CN107735217B - Working piece positioning device - Google Patents
Working piece positioning device Download PDFInfo
- Publication number
- CN107735217B CN107735217B CN201580081489.2A CN201580081489A CN107735217B CN 107735217 B CN107735217 B CN 107735217B CN 201580081489 A CN201580081489 A CN 201580081489A CN 107735217 B CN107735217 B CN 107735217B
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- China
- Prior art keywords
- mentioned
- fixture
- engagement pin
- frame
- body frame
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- 229910000838 Al alloy Inorganic materials 0.000 claims abstract description 11
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 56
- 229910052782 aluminium Inorganic materials 0.000 claims description 56
- 239000004411 aluminium Substances 0.000 claims description 56
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 description 67
- 239000000956 alloy Substances 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000000280 densification Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/18—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for positioning only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Automatic Assembly (AREA)
- Jigs For Machine Tools (AREA)
- Manipulator (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
Scaffold (53) includes can the first fixture positioning region (7a) along the first engagement pin (8b) that the length direction of main body frame (61) moves forward and backward and the second engagement pin (97) and between the first engagement pin (8b) and the second engagement pin (97).On the aluminium alloy main body frame (61) of fixture (6), it is equipped with the first the first connecting hole (69a) and the second connecting hole (69b) for engaging frame (64), being located at the length direction two sides of main body frame (61) and engaging with the first engagement pin (8b) and the second engagement pin (97) for being located at main body frame (61) center and cooperating with the first fixture positioning region (7a).
Description
Technical field
The present invention relates to a kind of Working piece positioning devices, to the workpiece etc. obtained using punch forming when e.g. being welded
The Working piece positioning device for being clamped and being positioned.
Background technique
The prior art is such that be disposed with fixture, bearing for example, on auto production line disclosed in patent document 1
Platform, welding robot and fixture retractable frame, wherein fixture for being positioned to workpiece, supporting station for support the fixture and
The fixture is removable, and the mechanical arm top of welding robot is equipped with welding gun, and fixture retractable frame is used for the multiple fixtures of folding and unfolding；By supporting
The fixture that platform is supported positions multiple workpiece, and is assembled integrally multiple workpiece with above-mentioned welding robot.?
When changing the workpiece to be assembled, welding gun is removed from welding robot, and fixture is removed from supporting station simultaneously with welding robot
It is transported to fixture retractable frame, then, other fixtures of folding and unfolding in fixture retractable frame are transported to supporting station simultaneously by welding robot
After being installed on the supporting station, then the mechanical arm top that welding gun is attached to welding robot carried out assembled workpiece.
Existing technical literature
Patent document
Patent document 1: special open 2002-1626 bulletin
Summary of the invention
Technical problems to be solved by the inivention
For fixture disclosed in patent document 1, multiple clamping devices for being positioned to workpiece are installed,
Weight is very heavy.Therefore, it is necessary to prepare can to carry the biggish large-scale welding robot of weight to carry out handling gripper, can occupy many more
Installation space.
In order to avoid above situation, it is contemplated that form the major part of fixture with aluminium alloy material and make fixture lightweight.
But the linear expansion coefficient of aluminium alloy material differs greatly with iron material, therefore the shape of fixture may be because of temperature change
And change, installation site when fixture is installed on supporting station may shift.
The present invention is exactly to complete in view of the above problems.Its object is to: a kind of lighter Working piece positioning device is provided,
Fixture is removable, and can make compacter around device, and even if environment changes, the installation site of fixture will not be sent out
It is raw to deviate.
To solve the technical solution of technical problem
In order to achieve the above object, the present invention is characterized in that: with aluminium alloy material formed fixture major part and at it
Center setting reference component, and the time has been descended on the part of stationary fixture.
Specifically, using following solution using Working piece positioning device as object.Wherein, above-mentioned workpiece positioning dress
It sets including fixture and supporting mass, the fixture is for positioning workpiece, which is used to support the fixture and the fixture can
Dismounting.
That is, first aspect is characterized in that, above-mentioned fixture includes horizontally extending aluminium alloy main body frame, on
Stating supporting mass includes the first engagement pin and the second engagement pin and fixture positioning region, and above-mentioned first engagement pin and above-mentioned second engage
Pin in the horizontal direction arrange by specified interval apart, and can move forward and backward along the length direction of aforementioned body frame, above-mentioned
Fixture positioning region is located between first engagement pin and second engagement pin, and auxiliary section and the are equipped on aforementioned body frame
One connecting hole and the second connecting hole, above-mentioned matching part in main body frame center, and cooperate above-mentioned fixture positioning region relative to
Above-mentioned supporting mass positions fixture, and above-mentioned first connecting hole and above-mentioned second connecting hole are located at the length of aforementioned body frame
Direction two sides and in the state that above-mentioned first engagement pin and above-mentioned second engagement pin advance respectively with above-mentioned first engagement pin and
Above-mentioned second engagement pin engaging.
Second aspect is on the basis of first aspect, which is characterized in that aforementioned body frame includes the first elongated aluminium
Second aluminium chassis of frame and plate, wherein the section of above-mentioned first aluminium chassis is in approximate U-shaped, multiple above-mentioned second aluminium frames
Frame along first aluminium chassis length direction specified interval apart be located in above-mentioned first aluminium chassis side by side, and with this
One aluminium chassis is integrally fixed, and the center of each second aluminium chassis is formed with the jack passed through for deposited components.
Third invention is on the basis of first or second aspect, which is characterized in that above-mentioned supporting mass prolongs in the horizontal direction
It stretches and section is rectangular, on the both ends part on the length direction of aforementioned body frame, equipped with outer with above-mentioned supporting mass
Corresponding a pair of of the L-shaped frame of circumferential surface, in the state of abutting to each L-shaped frame on above-mentioned supporting mass, above-mentioned first
Engagement pin and above-mentioned second engagement pin are located at the position opposite with above-mentioned first connecting hole and above-mentioned second connecting hole.
Fourth aspect is on the basis of the first either side into the third aspect, which is characterized in that above-mentioned fixture positioning
Portion has a location hole, and above-mentioned location hole is to intersecting with the direction arranged side by side of above-mentioned first engagement pin and above-mentioned second engagement pin
Horizontal direction opening, above-mentioned auxiliary section is prominent to the direction orthogonal with the length direction of aforementioned body frame, also, above-mentioned cooperation
Portion engages with above-mentioned location hole and can be detached from from above-mentioned location hole.
The effect of invention
In the first aspect, because forming the major part of fixture with aluminium alloy material, the overall weight of fixture is lighter.
Therefore, can be arranged around device can carry the lesser welding robot of weight, so as to make densification around device.Cause
Be the main body frame that is made of aluminium alloy material in horizontally extending shape, once so temperature change will be along it
Length direction is flexible.But by the way that positioning datum, that is, auxiliary section relative to supporting mass is located in the length direction of main body frame
Centre, and match auxiliary section with the i.e. fixture positioning region of the positioning datum of supporting mass, the center of fixture is just bound to and supporting mass
Positioning datum it is consistent.Moreover, in the length direction two sides of main body frame, the length of two engagement pins of supporting mass along main body frame
Engage before degree direction and then with two connecting holes of main body frame, therefore even if main body frame stretches along its length, only by card
The variation for the advance amount that dowel pin occurs relative to connecting hole can also maintain the fastening state between engagement pin and connecting hole.Therefore,
Even if environment changes, also fixture can be securely held to supporting mass in the state that base position is not deviateed
On.
In second aspect, because each second aluminium chassis plays the effect in the joint in the first aluminium chassis, it can mention
The rigidity of high main body frame.Deposited components are inserted into the jack of each second aluminium chassis, it will be able to by each driving portion with fixture
In the fitly folding and unfolding to the first aluminium chassis of connected deposited components.Moreover, because of deposited components folding and unfolding in the first aluminium chassis, institute
Generated when can also deposited components be protected not welded in the case where being welded to the workpiece navigated on fixture
Splash influences.The shape that first aluminium chassis is open in a part of outer peripheral surface, therefore deposited components are for example routed to first
When in aluminium chassis, the operation of operator is just simple to be easy.
In a third aspect, positioning of the fixture on the direction that the length direction with supporting mass intersects becomes simply to be easy.
Once position of the fixture on the direction that the length direction with supporting mass intersects determines that then engagement pin just becomes at the same time
The state that can be engaged with connecting hole.Therefore, the time needed for clamp-replacing operation capable of being shortened.
In fourth aspect, fixture is set to advance to the projected direction of engagement pawl relative to supporting mass, engagement pawl will be with branch
Hold the location hole engaging of body.Therefore, fixture will be simply easy relative to the positioning operation of supporting mass.
Detailed description of the invention
Fig. 1 is the main view of welding production line, is disposed with involved by embodiments of the present invention on above-mentioned welding production line
And Working piece positioning device.
Fig. 2 is comparable to the A of Fig. 1 to the figure of view.
Fig. 3 is comparable to the figure of Fig. 1 during clamp-replacing.
Fig. 4 is the B direction view of Fig. 3.
Fig. 5 is the diagrammatic top view of fixture central lower, show replacement fixture when, relative to scaffold will to fixture into
State before row positioning.
Fig. 6 is the C direction view of Fig. 5.
Fig. 7 is the diagrammatic top view of fixture central lower, show replacement fixture when, relative to scaffold just to fixture into
The state gone after positioning.
Fig. 8 is the D direction view of Fig. 7.
Fig. 9 is the diagrammatic top view of the length direction end of fixture, will be right relative to scaffold when showing replacement fixture
Fixture positioned before state.
Figure 10 is the E direction view of Fig. 9.
Figure 11 is the diagrammatic top view of the length direction end of fixture, when showing replacement fixture, just relative to scaffold
State after positioning has been carried out to fixture.
Figure 12 is the F direction view of Figure 11.
Figure 13 is the G direction view of Fig. 2, is shown relative to scaffold i.e. by the state before stationary fixture.
Figure 14 is the G direction view of Fig. 2, shows the state just fixed after fixture relative to scaffold.
Figure 15 is the H direction view of Fig. 2, is shown relative to scaffold i.e. by the state before stationary fixture.
Figure 16 is the H direction view of Fig. 2, shows the state just fixed after fixture relative to scaffold.
Specific embodiment
Detailed description of embodiments of the present invention with reference to the accompanying drawings.It should be noted that following be preferably implemented
The explanation of mode is only example substantially.
Fig. 1 shows production line 1 involved in embodiments of the present invention.The production line 1 is as follows: will be struck out using spot welding
Two workpiece W1, W2 of type are assembled integrally, which includes 2 and of Working piece positioning device positioned to workpiece W1, W2
Carry out weld job welding robot 3, operator H1 by workpiece W1, W2 be installed on above-mentioned Working piece positioning device 2 with it is upper
State the opposite side of welding robot 3.
As shown in Fig. 2, above-mentioned Working piece positioning device 2 includes first motor 4, rotating frame 5 and fixture 6, first motor 4 has
Have the rotary shaft 4a vertically extended, rotating frame 5 is supported by above-mentioned rotary shaft 4a and rectangular frame-shaped, fixture 6 there are four and
Above-mentioned workpiece W1, W2 are positioned, above-mentioned rotating frame 5 is in position (hereinafter referred to as work corresponding with above-mentioned welding robot 3
Part welding region X1) and position corresponding with above-mentioned operator H1 (hereinafter referred to as workpiece setting region X2) between alternately R1
The rotation (rotating forward) and the rotation in the direction R2 (reversion) in direction.
Above-mentioned rotating frame 5 includes 53 (branch of first level frame 51, a pair of second horizontal frame 52 and a pair of of scaffold
Hold body).Wherein, first level frame 51 extends from rotary shaft 4a to horizontal direction two sides and centered on above-mentioned rotary shaft 4a
Symmetrically, a pair of second horizontal frame 52 from the length direction both ends of the first level frame 51 respectively to the first level frame
51 orthogonal horizontal directions extend and symmetrical centered on the first level frame 51, a pair of of scaffold 53 respectively by this each the
Bridge between length direction one end of two horizontal frames 52 and between the length direction other end of above-mentioned each second horizontal frame 52
It picks up and carrys out and support respectively two removable above-mentioned fixtures 6 up and down.
Above-mentioned each second horizontal frame 52 includes straight line frame 52a and tilt frame 52b.Wherein, straight line frame 52a is along water
Square extend to straight, tilt frame 52b extends obliquely upward respectively from the length direction both ends of straight line frame 52a.
Crossed roller bearing B1 is respectively equipped with inside the upper end side of each tilt frame 52b.
Each crossed roller bearing B1 supports above-mentioned each scaffold 53 and above-mentioned each scaffold 53 can be around along upper
The axis of rotation rotation that the length direction of first level frame 51 extends is stated, which utilizes the rotation in the direction R3
(rotating forward) and the rotation in the direction R4 (reversion) alternately switch the position for each fixture 6 being mounted on each scaffold 53.
On the central upper surface of above-mentioned each straight line frame 52a, the installation equipped with horizontally extending rectangular plate-like
Platform 54.
Second motor 55 is installed on each erecting bed 54, the rotary shaft 55a of the second motor 55 is towards above-mentioned first water
The length direction of flat frame 51 is equipped with first pulley 55b, first pulley 55b and rotary shaft 55a on above-mentioned rotary shaft 55a
Integrally rotate.
On the other hand, second belt wheel 53a, the second belt wheel are installed in length direction one end of above-mentioned each scaffold 53
53a is integrally rotated with scaffold 53, the supporting frame of the first pulley 55b and side that are mounted on the second motor 55 of side
Between second belt wheel 53a of frame 53, the supporting frame of first pulley 55b and the other side that is mounted on the second motor 55 of the other side
Between second belt wheel 53a of frame 53, it is wrapping with the chain conveyor 56 of annular respectively.
Above-mentioned chain conveyor 56 and the first pulley 55b and the second belt wheel 53a for being wrapping with the chain conveyor 56 are protected
Shield 57 covers.
Using the spinning movement of above-mentioned second motor 55, above-mentioned scaffold 53 is via above-mentioned first pulley 55b, above-mentioned chain
Formula conveyer belt 56 and above-mentioned second belt wheel 53a are rotated to the direction R3 and the direction R4 respectively.
Above-mentioned each scaffold 53 is horizontally extending and section is rectangular, in the upper surface in its length direction center
With the first fixture positioning region 7a is respectively equipped on lower surface.
As shown in Fig. 5 to Fig. 8, the first fixture positioning region 7a is located at the upper surface of above-mentioned each scaffold 53, the first fixture
Positioning region 7a includes the first block portion 71 and a pair of second block portion 72.Wherein, the first block portion 71 is located at 51 side of first level frame,
A pair of second block portion 72 is located at side opposite with first level frame 51 when being benchmark with first block portion 71 and with above-mentioned the
One block portion 71 is separated by specified interval along the length direction of above-mentioned scaffold 53 at a distance of specified interval, a pair of second block portion 72
And it sets.
First positioning hole 71a, the edge first positioning hole 71a and above-mentioned supporting frame are formed in the center of above-mentioned first block portion 71
The orthogonal horizontal direction of the length direction of frame 53 is through the first block portion 71 and in 51 side of first level frame and and first level
The opposite side of frame 51 is open respectively.
Locating slot 72a, the edge locating slot 72a and above-mentioned bearing are formed on above-mentioned each second block portion 72 face relative to each other
The orthogonal horizontal direction of the length direction of frame 53 extends.
It should be noted that being located at each scaffold 53 when observing along the axis of rotation direction of above-mentioned each scaffold 53
First fixture positioning region 7a of lower surface and the first fixture positioning region 7a of the upper surface for being located at above-mentioned each scaffold 53 is in point
Symmetrically, therefore detailed description will be omitted.
The second folder is respectively equipped in the upper and lower surfaces at the close length direction both ends of above-mentioned each scaffold 53
Has positioning region 7b, positioned at two the second fixture positioning region 7b of the length direction one end of above-mentioned each scaffold 53 and positioned at upper
Two the second fixture positioning region 7b for stating the length direction another side of each scaffold 53, are located at and above-mentioned first fixture
Positioning region 7a is at a distance of the position of same intervals.
As shown in Fig. 9 to Figure 12, the second fixture positioning region 7b positioned at the upper surface of above-mentioned each scaffold 53 is in bulk,
And it is located at above-mentioned 51 side of first level frame, and second location hole 7c is formed in the center of the second fixture positioning region 7b, second
Location hole 7c is along the horizontal direction orthogonal with the length direction of above-mentioned scaffold 53 through the second fixture positioning region 7b and the
One horizontal frame, 51 side and the side opposite with first level frame 51 are open respectively.
It should be noted that being located at each scaffold 53 when observing along the axis of rotation direction of above-mentioned each scaffold 53
Second fixture positioning region 7b of lower surface and the second fixture positioning region 7b of the upper surface for being located at above-mentioned each scaffold 53 is in point
Symmetrically, therefore detailed description will be omitted.
As shown in Figure 13 and Figure 14, it is equipped on two sides of close length direction one end of above-mentioned each scaffold 53
A pair of first fixed cell 8, the first fixed cell 8 are used to above-mentioned fixture 6 being fixed to above-mentioned scaffold 53.
First fixed cell 8 includes unit main body 8a and the first engagement pin 8b, and unit main body 8a is along above-mentioned scaffold
53 length direction extends, and the first engagement pin 8b advances in the state of can be on the outside of the length direction towards above-mentioned scaffold 53
And retrogressing, it is formed with air duct (not shown) inside first engagement pin 8b, air duct and above-mentioned 5 side of rotating frame
Pipeline be connected.
On the other hand, as shown in Figure 15 and Figure 16, the two of the close length direction other end of above-mentioned each scaffold 53
A side is equipped with a pair of second fixed cell 9, and the second fixed cell 9 is used to above-mentioned fixture 6 being fixed to above-mentioned scaffold
On 53.
Second fixed cell 9 includes fixed station 91, sliding rail 92, sliding panel 93 and fluid-pressure cylinder 94, and fixed station 91 is in block
It shape and is fixed on above-mentioned scaffold 53, sliding rail 92 is fixed on 91 side of above-mentioned fixed station on above-mentioned scaffold 53, sliding
Rail 92 extends along the length direction of above-mentioned scaffold 53, and sliding panel 93 is chimeric with the sliding rail 92 and slidably, fluid-pressure cylinder 94
It is mounted on above-mentioned fixed station 91.The piston rod 94a of the fluid-pressure cylinder 94 is flexible along the length direction of above-mentioned scaffold 53, living
The top of stopper rod 94a is connected through connecting member 95 with above-mentioned sliding panel 93.
Rectangular slab 96 is installed on the end with above-mentioned 91 opposite side of fixed station of above-mentioned sliding panel 93, in the rectangle
The second engagement pin 97 and the first connector 98, the first connection are equipped on the face with above-mentioned 91 opposite side of fixed station of plate 96 side by side
Device 98 is connected in rectangular plate-like and with the electric wire of 5 side of rotating frame.
If the piston rod 94a of above-mentioned fluid-pressure cylinder 94 is flexible, above-mentioned sliding panel 93 just will do it sliding action, above-mentioned the
Two engagement pins 97 and above-mentioned first connector 98 are due to the sliding action of above-mentioned sliding panel 93 along the length of above-mentioned scaffold 53
Direction moves forward and backward.
That is, above-mentioned two first engagement pin 8b and above-mentioned two second engagement pin 97 in the horizontal direction at a distance of specified interval and
If above-mentioned first fixture positioning region 7a between above-mentioned two first engagement pin 8b and above-mentioned two second engagement pin 97 in
At centre.
As shown in Figure 1 and Figure 4, above-mentioned fixture 6 includes the iron supporting station 62 of main body frame 61 made of aluminum alloy and plate,
Main body frame 61 is horizontally extending, and supporting station 62 is fixed on the upper surface of the main body frame 61 and prolongs along the main body frame 61
It stretches.Multiple clamping device 62a are installed on the supporting station 62, for clamping the above-mentioned equitant part workpiece W1, W2.
Aforementioned body frame 61 includes the first aluminium chassis 61a and the second aluminium chassis 61b.Wherein, the first aluminium chassis 61a is thin
Long, opening and section is u-shaped downwards, length direction each other phase of multiple second aluminium chassis 61b along first aluminium chassis 61a
It away from specified interval is located in first aluminium chassis 61a, multiple second aluminium chassis 61b are plate-like and solid with the first aluminium chassis 61a
It is fixed integral.Be formed with jack 61c on each second aluminium chassis 61b, jack 61c for pipeline or electric wire etc. deposited components
68 pass through.
It is approximate in being equipped with the opposite side of first level frame 51 for the length direction center of above-mentioned first aluminium chassis 61a
Block-like tool replacing apparatus mounting portion 60, tool replacing apparatus mounting portion 60 is for installing tool replacing apparatus (not shown).
As shown in Fig. 5 to Fig. 8, the first engaging frame is installed in the length direction central lower of above-mentioned first aluminium chassis 61a
Frame 64 (auxiliary section), the first engaging frame 64 extend along the horizontal direction orthogonal with above-mentioned first aluminium chassis 61a.
The first engaging frame 64 is linked in front side engaging frame 65 and rear side engaging frame 66 by framework 67
Shape, front side engages frame 65 and when rear side engaging frame 66 is overlooked is in T shape, framework 67 it is linearly and along with
Above-mentioned first aluminium chassis 61a orthogonal horizontal direction extends.
Above-mentioned front side engages frame 65 from the first aluminium chassis 61a to the level side orthogonal with above-mentioned first aluminium chassis 61a
It is constituted to prominent, and by front side engagement pawl 65a and a pair of forward side tabs 65b.Wherein, front side engagement pawl 65a and above-mentioned first
Location hole 71a engages and can be detached from from above-mentioned first positioning hole 71a, and a pair of of forward side tabs 65b is from the front side engagement pawl
The lateral horizontal direction two sides of the cardinal extremity of 65a are prominent.
That is, above-mentioned front side engagement pawl 65a phase together with first positioning hole 71a and engaging with first positioning hole 71a
Above-mentioned scaffold 53 positions fixture 6.Wherein, first positioning hole 71a to above-mentioned first engagement pin 8b and upper
State the horizontal direction opening of the direction arranged side by side intersection of the second engagement pin 97.
Design of length of the above-mentioned front side engaging frame 65 in the horizontal direction orthogonal with above-mentioned first aluminium chassis 61a must compare
Length between above-mentioned first block portion 71 and above-mentioned two second block portion 72 is short.
Length of the above-mentioned framework 67 in the horizontal direction orthogonal with above-mentioned first aluminium chassis 61a is set to than above-mentioned
Length of two the second block portions 72 in the horizontal direction orthogonal with above-mentioned first aluminium chassis 61a is long, and above-mentioned framework 67 exists
Length on the length direction of above-mentioned first aluminium chassis 61a is set to shorter than the length between above-mentioned two second block portion 72.
Above-mentioned rear side engaging frame 66 is longer on the length direction of above-mentioned first aluminium chassis 61a than above-mentioned framework 67
Degree length, and the both ends part of above-mentioned rear side engaging frame 66 is made of rear side engagement pawl 66a and a pair of rear side projections 66b.Its
In, rear side engagement pawl 66a can engage with the locating slot 72a of above-mentioned each second block portion 72 or be detached from from locating slot 72a,
A pair of of rear side projections 66b is prominent from the cardinal extremity side of rear side engagement pawl 66a to horizontal direction two sides.
As shown in figure 4, the length direction one end and another side in above-mentioned first aluminium chassis 61a are equipped with the second card of a pair
Frame 63 is closed, a pair second engages frame 63 and extends along the horizontal direction orthogonal with above-mentioned first aluminium chassis 61a.
As shown in Fig. 9 to Figure 12, which is in elongated plate-shaped, upper on above-mentioned second engaging frame 63
It states and is equipped with outside engagement pawl 63a, outside engagement pawl 63a and above-mentioned front side engagement pawl on the inside of the length direction of the first aluminium chassis 61a
65a is prominent to same direction, and outside engagement pawl 63a engages with above-mentioned second location hole 7c and can be from above-mentioned second location hole 7c
Middle disengaging.
A pair of of L-shaped frame 69 (L-shaped shape portion) is installed at the length direction both ends of above-mentioned first aluminium chassis 61a, one
It is corresponding with two Adjacent circumferential faces of above-mentioned scaffold 53 to L-shaped frame 69.
As shown in Figure 13 and Figure 14, part outstanding is equipped with the first connecting hole to the L-shaped frame 69 of one end downwards
69a, the first connecting hole 69a engage in the state that above-mentioned first engagement pin 8b advances with above-mentioned first engagement pin 8b, the first card
Close length direction inside opening of the hole 69a to main body frame 61.
As shown in Figure 15 and Figure 16, part outstanding is equipped with the second connecting hole to the L-shaped frame 69 of the other end downwards
69b, the second connecting hole 69b engage in the state that above-mentioned second engagement pin 97 advances with above-mentioned second engagement pin 97, the second card
Close length direction inside opening of the hole 69b to main body frame 61.
Central location of the above-mentioned first positioning hole 71a between above-mentioned first connecting hole 69a and the second connecting hole 69b.
Part outstanding is equipped with the second connector 69c, the second connector 69c to the L-shaped frame 69 of the other end downwards
Recess and in arranged side by side for connect rectangular-shaped of above-mentioned first connector 98 and with above-mentioned second connecting hole 69b, above-mentioned the
Two connector 69c are connected with the electric wire of 6 side of fixture.
Moreover, in the state of abutting to above-mentioned each L-shaped frame 69 on above-mentioned scaffold 53, above-mentioned first engaging
Pin 8b and the second engagement pin 97 are located at the position opposite with above-mentioned first connecting hole 69a and the second connecting hole 69b.
Above-mentioned welding robot 3 is industrial multi-axis robot, is equipped with welding gun 3b on the top of mechanical arm 3a, and can
Change the posture of above-mentioned welding gun 3b freely to be welded.
It is connected with control panel 10 in above-mentioned first motor 4, which believes to above-mentioned 4 output services of first motor
Number, keep above-mentioned each fixture 6 mobile to workpiece welding region X1 and workpiece setting region X2.
Above-mentioned control panel 10 is connected with above-mentioned each second motor 55 and to above-mentioned each second motor, 55 output services signal, makes
Two fixtures 6 being mounted on above-mentioned each scaffold 53 are mobile to upper side position and lower position respectively.
Illustrate how production line 1 produces below.
State shown in fig. 1 is: after just stopping along the rotating frame 5 that the direction R1 rotates, be clamped with by workpiece W1,
Two fixtures 6 of assembly 11 that W2 is assembled integrally and is formed are moved to workpiece setting region X2, also, mount and position
There are two fixtures 6 of workpiece W1, W2 to be moved to workpiece welding region X1.
Based on the above-mentioned state shown in FIG. 1, firstly, welding robot 3 changes the posture of above-mentioned welding gun 3b and to being determined
It is welded to the welding position that workpiece W1, W2 on the fixture 6 on the upside of workpiece welding region X1 are overlapped position.
After workpiece W1, W2 welding on the fixture 6 being positioned on the upside of workpiece welding region X1, above-mentioned control panel
10 to side 55 output services signal of the second motor, exchange two fixtures 6 up and down positioned at workpiece welding region X1 mutually.
In this way, the fixture 6 for being clamped with assembly 11 just moves downward, the fixture 6 of workpiece W1, W2 before mounting and positioning welding are just
Upward side is mobile.
Then, welding robot 3 welds the welding position of the overlapping of workpiece W1, W2 on fixture 6, the fixture 6
It is the fixture 6 for being located at upside after workpiece welding region X1 has exchanged upper and lower position.
On the other hand, when welding robot 3 is during workpiece welding region X1 carries out weld job, operator H1 exists
Workpiece setting region X2 takes out assembly 11 from the fixture 6 for being located at upside.
Then, workpiece W1, W2 are installed in place on the fixture 6 of upside by operator H1.
Then, operator H1 presses fixture switching push button (not shown).In this way, above-mentioned control panel 10 will be to the other side
Second motor, 55 output services signal exchanges two fixtures 6 up and down positioned at workpiece setting region X2 mutually.Then, it installs
There are the fixture 6 of workpiece W1, W2 to move downward, the upward side of fixture 6 for being clamped with assembly 11 is mobile.
Then, operator H1 takes out assembly 11 from the fixture 6 for being located at upside, and workpiece W1, W2 are also mounted to position
In on the fixture 6 of upside.
After workpiece W1, W2 welding on two fixtures 6 for being mounted on workpiece welding region X1, just it is made
Two assemblies 11, also, after workpiece W1, W2 are installed in place on two fixtures 6 in workpiece setting region X2, above-mentioned control
Disk 10 will be such that the above-mentioned beginning of rotating frame 5 rotates along the direction R2 to 4 output services signal of first motor.
After the rotating frame 5 rotated along the direction R2 stops, repeats the above steps and workpiece W1, W2 are assembled.
Illustrate the step of fixture 6 are removed from Working piece positioning device 2 below.
Firstly, control panel 10 is to 3 output services signal of welding robot, from the top of the mechanical arm 3a of welding robot 3
Welding gun 3b is removed, also, the tool changing for making the top of mechanical arm 3a be connected to the fixture 6 to remove from scaffold 53 fills
It sets on the tool replacing apparatus (not shown) of mounting portion 60.
Then, control panel 10 is to 8 output services signal of the first fixed cell.In this way, the first engagement pin 8b retreat and from the
It is detached from one connecting hole 69a.
Control panel 10 is also to 9 output services signal of the second fixed cell.In this way, piston rod 94a carries out expanding-contracting action, therewith
Sliding panel 93 carries out sliding action, and the second engagement pin 97 is retreated because of the sliding action, and is detached from from the second connecting hole 69b,
First connector 98 is also detached from from the second connector 69c.
Then, welding robot 3 draws fixture 6 in the horizontal direction to 3 side of welding robot.In this way, front side engagement pawl
65a will be detached from from first positioning hole 71a, and rear side engagement pawl 66a can be also detached from from two locating slot 72a, also, be linked
Frame 67 is located between two the second block portions 72.
When welding robot 3 draws fixture 6 in the horizontal direction to 3 side of welding robot, each outside engagement pawl 63a from
It is detached from each second location hole 7c.
Then, welding robot 3 lifts fixture 6 upwards.In this way, framework 67 just leave two the second block portions 72 it
Between and be moved to top, fixture 6 is just removed (referring to Fig. 3) from scaffold 53 completely.
Illustrate step fixture 6 being installed on Working piece positioning device 2 below.
Firstly, control panel 10 is to 3 output services signal of welding robot, from the top of the mechanical arm 3a of welding robot 3
Welding gun 3b is removed, also, the top of mechanical arm 3a is made to be connected to the tool of fixture 6 of the folding and unfolding on fixture retractable frame (not shown)
On the tool replacing apparatus (not shown) of more changing device mounting portion 60.
Then, control panel 10 moves the fixture 6 for being connected to the top mechanical arm 3a to 3 output services signal of welding robot
Move 53 top of scaffold.
Then, make the connection in the first engaging frame 64 of the fixture 6 on the top mechanical arm 3a for being connected to welding robot 3
Frame 67 is located between two the second block portions 72, and fixture 6 is allowed to decline.In this way, framework 67 passes through two the second block portions
Between 72.
Then, 3 Level Promoting fixture 6 of welding robot makes fixture 6 far from the welding robot 3.In this way, such as Fig. 5 to figure
Shown in 8, first positioning hole 71a engages with front side engagement pawl 65a, and rear side engagement pawl 66a engages with two locating slot 72a.This
When, not only front side engagement pawl 65a engages with first positioning hole 71a, and rear side engagement pawl 66a is also and positioned at than first positioning hole 71a
Two locating slot 72a closer to the side of welding robot 3 engage, therefore 6 impetus of fixture can be prevented too quickly with the first folder
It falls down from scaffold 53 centered on tool positioning region 7a to the side rotation opposite with welding robot 3.
When 3 Level Promoting fixture 6 of welding robot, when making fixture 6 far from the welding robot 3, such as Fig. 9 to Figure 12 institute
Show, each outside engagement pawl 63a engages with each second location hole 7c.
If front side engagement pawl 65a engages with first positioning hole 71a, rear side engagement pawl 66a and two locating slot 72a cards
It closes, and each outside engagement pawl 63a engages with each second location hole 7c, then the two of fixture 6 L-shaped frame 69 will abut to branch
On two Adjacent circumferential faces of support frame frame 53.In this way, above-mentioned first engagement pin 8b will be opposite with above-mentioned first connecting hole 69a,
Above-mentioned second engagement pin 97 is opposite with above-mentioned second connecting hole 69b, and above-mentioned first connector 98 and above-mentioned second connector 69c
Relatively.
Then, control panel 10 is to 8 output services signal of the first fixed cell.In this way, as shown in Figure 13 and Figure 14, the first card
Engage before dowel pin 8b and then with the first connecting hole 69a, at the same time, via the first engagement pin 8b from the pipe of 5 side of rotating frame
Road supplies compressed air to each driving portion of fixture 6, and fixture 6 just becomes can working condition.
Control panel 10 is also to 9 output services signal of the second fixed cell.In this way, as shown in Figure 15 and Figure 16, piston rod 94a
Expanding-contracting action is carried out, sliding panel 93 carries out sliding action therewith, and the second engagement pin 97 advances because of the sliding action, and with second
Connecting hole 69b engaging, the first connector 98 are also connected with the second connector 69c, at the same time, 5 side of rotating frame
The electric wire of 6 side of electric wire and fixture is connected via the first connector 98 and the second connector 69c, each driving portion of fixture 6
It is under the control of control panel 10.
The top of mechanical arm 3a is removed from the tool replacing apparatus (not shown) of the tool replacing apparatus mounting portion 60 of fixture 6
End, thus terminates the installation exercise of fixture 6.
Such as above-mentioned, embodiment according to the present invention, because forming the major part of fixture 6 with aluminium alloy material, folder
The overall weight of tool 6 is lighter.Therefore, can be arranged around Working piece positioning device 2 can carry the lesser welding robot of weight
3, so as to make surrounding's densification of Working piece positioning device 2.
Because the main body frame 61 being made of aluminium alloy material is in horizontally extending shape, once so temperature occurs
Variation will stretch along its length.But it is set by the way that frame 64 will be engaged relative to the positioning datum of scaffold 53 i.e. first
In the length direction center of main body frame 61, and make positioning datum i.e. the first fixture of the first engaging frame 64 and scaffold 53
Positioning region 7a is matched, and the center of fixture 6 is just bound to consistent with the positioning datum of scaffold 53.Moreover, in main body frame
61 length direction two sides, the length direction of the first engagement pin 8b and the second engagement pin 97 of scaffold 53 along main body frame 61
It is preceding and then engage respectively with the first connecting hole 69a of main body frame 61 and the second connecting hole 69b, therefore, even if main body frame 61
It stretches along its length, only by the first engagement pin 8b and the second engagement pin 97 relative to the first connecting hole 69a and the second connecting hole
The variation for the advance amount that 69b occurs, also can reliably carry out engaging between the first engagement pin 8b and the first connecting hole 69a and
Engaging between second engagement pin 97 and the second connecting hole 69b.It therefore, also can be in base position even if environment changes
Fixture 6 is securely held on scaffold 53 in the state of not deviateing.
Because each second aluminium chassis 61b plays the effect in the joint in the first aluminium chassis 61a, body frame can be improved
The rigidity of frame 61.Deposited components 68 are injected in the jack 61c of each second aluminium chassis 61b, it will be able to by each driving with fixture 6
In the connected fitly folding and unfolding of deposited components 68 to the first aluminium chassis 61a in portion.Moreover, because 68 folding and unfolding of deposited components is in the first aluminium
In frame 61a, so when being welded to workpiece W1, W2 for having navigated on fixture 6, can protect deposited components 68 not by
The splash generated when welding influences.The shape that first aluminium chassis 61a is open in a part of outer peripheral surface, therefore for example will laying
When component 68 is routed in the first aluminium chassis 61a, the operation of operator is just simple to be easy.
Because L-shaped frame 69 is respectively provided at the length direction both ends of main body frame 61, fixture 6 with scaffold
Positioning on the direction of 53 length direction intersection just becomes simply to be easy.Once fixture 6 is in the length side with scaffold 53
Position on the direction of intersection determines, then the first engagement pin 8b and the first connecting hole 69a, the second engagement pin at the same time
97 just become the state that can be engaged with the second connecting hole 69b, therefore the time needed for capable of shortening the replacement operation of fixture 6.
Fixture 6 is set to advance relative to scaffold 53 to the projected direction of front side engagement pawl 65a, front side engagement pawl 65a is just
Engage with the first positioning hole 71a of scaffold 53.Therefore, fixture 6 will be simple relative to the positioning operation of scaffold 53
It is easy.
It should be noted that in embodiments of the present invention, two fixtures 6 being installed on scaffold 53 are identical
Fixture 6, but different types of fixture 6 can also be installed.
When welding robot 3 and operator's H1 operation, it can also make each rotation of second motor 55 that fixture 6 be allowed to tilt,
To be easy to welding robot 3 and operator's H1 operation.
It may be multiple that the welding robot 3 of workpiece welding region X1, which is arranged in,.
In embodiments of the present invention, operator H1 is one, but several operator H1 can also be allowed in workpiece setting
Region X2 operation.
In embodiments of the present invention, the assembling of workpiece W1, W2 is carried out by spot welding, but not limited to this, it can also lead to
It crosses arc welding or laser welding carries out, can also be carried out by other joint methods.
In embodiments of the present invention, scaffold 53 is rotated around horizontally extending axis of rotation, but is propped up
Support frame frame 53 not necessarily rotates.
Industrial applicability
The present invention is suitable for a kind of Working piece positioning device, to the workpiece obtained using punch forming when e.g. being welded
Etc. the Working piece positioning device for being clamped and being positioned.
Description of symbols
2 Working piece positioning devices
6 fixtures
The first fixture of 7a positioning region
The first engagement pin of 8b
53 scaffolds (supporting mass)
61 main body frames
The first aluminium chassis of 61a
The second aluminium chassis of 61b
61c jack
64 first engagings frame (auxiliary section)
Engagement pawl on front side of 65a
68 deposited components
69 L-shaped frames
The first connecting hole of 69a
The second connecting hole of 69b
71a first positioning hole
97 second engagement pins
W1, W2 workpiece
Claims (4)
1. a kind of Working piece positioning device, including fixture and supporting mass, wherein above-mentioned fixture is above-mentioned for positioning to workpiece
Supporting mass supports the fixture and the fixture is removable, and above-mentioned Working piece positioning device is characterized in that,
Above-mentioned fixture includes horizontally extending aluminium alloy main body frame,
Above-mentioned supporting mass includes the first engagement pin, the second engagement pin, the first fixture positioning region and the second fixture positioning region, and above-mentioned the
Specified interval apart is arranged in the horizontal direction for one engagement pin and above-mentioned second engagement pin, and can be along the length of aforementioned body frame
Degree direction moves forward and backward, and above-mentioned first fixture positioning region is located at the center between first engagement pin and second engagement pin
Place, above-mentioned second fixture positioning region are located at the position at the close length direction both ends of above-mentioned supporting mass,
Auxiliary section, the second engaging frame, the first connecting hole and the second connecting hole, above-mentioned auxiliary section are equipped on aforementioned body frame
Positioned at main body frame center, and above-mentioned first fixture positioning region is cooperated to position relative to above-mentioned supporting mass to fixture, on
State one end and another side and fixed with the cooperation of the second fixture positioning region that the second engaging frame is located at aforementioned body frame
Position, above-mentioned first connecting hole and above-mentioned second connecting hole are located at the length direction two sides of aforementioned body frame and in above-mentioned first cards
Dowel pin and above-mentioned second engagement pin engage with above-mentioned first engagement pin and above-mentioned second engagement pin respectively in the state of advancing.
2. Working piece positioning device according to claim 1, which is characterized in that
Aforementioned body frame includes the second aluminium chassis of elongated the first aluminium chassis and plate, wherein above-mentioned first aluminium chassis
Section is in approximate U-shaped, length direction apart specified interval of multiple above-mentioned second aluminium chassis along first aluminium chassis
It is located in above-mentioned first aluminium chassis, and is integrally fixed with first aluminium chassis side by side,
The center of each second aluminium chassis is formed with the jack passed through for deposited components.
3. Working piece positioning device according to claim 1 or 2, which is characterized in that
Above-mentioned supporting mass is horizontally extending and section is rectangular,
On the both ends part on the length direction of aforementioned body frame, equipped with a pair corresponding with the outer peripheral surface of above-mentioned supporting mass
L-shaped frame, in the state of abutting to each L-shaped frame on above-mentioned supporting mass, above-mentioned first engagement pin and above-mentioned
Two engagement pins are located at the position opposite with above-mentioned first connecting hole and above-mentioned second connecting hole.
4. Working piece positioning device according to claim 1, which is characterized in that
Above-mentioned fixture positioning region has a location hole, above-mentioned location hole to above-mentioned first engagement pin and above-mentioned second engagement pin and
The horizontal direction opening of setting direction intersection is arranged,
Above-mentioned auxiliary section is prominent to the direction orthogonal with the length direction of aforementioned body frame, also, above-mentioned auxiliary section with it is above-mentioned
Location hole engages and can be detached from from above-mentioned location hole.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2015/003915 WO2017021999A1 (en) | 2015-08-04 | 2015-08-04 | Workpiece aligning device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107735217A CN107735217A (en) | 2018-02-23 |
| CN107735217B true CN107735217B (en) | 2019-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580081489.2A Active CN107735217B (en) | 2015-08-04 | 2015-08-04 | Working piece positioning device |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP6180656B2 (en) |
| KR (1) | KR102016167B1 (en) |
| CN (1) | CN107735217B (en) |
| MY (1) | MY190047A (en) |
| WO (1) | WO2017021999A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019077726A1 (en) * | 2017-10-19 | 2019-04-25 | 株式会社キーレックス | Welding device |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4781745A (en) * | 1987-05-19 | 1988-11-01 | Glasstech International L.P. | Registering device for glass article handling components |
| JPH0825088A (en) * | 1994-07-19 | 1996-01-30 | Mitsubishi Electric Corp | Positioner tuilting device for welding robot |
| JPH08118076A (en) * | 1994-10-21 | 1996-05-14 | Daiwa House Ind Co Ltd | Jig and method for welding end member of truss frame member |
| JP4621334B2 (en) | 2000-06-21 | 2011-01-26 | 株式会社エイチワン | Automatic jig changing method in welding line |
| JP2007319866A (en) * | 2006-05-30 | 2007-12-13 | Takagi Manufacturing Co Ltd | Workpiece carrying apparatus to be used in welding process |
| KR20090040011A (en) * | 2007-10-19 | 2009-04-23 | 기아자동차주식회사 | Jig apparatus for a penal welding |
| JP5563845B2 (en) * | 2010-02-16 | 2014-07-30 | 株式会社神戸製鋼所 | Welding support for joints |
| CN102781622B (en) * | 2010-02-23 | 2015-04-01 | 帕斯卡工程株式会社 | Work pallet positioning and affixing device |
| JP2011251362A (en) * | 2010-06-01 | 2011-12-15 | Hirotec Corp | Positioning device of workpiece |
| JP5787526B2 (en) * | 2011-01-17 | 2015-09-30 | イビデン株式会社 | Electronic component positioning jig |
| JP4955823B1 (en) * | 2011-04-05 | 2012-06-20 | 日本省力機械株式会社 | Work picking and finishing device |
| CN102922160B (en) * | 2012-11-16 | 2015-01-07 | 天津万华车辆配件有限公司 | Automatic welding device for steel back of train brake shoe |
-
2015
- 2015-08-04 WO PCT/JP2015/003915 patent/WO2017021999A1/en active Application Filing
- 2015-08-04 JP JP2016557084A patent/JP6180656B2/en active Active
- 2015-08-04 KR KR1020177036833A patent/KR102016167B1/en active IP Right Grant
- 2015-08-04 MY MYPI2018000127A patent/MY190047A/en unknown
- 2015-08-04 CN CN201580081489.2A patent/CN107735217B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| JP6180656B2 (en) | 2017-08-16 |
| WO2017021999A1 (en) | 2017-02-09 |
| MY190047A (en) | 2022-03-23 |
| KR102016167B1 (en) | 2019-08-29 |
| CN107735217A (en) | 2018-02-23 |
| KR20180009788A (en) | 2018-01-29 |
| JPWO2017021999A1 (en) | 2017-08-03 |
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