JP7287338B2 - Positioning device and positioning method - Google Patents

Description

The present invention relates to a positioning device and a positioning method for moving a workpiece to be processed to a mold for processing.

For example, in a columnar workpiece conveying device using a chuck, one end of the columnar workpiece is gripped by a chuck mechanism, pulled up from a pallet, taken out, and transferred to a housing on another pallet. The housing has a hole into which the columnar workpiece is inserted, and the columnar workpiece conveying device lifts the columnar workpiece so that the central axis of the chuck does not shift, and incorporates the columnar workpiece into the housing (see, for example, Patent Document 1). ).

JP 2009-274171 A

With this columnar work conveying apparatus, when a plurality of columnar works are grasped at once and inserted into separate holes, positioning cannot be easily performed.

For example, the inventor examined the configuration of the positioning device when a plurality of columnar workpieces to be molded are grasped at once by robot chucks and inserted into the mold for molding the workpieces. The columnar work has a columnar shape in which electrical steel sheets are laminated, and a shaft, which is the central axis of the columnar body, protrudes toward both bottom surfaces. A robotic chuck gripped one end of the shaft and inserted the other end into a receiving hole in the mold.

In this device, the positional information of the molding die was input or transmitted in advance, and the relative positional relationship between the robot chuck and the molding die could be grasped. However, in the resin molding machine for workpieces, the clearance between the shaft of the columnar workpiece and the molding die is particularly small, and furthermore, the position of the rotary table on which the molding die is placed and the position of the die on the rotary table Due to variations, insertion failures tended to occur. Therefore, it was difficult to handle a plurality of works simultaneously. In other words, precise positioning was required considering the clearance between the columnar workpiece and the molding die.

The present invention has been created in view of this point, and its object is to provide a positioning device that reduces the occurrence of work insertion failures.

A positioning device (8) according to the present invention is a positioning device capable of inserting a plurality of workpieces (11) gripped by a handling part (9) into a plurality of receiving holes (14) of a mold (4). be.

It comprises a body (16), a first slider body (25), a first rod (35), a first pin (36) and a second pin (37). The first slider body is selectively movable relative to the body along a first axis (X-axis) and a second axis (Y-axis). The first rod (35) is extendable from the first slider body along the third axis (Z-axis). A first pin is fixed to the first slider body and can guide a first alignment portion (17) provided on the handling portion. The second pin is connected to the first rod and can be fitted with a second positioning portion (19) provided on the mold.

It also comprises a second slider body (26), a second rod (45), a third pin (38) and a fourth pin (39). The second slider body is selectively movable relative to the body in a first axis (X-axis) and a second axis (Y-axis) direction. A second rod (45) is telescopic from the second slider body to the third axis. A third pin is fixed to the second slider body and can guide a third alignment portion (18) provided on the handling portion. The fourth pin is connected to the second rod and can be fitted with a fourth alignment portion (20) provided on the mold.

The handling part is attached to the positioning device with a first pin and a third pin respectively guiding the first alignment part (17) and the second alignment part (18). Supported by the following motions of the first slider body and the second slider body, the motions of the first rod and the second rod cause the third positioning pin and the fourth positioning pin to fit into the third positioning portion and the fourth positioning portion, respectively. do. The position of the handling part is positioned to the position of the mold so that multiple workpieces can be inserted into the receiving holes at once.

Further, a positioning method according to the present invention is a positioning method for inserting a plurality of workpieces into a plurality of receiving holes of a mold using a positioning device, the positioning method comprising the step of gripping the workpieces by the handling section; guiding the first alignment portion to the first pin and guiding the second alignment portion to the third pin by pushing the handling portion; and moving the first rod to guide the second pin. is fitted into the third alignment portion, the fourth pin is fitted into the fourth alignment portion by movement of the second rod, and the workpiece is inserted into the receiving hole by pushing the handling portion. A method comprising the steps of:

As a result, the handling section can hold a plurality of workpieces at once and insert each workpiece into the receiving hole in the mold, thereby reducing insertion failures.

The perspective view which shows the installation state of the positioning device of 1st Embodiment. FIG. 2 is a perspective view in the direction of A in FIG. 1, showing the positional relationship among the positioning device, the mold, and the handling section of the first embodiment; The shape of the handling part of 1st Embodiment is shown, and it is a B direction enlarged view of FIG. FIG. 2 is a perspective view in the direction of A in FIG. 1, showing the configuration of the positioning device of the first embodiment; FIG. 5 is a cross-sectional view showing operations when the first pin and the third pin of the positioning device of the first embodiment guide the first positioning portion and the third positioning portion of the handling portion, respectively; FIG. 2 is a perspective view in the A direction of FIG. 1 showing the operation when the second pin and the fourth pin of the positioning device of the first embodiment are fitted into the second positioning portion and the fourth positioning portion, respectively; FIG. 2 is a perspective view in the direction of A in FIG. 1, showing a state in which the positioning device of the first embodiment is used; FIG. 4 is a conceptual diagram showing the positional relationship among a workpiece, a mold, a first slider body, and a second slider body, which will be described in the first embodiment;

An embodiment of the present invention will be described with reference to the drawings. In addition, the same code|symbol is attached|subjected to the substantially same structure in each embodiment.

(First embodiment)
A positioning device according to a first embodiment of the present invention is obtained by applying the present invention to a positioning device for inserting a columnar workpiece into a molding die.
The positioning device 15 is a device capable of inserting a plurality of columnar works 11 gripped by a handling section 9 attached to the robot arm 7 into a plurality of receiving holes 14 of the mold 4 .

As shown in FIG. 1, a turntable 5 is rotatably provided on a surface plate 6 installed in a processing plant. The turntable 5 is divided into a workpiece loading area 2 and a machining area 3 . The turntable 5 is rotatable about a central axis (Ax) with respect to the surface plate 6 and moves the mold 4 from the workpiece machining area 3 to the workpiece loading area 2 . The turntable 5 moves the mold 4 for machining the workpiece below the robot arm 7 . The handling unit 9 of the robot arm 7 of the robot 1 uses the positioning device 15 to load the workpiece onto the mold 4 placed on the workpiece loading area 2 of the turntable 5 .

As shown in FIG. 2, the main body 16 of the positioning device 15 includes a handling section 9 for inserting a plurality of columnar workpieces 11 into the mold 4 and an insertion side end section 13 which is one end of the columnar workpieces 11 . It is arranged between molds 4 each having a receiving hole 14 for insertion. A chuck 10 provided in the handling unit 9 sandwiches a chuck-side end 12 (see FIG. 3), which is the other end of the columnar workpiece 11 , and inserts an insertion-side end 13 , which is one end, into the mold 4 . Positioning when inserting into the provided receiving hole 14 is performed.

As indicated by the two-dot chain line in FIG. 3, the columnar workpiece 11 is a workpiece having shafts projecting from both bottom surfaces. The handling unit 9 has a chuck 10 that holds chuck-side ends 12 , which are shafts of a plurality of columnar works 11 . Further, as shown in FIG. 2, the mold 4 is provided with receiving holes 14 into which the insertion side end 13 (corresponding to the other end of the shaft), which is one end of the columnar workpiece 11, is inserted.

The positioning device 15 positions the handling part 9 to the position of the mold 4 so that the insertion end 13 can be inserted into the receiving hole 14 .

In addition, as shown in FIG. 2, the mold 4 is provided with a second alignment portion 19 and a fourth alignment portion 20 (described later). Further, as shown in FIG. 3, the handling portion 9 is provided with a first alignment portion 17 and a third alignment portion 18 . In addition, in order to ensure the positional accuracy of the columnar workpiece 11 set in the mold 4, for example, the receiving hole 14 has a shaft diameter of 5 mm (designed dimension φ5 + 0.02/0), which is the insertion side end portion 13. The clearance is set to 0.025 mm, which is very small.

As shown in FIG. 2, the body 16 of the positioning device 15 includes a first arm 21, a second arm 22, a first leg 23 supporting the first arm 21, and a second leg 24 supporting the second arm 22. Configured. The positioning device 15 is fixed on the plane 6 by a first leg 23 and a second leg 24 .

As shown in FIG. 4 , the first arm 21 and the second arm 22 are part of a frame overhanging the turntable 5 . A first slider body 25 is attached to the first arm 21 . Similarly, a second slider body 26 is attached to the second arm 22 . The first slider body 25 and the second slider body 26 are provided so as to be arranged on one end side and the other end side of the row of the plurality of columnar works 11 .

The first slider body 25 and the second slider body 26 have the same configuration.

First, the structure of the main body of the first slider 25 will be described. As shown in FIG. 4, the first slider main body 25 has a first slider fixed plate 27 fixed to the first arm 21 and a first slider movable plate 28 . The first slider movable plate 28 is a movable body capable of moving on a plane parallel to the first slider fixed plate 27 . Specifically, the first slide plate 31 that slides in one direction (the X axis in FIG. 4) is attached to the first slider fixing plate 27 via the first slide rails 55 . Further, the first slide plate 31 is mounted with a second slide plate 32 that slides in a direction shifted by 90 degrees (the Y axis in FIG. 4) via a second slide rail 56 .

The first handling portion receiving portion 33 and the first cylinder 34 are fixed to the second slide plate 32 . The direction in which the columnar workpiece 11 is inserted into the mold 4 is the Z direction in FIG. The first cylinder 34 is an actuator that moves the first rod 35 in the Z direction in FIG. The moving direction of the first rod 35 is perpendicular to the surface of the second slide plate 32 . The first rod 35 protrudes from the bottom surface of the first cylinder 34 .

As shown in FIG. 2 , a first pin 36 is arranged on the upper surface of the first handling portion receiving portion 33 . As shown in FIG. 5, the first pin 36 guides the first alignment portion 17 . The first positioning portion 17 is a hole provided for positioning. Further, as shown in FIG. 2, a second pin 37 is arranged at the tip of the first rod 35 . The second pin 37 is fitted into the second alignment portion 19 when the first rod 35 is moved. The second alignment portion 19 is a positioning hole provided in the mold 4 .

As shown in FIG. 5, inside the first handling portion receiving portion 33, there is a first spring 51 as a first biasing means. The first spring 51 applies a biasing force to the first pin 36 against the first alignment portion 17 . In FIG. 5, the direction of the biasing force is upward. When the handling part 9 is guided to the positioning device 15, the columnar workpiece 11 is already inside the mold 4, as shown in FIG. However, since the first pin 36 supports the weight of the handling portion 9 due to the biasing force of the first spring 51 , the insertion side end portion 13 does not reach the receiving hole 14 .

Next, the structure of the main body of the second slider 26 will be described.
Like the first slider body 25 , the second slider body 26 has a second slider fixing plate 47 fixed to the second arm 22 and a second slider movable plate 48 . The second slider movable plate 48 is a movable body capable of moving on a plane parallel to the second slider fixed plate 47 . Specifically, the third slide plate 41 that slides in one direction (the X-axis direction) is attached to the second slider fixing plate 47 via the third slide rails 53 . Further, a fourth slide plate 42 is attached to the third slide plate 41 so as to slide in a direction shifted by 90 degrees (Y-axis direction) via a fourth slide rail 54 .

A second handling portion receiving portion 43 and a second cylinder 44 are connected to the fourth slide plate 42 . The second cylinder 44 is an actuator that moves the second rod 45 in the direction in which the columnar workpiece 11 is inserted into the mold 4 (the Z axis in FIG. 4). The moving direction of the second rod 45 is perpendicular to the surface of the fourth slide plate 42 . The second rod 45 protrudes from the bottom surface of the second cylinder 44 in the Z direction.

The second handling portion receiving portion 43 will be described. The second handling part receiving part 43 has the same configuration as the first handling part receiving part 33 .
As shown in FIG. 5, inside the second handling portion receiving portion 43, there is a second spring 52 as a second biasing means. The second spring 52 applies a biasing force to the third pin 38 against the third alignment portion 18 . In FIG. 5, the direction of the biasing force is upward. When the handling part 9 is guided to the positioning device 15, the columnar work 11 is already inside the mold 4, as shown in FIG. However, since the third pin 38 supports the weight of the handling portion 9 due to the biasing force of the second spring 52 , the insertion side end portion 13 does not reach the receiving hole 14 .

When the first cylinder 34 and the second cylinder 44 are operated while the insertion side end 13 does not reach the receiving hole 14, the first rod 35 and the second rod 45 descend in the Z direction. A second pin 37 arranged at the tip of the first rod 35 descends and fits into the second positioning portion 19 . Also, the fourth pin 39 arranged at the tip of the second rod 45 descends and fits into the fourth positioning portion 20 . By fitting the second pin 37 into the second alignment portion 19 and fitting the fourth pin 39 into the fourth alignment portion 20, positioning of the insertion side end portion 13 and the receiving hole 14 is completed. The handling unit 9 lowers the columnar workpiece 11 against the biasing forces of the first spring 51 and the second spring 52 . By lowering the columnar work 11 after the positioning is completed, the insertion side end 13 can be inserted into the receiving hole 14 .

As shown in FIG. 5, the first pin 36 has a truncated cone shape with a tip that is narrower than a base. The first alignment portion 17 is tapered to match the shape of the first pin 36 . Similarly, the third pin 38 has a truncated cone shape with a tip that is narrower than a root. The third alignment portion 18 is tapered to match the shape of the third pin 38 . As a result, the first pin 36 guides the first alignment portion 17 and the third pin 38 guides the third alignment portion 18 , so that the handling portion 9 can be attached to the positioning device 15 .

On the other hand, as shown in FIG. 6, the second pin 37 and the fourth pin 39 have a cylindrical shape. The inserting direction of the columnar work 11 is the Z direction shown in FIG. The action of the first rod 35 and the second rod 45 lowers the second pin 37 and the fourth pin 39 in the Z direction. Then, supported by the following motions of the first slider body 25 and the second slider body 26, the second pin 37 and the fourth pin 39 are fitted into the second positioning portion 19 and the fourth positioning portion 20, respectively. When the second pin 37 and the fourth pin 39 are fitted into the second positioning portion 19 and the fourth positioning portion 20, the handling portion 9 can be positioned to the mold 4. As shown in FIG.

The operation of the positioning device 15 will be described. As shown in FIG. 7, first, the handling section 9 sandwiches the chuck-side end 12 of the columnar workpiece 11 . Second, as shown in FIG. 5, the robot arm 7 pushes the first alignment portion 17 into the first pin 36 in a state in which the braking forces of the robot arm 7 on the X-axis and the Y-axis are released. The handling part 9 is guided to the positioning device 15 by pushing the pin 38 into the third alignment part 18 . Thirdly, as shown in FIG. 6, the first cylinder 34 is used to fit the second pin 37 to the second alignment portion 19 on the mold 4 side, and the second cylinder 44 is used to perform the fourth alignment. By fitting the fourth pin 39 to the portion 20 , the position of the handling portion 9 can be positioned at the position of the mold 4 . Fourth, with the second pin 37 fitted into the second alignment portion 19 and the fourth pin 39 fitted into the fourth alignment portion 20, the robot arm 7 lowers the handling portion 9 in the Z direction. Let At this time, it is possible to reduce shaking or displacement of the handling portion 9 when it is lowered, so that a plurality of columnar works 11 can be inserted into the receiving holes 14 in the mold 4 at once. Poor insertion of the columnar workpiece 11 can be reduced. In particular, since the first slider main body 25 and the second slider 26 main body operate independently, the degree of freedom of the positioning operation can be increased.

In FIG. 8, the center line of the mold 4 is indicated by MCL. An initial row of columnar workpieces 11 is indicated by WCL. The initial row of the columnar workpiece 11 with respect to the center line of the mold 4 has an angle θ deviation. When inserting a plurality of columnar works 11 side by side into the receiving hole 14, it becomes easy to adjust the deviation of the angle θ and insert them all at once. When the robot arm 7 moves the handling part 9 onto the positioning device 15 after the chuck 10 has gripped the columnar workpiece 11, the handling part 9 is at the position indicated by the two-dot chain line in FIG. At this time, the arrangement of the columnar workpieces 11 is positioned on the chain double-dashed line. After that, the handling part 9 is guided to the positioning device 15 by pushing the robot arm 7 . Furthermore, in the positioning device 15, the first rod 35 and the second rod 45 move the second pin 37 and the fourth pin 39 to the second position on the die 4 side by the operation of the first cylinder 34 and the second cylinder 44, respectively. The alignment part 19 and the fourth alignment part 20 are fitted. At this time, the position of the handling portion 9 can be corrected to the position indicated by the dashed line in FIG. By correcting the position of the handling part 9 , the row of the columnar workpieces 11 can be aligned with the center line of the mold 4 . In the first embodiment, the main body of the first slider 25 and the second slider 26 follow independently, so even if the mold position fluctuates in the polar coordinate system, positioning can be performed in the XY coordinate system. Thereby, the insertion side ends 13 of the plurality of columnar works 11 can be inserted into the receiving holes 14 at once. It is possible to provide a positioning device that reduces the occurrence of poor insertion of the columnar workpiece 11 .

In addition, in the process of manufacturing the armature, molding may be applied to the columnar work corresponding to the armature. A positioning device according to the present invention can be applied to a workpiece for manufacturing an armature. In this case, the insertion side end of the work corresponds to the shaft protruding from the armature body. When inserting the shaft into the receiving hole of the mold, highly accurate positioning can be performed.

(Other embodiments)
In the positioning device of the present invention, there are no restrictions on the position and quantity of the positioning pins arranged on the first slider body and the second slider body. It suffices if the handling part can be guided to the positioning device side. Further, there are no restrictions on the position and quantity of the positioning pins arranged on the first slider body and the second slider body. It is sufficient that the positioning pin can be fitted into the positioning hole by the operation of the first cylinder and the second cylinder. In particular, the number of positioning pins and corresponding positioning holes can be increased to stabilize the levelness.

The present invention is not limited to the embodiments, and can be embodied in various forms without departing from the scope of the invention.

4...Mold, 9...Handling part,
11... Columnar workpiece, 14... Receiving hole,
DESCRIPTION OF SYMBOLS 15... Positioning device, 16... Main body 17... 1st positioning part, 18... 3rd positioning part,
19... second alignment part, 20... fourth alignment part,
34... 1st cylinder, 35... 1st rod,
36... 1st pin, 37... 2nd pin,
38... 3rd pin, 39... 4th pin,
44... 2nd cylinder, 45... 2nd rod.

Claims (6)

A positioning device capable of inserting a plurality of workpieces (11) gripped by a handling part (9) into a plurality of receiving holes (14) of a mold (4),
a body (16);
a first slider body (25) selectively movable in a first axis (X-axis) and a second axis (Y-axis) direction relative to the body;
a first rod (35) telescopic from the first slider body in a third axis (Z-axis) direction;
a first pin (36) fixed to the first slider body and capable of guiding a first alignment portion (17) provided on the handling portion;
a second pin (37) connected to the first rod and capable of fitting a second alignment portion (19) provided on the mold;
a second slider body (26) selectively movable relative to the body in first and second axial directions;
a second rod (45) telescopic in a third axial direction from the second slider body;
a third pin (38) fixed to the second slider body and capable of guiding a third alignment portion (18) provided on the handling portion;
a fourth pin (39) connected to the second rod and capable of fitting a fourth alignment portion (20) provided on the mold;
A positioning device comprising: 2. The positioning device according to claim 1, wherein the first slider body is provided on one end side in the row direction of the workpieces, and the second slider body is provided on the other end side in the row direction of the workpieces. The first slider body comprises first biasing means (51) for biasing the first pin against the first alignment portion,
3. The positioning device according to claim 1, wherein said second slider body comprises second biasing means (52) for biasing said third pin against said third alignment portion. The positioning device according to any one of claims 1 to 3, wherein the first pin and the third pin are tapered pins. The positioning device according to any one of claims 1 to 4, wherein the second pin and the fourth pin are straight pins. A positioning method for inserting a plurality of workpieces into a plurality of receiving holes of a mold using the positioning device according to any one of claims 1 to 5,
a step of gripping the workpiece by the handling unit;
pushing the handling part to guide the first alignment part to the first pin and guide the second alignment part to the third pin;
Movement of the first rod causes the second pin to fit into a third alignment portion, and movement of the second rod causes the fourth pin to fit into a fourth alignment portion;
inserting the workpiece into the receiving hole by pushing the handling part;
positioning method, including

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