Work connection device

Abstract

To provide a workpiece connecting device capable of quickly connecting a component to a workpiece even if the workpiece has a complex shape. [Solution] The work connection device 1 is intended for connecting the second work W2 to the surface of the first work W1 by pressing the second work W2 against the surface of the first work W1, and particularly comprises a first pressing multi-joint robot 3 and a support 51 connected to the tip of the first pressing multi-joint robot 3 and capable of abutting the back surface of the first work W1.

Description

[Technical field]

[0001] The present invention relates to a workpiece connecting device for connecting a plurality of workpieces. [Background technology]

[0002] Work connection devices for connecting multiple workpieces have been known for some time. For example, Patent Document 1 describes a laser processing device 1 that laser welds a part P to a workpiece W placed on a workbench 4 (see paragraphs "0030" to "0032" and Figure 1, etc.).

[0003] The laser processing apparatus 1 described in Patent Document 1 uses a pressing portion 26 to press the top surface of a workpiece W and the top surface of a part P placed on a work table 4, and in this state, irradiates laser light L from a laser processing head 5 to connect the workpiece W and the part P (see the descriptions in paragraphs "0054" to "0057" and Figure 10, etc.). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2022-054106 Summary of the Invention [Problem to be solved by the invention]

[0005] However, as described in cited document 1, the laser processing apparatus 1 (hereinafter referred to as the "workpiece connecting device") does not cause any problems in connection when the workpiece W is planar and the work table 4 is also planar, but when the workpiece W has a complex shape such as a curved or bent shape, it has the problem that it is very difficult to connect the part P to any location on the workpiece W having a complex shape.

[0006] On the other hand, it is possible to change the shape of the work table 4 to match the shape of the workpiece W. However, in that case, the work table 4 would have to be changed every time the shape of the workpiece W was changed, which would result in poor work efficiency.

[0007] Furthermore, it is naturally desirable for the workpiece W to which the part P is connected by laser welding to have a good appearance.

[0008] The present invention has been made in response to the above-mentioned problems of the conventional technology, and aims to provide a work connection device that can quickly connect components to a workpiece even if the workpiece has a complex shape, and further provides a work connection device that improves the appearance quality of the workpiece after connection. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems, a first aspect of the present invention is a work connection device that urges a second work against a surface of a first work to connect the second work to the surface of the first work, comprising: A first ultrasonic transducer for connecting the second workpiece to a surface of the first workpiece. Articulated robots and their 1. Articulated Robot and a second articulated robot that is capable of contacting the back surface of the first workpiece on the side opposite to the second workpiece with respect to the first workpiece, the second articulated robot being configured to be capable of selecting a specific first plate from the multiple first plates of the support and contacting the back surface of the first workpiece. It is characterized by:

[0010] Further, a second aspect of the present invention is the work connection device of the first aspect, The support is composed of a polyhedron having the plurality of first plates. It is characterized by:

[0011] Further, a third aspect of the present invention is the work connection device of the second aspect, The tip of the second articulated robot is attached to one of the first plates constituting the polyhedron. The feature is that it is connected.

[0012] The fourth aspect of the present invention is 2 In the workpiece connecting device of this embodiment, the polyhedron has an opening surface and an internal cavity, and each of the multiple first plates is clamped to the polyhedron by fasteners from the cavity and is separately connected to one of the surfaces that constitute the polyhedron.

[0013] In addition, a fifth aspect of the present invention is characterized in that, in the work connection device of the third aspect, the polyhedron has an opening surface and an internal cavity, and each of the multiple first plates is clamped to the polyhedron by a fastener from the cavity and is separately connected to one of the surfaces that constitute the polyhedron.

[0014] A sixth aspect of the present invention is characterized in that, in the work connecting device of the first aspect, a circular plate having an area smaller than that of the first plate and a predetermined thickness is fixed to an outer surface of the first plate.

[0015] A seventh aspect of the present invention is characterized in that, in the work connecting device of the second aspect, a circular plate having an area smaller than that of the first plate and a predetermined thickness is fixed to an outer surface of the first plate.

[0016] An eighth aspect of the present invention is characterized in that, in the work connecting device of the third aspect, a circular plate having an area smaller than that of the first plate and a predetermined thickness is fixed to an outer surface of the first plate.

[0017] A ninth aspect of the present invention is characterized in that, in the work connecting device of the fourth aspect, a circular plate having an area smaller than that of the first plate and a predetermined thickness is fixed to an outer surface of the first plate.

[0018] A tenth aspect of the present invention is characterized in that, in the work connecting device of the fifth aspect, a circular plate having an area smaller than that of the first plate and a predetermined thickness is fixed to an outer surface of the first plate.

[0019] In addition, the present invention 11 The embodiment is 1 The aspects of 10 In any one of the aspects of the workpiece connecting device, the first plate has a structure in which the center portion protrudes.

[0020] In addition, the present invention 12 The embodiment of the present invention relates to a work connecting device that urges a second work against a surface of a first work to connect the second work to the surface of the first work, The first workpiece is moved from the rear surface side toward the first workpiece and comes into contact with the rear surface of the first workpiece, so that the entire workpiece is tilted in accordance with the rear surface shape of the first workpiece. Second Plate of Preparation, before The second plate is a back surface of the first workpiece. With an inclination according to the shape It is characterized by being fixable.

[0021] Furthermore, the present invention 13 The embodiment is 12 In the workpiece connecting device of this aspect, the second plate has a structure in which the center portion protrudes. Effect of the Invention

[0022] According to a first aspect of the present invention, there is provided a work connecting device that urges a second work against a surface of a first work to connect the second work to the surface of the first work, comprising: A first workpiece having an ultrasonic transducer for connecting a second workpiece to a surface of the first workpiece. Articulated robots and their 1. Articulated Robot and a second articulated robot that is capable of contacting the back surface of the first workpiece on the side opposite to the second workpiece with respect to the first workpiece, the second articulated robot being configured to be capable of selecting a specific first plate from the multiple first plates of the support and contacting the back surface of the first workpiece.Therefore, even if the first workpiece has a complex shape, an appropriate support can be abutted against the back surface of the first workpiece, and ultimately, the second workpiece can be quickly connected to the front surface of the first workpiece. On the other hand, even if one first plate becomes unusable, another first plate can be used, so that the durability of the device can be improved.

[0023] Furthermore, according to the second aspect of the present invention, in the work connecting device of the first aspect, the support body is composed of a polyhedron having the plurality of first plates. Therefore, in addition to the effect of the work connecting device of the first aspect, it is possible to easily create a structure in which an appropriate first plate can be selected and brought into contact with a first work W1 having a complex shape.

[0024] Furthermore, according to the third aspect of the present invention, in the workpiece connecting device of the second aspect, the tip of the second articulated robot is connected to one first plate constituting a polyhedron, so that a structure can be easily created in which an appropriate first plate can be selected and brought into contact with even a first workpiece W1 having a complex shape.

[0025] Furthermore, according to a fourth aspect of the present invention, in the workpiece connecting device of the second aspect, the polyhedron has an opening surface and an internal cavity, and each of the plurality of first plates is clamped to the polyhedron by fasteners from the cavity and is separately connected to one of the surfaces that constitute the polyhedron. Therefore, in addition to the effect of the workpiece connecting device of the second aspect, it is possible to easily create a structure in which an appropriate first plate can be selected and firmly abutted against a first workpiece of a complex shape.

[0026] According to a fifth aspect of the present invention, in the work connection device of the third aspect, Many The face piece has an open surface and a cavity therein, Multiple each of the number of first plates being clamped to the polyhedron by a fastener from the cavity; Many Since it is separately connected to one of the faces that make up the face body, in addition to the effects of the work connection device of the third embodiment, it is possible to easily create a structure in which an appropriate first plate can be selected and firmly abutted even against a first work of complex shape.

[0027] Furthermore, according to the sixth aspect of the present invention, in the work connecting device of the first aspect, a circular plate that is smaller than the area of ​​the first plate and has a predetermined thickness is fixed to the outer surface of the first plate, so that in addition to the effect of the work connecting device of the first aspect, it can be easily abutted against the back surface of the first workpiece W1.

[0028] Furthermore, according to the seventh aspect of the present invention, in the work connecting device of the second aspect, a circular plate that is smaller than the area of ​​the first plate and has a predetermined thickness is fixed to the outer surface of the first plate, so that in addition to the effect of the work connecting device of the second aspect, it can be easily abutted against the back surface of the first workpiece W1.

[0029] Furthermore, according to the eighth aspect of the present invention, in the work connecting device of the third aspect, a circular plate that is smaller than the area of ​​the first plate and has a predetermined thickness is fixed to the outer surface of the first plate, so that in addition to the effect of the work connecting device of the third aspect, it can be easily abutted against the back surface of the first work W1.

[0030] Furthermore, according to the 9th aspect of the present invention, in the work connecting device of the 4th aspect, a circular plate that is smaller than the area of ​​the first plate and has a predetermined thickness is fixed to the outer surface of the first plate, so that in addition to the effect of the work connecting device of the 4th aspect, it can be easily abutted against the back surface of the first work W1.

[0031] In addition, the tenth aspect of the present invention is the work connecting device of the fifth aspect, in which a circular plate smaller than the area of ​​the first plate and of a predetermined thickness is fixed to the outer surface of the first plate. Therefore, in addition to the effect of the work connecting device of the fifth aspect, the first plate can be easily abutted against the back surface of the first work W1.

[0032] In addition, the present invention 11 According to this aspect, 1 The aspects of 10 In any one of the above aspects of the workpiece connecting device, the first plate has a structure in which the center portion protrudes. 1 The aspects of 10In addition to the effects of any one of the above aspects of the workpiece connecting device, it is possible to prevent distortion occurring on the surface of the first workpiece and / or the surface of the second workpiece, thereby improving the appearance quality.

[0033] In addition, the present invention 12 According to the above aspect, in a work connecting device that urges a second work against a surface of a first work to connect the second work to the surface of the first work, The device is rotatable so that the device moves from the back side of the first workpiece toward the first workpiece and comes into contact with the back side of the first workpiece, thereby tilting the entire device in accordance with the shape of the back side of the first workpiece. Second Plate of Preparation, No. The second plate is the back side of the first workpiece. With an inclination according to the shape Since the workpiece can be fixed, it can be properly attached to the back side of the first workpiece even if the first workpiece has a complex shape. No. The two plates can be brought into contact with each other, and thus the second workpiece can be quickly connected to the surface of the first workpiece.

[0034] Furthermore, the present invention 13 According to this aspect, 12 In the workpiece connecting device, the second plate has a structure in which the center portion protrudes, 12 In addition to the effects of the workpiece connecting device of the above aspect, it is possible to prevent distortion occurring on the surface of the first workpiece and / or the surface of the second workpiece, thereby improving the appearance quality. [Brief description of the drawings]

[0035] [Figure 1] 1 is an overall front view of a work connecting device in a first embodiment of the present invention. [Diagram 2] FIG. 2 is a front view of a first workpiece according to the first embodiment. [Diagram 3] FIG. 2 is a plan view showing a first workpiece and a second workpiece of the first embodiment. [Figure 4] FIG. 4 is a left side view of the first pressing part of the first embodiment. [Diagram 5] FIG. 4 is a bottom view of the first pressing part of the first embodiment. [Figure 6] 5 is a cross-sectional view taken along line AA in FIG. 4. [Figure 7]FIG. 4 is a plan view of the second pressing portion and the third pressing portion of the first embodiment. [Figure 8] FIG. 4 is a side view showing a state before the second pressing portion of the first embodiment is extended. [Figure 9] FIG. 4 is a side view showing a state after the second pressing part of the first embodiment is extended. [Figure 10] FIG. 1 is a block diagram of a work connection device according to a first embodiment. [Figure 11] FIG. 2 is a block diagram of a main controller of the work connection device of the first embodiment. [Figure 12] 5 is a flowchart of a connection processing program in the work connection device of the first embodiment. [Figure 13] 5 is a flowchart of a first holding part selection program in the workpiece connecting device of the first embodiment. [Figure 14] 5 is a flowchart of a second pressing unit and other operation program in the workpiece connecting device of the first embodiment. [Figure 15] FIG. 4 is a view showing a first stage state of a first pressing part in the work connecting device of the first embodiment. [Figure 16] FIG. 4 is a view showing a second stage state of the first pressing part in the work connecting device of the first embodiment. [Figure 17] FIG. 11 is a diagram showing a final stage state of a first pressing part in the workpiece connecting device of the first embodiment. [Figure 18] FIG. 18 is an enlarged view of part B in FIG. [Figure 19] 6 is a view showing a state in which the first pressing part presses another portion of the first work in the work connecting device of the first embodiment. FIG. [Figure 20] FIG. 4 is a view showing a first stage state of a second pressing part in the work connecting device of the first embodiment. [Figure 21] FIG. 4 is a view showing a second stage state of a second pressing part in the work connecting device of the first embodiment. [Figure 22] FIG. 11 is a diagram showing a final stage state of a second pressing part in the work connecting device of the first embodiment. [Figure 23]4 is a side view showing a state in which the second pressing portion of the first embodiment abuts against a horizontal surface of the first workpiece. FIG. [Figure 24] 4 is a side view showing a state in which the second pressing portion of the first embodiment abuts against an inclined surface of the first workpiece. FIG. [Diagram 25] FIG. 11 is a left side view of a first pressing part of the second embodiment. [Figure 26] 26 is a cross-sectional view taken along CC in FIG. 25. [Figure 27] FIG. 13 is a left side view of a first pressing part of the third embodiment. [Figure 28] FIG. 13 is a left side view of a first pressing part of the fourth embodiment. [Figure 29] FIG. 13 is a left side view of a first pressing part of the fifth embodiment. [Diagram 30] FIG. 23 is a side view showing a second pressing part of the sixth embodiment.

[0036] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0037] (First embodiment) First, a first embodiment of the present invention will be described. Note that the drawings used in this embodiment are exaggerated for ease of understanding, and the dimensions are different from the actual dimensions.

[0038] FIG. 1 is an overall front view of a work connection device in a first embodiment of the present invention, FIG. 2 is a front view of a first work in the first embodiment, and FIG. 3 is a plan view showing the first work and a second work in the first embodiment.

[0039] As shown in FIG. 1, the work connecting device 1 of this embodiment uses a multi-joint robot 9 for a welding machine, a first presser multi-joint robot 3, and a second presser / third presser mechanism 7 to urge and connect a second work W2 to a first work W1 fixed on a mounting table 88 arranged in a housing H.

[0040] In this embodiment, for convenience of explanation, a single first pressing articulated robot 3 is arranged on the right side of the first workpiece W1 in FIG. 1; however, in reality, two first pressing articulated robots 3 are arranged on both the left and right sides of the first workpiece W1.

[0041] Furthermore, the positions and number of the first pressing articulated robots 3 can be changed appropriately according to the shape of the first workpiece W1.

[0042] Furthermore, as shown in Figures 2 and 3, in this embodiment, the first work W1 is described as a car bumper as an example, with the second work W2a, W2b, W2c, and W2d connected to four connection positions Pa, Pb, Pc, and Pd of the first work W1, respectively. However, the shapes of the first work W1 and the second work W2, and the number and connection positions of the second work W2 are not limited to this and can be changed as appropriate.

[0043] As shown in FIG. 1 , the work connection device 1 of this embodiment includes a mounting table 88 arranged in a housing H, a multi-joint robot 9 for welding, a first presser multi-joint robot 3, and a second presser and third presser mechanisms 7 fixed to the mounting table 88, a control device 8 for controlling the entire work connection device 1, a robot controller 12 for controlling the multi-joint robot 9 for welding and the first presser multi-joint robot 3, a compressor 4 for controlling part of the operation of the second presser and third presser mechanisms 7, and an operation panel 2 arranged in the housing H and used by an operator of the device to command the operation of the work connection device 1.

[0044] The articulated robot 9 for welding is a general six-axis articulated robot that operates according to commands from a robot controller 12, and uses an ultrasonic transducer 20 (see Figure 10) connected to its tip to apply force to the second workpiece W2 to weld the first workpiece W1.

[0045] The articulated robot 9 for welding has six axes: a first rotation axis (not shown) for rotating a first base 89 relative to a mounting table 88, a second rotation axis 90 for rotating a lower arm portion 91 back and forth relative to the first base 89, a third rotation axis 92 for rotating a first middle arm portion 93 relative to the lower arm portion 91, a fourth rotation axis 94 for rotating a second middle arm portion 95 relative to the first middle arm portion 93, a fifth rotation axis 96 for rotating an upper arm portion 97 relative to the second middle arm portion 95, and a sixth rotation axis 98 for coaxially rotating the rotating portion 99 relative to the upper arm portion 97.

[0046] An ultrasonic vibrator 20 is fixed to the tip of the rotating part 99 of the articulated robot 9 for the welding machine. With the second workpiece W2 placed on the first workpiece W1, the ultrasonic vibrator 20 is brought into contact with the first workpiece W1 and the second workpiece W2, and the ultrasonic vibrator 20 is driven by a signal from a welding machine driver 14 (see Figure 10) described later, thereby welding the second workpiece W2 to the first workpiece W1.

[0047] The first pressing articulated robot 3 is a general five-axis articulated robot that operates according to commands from a robot controller 12, and uses the first pressing part 5 connected to its tip to press the back surface of the first workpiece W1 when the welding articulated robot 9 welds the second workpiece W2 to the first workpiece W1.

[0048] The first pressing articulated robot 3 has five axes: a first rotating shaft 31 for rotating the second base 32 relative to the first base 29, a second rotating shaft 33 for rotating the lower arm portion 34 back and forth relative to the second base 32, a third rotating shaft 35 for rotating the middle arm portion 36 back and forth relative to the lower arm portion 34, a fourth rotating shaft 37 for rotating the upper arm portion 38 back and forth relative to the middle arm portion 36, and a fifth rotating shaft 39 for rotating the first pressing portion 5 relative to the upper arm portion 38.

[0049] Next, the first pressing portion 5 of this embodiment will be described.

[0050] 4 is a left side view of the first pressing portion of this embodiment, FIG. 5 is a bottom view thereof, and FIG. 6 is a cross-sectional view taken along line AA of FIG.

[0051] As described above, the first pressing portion 5 of this embodiment presses the back surface of the first workpiece W1 when the articulated welding robot 9 welds the second workpiece W2 to the first workpiece W1.

[0052] As shown in Figures 4 and 5, the first holding portion 5 in this embodiment consists of a first mounting portion 52 connected to the fifth rotation axis 39 of the first holding articulated robot 3, a long arm 54 having one end connected to the first mounting portion 52, a second mounting portion 56 connected to the other end of the arm 54 by five mounting fixtures 56a, 56b, 56c, 56d and 56e, and a support body 51 connected to the second mounting portion 56.

[0053] The support 51 is composed of a polyhedron consisting of 14 first plates 53a, 53b, 53c, 53d, 53e, 53f, 53g, 53h, 53j, 53k, 53m, 53x, 53y and 53z which are substantially triangular, and on the surface of each of the first plates 53a, 53b, 53c, 53d, 53e, 53f, 53g, 53h, 53j, 53k, 53m, 53x, 53y and 53z of the polyhedron, flat disks 55a (not shown), 55b, 55c, 55d (not shown), 55e, 55f, 55g, 55h, 55j (not shown), 55k and 55m of a predetermined thickness are fixed, the flat disks having circular protruding portions 57a (not shown), 57b, 57c, 57d (not shown), 57e, 57f, 57g, 57h, 57j (not shown), 57k and 57m respectively which protrude into the outer periphery of the substantially triangular first plates in plan view.

[0054] In Figure 4, and Figures 18 and 19 described below, in order to make it easier to understand the assembly of the first pressing portion 5, the first plates 53a and 53d are shown in a state before the disks 55a and 55d are attached, but in reality, the disks 55a and 55d are attached to the first plates 53a and 53d as well, just like the other first plates.

[0055] In addition, the normals of the first plates 53a, 53b, 53c, 53d, 53e, 53f, 53g, 53h, 53j, 53k, 53m, 53x, 53y, and 53z are arranged so that each of them faces in a different direction.

[0056] As shown in Figures 5 and 6, support body 51 has an opening surface 51b formed by housing 51a and a cavity 51c inside the polyhedron, and each of disks 55a (not shown), 55b, 55c, 55d (not shown), 55e, 55f, 55g, 55h, 55j (not shown), 55k and 55m consists of disk body 55aa, 55ba, 55ca, 55da, 55ea, 55fa, 55ga, 55ha, 55ja, 55ka and 55ma (not shown except for 55ea) and screw portions 55ab, 55bb, 55cb, 55db, 55eb, 55fb, 55gb, 55hb, 55jb, 55kb and 55mb (not shown except for 55eb) extending from the disk body.

[0057] And each of the disks 55a (not shown), 55b, 55c, 55d (not shown), 55e, 55f, 55g, 55h, 55j (not shown), 55k and 55m is connected to fasteners 58aa (not shown), 58ba, 58ca, 58da (not shown), 58ea, 58fa, 58ga, 58ha, 58ja, 58ka and 58ma and washers 58ab, 58bb, 58cb, 58db, 58eb from the cavity 51c. , 58fb, 58gb, 58hb, 58jb, 58kb and 58mb (all except 58eb are not shown) through holes 59a, 59b, 59c, 59d, 59e, 59f, 59g, 59h, 59j, 59k and 59m (all except 59a, 59d, 59e are not shown) of first plates 53a, 53b, 53c, 53d, 53e, 53f, 53g, 53h, 53j, 53k and 53m.

[0058] Next, the second and third pressing mechanisms 7 of this embodiment will be described.

[0059] FIG. 7 is a plan view of the second holding portion and the third holding portion of the first embodiment, FIG. 8 is a side view showing the state of the second holding portion before it is extended, and FIG. 9 is a side view showing the state of the second holding portion after it is extended.

[0060] The second and third pressing mechanisms 7, like the first pressing unit 5, press the back surface of the first workpiece W1 when the welding articulated robot 9 welds the second workpiece W2 to the first workpiece W1. In this embodiment, as shown in FIG. 1, the second and third pressing units 7a and 7b are provided below the first workpiece W1.

[0061] The positions and number of second and third pressing units 7a and 7b, which will be described later, of the second and third pressing mechanisms 7 can be changed as appropriate according to the shape of the first workpiece W1.

[0062] As shown in Figures 1 and 7, the second and third pressing mechanisms 7 of this embodiment are provided with a second pressing portion 7a on the right side in Figure 1 and a third pressing portion 7b on the left side in Figure 1 along the longitudinal direction of the first workpiece W1 below the first workpiece W1.

[0063] As shown in Figures 7 to 9, the second holding section 7a includes a first base 11, an extendable rod 15 that extends and retracts relative to the first base 11, a compression spring (not shown) arranged inside the extendable rod 15 and urging the extendable rod 15 upward, a second holding cylinder 42 that extends and retracts the extendable rod 15 relative to the first base 11, a second vertical fixing solenoid valve 28 arranged on the top of the first base 11 for fixing the vertical position of the extendable rod 15, a second base 13 fixed to the upper end of the extendable rod 15, a swivel fixing solenoid valve 26 arranged on the top of the second base 13 for fixing the swivel of a second holding suction section 46 described later, an extendable section 17 arranged on the top of the swivel fixing solenoid valve 26 and capable of extending and retracting, and a second holding suction section 46 (corresponding to the "second plate" of the present invention) arranged on the top of the extendable section 17.

[0064] The second holding portion 7a configured as described above first lowers the second base portion 13, the second swivel fixing solenoid valve 26, the extension portion 17 and the second holding suction portion 46 in the -Y direction by the second holding cylinder 42, and then fixes the extension rod 15 in the lowered position with the compression spring compressed by the second up / down fixing solenoid valve 28.

[0065] In this case, the second swivel fixing solenoid valve 26 may fix the extension / contraction portion 17 and the second clamp suction portion 46, but taking into consideration the subsequent processes, it is better not to fix the extension / contraction portion 17 and the second clamp suction portion 46, but to leave them in a state in which they can freely swivel.

[0066] FIG. 8 illustrates a state in which the second base portion 13, the second swing fixing solenoid valve 26, the extension portion 17, and the second holding and suction portion 46 are lowered.

[0067] Thereafter, when the second holding cylinder 42 is disconnected from the telescopic rod 15 and the second up / down fixing solenoid valve 28 is released, the second base 13, the second swivel fixing solenoid valve 26, the telescopic portion 17 and the second holding suction portion 46 rise in the +Y direction due to the force of the compression spring.

[0068] FIG. 9 illustrates a state in which the second base portion 13, the second swing fixing solenoid valve 26, the extension portion 17, and the second holding and suction portion 46 are raised.

[0069] As shown in FIG. 7, the second pressing portion 7a is configured to be movable in the +X direction or the -X direction on the right mounting table 88b fixed to the mounting table 88 using a second pressing slide motor 22 arranged near the right mounting table 88b and a ball screw arranged inside the right mounting table 88b. The rotational force of a motor gear fixed to the motor shaft of the second pressing slide motor 22 is transmitted to the ball screw.

[0070] In addition, the third holding portion 7b has a structure similar to that of the second holding portion 7a, except for a third holding cylinder 44 that extends and retracts the telescopic rod relative to the first base, and a third holding suction portion 48 (corresponding to the "second plate" of the present invention) arranged on the upper portion of the telescopic portion.

[0071] Like the second holding portion 7a, the third holding portion 7b also lowers the second base (not shown), the third swivel fixing solenoid valve 30, the extension portion (not shown) and the third holding suction portion 48 in the -Y direction by the third holding cylinder 44, and then the third up / down fixing solenoid valve 40 fixes the extension rod in the lowered position with the compression spring compressed.

[0072] In this case, the third swivel fixing solenoid valve 30 may fix the extension / contraction portion and the third holding suction portion 48, but taking into consideration the subsequent processes, it is better not to fix the extension / contraction portion and the third holding suction portion 48, but to leave them in a state in which they can freely swivel.

[0073] Thereafter, when the third holding cylinder 44 is disconnected from the telescopic rod and the third up / down fixing solenoid valve 40 is released, the second base, the third swivel fixing solenoid valve 30, the telescopic portion and the third holding suction portion 48 rise in the +Y direction due to the force of the compression spring.

[0074] As shown in FIG. 7, the third pressing portion 7b is configured to be movable in the +X direction or the -X direction on the left mounting table 88a fixed to the mounting table 88 using a third pressing slide motor 24 arranged near the left mounting table 88a and a ball screw arranged inside the left mounting table 88a. The rotational force of a motor gear fixed to the motor shaft of the third pressing slide motor 24 is transmitted to the ball screw.

[0075] Next, a block diagram of the work connection device 1 of this embodiment will be described.

[0076] FIG. 10 is a block diagram of the work connection device of this embodiment, and FIG. 11 is a block diagram of the main controller of the work connection device of this embodiment.

[0077] In FIG. 10, the work connection device 1 includes a main controller 10 electrically connected to a power source 6, an air compressor 4 electrically connected to the main controller 10 for driving the second pressing cylinder 42, the third pressing cylinder 44, the second pressing suction unit 46, and the third pressing suction unit 48, a robot controller 12 electrically connected to the main controller 10 for controlling the welding machine articulated robot 9 and the first pressing machine articulated robot 3, a welding machine driver 14 for driving the ultrasonic vibrator 20, a motor driver 16 for driving the second pressing machine slide motor 22 and the third pressing machine slide motor 24, a solenoid valve driver 18 for driving the second swivel fixing solenoid valve 26, the second up-down fixing solenoid valve 28, the third swivel fixing solenoid valve 30, and the third up-down fixing solenoid valve 40, and an operation panel 2 for receiving input from an operator of the device.

[0078] The main controller 10, the welder driver 14, the motor driver 16 and the solenoid valve driver 18 are housed within the control device 8.

[0079] Also, in FIG. 11, the main controller 10 includes a CPU (Central Processing Unit) 38, a RAM (Random Access Memory) 50 connected to the CPU 38 so as to enable input / output, and a ROM (Read Only Memory) 60 connected to the CPU 38 so as to enable input / output.

[0080] The RAM 50 includes a connection processing procedure data table 50a which stores the connection positions for connecting the second workpiece W2 to the first workpiece W1, the inclination information (tilt direction and inclination angle) at the connection positions, and the connection order, a first holding current state data table 50b which stores the current state of the first holding section 5, a second holding current state data table 50c which stores the current state of the second holding section 7a, and a third holding current state data table 50d which stores the current state of the third holding section 7b.

[0081] The ROM 60 also includes a connection processing program 60a that controls the operation of the entire work connection device 1 of this embodiment, a first holding unit selection program 60b for selecting the surface to be used by the first holding unit 5, and a second holding unit etc. operation program 60c that controls the operation of the second holding unit 7a and the third holding unit 7b.

[0082] Next, the operation of the work connection device 1 having the above-mentioned configuration will be described.

[0083] Figure 12 is a flowchart of a connection processing program in the work connection device of this embodiment, Figure 13 is a flowchart of a first holding part selection program in the work connection device of this embodiment, and Figure 14 is a flowchart of a second holding part etc. operation program in the work connection device of this embodiment.

[0084] Moreover, FIG. 15 is a diagram showing a first stage state of the first holding portion in the work connecting device of this embodiment, FIG. 16 is a diagram showing a second stage state of the first holding portion, FIG. 17 is a diagram showing a final stage state of the first holding portion, and FIG. 18 is an enlarged view of part B in FIG. 17.

[0085] FIG. 19 is a diagram showing a state in which the first pressing portion presses another portion of the first workpiece.

[0086] As described above, the work connecting device 1 of this embodiment uses the articulated robot 9 for the welding machine, the first presser articulated robot 3, and the second presser / third presser mechanism 7 to urge and connect the second work W2 to the first work W1 fixed on the mounting table 88 arranged in the housing H.

[0087] First, before operating the work connecting device 1, an operator of the work connecting device 1 sets the first work W1 on the placement table 88, and sets the second work W2 at the connecting portion of the first work W1.

[0088] Thereafter, when the operator of the device turns on the power switch, inputs the number of second workpieces W2 to be connected and the connection procedure using the operation buttons on the operation panel 2, and presses the start button, as shown in FIG. 12, the workpiece connection device 1 moves the articulated robot 9 for the welding machine, the articulated robot 3 for the first presser, and the second and third presser mechanisms 7 to their initial positions (S1), reads the connection order for connecting the second workpiece W2 to the first workpiece W1 from the connection processing procedure data table 50a (S3), reads the connection position of the initial second workpiece W2 (S5), and executes the first presser section selection program (S7).

[0089] In the first holding section selection program, as shown in FIG. 13, the current state of the first holding section 5 (initially the initial state) is read from the first holding section current state data table 50b (S41), the next holding position (here, the back surface position of the first workpiece W1 opposite the connection position Pd of the first second workpiece W2) is read from the connection processing procedure data table 50a (S43), and the inclination information of the next holding position (the back surface position of the first workpiece W1 opposite the connection position Pd of the first second workpiece W2) is read (S45).

[0090] Then, based on the current state (initial state) of the first holding unit 5, the next holding position (the back surface position of the first workpiece W1 opposite the connection position Pd of the first second workpiece W2), and the inclination information of the next holding position (the back surface position of the first workpiece W1 opposite the connection position of the first second workpiece W2), the first plate of the first holding unit 5 at the next holding position (here, it is assumed that 53m is selected) is selected (S47), and the process returns to the connection processing program (S49).

[0091] In addition, since the first holding portion 5 in this embodiment is connected to the tip of the first holding articulated robot 3, it can be moved to any angle, and the selection of the first plate at the next holding position may not be limited to one.

[0092] However, even in such a case, an optimal first plate is selected in consideration of the distance to be moved and the amount of angle to be rotated.

[0093] In this embodiment, for convenience of explanation, as described above, it is assumed that the initial connection position of the second workpiece W2 is Pd, and that the first plate 53m is selected first by the first presser selection program.

[0094] FIG. 15 shows the state before the ultrasonic transducer 20 of the welding machine articulated robot 9 and the first pressing part 5 of the first pressing articulated robot 3 come into contact with the first workpiece W1 and the second workpiece W2.

[0095] Returning to the connection processing program, when the processing of S49 is completed, the first plate 55m of the selected first holding unit 5 is abutted against the back surface of the connection position Pd of the first work W1 (S9), and then the articulated robot 9 for the welding machine is operated to force the second work W2 against the first work W1 using the ultrasonic vibrator 20 and the first plate 55m of the first holding unit 5, thereby ultrasonically welding the second work W2 to the connection position Pd of the first work W1 (S11).

[0096] Note that Figure 16 shows a state in which the ultrasonic vibrator 20 is moved away from the connection position Pd of the first work W1 and the first plate 5m of the selected first pressing unit 5 is abutted against the back surface of the connection position Pd of the first work W1, and Figures 17 and 18 show a state in which the articulated robot 9 for the welding machine is then operated to bias the first work W1 and the second work W2 using the ultrasonic vibrator 20 and the first plate 5m of the first pressing unit 5, thereby ultrasonically welding the second work W2 to the connection position Pd of the first work W1.

[0097] Meanwhile, the first plate 55e of the first pressing unit 5 is selected by the first pressing unit selection program, and the first plate 55e is abutted against the back surface of another connection position of the first workpiece W1.Then, the articulated robot 9 for the welding machine is operated to urge the second workpiece W2 toward the other connection position of the first workpiece W1 by the ultrasonic vibrator 20 and the first plate 55e of the first pressing unit 5, thereby ultrasonically welding the second workpiece W2 to the connection position of the first workpiece W1, as shown in Figure 19.

[0098] After ultrasonic welding, the ultrasonic transducer 20 and the first plate 5m of the first holding portion 5 are separated (S13), and it is determined whether all connections by the first holding portion 5 have been completed (S15). If it is determined that all connections by the first holding portion 5 have not been completed (S15: No), the connection position of the next second work W2 is read from the connection processing procedure data table 50a (S17), and the processes of S7 to S15 are repeated.

[0099] On the other hand, if it is determined that all connections by the first holding unit 5 have been completed (S15: Yes), the connection position of the next second work W2 (here, the back surface position of the first work W1 opposite the connection position Pc of the second work W2) is read from the connection processing procedure data table 50a (S19), the second holding unit 7a or the third holding unit 7b closest to that connection position is selected (S21), and the second holding unit etc. operation program is executed (S23).

[0100] In this embodiment, for convenience of explanation, it is assumed that the second holding portion 7a is selected by the processing of S21. However, even when the third holding portion 7b is selected, the operation is the same as that of the second holding portion 7a described below, except that the abutment position is different.

[0101] In the present embodiment, as described above, the connection position of the second workpiece W2 is described as Pc.

[0102] FIG. 20 is a diagram showing the first stage of the second holding part in the work connecting device of this embodiment, FIG. 21 is a diagram showing the second stage of the second holding part, and FIG. 22 is a diagram showing the final stage of the second holding part.

[0103] Moreover, Figure 23 is a side view showing the state in which the second pressing portion of this embodiment abuts against the horizontal surface of the first workpiece, and Figure 24 is a side view showing the state in which the second pressing portion abuts against the inclined surface of the first workpiece.

[0104] In the second pressing unit operation program, as shown in FIG. 14, the selected second pressing unit 7a is moved below the connection position Pc using the second pressing slide motor 22 (S51), the second up / down fixing solenoid valve 28 is released, and the second base 13, the second swivel fixing solenoid valve 26, the extension / contraction unit 17 and the second pressing unit suction unit 46 are raised in the +Y direction (see FIG. 8) by the force of the compression spring (S53), and the second pressing unit suction unit 46 is abutted against the back surface of the first workpiece W1 (S55).

[0105] Note that Figure 20 shows the state before the ultrasonic vibrator 20 of the articulated robot 9 for the welding machine and the second pressing portion 7a of the second and third pressing mechanism 7 come into contact with the first workpiece W1 and the second workpiece W2, and Figure 21 shows the state after the second pressing portion 7a of the second and third pressing mechanism 7 has come into contact with the back surface of the connection position Pc of the first workpiece W1.

[0106] Furthermore, when the second holding portion 7a is in contact with the back surface of the connection position of the first workpiece W1, the second swivel fixing solenoid valve 26 is released, and the extension portion 17 and the second holding suction portion 46 are not fixed and are able to swivel freely.

[0107] Therefore, when the first workpiece W1 is on a horizontal plane, as shown in Figure 23, the extension portion 17 and the second pressing suction portion 46 abut along the horizontal plane of the first workpiece W1 due to the force of the compression spring, and when the first workpiece W1 is on an inclined plane, as shown in Figure 24, the second pressing suction portion 46 abuts along the inclined plane of the first workpiece W1 due to the force of the compression spring with the extension portion 17 in a deformed state.

[0108] Then, after the second pressing suction portion 46 is abutted against the back surface of the first workpiece W1 (S55), the telescopic rod 15 is fixed in abutting state by the second up / down fixing solenoid valve 28, and the telescopic portion 17 and the second pressing suction portion 46 are fixed in abutting state by the second swivel fixing solenoid valve 26 (S57), and the process returns to the connection processing program (S59).

[0109] At this time, the second pressing suction part 46 may be sucked by the air compressor 4 to improve the degree of contact between the first workpiece W1 and the second pressing suction part 46. In that case, the second pressing part 7a can be fixed more firmly to the first workpiece W1.

[0110] Furthermore, when the third pressing portion 7b is used, the third pressing suction portion 48 may be sucked by the air compressor 4 to improve the degree of contact between the first workpiece W1 and the third pressing suction portion 48. In this case, too, like the second pressing portion 7a, the third pressing portion 7b can be more firmly fixed to the first workpiece W1.

[0111] Returning to the connection processing program, when the processing of S59 is completed, the articulated robot 9 for the welding machine is operated to urge the second workpiece W2 against the first workpiece W1 using the ultrasonic vibrator 20 and the second holding suction portion 46 of the second holding portion 7a, thereby ultrasonically welding the second workpiece W2 to the connection position Pc of the first workpiece W1 (S25).

[0112] In addition, Figure 22 shows a state in which the articulated robot 9 for the welding machine is operated to force the second workpiece W2 against the first workpiece W1 using the ultrasonic vibrator 20 and the second pressing suction portion 46 of the second pressing portion 7a, thereby ultrasonically welding the second workpiece W2 to the connection position Pc of the first workpiece W1.

[0113] After ultrasonic welding, the ultrasonic transducer 20 is separated from the second holding suction portion 46 of the second holding portion 7a (S27), and it is determined whether all connections by the second holding portion 7a and the third holding portion 7b have been completed (S29).If it is determined that all connections by the second holding portion 7a and the third holding portion 7b have not been completed (S29: No), the connection position of the next second work W2 is read from the connection processing procedure data table 50a (S31), and the processes of S21 to S29 are repeated.

[0114] On the other hand, if it is determined that all connections by the second holding portion 7a and the third holding portion 7b have been completed (S29: Yes), the process ends (S33).

[0115] In addition, when the third pressing portion 7b is selected, similarly to the second pressing portion 7a, first, the selected third pressing portion 7b is moved below the connection position using the third pressing slide motor 24, the third up / down fixing solenoid valve 40 is released, and the second base 13, the third swivel fixing solenoid valve 30, the extension / contraction portion 17 and the third pressing suction portion 48 are raised in the +Y direction (see Figure 8) by the force of the compression springs, and the third pressing suction portion 48 is abutted against the back surface of the first workpiece W1.

[0116] Then, after the third pressing suction portion 48 is abutted against the back surface of the first workpiece W1, the telescopic rod 15 is fixed in the abutting state by the third up / down fixing solenoid valve 40, and the telescopic portion 17 and the third pressing suction portion 48 are fixed in the abutting state by the third swivel fixing solenoid valve 30.

[0117] The work connection device 1 of this embodiment is intended for connecting the second work W2 to the surface of the first work W1 by pressing the second work W2 against the surface of the first work W1, and is particularly equipped with a first holding multi-joint robot 3 and a support 51 connected to the tip of the first holding multi-joint robot 3 and capable of abutting the back surface of the first work W1.Therefore, even if the first work W1 has a complex shape, an appropriate support 51 can be abutted against the back surface of the first work W1, and ultimately the second work W2 can be quickly connected to the surface of the first work W1.

[0118] In addition, according to the work connection device 1 of this embodiment, the support 51 is made of a plurality of first plates 53a, 53b, 53c, 53d, 53e, 53f, 53g, 53h, 53j, 53k, and 53m arranged so that the normals are directed in a plurality of directions, so that even if the first work W1 has a complex shape, an appropriate first plate can be selected and abutted against the back surface of the first work W1, and thus the second work W2 can be efficiently connected to the front surface of the first work W1. In addition, even if one first plate becomes unusable, another first plate can be used, so that the durability of the device can be improved.

[0119] Furthermore, according to the workpiece connecting device 1 of this embodiment, a polyhedron is connected to the tip of the first pressing articulated robot 3, and each of the first plates 53a, 53b, 53c, 53d, 53e, 53f, 53g, 53h, 53j, 53k and 53m is separately connected to one face that constitutes the polyhedron, so that a structure can be easily created in which an appropriate first plate can be selected and abutted even against a first workpiece W1 having a complex shape.

[0120] Furthermore, according to the workpiece connecting device 1 of this embodiment, the polyhedron has an opening surface 51b and an internal cavity 51c, and each of the first plates 53a, 53b, 53c, 53d, 53e, 53f, 53g, 53h, 53j, 53k and 53m is clamped to the polyhedron by fasteners 58aa (not shown), 58ba, 58ca, 58da (not shown), 58ea, 58fa, 58ga, 58ha, 58ja, 58ka and 58ma from the cavity 51c and is separately connected to one of the surfaces that constitute the polyhedron, so that a structure can be easily created in which an appropriate first plate is selected and firmly abutted even against a first workpiece W1 having a complex shape.

[0121] Furthermore, according to the work connecting device 1 of this embodiment, the first plates 53a, 53b, 53c, 53d, 53e, 53f, 53g, 53h, 53j, 53k and 53m have protrusions 57a (not shown), 57b, 57c, 57d (not shown), 57e, 57f, 57g, 57h, 57j (not shown), 57k and 57m which are circular in plan view with the central protrusion, thereby preventing distortion from occurring on the surface of the first work W1 and / or the surface of the second work W2 during welding, and improving the appearance quality of the entire work including the first work W1 and the second work W2.

[0122] Furthermore, according to the work connection device 1 of this embodiment, the device is intended for connecting the second work W2 to the surface of the first work W1 by forcing the second work W2 against the surface of the first work W1, and is particularly equipped with one movable second pressing suction portion 46 or third pressing suction portion 48 that can abut against the back surface of the first work W1 and whose normal can be changed in multiple directions, and since the direction of the normal of the second pressing suction portion 46 or third pressing suction portion 48 can be fixed when the second pressing suction portion 46 or third pressing suction portion 48 abuts against the back surface of the first work W1, even if the first work W1 has a complex shape, the second pressing suction portion 46 or third pressing suction portion 48 can be appropriately abutted against the back surface of the first work W1, and thus the second work W2 can be quickly connected to the surface of the first work W1.

[0123] Second embodiment Next, a second embodiment of the present invention will be described. Note that the drawings used in this embodiment are also exaggerated for ease of understanding, and the dimensions are different from the actual dimensions.

[0124] A second embodiment of the present invention will be described below. Since a work connection device 21 of this embodiment is similar to the work connection device 1 of the first embodiment except for the first pressing portion, the parts common to the first embodiment are given the same reference numerals and the description thereof will be omitted.

[0125] 25 is a left side view of the first pressing portion of the second embodiment, and FIG. 26 is a cross-sectional view taken along line CC of FIG.

[0126] Like the work connection device 1 of the first embodiment, the work connection device 21 of this embodiment also uses a multi-joint robot 9 for a welding machine, a first presser multi-joint robot 3, and a second presser / third presser mechanism 7 to urge and connect a second work W2 to a first work W1 fixed on a mounting table 88 arranged in a housing H.

[0127] In addition, the first pressing portion 25 of this embodiment, like the first pressing portion 5 of the first embodiment, presses the back surface of the first workpiece W1 when the welding articulated robot 9 welds the second workpiece W2 to the first workpiece W1.

[0128] As shown in Figure 25, the first holding portion 25 of this embodiment consists of a first mounting portion 62 connected to the fifth rotation axis 39 of the first holding articulated robot 3, a long arm 64 having one end connected to the first mounting portion 62, a second mounting portion 66 connected to the other end of the arm 64 by five mounting fixtures 66a, 66b, 66c, 66d and 66e (66c to 66e are not shown), and a support body 66 connected to the second mounting portion 66.

[0129] The support 66 is composed of a polyhedron consisting of 14 approximately triangular, flat first plates 63a, 63b, 63c, 63d (not shown), 63e, 63f, 63g, 63h, 63j (not shown), 63k (not shown), 63m, 63x, 63y and 63z (not shown), and flat disks 65a (not shown), 65b, 65c, 65d (not shown), 65e, 65f, 65g, 65h, 65j (not shown), 65k (not shown) and 65m of predetermined thickness are fixed to the surface of each of the first plates of the polyhedron except for 63x, 63y and 63z within the approximately triangular periphery of the first plates.

[0130] In Figure 25, in order to make the assembly of the first pressing portion 25 easier to understand, the first plate 63a is shown in a state before the disk 65a is attached, but in reality, the disk 65a is attached to the first plate 63a as well, just like the other first plates.

[0131] In addition, the normals of the first plates 63a, 63b, 63c, 63d, 63e, 63f, 63g, 63h, 63j, 63k, 63m, 63x, 63y, and 63z are arranged so that each of them faces in a different direction.

[0132] Like the support 51 of the first embodiment, the support 66 has an opening surface 61b (not shown) formed by a housing 61a (not shown) and a cavity 61c (not shown) inside the polyhedron, and as shown in FIG. 26, each of the disks 65a (not shown), 65b, 65c, 65d (not shown), 65e, 65f, 65g, 65h, 65j (not shown), 65k (not shown) and 65m consists of a disk body 65aa, 65ba, 65ca, 65da, 65ea, 65fa, 65ga, 65ha, 65ja, 65ka and 65ma (not shown except for 65ea) and a screw portion 65ab, 65bb, 65cb, 65db, 65eb, 65fb, 65g, 65hb, 65jb, 65kb and 65mb (not shown except for 65eb) extending from the disk body.

[0133] And each of the disks 65a (not shown), 65b, 65c, 65d (not shown), 65e, 65f, 65g, 65h, 65j (not shown), 65k (not shown) and 65m is connected to the fasteners 68aa, 68ba, 68ca, 68da, 68ea, 68fa, 68ga, 68ha, 68ja, 68ka and 68ma (except for 68ea, not shown) and washers 68ab, 68bb, 68cb, 68db, 68cc, 68ccc, 68ccd, 68cce ... The first plates 63a, 63b, 63c, 63d, 63e, 63f, 63g, 63h, 63j, 63k, and 63m are individually clamped by 8eb, 68fb, 68gb, 68hb, 68jb, 68kb, and 68mb (all except 68eb are not shown) via holes 69a, 69b, 69c, 69d, 69e, 69f, 69g, 69h, 69j, 69k, and 69m (all except 69e are not shown).

[0134] In this embodiment, the first pressing portion 25 abuts against the back surface of the first workpiece W1 using one of the circular plates 65a, 65b, 65c, 65d, 65e, 65f, 65g, 65h, 65j, 65k, and 65m selected by the above-mentioned first pressing portion selection program.

[0135] The work connection device 21 of this embodiment is intended for connecting the second work W2 to the surface of the first work W1 by forcing the second work W2 against the surface of the first work W1, and is particularly equipped with a first holding multi-joint robot 3 and a support 66 connected to the tip of the first holding multi-joint robot 3 and capable of abutting the back surface of the first work W1. Therefore, even if the first work W1 has a complex shape, an appropriate support 66 can be abutted against the back surface of the first work W1, and ultimately the second work W2 can be quickly connected to the surface of the first work W1.

[0136] In addition, according to the work connection device 21 of this embodiment, the support 66 is made of a plurality of first plates 63a, 63b, 63c, 63d, 63e, 63f, 63g, 63h, 63j, 63k, and 63m arranged so that the normals are directed in a plurality of directions, so that even if the first work W1 has a complex shape, an appropriate first plate can be selected and abutted against the back surface of the first work W1, and thus the second work W2 can be efficiently connected to the front surface of the first work W1. Also, even if one first plate becomes unusable, another first plate can be used, so that the durability of the device can be improved.

[0137] Furthermore, according to the workpiece connecting device 21 of this embodiment, a polyhedron is connected to the tip of the first pressing articulated robot 3, and each of the first plates 63a, 63b, 63c, 63d, 63e, 63f, 63g, 63h, 63j, 63k and 63m is separately connected to one face that constitutes the polyhedron, so that a structure can be easily created in which an appropriate first plate can be selected and abutted even against a first workpiece W1 having a complex shape.

[0138] Furthermore, according to the workpiece connecting device 21 of this embodiment, the polyhedron has an opening surface 61b (not shown) and an internal cavity 61c (not shown), and each of the discs 65a, 65b, 65c, 65d, 65e, 65f, 65g, 65h, 65j, 65k and 65m is clamped between the first plates 63a, 63b, 63c, 63d, 63e, 63f, 63g, 63h, 63j, 63k and 63m by fasteners 68aa, 68ba, 68ca, 68da, 68ea, 68fa, 68ga, 68ha, 68ja, 68ka and 68ma (not shown except for 68ea) from the cavity 61c, and is separately connected to one of the surfaces constituting the polyhedron, so that a structure can be easily created in which an appropriate first plate is selected and firmly abutted against the first workpiece W1 having a complex shape.

[0139] Third embodiment Next, a third embodiment of the present invention will be described. Note that the drawings used in this embodiment are also exaggerated for ease of understanding, and the dimensions are different from the actual dimensions.

[0140] The third embodiment of the present invention will be described below. Since a work connection device 61 of this embodiment is similar to the work connection device 1 of the first embodiment except for the first pressing portion, the parts common to the first embodiment are denoted by the same reference numerals and description thereof will be omitted.

[0141] FIG. 27 is a left side view of the first pressing portion of the third embodiment.

[0142] Like the work connection device 1 of the first embodiment, the work connection device 61 of this embodiment also uses a multi-joint robot 9 for a welding machine, a first presser multi-joint robot 3, and a second presser / third presser mechanism 7 to urge and connect a second work W2 to a first work W1 fixed on a mounting table 88 arranged in a housing H.

[0143] In addition, the first pressing portion 45 of this embodiment, like the first pressing portion 5 of the first embodiment, presses the back surface of the first workpiece W1 when the welding articulated robot 9 welds the second workpiece W2 to the first workpiece W1.

[0144] As shown in Figure 27, the first holding portion 45 of this embodiment consists of a first mounting portion 72 connected to the fifth rotation axis 39 of the first holding articulated robot 3, a long arm 74 having one end connected to the first mounting portion 72, a second mounting portion 76 connected to the other end of the arm 74 by five mounting fixtures 76a, 76b, 76c, 76d and 76e (76c to 76e are not shown), and a support body 77 connected to the second mounting portion 76.

[0145] The support 77 consists of a polyhedron consisting of 14 approximately triangular, flat first plates 73a, 73b, 73c, 73d (not shown), 73e, 73f, 73g, 73h, 73j (not shown), 73k (not shown), 73m (not shown), 73x, 73y and 73z (not shown).

[0146] In addition, the normals of the first plates 73a, 73b, 73c, 73d, 73e, 73f, 73g, 73h, 73j, 73k, 73m, 73x, 73y, and 73z are arranged so that each of them faces in a different direction.

[0147] Like the support 51 of the first embodiment, the support 77 also has an opening surface 71b (not shown) formed by a housing 71a (not shown) and a cavity 71c (not shown) inside the polyhedron.

[0148] In this embodiment, the first pressing portion 45 contacts the back surface of the first workpiece W1 with the first plate selected from the first plates 73a, 73b, 73c, 73d, 73e, 73f, 73g, 73h, 73j, 73k and 73m by the above-mentioned first pressing portion selection program.

[0149] The work connection device 61 of this embodiment is intended for connecting the second work W2 to the surface of the first work W1 by pressing the second work W2 against the surface of the first work W1, and is particularly equipped with a first holding multi-joint robot 3 and a support 77 connected to the tip of the first holding multi-joint robot 3 and capable of abutting the back surface of the first work W1.Therefore, even if the first work W1 has a complex shape, an appropriate support 77 can be abutted against the back surface of the first work W1, and ultimately the second work W2 can be quickly connected to the surface of the first work W1.

[0150] In addition, according to the workpiece connecting device 61 of this embodiment, the support 77 is made of a plurality of first plates 73a, 73b, 73c, 73d, 73e, 73f, 73g, 73h, 73j, 73k, and 73m arranged so that the normals are directed in a plurality of directions, so that even if the first workpiece W1 has a complex shape, an appropriate first plate can be selected and abutted against the back surface of the first workpiece W1, and thus the second workpiece W2 can be efficiently connected to the front surface of the first workpiece W1. Also, even if one first plate becomes unusable, another first plate can be used, so that the durability of the device can be improved.

[0151] Furthermore, according to the workpiece connecting device 61 of this embodiment, a polyhedron is connected to the tip of the first pressing articulated robot 3, and each of the first plates 73a, 73b, 73c, 73d, 73e, 73f, 73g, 73h, 73j, 73k and 73m is separately connected to one face that constitutes the polyhedron, so that a structure can be easily created in which an appropriate first plate can be selected and abutted even against a first workpiece W1 having a complex shape.

[0152] (Fourth embodiment) Next, a fourth embodiment of the present invention will be described. Note that the drawings used in this embodiment are also exaggerated for ease of understanding, and the dimensions are different from the actual dimensions.

[0153] The fourth embodiment of the present invention will be described below. Since a work connection device 71 of this embodiment is similar to the work connection device 1 of the first embodiment except for the first pressing portion, the parts common to the first embodiment are denoted by the same reference numerals and description thereof will be omitted.

[0154] FIG. 28 is a left side view of the first pressing portion of the fourth embodiment.

[0155] Like the work connection device 1 of the first embodiment, the work connection device 71 of this embodiment also uses a multi-joint robot 9 for a welding machine, a first presser multi-joint robot 3, and a second presser / third presser mechanism 7 to urge and connect a second work W2 to a first work W1 fixed on a mounting table 88 arranged in a housing H.

[0156] In addition, the first pressing portion 75 of this embodiment, like the first pressing portion 5 of the first embodiment, presses the back surface of the first workpiece W1 when the welding articulated robot 9 welds the second workpiece W2 to the first workpiece W1.

[0157] As shown in FIG. 28, the first holding portion 75 of this embodiment includes a first mounting portion 82 connected to the fifth rotation shaft 39 of the first holding articulated robot 3, a long arm 84 having one end connected to the first mounting portion 82, five axes 86a, 86b, 86c, 86d and 86e connected to the other end of the arm 84, disk-shaped first plates (corresponding to the "support body" of the present invention) 83a, 83b, 83c, 83d and 83e of a predetermined thickness connected to the respective tips of the five axes 86a, 86b, 86c, 86d and 86e, and circular protrusions 87a, 87b, 87c, 87d and 87e in a planar view that are arranged on the surfaces of the first plates 83a, 83b, 83c, 83d and 83e and have central portions that protrude radially from the arm 84.

[0158] Further, the normals of the disk-shaped first plates (corresponding to the "support" of the present invention) 83a, 83b, 83c, 83d and 83e are arranged so as to face in different directions.

[0159] In the present embodiment, the first pressing portion 75 contacts the rear surface of the first workpiece W1 with the first plate (support) selected from among the first plates (corresponding to the "support" of the present invention) 83a, 83b, 83c, 83d, and 83e by the above-mentioned first pressing portion selection program.

[0160] The work connection device 71 of this embodiment is intended for connecting the second work W2 to the surface of the first work W1 by forcing the second work W2 against the surface of the first work W1, and in particular is equipped with a first holding multi-joint robot 3 and supports 83a, 83b, 83c, 83d, and 83e that are connected to the tip of the first holding multi-joint robot 3 and can abut against the back surface of the first work W1.Therefore, even if the first work W1 has a complex shape, appropriate supports 83a, 83b, 83c, 83d, and 83e can be abutted against the back surface of the first work W1, and ultimately the second work W2 can be quickly connected to the surface of the first work W1.

[0161] Moreover, according to the work connecting device 71 of this embodiment, the first plates 83a, 83b, 83c, 83d, and 83e are arranged so that their normals face in a plurality of directions, so that even if the first work W1 has a complex shape, an appropriate first plate can be selected and abutted against the back surface of the first work W1, and thus the second work W2 can be efficiently connected to the front surface of the first work W1. Also, even if one first plate becomes unusable, another first plate can be used, so that the durability of the device can be improved.

[0162] Furthermore, according to the work connecting device 71 of this embodiment, the first plates 83a, 83b, 83c, 83d and 83e have protrusions 87a, 87b, 87c, 87d and 87e that are circular in plan view and protrude from the center, thereby preventing distortion from occurring on the surface of the first work W1 and / or the surface of the second work W2 during welding, and improving the appearance quality of the entire work including the first work W1 and the second work W2.

[0163] Fifth embodiment Next, a fifth embodiment of the present invention will be described. Note that the drawings used in this embodiment are also exaggerated for ease of understanding, and the dimensions are different from the actual dimensions.

[0164] Hereinafter, the fifth embodiment of the present invention will be described. Since a work connection device 81 of this embodiment is similar to the work connection device 1 of the first embodiment except for the first pressing portion, the parts common to the first embodiment are given the same reference numerals and the description thereof will be omitted.

[0165] FIG. 29 is a left side view of the first pressing portion of the fifth embodiment.

[0166] Like the work connection device 1 of the first embodiment, the work connection device 81 of this embodiment also uses a multi-joint robot 9 for a welding machine, a first presser multi-joint robot 3, and a second presser / third presser mechanism 7 to urge and connect a second work W2 to a first work W1 fixed on a mounting table 88 arranged in a housing H.

[0167] In addition, the first pressing portion 85 of this embodiment, like the first pressing portion 5 of the first embodiment, presses the back surface of the first workpiece W1 when the welding articulated robot 9 welds the second workpiece W2 to the first workpiece W1.

[0168] As shown in FIG. 29, the first holding portion 85 of this embodiment includes a first mounting portion 102 connected to the fifth rotation axis 39 of the first holding articulated robot 3, a long arm 104 having one end connected to the first mounting portion 102, a second mounting portion 106 connected to the other end of the arm 104 by five attachments 106a, 106b, 106c, 106d and 106e (106c to 106e are not shown), and a support 103 connected to the second mounting portion 106.

[0169] Moreover, the support 103 has a hemispherical shape.

[0170] In this embodiment, the first pressing portion 85 comes into contact with the support 103 so that the normal to the front surface of the support 103 coincides with the normal to the rear surface of the first workpiece W1.

[0171] The work connection device 81 of this embodiment is intended for connecting the second work W2 to the surface of the first work W1 by forcing the second work W2 against the surface of the first work W1, and is particularly equipped with a first holding multi-joint robot 3 and a support body 103 connected to the tip of the first holding multi-joint robot 3 and capable of abutting against the back surface of the first work W1. Therefore, even if the first work W1 has a complex shape, the support body 103 can be abutted against the back surface of the first work W1, and thus the second work W2 can be quickly connected to the surface of the first work W1.

[0172] Sixth embodiment Finally, a sixth embodiment of the present invention will be described. Note that the drawings used in this embodiment are also exaggerated for ease of understanding, and the dimensions are different from the actual dimensions.

[0173] The sixth embodiment of the present invention will be described below. Since the work connection device 101 of this embodiment is similar to the work connection device 1 of the first embodiment except for the second holding portion and the third holding portion, the parts common to the first embodiment are denoted by the same reference numerals and the description thereof will be omitted.

[0174] FIG. 30 is a side view showing the second pressing portion of the sixth embodiment.

[0175] Like the work connection device 1 of the first embodiment, the work connection device 101 of this embodiment also uses a multi-joint robot 9 for a welding machine, a first presser multi-joint robot 3, and a second presser / third presser mechanism 7 to urge and connect a second work W2 to a first work W1 fixed on a mounting table 88 arranged in a housing H.

[0176] In addition, the second pressing portion 7c of this embodiment, like the second pressing portion 7a of the first embodiment, presses the back surface of the first workpiece W1 when the welding articulated robot 9 welds the second workpiece W2 to the first workpiece W1.

[0177] As shown in FIG. 30, the second holding portion 7c includes a first base 11, an extendable rod 15 extending and retracting relative to the first base 11, a compression spring (not shown) arranged inside the extendable rod 15 and biasing the extendable rod 15 upward, a second holding cylinder 42 extending and retracting the extendable rod 15 relative to the first base 11, a second up-down fixing solenoid valve 28 arranged on the upper part of the first base 11 for fixing the up-down position of the extendable rod 15, a second base 13 fixed to the upper end of the extendable rod 15, a swivel fixing solenoid valve 26 arranged on the upper part of the second base 13 for fixing the swivel of a second holding suction portion 46 described later, an extendable portion 17 arranged on the upper part of the swivel fixing solenoid valve 26 and capable of extending and retracting, a second holding suction portion 46 (corresponding to the "second plate" of the present invention) arranged on the upper part of the extendable portion 17, and a protrusion 49 with a protruding central portion arranged on the suction portion 46.

[0178] The second holding portion 7c configured as described above, like the second holding portion 7a of the first embodiment, first lowers the second base 13, the second swivel fixing solenoid valve 26, the extension portion 17 and the second holding suction portion 46 in the -Y direction by the second holding cylinder 42, and then fixes the extension rod 15 in the lowered position with the compression spring compressed by the second up / down fixing solenoid valve 28.

[0179] Thereafter, when the second pressing part 7c is selected by the second pressing part operation program, the second pressing part 7c is moved below the connection position using the second pressing slide motor 22, and then the second up / down fixing solenoid valve 28 is released, and the second base 13, the second swivel fixing solenoid valve 26, the extension / contraction part 17, the second pressing suction part 46 and the protrusion 49 are raised in the +Y direction by the force of the compression spring, and the second pressing suction part 46 and the protrusion 49 are abutted against the back surface of the first workpiece W1.

[0180] As shown in FIG. 7, the second pressing portion 7c is configured to be movable in the +X direction or the -X direction on the right mounting table 88b fixed to the mounting table 88 using a second pressing slide motor 22 arranged near the right mounting table 88b and a ball screw arranged inside the right mounting table 88b. The rotational force of a motor gear fixed to the motor shaft of the second pressing slide motor 22 is transmitted to the ball screw.

[0181] Moreover, the second pressing portion 7c can be used in place of the third pressing portion 7b.

[0182] The work connection device 101 of this embodiment is intended for connecting the second work W2 to the surface of the first work W1 by forcing the second work W2 against the surface of the first work W1, and is particularly equipped with one movable second pressing suction section 46 that can abut against the back surface of the first work W1 and whose normal can be changed in multiple directions.Since the direction of the normal of the second pressing suction section 46 can be fixed when it abuts against the back surface of the first work W1, even if the first work W1 has a complex shape, the second pressing suction section 46 can be appropriately abutted against the back surface of the first work W1, and thus the second work W2 can be quickly connected to the surface of the first work W1.

[0183] Furthermore, according to the work connecting device 101 of this embodiment, the second pressing and suction portion 46 is provided with a protruding portion 49 that protrudes from the center, thereby preventing distortion from occurring on the surface of the first work W1 and / or the surface of the second work W2 during welding, thereby improving the appearance quality of the entire work including the first work W1 and the second work W2.

[0184] The above describes the work connection device in an embodiment of the present invention, but the present invention is not limited to the above embodiment and can be implemented with various modifications without departing from the gist of the present invention.

[0185] For example, in the above-described embodiment, a case has been described in which a second workpiece W2 is ultrasonically welded to the surface of a first workpiece W1, but the present invention is not limited to this and can be applied to any connection, including crimping, pressure welding, etc., in which the second workpiece W2 is connected to the first workpiece by pressing it against it.

[0186] In the first to third embodiments, the support is a 14-sided polyhedron and the shape of the first plate constituting the polyhedron is generally triangular, but the present invention is not limited to this and the polyhedron may be a polyhedron having two or more sides and may be partially curved. Furthermore, the shape of the first plate constituting the polyhedron may be any shape.

[0187] However, in consideration of ease of control, it is better for the shape of the first plates constituting the polyhedron to be a uniform shape, and it is also better for the polyhedron to be composed of first plates of that uniform shape.

[0188] In the sixth embodiment, the support is described as being hemispherical, but is not limited thereto, and may be, for example, a shape in which two or more planes are folded into a V-shape. However, from the viewpoint of effectively pressing the first workpiece W1, it is better to form the surface of the support as a flat surface than to form the surface of the support as a curved shape such as a hemisphere.

[0189] Furthermore, in the above-described embodiment, the second holding portion 7a and the third holding portion 7b have been described as moving in a linear direction, but this is not limited to this, and the direction of movement can be changed as appropriate depending on the specifications of the work connecting device. [Explanation of symbols]

[0190] 1,21,61,71,81,101... Work connection device 3. Articulated robot for first presser 4. Air compressor 5,25,45,75,85...First holding part 7 Second and third pressure mechanisms 7a, 7c...Second holding part 7b Third holding part 9. Articulated robot for welding machines 12. Robot controller 20. Ultrasonic transducer 22 Second presser slide motor 24···Third presser slide motor 26...Second swing fixing solenoid valve 28...Second vertical fixing solenoid valve 30....3rd swing fixing solenoid valve 40...Third vertical fixing solenoid valve 42 Second holding cylinder 44···Third holding cylinder 46...Second pressure suction part 48...Third pressure suction part 49,57,87...protrusion 51,66,77,83,103...Support 51b...Aperture surface 51c...Cavity 53,63,73,83...First plate 55,65...Disc 58... Fastener W1: First work W2: Second work

Claims

1. 1. A work connecting device that urges a second work against a surface of a first work to connect the second work to the surface of the first work, comprising: Articulated robots and A support body having a plurality of first plates connected to a tip of the articulated robot and arranged such that normals of the first plates face in a plurality of directions; Equipped with The articulated robot is configured to select a specific first plate from the plurality of first plates of the support body and abut the specific first plate against the back surface of the first workpiece.

2. 2. The workpiece connecting device according to claim 1, wherein the support body is formed of a polyhedron having the plurality of first plates.

3. 3. The workpiece connecting device according to claim 2, wherein a tip of the articulated robot is connected to one of the first plates constituting the polyhedron.

4. The polyhedron has an open surface and an internal cavity, 3. The workpiece connecting device according to claim 2, wherein each of the plurality of first plates is clamped to the polyhedron by fasteners from the cavity and is separately connected to one of the faces that constitute the polyhedron.

5. 2. The workpiece connecting device according to claim 1, wherein a disk having an area smaller than that of the first plate and a predetermined thickness is fixed to an outer surface of the first plate.

6. 1. A work connecting device that urges a second work against a surface of a first work to connect the second work to the surface of the first work, comprising: At least one second plate configured to move from the back side of the first workpiece toward the first workpiece, come into contact with the back surface of the first workpiece, and incline according to the back surface shape of the first workpiece; A workpiece connecting device, characterized in that at least one of the second plates can be fixed in an inclined state in accordance with the shape of the back surface of the first workpiece.

7. 7. The workpiece connecting device according to claim 6, wherein the second plate has a structure in which a central portion thereof protrudes.

8. 6. The workpiece connecting device according to claim 1, wherein the first plate has a structure in which a central portion thereof protrudes.

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