JPWO2017037758A1 - Work positioning device - Google Patents

Abstract

The rotating frame (5) is orthogonal to the first horizontal frame (51) from both ends of the first horizontal frame (51) extending in the horizontal direction from the rotating shaft (4a) and from the longitudinal ends of the first horizontal frame (51). A pair of second horizontal frames (52) extending in the horizontal direction and a pair of third horizontal frames (53) bridging the longitudinal ends of each second horizontal frame (52) are provided. A jig (6) is attached to the frame (53). The third horizontal frame (53) is rotatably supported on each second horizontal frame (52) by a cross roller bearing (B1).

Description

  The present invention relates to a workpiece positioning apparatus that, for example, grips a workpiece or the like obtained by press molding when performing welding to determine the position.

  Conventionally, for example, an apparatus disclosed in Patent Document 1 includes a rotary table having a rotary shaft extending in the vertical direction, and a plurality of jigs provided on the outer peripheral portion of the upper surface of the rotary table and for positioning a workpiece. And a welding robot arranged on the side of the rotary table, and each jig is inclined by rotating around a rotation axis extending in a direction intersecting the radial direction of the rotary table. . And when an operator performs the operation | work which sets a workpiece | work to a jig | tool, or when a welding robot performs the welding operation | work of the workpiece | work set to the jig | tool, the said each jig | tool is made to incline, It is possible to facilitate the work setting work and the work welding work by the welding robot.

International Publication No. 2014/049637

  By the way, in the apparatus as disclosed in Patent Document 1, since the weight of the jig is very heavy, if the jig is provided on the outer peripheral portion of the upper surface of the rotary table and has a structure that can be rotated around the rotary shaft at that position, the rotary table is obtained. When the rotation is repeated, a large load is applied around the rotation axis due to the centrifugal force. If it does so, a deformation | transformation and breakage will generate | occur | produce around a rotation axis | shaft, and the frequency | count of a maintenance will increase, However, patent document 1 does not consider this at all.

  The present invention has been made in view of such a point, and an object of the present invention is to provide a workpiece positioning device that is less likely to fail and can reduce the number of maintenance.

  In order to achieve the above object, the present invention is characterized in that a device for supporting each jig in the rotating body has been devised.

  Specifically, the following solution means for a workpiece positioning device provided with a rotating body having a rotating shaft extending in the vertical direction and a jig for positioning the workpiece provided on the outer peripheral portion of the rotating body. Took.

  That is, in the first invention, the rotating body includes a first horizontal frame extending from the rotating shaft to both sides in the horizontal direction so as to be symmetric with respect to the rotating shaft, and a longitudinal axis from both ends of the first horizontal frame. A pair of second horizontal frames extending in the horizontal direction orthogonal to the first horizontal frame, and a bridge between one longitudinal end of each second horizontal frame and a longitudinal other end of each second horizontal frame are bridged. And a pair of third horizontal frames to which each of the jigs is attached. The third horizontal frames are arranged in the longitudinal direction of the first horizontal frame by cross roller bearings attached to the second horizontal frames. It is characterized by being able to rotate around a rotation axis along the axis.

  According to a second aspect, in the first aspect, the second horizontal frame includes a straight frame extending straight in the horizontal direction and inclined frames extending obliquely upward from both longitudinal ends of the linear frame, Each said cross roller bearing is each provided in the upper end side inner side of each said inclination frame, It is characterized by the above-mentioned.

  According to a third invention, in the second invention, a jig rotation motor having an output shaft extending along the longitudinal direction of the third horizontal frame is attached to the upper central portion in the longitudinal direction of the second horizontal frame, Extending along the second horizontal frame between the output shaft of the jig rotation motor and one longitudinal end of the third horizontal frame and above the second horizontal frame, and the jig An endless belt for rotating the third horizontal frame by a rotational drive of a rotation motor is hung around.

  According to a fourth invention, in the first or second invention, an output shaft of the third horizontal frame is provided on one end side in the longitudinal direction of each of the second horizontal frames and on the opposite side of the third horizontal frame. A jig rotation motor for rotating the third horizontal frame in a posture that coincides with the rotation axis is attached.

  In the first invention, since the rotation axis of the third horizontal frame is received by the cross roller bearing provided in each second horizontal frame, the third horizontal frame in each second horizontal frame is caused by the centrifugal force generated when the rotating body rotates. Even in the case of a rotating body having a rectangular frame shape in plan view as in the present invention in which a large load is applied to the portion that supports the horizontal frame, the portion that supports the third horizontal frame in each second horizontal frame is unlikely to fail. The number of maintenance can be reduced.

  In the second invention, the height around the rotating shaft of the rotating body is lowered while setting the height of the third horizontal frame to a desired position, so that the vertical length of the rotating shaft of the rotating body can be shortened and rotated. The rotation of the body can be stabilized. If the height from the straight frame to the third horizontal frame is set to a predetermined value, the inclined frame extending obliquely from the straight frame to the third horizontal frame becomes a frame extending vertically from the straight frame to the third horizontal frame. Compared to the interior space can be kept wider. Therefore, large parts such as a reduction gear can be accommodated in the space inside the third horizontal frame while setting the height of the third horizontal frame to a desired position.

  In the third invention, the jig rotating motor for rotating the third horizontal frame is located near the rotating shaft of the rotating body, so that the load during the rotating operation of the rotating body is reduced and the rotating body is broken. Can be suppressed. In addition, since the endless belt is provided at a position aligned vertically with respect to the second horizontal frame, the apparatus can be made compact vertically.

  In the fourth invention, since it is not necessary to use the endless belt as in the third invention to rotate the jig, the number of parts can be reduced and a low-cost apparatus can be achieved.

It is a front view of the welding line by which the workpiece | work positioning device which concerns on Embodiment 1 of this invention is arrange | positioned. It is an A arrow equivalent figure of FIG. It is a figure which shows the state in the middle of switching the position of a jig | tool after the state of FIG. FIG. 3 is a view corresponding to FIG. 1 according to Embodiment 2 of the present invention. It is a figure which shows the state in the middle of switching the position of a jig | tool after the state of FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The following description of the preferred embodiment is merely exemplary in nature.
Embodiment 1 of the Invention
1 to 3 show a production line 1 according to Embodiment 1 of the present invention. This production line 1 is configured to integrally assemble two press-formed workpieces W1 and W2 by spot welding, a workpiece positioning device 2 that positions the workpieces W1 and W2, and a welding robot 3 that performs a welding operation. The worker H1 sets the workpieces W1, W2 on the workpiece positioning device 2 on the opposite side of the welding robot 3 in the workpiece positioning device 2.

  The workpiece positioning device 2 positions a drive motor 4 having a rotating shaft 4a extending vertically, a rectangular frame-shaped rotating frame 5 (rotating body) supported by the rotating shaft 4a, and the workpieces W1 and W2. The rotary frame 5 includes a position corresponding to the welding robot 3 (hereinafter referred to as a workpiece welding area X1) and a position corresponding to the worker H1 (hereinafter referred to as a work set area X2). ) Rotation in the R1 direction (forward rotation) and rotation in the R2 direction (reverse rotation) are alternately performed.

  The rotating shaft 4a of the drive motor 4 has a cylindrical shape, and a wiring member 7 such as a pipe or wiring is wound inside.

  The rotating frame 5 has a first horizontal frame 51 extending from the rotating shaft 4a to both sides in the horizontal direction so as to be symmetric with respect to the rotating shaft 4a, and the first horizontal frame 51 to be symmetric with respect to the first horizontal frame 51. A pair of second horizontal frames 52 extending in the horizontal direction orthogonal to the first horizontal frame 51 from both ends in the longitudinal direction of the horizontal frame 51, between the longitudinal ends of the second horizontal frames 52, and the second horizontal frames A pair of third horizontal frames 53 are provided, which bridge the other ends in the longitudinal direction of the frame 52 and have the jigs 6 attached to the upper and lower portions, respectively.

  The first horizontal frame 51 has a rectangular tube shape, and the routing member 7 wound inside the rotating shaft 4 a is wound inside the first horizontal frame 51 so as to face the second horizontal frames 52.

  Each of the second horizontal frames 52 has a rectangular tube shape, and a routing member 7 wound inside the first horizontal frame 51 is wound inside the second horizontal frame 52 so as to face the third horizontal frames 53. Yes.

  Each of the second horizontal frames 52 includes a straight frame 52a that extends straight in the horizontal direction and an inclined frame 52b that extends obliquely upward from both longitudinal ends of the straight frame 52a.

  Cross roller bearings B1 are provided on the inner sides of the upper ends of the inclined frames 52b.

  The cross roller bearings B1 support the third horizontal frames 53 so as to be rotatable around a rotation axis along the longitudinal direction of the first horizontal frame 51, and the third horizontal frames 53 The position of each jig 6 attached to each third horizontal frame 53 is alternately switched by rotation in the R3 direction (forward rotation) and rotation in the R4 direction (reverse rotation).

  Each of the third horizontal frames 53 has a rectangular tube shape, and the jig 6 is attached to the upper and lower surfaces thereof in a point-symmetric manner as viewed in the direction of the rotation axis of the third horizontal frame 53.

  Inside each of the third horizontal frames 53, the routing member 7 wound inside each of the second horizontal frames 52 is wound toward the jig 6 attached to each of the third horizontal frames 53. ing.

  A rectangular plate-like mounting base 54 extending in the horizontal direction is provided at the center upper portion in the longitudinal direction of each linear frame 52a.

  A jig rotation motor 55 whose output shaft 55a is directed in the longitudinal direction of the third horizontal frame 53 is attached to each mounting base 54, and a first pulley 55b is attached to the output shaft 55a so as to be integrally rotated. ing.

  On the other hand, a second pulley 53a is integrally attached to one end in the longitudinal direction of each of the third horizontal frames 53, and the first pulley 55b attached to one jig rotating motor 55 and one third horizontal frame. 53 between the second pulley 53a of 53 and between the first pulley 55b attached to the other jig rotation motor 55 and the second pulley 53a of the other third horizontal frame 53, respectively. The chain belt 56 (endless belt) is wound around.

  The chain belt 56 is located above the second horizontal frame 52 and extends along the second horizontal frame 52.

  The chain belt 56 and the first pulley 55 b and the second pulley 53 a around which the chain belt 56 is wound are covered with a protective cover 57.

  As shown in FIG. 1, the jig 6 includes a main body frame 61 made of aluminum alloy that extends in the horizontal direction, and a plate-shaped iron support that is fixed to the upper surface of the main body frame 61 and extends along the main body frame 61. 62, and a plurality of gripping tools 62a for gripping the overlapped portions of the workpieces W1 and W2 are attached to the support base 62.

  The welding robot 3 is an industrial multi-axis robot in which a welding gun 3b is attached to the tip of an arm 3a. The welding robot 3 can perform welding by freely changing the posture of the welding gun 3b.

  A control panel 10 is connected to the drive motor 4, and the control panel 10 outputs an operation signal to the drive motor 4 so that each jig 6 moves to the workpiece welding region X1 and the workpiece setting region X2. It has become.

  The control panel 10 is connected to the jig rotating motors 55, and the two jigs 6 attached to the third horizontal frames 53 are moved to an upper position and a lower position, respectively. An operation signal is output to each jig rotation motor 55 as described above.

  The third horizontal frame 53 is moved in the R3 direction and the R4 direction through the first pulley 55b, the chain belt 56, and the second pulley 53a by the rotating operation of the jig rotating motor 55, respectively. By rotating, the upper and lower positions of each jig 6 are switched.

  When each third horizontal frame 53 rotates, each jig 6 can pass through a rectangular space surrounded by the first horizontal frame 51, the second horizontal frame 52, and the third horizontal frame 53. Thus, each jig 6 attached to each third horizontal frame 53 can make a round around the rotation axis, and each jig 6 can be set in a desired manner when performing work setting work or welding work. It becomes possible to change to a posture, which can increase production efficiency.

  Next, production of the production line 1 will be described.

  FIG. 1 shows a state immediately after the rotating frame 5 that rotates in the R1 direction stops, the two jigs 6 that hold the assembly 11 in which the workpieces W1 and W2 are assembled together move to the workpiece setting region X2, and The state where the two jigs 6 on which the workpieces W1, W2 are set and positioned has moved to the workpiece welding region X1 is shown.

  From the state shown in FIG. 1, first, the welding robot 3 changes the posture of the welding gun 3b and welds the welded portion where the workpieces W1 and W2 positioned on the jig 6 on the upper side of the workpiece welding region X1 are overlapped. To do.

  When the welding of the workpieces W1 and W2 positioned on the jig 6 on the upper side of the workpiece welding area X1 is completed, the control panel 10 allows one jig so that the upper and lower jigs 6 positioned in the workpiece welding area X1 are switched. An operation signal is output to the tool rotation motor 55. Then, as shown in FIG. 3, the jigs 6 holding the assembly 11 are on the lower side, and the jigs 6 are positioned so that the jigs 6 on which the workpieces W1 and W2 before welding are set and positioned are on the upper side. Rotate.

  Next, the welding robot 3 welds the welded portions where the workpieces W1 and W2 are overlapped in the upper jig 6 whose upper and lower positions are switched in the workpiece welding region X1.

  On the other hand, while the welding robot 3 is performing the welding operation in the workpiece welding region X1, in the workpiece setting region X2, the worker H1 takes out the assembly 11 from the jig 6 positioned on the upper side.

  Next, the worker H1 sets the workpieces W1 and W2 on the jig 6 positioned on the upper side.

  Thereafter, the worker H1 presses a jig switching button (not shown). Then, the control panel 10 outputs an operation signal to the other jig rotation motor 55 so that the upper and lower two jigs 6 positioned in the work set region X2 are switched. Then, the jig 6 on which the workpieces W1 and W2 are set moves downward, and the jig 6 that holds the assembly 11 moves upward.

  Thereafter, the worker H1 takes out the assembly 11 from the jig 6 positioned on the upper side, and sets the workpieces W1 and W2 on the jig 6 positioned on the upper side.

  Then, the welding of the workpieces W1 and W2 set on the two jigs 6 positioned in the workpiece welding area X1 is completed, and the two assemblies 11 are completed, and the two jigs 6 positioned in the workpiece setting area X2 are completed. When the setting of the workpieces W1 and W2 is completed, the control panel 10 outputs an operation signal to the drive motor 4 so that the rotating frame 5 starts to rotate in the R2 direction.

  Then, after the rotating frame 5 rotated in the R2 direction stops, the above-described procedure is repeated to sequentially assemble the workpieces W1 and W2.

  As described above, according to the first embodiment of the present invention, the rotation axis of the third horizontal frame 53 is received by the cross roller bearing B1 provided in each second horizontal frame 52. Even if the rotary frame 5 has a rectangular frame shape in plan view as in the present invention in which a large load is applied to a portion of the second horizontal frame 52 that pivotally supports the third horizontal frame 53 due to force, the second horizontal frame 52 The portion supporting the third horizontal frame 53 in this is difficult to break down, and the number of maintenance can be reduced.

  Moreover, since the inclined frame 52b is provided in each second horizontal frame 52, the height of the rotary frame 5 around the rotation axis 4a is lowered while setting the height of the third horizontal frame 53 to a desired position. Therefore, the vertical length of the rotating shaft 4a in the rotating frame 5 can be shortened, and the rotation of the rotating frame 5 can be stabilized. In addition, when the height from the straight frame 52a to the third horizontal frame 53 is set to a predetermined value, the inclined frame 52b extending obliquely from the straight frame 52a to the third horizontal frame 53 is changed from the straight frame 52a to the third horizontal frame 53. The internal space can be kept wider than that of the frame extending vertically. Therefore, large parts such as a speed reducer can be accommodated in the space inside the third horizontal frame 53 while setting the height of the third horizontal frame 53 at a desired position.

Further, since the jig rotation motor 55 for rotating the third horizontal frame 53 is positioned near the rotation axis of the rotation frame 5, the load during the rotation operation of the rotation frame 5 is reduced and the rotation frame 5 fails. Can be suppressed. Further, since the chain belt 56 is provided at a position aligned vertically with respect to the second horizontal frame 52, the workpiece positioning device 2 can be made compact vertically.
<< Embodiment 2 of the Invention >>
4 and 5 show Embodiment 2 of the present invention. In the second embodiment, since the shape of the second horizontal frame 52, the portion for rotating the third horizontal frame 53, and the number of jigs 6 are different from those of the first embodiment, the others are the same as in the first embodiment. Hereinafter, only parts different from the first embodiment will be described in detail.

  The straight frame 52a of each second horizontal frame 52 in the second embodiment is shorter than the straight frame 52a in the first embodiment.

  In addition, on the opposite side of the third horizontal frame 53 to the inclined frame 52b on one end side in the longitudinal direction of each of the second horizontal frames 52, the output shaft coincides with the rotational axis of the third horizontal frame 53 in the posture described above. A jig rotating motor 8 for rotating the third horizontal frame 53 is attached.

  In the second embodiment, the jig 6 is attached only to the upper part of each third horizontal frame 53, and each jig 6 is tilted by the rotation operation of the jig rotating motor 8.

  The production of the production line 1 according to the second embodiment is the same as that of the first embodiment except that each jig 6 does not go around the rotation axis and tilts in accordance with the welding work or the work setting work. Detailed description is omitted.

  As described above, according to the second embodiment of the present invention, it is not necessary to use the chain belt 56 as in the first embodiment to rotate the jig 6, so that the number of parts can be reduced and the work positioning device 2 can be reduced in cost. Can be.

  In the embodiment of the present invention, the jig 6 attached to each third horizontal frame 53 is the same jig 6, but different kinds of jigs 6 may be attached.

  A plurality of welding robots 3 may be installed in the workpiece welding region X1.

  In the embodiment of the present invention, there is one worker H1, but a plurality of workers H1 may work in the work set area X2.

  In the embodiment of the present invention, the workpieces W1 and W2 are assembled by spot welding. However, the present invention is not limited thereto, and may be performed by arc welding or laser welding, or may be performed by other joining methods. .

  The present invention is suitable, for example, for a workpiece positioning device that determines a position by gripping a workpiece obtained by press forming when welding is performed.

2 Work positioning device 5 Rotating frame (Rotating body)
6 Jig 8 Jig rotation motor 51 First horizontal frame 52 Second horizontal frame 52a Straight frame 52b Inclined frame 53 Third horizontal frame 55 Jig rotation motor 55a Output shaft 56 Chain belt (endless belt)
B1 Cross roller bearing W1, W2 Workpiece

Claims (4)

A rotating body having a rotating shaft extending in the vertical direction;
A workpiece positioning device provided on an outer peripheral portion of the rotating body and provided with a jig for positioning the workpiece,
The rotating body includes a first horizontal frame extending on both sides in the horizontal direction from the rotating shaft so as to be symmetrical with respect to the rotating shaft, and a horizontal plane orthogonal to the first horizontal frame from both longitudinal ends of the first horizontal frame. A pair of second horizontal frames extending in the direction, one end in the longitudinal direction of each second horizontal frame and the other end in the longitudinal direction of each second horizontal frame, and the jig is attached to each. A pair of third horizontal frames,
Each of the third horizontal frames is rotatable about a rotation axis along the longitudinal direction of the first horizontal frame by a cross roller bearing attached to each of the second horizontal frames. apparatus. The work positioning apparatus according to claim 1,
The second horizontal frame includes a linear frame that extends straight in the horizontal direction, and an inclined frame that extends obliquely upward from both longitudinal ends of the linear frame,
Each of the cross roller bearings is provided on an inner side of an upper end side of each of the inclined frames. In the workpiece positioning device according to claim 2,
A jig rotation motor whose output shaft extends along the longitudinal direction of the third horizontal frame is attached to the upper center of the second horizontal frame in the longitudinal direction.
It extends along the second horizontal frame between the output shaft of the jig rotation motor and one end in the longitudinal direction of the third horizontal frame, and above the second horizontal frame. A work positioning apparatus, characterized in that an endless belt for rotating the third horizontal frame is wound around by a rotational drive of a tool rotating motor. In the workpiece positioning device according to claim 1 or 2,
The third horizontal frame is rotated in such a manner that the output shaft coincides with the rotation axis of the third horizontal frame on one end side in the longitudinal direction of each second horizontal frame and on the opposite side of the third horizontal frame. A workpiece positioning device, wherein a jig rotating motor is attached.

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