hanging device (5) has traveling wheels 51+ that roll on the flange surface of the ceiling rail mark on the front, rear, and both sides of the pedestal @, and is supported on the rail side, so that the traveling vehicle r! The axle ω that connects l f51)
A driving device 641 is connected to the upper gear to form a moving device, which reciprocates between the weld joint (3) and the preparation table (2) along the rail □□□. The suspension device (5) suspends four ropes from the four corners of the pedestal and supports the work pallet support device (6) by hanging it horizontally from the lower end of the rope. After 15η, it is wound around a drum 691 of a lifting device (G) provided at the center of the gantry. The lifting device rotates forward and backward to drive the drum 69), and simultaneously winds or unwinds the four ropes 15fi+ at the same speed, lifting and lowering the work pallet support device (6) at the lower end of the rope while maintaining a horizontal posture. It is something that forces you to do something.

The work pallet support device (6) is equipped with a locking device (to) at the front and rear ends for locking and suspending the round shaft part 000η of the work pallet (1), which is shown in Figure 3. As shown, the fixed arm (6-shaped) has an L-shaped receiving surface [F]l) at its lower end, with one end pivoted and a fixed arm (ti) formed at the tip.
It consists of a jjJ movable arm (64) having a holding surface with respect to the receiving surface (Gll) of the movable arm (641), and a sillage device (hard) that opens and closes the movable arm (641).As shown in FIG. When closed, a space is formed between the presser surface 1 and the receiving surface 1 in which the round shaft portion (1G1 (19) of the pallet (1) fits freely in rotation.

Corresponding to the U-shaped metal fittings α□□□ of the work pallet (1), the supporting device (6) has a vertical rotary plate (a shaft with a GGl) and a The axis ((2) to 1
A reversing device (with a drive device (to) that rotates 800 rotations)
6ω is deployed.

However, the pallet (1) on which the work shout was assembled is the preparation table f2.
When transported from 1 to welding joint (3), pallet (1)
Welding machine (4) according to the signal set on the indicator a of
The program is determined, and the pallet is positioned and clamped in front of the first presser roller. At this stage, automatic welding is performed on the workpieces at the front of the upper surface of the pallet.

Next, the positioning clamp is released and the work pallet is advanced to the front of the second presser roller (34a), and the positioning clamp is again applied to automatically weld the work to the rear part of the upper surface of the pallet.

When the welding machine (4) is retracted and the clamp is released, the work pallet support device (6) is lowered and the pallet (1iiJ)
The rear round shaft side ttη is exactly where the fixed arm rests (61
1, the Loe moving arm closes and locks the front and rear round shaft parts +1 lil (■η) freely in the locking position. At this time, the rotary plate - of the support device (6) It fits exactly into the vertical groove of the U-shaped metal fitting (I8) of the pallet (1).

The hoisting device (5) is hoisted by the support device (6) by the drive.
The pallet (1) is locked and raised at the same time, and then the rotary plate (rule 1) is rotated 1800 times to reverse the work bar 1 knot and direct the work on the back side to the top.

The support device (6) and the work pallet (1) are connected to the lifting device (
5) is lowered onto the weld joint (3) by the unwinding drive,
The locking device 1 is opened and the support device (6) is pulled up by r+■, and the lifting device (5) is driven to move to the first welding position of the weld joint (3) and wait.

When the workpiece pallet (1) is separated from the support device ffi 1 (3), it is again positioned and clamped, and the back side of the workpiece is automatically welded.

Next, the work pallet (1) is sent to the first welding position, and the front and back sides of the workpieces are automatically welded. Support device again (
6) descends and lifts the work pallet (1) onto the preparation platform (
2) Move up.

Note that after the work pallet (1) before welding is transferred from the preparation table (2) to the welding joint (3), the preparation table (2) is empty, so the next work pallet (la) is carried in. I'm waiting for welding joint (3) to become available. Therefore, after the welding of the oiJ rear parts of the front and back surfaces of the workpiece is completed on the weld joint (3) and the pallet (1) is lifted up by the support device (6), the waiting Kuwabi stand (2) ) on the second work pallet (la) is immediately transported to the welding joint (3) and welding begins.

The welded first pallet, which was lifted by the support device (6) and moved above the preparation table (2), was placed on 'l'' V #7 (
2), where it is released and taken out. 2nd pallet) (
During the welding process (la), the workpiece is replaced with the first pallet or the first pallet is taken out and a new third pallet is brought in at the preparation table (2).

As described above, the present invention does not require stopping the welding machine for setting up the workpiece, and the welding work can be performed extremely efficiently. Moreover, since the workpieces are prepared on pallets, there is no problem with handling a wide variety of products. In addition, if the welding process time in welding joint (3) is long enough, the welded products are removed from the pallet on the preparation table (2) during the welding process.
Subsequently, workpieces can be assembled on the pallet.

Welding position +3) J: The welding position can be determined to be one or more or more, and depending on the number of welding positions, the presser roller (341) of the positioning device may be one or more and multiple stages.

[Brief explanation of drawings]

Fig. 1 is a plan view of the device of the present invention, Fig. 2 is a front view, Fig. 3 is a right side view, Fig. 4 is a cross-sectional view taken along the line IV-IV in Fig. 2, and Fig. 5 is a Fig. (1) Work pallet (I[1... Work u
l1gaη...Shaft (2)...Preparation stand (to) -
・Transport device (3)--Welding joint■...Detector Country/
・・Positioning device ■−・Transporting device (5)・・・Suspending device ■・Rail Kasumi・・Moving device−・・Lifting device +61 =−Support device ((to)・・
・Locking device (@... Reversing device applicant Sei Co., Ltd.
Kencho 5 Figure 1. Indication of the case: Japanese Patent Application No. 1861782, title of the invention: Automatic workpiece positioning and conveyance device for welding robots 3, person making the amendment: Applicant's name Seiken Co., Ltd. 5, column 5 of the title of the invention in the specification to be amended 'Date of procedural amendment order: January 31, 1980 (shipment date) 6, the ``Title of the invention'' column in the description of the amendment was amended to Device J.

Claims (1)

[Claims] ■ A work pallet (1) with a shaft body [61 (17) projecting in the front and rear horizontal directions, and a transport device (support) that supports the work pallet (1) and feeds it in both directions after IJu. A conveying device that supports and conveys the work pallet is installed on the extension of the 8N '!'llu stand (2) and the 8N '!' a welding joint (3) having a positioning device (to) supporting the welding joint (3);
A support device (6) for the work pallet (1) is supported by a rail ω constructed above the weld joint (3) and the preparation table (2).
The suspension consists of a lifting device (5) that supports and drives the lifting device up and down, and a lifting device (5) equipped with a moving device φ that moves back and forth between the preparation table (2) and the welding joint (3). The device (6) is a work pallet (11 shaft part fl(i
An automatic workpiece positioning and transporting device for a welding robot, characterized in that it is equipped with a locking device l that locks the IJη so that it can be opened and closed, and a reversing device that rotates the workpiece pallet (1) by 180 degrees. ■ The welding joint transport device (1) is a work pallet (1).
The automatic welding table according to claim 1, wherein the automatic welding table is stopped at two positions. ■ The work pallet (1) is equipped with an indicator (I9) for indicating the type of work, a welding table (3) or a preparation table (2), and a detector ■. Automatic melting of terms {χ units. ■ The work pallet (1) has base planes parallel to both sides and the top surface respectively 1121 131 fl41
An automatic welding table as defined in any one of claims 1 to 3, comprising: