JPH02306415A - Checking device for flat plate type work - Google Patents

Abstract

PURPOSE:To attain the complete automation for an entire checking process of a flat plate type work by taking out the work stored vertically in a magazine and positioning the work accurately on an index table. CONSTITUTION:A large number of magazines 1 storing the works 2 are set at a magazine supply part 10. A magazine carrying means separates these magazines 1 from each other and carries them to a magazine positioning part 11. Then a work take-out means takes the works 2 individually out of the positioned magazines 1 and transfers the works 2 to a work inverting device 30. The device 30 sets horizontally the works 2 and positions them. Each work 2 is chucked and transferred onto an index table 60 via a pick-and-place device 50 and fixed by a work fixing means. The table 60 is turned by a prescribed angle and moved to a checking position. Then each work 2 is checked. In such a way, all checking/measuring processes completely are automated.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is useful for removing a flat workpiece from a magazine in which it is stored vertically, such as a recording/playback head in a video recorder (VTR), for example. The present invention relates to an inspection device for flat workpieces, which is transported to an index table for inspection and inspects its characteristics.

[Prior art and its drawbacks] The head base of the recording/reproducing head of a VTR is made of a flat member, and this workpiece is used for predetermined measurements.

They are inspected and classified based on the results of these measurements and inspections. For this purpose, an inspection device is used, and this type of inspection device requires various operations such as accurately positioning the workpiece on the index table.

Here, if it is made of a thin flat plate-like member with small dimensions, such as the head base mentioned above, and the negative end cannot be brought into contact with another object, the handling However, it is very difficult to completely automate all operations of this inspection equipment. especially,
There are two types of magazines that store flat workpieces: flat magazines that store workpieces horizontally, and vertical magazines that store workpieces in an almost vertical position. It is preferable to use this vertical magazine to supply the workpieces, since it has the advantage of increasing the amount of workpieces and is convenient for storage and transportation. Therefore, it is necessary to take out the workpiece from the vertical magazine, change its posture so that it is in a horizontal state, and position it on the index table, which is extremely difficult.

From this point of view, the workpieces stored in the vertical magazine are taken out one by one, placed on the index table,
A device that completely automates the work of measuring and inspecting the work has not been used in the past.

OBJECT OF THE INVENTION] The present invention has been made in view of the above-mentioned points, and is an all-in-one method in which workpieces stored in a vertical magazine are taken out one by one, fed to an index table, and inspected and measured. An object of the present invention is to provide an inspection device for flat workpieces that can automate the process.

[Means for Constructing the Object 1] In order to achieve the above-mentioned object, the present invention provides a magazine for transporting a magazine in which flat workpieces are stored in a substantially vertical state from a magazine supply section to a magazine positioning section. a conveying means, a workpiece retrieval means for taking out the workpieces one by one from the magazine installed in the magazine positioning section, a receiving means for receiving the workpieces from the workpiece retrieval means, inverting the workpieces by 90 degrees, and placing them in a predetermined position. The present invention includes a work reversing device for positioning, a pick antra-lace device for transporting the work horizontally positioned by the work reversing device to an index table for inspection, and a work fixing means provided on the index table. It is characterized by its structure.

[Operation] First, a large number of magazines storing workpieces are installed in the magazine supply section, and the magazines are separated one by one by the magazine conveyance means and conveyed to the magazine positioning section. Then, the workpiece retrieval means is activated to separate and take out the workpieces one by one from the thus positioned magazine and transfer them to the workpiece reversing device. In this state, the workpiece is in a vertical state, or by operating the workpiece reversing device, the workpiece is brought into a horizontal state and its position is performed.

Therefore, the pick antralace device is operated to chuck the workpiece, which is positioned in a horizontal state in the workpiece reversing device, and transfer it onto the index cheatle.

Then, the workpiece is fixed by the workpiece fixing means provided on the index table, and the index table is rotated by a predetermined angle to move to a position for inspection, and the workpiece is inspected.

Further, the workpieces inspected in this manner can be classified by an appropriate handling means such as a robot, and then stored in a storage jig such as a magazine.

[Example] Hereinafter, an example of the present invention will be described in detail based on the drawings.

Figure 1 shows the overall configuration of the workpiece inspection device.

In the figure, 1 indicates a magazine, and this magazine 1 stores a large number of works 2.

Here, as shown in FIG. 2, the work 2 is made of a flat plate-like member with a through hole 3 bored in the center of the dowel, and the tip is the tip mounting part 2a. Must be kept contactless while working. Also,
The two end faces of the - side inclined surface 2b and the end opposite to the chip mounting portion 2a, that is, the base end 2c, serve as reference surfaces with accurately dimensioned dimensions. Here, work 2 is Makashin 1
A large number of chips are stored vertically with the chip mounting portions 2a facing upward, and approximately the upper half thereof protrudes from the top surface of the magazine 1.

The machining machines 1 that have stored the workpieces 2 in this way are installed in a stacked state in the magazine supply section 10, and from this magazine supply section 10, the magazines 1 are first separated and taken out one by one, and placed in the magazine positioning section 11. A transfer device 13 is also provided for separating the workpieces 2 one by one from the machining machine 1 and transporting them to the workpiece reversing section 12.

As shown in FIGS. 4 and 5, the transfer means 13
A horizontal drive mechanism 14 having an axis guide 14a and a Y-axis kite L4b to which the X-axis guide 14a is slidably mounted in the X direction; It is composed of a movable solo link 15, a magazine transfer means 16 and a workpiece transfer means 17 attached to the movable solo link 15.

As is clear from FIG. 6, the magazine transfer means 16 is
It has a pair of fin forces 20.20 that hold the magazine 1 located in the magazine supply section 10 from below, and the fingers 2
0.20 can be displaced in the directions of approaching and separating from each other by the opening/closing cylinder 21.

Further, this opening/closing cylinder 21 is vertically installed on an elevating plate 22, and the elevating plate 22 is connected to the movable block 15 so that it can be raised and lowered by an elevating drive cylinder 24 attached to a plate 23. . Therefore, by operating the magazine transfer means 16, it is possible to take out 61 magazines 1 from the magazine supply section 10 and transfer them to the magazine positioning section 11.

Further, the workpiece transfer means 17, as shown in FIG.
A pair of gripping claws 25 are used to take out the workpiece 2 stored in the magazine 1 by holding the left and right edges of the workpiece 2.
．． 25, and these clamping claws 25, 25 can be displaced in directions toward and away from each other by an opening/closing cylinder 26. Further, this opening/closing cylinder 26 is driven up and down by an elevating cylinder 27, and the elevating cylinder 27 is mounted on the plate 23 together with the elevating driving cylinder 24 in the magazine transfer means 16. There is.

Thereby, the work pieces 2 can be taken out one by one from the magazine 1 installed in the magazine positioning section 11 and fed into the work reversing section 12.

Next, the work reversing unit 12 is provided with a work reversing device 30 . As shown in FIGS. 8 and 9, this work reversing device 30 has a rotation shaft 31.
1 is capable of reciprocating 90° rotation by a driving means (not shown) such as a motor or syringe, and a workpiece storage member 32 is attached to this rotation shaft 31. As is clear from FIGS. 10 and 11, the workpiece storage member 32 includes a base 33 and a pair of chuck members 34.3.
4.

The base 33 has a structure including a flat part 33a that comes into contact with one side surface of the work 2, and a stepped part 33b that comes into contact with the lower end of the work 2.
It is fixedly attached to the Here, the distance from the upper end of the base 33 to the stepped portion 33b is shorter than the length of the workpiece 2, so when the workpiece 2 is accommodated,
Almost the upper part of the chip mounting part 2a side protrudes upward from the upper end of the flat part 33a.

On the other hand, the chuck member 34 is attached to a shaft J6 provided on the base 35.
It has a pair of arms 37 rotatably attached to 36,
At the tip of each arm 37, there is a clamping part 3 for positioning the workpiece 2 by clamping both left and right ends of the workpiece 2.
It is 7a. Further, the tip portions of the i-holding portions 37a serve as workpiece holding portions 37b extending in a direction approaching each other. This work holding part 37b is spaced apart from the flat part 33a of the base 33 by a distance slightly wider than the thickness of one piece of the work 2.

Thus, the arm 37 constituting the chuck member 34 is attached to the shaft 3.
6, the work holding parts 37b, 37 are rotated as shown by solid lines in FIG.
The gap between the two is narrower than the width of the workpiece 2, and the workpiece 2 is held so as not to fall between them.
, 37a is a work holding position in which the end face of the work 2 is in a non-contact state, a chuck position where the work 2 is held between the clamping parts 37a and 37a, and a work holding part 37b as shown by the dashed line in the figure. , 37b is wider than the width of the workpiece 2, and can be moved to three positions including a chuck release position where the workpiece 2 in the workpiece storage member 32 can be taken out.

A chuck actuating means 38 is provided to displace the chuck member 34 to the three positions described above. This chuck actuating means 38 has a cam plate 39, which is driven up and down by a cylinder 40. On the other hand, a spring 41 is provided between the arms 37 and 37 constituting the chuck member 34, and urges the arms 37 and 37 toward each other.
A spherical body 42 is provided on the inner surface of the cam plate 37 and comes into contact with the cam surface 39a of the cam plate 39. The mounting position of this sphere 42 is a position shifted from the center of reversal in the reversing device M30.

Therefore, when the workpiece storage member 32 is in the vertical state, the sphere 42 provided on the arm 37 comes into contact with a midway position of the cam surface 39a of the cam plate 39, and in this state, the chuck member 34 is in the workpiece holding position. As a result, the workpiece 2 can be loaded into the workpiece storage member 32. When the workpiece accommodating member 32 is rotated by a predetermined angle, the sphere 42 is separated from the cam plate 39, and due to the action of the spring 41, the right and left ends of the workpiece 2 are moved to the arms 37, 37.
It is displaced to the chuck position where it is held between the holding parts 37a and 37a. Furthermore, when the workpiece storage member 32 is in a horizontal state, the cylinder 40 is actuated,
When the cam plate 39 is pushed up, the cam surface 39 of the cam plate 39
a comes into contact with the sphere 42, and the arm 37.37 is moved by the spring 41.
As a result, the work holding parts 37b, 37b are moved to a chuck release position in which the work holding parts 37b are separated from the work 2 located in the work accommodating member 32.

A support plate 43 is provided which is flush with the plane portion 33a of the base 33 and supports the tip end portion of the work 2 when the work 2 is in a horizontal state.

Next, in order to take out the workpiece 2 from the workpiece reversing device 30, a pick antralace device 50 is provided.

As shown in FIG. 13, this pick antral lace device 50 has an arm 51 that is provided so as to be able to reciprocate in the horizontal direction by a driving means (not shown) such as a cylinder, and the tip of the arm 51 is , an elevating block 53 that is raised and lowered by a cylinder 52 is attached. A work chuck means 54 is attached to this lifting block 53. The workpiece chuck means 54 includes a pin 55 inserted into the through hole 3 of the workpiece 2, and a presser plate 56 that can move toward and away from the end surface 2c. The pin 55 is the presser tube 5
The presser plate 56 is rotatably attached to the shaft 68, and by rotating the presser plate 56, the pin 55 and the presser plate 56 are clamped. It has become. In order to ensure that the pin 55 can be inserted into and removed from the through hole 3 of the workpiece 2, the surface of the workpiece 2 can be pressed by a presser cylinder 57.

In this way, the workpiece 2 taken out from the workpiece reversing device 30 by the pick antralace device 50 is placed on the index cheatle 60, and by rotating the index cheatle 60 at predetermined angles, the inspection means 61. 62, and during this time each inspection means 6
1.62, a predetermined inspection is performed, the work is taken out from the index table 60 by the work handling device 63, and the work is classified based on the inspection results.
It is arranged to be stored in a magazine 64. The magazine 64 on the unloader side is a flat magazine that stores the workpiece 2 in a horizontal state.

Here, the index table 60 has a workpiece fixing means 70 for positioning the workpiece 2 supplied from the pick antralace device 50 at a predetermined position. The workpiece fixing means 70 includes a positioning wall 71a that abuts the side portion 2b and end portion 2C of the workpiece 2, which serve as reference surfaces;
71b and the side part 2b of the work 2 to the positioning wall 71a,
It has a butcher roller 72 and a butcher plate 73 for bringing the end portion 2c into contact with the positioning wall 71b. This button plate 73 has a half-moon-shaped notch formed in order to prevent it from coming into contact with the chip mounting portion 2a of the workpiece 2.

These bumpy rollers 72 and bumpy plates 73
A lever 74 is provided in order to displace between a state in which the workpiece 2 is fixed and a state in which it is separated from the workpiece 2. This lever 74 is rotated by a driving means (not shown) such as a motor or a cylinder. It can be rotated horizontally about a moving shaft 75. The pusher plate 73 has a protruding roller 73a fitted into a long groove 74a formed in the middle of the lever 74.

On the other hand, the butcher roller 72 is attached to a slide block 76, and the slide block 76 is attached to the lever 7.
The slide block 76 is reciprocated by an interlocking lever 77 that rotates following the movement of the slide block 76.
The action of the spring 78 biases the butcher roller 72 in the direction of pressing it against the side surface of the workpiece 2 . Further, a spring 79 acts on the lever 74, and the biasing force of the spring 79 causes a force to be applied to press the pusher plate 73 against the workpiece 2.

The button roller 72 is engaged with the tip of the lever 74 via the interlocking lever 77, and the button plate 73 is directly connected to the lever 74 at the intermediate portion of the lever 74. When moving to a state where the workpiece 2 is fixed, first press the buttshaper roller 72.
comes into contact with the workpiece 2, and then the bushing plate 73 also comes into contact with it. This allows the workpiece 2 to be positioned and fixed extremely accurately.

This embodiment is constructed as described above, and its operation will be explained next.

First, a large number of works 2 are vertically stored in the magazine 1 and installed in the magazine supply section 10. Then, by driving the X-axis chi 1 to ] 4a and the Y-axis guide 14b in the horizontal drive mechanism 14, the movable flock 15 is positioned in the magazine supply section 10, and the magazine transfer means 16 attached to the movable block 15 is moved. It is arranged at a position facing one magazine 1 from the magazine supply section 10.

Therefore, the opening/closing cylinder 21 moves the fingers 20°20
With the fingers 20, 20 separated from each other, the lifting cylinder 24 is operated to lower the fingers 20, 20 to a position where they can grip the magazine 1. After that, the opening/closing cylinder 21 is operated to hold the magazine 1 by the fin forces 20, 20, and in this state, the elevating drive cylinder 24
By reducing the size of the magazine 1, the magazine 1 is lifted up, and the horizontal drive mechanism 14 moves the magazine transfer means
The machine machine 1 held by the machine 6 is transferred to the magazine positioning section 11, the magazine 1 is installed at this position, and the fingers 20 and 20 are opened.

Next, the workpiece transfer means 1 attached to the movable block 15
7, the lifting drive cylinder 27 lifts the clamping part 2.
5 is lowered, and the clamping part 25 is attached to the workpiece 2 in the magazine 1.
．． 25 face to face. In this state, by operating the opening/closing cylinder 26, the clamping portion 25.25
Work 2 is held between them. Thereafter, the lifting cylinder 27 is operated to lift the work 2 and transfer the work 2 to the work reversing section 12.

Here, the workpiece storage member 32 in the workpiece reversing device 30 installed in the workpiece reversing section 12 is held in a vertical state. As a result, the arm 37 of the chuck member 34 is brought to the workpiece holding position by the cam plate 39 constituting the chuck actuating means 38. Then, the workpiece 2 held by the holding part 25 of the workpiece transfer means 17 is transferred to the workpiece storage member 32.
The workpiece transfer means 17 is separated from the workpiece reversing section 12.

As described above, since the chuck member 34 is in the workpiece holding position, the workpiece 2 can be loaded into the workpiece storage member 32 by the workpiece transfer means 17, and the loaded workpiece 2 There is no risk of falling off from the workpiece storage section 32. However, since the workpiece 2 is placed into the workpiece storage member 32 so as to fall under its own weight, inside the workpiece storage member 32,
Work 2 does not always maintain a constant posture,
For example, it may be stored in an oblique position.

However, after the workpiece storage member starts moving 32 times, both arms 37 and 37 rotate in a direction closer to each other, and the workpiece 2 is clamped between the clamping parts 37a and 37a, and the workpiece 2 is accurately positioned with the chuck. will be done.

In this way, when the workpiece accommodating member 32 rotates 90 degrees, the part of the workpiece 2 that protrudes from the workpiece accommodating member 32 comes into contact with the support plate 43, and the workpiece 2
is in contact with the flat portion 33a of the base 33 and the support plate 43. Therefore, when the cylinder 40 is operated and the cam plate 39 is pushed up, the cam surface 39a of the cam plate 39 is
comes into contact with the sphere 42 of the arm 37, resisting the spring 41 and separating the two arms 37 and 37, and the work holding part 37b
is released from the top of work 2.

In this state, the pick antralace device 50 is operated to chuck the workpiece 2 positioned horizontally as described above. First, the pin 55 is retracted into the presser cylinder 57, and the cylinder 52 lowers the lifting block 53. As a result, the presser cylinder 57 comes into contact with the periphery of the through hole 3 of the workpiece 2. After that, pin 5
When the pin 55 is made to protrude from the presser cylinder 57, the pin 55 is reliably inserted into the through hole 3, and the workpiece 2 will not jump up when the pin 55 is inserted. Then, with the pin 55 inserted into the through hole 3, the workpiece 2 is chucked by bringing the presser plate 56 into contact with the end surface portion 2c.

Then, actuate the cylinder 52 to move the workpiece 2.
When the picked work chuck means 54 is raised and the arm 51 is extended, the work 2 can be moved to the upper position of the index table 60. here,
Work fixing means 70 in index table 60
When the workpiece chuck means 54 is lowered with the workpiece 2 in an open state, the workpiece 2 is placed on the index table 60. Then, the workpiece chuck means 54 is separated from the index cheatle 60, but when attaching and detaching the workpiece chuck means 54, the pin 55 is attached and detached from the through hole 3 while the workpiece 2 is held down by the presser cylinder 57. After that, the presser plate 56 is separated from the end surface 2c of the workpiece 2. This prevents the workpiece 2 from being displaced on the index table roller 0 or being lifted up together with the workpiece chuck means 54.

Then, when the lever 74 is rotated, the button roller 72 first contacts the side portion 2b of the workpiece 2 or the positioning wall 71a, and then the button plate 73 is actuated, and the end portion 2c
As a result, the workpiece 2 is accurately positioned and fixed at a predetermined position on the index table 60.

After that, when the index table 60 is rotated,
The workpiece 2 is first subjected to a predetermined inspection by the first inspection means 61, then other types of inspections are carried out by the second inspection means 62, and when these inspections are completed, the workpiece 2 is transferred to the unrotor section. At this position, the fixation of the workpiece 2 by the workpiece fixing means 70 is released, and the workpiece 2 can be taken out by the workpiece hand link means 63 and stored in the magazine 64 in a classified state.

By repeating the above-mentioned operations, the workpieces 2 are taken out one after another from the magazine l installed in the magazine positioning section 11, and the posture of the workpieces is automatically changed from a vertical state to a horizontal state, and the workpieces are accurately positioned and indexed. It becomes possible to supply it to the vine 60 and perform its inspection. Further, when all the works 2 in the magazine 1 in the magazine positioning section 11 are discharged, this machining machine 1 is ejected and a new machining machine 1 is taken out from the magazine supplying part 10 by activating the magazine transfer means 16. By installing this in the magazine positioning section 11, the workpiece 2 can be taken out from the magazine 1 concerned.

[Effect of the Invention J Since the present invention has the configuration described in detail above, when a workpiece stored vertically in the macazine is taken out,
It becomes possible to completely automate the entire inspection process by installing the device in an accurately positioned position on the index table.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention. Fig. 1 is an overall configuration diagram of a mechanism for inspecting a workpiece, Fig. 2 is an external view of a workpiece, Fig. 3 is an external view of a magazine, and Fig. 4 is an external view of a magazine. A perspective view of the transfer device, FIG. 5 is a front view of FIG. 4, FIG. 6 is an explanatory diagram of the configuration of the magazine transfer means, FIG. 7 is an explanatory diagram of the configuration of the workpiece transfer means, and FIG. 8 is a workpiece reversal diagram. A front view of the device, FIG. 9 is a side view of FIG. 8, FIG. 10 is a perspective view of the main part of FIG. 8, FIG. 11 is a plan view of the chuck member, and FIG. 12 is an external view of the pick antralace device. , FIG. 13 is a plan view of the main part of the index table. 1: Magazine, 2: Work, 10・Magazine supply section, 1
1: Magazine positioning section, 12: Work reversing section, 13:
Transfer device, 30: Work reversing device, 31: Rotation axis, 32
: Work storage part, 33: Base, 33a: Plane part, 33
b = step part, 34: chuck member, 35: base, 36: shaft, 37: arm, 37a: clamping part, 37b, work holding part, 38: chuck actuating means, 39: cam plate, 39a:
Cam surface, 40: cylinder, 41: spring, 42: sphere, 4
3: Support plate, 50: Pick-and-place device, 53:
Lifting flock, 54: Workpiece means, 55:
pin, 56: presser plate, 57: presser tube, 60: index table, 61.62・inspection means, 70: workpiece fixing means, 71a +' 71b: positioning wall, 72 button roller, 73: pusher plate, 74・lever, 77:
Interlocking lever.

Claims (1)

[Claims] A magazine conveyance means for conveying a magazine in which flat workpieces are stored in an almost vertical state from a magazine supply section to a magazine positioning section, and a workpiece retrieval means for taking out the workpieces one by one from the magazine installed in the magazine positioning section. a work reversing device for receiving a work from the work retrieval means, inverting the work by 90 degrees, and positioning the work in a predetermined position; and a work reversing device for inspecting the work horizontally positioned by the work reversing device. An inspection device for a flat workpiece, comprising a pick antralace device for conveying the workpiece to an index table, and workpiece fixing means provided on the index table.