JP2567820Y2 - Conveyed object positioning device - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a device for positioning a transferred object, and more particularly, to a method for placing a transferred object such as a vehicle on a transfer device such as a trolley on a production line of a vehicle such as an automobile. The present invention relates to a transferred object positioning device for positioning an object.

[0002]

2. Description of the Related Art In this type of conventional transported object positioning apparatus, the transporting apparatus and the transported object are first positioned, then the transporting apparatus is positioned, and the transported object is positioned indirectly.

[0003]

[Problems to be Solved by the Invention] In the conventional device for positioning a transferred object, the positioning of the transfer device and the transferred object is performed indirectly, and thus there is a problem that the positioning accuracy is lacking.

In the next step, for example, when a transferred object is lifted by a lift, particularly accurate positioning accuracy is required.
In the prior art, high-precision positioning was impossible because positioning was performed indirectly.

[0005]

[Means for Solving the Problems]

A transfer device having a rail, a transfer device which is moved via a wheel positioned on the rail and on which an object to be transferred is placed, and which is provided with a protrusion to be gripped protruding from a bottom surface, and a transfer device which has moved to a measurement position. An adjustable rail installed in the wheel position that can be moved in the width direction and a fixed state that can be selected in the width direction, and a width direction in which the tip with the rotatable roller installed and sandwiching the rail can move in the direction of the transport device. Clamps and gripping mechanisms that open and close mutually with rotatable rollers attached to the tips are provided on the floor between the rails,
A traveling direction clamp provided with a traveling direction adjusting means for moving the gripping mechanism in the traveling direction of the transfer device and a width direction moving means for moving both the gripping mechanism and the traveling direction adjusting means in the width direction; A transferred object positioning device, comprising a measuring device for measuring a position,

Is provided.

[0008]

When the object comes to the measurement position, the object is stopped. When the article to be transported stops, the width-direction clamp installed across the rail is moved until the roller at the tip of the clamp contacts the transport apparatus. The gripping mechanism is also in the closed state, and grips the gripped projection provided on the transport device from both surfaces between the rollers at the tip. Next, the position of the transferred object is measured by the measuring device, and an error from a preset reference position is measured.

Next, the adjustment rail is made movable. Next, when the width-direction clamp installed across the rail is moved according to the error amount from the reference position, the adjustment rail moves in the width direction while the wheel is mounted, and the width direction is corrected. At the same time, the traveling direction adjusting means is operated to move the gripping mechanism in the traveling direction of the transfer device to correct the traveling direction of the transported object.

[0010] Both the gripping mechanism of the traveling direction clamp and the traveling direction adjusting means can be moved in the width direction by the width direction moving means. Further, the leading end that comes into contact with the transport device is formed of a rotatable roller. For this reason, the roller moves in the width direction while rotating and rotating while contacting and sandwiching both surfaces of the gripped projections of the transport device, thereby correcting the width direction of the transported object.

The distal end of the widthwise clamp is formed of a rotatable roller. Therefore, the movement of the transported object in the traveling direction is absorbed by the rotation of the roller, and the transported object is corrected in the traveling direction.

[0012]

FIG. 1 is a perspective view of an embodiment of the present invention, FIG. 2 is a plan view of the same, FIG. 3 is a plan view of a traveling direction clamp used in the embodiment, and FIG. FIG. 4 shows a front view of a traveling direction clamp, FIG. 5 shows a front view of a width direction clamp used in the embodiment, and FIG. 5 shows a partial cross-sectional view of a used state of the traveling direction clamp used in the embodiment. 6, FIG. 7 showing a plan view of the same part, FIG. 8 showing a partial plan view of the same width direction clamp in use, FIG. 9 showing a partially enlarged explanatory view of the transport device, and FIG. Description will be made with reference to FIG. 10, FIG. 11 which is a partially enlarged explanatory view of the traveling direction adjusting means, and FIG. 12 which is an explanatory view of the width direction moving means.

Reference numeral 11 denotes a rail. The rail 11 is installed along an assembly line of an automobile, which is the transported object W in this embodiment. Reference numeral 21 denotes a transfer device. Transfer device 2
Reference numeral 1 denotes a cart in this embodiment. Wheels 22 are installed at the lower four corners of the transfer device 21. Wheel 22 is on rail 1
1 located above. The transfer device 21 is moved while being locked by a transfer means (not shown) such as a conveyor installed between the rails 11. As shown in FIG. 9, a plate-shaped to-be-handled projection 23 projecting downward is provided on the bottom surface of the transfer device 21 in the width direction. At the rear of the gripped projection 23, a bar-shaped locking projection 24 is vertically provided from the bottom surface of the transport device 21.

Reference numeral 12 denotes an adjusting rail. The adjustment rail 12 is installed at the position of the wheel 22 of the transfer device 21 that has moved to the measurement position. A guide 13 is provided at the bottom of the adjustment rail 12 in the width direction of the rail 11. Reference numeral 14 denotes a holding portion that holds the locking projection 24. The grip portion 14 is formed in a funnel shape having an open end and a reduced depth, and has an air cylinder 15.
Is moved forward and backward by the action of. The transport device 21 is positioned on the adjustment rail 12 by the gripping of the locking projection 24 by the advancement of the gripper 14, and the adjustment rail 12 is moved to the movable state by the gripping of the gripper 14 by the gripper 14 being retracted. The state is selected.

Reference numeral 31 denotes a widthwise clamp. Two pairs of the width direction clamps 31 are installed with the rails 11 and 11 interposed therebetween. A rotatable roller 32 is attached to the tip of the width direction clamp 31. 33 is an air cylinder.
By the operation of the air cylinder 33, the roller 32 moves forward and backward. Reference numeral 34 denotes a motor, which rotates the ball screw 36 via the belt 35 and moves the roller 32 slightly forward and backward by moving the relative position of the bracket 37 attached to the ball screw 36 and supporting the air cylinder 33. .

Reference numeral 41 denotes a traveling direction clamp. Reference numeral 42 denotes a guide rail, which constitutes a lower portion of the traveling direction clamp 41 and is installed between the rails 11 and 11 in parallel. Reference numeral 43 denotes a table, which is formed of a rectangular plate and has guide rails 4.
2 so as to be movable along the guide rail 42. Reference numerals 44, 44 denote air cylinders, respectively, which are disposed so as to face each other slightly in the longitudinal direction of the table 43. 45, 45 are cylinder rods which are extended and contracted by an air cylinder 44.

Reference numeral 51 denotes a gripping mechanism. The gripping mechanism 51
As shown in FIG. 10, rotatable rollers 52, 52 are provided at the tips.
Are respectively attached, and a shaft 54 to which an intermediate portion of the rods 53 is attached. The rods 53, 53 are rotatable around a shaft 54 as shown in FIG. 10 (a). As shown in FIG. As shown in (2), the air cylinder rods 45, 45 are mutually opened by synchronized reduction.

Reference numeral 61 denotes a traveling direction adjusting means. The traveling direction adjusting means 61 includes a motor 62, a ball screw 63, and a bracket 64, and as shown in FIG.
2 is mounted on a common table 65, and the bracket 64 has its base fixed on the table 43. And
The traveling direction adjusting means 61 controls the holding mechanism 51 to
In the direction of travel. That is, one end of the ball screw 63 is attached to the rotation shaft of the motor 62. The ball screw 63 is supported by a support member 66 having a base fixed to the common table 65, and is rotated by the rotation of the motor 62. The bracket 64 is configured such that the base is the table 43.
And screwed with the ball screw 63. Accordingly, the relative position between the bracket 64 and the motor 62 changes due to the rotation of the ball screw 63, and the table 43 approaches and separates from the motor 62. The common table 65 places the guide rail 42 and the traveling direction adjusting means 61 thereon.

Reference numeral 71 denotes a width direction moving means. In this embodiment, the width direction moving means 71 comprises a guide rail,
It is installed on the floor in a direction perpendicular to the rails 11, 11 across the rails 11, 11. On the width direction moving means 71, as shown in FIG. 12, a common table 65 of the traveling direction adjusting means 61 and adjustment rails 12 and 12 located on the side of the traveling direction adjusting means 61 are installed.
Can be moved in the width direction of the rail 11 respectively.

Reference numeral 81 denotes a measuring device. Measuring device 81
Comprises an ultrasonic sensor in this embodiment, and detects a distance from the measuring device 81. Since the measuring device 81 is composed of an ultrasonic sensor, it can be positioned without contact and without applying external force. Therefore, the transferred object W
Does not scratch the surface. The measuring device 81 is connected to the calculating means and transmits the detected numerical value. The calculating means is further connected to the motor 34 and the motor 62, respectively, and the driving thereof is controlled.

Next, the operation of the embodiment will be described. When the transferred object W reaches the measurement position, the transferred object W stops.
Next, by operating the air cylinder 15 to advance the gripping portion 14 and gripping the locking projection 24, the transport device 21 is moved.
Is fixed, and the transferred object W is fixed. Transfer device 21,
When the transferred object W is fixed, the air cylinder 33 is operated, and the roller 32 of each width direction clamp 31 installed with the rail 11 interposed therebetween is moved toward the transfer device 21;
The tip of the roller 32 is brought into contact with the transfer device 21 and the movement is stopped. The gripping mechanism 51 also includes the air cylinders 44 and 4.
4, the leading end is brought into a closed state, and between the rollers 52 at the leading end, a plate-shaped cover provided on the transfer device 21 as shown in FIGS. 6, 7, and 10 is provided. The gripping projection 23 is sandwiched and gripped from both sides. Next, the position of the transported object is measured by the measuring device 81, and the detected numerical value is transmitted to the calculating means. The calculating means measures an error from a preset reference position.

Next, the air cylinder 15 is actuated to retract the gripping portion 14 and release the gripping of the locking projection 24 by the gripping portion 14 so that the adjusting rail 12 can be moved. The transport device 21 placed via the communication device 22 can be moved. Then, in accordance with the error amount from the reference position calculated by the calculation means, the motor 34 is operated by the movement amount transmitted from the calculation means, and the width-direction clamp 31 installed across the rail 11 is moved. The adjustment rail 12 moves in the width direction of the rail 11 in accordance with the installation positions of the guide 13 and the width direction moving means 71 with the 22 mounted thereon, and corrects the width direction.

At the same time, the motor 62 of the traveling direction adjusting means 61
Is operated to rotate the ball screw 63 and move the relative position of the table 43 with respect to the common table 65 which does not move in the traveling direction, thereby moving the gripping mechanism 51 in the traveling direction of the transport device to correct the traveling direction of the transferred object W. Do it.

The gripping mechanism 51 of the traveling direction clamp 41 and the traveling direction adjusting means 61 are both movable in the width direction by the width direction moving means 71. In addition, the leading end that comes into contact with the transport device 21 includes rotatable rollers 52, 52. Therefore, as shown in FIGS.
Numeral 52 rotates and moves in the width direction while being in contact with and sandwiching both surfaces of the gripped projection 23 of the transfer device 21 to correct the transferred object W in the width direction.

The distal end of the width direction clamp 31 is composed of a rotatable roller 32. Therefore, as shown in FIG. 8, the movement of the transported object W in the traveling direction is absorbed by the rotation of the roller 32, and the traveling direction of the transported object W is corrected.

Then, the lift is lowered from above the positioned object W to be gripped. Since the transferred object W is accurately positioned, there is no failure in gripping the lift.

[0027]

[Effects of the Invention] Therefore, in the present invention, positioning can be performed without contacting the transported object and without applying an external force. Therefore, it is possible to position the object without scratching and regardless of the external shape of the object.
There is no need for a complicated device such as attaching an attachment switch for each vehicle type to the same line for many vehicle types. Further, since the transferred object can be directly positioned without performing the positioning between the transfer device and the transferred object, the transferred object having excellent positioning accuracy can be positioned.

[Brief description of the drawings]

FIG. 1 is a perspective view of an embodiment of the present invention.

FIG. 2 is a plan view of an embodiment of the present invention.

FIG. 3 is a plan view of a traveling direction clamp used in the embodiment of the present invention;

FIG. 4 is a front view of a traveling direction clamp used in the embodiment of the present invention;

FIG. 5 is a front view of the widthwise clamp used in the embodiment of the present invention;

FIG. 6 is a sectional view of a use state of a traveling direction clamp used in an embodiment of the present invention;

FIG. 7 is a plan view of the use state of the traveling direction clamp used in the embodiment of the present invention.

FIG. 8 is a partial plan view of a use state of the width direction clamp used in the embodiment of the present invention.

FIG. 9 is a partially enlarged explanatory view of a transfer device.

FIG. 10 is a partially enlarged explanatory view of a gripping mechanism.

FIG. 11 is a partially enlarged explanatory view of a traveling direction adjusting means.

FIG. 12 is an explanatory view of a width direction moving means.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Rail 12 Adjustment rail 21 Conveying device 22 Wheel 23 Grasping protrusion 31 Width clamp 32 Roller 41 Progress clamp 51 Grasping mechanism 52 Roller 61 Progress direction adjusting means 71 Width moving means 81 Measuring device W

Claims (1)

(57) [Scope of request for utility model registration] 1. A transfer device having a rail, a plate-like gripping projection which is moved via a wheel located on the rail, mounts an object to be transferred, and protrudes from a bottom surface; A selectable adjustment rail in a widthwise movable state and a fixed state installed at the wheel position of the moved transport device,
A width-direction clamp that is mounted on a rail and has rotatable rollers attached to it and can move in the direction of the transport device, and a rotatable roller is attached to the tip and opens and closes each other to hold the projection to be gripped. A possible gripping mechanism is provided on the floor between the rails, a traveling direction adjusting means for moving the gripping mechanism in the traveling direction of the transport device is provided, and a width direction movement for moving both the gripping mechanism and the traveling direction adjusting means in the width direction. An apparatus for positioning a transferred object, comprising: a traveling direction clamp provided with a means; and a measuring device for measuring a position of the transferred object.