JPS59120379A - Welding jig for assembling - Google Patents

Abstract

PURPOSE:To correct and change easily and quickly the accuracy in positioning by providing jig members held by prescribed articulated type robots and making the same movable to a prescribed position and attachable and detachable. CONSTITUTION:A titled jig has jig members held by prescribed articulated type robots 21, 22 via grippers 23, 24 and forming said members movable to a prescribed position by the operation of the robots 21, 22. Said jig members include a gage plate 25, a clamping device 29, a locating pin 26, etc. and play the role of positioning or clamping the work. The titled jig positions and clamps the prescribed work and assembles the same by welding in an assembling stage. The accuracy in positioning is easily and quickly corrected and changed by the above-mentioned jig.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an assembly welding jig for positioning and clamping a predetermined workpiece when welding and assembling the workpiece in, for example, an automobile assembly process.

As is well known, in the automobile assembly process, many car body components, including panels, are assembled by welding, and each workpiece is positioned and clamped by a welding jig that serves as a shape receiver for the above-mentioned welding process. It is generally served.

FIG. 1 shows an example of the conventional welding jig for car body assembly, and 1 shows a welding robot equipped with a spot welding gun 2 on its wrist part 1a, and the center of the 8-piece welding jig 4 for car body assembly. A gauge post 5 and a locate post 6 are erected on the jig base 3, and the upper end of the gauge post 5 has a gauge surface 7a as a shape receiver corresponding to the shape of the workpiece W. A gauge plate 7 having a gauge plate 7 and a locate pin 8 to be inserted into a date hole of the workpiece Wi111J are attached to the locate post 6 via a holder 9. A clamp device 1t1.0 is attached to the gauge plate 7,
This clamp device [10 is rotated and rotated with respect to the gauge surface 7a.
It is composed of a clamper 11 that opens and closes, and an actuator 12 that drives the clamper 11 to open and close.As shown in the figure, the workpiece W is positioned by the gauge surface 7a and the locate pin 8, and is firmly clamped by the clamper 11. A predetermined welding process is then performed using a spot welding gun 2.

In addition, a knock bottle controls the relative positioning of the 13-piece jig base 3 and the gauge post 5 or locate post ();
There are 14 mounting bolts.

However, in such conventional welding jigs for assembling heavy bodies, the accuracy of the product after welding is determined by the accuracy of the welding jigs. -9 and the locate post 6 are fixed to each other, and furthermore, these gauge posts 5 and locate posts 6 are fixed to the jig base 8 with the mounting pole) 14, and the final accuracy of the jig itself is ensured with the knock pin 18. Therefore, the gauge plate 7 and the clamper 12
One type of workpiece W with the shape and diameter of the locate pin 8
It will be exclusively limited to 111] - casing. For this reason, for example, in a so-called mixed production system in which multiple vehicle types are assembled on the same line, it is impossible to handle multiple vehicle types unless the entire jig is replaced, resulting in a lack of versatility.

Therefore, as an alternative to the above welding jig, the welding jig shown in Fig. 2 (A
) and a so-called switching type welding jig as shown in FIG. 8(A) have been considered. Fig. 2 (The one shown in AJ is a rotatable gauge brake) A plurality of gauge brakes mainly consisting of 7A) 15.15 are arranged in parallel horizontally, and the necessary gauge units are selected from these plurality of gauge units 15.15. By selecting only one part and allowing it to stand upright, it can be adapted to multiple workpieces. Also, Figure 8 (A)
The one shown in FIG. 1 is equipped with a plurality of gauge plates 7A, 7A and can be adapted to a plurality of workpieces by reversing the next gauge boss 5A.

However, in the former method, since one gauge unit 15 itself becomes large, there is a natural limit to the number of units that can be installed in parallel.
As shown in Figure (BJ), if the workpiece W is different, the position f & position determined by the gauge plate 7A will change each time, and conversely, there is a problem that the position determined by the gauge plate 7A cannot be arbitrarily selected. .

The latter method also has the problem that the number of gauge brakes (7A) is limited due to its basic structure of inversion type, and at the same time, like the former, the positioning position by the gauge plate cannot be arbitrarily selected. Yes (Figure 8 (Bl)) Both methods have versatility and
From this point of view, the situation is not necessarily completely satisfactory.

In view of the above-mentioned points, this invention was made mainly for the purpose of making welding jigs more versatile.For this purpose, the present invention provides a method for fixing gauge plates, clamp devices, locate pins, etc. It is characterized in that the jig member is held by a predetermined manipulator via a gripper device, thereby making it possible to move the jig member to a predetermined position, and at the same time, making it possible to completely attach and detach the nuclear jig member.

Hereinafter, embodiments of the present invention will be described in detail based on the drawings.

FIG. 4 shows an embodiment of the present invention, where 20 is a jig base, and on this jig base 20 is a first articulated robot 21, which is a first manipulator. :, ML:,
(Second articulated robot 2, which is the second manipulator)
2 are placed next to each other. These first
- Gripper devices 28 and 24 are attached to the wrist portions of the second articulated robots 21 and 22, respectively, and one gripper device 2B has a gripper device 28 that corresponds to a predetermined workpiece shape. A gauge plate 25 is held in the jig member tab having a gauge plate 25a as a regular shape receiver, and a locate pin 2 (1) which is also a jig member is held in the other gripper device a24. Furthermore, a clamp device 29 as a jig member consisting of a clamper 27 and an actuator 28 is attached to the gauge plate 25.

Here, both the above-mentioned first and second manipulators are set at a fixed position 1 in accordance with arbitrary electrical position information by providing the gauge plate 25, which is a jig member. It is used to move the clamp device 29 or the locate pin 26 respectively, and the shape of each manipulator may be a joint type, a cylindrical type, a rectangular coordinate type, a polar coordinate type, etc.; You may select and combine multiple items.

In the case of this embodiment, actuators MH, M2, M3, M4 . M5
A total of 5 axes (4 joints, 1 linear axis, and 1 linear axis) 21.22 are used. The number of axes of each manipulator may be arbitrarily selected and set depending on the intended operating range, application, etc.

Also, 30 is a gauge plate magazine arranged on the jig base 20, 31 is a locate pin magazine,
The gauge plate magazine 30 includes a plurality of types of gauge plates 25A each having a different shape of the gauge surface 25a,
25B... is accommodated. The gauge plate magazine 30 has a positioning groove 82 and a positioning hole 8.
Each of the gauge plates 25h, 25B including the gauge plate 25 is formed with a projection 84 for positioning, and in addition to the positioning groove 82, the positioning hole 38 and the projection 84 are formed. By fitting each other, the gauge plates 25, 25A, 25B, . . . are positioned on the gauge plate magazine 30. Similarly, regarding the locate pin magazine 31, each pedestal 85 has a plurality of types of locate pins 26A each having a different shape.

28B... are positioned and accommodated. In addition, the plate thickness of these gauge plays) 25.25A, 25B... and the locate pins 26.26A, 2f3B...
The diameter of the base of ・ shall all be the same.

Here, the configuration of one of the above-mentioned gripper devices @28.24 will be explained based on FIGS. 6 and 6. This gripper device? 1f2B is an actuator 87 fixed to a frame 86, a pair of links 88 connected to the actuator 87, and these pairs of links 8.
A pair of gripper claws 40a, 4 which are connected to 8 and rotate, open and close about a hinge pin 89, respectively.
0b, and the gripper claws 40a, 40b are opened and closed by the operation of the actuator 87 to grip or release the gauge plate 25. and,
A taper pin 41 and a taper guide 42 are protruded from one gripper claw 40b, while each gauge plate 25 (26A) is provided with a taper pin 41 and a taper guide 42.

A groove 44 is formed on the tapered hole 18 side (including 25B...), and a pair of gripper claws 40
When the gauge plate 25 is gripped by the gauge plates 25a and 40b, the taper guide 42 and the taper gamma 444 fit into the taper pin 41 and the taper hole 43.7, respectively, thereby positioning the gauge plate 25. First, by fitting the taper bin 41 and the taper hole 48, the position of the gauge plate 25 in the x, y, and z directions is regulated, and by fitting the taber guide 42 and the taper 1A44, the position of the gauge plate 25 is adjusted. Gauge plate 25 due to the action
is pushed to one side in the y direction, thereby preventing the occurrence of errors between the gauge IJ7 bar device 23 and the gauge plate 25. The other gripper device 24 is also completely the same as the gripper device 23 described above except for the slightly different shapes of the gripper claws 40a and 40b.
Further explanation will be omitted.

Next, the operation of the welding jig configured as above will be explained.

First, when positioning and clamping a workpiece W as shown in FIG.
t]f: While gripping the gauge plate 25 including the gauge plate 25, the other gripper device 24 is used to hold the locate via 26, and a predetermined command value for movement is set for each articulated mouthpiece 21 and 22. If position information is given, only the necessary axes of each articulated mouthpiece 21, 22 will operate, and the gauge plate 25 and locate via 26 will be moved to the workpiece WI.
It can be set in the required position for positioning and clamping.

Next, when positioning and clamping a different type of workpiece Wt as shown in FIG. ) 21. When added to 22, each joint type mouthpiece) 21
．． 22, move the gauge plate 25 and the locate pin 26 to the gauge plate magazine 80 side and the locate pin magazine 81 side [14 movement, preferably from operation 1 to the gauge plate 25 and locate pin 2 currently being gripped.
6 are respectively stored in the empty space of the gauge plate magazine 30 and the locate pin magazine 31, and the gauge plates 1 and 25A and the locate pin 26A that are compatible with the workpiece W are selected respectively and grippers 28 and 24 are respectively selected. grip it. Then, each articulated robot 21. , 22 move to a distance 1d necessary for positioning and clamping the workpiece W, and the gauge plate 25A and the locator/26A are completed. Of course, a series of operations of these articulated robots 21 and 22 are all automatically performed based on the order stored in the control device of each articulated robot 21 and 22.

In addition, the same applies to the work W shown in Figure 1) (Al tB), and the articulated robot 21.2 like the upper NEr.
2) It is possible to replace the gauge plate 25B and the Hirogato bin 26B by making the LDR.

As described above, according to the welding jig of this embodiment, even if multiple types of workpieces W, , w, , w have different cross-sectional shapes and locating hole shapes, the welding jig can be used in advance to accommodate these workpieces. By preparing multiple gauge plates and locating pins and replacing them as appropriate, one welding jig can handle multiple workpieces.

! In addition, in conventional jigs, all of their components are fixed, so the jigs themselves need to be adjusted in order to
It took a lot of man-hours to make changes, but since the welding jig of this example allows the gauge plate, locate pins, etc. to be moved arbitrarily (1j+1), by giving the correction information directly to the robot, Correction of positioning accuracy/
The key is to make changes easily and quickly.

Other embodiments of the invention are shown in FIGS. 10, 11, and 12. In this embodiment, as shown in FIG.
A quick joint 55 is provided on the gauge plate 26.
(25A, 25B) is configured so that the self-tube system 56 can also be attached and detached at the same time]-1 and 12
As shown in the figure, the gripper device 28 itself is miniaturized. This gripper device [23] is equipped with gripper claws 40a, 40b without impairing its original function.
! At the same time as gt was significantly reduced, the frame 36 was also made thinner to make the overall size smaller and lighter.
The other structures are the same as those shown in FIGS. 5 and 6. Therefore, as mentioned above, by using the quick joint 55 in the piping system 56 of the actuator 28 and attaching and detaching the piping system 56 at the same time as attaching and detaching the gauge plate 25, the case shown in FIG. Gauge plate magazine H(0”-
Whereas it was necessary to install individual piping systems in advance for each of the gauge plates 25A and 25B, in the case of this embodiment, only one piping system 56 is required...No. 18 The figure also shows another embodiment of the present invention, in which the welding jig described above is applied to the assembly process of the main part of the vehicle body floor. To explain, as mentioned above, a welding jig is composed of eight articulated mouth bolts (51, 5) with a gauge plate exchange method,
This welding jig is used to position and support the floor panel F, which is a workpiece, and is used for welding with a spot welding gun (not shown). That is, in the pre-process, the three independent engine compartments Fe, front floor panel Ff, and rear floor panel Fr are temporarily assembled, and the temporarily assembled state is transferred to the transfer device 52 using the welding jig. It will be transported to the next day. Then, gauge plate 2 suitable for that car model
The articulated robots 51, 51, . . . holding the robots 51, 51, . Thereafter, predetermined welding is performed by a welding robot (as shown in the diagram) equipped with a spot welding gun. Of course, when welding floor panels of different car models, each articulated mouth plate (51, 51, etc.) is actively operated and the gauge plate on the gauge plate magazine 80 is replaced as appropriate. It is similar to

Therefore, in the case of this embodiment, in the so-called mixed flow production system, one welding jig can handle multiple drawing workpieces, and since the conventional jig is of a fixed type, its setting position However, in this example, the gauge plate, locate pin, and other jig members can be moved to any position by the operation of the robot, so the above-mentioned It is possible to easily and quickly correct or change the decoy difference. Moreover, according to the above-mentioned embodiment, since the robot itself also has the function of a lifter, it is possible to eliminate the need for a lid device that was conventionally installed separately from a welding jig.

In short, according to the present invention, the gauge plate and the clamp are installed6. Gripper for jig parts such as locate pins
The jig member is held in a predetermined manipulator through a device, and the jig member is held in a predetermined position (hyperactive), and at the same time, the jig member is configured to be detachable.
As a result, one welding jig can be applied to multiple workpieces, making it highly versatile.
This has the effect of making it easy and quick to correct or change differences in courage.

[Brief explanation of drawings]

Figure 1 is a perspective view of the main parts showing the configuration of a conventional welding jig, Figure 2
(AltB) and FIG. 8 (AJ) (B) are the same (an explanatory diagram showing the configuration of another conventional welding jig, and FIG. 4 is a perspective view showing an embodiment of the welding jig according to the present invention. 6 is an explanatory diagram for explaining the action of the welding jig shown in enlarged view 4 showing the details of the gripper device in FIG. 4, and FIG. 10 is an explanatory diagram showing another embodiment of the welding jig according to the present invention. The perspective views shown in FIGS. 11 and 12 are the gripper of the welding jig shown in FIG.
FIG. 13 is a perspective view showing still another embodiment of the present invention. 20... Jig base, 21... First articulated robot (first manipulator), 22... Second joint m
q robot second manipulator), 28.24...
Gripper device, 25... gauge plate (jig member), 26... locate pin (jig member), 29...
Clamp device (jig member), 51... articulated robot (manipulator), w, , w, , w,...
・Work, F...Floor panel (work). Figure 5

Claims (1)

[Claims] (1) When welding and assembling predetermined workpieces in the assembly process, in the assembly welding jig for positioning and clamping the workpieces, the gauge plates, clamping devices, locating pins, etc. that control the positioning or clamping of the workpieces are The jig member is held by a predetermined manipulator via a gripper device, and the jig member is configured to be movable to a predetermined position by the operation of the manipulator, and the jig member is configured to be detachable. Welding jig for assembly.