WO2020158050A1 - 加工装置及び加工方法 - Google Patents
加工装置及び加工方法 Download PDFInfo
- Publication number
- WO2020158050A1 WO2020158050A1 PCT/JP2019/039046 JP2019039046W WO2020158050A1 WO 2020158050 A1 WO2020158050 A1 WO 2020158050A1 JP 2019039046 W JP2019039046 W JP 2019039046W WO 2020158050 A1 WO2020158050 A1 WO 2020158050A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- work
- carriage
- processing
- vehicle body
- circulation path
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/10—Spot welding; Stitch welding
- B23K11/11—Spot welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/18—Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
Definitions
- the present invention relates to a processing apparatus and a processing method for performing a predetermined processing on a work by using a processing tool.
- Japanese Unexamined Patent Publication No. 2003-145276 discloses a vehicle body welding system in which each part of the vehicle body (work) is subjected to increased welding (predetermined processing) from the left and right while the vehicle body (work) is arranged in a line.
- the vehicle body welding system disclosed in Japanese Unexamined Patent Publication No. 2003-145276 sequentially moves the vehicle body to a plurality of welding work areas on the line and performs additional welding on different parts of the vehicle body between the welding work areas.
- the processing productivity cannot be improved.
- the present invention has been made in consideration of such problems, and an object thereof is to provide a processing apparatus and a processing method capable of improving processing productivity.
- a first aspect of the present invention includes at least one trolley on which a work is mounted, a robot mounted on the trolley, and performing a predetermined machining using a machining tool on the work while the trolley is moving, Is a processing device.
- a step of mounting a work on a trolley on which a robot for processing a work is mounted and a step of moving the trolley while a predetermined amount is given to the work mounted on the trolley by the robot.
- a step of performing processing which is a processing method.
- the machining productivity can be improved.
- FIG. 1 is a plan view showing the overall configuration of the processing apparatus according to this embodiment.
- FIG. 2 is a plan view showing a state in which the vehicle body floor before additional welding is carried into the first carriage of the processing apparatus.
- FIG. 3 is a plan view showing a state in which the vehicle body floor before additional welding is carried into the second carriage of the processing apparatus.
- FIG. 4 is a plan view showing a state in which the vehicle body floor before additional welding is carried into the third carriage of the processing apparatus.
- FIG. 5 is a plan view showing a state in which the vehicle body floor before additional welding is carried into the fourth carriage of the processing apparatus.
- FIG. 6 is a plan view showing a state where the vehicle body floor after the additional welding is carried out from the first trolley of the processing apparatus.
- FIG. 7 is a plan view showing a state in which the workpiece before the increased welding is carried into the first carriage immediately after the vehicle body floor after the increased welding is carried out from the first carriage of the processing apparatus.
- FIG. 1 is a plan view showing an example of the configuration of the processing device 10.
- the processing device 10 is installed on the floor of a factory (for example, a car factory).
- the processing device 10 is a device that performs welding processing (specifically, increased welding processing) on a vehicle body floor VF that is an example of a work.
- the processing apparatus 10 includes a plurality of (for example, four) carriages 12 (first carriage 12A, second carriage 12B, third carriage 12C, fourth carriage 12D) on which a vehicle body floor VF is mounted. Equipped with.
- the work to be welded by the processing apparatus 10 is not limited to the vehicle body floor VF, but may be, for example, a vehicle body or a metal structure other than the vehicle body.
- the number of workpieces to be processed mounted on each carriage 12 is not limited to one and may be plural.
- the processing of the processing device 10 may be processing using a processing tool other than welding (for example, polishing, cutting, pressing, painting, screwing, assembly, etc.).
- Each dolly 12 circulate (circulate) on a predetermined circulation path 14.
- Each dolly 12 is, for example, an automated guided vehicle (AGV: Automated Guided Vehicle).
- Each carriage 12 has a drive unit 11 that is operated by electric power.
- An electric motor for example, may be used as the drive unit 11.
- the guide system of the carriage 12 may be any one that can guide the carriage 12 so as not to come off the circulation path 14, for example, an electromagnetic induction type, an optical induction type, a magnetic induction type, an image recognition induction type, a self-sustaining induction type. An expression etc. are mentioned.
- the processing apparatus 10 further includes a storage battery 13 mounted on each trolley 12 and supplying electric power to the drive unit 11 of the trolley 12, and a charging system 15 that wirelessly charges the storage battery 13.
- the charging system 15 has a power transmission unit 15a and a power reception unit 15b.
- the charging system 15 is also called a contactless power feeding system.
- the power transmission unit 15a has a transmission coil that transmits electric energy, and is installed on the floor surface outside the moving area of the plurality of carriages 12.
- the power receiving unit 15b has a receiving coil that receives the transmitted electric energy, and transmits the received electric energy to the storage battery 13.
- the power receiving unit 15b is provided on the lower surface of each carriage 12.
- the power receiving unit 15b provided in each truck 12 receives the electric energy from the power transmitting unit 15a and transmits it to the storage battery 13 mounted on the truck 12 when the power receiving unit 15b closely faces the power transmitting unit 15a.
- each carriage 12 is moved to a location (on the floor surface) where the power transmission unit 15a is installed, and the power reception unit 15b and the power transmission unit 15a provided on the carriage 12 are mutually moved. By allowing them to face each other in close proximity, the storage battery 13 mounted on the truck 12 can be wirelessly charged.
- the charging system 15 is a short-distance wireless charging system that charges the power transmission unit 15a and the power reception unit 15b in close proximity to each other as described above, the power transmission unit transmits a radio wave and the power reception unit receives the radio wave. It may be a long-distance wireless charging system that converts electricity into electric power.
- the circulation path 14 is circular as an example.
- the four carriages 12 are arranged on the circulation path 14 at equal intervals along the circulation path 14 and in the same direction on the circulation path 14, that is, the circulation direction of each of the carriages 12 on the circulation path 14 (see FIG. In the direction of arrow S). That is, each carriage 12 moves on the circular circulation path 14 with respect to the other carriages 12 adjacent along the circulation path 14 while maintaining the phase difference of 90° and maintains the phase difference of 90°. Stop while doing.
- the first carriage 12A, the second carriage 12B, the third carriage 12C, and the fourth carriage 12D are arranged in the order opposite to the circulation direction.
- the movement of each carriage 12 is controlled by the control unit 25 included in the processing device 10. Since each carriage 12 moves on the circular circulation path 14 (on the circumference), the movement amount of the carriage 12 on the circulation path 14 is represented by using an appropriate angle (phase) as described above.
- the size and shape of the circulation path 14 can be changed as appropriate.
- the shape of the circulation path 14 may be a shape that circulates (circulates) other than a circular shape such as an elliptical shape or a polygonal shape.
- the number of carts 12 can be appropriately changed depending on, for example, the size of the cart 12, the size of the circulation path 14, the shape of the circulation path 14, and the like.
- the processing apparatus 10 further includes a plurality (for example, seven) robots 16 mounted (installed) on each carriage 12.
- Each of the plurality of robots 16 performs additional welding (predetermined processing) on the vehicle body floor VF by using the welding gun WG as a processing tool.
- Each of the plurality of robots 16 is, for example, an articulated robot including an articulated arm, and the welding gun WG is attached to the tip of the articulated arm.
- the plurality of robots 16 are arranged on the carriage 12 on which the vehicle body floor VF is mounted so that different portions of the vehicle body floor VF can be welded to each other. That is, the plurality of robots 16 are arranged around the area on the carriage 12 where the vehicle body floor VF is mounted (hereinafter also referred to as “VF mounting area 19 ”).
- the number of robots 16 mounted on each carriage 12 can be appropriately changed according to, for example, the number of welded points on the vehicle body floor VF.
- Each of the plurality of robots 16 mounted on each carriage 12 performs additional welding on the vehicle body floor VF while the carriage 12 is moving. Specifically, the plurality of robots 16 mounted on each trolley 12 perform over-welding on the vehicle body floor VF while the trolleys 12 circulate (circulate) on the circulation path 14 N times (here, once). Let it complete. That is, the required time T required for the additional welding is substantially the same between the vehicle body floors VF, and the time required for each trolley 12 to make one round on the circulation path 14 is the required time T or more (preferably near the required time T). The moving speed and the stop time of each carriage 12 are set.
- each robot 16 automatically performs the additional welding using the welding gun WG according to the additional welding control program for the vehicle body floor VF.
- the N times may be plural times.
- the processing apparatus 10 further includes a workpiece carry-in station 18 for carrying the vehicle body floor VF before the additional welding to the carriage 12 located on the circulation path 14.
- the vehicle body floor VF before the additional welding means the vehicle body floor VF in which a plurality of constituent parts of the vehicle body floor VF are temporarily welded to such an extent that the posture of the entire vehicle body floor VF can be maintained.
- the work carrying-in station 18 carries in the vehicle body floor VF before the additional welding to the carriage 12 located at the predetermined position PP on the circulation path 14.
- the work carrying-in station 18 is arranged at a position adjacent to the predetermined position PP on the circulation path 14.
- the work carry-in station 18 includes a base portion 18a on which the vehicle body floor VF after temporary welding (before additional welding) is placed.
- the work loading station 18 further includes a loading/unloading robot 22 that lifts the vehicle body floor VF mounted on the base portion 18a and moves (loads) the vehicle body floor VF onto the carriage 12 located at a predetermined position PP.
- the vehicle floor VF after the temporary welding is carried from the lane where the temporary welding is performed to the base portion 18a by, for example, a transportation robot (not shown).
- the processing apparatus 10 further includes a work unloading station 20 that unloads the vehicle body floor VF after the additional welding from the dolly 12 located on the circulation path 14.
- the work unloading station 20 unloads the vehicle body floor VF after the additional welding from the dolly 12 located at the predetermined position PP on the circulation path 14.
- first position The position of the carriage 12 on the circulation path 14 when the vehicle body floor VF is carried in
- second position the position of the carriage 12 on the circulation path 14 when the vehicle body floor VF is carried out
- first position and second position may be positions that are deviated from each other by 90° or 180° on the circulation path 14.
- the work unloading station 20 is arranged on the opposite side of the work loading station 18 from the circulation path 14 and adjacent to the work loading station 18.
- the positional relationship between the work carry-out station 20 and the work carry-in station 18 may be reversed.
- the work unloading station 20 includes a base portion 20a for mounting the vehicle body floor VF after the additional welding.
- the work carry-out station 20 further includes a carry-in/carry-out robot 22 which lifts the vehicle body floor VF after the additional welding on the carriage 12 located at the predetermined position PP and moves (carries out) it onto the base portion 20a. That is, the work loading/unloading station 18 and the work unloading station 20 share (share) the loading/unloading robot 22.
- the work carry-in station 18 may have a carry-in robot, and the work carry-out station 20 may have a carry-out robot.
- the vehicle body floor VF after the additional welding that has been carried out to the base portion 20a is carried to a lane where the next processing is performed by, for example, a carrying robot (not shown).
- the predetermined position PP is a position for loading and unloading the vehicle body floor VF with respect to each trolley 12, and thus may be referred to as a “loading/unloading position”.
- the first bogie 12A on which the vehicle body floor VF is not mounted is stopped at the predetermined position PP.
- the second bogie 12B on which the vehicle body floor VF is not mounted is stopped at a position on the upstream side of the first bogie 12A by 90° in the circulation direction.
- the third carriage 12C on which the vehicle body floor VF is not mounted is stopped at a position 90° upstream of the second carriage 12B in the circulation direction.
- the fourth carriage 12D, on which the vehicle body floor VF is not mounted, is stopped at a position 90° upstream of the third carriage 12C in the circulation direction.
- the processing apparatus 10 uses the work carry-in station 18 to install the VF mounting area 19 (see FIG. 1) on the first carriage 12A on which the plurality (for example, seven) robots 16 are mounted. ) Carry the vehicle floor VF into (). Specifically, the processing apparatus 10 causes the loading/unloading robot 22 to lift the vehicle body floor VF on the base portion 18a and move (carry in) it onto the VF mounting area 19 of the first carriage 12A.
- the processing apparatus 10 starts the cyclic movement of each carriage 12 on the circulation path 14 and causes the plurality of robots 16 to start the overwelding of the vehicle body floor VF on the first carriage 12A. That is, the processing device 10 cyclically moves the first carriage 12A on which the vehicle body floor VF is mounted and the second carriage 12B, the third carriage 12C, and the fourth carriage 12D which are not mounted on the vehicle body floor VF while Incremental welding is performed by the plurality of robots 16 on the vehicle body floor VF mounted on the single carriage 12A. Then, as shown in FIG. 3, the processing apparatus 10 causes the processing apparatus 10 to move the work loading station 18 when the phase of each carriage 12 advances by 90°, that is, when the second carriage 12B reaches the predetermined position PP.
- the vehicle body floor VF is loaded (mounted) into the VF mounting area 19 on the second carriage 12B on which the plurality of robots 16 (for example, seven) are mounted. Even during the work of mounting the vehicle body floor VF on the second vehicle 12B, each vehicle 12 continues to move (circulate) at a constant speed, and is hit against the vehicle body floor VF on the moving first vehicle 12A. Welding is taking place.
- the processing apparatus 10 stops the circulation movement of each carriage 12 when each carriage 12 advances 90° from the position of FIG. 2 to the position of FIG. 3, that is, when the second carriage 12B moves to the predetermined position PP. You may let me. In that case, the processing apparatus 10 uses the work loading station 18 to load (mount) the vehicle body floor VF into the VF mounting area 19 on the stopped second carriage 12B. In the first carriage 12A, the additional welding by the plurality of robots 16 is continuously performed even during the stop. In the following description, when the second to fourth carriages 12B to 12C respectively move to the predetermined position PP, the circulation movement of each carriage 12 may be stopped in the same manner as the first carriage 12A.
- the processing apparatus 10 restarts the cyclic movement of each carriage 12 on the circulation path 14 and causes the plurality of robots 16 to start the additional welding of the vehicle body floor VF on the second carriage 12B. That is, the processing apparatus 10 cyclically moves the first carriage 12A and the second carriage 12B on which the vehicle body floor VF is mounted and the third carriage 12C and the fourth carriage 12D on which the vehicle body floor VF is not mounted, Incremental welding is performed by the plurality of robots 16 on the vehicle body floor VF mounted on each of the first carriage 12A and the second carriage 12B. Then, as shown in FIG.
- the processing apparatus 10 moves the work loading station 18 to the work loading station 18.
- the vehicle body floor VF is carried in (mounted) on the VF mounting area 19 on the third carriage 12C on which the plurality (for example, seven) of the robots 16 are mounted. Even during the work of mounting the vehicle body floor VF on the third vehicle 12C, each vehicle 12 continues to move (circulate) at a constant speed, and the vehicle body floor is on the moving first vehicle 12A and second vehicle 12B. Heavy welding is performed on VF.
- the processing apparatus 10 restarts the cyclic movement of each carriage 12 on the circulation path 14 and causes the plurality of robots 16 to start the additional welding of the vehicle body floor VF on the third carriage 12C. That is, the processing apparatus 10 cyclically moves the first carriage 12A, the second carriage 12B, and the third carriage 12C on which the vehicle body floor VF is mounted and the fourth carriage 12D on which the vehicle body floor VF is not mounted, A plurality of robots 16 perform additional welding on the vehicle body floor VF mounted on each of the first carriage 12A, the second carriage 12B, and the third carriage 12C. Then, as shown in FIG.
- the processing apparatus 10 moves the work loading station 18 to the work loading station 18.
- the vehicle body floor VF is loaded (mounted) into the VF mounting area 19 on the fourth carriage 12D on which the plurality (for example, seven) of robots 16 are mounted.
- each carriage 12 continues to move (circulate) at a constant speed, and on the moving first carriage 12A, second carriage 12B, and third carriage 12. Heavy welding is performed on the vehicle floor VF on the carriage 12C.
- the circulation movement of each carriage 12 is stopped. In each of the first carriage 12A, the second carriage 12B, and the third carriage 12C, the additional welding by the plurality of robots 16 is continuously performed even during the stop.
- the processing apparatus 10 restarts the cyclic movement of each carriage 12 on the circulation path 14 and causes the plurality of robots 16 to start the overwelding of the vehicle body floor VF on the fourth carriage 12D. That is, the processing apparatus 10 cyclically moves the first vehicle 12A, the second vehicle 12B, the third vehicle 12C, and the fourth vehicle 12D on which the vehicle body floor VF is mounted, while the first vehicle 12A, the second vehicle 12B, Incremental welding is performed by the plurality of robots 16 on the vehicle body floor VF mounted on each of the third carriage 12C and the fourth carriage 12D.
- the processing apparatus 10 causes the processing apparatus 10 to move the work unloading station 20 as shown in FIG.
- the vehicle body floor VF after the additional welding is carried out (collected) from the first carriage 12A. That is, the processing apparatus 10 causes the loading/unloading robot 22 to lift the vehicle body floor VF after the additional welding, which is located on the VF mounting area 19 of the first vehicle 12A, and moves (unloads) it onto the base portion 20a.
- the vehicle body floor VF after the additional welding that has been carried out onto the base portion 20a is carried from the base portion 20a to the lane where the next processing is performed.
- each carriage 12 continues to move (circulate) at a constant speed, and is moving on the second carriage 12B, the third carriage 12C, and the fourth carriage 12C. Heavy welding is performed on the vehicle body floor VF on the dolly 12D.
- the processing apparatus 10 uses the work carry-in station 18 to place the vehicle body floor VF after the temporary welding (before the additional welding) on the moving first carriage 12A. Bring in (install). That is, the processing apparatus 10 causes the loading/unloading robot 22 to lift the vehicle body floor VF after the temporary welding on the base portion 18a and move (carry in) it onto the VF mounting area 19 of the first carriage 12A. Even during the work of mounting the vehicle body floor VF on the first vehicle 12A, the extra welding is performed on the vehicle body floor VF on the second vehicle 12B, the third vehicle 12C, and the fourth vehicle 12D. A new vehicle body floor VF after temporary welding is carried on the base portion 18a where the vehicle floor VF after temporary welding is gone.
- the processing apparatus 10 carries out (collects) the vehicle body floor VF after the additional welding to the first carriage 12A moving at the predetermined position PP, and the vehicle body after the temporary welding.
- the floor VF is continuously loaded (mounted).
- the processing apparatus 10 causes the trolley 12 moving at the predetermined position PP to the trolley 12 moving in the predetermined position PP every time the trolleys 12 are advanced by 90° on the circulation path 14, in the same manner as above. Carrying out (collecting) the VF and carrying in (mounting) the vehicle body floor VF after the temporary welding are continuously performed.
- the additional welding is performed on the vehicle body floor VF on the other dolly 12.
- the additional welding may be performed on the vehicle body floor VF on the other carriage 12 only during one of the mounting work and the collecting work, or both during the mounting work and the collecting work.
- the additional welding may not be performed on the vehicle body floor VF on the other bogie 12.
- the processing apparatus 10 of the present embodiment is equipped with at least one trolley 12 on which a vehicle body floor VF (workpiece) is mounted, and is mounted on the trolley 12, and a welding gun WG( is mounted on the vehicle body floor VF while the trolley 12 is moving.
- a robot 16 that performs additional welding (predetermined processing) using a processing tool).
- At least one carriage 12 is a plurality of carriages 12. Thereby, the additional welding can be performed in parallel on the vehicle body floor VF on each of the plurality of carriages 12. That is, the additional welding for each of the plurality of vehicle body floors VF can be performed in parallel. As a result, processing productivity can be improved.
- a plurality of carriages 12 circulate and move on a predetermined circulation path 14, and a robot 16 mounted on each of the plurality of carriages 12 performs additional welding while the carriage 12 circulates on the circulation path 14. Thereby, the plurality of carriages 12 can be efficiently moved. Also, by setting the circulation speed to a low speed, it becomes possible to shorten the circulation path and reduce the installation area.
- the processing apparatus 10 includes a workpiece carrying-in station 18 for carrying the vehicle body floor VF before the additional welding and a carriage 12 located on the circulation path 14 and a vehicle 12 after the additional welding from the carriage 12 located on the circulation path 14. And a work unloading station 20 for unloading the floor VF.
- a workpiece carrying-in station 18 for carrying the vehicle body floor VF before the additional welding and a carriage 12 located on the circulation path 14 and a vehicle 12 after the additional welding from the carriage 12 located on the circulation path 14.
- a work unloading station 20 for unloading the floor VF.
- the work carry-in station 18 carries in the vehicle body floor VF before the additional welding to the carriage 12 located at the predetermined position PP on the circulation path 14, and the work carry-out station 20 is located at the predetermined position PP on the circulation path 14.
- the vehicle body floor VF after the additional welding is carried out from the dolly 12. Accordingly, it is possible to continuously collect the vehicle body floor VF after the additional welding and mount the vehicle body floor VF before the additional welding for each of the carriages 12 located at the predetermined position PP on the circulation path 14. The processing productivity can be improved.
- a plurality of robots 16 are mounted on each of the plurality of carriages 12. As a result, the plurality of robots 16 on the carriage 12 can perform the incremental welding on a plurality of locations on the vehicle body floor VF in parallel in time, and the working productivity can be improved.
- the prescribed processing is welding and the processing tool is a welding gun. Since the welding work does not require the precision of the position of the hitting point as much as the screw fastening work, the welding can be smoothly performed in the circulation and transfer work.
- the vehicle body floor VF is mounted on the carriage 12 and the additional welding is performed.
- the additional welding can be performed in a state in which the overall posture of the vehicle body floor VF is maintained, that is, in a state in which the constituent portions of the vehicle body floor VF to be welded are temporarily fixed, and therefore the vehicle body floor VF should be welded. It is not necessary to hold the components together so that they can be welded. That is, since the vehicle floor VF that has been temporarily fixed can be additionally struck, the number of jigs for fixing the vehicle floor can be reduced as much as possible, the weight of the carriage can be reduced, and the workability can be improved by reducing the interference.
- the dolly 12 has a drive unit 11 that is operated by electric power, and the processing device 10 is mounted on the dolly 12 and a storage battery 13 that supplies electric power to the drive unit 11 and a charging system that wirelessly charges the storage battery 13. 15 is further provided. Thereby, the storage battery 13 mounted on the carriage 12 can be charged without using a charging cable or the like.
- the processing method includes a step of mounting the vehicle body floor VF on the carriage 12 on which the robot 16 for processing the vehicle body floor VF (for workpiece processing) is mounted, and a step of mounting the vehicle body floor VF on the carriage 12 while moving the carriage 12. Performing over-welding with the robot 16 on the vehicle body floor VF.
- the processing method of the present embodiment further includes a step of collecting the vehicle body floor VF after the additional welding from the carriage 12.
- the dolly 12 from which the vehicle body floor VF after the additional welding is collected can be mounted with another vehicle body floor VF before the additional welding to perform the additional welding.
- the carriage 12 In the step of mounting the vehicle body floor VF, when the carriage 12 is located on the circulation path 14, the body floor VF is mounted on the carriage 12, and in the step of moving the carriage 12, the carriage 12 is circularly moved on the circulation path 14. Then, in the step of collecting the vehicle body floor VF, when the carriage 12 is located on the circulation path 14, the vehicle body floor VF after the additional welding is collected from the top of the carriage 12. As a result, the carriage 12 can be efficiently moved, and the body floor VF can be directly carried in and out of the carriage 12 located on the circulation path 14, so that the processing productivity is improved. it can.
- the vehicle body floor VF In the step of mounting the vehicle body floor VF, when the vehicle 12 is located at the predetermined position PP on the circulation path 14, the vehicle body floor VF is mounted on the vehicle 12, and in the step of collecting the vehicle body floor VF, the vehicle 12 is in the circulation path.
- the vehicle body floor VF after the over-welding is collected from the carriage 12.
- the vehicle body floor VF after the additional welding and the mounting of the vehicle body floor VF before the additional welding can be continuously performed on the carriage 12 located at the predetermined position PP on the circulation path 14.
- the processing productivity can be improved.
- At least one of the mounting work of the vehicle body floor VF on the dolly 12 and the work of collecting the work from the dolly 12 is performed the additional welding to the vehicle body floor VF on the other dolly 12.
- processing productivity can be improved. That is, the welding work can be continuously performed on the carriage 12 that does not require the transfer of the work, and the work man-hour can be effectively utilized without interrupting the work.
- the processing device 10 includes a plurality of carriages 12, but may include a single carriage 12. In this case, the circulation path 14 is not essential.
- a plurality of trucks 12 circulate on the circulation path 14, but the present invention is not limited to this.
- at least one carriage 12 may be moved back and forth on a predetermined non-circulating route.
- the work carry-in station 18 and the work carry-out station 20 may be installed at one end of the route, and the body floor VF may be carried in and out of the carriage 12 at one end of the route.
- a work loading station 18 is installed on one end side of the route
- a work unloading station 20 is installed on the other end side of the route, and the vehicle body floor VF is loaded into the carriage 12 at one end side of the route.
- the vehicle body floor VF may be carried out from the truck 12 on the end side.
- the processing apparatus 10 stops the carriage 12 at a predetermined position PP on the circulation path 14 and carries in and out the vehicle body floor VF with respect to the carriage 12, but the present invention is not limited to this.
- the processing apparatus 10 may carry in and carry out the vehicle body floor VF with respect to the carriage 12 while moving the carriage 12 on the circulation path 14.
- the processing apparatus 10 may carry in and carry out the vehicle body floor VF with respect to the carriage 12 when the carriage 12 approaches the predetermined position PP.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Chemical & Material Sciences (AREA)
- Manufacturing & Machinery (AREA)
- Robotics (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Automatic Assembly (AREA)
- Multi-Process Working Machines And Systems (AREA)
- Manipulator (AREA)
Abstract
Description
上記実施形態における加工装置10の構成は、適宜変更可能である。
Claims (14)
- ワーク(VF)が搭載される少なくとも1つの台車(12)と、
前記台車に搭載され、前記台車の移動中に前記ワークに対して加工工具(WG)を用いて所定の加工を行うロボット(16)と、
を備える、加工装置(10)。 - 請求項1に記載の加工装置であって、
前記少なくとも1つの台車は、複数の台車である、加工装置。 - 請求項2に記載の加工装置であって、
前記複数の台車は、所定の循環路(14)上を循環移動し、
前記複数の台車の各々に搭載された前記ロボットは、該台車が前記循環路上を循環移動中に前記所定の加工を行う、加工装置。 - 請求項3に記載の加工装置であって、
前記循環路上に位置した前記台車に、前記所定の加工前の前記ワークを搬入するワーク搬入ステーション(18)と、
前記循環路上に位置した前記台車から、前記所定の加工後の前記ワークを搬出するワーク搬出ステーション(20)と、
をさらに備える、加工装置。 - 請求項4に記載の加工装置であって、
前記ワーク搬入ステーションは、前記循環路上の所定位置に位置した前記台車に、前記所定の加工前の前記ワークを搬入し、
前記ワーク搬出ステーションは、前記循環路上の前記所定位置に位置した前記台車から、前記所定の加工後の前記ワークを搬出する、加工装置。 - 請求項2又は3に記載の加工装置であって、
前記複数の台車の各々には、前記ロボットが複数搭載される、加工装置。 - 請求項1~5のいずれか1項に記載の加工装置であって、
前記所定の加工は、溶接であり、
前記加工工具は、溶接ガンである、加工装置。 - 請求項7に記載の加工装置であって、
前記ワークは、仮打溶接が行われた後に、前記台車に搭載されて前記所定の加工が行われ、
前記所定の加工は、増打溶接である、加工装置。 - 請求項1~5のいずれか1項に記載の加工装置であって、
前記台車は、電力により作動する駆動部(11)を有し、
前記台車に搭載され、前記駆動部に電力を供給する蓄電池(13)と、
前記蓄電池に対して、無線で充電する充電システム(15)と、
をさらに備える、加工装置。 - ワーク加工用のロボットが搭載された台車にワークを搭載するステップと、
前記台車を移動させながら、前記台車に搭載された前記ワークに対して前記ロボットにより所定の加工を行うステップと、
を含む、加工方法。 - 請求項10に記載の加工方法であって、
前記台車から、前記所定の加工後の前記ワークを回収するステップをさらに含む、加工方法。 - 請求項11に記載の加工方法であって、
前記ワークを搭載するステップでは、前記台車が循環路上に位置するとき、前記台車上にワークを搭載し、
前記台車を移動させるステップでは、前記台車を前記循環路上で循環移動させ、
前記ワークを回収するステップでは、前記台車が前記循環路上に位置するとき、前記台車上から前記所定の加工後の前記ワークを回収する、加工方法。 - 請求項12に記載の加工方法であって、
前記ワークを搭載するステップでは、前記台車が循環路上の所定位置に位置するとき、前記台車上にワークを搭載し、
前記ワークを回収するステップでは、前記台車が前記循環路上の前記所定位置に位置するとき、前記台車上から前記所定の加工後の前記ワークを回収する、加工方法。 - 請求項12又は13に記載の加工方法であって、
前記台車への前記ワークの搭載作業中及び前記台車からの前記ワークの回収作業中の少なくとも一方に、他の前記台車上で前記ワークに対して前記所定の加工を行う、加工方法。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US17/426,131 US20220097183A1 (en) | 2019-02-01 | 2019-10-03 | Processing machine and processing method |
JP2020569365A JPWO2020158050A1 (ja) | 2019-02-01 | 2019-10-03 | 加工装置及び加工方法 |
CA3128330A CA3128330A1 (en) | 2019-02-01 | 2019-10-03 | Processing machine and processing method |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910105643.5A CN111515582A (zh) | 2019-02-01 | 2019-02-01 | 加工装置和加工方法 |
CN201910105643.5 | 2019-02-01 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2020158050A1 true WO2020158050A1 (ja) | 2020-08-06 |
Family
ID=71840541
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2019/039046 WO2020158050A1 (ja) | 2019-02-01 | 2019-10-03 | 加工装置及び加工方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20220097183A1 (ja) |
JP (1) | JPWO2020158050A1 (ja) |
CN (1) | CN111515582A (ja) |
CA (1) | CA3128330A1 (ja) |
WO (1) | WO2020158050A1 (ja) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5577449A (en) * | 1978-11-29 | 1980-06-11 | Hitachi Ltd | Automatic working machine controlling apparatus |
JPS59120381A (ja) * | 1982-12-27 | 1984-07-11 | Toyota Motor Corp | ロボツトを用いた加工装置 |
JPS61137434U (ja) * | 1985-02-19 | 1986-08-26 | ||
JPH04250936A (ja) * | 1990-12-28 | 1992-09-07 | Mazda Motor Corp | ワークの加工または組立方法 |
JP2003145276A (ja) * | 2001-11-14 | 2003-05-20 | Honda Motor Co Ltd | 車体溶接システム |
WO2017134838A1 (ja) * | 2016-02-03 | 2017-08-10 | 株式会社ヘッズ | 非接触充電設備 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR970003573B1 (ko) * | 1990-12-28 | 1997-03-20 | 마쓰다 가부시끼가이샤 | 가공물 조립방법 및 그 장치 |
EP0927598A1 (en) * | 1997-12-18 | 1999-07-07 | COMAU S.p.A. | Device for spot-welding of motor-vehicle bodies or sub-assemblies thereof |
JP4600841B2 (ja) * | 2008-04-03 | 2010-12-22 | 株式会社ダイフク | 自動車などの組立て用搬送装置 |
CN103350153A (zh) * | 2012-09-19 | 2013-10-16 | 上海新鸿企业有限公司 | 冲压生产线机器人自动化搬运系统 |
CN207406087U (zh) * | 2017-10-20 | 2018-05-25 | 四川志泰立体车库有限公司 | 一种具有无线充电功能的停车系统 |
CN107775462A (zh) * | 2017-11-22 | 2018-03-09 | 安吉圆磨机械科技有限公司 | 一种单轴进给双工位锯片自动磨床 |
CN107863243B (zh) * | 2017-11-29 | 2023-04-25 | 横店集团东磁股份有限公司 | 一种粘结磁压制至固化的自动生产线及其实现方法 |
-
2019
- 2019-02-01 CN CN201910105643.5A patent/CN111515582A/zh active Pending
- 2019-10-03 CA CA3128330A patent/CA3128330A1/en not_active Abandoned
- 2019-10-03 WO PCT/JP2019/039046 patent/WO2020158050A1/ja active Application Filing
- 2019-10-03 JP JP2020569365A patent/JPWO2020158050A1/ja active Pending
- 2019-10-03 US US17/426,131 patent/US20220097183A1/en active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5577449A (en) * | 1978-11-29 | 1980-06-11 | Hitachi Ltd | Automatic working machine controlling apparatus |
JPS59120381A (ja) * | 1982-12-27 | 1984-07-11 | Toyota Motor Corp | ロボツトを用いた加工装置 |
JPS61137434U (ja) * | 1985-02-19 | 1986-08-26 | ||
JPH04250936A (ja) * | 1990-12-28 | 1992-09-07 | Mazda Motor Corp | ワークの加工または組立方法 |
JP2003145276A (ja) * | 2001-11-14 | 2003-05-20 | Honda Motor Co Ltd | 車体溶接システム |
WO2017134838A1 (ja) * | 2016-02-03 | 2017-08-10 | 株式会社ヘッズ | 非接触充電設備 |
Also Published As
Publication number | Publication date |
---|---|
JPWO2020158050A1 (ja) | 2021-10-21 |
CN111515582A (zh) | 2020-08-11 |
US20220097183A1 (en) | 2022-03-31 |
CA3128330A1 (en) | 2020-08-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN109195740B (zh) | 制造工站和制造方法 | |
US20120216384A1 (en) | Manufacturing facility with robotic carrier and method of manufacturing | |
CN105263832B (zh) | 灵活运输系统 | |
JP2015080816A (ja) | ワーク搬送装置 | |
JP2005046966A (ja) | 生産システム | |
JP2010247267A (ja) | 加工システム | |
JP2011152615A (ja) | ワーク組立て方法 | |
US10926819B2 (en) | Method and vehicle for conveying an electrically driven motor vehicle during assembly thereof | |
CN113843552A (zh) | 一种高柔性白车身焊接主拼系统 | |
WO2020158050A1 (ja) | 加工装置及び加工方法 | |
EP2198356B1 (en) | Production moving line system and method | |
JP5655700B2 (ja) | 搬送システム | |
CN212552410U (zh) | 自动上件生产线 | |
JP6764987B1 (ja) | 給電装置および給電システム | |
JP5828356B2 (ja) | 搬送システム | |
JP6138438B2 (ja) | 搬送方法及び搬送装置 | |
CN214769692U (zh) | 一种激光去毛刺设备 | |
CN116117387A (zh) | 一种方舱框架的模块化生产系统及工艺 | |
JP2020082233A (ja) | ロボット用架台、搬送システム及び搬送方法 | |
CN112572525B (zh) | 一种基于双机器人的增减一体化在轨修复系统 | |
CN113664354B (zh) | 用于车辆领域的凸焊设备、系统及方法 | |
Chen et al. | Robotic wheel loading process in automotive manufacturing automation | |
CN205765201U (zh) | 机床上料系统 | |
KR100507076B1 (ko) | 용접공정용 이송대차 시스템 | |
JP6813271B2 (ja) | ワーク搬送システム及びワーク加工方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 19912474 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2020569365 Country of ref document: JP Kind code of ref document: A |
|
ENP | Entry into the national phase |
Ref document number: 3128330 Country of ref document: CA |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 19912474 Country of ref document: EP Kind code of ref document: A1 |