JP2012110987A - Positioning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve positioning accuracy of a workpiece by accurately disposing the tip of an arm in a predetermined position.SOLUTION: In the positioned state of a workpiece (bracket B) by a positioning pin 8 at the tip of an arm 3, a guide member 20 and a guide receiving member 30 are fitted to each other, and engaged with each other in the rotational axis direction and the extending direction of the arm 3. An engaging surface 33a disposed in the guide receiving member 30 and engaged with the guiding member 20 in the extending direction of the arm 3 is made movable in the extending direction of the arm 3, and energized in a direction to be pressed to the engaging surface (side face 22a of a second projected part 22) of the guide member 20.

Description

  The present invention relates to a positioning device that positions a workpiece with an arm rotatably provided on a base.

  As a positioning device for processing a workpiece, for example, Patent Document 1 discloses a clamping device as shown in FIG. The clamp device includes a receiver 101, a clamp head 102 having a pressing portion 105 at the tip, and a cylinder 106. The intermediate part of the clamp head 102 is rotatably attached to the receiver 101 via the hinge 103 and the pin 104, and the base end part is rotatably attached to the tip of the piston rod 108 of the cylinder 106 via the pin 109. .

  A state indicated by a chain line in FIG. 9 indicates an unclamped state in which the piston rod 108 is retracted and the pressing portion 105 of the clamp head 102 is retracted from the work (not shown). When the piston rod 108 is extended from this state, the clamp head 102 rotates around the pin 104, and the work can be clamped by the pressing portion 105 and the receiving metal 101.

JP 2001-315035 A

  In the clamp device as described above, if the rotation sliding portion is rattled due to wear of the pin 104 or the pin 109, the positional accuracy of the pressing portion 105 of the clamp head 102 is lowered. In particular, when the length of the arm (clamp head) is long, the deviation of the tip of the arm increases due to the backlash of the rotary sliding portion, and the positioning accuracy of the workpiece is greatly reduced. Further, when positioning is performed by inserting a positioning pin provided at the tip of the arm into the hole of the workpiece, if the position of the tip of the arm is shifted, the positioning pin may not be inserted into the hole of the workpiece.

  For example, Patent Document 1 discloses a method for preventing play of the clamp head by providing a rack and pinion mechanism in the clamp head. However, even in this case, since the rack and pinion mechanism itself may be loose due to wear or the like, the positioning accuracy of the workpiece by the clamp head (arm) cannot be guaranteed.

  The problem to be solved by the present invention is to increase the positioning accuracy of the workpiece by accurately arranging the tip of the arm at a predetermined position.

  The present invention, which has been made to solve the above-mentioned problems, includes a base, an arm that is rotatably attached to the base and extends in a direction orthogonal to the rotation axis, and a rotation drive unit that rotationally drives the arm around the rotation axis. A positioning device that positions the workpiece at the tip of the arm, and includes a guide member attached to the arm and a guide receiving member attached to the base, and the workpiece is positioned at the tip of the arm. And a guide mechanism for fitting the guide member and the guide receiving member into engagement with each other in the rotation axis direction and the extending direction of the arm, provided on one of the guide member and the guide receiving member, and the other The engaging surface that engages the member in the extending direction of the arm is movable in the extending direction of the arm and is urged in a direction to be pressed against the other member.

  In this way, the guide member attached to the arm and the guide receiving member attached to the base are fitted, and both are engaged with each other in the rotation axis direction and the extending direction of the arm, whereby the arm is rotated with respect to the base. Positioning can be performed in the axial direction and in the extending direction. As a result, even if a backlash occurs in the rotary sliding portion of the arm, the arm tip can be accurately placed at a predetermined position when positioning the workpiece, so that the workpiece positioning accuracy can be improved. it can.

  When the arm is positioned by fitting the guide member and the guide receiving member as described above, for example, as shown in FIG. 10, the arm 210 is provided with a pin 211 as a guide member, and the base (not shown) has a guide receiving member. A configuration may be considered in which 212 is provided and inserted into the pin 211 in a hole 213 provided in the guide receiving member 212. However, since the pin 211 moves along the arc locus C together with the arm 210, the pin 211 may interfere with the opening of the hole 213 of the guide receiving member 212 as illustrated. In this case, if the pin 211 is forcibly inserted into the hole 213, wear of the pin 211 and the guide receiving member 212 becomes severe, and the position accuracy of the tip of the arm 210 decreases. If the diameter of the hole 213 is set larger than the outer diameter of the pin 211, interference between the pin 211 and the guide receiving member 212 can be avoided, but the outer peripheral surface of the pin 211 and the inner peripheral surface of the hole 213. As a result, the positional accuracy of the tip of the arm 210 is lowered.

  Therefore, in the positioning device of the present invention, as described above, the engagement surface that is provided on one member of the guide member and the guide receiving member and engages the other member in the extending direction of the arm is provided on the arm. It was movable in the extending direction. Accordingly, when the arm is rotated to engage the guide member and the guide receiving member, even if the engaging surfaces that engage with each other in the extending direction of the arms interfere with each other, the engaging surface of one member Can be moved away from the arm in the extending direction, so that interference can be avoided and wear can be suppressed. In addition, by urging the engaging surface, which is movable in the extending direction of the arm, in a direction in which the engaging surface is pressed against the mating member, the engaging surface is pressed against the mating member when both members are fitted. Thus, since the gap in the extending direction of the arm between the guide member and the guide receiving member can be eliminated, positioning accuracy in the extending direction of the arm can be improved.

  In the positioning device as described above, the mounting position of the guide member and the guide receiving member with respect to the arm and the base can be adjusted, thereby changing the mounting position of the guide member and the guide receiving member according to the shape and size of the workpiece. be able to. Note that when the mounting position of the guide member relative to the arm changes, the arc locus of the engagement surface of the guide member also changes. However, as described above, the engagement surface can be moved in the direction in which the arm extends so that the engagement surface Since the change of the arc locus can be absorbed, the attachment position can be easily changed to the position of the guide member with respect to the arm without changing the design of each member. At this time, the guide receiving member is attached to the base at a position where it is fitted with the guide member.

  A positioning device that positions a workpiece by providing a positioning pin at the tip of the arm and inserting the positioning pin into the hole of the workpiece by rotating the arm is very important. It is particularly preferable to adopt

  As described above, according to the positioning device of the present invention, the arm can be positioned in the rotation axis direction and the extending direction by the guide member and the guide receiving member, and wear of the engagement surface can be suppressed. The tip of the arm can be accurately arranged, and the positioning accuracy of the workpiece is increased.

It is a side view of the positioning device concerning the embodiment of the present invention. It is a perspective view of the guide mechanism (guide member and guide receiving member) provided in the positioning device. It is a three-view figure of the said guide member. It is a three-view figure of the said guide receiving member. It is sectional drawing in the AA of FIG. (A)-(c) is a side view which shows a mode that a guide member and a guide receiving member fit. (A)-(c) is a side view which shows a mode that the guide member and guide receiving member of the positioning device which concern on other embodiment fit. It is a side view which shows the state which attached the guide receiving member of FIG. 7 to the base in the longitudinal direction reverse direction. It is a side view of the conventional positioning device. It is sectional drawing which shows the reference example of a guide mechanism.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 shows how a workpiece is positioned by a positioning device 1 according to an embodiment of the present invention. In the present embodiment, when the bracket B is fixed to the door panel D by welding or the like, the case where the bracket B is positioned at a predetermined position on the door panel D positioned with respect to the ground by the positioning pins P is shown.

  The positioning device 1 includes a base 2, an arm 3 rotatably attached to the base 2, an air cylinder 4 as a rotation driving unit that rotates the arm 3, and a guide mechanism 5. In the illustrated example, since the bracket B is disposed on the upper surface of the door panel D, the bracket B cannot be positioned with a positioning pin or the like from below. The positioning device 1 according to this embodiment is configured to swing the arm 3 from above to the door panel D and the bracket B and position the bracket B at the tip of the arm 3.

  The arm 3 is rotatably attached to the base 2. In the illustrated example, a hinge 6 is provided near the base end (right end in FIG. 1) of the arm 3, and the hinge 6 and the base 2 are rotatably attached via a pin 7. The rotation axis of the pin 7, that is, the arm 3 is arranged in a direction orthogonal to the paper surface of FIG. 1, and the arm 3 extends in a direction orthogonal to the rotation axis. A positioning pin 8 is provided at the tip of the arm 3. In the illustrated example, the positioning pin 8 extends downward from the tip of the arm 3 in a state where the arm 3 is horizontal and the bracket B is positioned (indicated by a solid line).

  The air cylinder 4 is rotatably attached to the base 2 via a pin 9. The tip of the piston rod 10 of the air cylinder 4 is rotatably attached to the base end of the arm 3 via a pin 11. When the piston rod 10 is contracted and the base end of the arm 3 is pulled downward, as shown by a dotted line in FIG. 1, the tip of the arm 3 is lifted with the pin 7 as a fulcrum, and the positioning pin 8 is moved to the work (door panel D and bracket B). ). When the piston rod 10 is extended and the base end of the arm 3 is pushed upward, the tip of the arm 3 descends as shown by the solid line in FIG. 1 and the positioning pin 8 is inserted into the hole of the bracket B from above. Note that the rotation drive unit is not limited to an air cylinder, but may be a hydraulic cylinder or a motor.

  The guide mechanism 5 includes a guide member 20 fixed to the lower surface of the arm 3 and a guide receiving member 30 fixed to the upper surface of the base 2. The guide member 20 and the guide receiving member 30 can be adjusted in attachment positions in the arm extending direction with respect to the arm 3 and the base 2 according to the size and shape of the workpiece. In the present embodiment, the guide member 20 and the guide receiving member 30 are detachably attached to the arm 3 and the base 2 with bolts or the like, respectively. When the guide member 20 and the guide receiving member 30 are fitted to each other, the both engage with each other in the rotation axis direction and the extending direction of the arm 3, whereby the guide member 20 and the arm 3 are horizontal with respect to the guide receiving member 30 and the base 2. Positioned above. In the following description of the guide mechanism 5, the extending direction of the arm 3 (left and right direction in FIG. 1) is “longitudinal direction”, and the rotation axis direction of the arm 3 (direction perpendicular to the paper surface of FIG. 1) is “width direction”. " Further, the distal end side (left side in FIG. 1) of the arm 3 in the longitudinal direction is simply referred to as “front end side”, and the proximal end side (right side in FIG. 1) of the arm 3 is simply referred to as “proximal end side”.

  As shown in FIGS. 2 and 3, the guide member 20 protrudes downward from the base 23 attached to the arm 3, the first protrusion 21 extending in the longitudinal direction from the base 23, and protrudes downward from the base 23. It has the 2nd convex parts 22 and 22 provided in the width direction both sides of the 1st convex part 21. As shown in FIG. The side surfaces 21a, 21a on both sides in the width direction of the first convex portion 21 are inclined toward the sides approaching each other downward. The side surfaces 22a, 22a on both sides in the longitudinal direction of the second convex portion 22 are inclined toward the sides approaching each other downward.

  As shown in FIGS. 2 and 4, the guide receiving member 30 includes a base portion 35 fixed to the base 2, and four locations protruding upward from the base portion 35 and spaced apart in the longitudinal direction and the width direction (in the illustrated example, the base portion 35 of the base portion 35. The projections 36 provided at the four corners) and the slide member 33 movable in the longitudinal direction with respect to the base 35 are provided. Between the width direction of the protrusion part 36, the 1st recessed part 31 extended in a longitudinal direction is provided. The first concave portion 31 has a shape corresponding to the first convex portion 21 of the guide member 20, and the side surfaces 31 a, 31 a on both sides in the width direction of the first concave portion 31 are inclined downward to approach each other. is doing.

  The guide receiving member 30 is provided with an engaging surface that engages with the second convex portion 22 of the guide member 20 in the longitudinal direction. This engagement surface is movable in the longitudinal direction with respect to the base portion 35. In the present embodiment, the engagement surface 33a that engages with the second convex portion 22 in one longitudinal direction and the engagement surface 34a that engages in the other longitudinal direction are both movable in the longitudinal direction with respect to the base portion 35. (See FIG. 4). Specifically, a pair of slide members 33 and 34 are provided between the longitudinal directions of the pair of projecting portions 36, and the engaging surfaces 33 a and 34 a are configured by inclined surfaces provided on the pair of slide members 33 and 34. The engagement surfaces 33a and 34a constitute a second recess 32 that fits with the second protrusion 22 of the guide member 20. Further, in the present embodiment, as shown in FIG. 5, the projections 33 b and 34 b provided on the lower surfaces of the slide members 33 and 34 are fitted into the longitudinal grooves 35 a formed on the upper surface of the base 35, thereby sliding the slide. The movement of the members 33 and 34 in the longitudinal direction is guided.

  The engaging surfaces 33 a and 34 a are biased in a direction to press against the second convex portion 22 of the guide member 20. In the present embodiment, as shown in FIG. 4, a spring 37 as an elastic member is arranged in a compressed state between each slide member 33, 34 and the projecting portions 36, 36, thereby a pair of slide members 33, 34. The (engaging surfaces 33a, 34a) are urged toward the side (longitudinal direction center side) that presses each other. In a state in which the pair of slide members 33 and 34 are in contact with each other, the second convex portion 22 having a longitudinal dimension larger than the longitudinal interval between the engagement surfaces 33 a and 34 a is resisted against the elastic force of the spring 37. By inserting the second concave portion 32, the pair of engaging surfaces 33 a and 34 a are urged in a direction to press the second convex portion 22. The elastic member is not limited to a spring but may be a leaf spring, for example.

  Next, positioning (particularly positioning in the longitudinal direction) of the arm 3 by the guide mechanism 5 will be described with reference to FIG. 6 is an enlarged view of FIG. 1. The left side is the distal end side, and the right side is the proximal end side.

  When the arm 3 is rotated and the tip is lowered so that the arm 3 becomes almost horizontal, the first convex portion 21 of the guide member 20 and the first of the arm receiving member 30 as shown in FIG. The recess 31 starts to be fitted. At the same time, the second convex portion 22 of the guide member 20 contacts the slide member 33 on the distal end side of the arm receiving member 30. Specifically, the side surface 22a on the distal end side of the second convex portion 22 and the engagement surface 33a of the slide member 33 on the distal end side come into contact with each other.

  When the tip of the arm 3 is further lowered, the second convex portion 22 of the guide member 20 is inserted into the second concave portion 32 of the guide receiving member 30 as shown in FIG. At this time, the slide member 33 on the distal end side is pressed toward the distal end side by the second convex portion 22 and moves to the distal end side while compressing the spring 37. Thus, when the second convex portion 22 of the guide member 20 comes into contact, the guide member 20 and the guide receiving member 30 are released by releasing the engaging surface 33a of the slide member 33 of the guide receiving member 30 to the distal end side. Excessive interference can be avoided, and wear of both members can be prevented.

  When the tip of the arm 3 is further lowered, as shown in FIG. 6C, the second convex portion 22 of the guide member 20 pushes and widens the distance between the pair of slide members 33 and 34, and the pair of slide members It is completely inserted into the second recess 32 constituted by the engaging surfaces 33a, 34a of 33, 34. At this time, by pressing the engaging surfaces 33a, 34a of the slide members 33, 34 against the side surface 22a of the second convex portion 22 by the urging force of the spring 37, the both side surfaces 22a, 22a of the second convex portion 22 are It is clamped by the engaging surfaces 33a, 34a of the slide members 33, 34 from both sides in the longitudinal direction. Thereby, the guide member 20 and the arm 3 are positioned in the longitudinal direction with respect to the guide receiving member 30 and the base 2. At the same time, the first convex portion 21 of the guide member 20 is fitted into the first concave portion 31 of the guide receiving member 30, whereby both side surfaces 21 a and 21 a of the first convex portion 21 and the first concave portion 31 are fitted. Both side surfaces 31a, 31a abut (not shown). Thereby, the guide member 20 and the arm 3 are positioned in the width direction with respect to the guide receiving member 30 and the base 2.

  At this time, if the elastic force of the spring 37 urging the pair of slide members 33 and 34 is too small, the second convex portion 22 of the guide member 20 may not be accurately positioned in the longitudinal direction. Therefore, the spring 37 needs to have an elastic force capable of positioning the second convex portion 22 at a predetermined position (in the illustrated example, the central portion in the longitudinal direction of the guide receiving member 30). On the other hand, when the elastic force of the spring 37 is large, when the guide member 20 and the guide receiving member 30 are fitted, the force required to move the slide member 33 on the distal end side by the second convex portion 22 becomes large. However, this can be dealt with by increasing the pressure of the air cylinder 4.

  Further, as described above, the guide member 20 and the guide receiving member 30 are detachably attached to the arm 3 and the base 2, so that the guide member 20 and the guide receiving member 30 correspond to the shape and size of the workpiece. The attachment position of the member 30 with respect to the arm 3 and the base 2 can be adjusted.

  The present invention is not limited to the above embodiment. Hereinafter, although other embodiment of this invention is described, the same code | symbol is attached | subjected to the location which has the same function as said embodiment, and duplication description is abbreviate | omitted.

  In the above embodiment, the engagement surfaces 33a, 34a of the pair of slide members 33, 34 facing in the longitudinal direction are both movable in the longitudinal direction. However, the present invention is not limited to this, for example, as shown in FIG. Only the distal-side engagement surface 33 a may be movable in the longitudinal direction, the proximal-side engagement surface 36 a may be provided on the protrusion 36, and the engagement surface 36 a may be fixed to the base 35. In this case, in a state before the second convex portion 22 of the guide member 20 is inserted into the second concave portion 32 of the guide receiving member 30, the spring 37 is not compressed as shown in FIG. The slide member 33 is not biased. And by inserting the 2nd convex part 22 in the 2nd recessed part 32, as shown in FIG.7 (b), the spring 37 is compressed and the slide member 33 and the engaging surface 33a are urged | biased to the base end side. Is done. When the second convex portion 22 is completely inserted into the second concave portion 32, the second convex portion 22 is sandwiched between the engaging surfaces 33a and 36a as shown in FIG. Is positioned. At this time, the guide member 20 can be brought into contact with the other engagement surface 36a fixed to the base 35 and the guide member 20 can be positioned in the longitudinal direction with respect to the guide receiving member 30. The positioning accuracy in the longitudinal direction with respect to the base 2 can be increased.

  However, when such a guide receiving member 30 is attached to the base 2 with its longitudinal direction reversed, as shown in FIG. 8, the engagement surface 36a that first contacts the guide member 20 is the fixed side. The engaging surface 36a cannot be moved by moving in the longitudinal direction. Accordingly, when one of the engaging surfaces 33a and 36a engaged with the guide member 20 in the longitudinal direction is movable in the longitudinal direction and the other is fixed to the base 35, the movable surfaces are movable as shown in FIG. It is necessary to set the orientation of the guide receiving member 30 in the longitudinal direction so that the engaging surface is on the tip side. On the other hand, if both the pair of engaging surfaces 33a and 34a are movable in the longitudinal direction as in the embodiment of FIG. 6, the guide receiving member 30 has a symmetric configuration in the longitudinal direction, so the orientation is a concern. The guide receiving member 30 can be attached to the base 2 without doing so.

  In the above embodiment, the guide member 20 is provided with convex portions (first convex portion 21 and second convex portion 22), and the guide receiving member 30 is provided with concave portions (first concave portion 31 and second concave portion). 32) is shown, but conversely, the guide member may be provided with a concave portion and the guide receiving member may be provided with a convex portion (not shown).

  Further, in the above-described embodiment, the second recess 32 is configured by the engagement surfaces 33 a and 34 a provided on the pair of slide members 33 and 34, and the engagement surfaces 33 a and 34 a are arranged in the longitudinal direction with respect to the base portion 35. Although it can be moved, it is not limited to this. For example, the engagement surface (side surface 22a) provided on the second convex portion 22 of the guide member 20 may be movable in the longitudinal direction with respect to the base portion 23 (not shown).

  In the above embodiment, the elastic member (spring 37) is arranged in a compressed state between the protruding portion 36 of the guide receiving member 30 and the slide members 33, 34. You may arrange | position an elastic member in the tension state between the longitudinal directions of the slide members 33 and 34 (illustration omitted).

DESCRIPTION OF SYMBOLS 1 Positioning device 2 Base 3 Arm 4 Air cylinder (rotation drive part)
5 Guide mechanism 6 Hinge 7 Pin 8 Positioning pin 9 Pin 10 Piston rod 11 Pin 20 Guide member 21 First convex portion 22 Second convex portion 23 Base portion 30 Guide receiving member 31 First concave portion 32 Second concave portion 33, 34 Slide members 33a, 34a Engagement surface 35 Base 36 Projection 37 Spring (elastic member)
B Bracket C Circular locus D Door panel P Pin

Claims (2)

A base, an arm that is rotatably attached to the base and extends in a direction orthogonal to the rotation axis, and a rotation drive unit that rotationally drives the arm around the rotation axis, and positions the workpiece at the tip of the arm A positioning device,
It consists of a guide member attached to the arm and a guide receiving member attached to the base. With the workpiece positioned at the tip of the arm, the guide member and the guide receiving member are fitted together, and both are connected to the rotation shaft of the arm. A guide mechanism for engaging in the direction and the extending direction,
An engagement surface provided on one of the guide member and the guide receiving member and engaged with the other member in the extending direction of the arm is movable in the extending direction of the arm, and the other member Positioning device biased in the pressing direction.   The positioning device according to claim 1, wherein the mounting positions of the guide member and the guide receiving member with respect to the arm and the base are adjustable.

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