JPH0618715Y2 - Work positioning device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a device for positioning a workpiece when, for example, welding and assembling car body parts of an automobile.

2. Description of the Related Art In the assembly process of automobiles, many press-formed vehicle body components are assembled by welding, but individual work pieces are generally positioned by a positioning device as a shape receiver and used for the above welding. Target.

FIG. 4 and FIG. 5 show an example of the conventional positioning device, in which a plurality of gauge plates 1, 2, 3 having different receiving surfaces 1a, 2a, 3a can be rotated on the post 4. They are installed side by side, and each gauge plate 1, 2,
Each of the units 3 has a switching cylinder 5 and is provided with a clamper 7 for driving the cylinder 6 (similar structure is shown in, for example, Japanese Patent Publication No. 60-57957).

Then, for example, the gauge plate 1 is for A cars, the gauge plate 2 is for B cars, and the gauge plate 3 is for C cars.
As shown in the figure, when positioning the corresponding work W for vehicle A by the gauge plate 1, only the gauge plate 1 is erected as shown by the solid line in FIG. 5, and the work W is placed on the receiving surface 1a. After receiving, clamp with clamper 7. At this time, the remaining two gauge plates 2 and 3 are tilted and retracted to the retracted position Q of FIG. 5 by the action of the switching cylinder 5 so as not to interfere with the work W.

That is, according to the above-mentioned positioning device, by selectively erecting only the relevant gauge plate among the plurality of gauge plates 1, 2, 3 upright, it is possible to position workpieces of a plurality of vehicle types with one device. It can be dealt with and its versatility can be achieved.

Problems to be solved by the invention In the conventional structure as described above, if the number of types of workpieces further increases, the gauge plates will be dense and maintenance will be difficult, and the basic structure will increase the size of the device itself. Therefore, the number of gauge plates that can be installed is naturally limited, and true versatility cannot be achieved.

Means for Solving Problems The present invention makes it possible to handle more kinds of works with one device, and as shown in the embodiment, a work having flange parts at both ends is used. A device for positioning and clamping the inner corner of the root of the base as a reference, the gauge plate having an arcuate receiving surface rotatably supported by the bracket and abutting against the inner corner of the flange at the tip. And a clamper that is rotatably connected to the gauge plate and has an arcuate pressure surface at its tip, and clamps the flange portion of the workpiece under pressure between the pressure surface and the receiving surface of the gauge plate. A pair of gauge units are arranged opposite to the frame supported by the industrial robot, and the bracket has a corresponding gage according to the shape of the work to be positioned. A gauge plate position adjusting mechanism for adjusting the rotational angle position of the dip plate is individually provided, and a gauge unit position for adjusting at least one of a pair of gauge units according to the shape of the workpiece to be positioned on the frame. The feature is that an adjustment mechanism is provided.

Operation According to the above configuration, the rotation angle position of each gauge plate with respect to the bracket can be adjusted by the gauge plate position adjusting mechanism, and the position of either one of the gauge plates can be adjusted by the gauge unit position adjusting mechanism. The position of both gauge units including the frame can also be adjusted by the movement of the robot itself. Therefore, although it is a single work positioning device having two gauge plates, it is possible to cope with positioning (including clamps) of many kinds of works having different cross-sectional shapes.

Embodiment FIG. 1 is an explanatory view showing the construction of an embodiment of the present invention.
It shows a device for positioning and clamping a work W having a closed cross-sectional shape having flanges F at both ends.

In the figure, 10 is a base, 11 is a Cartesian coordinate type industrial robot (hereinafter, simply referred to as a robot) installed on the base 10, and the robot 11 has a servo motor 12 for each axis, which will be described later. Gauge unit 14,1
The entire 7 can be moved in the X, Y, and Z axis directions. A substantially U-shaped frame 13 is attached to the robot 11, a gauge unit 14 is attached to one end of the frame 13, and similarly, a gauge unit 14 is attached to the other end via slide units 15 and 16 in the X and Z directions. Unit 1
7 is attached so as to face the other gauge unit 14.

Each of the slide units 15 and 16 is provided with a servo motor 18, and the gauge unit 17 attached to the movable portion of the slide unit 16 can be moved in the X and Z two-dimensional directions. Therefore, the slide units 15 and 16 described above function as a gauge unit position adjusting mechanism 30 for adjusting the position of the gauge unit 17.

As shown in FIG. 2, the gauge unit 14 includes a frame 1
A gauge plate 21 is rotatably attached to a bracket 19 fixed to the holder 3 via a hinge pin 20, and a clamper 23 driven by a cylinder 22 is attached to the gauge plate 21 via a hinge pin 24. Then, as shown in FIG. 3, the gauge plate 21
The receiving surface 21a and the pressing surface 23a of the clamper 23 are positioned with reference to the inner corner portion C at the base of the flange portion F of the work W, and are clamped from the upper and lower surfaces of the flange portion F. The surface 21a and the pressing surface 23a are formed in an arc shape so as to be able to correspond to a plurality of works having different angles of the flange portion F.

On the other hand, a servo motor 26 capable of swinging around the hinge pin 25 is attached to the bracket 19, and a ball screw shaft 27 directly driven by the servo motor 26 is coupled to a screw nut 28 on the gauge plate 21 side. There is. That is, the gauge plate position adjusting mechanism 29 for adjusting the position of the gauge plate 21 is constituted by the servo motor 26, the ball screw shaft 27, and the screw nut 28. The structure is such that the rotation angle position of the plate 21 can be adjusted arbitrarily.

Here, since the structure of the other gauge unit 17 is substantially the same as that of the gauge unit 14, the gauge unit 1
The same reference numerals are given to each part on the 4 side.

In the work positioning device configured as described above, each gauge unit 14, 17 is moved by the action of the robot 11 itself to the position where the work W should be positioned together with the frame 13. Then, the slide units 15 and 16 are operated according to the shape and width of the work W to adjust the position of one gauge unit 17. Further, the servo motor 26 of each gauge unit 14, 17
Is operated to adjust the rotational angle position of the gauge plate 21 according to the angle of the flange portion F of the work W and the like.

Such an operation is automatically performed by extracting the corresponding information from the position information for each work (vehicle type) stored in advance on the control device side (not shown) in advance, for example, based on the vehicle type signal. Be seen.

Then, as shown in FIGS. 1 and 3, after the inner corner portion C of the flange portion F of the work W is brought into contact with the receiving surface 21a of each gauge plate 21 for positioning, each clamper 23 is clamped. By doing so, the work W is firmly clamped by the gauge plate 21 and the clamper 23.

That is, according to the structure of the above embodiment, the gauge plate 2
Only by changing the rotation angle and the three-dimensional position, it is possible to position various types of workpieces including clamps.

As described above, according to the present invention, a single device having a pair of gauge plates can be used to position various types of workpieces including clamps by simply changing the position or angle of the gauge plates. Not only is it extremely versatile, but maintenance and inspection work is easier than before.

Further, in the past, when finely adjusting the work and the gauge, it was dealt with by cutting a part of the receiving surface or adding a padding, whereas in the present invention, the adjustment amount is input as a numerical value. It can be dealt with only, and the adaptive adjustment work becomes easy.

[Brief description of drawings]

FIG. 1 is a structural explanatory view showing an embodiment of the present invention, FIG. 2 is a perspective view of a main part of FIG. 1, FIG. 3 is an enlarged view of a gauge plate of FIG. 1, and FIG. FIG. 5 is a perspective view of the positioning device, FIG. 5 is a front view thereof, and FIG. 6 is an enlarged view of a main part of FIG. 11 ... Industrial robot, 13 ... Frame, 14,1
7 ... Gauge unit, 19 ... Bracket, 21 ...
Gauge plate, 21a ... Receiving surface, 23 ... Clamper, 23a ... Pressurizing surface, 26 ... Servo motor, 27 ...
... Ball screw shaft, 28 ... Screw nut, 29 ... Gauge plate position adjusting mechanism, 30 ... Gauge unit position adjusting mechanism, C ... Inner corner, F ...
… Flange, W …… Workpiece.

Claims (1)

[Scope of utility model registration request] 1. A device for positioning and clamping a work having a flange portion at both ends with an inner corner portion at the base of the flange portion as a reference, which is rotatably supported by a bracket and has an inner end of the flange portion. A gauge plate having an arcuate receiving surface that abuts a corner portion, and an arcuate pressurizing surface that is rotatably connected to the gauge plate and has an arcuate pressurizing surface at the tip of the pressurizing surface and the receiving surface of the gauge plate. A pair of gauge units, each of which is provided with a clamper that holds the flange portion of the work between the two, is arranged to face a frame supported by an industrial robot, and the bracket is arranged according to the shape of the work to be positioned. A gauge plate position adjustment mechanism that adjusts the rotation angle position of the corresponding gauge plate is provided separately, and positioning is performed on the frame. Work positioning apparatus characterized in that a gauge unit position adjusting mechanism for adjusting at least one of the positions of the pair of gauge unit according to the shape of the work to.