JPS59127999A - Positioner - Google Patents

Abstract

PURPOSE:To decrease the space necessary for operation of a product and to make positioning quick and accurate by turning arms 22 around fulcrum parts to tilt a table supporting the product thereby enabling the controlling and positioning of the position of the product. CONSTITUTION:A positioner consists of a base plate 21, arms 22 supported pivotally at one end to the plate 21, cylinders 23 for turning the arms 22, a product supporting table 25, a link mechanism 27 for tilting the table 25 with respect to the arms 22 and further a turning member 30 turned by a driving cylinder 33, a lever 31, and a link rod 32 connecting the member 30 and the lever 31. Said lever 31 is pivotally supported coaxially with the pivotal supporting part at the other end of the arms 22 and is connected with the table 25 in one body. A parallel link of a parallelogram is formed by the mechanism 27 and the arms 22.

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a positioner for controlling and positioning a product to be welded, for example in an automatic welding machine.

BACKGROUND ART Conventionally, in general, in automatic welding fins, the product to be welded is supported by a positioner, the product's posture is controlled and positioned, and welding work is performed by a welding robot.

This positioner 6 is, for example, as shown in Fig. 1.2.
A product support table 1 is supported by a support frame 3 so as to be rotatable around the central axis 0 of the table 1 and around a side support shaft 2 of the table 1.

However, in the positioner with the above configuration, as shown in FIG. 2, after the product 7 is welded at position A shown by the dotted chain line with the table 1 tilted, the position of the product 7 is changed as shown by the solid line. When the table l is moved around the support shaft 2 to position B, the product 7 is separated from the support shaft 2, which is the rotation center of the product 7, so that the product 7 is moved within the welding work range 5 of the robot 4. There was a problem in that it was located on the outside, making welding work inefficient.

To solve this problem, a positioner 8 shown in FIG. 3 has been provided. This positioner 8 is a U whose both sides are rotatably supported by rotation 5 drive devices 9, 9, respectively.
A product support table 11 is rotatably supported around its central axis 1 within a character-shaped support frame 1O. A conveyor for conveying the product is provided on one side of the support frame lO in the direction perpendicular to the rotation axis g of the support frame lO (the front side when facing the drawing in FIG. 3), and A robot is installed on the side (the side facing the drawing) to perform welding.

However, in the above positioner, the support frame lO
Since Vcl- is used to change the position of the product by rotating it toward the belt conveyor side around its rotation axis g, the product and the rotation center of the product, that is, the rotation axis g, are close to each other 1- and the above Although the problem is solved, a space for rotating the support frame is required between the support frame 0 and the end of the belt conveyor, and the work of transporting products between the belt conveyor and the table 11 in the support frame becomes complicated. , there was a problem that welding work efficiency decreased.

(3) Purpose of the Invention The purpose of the present invention is to solve the above-mentioned problems by reducing the space required for rotating the product and improving the positioning of the product and working machines such as welding robots. Not only can this be done quickly and accurately, but peripheral equipment such as a product transport conveyor can be placed near the table, making it possible to efficiently transport products between the table and peripheral equipment. The purpose is to provide a positioner.

[Constitution of the Invention] In order to achieve the second object, the present invention was constructed as follows. That is, it includes a base, an arm, a cylinder for rotating the arm, a product support table, and a link mechanism, and the link mechanism and the arm are used to remove the parallel links of the parallelogram, and the cylinder for rotating the arm is used to rotate the arm. One end is rotated around the shaft support, the rotation member is rotated by the drive cylinder, and the table is integrally rotated with the lever via the link rod.
) - It is designed to control the posture and position of the product supported by the pull.

EXAMPLES The present invention will be specifically explained below based on the drawings shown in FIG. 4 and subsequent figures.

As shown in FIG. 4.5.6, 21 is a base, and 22 is a pair of frame portions 21a provided on the base 21.

Arms 28 and 23 each have one end pivotally supported by a support shaft 24 supported by a support shaft 21a, each having one end pivotally supported in the longitudinal center of the arm 22, and each other end pivotally supported by the base 21. (See FIG. 7) A pair of arm rotation cylinders, 25 a product support table supported by a support shaft 26 at the other end of the arm 22, and 27 a link mechanism for tilting the table 25 with respect to the arm 22. It is.

The table 25 is composed of a table main body 25a on which a product is placed and fixed, and a table support part 25b that pivotally supports the center part of the table main body 25a with a rotating shaft 28. The table main body 25a is rotated in forward and reverse directions around a rotation shaft 28.

On the other hand, the link mechanism 27 is roughly composed of a fan-shaped plate 30 as a rotating member, a lever 31, and a link rod 32.

The fan-shaped plate 30 has a support shaft 2 that pivotally supports one end of the arm 22.
4, and a fan-shaped plate driving cylinder 33 is provided between the arc center portion and the base 21. Also, arm 2
The table support part 2 is attached to the support shaft 26 which is supported on the other end of the
The lever 31 integrally connected to the lever 5b is rotatably provided. The tip of this lever 31 and the sector plate 30
The link rod 32 is installed between the arm 22 and the overhang 80a so as to be relatively rotatable and parallel to the longitudinal axis of the arm 22. Therefore, the arm 22, the lever 31, the link rod 32, and the fan-shaped plate 30 form a parallel link in the shape of a parallelogram.

In the positioner configured as above, table 2
5, when tilting the table 25 relative to the arm 22 from position C shown by the solid line to the position shown by the two-dot chain line in FIG. .23 to move the arm 22 around the spindle 24 (
(Rotate. Along with this rotation of the arm 22, the fan-shaped plate driving cylinder 33 is driven, and the fan-shaped plate 30 is rotated in the direction of arrow 3 about the support shaft 24. Along with this rotation of the fan-shaped plate 30, , the lever 31 is connected to the support shaft 2 via the link rod 32.
Rotate 6 times in the direction of the arrow. Along with the rotation of the lever 31, the table support portion 25b integrally connected to the lever 31 is also rotated in the direction indicated by the arrow 2. At the 1-1D position, the table main body 25a is positioned substantially vertically. Therefore, the product fixed to the table 25 can be kept within the working range of the welding robot at all times during rotation 1-1 at d in FIG.

However, the present invention is not limited to this embodiment, and can be implemented in various other forms. For example, you can drive the arm and link mechanism separately, or move the table as shown in the figure (C, D).
Welding work may be performed by stopping not only at this position but also at any other arbitrary position, or from 1 to 1.

The pivoting member is not limited to a fan-shaped plate, but may be a plate material of any shape or a lever-like member, and the axis of the pivoting member is coaxial with the shaft support at one end of the arm. The parallel links may be formed by providing parallel links. Furthermore, one end of the drive cylinder of the rotating member may be fixed to the arm instead of the base.

Effects of the Invention According to the present invention, the arm is rotated around the shaft support at one end of the arm by the arm rotation cylinder, and the table supporting the product is tilted with respect to the arm by the link mechanism, so that the product can be rotated. Since the posture of the product is controlled and positioned by rotation, the space required for rotation of the product is small, and the positioning of the product and a working machine such as a welding robot can be done quickly and accurately. Also,
Since the arm rotates only around the pivot at one end of the arm and does not move in the axial direction of the pivot, peripheral equipment such as a product conveyor may be placed near the table (7). Alternatively, positioners can be installed in parallel, increasing the efficiency of work between the table and related equipment. The arm that pivots the table is pivoted at one end and supported by the arm rotation cylinder against the base. The balancer that was required to maintain the balance is no longer required. Furthermore, since the table is tilted relative to the arm using parallel links, smooth operation can be achieved with a simple arrangement.

[Brief explanation of drawings]

Fig. 1 is a view from the thread F of a conventional positioner, Fig. 2 is a side view showing the relationship between the positioner shown in Fig. 1 and a welding robot, and Fig. 3 is a front view showing another conventional positioner. 4
The figure is a plan view of a positioner according to a practical example of the present invention.
．． 6.7 are a side view, a front view, and a partially cutaway side view of the positioner shown in FIG. 4, respectively. 21... Base, 22... Arm, 23... Cylinder for arm rotation (8), 25... Table, 27... Link mechanism, 30... Rotating member, 31...・Lever, 32...
・Link rod, 33...driving cylinder.

Claims (1)

[Claims] (ll base, an arm with one end pivotally supported on the base, an arm rotation cylinder with an IC interposed between the arm and the base, and a product support table pivotally supported on the other end of the arm) and a link mechanism for tilting the table with respect to the arm, which is connected to a rotating member pivotally supported by one end of the arm and rotated by a driving cylinder, and the other end of the arm. A lever that is coaxially supported by the Ic axis and is integrally connected to the table, and a link rod that connects the rotating member and the lever, and the link mechanism and the arm form a parallelogram. A positioner characterized by forming parallel links.