JP2003221092A - Tray with positioning function - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To position an object at an approximately specified position even when the object is deviated from the position. <P>SOLUTION: A tray main body 11 with storing spaces 12 for parts W, a tray frame 13 carrying this tray main body 11 so as to be swung, and a positioning mechanism 20 swinging the tray main body 11 and positioning the parts W at approximately specified positions in the storing spaces 12 of the tray main body 11, are provided. The positioning mechanism 20 has the first driving parts 21a and 21b provided between the second wall 16 of the tray frame 13 and the outer wall 17 of the tray main body 11, and the second driving parts 22a and 22b provided between the first wall 15 of the tray frame 13 and the outer wall 18 of the tray main body 11. These first and second driving parts 21a, 21b, 22a and 22b comprise for example, piezoelectric elements. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tray having a positioning function for positioning a part as an object housed in the tray at a predetermined position in the tray, and is particularly suitable for use in an automatic assembling apparatus. Regarding technology.

[0002]

2. Description of the Related Art In an automatic assembling apparatus, parts are sequentially supplied. Therefore, when a tray containing a plurality of parts is set at a set position, the parts in the tray are sequentially taken out and assembled to an object to be assembled. It is designed to be used. At this time, when a plurality of components are stored inside the tray, the tray storing the components is set to the set position of the automatic assembling apparatus manually or by the conveying means.
In this case, conventionally, as the tray, as shown in FIG. 6, a tray 1 provided with a plurality of recesses 2 is used, and one component W is housed in each recess 2. .

[0003]

By the way, in the above-mentioned conventional tray 1, when the part W as the object is housed inside, it is carried to the set position of the automatic assembling apparatus and set. However, the component W may be displaced from the predetermined position in the concave portion 2 until it is conveyed to the set position manually or by a conveying means. In this case, it becomes remarkable especially when the tray is manually transported. When the component W is displaced from the predetermined position in each recess 2 of the tray 1 in this way, the tray 1
Even if is set to the set position of the automatic assembling position, it is difficult for the robot hand of the automatic assembling apparatus to take out the component W from the recess 2 of the tray 1, and there is a problem that the automatic assembling cannot be performed.

The present invention has been made in view of the above problems of the prior art.
It is an object of the invention to provide a tray with a positioning function that can position an object in a substantially predetermined position even if an internal object is displaced.

[0005]

[Means for Solving the Problems] In order to solve the above problems, the present invention employs the following means. Claim 1
According to the present invention, a tray main body having a storage space for an object, a tray frame on which the tray main body is swingably mounted, and the tray main body is swung on the tray frame so that the tray main body has a substantially predetermined space inside the storage space. And a positioning mechanism for positioning the object at the position.

According to the tray with the positioning function of the present invention, the positioning mechanism positions the object at a substantially predetermined position in the storage space of the tray body, so that the tray frame on which the tray body is mounted is carried to the set position. Even if the object in the storage space is misaligned between the two, it can be positioned at a substantially regular position regardless. as a result,
The automatic assembly device can reliably take out the target object from the storage space of the tray body, and the target object can be appropriately supplied.

According to a second aspect of the present invention, in the tray with the positioning function according to the first aspect, the positioning mechanism has drive means for respectively swinging the tray main bodies on the tray frame in directions intersecting with each other. Characterize.

According to the tray with the positioning function of the invention, the tray main bodies are swung in the directions intersecting with each other on the tray frame, so that the tray main body can be surely displaced so that the object is at a predetermined position. It is possible to satisfactorily correct the displacement of the object.

According to a third aspect of the present invention, in the tray with the positioning function according to the second aspect, the driving means includes a tray frame and a piezoelectric element provided between the tray bodies in the tray frame. Characterize. According to the tray with the positioning function of the present invention, since the driving means is composed of the piezoelectric element, it is possible to accurately swing the tray main body on the tray frame.

According to a fourth aspect of the present invention, in the tray with a positioning function according to any one of the first to third aspects, the storage space of the tray main body penetrates the tray main body in the thickness direction to form a matrix. It is characterized in that a plurality is formed. According to the tray with the positioning function of the present invention, since the storage space is formed so as to penetrate in the thickness direction of the tray body, when the tray body is mounted on the tray frame, the tray body swings. , The object forming the storage space can be displaced by the wall forming the storage space,
A plurality of objects can be collectively positioned.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. 1 to 4 are views showing a tray with a positioning function according to an embodiment of the present invention, and FIG. 1 is a schematic view showing an automatic assembly apparatus to which the tray with a positioning function is applied, FIGS. FIG. 4B is a plan view and a side view showing the tray with a positioning function, FIG. 3 is a vertical cross-sectional view of the tray with a positioning function, and FIG. 4 is an explanatory view showing a positioning state of an object in the tray with a positioning function. Tray with positioning function of the present invention (hereinafter simply referred to as tray)
Before explaining the above, an automatic assembling apparatus for handling this tray will be described with reference to FIG.
Is equipped with a robot hand 32 installed on the table 31, and when the tray 10 is set at the set position on the table 31, the robot hand 32 takes out the part W as the object stored in the tray 10, And, in that state, the direction is changed and sent out onto the conveyor 33.
Is sent out at a predetermined timing. When the parts W are sent to the work station 34 by the conveyor 33, the work station 34
The part W is adapted to be assembled inside the object to be assembled.

The component W is, for example, 0.5 when viewed from above.
It has a rectangular shape with a size of about 0.3 mm, and has a flat bottom. In the automatic assembling apparatus 30 that handles such a part W, when the robot hand 32 takes out the part W from the tray 10, the part W is moved to the tray 10.
If it deviates from the predetermined position, it becomes difficult to take out the component W.

Therefore, the tray 10 of this embodiment is shown in FIG.
Further, as shown in FIG. 3, the tray main body 11 having a storage space 12 for the component W and the tray frame 13 on which the tray main body 11 is swingably mounted are provided.

The tray main body 11 has a substantially rectangular shape, and a plurality of storage spaces 12 for the parts W are provided in a matrix by penetrating holes therein.
The storage space 12 is for storing the component W and is formed in a rectangular shape.

As shown in FIG. 2, the tray frame 13 is formed on a bottom plate 14 having a substantially square shape, with a first wall 15 and a second wall 16 standing upright on both sides sandwiching one corner. Due to this, it is formed to be larger than the tray body 11. The tray frame 13 is formed by placing the tray body 11 on the bottom plate 14.
When it is mounted, it can swing on the bottom plate 14 in the X direction and in the Y direction orthogonal to the X direction. That is, when the tray body 11 is mounted in the tray frame 13, it can move in the X direction along the first wall 15 of the tray frame 13 and in the Y direction along the second wall 16. ing.

The tray 10 is also provided with a positioning mechanism 20 for rocking the tray body 11 to position the component W at a substantially predetermined position in the storage space 12 of the tray body 11. The positioning mechanism 20 includes the second wall 1 of the tray frame 13.
6 and the first drive portions 21a and 21b provided between the outer wall 17 of the tray body 11 and the second drive portion 2 provided between the first wall 15 of the tray frame 13 and the outer wall 18 of the tray body 11.
2a and 22b, and these first and second drive portions 21a
21b, 22a and 22b are composed of piezoelectric elements, for example.

Then, the tray body 11 on the tray frame 13
When the parts W are respectively placed in the storage space 12 of the positioning mechanism 20 and the tray frame 13 thereof is carried to the setting position of the automatic assembling apparatus 30 and set, the first driving unit 2 of the positioning mechanism 20
1a, 21b and the second drive portions 22a, 22b are driven to swing the tray body 11 on the tray frame 13 in the X direction and the Y direction, so that the component W in the storage space 12 is substantially moved in the storage space 12. It can be positioned at a predetermined position which is the center position.

At this time, the positioning mechanism 20 is installed in the storage space 1
When 2 is a rectangular shape, first the first drive parts 21a, 21
By swinging the tray body 11 in the X direction by b, the component W in the storage space 12 is moved from FIG.
As shown in FIG. 5, the storage space 12 is displaced along the first wall 12a in the longitudinal direction, and then the second drive portions 22a and 22b are moved.
By swinging the tray main body 11 in the Y direction, the component W is displaced along the first wall 12a and the second wall 12b, so that the component W can be moved as shown in FIGS. Further, the storage space 12 is gradually moved from the first wall 12a toward the center side, and finally the component W can be positioned at a substantially predetermined position which is a central portion in the storage space 12.

At this time, the drive timings of the first drive portions 21a and 21b are synchronized with each other to swing the tray body 11 in the X direction, and the drive timings of the second drive portions 22a and 22b are also synchronized with each other. The main body 11 is swung in the Y direction, and the swinging in the X direction by the first driving portions 21a and 21b and the swinging in the Y direction by the second driving portions 22a and 22b are repeated a predetermined number of times. When the tray frame 13 is set at the set position of the automatic assembling apparatus 30, the tray frame 13 is executed within a time of about several seconds. It should be noted that these first drive units 21a and 21b and the second drive unit 2
The magnitude of the swing of the tray body 11 by 2a and 22b is
It is not only selected in advance based on the clearance between the storage space 12 and the component W, but also appropriately determined by the weight of the component W and the like.

Further, the first drive portions 21a, 21b and the second
The power source of the drive units 22a and 22b is, for example, an internal battery (not shown) incorporated in the tray frame 13, and when the tray frame 13 is set to the set position, a wireless signal from the automatic assembly device 30 is output. Power is turned on. Alternatively, when the tray frame 13 is set at the set position of the automatic assembling apparatus 30, the first drive units 21a and 21b are placed at the set position via the tray frame 13.
Alternatively, the second driving units 22a and 22b may be contact-type powered and driven.

Since the tray 10 of this embodiment is constructed as described above, its function and effect will be described below. When the automatic assembling apparatus 30 is in operation, the parts W are set at the set positions, so that the trays in which the parts W are placed in the respective storage spaces 12 of the tray body 11 and on which the tray body 11 is mounted are mounted. When the frame 13 is transported to the set position and set, the component W of the tray main body 11 may be displaced from the predetermined position of the storage component W12 due to vibration during transportation.

However, the tray 10 has a tray frame 1
3 and the first drive unit 21 provided between the tray body 11
a, 21b and the second driving unit 22a, 22b is provided, the first driving unit 21 when the tray frame 13 is set to the set position of the automatic assembling apparatus 30.
a and 21b swing the tray main body 11 in the X direction on the tray frame 13 to store the component W in the first wall 1 in the longitudinal direction of the storage space 12.
2a along the second drive portion 22a, 22
b swings the tray main body 11 in the Y direction and shifts the component W away from the first wall 12a of the storage component W12 toward the central portion, whereby each component W is substantially the central portion in the storage space 12. It will be positioned at a predetermined position (see FIG. 4).

Therefore, according to this embodiment, the tray 1
Tray body 1 by the positioning mechanism 20 provided in
Since the parts W are respectively positioned at substantially predetermined positions in the storage space 12 of No. 1, the parts W may be displaced in the storage space 12 before the tray frame 13 having the tray body 11 is carried to the set position. Even if it exists, it can be positioned at a substantially regular position regardless of that. As a result, the robot hand 32 of the automatic assembling apparatus 30 can reliably take out the component W from the storage space 12 of the tray body 11 and send it to the downstream side, so that the component W can be appropriately supplied. Become.

Further, the positioning mechanism 20 includes the tray frame 13
Since the tray main body 11 is swung in the X-direction and the Y-direction in the directions intersecting with each other, the tray main body 11 can be surely displaced so that the component W is at the substantially predetermined position, and the position of the component W It is possible to surely correct the deviation.

Moreover, since the plurality of storage spaces 12 penetrate in the thickness direction of the tray main body 11 and are formed in a matrix, when the tray main body 11 swings on the tray frame 1 by the driving of the positioning mechanism 20, the storage space 12 is stored. The walls 12a and 12b forming 12 can surely shift the parts W in the storage space 12, and the plural parts W can be collectively positioned.

FIG. 5 shows a second embodiment of the tray 10. In the above-mentioned embodiment, the tray main body 11 in which the storage space 12 is formed in a long square is used while the long square part W is targeted, but in this embodiment, the square part W is used and stored. This is applied when the space 12 is formed in a substantially square shape. That is, in this embodiment, the storage space 12 of the tray body 11 mounted on the tray frame 13 forms a substantially square space, and the component W having a square shape when viewed from above can be placed in this space. It has become. Further, the tray frame 13 has a box shape whose periphery is covered with a wall.

The first drive section 21 and the second drive section 2 are provided between the tray frame 13 and the tray body 11 mounted therein.
And a positioning mechanism 20 having 2 and 3 is interposed. In this case, the first drive unit 21 is provided at the center of one inner wall (not shown) of the tray frame 13 and the outer wall 17 of the tray body 11, and the second drive unit 22 is provided on the other side of the tray frame 13. It is provided at the center between the inner wall (not shown) and the outer wall 18 of the tray body 11. Each of the first and second drive units 21 and 22 is composed of a piezoelectric element, as in the above-described embodiment.

In the positioning mechanism 20, when the tray 10 is conveyed to the setting position of the automatic assembling apparatus 30 and set, the component W is displaced from the predetermined position in the storage space 12 as shown in FIG. 5A. However, at this time, the first drive unit 21
By driving one of the first drive unit 21 and the second drive unit 22, the tray main body 11 is swung on the tray frame 13 along either one of the X direction and the Y direction. By driving the other of the first drive section 22 and the second drive section 22, the tray main body 11 is swung along the other direction of the X direction and the Y direction, whereby the component W is moved to the tray as shown in FIG. The main body 11 is positioned at a predetermined position which is a substantially central position in each storage space 12.

Therefore, according to this embodiment, it is possible to obtain basically the same effect as that of the above-described embodiment. Also in this embodiment, since the piezoelectric elements are used as the first and second drive portions 21 and 22 of the positioning mechanism 20, the tray body 11 can be easily and surely simply provided by interposing it between the tray body 11 and the tray frame 13. Can be swung.

In the illustrated embodiment, the case where a minute part is handled as the part W as the object has been described, but it can be applied to the case where a part larger than that is handled. However, in this case, if the component W is too large, the frictional force between the component W and the tray frame 13 may be increased when the tray body 11 is swung, and it may be difficult to move the component W to a predetermined position. It is desirable that the parts are lightweight. In addition, the first drive units 21, 21a, 21b and the second drive units 22, 22a, 2 of the positioning mechanism 20.
Although an example in which a piezoelectric element is used for 2b is shown, the invention is not limited to this, and an actuator such as a motor or a cylinder may be used instead.

[0031]

As described above, according to the present invention, even if an object is displaced in the storage space of the tray body, the positioning mechanism can position the object at a substantially regular position regardless of the deviation. Therefore, the automatic assembling apparatus can reliably take out the target object from the storage space of the tray main body, and the effect that the target object can be appropriately supplied can be obtained.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing an automatic assembly apparatus to which a tray according to an embodiment of the present invention is applied.

FIG. 2A is a plan view showing the tray and FIG.
Is a side view thereof.

FIG. 3 is a vertical sectional view of the tray.

FIG. 4 is an explanatory diagram showing a positioning state of a component W in the tray.

5A and 5B are explanatory views showing a tray according to another embodiment of the present invention, FIG. 5A is a perspective view showing a state when the tray is set, and FIG. 5B is a state in which parts are positioned. FIG.

FIG. 6 is an explanatory view showing a conventional tray.

[Explanation of symbols]

10 Positioning tray 11 Tray body 12 storage space 13 tray frame 14 Bottom plate 15 First wall 16 Second wall 17,18 outer wall 20 Positioning mechanism 21, 21a, 21b First drive unit 22, 22a, 22b Second drive unit Parts as W object

Claims (4)

[Claims] 1. A tray main body having a storage space for an object, a tray frame on which the tray main body is swingably mounted, and the tray main body is swung on the tray frame so that the tray main body is placed at a predetermined position in the storage space. A tray with a positioning function, comprising: a positioning mechanism for positioning an object. 2. The tray with a positioning function according to claim 1, wherein the positioning mechanism has a drive means for swinging the tray main bodies in a direction intersecting with each other on the tray frame. . 3. The tray with a positioning function according to claim 2, wherein the driving means comprises a tray frame and a piezoelectric element provided between the tray bodies in the tray frame. tray. 4. The tray with a positioning function according to claim 1, wherein a plurality of storage spaces for the tray body are formed in a matrix shape so as to penetrate the tray body in the thickness direction. A tray with a positioning function.