JPH0254199B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a positioner for controlling and positioning a product to be welded, for example in an automatic welding line.

Prior Art Conventionally, in an automatic welding line, the product to be welded is generally supported by a positioner to control and position the product, and welding work is performed by a welding robot.

For example, as shown in FIGS. 1 and 2, this positioner 6 can freely rotate the product support table 1 around the central axis e of the table 1 and around the side support shaft 2 of the table 1. It is supported on the support frame 3.

However, in the positioner with the above configuration, as shown in FIG. 2, after the product 7 is welded at position A shown by the dashed line with the table 1 tilted, the position of the product 7 is changed to the position shown by the solid line. When the table 1 is moved around the support shaft 2 at B, the product 7 and the support shaft 2, which is the center of rotation of the product 7, are moved.
Since the two parts are far apart from each other, the product 7 is located outside the welding work range 5 of the robot 4, resulting in a problem that the welding work becomes impossible.

To solve this problem, a positioner 8 shown in FIG. 3 has been provided. This positioner 8 has a product support table 11 rotatably supported around its central axis f within a U-shaped support frame 10 whose both sides are rotatably supported by rotary drive devices 9, respectively. It is something. A product conveyor is provided on one side of the support frame 10 in a direction perpendicular to the rotation axis g of the support frame 10 (the front side in FIG. 3), and a conveyor is provided on the other side. A robot is installed on the opposite side (facing the drawing) and performs welding.

However, in the above positioner, since the position of the product is changed by rotating the support frame 10 toward the belt conveyor side around its rotation axis g, the product and the rotation center of the product, that is, the rotation axis Although the above problem is solved by bringing the center g into close proximity, a space for rotating the support frame is required between the support frame 10 and the end of the belt conveyor, and the space between the belt conveyor and the table 11 in the support frame is There were problems in that the transport work of the product became complicated and the efficiency of welding work decreased.

Purpose of the Invention The purpose of the present invention is to solve the above-mentioned problems by reducing the space required for rotating the product and quickly positioning the product and a working machine such as a welding robot. To provide a positioner that can carry out product transfer work accurately, and also allows peripheral equipment such as a product transfer conveyor to be placed near the table, thereby efficiently carrying out product transfer work between the table and the peripheral equipment. There is a particular thing.

Configuration of the Invention In order to achieve the above object, the present invention was configured as follows. That is, it includes a base, an arm, a cylinder for rotating the arm, a product support table, and a link mechanism, and the link mechanism and the arm form a parallel link in the form of a parallelogram, and the cylinder for rotating the arm rotates the arm. At the same time as one end is rotated around the shaft support, the rotating member is rotated by the driving cylinder, and the table is integrally rotated with the lever via the link rod to control the posture of the product supported on the table. I am trying to determine the position.

EXAMPLE The present invention will be specifically described below based on the drawings shown from FIG. 4 onwards.

As shown in Figures 4, 5 and 6, 21 is a base, 22
The frame portions 21a are arranged in pairs on the base 21,
An arm whose one end is pivotally supported by a support shaft 24 supported by 21a;
A pair of arm rotation cylinders 25 are pivotally supported at the center in the longitudinal direction of the arm 22 and each other end is pivotally supported on the base 21 (see FIG. 7). supported product support table, 2
Reference numeral 7 denotes a link mechanism for tilting the table 25 with respect to the arm 22.

The table 25 includes a table main body 25a on which a product is placed and fixed, and a table support part 2 that pivotally supports the center part of the table main body 25a with a rotation shaft 28.
5b, and the table body 25 is rotated around the rotation axis 28 by the motor 29 of the table support part 25b.
A can be rotated in forward and reverse directions.

On the other hand, the link mechanism 27 includes a fan-shaped plate 30 as a rotating member, a lever 31, and a link rod 3.
It is roughly composed of 2.

The fan-shaped plate 30 is rotatably provided on a support shaft 24 that pivotally supports one end of the arm 22, and a fan-shaped plate driving cylinder 33 is provided between the arc center portion and the base 21. In addition, a support shaft 2 supported on the other end of the arm 22 is also provided.
6, the lever 31 integrally connected to the table support portion 25b is rotatably provided.
The link rod 32 is installed between the tip of the lever 31 and the overhang 30a of the sector plate 30 so as to be relatively rotatable and parallel to the longitudinal axis of the arm 22. Therefore, the arm 22, the lever 31, the link rod 32, and the sector plate 30 form a parallel link in the shape of a parallelogram.

In the positioner configured as described above, when a product is fixed on the table 25 and the table 25 is tilted relative to the arm 22 from a position C shown by a solid line to a position D shown by a two-dot chain line in FIG. First, the arm rotation cylinders 23, 23 are driven to rotate the arm 22 about the support shaft 24. Along with this rotation of the arm 22, the fan-shaped plate driving cylinder 33 is driven to move the fan-shaped plate 30 onto the support shaft 24.
Rotate in the direction of arrow a around . This fan-shaped plate 3
0, the lever 31 is rotated via the link rod 32 around the support shaft 26 in the direction of arrow b. As the lever 31 rotates, the table support portion 25b integrally connected to the lever 31 also rotates in the direction of the arrow b, and the table main body 25a is positioned substantially vertically at the D position. Therefore, the product fixed on the table 25 is
In the figure, the product rotates around point d, and by bringing the center of the product closer to point d, the product rotates within a smaller range and is always kept within the working range of the welding robot. can do.

Note that the present invention is not limited to this embodiment, and can be implemented in various other embodiments. For example, the arm and the link mechanism may be driven separately, or the welding operation may be performed with the table stopped not only at positions C and D as shown in the figure but also at any other arbitrary position. In addition, the rotating member is not limited to a fan-shaped plate, but may be a plate material of any shape or a lever-shaped member, and the axis of the rotating member is not coaxial with the shaft support at one end of the arm, They may be located at different positions to form parallel links. Furthermore, one end of the drive cylinder of the rotating member may be fixed to the arm instead of the base.

Effects of the Invention According to the present invention, the arm is rotated around the shaft support at one end of the arm by the arm rotation cylinder, and the table supporting the product is tilted with respect to the arm by the link mechanism, so that the product can be rotated. Since the posture of the product is controlled and positioned by rotation, the space required for rotation of the product is small, and the positioning of the product and a working machine such as a welding robot can be done quickly and accurately. Also,
Since the arm rotates only around the pivot at one end of the arm and does not move in the axial direction of the pivot,
Peripheral equipment such as a product conveyor can be placed near the table, or positioners can be installed in parallel, increasing the efficiency of work between the table and related equipment. In addition, the arm that pivots the table is pivoted at one end and is also supported against the base by the arm rotation cylinder. The balancer that was required to maintain the balance is no longer required. Furthermore, since the table is tilted relative to the arm using parallel links, it can be operated smoothly with a simple structure.

[Brief explanation of the drawing]

Fig. 1 is a perspective view of a conventional positioner, Fig. 2 is a side view showing the relationship between the positioner shown in Fig. 1 and a welding robot, Fig. 3 is a front view showing another conventional positioner, and Fig. 4 5 is a plan view of a positioner according to an embodiment of the present invention, and FIGS. 5, 6, and 7 are respectively 4
FIG. 2 is a side view, a front view, and a partially cutaway side view of the positioner shown in the figure. 21...Base, 22...Arm, 23...Arm rotation cylinder, 25...Table, 27...
Link mechanism, 30... Rotating member, 31... Lever, 32... Link rod, 33... Driving cylinder.

Claims (1)

[Claims] 1. A base, an arm having one end pivotally supported by the base, an arm rotation cylinder interposed between the arm and the base, and a product support table pivotally supported by the other end of the arm. , a link mechanism for tilting the table with respect to the arm, and the link mechanism is connected to a rotating member pivotally supported at one end of the arm and rotated by a driving cylinder, and a rotating member at the other end of the arm. Consisting of a lever that is coaxially supported with the shaft support and integrally connected to the table, and a link rod that connects the rotating member and the lever,
A positioner characterized in that the link mechanism and the arm form a parallel link in the shape of a parallelogram.