JPS63162146A - Work treating device - Google Patents

Abstract

PURPOSE:To improve the working efficiency by arranging a plurality of working systems in which the prescribed works are applied onto a workpiece, along a single branchless transport passage for transporting the workpiece and holding the workpiece in the branchless transport passage and transporting a work holding tool which carries the discrimination information. CONSTITUTION:A conveyor 2 is always in operation. A work 1 transported on the conveyor 2 is stopped together with a pallet 3 by a stopper ST4. It is judged whether the working for the workpiece 1 held on the pallet 3 is completed or not, by the information reading device of a positioner robot P4 and the kind of the workpiece 1 is judged. When the work for the workpiece 1 is completed, the stopper ST4 is demounted from the pallet 3, and the workpiece 1 and the pallet 3 are allowed to pass as they are, and the workpiece 1 which is next transported is stopped. When the workpiece is not yet worked, the workpiece 1 is taken up from the conveyor 2, and the stopper ST4 is opened, and welding work is performed. Therefore, each working system can execute each independent work.

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a workpiece processing apparatus that performs predetermined operations such as welding and sheet metal processing on workpieces such as automobile parts.

BACKGROUND ART As such a workpiece processing apparatus, for example, a welding apparatus called a welding line is known. Conventional welding equipment is the first
As shown in the figure, the welding work to be performed on the workpiece is subdivided, and a plurality of welding work systems A1 to A8 consisting of welding robots and the like are arranged in series to perform each subdivided welding process. , transport devices 81 to B8 are arranged between each welding work system to transport the work while transferring and reversing the work.

In such conventional welding equipment, the production amount per unit time has been increased by dividing the entire welding operation for the work into smaller pieces. However, the man-hours of each subdivided welding process must be equal, and if the welding process changes due to changes in the workpiece, etc., and the equality is broken, the welding work system responsible for the process with a large number of man-hours was stagnant, resulting in downtime in the welding work system where other man-hours were small, leading to a drop in production per unit time.

SUMMARY OF THE INVENTION In view of the above-mentioned points, an object of the present invention is to provide a workpiece processing device that maintains high processing efficiency while transporting workpieces by a single transport line to multiple work systems that process different man-hours. It is.

In the workpiece processing apparatus according to the present invention, a plurality of work systems that perform predetermined operations on the workpiece are arranged along a single unbranched conveyance path for conveying the workpiece, and the workpiece is held using the unbranched conveyance path. In addition, a configuration is adopted in which a workpiece holder carrying identification information is transported.

Embodiments Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings starting from FIG.

As shown in FIG. 2, in the welding apparatus as a workpiece processing apparatus according to the present invention, a plurality of welding work systems S
l, S2. S3. Sa are arranged in order. Work 1
is held by a work holder such as a pallet 3 and conveyed on the conveyor 2 in the direction of arrow C. Works 1 are placed on the conveyor 2 at predetermined locations such as the upstream and downstream ends of the conveyor 2.
A workpiece supply means 4 for supplying the workpiece 1 while being held on the pallet 3, and a workpiece takeout means 5 for taking out the workpiece 1 together with the pallet 3 from the conveyor 2 are provided.

Each of the welding work systems 81 to S4 is, for example, a positioner robot P+ + P2. P3. P4 and a pair of welding robots W+, W2, Wa, and Wa, and are capable of performing the same welding work on the workpiece 1. The positioner robots P1 to P4 pick up the workpiece 1 conveyed by the conveyor 2 together with the pallet 3, and rotate and tilt the workpiece 1 to position it relative to the welding robots W1 to W4. The welding robots W1 to W4 perform welding work on the workpiece 1 positioned by the positioner robots P1 to P4.

As shown in FIG. 3, the pallet 3 has a substantially U-shaped base 8,
The work holding part carried by this and the part to be gripped held by the positioner robot are held in place. The workpiece holding section includes a holding member 9 and 10 that holds the workpiece 1 in the inner space of the substantially U-shaped base body, and a holding member 9 and 10 that extends from the open end of the base body 8 and holds the workpiece 1 therein.
It is composed of a fixed crushing body 11 and a swinging frame 12 that hold the crushing body. The fixed frame 11 is fixed to the base 8, and the swinging frame is swingable about the bottle 14. The work 1 is held by the frames 11 and 12 by holding the work 1 between the frames 11 and 12, and then fixing the swinging frame 12 to the fixed frame 11 using the clamp 14. The fixed frame 11 is provided with a positioning stay 16 for positioning the work 1 with respect to the pallet 3.

Furthermore, contact pads 17 made of resin or the like are provided at the contact portions of both the frames 11 and 12 with the workpiece 1. To hold the workpiece 1 by the clamping members 9 and 10, the clamping member 9 is pushed forward against the clamping member 10 fixed to the base 8, and the workpiece 1 is clamped therebetween. The clamping member 9 is configured to expand and contract when a bolt 19 provided on a tightening means 18 is rotated.

On the other hand, the gripped portion 20 of the pallet 3 gripped by the positioner robot is provided on the outside of the base body 8. At least two through holes 21 are bored in the gripped part 20 . A reinforcing plate 22 is fixed around the through hole 21 to reinforce the periphery thereof. Furthermore, the gripped part 20 is provided with a work content recording section 25 that records the details of the welding work performed on the workpiece 1 held by the pallet 3, and a workpiece type recording section 26 that records the type of the held workpiece. ing. Each recording section 25, 26 is formed, for example, from an excitation member capable of retaining applied magnetism. In addition, it is also conceivable to form each of the recording sections 25 and 26 from a material capable of recording information optically or mechanically such as unevenness.

The pallet 3 is placed on the conveyor 2 and conveyed as shown in FIG. The conveyor 2 is the 2 on which the pallet 3 is placed.
With book parallel rails 28.29, rails 28.29
is supported by a column 27. Rail 28.29
A chain 30 is disposed parallel to the chain 30 and is driven by a drive means (not shown).

A roller 3 is installed at the contact portion of the pallet 3 with the rails 28 and 29.
1 is provided to reduce the conveyance resistance of the pallet 3. Further, the pallet 3 is provided with a sprocket 32 that meshes with the chain 30. Sprocket 32
is the stopper ST+ + S placed on the conveyor 2
When the pallet 3 is hooked to r1, Sr1, and Sr1, it idles and stops the pallet 3 on the rail, and while it is not hooked to the stopper, it engages with the chain 30 and can be transported together with the chain 30 without rotating. Similarly, resistance is added to the rotation. Further, a positioning pin 33 is provided protruding from the lower end surface of the pallet 3, and the positioning pin 33 comes into contact with the side surface of the rail 28 to correct the attitude of the pallet 3 with respect to the conveyor 2.

Each stopper STI to STa is each positioner robot P+
, P2. Pa1 It is arranged so that the pallet 3 is stopped in front of Pa. Each of the stoppers ST1 to STa is connected to an information reading device (not shown) that reads the information recorded in the work content recording section 25 of the pallet 3.
Only the pallet 3 on which welding work is not being performed on the workpiece 1 is latched. In addition, each stopper ST+~ST4 is connected to each welding work system 81~
S4 is connected to the positioner robot P1 to P4.
While gripping the pallet 3, the pallet 3 on the conveyor 2 is not hung.

The pallet 3 latched by the stopper is gripped by the clamp section 35 of the positioner robot. The clamp 35 is provided with a pair of cylinders 36 and a spindle 37 that interlocks with the cylinders. The spindle 37 is formed to fit into the through hole 21 formed in the gripped portion 20 of the pallet 3, and has a flange portion 37a. By the operation of the cylinder 36, the spindle 37 fits into the through hole 21 from above and below, and the gripped portion 20 is gripped by the flange portion 37a. After the gripping, the pallet 8 is picked up from the conveyor 2 by the positioner robot while holding the workpiece 1. Thereafter, a predetermined welding operation is performed on the workpiece 1 by the welding robot, and the work content recording section 25 is recorded by an information writing device (not shown) provided in the clamp section 35 together with or as a dual purpose. After the completed information has been written, the pallet 3 is returned to the conveyor 2 and transported.

The pallet 3 holding the welded works 1 is conveyed to the downstream end of the conveyor 2 without being caught by the above-mentioned stopper. At the downstream end, the pallet 3 is taken out from the conveyor 2 by the work taking out means 5 while holding the work 1. Here, pallet 3 and welded work l
are separated, and only the pallet 3 is returned to the work supply means 4 side by the return conveyor 6. The unwelded work 1 is mounted on the pallet 3 returned to the work supply means 4, and information indicating that the pallet 3 holds the unwelded work 1 is newly added to the work content recording section 25 of the pallet 3. Ru. In this way, the pallet 3 is again supplied to the conveyor 2,
It circulates.

Note that the type of workpiece 1 is recorded in the workpiece type recording section 26, and this is read by each welding work system 81 to S4 so that each welding work system 81 to S4 can perform the welding work that suits the work. This structure is preferable because it can expand the versatility of the welding device.

Next, each welding work system 81 to S4 and each stopper in a case where the conveyor 2 is kept in constant operation and the work supplying operation of the workpiece supply means 4 is manually controlled according to the work progress status of each welding work system 81 to S4. The operation control of 5TY-8Ta will be explained using the operation control of welding work system S4 and stopper STa as an example. The operation control is performed by each control circuit 40 shown in FIG. In this control circuit 40, various signals are input and output to the CPU 41 via an input/output bus 42. The input/output bus 42 includes an A/D converter 43 . MPX (Multiplexer) 44. ROM (Read Only Memory) 45. RAM
(Random access memory) 46 and a drive circuit 47 are connected. The MPX 44 converts each output signal of each detection means E1 to E4 input via the level correction circuit 48 into C
This is a switch that selectively relays and supplies the signal to the A/D converter 43 according to a command from the PU 41. The drive circuit 47 is the CPU 41
Clamp part 35 of positioner robot P4 according to the command of
and a circuit for operating a stopper STa provided corresponding to the positioner robot P4. Detection means E1-E
Reference numeral 4 includes a photocoupler, etc., which is disposed on the conveyor 2 as shown in FIG. An arithmetic program for the CPU 41 is stored in the ROM 45 in advance.

Next, according to the flowchart shown in FIG.
The calculation program executed by 1 will be explained.

First, the CPU 41 drives the stopper ST4 to hang the workpiece conveyed on the conveyor 2 together with the pallet (step 51). Next, the information reading device provided in the clamp section 35 of the positioner robot P4 reads and determines whether or not the workpiece held on the pallet has been worked on and the type of the workpiece (step 52). If the work is a completed work, the stopper STa is removed from the pallet, the work and the pallet are allowed to pass through (step 53), and the next work to be conveyed is latched. In step 52, if the work is unworked, the work is picked up from the conveyor 2 by the clamp section 35 (step 54). Thereafter, the stopper ST4 is opened so that the workpiece is not caught on the stopper ST4 (step 55), and the workpiece is welded (step 56). After waiting for the completion of the welding work (step 57), the positioner robot P4
It is determined whether another work is flowing on the conveyor on the upstream side of the conveyor using the detection signals from each of the detection means E1 to E4, and waits until there is no work flowing on the upstream side (step 58). ), the completed work is returned to the conveyor 2 together with the pallet (step 59). The above-described operations are repeatedly performed by the CPU 41.

In the above-mentioned embodiment, the conveyor 2 is always operated and the work supplying operation of the workpiece supplying means 4 is controlled manually, but the operation of the conveyor 2 and the workpiece supplying means 4 can be automatically controlled by a combination machine 2. It is also possible to do this. In this case, the operations of the drive motor 2a of the conveyor 2 and the work supply gate 4a of the work supply means 4 are controlled by a control circuit 60 as shown in FIG. 7, for example. The control circuit 60 controls the conveyor drive motor 2a and the workpiece supply gate 4a in response to the workpiece request signal RQ, work-in-progress signal OP, and discharge signal EJ issued by each of the welding work systems 81 to S4.

The control circuit 60 in FIG. 7 is supplied with signals RQ, OP, and EJ of the welding work systems 81 to S4 via the input/output bus 42. The work request signal RQ is sent when each welding work system 81 to S4 finishes work on the work and is ready for the next work.
Alternatively, it is output from each of the welding work systems 81 to S4 when the welding work on the workpiece currently being worked on is nearing completion.

The working signal OP indicates each welding work system 81 to S4 during welding work.
The discharge signal EJ is output from each welding work system 81 to S4 when the welded workpiece 1 is returned to the conveyor 2.

In the control circuit 60, a C
An input/output bus 62 is connected to the PU (central processing circuit) 61, and data signals and address signals are outputted to the CPU 61 via the input/output bus 62.

Connected to the input/output bus 62 are a ROM (read only memory) 65, an RA Fvl (random access command memory) 66, and a drive circuit 67. Drive circuit 6
7 is a conveyor drive motor 2a according to instructions from the CPU 61.
and a circuit for operating the work supply gate 4a. Note that the CPU 61 includes a clock generator (not shown).
and a counter (not shown) are built in, and the counter measures the clock signal generated by the clock generator and generates a start signal at every predetermined period To.

With this configuration, the control circuit 60 controls the operations of the conveyor 2 and the work supply means 3 according to each output signal of each welding work system S1 to S4 in accordance with a program to be described later. The CPU 61 sequentially reads each output signal RQ, OP, and EJ of each welding work system 81 to S4 into the RAM 66 through the human output bus 62 via the A/D converter 63 according to the main routine stored in advance in the ROM 65.

On the other hand, an arithmetic program for the CPU 61 is stored in advance in the ROM 65, and the CPU 61 starts the arithmetic program in response to a start signal output from the counter.

Next, according to the flowchart shown in FIG.
The subroutine program a-gram executed by 1 will be explained.

When the CPU 61 executes the work of controlling the conveyor drive motor 2a and the workpiece supply gate 4a, it first determines the presence or absence of the workpiece request signal RQ (step 71).
). If there is a work request signal RQ, driving of the conveyor drive motor 2a is started (step 72). Next, a predetermined number of works 1 corresponding to the number of welding systems that output the work request signal RQ are supplied to the conveyor 2 from the work supply gate 4a (step 73). After the supply, a predetermined time T sufficient for the workpiece 1 to be transported to each welding work system.
After waiting for R to elapse (step 74), the presence or absence of the work discharge signal EJ is determined (step 76). At this time,
If there is a welded workpiece on the conveyor 2, this is also transported at the same time as the unwelded workpiece is transported. If there is a work discharge signal EJ, wait until the time TE required for the conveyor 2 to convey the unwelded work to the work take-out means 4 has elapsed (step 77), and then the drive motor 2
a, and at the same time, the stored work request signal RQ and discharge signal EJ are cleared (step 78).

In step 76, if there is no discharge signal EJ, the process proceeds to step 78, and the drive motor 2a is stopped.

Further, if there is no work request signal RQ in step 71, the drive motor 2a is not driven and the process ends.

It is well known that the above subroutine is repeatedly executed in response to a clock.

In the above-described embodiment, each recording section 2 of the pallet 3 is
As shown in FIG. An information adding means G1 for adding unworked information and work type information to the recording section 25 25 is provided separately from the work supply means 4 and the workpiece removal means 5 at the downstream end and upstream end of the conveyor 2, respectively. is also possible.

As shown in the figure, if each welding work system 81 to S4 is arranged only on one side of the conveyor 2, each welding work system 81 to
Maintenance work such as replenishing welding core wire for S4 is performed from one side of the conveyor 2, and there is no need to go around to the opposite side of the conveyor 2, which facilitates the work, which is preferable.

As described in detail of the invention, in the workpiece processing apparatus according to the present invention, a plurality of work systems are arranged along a single non-branching conveyance path for conveying the workpiece, and the workpiece is held using the non-branching conveyance path. In addition, since the workpiece holder carrying identification information is transported, each work system can perform independent work.

Therefore, the downtime of the work system can be reduced, and the efficiency of work such as welding or sheet metal processing is substantially improved. Further, since the work is performed independently for each work system, even if one work system is stopped due to a failure or the like, the work processing apparatus as a whole can be operated, which is advantageous.

[Brief explanation of the drawing]

Fig. 1 is a schematic diagram showing a conventional welding device, Fig. 2 is a schematic diagram showing a welding device as a workpiece processing device according to the present invention, Fig. 3 is a perspective view of a pallet, and Fig. 4 is a schematic diagram showing a welding device as a work processing device according to the present invention. Figure 5 is a block diagram of a control circuit that controls the welding work system and stopper, Figure 6 is a flowchart showing the operation of the control circuit in Figure 5, Figure 7 is a diagram showing the conveyor and the workpiece. FIG. 8 is a block diagram of a control circuit for controlling the supply means, and is a flowchart showing the operation of the control circuit of FIG. 7. Explanation of symbols of main parts 1...Work 2...Conveyor 3...
... Pallet 4 ... Workpiece supply means 5 ... Workpiece retrieval means 8 ... Base 9.10 ... Holding member 11 ...・Fixed frame body 12...
Swing frame body 20...Gripped part 25...
・Work content recording section 26... Work type recording section 40.60... Control circuit E... Detection means S... Welding work system ST... ...stopper

Claims (1)

[Claims] A workpiece processing device that performs a predetermined operation on a workpiece held in a predetermined holder, which includes a single unbranched conveyance path, and each of the devices arranged along this path performs a predetermined operation on the workpiece. It consists of a plurality of work systems, each of which holds unprocessed identification information, and when each of the work systems detects the unprocessed identification information of the incoming holder, it captures the holder together with the work and completes the work. The workpiece processing apparatus is characterized in that the unprocessed identification information of the holder is processed and the workpiece is returned to the unbranched conveyance path together with the holder unless there is a holder in front of the holder.