JPH0573538B2 - - Google Patents

Description

[Detailed Description of the Invention] [Object of the Invention] The present invention relates to a device for positioning and gripping a workpiece in a vertical state, and is particularly capable of positioning and gripping a workpiece reliably and with high precision with a simple configuration. The purpose of this invention is to provide a workpiece gripping device.

[Structure of the invention]

First, embodiments embodying the present invention will be described with reference to the attached drawings to provide an understanding of the present invention.

Although this embodiment relates to a side plate gripping device used in an automatic chassis assembly process for fixing two plate-shaped side plates at right angles to a substrate, the present invention is applicable to all other vertical workpieces. It should be noted that this method is applicable to various types of workpieces, and is particularly suitable for plate-shaped workpieces.

FIG. 1 is a plan view of the entire chassis assembly device including a work gripping device according to an embodiment of the present invention, FIG. 2 is a front view thereof, and FIG. 3 is a side view of a substrate positioning mechanism used in the assembly device, FIG. 4 is a plan view of the workpiece gripping device according to the above embodiment, FIGS. 5a and 5b are side views showing the operation of the drive section of the workpiece gripping device, and FIGS. FIG. 6 is a plan view showing the structure of a workpiece gripping device having another structure, and FIGS. 7a and b show the workpiece gripping device shown in FIG. 6. A plan view and a side view showing the structure of the drive unit in the device, FIG. 8 is a front view of the workpiece conveyance device used in the above assembly device, and FIG. 9 is a front view of the workpiece rotation device that forms the main part of the workpiece conveyance device. , 1st
FIG. 0 is a front view showing the travel drive section of the workpiece conveyance device, and FIGS. 11a to 11c are flowcharts showing the operating procedure of the assembly device.

[Overview of entire assembly equipment]

First, the schematic structure of the assembly device 18 is shown in FIGS. 1 and 2.
8, this assembly device 18 consists of two gate-shaped parts arranged in a direction perpendicular to both conveyors, extending from a side plate conveyor (not shown) to a substrate conveyor. rail 34, and a side plate 5 or 6 that slides on this rail 34 and is supplied to the side plate supply position and substrate supply position on each conveyor.
A workpiece transfer device 37 (FIG. 8) that transfers the workpiece and the substrate 19 to the approximate center of the rail 34
and provided approximately at the center of the rail 34,
A workpiece gripping device 38 (FIGS. 1 and 2) that holds the side plate 5 or 6 and the substrate 19 in an assembled state transported by the workpiece transporting device 37, and the workpiece gripping device 38 It is comprised of side plates 5 and 6 held in the same state, and two screw tightening machines 39 (FIG. 1) for tightening screws to the board 19.

[Workpiece conveyance device]

First, the side plate 5 or 6 or the substrate 19 is transferred to the workpiece gripping device 3 from the side plate supply position or the substrate supply position.
The structure of the workpiece conveying device 37 for conveying up to 8 pieces will be explained with reference to FIGS. 8 to 10.

As shown in FIG. 8, the rail 34 is placed in a gate shape on four vertically erected frames (not shown). drive in a direction perpendicular to. That is, as shown in detail in FIG. 10, a guide bar 42 is placed on the top surface of one of the pair of rails 34, _34a , in a direction perpendicular to the paper surface of FIG. A bearing 44 is fixed on a guide block 43 which is slidably fitted into the guide block 43.

A guide rail 45 is fixed to the upper surface of the other rail 34 _b over the entire length of the rail 34 , and a wheel receiver 47 is connected to the guide rail 4 via wheels 46 that roll along the guide rail 45 .
It is supported on 5. A pair of wheel receivers 47 are provided at regular intervals in the direction perpendicular to the paper surface of FIG.
A transport device main body frame 48, which is perpendicular to , is slidably suspended.

Rail 34 _a of the transport device main body frame 48
A motor 49 with a speed reducer is fixed on the upper surface of the side end, and a gear 50 attached to the output shaft of this motor 49 is connected to the bearing 44 and the transport device main frame 4.
It meshes with a gear 52 coaxially fixed to a shaft 51 which is rotatably supported by a bearing (not shown) provided on the 8 side. A gear 53 fixed to the shaft 51 coaxially with the gear 52 is attached to the conveyor main body frame 4.
8 is engaged with a gear 56 rotatably attached to a bracket 55 on the carrier main frame 48 via an intermediate gear 54 rotatably attached via a bearing (not shown). Also, the rail 34 _a
A gear 58, which is attached coaxially with the gear 56, meshes with a rack 57 that is attached over its entire length in the longitudinal direction.

Therefore, when the motor 49 rotates, the gears 50, 5
2, 53, 54, and 56 in order, and the position of engagement with the rack 57 that engages with it moves, so that the transport device main frame 48
is supported by the guide bar 42 and wheels 46 and moves in a direction perpendicular to the paper plane of FIG.

As shown in FIG. 9, two support members 59 hang vertically downward from the transport device main body frame 48.
horizontal support plate 60 attached to the lower end of the
has a vertical air cylinder 61 in its center.
is fixed to the lower end of the piston rod 62 of the air cylinder 61, and a work rotation device, generally designated by 64, is suspended via a disc spring 63, as shown in detail in FIG.

This work rotation device 64 includes an upper plate 65 directly attached to the piston rod 62 via the disc spring 63, and a horizontal lower plate attached to the upper plate 65 via a vertical support rod 66. 67
A rotary cylinder 68 is placed on the upper surface of the lower plate 67. The two rods 69 attached vertically to the upper plate 65 and the lower plate 67 are vertically slidably supported by vertical bearings 70 fixed to the support plate 60, and serve as a work rotation device. It serves as a guide to prevent the entire 64 from tilting and rotating.

A compression spring 7 is provided around the bearing 70.
A contact plate 72 is placed on top of the contact plate 72, and the rods 69 extend upward through a hole bored in the center of the contact plate 72, respectively. A stopper 73 having an outer diameter larger than the inner diameter of the center hole of the contact plate 72 is provided at the upper end of each rod 69, so that the air cylinder 6
1 is driven, its piston rod 62 advances, and the entire work rotation device 64 moves downward,
At its lowest position, the stopper 73 contacts the compression spring 71 via the contact plate 72, thereby providing a buffering effect at its lowest position.

A pair of bearings 7 attached to the lower surface of the lower plate 67
4 supports a horizontal rotating shaft 75 at right angles to the rail 34, and a bevel gear 76 coaxially attached to this rotating shaft is a bevel gear attached to the drive shaft _68a of the rotary cylinder 68. It meshes with 77.

Rotating levers 78 are fixed to both ends of the rotating shaft 75, and a support bar 79 parallel to the rotating shaft 75 is horizontally fixed to one end of each rotating lever 78. A ball holder 81 having a retractable ball 80 is fixed to the other end of the ball 78 .

Vertical guide members 82 are fixed to both ends of the support bar 79, respectively, and electromagnets 84 are attached to the tips of sliding rods 83, which are vertically slidably supported by the guide members 82. is fixed. The electromagnet 84 is of a type that attracts the electromagnet when it is not energized in order to save energy and prevent the workpiece from falling during a power outage. In addition, 85 is the sliding rod 8
At the lowest end position of No. 3, the stopper abuts against the guide member 82 and is fixed to the rear end of the sliding rod 83.

Small auxiliary cylinders 87 are attached to each of the electromagnets 84 via brackets 86 in the vertical direction in FIG. Also, the electromagnet 84
A guide member 88 is vertically fixed adjacent to each of the guide members 88, and a slidable push rod 89 is inserted into each of the guide members 88. This push rod 89 is always elastically biased downward by a compression spring 91 compressed between a body portion 90 provided in the middle thereof and the guide member 88, and its lower end portion 92 is In the standby state shown in FIG. 9, it protrudes further downward than the lower end of the electromagnet 84.

An indicator 93 on a rod is fixed horizontally to the upper end of the drive shaft _68a of the rotary cylinder 68, and this indicator 93 is attached to the drive shaft 68a.
8 When rotated by the rotation of _a , its position is 90
Proximity switches 94 _a , 94 _b , 94 detected every time
_c are attached to the upper ends of the rotary cylinders 68, respectively (however, a proximity switch _94b for detecting an intermediate position is not shown). Furthermore, on the lower surface of the lower plate 67, the rotary lever 7
A spherical groove 95 is formed corresponding to each ball 80 into which the balls 80 of the ball holder 81 attached to the upper end of the ball holder 8 fit when the ball 8 is in the vertical state shown in FIG.

Therefore, when the rotary cylinder 68 is operated and the drive shaft _68a rotates, the rotation is caused by the bevel gears 77,
76 to the rotating shaft 75, and the supporting bar 79 attached to the rotating shaft 75 via the rotating lever 78 and the electromagnets 84 attached to both ends of the supporting bar 79 integrally rotate around the rotating shaft 75. arrow 96
It rotates as shown. At this time, if the indicator 93 detects the position of each proximity switch 394 _a , 94 _b , 94 _c and stops the rotary cylinder 68 , the electromagnet 84 is moved from one horizontal position to the ninth position.
It can be stopped at each position shown in the figure, from the vertical position (standby position) to the vertical position in the opposite direction.

The work rotation device 64 rotates the electromagnet 84 90 degrees around the rotating shaft 75 with the electromagnet 84 adsorbing the side plate 5 or 6, so that the side plate 5 or 6 stands vertically. Since the rotating torque due to the weight of the electromagnet 84, the support bar 79, the side plate 5 or 6, etc. is transmitted to the meshing portion of the bevel gears 76 and 77 via the rotating shaft 75, , in order to reduce these moments of gravity, joints 9 are provided at both ends of the support bar 79.
7 is rotatably attached around the support bar 79,
In addition, the joint 97 and the transport device main frame 4
8 by a wire 99 via a balancer 98, the support bar 79 is pulled upward by the tensile force of the balancer 98 on the wire 99, and the support bar 79 is pulled downward by the side plate 5 or 6, the electromagnet 84, the support bar 79, etc. to reduce the rotational torque of

A position detector 100 is attached to the air cylinder 61 to detect its forward or backward position and speed switching position.

[Work gripping device]

Next, referring to FIGS. 1, 2, and 3 to 7, the steps for assembling the side plates 5 and 6 transported by the workpiece transport device 37 and the substrate 19 will be explained. The structure of the workpiece gripping device 38 will be explained.

Overall configuration of workpiece gripping device First, the overall schematic configuration of the workpiece gripping device 38 will be described with reference to FIGS. 1 and 2. That is, the work gripping device 38 includes a clamp mechanism 101 that grips the front side plate 5 and the rear side plate 6 in a vertically erected state.
(In Figure 2, the standby state of the clamp mechanism is shown by the solid line 1.
01, the state in which the clamping operation is actually performed is indicated by a two-dot chain line 101', the clamp mechanism on the right in FIG. 2 is indicated by 101 _b , and the clamp mechanism on the left is indicated by 101 _a ), A substrate holding device 102 for holding a horizontal substrate 19 placed over the front plate 5 and rear plate 6 gripped by the mechanism 101 and the clamp mechanism 101 are placed in the solid line position (standby position 101) shown in FIG. It is comprised of a drive mechanism 103 and the like that moves the actuator from the position to the operating position (position 101' indicated by two-dot chain line).

Structure of Main Parts of Work Gripping Device...Clamp Mechanism First, the structure and operation of the clamp mechanism 101 will be explained with reference to FIGS. 2, 4, and 5.

In FIG. 2, two guide rails 104 are arranged in parallel in a direction perpendicular to the rail 34 (FIG. 1), and two pairs of guides are slidably mounted on these guide rails 104. Block 1
Frames 106 _a and 10 by 05 _a and 105 _b
6b are placed so as to be slidable in mutually opposing directions.

On each of the frames _106a and _106b , there are a total of four frames _107a , 107a and 107a, 107a _and 106b, which are arranged at appropriate intervals and extend in the vertical direction.
7 _b and 107 _b are erected. On the sides of these frames _107a and _107b , plates _108a are provided along the longitudinal direction, as shown in FIG. 5a.
and _108b correspond to the plates _108a and 10, respectively.
8 Bolt 11 inserted into long hole 109 drilled in _b
0, the mounting position is fixed in an adjustable state. Air cylinders 111 are attached to the plates _108a and _108b , respectively.
The air _{cylinder 1}
The tips of the 11 piston rods 113 are connected to the frames 107 _a and 10 through a bracket 114 and a pin 115 implanted in the bracket 114 .
It is attached to a lever 117 that can swing freely around a pin 116 implanted in the _{hole 7b} .

Further, the tip _117a of the lever 117 is engaged with a lever 119 that is swingable in a vertical plane via a horizontal pin 118 implanted in the tip _117a .

On the other hand, vertical pins 12 are provided at the upper ends of the frames _107a and _107b , respectively, as shown in FIG.
A lever 1 that can freely swing in a horizontal plane centering on 0
21 is engaged, and one end 121 of this lever 121
_a and the tip of the lever 119 are connected to the lever 1
19 through a pin 122 in a direction perpendicular to it.

However, the engagement part between the lever 121 and the lever 119 using the pin 122 is such that the lever 121 can swing only in the horizontal direction, whereas the lever 121 can swing only in the horizontal direction.
Since 19 swings in the vertical plane,
The engagement hole 123 made in the lever 122 for inserting the pin 122 has a drum-shaped cross section as shown in FIG. The fitting hole 123 and the pin 122 are configured to fit together without any play. Although various other joint structures are possible, for example _, as shown in FIG. By fitting into the engagement hole _123a having the same shape as 124, the lever 121 centered on the pin 122
While allowing rocking movement relative to the lever 119,
The lever 119 can be swung in a vertical plane relative to the lever 121, and the engagement portion thereof can be free from rattling or play.

As shown in FIG. 4, a pressing roller 125 is attached to the other end _121b of the lever 121, which is rotatable about a vertical axis to constitute a pressing member together with the lever 121. A positioning block 126 is fixed on the upper surface of the frames (bases) _107a and _107b, respectively, and between the positioning block 126 and the pressing roller 125, the side plate 5 or 6 shown by the two-dot chain line in FIG. grasp. Further, each of the levers 121 has a generally arc-shaped pressing surface 127 extending from the vicinity of the pressing roller 125 to the vicinity of the lever 119, and this eccentric cam-shaped pressing surface eccentrically centered from the center of swing of the lever 121. The radius r ₁ near the pressure roller 125 of 127 is formed to be larger than the radius r ₂ near the lever.

Operation of the Clamp Mechanism Therefore, when the pressure roller 125 is pressed toward the positioning block 126 as shown in FIG. lever 12
The large diameter part of the pressing surface 127 indicated by the radius r ₁ of 1 is the side plate 5.
or 6, and press the side plate 5 or 6 accurately between the frames _107a , _107a or 10
Positioning is performed in the horizontal direction using each center position between 7 _b and 107 _b as a reference. Further, when the lever 121 is rotated and the pressure roller 125 is rotated in the direction in which the side plate 5 or 6 is released, the pressure surface 1
The position of the surface facing the end of the side plate 5 or 6 of 27 changes, and finally the small diameter portion represented by the radius r ₂ will face the end of the side plate 5 or 6, and the side plate 5
Or 6 is released from the horizontal tightening state by the pressing surface 127.

The rotation of the pressing roller 125 as described above, that is, the rotation of the lever 121 about the pin 120 is performed as follows. First, when the air cylinder 111 is operated to move the pin rod 113 backward, the bracket 11 is attached to the piston rod 113.
4 and a lever 117 attached via a pin 115 hooked to its tip rotates around the pin 116 as shown by an arrow 129, as shown in FIG. 5b. Along with this movement of lever 117, lever 1
Lever 11 connected to 17 via pin 118
9 is retracted in the direction of lever 117 as shown by arrow 130. At this time, since the lever 119 is engaged with the lever 121 through the pin 122 at its tip, the pin 122 is in a slightly inclined state as shown in FIG. 5b. Lever 11 like this
9, the lever 121 connected to the lever 119 via the pin 122 is moved.
It rotates about the pin 120 (FIG. 4) in the direction shown by the arrow 128, and the pressing roller 125 separates from the side plate 5 or 6 sandwiched between it and the positioning block 126, releasing the sandwiched state. Due to this movement, as described above, the side plate 5 or 6 is released from the positioning state by the pressing surface 127 of the lever 121, and the distance between the left and right pressing surfaces 127 increases.

Conversely, when the air cylinder 111 is actuated to advance the piston rod 113, the lever 121 rotates in the direction opposite to the arrow 128, completely opposite to the above movement, and the electromagnet 84 is moved by the work transfer device 37. The side plate 5 or 6 that has been attracted and conveyed to the positioning block 126 in a vertical state
and the pressing force 125.

Structure of Substrate Holding Device Next, the structure and operation of the substrate holding device 102 will be explained with reference to FIGS. 1, 2, and 3.

As shown in FIG _. 2, a frame 131 _b (third
At the top of the figure, an air cylinder 133 equipped with a solenoid valve 132 extends vertically through the frame 131 _d , and the piston rod 134 of this air cylinder 133 is attached at a right angle to the guide rail 104 at the upper end. An angle member 135 in the direction of is mounted horizontally. The piston rod 13 is attached to the lower surface of this angle member 135.
A pair of guide rods 136 mounted symmetrically across the frame _131b are vertically slidably supported by a pair of vertical bearings 137 mounted on the frame 131b, thereby allowing the angle member 135 to vertically move. be guided in the direction. Therefore, the air cylinder 133 does not need to be fixed to the frame _131b , and is attached to the support member 1 of the frame _131c .
₃₁ horizontal pin 138 (third
(Fig.) is slidably supported in a vertical plane.

The angle member 135 has a sufficient length in the direction perpendicular to the rail 34 shown in FIG. 1 in order to correspond to the size of the workpiece as shown in FIG. It has a long groove 139, and a positioning plate 141 is attached by a bolt 140 inserted into the long groove so as to be adjustable in position in the direction of the long groove 139. In FIG. 1, the positioning plate 141 attached at a position corresponding to the largest workpiece is indicated by a two-dot chain line 141'.

Moreover, on the upper surface of this positioning plate 141,
Two positioning block pairs 142 are fixed. As shown in FIGS. 3 and 4, this positioning block pair 142 is connected to the positioning plate 141.
The edge portion 19 _a of the substrate 19 placed above is bent at 90 degrees and is sandwiched in the direction of the angle member 135 .
This is for positioning the angle member 135 in the longitudinal direction, and the workpiece conveying device 3 is
The edge portion 19 _a of the substrate 19 that has been lowered by the
The positioning blocks _142a and _142b each have a tapered surface 143 for easy insertion, and a vertical surface 144 for sandwiching the edge _19a of the substrate 19 in the positioned state. Note that the positioning blocks _142a and 14
For one of 2 _b , the mounting position is angle member 13
It is made variable in the longitudinal direction of the substrate 19, and is configured to be able to correspond to changes in the thickness of the substrate 19.

The positioning block pair 142 positions the board 19 in the longitudinal direction of the angle member 135 as described above, and as shown in FIG. This is for advancing when tightening screws and positioning the board 19 in a direction perpendicular to the longitudinal direction of the angle member 135.

Operation of substrate holding device Substrate holding device 102 configured as described above
The substrate 19 is transported by the work transfer device 37.
When the substrate 19 has been carried above it, it has stopped at the standby position shown in _FIG . The angle member 1 is inserted between the pair of positioning blocks 142.
35 in the longitudinal direction. Thereafter, the front side plate 5 and the rear side plate 6, which are supported in the vertical direction, are connected to the base plate 19 by the screw tightening machine 39 to form the chassis 31, and then the air cylinder 133
The entire chassis 31 is lifted up and brought into a state convenient for delivery to a chassis reversing device (not shown).

Movement of the Clamping Device The workpiece gripping device 38 as described above has two clamping mechanisms _101a side for clamping the front side plate 5 and a clamping mechanism _101b side for gripping the rear side plate 6, as shown in FIG. As described above, these left and right clamp mechanisms are configured to be movable from the solid line position to the two-dot chain line position 101' as shown in FIG. This is because if the pressing roller 125 is only released at the clamp position 101' of each side plate indicated by the two-dot chain line, the lever 121 will protrude outward from the assembled side plates 5 and 6, so the chassis reversing device When the assembled chassis 31 is pulled out in a direction perpendicular to the plane of the paper in FIG. 2, the side plates 5 and 6 interfere with the lever 121 and cannot be pulled out. This is because it is necessary to move it to the inside of 5 and 6.

Such movement of the clamp devices 101 _a and 101 _b is achieved by the drive mechanism 103 .

That is, as shown in FIG. 2, each clamp mechanism _101a
and 101 _b is the guide rail 1 as described above.
04, respectively, and is attached to _{the pedestal 106 b via} a bracket ₁₄₅ , so as to be able to swing freely around a pin 146 implanted in the bracket 145. The tip of the piston rod 148 of the attached air cylinder 147 is fixed to a bracket 149, and the bracket 15 is attached to the bottom surface of the pedestal _106a .
The bracket 149 is swingably engaged with a horizontal pin 151 attached through the bracket 149.

Therefore, by operating the air cylinder 147,
When the piston rod 148 is advanced, the frame 10
6 _a and 106 _b are pushed and moved in opposite directions, respectively, until the frames 106 _a and 106 _b finally come into contact with stoppers 152 _a and 152 _b provided at both ends of the guide rail 45. The positions of the clamp devices 101 _a and 101 _b in a state where the frames 106 _a and 106 _b are in contact with the respective stoppers 152 _a and 152 _b are shown by the two-dot chain lines 101' as described above. In addition, each stopper 15
2 _a and 152 _b are located at each frame 106 _a and 1
Bolts 152 _b and 152 that form the contact surface with 06 _b
Adjust by the amount of tightening _c .

Support plate Also, the plate 108 for the air cylinder 111, etc.
Frame _107a attached via _a , _108b
and 107 _b has a support plate 153 (support member) projecting outward at its lower end portion, and the front side plate 5 and rear side plate 6 carried by the workpiece conveyance device 37 are This base plate 15
The horizontal positioning of the lower end portion of each side plate 5 or 6 is performed by placing the frame _107a on the frame 107a and
This is done by bringing the lower end of the side plate 5 or 6 into contact with a positioning bolt 154 that is screwed and protrudes from the lower end of _7b toward the tip of each support plate 153.

[Assembling procedure]

Next, the procedure for assembling the side plates 5, 6 and the board 19 will be explained with reference to the flowchart shown in FIG. Here, SC1, SC2, SC3, ... indicate step numbers. First, in step SC1, n
=0 initialization. Here, n is the number of repetitions of the work procedure of the workpiece conveyance device; n=0 during the procedure of conveying the front side plate 5, and n when conveying the rear side plate 6.
= 1, and repeats 0, 1, 0, 1,... Next, in SC2, it is determined whether the pallet on which the side plates 5 or 6 are placed has stopped at the fixed position of the side plate supply position of the assembly device 18 by the side plate conveyor.
Wait until it stops. At this point, the workpiece conveyance device 37 has already been driven by the motor 49 and has stopped directly above the side plate supply position 35 .

When a detection device such as a limit switch (not shown) installed on the side of the side plate conveyor detects that the pallet has come to a fixed position, the side plate conveyor is stopped, the air cylinder 61 is activated, and the piston rod 62 is lowered. , the electromagnet 84 attached via the support bar 79 to the work rotation device 64 (see Fig. 8) attached to the tip thereof descends (SC3), and the electromagnet 84 eventually moves to the front of the pallet on the side plate conveyor 1. It comes into contact with the side plate 5. The operating time of this air cylinder 61 is set by time _L1 (SC4).

When the electromagnet 84 comes into contact with the front plate 5, the push rod 89, which is urged downward by the compression spring 91, moves backward and pushes the front plate 5.
is biased downward.

At this point, in step SC5, the electromagnet 84
The front side plate 5 is attracted by suction. When the suction of the front side plate 5 is completed, the cylinder 61 is actuated at SC6, the piston rod 62 is retreated, and the front side plate 5 is raised. This rising time, like the falling time, is determined by the set time _L1 (SC7).

Next, in step SC8, it is determined whether n is 0 or not. When n is 0, that is, when it is determined that the front plate 5 is being transported,
At SC9, the rotary cylinder 68 is rotated forward. Then, the rotation of the rotary cylinder 68 is transmitted to the rotating shaft 75 via the bevel gears 77 and 76, and the support bar 79 attached to the rotating shaft 75 via the rotating lever 78 and the electromagnet 8 attached to the supporting bar 79 are
4. The front plate 5 attracted by the electromagnet 86 is further rotated, and the front plate 5 approaches a vertical state.
The rotation of the rotary cylinder 68 causes the indicator 9 attached to the upper end of the drive shaft _68a to
3 also rotates, and the rotary cylinder 68 continues to rotate in the normal direction until the leftmost proximity switch _94a is turned on (SC10). When the proximity switch _94a is turned on in this way, the rotation of the rotary cylinder 68 is stopped,
In this state, the driving motor 49 is rotated in the forward direction (SC11). The rotation of the motor 49 is transmitted to the gear groups 50, 52, 53, 54, and 56 as described above, and by the rotation of the gear 58 that meshes with the rack 57, the entire workpiece conveying device 37 is rotated as shown in FIG. It travels in the direction of the arrow 155, that is, in the direction of the workpiece gripping device 38, and stops at the position where the dog provided on the frame 41 abuts the sensor provided at an appropriate position on the pedestal (SC12). The forward rotation of the travel motor 49 may be started at the same time as the rotation of the rotary cylinder 68 or in the middle thereof.

When the workpiece conveyance device 37 reaches the position where the front side plate 5 of the workpiece gripping device 38 is to be lowered, the air cylinder 61 is activated and the side plate 5 is lowered for the set time T ₂ minutes (SC13, SC14). By lowering the front plate 5 for this certain period of time, the front plate 5
The front plate descends until the lower end of the front plate contacts the upper surface of the support plate 153. When the front plate 5 is lowered to the approximate assembly position, the clamping air cylinder 111 (FIGS. 4 and 5) is operated for _T3 hours at SC15 (SC16), and the piston rod 1
13 retreats, the bracket 121 is moved through the brackets 117 and 119 as described above.
rotates around the pin 120 in the direction opposite to the arrow 128, and the pressing roller 125 presses the front plate 5 against the positioning block 126 and holds it in that position. It is sufficient to turn on the electromagnet 84 in this state, but since the side plate that is still attracted by the electromagnet 84 is not positioned very accurately, it is not possible to completely grasp it by the pressing roller 125. Therefore, the front plate 5 may be slightly tilted or displaced upward. Therefore, the time for which the air cylinder 111 for clamping is operated is set to an appropriate setting time _T3 at this point (SC16), and the air cylinder 111 is operated and the electromagnet 84 is operated.
(SC17), and temporarily lowers the pressure _of the clamping air cylinder 111 for a minute time T of ₄ minutes, thereby releasing the pressing force of the pressure roller 125 (SC18, SC19). When the holding state by the pressing roller 125 is released, the front plate 5 falls onto the support plate 153 due to its own weight, and its inclination and position shift are forced. Although not shown in FIG. 11a, the electromagnet 8
4 to open the front plate 5, the auxiliary cylinder 87 is activated at the same time to move the front plate 5 to the electromagnet 84.
By biasing the electromagnet 84 in the direction away from the
This prevents the front plate 5 from being attracted by residual magnetism. The push rod 89 biased by the compression spring 91 (FIG. 9) has a similar effect.

When the above-mentioned pressure release is completed, compressed air is blown into the clamping air cylinder 111 again at SC20, and the pressure roller 11 is turned on.
The front plate 5 is held between the positioning block 25 and the positioning block 126.

When the positioning of the front plate 5 is completed in this way, the air cylinder 61 is operated again, and the work rotation device 64 and the electromagnet 84 attached below it are raised for the predetermined time _T1 (SC21,
SC22). Next, it is necessary to determine whether to carry out the conveyance to the rear side plate 6 or to the substrate 19, so it is determined in SC23 whether n is 1 or not. At this point, since the processing of the front plate 5 has just been completed, n=0, and the processing proceeds in the direction of SC24. At SC24, the traveling motor 49 is reversed, and at the same time, at SC25, the rotary cylinder 68 is reversed. The movement of the work transfer device 37 due to the rotation of the motor 49 continues until the positioning sensor is turned on at SC27, and the reverse rotation of the rotary cylinder 68 is caused by the interference with the indicator 93, which causes the intermediate proximity switch 94 to rotate. This continues until _b is turned on (SC26). Since the initial state is thus restored, 1 is added to n at SC28, and the process returns to step SC2.

Subsequently, the rear side plate 6 is carried out, which is completely the same as the conveyance process for the front side plate 5 except for a part. However, the treatment differs from the treatment for the front side plate 5 in the following points. That is, in the processing of the rear side plate 6, the attachment direction to the substrate 19 is
Since they differ by 180 degrees, it is determined in SC8 whether n is 0 or not, that is, whether it is the front plate 5 or the rear plate 6. Then, the process proceeds to step SC29, where the rotary cylinder 68 is switched to the proximity switch by the indicator 93. Rotate until 94 _c turns on (SC29 _a ). Further, in SC23, if it is determined that the positioning of the rear plate 6 is completed, that is, if n=1, the traveling motor 49 is activated to go to the substrate supply position 36 on the substrate conveyor 20 side to pick up the substrate. After rotating in the normal direction (SC30), rotate the rotary cylinder 68 until the proximity switch _94b is turned on (SC31, SC32),
Further, the traveling motor 49 is rotated until a sensor (not shown) provided at the substrate supply position 36 is turned on. In the above two points and further in SC34, n
This process differs from the process related to the front plate 5 in that the process returns 0 to 0. Strictly speaking, SC12
The stop position of the workpiece conveyance device 37 detected in is different between the front side plate 5 and the rear side plate 6.

When the positioning of the front side plate 5 and the rear side plate 6 is completed in this way, as shown in FIG.
Similar to SC2, this time the system waits until the pallet on which the substrates 19 are placed is stopped at a predetermined position in the substrate supply position 36. When the board 19 stops at a predetermined position,
Similar to the front plate, the air cylinder 61 of the work transfer device 37 is activated, and the electromagnet 84 is activated for a certain period of time (T ₅ ).
When the electromagnet 84 comes into contact with the substrate 19, the electromagnet 84 is turned off (SC38) and the substrate 19 is attracted.

When the substrate 19 is thus attracted to the electromagnet 84, the air cylinder 61 is operated to raise the substrate 19 (SC39). This rise time is determined by T ₆ (SC40). Next, in order to transport the substrate 19 onto the front plate 5 and rear plate 6 that have already been positioned on the workpiece gripping device 38, the traveling motor is reversed, and the workpiece conveyance device 37 travels in the direction of the workpiece gripping device 38. (SC41). This workpiece conveyance device 3
7 is stopped when a sensor (not shown) installed at an appropriate position interfering with a part of the workpiece conveyance device 37 is turned on (SC42), and at this position, the air cylinder 61 is activated again. Then, the piston rod 62 advances, and the board 19 descends toward the positioned front plate 5 and rear plate 6 (SC43). The descending time of the substrate 19 is determined by _T7 (SC44). In this way, the substrate 1 is placed in a predetermined position.
9 is lowered, its end edge _19a is fitted between the pair of positioning blocks 142 as described above,
In order to position the substrate 19 in the longitudinal direction of the angle member 135, the electromagnet 84 is released here (SC45), and the air cylinder 61 is actuated at SC46 to raise the electromagnet 84 and reverse the traveling motor 49. (SC48) The work transfer device 37 is retreated to the side plate supply position 35. The stop position of the workpiece conveyance device 37 at this time is
It is determined by the ON operation of a sensor (not shown) provided at the side plate supply position 35 (SC49).

[Movement of screw tightening machine]

Next, the structure 15 to which the screw tightening machine 39 is attached
The moving mechanism of No. 8 will be explained with reference to FIGS. 1 and 2. At least one pair of upper and lower wheels 183 are mounted on the legs of the frame _157a of the gate-shaped structure 158.
is attached to the pedestal 131, and the upper wheel 183 grips in the vertical direction a rail 185 that is perpendicular to the plane of the paper in FIG.
A frame _157a is supported so as to be freely movable along the rail 185 via the frame 157a. Furthermore, frame 15
A bracket 186 protruding outward from 7 _a includes
A rotatable horizontal wheel 187 is attached to the side surface of the rail 185, and this wheel 1
87 guides the wheels 183 so that they do not come off the rails 185. Also, at the lower end of the other vertical frame _157b , there is a rail 34 shown in FIG.
A female screw portion 188 in a right angle direction is attached to the screw rod, and a threaded rod 189 is screwed into this female screw portion 188. The threaded rod 189 is rotatably supported at both ends by bearings attached to the frame 184 so as not to be able to move in the axial direction. Gear 1 that meshes with the gear
92 is fixed.

Further, a wheel similar to the wheel 183 is attached to the lower end of the frame _157b , and a wheel (not shown) is attached to the lower end of the frame 157b.
Guided by rails similar to 85, the frame 15
_7b is constructed so that it can move in a direction perpendicular to the plane of the paper of FIG.

Next, according to the flow chart shown in FIG. 11c, the gate-shaped structure 158 is moved and the screw tightening machine 3 is moved.
The screw tightening work according to No. 9 will be explained.

That is, initialization of l=0 is performed at SC50.
The value of l is related to the number of screw tightening operations, that is, the number of screws to be tightened.
It shall be tightened using two screw tightening machines 39.

Next, in SC51, a motor 191 is used to drive the gate-shaped structure 158 having the screw tightening machine 39.
is started, its rotation is transmitted to the threaded rod 189 via the gear 192, and the entire structure 188 moves forward in the direction of the work gripping device 38 due to the feeding action of the threaded rod 189 that engages with the female threaded portion 188. At a predetermined position of the rail 185,
A plurality of sensors are provided corresponding to a plurality of screw tightening positions on the substrate 19, and engage with dogs (not shown) provided on the structure 158, and as the structure 158 travels, the dog Each time the sensor is activated by engaging the sensor, the motor 191 is stopped (SC52), and a pair of holding cylinders 194 attached to the angle member 156 via brackets 193 (FIG. 1) advance. While positioning the board 19 in the longitudinal direction of the rail 34 shown in FIG. 1 (SC53), the two screw tighteners 59 operate to tighten the screws at the endmost side (SC54).

When the screw tightening work at one place is completed in this way,
Subsequently, in step SC55, the holding cylinder 194 is retracted, and in SC56, l is
1 is added to , and it is determined whether this l is equal to m (in other words, whether all screws have been tightened) (SC57). If l is smaller than m, step
Return to SC51, repeat the steps from SC51 to SC57, and repeat the screw tightening work for the next screw tightening position, and when m becomes equal to l, there is no need to advance the screw tightener 39 any further. Therefore, the traveling motor 191 is reversed (SC58),
The entire gate-shaped structure 158 is retreated to its original position. The stopping position of the gate-shaped structure 158 is the mount 184.
It is determined by the time when a sensor (not shown) provided in the structure comes into contact with a part of the structure 158 and is activated (SC59). Next, at SC60, the air cylinders 111 that were pressed against each side plate 5 and the positioning block 126 are operated, and the piston rod 1 is
13 is moved backward, and the lever 121 is rotated by approximately 90 degrees to rotate the pin 122 in the direction of the arrow 128 shown in FIG. The lever 12
The holding force in the direction parallel to the plate surfaces of the side plates 5 and 6 by the pressing surface 127 of 1 is also released. As a result, the base plate 19 and the side plates 5 and 6 are configured as a chassis 31 screwed together, and the pair of positioning blocks 148 and the support bolt 195 (the third
(Fig.) At the same time, the pressing roller 125 and the lever 121 are completely removed in the longitudinal direction of the chassis 31.

Subsequently, the evacuation air cylinder 147 of the clamp mechanism 101 is operated, and the piston rod 14 is
8 is retracted, and the left and right clamp mechanisms 101 _a
and _101b move from the position indicated by the two-dot chain line to the position indicated by the solid line in FIG. 4, respectively. Since the air cylinder is operated as described above and the pressure roller 125 and lever 121 are already removed from the chassis 31, when the clamp mechanisms _101a and _101b are retracted, these pressure rollers 12
5 or the lever 121 colliding with the chassis 31 can be avoided. In addition, as described above, when the clamp mechanisms 101 _a and 101 _b move back to the solid line positions shown in FIG. 2, the chassis 31 is pulled out in the direction perpendicular to the paper surface of FIG. When the side plates 5 and 6 of the chassis 31 are connected to the clamp mechanisms 101 _a and 10
The inconvenience of interfering with 1 _b is avoided (SC61).

Next, the air cylinder 133 is operated to raise the chassis 31 to the delivery position to the chassis reversing device, and the angle member 135 and the pair of positioning blocks 14 attached to the upper part of the chassis 31 are activated.
2. The chassis 31 rises to a certain position together with the support bolts 195 (SC62).

Furthermore, the chassis reversing device is activated, and the main chassis 31 is pulled out from the work gripping device 37 in a direction perpendicular to the rail 34, reversed, and sent onto the conveyor for the next process (SC63). When the chassis 31 is reversed and transferred to the conveyor for the next process, the chassis 31 faces in the normal direction with the base plate 19 as the bottom surface, and takes a posture suitable for the subsequent automatic parts mounting work.

When the chassis 31 is taken out from the gripping device 138 in this way, the lifting air cylinder 133
operates in the opposite direction, and the angle member 139 provided with the positioning block pair 142 etc. is lowered to its original position (SC64), and the clamp mechanism 01
Evacuation cylinder 14 for moving 7 _a and 101 _b
7 is actuated, its piston rod 148 advances, and the frames 106 _a and 106 _b are moved to the stopper 152 .
It stops at the position where it touches _a and 152 _b (SC65).

Note that the forward position of the gate-shaped structure 158 naturally varies depending on the size of the chassis to be processed, and the position where the screw tightening machine 39 is most advanced in order to work on the largest chassis is shown in Fig. 1. 2
This is indicated by a dashed dotted line 39'.

In addition, the clamp mechanisms 101 _a and 101 _b shown in FIGS. 4 and 5 are provided with an air cylinder 111 in the vertical direction in order to downsize the entire mechanism, but the drive mechanism for the lever 121 is It is not necessarily necessary to use the vertical air cylinder 111 as described above, but it is also possible to use a rotary cylinder or a rotary solenoid, or a horizontally arranged cylinder as shown in FIGS. 6 and 7. It is also possible to operate with

That is, in FIGS. 6 and 7, 113' is a piston rod of an air cylinder arranged horizontally, and this piston rod 113' is attached at its tip to a frame 107'' (base) via a bracket 114'. plate 10
It engages with a pin 115' installed vertically at one end of a lever 117' which is swingable in a horizontal plane around a pin 115' installed vertically at the end of the lever 117'. Further, a lever 121' which can swing freely in a horizontal plane is pivotally attached to a vertical pin 120' installed at the other end of the frame 107''.
A vertical pin 122' installed at the lever 117' and a vertical pin 118' installed at the other end of the lever 117' are connected by a link 119'.
Parallel links are formed by plate 107', levers 117' and 121', and link 119'. A horizontal pressing roller 125' is rotatably attached to the tip of the lever 121', and the pressing roller 125' of the plate 107'
A positioning block 12 is located at the portion where 5' faces.
6' is attached.

Therefore, in this case, when an air cylinder (not shown) is activated and its piston rod 113' advances or retreats horizontally in the direction of arrow _197a or _197b , the lever 117' moves to move the pin 11 in conjunction with this.
6' in the clockwise or counterclockwise direction shown in FIG. 6, and the lever 121' rotates clockwise or counterclockwise around the pin 120' by the action of the parallel link mechanism. . Therefore, the lever 121'
The side plate 5 or 6 installed between the pressing roller 125' provided at the tip of the positioning block 126' is connected to the pressing roller 125' and the positioning block 126'.
6' and released from the clamping state. In this embodiment as well, similarly to the mechanism shown in _FIG . The diameter part and the small diameter part indicated by _r2 are connected by a smooth circular arc, and when the side plate 5 or 6 is sandwiched between the pressing roller 125' and the positioning block 126', the radius r The large diameter portion indicated by ₁ is configured to press the side plate 5 or 6 in the plane direction thereof. Note that the plate 107' is attached to the plate 107' by bolts installed in elongated holes 198, and by sliding it in the direction of the elongated holes 198, it can be adapted to side plates of different sizes. .

〔Effect of the invention〕

As described above, the present invention provides a device for positioning and gripping a workpiece in a vertical state, and includes a set of two bases arranged at appropriate intervals, and a set of two bases arranged on each base, and a device for positioning and gripping a workpiece in a vertical state. a positioning block that brings the surfaces into contact; a support member that is provided on each base below the positioning block and that brings the lower surface of the work into contact; and a support member that is provided on each base so as to be swingable in a horizontal plane. , a pressing member that presses the workpiece against the positioning block and grips the workpiece between the positioning block; and a member facing the side surface of the workpiece on each pressing member that is eccentric from the center of swing of the pressing member. It is formed in a cam shape, and moves from the small diameter part of the curvature radius toward the large diameter part as the pressing member swings when gripping the workpiece, and presses the workpiece from the side surface with the large diameter part. The workpiece gripping device is characterized in that it has a pressing surface that moves the workpiece toward the center position between the bases, and positions the workpiece based on this center position. can be realized on a pressing member for gripping a workpiece with a rational configuration, and can have a simple structure. Then, the workpiece can be positioned extremely simply and accurately only by the pressing operation by the pressing member. Moreover, since the grip is secure, there is no problem such as lowering the positional accuracy of the gripped workpiece even if you place another workpiece on top of the gripped workpiece, and it can be used in automatic assembly processes, etc. This is a suitable work gripping device.

[Brief explanation of drawings]

FIG. 1 is a plan view of the entire chassis assembly device including a work gripping device according to an embodiment of the present invention, FIG. 2 is a front view thereof, and FIG. 3 is a side view of a substrate positioning mechanism used in the assembly device, FIG. 4 is a plan view of the workpiece gripping device according to the above embodiment, FIGS. 5a and 5b are side views showing the operation of the drive section of the workpiece gripping device, and FIGS. FIG. 6 is a plan view showing the structure of a workpiece gripping device having another structure, and FIGS. 7a and b show the workpiece gripping device shown in FIG. 6. A plan view and a side view showing the structure of the drive unit in the device, FIG. 8 is a front view of the workpiece conveyance device used in the above assembly device, and FIG. 9 is a front view of the workpiece rotation device that forms the main part of the workpiece conveyance device. , 1st
FIG. 0 is a front view showing the travel drive section of the workpiece conveyance device, and FIGS. 11a to 11c are flowcharts showing the operating procedure of the assembly device. Explanation of symbols, 5, 6...Side plate (work), 38
...Work gripping device, 107,107''...Frame (base), 121,121'...Lever, 12
5,125'...press roller, 126,126'...
...Positioning block, 127, 127'...Press surface, 153...Support plate (support member).

Claims (1)

[Claims] 1. A device for positioning and gripping a workpiece in a vertical state, comprising: a set of two bases arranged at an appropriate distance; a positioning block that is brought into contact with the work; a support member that is provided on each base below the positioning block and that brings the lower surface of the work into contact; a support member that is provided on each base so as to be swingable in a horizontal plane and that a pressing member that presses the workpiece against the positioning block and grips the workpiece between the positioning block; and a cam that is eccentric from the pivoting center of the pressing member on a portion of each pressing member that faces the side surface of the workpiece. The pressing member moves from a small diameter portion of the radius of curvature toward a large diameter portion as the pressing member swings when gripping the workpiece, and presses the workpiece from the side surface with the large diameter portion. A workpiece gripping device comprising a pressing surface that moves the workpiece toward a center position between the bases and positions the workpiece based on the center position.