JP2019151457A - Work-piece positioning device - Google Patents

Abstract

To position by correcting an inclination of a work-piece which has stopped at a terminal end, in a work-piece positioning device.SOLUTION: A work-piece positioning device 1 positions a work-piece W which moves through a conveyance path 100 and contacts to a stopper 104 provided at a terminal end 101 of the conveyance path 100 to stop, and comprises: a contact member 10 which contacts to a point P1 of the work-piece W stopped at the terminal end 101 to press the work-piece W toward the stopper 104 side; and a contact member 11 which is arranged with an interval from the contact member 10 in a direction orthogonal to the conveyance direction of the work-piece W and contacts to a point P2 of the work-piece W with a time lag from the contact member 10 to press the work-piece W toward the stopper 104 side.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a workpiece positioning device.

  When moving a workpiece such as an intermediate product conveyed on the conveyance path to another conveyance path or a carriage for transportation, a transfer device is used. The workpiece conveyed to the end of the conveyance path comes into contact with a stopper provided at the end and stops. The transfer device holds the workpiece stopped at the end and moves it from the conveyance path.

JP 2009-40540 A

  In order for the transfer device to appropriately hold the workpiece and move from the conveyance path, the workpiece holding position is determined in consideration of the shape and the center of gravity of the workpiece. However, the workpiece may not have a uniform weight overall. In that case, when the work comes into contact with the stopper at the end of the conveyance path and stops, the work may be inclined to the heavier side. If the transfer device holds the workpiece while the workpiece is tilted, there is a possibility that the transfer device is displaced from an appropriate holding location.

  In a workpiece positioning apparatus, it is required to perform positioning by correcting the tilt of a workpiece stopped at the end.

The workpiece positioning device of the present invention includes:
It moves the conveyance path, positions the workpiece stopped by contacting the stopper provided at the end of the conveyance path,
A first abutting member that abuts against the first portion of the workpiece stopped at the end and presses the workpiece toward the stopper;
The first abutting member and the first abutting member are arranged at a distance in a direction perpendicular to the conveying direction of the workpiece, and are abutted against the second location of the workpiece with a time difference from the first abutting member. A second contact member that presses the workpiece toward the stopper.

  According to the present invention, the workpiece can be positioned at an appropriate position by correcting the tilt of the workpiece.

It is a figure which shows the structure of the conveyance path of a workpiece | work, a transfer apparatus, and a workpiece | work positioning device. It is the figure which looked at the conveyance path of a workpiece | work, and the workpiece positioning apparatus from the upper direction. It is a figure which shows a contact member and an air cylinder, (a) shows the state in which a contact member exists in a release position, (b) shows the state in which a contact member exists in a contact position. (A) is a figure which shows operation | movement of the air supply path at the time of moving an air cylinder forward, (b) is a figure which shows operation | movement of the air supply path at the time of moving back an air cylinder. It is a figure which shows the workpiece | work stopped by the stopper. It is a figure which shows the movement to the contact position of the contact member. It is a figure which shows the movement to the contact position of the contact member. It is a figure which shows the movement to the cancellation | release position of the contact members 10 and 11. FIG. It is a figure which shows the positioning of the 2nd time.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram illustrating a configuration of a workpiece conveyance path, a transfer device, and a workpiece positioning device.
FIG. 2 is a view of the workpiece conveyance path and the workpiece positioning device as viewed from above.
As shown in FIG. 1, for example, in a facility such as a factory, a conveyance path 100 that conveys the workpiece W is installed. The workpiece W transported to the end 101 of the transport path 100 is moved from the transport path 100 by the transfer device 200 installed at the end 101. Although the destination to which the workpiece W is moved from the conveyance path 100 is not particularly limited, an example in which the workpiece W is moved to another conveyance path 300 will be described here.

  The workpiece positioning device 1 positions the workpiece W before the transfer device 200 moves the workpiece W at the end 101 of the conveyance path 100. Although only a part of the conveyance path 100 is illustrated in FIG. 1, the vicinity of the end 101 of the conveyance path 100 is inclined downward toward the end 101. The workpiece W moves to the end 101 by its own weight on the inclined conveyance path 100 along the conveyance direction indicated by the arrow.

  The workpiece W is not limited to a specific one, and can be a product, an intermediate product, a raw material, or the like. For example, the workpiece W can be a motor case that houses a power generation motor such as a hybrid vehicle. Although the shape of the workpiece W is not limited to a specific one, in the example of FIG. 2, the workpiece W is substantially rectangular when viewed from above, but is not entirely uniform, and is upstream of the conveyance path 100 in the conveyance direction. The left side of the side surface S2 with respect to the center O in the width direction of the conveyance path 100 bulges from the right side. An example in which the weight of the workpiece W is also biased and the left side is heavier than the right side will be described.

  As shown in FIG. 2, the workpiece W is placed on the conveyance surface 102 of the conveyance path 100, but the conveyance path 100 stabilizes the workpiece W with the bottom surface of the workpiece W placed on the conveyance surface 102. As long as it has enough width to move. In the example of FIG. 2, since the width of the workpiece W is larger than the width of the conveyance path 100, the workpiece W projects outward from both ends in the width direction of the conveyance path 100.

  The conveyance surface 102 of the conveyance path 100 includes three roller rows 103 arranged side by side in the width direction of the conveyance path 100. A gap D is provided between each roller row 103, and contact members 10 and 11 of the workpiece positioning device 1 described later can be inserted through the gap D.

  A stopper 104 is installed at the end 101 of the conveyance path 100. For example, the stopper 104 may be a bar that is installed at the end 101 of the transport path 100 and extends along the width direction of the transport path 100. The stopper 104 protrudes above the conveyance path 100. The workpiece W stops when the side surface S1 on the downstream side in the conveyance direction of the workpiece W moved to the end 101 of the conveyance path 100 comes into contact with the stopper 104.

  The stopper 104 is not limited to the bar as long as the stopper 104 can be stopped in contact with the workpiece W. For example, the stopper 104 may be composed of a plurality of protrusions that protrude on the conveyance surface 102.

The workpiece positioning apparatus 1 includes contact members 10 and 11 that perform positioning by contacting the workpiece W stopped by the stopper 104.
The abutting members 10 and 11 are provided at positions that can abut on the upstream side in the conveyance direction of the workpiece W stopped at the terminal end 101. In the example of FIG. 2, the contact members 10 and 11 are respectively disposed between the three roller rows 103 of the conveyance path 100. The contact members 10 and 11 are arranged at intervals in a direction orthogonal to the conveyance direction of the workpiece W, that is, in the width direction of the conveyance path 100. In the example of FIG. 2, the contact member 10 is disposed on the right side and the contact member 11 is disposed on the left side with respect to the center O in the width direction of the transport path 100 as viewed from the upstream side in the transport direction. The contact members 10 and 11 contact the side surface S2 on the upstream side in the transport direction of the workpiece W, but the contact member 10 is on the right side with respect to the center O in the width direction of the transport path 100 when viewed from the upstream side in the transport direction. The abutting member 11 abuts on the left side point P2.

As shown in FIG. 1, the contact members 10 and 11 are connected to an air cylinder 20 that drives the contact members 10 and 11.
3A and 3B are diagrams showing the contact member and the air cylinder. FIG. 3A shows a state where the contact member is in the release position, and FIG. 3B shows the contact member in the contact position. Shows the state. As described above, the conveyance path 100 in the vicinity of the terminal end 101 is inclined. However, in FIG. 3A and FIG. 3B, the conveyance surface 102 of the conveyance path 100 is leveled for easy understanding. It is shown.

  The air cylinder 20 is provided in each of the contact members 10 and 11 and has the same configuration. As shown in FIG. 3A, the air cylinder 20 includes a cylinder case 21, a piston 22, and a piston rod 23. The cylinder case 21 is installed below the conveyance path 100, and one end is cantilevered by a gantry (not shown).

  The piston 22 is disposed inside the cylinder case 21 so as to be slidable in the axial direction. The inside of the cylinder case 21 is divided into two by a piston 22, and a first cylinder chamber 24 and a second cylinder chamber 25 are formed. The first cylinder chamber 24 is provided on one end side of the cylinder case 21 that is cantilevered by a gantry, and the second cylinder chamber 25 is provided on the other end side that is free. The cylinder case 21 is provided with air supply ports 26 and 27 for supplying air from an air supply source described later to the first cylinder chamber 24 and the second cylinder chamber 25. Although details will be described later, the air supply ports 26 and 27 also function as exhaust ports for exhausting air from the first cylinder chamber 24 and the second cylinder chamber 25.

  One end of the piston rod 23 is attached to the surface of the piston 22 on the second cylinder chamber 25 side, extends from the inside of the second cylinder chamber 25 to the outside of the cylinder case 21, and the other end connects to the contact members 10 and 11. . The piston 22 slides inside the cylinder case 21 by supplying air to the first cylinder chamber 24 and the second cylinder chamber 25 and switching the exhaust. As the piston 22 slides, the “forward movement” of the piston rod 23 that advances to the outside of the cylinder case 21 and the “return movement” that moves backward to the inside of the cylinder case 21 are switched.

  The abutting members 10 and 11 are respectively released by the air cylinder 20 so as not to abut on the workpiece W shown in FIG. 3A, and abutting that can abut on the workpiece W shown in FIG. Controlled to move between positions.

  As shown in FIG. 3A, the contact members 10 and 11 are substantially L-shaped plates when viewed from the longitudinal direction of the transport path 100, and are connected to a rectangular base 12 and one end of the base 12. And a rectangular arm portion 13 extending substantially at right angles to the base portion 12. The other end of the base 12 is rotatably connected to the other end of the piston rod 23 of the air cylinder 20. The distal end 13 a of the arm portion 13 is disposed so as to be at the same height as or directly below the conveyance surface 102 of the conveyance path 100, and is rotatably supported by the rotation shaft 15.

  A claw portion 14 is formed in the vicinity of the distal end 13 a of the arm portion 13 so as to protrude in a direction away from the base portion 12. The claw portion 14 includes a contact side 14a that extends horizontally with the side that forms the tip 13a of the arm portion 13, and in the example shown in the figure, the claw portion 14 has a rectangular shape, but is not limited thereto. It is good also as a shape. The contact side 14a of the claw portion 14 contacts the workpiece W at the contact position.

  The distal end 13 a of the arm portion 13 of the contact member 10, 11 is rotatably supported by the rotating shaft 15, and the other end of the base portion 12 is rotatably connected to the piston rod 23, so that the piston rod 23 moves forward. The backward movement is converted into a rotational motion with the rotation shaft 15 of the contact members 10 and 11 as a fulcrum.

  As described above, the cylinder case 21 is cantilevered by a gantry (not shown), and the other end side from which the piston rod 23 extends is free. Therefore, the piston rod 23 is rotated by the contact members 10 and 11. Move up and down within the range of motion.

  The contact members 10 and 11 are driven to rotate by the piston rod 23, and the rotation range is restricted to the range of forward and backward movement of the piston rod 23. As shown in FIG. 3A, the piston rod 23 is moved forward to move the contact members 10 and 11 to the release position. In the release position, the claw portion 14 is located below the conveyance surface 102, and the contact side 14a extends horizontally in the conveyance direction, so that it does not contact the workpiece W.

  As shown in FIG. 3B, the piston rod 23 is moved back to move the contact members 10 and 11 to the contact position. From the release position to the contact position, the contact members 10 and 11 move upstream in the transport direction with the backward movement of the piston rod 23 and rotate 90 ° counterclockwise. The claw portion 14 protrudes above the conveyance surface 102 from below the conveyance path 100 through the gap D of the roller row 103. At the contact position, the contact sides 14a of the claw portions 14 of the contact members 10 and 11 extending in the direction orthogonal to the transport direction are places P1 and P2 on the side surface S2 upstream of the work W in the transport direction (see FIG. 2). ) Respectively.

  As described above, the workpiece W has a non-uniform shape, and the side surface S2 on the upstream side of the transport path 100 bulges from the right side with respect to the center O in the width direction of the transport path 100 (see FIG. 2). . Therefore, the abutting member 11 that abuts on the left side where the workpiece W bulges is disposed upstream of the abutting member 10 in the transport direction. The positions of the contact members 10 and 11 are not limited to the example of FIG. 2 and can be appropriately adjusted according to the shape of the workpiece W.

  As described above, the air cylinder 20 that drives each of the contact members 10 and 11 has the piston 22 mounted on the cylinder by the air supply to the first cylinder chamber 24 and the second cylinder chamber 25 of the cylinder case 21 and the switching of the exhaust. The inside of the case 21 slides, and the forward and backward movements of the piston rod 23 are switched. The supply and exhaust of air to the first cylinder chamber 24 and the second cylinder chamber 25 will be described with reference to FIG.

4A is a view showing the operation of the air supply path when the air cylinder is moved forward, and FIG. 4B is a view showing the operation of the air supply path when the air cylinder is moved backward. FIG.
Up to this point, the air cylinders 20 that drive the contact members 10 and 11 and their constituent elements have been described with the same reference numerals. However, in FIG. A is attached to the end of the reference numeral, and the air cylinder connected to the abutting member 11 and its components are distinguished by attaching b to the end of the reference numeral.

As shown in FIG. 4A, the air cylinder 20a connected to the contact member 10 and the air cylinder 20b connected to the contact member 11 can be switched to the air supply source P or the atmosphere by the air supply path 30. Connected to.
The air supply path 30 includes a first supply path 31 that supplies air to the first cylinder chambers 24a and 24b when the piston rods 23a and 23b move forward, and a second cylinder chamber 25a and 25b when the piston rods 23a and 23b return. And a second supply path 33 for supplying air.
The first supply path 31 branches into a branch path 32a and a branch path 32b, and the branch path 32a is connected to the air supply port 26a of the first cylinder chamber 24a of the air cylinder 20a. The branch path 32b is connected to the air supply port 26b of the first cylinder chamber 24b of the air cylinder 20b.

  The second supply path 33 branches into a branch path 34a and a branch path 34b, and the branch path 34a is connected to the air supply port 27a of the second cylinder chamber 25a of the air cylinder 20a. The branch path 34b is connected to the air supply port 27b of the second cylinder chamber 25b of the air cylinder 20b.

  The first supply path 31 and the second supply path 33 are connected to the direction switching valve 35, and the communication with the air supply source P and the atmosphere is switched via the direction switching valve 35.

  As the direction switching valve 35, for example, a 2-position 5-port double solenoid valve can be used. As shown in FIG. 4A, in the direction switching valve 35, when the solenoid 35a is excited by energization, the first supply path 31 is connected to the air supply source P, and the second supply path 33 communicates with the atmosphere. To do. The air supplied from the air supply source P is supplied to the first cylinder chambers 24a and 24b through the branch paths 32a and 32b. As a result, the pistons 22a and 22b slide toward the second cylinder chambers 25a and 25b. Since the second supply path 33 communicating with the atmosphere functions as an exhaust path, the air inside the second cylinder chambers 25a and 25b passes through the branch paths 34a and 34b and the second supply path 33 from the air supply ports 27a and 27b. Discharged into the atmosphere. As the pistons 22a and 22b slide, the piston rods 23a and 23b connected to the pistons 22a and 22b move forward to move the contact members 10 and 11 to the release positions (see FIG. 3A).

  As shown in FIG. 4B, when the solenoid 35b is excited by energization, the second supply path 33 is connected to the air supply source P, and the first supply path 31 communicates with the atmosphere. The air supplied from the air supply source P is supplied to the second cylinder chambers 25a and 25b through the branch paths 34a and 34b. As a result, the pistons 22a and 22b slide toward the first cylinder chambers 24a and 24b. Since the first supply passage 31 communicating with the atmosphere functions as an exhaust passage, the air inside the first cylinder chambers 24a and 24b passes through the branch passages 32a and 32b and the first supply passage 31 from the air supply ports 26a and 26b. Discharged into the atmosphere. As the pistons 22a and 22b slide, the piston rods 23a and 23b connected to the pistons 22a and 22b move backward to move the contact members 10 and 11 to the contact positions (see FIG. 3B). .

  Each of the branch paths 32a, 32b, 34a, 34b is provided with a speed controller 36 composed of an orifice and a check valve. The speed controller 36 controls the air supply speed to the first cylinder chambers 24a and 24b and the second cylinder chambers 25a and 25b, and as a result, the reciprocating speed of the piston rods 23a and 23b is controlled. In the embodiment, when the piston rods 23a and 23b are moved backward, the piston rod 23a of the air cylinder 20a is controlled so as to move faster than the piston rod 23b of the air cylinder 20b.

  As shown in FIG. 1, the workpiece W transfer device 200 includes an arm 201 having one end positioned above the terminal end 101 of the transport path 100 and the other end positioned above the other transport path 300, and the arm 201. And a support portion 202 to support. The arm 201 is provided with a chuck 203 that is movable from one end to the other end along the longitudinal direction of the arm 201 and that is moved up and down by a lifting mechanism (not shown).

  When the chuck 203 moves to one end of the arm 201, the chuck 203 is positioned above the workpiece W stopped at the end 101 of the conveyance path 100. The chuck 203 descends to the position of the workpiece W, rises when holding the workpiece W, moves to the other end of the arm 201, and delivers the workpiece W to the other conveyance path 300. In addition, the transfer apparatus 200 is not restricted to the structure demonstrated here, If it can hold | maintain and move the workpiece | work W from the conveyance path 100, it can change suitably.

  As shown in FIG. 1, the control apparatus 40 which controls the drive of the workpiece positioning apparatus 1 and the transfer apparatus 200 is installed. For example, when the workpiece W comes into contact with the stopper 104 and stops, the control device 40 performs control so as to move the contact members 10 and 11 to the contact position and the release position. The contact of the workpiece W with the stopper 104 can be detected by providing a sensor for the stopper 104, for example. The control device 40 further controls to drive the transfer device 200 so as to hold the positioned workpiece W and move it to another conveyance path 300.

Hereinafter, the operation of the workpiece positioning apparatus 1 according to the embodiment will be described.
FIG. 5 is a diagram showing the workpiece stopped by the stopper.
FIG. 6 is a diagram illustrating the movement of the contact member 10 to the contact position.
FIG. 7 is a diagram illustrating the movement of the contact member 11 to the contact position.
FIG. 8 is a diagram illustrating the movement of the contact members 10 and 11 to the release position.
FIG. 9 is a diagram illustrating the second positioning.

As described above, the chuck 203 of the transfer apparatus 200 holds the workpiece W stopped at the end 101 of the transport path 100.
The holding position where the chuck 203 holds the workpiece W takes into account deviations in the shape and weight of the workpiece W so that the workpiece W can be transported while being kept horizontal and can be appropriately placed at a predetermined position on another transport path 300. Thus, it is determined in advance. The arrangement and lowering amount of the chuck 203 are determined in advance so that the chuck 203 can hold the workpiece W at a predetermined holding position, but the workpiece W stopped at the terminal end 101 is downstream in the transport direction as shown in FIG. The side surface S1 on the side may not be in contact with the stopper 104 uniformly.

  As described above, the workpiece W does not have a uniform shape, and the weight is heavier on the left side than the right side with respect to the center O in the width direction of the conveyance path 100. Furthermore, since the width of the workpiece W is larger than the width of the transport path 100, the work W projects outward from both ends in the width direction of the transport path 100.

Therefore, as shown in FIG. 5, when moving along the inclined conveyance path 100, the workpiece W may be inclined to the left side. In such a case, only the inclined left side of the workpiece W may come into contact with the stopper 104 and stop, and the right side may not come into contact with the stopper 104.
If the chuck 203 of the transfer device 200 holds the workpiece W in this state, the actual holding position may be deviated from the predetermined holding position.

The workpiece positioning device 1 performs positioning by correcting the inclination of the workpiece W by bringing the abutting members 10 and 11 into contact with the workpiece W stopped at the terminal end 101.
The control device 40 moves the piston rods 23a and 23b of the air cylinders 20a and 20b backward (see FIG. 4B), and moves the contact members 10 and 11 at the release position to the contact positions. Here, as described above, the piston rod 23a of the air cylinder 20a is moved by the speed controller 36 provided in the branch passages 34a, 34b for supplying air to the second cylinder chambers 25a, 25b of the air cylinders 20a, 20b. The moving speed is controlled to be faster than the piston rod 23b of the cylinder 20b.

  Therefore, as shown in FIG. 6, the contact member 10 installed on the right side opposite to the inclined left side of the workpiece W first moves from the release position to the contact position. The abutting member 10 contacts the right side portion P1 of the side surface S2 on the upstream side in the conveyance direction of the workpiece W, and presses the workpiece W toward the stopper 104 side. That is, by pushing the opposite side of the workpiece W into the stopper 104, the inclination of the workpiece W to the left side is reduced.

  Then, as shown in FIG. 7, the contact member 11 installed on the left side moves to the contact position. At this time, the contact member 10 remains in contact with the workpiece W. The abutting members 10 and 11 both come into contact with the portion P2 on the left side of the side surface S2 on the upstream side in the conveyance direction of the workpiece W, and press the workpiece W toward the stopper 104.

  Only the right contact member 10 is first contacted to reduce the inclination of the workpiece W to the left side, and then the workpiece W is pushed into the stopper 104 by the contact members 10 and 11 on both the left and right sides. The side surface S1 on the downstream side in the direction tends to be in contact with the stopper 104 uniformly.

  In the workpiece positioning apparatus 1 according to the embodiment, the contact members 10 and 11 are thus brought into contact with a time difference according to the tilt of the workpiece W, thereby performing positioning by correcting the tilt of the workpiece W. The workpiece positioning device 1 further performs this positioning twice.

After the first contact, as shown in FIG. 8, the contact members 10 and 11 are temporarily moved from the contact position to the release position. The movement of the contact members 10 and 11 to the release position is performed simultaneously.
Subsequently, a second contact is performed as shown in FIG. In the second contact, the contact member 10 is brought into contact with the right place P1 and the contact member 11 is brought into contact with the left place P2 with a time difference after the contact member 10 is brought into contact with the right place P1. In the example shown in the figure, the tilt of the workpiece W to the left side is eliminated by the first contact, but there is a possibility that the tilt may not be eliminated by the first contact when the tilt of the workpiece W is large. . By performing the second contact, the inclination is further reduced.

  After the second contact, the chuck 203 of the transfer device 200 is lowered to hold the workpiece W. Until the chuck 203 holds the workpiece W, the contact members 10 and 11 are brought into contact with the workpiece W and positioned. When the holding of the chuck 203 is completed, the contact members 10 and 11 are moved to the release position. The chuck 203 is raised and moved to the other end of the arm 201, and the workpiece W is transferred to the other conveyance path 300.

As described above, the workpiece positioning apparatus 1 according to the embodiment is
(1) Move the conveyance path 100 and position the workpiece W stopped by contacting the stopper 104 provided at the end 101 of the conveyance path 100,
An abutting member 10 (first abutting member) that abuts against the position P1 (first position) of the workpiece W stopped at the end 101 and presses the workpiece W toward the stopper 104;
The abutting member 10 and the workpiece W are arranged in a direction perpendicular to the conveyance direction of the workpiece W, and are abutted against the position P2 (second location) of the workpiece W with a time difference from the abutting member 10 to place the workpiece W on the workpiece W. And an abutting member 11 (second abutting member) that presses against the stopper 104 side.

  The workpiece W may not have a uniform weight as a whole, and when the workpiece W comes into contact with the stopper 104 at the end 101 of the conveyance path 100 and stops, the workpiece W may be inclined in a heavy direction. If the workpiece W is tilted, for example, when the workpiece W is held by the transfer device 200 and moved from the transport path 100, the workpiece W may not be held at an appropriate location. By providing a plurality of abutting members that abut at a plurality of locations on the workpiece W with a time difference and pressing the workpiece W toward the stopper 104, the inclination of the workpiece W can be corrected and positioning accuracy can be improved. . In the embodiment, the example in which the two contact members 10 and 11 are provided has been described. However, the number of the contact members is not limited, and the shape of the workpiece W is set to 3 according to the inclination tendency. Two or more may be provided.

(2) After the contact members 10 and 11 are brought into contact with the workpiece W for the first positioning, the contact is released, and the contact members 10 and 11 are again brought into contact with the workpiece W with a time difference. To perform the second positioning.

  When the inclination of the workpiece W is large, there is a possibility that the inclination is not eliminated by the first positioning, but the positioning accuracy can be further improved by performing the positioning twice.

(3) The workpiece W stopped at the terminal end 101 is moved from the transport path 100 by the transfer device 200 provided at the terminal end 101. After performing the second positioning, the transfer device 200 moves the workpiece W. The abutting members 10 and 11 are brought into contact with the work W until they are held.

  After the second positioning, the contact members 10 and 11 are kept in contact until the transfer device 200 holds the workpiece W, so that the transfer device 200 holds the position of the workpiece W. Therefore, the accuracy of movement of the workpiece W from the conveyance path 100 can be improved.

(4) The work W stopped at the terminal end 101 is on the right side (one side) and the left side (the other side) when viewed from the upstream side in the transport direction with respect to the center O in the width direction of the transport path 100 (the center in the direction orthogonal to the transport direction). ) Tilts downstream in the transport direction,
The abutting members 10 and 11 are provided at a position where the abutting members 10 and 11 can abut on the upstream side in the transport direction of the workpiece W stopped at the terminal end 101, and the abutting member 10 is inclined to the downstream side of the workpiece W in the transport direction. The abutting member 11 abuts on a point P2 located on the same side as the left side inclined to the downstream side in the conveyance direction of the workpiece W.

  At the time of positioning, first, the abutting member 10 is brought into contact with the portion P1 opposite to the side on which the workpiece W is inclined, whereby the inclined workpiece W is pushed into the opposite side and the inclination is reduced. Next, by bringing the contact member 11 into contact with the position P2 on the same side as the side on which the workpiece W is inclined, positioning can be performed in a state where the inclination of the workpiece W is reduced, and positioning accuracy can be improved. it can. In the embodiment, since the left side is inclined with respect to the center O in the width direction of the conveyance path 100 of the workpiece W, the example in which the contact is made from the right contact member 10 has been described, but the present invention is not limited thereto. When the right side of the workpiece W is inclined, the workpiece W can be brought into contact with the left side contact member 11. The order in which the contact members are brought into contact with each other can be determined as appropriate in accordance with the inclination direction of the workpiece W.

DESCRIPTION OF SYMBOLS 1 Work positioning device 10, 11 Contact member 12 Base part 13 Arm part 13a Tip 14 Claw part 14a Contact side 15 Rotating shaft 20, 20a, 20b Air cylinder 21, 21a, 21b Cylinder case 22, 22a, 22b Piston 23, 23a , 23b Piston rods 24, 24a, 24b First cylinder chambers 25, 25a, 25b Second cylinder chambers 26, 26a, 26b Air supply ports 27, 27a, 27b Air supply ports 30 Air supply channel 31 First supply channels 32a, 32b Branch path 33 Second supply path 34a, 34b Branch path 35 Direction switching valve 35a Solenoid 35b Solenoid 40 Control device 100 Transport path 101 End 102 Transport surface 103 Roller row 104 Stopper 200 Transfer device 201 Arm 202 Support section 203 Chuck 300 Other Transport path W Workpiece S1, S2 Side D Clearance O Width center P Air supply source

Claims (4)

A workpiece positioning device that moves a conveyance path and positions a workpiece that has stopped in contact with a stopper provided at the end of the conveyance path,
A first abutting member that abuts against the first portion of the workpiece stopped at the end and presses the workpiece toward the stopper;
The first abutting member and the first abutting member are arranged at a distance in a direction perpendicular to the conveying direction of the workpiece, and are abutted against the second location of the workpiece with a time difference from the first abutting member. And a second abutting member that presses the workpiece against the stopper side.   After the first and second contact members are brought into contact with the workpiece and positioning is performed for the first time, the contact is released, and the time difference between the first and second contact members is changed to the workpiece again. The workpiece positioning apparatus according to claim 1, wherein the workpiece positioning is performed by holding the workpiece for a second time. The workpiece stopped at the end is moved from the transport path by a transfer device provided at the end,
3. The workpiece according to claim 2, wherein after the second positioning is performed, the first and second abutting members are brought into contact with the workpiece until the transfer device holds the workpiece. Positioning device. The workpiece stopped at the terminal end, either one side and the other side of the workpiece in the direction orthogonal to the transport direction is inclined downstream in the transport direction,
The first and second abutting members are provided at positions that can abut on the upstream side in the transport direction of the workpiece stopped at the end,
The first abutting member abuts on the first portion of the workpiece located on the opposite side to the side inclined to the downstream side in the transport direction,
The work positioning apparatus according to claim 1, wherein the second abutting member abuts on the second portion located on the same side as a side inclined to the downstream side in the transport direction of the work.

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