JP5152498B2 - Work positioning apparatus and method and work positioning apparatus for butt welding - Google Patents

Description

  The present invention relates to a workpiece positioning device and method and a butt welding workpiece positioning device, and more particularly to a workpiece positioning device and method suitable for use prior to butt welding of a thin plate workpiece.

  In butt welding of plate-like workpieces, if the butt portions of the workpieces are not uniform, a weakly welded portion is generated partially. Therefore, it is necessary to accurately butt the workpieces as a pre-stage of butt welding. As a generally known method, there is a method for accurately positioning a workpiece by pressing the workpiece from behind to a stopper (including a case where a counterpart workpiece fixed in advance at a set position becomes a stopper) by a pusher. is there. This method is less problematic when the workpiece is generally rectangular. However, if the edge of the workpiece opposite to the edge of the abutting portion extends obliquely with respect to the pressing direction, or is curved, if the opposite edge is pressed with a pusher, In this case, there is a problem that the component force is applied and cannot be pushed well.

For this reason, in the workpiece positioning device disclosed in Patent Document 1, a reciprocating member driven by an actuator is provided below the cradle on which the workpiece is placed. An adsorbing device is supported on the reciprocating member so as to be vertically movable and tiltable. Then, the lower surface of the work placed on the cradle is sucked by the suction device, and then the reciprocating member is displaced by the actuator to press the work toward the stopper. According to such a positioning device, even when the opposite edge of the workpiece extends obliquely or has a curved shape, the pressing can be performed by sucking the lower surface of the workpiece with the suction device. .
JP-A-8-206881

However, when the edge of the workpiece that contacts the stopper exists only in the portion that is offset to one side with respect to the entire width of the workpiece, when the suction device that sucks the workpiece is moved, For this reason, there is a problem that the workpiece falls around one corner of the edge of the abutting portion.
The present invention has been made to solve such problems. The object of the present invention is to provide a workpiece that can accurately position the workpiece with respect to the stopper even if the workpiece has a special shape. It is an object to provide a positioning apparatus and method, and a positioning apparatus for a butt welding work.

To achieve the above object, according to the positioning device of a work of claim 1, the contact cradle over the edge of the plate-shaped workpiece to multiple stopper arranged in aligned in a straight line in a row a positioning apparatus for positioning against cradle the workpiece by moving along the sequence of the multiple stoppers while, to adsorb the workpiece, on opposite sides of the center of gravity of the work in the plan view A support member having a suction member arranged to be positioned, and supporting the support member so as to be rotatable around a rotation axis perpendicular to the plate surface of the workpiece, and parallel to the plate surface of the workpiece, and an actuating member which can be displaced in the stopper perpendicular direction of the multiple, by actuating the actuating member, the edge of the workpiece displaces the supporting member to abut with a pressing force to the stopper The operating member has a first arm portion and a second arm portion slidable in the longitudinal direction of the first arm portion, and the rotation shaft of the support member is The first arm portion and the second arm are located within a range of the edge of the workpiece when viewed along a direction parallel to the plate surface of the workpiece and perpendicular to the edge of the workpiece. parts are extend the stopper perpendicular direction of the multiple, the support member has a characteristic that the one end portion is fixed to the second arm portion via a shaft the times To do.

The workpiece positioning device according to claim 2 is the workpiece positioning device according to claim 1, wherein the support member extends in parallel with the plate surface of the workpiece from the rotation shaft , and the suction portion is provided at least at a tip portion thereof. It is characterized by.
A workpiece positioning apparatus according to a third aspect of the present invention is the workpiece positioning device according to the first aspect, wherein the support member is limited to rotate within the predetermined angle range with respect to the operating member within a predetermined angle range. The support member is set so as to be within the same predetermined angle range with respect to the operating member when correctly abutting against the operating member.

According to a fourth aspect of the present invention, there is provided the workpiece positioning apparatus according to the first aspect, wherein the operating member has an air cylinder, and the end of the workpiece is pressed against the stopper by the air cylinder.
According to a fifth aspect of the present invention, there is provided the workpiece positioning apparatus according to the first aspect, further comprising a side stopper that abuts against a side edge of the workpiece when the workpiece is in a normal position, and the operating member further includes the support member of the workpiece. Displacement is made in a direction parallel to the edge, and the side edge of the workpiece is brought into contact with the side stopper.

The method of positioning the workpiece according to claim 6, cradle on a plate-like edge of one row aligned with the sequence of the multiple stopper while in contact with the multiple stopper arranged on a straight line of the work Is a positioning method for positioning the workpiece with respect to a cradle by suction along the workpiece, and the suction member is arranged so as to suck the workpiece and to be positioned on the opposite side across the center of gravity of the workpiece in plan view a support member having a a same support member as well as supported rotatably around a vertical rotation axis on the plate surface of the workpiece, parallel to the plate surface of the work, and the stopper perpendicular direction of the multiple A first arm part that forms part of the actuating member, and a second arm part that is slidable in the longitudinal direction of the first arm part. The rotation axis of the support member The operation member is positioned so that the workpiece is positioned within the range of the edge when viewed along the direction parallel to the plate surface and perpendicular to the edge of the workpiece. step adsorbs the workpiece by members; and said multiple stopper and the operating member by sliding of the multiple of the second arm portion extending in a direction perpendicular to said first arm portion Displacement is made in a direction perpendicular to the stopper, and the workpiece is displaced so that the edge of the workpiece contacts the stopper with a pressing force.

  According to a seventh aspect of the present invention, there is provided the workpiece positioning method according to the sixth aspect, further comprising a side stopper that contacts the side edge of the workpiece, and the operating member further displaces the support member in a direction parallel to the edge of the workpiece. In the positioning method, after the step of displacing the workpiece so that an edge of the workpiece abuts against the stopper with a pressing force by operating the operating member by the control device, The control device operates the operating member to hold the pressing force of the workpiece against the stopper, and the workpiece is parallel to the edge of the workpiece so that the side edge of the workpiece contacts the side stopper. The method further includes a step of displacing to.

The positioning apparatus for a workpiece for butt welding according to claim 8 includes a cradle on which a plate-shaped workpiece is placed, a use position located near the outside of one edge of the cradle, and a storage retracted downward from the use position. When the edge to be butt welded on the workpiece moves along the array while being in contact with the workpiece when in the use position, the edge of the workpiece is properly aligned with the cradle. and multiple stopper arranged in a row are arranged on a straight line which is located in a position to adsorb the workpiece, it arranged so as to be positioned on opposite sides of the center of gravity of the work in the plan view adsorption a support member having a member, the same support member as well as supported rotatably around a vertical rotation axis on the plate surface of the workpiece, parallel to the plate surface of the work, and perpendicular to the above multiple stopper Can be displaced in the direction Actuating member, a first arm part forming a part of the actuating member, a second arm part slidable in the longitudinal direction of the first arm part, and actuating the actuating member, Between the control device for displacing the support member so that the edge of the workpiece comes into contact with the stopper with a pressing force, and the inner side of the one edge of the cradle, the work is placed between the upper surface of the cradle. A clamping member that clamps, and when the support member is viewed along a direction in which the rotation shaft of the support member is parallel to the plate surface of the workpiece and perpendicular to the edge of the workpiece, It is located in the range of the edge of the said workpiece | work, and one edge part is being fixed with respect to the said 2nd arm part via the said rotating shaft, It is characterized by the above-mentioned.

According to a ninth aspect of the present invention, there is provided the butt welding work positioning apparatus according to the eighth aspect , further comprising a side stopper that abuts against the work side edge of the work, and the operating member further causes the support member to be parallel to the edge of the work. It can be displaced in any direction.
A butt work positioning apparatus according to a tenth aspect of the present invention is the butt work positioning apparatus according to the eighth aspect, wherein the cradle and the clamp member are parallel to a plate surface of the work in a state of being sandwiched between the cradle and the clamp member. And it can move in the direction perpendicular to the edge of the workpiece.

  According to the workpiece positioning apparatus of the first aspect, the operating member is operated by the control device, and the edge of the workpiece is brought into contact with the stopper with a pressing force so that the edge of the workpiece is in contact with the stopper before the contact. Even if the workpieces are not parallel to each other, the workpiece rotates together with the support member, and the edge of the workpiece is brought into close contact with the stopper, thereby being parallel to the stopper, thereby achieving positioning of the workpiece. Moreover, when the axis of rotation of the support member (that is, the point at which the pressing force acts on the support member in plan view) is viewed along a direction parallel to the plate surface of the work and perpendicular to the edge of the work, Since the workpiece does not generate a rotational moment around the corner of one end of the edge due to the pressing force, it eliminates the problem of the workpiece falling due to the pressure. can do.

  According to the workpiece positioning apparatus of the second aspect, in the plan view, the support member extends away from the axis, and at least the tip thereof is provided with the suction portion. Since the suction point by the suction member can be separated from a certain axis, the axis on which the support member rotates is parallel to the plate surface of the workpiece and perpendicular to the edge of the workpiece, even for specially shaped workpieces. When viewed along, it is easy to locate within the edge of the workpiece.

Thereby, even if it is a workpiece | work of a special shape, positioning can be achieved without producing a malfunction.
According to the workpiece positioning apparatus of the third aspect, the rotation of the support member around the axis with respect to the operating member is limited to a predetermined angle range. Therefore, when the workpiece is displaced toward the stopper, something to the workpiece is detected. Thus, even if a rotational moment is applied, the workpiece posture can be prevented from changing greatly. Moreover, since the predetermined angle range is set so that the support member is within the predetermined angle range with respect to the operating member when the support member correctly contacts the stopper, there is no problem in positioning the workpiece. .

According to the workpiece positioning apparatus of the fourth aspect, since the edge of the workpiece is pressed against the stopper by the air cylinder, the pressing force can be easily managed to an appropriate size.
According to the workpiece positioning apparatus of the fifth aspect, by operating the operating member, the workpiece is moved so that the side edge of the workpiece contacts the side stopper in a state where the edge of the workpiece contacts the stopper. The workpiece can be accurately positioned not only in the direction perpendicular to the edge but also in the direction parallel to the edge.

  According to the workpiece positioning method of the sixth aspect, since the edge of the workpiece is brought into contact with the stopper with a pressing force, the workpiece is supported even when the edge of the workpiece is not somewhat parallel to the stopper before the contact. By rotating together with the member, the edge of the workpiece is brought into close contact with the stopper, thereby being parallel to the stopper, thereby achieving positioning of the workpiece. Moreover, when the axis of rotation of the support member (that is, the point at which the pressing force acts on the support member in plan view) is viewed along a direction parallel to the plate surface of the work and perpendicular to the edge of the work, Since the adsorption member adsorbs the workpiece and the operation member is operated so that the workpiece is positioned within the range of the edge, the rotation moment about the corner of one end of the edge by the pressing force is Since it does not occur, it is possible to solve the problem that the workpiece falls due to the pressing.

According to the positioning method of the seventh aspect, the work member is moved so that the side edge of the work comes into contact with the side stopper in a state where the end edge of the work comes into contact with the stopper. Accurate positioning is possible not only in the direction perpendicular to the edge but also in the direction parallel to the edge.
Further , since the support member has at least two suction members, and the work is sucked so that the at least two suction members are located on opposite sides of the center of gravity of the work in plan view, the work is supported by the support member. It is possible to reduce the occurrence of a rotational moment in the workpiece when moving the workpiece.

According to the butt welding work positioning apparatus of claim 8, the operating member is operated by the control device, and the end edge of the work is brought into contact with the stopper with a pressing force so that the end edge of the work is brought into contact before the corresponding contact. Even when the workpiece is not slightly parallel to the stopper, the workpiece rotates together with the support member, and the edge of the workpiece is brought into close contact with the stopper, thereby being parallel to the stopper and positioning the workpiece with respect to the stopper. And a workpiece | work is reliably positioned with respect to a cradle by pinching between a workpiece | work and the upper surface of a cradle by a clamp member. Moreover, since the axis of rotation of the support member is located within the range of the workpiece edge when viewed along the direction parallel to the workpiece plate surface and perpendicular to the workpiece edge, the pressing force is As a result, no rotational moment is generated around the corner of one of the edges of the workpiece, so that it is possible to eliminate the problem of the workpiece falling due to pressing.

According to the butt welding work positioning apparatus of the ninth aspect, the work member is moved so that the side edge of the work comes into contact with the side stopper in a state in which the operation member is operated and the end edge of the work comes into contact with the stopper. By doing so, the workpiece can be accurately positioned not only in the direction perpendicular to the edge but also in the direction parallel to the edge.
According to the butt welding work positioning apparatus of claim 10, the work accurately positioned on the cradle is firmly fixed to the cradle by the clamp member, and the stopper is displaced to the retracted position in this state. And then moving the workpiece together with the cradle to the normal welding position, thereby completing the positioning of the workpiece for butt welding.

Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.
1 is a plan view showing a butt welding apparatus including a workpiece positioning apparatus to which the present invention is applied, FIG. 2 is a view taken along the arrow II in FIG. 1, FIG. 3 is a partially enlarged view of FIG. FIG. 5 is an enlarged plan view of the support member 86 and the third arm 66 in FIG. 4, FIG. 6 is a side view of FIG. 5, and FIG. 7 is a plan view showing the order of workpiece positioning. .

  1 and 2, two movable platforms 6 are movably supported on a rail 4 provided on a base 2 and extending in the horizontal direction of the drawing (hereinafter referred to as “longitudinal direction” for convenience). These moving bases 6 are moved to an arbitrary position on the rail 4 by an extendable cylinder 8 attached to the base 2 and stopped at that position. The movable table 6 includes a receiving table 10 on which plate-like workpieces A and B are placed, a stopper device 12 for the workpieces A and B, and a clamping device 14 that clamps the workpieces A and B between the receiving table 10. Is provided. In addition, workpiece | work A and B are each butt-welded each edge A1 and B1.

The cradle 10 extends in the vertical direction of the drawing (hereinafter referred to as “width direction” for convenience) and is firmly attached to the movable table 6.
The stopper device 12 is bridged between an arm-like turning member 18 rotatably supported by support members 16 fixed to both ends in the width direction of the movable table 6 and the left and right turning members 18, 18. And a stopper support member 22 having a plurality of stoppers 20 arranged on a straight line. The stopper support member 22 is also supported at an appropriate position in the central portion by a rotation member (not shown) provided concentrically with the rotation member 18 so that the central portion is not deformed. An expansion / contraction cylinder 24 is provided between each of the left and right rotating members 18 and the movable table 6, and the expansion / contraction cylinder 24 allows the stopper 20 to be used (stopper 20 on the right side in FIG. 2) and storage position (FIG. 2). To the left stopper 20).

  The clamping device 14 is rotatably supported by support members 26 fixed to both ends in the width direction of the movable table 6, and includes a rotating member 28 having two arm portions 28 a and 28 b, and left and right rotating members 28. A clamp support member 30 is provided between the arm portions 28a and 28a and is positioned above the cradle 10 described above. As shown in FIGS. 2 and 3, the clamp support member 30 is provided with a plurality of pressing pads 32 arranged along the longitudinal direction of the clamp support member 30. A strong spring 34 is interposed between each pressing pad 32 and the clamp support member 30. In addition, an extension cylinder 36 is provided between each arm portion 28b and the movable table 6. A clamp position where the pressing pad 32 clamps the workpiece A between the receiving table 10 and the extension cylinder 36 (see FIG. 2 on the right clamping device 14) and the pressing pad 32 can be moved to the non-clamping position (the clamping device 14 on the left side in FIG. 2) withdrawn above the cradle 10.

  Incidentally, cradles 38 and 40 having the same height as the cradle 10 are arranged so as to be aligned with the cradle 10. These cradles 38 and 40 are firmly fixed to the base 2. Although the cradles 38 and 40 are shown in a flat plate shape in the drawing, it is also possible to adopt a sword-like shape formed by a plurality of narrow members extending in the longitudinal direction of FIG. Although not shown, a guide member extending in the width direction is provided between the cradles 10 and 38 and between the cradles 38 and 40. Each guide member has two side stoppers 42 and auxiliary members. A side stopper 43 is movably attached. These side stoppers 42 can be moved to arbitrary positions by an actuator (not shown).

  On the side of the base 2, so-called horizontal articulated robots 50 corresponding to the workpieces A and B, which are respectively controlled by the control device 48, are arranged. As apparent from FIG. 4, each robot 50 has a first arm 56 attached to the main body 52 so as to rotate via a first shaft 54 extending in the vertical direction, and a tip of the first arm 56. And a second arm 60 attached so as to rotate via a second shaft 58 extending in the vertical direction. Further, a third arm 66 is attached to the tip of the second arm 60 so as to rotate via a third shaft 62 extending in the vertical direction and to move up and down via a lifting device 64.

  As apparent from FIGS. 5 and 6, the third arm 66 includes a base portion 68 attached to the second arm 60 so as to be rotatable and movable up and down, a first arm portion 70 fixed to the base portion, and a first arm portion 70. It has the 2nd arm part 72 engaged so that the one arm part 70 could slide to a longitudinal direction. A sleeve-like base body 74 is fixed to the tip of the second arm portion 72. The air cylinder 76 attached to the first arm portion 70 has its operating shaft 78 engaged with the base body 74. The maximum sliding amount of the second arm portion 72 with respect to the first arm portion 70 is regulated by a stopper (not shown), and air pressure is applied in a direction in which the air cylinder 76 is always extended. As a result, the second arm portion 72 is maintained in a state in which it slides to the maximum with respect to the first arm portion 70 unless an external force is applied.

  A rotating shaft 80 is supported on the base body 74 via a bearing so as to be rotatable about a vertical axis. Although not shown, a key member protrudes from a part of the outer periphery of the rotating shaft 80, and the key member engages with a part of the base body 74, so that the rotating range of the rotating shaft 80 with respect to the base body 74 is set at a predetermined angle. (For example, 10 degrees). Further, although not shown, an elastic member such as a spring that urges the rotation shaft 80 to be positioned at the neutral position of the rotation range with respect to the base body 74 is not shown between the rotation shaft 80 and the base body 74. Is provided.

  A support member 86 is attached to the lower end portion of the shaft 80 via a shaft 82 and a bracket 84. The support member 86 extends away from the base body 74 in a plan view, and a vacuum suction member 88 is provided at each of a portion close to the base body 74 and a tip portion. The adsorption member 88 can also employ an electromagnetic adsorption member. The shaft 82 is detachably fixed at an arbitrary angle in the rotation direction with respect to the rotation shaft 80.

As shown in FIG. 2, the welding torch 90 is arranged at the center position of the two moving bases 6 and moves along the butt line of the workpieces A and B that are brought together at the same position. Can do. A groove member 92 opened upward is provided below the butt line so as to extend along the butt line.
In the vicinity of the robot 50, as is apparent from FIG. 1, a stock table 94 on which the stocked work A is placed is provided. As a matter of course, the stock table 94 is arranged in a range where the support member 86 operated by the robot 50 reaches the workpiece A on the stock table 94. Although not shown in FIG. 1, a stock stand similar to the stock stand 94 is also provided corresponding to the left robot 50.

Next, a process of butt welding the workpieces A and B by the butt welding apparatus including the workpiece positioning apparatus to which the present invention described above is applied will be described.
In FIG. 1, the control device 48 controls the robot 50 as follows. First, as shown by a two-dot chain line in FIG. 1, the arms 56, 60 and 66 are operated so that the support member 86 is positioned at a position corresponding to the workpiece A on the stock table 94. Next, the base 74 is lowered together with the third arm 66 by the lifting device 64, and the work A is sucked by the suction member 88. Then, the workpiece A is lifted together with the third arm 66 by the lifting device 64, loaded onto the receiving bases 38 and 40, and placed on the receiving beds 38 and 40 by the lifting device 64. At this time, as shown by a two-dot chain line 96 in FIG. 7, the work piece A is placed so that the end edge A <b> 1 to be butt welded is substantially parallel to the stopper 20 in the use position. Next, as shown by a two-dot chain line 98 in FIG. 7, each arm 56, 60 and 66 is operated to bring the end A1 of the workpiece A into contact with the stopper 20, and further extended to the maximum length by the air cylinder. The work A is pressed against the stopper 20 so that the third arm 66 is slightly reduced (for example, 10 to 20 millimeters). At this time, the vicinity of the edge A1 of the workpiece A is positioned on the cradle 10. As a result, as indicated by a two-dot chain line 98, the end edge of the workpiece A is brought into close contact with the stopper 20 arranged linearly in the width direction.

  Further, the arms 56, 60 and 66 are operated, and the workpiece A is pressed against the stopper 20 so as to come into contact with the stopper 42 previously arranged at a normal position in the width direction (vertical direction in FIG. 7). (Downward in FIG. 7). As a result, as indicated by the solid line in FIG. 7, the workpiece A is in close contact with the stopper 20 in the longitudinal direction and is in contact with the side stopper 42 in the width direction, with respect to the receiving table 10 on the movable table 6. Positioned with a normal posture.

  Note that the side auxiliary stopper 43 is positioned in advance in a position where there is a slight gap (for example, 5 millimeters) with respect to the workpiece A in a state where the workpiece A is in contact with the side stopper 42. This is due to the friction between the work A and the stopper 20 or the cradle 10 when the work A is moved at high speed from the position shown by the two-dot chain line 98 in FIG. The work A is rarely going to fall, and plays a role in preventing it.

Subsequently, the pad 32 of the clamping device 14 is moved to the clamping position. That is, the extension cylinder 36 of the clamp device 14 is extended to lower the clamp 32, and the workpiece A is clamped between the pad 32 of the clamp 32 and the cradle 10. Thereby, the workpiece | work A is firmly fixed to the receiving stand 10 with the said normal attitude | position.
Next, in this state, the telescopic cylinder 24 of the stopper device 12 is reduced, and the stopper 20 is moved together with the stopper support member 22 to the storage position. Next, the movable table 6 is advanced by the extension of the telescopic cylinder 8 while the workpiece A is fixed by the clamp device 14 so that the edge A1 of the workpiece A is positioned at a predetermined position below the welding torch 90.

  Similarly, since the apparatus has a line symmetrical arrangement, the workpiece B is also positioned with respect to the cradle 10 by the left robot in FIG. The edge B1 of the workpiece B is positioned at a predetermined position below the welding torch 90. Thereby, there exists an effect that the workpiece | work A and the workpiece | work B can be mutually butt | matched with high butt | matching precision.

Here, the features and effects of the positioning device and process described above will be further described.
First, the relationship between the edge A1 of the workpiece A and the rotation center of the support member 86 that supports the workpiece A is shown. Referring to FIG. 7, the workpiece A is pressed by the robot 50 so that the end surface A <b> 1 contacts the stopper 20. The point of action of the pressing force is the third shaft 62 that is the rotation center of the support member 86, that is, the rotation center of the third arm 66. When the pressing force is taken as a vector, it is parallel to the plate surface of the workpiece A and along the direction perpendicular to the edge A1 as indicated by an arrow V in FIG. Then, when viewed along the vector V, the center of rotation of the supporting support member 86 (i.e. the pivot shaft 80), to be within the scope of the edge A1 of the work A, the work by adsorption member 88 Adsorption point is selected.

With this configuration, when the workpiece A is pressed by the robot 50, the workpiece A does not generate a rotational moment about the corner of one end of the end A1, so that the workpiece A falls down due to the pressing. Trouble can be solved.
In addition, in the relationship between the suction points of the support member 88 and the workpiece A, the two suction members 88 are selected so as to be positioned on opposite sides of the center of gravity of the workpiece A in plan view. Thereby, when the work A is carried in from the stock table 94, the wobbling of the work A can be minimized. Further, even if the support member 86 moves in parallel when the workpiece A is moved from the position indicated by the two-dot chain line 98 in FIG. 7 to the position indicated by the solid line A, the occurrence of a rotational moment on the workpiece A can be reduced.

Further, the rotation range of the support member 86 relative to the base body 74 is restricted. Accordingly, it is possible to prevent the workpiece A from fluctuating greatly when the workpiece A is carried in from the receiving platform 10 or the workpiece platform 94.
Furthermore, the shaft 82 fixed to the support member 86 can be detachably fixed at an arbitrary angle in the rotation direction with respect to the rotation shaft 80. On the other hand, the longitudinal direction of the third arm 66 is substantially equal to the direction of the pressing force with respect to the workpiece A. Therefore, the angle formed by the direction of the pressing force with respect to the workpiece A and the longitudinal direction of the support member 86 can be easily changed by changing and fixing the rotation angle of the shaft 82 with respect to the rotation shaft 80. As a result, even when a workpiece having a different shape is viewed along the pressing force against the workpiece, the workpiece is attracted so that the point of action of the pressing force is within the range of the edge that abuts against the stopper. There is an effect that can be done. In particular, since the support member 86 extends away from the base body 74 in a plan view, and the suction member 88 is attached to the tip of the support member 86, the suction point by the base body 74 and the suction member 88, which is the point of action of the pressing force, is determined. The above effects can be made more prominent.

It should be noted that when a support member 86 having a different size or shape is prepared in advance according to a workpiece having a different shape and is disposed near the robot 50 and positioning a workpiece having a different shape, the support member 86 is provided. By exchanging with a different support member, the positioning operation can be rapidly advanced.
Further, the robot 50 operates each of the arms 56, 60 and 66, and the work A on the stock table 94 is sucked by the suction member 88 and is carried onto the receiving tables 38 and 40. Therefore, a dedicated device for carrying the workpiece A onto the cradle 10, 38 or 40 is not required, and the equipment cost can be reduced.

The description of one embodiment according to the present invention is finished above, but the embodiment is not limited to the above, and various modifications can be made without departing from the spirit of the invention.
For example, in the embodiment described above, the robot 50 carries the workpiece A onto the cradles 38 and 40, but instead, it is configured to carry the workpiece A onto the cradles 38 and 40 separately by a dedicated loader. Is also possible.

  In the above embodiment, the direction of the pressing force with respect to the workpiece A and the longitudinal direction of the support member 86 can be easily changed by changing and fixing the angle of the rotation direction of the shaft 82 with respect to the rotation shaft 80. Thus, even when a workpiece having a different shape is viewed along the pressing force against the workpiece, the workpiece is set so that the point of action of the pressing force is within the range of the edge to be abutted against the stopper. So that it can be adsorbed. Instead, by configuring the support member 86 to be rotatable at an arbitrary angle with respect to the third arm 66 by the actuator, it is possible to cope with workpieces having different shapes in the same manner.

Furthermore, in the above embodiment, the workpiece A is configured to contact the stopper 20 to position the workpiece A. For example, in the butt welding, the mating workpiece is fixed in advance to a normal position, and the mating workpiece is fixed. It is also possible to use the edge of the in place of the stopper.
In addition, although the said embodiment was applied to the butt-welding apparatus, it cannot be overemphasized that the positioning apparatus which concerns on this invention can be applied other than a butt-welding apparatus.

It is a top view which shows the butt welding apparatus containing the workpiece | work positioning device to which this invention was applied. It is an arrow line view which follows the arrow II of FIG. It is the elements on larger scale of FIG. It is a side view which shows the robot of FIG. FIG. 6 is an enlarged plan view of a support member 86 and a third arm 66 in FIG. 4. FIG. 6 is a side view of FIG. 5. It is a top view which shows the order of positioning of a workpiece | work.

Explanation of symbols

2 base 6 moving base 10, 38, 40 cradle 14 clamp device 20 stopper 42 side stopper 50 robot 86 support member 88 suction member A, B work

Claims (10)

While abutting the cradle on the edge of the plate-shaped workpiece in multiple stopper arranged in aligned in a straight line in a line by moving along the sequence of the multiple stopper of the same work A positioning device for positioning with respect to a cradle,
A supporting member having an adsorbing member that adsorbs the work and is disposed on the opposite side across the center of gravity of the work in plan view;
The same support member as well as supported rotatably around a vertical rotation axis on the plate surface of the workpiece, parallel to the plate surface of the workpiece, and can be displaced in the stopper perpendicular direction of the multiple An actuating member;
A controller that operates the operating member to displace the support member so that the edge of the workpiece contacts the stopper with a pressing force;
The actuating member has a first arm portion and a second arm portion slidable in the longitudinal direction of the first arm portion,
When the rotation shaft of the support member is viewed along a direction parallel to the plate surface of the workpiece and perpendicular to the edge of the workpiece, the rotation shaft is positioned within the range of the edge of the workpiece.
It said first arm portion and said second arm portion, extend to the stopper perpendicular direction of the multiple,
The workpiece positioning apparatus, wherein one end of the support member is fixed to the second arm through the rotating shaft.   2. The workpiece positioning apparatus according to claim 1, wherein the support member extends from the rotation shaft in parallel with the plate surface of the workpiece, and the suction portion is provided at least at a tip portion thereof.   The support member is limited to rotate within a predetermined angle range with respect to the operation member with respect to the operation member, and the predetermined angle range indicates that the support member is operated when the abutting surface correctly contacts the stopper. 2. The workpiece positioning apparatus according to claim 1, wherein the workpiece positioning device is set so as to be within a predetermined angle range with respect to the member.   2. The workpiece positioning apparatus according to claim 1, wherein the operating member has an air cylinder, and the end of the workpiece is pressed against the stopper by the air cylinder. With a side stopper that contacts the side edge of the workpiece when the workpiece is in the normal position,
2. The workpiece positioning according to claim 1, wherein the operating member further displaces the support member in a direction parallel to an edge of the workpiece, and abuts the side edge of the workpiece against the side stopper. apparatus. While abutting the cradle on the edge of the plate-shaped workpiece in multiple stopper arranged in aligned in a straight line in a line by moving along the sequence of the multiple stopper of the same work A positioning method for positioning with respect to a cradle,
A supporting member having an adsorbing member that adsorbs the work and is disposed on the opposite side across the center of gravity of the work in plan view;
The same support member as well as supported rotatably around a vertical rotation axis on the plate surface of the workpiece, parallel to the plate surface of the workpiece, and can be displaced in the stopper perpendicular direction of the multiple An actuating member;
A first arm that forms part of the operating member; and a second arm that is slidable in the longitudinal direction of the first arm;
By the support member, the rotation axis of the support member is within the range of the edge of the workpiece when viewed along the direction parallel to the plate surface of the workpiece and perpendicular to the edge of the workpiece. as positioned, the step of adsorbing the work by the suction member with positioning the said actuating member; relative and the multiple stopper and the first arm portion said second arm portion extending in a direction perpendicular that the actuating member by sliding by displacing the stopper perpendicular direction of the multiple, the edges of the workpiece with a step of displacing the workpiece so as to contact with a pressing force to the stopper Te A workpiece positioning method characterized by A side stopper that contacts the side edge of the workpiece;
The operating member can further displace the support member in a direction parallel to the edge of the workpiece,
After the step of displacing the workpiece so that the edge of the workpiece abuts against the stopper with a pressing force by operating the operating member,
Activating the actuating member to displace the work in parallel with the edge of the work so that the side edge of the work abuts the side stopper while maintaining the pressing force of the work against the stopper The workpiece positioning method according to claim 6, further comprising: A butt-welding workpiece positioning device comprising:
A cradle on which a plate-like workpiece is placed;
An end edge that is supported so that it can take a use position located near the outside of one edge of the cradle and a retracted position that is lower than the use position and is butt-welded in the work piece when in the use position There when moved along the array while contacting the stopper number multiple of the edge of the workpiece is arranged on a straight line are arranged in a row which is positioned at a normal position relative to the cradle described above,
A supporting member having an adsorbing member that adsorbs the work and is disposed on the opposite side across the center of gravity of the work in plan view;
The same support member as well as supported rotatably around a vertical rotation axis on the plate surface of the workpiece, parallel to the plate surface of the workpiece, and can be displaced in the stopper perpendicular direction of the multiple An actuating member;
A first arm that forms part of the actuating member; a second arm that is slidable in the longitudinal direction of the first arm;
A control device for displacing the support member by operating the operating member so that the edge of the workpiece contacts the stopper with a pressing force;
A clamping member that clamps the workpiece between the upper surface of the cradle in the vicinity of the inner side of the edge of the cradle;
The support member is within the range of the edge of the workpiece when the rotation axis of the support member is viewed along a direction parallel to the plate surface of the workpiece and perpendicular to the edge of the workpiece. A positioning apparatus for a butt welding work, wherein one end portion is fixed to the second arm portion via the rotating shaft. A side stopper that contacts the side edge of the workpiece is provided.
9. The work positioning apparatus for butt welding according to claim 8, wherein the actuating member can further displace the support member in a direction parallel to an edge of the work.   The cradle and the clamp member are movable in a direction parallel to the plate surface of the workpiece and perpendicular to the edge of the workpiece while being clamped between the cradle and the clamp member. The positioning apparatus of the butt-welding workpiece | work of Claim 8.

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