Agile robotic fixture apparatus with multi degree of freedom joints

Abstract

The robotic fixing jig device of the present invention comprises: a first fixing jig unit comprising a pair of pivot links that are horizontally and vertically moved and rotate in a horizontal plane and each have a support end that supports one side edge of a fixed object; a second fixing jig unit comprising a pair of pivot links that are horizontally and vertically moved and rotate in a horizontal plane and each have a support end that supports the opposite side of a fixed object; and a pair of third fixing jig units comprising pivot links that are horizontally and vertically moved and rotate in a horizontal plane and each have a support end that supports the other side edge of a fixed object.

Description

Technology Field

[0001] The present invention relates to a robotic fixing jig device, and more specifically, to a robotic fixing jig device having a multi-degree-of-freedom joint capable of supporting and fixing a fixed object having various shapes by having a plurality of support ends that move horizontally and vertically and rotate in a horizontal plane. Background Technology

[0002] Automotive parts are products where various components are applied depending on the vehicle model. In existing production lines, assembly jigs and base plates are manufactured as a single integrated unit because the line is dedicated to a single product. Therefore, to produce parts for two or more vehicle models in a mixed-model production process, interchangeable dedicated jigs must be manufactured because the shapes and assembly positions differ for each vehicle type.

[0003] In particular, in the process of assembling clips to automobile door trims, the conventional method consists of a dedicated device including a fixed jig capable of mounting only one type of door trim. In other words, as the number of door trim types increases, a corresponding number of dedicated jig devices including fixed jigs are required.

[0004] When configuring the assembly process with a dedicated device including a fixed jig, there is a disadvantage in that the number of devices required increases, and flexibility for process changes due to changes in the model of the door trim, which is the workpiece, is reduced. Prior art literature

[0005] Registered Patent Publication No. 10-1821140 (Registered on January 17, 2018) The problem to be solved

[0006] The present invention aims to provide a flexible robotic fixing jig device that can fix and work with various types of parts on the same production line using the same jig device, such as in an automobile parts assembly process. means of solving the problem

[0007] A robotic fixing jig device of the present invention for achieving the above objective comprises: a first fixing jig unit comprising a pair of pivot links that are horizontally and vertically moved and rotate in a horizontal plane and each have a support end that supports one side edge of a fixed object at their end; a second fixing jig unit comprising a pair of pivot links that are horizontally and vertically moved and rotate in a horizontal plane and each have a support end that supports the opposite side of a fixed object at their end; and a pair of third fixing jig units comprising pivot links that are horizontally and vertically moved and rotate in a horizontal plane and each have a support end that supports the other side edge of a fixed object at their end.

[0008] The first fixed jig unit may include a fixed bracket mounted on the edge of a base plate, a pair of movable brackets mounted to be movable in a horizontal direction on the fixed bracket, a pair of lifting brackets mounted to be movable in an up-and-down direction on the pair of movable brackets, and a pair of pivot links rotatably mounted on the pair of lifting brackets and having the support end.

[0009] The first fixed jig unit may further include a first guide rail coupled to the fixed bracket to support the pair of movable brackets so as to be movable in the horizontal direction, a pair of first lead screws rotatably mounted on the fixed bracket and connected to the pair of movable brackets, a pair of first motors mounted on the fixed bracket to rotate the pair of first lead screws, a second guide rail coupled to the pair of movable brackets to support the pair of lifting brackets so as to be movable in the vertical direction, a pair of second lead screws rotatably mounted on the pair of movable brackets and connected to the pair of lifting brackets, a pair of second motors mounted on the pair of movable brackets to rotate the pair of second lead screws, and a pair of third motors mounted on the pair of lifting brackets to rotate the pair of pivot links.

[0010] The support end of the first fixed jig unit may include a circular disc portion rotatably mounted on one end of the pivot link and a support shaft portion extending upward from the center of the disc portion.

[0011] The second fixed jig unit may include a fixed bracket mounted on the edge of a base plate, a pair of movable brackets mounted to be movable in a horizontal direction on the fixed bracket, a pair of lifting brackets mounted to be vertically movable on the pair of movable brackets, and a pair of pivot links rotatably mounted on the pair of lifting brackets and having the support end.

[0012] The support end of the second fixed jig unit may be formed in a cylindrical shape rotatably mounted on one end of the pivot link.

[0013] The above pair of third fixed jig units may include a fixed bracket mounted on the edge of a base plate, a movable bracket mounted to be movable in a horizontal direction on the fixed bracket, a lifting bracket mounted to be movable in an up-and-down direction on the movable bracket, and a pivot link rotatably mounted on the lifting bracket and having the support end.

[0014] The above pair of third fixed jig units may further include a first guide rail coupled to the fixed bracket to support the movable bracket so as to be movable in the horizontal direction, a first lead screw rotatably mounted on the fixed bracket and connected to the movable bracket, a first motor mounted on the fixed bracket to rotate the first lead screw, a second guide rail coupled to the movable bracket to support the lifting bracket so as to be movable in the vertical direction, a second lead screw rotatably mounted on the movable bracket and connected to the lifting bracket, a second motor mounted on the movable bracket to rotate the second lead screw, and a third motor mounted on the lifting bracket to rotate the pivot link.

[0015] The support end of the third fixed jig unit may include a circular disc portion rotatably mounted on one end of the pivot link and a support shaft portion extending upward from the center of the upper surface of the disc portion. Effects of the invention

[0016] According to the robotic fixing jig device of the present invention described above, various types of parts, such as in an automobile parts assembly process, can be fixed and worked on on the same production line using the same jig device, and the convenience of work can be improved because the multi-degree-of-freedom robotic jig device can automatically expand, contract, support, and fix by automatically recognizing the part model number. Brief explanation of the drawing

[0017] FIG. 1 is a perspective view showing a robotic fixing jig device according to one embodiment of the present invention. FIG. 2 is a perspective view showing a robotic fixing jig device fixing a door trim, which is a fixed object. FIGS. 3 and FIGS. 4 are perspective views showing the first fixed jig unit as viewed from one side and the other. FIGS. 5 and FIGS. 6 are perspective views showing the second fixed jig unit as viewed from one side and the other. FIGS. 7 and FIGS. 8 are perspective views showing the third fixed jig unit as viewed from one side and the other. FIG. 9 is a perspective view showing that the support end of three fixing jig units pushes and fixes the door trim. Specific details for implementing the invention

[0018] The present invention is capable of various modifications and may have various embodiments, and specific embodiments are illustrated and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and it should be understood that it includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention.

[0019] The terms used in this invention are used merely to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this invention, terms such as "comprising" or "having" are intended to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0020] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Note that in the accompanying drawings, identical components are indicated by the same reference numerals whenever possible. Furthermore, detailed descriptions of known functions and configurations that may obscure the essence of the present invention will be omitted. For the same reason, some components in the accompanying drawings may be exaggerated, omitted, or schematically depicted.

[0021] FIG. 1 is a perspective view showing a robotic fixing jig device according to one embodiment of the present invention, and FIG. 2 is a perspective view showing the robotic fixing jig device fixing a door trim, which is a target object for fixing.

[0022] FIGS. 3 and 4 are perspective views showing the first fixed jig unit as viewed from one side and the other, FIGS. 5 and 6 are perspective views showing the second fixed jig unit as viewed from one side and the other, and FIGS. 7 and 8 are perspective views showing the third fixed jig unit as viewed from one side and the other.

[0023] A robotic fixing jig device (100) according to one embodiment of the present invention includes a first fixing jig unit (120), a second fixing jig unit (140), and two pairs of third fixing jig units (160) disposed at the edge of a base plate (110).

[0024] The first fixed jig unit (120) includes a pair of pivot links (134) that are horizontally and vertically movable and pivot in a horizontal plane, and each have a support end (135) that supports one side edge of the fixed object (10) at its end.

[0025] In other words, the first fixed jig unit (120) may include a pair of support members (135) that are horizontally and vertically moved and rotated in a horizontal plane to push and support one side of the fixed object (10).

[0026] The second fixed jig unit (140) includes a pair of pivot links (154) that are horizontally and vertically movable and pivot in a horizontal plane, and each have a support end (155) that supports the opposite side of the fixed object (10) at its end.

[0027] In other words, the second fixed jig unit (140) may include a pair of support members (155) that are horizontally and vertically moved and rotated in a horizontal plane to push and support the other side of the fixed object (10).

[0028] Two pairs of third fixed jig units (160) are horizontally and vertically movable and rotate in a horizontal plane and include a pivot link (174) having a support end (175) that supports the other side corner of the fixed object (10) at the end.

[0029] In other words, the third fixed jig unit (160) may include a support member (175) that moves horizontally and vertically and rotates in a horizontal plane to push and support the other side of the fixed object (10).

[0030] Thus, the robotic fixing jig device (100) may be composed of a first fixing jig unit (120) having two support members (135), a second fixing jig unit (140) having two support members (155), and four third fixing jig units (160) each having one support member (175).

[0031] In FIG. 2, a robotic fixing jig device (100) is exemplarily shown fixing a specific door trim (10) of a car.

[0032] As illustrated in FIGS. 3 and 4, the first fixed jig unit (120) may include a fixed bracket (121) mounted on the edge of a base plate (110), a pair of movable brackets (126) mounted horizontally on the fixed bracket (121), a pair of lifting brackets (129) mounted vertically on the pair of movable brackets (126), and a pair of pivot links (134) rotatably mounted on the pair of lifting brackets (129) and having a support end (135).

[0033] The base plate (110) is made of a rectangular panel having a predetermined thickness, and a plurality of fastening holes may be formed through it.

[0034] The fixing bracket (121) may consist of a rectangular horizontal plate and a rectangular vertical plate that is vertically connected to the upper surface of the horizontal plate. A plurality of elongated holes are formed in the horizontal plate, so that the fixing bracket (121) can be fixed at a predetermined position on the base plate (110) by fastening a bolt through the fastening hole of the base plate (110) and the elongated hole of the fixing bracket (121).

[0035] A pair of movable brackets (126) can be mounted on the vertical plate portion of the fixed bracket (121) so as to be slidable in the horizontal direction.

[0036] Each moving bracket (126) may be equipped with a lifting bracket (129) that can be moved up and down.

[0037] The upper portion of each lifting bracket (129) is formed by being bent in a horizontal direction, and a pivot link (134) can be rotatably mounted on this upper portion. The pivot link (134) has both ends of an elongated rectangle formed in a semicircular shape, and a pivot shaft hole may be formed through one end.

[0038] A support member (135) may be rotatably mounted on the other end of each pivot link (134). The support member (135) may be formed in a circular shape.

[0039] The first fixed jig unit (120) comprises a first guide rail (125) coupled to a fixed bracket (121) to support a pair of movable brackets (126) so as to be movable in the horizontal direction, a pair of first lead screws (122) rotatably mounted on the fixed bracket (121) and connected to a pair of movable brackets (126), a pair of first motors (123) mounted on the fixed bracket (121) to rotate a pair of first lead screws (122), a second guide rail (128) coupled to a pair of movable brackets (126) to support a pair of lifting brackets (129) so as to be movable in the vertical direction, a pair of second lead screws (127) rotatably mounted on a pair of movable brackets (126) and connected to a pair of lifting brackets (129), and a pair of movable brackets (126) mounted on a pair of It may further include a pair of second motors (130) that rotate the second lead screw (127) and a pair of third motors (132) mounted on a pair of lifting brackets (129) that rotate a pair of pivot links (134).

[0040] Four first guide rails (125) can be connected to one side of the vertical plate portion of the fixed bracket (121) by fastening multiple screws. Two first guide rails (125) may be arranged horizontally vertically on one side of the vertical plate portion, and a total of four may be arranged on the left and right sides. Two sliders formed to surround two first guide rails (125) may be provided on the rear surface of each movable bracket (126).

[0041] A pair of first lead screws (122) can each be rotatably mounted on the other side of the vertical plate portion of the fixed bracket (121). To this end, each first lead screw (122) can be mounted on a pair of bearings. A connector extending from the movable bracket (126) and screw-coupled to the first lead screw (122) can be connected to the middle of each first lead screw (122). This connector can be positioned to pass through a through-hole formed horizontally in the vertical plate portion of the fixed bracket (121).

[0042] The first lead screw (122) can be rotated in forward and reverse directions by the first motor (123) mounted on the fixed bracket (121). The first motor (123) is positioned below the first lead screw (122), and its drive shaft can be mounted horizontally. A first belt (124) can be connected between the drive shaft of the first motor (123) and the first lead screw (122). The first belt (124) can be a timing belt mounted between a pair of pulleys. When the first motor (123) drives to rotate the first lead screw (122), the movable bracket (126), connected through a connector, can move left and right along the first guide rail (125).

[0043] In each moving bracket (126), a second lead screw (127) is rotatably mounted in the center, and a pair of second guide rails (128) can be connected vertically to the left and right of the second lead screw (127). The rear portion of the lifting bracket (129) is screw-coupled to the second lead screw (127), and a pair of second guide rails (128) can be connected to pass through the rear portion of the lifting bracket (129). Thus, when the second lead screw (127) rotates, the lifting bracket (129) can be raised and lowered along the pair of second guide rails (128).

[0044] A second motor (130) can be mounted on each moving bracket (126) such that its drive shaft is positioned vertically. A second belt (131) is connected between the drive shaft of the second motor (130) and the second lead screw (127), so that the second lead screw (127) rotates according to the forward and reverse rotation of the second motor (130), thereby allowing the lifting bracket (129) to be raised or lowered.

[0045] The third motor (132) can be mounted by hanging from the upper part of the lifting bracket (129). A reduction gear (133) is connected to the third motor (132), and the drive shaft of the third motor (132) can rotate the rotation link (134) in forward and reverse directions through the reduction gear.

[0046] A pair of support members (135) of the first fixed jig unit (120) may include a circular disc portion rotatably mounted on one end of the pivot link (134) and a support shaft portion extending upward from the center of the disc portion.

[0047] The support member (135) can support the lower corner portion of the edge portion of the door trim (10), which is the object to be fixed. The disc portion of the support member (135) supports the lower surface of the edge portion of the door trim (10), and the support shaft portion of the support member (135) can support the outer surface of the edge portion of the door trim (10) by pushing it horizontally.

[0048] As illustrated in FIGS. 5 and 6, the second fixed jig unit (140) may include a fixed bracket (141) mounted on the edge of the base plate (110), a pair of movable brackets (146) mounted horizontally on the fixed bracket (141), a pair of lifting brackets (149) mounted vertically on the pair of movable brackets (146), and a pair of pivot links (154) rotatably mounted on the pair of lifting brackets (149) and having a support end (155).

[0049] The fixing bracket (141) may consist of a rectangular horizontal plate and a rectangular vertical plate that is vertically connected to the upper surface of the horizontal plate. A plurality of elongated holes are formed in the horizontal plate, so that the fixing bracket (141) can be fixed at a predetermined position on the base plate (110) by fastening a bolt through the fastening hole of the base plate (110) and the elongated hole of the fixing bracket (141).

[0050] A pair of movable brackets (146) can be mounted on the vertical plate portion of the fixed bracket (141) so as to be slidable in the horizontal direction.

[0051] Each moving bracket (146) may be equipped with a lifting bracket (149) that can be moved up and down.

[0052] The upper portion of each lifting bracket (149) is formed by being bent in a horizontal direction, and a pivot link (154) can be rotatably mounted on this upper portion. The pivot link (154) has both ends of an elongated rectangle formed in a semicircular shape, and a pivot shaft hole can be formed through one end.

[0053] A support member (155) may be rotatably mounted on the other end of each pivot link (154). The support member (155) may be formed in a circular shape.

[0054] The second fixed jig unit (140) comprises a first guide rail (145) coupled to a fixed bracket (141) to support a pair of movable brackets (146) so as to be movable in the horizontal direction, a pair of first lead screws (142) rotatably mounted on the fixed bracket (141) and connected to a pair of movable brackets (146), a pair of first motors (143) mounted on the fixed bracket (141) to rotate a pair of first lead screws (142), a second guide rail (148) coupled to a pair of movable brackets (146) to support a pair of lifting brackets (149) so as to be movable in the vertical direction, a pair of second lead screws (147) rotatably mounted on a pair of movable brackets (146) and connected to a pair of lifting brackets (149), and a pair of movable brackets (146) mounted on a pair of It may further include a pair of second motors (150) that rotate the second lead screw (147) and a pair of third motors (152) mounted on a pair of lifting brackets (149) that rotate a pair of pivot links (154).

[0055] Four first guide rails (145) can be connected to one side of the vertical plate portion of the fixed bracket (141) by fastening multiple screws. Two first guide rails (145) may be arranged horizontally vertically on one side of the vertical plate portion, and a total of four may be arranged on the left and right sides. Two sliders formed to surround two first guide rails (145) may be provided on the rear surface of each movable bracket (146).

[0056] A pair of first lead screws (142) can each be rotatably mounted on the other side of the vertical plate portion of the fixed bracket (141). To this end, each first lead screw (142) can be mounted on a pair of bearings. A connector extending from the movable bracket (146) and screw-coupled to the first lead screw (142) can be connected to the middle of each first lead screw (142). This connector can be positioned to pass through a through-hole formed horizontally in the vertical plate portion of the fixed bracket (141).

[0057] The first lead screw (142) can be rotated in forward and reverse directions by the first motor (143) mounted on the fixed bracket (141). The first motor (143) is positioned below the first lead screw (142), and its drive shaft can be mounted horizontally. A first belt (144) can be connected between the drive shaft of the first motor (143) and the first lead screw (142). The first belt (144) can be a timing belt mounted between a pair of pulleys. When the first motor (143) drives to rotate the first lead screw (142), the movable bracket (146), connected through a connector, can move left and right along the first guide rail (145).

[0058] A second lead screw (147) is rotatably mounted in the center of each movable bracket (146), and a pair of second guide rails (148) can be connected vertically to the left and right of the second lead screw (147). The rear portion of the lifting bracket (149) is screw-coupled to the second lead screw (147), and a pair of second guide rails (148) can be connected to pass through the rear portion of the lifting bracket (149). Thus, when the second lead screw (147) rotates, the lifting bracket (149) can be raised and lowered along the pair of second guide rails (148).

[0059] A second motor (150) can be mounted on each moving bracket (146) such that its drive shaft is positioned vertically. A second belt (151) is connected between the drive shaft of the second motor (150) and the second lead screw (147), so that the second lead screw (147) rotates according to the forward and reverse rotation of the second motor (150), thereby allowing the lifting bracket (149) to be raised or lowered.

[0060] The third motor (152) can be mounted by hanging from the upper part of the lifting bracket (149). A reduction gear (153) is connected to the third motor (152), and the drive shaft of the third motor (152) can rotate the rotation link (154) in forward and reverse directions through the reduction gear.

[0061] A pair of support members (155) of the second fixed jig unit (140) may be formed in the shape of a cylinder rotatably mounted on one end of the pivot link (154).

[0062] The second fixed jig unit (140) has a different shape of the support member (155) compared to the first fixed jig unit (120), and other components can be formed with the same shape and combined structure.

[0063] The support member (155) can support the other side of the edge portion of the door trim (10), which is the object to be fixed, by pushing it in a horizontal direction. The other side of the object to be fixed, which is supported by a pair of support members (155) of the second fixing jig unit (140), may be formed in a simply vertical flat or curved shape without a flange portion being formed on the edge portion. The support member (155) of the second fixing jig unit (140) is formed in a cylindrical shape so that it can support the outer side of the edge portion of the door trim (10) by pushing it only in a horizontal direction.

[0064] As illustrated in FIGS. 7 and 8, a pair of third fixed jig units (160) may include a fixed bracket (161) mounted on the edge of a base plate (110), a movable bracket (166) mounted horizontally on the fixed bracket (161), a lifting bracket (169) mounted vertically on the movable bracket (166), and a pivot link (174) rotatably mounted on the lifting bracket (169) and having a support end (175).

[0065] When comparing the third fixed jig unit (160) with the first fixed jig unit (120), each of the pair of third fixed jig units (160) has one pivot link (174) mounted on the fixed bracket (161) so as to be horizontally movable, up and down, and pivotable, which is different from the first fixed jig unit (120) having two pivot links (174) mounted.

[0066] The fixing bracket (161) may consist of a rectangular horizontal plate and a rectangular vertical plate that is vertically connected to the upper surface of the horizontal plate. A plurality of elongated holes are formed in the horizontal plate, so that the fixing bracket (161) can be fixed at a predetermined position on the base plate (110) by fastening a bolt through the fastening hole of the base plate (110) and the elongated hole of the fixing bracket (121).

[0067] A movable bracket (166) can be mounted on the vertical plate portion of the fixed bracket (161) so as to be slidable in the horizontal direction.

[0068] Each moving bracket (166) may be equipped with a lifting bracket (169) that can be moved up and down.

[0069] The upper portion of each lifting bracket (169) is formed by being bent in a horizontal direction, and a pivot link (174) can be rotatably mounted on this upper portion. The pivot link (174) has both ends of an elongated rectangle formed in a semicircular shape, and a pivot shaft hole can be formed through one end.

[0070] A support member (175) may be rotatably mounted on the other end of each pivot link (174). The support member (175) may be formed in a circular shape.

[0071] The third fixed jig unit (160) comprises a first guide rail (165) coupled to a fixed bracket (161) to support a movable bracket (166) so as to be movable in the horizontal direction, a first lead screw (162) rotatably mounted on the fixed bracket (161) and connected to the movable bracket (166), a first motor (163) mounted on the fixed bracket (161) to rotate the first lead screw (162), a second guide rail (168) coupled to a movable bracket (166) to support a lifting bracket (169) so as to be movable in the up and down direction, a second lead screw (167) rotatably mounted on the movable bracket (166) and connected to the lifting bracket (169), a second motor (170) mounted on the movable bracket (166) to rotate the second lead screw (167), and a rotating motor mounted on the lifting bracket (169). It may further include a third motor (172) that rotates the link (174).

[0072] Two first guide rails (165) may be connected to one side of the vertical plate portion of the fixed bracket (161) by fastening multiple screws. Two first guide rails (165) may be arranged horizontally vertically on one side of the vertical plate portion. Two sliders formed to surround the two first guide rails (165) may be provided on the rear surface of the movable bracket (166).

[0073] The first lead screw (162) can be rotatably mounted on the other side of the vertical plate portion of the fixed bracket (161). To this end, the first lead screw (162) can be mounted on a pair of bearings. A connector extending from the movable bracket (166) and screw-coupled to the first lead screw (162) can be connected to the middle of the first lead screw (162). This connector can be positioned to pass through a through-hole formed horizontally in the vertical plate portion of the fixed bracket (161).

[0074] The first lead screw (162) can be rotated in forward and reverse directions by the first motor (163) mounted on the fixed bracket (161). The first motor (163) is positioned below the first lead screw (162), and its drive shaft can be mounted horizontally. A first belt (164) can be connected between the drive shaft of the first motor (163) and the first lead screw (162). The first belt (164) can be a timing belt mounted between a pair of pulleys. When the first motor (163) drives to rotate the first lead screw (162), the movable bracket (166), connected through a connector, can move left and right along the first guide rail (165).

[0075] A second lead screw (167) is rotatably mounted in the center of the movable bracket (166), and a pair of second guide rails (168) can be connected vertically to the left and right of the second lead screw (167). The rear portion of the lifting bracket (169) is screw-coupled to the second lead screw (167), and a pair of second guide rails (168) can be connected to pass through the rear portion of the lifting bracket (169). Thus, when the second lead screw (167) rotates, the lifting bracket (169) can be raised and lowered along the second guide rails (168).

[0076] A second motor (170) can be mounted on the moving bracket (166) such that its drive shaft is positioned vertically. A second belt (171) is connected between the drive shaft of the second motor (170) and the second lead screw (167), so that the second lead screw (167) rotates according to the forward and reverse rotation of the second motor (170), thereby allowing the lifting bracket (169) to be raised or lowered.

[0077] The third motor (172) can be mounted by hanging from the upper part of the lifting bracket (169). A reduction gear (173) is connected to the third motor (172), and the drive shaft of the third motor (172) can rotate the rotation link (174) in forward and reverse directions through the reduction gear.

[0078] The support end (175) of the third fixed jig unit (160) may include a circular disc portion rotatably mounted on one end of the pivot link (174) and a support shaft portion extending upward from the center of the disc portion.

[0079] The support end (175) of the third fixed jig unit (160) can be formed in the same shape as the support end (135) of the first fixed jig unit (120).

[0080] The support member (175) can support the lower corner portion of the edge portion of the door trim (10), which is the object to be fixed. The disc portion of the support member (175) supports the lower surface of the edge portion of the door trim (10), and the support shaft portion of the support member (175) can support the outer surface of the edge portion of the door trim (10) by pushing it horizontally.

[0081] A flange portion may be formed on the upper corner portions of the left and right edges of the door trim (10). Thus, the disc portion of the support member (175) supports the lower surface of the flange portion of the door trim (10), and the support shaft portion of the support member (175) can support the outer surface of the flange portion of the door trim (10) by pushing it horizontally.

[0082] FIG. 9 is a perspective view showing that the support end of three fixing jig units pushes and fixes the door trim.

[0083] In FIG. 9, the robotic fixing jig device (100) of the present invention supports and fixes a door trim (10) which is a fixed object. The door trim (10) illustrated as an example has flange portions formed on the front and upper corner portions of the left and right sides of the edge portion, and may not have a flange portion formed on the rear portion.

[0084] A robotic fixed jig device (100) may include a first fixed jig unit (120) having a pair of support members (135), a second fixed jig unit (140) having a pair of support members (155), and four third fixed jig units (160) having one support member (175).

[0085] A pair of support members (135) of the first fixing jig unit (120) can support the front flange portion of the door trim (10), a pair of support members (155) of the second fixing jig unit (140) can support the rear portion of the door trim (10), and each of the support members (175) of the four third fixing jig units (160) can support the left and right side flange portions of the door trim (10).

[0086] As illustrated in FIG. 9, after mounting the door trim (10) on the robotic fixing jig device (100), by rotating each pivot link (134, 154, 174), the plurality of support ends (135, 155, 175) can move from position ① to position ② respectively to tighten the outer surface of the door trim (10). Accordingly, the door trim (10) can be firmly fixed. Afterward, after completing the clip operation on the door trim (10), the door trim (10) can be easily detached by operating in the reverse direction to move from position ② to position ①.

[0087] In addition, the robotic fixing jig device (100) can store a three-dimensional shape according to the model number of the mounted part. When the robotic fixing jig device (100) automatically recognizes the part model number, it can automatically control the movement positions of a total of eight independently operating support members (135, 155, 175). Accordingly, the jig device can flexibly respond to fixing parts with various shapes.

[0088] According to the robotic fixing jig device of the present invention, various types of parts, such as in an automobile parts assembly process, can be fixed and worked on on the same production line using the same jig device, and the convenience of work can be improved because the multi-degree-of-freedom robotic jig device can automatically expand, contract, support, and fix by automatically recognizing the part model number.

[0089] Although an embodiment of the present invention has been described above, those skilled in the art may modify and change the present invention in various ways by adding, changing, deleting, or adding components, etc., without departing from the spirit of the present invention as described in the claims, and such modifications and changes are also to be considered to be included within the scope of the rights of the present invention. Explanation of the symbols

[0090] 10: Door trim 100: Robotic fixed jig device 110: Base plate 120: 1st Fixed Jig Unit 121: Fixing bracket 122: First lead screw 123: 1st motor 124: 1st Belt 125: 1st guide rail 126: Moving bracket 127: Second lead screw 128: Second guide rail 129: Lifting bracket 130: Second motor 131: 2nd Belt 132: 3rd motor 133: Reducer 134: Meeting Link 135: Support group 140: 2nd Fixed Jig Unit 141: Fixing bracket 142: First lead screw 143: 1st motor 144: 1st Belt 145: 1st guide rail 146: Moving bracket 147: Second lead screw 148: Second guide rail 149: Lifting bracket 150: 2nd motor 151: 2nd Belt 152: 3rd motor 153: Reducer 154: Meeting Link 155: Support group 160: 3rd Fixed Jig Unit 161: Fixing bracket 162: First lead screw 163: First motor 164: 1st Belt 165: First guide rail 166: Moving bracket 167: Second lead screw 168: Second guide rail 169: Lifting bracket 170: 2nd motor 171: 2nd Belt 172: 3rd motor 173: Reducer 174: Meeting Link 175: Support group

Claims

Claim 1 A robotic fixing jig device comprising: a first fixing jig unit comprising a pair of pivot links that are horizontally and vertically moved and rotate in a horizontal plane and each have a support end that supports a corner portion of one side of a fixed object; a second fixing jig unit comprising a pair of pivot links that are horizontally and vertically moved and rotate in a horizontal plane and each have a support end that supports a side opposite to that of a fixed object; and a pair of third fixing jig units comprising pivot links that are horizontally and vertically moved and rotate in a horizontal plane and each have a support end that supports a corner portion of the other side of a fixed object. Claim 2 A robotic fixed jig device according to claim 1, wherein the first fixed jig unit comprises a fixed bracket mounted on the edge of a base plate, a pair of movable brackets mounted to be movable in a horizontal direction on the fixed bracket, a pair of lifting brackets mounted to be movable in an up-and-down direction on the pair of movable brackets, and a pair of pivot links rotatably mounted on the pair of lifting brackets and having the support end. Claim 3 A robotic fixed jig device according to claim 2, wherein the first fixed jig unit further comprises: a first guide rail coupled to the fixed bracket and supporting the pair of movable brackets so as to be movable in the horizontal direction; a pair of first lead screws rotatably mounted on the fixed bracket and connected to the pair of movable brackets; a pair of first motors mounted on the fixed bracket and rotating the pair of first lead screws; a second guide rail coupled to the pair of movable brackets and supporting the pair of lifting brackets so as to be movable in the vertical direction; a pair of second lead screws rotatably mounted on the pair of movable brackets and connected to the pair of lifting brackets; a pair of second motors mounted on the pair of movable brackets and rotating the pair of second lead screws; and a pair of third motors mounted on the pair of lifting brackets and rotating the pair of pivot links. Claim 4 A robotic fixing jig device according to claim 3, wherein the support end of the first fixing jig unit comprises a circular disc portion rotatably mounted on one end of the pivot link and a support shaft portion extending upward from the center of the disc portion. Claim 5 A robotic fixed jig device according to claim 1, wherein the second fixed jig unit comprises a fixed bracket mounted on the edge of a base plate, a pair of movable brackets mounted to be movable in a horizontal direction on the fixed bracket, a pair of lifting brackets mounted to be movable in an up-and-down direction on the pair of movable brackets, and a pair of pivot links rotatably mounted on the pair of lifting brackets and having the support end. Claim 6 A robotic fixing jig device according to claim 5, characterized in that the support end of the second fixing jig unit is formed in a cylindrical shape rotatably mounted on one end of the pivot link. Claim 7 A robotic fixing jig device according to claim 1, wherein the pair of third fixing jig units comprises a fixing bracket mounted on the edge of a base plate, a movable bracket mounted horizontally movably on the fixing bracket, a lifting bracket mounted vertically movably on the movable bracket, and a pivot link rotatably mounted on the lifting bracket and having the support end. Claim 8 A robotic fixed jig device according to claim 7, wherein the pair of third fixed jig units further comprises: a first guide rail coupled to the fixed bracket and supporting the movable bracket so as to be movable in a horizontal direction; a first lead screw rotatably mounted on the fixed bracket and connected to the movable bracket; a first motor mounted on the fixed bracket to rotate the first lead screw; a second guide rail coupled to the movable bracket and supporting the lifting bracket so as to be movable in an up-and-down direction; a second lead screw rotatably mounted on the movable bracket and connected to the lifting bracket; a second motor mounted on the movable bracket to rotate the second lead screw; and a third motor mounted on the lifting bracket to rotate the pivot link. Claim 9 A robotic fixing jig device according to claim 8, characterized in that the support end of the third fixing jig unit comprises a circular disc portion rotatably mounted on one end of the pivot link and a support shaft portion extending upward from the center of the upper surface of the disc portion.

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