JP2011245603A - Locating device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a locating device capable of simplifying a structure and reducing cost while unloading a workpiece surely.SOLUTION: The locating device includes: a locating pin 30 to be inserted into a clamp hole W1 formed in workpiece W when the workpiece W is clamped in a prescribed attitude; and a clamp arm 40 with its upper end housed in the locating pin 30, which moves relatively to the locating pin 30 and clamps or unclamps the workpiece W. In the clamp arm 40 are formed a clamp claw 41 which is positioned at the upper end of the clamp arm to move outside the locating pin 30 and contact the upper end surface of the workpiece W when clamping the workpiece W, and an unloading claw 42 which is positioned leaving a prescribed distance below the clamp claw 41 to jut out upward over an upper end surface of a flange part 31 the locating pin 30 and contact a lower end surface of the workpiece W when unclamping the workpiece W so that the workpiece W is pushed up.

Description

  The present invention relates to a locating device that clamps a workpiece in a predetermined posture.

  2. Description of the Related Art Conventionally, a locating device that clamps a workpiece in a predetermined posture is used, for example, when a workpiece (panel material) positioned at a predetermined conveyance source is conveyed when a vehicle body such as an automobile is formed.

  As shown in FIG. 7, such a locating device 110 is provided with a locating pin 130 that can be inserted into the clamp hole W <b> 1 of the workpiece W at its upper end. The locating device 110 has a lower end attached to a robot arm (not shown) and is configured to be movable to a predetermined position. The locating device 110 includes a clamp mechanism 140 and an unloading mechanism 170.

  The clamp mechanism 140 is disposed inside the main body 120 and the locate pin 130, and includes a clamp arm 150 and a piston rod 160 connected to a piston (not shown). The clamp arm 150 has a clamp claw 151 formed at its upper end. The piston rod 160 connects the clamp arm 150 and the piston, and is configured to be able to reciprocate the clamp arm 150 by reciprocating movement of the piston.

  The unloading mechanism 170 includes an eject pin 171, a stopper 173, and a spring 174. The eject pin 171 is supported by the main body 120 through the bush 172 so as to be slidable in the vertical direction. The stopper 173 is attached to the lower end of the eject pin 171 so that the eject pin 171 does not come off from the main body 120. The spring 174 is attached to the eject pin 171 and biases the eject pin 171 upward.

  As shown in FIG. 8, the locating device 110 clamps the workpiece W by inserting the locating pin 130 into the clamping hole W1 of the workpiece W at the conveyance source and moving the clamp arm 150 downward. At this time, the eject pin 171 is pushed downward by the workpiece W. And after moving the workpiece | work W to a conveyance destination, as shown in FIG. 9, the clamp arm 150 is moved to upper direction. At this time, the eject pin 171 moves upward by the urging force of the spring 174 and pushes up the workpiece W upward. Thereby, the locating device 110 unloads the workpiece W.

  In such a locating device 110, since the unloading mechanism 170 is disposed at a position separated from the clamp hole W1, when the workpiece W is unloaded, there is a possibility that the vicinity of the clamp hole W1 is deformed.

Further, when a different type of workpiece W is transported (for example, when a panel material of a different vehicle type is transported, etc.), the shape (for example, thickness) of a portion pushed up by the eject pin 171 in the workpiece W due to the influence of design or the like. And the presence or absence of unevenness may be different.
In this case, there is a possibility that the force required for unloading is different for each work W even though the force for pushing up the work W by the unloading mechanism 170 (hereinafter referred to as “unloading force”) is constant. is there. That is, when the unloading force is too large compared with the force required to unload the workpiece W, the shape of the workpiece W near the clamp hole W1 is deformed, and the unloading force unloads the workpiece W. If it is too small compared to the required force, the workpiece W may not be unloaded.
For this reason, there is a need for a locating device 110 that can reliably unload the workpiece W by pushing up the workpiece W in the vicinity of the clamp hole W1 having a substantially identical shape even with the workpiece W corresponding to a different vehicle type.

  As such a locating device, for example, locating devices such as Patent Literature 1 and Patent Literature 2 are disclosed.

  In the locating devices disclosed in Patent Document 1 and Patent Document 2, an extruding member (extrusion tool) that can reciprocate in the vertical direction by a piston different from the piston that reciprocates the clamp arm is disposed adjacent to the clamp arm. . When unloading the workpiece, the pushing member (pushing tool) is moved upward to push up the workpiece.

  However, in the locating devices disclosed in Patent Literature 1 and Patent Literature 2, a piston for clamping the workpiece and a piston for unloading the workpiece are different. For this reason, in order to drive each piston, a several drive source etc. are needed. In addition, it is necessary to provide a plurality of sensors or the like in order to interlock each piston. That is, the structure of the locate device becomes complicated and the cost of the locate device increases.

JP 2009-90436 A JP 2008-229778 A

  The present invention has been made in view of the above situation, and provides a locating device that can simplify the structure and reduce the cost while reliably unloading a workpiece.

  In Claim 1, when clamping a workpiece | work with a predetermined attitude | position, the locating pin inserted in the clamp hole formed in the said workpiece | work and one end part are accommodated in the said locating pin, and move relatively with respect to the said locating pin. A clamp arm for clamping the workpiece or unclamping the workpiece, and the clamp arm is disposed at the one end, and is external to the locate pin when clamping the workpiece. A clamp portion that moves and abuts against one end surface of the workpiece; and is disposed at a predetermined interval in a direction opposite to the insertion direction of the locate pin into the clamp hole with respect to the clamp portion, When clamping, than the portion that contacts the workpiece when clamping the workpiece in the locate pin, Ketopin projects inserting direction of the clamp hole of the other end surface of the workpiece and the contact, and and unloading unit for pushing up the work in the insertion direction of the clamp hole of the locating pin, in which is formed.

  According to a second aspect of the present invention, there is further provided detection means for detecting movement of the clamp arm.

  The present invention can unclamp and unload the workpiece simply by reciprocating the clamp arm, so that the structure can be simplified and the cost can be reduced while reliably unloading the workpiece. Play.

Front sectional drawing which shows the whole structure of the locating apparatus of this embodiment. Front sectional drawing which shows the state which inserts the locate pin in a workpiece | work. Front sectional drawing which shows the state which the flange part contact | abuts to the workpiece | work. Front sectional drawing which shows the state which has clamped the workpiece | work. Front sectional drawing which shows the state before pushing up a workpiece | work with a unloading nail | claw. Front sectional drawing which shows the state which unclamps and unloads a workpiece | work. Front sectional drawing which shows the whole structure of the conventional locating apparatus. Similarly front sectional drawing which shows the state which a locating apparatus clamps a workpiece | work. Similarly front sectional drawing which shows the state which a locating apparatus unloads a workpiece | work.

  Hereinafter, a locate device 10 which is an embodiment of a locate device according to the present invention will be described with reference to the drawings.

  In the following, for convenience of explanation, the “vertical direction of the locating device 10” is defined based on the vertical direction of the paper surface in FIG. Further, the “left-right direction of the locating device 10” is defined based on the left-right direction of the paper surface in FIG.

  The locating device 10 of the present embodiment clamps the workpiece W in a predetermined posture when the workpiece W is transferred to a predetermined transfer destination (see FIG. 4).

As shown in FIG. 1, the workpiece W of the present embodiment is a panel material that is processed when a vehicle body such as an automobile is molded, and is positioned at a predetermined conveyance source. The workpiece W is processed after being transferred to a predetermined transfer destination. The workpiece W is formed with a substantially circular clamp hole W1.
When the vehicle type is different, the shape of the part separated from the clamp hole W1 (for example, thickness and presence / absence of unevenness) may be different due to the influence of design or the like. On the other hand, the shape in the vicinity of the clamp hole W1 is substantially the same.

The locating device 10 unloads the workpiece W after clamping the workpiece W at the conveyance source and conveying it to the conveyance destination. The locate device 10 includes a main body 20, a locate pin 30, a clamp arm 40, a piston rod 50, a detection mechanism (not shown), and the like.
The use of the locating device 10 is not limited to the present embodiment, and can be widely applied to various facilities and the like that need to clamp the workpiece W. Moreover, although the workpiece | work W is made into the panel material processed when forming a vehicle body in this embodiment, it is not limited to this.

  The main body 20 is formed in a hollow shape, and its upper end opens to the outside. The main body 20 accommodates a clamp arm 40, a piston rod 50, and the like. The main body 20 has a lower end attached to a robot arm (not shown) and moves integrally with the movement of the robot arm.

  The locate pin 30 is attached to the main body 20 via a bolt or the like at its lower end. The locate pin 30 is formed with a flange portion 31, a protruding portion 32, a first opening portion 33, and a second opening portion 34.

  The flange portion 31 is formed in a substantially circular shape having an outer diameter larger than the inner diameter of the clamp hole W1 so that the flange portion 31 cannot be inserted into the clamp hole W1 of the workpiece W. The flange portion 31 is formed in a hollow shape and opens at both upper and lower end portions. When the locate pin 30 is attached to the main body 20, the lower end portion where the flange portion 31 opens communicates with the portion where the main body 20 opens. Further, the flange portion 31 has both left and right end portions of its inner peripheral surface cut out along the vertical direction, and the cut right end portion is formed as a cutout portion 31a.

  The protruding portion 32 protrudes upward from the substantially central portion of the flange portion 31, and the outer diameter at the lower end portion thereof is formed slightly smaller than the inner diameter of the clamp hole W <b> 1 and gradually decreases in diameter toward the upper direction. The protrusion 32 is formed in a hollow shape and opens at the lower end. The lower end of the protrusion 32 that is open communicates with the upper end of the flange 31 that is open.

  The first opening 33 is formed on the left side of the protrusion 32 and opens to the outside between the lower end portion and the upper portion of the protrusion 32.

  The second opening 34 is formed on the right side of the protrusion 32 and opens to the outside between the lower end portion and the upper portion of the protrusion 32.

  The clamp arm 40 has a shape extending in the vertical direction, and a lower end portion thereof is rotatably attached to the piston rod 50 via a connecting pin 51 and the like. The upper end portion of the clamp arm 40 is accommodated in the locate pin 30 except for a clamp pawl 41 or an unloading pawl 42 described later. The clamp arm 40 is formed with a clamp claw 41 as a clamp part, an unloading claw 42 as an unloading part, and a guide hole 43.

  The clamp pawl 41 extends leftward from the upper end of the clamp arm 40. The clamp pawl 41 is accommodated inside the protrusion 32 in FIG.

  The unloading claw 42 is disposed at a predetermined interval below the clamp claw 41 at a right end portion of the clamp arm 40 and extends rightward. The unloading claw 42 is formed in a substantially inverted triangular shape when viewed from the front, and protrudes rightward from the lower portion of the second opening 34.

  In addition, the shape of the unloading nail | claw 42 is not limited to this embodiment. That is, the unloading claw 42 may have a substantially rectangular shape when viewed from the front.

The guide hole 43 is a hole formed in the lower part of the clamp arm 40 and penetrating from the front side to the back side in FIG.
From the lower end portion to the midway portion of the guide hole 43, as it goes upward from the lower end portion in FIG. From the middle part to the upper end part of the guide hole 43, as it goes upward from the middle part in FIG. 1, it inclines to the right more gently than the degree of inclination from the lower end part to the middle part with respect to the vertical direction. The engagement pin 21 that is supported by the main body 20 so as not to move is slidably inserted into the guide hole 43. In FIG. 1, the engagement pin 21 is disposed at the lower end portion of the guide hole 43.

The piston rod 50 has an upper end attached to the lower end of the clamp arm 40 via a connecting pin 51 and the like, and a lower end attached to the piston via a pin and the like. The piston reciprocates in the vertical direction when a fluid such as air is supplied to the pressure chamber formed in the main body 20.
The piston rod 50 moves integrally with the reciprocating movement of the piston. At this time, the clamp arm 40 also reciprocates integrally, but the locate pin 30 does not move. That is, the clamp arm 40 moves relative to the main body 20 and the locate pin 30.

  When the clamp arm 40 moves in the vertical direction, the clamp arm 40 moves in the vertical direction relative to the engagement pin 21. When the guide hole 43 is inclined with respect to the vertical direction, torque is applied to the clamp arm 40 when the clamp arm 40 moves up and down. As a result, the clamp arm 40 rotates about the connecting pin 51.

  For example, when the clamp arm 40 shown in FIG. 1 moves downward and the position of the engagement pin 21 moves from the lower end portion of the guide hole 43 to the middle portion, the clamp arm 40 moves the axis of the connecting pin 51. It moves downward while rotating counterclockwise in FIG. 1 about the center.

In this case, as shown in FIG. 3, the clamp pawl 41 moves downward while gradually projecting leftward from the protrusion 32. As a result, the clamp pawl 41 protrudes leftward (externally) from the locate pin 30.
The unloading claw 42 moves downward while being gradually accommodated in the protrusion 32. The unloading claw 42 is accommodated inside the flange portion 31 with its right end portion protruding rightward from the second opening 34. Thereby, the right end part of the unloading nail | claw 42 is accommodated in the notch 31a.

  By the rotation of the clamp arm 40, the middle part to the upper end part of the guide hole 43 shown in FIG. For this reason, when the clamp arm 40 shown in FIG. 3 further moves downward and the position of the engagement pin 21 moves from the midway part of the guide hole 43 to the upper end part, the clamp arm 40 does not rotate. Move in the direction (see FIG. 4).

  On the other hand, when the clamp arm 40 shown in FIG. 3 moves upward and the position of the engagement pin 21 moves from the middle part to the lower end part of the guide hole 43, the clamp arm 40 moves the axis of the connecting pin 51. It moves upward while turning clockwise in FIG.

In this case, as shown in FIG. 1, the clamp pawl 41 moves upward while being gradually accommodated in the protrusion 32. Thereby, the clamp pawl 41 is accommodated inside the protrusion 32.
The unloading claw 42 first protrudes upward from the cutout portion 31a at the right end. The unloading claw 42 moves upward while gradually protruding rightward from the protrusion 32. Thereby, it protrudes from the locate pin 30 in the right direction.

  The detection mechanism includes a magnet and a magnetic sensor (not shown). The magnet is attached to the piston and moves integrally with the reciprocating movement of the piston. The magnetic sensor is attached to the main body 20 and detects the position of the magnet. That is, the magnetic sensor detects the movement of the clamp arm 40.

  Thus, the magnetic sensor and the magnet function as detection means for detecting the movement of the clamp arm 40.

  The detection means is not limited to the present embodiment as long as it can detect the movement of the clamp arm 40.

  Next, the operation of the locating device 10 will be described.

  First, as shown in FIG. 1, the locating device 10 moves the clamp arm 40 upward so that the engaging pin 21 is disposed at the lower end of the guide hole 43. Accordingly, the clamp pawl 41 is gradually accommodated inside the protrusion 32, and the unloading pawl 42 gradually protrudes from the lower portion of the second opening 34 in the right direction.

  The locating device 10 moves with the movement of the robot arm to the conveyance source of the workpiece W, more specifically so that the protrusion 32 is disposed below the clamp hole W1. As shown in FIGS. 1 and 2, the locating device 10 moves upward, and the protrusion 32 of the locating pin 30 is inserted into the clamp hole W1 of the workpiece W (arrow A1 shown in FIGS. 1 and 2). reference).

  Thus, the insertion direction of the locate pin 30 in the present embodiment into the clamp hole W1 is an upward direction. The direction opposite to the insertion direction of the locate pin 30 into the clamp hole W1 is the downward direction.

  When the work W is inserted into the clamp hole W1 up to the lower portion of the protrusion 32, the unloading claw 42 comes into contact with the lower end surface of the work W.

As shown in FIGS. 2 and 3, when the locate pin 30 is inserted into the clamp hole W <b> 1 of the work W from the lower part to the lower end part of the protrusion 32, the unloading claw 42 is pushed downward by the work W. For this reason, the clamp arm 40 moves downward (see the workpiece W and the clamp arm 40 indicated by a two-dot chain line shown in FIG. 3).
At this time, since the position of the engagement pin 21 moves from the lower end portion of the guide hole 43 to the middle portion, the clamp arm 40 rotates in the counterclockwise direction in FIG. The unloading claw 42 is gradually accommodated in the protrusion 32 and is accommodated inside the flange portion 31 with its right end protruding in the right direction from the lower portion of the second opening 34. On the other hand, the clamp pawl 41 protrudes leftward from the midway portion of the first opening 33.
The protrusion 32 is inserted into the clamp hole W <b> 1 until the lower end surface of the workpiece W comes into contact with the upper end surface of the flange portion 31.

  Thus, the locate pin 30 is inserted into the clamp hole W1 formed in the workpiece W when the workpiece W is clamped in a predetermined posture.

  When the locating device 10 is inserted into the clamp hole W1 until the projecting portion 32 is in contact with the lower end surface of the workpiece W and the upper end surface of the flange portion 31, the magnetic sensor detects the position of the magnet attached to the piston. It is detected that the protrusion 32 has been inserted into the clamp hole W1 of the workpiece W.

When the magnetic sensor detects that the protrusion 32 has been inserted into the clamp hole W1, the locating device 10 moves the piston rod 50 further downward as shown in FIGS. 3 and 4 (FIG. 3). See arrow A2). At this time, the position of the engagement pin 21 moves from the middle part of the guide hole 43 to the upper part. Accordingly, the clamp claw 41 simply moves downward without moving in the left-right direction.
As a result, as shown in FIG. 4, the lower end surface of the clamp pawl 41 and the upper end surface of the work W come into contact with each other, and the work W is sandwiched between the lower end surface of the clamp pawl 41 and the upper end surface of the flange portion 31. Thus, the locating device 10 clamps the workpiece W in a predetermined posture.

  Thus, the clamp pawl 41 as the clamp portion formed on the clamp arm 40 is disposed at the upper end portion of the clamp arm 40 and protrudes to the left (outside) from the locate pin 30 when the workpiece W is clamped. It abuts on the upper end surface (one end surface) of W.

  After the workpiece W is clamped, the locating device 10 moves to the conveyance destination while maintaining the clamped state.

  After moving to the conveyance destination, the locating device 10 unloads the workpiece W.

  As shown in FIGS. 4 and 5, when unloading the workpiece W, first, the clamp arm 40 is moved upward. That is, the clamp pawl 41 is gradually separated from the workpiece W.

  At this time, the unloading claw 42 gradually approaches the workpiece W. And the upper end surface of the right end part of the unloading nail | claw 42 and the lower end surface of the workpiece | work W contact | abut (refer code | symbol P shown in FIG. 5).

  When the clamp arm 40 moves upward in the contacted state (see arrow B1 shown in FIG. 5), the clamp arm 40 moves the workpiece W with the unloading claw 42 as shown in FIGS. It moves upward while being pushed upward (see the workpiece W and the clamp arm 40 indicated by a two-dot chain line in FIG. 6). On the other hand, the clamp pawl 41 is accommodated inside the locate pin 30. Thereby, the locating device 10 unclamps the workpiece W and unloads the workpiece W.

  That is, the predetermined interval that is spaced downward from the clamping claw 41 of the unloading claw 42 may be long enough to push up the workpiece W when the workpiece W is unclamped.

Thus, the unloading claw 42 as the unloading part formed in the clamp arm 40 is predetermined in the downward direction (the direction opposite to the insertion direction of the locate pin 30 to the clamp hole W1) with respect to the clamp claw 41. When the workpiece W is unclamped, the upper end surface of the flange portion 31 of the locate pin 30 (the portion that comes into contact with the workpiece W when the workpiece W is clamped) is upward (the clamp hole W1 of the locate pin 30). To the lower end surface (the other end surface) of the workpiece W, and pushes the workpiece W upward.
The clamp arm 40 has an upper end (one end) accommodated in the locate pin 30 and moves relative to the locate pin 30 to clamp the workpiece W or unclamp the workpiece W.

  Thus, in the locating device 10, the workpiece W can be unclamped and unloaded simply by reciprocating the clamp arm 40 in the vertical direction. In other words, the unloading operation can be performed as part of the unclamping operation, and the unclamping operation and the unloading operation can be performed by a series of flow operations.

  The locating device 10 of this embodiment seems to have added an unloading function (more specifically, an unloading claw 42 functioning as an unloading mechanism) to a clamp mechanism including a clamp arm and a piston rod as in the prior art. It is a simple configuration.

That is, the locating device 10 is provided with a unloading claw in the clamp arm instead of the unloading mechanism of the locating device as in the prior art, and the locating pin so as not to interfere with the locating pin when the unloading claw reciprocates. And it can be configured only by forming an unloading claw.
Therefore, the number of parts required for unloading can be greatly reduced as compared with a locating device having a clamping mechanism and an unloading mechanism as in the prior art, so that the structure can be simplified and the cost of the locating device can be reduced.

  Furthermore, since the unloading claw 42 is formed in the clamp arm 40, the workpiece W can be unloaded near the clamp hole W1. Therefore, deformation of the workpiece W can be prevented. Moreover, even if it is a different kind of workpiece | work W, since the workpiece | work W can be unloaded in the clamp hole W1 vicinity where the shape is substantially the same, the deformation | transformation of the workpiece | work W can be prevented. That is, the workpiece W can be reliably unloaded.

In addition, the locating device 10 includes a magnetic sensor and a magnet as detection means for detecting the movement of the clamp arm 40, and based on the detection result, it can be confirmed that the unclamping operation and the unloading operation of the workpiece W have been completed.
Specifically, the locating device 10 detects that the clamp arm 40 has moved upward until the lower end portion of the guide hole 43 comes into contact with the engagement pin 21, thereby completing the unclamping operation and the unloading operation. (See FIG. 2).

  Note that the completion of the unclamping operation and the completion of the unloading operation may be confirmed separately. In this case, for example, the completion of the unclamping operation is confirmed by detecting that the clamp arm 40 has moved upward to a position where the clamp claw 41 is accommodated in the protrusion 32. Further, the completion of the unloading operation is confirmed by detecting that the clamp arm 40 has moved upward until the lower end of the guide hole 43 comes into contact with the engagement pin 21 (see FIG. 2).

  When the workpiece W is clamped, the unloading claw 42 is pushed into the workpiece W, and the clamp arm 40 moves downward. By detecting the movement of the clamp arm 40 with a magnetic sensor and a magnet, The workpiece W can be clamped automatically.

  That is, the clamping operation of the workpiece W can be automatically performed by one detection mechanism (one magnetic sensor and one magnet), and completion of the unclamping operation and the unloading operation of the workpiece W can be confirmed. . For this reason, since the number of parts of the locating device 10 can be greatly reduced, the structure can be simplified and the cost of the locating device can be reduced.

  Since the locating device 10 of the present embodiment can perform the clamping operation and the unloading operation of the workpiece W only by driving one piston, the force for clamping the workpiece W and the force for unloading the workpiece W are It can be easily controlled using a regulator. Thereby, even if the thickness (length in the vertical direction) in the vicinity of the clamp hole W1 is thin, the workpiece W can be easily clamped and unloaded.

In this embodiment, the insertion direction of the locate pin 30 into the clamp hole W1 is the upward direction, but is not limited to this, and includes a wide range of directions in which the locate pin 30 can be inserted into the clamp hole W1.
If the locating pin 30 can be inserted into the clamp hole W1 even in a direction slightly inclined in the left-right direction with respect to the up-down direction, the direction slightly inclined in the left-right direction with respect to the up-down direction and the up-down direction is the locating pin. This is the insertion direction of 30 clamp holes W1.
Further, the unloading claw 42 may be configured to protrude in a direction slightly inclined in the left-right direction with respect to the up-down direction by changing the shape of the guide hole 43 as appropriate. In this case, the unloading claw 42 pushes up the workpiece W in a direction slightly inclined in the left-right direction with respect to the up-down direction.

  In the present embodiment, the cutout portion 31a is formed so that the right end portion of the unloading claw 42 protrudes upward from the flange portion 31 when the clamp arm 40 moves upward. However, the present invention is limited to this. Not a thing. That is, instead of the notch 31a, a hole that penetrates the portion including the notch 31a in the left-right direction may be formed.

  The clamp claw 41 may protrude leftward from the first opening 33 by a predetermined distance as long as it does not contact the clamp hole W1 of the workpiece W when the locate pin 30 is inserted through the clamp hole W1.

  In the locate pin 30, the first opening 33 and the second opening 34 are formed separately, but it is only necessary that the clamp pawl 41 and the unloading pawl 42 can protrude to the outside, and the present invention is not limited to this embodiment. . That is, instead of the first opening 33 and the second opening 34, one opening having a shape including a portion corresponding to the first opening 33 and the second opening 34 of the locate pin 30 is formed. It doesn't matter.

  In the present embodiment, the workpiece W is positioned at a predetermined position, but is not limited to this. For example, it may be configured to be movable by a predetermined device, and when clamped by the locating device 10, the clamp hole W <b> 1 of the workpiece W may be inserted into the protrusion 32 of the locating pin 30.

10 Locating Device 30 Locating Pin 31 Flange 40 Clamp Arm 41 Clamp Claw (Clamp)
42 Unloading claw (unloading part)
W Work W1 Clamp hole

Claims (2)

A locating pin inserted through a clamp hole formed in the workpiece when clamping the workpiece in a predetermined posture;
One end part is accommodated in the locate pin, and a clamp arm that clamps the workpiece or unclamps the workpiece by moving relative to the locate pin;
Comprising
In the clamp arm,
A clamp portion that is disposed at the one end portion and moves to the outside from the locate pin when the workpiece is clamped, and comes into contact with one end surface of the workpiece;
The clamp portion is disposed at a predetermined interval in a direction opposite to the insertion direction of the locate pin into the clamp hole. When the workpiece is unclamped, the clamp pin contacts the workpiece when the workpiece is clamped by the locate pin. The unloading part which protrudes in the insertion direction to the clamp hole of the locate pin than the part, abuts against the other end surface of the work, and pushes up the work in the insertion direction to the clamp hole of the locate pin,
Is formed,
Locate device. Further comprising detection means for detecting movement of the clamp arm,
The locating device according to claim 1.

Images