JP4149652B2 - Jig changer - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a jig exchanging apparatus for exchanging a jig provided to support a work to be subjected to a predetermined work by a work robot at a work station in which a plurality of work robots are arranged around the work station.
[0002]
[Prior art]
Conventionally, as a jig exchanging device, an exchanging carriage that is movably provided on a predetermined moving path that passes through an exchanging position adjacent to one side of the work station, and a plurality of jig stockers that are arranged in parallel facing the moving path. It is known that the jig can be freely transferred between each jig stocker and the exchange carriage, and the jig can be freely exchanged between the work station and the exchange carriage at the exchange position. Yes.
[0003]
In this case, when exchanging the jig, first, the exchanging carriage is moved to the exchanging position, the jig for the previous model installed at the work station is transferred to the exchanging carriage, and then the empty jig stocker is used. Move the replacement carriage to the matching position, transfer the jig for the previous model to the jig stocker, and then move the replacement carriage to the position that matches the jig stocker that supports the jig for the next model. It moves so that the jig for the next model is transferred to the exchange truck, and then the jig for the next model is transferred to the work station by moving the exchange truck to the exchange position.
[0004]
[Problems to be solved by the invention]
By the way, depending on the work station, a plurality of work robots are arranged around the work station, and there is a case where an empty space serving as the replacement position cannot be secured around the work station. In such a case, conventionally, the jig is exchanged by lifting it with a crane or the like without using the jig exchanging apparatus, and it takes a long time to exchange the jig, which is a problem in improving productivity. I'm here.
[0005]
In view of the above points, the present invention is to provide a jig exchanging apparatus capable of exchanging jigs in a short time using an exchange carriage even when an empty space cannot be secured around a work station. It is said.
[0006]
[Means for Solving the Problems]
In order to solve the above-mentioned problems, the present invention is an apparatus for exchanging jigs provided in a work station having a plurality of work robots arranged around it to support a work for performing a predetermined work by these work robots. An exchange carriage provided on a predetermined movement path passing through an exchange position adjacent to one side of the machine and a plurality of jig stockers arranged side by side so as to face the movement path. The jig can be freely transferred between the work cart and the jig can be transferred between the work station and the change cart at the exchange position. The work robot to be arranged is placed on a support stand that moves together with the exchange cart.
[0007]
According to the present invention, an empty space that becomes an exchange position cannot be secured around the work station, and a work robot that disturbs transfer of jigs between the work station and the exchange carriage is disposed on the exchange position side. However, when the exchange cart is moved to the exchange position, the work robot moves together with the exchange carriage to move away from the exchange position, and transfers the jig without being obstructed by the work robot. Can do. Thus, even when an empty space cannot be secured around the work station, the jig can be exchanged efficiently using the exchange carriage.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 shows an assembling apparatus for an automobile door W. This assembling apparatus combines an outer work line 1 for performing a required work on the outer panel WO of the door W, an inner assembly station 2 for assembling a door inner WI disposed on the side of the outer work line 1, and a door inner WI on the outer panel WO. A subassembly in which the door W is subassembled, the subassembly station 3 in the front of the outer work line 1, and the bent edge raised around the outer panel WO are hemmed to integrate the outer panel WO and the door inner WI. And a hemming station 4 in front of the station 3.
[0009]
The outer work line 1 is configured so that the outer panel WO is conveyed by the conveyor 5 from the rear end loading position 1a to the front end working position 1b, and the sealing robot 6 applies the sealing agent to the outer panel WO existing at the work position 1b. Yes. Then, the outer panel WO is transferred by the first handling robot 7 to the table 8 placed in the subassembly station 3, and the door WI assembled at the inner assembly station 2 is transferred to the outer panel WO on the table 8 by the second handling robot 9. The third handling robot 11 puts the door W thus assembled in this way into the hemming device 10 arranged in the hemming station 4 and pays the hemmed door W from the hemming device 10 with the fourth handling robot 12. I try to put it out.
[0010]
A turntable 13 is disposed in the inner assembly station 2. Two jigs 14, 14 are placed back to back on the turntable 13, and both jigs 14, 14 are moved backward by rotation of the turntable 13. The set position 2a and the front welding position 2b are alternately reversed. In addition, a total of four welding robots 15 are arranged around the welding position 2b, two on the left and right sides and two on the front. Then, at the set position 1a, the inner panel of the door and a plurality of inner parts such as sashes and stiffener beams are manually set on the jig 14, and at the welding position 2b, the inner parts are mounted on the inner panel by the four welding robots 15. Are assembled by welding to assemble the door inner WI.
[0011]
The jig 14 is a dedicated product corresponding to the door model, and the jig 14 needs to be replaced when changing the model. Therefore, two jigs 14 and 14 for the same model are mounted back-to-back on a common jig base 14a as shown in FIGS. 2 to 4, and the jig base 14a is turned on a wheel 14b on its lower surface. It is placed on a rail 13a on the table 13 so that the jigs 14 and 14 can be exchanged together with the jig base 14a. Then, the side opposite to the outer work line 1 of the inner assembly station 2, that is, the portion adjacent to the left side is set as the replacement position 2c, and a long moving path 16 is installed in the front-rear direction passing through the replacement position 2c. A movable exchanging carriage 17 is provided on the moving path 16, and the first jig stocker 18 ₁ at the rear and the second jig stocker 18 _{2 at} the front are arranged on the left side of the moving path 16 so as to face the moving path 16. And are provided. The jig 14 is provided with a large number of positioning members and clamp members for the inner panel and inner parts, but these are simplified in the drawing.
[0012]
Rails 17a and 18a for mounting the wheels 14b of the jig rack 14a are attached to the exchange carriage 17 and the jig stockers 18 ₁ and 18 ₂ , respectively. When the exchange carriage 17 is moved to the exchange position 2c, the rail 17a on the exchange carriage 17 is aligned with the rail 13a on the turntable 13 via the bridge rail 2d provided inside the exchange position 2c. The jig base 14a can be freely transferred between the turntable 13 and the turntable 13, and the position of the replacement carriage 17 that matches the jig stockers 18 ₁ , 18 ₂ , that is, the rail 17a on the exchange carriage 17 can be adjusted. by moving to a position matching the tool stocker 18 _1, 18 ₂ on the rails 18a, it becomes freely was transferred is jig cradle 14a between the changing carriage 17 and the jigs stocker 18 _1, 18 _2.
[0013]
Each jig stocker 18 ₁ , 18 ₂ is provided with a movable body 18c that self-runs along a fixed guide rail 18b, and an engagement pin 18d that protrudes upwards and downwards is attached to the movable body 18c. By moving the movable body 18c with the engaging pin 18d engaged with the hitch portion 14c projecting on the left side of the mounting base 14a, the space between the exchange carriage 17 and each of the jig stockers 18 ₁ and 18 ₂ is increased. Thus, the jig mount 14a can be transferred. The first jig stocker 18 ₁ is installed so as to face the exchange position 2c. When the exchange carriage 17 is moved to the exchange position 2c, the rail 17a on the exchange carriage 17 is placed on the first jig stocker 18 ₁ . The rail 18a is also aligned. Then, a guide rail 17b for the movable body 18c is mounted on the exchange carriage 17, and the movable body 18c on the first jig stocker 18 ₁ is movable along the guide rail 17b on the exchange carriage 17 to the turntable 13 side. The movable body 18c can also transfer the jig mount 14a between the turntable 13 and the exchange carriage 17. The turntable 13 and the exchange carriage 17 are respectively provided with lock cylinders 13b and 17c for locking the jig base 14a, and the jig base 14a is transferred by releasing the lock.
[0014]
The exchange carriage 17 is movably supported by a guide rail 16a laid on the movement path 16, and a motor 17e having a pinion 17d on the output shaft that meshes with a rack 16b laid on the movement path 16 is mounted on the exchange carriage 17. The exchanging carriage 17 is caused to self-run on the moving path 16 by the driving force of the motor 17e. Furthermore, a support base 19 movably supported on the guide rail 16a is connected to the front side of the exchange carriage 17 via a linkage 19a, and the welding robot 15 arranged on the exchange position 2c side among the four welding robots. Is placed on the support base 19 so that the welding robot 15 is moved together with the exchange carriage 17.
[0015]
Here, during operation of the door assembly apparatus, as shown in FIG. 1, the exchange carriage 17 is arranged so that the welding robot 15 on the support base 19 is positioned at a predetermined work place on the left side of the welding position 2 b of the inner assembly station 2. Is stopped at a standby position behind the replacement position 2c. In FIG. 1, the first jig stocker 18 ₁ is empty, and the jig base 14 a on which the next-type jigs 14, 14 are mounted on the second jig stocker 18 ₂ . When exchanging jigs in this state, first, the exchanging carriage 17 is moved to the exchanging position 2c, and the jig base 14a on which the jigs 14 and 14 for the previous model mounted on the turntable 13 are mounted. Transfer to the first jig stocker 18 ₁ via the exchange carriage 17. At this time, the welding robot 15 on the support base 19 is moved to a position outside the interference range of the jig 14 shown by the phantom line in FIG. 3, and the jig base 14 a is moved without being obstructed by the welding robot 15. It is done. Next, move the changing carriage 17 in a position that matches the ₂ second jig stocker 18, the jig cradle equipped with second jig 14, 14 for the next model, which is placed on the jig stocker 18 ₂ 14a is transferred to the exchange truck 17. Next, the exchange carriage 17 is moved again to the exchange position 2c, the jig rack 14a on the exchange carriage 17 is moved to the turntable 13, and then the exchange carriage 17 is moved to the standby position behind the exchange position 2c. Complete one jig change operation.
[0016]
As described above, the embodiment in which the present invention is applied to the replacement device for the jig 14 placed on the turntable 13 of the work station including the inner assembly station 2 for assembling the door inner WI has been described. The present invention can be widely applied as a jig changer installed in a work station that performs a required work by a robot.
[0017]
【The invention's effect】
As is clear from the above description, according to the present invention, even if an empty space as an exchange position cannot be secured around the work station, the jig can be efficiently exchanged using the exchange carriage, and the production can be performed. Improves.
[Brief description of the drawings]
FIG. 1 is an overall plan view of a door assembling apparatus provided with a jig changing device.
FIG. 2 is an enlarged plan view of a main part at the time of jig replacement.
3 is a side view taken along line III-III in FIG. 2;
4 is a front view of the IV-IV line cut in FIG. 2. FIG.
[Explanation of symbols]
WI ... Door inner (work)
2 ... Inner assembly station (work station)
2c ... exchange position 14 ... jig 15 ... welding robot (working robot)
16 ... Moving path 17 ... Exchange carts 18 ₁ , 18 ₂ ... Jig stocker 19 ... Support stand

Claims (1)

A jig exchanging device provided to support a work for performing a predetermined work by these work robots on a work station having a plurality of work robots arranged around the work station,
Each jig stocker includes an exchange carriage that is movably provided on a predetermined movement path that passes through an exchange position adjacent to one side of the work station, and a plurality of jig stockers that are arranged in parallel to face the movement path. In addition to making the jig transferable between the work station and the exchange carriage, and making the jig transferable between the work station and the exchange carriage at the exchange position,
The work robot arranged on the exchange position side among the plurality of work robots is placed on a support base that moves together with the exchange carriage.
A jig changer characterized by that.

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