JP4344272B2 - Work positioning device - Google Patents

Description

  The present invention relates to a workpiece positioning device for positioning a workpiece at the time of welding, and more particularly to a workpiece positioning device capable of attracting and positioning a workpiece using a magnetic force of a permanent magnet and releasing the attracted state.

  Of the parts constituting a vehicle such as an automobile, a thin metal plate is frequently used as a vehicle body part. For such body parts, for example, a large metal plate as a material cut into a desired shape by pressing, or a plurality of workpieces (materials to be welded) cut by pressing are welded Is used.

  Here, when welding a plurality of workpieces, the edges of each workpiece are butted against each other, and the butted edges are welded together by laser light. Since the laser beam used for this welding is a very thin light beam, it is necessary to securely bond the edges of the workpieces to prevent poor bonding.

For this reason, various proposals have been made for a method for abutting the edges of workpieces. For example, a method for abutting workpieces described in Japanese Patent Application Laid-Open No. 2003-290982 proposed by the applicant of the present application and Japanese Patent Application Laid-Open No. 2002-144085. A method using a welding skin matching jig described in No. 1 has been proposed. Here, in the former method for abutting workpieces, a method is adopted in which a workpiece is pressed against a reference base and positioned by a clamp plate operated by a mechanical spring or a pneumatic cylinder. Further, in the latter method using the welding skin matching jig, a method of adsorbing and positioning a workpiece with an electromagnet is employed.
JP 2002-144085 A JP 2003-290982 A

  However, in the work positioning method using the mechanical spring or pneumatic cylinder described above, the frame structure that supports the reference base, mechanical spring, or air cylinder is rigid enough to withstand the pressing force and reaction force of the mechanical spring or pneumatic cylinder. There is a problem that the frame structure becomes large as the entire apparatus. In this regard, according to the welding skin alignment jig described above, since the workpiece is positioned by the electromagnet and the wire, the frame structure is enlarged as in the case where the workpiece is positioned using a mechanical spring or an air cylinder. There is no.

  However, the above-described welding skin matching jig allows the groove to be adjusted with a wire while the workpiece (material to be welded) is attracted to the first and second shape adjusting members by the magnetic force of the first and second electromagnets. It is comprised so that it may draw near to the member side. That is, the magnetic forces of the first and second magnets are weak enough to slide the workpiece on the shape adjusting member, and the workpiece is restrained in the plate thickness direction but restricted in the plate width direction of the workpiece. It's not just a strong magnetic force. Therefore, according to the above-described welding skin alignment jig, there is a problem that the positioning of the workpiece in the plate width direction must be realized separately by drawing a wire connected to the key nut of the workpiece.

  For this reason, in the welding skin aligning jig, it is an indispensable condition to provide the work with the key nut for connecting the wires described above before butt welding the edges of the works. Therefore, there is a problem that the work may be deformed by welding heat for attaching the key nut or the like to the work by welding, or the work time may be prolonged due to the welding of the key nut or the like.

  The present invention has been made to solve the above-described problems, and can adjust the attracting force exerted on the work of the permanent magnet, and the work can be attracted to the attracting surface by weakening the attracting force. An object of the present invention is to provide a workpiece positioning device that can slidably move on the suction surface to correct the posture and can position the workpiece firmly on the suction surface by strengthening the suction force. It is said.

The workpiece positioning apparatus according to claim 1 is for positioning a workpiece formed of a ferromagnetic material, and a base member provided with a suction surface for contacting the workpiece, and an approach direction of the base member toward the anti-suction surface side. And a magnet member formed of a permanent magnet and capable of reciprocating in the distance direction, a roller member rotatably connected to the magnet member, and an outer peripheral surface of the roller member being in contact with each other. An inclined surface that inclines and intersects with the reciprocating direction, a push slope that is provided toward the traveling direction side of the magnet member that moves away from the base member, and a push slope provided with the push slope. An actuating member formed to be movable in one reciprocating direction different from the inclination direction of the slope and the moving direction of the magnet member, and the working member in a direction different from the reciprocating direction of the actuating member. A support member for supporting the operating member so as to restrict that member moves, and a driving device for imparting a driving force for reciprocating the actuating member supported by the support member, said press The moving slope is continuous from the start end portion where the magnet member is closest to the base member to the end portion furthest away from the base member, and is inclined at an intermediate position between the start end portion and the end portion on the pushing slope. Is changed, and the inclination angle from the start end portion to the intermediate position of the pushing slope is formed smaller than the inclination angle from the intermediate position to the end portion of the pushing slope .

  According to the workpiece positioning apparatus of the first aspect, when the actuating member is moved to one side by the driving device, the roller member is rotated on the pushing slope, and the roller member is accompanied with the magnet member together with the rotation. Is moved away from At this time, the roller member is relatively moved from either one of the two sides of the inclined slope of the push slope to the other, and the distance between the magnet member and the base member is increased by this movement. Then, the magnetic force acting on the attracting surface of the base member is weakened by the permanent magnet of the magnet member, and the attracting force for attracting the workpiece, which is a ferromagnetic material, to the attracting surface of the base member is reduced.

  Therefore, for example, when the magnet member is closest to the base member, the work formed of a ferromagnetic material is attracted to the attracting surface of the base member by the magnetic force of the permanent magnet, and is firmly restrained and positioned by the base member. . On the other hand, when the magnet member is moved away from the base member, the attracting force of the attracting surface exerted by the magnetic force of the permanent magnet is gradually weakened. As a result, for example, even when the workpiece is attracted to the suction surface of the base member, the posture of the workpiece can be corrected. Further, when the magnet member is sufficiently separated from the base member, the positioning of the workpiece on the attracting surface of the base member is released.

  Since the pushing slope of the actuating member intersects with the moving direction of the magnet member, the force exerted by the permanent magnet on the pushing slope via the roller member is the component force acting in the reciprocating movement direction of the actuating member. It is decomposed into a component and a component component acting in a direction excluding the reciprocating direction. Here, since the component components acting in the direction other than the reciprocating direction of the operating member are all supported by the support member, it is sufficient for the drive device to bear only the component components acting in the reciprocating direction of the operating member. .

  For this reason, if a drive device gives the driving force which exceeds the component force component which acts in the reciprocation direction of an operation member, it can move an operation member, and a magnet member is used as a base member against the magnetic force of a permanent magnet. Can be kept away from. That is, the drive device can move the operating member with an output lower than the magnetic force of the permanent magnet.

  Moreover, when making a magnet member approach a base member, an operation member is moved by a drive device. At this time, the roller member is relatively moved from one of the two sides of the pushing slope to the other side while rotating while being in contact with the pushing slope, and by this movement, the magnet member and the base member are moved. The distance to is gradually reduced. In addition, the roller member, together with the magnet member, is prevented from being drawn to the base member side at once due to the magnetic force of the permanent magnet. For this reason, the attraction force on the attraction surface of the base member gradually increases after the magnetic force of the permanent magnet reaches the workpiece until the magnet member comes closest to the base member.

Moreover, in the workpiece positioning device according to claim 1 , the push slope is continuous from the start end where the magnet member is closest to the base member to the end portion where the magnet member is farthest away from the base member, An inclination angle is changed at an intermediate position between the start end portion and the end end portion, and an inclination angle from the start end portion to the intermediate position of the pushing slope is changed from the intermediate position of the pushing slope to the end portion. It is formed smaller than the inclination angle.

Therefore, when the magnet member closest to the base member is moved away from the base member, when the operating member is moved by the driving device, the roller member is pushed and rotated by the pushing slope, and the rotation of the pushing slope is caused by this rotation. It is moved relatively from the start end to the intermediate position. Along with this movement, the magnet member is moved away from the base member in the anti-approaching direction.

  After the roller member reaches the intermediate position of the pushing slope, when the operating member is further pushed by the driving device, the roller member is pushed and rotated by the pushing slope having a larger inclination angle than before. By this rotation, it is moved relatively from the intermediate position of the pushing slope to the end portion. As a result, the magnet member is moved to a position farthest away from the base member.

The workpiece positioning device according to claim 2 is the workpiece positioning device according to claim 1 , wherein the magnet member is provided with a plurality of permanent magnets, and the plurality of permanent magnets are positive magnetic poles in the longitudinal direction of the magnet member. And negative magnetic poles are alternately arranged in parallel, and positive and negative magnetic poles are alternately arranged in the lateral direction of the permanent magnet.

Work positioning device according to claim 3, in work positioning device according to claim 1 or 2, wherein the magnet member is movable in a substantially vertically downward when far away from the base member, and, to the base member The actuator is formed so as to be moved substantially vertically upward when approaching, and the actuating member is formed to be movable in a substantially horizontal direction orthogonal to the reciprocating direction of the magnet member.

  According to the workpiece positioning device of the present invention, the attracting force exerted on the attracting surface or the work by the permanent magnet can be adjusted. By weakening the attracting force, the workpiece is slid on the attracting surface while being attracted to the attracting surface. The posture can be corrected, and the workpiece can be positioned firmly on the suction surface by increasing the suction force. In other words, the work can be reliably restrained both in the thickness direction of the work and also in the sliding direction on the work attracting surface only by increasing or decreasing the attracting force by the magnetic force of the permanent magnet. effective.

  Further, when the magnetic member is moved away from the base member in a state in which a magnetic attractive force acts between the magnet member and the workpiece due to the magnetic force of the permanent magnet, the driving device has a driving force smaller than the magnetic force of the permanent magnet. By applying to the actuating member, the magnet member can be moved away from the base member. Therefore, since the driving device does not require a driving force corresponding to the magnetic force of the permanent magnet of the magnet member, the driving device can be reduced in size and the size of the entire workpiece positioning device can be reduced.

  Further, when the magnet member is pushed by the pushing slope, the pushing slope comes into contact with the rotatable roller member. Therefore, when the roller member is moved by the pushing slope, the friction resistance between the pushing slope and the roller member is reduced. There is an effect that the magnetic member can be smoothly moved.

In particular, the section from the start slope to the middle position of the pushing slope has a smaller inclination angle than the section from the middle position to the end of the pushing slope, so when moving the operating member to push the roller member The driving force of the driving device necessary for the above can be reduced. Therefore, there is an effect that the driving force necessary for the driving device can be reduced when the magnet member closest to the base member is separated from the base member.

  Here, when the magnetic attractive force by the permanent magnet acts between the work and the permanent magnet, the smaller the inclination angle of the pushing slope, the component component in the moving direction of the operating member that the pushing slope receives from the roller member is Get smaller. Therefore, if the component component acting in the moving direction of the actuating member is reduced, the driving force of the driving device for moving the actuating member can be reduced, so that the magnet member can be easily separated from the base member.

According to the workpiece positioning apparatus of the second aspect , in particular, the plurality of permanent magnets have the positive magnetic pole and the negative magnetic pole arranged alternately in the longitudinal direction of the magnet member, and the positive magnetic pole also in the lateral direction of the permanent magnet. And negative magnetic poles are alternately arranged in parallel. For this reason, since the magnetic lines of force of these permanent magnets are directed from the positive magnetic pole to the negative magnetic pole adjacent thereto, the magnetic force of the permanent magnet is difficult to act far away, and the characteristic that the density of the magnetic field lines in the vicinity of the permanent magnet is increased can be obtained. For this reason, the magnetic force exerted by the plurality of permanent magnets has an effect that the work can be strongly attracted to the attracting surface of the base member when the magnet member is closest to the base member.

Further, since the magnetic density in the vicinity of the permanent magnet is improved, when the work is firmly fixed to the attracting surface of the base member, the holding force is increased in the sliding direction (thrust direction) with respect to the attracting surface of the work. be able to. For this reason, in particular, according to the workpiece positioning apparatus according to claim 3, when the workpiece is positioned and fixed to the attracting surface of the base member by the magnet member, the edges of the fixed workpiece are butted against each other and welded. Even if there is no clamping member for sandwiching the workpiece from the opposite side of the base member, there is an effect that the positional deviation between the workpieces can be prevented.

  In addition, since the magnetic force acting range of the permanent magnet is limited to the vicinity of the permanent magnet, the distance to move the magnet member away from the base member can be shortened when the magnetic force of the attracting surface of the base member is completely extinguished. Therefore, although the permanent magnet is used, there is an effect that the attracting force of the attracting surface of the base member can be turned on or off in a short time as in the case of using the electromagnet.

According to the workpiece positioning apparatus of the third aspect , particularly when the magnet member is moved away from the base member, the magnet member is moved substantially vertically downward by the roller member being pushed by the pushing slope. The Therefore, when the magnet member is moved away from the base member and the attracting force on the attracting surface is extinguished, the moving force of the magnet member required to move the magnet member substantially vertically downward is equivalent to the gravity acting on the magnet member. Can be small. Therefore, the driving force of the driving device can be further reduced, and the driving device can be downsized accordingly.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. The workpiece positioning device 1 is for positioning and fixing a welding object (hereinafter referred to as “work”) formed of a thin plate-like ferromagnetic material such as a steel plate at a predetermined welding position. Used in laser welding machines that weld workpieces with laser light.

  FIG. 1 is a longitudinal sectional view of the internal structure of a workpiece positioning apparatus 1 according to an embodiment of the present invention. FIG. 1 (a) shows a state in which a magnet unit 3 is closest to a base plate 2, and FIG. Shows the state in which the magnet unit 3 is farthest from the base plate 2. 1A corresponds to a longitudinal sectional view taken along line IA-IA in FIG. 3A, and FIG. 1B corresponds to a longitudinal sectional view taken along line IB-IB in FIG. 3B. It is.

  As shown in FIG. 1, the workpiece positioning device 1 includes a substantially flat base plate 2 made of stainless steel, and a substantially flat suction surface 2 a on which a workpiece can be placed is formed on the upper surface of the base plate 2. Has been. Although this attracting surface 2a is a surface made of a simple stainless steel material, it is magnetized by the magnetic force of the permanent magnet 30 (see FIG. 5) of the magnet unit 3 and can attract a work that is a ferromagnetic material. Note that the thickness of the base plate 2 is smaller than the range of action of the magnetic force generated on the upper surface of the magnet unit 3.

  The adsorption surface 2a of the base plate 2 is covered with a thin film formed by plasma spraying a ceramic super steel metal, and the surface hardness is increased by the coating. Due to the surface hardening of the suction surface 2a, the wear resistance of the suction surface 2a in contact with the workpiece is improved. Further, in the surface hardening method by heat treatment or nitriding treatment, the base plate 2 itself becomes a permanent magnet. However, if the adsorption surface 2a is hardened by spraying ceramic super steel metal, the permanent magnet of the base plate 2 is used. Can be prevented. Therefore, when the magnetic force of the permanent magnet 30 does not reach the base plate 2, the work can be smoothly slid on the attracting surface 2a. Furthermore, since plasma spraying is used as the thermal spraying method, distortion of the base plate 2 due to thermal spraying can be suppressed, and only the surface hardness of the adsorption surface 2a can be improved.

  The magnet unit 3 is capable of generating an attractive force equivalent to, for example, approximately 1,000 kgf, and is disposed opposite to the opposite surface of the attracting surface 2a of the base plate 2, that is, the lower surface of the base plate 2 with a gap therebetween. Yes. A plurality of permanent magnets 30 (see FIG. 5) are arranged on the upper surface of the magnet unit 3, and an attracting force is applied to the attracting surface 2 a of the base plate 2 by the magnetic force of these permanent magnets 30. A support frame 2b having a substantially frame shape as viewed from above is provided at the outer peripheral edge of the base plate 2, and the magnet unit 3 can be loosely inserted into the frame of the support frame 2b. ing. The details of the arrangement state of the permanent magnets 30 of the magnet unit 3 will be described later.

  The magnet unit 3 is formed so as to face almost the entire region on the surface opposite to the attracting surface 2 a of the base plate 2. Further, when the magnet unit 3 is closest to the base plate 2 (see FIG. 2), the gap between the base plate 2 and the magnet unit 3 is made smaller than the plate thickness of the base plate 2. In this embodiment, for example, the thickness of the base plate 2 is approximately 4 mm, whereas the gap between the base plate 2 and the magnet unit 3 is approximately 3 mm. In addition, brackets 4 and 5 are fixed to the lower part of the magnet unit 3, and the brackets 4 and 5 are provided at intervals in a substantially horizontal direction.

  The brackets 4 and 5 are plate members that extend from the lower part of the magnet unit 3 to approximately the middle of the length of the workpiece positioning device 1 in the substantially vertical direction (vertical direction in FIG. 1). Is formed. The brackets 4 and 5 are members for supporting the roller shaft 6 on the magnet unit 3, and the roller shaft 6 is rotatably supported at the lower end thereof. A roller follower 7 is fitted on the outer periphery of each of the roller shafts 6 and 6, and the roller followers 7 and 7 are rotatably supported by the magnet unit 3 via the brackets 4 and 5 and the roller shafts 6 and 6. ing.

  The roller followers 7 and 7 are part of a drive mechanism that reciprocates the magnet unit 3 in a substantially vertical direction. It is loosely fitted around the circumference. The operation link 8 is a part of a drive mechanism that reciprocates the magnet unit 3 in a substantially vertical direction together with the roller followers 7 and 7, and is below the magnet unit 3 and from the side where the bracket 4 is disposed (right side in FIG. 1). The bracket 5 is disposed on the side where the bracket 5 is disposed (left side in FIG. 1).

  The roller shaft 6 and the roller follower 7 are configured to reciprocate in the substantially vertical direction together with the magnet unit 3 when the operation link 8 is reciprocated in the substantially horizontal direction. This is because the reciprocating direction of the magnet unit 3 coincides with the direction in which the magnetic force of the permanent magnet 30 acts, and the magnet unit 3 is reciprocated in a substantially vertical direction, thereby acting on the attracting surface 2a of the base plate 2. This is to make the strength stronger.

  FIG. 2 is a longitudinal sectional view of the workpiece positioning device 1 in which the cam groove 9 shown in FIG. 1 is enlarged, and an arrow Y in the drawing indicates a moving direction when the magnet unit 3 moves away from the base plate 2. . As shown in FIG. 2, the cam groove 9 is formed in a long groove shape that is inclined and intersects with the reciprocating movement direction (vertical direction in FIG. 2) of the magnet unit 3. The groove width of the cam groove 9 is formed slightly larger than the outer diameter of the roller follower 7, so that the roller follower 7 can be rotated at the inner peripheral portion of the cam groove 9.

  When the magnet unit 3 is closest to the base plate 2 as shown in FIG. 2, the roller follower 7 is disposed on one end side (upper right side in FIG. 2) of the cam groove 9, and the cam groove 9 is the roller follower 7. Is extended downward from the position where the pneumatic cylinders 14 and 15 are disposed on the opposite side (left side in FIG. 2) at an inclination angle θ (for example, approximately 15 °). A push slope 9a and an auxiliary slope 9b, which are inclined surfaces facing each other, are formed on the inner circumference of the cam groove 9, and the roller follower 7 exists between the faces of the push slope 9a and the auxiliary slope 9b. To do.

  Each of the pushing slope 9a and the auxiliary slope 9b is an inclined surface that inclines and intersects with the substantially vertical direction (vertical direction in FIG. 2) that is the reciprocating direction of the magnet unit 3. This pushing slope 9a is directed in the moving direction (the direction of arrow Y in FIG. 2) when the magnet unit 3 moves away from the base plate 2, and the auxiliary slope 9b is opposed substantially parallel to the pushing slope 9a. Provided.

  Returning to FIG. A concave portion having a substantially trapezoidal shape in side view is provided at a lower portion of the operation link 8 and between the cam grooves 9 and 9. A pair of guide blocks 10 and 10 are attached to the concave portion of the operation link 8 with an interval in a substantially horizontal direction. The pair of guide blocks 10 and 10 are engaged with a guide rail 11 extending in a substantially horizontal direction. The pair of guide blocks 10 and 10 are also formed so as to be reciprocally slidable in a substantially horizontal direction while being engaged with the guide rail 11. Further, the guide rail 11 is fixedly disposed on the upper surface of the substantially flat support base 12.

  By configuring in this way, the operation link 8 is supported on the support base 12 in a state where it can reciprocate on the guide rail 11 in a substantially horizontal direction. In addition, when the guide blocks 10 and 10 are engaged with the guide rail 11, the operation link 8 is pulled up from the support base 12 by the magnetic attraction of the permanent magnet 30 or the weight of the magnet unit 3 or the like. To prevent it from being pushed down. That is, the operation link 8 is restricted from moving in a different direction from the substantially horizontal direction (the left-right direction in FIG. 1), which is the reciprocating direction of itself.

  The support base 12 is a substantially flat base that supports the workpiece positioning device 1 on the floor surface. At both ends of the support base 12 in the substantially horizontal direction, substantially flat support wall plates 13 and 13 are erected. Further, the support frame 2b of the base plate 2 is horizontally mounted and fixed to the upper end portions of the support wall plates 13 and 13. The base plate 2, the support base 12, and the support wall plates 13 and 13 form a frame of the workpiece positioning device 1, and the magnet unit 3, the operation link 8, and the pneumatic cylinders 14 and 15 are arranged inside the frame. It is installed.

  Each of the pneumatic cylinders 14 and 15 is a driving device for applying a driving force for reciprocating the operation link 8 in a substantially horizontal direction. The pneumatic cylinders 14 and 15 are arranged side by side on the side of the operation link 8 where the bracket 4 is provided (the right side in FIG. 1), and the cylinder main bodies are connected together. In the pneumatic cylinders 14 and 15, the cylinder rods 14 a and 15 a are directed in the opposite directions, and the tip of the cylinder rod 14 a is at the end of the operation link 8 on the side where the bracket 4 is disposed, and the tip of the cylinder rod 15 a. Is connected to the fixed bracket 16.

  The cylinder bodies of the pneumatic cylinders 14 and 15 are mounted on the support base 12 so as to be slidable in the reciprocating direction of the operation link 8, and the fixing bracket 16 to which the cylinder rod 15 a is connected is fixed on the support base 12. Has been. For this reason, when the pneumatic cylinders 14 and 15 are driven and the cylinder rods 14a and 15a are advanced or retracted from the respective cylinder bodies, the position of the tip of the cylinder rod 14a starts from the fixed bracket 16 as a fixed starting point. Can be moved back and forth.

  Thus, when the tip of the cylinder rod 14a reciprocates on the support base 12, the operation link 8 is reciprocated on the support base 12 in a substantially horizontal direction. Further, since the thrusts of the cylinder rods 14a and 15a of the pneumatic cylinders 14 and 15 are substantially equal to each other, when the pneumatic cylinders 14 and 15 are connected to each other, the driving force for reciprocating the operation link 8 is a single pneumatic cylinder. It is enlarged compared to the case of using.

  3A is a longitudinal sectional view taken along line IIIA-IIIA in FIG. 1, and FIG. 3B is a longitudinal sectional view taken along line IIIB-IIIB in FIG. The internal structure of the workpiece positioning device 1 is the same as that in the IIIA-IIIA line in FIG. 1A and that in the IIIA′-IIIA ′ line, except that the bracket 4 and the bracket 5 are different. Are substantially the same, and those in the line IIIB-IIIB in FIG. 1B and those in the line IIIB′-IIIB ′ in FIG.

As shown in FIG. 3, substantially flat support wall plates 17 and 17 are erected from both ends of the support base 12 in the substantially horizontal direction. The support frame 2b of the base plate 2 is horizontally mounted on and fixed to the upper end portions of the support wall plates 17 and 17. Between the opposing surfaces of the support wall plates 17 and 17, the magnet unit 3 is disposed. A pair of brackets 4, 4 extending downward from the bottom of the magnet unit 3 and extending in a substantially horizontal direction. A through-hole penetrating in the thickness direction of each bracket 4 is formed at the lower end of each bracket 4, 4, and bushes 18, 18 are fitted to the inner periphery thereof. The bushes 18 and 18 are bearings that rotatably support a substantially central portion in the axial direction of the roller shaft 6.

  The roller shaft 6 is oriented so that the axial direction of the roller shaft 6 is substantially horizontal (the left-right direction in FIG. 3), and is rotatably fitted to the inner periphery of the bushes 18 and 18. Further, the roller follower 7 is fitted on the outer periphery of the roller shaft 6 corresponding to the portion between the bushes 18 and 18. For this reason, the roller follower 7 is interposed between the opposing surfaces of the brackets 4 and 4, and an operation link 8 for fitting the roller follower 7 into the cam groove 9 is also interposed between the opposing surfaces of the brackets 4 and 4. It is disguised. The roller shaft 6 that supports the roller follower 7 passes through the brackets 4, 4 in the axial direction, and further, both end portions in the axial direction reach the support wall plates 17, 17.

  Roller followers 19 and 19 of the same type as the roller follower 7 are fitted on both ends in the axial direction of the roller shaft 6 and on the outer peripheral portion outside the brackets 4 and 4, respectively. The roller followers 19 and 19 guide the movement of the magnet unit 3 and restrict the moving direction only in a substantially vertical direction. Specifically, the magnet unit 3 is prevented from moving in the left-right direction in FIG. Therefore, the roller followers 19 and 19 are engaged with guide members 20 and 20 provided on the support wall plates 17 and 17.

  The guide members 20 and 20 are formed in a substantially flat plate shape, and are attached to the support wall plates 17 and 17 so as to face each other. The guide members 20, 20 are each provided with a guide groove 21, which is a long groove that penetrates in the same direction as the axial direction of the roller shaft 6 and continues in a substantially vertical direction. The guide grooves 21, 21 are grooves for engaging the roller followers 19, 19 with the guide members 20, 20. The roller followers 19, 19 rotate the inner peripheral portions of the guide grooves 21, 21 while rotating the magnet unit 3. Is moved up and down with the movement.

  4 is a left side view of the workpiece positioning apparatus 1 shown in FIG. Note that the right side view of the workpiece positioning device 1 shown in FIG. 4 is symmetrical with the diagram of FIG. 4 and its illustration and description are omitted.

  As shown in FIG. 4, openings 17 a and 17 a are formed in the support wall plate 17 at locations corresponding to the positions where the roller shafts 6 and 6 are disposed. The openings 17a and 17a have a substantially U-shaped profile in the side view, and have a long groove shape extending in a substantially vertical direction (the vertical direction in FIG. 4), which is the moving direction of the roller followers 19 and 19. ing. Further, when the workpiece positioning device 1 is viewed from the left side, the contour shape of the edge of the guide groove 21 described above matches the contour shape of the edge of the opening 17 a of the support wall plate 17.

  The inner peripheral surface of the guide groove 21 is formed by a substantially semicircular arc-shaped curved surface provided at the top and a pair of vertical surfaces extending substantially vertically downward from both ends of the curved surface. The groove width of the guide groove 21, that is, the distance between the pair of vertical surfaces is formed slightly larger than the outer diameter of the roller follower 19. For this reason, the roller follower 19 is loosely fitted so as to be rotatable at the inner peripheral portion of the guide groove 21.

  According to the roller follower 19, when the operation link 8 is moved in a substantially horizontal direction (left and right direction in FIGS. 1, 2, and 4), the roller follower 19 is brought into contact with the vertical surface of the guide groove 21. The movement of the magnet unit 3 in the substantially horizontal direction (the left-right direction in FIGS. 1, 2 and 4) is restricted. In addition, the roller follower 19 is rotated while contacting the vertical surface of the guide groove 21 as the magnet unit 3 is moved up and down in the substantially vertical direction. 2 and the reciprocating movement in the vertical direction of FIG. 4 is also guided.

  FIG. 5 is a schematic perspective view showing an arrangement state of a plurality of permanent magnets 30 arranged inside the magnet unit 3. In FIG. 5, the magnetic poles generated on the upper surface of the permanent magnet 30 (the surface facing the base plate 2) are indicated by “N” or “S”, and “N” in the figure indicates the N pole (positive magnetic pole). , “S” means the S pole (negative magnetic pole).

  As shown in FIG. 5, the plurality of permanent magnets 30 are arranged side by side so that their upper surfaces are flush with each other. The plurality of permanent magnets 30 arranged in this manner are disposed on the inner upper side of the magnet unit 3 so that the upper surface thereof faces the lower surface of the base plate 2 (see FIG. 3). The permanent magnet 30 is made of, for example, a neodymium magnet that is a rare earth magnet. The plurality of permanent magnets 30 adjacent to each other in the vertical and horizontal directions have different magnetic poles, and N poles and S poles are alternately arranged in parallel.

  For this reason, a magnetic field (lines of magnetic force) is generated on the upper surface of the magnet unit 3 from each N-pole permanent magnet 30 to each S-pole permanent magnet 30 adjacent thereto. As a result, the density of magnetic lines of force acting near the upper surfaces of the plurality of permanent magnets 30 is increased, and the strength of the magnetic field near the upper surfaces of the magnet units 3 is increased. Then, the attracting force acting on the attracting surface 2a of the base plate 2 in a state in which the magnet unit 3 is closest to the base plate 2 is adopted when the above-described arrangement of the permanent magnets 30 is employed and when it is not employed. The case is greatly enhanced.

  Therefore, even if the workpiece placed on the suction surface 2a is thin, a strong magnetic field can be applied, and the workpiece can be strongly attracted to the suction surface 2a. In addition, since the magnetic field is concentrated in the vicinity of the upper surface of the magnet unit 3, the attracting force of the attracting surface 2 a of the base plate 2 can be extinguished only by moving the magnet unit 3 slightly away from the base plate 2. For example, according to the magnet unit 3 of the present embodiment, when the magnet unit 3 is separated from the pace plate 2 by about 40 mm or more, the attracting force of the attracting surface 2a of the base plate 2 is completely extinguished.

  Next, the operation of the workpiece positioning device 1 configured as described above will be described. According to this work positioning apparatus 1, first, from the state shown in FIG. 1A, the pneumatic cylinders 14 and 15 are operated, and the cylinder rods 14a and 15a are inserted into the cylinder body. Then, the cylinder bodies of the pneumatic cylinders 14 and 15 are slid on the support base 12 to the right in FIG. 1A, and the cylinder rod 14a of the pneumatic cylinder 14 is also moved horizontally to the right in FIG. Is done.

  As a result, the operation link 8 slides on the guide rail 11 and starts to move horizontally toward the arrangement side of the pneumatic cylinders 14 and 15 (right side in FIG. 1A). As the operating link 8 moves, the cam groove 9 is moved to the right in FIG. 1A. As the cam groove 9 moves, the roller follower 7 is brought into contact with the pushing slope 9a. It is pushed in the moving direction (right side in FIG. 1 (a)). Then, the roller follower 7 is rotated about the roller shaft 6 toward the tilting direction of the pushing slope 9a while being in contact with the pushing slope 9a by frictional resistance with the pushing slope 9a.

  At this time, the roller follower 7 tries to move in the moving direction of the operating link 8 by the pushing of the pushing slope 9a. However, the roller follower 19 moves to the right vertical surface (right side in FIG. 4) of the guide groove 21. It is regulated by contact. As a result, the horizontal movement of the magnet unit 3 following the movement of the operation link 8 is prevented. Accordingly, the roller follower 7 is pushed and lowered substantially vertically downward while the roller follower 19 is rotated in contact with the pushing slope 9a and the roller follower 19 is rotated in contact with the right vertical surface of the guide groove 21. .

  When the roller follower 7 is lowered substantially vertically downward, the magnet unit 3 is moved away from the base plate 2 substantially vertically downward. Then, when the movement of the magnet unit 3 is continued and the magnet unit 3 is lowered to a position away from the uppermost point closest to the base plate 2 by a predetermined stroke (hereinafter referred to as “magnetic limit distance”), FIG. As shown in b), the roller follower 7 reaches the lower end of the cam groove 9 (the lower left side in FIG. 1B). In this embodiment, the magnetic limit distance is approximately 40 mm.

  When the roller follower 7 reaches the lower end of the cam groove 9, the magnetic attractive force disappears from between the magnet unit 3 and the base plate 2, and the attractive force acting on the attractive surface 2a is also completely eliminated from the attractive surface 2a. Further, when the magnet unit 3 is moved substantially vertically downward from the uppermost point by a magnetic limit distance, and the roller follower 7 reaches the lower end portion (lowermost point) of the cam groove 9, the operation link 8 of the pneumatic cylinders 14 and 15 is moved. The movement to the right in FIG. 1 is also stopped. With this stop, the operation of retracting the magnet unit 3 to the lowest point farthest from the base plate 2 is completed.

  In addition, the raising operation of the magnet unit 3 that brings the magnet unit 3 toward the base plate 2 is realized by performing the operation opposite to the above-described operation.

  As described above, according to the workpiece positioning device 1 of the present embodiment, the pushing slope 9 a is inclined at the inclination angle θ with respect to the moving direction of the operation link 8. For this reason, when the roller follower 7 is biased substantially vertically upward by the magnetic attractive force of the permanent magnet 30, the reaction force (F) in which the pushing slope 9a pushes the roller follower 7 against the biasing force is pushed. Depending on the inclination angle θ of the inclined surface 9a, the component component (F · sin θ) acting in the reciprocating direction (substantially horizontal direction) of the operating link 8 and the direction excluding the reciprocating direction of the operating link 8 (operating link 8 Is divided into component components (F · cos θ) acting substantially vertically upward).

  At this time, the component component (F · cos θ) acting in the direction other than the reciprocating direction of the operating link 8 is all supported by the support base 12 via the guide blocks 10 and 10 and the guide rail 11, so that the pneumatic cylinder 14 and 15 need only bear the component component (F · sin θ) acting in the reciprocating direction of the operating link 8. Accordingly, if the pneumatic cylinders 14 and 15 apply a driving force smaller than the magnetic attractive force of the permanent magnet 30, that is, a driving force exceeding the component component (F · sin θ) acting in the reciprocating direction of the operating link 8. The operating link 8 can be moved from the position shown in FIG. 1A toward the position shown in FIG.

  For example, in this embodiment, since the inclination angle θ is approximately 15 °, the driving force of the operating link 8 is reduced to approximately 25% of the load acting on the roller follower 7 substantially vertically upward. For this reason, each of the pneumatic cylinders 14 and 15 is reduced to about 12.5%, which is half of the pneumatic cylinders 14 and 15. Therefore, it is not necessary to increase the size of the pneumatic cylinders 14 and 15 in accordance with the strong magnetic force of the magnet unit 3, and the entire apparatus 1 can be configured using the small pneumatic cylinders 14 and 15.

  Further, the distance between the magnet unit 3 and the base plate 2 can be changed by moving the magnet unit 3 in the range from the highest point to the lowest point, and the permanent magnet 30 exerts on the attracting surface 2a according to the change in the distance. The adsorption power can be changed. That is, if the position of the operation link 8 is controlled by controlling the operation of the pneumatic cylinders 14 and 15 by a control device (not shown), the distance between the magnet unit 3 and the base plate 2 is adjusted to reduce the attracting force of the attracting surface 2a. It can also be adjusted.

  For example, if the suction force acting on the suction surface 2a can be weakened, the end of the workpiece can be pushed and slid on the suction surface 2a while the workpiece is attracted to the suction surface 2a. If it does so, when the edge of a workpiece | work will be faced | matched and welded, it will also be possible to carry out attitude | position correction | amendment by making a workpiece | work slide on the adsorption surface 2a.

  Next, a modification of the above embodiment will be described with reference to FIG. FIG. 6 is a longitudinal sectional view showing the internal structure of the workpiece positioning apparatus 100 according to the second embodiment. FIG. 7 is an enlarged side view of the cam groove 101, and an arrow Y in the figure indicates a moving direction when the magnet unit 3 moves away from the base plate 2. The workpiece positioning device 100 of the second embodiment is obtained by changing the shape of the cam groove provided in the operation link with respect to the first embodiment described above. In the following, the same parts as those in the first embodiment are denoted by the same reference numerals, description thereof is omitted, and only different parts are described.

  As shown in FIG. 6, the cam grooves 101 of the workpiece positioning device 100 are provided at two locations on the operation link 8 as in the case of the first embodiment. Further, as shown in FIG. 7, the cam groove 101 is formed so that the roller follower 7 is formed when the magnet unit 3 is located at the lowest point from the start end portion 101a where the roller follower 7 is located when the magnet unit 3 is located at the highest point. It is a long groove that continues to the end portion 101b. The cam groove 101 is bent at an obtuse angle at an intermediate position between the start end portion 101a and the end end portion 101b, and is formed in a substantially square shape in side view.

  For this reason, the cam groove 101 is divided into a section 102 from the start end portion 101a to the bent portion 101c and a section 103 from the bent portion 101c to the end portion 101b. Each of the sections 102 and 103 intersects with the reciprocating direction (the vertical direction in FIG. 7) of the magnet unit 3, and the groove width is formed slightly larger than the outer diameter of the roller follower 7. Further, the section 102 is inclined downward from the start end portion 101a to the bent portion 101c at an inclination angle θ1, and the section 103 is inclined downward from the bent portion 101c to the end portion 101b at an inclination angle θ2.

  A pushing slope 102a and an auxiliary slope 102b are formed on the inner periphery of the section 102 of the cam groove 101 as opposed to each other, and a pushing slope as an inclined face facing each other is formed on the inner periphery of the section 103. 103a and auxiliary slope 103b are formed. The pushing slopes 102a, 103a and the auxiliary slopes 102b, 103b are all inclined surfaces that intersect with the substantially vertical direction that is the reciprocating direction of the magnet unit 3, and the pushing slopes 102a, 103a The auxiliary slopes 102b and 103b are provided so as to face the movement slopes (in the direction of arrow Y in FIG. 7) when they are far away from each other, and are substantially parallel to the push slopes 102a and 103a.

  Here, the inclination angle θ <b> 1 of the section 102 is smaller than the inclination angle θ <b> 2 of the section 103. For example, in the same manner as in the first embodiment, when the magnetic limit distance is about 40 mm and the horizontal movement distance of the operating link 8 is about 150 mm, the inclination angle θ2 is about 20 if the inclination angle θ1 is about 10 °. If the inclination angle θ1 is about 5 °, the inclination angle θ2 is set to about 24 °. When the roller follower 7 is in the section 102, the magnet unit 3 and the base plate 2 are in close proximity so that the magnetic attraction is strong. Therefore, in order to move the operating link 8 with a lower load against such strong magnetic attraction, the inclination angle θ1 of the section 102 is made as small as possible to reduce the burden on the pneumatic cylinders 14 and 15.

  On the other hand, the inclination angle θ2 of the section 103 is made larger than the inclination angle θ1 when the roller follower 7 is in the section 103 and the interval between the magnet unit 3 and the base plate 2 and the roller follower 7 is also set in the section 102. Compared to a certain case, the magnetic attraction is weakened because it is enlarged. Therefore, if the magnetic attractive force is weak, even if the inclination angle θ2 of the section 103 is larger than the inclination angle θ1, the pneumatic cylinders 14 and 15 can move the operating link 8 with a low load.

  The present invention has been described based on the embodiments. However, the present invention is not limited to the above-described embodiments, and various improvements and modifications can be easily made without departing from the spirit of the present invention. It can be guessed.

  For example, in this embodiment, specific numerical values of the inclination angles θ, θ1, and θ2 of the cam grooves 9 and 101 are shown. However, these numerical values are merely examples, and may be appropriately changed according to the output of the pneumatic cylinder. Also good. In the present embodiment, a neodymium magnet is shown as an example of the permanent magnet 30, but the type of the permanent magnet 30 is not limited to this, and an attractive force required when the work is attracted to the attracting surface 2a. For example, a ferrite magnet, an alnico magnet, a sumakoba magnet, or other permanent magnets may be used.

  Further, the workpiece positioning devices 1 and 100 of the present embodiment are for clamping made of a ferromagnetic material such as an iron plate that is disposed on the opposite surface side of the base plate 2 and is formed so as to be able to sandwich the workpiece together with the suction surface 2a. A member may be provided. By doing so, the clamping force exerted on the workpiece by the magnet unit 3 is further improved by placing the clamping member on the workpiece placed on the base plate 2, so that the workpiece is made stronger on the adsorption surface 2a. Can be fixed. In addition, about 9 mm is suitable for the plate | board thickness of the member for clamping corresponding to the various specific numerical values shown in the above-mentioned Example.

It is a longitudinal cross-sectional view of the internal structure of the workpiece | work positioning device which is one Example of this invention, (a) is the state in which the magnet unit was closest to the base plate, (b) was the state in which the magnet unit was the furthest away from the base plate. FIG. It is the longitudinal cross-sectional view of the workpiece | work positioning device which looked at the cam groove shown in FIG. (A) is a longitudinal cross-sectional view in the IIIA-IIIA line | wire of FIG. 1, (b) is a longitudinal cross-sectional view in the IIIB-IIIB line | wire of FIG. FIG. 4 is a left side view of the workpiece positioning device shown in FIG. 3. It is a schematic perspective view which shows the arrangement state of the some permanent magnet arrange | positioned inside a magnet unit. It is a longitudinal cross-sectional view which shows the internal structure of the workpiece | work positioning device of 2nd Example. It is the side view which expanded and looked at the cam groove of 2nd Example.

Explanation of symbols

1,100 Work positioning device 2 Base plate (base member)
2a Adsorption surface 3 Magnet unit (part of magnet member)
4,5 Bracket (part of magnet member)
6 Roller shaft (part of magnet member)
7 Roller follower (roller member)
8 Actuation link (actuation member)
9, 101 Cam groove 9a Pushing slope 9b, 102b, 103b Auxiliary slope 10 Guide block (part of the support member)
11 Guide rail (part of support member)
12 Support base (part of support member)
14,15 Pneumatic cylinder (drive device)
18 Bush (part of magnet member)
30 Permanent magnet 101a Start end portion 101b End portion 101c Bent portion (intermediate position between start end portion and end portion)
102a, 103a Pushing slopes θ, θ1, θ2 Inclination angle (inclination angle)

Claims (3)

In a workpiece positioning device for positioning a workpiece formed of a ferromagnetic material,
A base member provided with a suction surface for contacting the workpiece;
A magnet member formed of a permanent magnet and capable of reciprocating in the approach direction and the separation direction with respect to the anti-adsorption surface side of the base member;
A roller member rotatably connected to the magnet member;
The roller member is an inclined surface that is in contact with the outer peripheral surface of the roller member and that inclines and intersects with the reciprocating direction of the magnet member, and is provided toward the traveling direction side of the magnet member that moves away from the base member. Moving slope,
An actuating member provided with the pushing slope and configured to be movable in one reciprocating movement direction different from the inclination direction of the pushing slope and the moving direction of the magnet member;
A support member that supports the actuating member so as to restrict movement of the actuating member in a direction different from the reciprocating direction of the actuating member;
A driving device for applying a driving force for reciprocating the operating member supported by the supporting member ;
The push slope is continuous from a start end where the magnet member is closest to the base member to a terminal end which is farthest from the base member, and at an intermediate position between the start end and the end on the push slope. The inclination angle is changed, and the inclination angle from the start end portion of the pushing slope to the intermediate position is smaller than the inclination angle from the intermediate position to the end portion of the pushing slope. A workpiece positioning device. The magnet member is provided with a plurality of permanent magnets,
In the plurality of permanent magnets, positive magnetic poles and negative magnetic poles are alternately arranged in the longitudinal direction of the magnet member, and positive magnetic poles and negative magnetic poles are alternately arranged in the lateral direction of the permanent magnet. The workpiece positioning apparatus according to claim 1, wherein The magnet member is formed to move substantially vertically downward when moving away from the base member, and to move substantially vertically upward when approaching the base member,
The workpiece positioning device according to claim 1 , wherein the operating member is formed to be movable in a substantially horizontal direction orthogonal to a reciprocating direction of the magnet member.

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