JP2012101332A - Workpiece positioning system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a workpiece positioning system capable of directing a workpiece placed on a table to a prescribed direction in a short period of time.SOLUTION: In the workpiece positioning system, a workpiece positioning device is used in which a supporting means 30 is installed on a base plate 20 having a horizontal attitude, the table 10 for placing the workpiece 100 thereon is slidably placed on the supporting means 30, at least first and second switches 41, 42 contacting with and separating from one side face of the workpiece 100 on the table 10 that has slid are fixed to the base plate 20, and first and second actuators 51, 52 for advancing and retreating the table 10 in a direction to contact with and separate from the first and second switches 41, 42 are connected between the table 10 and the base plate 20 in correspondence with the respective switches 41, 42. The table 10 and the workpiece 100 are advanced and contracted by the mutual actuation of the first and second actuators 51, 52, and by the actuation of only one of the actuators, the table and the workpiece are rotated and directed to the prescribed direction.

Description

  The present invention relates to a workpiece positioning system in which a workpiece placed on a table can be directed in a predetermined direction, and more specifically, a workpiece on which a table on which a workpiece is placed reciprocates in at least one direction and also rotates. The present invention relates to a workpiece positioning system in which a workpiece can be directed in a predetermined direction by operating a positioning device.

  In a manufacturing site, a plate-shaped or block-shaped workpiece may be placed on a carriage by a crane and conveyed from one point to another. At another point, the workpiece can be automatically welded by a robot, for example, by being placed on the carriage in a predetermined direction. In other words, if the workpiece does not face the predetermined direction, it cannot be automatically welded, and therefore work for directing the workpiece in the predetermined direction is performed. However, if the worker pushes the cart on which the workpiece is placed by hand, the inertial force is applied, so the orientation of the workpiece cannot be adjusted efficiently and accurately.

  Accordingly, various inventions have been proposed in which the position of the workpiece placed on the table can be adjusted. For example, Patent Document 1 describes a “4-axis XYθ table and its control method” used for fine adjustment of the final position and angle after coarse alignment.

  The four-axis XYθ table includes four support means for supporting the moving table parallel to the table reference plane and relatively movable with respect to the table base, and linearly driving each of the support means, and the table base 4 is provided with four linear driving means for moving the moving table relative to each other and a control device for moving the moving table to the target position.

JP 2005-148045 A

  The 4-axis XYθ table described in Patent Document 1 requires four linear driving means, which requires a large apparatus and complicated control by the control apparatus. Longer operation time.

  Accordingly, an object of the present invention is to provide a workpiece positioning system that can direct a workpiece placed on a table in a predetermined direction in a short time with a simple mechanism.

  In the workpiece positioning system according to the present invention, a supporting means is installed on a base plate in a horizontal posture, and a table on which the workpiece is placed is slidably placed on the supporting means. Workpiece positioning with at least two switches fixed to the base plate, and an actuator that moves the table forward in the direction toward the switch and moves backward in the direction away from the switch, and is connected between the table and the base plate corresponding to each switch A workpiece positioning system for operating an apparatus, wherein all the actuators are simultaneously operated to advance a table so that one side of a workpiece is directed to the switch, and when one side of the workpiece is turned on one of the switches Stop all actuators and The actuator that is turned on is operated in the opposite direction and the table is moved backward by one side to rotate the table by a certain amount. Again, all the actuators are simultaneously operated and the above operation is repeated. One of the features is that when all the switches are turned on simultaneously, the operation of the actuator is stopped.

  According to this workpiece positioning system, one side surface of a workpiece placed on the table is connected to a line connecting at least two switches (herein, for the sake of simplicity, the first switch and the second switch will be described). By sliding the table so as to match, the work can be directed in a predetermined direction.

  That is, this work positioning system is provided with actuators corresponding to the first switch and the second switch (herein, they will be described as the first actuator and the second actuator), and the first and second switches. The actuator is actuated to advance the table, and only one of the actuators is retracted to repeat the operation of slightly rotating the table, so that the work is directed in a predetermined direction.

  For example, when one side surface of the workpiece is not parallel to the line connecting the first switch and the second switch, and the left side of one side surface is placed on the table in a direction close to the first switch, When the first and second actuators are operated together and the table and the workpiece advance toward the first and second switches, the left side of one surface of the workpiece turns on the first switch. Then, the first and second actuators are stopped, and only the first actuator is operated in the opposite direction, so that the table is retracted so that only the left side of one side of the table and the workpiece is returned. At this time, the table and the work rotate slightly.

  Subsequently, the first and second actuators are operated to advance the table. Again, when the left side of one side of the work turns on the first switch, the above operation is repeated. However, if the right side of one side of the workpiece turns on the second switch, after the first and second actuators stop, only the second actuator operates in the opposite direction, and the right side of one side of the workpiece Only retract the table to return. At this time, the table rotates slightly in the reverse direction.

  As described above, when the first and second actuators are operated to move the table forward and only one of them is moved backward, finally, one side surface of the work turns the first switch and the second switch. Turns on at the same time. At this time, the work is directed in a predetermined direction, and the operation of the actuator is completely stopped.

  Further, in the workpiece positioning system according to the present invention, a side switch that is attached to and separated from a side surface adjacent to one side surface of the workpiece on the table is installed on the base plate in addition to the workpiece positioning device. A work positioning system for operating a work positioning device connected between the table and a base plate by a side switch orientation actuator that advances in a direction toward the side switch and moves back in a direction away from the side switch, the side switch When the side switch is turned on, the actuator for the side switch is stopped, and then the actuator for the side switch is moved forward. And operates in the reverse direction, it is preferable that further includes an operation to retract the table.

  According to this workpiece positioning system, the workpiece positioning device is provided with a side switch and an actuator for a side switch that moves the table forward and backward in the direction toward and away from the side switch. By moving in the direction as well, it is possible to shorten the time for setting the work in a predetermined direction.

  In the workpiece positioning system according to the present invention, the support means includes a support body having a rolling main sphere, a state in which the support body is raised, and the main sphere supports the lower surface of the table, A plurality of support units combined with lifting means for lifting and lowering the support body so that the main body moves down and moves up and down from the lower surface of the table, and the table with the support body lowered A support member that supports a lower surface of the table, the support body is raised before the operation of the actuator, the main sphere supports the lower surface of the table, and the support member is lowered after a series of operations of the actuator, and the support member is the table It is preferable to support the lower surface of the.

  According to this work positioning system, the support means is provided with a support unit and a support member, and the support unit is a combination of the support body and the lifting means, so that the table and the work are moved. The support body is raised by the elevating means, and the main sphere of the support body supports the lower surface of the table so that the table can move with almost no frictional resistance. Then, when the work is in a predetermined orientation, the support body is lowered by the elevating means, the main ball of the support body is separated from the lower surface of the table, and the lower surface of the table is supported by the support member. Can maintain a predetermined orientation.

  Further, in the workpiece positioning system according to the present invention, the support body has a large number of small spheres arranged on a ball receiving seat formed on a concave curved surface so that the small sphere can roll freely. It is preferable that the main sphere is mounted so that it can roll freely.

  According to this work positioning system, the main sphere rolls on a large number of small spheres, and when the table starts to move on the main sphere of the support means by rolling a large number of small spheres on the concave curved surface. The static friction coefficient can be made extremely small and the table can be easily moved.

  Further, in the workpiece positioning system according to the present invention, the elevating means houses the lower part of the support body so as to be movable up and down in a state where the main sphere protrudes upward, and on the upper side and the lower side. A bottomed cylindrical casing provided with a fluid supply port, a reciprocating motion between the upper and lower fluid supply ports, and a piston member to which the support body is fixed, and a peripheral surface of the support body are slidable It is preferable to include a top plate part that fits outside and closes the upper opening of the casing.

  According to this workpiece positioning system, when a fluid such as air is supplied between the lower side of the casing and the piston member from the fluid supply port provided on the lower side of the casing, the support body fixed to the piston member is When the main sphere rises to support the lower surface of the table and fluid such as air is supplied between the top plate portion and the piston member from the fluid supply port provided on the upper side of the casing, the piston member is The fixed support body is lowered and the main ball is separated from the lower surface of the table.

  In the workpiece positioning system according to the present invention, it is preferable that the actuator is a ball screw and at least one end thereof is connected by a universal joint.

  According to this work positioning system, since the actuator is constituted by a ball screw that can be advanced and retracted accurately and reliably, the table can be reliably moved by a predetermined amount. Then, since at least one end of the actuator is connected by a universal joint, the direction of the ball screw can be changed and the table can be rotated slightly.

  In the workpiece positioning system according to the present invention, it is preferable that the switch is fixed at an arbitrary position of a position adjusting rail attached to the base plate.

  According to this workpiece positioning system, the position of the switch can be changed according to the size of the workpiece. In particular, two or more switches can detect the orientation of the workpiece more accurately when they are in contact with one side of the workpiece at a wider interval than at a narrow interval. By fixing at intervals according to the length, the time for turning the workpiece in a predetermined direction can be shortened.

  According to the present invention, by providing a workpiece positioning system capable of directing a workpiece on a table in a predetermined direction by at least two switches and an actuator, the workpiece can be moved in a predetermined direction by a simple device. Can be turned in a short time.

BRIEF DESCRIPTION OF THE DRAWINGS One Embodiment of the workpiece positioning apparatus for implementing the workpiece positioning system which concerns on this invention is shown, (a) is a top view, (b) is a front view. It is a side view showing one embodiment of a work positioning device for carrying out a work positioning system concerning the present invention. An embodiment of the support means which comprises the workpiece positioning apparatus for implementing the workpiece positioning system which concerns on this invention is shown, (a) is a front view which shows the state in which the support means does not support the table, (b) ) Is a front view showing a state in which the supporting means supports the table. It is a schematic plan view explaining the procedure for making the workpiece | work predetermined direction with the workpiece | work positioning system which concerns on this invention.

  An embodiment of a workpiece positioning system according to the present invention will be described with reference to FIGS. This workpiece positioning system is implemented by operating a workpiece positioning device as shown in FIGS.

  The workpiece positioning apparatus includes a table 10 having a quadrangular shape (rectangular in the drawing) that is mounted on the workpiece 100 and moves in two orthogonal directions (XY directions) and rotates (θ direction) within a slight angle range. The base plate 20 having a rectangular shape (rectangular in the drawing) disposed in a horizontal position below the base plate 10, the support means 30 installed on the base plate 20 to support the table 10, and fixed to the base plate 20, the workpiece 100 One side surface (hereinafter referred to as “first side surface”) 101 is at least two switches (in this embodiment, limited to two, “first switch”, “second switch”). And 41 and 42 are connected between the table 10 and the base plate 20 corresponding to the first and second switches 41 and 42, respectively. Le 10 (limited to two in this embodiment, the "first actuator",. Be described as the "second actuator") actuator that reciprocates in the Y direction and a 51.

  Further, the workpiece positioning device includes a side switch 43 that contacts and separates from a side surface (hereinafter referred to as “second side surface”) 102 adjacent to the first side surface 101 of the workpiece 100 on the table 10; A side switch-facing actuator 53 that is connected between the table 10 and the base plate 20 and reciprocates in the X direction is provided.

  The workpiece 100 may be a stack of many rectangular plates or a rectangular parallelepiped block, but the first side surface 101 is flat, and the second side surface is perpendicular to the first side surface 101. 102 is provided. Note that the first side surface 101 of the workpiece 100 is provided with a notch in another portion if at least a certain range in which the first switch 41 and the second switch 42 contact and separate is flat. It may be a special shape.

  And as shown in FIG. 3, the table 10 is made by superposing the upper board 11 which consists of rolled steel like SS400, and the lower board 12 which consists of hardened steel. The lower plate 12 made of hardened steel is not easily worn even when placed on the support means 30. Hereinafter, the lower plate 12 will be described as the lower surface of the table 10.

  The base plate 20 is a carriage, and wheels 21, 21,... Are attached to the bottom corners so as to move on the rails 90, 90, and the two wheels 21, 21 on one side (left side in FIG. 1) are motors. 22 is activated.

  The support means 30 includes a plurality of support units 31 and support members 32. As shown in FIG. 3, the support unit 31 is a combination of a support body 60 and an elevating means 70 that moves the support body 60 up and down.

  The support 60 is formed with a concave curved ball receiving seat 62 on the upper surface of a cylindrical ball receiving portion 61, and a large number of small balls 63, 63,. , One main sphere 64 is slidably mounted on the small balls 63, 63,..., And a doughnut-like lid body 65 is covered on the upper surface of the ball receiving member, and a part of the main sphere 64 is a lid body 65. It is intended to protrude from. The support body 60 is moved up and down by the lifting and lowering means 70, and the main ball 64 abuts on the lower surface of the table 10 when raised, and the main ball 64 is separated from the lower surface of the table 10 when lowered. Has been.

  The elevating means 70 fixes a bottomed cylindrical casing 71 that accommodates the support body 60 in a state in which the main sphere 64 protrudes upward, and a bottom portion of the support body 60 to fix the inner surface of the casing 71. A piston member 72 that moves up and down in the casing 71 while sliding on the top, and a top plate portion 73 that closes the upper opening of the casing 71. In the casing 71, as illustrated, the side surface portion 71a and the bottom plate portion 71b may be separate or may be integrated. Moreover, the side part 71a and the top plate part 73 may be integrated as illustrated, or may be separate.

  In any case, the casing 71 is provided with fluid supply ports 74 and 75 on the upper side and the lower side, respectively, so that the piston member 72 reciprocates between the upper and lower fluid supply ports 74 and 75. Has been. Accordingly, the inside of the casing 71 is partitioned into an upper chamber between the piston member 72 and the top plate portion 73 and a lower chamber between the piston member 72 and the bottom plate portion 71b.

  When a fluid such as air or pressurized oil (hereinafter referred to as “air”) is supplied from the upper fluid supply port 74 to the upper chamber, the upper chamber expands and the piston member 72 is pushed down. The support body 60 is lowered. Conversely, when air is supplied from the lower fluid supply port 75 to the lower chamber, the lower chamber expands and the piston is pushed up, so that the support body 60 rises.

  The support member 32 is configured by a frame assembled in a lattice shape, and is fixed on the base plate 20. The support unit 31 is also fixed on the base plate 20 so as not to interfere with the support member 32.

  Then, when the support body 60 of the support unit 31 is raised by the elevating means 70, the top of the main sphere 64 of the support body 60 protrudes from the upper surface of the support member 32 to lift the table 10, and the support body 60 is lowered by the elevating means 70. Then, the top of the main sphere 64 of the support body 60 is positioned below the upper surface of the support member 32, and the lower surface of the table 10 is supported by the support member 32.

  Position adjustment rails 23 and 23 are fixed to two side surfaces adjacent to each other of the base plate 20, and support columns 24, 24 and 24 are attached to be movable along the position adjustment rails 23 and 23. On one side (long side in the drawing), two support posts 24, 24 are attached to the position adjusting rail 23, and first and second switches 41, 42 are attached to the tops of the support posts 24, 24. . In addition, one post 24 is attached to the other position adjustment rail 23 (shown in FIG. 1), and a side switch 43 is attached to the top of the post 24.

  The lower ends of the columns 24, 24, 24 slide along the position adjustment rails 23, 23 and are fixed at arbitrary positions. By doing so, the interval and the mounting position of the first and second switches 41 and 42 can be changed, and the mounting position of the side switch 43 can be changed. In addition, when the size of the workpiece 100 is limited, the first and second switches 41 and 42 and the side switch 43 may be fixed without providing the position adjusting rails 23 and 23.

  In any case, as the first and second switches 41 and 42 and the side switch 43, limit switches that are turned on when pressed and turned off when not pressed are used. The limit switch is turned on and off by an arm 25 whose tip end swings around the support post 24 as a central axis, and a resin roller 26 is attached to the tip of the arm 25 so as not to damage the workpiece 100. It has been.

  The first and second switches 41 and 42 and the side switch 43 are turned on when the first side surface 101 and the second side surface 102 of the workpiece 100 placed on the table 10 come into contact with each other. The mounted table 10 is moved forward, backward, and rotated by actuators 51, 52, 53 while being supported by the main ball 64 of the support unit 31.

  The actuators 51, 52, and 53 are configured by ball screws that can accurately and reliably advance, retract, and rotate the table 10. However, the actuators 51, 52, and 53 may be configured by a cylinder in which a piston moves by hydraulic pressure or a servo motor.

  In any case, the first and second actuators 51 and 52 are arranged in the Y direction, and the tip portions thereof are directed to the first and second switches 41 and 42, respectively. The side switch-facing actuator 53 is arranged in the X direction so that the tip thereof faces the side switch 43. The first and second actuators 51 and 52 are disposed at the same height position, and the side switch-facing actuator 53 is disposed at a position lower than the first and second actuators 51 and 52.

  Further, in the initial state, the first and second actuators 51 and 52 are parallel to the Y direction, but only one of the first actuator 51 and the second actuator 52 operates to actuate the table 10. Rotates and becomes a C shape in plan view. Further, the side switch-facing actuator 53 faces the X direction in the initial state, but when the table 10 is rotated, the side switch orientation actuator 53 assumes an inclined posture in plan view. Therefore, any of the actuators 51, 52, and 53 has a base end portion connected to the base plate 20 by a universal joint and a distal end portion connected to the table 10 by a universal joint.

  In addition, in order to move the table 10 efficiently, the first actuator 51 and the second actuator 52 are preferably parallel to the Y direction in the initial state, but are not functionally parallel. Alternatively, it may be oriented in a letter C in plan view.

  Here, an operation method for directing the workpiece 100 placed on the table 10 in a predetermined direction will be described with reference to FIG. Here, for easy understanding, the movement of the workpiece 100 is described as up, down, left, and right according to the drawing.

  Further, as shown in FIG. 3A, the table 10 is lowered with the support body 60 of the support unit 31 until the work 100 is placed, the main ball 64 does not support the table 10, and the support member 32. Supports the table 10. When the workpiece 100 is placed on the table 10, as shown in FIG. 3B, the support body 60 of the support unit 31 rises and the main ball 64 supports the table 10.

  In the initial state, the table 10 and the base plate 20 are oriented so that each side is parallel. Then, it is assumed that the workpiece 100 is placed with being deflected with respect to the table 10, for example, as shown in FIG. In other words, the work 100 is placed in a state where the distance between the right side of the first side surface 101 of the work 100 and the second switch 42 is narrower than the distance between the left side of the first side surface 101 of the work 100 and the first switch 41. The operation method when placed on 10 will be described.

  In this state, as shown in FIG. 4B, the table 10 is moved to the side switch 43 (leftward) by operating the side switch-facing actuator 53. The last alignment can be facilitated by first moving the table 10 to the left.

  Then, the second side surface 102 of the workpiece 100 moved in the left direction turns on the side switch 43. Then, the side switch-oriented actuator 53 temporarily stops, and then the side switch-oriented actuator 53 reverses as shown in FIG. 4C, so that the table 10 is slightly separated from the side switch 43 (right Direction). Then, the side switch 43 is turned off. The distance that the table 10 moves in the right direction is set by the time for which the side switch actuator 53 operates (reverses) in the opposite direction, the amount of rotation, and the like.

  Next, as shown in FIG. 4D, by operating the first and second actuators 51 and 52, the first and second switches 41 remain in the direction parallel to the base plate 20. , 42 (downward). Then, the right side of the first side surface 101 of the workpiece 100 turns on the second switch 42. Then, the first and second actuators 51 and 52 are stopped.

  Next, as shown in FIG. 4E, by actuating the side switch direction actuator 53 again, the table 10 is moved leftward, and when the side switch 43 is turned on, the side switch direction actuator 53 is moved. Stop. Note that while the table 10 is moving in the left direction, the right side of the first side surface 101 of the workpiece 100 is kept turning on the second switch 42.

  Next, as shown in FIG. 4F, only the second actuator 52 is reversed. Then, the table 10 slightly rotates counterclockwise. Then, the work 100 that has been deflected is separated from the second switch 42 on the right side of the first side surface 101 that was close to the second switch 42. The angle at which the table 10 rotates is set according to the time for which the second actuator 52 reverses, the amount of rotation, and the like.

  Then, by actuating the first and second actuators 51 and 52 again, the table 10 is moved downward. When the table 10 is slightly rotated counterclockwise, and the workpiece 100 is parallel to the base plate 20, the first side surface 101 of the moved workpiece 100 is the first side as shown in FIG. , The second switches 41 and 42 are simultaneously turned ON. In other words, when the first side surface 101 of the workpiece 100 simultaneously turns on the first and second switches 41 and 42, the workpiece 100 is parallel to the base plate 20, that is, is directed in a predetermined direction. It can be judged.

  However, the rotation amount of the table 10 is insufficient, and the distance between the right side of the first side surface 101 of the workpiece 100 and the second switch 42 is the distance between the left side of the first side surface 101 of the workpiece 100 and the first switch 41. When it is narrower, the first side surface 101 of the workpiece 100 turns on the second switch 42 again in the same manner as in FIG. 4D, and thus the operations in FIGS. 4E and 4F are repeated. Even in this case, since the table 10 is slightly rotated counterclockwise as described above, the degree of deflection of the workpiece 100 is smaller than that in the state shown in FIG. .

  Further, the table 10 rotates too much so that the distance between the left side of the first side surface 101 of the workpiece 100 and the first switch 41 is larger than the distance between the right side of the first side surface 101 of the workpiece 100 and the second switch 42. When the first and second actuators 51 and 52 are operated, the left side of the first side surface 101 of the workpiece 100 is the first switch 41 when the first and second actuators 51 and 52 are operated. Turn on. Then, when the side switch direction actuator 53 is operated to move the table 10 to the left and the side switch 43 is turned on, the side switch direction actuator 53 is stopped.

  Subsequently, although not shown, the table 10 is slightly rotated clockwise by reversing only the first actuator 51. Then, by actuating the first and second actuators 51 and 52 again, the table 10 is moved downward.

  Such an operation is repeated, and as shown in FIG. 4 (g), the first side surface 101 of the moved workpiece 100 turns on the first and second switches 41 and 42 at the same time, as shown in FIG. 4 (h). As described above, when the side switch direction actuator 53 is operated and the second side surface 102 of the workpiece 100 turns on the side switch 43, the workpiece 100 is directed in a predetermined direction, and a series of operations is completed.

  Then, the support body 60 of the support unit 31 is lowered, and the lower surface of the table 10 is supported by the support member 32 instead of the main sphere 64, so that the workpiece 100 is maintained in a predetermined direction. And the workpiece | work 100 is conveyed downstream by the motor 22 driving the wheel 21, 21, .... Since the workpiece 100 faces a predetermined direction, work such as welding is efficiently performed on the downstream side.

  In addition, this invention can be variously changed without limiting to the said embodiment. For example, the workpiece positioning device does not include the side switch 43 and the side switch orientation actuator 53, and the first and second switches 41 and 42 and the first and second switches that contact and separate only from the first side surface 101 of the workpiece 100. Only the actuators 51 and 52 may be provided. This workpiece positioning device has a longer time for making the workpiece 100 in a predetermined direction than the one provided with the side switch 43 and the side switch orientation actuator 53, but the configuration can be simplified.

  Further, the support means 30 may be configured so that the support member 32 moves up and down instead of the support body 60 moving up and down. Furthermore, the raising / lowering means 70 may raise / lower the support body 60 with a gear instead of raising / lowering like the piston.

  In this work positioning device, the base plate 20 is a carriage and wheels 21, 21... Are provided to transport the work 100 from one point to another. When there is no need to do this, the base plate 20 may be fixed to the floor instead of the cart provided with the wheels 21, 21,.

10 ... Table 20 ... Base plate 23 ... Position adjustment rail 30 ... Bearing means 31 ... Bearing unit 32 ... Support member 41 ... (First) switch 42 ... (Second) switch 43 ... ... side switch 51 ... (first) actuator 52 ... (second) actuator 53 ... actuator 60 for side switch ... bearing 62 ... ball seat 63 ... small ball 64 ... main ball 70 Elevating means 71 Casing 72 Piston member 73 Top plate 74 Fluid supply port 75 Fluid supply port 100 Workpiece 101 One side surface (first side surface)
102: Side surface adjacent to one side surface (second side surface)

Claims (7)

The supporting means is installed on the base plate in a horizontal posture, the table on which the work is placed is slidably placed on the supporting means, and at least two switches that contact and separate from one side of the work on the slid table are attached to the base plate. A workpiece positioning system that operates a workpiece positioning device connected between a table and a base plate corresponding to each switch is an actuator that is fixed and moves the table forward in a direction toward the switch and moves backward in a direction away from the switch. And
When all the actuators are simultaneously operated to advance the table so that one side of the workpiece faces the switch, when one side of the workpiece turns on any switch, the operation of all the actuators is stopped and the switch is turned on. Actuate the actuator that was turned on in the opposite direction and retreat the table only on one side to rotate the table by a fixed amount. All the actuators actuated at the same time and repeat the above operation. The work positioning system stops the operation of the actuator when all switches are turned on simultaneously. In addition to the workpiece positioning device according to claim 1, a side switch that contacts and separates from a side surface adjacent to one side surface of the workpiece on the table is installed on the base plate, and the table is advanced in a direction toward the side switch. And a work positioning system for operating a work positioning device connected between the table and the base plate, wherein the actuator for the side switch that is retracted in the direction away from the side switch is connected to the base plate,
The side switch direction actuator is actuated so as to go to the side switch, and the table is advanced toward the side switch. When the side switch is turned on, the side switch direction actuator is stopped, and then the side switch direction actuator is The workpiece positioning system according to claim 1, further comprising an operation of operating in a reverse direction to retract the table. The support means according to claim 1 or 2 includes a support body having a rolling main sphere, a state in which the support body rises, the main sphere supports the lower surface of the table, and the support body descends. A plurality of support units combined with lifting means for lifting and lowering the support body so that the main sphere moves up and down from the lower surface of the table, and supports the lower surface of the table while the support body is lowered A support member,
Before the operation of the actuator, the support body is raised so that the main sphere supports the lower surface of the table, and after a series of operations of the actuator, the support body is lowered and the support member supports the lower surface of the table. The workpiece positioning system according to claim 1 or 2, characterized in that:   The support body has a large number of small spheres arranged on a ball seat formed on a concave curved surface so as to be able to roll, and one main sphere is placed on the small sphere so as to be able to roll. The workpiece positioning system according to claim 3, wherein there is a workpiece positioning system.   The elevating means accommodates the lower part of the support body so as to be movable up and down in a state where the main sphere protrudes upward, and has a bottomed cylindrical casing provided with fluid supply ports on the upper side and the lower side And a piston member that reciprocates between the upper and lower fluid supply ports, and the outer peripheral surface of the support body is slidably fitted on the piston member, and the upper opening of the casing. The workpiece positioning system according to claim 3, wherein the workpiece positioning system includes a top plate portion that closes the surface.   6. The workpiece positioning system according to claim 1, wherein the actuator is a ball screw, and at least one end thereof is connected by a universal joint.   The work positioning system according to claim 1, wherein the switch is fixed at an arbitrary position on a position adjusting rail attached to a base plate.

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