JP3716789B2 - Clamping device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to a clamping device for positioning and fixing a workpiece during spot welding.And theThe present invention relates to a method for supplying power to an actuator of a clamp device.
[0002]
[Prior art]
FIG. 6 shows an outline of a conventional actuator power supply system and a configuration of the apparatus.
[0003]
In an automobile body assembly line, automatic spot welding is performed by the welding robot 100, but the clamping device 2 is used in order to ensure assembly accuracy during spot welding.
[0004]
  As shown in FIG. 6, the clamping device 2 includes a gauge 4 processed according to the shape of the workpiece in order to ensure the assembly accuracy of the workpiece, and the gauge 4TheworkAgainstThe air cylinder 5 is an actuator for closely contacting, fixing, or releasing.
[0005]
By the way, with recent multi-product low-volume production, flexible equipment is required, and the clamping device 2 is no exception, and it is required to cope with various types of vehicles. As one method for such flexibility, there is a method in which the clamping device 2 is mounted on the pallet truck 1 and the pallet truck 1 is circulated in the vehicle body assembly line by the pallet truck circulating means 200, for example.
[0006]
Further, as the pallet truck 1 equipped with the clamping device 2, a method of preparing a large number of pallet trucks 1 equipped with a dedicated clamping device 2 according to the production vehicle and circulating around the body assembly line, and the clamping device 2 There is a method in which a single pallet cart 1 corresponds to a plurality of vehicle types, and the vehicle body assembly line is circulated by imparting versatility to the control.
[0007]
[Problems to be solved by the invention]
As shown in FIG. 6, the peripheral device of the pallet cart 1 equipped with the conventional clamp device 2 includes a pallet cart 1, a clamp device 2 on the pallet cart 1, an actuator control device 10, and a power supply connection. The apparatus 20, the actuator power source 30, the welding robot 100, the welding robot control device 110, the welding machine control device 140, the welding machine power supply 150, and the pallet truck traveling means 200 are configured. .
[0008]
The actuator control device 10 is a control means for controlling the driving of the air cylinder 5, and in the pallet truck 1 having versatility, a control for appropriately controlling the plurality of air cylinders 5 for each vehicle type. The control signal from the actuator control device 10 is transmitted to the power supply connecting device 20 described later.
[0009]
The actuator power source 30 is a power source that supplies power to the air cylinder 5 of the clamp device 2 mounted on the pallet carriage 1, and transmits power from the actuator power source 30 to the power supply connecting device 20. The power transmission means 31 by the wiring or piping for performing is required.
[0010]
Further, the power supply connecting device 20 supplies the power of the air supplied from the actuator power source 30 via the power transmission means 31 to the air cylinder 5 of the clamp device 2 mounted on the pallet carriage 1. And means for receiving a control signal transmitted from the actuator control device 10.
[0011]
Further, the power supply connecting device 20 is provided with an output unit 21 for supplying power to the pallet cart 1 side, and is supplied from the output unit 21 to the side surface of the pallet cart 1. An input unit 25 is provided for inputting power. The pallet truck 1 is positioned at a stop position (hereinafter also referred to as a pallet truck stop position) of the pallet truck 1 for traveling around the body assembly line and performing spot welding work, for example, by the pallet truck circulating means 200. After stopping, the output unit 21 of the power supply connecting device 20 slides and moves toward the input unit 25 of the side surface portion of the pallet carriage 1, and the output unit 21 of the power supply connecting device 20 and the pallet cart 1 is coupled to the input unit 25, the power supplied from the actuator power source 30 via the power transmission means 31 is supplied to the air cylinder 5 of the clamping device 2 mounted on the pallet carriage 1, In addition, the actuator control device 10 can control the air cylinder 5 via the power supply connecting device 20.
[0012]
Therefore, in order for the pallet carriage 1 to circulate in the vehicle body assembly line, basically, one actuator control device 10, one power supply connection device 20, and one device are provided for each pallet carriage stop position. And a power transmission means 31 for wiring or piping for transmitting the power.
[0013]
In general, a large number of welding robots 100 are provided in the body assembly line of one automobile, and accordingly, there are many pallet truck stop positions described above, and the same number of actuator pallet stops as the pallet truck stop positions. It is necessary to provide the control device 10, the power supply connecting device 20, the actuator power source 30, and the power transmission means 31 such as wiring or piping for transmitting the power accordingly. There was a problem that it was necessary to spend enormous costs for the construction.
[0014]
  The present invention has been made in view of the above-described problems of the prior art, and does not require a dedicated power source for the actuator and a controller for the actuator for the actuator of the clamp device.,as well asAn object is to provide a method for supplying power to an actuator.
[0015]
[Means for Solving the Problems]
  (1) In order to achieve the above object, according to the present invention, a welding machine is provided.Welding gunbyWorkWhen weldingSaidA clamping device for positioning and fixing the work by bringing a gauge into close contact with the work in order to ensure assembly accuracy of the work, and an electric actuator for opening and closing the gauge;Electrically connected to the electric actuatorAnd a terminalA pair of welding guns that are attached to the tip of the welding gun and that directly contact the workpiece to weld the workpieceWelding tipTo the terminalA clamping device is provided in which electric power for driving the electric actuator is supplied from a power source of the welding machine.
[0016]
As power for driving the electric actuator of the clamp device, power for driving the actuator and a clamp device on the pallet carriage are supplied by supplying power for driving the clamp to the electric actuator from the welding power source. It is not necessary to provide a power supply connection device, and accordingly, installation of a power transmission medium such as wiring or piping for transmitting power becomes unnecessary.
[0017]
  (2) Although not particularly limited in the above invention, the electric actuatorIsBy the control means of the welding machineControlledThe magnitude of the welding current flowing through the welding tip and the energization timeParametersMore preferably, it is controlled according to the above.
[0018]
As power for driving the electric actuator of the clamp device, the power of the clamp drive is supplied from the welding power source to the electric actuator, the magnitude of the welding current flowing through the welding tip controlled by the control means of the welding machine, and the energization time By controlling the electric actuator according to the parameters, it is not necessary to provide an actuator control device.
[0019]
  (3)Although not particularly limited in the above invention, the first power feeding system wired to supply the power input from the first terminal to the plurality of electric actuators, and the power input from the second terminal to the other It is more preferable to include a second power feeding system wired so as to be supplied to the plurality of electric actuators.
[0020]
In a flexible pallet truck that supports multiple vehicle types, the clamp device is provided with two terminals and a plurality of electric actuators, and the clamp driving power input from the first terminal is supplied to the plurality of electric actuators. By providing a first power supply system wired so as to perform, and a second power supply system wired to supply clamp driving power input from the second terminal to other electric actuators For example, depending on whether each welding robot holds the terminal at the pallet carriage stop position arranged within the operation range of the plurality of welding robots, it becomes possible to operate each electric actuator corresponding to the vehicle type, There is no need to provide an actuator control device that performs control in accordance with the number of clamps for each vehicle type.
[0021]
  (4) In order to achieve the above object, according to the present invention, a welding machine is provided.Welding gunbyWorkWhen weldingSaidIn a clamping device for positioning and fixing the work by bringing a gauge into close contact with the work in order to ensure assembly accuracy of the work, a power supply method for supplying driving power from the outside to an electric actuator for opening and closing the gauge BecauseA pair of welding tips, which are attached to the tip of the welding gun and weld the workpiece in direct contact with the workpiece, are brought into contact with terminals electrically connected to the electric actuator,There is provided a power feeding method to a clamp device that drives the electric actuator by electric power supplied from a power source of the welding machine.
[0022]
Power supply for supplying power to the power source for the electric actuator and the clamp device on the pallet carriage by supplying clamp driving power from the welding power source to the electric actuator as power for driving the electric actuator Accordingly, there is no need to provide a connecting device, and accordingly, installation of a power transmission medium such as wiring or piping for transmitting power becomes unnecessary.
[0023]
  (5) Although not particularly limited in the above invention,The electric actuator is controlled in accordance with parameters of the magnitude of the welding current passed through the welding tip controlled by the control means of the welding machine and the energization time.It is more preferable.
[0024]
As power for driving the electric actuator of the clamp device, the power of the clamp drive is supplied from the welding power source to the electric actuator, the magnitude of the welding current flowing through the welding tip controlled by the control means of the welding machine, and the energization time By controlling the electric actuator according to the parameters, it is not necessary to provide an actuator control device.
[0025]
【The invention's effect】
According to the first aspect of the present invention, by supplying the power for driving the clamp from the welding power source as the power for driving the electric actuator of the clamp device, the power source for the actuator and the clamp device on the pallet carriage It is no longer necessary to provide a power supply connection device for supplying power to the equipment, and accordingly, installation of a power transmission medium such as wiring or piping for transmitting power is not required, and costs required for capital investment and wiring work Can be suppressed.
[0026]
According to the second aspect of the present invention, by controlling the electric actuator by the control means of the welding machine, it is not necessary to provide an actuator control device, and it is possible to suppress capital investment.
[0027]
  According to invention of Claim 3,Actuator control device that performs control corresponding to the number of electric actuators for each type of car in a pallet truck that has a large number of gauges and electric actuators, especially versatility, in order to support multiple car models Therefore, it is possible to reduce the capital investment.
[0028]
  According to invention of Claim 4,It is no longer necessary to provide a power source for the actuator and a power supply connection device for supplying power to the clamping device on the pallet truck, and accordingly, a power transmission medium such as wiring or piping for transmitting power is installed. This eliminates the need to reduce the cost required for capital investment and wiring work.
[0029]
  According to invention of Claim 5,By controlling the electric actuator by the control means of the welding machine, there is no need to provide an actuator control device, and capital investment can be suppressed.
[0030]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0031]
[First Embodiment] FIG. 1 is a diagram showing an outline of a power feeding method to the electric actuator 3 by the welding gun 120 of the welding robot 100 and a configuration of the apparatus in the first embodiment of the present invention. It is a figure which shows the principal part of the welding tips 130a and 130b and the terminal 50 in 1st Embodiment of this invention, FIG. 3 is a figure which shows the structure of the system of the electric system in 1st Embodiment of this invention. FIG. 4 is a flowchart showing a control procedure by the welding robot control device 110 and the welding machine control device 140 in the first embodiment of the present invention.
[0032]
As shown in FIG. 1, the first embodiment of the present invention is a pallet cart 1 that circulates in a vehicle body assembly line, a welding robot 100, and a welding robot control device 110 for controlling the operation of the welding robot 100. A welding machine control device 140 that controls the welding machine, a welding machine power source 150 that is a power source of the welding machine, and a pallet carriage traveling means 200 for circulating the pallet carriage 1 in the body assembly line. It is composed of Note that the workpiece to be spot welded is not shown.
[0033]
  The pallet carriage 1 is a means for loading a work and circulating around the body assembly line, and a clamp device 2 is mounted on the upper surface portion thereof. The clamp device 2 is a means for fixing a workpiece for ensuring assembly accuracy during spot welding, and two sets of gauges machined according to the shape of the workpiece to ensure the assembly accuracy of the workpiece. 4 and the two pairs of gauges 4TheworkAgainstIt is comprised from the two electric actuators 3 for making it adhere | attach, fix, or open | release. In FIG. 1, the clamp device 2 includes only two sets of gauges 4 and two electric actuators 3, but in actuality, in order to stably support the workpiece, for example, three sets The above gauges 4 and three or more electric actuators 3 are mounted, and the number of gauges 4 and electric actuators 3 mounted on the pallet carriage 1 is not limited to the above number.
[0034]
Furthermore, a terminal 50 for inputting clamp driving power from the welding machine power supply 150 via the welding tips 130a and 130b is provided on the side surface of the pallet carriage 1 on the welding robot 100 side. The terminal 50 is sandwiched between the welding tips 130 a and 130 b of the welding gun 120 by the operation of the welding robot 100, and the electric power for clamp driving is input from the power supply 150 for the welding machine. The power for driving the clamp is supplied to the motor. Details of the terminal 50 will be described later.
[0035]
The welding robot 100 is, for example, a multi-joint mechanism robot. The end effector at the tip of the multi-joint mechanism is provided with a welding gun 120 that is a welding machine. A movable welding tip 130a, which is a pair of welding tips, and a fixed welding tip 130b are mounted to face each other. The welding robot 100 is controlled by a welding robot control device 110.
[0036]
The spot welding by the welding gun 120 is controlled by the welding machine controller 140, and the control parameters include, for example, the magnitude of the welding current as a welding pattern and the energization time. In addition, clamp driving power is supplied to the welding tips 130 a and 130 b attached to the tip of the welding gun 120 from the welding machine power supply 150 via the welding machine controller 140.
[0037]
The pallet cart circulating means 200 is composed of a gantry 210, a plurality of roller rotating motors 220, and a plurality of circulating rollers 230, and is a means for circulating the pallet cart 1 in the vehicle body assembly line. According to the width | variety of the pallet truck 1, it is provided so that the roller 230 for a rotation may support the both ends of the pallet truck 1. FIG. The pallet cart circulating means 200 can drive the roller rotating motor 220 and rotate the circulating roller 230 to rotate the pallet cart 1 and stop the pallet cart 1 at an appropriate position. Further, for example, it is detected that the pallet truck 1 has arrived at a stop position for spot welding by a sensor or the like, that is, a pallet truck stop position, and the pallet truck 1 is positioned at the pallet truck stop position and stopped. Is a possible means. Furthermore, for example, when the welding robot control device 110 receives the stop completion signal from the pallet cart traveling means 200, it is possible to start an operation for fixing the workpiece by the clamping device 3 described in detail later. is there.
[0038]
FIG. 2 is a view showing the main parts of the welding tips 130a and 130b and the terminal 50 in the first embodiment of the present invention.
[0039]
As shown in FIG. 2, the terminal 50 has a three-layer cross-sectional shape, and includes an upper layer surface 51a having conductive properties, an intermediate layer surface 51b having insulating properties, and a lower layer surface 51c having conductive properties. It is configured. The upper layer surface 51 a and the lower layer surface 51 c having the conductive characteristics are wired so as to supply electric power to the electric actuator 3 via the drive motor power converter 4 in the pallet carriage 1. The movable welding tip 130a comes into contact with the upper surface of the upper layer surface 51a, and at the same time, the fixed welding tip 130b comes into contact with the lower surface of the lower layer surface 51c. The clamp driving power is input to 50, and the input clamp driving power is supplied to the electric actuator 3. Further, the middle layer surface 51b prevents the supply of clamp driving power to the electric actuator 3 from being directly energized from the movable welding tip 130a to the fixed welding tip 130b due to its insulation characteristics. In FIG. 2, the wiring from the upper layer surface 51a and the lower layer surface 51c to the electric actuator 3 is not shown. The relationship between the welding tips 130a and 130b attached to the tip of the welding gun 120 and the upper layer surface 51a and the lower layer surface 51c of the terminal 50 is not particularly limited to the above-described relationship. The relationship may be such that 130b contacts the upper layer surface 51a, and at the same time, the movable welding tip 51a contacts the lower layer surface 51b.
[0040]
FIG. 3 is a diagram illustrating a configuration of an electric system in the embodiment of the present invention.
[0041]
The configuration from the welding machine power supply 150 to the welding tips 130a and 130b is the same as that of a normal welding machine electrical system. From the welding machine power supply 150, the welding machine control device 140, the welding machine transformer. Clamp driving power is supplied to the movable welding tip 130a and the fixed welding tip 130b via Tr. Note that the welding machine control device 140 controls the magnitude of the welding current, which is an energization pattern, and the energization time during normal welding.
[0042]
In this embodiment, the electric system of the normal welding machine is used as it is, and the movable welding tip 130a contacts the upper surface of the upper layer surface 51a of the terminal 50 provided on the side surface portion of the pallet carriage 1, At the same time, when the fixed welding tip 130b comes into contact with the lower surface of the lower layer surface 51c of the terminal 50, clamp driving is performed on the upper layer surface 51a and the lower layer surface 51c of the terminal 50 from the power source 150 for the welding machine via the welding tips 130a and 130b. In addition, the input power for clamp driving is supplied from the upper layer surface 51a and the lower layer surface 51c of the terminal 50 into the clamp device 2 mounted on the pallet carriage 1, and the actuator power converter 6 is supplied to the electric actuator 3 via 6.
[0043]
As described above, by supplying clamp driving power from the welding machine power supply 150 as power for driving the electric actuator 3, the actuator power source 30 and the pallet truck 1 are placed on the pallet carriage 1 as in the past. It is not necessary to provide the power supply connecting device 20 for supplying power to the mounted clamping device 2, and accordingly, installation of a power transmission medium 31 such as wiring or piping for transmitting power becomes unnecessary. Costs required for investment and wiring work can be reduced.
[0044]
Here, for example, when the welding machine is a single-phase AC welder, the welding current flowing through the welding tips 130a and 130b is a single-phase AC equivalent to the commercial frequency. When the welding machine is an inverter welder, a welding current that flows through the welding tips 130a and 130b is a direct current, such as a commutator motor. It is preferable to select a DC motor that can control the rotational speed with a voltage. If the actuator power converter 6 shown in FIG. 3 is used, the type of the electric actuator 3 is not limited to the power source of the welding machine as described above, and the versatility of the electric actuator 3 increases.
[0045]
Next, the operation will be described.
[0046]
FIG. 4 is a flowchart showing a procedure for controlling the operation of the welding robot 100 by the welding robot control device 110 and controlling the driving of the electric actuator 3 by the welding machine control device 140 in the first embodiment of the present invention. is there.
[0047]
Hereinafter, based on FIG. 4, a procedure for controlling the operation of the welding robot 100 for bringing the welding tips 130 a and 130 b into contact with the terminals 50 by the welding robot control device 110, and the pallet carriage 1 by the welding machine control device 140. A procedure for controlling the driving of the electric actuator 3 of the clamping device 2 mounted on the upper side will be described.
[0048]
First, in step S100, under the control of the welding robot control device 110, the welding robot 100 moves the pair of welding tips 130a and 130b attached to the tip of the welding gun 120, which is an end effector, near the terminal 50 and at the approach position. Move to the terminal position.
[0049]
Next, in step S <b> 200, the welding robot 100 makes contact with the lower surface of the lower layer surface 51 c of the terminal 50 with the fixed welding tip 130 b attached to one end of the welding gun 120 under the control of the welding robot control device 110. Move to state.
[0050]
Next, in step S300, under the control of the welding robot controller 110, the welding robot 100 brings the movable welding tip 130a at the tip of the welding gun 120 closer to the fixed welding tip 130b, and moves the movable welding tip 130a over the terminal 50. Positioning is performed so as to contact the upper surface of the layer surface 51a, and the pressure is closed in that state.
[0051]
With the movable welding tip 130a and the movable welding tip 130b positioned and closed, next, in step S400, the welding machine control device 140 drives the electric actuator 3 of the clamping device 2 on the pallet carriage 1. In accordance with a specified welding current magnitude and a specified energization time, which are specified operation patterns, the clamp driving power is supplied from the power source 150 for the welder, and the clamping device 2 mounted on the pallet carriage 1 is electrically driven. The drive of the actuator 3 is controlled.
[0052]
The driving condition of the electric actuator 3 is performed according to the control of the clamp driving power of the welding machine control device 140, and the magnitude of the welding current that is the energization pattern of the welding machine control device 140 is As control of the rotation speed of the actuator 3, the energization time of the welding current is used as control of the rotation time of the electric actuator 3, thereby controlling the drive of the electric actuator 3.
[0053]
In this way, by controlling the electric actuator 3 of the clamp device 2 mounted on the pallet carriage 1 by the welding machine control device 140, the actuator control device 10 becomes unnecessary, and it is possible to suppress capital investment. Become.
[0054]
Next, in step S500, the welding machine control device 140 determines whether the operation of fixing the workpiece by the electric actuator 3 of the clamping device 2 on the pallet carriage 1 has been completed. In step S500, unless it is determined that the work for fixing the workpiece to be spot welded by electric actuator 3 is completed (NO in step S500), operation of electric actuator 3 in step S400 is continued. If it is determined in step S500 that the work of fixing the workpiece to be spot welded by electric actuator 3 has been completed (YES in step S500), the process proceeds to step S600.
[0055]
In the determination of the completion of the workpiece fixing in step S500, the detection amount extracted from the function of a welding condition monitor or the like that monitors the welding conditions during welding provided in the welding machine control device 140 is set to the electric motor. By providing feedback to the drive control of the actuator 3, it is possible to fix the workpiece optimally for assuring the assembly accuracy of the vehicle body during spot welding, and sensors necessary for determining whether or not the workpiece can be fixed. Installation to the clamping device 2 becomes unnecessary.
[0056]
When the workpiece to be spot welded is fixed by driving electric actuator 3 (YES in step 500), in step S600, welding robot 100 opens welding gun 120 under the control of welding robot controller 110. The movable welding tip 130a is detached from the upper layer surface 51a of the terminal 50.
[0057]
Next, in step S <b> 700, under the control of the welding robot control device 110, the welding robot 100 separates the fixed welding tip 130 b from the lower surface 51 c of the terminal 50 and retracts the welding gun 120 from the terminal 50.
[0058]
Next, in step S <b> 800, the welding robot 100 moves the welding gun 120 backward from the terminal 50 by the welding robot control device 110.
[0059]
As described above, the terminal 50 is provided on the side surface portion of the pallet carriage 1, and the terminal 50 is attached by the pair of welding tips 130 a and 130 b attached to the distal end portion of the welding gun 120 that is the end effector of the welding robot 100. By clamping, supplying power for driving the clamp from the welding power source 150 and driving the electric actuator 3 of the clamp device 2 mounted on the pallet carriage 1, the actuator power source 30 and the pallet carriage 1 are It is not necessary to provide the power supply connecting device 20 for supplying power to the mounted clamping device 2, and accordingly, installation of a power transmission medium 31 such as wiring or piping for transmitting power becomes unnecessary. Costs required for investment and wiring work can be reduced.
[0060]
Further, by controlling the number of rotations and the rotation time which are driving conditions of the electric actuator 3 by the control parameters of the welding current magnitude and the energization time which are energization patterns in the welding machine control device 140, the actuator control device 10 becomes unnecessary, and the cost required for capital investment can be suppressed. These effects are particularly remarkable when considered as a whole body assembly line.
[0061]
In the following, when two welding robots 100a and 100b are arranged at one pallet truck stop position, which is an embodiment different from the first embodiment, that is, one pallet truck 1 A case where the two welding robots 100a and 100b perform work on the upper workpiece will be described below.
[0062]
[Second Embodiment] FIG. 5 is a plan view showing a case where the first welding robot 100a and the second welding robot 100b are arranged with respect to one pallet truck stop position. Here, the first welding robot 100a and the second welding robot 100b are arranged facing each other with the pallet carriage 1 in between, and are intended for spot welding loaded on the pallet carriage 1. The first welding robot 100a, the second welding robot 100b, and the pallet carriage described above so that a work is included in the operation range constituted by the first welding robot 100a and the second welding robot 100b. Stop position is arranged. Further, both the first welding robot 100a and the second welding robot 100b have the same structure as the welding robot 100 in the first embodiment, and the end effector has the same structure as the first embodiment. Welding guns 120a and 120b, which are welding machines, are provided, and a pair of welding tips 130a and 130b (not shown) are provided at the distal ends of the welding guns 120a and 120b. The first welding robot 100a is controlled by the first welding robot controller 110a, and the second welding robot 100b is controlled by the second welding robot controller 110b. Further, a pair of welding tips 130a and 130b (not shown) attached to the tip of the first welding gun 120a of the first welding robot 100a is supplied with clamp driving power from the first welding machine power supply 150a. It is controlled by the first welding machine control device 140a. The pair of welding tips 130a and 130b (not shown) attached to the tip of the second welding gun 120b of the second welding robot 100b is supplied with clamp driving power from the second welding machine power supply 150b. It is controlled by the second welding machine control device 140b. Note that FIG. 5 does not show a workpiece to be spot welded.
[0063]
A clamp device 2 is mounted on the pallet carriage 1, and the clamp device 2 includes eight electric actuators 3a to 3h as shown in FIG. Further, terminals 50a and 50b are provided at two locations on the side surface of the pallet carriage 1, and the first terminal 50a is provided so as to be located within the operation range of the first welding robot 100a. The second terminal 50b is provided so as to be located within the operation range of the second welding robot 100b. Both the first terminal 50a and the second terminal 50b have the same structure as the terminal 50 in the first embodiment shown in FIG. 2, and the system of the electric system is the same as that shown in FIG. It is the same as that of the system of the electric system in 1 embodiment.
[0064]
Furthermore, the clamp device 2 on the pallet carriage 1 is provided with a plurality of systems for supplying power to a plurality of electric actuators from one terminal, that is, a power supply system. As shown in FIG. 5, in this embodiment, two power supply forms 160a and 160b are provided, and the first terminal 50a is clamped to the six electric actuators 3a to 3f as the first power supply system 160a. It is wired so as to supply driving power. Moreover, the 2nd terminal 50b is wired in the pallet truck 1 as the 2nd electric power feeding system 160b so that the electric power for clamp drive may be supplied to two electric actuators 3g-3h.
[0065]
Therefore, only the first terminal 50a is clamped by the first welding gun 120a and supplied with the clamp driving power, and the second terminal 50b is not clamped by the second welding gun 120b, and the clamping driving power is supplied. Is not supplied, the six electric actuators 3a to 3f are driven, and the other two electric actuators 3g to 3h are not driven. That is, power is supplied to the first power supply system 160a, and power is not supplied to the second power supply system 160b. In addition, when both the first terminal 50a and the second terminal 50b are sandwiched between the welding guns 120a and 120b and clamp driving power is supplied, all the eight electric actuators 3a to 3h are To drive. That is, power is supplied to both the first power supply system 160a and the second power supply system 160b. By the way, the first terminal 50a is not clamped by the first welding gun 120a, the power for clamp driving is not supplied, and only the second terminal 50b is clamped by the second welding gun 120b for clamping driving. When electric power is supplied, the six electric actuators 3a to 3f are not driven, and the two electric actuators 3g to 3h are driven. That is, power is not supplied to the first power supply system 160a, but is supplied to the second power supply system 160b. In FIG. 5, the wiring is shown for easy viewing.
[0066]
Next, the operation will be described.
[0067]
Here, all eight electric actuators 3a to 3h are used in a work of a certain vehicle type, and only six electric actuators 3a to 3f are used in a work of another vehicle type.
[0068]
Below, the case where the workpiece | work of the vehicle type which uses all the eight electric actuators 3a-3h is fixed first is demonstrated.
[0069]
A pallet truck 1 loaded with a work of a vehicle type using eight electric actuators 3a to 3h is positioned at a pallet truck stop position located in front of the two welding robots 100a and 100b by a pallet truck circulating means 200 (not shown) and stopped Then, for example, the welding robot control devices 110a and 110b receive electrical signals from a vehicle type detection unit (not shown) provided on the workpiece, so that the workpiece needs to be fixed to the eight electric actuators 3a to 3h. Recognize that it is a work.
[0070]
Next, under the control of the first welding robot controller 110a, the first welding robot 100a moves the welding tips 130a and 130b attached to the tip of the first welding gun 120a to the vicinity of the first terminal 50a. Then, the fixed welding tip 130b attached to the first welding gun 120a is moved to a state in contact with the lower layer surface 51c of the first terminal 50a.
[0071]
Next, the first welding robot 100a causes the movable welding tip 130a attached to the tip of the first welding gun 120a to approach the fixed welding tip 130b under the control of the first welding robot controller 110a. Thus, the movable welding tip 130b is positioned so as to be in contact with the upper layer surface 51a of the first terminal 50a, and the pressure is closed in this state. Then, the first welding machine control device 140a specifies a specified welding current magnitude and a specified energization which are specified operation patterns for driving the six electric actuators 3a to 3f mounted on the pallet carriage 1. In accordance with time, clamp driving power is supplied from the first welding machine power supply 150a to the first power feeding system 160a, and the six electric actuators 3a to 3f mounted on the pallet carriage 1 are controlled.
[0072]
The control of the six electric actuators 3a to 3f is performed according to the control of the clamp driving power of the first welding machine control device 140a, and the magnitude of the welding current as the energization pattern is determined by the electric actuator. As control of the rotation speed of 3a-3f, the energization time of the welding current is used as control of the rotation time of the electric actuators 3a-3f, thereby controlling the electric actuators 3a-3f.
[0073]
As described above, the clamp driving power is supplied to the six electric actuators 3a to 3f mounted on the pallet carriage 1 by the first welding machine power supply 150a, and the pallet carriage is supplied by the first welding machine controller 140a. By controlling the six electric actuators 3 a to 3 f mounted on 1, power is supplied to the actuator power source 30, the actuator controller 10, and the clamp device 2 mounted on the pallet carriage 1. Therefore, it is not necessary to provide the power supply connecting device 20 for the power supply, and accordingly, the installation of the power transmission medium 31 such as wiring or piping for transmitting power becomes unnecessary, and the cost required for capital investment and wiring work is suppressed. Things will be possible.
[0074]
Next, the first welding machine control device 140a determines whether or not the operation of fixing the workpiece by the six electric actuators 3a to 3f mounted on the pallet carriage 1 has been completed.
[0075]
In the determination of the completion of the workpiece fixing, the detection amount extracted from the function of a welding condition monitor or the like for monitoring the welding condition during welding provided in the first welding machine control device 140a is used as the electric actuator 3a to 3a. By providing feedback to the drive control of 3f, it becomes possible to fix the workpiece optimally to ensure the assembly accuracy of the vehicle body at the time of spot welding, and further, sensors necessary for determining whether the workpiece can be fixed, etc. Installation on the clamping device 2 is not necessary.
[0076]
If it is determined that the workpiece has been fixed, the first welding robot 100a causes the first welding robot controller 110a to open the first welding gun 120a and place the movable welding tip 130a on the first terminal 50a. Then, the fixed welding tip 130b is detached from the lower layer surface 51c of the first terminal 50a, and the first welding gun 120a is retracted from the first terminal 50a.
[0077]
The second welding robot 100b has welding tips 130a and 130b attached to the tip of the second welding gun 120b under the control of the second welding robot controller 110b along with the operation of the first welding robot 100a. Is moved to the terminal position that is the vicinity of the second terminal 50b and the approach position, and then the fixed welding tip 130b attached to the second welding gun 120b is placed on the lower surface 51c of the second terminal 50b. Move to contact.
[0078]
Next, the second welding robot 100b causes the movable welding tip 130a attached to the tip of the second welding gun 120b to approach the fixed welding tip 130b under the control of the second welding robot controller 110b. Thus, the movable welding tip 130b is positioned so as to be in contact with the upper layer surface 51a of the second terminal 50b, and the pressure is closed in this state. Then, the second welding machine control device 140b follows the designated welding current magnitude and the designated energization time, which are designated operation patterns for driving the two electric actuators 3g to 3h on the pallet carriage 1. Clamp driving power is supplied from the second welding machine power supply 150b to the second power feeding system 160b, and the two electric actuators 3g to 3h mounted on the pallet carriage 1 are controlled.
[0079]
Note that the control of the two electric actuators 3g to 3h is performed according to the control of the clamp driving power of the second welding machine control device 140b, and the magnitude of the welding current as an energization pattern is determined by the electric actuator. As control of the rotation speed of 3g to 3h, the energizing time of the welding current is used as control of the rotation time of the electric actuators 3g to 3h, thereby controlling the electric actuators 3g to 3h.
[0080]
As described above, the electric power for clamp driving is supplied from the second welding machine power supply 150b to the two electric actuators 3g to 3h mounted on the pallet carriage 1, and the pallet carriage is supplied by the second welding machine controller 140b. By controlling the electric actuators 3g to 3h mounted on 1, the actuator power source 30, the actuator control device 10, and the clamp device 2 mounted on the pallet truck 1 are used to supply power. It is no longer necessary to provide the power supply connection device 20, and accordingly, it is not necessary to install a power transmission medium 31 such as wiring or piping for transmitting power, and the cost required for capital investment and wiring work can be reduced. It becomes possible.
[0081]
Next, the second welding machine control device 140b determines whether or not the operation of fixing the workpiece by the electric actuators 3g to 3h mounted on the pallet carriage 1 has been completed.
[0082]
In the determination of the completion of the workpiece fixing, the detection amount extracted from the function of a welding condition monitor or the like for monitoring the welding conditions during welding provided in the second welding machine control device 140b is used as the electric actuator 3g to By providing feedback to the drive control for 3h, it is possible to fix the workpiece optimally to ensure the accuracy of assembly of the vehicle body during spot welding, and to provide sensors necessary for determining whether the workpiece can be fixed. Installation on the clamping device 2 is not necessary.
[0083]
When it is determined that the workpiece is fixed, the second welding robot 100b opens the second welding gun 120b and controls the movable welding tip 130a to the second terminal 50b under the control of the second welding robot controller 110b. Then, the fixed welding tip 130b is detached from the lower layer surface 51c of the second terminal 50b, and the second welding gun 120b is retracted from the second terminal 50b.
[0084]
Next, the case where the workpiece | work of the vehicle type which uses six electric actuators 3a-3f is fixed is demonstrated below.
[0085]
When the pallet truck 1 loaded with the work of the vehicle type using the six electric actuators 3a to 3f is positioned at the pallet truck stop position located in front of the two welding robots 100a and 100b by the pallet truck circulating means 200 (not shown). For example, when the welding robot control devices 110a and 110b receive an electrical signal from a vehicle type detection unit (not shown) provided on the workpiece, the workpiece of the vehicle type that needs to be fixed to the six electric actuators 3a to 3f. Recognize that.
[0086]
At this time, the second welding robot control device 110b determines that no operation is required by the vehicle type detection means.
[0087]
Next, under the control of the first welding robot controller 110a, the first welding robot 100a moves the welding tips 130a and 130b attached to the tip of the first welding gun 120a to the vicinity of the first terminal 50a. Then, the fixed welding tip 130b attached to the first welding gun 120a is moved to a state where it contacts the lower surface of the lower layer surface 51c of the first terminal 50a.
[0088]
Next, the first welding robot 100a causes the movable welding tip 130a mounted at the tip of the first welding gun 120a to approach the fixed welding tip 130b under the control of the first welding robot controller 110a. Thus, the movable welding tip 130b is positioned so as to be in contact with the upper surface of the upper layer surface 51a of the first terminal 50a, and in that state, the pressure is closed, and the first welding machine controller 140a is mounted on the pallet carriage 1. In addition, the clamp driving power is supplied from the first welding machine power supply 150a to the first feeding system in accordance with the magnitude and energization time of the welding current, which is the optimum designated operation pattern for driving the six electric actuators 3a to 3f. The six electric actuators 3a to 3f mounted on the pallet carriage 1 are controlled.
[0089]
The control of the six electric actuators 3a to 3f is performed according to the control of the clamp driving power of the first welding machine control device 140a, and the magnitude of the welding current as the energization pattern is determined by the electric actuator. As control of the rotation speed of 3a-3f, the energization time of the welding current is used as control of the rotation time of the electric actuators 3a-3f, thereby controlling the electric actuators 3a-3f.
[0090]
As described above, the clamp driving power is supplied to the six electric actuators 3a to 3f mounted on the pallet carriage 1 by the first welding machine power supply 150a, and the pallet carriage is supplied by the first welding machine controller 140a. By controlling the six electric actuators 3 a to 3 f mounted on 1, power is supplied to the actuator power source 30, the actuator controller 10, and the clamp device 2 mounted on the pallet carriage 1. Therefore, it is not necessary to provide the power supply connecting device 20 for the power supply, and accordingly, the installation of the power transmission medium 31 such as wiring or piping for transmitting power becomes unnecessary, and the cost required for capital investment and wiring work is suppressed. Things will be possible.
[0091]
Next, the first welding machine control device 140a determines whether or not the operation of fixing the workpiece by the six electric actuators 3a to 3f mounted on the pallet carriage 1 has been completed.
[0092]
In the determination of the completion of the workpiece fixing, the detection amount extracted from the function of a welding condition monitor or the like for monitoring the welding condition during welding provided in the first welding machine control device 140a is used as the electric actuator 3a to 3a. By providing feedback to the drive control of 3f, it becomes possible to fix the workpiece optimally to ensure the assembly accuracy of the vehicle body at the time of spot welding, and further, sensors necessary for determining whether the workpiece can be fixed, etc. Installation on the clamping device 2 is not necessary.
[0093]
If it is determined that the workpiece has been fixed, the first welding robot 100a causes the first welding robot controller 110a to open the first welding gun 120a and place the movable welding tip 130a on the first terminal 50a. Then, the fixed welding tip 130b is detached from the lower layer surface 51c of the first terminal 50a, and the first welding gun 120a is retracted from the first terminal 50a.
[0094]
In addition, the second welding robot 100b has a welding tip 130a attached to the tip of the second welding gun 120b under the control of the second welding robot controller 110b along with the operation of the first welding robot 100a. , 130b are moved to the terminal position that is the vicinity of the second terminal 50b and the approach position, and then the fixed welding tip 130b attached to the second welding gun 120b is moved to the lower surface of the second terminal 50b. It moves to the state which contacts 51c.
[0095]
In the case of the vehicle model, the second welding robot 100b does not perform an operation for supplying clamp driving power to the two electric actuators 3g to 3h mounted on the pallet carriage 1.
[0096]
The procedure for controlling the welding robots 100a and 100b by the welding robot control devices 110a and 110b and the procedure for controlling the electric actuator by the welding machine control devices 140a and 140b are the same as those in the first embodiment shown in FIG. It is the same.
[0097]
As described above, in the flexible pallet truck 1 for dealing with multiple vehicle types, the clamp device 2 includes the two terminals 50a and 50b and the plurality of electric actuators 3a to 3h, and the first terminal 50a The first feeding system 160a wired to supply the input clamp driving power to the six electric actuators 3a to 3f, and the other two electric motors using the clamp driving power input from the second terminal 50b. By providing the second power supply system 160b wired to supply the actuators 3g to 3h, each welding is performed at the pallet truck stop position arranged within the operation range of the two welding robots 100a and 100b. Depending on whether or not the robot 100a, 100b holds the terminals 50a, 50b, each electric actuator corresponding to the vehicle type Over operation of the motor 3a~3h becomes possible, the control is not necessary to provide an actuator control unit 10 for performing commensurate with the number of the electric actuator 3a~3h for corresponding to each vehicle type.
[0098]
That is, in accordance with the production type, a part that needs to be fixed by the electric actuator 3 is clamped by the welding robot 100 and is controlled by the welding machine control device 140 from the welding machine power supply 150 for clamping driving power. Where the work is not fixed by the electric actuator 3, the clamping operation by the welding robot 100 is not performed, and the clamp driving power is supplied from the welding machine power supply 150 by the welding machine controller 140. By not performing the above, it becomes possible to make the clamping device 2 on the pallet carriage 1 flexible.
[0099]
In the present embodiment, the two welding robots 100a and 100b, the two terminals 50a and 50b, the eight electric actuators 3a to 3h, and the two power feeding systems 160a and 160b have been described. The present invention is not limited, and for example, it can be applied to two or more welding robots 100, two or more terminals 50, one to seven electric actuators 3, or nine or more electric actuators 3, or three or more power supply systems. I can do it.
[0100]
Further, both the first embodiment and the second embodiment can be applied to the case where the workpiece is released from the clamping device 2 or the like.
[0101]
The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.
[Brief description of the drawings]
FIG. 1 is a diagram showing an outline of a feeding method of an electric actuator by a welding gun of a welding robot and a configuration of the apparatus in a first embodiment of the present invention.
FIG. 2 is a diagram showing a main part of a welding tip and a terminal in the first embodiment of the present invention.
FIG. 3 is a diagram showing a configuration of an electric system in the first embodiment of the present invention.
FIG. 4 is a flowchart showing a control procedure of the welding robot by the welding robot control device and a control procedure of the electric actuator by the welding machine control device in the first embodiment of the present invention.
FIG. 5 is a plan view showing a case where two welding robots are arranged with respect to one pallet truck stop position in the second embodiment of the present invention.
FIG. 6 is a diagram showing an outline of a conventional actuator power supply system and a configuration of the apparatus.
[Explanation of symbols]
1 ... Pallet cart
2 ... Clamping device
3 ... Electric actuator
3a-3h ... Electric actuator
4 ... Gauge
5 ... Air cylinder
6 ... Power converter for actuator
10 ... Control device for actuator
20 ... Connecting device for power supply
21 ... Output section
25 ... Input section
30 ... Power source for actuator
31 ... Power transmission medium
40 ... Power converter for actuator
50 ... Terminal
50a ... first terminal
50b ... second terminal
51a ... Upper surface
51b ... Middle layer surface
51c ... lower surface
100 ... welding robot
100a ... first welding robot
100b ... second welding robot
110 ... Control device for welding robot
110a ... Control device for first welding robot
110b ... Control device for second welding robot
120 ... Welding gun
120a ... first welding gun
120b ... second welding gun
130a ... movable welding tip
130b ... Fixed welding tip
140 ... Control device for welding machine
140a ... Control device for first welding machine
140b ... Control device for second welding machine
150 ... Power supply for welding machine
150a ... Power supply for the first welding machine
150b ... Power supply for second welding machine
160a ... 1st electric power feeding system
160b ... second power supply system
200 ... Pallet cart patrol means
210 ... Stand
220... Motor for rotating the roller
230 ... patrol roller
Tr ... Transformer for welding

Claims (5)

To ensure the assembly accuracy of the workpiece during the welding of the workpiece by the welding gun of the welder, a clamping device for positioning and fixing the workpiece by adhering the gage to said workpiece,
An electric actuator for opening and closing the gauge;
A terminal electrically connected to the electric actuator ,
A pair of welding tips, which are attached to the tip of the welding gun and contact the workpiece directly to weld the workpiece , contact the terminal, and power for driving the electric actuator is supplied from the power source of the welding machine Clamp device supplied. The electric actuator, the welding machine clamping device according to claim 1, wherein the controlled depending on the size and the energization time parameters of the welding current applied to the welding tip by Ri that are controlled to the control means. A first power supply system wired to supply power input from the first terminal to a plurality of electric actuators;
The clamp apparatus according to claim 1 , further comprising: a second power feeding system wired to supply electric power input from the second terminal to another plurality of electric actuators. To ensure the assembly accuracy of the workpiece during the welding of the workpiece by the welding gun of the welder, in a clamping device for fixing positioning the workpiece by adhering the gauge to the workpiece, an electric actuator for opening and closing the gauge A power supply method for supplying driving power from the outside,
A pair of welding tips that are attached to the tip of the welding gun and are in direct contact with the workpiece to weld the workpiece are brought into contact with terminals electrically connected to the electric actuator, and the electric actuator is A method for supplying power to a clamp device driven by electric power supplied from a power source of a welding machine. Wherein the electric actuator, the feeding method of the claim 4 the clamping device according to control in accordance with the parameters of magnitude and energization time of the welding current to be supplied to the welder welding tip by Ri that are controlled to the control means.

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