JP3338211B2 - Work positioning method and device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and a device for positioning a work used in a processing apparatus, an assembling apparatus, and the like, and more particularly, to a groove-like passage between two work tables through which a work loading gripper passes. 1. Field of the Invention The present invention relates to a work positioning method and a work positioning device in a work table device.

[0002]

2. Description of the Related Art A groove-like passage through which a work loading gripper passes exists between two worktables, for example, between a slat table and a fixed front worktable, exists in the X-axis direction. A work positioning member such as a projecting pin is provided so as to be movable in the Y-axis direction perpendicular to the workpiece. The work is positioned (origin setting) by pressing the work against the work positioning member from the front work table side. 2. Description of the Related Art A positioning method and apparatus are known, which are used for positioning a workpiece in a panel venter.

In this work positioning device, the center of the work placed on a centering table (loading table) in the Y-axis direction is gripped by a work-loading gripper, and the work-loading gripper is moved in a groove-shaped passage in an X-axis direction. The work is carried into the slat table and the front work table by driving in the direction, the work is sucked by the draw pad, and the work is pressed against the work positioning member by the horizontal movement of the draw pad.

In this case, the position of the work positioning member in the Y-axis direction is determined by using the center line in the width direction of the groove-like passage as a reference position, and the amount of horizontal movement of the work in the Y-axis direction (attraction amount) by the pulling pad. It is set at a position displaced in the Y-axis direction from the reference position by an amount obtained by adding a length corresponding to a half of the dimension in the Y-axis direction of the abutting portion to the positioning member.

[0005]

When the position of the work positioning member in the Y-axis direction is set as described above, the work positioning member is configured such that the smaller the dimension of the abutting portion of the work with respect to the positioning member in the Y-axis direction, the smaller the groove-shaped passage. However, there is a limitation in mechanical structure.

For this reason, if the dimension of the abutting portion of the work against the positioning member in the Y-axis direction is small, even if one side edge in the Y-axis direction of the work is placed on the slat table, the other side in the Y-axis direction is placed. In some cases, the side edge side does not reach the other front work table across the groove-shaped passage, and the work may be in a cantilever state supported only by the slat table. In this case, if the length of the work, which protrudes into the groove-like passage from the slat table in the Y-axis direction, is longer than the length of the work held by the slat table in the Y-axis direction, the holding state of the work by the slat table is unstable. When the length of the workpiece in the Y-axis direction is too long, the workpiece may fall into the groove-shaped passage.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and has a state in which the work is stably held on the work table even when the size of the abutting portion against the positioning member of the work in the Y-axis direction is small. It is an object of the present invention to provide a work positioning method and a device for preventing the work from falling into a groove-shaped passage beforehand.

[0008]

Above object, according to an aspect of, according to the present invention, a groove-like passage and a work loading gripper passes between two work table exists in the X-axis direction, it is positioned
Clamped work, and
Manipulator that can move the center part in the X-axis direction in the Y-axis direction
A work positioning member is provided on one of the work tables of a work positioning device having a work table so as to be movable in a Y-axis direction orthogonal to the groove-shaped passage, and a work is moved to the work positioning member from the other work table side. In a work positioning method for positioning a work by pressing, the holding state of the work by the one work table is determined by comparing the holding length of the work in the Y-axis direction with the one work table and the dimension of the work in the Y-axis direction. The stability is determined, and if the stability is equal to or less than a preset value, the work positioning member is moved in a direction away from the groove-shaped passage to change a work positioning position by the work positioning member. When positioning the workpiece by pressing the workpiece against the workpiece positioning member, the one workpiece It is achieved by the work positioning method characterized by lengthening the Y-axis direction of the holding length of the workpiece by Bull.

In this work positioning method, when the stability is equal to or less than a preset value, the position of the work positioning member in the Y-axis direction is set to a position where the whole work is held by the one work table. May be set.

In this work positioning method,
The length of the one work table held by the one work table in the Y-axis direction may be calculated from the arrangement position of the work positioning member in the Y-axis direction and the work shape.

In order to achieve the above object, a work positioning device according to the present invention is characterized in that a groove-like passage through which a work loading gripper passes between two work tables exists in the X-axis direction, and a work that has been positioned is positioned. Clamp the two
Move the center of the work table in the X-axis direction in the Y-axis direction
A work table having a movable manipulator and a work table on one side of the work table;
In a work positioning device provided with a work positioning member movably in the axial direction, and positioning the work by pressing the work against the work positioning member from the other work table side, the work positioning by the one work table Holding stability determining means for determining the stability of the holding state of the work by the one work table by comparing the axial holding length with the dimension of the work in the Y-axis direction; and the stability determined by the holding stability determining means. When the degree is equal to or less than a preset value, the apparatus further includes an arrangement position change control unit that changes an arrangement position of the work positioning member to a position farther from the groove-shaped passage. .

[0012]

According to the above construction, the stability of the holding state of the work by the one work table is compared by comparing the length of the work held by the one work table in the Y-axis direction with the dimension of the work in the Y-axis direction. Is determined, and if the stability is equal to or less than a preset value, the work positioning member is moved in a direction away from the other work table to change the work positioning position by the work positioning member. .

Accordingly, when the work is pressed against the work positioning member to perform positioning, the length of the work held by the one work table in the Y-axis direction is increased, and, for example, the entire work is held by the one work table. As a result, the positioning is performed in a state where the work is held on the work table in a stable state.

[0014]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIGS. 1 to 3 show an embodiment in which the work positioning apparatus according to the present invention is applied to a panel bender.
In these drawings, reference numeral 1 denotes a panel bender main body, and the panel bender main body 1 performs bending along a bending line Lb extending in the X-axis direction.

In front of the panel bender body 1, the belt conveyors 3 and 5 for unloading the work are arranged in parallel to the bending line Lb, in other words, in a line in the X-axis direction. The belt conveyors 3 and 5 for unloading the work are provided to be vertically movable, respectively.
At the time of bending processing, it descends below the work path line, rises only at the time of work unloading operation, lifts the work onto the work path line, and unloads the work unloading belt conveyor 5 to the right in FIG. Work unloading reference line L that extends a workpiece that has been machined in the X-axis direction
Unload along o.

Slat tables 9 and 11 for setting the work origin (work positioning) are arranged in front of the work conveyor belt conveyors 3 and 5.

The slat tables 9 and 11 have the same structure symmetrically to each other, and the details thereof are shown in FIGS. Each of the slat tables 9 and 11 supports a pin supporting LM guide 13 so as to be movable in the X-axis direction. The pin support LM guide 13 extends in the Y-axis direction, and allows the left and right work origin setting pins 15 serving as positioning members to be movable in the Y-axis direction and protrude above the work path line by the fluid pressure cylinder device 17. Between the operating position and the retracted position retracted below the work path line.

The slat tables 9 and 11 are individually driven in the X-axis direction by an X-axis servomotor 19 for the left and right work origin setting pins 15, respectively.
By being guided in the Y-axis direction by being guided by the pin supporting LM guide 13 by the axis servomotor, each is located at an arbitrary X, Y coordinate position.

Left and right front work tables 21 and 23 are arranged in front of the slat tables 9 and 11.

A groove-like passage 25 is provided between the slat tables 9, 11 and the front work tables 21, 23 so as to cross the whole thereof in the X-axis direction. Groove-shaped passage 2
5 is provided with a work carry-in carriage 27 which is guided by an LM guide (not shown) and is linearly movable in the X-axis direction. A work gripper 29 having an abutment positioning portion in the X-axis direction is provided at the work carry-in carriage 27 between an operation position where the work gripper 29 is protruded above the work path line by a fluid pressure cylinder device (not shown) and a retreat position where the work gripper 29 is retracted below the work path line. It is provided to be vertically movable between them.

The work gripper 29 grips the leading edge of the work on the center table 31 arranged on the left side of the slat table 9 and the front work table 21 in FIG. 1, and carries the work carry-in carriage 27 by driving means (not shown). In FIG. 1, the workpiece is carried from the center table 31 onto the slat tables 9, 11 and the front work tables 21, 23 along the work carrying reference line Li extending in the X-axis direction from the center table 31.

In this case, the work is positioned and arranged on the center table 31 in the Y-axis direction so that the center of the work in the Y-axis direction coincides with the work carry-in reference line Li formed by the center line in the width direction of the groove-shaped passage 25. As a result, the work gripper 29 grips the center of the leading edge in the Y-axis direction. Further, the position of the work carry-in reference line Li in the Y-axis direction is a reference position (origin position) of the work origin setting pin 15 in the Y-axis direction.

Above each of the front work tables 21 and 23, upper arms 33 and 35 extend horizontally. At the tips of the upper arms 33 and 35, pulling devices 37 having the same structure as each other are attached.

As shown in FIG. 6, the pulling device 37 includes a vertical bar 41 supported by a linear bush 39 so as to be vertically movable from an upper arm 33 or 35, and a fluid for driving the vertical bar 41 vertically. Pressure cylinder device 43, a drawing fluid pressure cylinder device 45 horizontally attached to the lower end of the vertical bar 41, and a piston rod 47 of the drawing fluid pressure cylinder device 45.
And a suction pad (pulling pad) 51 attached to the table by a bracket 49. The suction pad 51 selectively sucks a work on the table.

A C-shaped manipulator 53 is provided between the front work tables 21 and 23. The manipulator 53 is, as apparent from FIG.
The center of the cable in the X-axis direction, that is, the gap between the left and right front work tables 21 and 23 and the gap between the slat tables 9 and 11 are set in the Y-axis direction,
The lower clamp arm 5 on the fixed side can be moved by a driving means (not shown)
5, an upper clamp arm 59 that is movable on a pivotable axis 57, a toggle link 61, and a clamp driving device 63.

At the distal ends of the lower clamp arm 55 and the upper clamp arm 59, turntables 65 and 67 serving also as work gripping parts, which are driven to rotate about a vertical axis by driving means (not shown), are provided concentrically with each other. I have.

In the work handling apparatus having the above-described configuration, first, the work on the center table 31 is gripped by the work gripper 29 located at the operating position, and the work loading carriage 27 is moved from the left side in FIG. The workpiece is moved to the right on the work carrying reference line Li, and the work is carried on the slat tables 9 and 11 and the front work tables 21 and 23.

When the loading of the workpiece is completed, the gripping of the workpiece by the workpiece gripper 29 is released, and the workpiece gripper 29 is lowered to the retracted position and returned to the home position on the center table 31 side.

Next, the left and right work origin setting pins 15 are respectively moved in the X-axis direction and the Y-axis direction according to the size of the work, and are moved to a predetermined work origin setting position, and then raised to the operating position. . In this state, the suction pad 51 is lowered by the fluid pressure cylinder device 43, and the work on the slat tables 9 and 11 and the front work tables 21 and 23 is sucked by the suction pad 51. Then, the suction pad 51 is horizontally moved in a predetermined direction by the pulling fluid pressure cylinder device 45, and the work is abutted against the work origin setting pin 15. As a result, the work origin is set (positioned).

When the origin setting is completed, the toggle link 61 is driven by the clamp driving device 63 to rotate the upper clamp arm 59 in the descending direction.
The work is clamped by 67 so as to sandwich the work from above and below.

When the clamping is completed, the work origin setting pin 15 is lowered to the retracted position.

Thereafter, the work is horizontally rotated by the turntables 65 and 67 so that the bent side of the work is directed to the panel bender body 1, and the entire manipulator 53 is moved forward in the Y-axis direction to bend the work. The bending side is positioned on the bending line Lb of the panel bender body 1, and bending is performed by the panel bender body 1.

When the processing of one work is completed, the upper clamp arm 59 is rotated in the ascending direction to release the work clamps by the turntables 65 and 67, and the work conveyor belt conveyors 3 and 5 are moved upward. The processed work is moved to the right as viewed in FIG. 1 along the work unloading reference line Lo by the work unloading belt conveyor 25, and is unloaded onto the unloading table 7.

FIG. 7 shows a control system of a panel bender used for carrying out the work positioning method according to the present invention.

The computer 101 has a display 103
Various parameters, a product processing program, and the like are input from the keyboard 105 based on the screen display by the user, and are stored in the storage device 107.

The computer 101 has an operation sequence
It has a positioning data generation unit 109, a work holding stability determination unit 111, and an arrangement position change control unit 113 for the work origin setting pin 15.

Operation sequence / positioning data generator 1
11 is the dimension of each part of the material such as the bottom dimension, flange height,
An operation sequence, work positioning data for manipulator control, and work origin setting pin 15 positioning data are generated from a product processing program generated from a bending shape and stored in the storage device 107, and these data are output to the NC device 115. I do.

Operation sequence / positioning data generator 1
As shown in FIG. 8, the position of the work origin setting pin 15 in the Y direction by the reference 11 is determined by using the position in the Y-axis direction of the center line in the width direction of the groove-shaped passage 25 (work carrying reference line Li) as a reference position. Y of work W by pulling pad 51
An amount obtained by adding a length corresponding to a half of the dimension RY in the Y-axis direction of the abutting portion of the work W to the work origin setting pin 15 to the horizontal movement amount (pulling amount) P in the axial direction, that is, P + (R
(Y / 2) is set at a position displaced in the Y-axis direction from the reference position. The dimension RY in the Y-axis direction can be obtained by subtracting twice the notch dimension NY in the Y-axis direction from the development length GY of the workpiece W in the Y-axis direction.

In FIG. 8, the solid line represents the work after the abutment, the imaginary line represents the work before the abutment, the symbol Cw represents the center of the bottom of the workpiece after the abutment, and the symbol Cw 'represents the work before the abutment. Are respectively shown at the bottom center.

The holding stability judging section 111 compares the holding length of the work W in the Y-axis direction by the slat tables 9 and 11 with the dimension of the work W in the Y-axis direction, and determines the holding state of the work W by the slat tables 9 and 11. Is determined.

This holding stability determination is made by determining the holding length of the work in the Y-axis direction by the slat tables 9 and 11 as H, the unfolding length of the work W in the Y-axis direction as GY, and the required work holding ratio set by the parameter as k. Then, it may be performed based on whether or not the following expression is satisfied. H> GY · k That is, when H> GY · k is satisfied, it is determined that the stability of the holding state of the work W is equal to or more than the set value, and H> GY · k is satisfied.
If k is not satisfied, that is, if H ≦ GY · k, it is determined that the stability of the holding state of the work W is equal to or less than the set value.

The holding length H of the work W in the Y-axis direction is calculated by the following equation. H = Py-A + NY where Py is the Y-axis coordinate value of the work origin setting pin 15,
A is half the width of the groove-shaped passage 25.

When the stability determined by the holding stability determination unit 111 is equal to or smaller than the set value, that is, when H ≦ GY · k, the arrangement position change control unit 113 sets the Y of the work origin setting pin 15 to Y. The axial arrangement position is changed to a position farther from the groove upper passage 25.

In this case, the position of the work origin setting pin 15 in the Y-axis direction is set at a position displaced by A + P + GY-NY in the Y-axis direction from the reference position, as shown in FIG. You.

The NC unit 115 interprets various commands from the computer 101 and outputs drive signals to the panel vent main body 1 and the machine control unit 117 of the above-described work handling apparatus.

FIG. 10 shows a processing flow for determining the arrangement position of the work origin setting pin 15.

In deciding the position of the work origin setting pin 15, first, the development length GY of the work W in the Y-axis direction, the notch size NY in the Y-axis direction and the like are input (step 10). Then, the dimension RY = GY−2NY in the Y-axis direction of the abutting portion with respect to No. 15 is calculated, and the position of the work origin setting pin 15 in the Y-axis direction, that is, the Y-axis coordinate value Py is calculated according to the following equation (step 20). Py = P + (RY / 2) Accordingly, as the dimension RY of the abutting portion of the work W against the work origin setting pin 15 in the Y-axis direction becomes smaller, the Y-axis coordinate value Py of the work origin setting pin 15 becomes 0, that is, the groove-shaped passage. 25 approaches the center position in the width direction. When the Y-axis coordinate value Py becomes equal to or less than the stroke end value on the reference position side, the Y-axis coordinate value Py is set to the stroke end value as a lower limit value. FIG. 11 shows an arrangement position of the work origin setting pin 15 in this case.

In this case, as shown in FIG. 11, depending on the dimension RY of the work W in the Y-axis direction, the time until the suction pad 51 hits the work W against the work origin setting pin 15 Work W is slat table 9, 1
There may be a situation where only one holds.

Next, an operation of H = Py-A + NY is performed (step 30), the holding length H of the work in the Y-axis direction is calculated, and the stability of the holding state of the work W is determined based on H> GY · k. (Step 40).

If H> GY · k holds, the work W
Is determined to be greater than or equal to the set value (Yes at step 40), and the position of the work origin setting pin 15 is determined based on Py = P + (RY / 2) (step 5).
0). FIG. 8 shows an example of the arrangement position of the work origin setting pin 15 in this case.

On the other hand, when H> GY · k is not satisfied, that is, when H ≦ GY · k, it is determined that the stability of the holding state of the work W is equal to or less than the set value (step 40).
No), an arrangement position change operation of Py = A + P + GY-NY is performed (step 60), and Py = A + P + GY-NY.
Then, the arrangement position of the work origin setting pin 15 is determined (step 70).

As described above, when H> GY · k does not hold, Py = A + P + GY as illustrated in FIG.
By determining the arrangement position of the work origin setting pin 15 by −NY, even if the work W has a small dimension RY in the Y-axis direction, the entire work W is
11 more held in, never falling into the groove passage 25. That is, the manipulator 53 controls the work W
When clamping, the work W falls into the groove-shaped passage 25
Slat tables 9 and 11
I have.

Although the present invention has been described in detail with reference to specific embodiments, the present invention is not limited to these embodiments, and various embodiments can be made within the scope of the present invention. Some will be apparent to those skilled in the art.

[0055]

As can be understood from the above description, according to the work positioning method and apparatus according to the present invention, the length of the work held by one of the work tables in the Y-axis direction is compared with the dimension of the work in the Y-axis direction. The stability of the holding state of the work by one of the work tables is thereby determined, and when the stability is equal to or less than a preset value, the work positioning member is moved in a direction away from the other work table, Since the position of the work by the work positioning member is changed, and the work is pressed against the work positioning member to perform the positioning, the holding length of the work in the Y-axis direction by one of the work tables becomes longer. Of the work is held by one work table, and the Even when the dimension in the axial direction is small, positioning is performed in a state where the work is held in a stable state on the work table, and at this time, the work is prevented from dropping into the groove-shaped passage beforehand. . Ie Mani
When clamping the work with the
Is in a stable state on the worktable.

[Brief description of the drawings]

FIG. 1 is a plan view showing an embodiment in which a work positioning device according to the present invention is applied to a panel bender.

FIG. 2 is a front view showing an embodiment in which the work positioning device according to the present invention is applied to a panel bender.

FIG. 3 is a side view showing an embodiment in which the work positioning device according to the present invention is applied to a panel bender.

FIG. 4 is a plan view of a slat table.

FIG. 5 is a side view of the slat table.

FIG. 6 is a side view of the drawing device.

FIG. 7 is a block diagram showing one embodiment of a control system of a panel bender having a work positioning device according to the present invention.

FIG. 8 is a plan view showing a positioning state in a steady state.

FIG. 9 is a plan view showing a positioning state in a state where the arrangement position of the origin setting pin has been changed.

FIG. 10 is a flowchart illustrating a process flow of determining an arrangement position of an origin setting pin.

FIG. 11 is a plan view showing a positioning state in a state where the origin setting pin is located at a stroke end position on the reference position side.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 Panel bender body 3, 5 Work conveyor belt conveyor 7 Unloading table 9, 11 Slat table 15 Work origin setting pin 21, 23 Front work table 25 Groove path 27 Work loading carriage 29 Work gripper 31 Center table 37 Pulling device 51 Suction pad 53 Manipulator 55 Lower clamp arm 59 Upper clamp arm 65, 67 Turntable 101 Computer 107 Storage device 109 Operation sequence / positioning data generation unit 111 Holding stability determination unit 113 Arrangement position change control unit

Claims (4)

(57) [Claims] 1. A groove-like passage (25) through which a work loading gripper (29) passes between two work tables exists in the X-axis direction, and clamps a positioned work (W).
The center of the two worktables in the X-axis direction to the Y-axis
With a manipulator (53) that can move in any direction
A work positioning member (15) is provided on one of the work tables (9, 11) of the work positioning device so as to be movable in the Y-axis direction orthogonal to the groove-shaped passage (25) , and the other work table (21, 23) A work positioning method for positioning the work (W) by pressing the work (W) against the work positioning member (15) from the side of the work table (9, 11) .
(W) of the Y-axis direction of the one work table by comparing the Y-axis direction dimension of the holding length and the workpiece (W) (9,1
The stability of the holding state of the workpiece according to 1) is determined, and when the stability is equal to or less than a preset value, the workpiece positioning member (15) is moved in a direction away from the groove-shaped passage (25). The work positioning member (1
5) Modify the positioning position of the workpiece (W) by, word <br/> click (W) of the one work table when performing positioning by pressing the the work positioning member (15) (9,
A work positioning method characterized by increasing the holding length of the work (W) in the Y-axis direction according to 11) . 2. When the stability is equal to or less than a preset value, the position of the work positioning member in the Y-axis direction is set at a position where the whole work is held by the one work table. The method according to claim 1, wherein 3. The method according to claim 1, wherein the length of the one work table held by the one work table in the Y-axis direction is calculated from the arrangement position of the work positioning member in the Y-axis direction and the shape of the work. Work positioning method. 4. A groove-like passage (25) through which a work loading gripper (29) passes between two work tables exists in the X-axis direction, and clamps a positioned work (W).
The center of the two worktables in the X-axis direction to the Y-axis
With a manipulator (53) that can move in any direction
A work positioning member (15) is provided on one of the work tables (9, 11) of the work positioning device so as to be movable in the Y-axis direction orthogonal to the groove-shaped passage (25) , and the other work table (21, 23) A work positioning device for positioning the work (W) by pressing the work (W) against the work positioning member (15) from the side of the work table (9, 11) .
(W) of the Y-axis direction of the one work table by comparing the Y-axis direction dimension of the holding length and the workpiece (W) (9,1
Holding stability determining means for determining the stability of the holding state of the work (W ) according to 1); and if the stability determined by the holding stability determining means is equal to or less than a preset set value, An arrangement position change control means for changing an arrangement position of the work positioning member to a position farther from the groove-shaped passage.