CN111201109B - Welding device - Google Patents

Abstract

The present invention provides a welding device comprising a support frame (53) and a control board (10), wherein the support frame (53) is provided on a rotating frame (5) supported by a rotating shaft (4a), and a clamp (6) is mounted on a rotating shaft (4a). The control panel (10) is capable of controlling the operation of the rotating frame (5) and the supporting frame (53) by being supported in a manner of being able to be installed and dismantled, and being able to rotate around a first horizontal axis (53a) extending in the horizontal direction. The control board (10) tilts the support frame (53) in at least one of the time when the clamp (6) is detached from the support frame (53) and when the rotating frame (5) is rotated. )Work.

Description

welding device

technical field

The invention belongs to the technical field, for example, of welding devices used on automobile production lines.

Background technique

Conventionally, the body of an automobile has been assembled by positioning a plurality of press-formed workpieces on a jig and joining them by various welding.

For example, the vehicle body welding apparatus disclosed in Patent Document 1 includes a turntable rotatable around a rotating shaft extending in the up-down direction, and is mounted on the upper surface of the turntable at an outer periphery at intervals of 180° in the circumferential direction. There are 2 fixtures. When the rotary table is stopped, one of the two clamps is located in the workpiece welding area, and the other is located in the workpiece setting area. In the workpiece welding area, there is a welding robot with a welding torch mounted on the front end of the arm.

Then, when the workpiece positioned on one jig is welded by the welding robot, the workpiece to be assembled next is placed on the other jig to be positioned in advance, and when the welding operation on one jig is completed, the rotary table is rotated by 180° , to move one fixture to the workpiece setting area and the other fixture to the workpiece welding area. After that, the welding robot is used to weld the workpiece of the other jig, and on the other hand, the assembly of the workpiece is taken out from the one jig moved to the above-mentioned workpiece setting area, and the workpiece to be assembled next is set in a jig for positioning. , thereby improving production efficiency.

In addition, on the automobile production line disclosed in Patent Document 2, there are arranged a jig for positioning a workpiece, a support table for supporting the jig so as to be attachable and detachable, a welding robot with a welding torch attached to the tip of a robot arm, and a receiving table. A jig storage rack for accommodating a plurality of jigs positions a plurality of workpieces by a jig supported by a support table, and assembles the plurality of workpieces into one body with the above-mentioned welding robot.

Patent Document 1: Japanese Laid-Open Patent Publication No. 7-185827

Patent Document 2: Japanese Laid-Open Patent Publication No. 2002-1626

SUMMARY OF THE INVENTION

The technical problem to be solved by the invention

However, in the welding apparatus of Patent Document 1, when setting the workpiece on the jig, it is necessary to move the workpiece from the upper side of the jig to the lower side. If the operator manually sets the workpiece from the side of the turntable, the In a reluctant working posture, the body bears a large load. In order to avoid this, it is also considered to add an industrial multi-axis robot or the like to perform the above-described workpiece positioning operation, but a space for installing the multi-axis robot or the like is required.

In addition, in Patent Document 1, when welding a portion of the workpiece located near the center in the radial direction of the turntable, which is far from the welding robot, there is a possibility that the shape of the workpiece is limited due to the limitation of the movable range of the welding robot. cannot be welded.

In addition, from the viewpoint of stabilizing productivity, it is necessary to consider work other than the work setting work and the welding work.

For example, as described in Patent Document 2, when a jig can be attached and detached, when the jig is detached, the jig may not be smoothly detached unless the posture of the jig is in an appropriate state. If the jig cannot be removed smoothly, productivity will decrease. In addition, as described in Patent Document 2, when a robot is used to attach and detach a jig, there is a relationship with the movable range of the robot for exchanging the jig, depending on the posture of the jig at the time of detachment, there are The robot may be subjected to excessive load. In particular, when the installation space of the robot or the like is small, when removing the jig, the robot may have to be placed in a forced posture, and a load may be easily applied to the robot. When a load is applied to the robot, deformation and breakage of the robot may occur, requiring maintenance and reducing productivity.

In addition, for example, as described in Patent Document 1, when the jig in the workpiece installation area and the jig in the workpiece welding area are replaced by rotating the turntable by 180°, centrifugal force acts on the turntable from each jig when the turntable rotates. A load is applied to the rotating shaft of the turntable due to this centrifugal force. As a result, deformation and breakage of the rotating shaft may occur, and maintenance may be required, thereby reducing productivity.

The present invention has been made in view of this point, and an object of the present invention is to provide an operator that can perform workpiece setting work in a relaxed posture and reliably perform welding work of the workpiece, and can improve productivity in work other than the work setting work and welding work. Stable welding device.

Technical solutions to solve technical problems

In order to achieve the above object, in the first invention, a welding robot provided in the workpiece welding area is provided with a circular rotating body supported by a rotating shaft extending in the vertical direction and rotated between the workpiece installation area and the workpiece welding area. The welding device according to the invention is characterized in that: it further includes a support body, a clamp and a control device, the support body is provided on the rotating body and can be rotated around a first horizontal axis extending in the horizontal direction, and the clamp can be installed 2. It is supported on the above-mentioned support body in a detachable manner, and the workpiece is positioned, and the control device can control the operation of the above-mentioned rotating body and the above-mentioned support body, and the above-mentioned control device moves to the above-mentioned workpiece setting area and the above-mentioned workpiece welding area with each of the above-mentioned clamps. The rotating body is rotated in such a manner that the jig located in the workpiece installation area is tilted toward the operator, and the control device is configured to tilt each jig located in the workpiece welding area according to the welding position of the workpiece. The support body is operated, and further, when the jig is to be detached from the support body, the control device operates the support body so as to tilt the jig to be detached.

According to the first invention and the second invention, the welding device further includes a fixing device for fixing the jig to the support body, the fixing device has a protrusion and a fixing hole, and the protrusion is provided on the jig and the support. In one of the support bodies, the fixing hole is provided in the other of the clamp and the support body by causing the clamp to protrude in the protruding direction of the protruding portion or in the protruding direction of the protruding portion with respect to the support body. moving in the opposite direction, the protruding portion is fitted into the fixing hole, and the fixing device is configured such that when the jig is detached from the support body, the jig is directed from the radially inner side of the rotating shaft toward the radial direction. When the clamp is to be removed from the support body, the control device operates the support body so that the clamp to be removed is inclined inward in the radial direction. .

According to the first invention or the second invention, the third invention is characterized in that the welding portion of the workpiece is set in advance according to the kind of the workpiece, and the control device adjusts the jig located in the workpiece setting area to work according to the kind of the workpiece. The tilting amount of the jig when the user is tilted is adjusted, and the tilting direction and tilting amount of the jig located in the workpiece welding area are adjusted according to the type of the workpiece.

The fourth invention is directed to a welding device including a rotating body that is supported by a rotating shaft extending in the vertical direction and that rotates between a workpiece installation area and a workpiece welding area, and a welding robot installed in the workpiece welding area, characterized in that In: a support body, a jig and a control device are further provided, the support body is provided on the above-mentioned rotating body and is rotatable about a first horizontal axis extending in a horizontal direction, and the jig is supported on the above-mentioned support so as to be attachable and detachable The control device can control the operation of the rotating body and the support body, and each of the above-mentioned jigs is attached to each of the support bodies so as to protrude to a position higher than each of the above-mentioned support bodies. The control device rotates the rotary body so that each of the jigs moves to the workpiece installation area and the workpiece welding area, and tilts the jig located in the workpiece installation area toward the operator, and the control device makes The jig located in the workpiece welding area is tilted according to the welding position of the workpiece to operate each of the support bodies, and the control device, when rotating the rotating body, causes each of the jigs to move inward in the radial direction of the rotating shaft. After each of the above-mentioned support bodies is operated in an inclined manner, the above-mentioned rotating body is rotated at a substantially constant angular velocity.

According to the fourth invention and the fifth invention, when the jig is to be detached from the support body, the control device operates the support body so as to tilt the jig to be detached.

According to a fifth invention, the sixth invention is characterized in that the welding device further includes a fixing device for fixing the jig to the support body, the fixing device has a protrusion and a fixing hole, and the protrusion is provided on the jig and the support. In one of the support bodies, the fixing hole is provided in the other of the clamp and the support body by causing the clamp to protrude in the protruding direction of the protruding portion or in the protruding direction of the protruding portion with respect to the support body. moving in the opposite direction, the protruding portion is fitted into the fixing hole, and the fixing device is configured such that when the jig is detached from the support body, the jig is directed from the radially inner side of the rotating shaft toward the radial direction. When the clamp is to be removed from the support body, the control device operates the support body so that the clamp to be removed is inclined inward in the radial direction. .

According to any one of the fourth invention to the sixth invention, the seventh invention is characterized in that the welding position of the workpiece is set in advance according to the type of the workpiece, and the control device is adjusted according to the type of the workpiece. The tilting amount of the jig located in the workpiece installation area is adjusted to the tilting amount of the jig when the jig is tilted toward the operator, and the tilting direction and tilting amount of the jig located in the workpiece welding area are adjusted according to the type of the workpiece.

effect of invention

In the first to seventh inventions, when the workpiece is set on the jig, the jig in the workpiece setting region is inclined to the operator side, whereby the workpiece installation portion of the jig faces the operator side. Therefore, the operator can move the workpiece substantially horizontally or obliquely from the side of the rotating body toward the jig, and the posture of the operator during the workpiece setting operation becomes easy, and there is no need to add a multi-axis robot or the like for the workpiece setting operation. Realize space saving. In addition, for example, when the welding part is far from the welding robot, by tilting the jig of the workpiece welding area to the welding robot side, the welding part far from the welding robot approaches the welding robot and enters the movable range of the welding robot, so it is possible to reliably Weld the workpiece. Therefore, the operator can perform the workpiece setting operation with a relaxed posture and reliably perform the workpiece welding operation.

Further, in the first invention and the fifth invention, when the jig is detached, the detached jig is tilted, whereby the posture of the jig when the jig is detached can be selected to some extent. For example, when the operator replaces the jig, if the jig is tilted so that the removal direction of the jig faces the operator side, the operator can pull the jig forward to replace the jig, so that the jig can be replaced smoothly. On the other hand, in the case of replacing the jig by the robot, if the posture of the jig is set so that the robot can take a relaxed posture during the jig removal operation, the jig can be smoothly replaced by the robot. Thereby, productivity can be stabilized even in work other than work setting work and welding work.

In addition, in the second invention and the sixth invention, since the fixing device is configured such that when the jig is removed from the support body, the jig moves from the inner side in the radial direction of the rotating shaft to the outer side in the radial direction, whereby the protruding portion is Since the clip is drawn out from the fixing hole, when the clip is removed from the support body, the clip is inclined inward in the radial direction of the rotating shaft, whereby the removal direction of the clip is inclined upward. This can prevent the jig from falling off the support body when the jig is replaced. In addition, in particular, when the robot for exchanging the jig is positioned outside the support body in the radial direction of the rotation axis, by inclining the jig to the inner side in the radial direction of the rotation axis, the relationship between the robot and the jig can be improved. space increases. As a result, the freedom of movement of the robot when removing the jig is improved, so that the jig can be smoothly detached from the support body without causing the robot to take a forced posture.

In addition, in the third invention and the seventh invention, according to the type of the workpiece, the jig located in the workpiece setting area can be placed in a tilted state where the operator can most easily set the workpiece, so that the posture of the operator during the workpiece setting operation can be made easier. . That is, since the size and shape of the workpieces differ depending on the type of the workpiece, the posture in which the operator can most easily set the workpieces differs depending on the type of the workpiece. Accordingly, as long as the tilt amount of the jig located in the workpiece installation area can be changed according to the type of the workpiece, the jig located in the workpiece installation area can be placed in a tilted state where the operator can most easily set the workpiece. In addition, according to the type of the workpiece, the jig located in the workpiece welding area can be placed in a tilting state where the welding robot can most easily perform welding, so that the posture of the welding robot during the welding operation can be made more appropriate. In addition, the control itself can also be simplified by performing the tilt-related control adjusted according to the type of the workpiece.

Moreover, in the 4th invention, each jig|tool is located in the vicinity of a rotating shaft by inclining each jig|tool in the radial direction inner side of a rotating shaft. Since the rotating body rotates at a substantially constant angular velocity, according to the above, the load on the rotating shaft can be reduced when the rotating body rotates. As a result, the deformation and breakage of the rotating shaft can be suppressed, the frequency of maintenance can be reduced, and the productivity can be stabilized. In addition, the rotation radius of the rotating part of the welding device is reduced, and thus it is also possible to prevent the failure of the welding device due to interference of each jig with the pipe, wiring and the like of the equipment. Thereby, productivity can be stabilized even in work other than work setting work and welding work.

Description of drawings

FIG. 1 is a front view of a welding apparatus according to an embodiment of the present invention.

FIG. 2 is a view corresponding to the arrow A in FIG. 1 .

FIG. 3 is a view corresponding to FIG. 1 in the process of replacing the jig.

FIG. 4 is a view from the direction B of FIG. 3 .

5 is a schematic plan view of the lower part of the center of the jig when the jig is replaced, and shows a state just before the jig is positioned with respect to the support frame.

FIG. 6 is a view taken along arrow C of FIG. 5 .

7 is a schematic plan view of the lower part of the center of the jig when the jig is replaced, and shows a state immediately after the jig is positioned with respect to the support frame.

FIG. 8 is a D-direction view of FIG. 7 .

9 is a schematic plan view of an end portion in the longitudinal direction of the jig when the jig is replaced, and shows a state immediately before the jig is positioned with respect to the support frame.

FIG. 10 is a view from the direction E of FIG. 9 .

FIG. 11 is a schematic plan view showing a longitudinal end portion of the jig when the jig is replaced, and shows a state immediately after the jig is positioned with respect to the support frame.

FIG. 12 is a view taken in the direction of arrow F of FIG. 11 .

Fig. 13 is a view in the direction of arrow G in Fig. 2 , showing a state immediately before fixing the jig with respect to the support frame or just after removing the jig.

Fig. 14 is a view in the direction of arrow G in Fig. 2 , showing a state immediately after fixing the clamp with respect to the support frame.

Fig. 15 is a view in the direction of arrow H of Fig. 2 , showing a state immediately before fixing the jig with respect to the support frame or just after the jig is detached.

FIG. 16 is a view in the direction of H of FIG. 2 , showing a state immediately after fixing the clamp with respect to the support frame.

17 is a front view of the welding apparatus showing a state in which an operator takes out an assembly of workpieces from a jig in a workpiece installation area and performs welding in the workpiece welding area by a welding robot.

18 is a front view of the welding apparatus showing a state in which an unwelded workpiece is placed in a jig in a workpiece installation area by an operator from the state of FIG. 17 , and welding is performed by a welding robot in the workpiece welding area.

19 is a front view of the welding apparatus showing a state in which the welding robot is in the initial stage of the jig removal operation in the workpiece welding area or the later stage of the jig installation operation.

20 is a front view showing a state before the rotating frame of the welding apparatus according to the second embodiment of the present invention is rotated.

Detailed ways

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the following description of the preferred embodiment is merely an example in essence.

(first embodiment)

FIG. 1 shows a welding apparatus 1 according to a first embodiment of the present invention. The welding device 1 is as follows: a pair of press-formed workpieces W1 are assembled into one body by spot welding, the welding device 1 includes a workpiece positioning device 2 for positioning the pair of workpieces W1, and a welding robot 3 for performing welding operations. An operator H1 The workpiece W1 is provided on the side opposite to the welding robot 3 on the workpiece positioning device 2 .

As also shown in FIG. 2 , the above-mentioned workpiece positioning device 2 includes a first motor 4, a rotating frame 5 (rotating body) and a fixture 6. The first motor 4 has a rotating shaft 4a extending up and down, and the rotating frame 5 is supported by the above-mentioned rotating shaft 4a. In addition, it is in the shape of a rectangular frame, and there are four jigs 6 for positioning the workpiece W1, and the rotating frame 5 is located at a position corresponding to the welding robot 3 (hereinafter referred to as workpiece welding area X1) and a position corresponding to the operator H1. The rotation in the R1 direction (forward rotation) and the rotation in the R2 direction (reverse rotation) are alternately performed between (hereinafter referred to as the workpiece setting area X2).

As shown in FIGS. 1 and 4 , the jig 6 includes an aluminum alloy main body frame 61 and a plate-shaped iron support table 62 , the main body frame 61 extends in the horizontal direction, and the support table 62 is fixed to the upper surface of the main body frame 61 . Extending along the main body frame 61 , a plurality of gripping tools 62 a are mounted on the support base 62 , and the plurality of gripping tools 62 a grip the overlapping portions of the pair of workpieces W1 . By attaching the plurality of gripping tools 62 a to the jig 6 , not only a single type of workpiece but also other types of workpieces having different shapes and the like can be stably installed on the jig 6 . That is, in the first embodiment, the jig 6 described above is configured to be capable of positioning various types of workpieces.

The above-mentioned main frame 61 includes a first aluminum frame 61a and a second aluminum frame 61b, wherein the first aluminum frame 61a is elongated and opens downward and has a U-shaped cross section, and the second aluminum frame 61b is formed along the first aluminum frame 61b. A plurality of frames 61a are provided in the first aluminum frame 61a so as to be spaced at predetermined intervals in the longitudinal direction, and a plurality of second aluminum frames 61b are plate-shaped and fixed integrally with the first aluminum frame 61a. An insertion hole 61c is formed in the aluminum frame 61b, and the insertion hole 61c can be passed through the installation member 68 such as a pipe or wiring.

In addition, a substantially block-shaped tool changer attachment portion 60 is provided on the side surface of the longitudinal center of the first aluminum frame 61a, and the tool changer attachment portion 60 is used to attach a not-shown tool changer.

As shown in FIGS. 5 to 8 , a fixing frame 64 (a fitting portion) is attached to the lower central portion of the first aluminum frame 61a in the longitudinal direction, and the fixing frame 64 extends in a horizontal direction perpendicular to the first aluminum frame 61a.

The fixed frame 64 is formed in a shape in which a T-shaped protruding portion 65 and an engaging portion 66 are connected by a connecting portion 67 extending in a horizontal direction perpendicular to the first aluminum frame 61a in a plan view. straight.

The protruding portion 65 has a protruding claw 65a protruding from the first aluminum frame 61a in a horizontal direction perpendicular to the first aluminum frame 61a, and a pair of protruding portions 65b. The protruding portion 65b protrudes from the base end side of the protruding claw 65a to both sides in the horizontal direction.

The engaging portion 66 has an engaging claw 66a and a pair of protruding portions 66b. The engaging claw 66a is provided at a predetermined interval on the side opposite to the protruding direction of the protruding portion 65, and is directed toward the protruding claw. 65a protrudes in the same direction, and a pair of protrusions 66b protrudes from the base end side of the engaging claw 66a to both sides in the horizontal direction.

The length of the engaging claw 66a in the longitudinal direction of the first aluminum frame 61a is longer than the length of the coupling portion 67 in the longitudinal direction of the first aluminum frame 61a.

As shown in FIG. 4 , a pair of fixing auxiliary frames 63 are provided on one end side and the other end side of the first aluminum frame 61a in the longitudinal direction. Extend horizontally. That is, the two fixed auxiliary frames 63 are provided symmetrically with the protruding portion 65 as the center on both sides of the direction orthogonal to the protruding direction of the protruding portion 65 .

As shown in FIGS. 9 to 12 , the fixing auxiliary frame 63 has an elongated plate shape, and is provided on the inner side of the fixing auxiliary frame 63 in the longitudinal direction of the first aluminum frame 61 a in the same direction as the protruding claws 65 a. The fixed auxiliary claw 63a protruding in the direction.

A pair of L-shaped frames 69 are attached to both ends in the longitudinal direction of the first aluminum frame 61a.

As shown in FIGS. 13 and 14 , a portion protruding downward of the L-shaped frame 69 at one end is provided with a first fitting hole 69 a which opens to the inner side of the main body frame 61 in the longitudinal direction.

In addition, as shown in FIGS. 15 and 16 , a portion of the L-shaped frame 69 at the other end that protrudes downward is provided with a second fitting hole 69 b , and the second fitting hole 69 b faces the longitudinal direction of the main body frame 61 Inside opening.

In addition, on a portion protruding downward of the L-shaped frame 69 at the other end, a first connector 69c is provided in parallel with the second fitting hole 69b, and the first connector 69c is recessed into a rectangular shape, and the first connector 69c is connected to the wiring on the jig 6 side.

The rotating frame 5 includes a first horizontal frame 51, a pair of second horizontal frames 52, and a pair of support frames 53 (support bodies), wherein the first horizontal frame 51 extends from the rotating shaft 4a to both sides in the horizontal direction and A pair of second horizontal frames 52 extend from both ends of the first horizontal frame 51 in the longitudinal direction to the horizontal direction orthogonal to the first horizontal frame 51, respectively, with the rotation axis 4a as the center. The horizontal frames 51 are center-symmetrical, and a pair of support frames 53 (support bodies) are located between one end in the longitudinal direction of each second horizontal frame 52 and the other end in the longitudinal direction of each of the second horizontal frames 52 , respectively. The above-mentioned clamps 6 are bridged and supported up and down in a manner that can be installed and disassembled, respectively.

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

A crossed roller bearing B1 is provided inside the upper end side of each of the inclined frames 52b, respectively.

A pair of first horizontal shafts 53b extending in the longitudinal direction of the support frame 53 are provided at both end portions in the longitudinal direction of the support frame 53, and the respective crossed roller bearings B1 support the support frame 53 so as to be able to surround the first horizontal shaft 53b. A horizontal shaft 53b rotates.

A rectangular plate-shaped mounting base 54 extending in the horizontal direction is provided on the center upper surface of each of the linear frames 52a.

A second motor 55 is mounted on each of the mounting bases 54 , a rotation shaft 55 a of the second motor 55 faces the longitudinal direction of the first horizontal frame 51 , a first pulley 55 b is attached to the rotation shaft 55 a , and the first belt The wheel 55b rotates integrally with the rotating shaft 55a.

On the other hand, a second pulley 53a is attached to the first horizontal shaft 53b on one end side in the longitudinal direction of each of the above-mentioned support frames 53, and the second pulley 53a rotates integrally with the first horizontal shaft 53b, and is attached to a Between the first pulley 55b on the second motor 55 on one side and the second pulley 53a on the support frame 53 on one side, and between the first pulley 55b mounted on the second motor 55 mounted on the other side and the other Between the second pulleys 53a of the support frame 53 on one side, endless chain conveyor belts 56 are respectively hung.

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

Accordingly, the support frame 53 is rotated in the R3 direction and the R4 direction via the first pulley 55b, the chain conveyor 56, and the second pulley 53a, respectively, by the rotation of the second motor 55. Then, the upper and lower positions of each clamp 6 attached to the support frame 53 are alternately switched.

The support frame 53 has a rectangular cylindrical shape, and the two adjacent outer peripheral surfaces thereof have a shape corresponding to the L-shaped frame 69 .

The upper surface and the lower surface of the longitudinal direction center of each said support frame 53 are provided with the 1st clip fixing|fixed part 7a for fixing each said clip 6 with respect to each support frame 53, respectively.

As shown in FIGS. 5 to 8 , the first clamp fixing portion 7a is located on the upper surface of each of the above-mentioned support frames 53, and the first clamp fixing portion 7a includes a first block portion 71 and a second block portion 72, wherein the first block portion 71 is located on the side of the first horizontal frame 51, the second block 72 is spaced apart from the first block 71 at a predetermined distance, and the second block 72 is located opposite to the first horizontal frame 51 when the first block 71 is used as a reference side.

The length between the first block portion 71 and the second block portion 72 is designed to be longer than the length in the protruding direction of the protruding portion 65 .

A fixing hole 71a is formed in the center of the first block portion 71. The fixing hole 71a penetrates in the horizontal direction perpendicular to the longitudinal direction of the support frame 53 and opens to the first horizontal frame 51 side and the opposite side, respectively. The jig 6 is moved relative to the support frame 53 in the protruding direction of the protruding portion 65, whereby the protruding pawl 65a of the protruding portion 65 is fitted into the fixing hole 71a.

The said 2nd block part 72 is provided so that it may be spaced apart by predetermined space|interval on the insertion side of the protrusion part 65 of the said fixing hole 71a.

In addition, the second block portion 72 is formed with engaging grooved portions 72a extending in a horizontal direction perpendicular to the longitudinal direction of the support frame 53 and having both ends open.

The engaging grooved portion 72a includes an opening 72b and a wide portion 72c, the opening 72b having a slit shape extending in a horizontal direction perpendicular to the longitudinal direction of the support frame 53 and having the shape of the connecting portion 67 Correspondingly, the wide portion 72c is continuous with the opening portion 72b and extends in the longitudinal direction of the support frame 53, and the cross-sectional shape of the engaging grooved portion 72a is substantially T-shaped.

The engaging claw 66a of the engaging portion 66 engages with the wide portion 72c in accordance with the operation of fitting the protruding portion 65 into the fixing hole 71a.

The length of the second block portion 72 in the horizontal direction perpendicular to the first aluminum frame 61a is set to be shorter than the length of the connection portion 67 in the longitudinal direction, and the width of the opening portion 72b is set to be shorter than the length of the connection portion 72b. The width of the portion 67 is wide.

It should be noted that, when viewed along the direction of the rotation axis of each support frame 53 , the first clip fixing portion 7 a located on the lower surface of each support frame 53 is fixed to the first clip located on the upper surface of each support frame 53 . The parts 7a are only arranged point-symmetrically, so detailed description is omitted.

Second clamp fixing portions 7 b for fixing the clamps 6 to the support frames 53 are provided on the upper and lower surfaces of the support frames 53 , which are close to both ends in the longitudinal direction. The two second jig fixing portions 7b on one end side in the longitudinal direction and the two second jig fixing portions 7b on the other end side in the longitudinal direction of each support frame 53 are provided so as to be symmetrical about the first jig fixing portion 7a.

As shown in FIGS. 9 to 12 , each of the second jig fixing portions 7 b located on the upper surface of each of the support frames 53 has a block shape, and is located on the side of the first horizontal frame 51 . After the jig 6 is attached to the support In the case of the frame 53 , when the protruding portion 65 corresponds to the first clip fixing portion 7 a , the second clip fixing portions 7 b are located at positions corresponding to the fixing auxiliary frames 63 .

A fixing auxiliary hole 7c is formed in the center of each of the second jig fixing portions 7b, and the fixing auxiliary hole 7c penetrates in the horizontal direction perpendicular to the longitudinal direction of the support frame 53 and is directed to the first horizontal frame 51 side and the opposite direction, respectively. With the side opening, the fixing auxiliary claw 63a of the fixing auxiliary frame 63 is inserted into the fixing auxiliary hole 7c in accordance with the operation of the protrusion 65 being fitted into the fixing hole 71a.

It should be noted that, when viewed in the direction of the rotation axis of each of the above-mentioned support frames 53 , the second clip fixing portion 7 b located on the lower surface of each of the above-mentioned support frames 53 and the second jig fixing portion 7 b located on the upper surface of each of the above-mentioned support frames 53 . The two jig fixing portions 7b are only arranged in a point-symmetrical manner, so detailed description is omitted.

In the first embodiment, the protruding portion 65 , the fixing hole 71 a , the engaging portion 66 , and the second block portion 72 constitute fixing means for fixing the clip 6 to the support frame 53 .

As shown in FIGS. 13 and 14 , a pair of first fixing units 8 are provided on both side surfaces of each of the above-mentioned support frames 53 close to one end in the longitudinal direction. The pair of first fixing units 8 are used to attach the jig 6 to It is fixed to the above-mentioned support frame 53 .

The first fixing unit 8 includes a unit body 81 having a substantially rectangular parallelepiped shape and extending in the longitudinal direction of the support frame 53 and a slide bar 82 penetrating the unit body in the longitudinal direction of the unit body 81 . 81 is arranged inside the unit main body 81 . The slide bar 82 is slidable in the longitudinal direction of the unit main body 81 .

The sliding rod 82 includes a thin rod portion 82a and a thick rod portion 82b, the thin rod portion 82a is slender and elongated, and the thick rod portion 82b is attached to the thin rod portion so that the axis of the thick rod portion 82b coincides with the axis of the thin rod portion 82a. At one end in the axial direction of 82a, the thick rod portion 82b is located at one end side in the longitudinal direction of the unit body 81, and the thin rod portion 82a is located at the other end side in the longitudinal direction of the unit body 81.

A spring member 82c for urging the thin rod portion 82a toward the one end side in the axial center direction is provided on the other end side in the axial center direction of the thin rod portion 82a. When the slide rod 82 is moved to the one end side in the axial direction by the urging force of the spring member 82c, the thick rod portion 82b is fitted into the first fitting hole 69a.

In addition, a fluid passage (not shown) is provided inside the unit main body 81 . This fluid passage is connected to the above-mentioned piping on the side of the rotating frame 5 . The fluid passage is provided for sliding the slide bar 82 in the axial direction. Specifically, when a fluid (for example, air) is supplied to a fluid pressure cylinder (not shown) provided in the unit main body 81 via the fluid passage, a force against the spring member 82c is generated to cause the slide bar 82 moves to the other end side in the axial direction, so that the slide bar 82 moves to the other end side in the axial direction. On the other hand, when the fluid is discharged from the unit main body 81, the slide bar 82 It moves to the said one end side in the axial center direction by the urging force of the said spring member 82c. That is, in the first fixing unit 8, when the fluid is supplied to the fluid pressure cylinder through the fluid passage, the fitting of the thick rod portion 82b and the first fitting hole 69a can be released, and when the fluid does not pass through the fluid passage In a state where the fluid passage is supplied to the fluid pressure cylinder, the thick rod portion 82b is fitted into the first fitting hole 69a. In addition, the spring member 82c may be provided in the said hydraulic cylinder.

When the fluid is not supplied to the fluid pressure cylinder, the thick rod portion 82b is fitted into the first fitting hole 69a, whereby, for example, a system that supplies fluid to the fluid pressure cylinder or the system cannot be driven due to a power failure. In the event of a failure, the thick rod portion 82b can also be in a state in which the first fitting hole 69a is fitted. Therefore, even if a power failure or the like occurs, the clip 6 can be in a state of being fixed to the support frame 53, and the clip 6 can be prevented from falling from the support frame 53 when a power failure or the like occurs.

When the clamp 6 is attached to the upper surface of the support frame 53, the fluid is supplied to the hydraulic cylinder, and the slide bar 82 is moved to the other end side in the axial center direction when the two sides of the clamp 6 are moved. The L-shaped frame 69 is in contact with the outer peripheral surface of the support frame 53, and the thick rod portion 82b of the slide rod 82 faces the first fitting hole 69a. Then, when the fluid is discharged from the fluid pressure cylinder in this state, the slide bar 82 is moved outward in the longitudinal direction of the support frame 53 (one end side of the slide bar 82 in the axial direction) by the urging force of the spring member 82c. When sliding, as shown in FIG. 14 , the thick rod portion 82b is fitted into the first fitting hole 69a.

In addition, when the thick rod portion 82b of the slide rod 82 is fitted into the first fitting hole 69a, the slide rod 82 is caused to move inward in the longitudinal direction of the support frame 53 by supplying fluid to the hydraulic cylinder. When sliding (the other end side in the axial center direction of the slide rod 82 ), as shown in FIG. 13 , the thick rod portion 82b is disengaged from the first fitting hole 69a.

On the other hand, as shown in FIGS. 15 and 16 , a pair of second fixing units 9 are provided on both side surfaces of each of the above-mentioned support frames 53 near the other end in the longitudinal direction, and the pair of second fixing units 9 are used for In order to fix the above-mentioned clamp 6 to the above-mentioned support frame 53 .

The second fixing unit 9 includes a fixing table 91 having a block shape and being fixed to the support frame 53 , and a slide rail 92 fixed to a position of the support frame 53 adjacent to the fixing table 91 and It extends in the longitudinal direction of the above-mentioned support frame 53 .

The slide plate 93 is fitted to the slide rail 92 , and the slide plate 93 is slidable in the longitudinal direction of the support frame 53 , and the connection frame 95 is integrally fixed to the surface of the slide plate 93 .

A fluid pressure cylinder 94 having a slide rod 94 a that slides in the longitudinal direction of the support frame 53 is attached to the fixing table 91 , and one end of the slide rod 94 a in the axial direction is connected to the connecting frame 95 .

A rectangular plate 96 is attached to the end portion of the sliding plate 93 on the opposite side to the fixing table 91, and clamp fixing pins 97 ( fitting portion) and a second connector 98 which has a rectangular plate shape and is connected to the wiring on the side of the rotating frame 5 and can be connected to the first connector 69c described above.

A spring member 94b for urging the slide rod 94a toward the one end side in the axial center direction is provided on the other end side in the axial center direction of the slide rod 94a. When the slide rod 94a is moved to the one end side in the axial center direction by the urging force of the spring member 94b, the clip fixing pin 97 is fitted into the second fitting hole 69b, as will be described later, and the second The connector 98 is connected to the above-described first connector 69c. That is, in the second fixing unit 9, when a fluid (for example, air) is supplied to the fluid pressure cylinder 94, the fitting of the clip fixing pin 97 to the second fitting hole 69b and the second fitting hole 69b can be released, respectively. The connector 98 is connected to the first connector 69c, in a state where the fluid is not supplied to the hydraulic cylinder 94, the clip fixing pin 97 is fitted into the second fitting hole 69b, and the second connector 98 is connected to the above-mentioned first connector 69c. In addition, the spring member 94b may be provided in the said fluid pressure cylinder 94.

When the fluid is not supplied to the fluid pressure cylinder 94, the clip fixing pin 97 is fitted into the second fitting hole 69b and the second connector 98 is connected to the first connector 69c. Therefore, for example, even if Even when the system for supplying fluid to the fluid pressure cylinder 94 cannot be driven due to a power failure, the clamp fixing pin 97 is fitted into the second fitting hole 69b and the second connector 98 is fitted with the second fitting hole 69b. A state where the connector 69c is connected. Therefore, even if a power failure or the like occurs, the clip 6 can be in a state of being fixed to the support frame 53, and the clip 6 can be prevented from falling from the support frame 53 when a power failure or the like occurs.

In addition, although not shown, a position sensor is provided in the hydraulic cylinder 94, and the position sensor detects the state of the slide rod 94a at the travel end in the advancing and retracting direction (which coincides with the axial center direction of the slide rod 94a) and the position of the slide rod 94a at the travel end. The state of the back-off end of the direction. As long as the position sensor does not detect that the slide bar 94a is located at the advancing end or the retreating end in the advancing and retracting direction, the welding apparatus 1 does not proceed to the next step of the welding operation, which will be described in detail later.

When the clamp 6 is attached to the upper surface of the support frame 53, the fluid is supplied to the hydraulic cylinder 94, and the clamp 6 is moved in a state in which the slide rod 94a is moved to the other end side in the axial direction. When the two L-shaped frames 69 are in contact with the outer peripheral surface of the support frame 53, the clip fixing pin 97 faces the second fitting hole 69b and the second connector 98 faces the first connector 69c In this state, when the fluid is discharged from the hydraulic cylinder 94 and the slide rod 94a is slid to the outer side in the longitudinal direction of the support frame 53 (one end side in the axial direction of the slide rod 94a), as shown in FIG. 16, the above The clip fixing pin 97 is fitted into the second fitting hole 69b, and the second connector 98 is connected to the first connector 69c.

Further, when the clamp fixing pin 97 is fitted into the second fitting hole 69b and the second connector 98 is connected to the first connector 69c, the fluid is supplied to the fluid pressure cylinder 94 so that the When the slide rod 94a slides to the inner side in the longitudinal direction of the support frame 53 (the other end side in the axial center direction of the slide rod 94a), as shown in FIG. The two fitting holes 69b are separated from the first connector 69c.

The welding robot 3 is an industrial multi-axis robot, and a welding torch 3b is attached to the tip of the arm 3a of the welding robot 3, and the welding robot 3 can freely change the posture of the welding torch 3b to perform welding.

A control board 10 (control device) is connected to the first motor 4, and the control board 10 outputs an operation signal to the first motor 4 so as to move the jigs 6 to the workpiece welding area X1 and the workpiece setting area X2. The above-mentioned rotating frame 5 rotates. That is, the control board 10 controls the operation of the rotating frame 5 by outputting the operation signal to the first motor 4 .

In addition, the control board 10 is connected to the second motors 55, and the control board 10 outputs operating signals to the second motors 55 so as to cause the two clamps 6 mounted on the support frames 53 to be positioned upward respectively. The jig 6 is tilted around the support frame 53 by moving to the lower position. That is, the control board 10 controls the operation of each support frame 53 by outputting an operation signal to each of the second motors 55 .

Next, the operation of the welding apparatus 1 will be described.

1 shows a state in which the two jigs 6 for gripping the assembly 11 formed by assembling a pair of workpieces W1 into one body have moved to the workpiece setting area X2 immediately after the rotating frame 5 rotating in the R1 direction has stopped. , and the two jigs 6 on which the workpiece W1 is set and positioned are moved to the workpiece welding area X1.

In the state shown in FIG. 1 , first, the welding robot 3 changes the posture of the welding torch 3 b to weld the welding portion of the workpiece W1 on the jig 6 positioned above the workpiece welding region X1 . The welding site of the workpiece W1 is preset according to the type of the workpiece W1, and the welding robot 3 welds the preset welding site.

Here, when the welding site is located on the side of the workpiece W1 close to the welding robot 3 a (radial outer side of the rotating shaft 4 a ), as shown in FIG. 17 , the control board 10 outputs the operation to the second motor 55 on one side. The signal is used to rotate the support frame 53 located in the workpiece welding area X1 so that the jig 6 located on the upper side of the workpiece welding area X1 is inclined radially inward of the rotating shaft 4a. On the other hand, when the welding site is located on the side of the workpiece W1 away from the welding robot 3 (inward in the radial direction of the rotating shaft 4a), as shown in FIG. 18, the control board 10 is directed to the second motor on the side 55 outputs an operation signal for rotating the support frame 53 located in the workpiece welding area X1 so that the jig 6 located on the upper side of the workpiece welding area X1 is inclined radially outward of the rotating shaft 4a. The tilting amount of the jig 6 at these times is determined in advance according to the welding position of the workpiece W1, that is, the type of the workpiece W1. That is, the control board 10 adjusts the tilt direction and tilt amount of the jig 6 located in the workpiece welding region X1 according to the type of the workpiece W1.

When the welding of the workpiece W1 positioned on the jig 6 on the upper side of the workpiece welding area X1 is completed, the control board 10 outputs a working signal to the second motor 55 on the above-mentioned side, so that the upper and lower parts of the workpiece welding area X1 The clamps 6 are exchanged with each other. In this way, the jig 6 holding the assembly 11 is moved downward, and the jig 6 on which the workpiece W1 before welding is placed and positioned therewith is moved upward.

Then, the welding robot 3 welds the welding portion of the workpiece W1 on the upper jig 6 after the upper and lower positions of the workpiece welding region X1 have been exchanged. At this time, the control board 10 also rotates the support frame 53 located in the workpiece welding area X1 so as to tilt the jig 6 located on the upper side of the workpiece welding area X1.

On the other hand, while the welding robot 3 is performing the welding operation in the workpiece welding area X1, the operator H1 takes out the assembly 11 from the upper jig 6 in the workpiece setting area X2.

Then, the worker H1 sets the workpiece W1 before welding on the jig 6 located on the upper side.

In this way, when the operator H1 takes out the assembly 11 and sets a new workpiece W1, as shown in FIGS. 17 and 18 , the control panel 10 outputs an operation signal to the second motor 55 on the other side so that the workpiece setting area is located The support frame 53 of X2 rotates so that the jig|tool 6 located on the upper side of the workpiece|work installation area X2 may incline to the radial direction outer side of the said rotating shaft 4a. The tilting amount of the jig 6 at these times is predetermined according to the type of the workpiece W1. That is, the control board 10 adjusts the tilt amount of the jig 6 located in the workpiece|work installation area X2 according to the kind of the said workpiece|work W1.

Next, the operator H1 presses a not-shown jig switching button. Then, the control board 10 outputs an operation signal to the second motor 55 on the other side, so that the upper and lower clamps 6 located in the workpiece setting area X2 are exchanged with each other. Then, the jig 6 on which the workpiece W1 is attached is moved downward, and the jig 6 holding the assembly 11 is moved upward.

Then, the operator H1 takes out the assembly 11 from the jig 6 located on the upper side, and sets the workpiece W1 on the jig 6 located on the upper side. At this time, the control board 10 also rotates the support frame 53 located in the workpiece setting area X2 so as to tilt the jig 6 located on the upper side of the workpiece setting area X2.

Then, when the welding of the workpiece W1 set on the two jigs 6 located in the workpiece welding area X1 is completed, the two assemblies 11 are completed, and the work of setting the workpiece W1 on the two jigs 6 located in the workpiece setting area X2 is completed. After the end, the control board 10 outputs a working signal to the first motor 4, so that the above-mentioned rotating frame 5 starts to rotate in the R2 direction. At this time, the control board 10 further rotates the support frames 53 located in the workpiece welding area X1 and the workpiece setting area X2, respectively, so that the jig 6 located in the workpiece welding area X1 and the workpiece setting area X2 is in a horizontal state.

After the rotating frame 5 rotating in the R2 direction stops, the above-mentioned steps are repeated to sequentially assemble the workpiece W1.

Next, the procedure of detaching the jig 6 located at the reference position P1 from the workpiece positioning device 2 will be described.

First, as shown in FIG. 19 , the control board 10 outputs an operating signal to the second motor 55 on the above-mentioned side, so that the jig 6 located on the upper side of the workpiece welding area X1, that is, the jig 6 to be detached from the support frame 53, is directed to the above-mentioned side. The support frame 53 located in the workpiece welding area X1 is rotated so that the radially inner side of the rotating shaft 4a is inclined. In this way, the space between the jig 6 and the welding robot 3 is increased by inclining the jig 6 inward in the radial direction of the rotating shaft 4 a. As a result, since the freedom of movement of the welding robot 3 when removing the jig 6 is improved, the welding robot 3 can take a relaxed posture during the jig removal work. As a result, the jig can be smoothly detached from the support body, the time required for the detachment operation of the jig 6 can be shortened, and an excessive load can be prevented from being applied to the welding robot 3 .

Next, the control board 10 outputs an operation signal to the welding robot 3, separates the welding torch 3b from the front end of the robot arm 3a of the welding robot 3, and connects the front end of the robot arm 3a to the tool change of the jig 6 to be detached from the support frame 53 On the tool changing device (not shown) of the device mounting portion 60 .

Then, the control board 10 outputs an operation signal to the first fixing unit 8 . Then, the slide rod 82 is slid inward in the longitudinal direction of the support frame 53 against the urging force of the spring member 82c, and as shown in FIG. 13, the thick rod portion 82b is disengaged from the first fitting hole 69a.

In addition, the control board 10 outputs an operation signal to the second fixing unit 9 . Then, the slide rod 94a is slid inward in the longitudinal direction of the support frame 53 against the urging force of the spring member 94b, and the slide plate 93 is slid along with this. As a result, as shown in FIG. 15, the clip fixing pin 97 and the first The two connectors 98 are disengaged from the second fitting hole 69b and the first connector 69c, respectively.

Then, after the position sensor in the fluid pressure cylinder 94 detects that the slide rod 94a is located at the retracted end in the traveling direction, the welding robot 3 turns the jig 6 toward the welding robot 3 side, that is, from the inner side in the radial direction of the rotating shaft 4a. The outer side of the radial direction is pulled along the diagonally upper side. Then, the protruding claw 65a is disengaged from the fixing hole 71a, the engaging claw 66a is disengaged from the engaging grooved portion 72a, and the connecting portion 67 corresponds to the opening portion 72b of the engaging grooved portion 72a. That is, the fixing device is configured such that when the clamp 6 is detached from the support frame 53, the clamp 6 moves from the inner side in the radial direction of the rotating shaft 4a to the outer side in the radial direction, whereby the protruding portion 65 ( Strictly speaking, the protruding claw 65a) of the protruding portion 65 is drawn out from the fixing hole 71a.

In addition, when the welding robot 3 pulls the jig 6 in the horizontal direction toward the welding robot 3 side, each of the auxiliary fixing claws 63a is disengaged from each of the auxiliary fixing holes 7c.

Therefore, as shown in FIG. 3 , the welding robot 3 lifts the jig 6 upward. Then, the connecting portion 67 is released upward from the opening portion 72b, and the jig 6 is completely separated from the support frame 53 .

It should be noted that even in the state where the clamp 6 is positioned below the support frame 53, the thick rod portion 82b and the clamp fixing pin 97 are disengaged from the first fitting hole 69a and the second fitting hole 69b, since the fixing hole 71a Since each fixing auxiliary hole 7c extends in the horizontal direction, the protruding claws 65a and each fixing auxiliary claws 63a are also caught in the fixing hole 71a and each fixing auxiliary hole 7c, so that the clamp 6 does not come off from the support frame 53.

Next, the procedure for attaching the jig 6 to the workpiece positioning device 2 will be described.

First, the control board 10 outputs an operation signal to the welding robot 3, separates the welding torch 3b from the front end of the robot arm 3a of the welding robot 3, and connects the front end of the robot arm 3a to a jig housed in a jig storage rack not shown. 6 is attached to the tool changer (not shown) of the tool changer mounting portion 60 .

Next, the control board 10 outputs an operation signal to the welding robot 3 to move the jig 6 connected to the front end of the robot arm 3 a above the support frame 53 .

Then, the control board 10 outputs an operation signal to the second motor 55 on the above-mentioned side so that the moving direction of the clamp 6 during installation is inclined downward, specifically, the protruding claw 65a of the fixing frame 64 is directed toward the fixing hole 71a The support frame 53 located in the workpiece welding area X1, that is, the support frame 53 on which the jig 6 is attached, is rotated so that the direction of insertion is obliquely downward.

Next, the control board 10 outputs an operation signal to the first fixing unit 8 and the second fixing unit 9 . Then, the slide bar 82 slides inward in the longitudinal direction of the support frame 53 against the urging force of the spring member 82c, and the slide bar 94a slides inward in the longitudinal direction of the support frame 53 against the urging force of the spring member 94b. This prevents the two L-shaped frames 69 from interfering with the first fixing unit 8 and the second fixing unit 9 when the jig 6 is lowered.

Next, the connecting portion 67 of the fixing frame 64 of the jig 6 connected to the front end of the arm 3a of the welding robot 3 is made to correspond to the opening 72b of the engaging groove portion 72a, and the jig 6 is lowered. Then, the connection part 67 passes through the opening part 72b.

Next, the welding robot 3 pushes the jig 6 so that the jig 6 is separated from the welding robot 3 . Then, as shown in FIGS. 5 to 8 , the protruding claw 65a is fitted into the fixing hole 71a, and the engaging claw 66a is engaged with the wide portion 72c of the engaging grooved portion 72a. In this way, when the jig 6 is moved toward the support frame 53 and the protruding claws 65a are fitted into the fixing holes 71a, not only the protruding claws 65a are fitted into the fixing holes 71a, but the engaging claws 66a are also engaged with the welding robot 3 side located in the fixing holes 71a. Therefore, it is possible to prevent the jig 6 from turning around the fixing hole 71a to the opposite side of the welding robot 3 without being able to control its momentum and falling from the support frame 53 .

In addition, when the welding robot 3 presses the jig 6 so that the jig 6 is separated from the welding robot 3, as shown in Figs.

When the protruding claws 65a are inserted into the fixing holes 71a, the engaging claws 66a are engaged with the wide portions 72c of the engaging concave strip portions 72a, and the auxiliary fixing claws 63a are inserted into the auxiliary fixing holes 7c, the clamp 6 The two L-shaped frames 69 are in contact with two adjacent outer peripheral surfaces of the support frame 53 . As described above, since the direction in which the protruding claws 65a of the fixed frame 64 are inserted into the fixing holes 71a is obliquely downward, the protruding claws 65a can also be fitted into the fixing holes 71a by gravity or the like, and the engaging claws 66a can be inserted into the engaging recesses. The wide portion 72c of the bar portion 72a is engaged, and each of the auxiliary fixing claws 63a can be securely fitted into each of the auxiliary fixing holes 7c. In addition, the two L-shaped frames 69 of the jig 6 can also be reliably brought into contact with the two adjacent outer peripheral surfaces of the support frame 53 .

Then, the two L-shaped frames 69 of the jig 6 abut on two adjacent outer peripheral surfaces of the support frame 53, whereby the thick rod portion 82b of the slide bar 82 faces the first fitting hole 69a and the jig is fixed The pin 97 is opposed to the second fitting hole 69b, and the first connector 69c and the second connector 98 are opposed to each other.

Next, the control board 10 outputs an operation signal to the first fixing unit 8 . Then, as shown in FIG. 14 , the slide bar 82 slides to the outer side in the longitudinal direction of the support frame 53 by the urging force of the spring member 82c, and the thick bar portion 82b is fitted into the first fitting hole 69a.

In addition, the control board 10 outputs an operation signal to the second fixing unit 9 . Then, as shown in FIG. 16, the slide bar 94a slides to the outer side in the longitudinal direction of the support frame 53 by the urging force of the spring member 94b, and the clip fixing pin 97 and the second jig fixing pin 97 are slid by the sliding action of the slide plate 93 accompanying this. The fitting hole 69b is fitted, and the second connector 98 is connected to the first connector 69c.

Then, after the position sensor in the hydraulic cylinder 94 detects that the slide rod 94a is located at the travel end in the travel direction, the tip of the robot arm 3a is removed from the tool changer of the tool changer mounting portion 60 of the jig 6 (not shown). ) are separated, and the installation work of the jig 6 is completed.

As described above, according to the first embodiment, when the workpiece W1 is set on the jig 6 , the jig 6 on the upper side of the workpiece setting area X2 is inclined to the operator side, whereby the workpiece setting portion of the jig 6 faces the operator H1 side. . Therefore, the operator H1 can move the workpiece W1 substantially horizontally or obliquely from the side of the rotating frame 5 toward the jig 6 , and the operator H1 can take a relaxed posture when performing the workpiece setting operation, and it is not necessary to add much for the workpiece setting operation. Axis robots, etc., can realize space saving. In addition, for example, when the welding site is far away from the welding robot 3, the jig 6 on the upper side of the workpiece welding area X1 is inclined to the welding robot 3 side, so that the welding site away from the welding robot 3 approaches the welding robot 3 and enters the welding Because of the movable range of the robot 3, the welding of the workpiece W1 can be performed reliably.

When the jig 6 is to be removed, by tilting the jig 6 to be detached, the posture of the jig 6 to be detached can be made into a posture in which the welding robot 3 can take a relaxed posture during the jig removal operation, and the welding The robot 3 replaces the jig 6 smoothly.

Thereby, the operator H1 can perform the workpiece setting operation with a relaxed posture, and can reliably perform the welding operation of the workpiece W1, and can stabilize the productivity even in the work other than the workpiece setting operation and the welding operation.

In particular, as described in the first embodiment, when the fixture 6 is detached from the support frame 53, the fixture 6 moves from the radially inner side toward the radially outer side of the rotating shaft 4a, and When the protruding portion 65 is drawn out from the fixing hole 71a, when the clip 6 is detached from the support frame 53, the clip 6 is inclined inward in the radial direction of the rotating shaft 4a, whereby the removal direction of the clip 6 is inclined upward. side. Thereby, when the jig 6 is replaced, the jig 6 can be prevented from falling off the support body and falling. In addition, as described in the first embodiment, when the robot for replacing the jig 6 (here, the welding robot 3 ) is positioned outside the support frame 53 in the radial direction of the rotation shaft 4 a, the jig 3 is The space between the robot and the jig 6 is increased by inclining inward in the radial direction of the rotating shaft 4a. As a result, the freedom of movement of the robot when removing the jig 6 is improved, so that the jig 6 can be smoothly detached from the support frame 53 without causing the robot to assume a forced posture.

In addition, according to the type of the workpiece W1, the tilted state in which the operator H1 can most easily set the workpiece W1 can be adopted, so that the posture of the operator H1 during the workpiece setting operation can be made easier. In addition, the jig 6 located in the workpiece welding region X1 can be placed in a tilted state where the welding robot 3 can most easily perform welding according to the type of the workpiece W1, so that the posture of the welding robot 3 during the welding operation can be more appropriate. In addition, the control itself can also be simplified by performing the control related to the tilting which is adjusted according to the type of the workpiece W1.

(Second Embodiment)

FIG. 20 shows a second embodiment of the present invention. In this second embodiment, the configuration of the welding apparatus 1 differs from the above-described first embodiment only in the shape of the second horizontal frame 52, the configuration of each support frame 53 (in FIG. The parts where the motor 155 overlaps and cannot be seen) rotates and the number of the clamps 6 are the same as in the above-mentioned first embodiment. Therefore, only the parts different from the above-mentioned first embodiment will be described in detail below.

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

In addition, on the side opposite to the support frame 53 of the inclined frame 52b on the one end side in the longitudinal direction of each of the second horizontal frames 52, a clamp rotation motor 155 is attached, and the clamp rotation motor 155 supports the output shaft and the support frame 53. The support frame 53 is rotated in a posture in which the rotation axes of the frame 53 are aligned.

Furthermore, in the second embodiment, the jig 6 is attached only to the upper part of each support frame 53 . That is, each jig 6 is attached to each support frame 53 so as to protrude to a position higher than each support frame 53 . Each jig 6 is tilted by the rotation operation of the above-mentioned jig rotation motor 155 .

In the second embodiment, as shown in FIG. 20 , when rotating the rotating frame 5 , the control panel 10 operates the respective support frames 53 so that the respective clamps 6 are inclined radially inward of the rotating shaft 4 a. More specifically, before rotating the rotating frame 5, the control panel 10 operates the supporting frames 53 so as to incline the jigs 6 inward in the radial direction of the rotating shaft 4a, and thereafter maintains the positions of the jigs 6 to the rotating shaft 4a. In the state where the radially inner side is inclined, the rotating frame 5 is rotated at a substantially constant angular velocity.

The operation of the welding apparatus 1 of the second embodiment is the same as that of the first embodiment, except that the jigs 6 are tilted when the rotating frame 5 is rotated and that the jigs 6 do not make one rotation around the axis of rotation. . That is, in the second embodiment, the control panel 10 tilts each jig 6 in accordance with the workpiece setting operation and welding operation, and also outputs an operation signal to the jig rotation motor 155 to rotate each support frame 53 . Also, in the second embodiment, during the jig removal operation, the control panel 10 rotates the support frame 53 located in the workpiece welding region so that the jig 6 to be detached is inclined radially inward of the rotating shaft 4a. Also, in the second embodiment, the control board 10 rotates the support frame 53 to which the jig 6 is attached so that the direction in which the protruding claws 65a of the fixing frame 64 are inserted into the fixing holes 71a is obliquely downward.

As described above, according to the second embodiment, when the rotating frame 5 is rotated, each of the clamps 6 is inclined radially inward of the rotating shaft 4a, so that each of the clamps 6 is located in the vicinity of the rotating shaft 4a. Thereby, when the rotating frame 5 rotates, the load which the rotating shaft 4a receives can be reduced. As a result, deformation and breakage of the rotating shaft 4a can be suppressed, the number of maintenance operations can be reduced, and productivity can be stabilized. In addition, the rotation radius of the rotating part of the welding device 1 is reduced, thereby preventing the failure of the welding device due to interference of the jigs 6 with the pipes, wiring and the like of the equipment. As a result, in the second embodiment, the operator H1 can perform the workpiece setting operation with a relaxed posture, and can reliably perform the welding operation of the workpiece W1, and can also perform work other than the workpiece setting operation and welding operation. to stabilize productivity.

In addition, according to the second embodiment, the rotation radius of the rotating portion of the welding apparatus 1 is reduced, and accordingly, the space can be effectively used. In addition, since the linear frame 52a of each second horizontal frame 52 can be made shorter than the linear frame 52a of the first embodiment, the installation space of the entire welding apparatus 1 can also be reduced.

(Other Embodiments)

The present invention is not limited to the above-described first and second embodiments, and various alternatives may be adopted within the scope of not departing from the gist of the claims.

For example, in the above-described first and second embodiments, the first fitting hole 69a and the second fitting hole 69b are provided in the jig 6, and the slide bar 82 and the second fixing unit 9 are provided in the support frame 53, but not limited to this, the first fitting hole 69a and the second fitting hole 69b may be provided in the support frame 53, and the slide bar 82 and the second fixing unit 9 may be provided in the clamp 6 and the clamp 6 is attached to the support frame 53 .

In addition, in the above-described first embodiment and second embodiment, all the jigs 6 are the same jig 6, but different types of jigs 6 may be attached. In particular, in the above-described first and second embodiments, the jig 6 can position a plurality of types of workpieces, but it is also possible to position only a single type of workpiece. In this case, it can be used according to the type of the workpiece. Different kinds of clamps 6.

In addition, a plurality of welding robots 3 may be provided in the workpiece welding region X1.

In addition, another robot of a different type from the welding robot 3 may be provided for exchanging the jig 6 .

In addition, in the said 1st Embodiment and 2nd Embodiment, although there is only one operator H1, a plurality of operators H1 may work in the workpiece|work installation area X2.

In addition, in the first embodiment and the second embodiment, the assembly of the workpiece W1 is performed by spot welding, but it is not limited to this, and may be performed by arc welding or laser welding, and may be performed by other joining methods.

Industrial Applicability

The present invention is suitable, for example, for welding devices used in automobile production lines.

Symbol Description

1 Welding device

3 Welding robots

4a Rotation axis

5 Rotating frame (rotating body)

6 Fixtures

10 Control panel (control device)

53 Support frame (support body)

53b First horizontal axis

65 Protrusion

71a Fixing hole

W1 workpiece

X1 workpiece welding area

X2 Workpiece setting area.

Claims (6)

1. A welding device provided with a rotating body supported by a rotating shaft extending in a vertical direction and rotating between a workpiece installation area and a workpiece welding area, and a welding robot installed in the workpiece welding area, characterized in that:

Further comprises a support body, a clamp, a fixing unit and a control device,

the support body is provided on the rotating body and is rotatable about a first horizontal axis extending in a horizontal direction,

the jig is supported by the support body in a detachable manner and positions the workpiece,

the fixing unit is provided on the support body and fixes the jig to the support body,

the control device is capable of controlling operations of the rotating body, the support body, and the fixing unit,

the fixing unit has:

a slide bar capable of reciprocating in a longitudinal direction of the support body;

a spring member for urging the slide rod toward the jig; and

a fluid cylinder for moving the slide bar to a side opposite to the clamp against the urging force of the spring member,

the jig has a fitting hole into which the slide bar is fitted in a state of being attached to the support body,

the control device rotates the rotary body so that each of the jigs moves to the work setting area and the work welding area, tilts the jig located in the work setting area to the side of the operator, and operates each of the support bodies so that the jig located in the work welding area tilts in accordance with the welding portion of the work,

Further, when the jig is to be detached from the support body, the control device operates the support body so that the jig to be detached is tilted in a direction away from the welding robot, and when the jig is to be attached to the support body, the control device operates the support body so that the jig to be attached is attached in a state in which the jig is tilted in a direction away from the welding robot,

when the jig is attached to the support body, the control device does not supply the fluid to the fluid pressure cylinder, and the slide rod is moved toward the fitting hole by the urging force of the spring member.

2. The welding device of claim 1, wherein:

the welding device further includes a jig fixing portion for fixing the jig to the support body,

the clip fixing portion has a protruding portion provided to the clip and a fixing hole provided to the support body, and the protruding portion is fitted into the fixing hole by moving the clip in a protruding direction of the protruding portion with respect to the support body,

further, the jig fixing portion is configured such that when the jig is detached from the support body, the jig is moved from the inner side in the radial direction of the rotating shaft to the outer side in the radial direction, whereby the protruding portion is drawn out from the fixing hole, and when the jig is attached to the support body, the jig is moved from the outer side in the radial direction of the rotating shaft to the inner side in the radial direction, whereby the protruding portion is inserted into the fixing hole,

When the clip is to be removed from the support body, the control device operates the support body so that the clip to be removed is inclined inward in the radial direction and downward, and when the clip is to be attached to the support body, the control device operates the support body so that the clip to be attached is inclined inward in the radial direction from the upper side.

3. Welding device according to claim 1 or 2, characterized in that:

the welding position of the workpiece is preset according to the type of the workpiece,

the control device adjusts the tilting amount of the jig when the jig located in the workpiece setting area is tilted to the operator side according to the type of the workpiece, and adjusts the tilting direction and the tilting amount of the jig located in the workpiece welding area according to the type of the workpiece.

4. A welding device provided with a rotating body supported by a rotating shaft extending in a vertical direction and rotating between a workpiece installation area and a workpiece welding area, and a welding robot installed in the workpiece welding area, characterized in that:

further comprises a support body, a clamp, a fixing unit and a control device,

The support body is provided on the rotating body and is rotatable about a first horizontal axis extending in a horizontal direction,

the jig is supported by the support body in a manner that the jig can be attached and detached, and positions the workpiece,

the fixing unit is provided on the support body and fixes the jig to the support body,

the control device is capable of controlling operations of the rotating body, the support body, and the fixing unit,

each of the clips is attached to each of the support bodies so as to protrude to a position above the support body,

the fixing unit has:

a slide bar capable of reciprocating in a longitudinal direction of the support body;

a spring member for urging the slide rod toward the jig; and

a fluid cylinder for moving the slide bar to a side opposite to the clamp against the urging force of the spring member,

the jig has a fitting hole into which the slide bar is fitted in a state of being attached to the support body,

the control device rotates the rotary body so that each of the jigs moves to the work setting area and the work welding area, tilts the jig located in the work setting area to the side of the operator, and operates each of the support bodies so that the jig located in the work welding area tilts in accordance with the welding portion of the work,

Further, the control device may operate the support bodies so that the jigs are inclined inward in the radial direction of the rotation shaft when rotating the rotating body, and then rotate the rotating body at a substantially constant angular velocity,

further, when the jig is to be detached from the support body, the control device operates the support body so that the jig to be detached is tilted in a direction away from the welding robot, and when the jig is to be attached to the support body, the control device operates the support body so that the jig to be attached is attached in a state in which the jig is tilted in a direction away from the welding robot,

when the jig is attached to the support body, the control device does not supply the fluid to the fluid pressure cylinder, and the slide rod is moved toward the fitting hole by the urging force of the spring member.

5. The welding device of claim 4, wherein:

the welding device further includes a jig fixing portion for fixing the jig to the support body,

the clip fixing portion has a protruding portion provided to the clip and a fixing hole provided to the support body, and the protruding portion is fitted into the fixing hole by moving the clip in a protruding direction of the protruding portion with respect to the support body,

Further, the jig fixing portion is configured such that when the jig is detached from the support body, the jig is moved from the inner side in the radial direction of the rotating shaft to the outer side in the radial direction, whereby the protruding portion is drawn out from the fixing hole, and when the jig is attached to the support body, the jig is moved from the outer side in the radial direction of the rotating shaft to the inner side in the radial direction, whereby the protruding portion is inserted into the fixing hole,

when the clip is to be removed from the support body, the control device operates the support body so that the clip to be removed is inclined inward in the radial direction and downward, and when the clip is to be attached to the support body, the control device operates the support body so that the clip to be attached is inclined inward in the radial direction from the upper side.

6. Welding device according to claim 4 or 5, characterized in that:

the welding position of the workpiece is preset according to the type of the workpiece,

the control device adjusts the tilting amount of the jig when the jig located in the workpiece setting area is tilted toward the operator side according to the type of the workpiece, and adjusts the tilting direction and the tilting amount of the jig located in the workpiece welding area according to the type of the workpiece.

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