JPS60118440A - Work gripping device - Google Patents

Abstract

PURPOSE:To make it possible to precisely position a work, by making one lateral surface and bottom surface of a workpiece into contact with a positioning block on a base and a supporting member, and as well by utilizing a horizontally movable pressing member so that the workpiece is positioned in three dimentional directions. CONSTITUTION:A front side plate 5 which is attracted to an electromagnet of a work conveyor device, is introduced into the work conveyor device 38 after it is positioned in its vertical posture, and is set on a support plate 153. At this time a clamping air-cylinder is retracted to horizontally rotate a pressing roller 125 so that the front side plate 5 is pressed against a positioning block 126 to deenergize the electromagnet and as well to temporarily release the side plate for correcting its inclination and a shift in position, and the side plate is then pressed again. Thereafter a rear side plate 6 is similarly gripped, and a base plate 19 is positioned on both side plates 5, 6. Further, the clamp device 102 is positioned by a cylinder, and then both sides plates 5, 6 and the base plate 19 are assembled together with the use of a screw fastener 39.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for positioning and gripping a vertical workpiece, and more particularly to a workpiece gripping device that can reliably and highly accurately position and grip a workpiece with a simple configuration. It is.

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 board, 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 workpiece gripping device according to an embodiment of the present invention, FIG. 2 is a pressure side view of the same, 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, and 5rllI (a) and (b) are side views showing the operation of the drive section of the workpiece gripping device, respectively, and the same figures (C) and (d) 6 is a side sectional view showing a modified example of the lever coupling mechanism that can be used in the drive unit, FIG. 6 is a plan view showing the structure of a work gripping device having another structure, and FIGS. 7(a) and ( b
) are a plan view and a side view showing the structure of the drive unit in the workpiece gripping device shown in FIG. 6, and FIG. 8 is a front view of the workpiece 1 general feeding device used in the assembly device.

FIG. 9 is a front view of a work rotating device which is a main part of the work transfer device, FIG. 10 is a front view showing the travel drive section of the work transfer device, and FIGS. 11(a) to (c) are It is a flowchart showing the operating procedure of the assembly device.

First, the schematic structure of the assembly device 18 will be explained with reference to FIGS. 1, 2, and 8. This assembly device 18 runs from a side plate conveyor (not shown) to a substrate conveyor, at right angles to both conveyors and The side plates 5 or 6 and substrates 19, which are slid on the two recessed rails 34 and are supplied to the side plate supply position and the substrate supply position of each conveyor, are moved along the rails 34. 34, and the side plate 5 or 6 and substrate 19, which are provided approximately at the center of the rail 34 and are transported by the workpiece transport device F37, are maintained in the assembled state. The workpiece gripping device f38 is configured to include a workpiece gripping device f38, side plates 5 and 6 held in an assembled state in the workpiece gripping device 38, and two screw tightening machines 39 for screwing the board 19. has been done.

First, from the side plate supply position or the board supply position,
, or the structure of the workpiece conveyance device 37 for conveying the substrate 19 to the workpiece gripping device W38 will be explained with reference to FIGS. 8 to 10.

As shown in FIG. 8, the rail 34 is placed in a concave manner on four vertically erected frames (not shown). drive in a direction perpendicular to. That is, as shown in detail in FIG. 10, one of the pair of rails 34. A guide bar 42 is placed on the top surface of the guide bar 42 in a direction perpendicular to the plane of the paper in FIG. ing.

Further, the guide rail 4 is provided on the upper surface of the other rail 34I.
5 is fixed over the entire length of the rail 34, and a wheel receiver 47 is supported on the guide rail 45 via wheels 46 that roll along the guide rail 45. A pair of wheel receivers 47 are provided at a constant interval in a direction perpendicular to the paper surface of FIG.
7 and the guide block 43, the rail 3
A transport device body frame 48 perpendicular to 4 is slidably suspended.

A motor 49 with a speed reducer is fixedly installed on the upper surface of the end of the main body frame 48 of the conveying device on the rail 34° side.
It meshes with a gear 52 coaxially fixed to a shaft 51 which is rotatably supported by a bearing (not shown) provided on the conveyor body frame 38 side. The gear 52 is attached to the shaft 51.
A gear 53 fixed coaxially with the conveyor body frame 4
It meshes with a gear 56 rotatably attached to a bracket 55 on the carrier main frame 38 via an intermediate gear 54 rotatably attached to 8 via a bearing (not shown). Further, a gear 58 attached coaxially with the gear 56 meshes with a rack 57 attached to the rail 34a over its entire length in the longitudinal direction.

Therefore, when the motor 49 rotates, the gears 50, 52, 53
. 42 and wheels 46 to move.

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

This work rotation device 64 is connected to the disc spring 63 by
an upper plate 65 directly attached to the piston rod 62;
A horizontal lower plate 67 is attached to the upper plate 65 via a vertical support rod 66, and a rotary cylinder 68 is placed on the upper surface of the lower plate 67. 2 attached vertically to the upper plate 65 and lower plate 67
The book rod 9 is vertically slidably supported by a vertical bearing 70 fixed to the support plate 60, and serves as a guide to prevent the entire work rotation device 64 from tilting and rotating. .

A compression spring 71 is provided around each of the bearings 70, and an abutment plate 72 is placed on top of each compression spring 71. The rods 69 are inserted through a hole bored in the center of the abutment plate 72, respectively. ” Extending to one side. 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 61 is driven and the piston rod 62 advances. When the entire work rotation device W64 moves downward, the stopper 73 contacts the compression spring 71 via the abutment plate 72 at its lowest position, thereby providing a buffering effect at its lowest position. .

A horizontal rotating shaft 75 is supported at right angles to the rail 34 by a pair of bearings 74 attached to the lower surface of the lower plate 67, and a bevel gear 7 is attached coaxially to this rotating shaft.
6 meshes with a bevel gear 77 attached to the drive shaft 6B of the rotary cylinder 68.

Furthermore, rotating levers 78 are fixed to both ends of the rotating shaft 75, and one end of each rotating lever 78 is provided with a rotating lever 78.
A support bar 79 parallel to 5 is fixed in the horizontal direction, and a ball holder 81 having a ball 80 that can freely appear and retract is fixed to the other end of each rotating lever 78.

Vertical guide members 82 are fixed to both ends of the support bar 79, respectively, and electromagnets 84 are fixed to the tips of sliding rods 83 that are slidably supported in the vertical direction by the guide members 82. has been done. -The above electromagnet 8
4 is for energy saving and to prevent workpieces from falling during power outage.
Use a type that attracts when not energized. Note that 85 is the guide member 82 at the lowest end position of the sliding rod 83.
The stopper is fixed to the rear end of the sliding rod 83.

Small auxiliary cylinders 87 are attached to the electromagnets 84 via brackets 86 in the vertical direction in FIG. 9, respectively. Further, guide members 88 are vertically fixed adjacent to the electromagnets 84, and slidable bush rods 89 are inserted into each of the guide members 88. This bushing rod 89 is always elastically biased downward by a compression spring 91 fastened between a trunk 90 provided in the middle and the guide member 88, and its lower end 92 is shown in FIG. In the standby state shown in FIG. 8, the electromagnet 84 protrudes further downward than the lower end of the electromagnet 84.

The drive shaft 68 of the rotary cylinder 68. At the top of the
An indicator 93 on the bar is fixed horizontally,
When the indicator 93 rotates due to rotation of the drive shaft 68a, proximity switches 94-, . 94t.

94C are attached to the upper ends of the lower cylinders 68 (however, a proximity switch 94t for detecting an intermediate position is not shown).

Furthermore, the rotary lever 78 is provided on the lower surface of the lower plate 67.
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 80 are inserted when the ball holder 80 is in the vertical state shown in FIG.

Therefore, the rotary cylinder 6 is activated and the drive shaft 68
．． When rotates, the rotation passes through the bevel gear 77.76,
The signal is transmitted to the rotating shaft 75, and the rotating lever 7 is connected to the rotating shaft 75.
Support bar 79 attached via 8 and the support bar 79
Electromagnets 84 attached to both ends rotate integrally around the rotating shaft 75 as shown by an arrow 96. At this time, the indicator 93 indicates each proximity switch 394. , 94t, ,9
4c is detected and the lower cylinder 6 is moved.
8, the electromagnet 84 is moved to one horizontal position i-+
It can be stopped at each position from the vertical position W (standby position) shown in FIG. 9 to the vertical position in the opposite direction.

Work rotating device above the surface? fF 64 is a state in which the side plate 5 or 6 is attracted by the electromagnet 84, and the electromagnet 8
4 is rotated 90 degrees around the rotating shaft 75 and the side plate 5 or 6 is held vertically. Rotating torque due to the weight of the support bar 79, side plate 5 or 6, etc. is transmitted through the rotating shaft 75 to the bevel gears 76 and 7.
These gravitational moments I
In order to reduce the !, joints 97 are attached to both ends of the support bar 79 so as to be rotatable around the support bar 79, and the joints 97 and the ! The main body frame 48 of the general feeding device is connected with a wire 99 via a balancer 98, and the support bar 79 is pulled upward by the tensile force of the balancer 98 on the wire 99, and the side plate 5 or 6. Electromagnet 84
．． The downward rotational torque caused by the support bar 79 and the like is alleviated.

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

Next, with reference to FIGS. 1, 2, and 3 to 7, the workpiece is grasped for assembling the side plates 5 and 6 transported by the workpiece transporting device 37 and the substrate 19. The structure of the device 38 will be explained.

First, using FIGS. 1 and 2, the workpiece gripping device 3
8 will be explained. That is, the work gripping device 3
8, a clamping mechanism 101 that grips the front side plate 5 and the rear side plate 6 in a vertically erect state (in Fig. 2, the standby state of the clamping mechanism is indicated by a solid line (101), and the clamping mechanism is actually being operated. The state is indicated by a two-dot chain line (l O1'), and the clamp mechanism on the right in FIG. A substrate holding device 102 for holding a horizontal substrate 19 placed on the rear side plate 6 and the clamping mechanism 101 are moved from a standby position 101 shown in solid line to an operating position W (position 1 shown in two-dot chain line). 01') and the like.

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 one rule 34 (FIG. 1), and two guide rails 104 are slidably mounted on these guide rails 104. Frames 106a and 106b are mounted by a pair of guide plotters 105 and 105 so as to be slidable in mutually opposing directions.

Each of the above mounts 106. and 106b, a pair of frames 107e and 107t are erected, respectively, extending in the vertical direction. On the side surfaces of these frames 107a and 107, plates 108a and 108 are provided along the longitudinal direction, respectively, as shown in FIG. 5(a).
It is fixed with bolts 110 inserted into elongated holes 109 drilled in holes 08a and 108, so that the mounting position can be adjusted. This plate 108. and 108b,
An air cylinder 111 is attached to each of the plates 108, 1 and 108I so as to be able to swing around a pin 112 attached to the lower part thereof, and the tip of the piston rod 113 of the air cylinder 111 is attached to a bracket 114 and the bracket 114. The frame 107. and 107
It is attached to a lever 117 that can swing freely around a pin 116 implanted in the front.

Further, the tip 117a of the lever 117 is
It is connected to a lever 119 that is swingable in a vertical plane via a horizontal pin 118 installed in ll1711.

On the other hand, at the upper ends of the frames 107a and 107b,
As shown in FIG. 4, a lever 121 that can freely swing in a horizontal plane is engaged with a vertical pin 120, and one end 121a of this lever 121 and the tip of the lever 119 are connected to the lever 199. They are engaged via a pin 122 in a perpendicular direction.

However, the lever 121 and the pin 122 of the lever 119
The lever 121 is swingable only in the horizontal direction, whereas the lever 119 is swingable in the vertical plane, so the lever 122 for inserting the pin 122 is The engagement hole 123 drilled in is shown in Fig. 5(C).
As shown in the figure, the lever 121 has a drum-shaped cross section, and is configured so that the lever 121 can freely swing relative to the pin 122, and the engagement hole 123 and the pin 122 can be fitted together without any play. There is. Various other types of joint structures such as this can be considered, but for example, as shown in FIG. 5(d), pin 1
The sphere 124 is fitted to the lever 22, and the sphere 124 is attached to the lever 1.
By fitting into the engagement hole 1238 having the same shape as the sphere 124 bored in the tip 121a of the lever 21, the lever 121 is allowed to swing relative to the lever 119 about the pin 122, 119 can be swung in a vertical plane, and the engagement portion can be free from rattling or play.

As shown in FIG. 4, the other end 121b of the lever 121 has a pressing roller 125 rotatable about a vertical axis.
are attached to the frame 107a, respectively, and the frame 107a
A positioning block 126 is fixedly installed on the -L surface of each of the positioning blocks 126 and 107, and the side plate 5 or 6 shown by the two-dot chain line in FIG. 4 is held between the positioning block 126 and the pressing roller 125. 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 the radius rl of the eccentric cam-shaped pressing surface 127 near the pressing roller 125 is
is formed to be larger than the radius r near the lever.

Therefore, when the pressing roller 125 is pressed toward the positioning block 126 as shown in FIG. Pressure surface 1 indicated by rl
The large diameter portion of 27 is pressed against the end of the side plate 5 or 6 to accurately position the side plate 5 or 6 in the horizontal direction. 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 r2 becomes the side plate 5 or 6.
The side plate 5 or 6 will face the end of the pressing surface 1.
The horizontal tightening by 27 is released from the condition.

5 Rotation of the pressure roller 125 as described above, that is, the lever 12
The rotational movement about the first pin 120 is performed as follows. First, when the air cylinders 11, 1 are operated to move the pin rod 113 backward, the piston rod 1
13, a bracket 114 and a pin 1 attached to its tip
The lever 117 attached via the lever 15 rotates around the pin 116 as shown by an arrow 129, as shown in FIG. 5(b). Along with this movement of lever 117, lever 1
A lever 119 connected to 17 via a pin 118 is
It retreats in the direction of lever 117 as shown by arrow 130.

At this time, the lever 119 is engaged with the lever 121 through the pin 122 at its tip, so that the pin 122 is slightly inclined as shown in FIG. 5(b). Due to this backward movement of the lever 119, this lever 1
Lever 12 connected to 19 via pin 122
1 rotates in the direction shown by the arrow 128 around the pin 120 (Fig. 4), and the pressing roller 125 separates from the side plate 5 or 66 sandwiched between it and the positioning block 126, releasing the sandwiched state. do. This movement causes the side plate 5 or 6 to move toward the pressing surface 1 of the lever 121 as described above.
27, 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 1 moves in the exact opposite direction to the above movement.
21 rotates in the direction opposite to the arrow 128, and the side plate 5 or 6, which has been attracted to the electromagnet 84 and conveyed by the workpiece conveyance device 37, is placed between the positioning block 126 and the press 125 in the vertical state. It is held under pressure.

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 support frame 130I is mounted on the stand 131.
, the frame 1311. (Fig. 3) Air cylinder 13 equipped with solenoid pulp 132
3 extends vertically through the frame 131a, and the piston rod 13 of this air cylinder 133
An angle member 135 is horizontally attached to the upper end of the guide rail 104 in a direction perpendicular to the guide rail 104. The piston rod 134 is attached to the lower surface of this angle member 135.
A pair of guide rods 13 installed symmetrically across the
6 is vertically slidably supported by a pair of vertical bearings 137 attached to the frame 131, thereby guiding the angle member 135 in the vertical direction. Therefore, the air cylinder 133
There is no need to fix it to the horizontal pin 138 attached to the support member (131a) of the frame 131C.
(Fig. 3), it is swingably 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 port 140 inserted into the long groove so that its position can be adjusted 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'.

Furthermore, a pair of two silk positioning blocks 142 is fixed on the upper surface of this positioning plate 141.

As shown in FIGS. 3 and 4, this positioning block pair 142 is constructed by sandwiching the 90-degree bent end edge 19a of the substrate 19 placed on the positioning plate 141 in the direction of the angle member 135. These are for positioning the members 135 in the longitudinal direction, and each has a tapered surface 143 so that the edge 19° of the substrate 19 that has been lowered from above by the workpiece conveying device 37 can be easily inserted, and also has a tapered surface 143 to adjust the positioning state. The edge portion 1 of the substrate 19 of
9. It is composed of positioning blocks 142a and 142t each having a vertical surface 144 for sandwiching the positioning blocks 142a and 142t. Note that one of the positioning blocks 142a and 142 is
The mounting position is variable in the longitudinal direction of the angle member 135, and is configured to accommodate changes in the thickness of the board 19.

9. The positioning block pair 142 is used to position the board 19 in the longitudinal direction of the angle member 135 as described above, but as shown in FIG. , which extends during screw tightening to position the board 19 in a direction perpendicular to the longitudinal direction of the angle member 135.

The substrate holding device 102 configured as described above stops at the standby position shown in FIG. 2 when the substrate 19 is carried above it by the workpiece transfer device 37,
When the substrate 19 is lowered by the movement of the air cylinder 61 of the work transfer device 37, the edge portion 19. is sandwiched between two pairs of positioning blocks 142 to position the angle member 135 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 board 19 by the screw tightening machine 39 to form the chassis 31, and the entire chassis 31 is lifted by the air cylinder 133, and the chassis reversing device W (not shown) is in a convenient state for delivery.

The workpiece gripping device 38 as described above includes a clamping mechanism 101a for clamping the front plate 5 as shown in FIG.
Clamp mechanism 1011 for gripping the side and rear side plates 6.
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. At the clamping position ffl O1' of each side plate, if the pressure roller 125 is only released, the lever 121 will protrude outward from the side plates 5 and 6 in the assembled state. When the 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

This movement of the lamp assembly ML 101 a and 1011° is achieved by the drive mechanism 103 .

That is, as shown in FIG. 2, each clamp mechanism 101a and 10
11. are attached to the mounts 106a and 106b, respectively, which are slidably attached to the guide rail 104 as described above, and the bracket 1 is attached to the mount 106b.
45, the bottle 14 installed in the bracket 145
Air cylinder 14 is attached to be able to swing freely around 6.
The tip of the piston rod 148 of No. 7 is connected to the bracket 149.
is fixed to the pedestal 106. The bracket 149 is swingably engaged with a horizontal pin 151 attached via a bracket 150 to the lower surface of the bracket 149 .

Therefore, when the air cylinder 147 is operated and the piston rod 148 is advanced, the mounts 106a and 106b
are pushed and moved in opposite directions, respectively, until the frames 1068 and 106 finally come into contact with stoppers 152a and 152 provided at both ends of the guide rail 45. In this way, the clamp device 101. The positions of and 101 are indicated by the two-dot chain line 101' as described above. Furthermore, each stopper 152
The positions of a and 152 are for each frame 106a and 106b.
It is adjusted by the amount of tightening of poles 152t and 152c that form the contact surface with the

In addition, the air cylinder 111 etc. are connected to the plate 108a (
The frames 107 and 107I attached via the frame 108I, ) have a support plate 153 protruding outward at the lower end portion thereof, and
The front side plate 5 and the rear side plate 6 carried by are placed on this support plate 153-), and their positions in the vertical direction are determined, and the lower end portion of each side plate 5 or 6 is positioned in the horizontal direction. is the frame 107. and 107
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 each support plate 153 toward the distal end thereof.

Next, referring to the flowchart shown in FIG.
．． 6 and the board 19 will be explained in terms of work procedures.

Here, SCI, SC2, SC3°3, . . . indicate step numbers. First, in step SCI, n=Q is initialized. Here, n is the number of repetitions of the work procedure of the workpiece conveyance device, where n=o during the procedure of conveying the front side plate 5, n=1 when conveying the rear side plate 6,
0,1,0,1. ···repeat. Next, at SC2, it is determined whether or not 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, and the process waits 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 and the air cylinder 61 is activated to move the piston rod 62. descend,
The electromagnet 84 attached to the workpiece rotation device 64 (see FIG. 8) attached to the tip of the workpiece rotation device 64 (see FIG. 8) via the support bar 79 descends (503), and eventually the electromagnet 84 moves to the side plate conveyor 1.
It comes into contact with the front plate 5 on the upper pallet. The operating time of the air 54 cylinder 61 is set by the time interval (SC4).

/ At the time when the electromagnet 84 comes into contact with the front plate 5, the bushing rod 89, which is urged downward by the compression spring 91, urges the front plate 5 downward while retreating.

At this point, the front plate 5 is attracted by the electromagnet 84 in step SC5. When the suction of the front side plate 5 is completed, S
At C6, the cylinder 61 is actuated to retract the piston rod 62 and raise the front plate 5. This rising time, like the falling time, is determined by the set time Ll (
SC7).

Next, in step SC8, it is determined whether n is 0 or not. If n is O, that is, if it is determined that the front plate 5 is being transported, the rotary cylinder 68 is rotated in the normal direction at SC9. Then, the rotation of the rotary cylinder 68 is transmitted to the rotating shaft 75 via the bevel gear 11.16, and the support bar 79. and an electromagnet 8 attached to it
4.Furthermore, the front plate 5 attracted to the electromagnet 86 is rotated, and the front plate 5 approaches a vertical state.

As the rotary cylinder 68 rotates, the indicator 93 attached to the upper end of the drive shaft 68a also rotates.
Proximity switch 94 on the left side. The rotary cylinder 68 continues to rotate forward until it turns on (SC10). Thus the proximity switch 94. When turned on, the rotary cylinder 68
rotation is stopped, and in this state, the travel motor 49 is rotated forward (S011). The rotation of the motor 49 is controlled by the gear groups 50, 52, 53, 54, . , 56, and the rotation of the gear 58 that meshes with the rack 57 causes the entire workpiece conveying device 37 to move in the direction indicated by the arrow 155 in FIG.
, 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 should be lowered, the air cylinder 61 is activated and the side plate 5 is lowered for a set time T9 (SC), 3,5C14 )
.

By lowering the front plate 5 by this fixed amount of time, the front plate 5 is lowered until the lower end of the front plate 5 comes into contact with 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 activated for T3 time at 5C15.
6) As the piston rod 113 retreats, the bracket 121 moves around the bin 120 via the brackets 117 and 119 as shown by the arrow 128, as described above.
Rotating in the opposite direction, the pressing roller 125 presses the front plate 5 against the positioning block 126 and holds it in that position. In this state, it is sufficient to turn on the electromagnet 84, but since the side plate, which is normally attracted by the electromagnet 84, is not positioned very accurately, the pressing roller 12
5, perfect positional accuracy cannot be expected, and the front plate 5 may be slightly tilted or displaced upward. Therefore, the time for which the air cylinder 111 for the clamp is operated should be approximately 8 at this point, an appropriate setting time of T3 (5C16).
, the pressing force of the pressing roller 125 is released by operating the air cylinder 111 and turning on the electromagnet 84 (SC17), and temporarily lowering the pressure of the clamping air cylinder 111 for a minute time of 74 minutes.
18, 5C19), - The holding state by the pressure roller 125 is released for the above-mentioned time T1, and the front plate 5 is configured to fall onto the support plate 153 due to its own weight, and its inclination and position shift are forced. ing. Although not shown in FIG. 11(a), when the electromagnet 84 is turned on and the front plate 5 is opened, the auxiliary cylinder 87 is activated at the same time to urge the front plate 5 away from the electromagnet 84. , ``Preventing the front plate 5 from being attracted by the residual magnetism of the electromagnet 84. The bushing rod 89 biased by the compression spring 91 (FIG. 9) has a similar effect.

When the pressure release described above is completed, compressed air is again blown into the clamping air cylinder 111 in step 5c20, and the clamping air cylinder 111 is turned on to grip the front plate 5 between the pressing roller 125 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, 5C22). Next, the rear plate 6
Since it is necessary to determine whether to transport the substrate 19 or the substrate 19, it is determined in 5C23 whether n is 1 or not. At this point, the processing of the front side plate 5 has just been completed, so n=o,
Processing proceeds in the direction of 5C24. At 5C24, the traveling motor 49 is reversed, and at the same time, at 5C25, the lower cylinder 6 is reversed.

The movement of the workpiece conveyance device 370 due to the rotation of the motor 49 continues until the positioning sensor is turned on at 5C27, and the reverse rotation of the rotation cylinder 68 is caused by interference with the indicator 93, which causes the intermediate proximity switch 94b to be turned on. This continues until (SC26). In this way, the initial state was restored, so at 5C28, 1 was added to n.
is added, 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, since the mounting direction to the board 19 is 180 degrees different l6, processing is performed after determining whether n is 0 or not, that is, whether it is the front side plate 5 or the rear side plate 6 at SC8. The process proceeds to step 5C29, where the lower cylinder 68 is activated by the indicator 93 and the proximity switch 94. Rotate until it turns on (SC29a). Further, in 5C23, when it is determined that the positioning of the rear side plate 6 is completed, that is, when n=1, the traveling motor 49 is activated in order to take the substrate to the substrate supply position 36 on the substrate conveyor 20 side. After normal rotation (SC30), the low cylinder 68 is rotated until the proximity switch 94I is turned on (5C31, 5C32), and the sensor (not shown) provided with the travel motor 49 at the substrate supply position 36 is turned on. Rotate it until it becomes 1. The above two points and further 5C34
This process differs from the process regarding the front plate 5 in that n is returned to 0 in the process. Strictly speaking, SC1,
The stop position F of the workpiece conveyance device 37 detected in step 2 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. 11(b), at 5C35, similarly to SC2, the bullet carrying the substrate 19 is stopped at a predetermined position of the substrate supply position 36. Wait until. Board 19
When it stops at a predetermined position, the air cylinder 61 of the workpiece conveyance device 37 is activated in the same way as the front side plate, and the electromagnet 84 is lowered for a certain period of time (T5) (SC36, 5C37).
), when the electromagnet 84 comes into contact with the substrate 19, the electromagnet 84 is subsequently turned off (5C38), 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 (SC
39). This -rise time is determined by T6 (SC40
). Subsequently, in order to transport the substrate 19 onto the front side plate 5 and rear side plate 6 that have already been positioned on the workpiece gripping device 38, the traveling motor is reversed, and the workpiece conveyance device 37 is moved in the direction of the workpiece gripping device W38. Drive to (
SC41). The traveling of the workpiece conveyance device 37 is stopped when a sensor (not shown) provided at an appropriate position interfering with a part of the workpiece conveyance device 37 is turned on.
SC42) At this position, the air cylinder 61 is actuated again, the piston rod 62 advances, and the substrate 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). When the substrate 19 is lowered at the predetermined position in this manner, its edge portion 198 is fitted between the pair of positioning blocks 142 as described above, and the angle member 13
In order to position the board 19 in the longitudinal direction of 5C, the electromagnet 84 is released (5C45), and in 5C46, the air cylinder 61 is actuated to raise the electromagnet 84 and the traveling motor 49 is reversed (5C45). SC4
8) Retract the workpiece transport device 37 to the side plate supply position 35. The stop position of the workpiece conveyance device 37 at this time is determined by the ON operation of a sensor (not shown) provided at the side plate supply position 35 (SC49).

Next, a mechanism for moving the structure 158 to which the screw tightening machine 39 is attached will be explained with reference to FIGS. 1 and 2. The legs of the frame 157 of the concave structure 158 include
At least one pair of upper and lower wheels 183 are attached to the frame 1.
A second frame attached to the end of a pedestal 184 integral with 31
The wheel 183 on the F side grips the rail 185 vertically to the plane of the figure in the vertical direction.
The frame 157a is supported so as to be freely movable along the rails 185. Note that the bracket 186 protruding outward from the frame 157a includes the rail 185.
A rotatable horizontal wheel 187 is mounted which abuts on the side surface of the rail 185 and guides the wheel 183 so that it does not come off the rail 185. A female threaded portion 188 is attached to the lower end of the other vertical frame 157 in a direction perpendicular to the rail 34 shown in FIG. 1, and a threaded rod 189 is screwed into this female threaded portion 188. - The threaded rod 189 is rotatably supported at both ends by bearings attached to the pedestal 184 so as not to be able to move in the axial direction. A gear 192 that meshes with the gear 192 is fixed.

A wheel similar to the wheel 183 is also attached to the lower end of the frame 157b, and is guided by a rail similar to the wheel 185 (not shown) so that the frame 157t can move in a direction perpendicular to the paper plane of FIG. It is composed of

Next, the movement of the recessed structure 158 and the screw tightening operation by the screw tightener 39 will be explained according to the flowchart shown in FIG. 11(c).

That is, 7 in SC50! -0 initialization is performed. l
The value of is related to the number of screw tightening operations, that is, the number of screws to be tightened.
It shall be tightened at 9.

Next, at SC51, a motor 191 for driving a five-gate type structure 158 having a screw tightening machine 39 is started, and its rotation passes through a gear 192 to a threaded rod 189.
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 . A plurality of sensors are provided at predetermined positions on the rail 185 to engage with dogs (not shown) provided on the structure 158 in correspondence with a plurality of screw tightening positions on the board 19. As the dog travels, the dog engages the sensor, and each time the sensor is activated, the motor 191 is stopped (SC
52), a bracket 193 is attached to the angle member 156;
A pair of holding cylinders 19 attached via (Fig. 1)
4 advances and positions the board 19 in the longitudinal direction of the rail 34 shown in FIG.
54).

When the screw tightening work at one location is completed in this way, in step 5C55, the holding cylinder 194 is moved backward, and in step SC56, 1 is added to 6 p, and it is determined whether or not l is equal to m (that is, all screws are tightened). Determine whether tightening is completed or not (5057), β
is smaller than m, return to step SC51 and
Repeat the steps 5C51 to 5C57 to tighten the screws at the adjacent screw positions one after another, and when m becomes equal to p, there is no need to advance the screw tightener 39 any further, so the traveling The motor 191 is reversed (SC58), and the entire concave structure 158 is retreated to its original position. The stopping position of the gate-shaped structure 158 is
It is determined by the point in time when a sensor (not shown) provided in No. 4 comes into contact with a part of the structure 158 and is activated (SC59).
. Subsequently, at SC60, the air cylinder 111 that was pressing the side plates 5 and 6 against the positioning block 126 is operated to move the piston rod 113 backward, and the lever 121 is moved toward the pin 12 in the direction of the arrow 128 shown in FIG.
2 by approximately 90 degrees to release the holding force of the pressing roller 125 in the direction perpendicular to the side plates 5 and 6, and also to release the holding force of the pressing surface 127 of the lever 121 in the direction parallel to the plate surfaces of the side plates 5 and 6. It also releases the holding power of. As a result, board 1
9 and the side plates 5 and 6 are screwed to each other on the chassis 3.
1, the positioning block pair 1
48 and support port 195 (FIG. 3), and the pressing roller 125 and lever 121 are completely removed in the longitudinal direction of the chassis 31.

Next, the air cylinder 14 for retracting the clamp mechanism 101
7 is activated, its piston rod 148 is retracted, and the left and right clamp mechanisms 101a and 101b move from the positions indicated by two-dot chain lines to the positions indicated by solid lines 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 125 and lever 121 are removed. This avoids inconveniences such as collision between the vehicle and the chassis 31. Further, as described above, by retracting the clamp mechanisms 101a and 101 to the solid line position shown in FIG.
When the side plates 5 and 6 of the chassis 31 interfere with the clamp mechanisms 101a and 101 when the side plates 5 and 6 of the chassis 31 are pulled out in a direction perpendicular to the paper plane of FIG. 2, the inconvenience 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 together with the angle member 135, the pair of positioning blocks 142 and the support bolt 195 attached to the upper part of the angle member 135,
The chassis 31 rises to a certain position (SC62).

Furthermore, the chassis reversing device is activated to pull out the main body chassis 31 from the work gripping device 37 in a direction perpendicular to the rail 34, reverse it, and send it onto the conveyor for the next process (SC
63). When the chassis 31 is turned over and transferred to the conveyor for the next process, the chassis 31 faces in the normal direction with the board 19 as the bottom surface, and takes a posture suitable for the subsequent automatic parts mounting work.

9 When the chassis 31 is taken out from the gripping device 138 in this way, the air cylinder 133 for lifting and lowering 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). ,
The clamp mechanisms 017a and 1011. The evacuation cylinder 147 that moves the frame 106. and 106& stop at the position where they contact stoppers 152a and 152b (S
C65).

The forward position of the concave structure 158 naturally differs depending on the size of the target chassis, and the position where the screw tightening machine 39 is most advanced in order to work on the largest chassis is indicated by the two-dot chain line in FIG. (39').

Additionally, the clamp mechanism 101 shown in FIGS. 4 and 5 above
In a and 101, the air cylinder 111 is provided vertically in order to downsize the entire mechanism, but the drive mechanism for the lever 121 is not necessarily connected to the vertical air cylinder 111 as described above. It is not necessary to use a rotary cylinder or a rotary solenoid, and it is also possible to use a cylinder arranged laterally as shown in FIGS. 6 and 7.

That is, in FIGS. 6 and 7, 113' is a piston rod of an air cylinder arranged horizontally, and this piston rod 113 has its tip attached to the bracket 1.
A lever 117' is installed vertically at one end of the lever 117', which can swing freely in a horizontal plane, centering on a pin 116' installed vertically at the end of the plate 107'' attached to the frame 107'' via a lever 14'. A vertical pin 120' installed at the other end of the frame 107' has a lever 121' that can swing freely in a horizontal plane.
A vertical pin 122' installed in the lever 121' and a vertical pin 118' installed in the other end of the lever 117' are connected by a link 119', and the plate 107 ', Lever 117', 121
' and link 119' form a parallel link.

Further, a horizontal pressing roller 125' is rotatably attached to the tip of the lever 121', and the plate 125' is rotatably pivoted.
07' where the pressing roller 125' faces,
A positioning block 106' has been added.

Therefore, in this case, an air cylinder (not shown) operates and its piston rod 113' moves horizontally as shown by the arrow 197. or 197t, the lever 117' rotates clockwise or counterclockwise around the pin 116' as shown in FIG. 121' rotates clockwise or counterclockwise about pin 120'. Therefore, lever 12
The side plate 5 or 6 installed between the pressure roller 125' provided at the tip of the roller 1' and the positioning block 126' may be pinched between the pressure roller 125' and the positioning block 126', or be freed from the condition. In this embodiment as well, similarly to the mechanism shown in FIG. and a small diameter portion 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 large radius indicated by rl is formed. The diameter portion is configured to press the side plate 5 or 6 in the plane direction thereof. Furthermore, plate 10
7' is attached to the plate 107' by bolts installed in elongated holes 198, and by sliding in the direction of the elongated holes 198, side plates of different sizes can be accommodated.

As described above, the present invention is a device for positioning and gripping a workpiece in a vertical state, in which one side and lower surface of the workpiece are brought into contact with a positioning block and a support member attached to a base, and the workpiece is rotated in a horizontal plane. A workpiece gripping device that positions the workpiece in three directions by pressing the workpiece against the positioning block using a freely movable pressing member and pressing a pressing surface formed on a side surface of the pressing member against the other side of the workpiece. Because of this, the workpiece is positioned extremely accurately, and the gripping is reliable, so even if you place another workpiece on top of the gripped workpiece, the positioning accuracy of the gripped workpiece will decrease. This workpiece gripping device is free from such inconveniences and is suitable for use in automatic assembly processes, etc.

[Brief explanation of drawings]

FIG. 1 is a plan view of the entire chassis assembly device including a workpiece gripping device according to an embodiment of the present invention, FIG. 2 is a rotational front view, 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, and FIGS. 5(a) and 5(b) are side views showing the operation of the drive unit of the workpiece gripping device, and FIGS. ) is a side sectional view showing a modified example of the lever coupling mechanism that can be used in the above drive unit, FIG. 6 is a plan view showing the structure of a work gripping device having another structure, and FIGS. 7(a) and 7(a) are respectively. (b) is a plan view and a side view showing the structure of the drive unit in the workpiece gripping device shown in FIG. 6, and FIG. 8 is a front view of the workpiece conveyance device used in the assembly device. FIG. 9 is a front view of a workpiece rotating device that forms the main part of the workpiece transfer device, FIG. 10 is a front view showing the traveling drive section of the workpiece transfer device, and FIGS. 11(a) to (C) are 3 is a flowchart showing the operating procedure of the assembly device. (Explanation of symbols) 5... Side plate 19... Board 31... Chassis 37... Work (general transport device 38
...Work gripping device 39...Screw tightening machine 64...
Work rotation device 102...Substrate holding device Applicant Sanda Kogyo Co., Ltd. Agent Patent attorney Takeo Honjo Tokukai Sho GO-118440 (23)

Claims (1)

[Claims] A device for positioning and gripping a workpiece in a vertical state, comprising: (1) bringing one side and a lower surface of the workpiece into contact with a positioning block and a support member attached to a base, and rotating the workpiece in a horizontal plane; A workpiece gripping device that positions the workpiece in three directions by pressing the workpiece against the positioning block using a movable pressing member and pressing a pressing surface formed on a side surface of the pressing member against the other side of the workpiece. .