JPS6021141A - Control device for positioning automatic riveter - Google Patents

Abstract

PURPOSE:To improve the accuracy of positioning in the curving direction of a work by determining the position of a riveting point with a television camera in place of a level sensor when the inclination of the work attains a certain value with respect to the Y-axis. CONSTITUTION:A titled control device consists of >=3 level sensors 7a, 7b, 7c, a z-axis driver 78, an a-axis driver 46 and a Y-axis driver 64, a riveter controller 136, a television camera means 86, a displacement meter means 120, a switch means 112, an a-axis locking means 114 and a comparing means. Said camera means 86 is so placed as to photograph the riveting point part of a work 4 and the displacement meter means 120 receives the video signal from the means 86 and outputs the distance signal indicating the distance from the reference point for marking on the work 4. The switch means 112 supplies a deviation signal to the above-described driver 46 when the inclination of the means for outputting the reference signal and the deviation signal and the work 4 attains the prescribed value with respect to the Y-axis.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a positioning control device for an automatic riveter, and more specifically, it uses a video sensor to precisely position a work piece. This invention relates to a positioning control device for an automatic riveter.

As shown in FIG. 1, the fuselage of a prior art aircraft has a curved skin material 1.
Does it extend horizontally and vertically? Generally, it is constructed from a member made of di-strong channel materials 2 and 3, which are fixed by a soft fit. At present, the skin material and channel material are fastened together with glue using an automatic riveter.

For example, as shown in Figure 2, this auto rivet can be applied to the skin material. It has a work frame 5 to which two pieces of dt-strength channel material are temporarily fixed, that is, a workpiece 4 is attached. The work frame 5 can rotate around the a-axis, and can also move along the vertical axis, ie, the Z-axis, and the horizontal axis, ie, the Y-axis, orthogonal to the a-axis. Further, a riveter head 6 is disposed so as to be movable along a Z-axis parallel to the a-axis of the work frame 5. Three level sensors 7a and 7bs7c are provided so as to surround the tip of the rivet gun of the rivet head 6, that is, the center point of the rivet driving. These three level sensors 7a, 7b
, 7c are arranged to form an isosceles triangle whose base is parallel to the Y axis and whose fastener center point P is located on a line extending perpendicularly from the apex to the base, as shown in FIG. Level sensor 7a.

The outputs of 7b and 7c are manually input to a level control circuit 8.

This level control circuit 118 includes level sensors 7a, 7b,
Based on the output of 7c, the a-axis drive device 9 is operated so that the three points on the workpiece surface that are in contact with the three level sensors are positioned at predetermined heights with substantially no difference in height from each other. and controls the X-axis drive device 10 to adjust the angle around the a-axis and the displacement along the Z-axis. On the other hand, the riveter controller 11 controls the X-axis drive device 12 and the Y-axis drive device 13 according to a built-in program to move the riveter head 6 along the Z-axis and move the work frame 5 along the Y-axis. move it.

The skin material of the workpiece extends straight in the longitudinal direction, that is, in the X-axis direction. Therefore, when riveting the skin material 1 to the channel material 2 in the vertical direction, the level control circuit 8 operates so that the workpiece is positioned horizontally at a predetermined height based on the outputs of the level sensors 7a, 7b, and 7C. Then, the rivet controller 11 causes the rivet gun to drive a rivet every time the rivet header 6 is moved in the X-axis direction by a predetermined rivet setting interval (for example, about 2.3 cm interval) by the X-axis drive device 12.

However, the curved shape of the skin material of the workpiece, that is, the cross-sectional shape in a plane perpendicular to the Z-axis, may or may not be a circular arc, as shown in FIG. The workpiece is not attached to the workframe as it is located above. Therefore, if the work frame is simply rotated around the a-axis, the height of the work surface directly below the fastener driving center point will change and become tilted.

Therefore, when fixing the skin material 1 with 1J of horizontal channel materials 3, the automatic riveting vine is operated as follows. For example, when the workpiece 4 is at the position indicated by the thick solid line in Fig. 4, and the riveting is completed by setting the riveting point Px and the riveting point is completed, the riveting is completed at the next riveting point P2. Nokome No. J2 who is driving the throat is the driving point P2.
First, mount the rivet so that it is on the center axis of the fastener driving (in Fig. 4 (corresponds to the 2nd axis in s)) and the plane tangent to the fastener driving point P2 is located horizontally at a predetermined height. The vine controller 11 controls the Y-axis drive device 13 according to its built-in block to move the workpiece 4 in the Y direction by ΔY. As the surface of the workpiece lowers and tilts around 1,
The L/A mill control circuit 8 that receives the outputs of the level sensors 7a, 7b, and 7c operates and performs tilt control by rotating the a-axis with the a-axis drive device 9 so that the outputs of the level sensors 7a and 7b are equal. (, >, Also, level sensor 7
Height control, that is, level control, is performed by elevating the work along the Z-axis by the two-axis drive device IO so that the output forces of a, 7b, and 7c are equal.

The following two movements along the Y axis, tilt control, and level control are performed simultaneously. However, for the sake of clarity, if we consider that the three actions were performed after blH, then
The a-axis moves in the Y-axis direction by △Y, and the workpiece 4 is displaced from the position indicated by the thick solid line to the position indicated by the dotted line.Then, the workpiece 4 moves △α around the a-axis portion a'' that has been displaced by △Y. It rotates and moves to the position indicated by the two-dot chain line, and finally moves up △Z in the X-axis direction to the position indicated by the thin solid line.As a result, the 22 points on the workpiece 4 change from P7 to Pl in Fig. 4. It moves through P I+ to Pl and is horizontally positioned at a predetermined height at the center point of driving the fastener (on the Z axis in FIG. 4).

If the curved surface of the workpiece 4 is an arc, the above operation corresponds to rotating the workpiece 4 by △θ around the center of curvature C. Therefore, △Y is the next ladle point P2. It can be calculated geometrically from the curvature of the workpiece and the spacing between the riveting points so that it moves to the center point of the riveting point and its normal line coincides with the Z axis. If △Y is calculated and programmed in this way, the above O1 riveter will be highly accurate.
・He should be able to hit.

However, the above-mentioned Autry and Tsuk have poor positioning accuracy in the direction along the curved surface of the workpiece, that is, in the Y direction. One of the reasons for this is that the level sensor cannot accurately detect the heights of the three points on the workpiece surface due to unevenness on the workpiece surface or a small amount of dirt between the workpiece surface and the level sensor. This is caused by an excess or deficiency in the rotation around the center. Another reason is that due to the unavoidable deflection of the work frame, the geometric reference shape and dimensions of the work frame, which are the basis for calculating command values such as △Y, are not actually maintained. This is not the case. The error caused by this deflection increases as the work frame is more inclined, and also increases as it approaches the middle 1Qz in the longitudinal direction of the work frame, that is, in the X-axis direction.

OBJECTS OF THE INVENTION Accordingly, it is an object of the present invention to provide a positioning control device for an automatic riveter that has high positioning accuracy in the bending direction of a workpiece.

According to the present invention, there are at least three level sensors that contact the surface of a workpiece attached to a workpiece frame, and the height and longitudinal inclination of the workpiece are adjusted based on the outputs of the level sensors. The Z-axis drive device moves both ends of the work frame up and down, and the output from the level sensor is used to adjust the circumference of the workpiece along the horizontal Y-axis, which is almost perpendicular to the longitudinal direction of the work frame. The a-axis drive device rotates the work frame around the a-axis in the longitudinal direction of the work frame, the Y-axis drive device moves the work frame in the Y-axis direction, and the work frame is moved in the Y-axis direction according to the program. Let me do Y+III
In a positioning control device for an automatic riveter that drives rivets to a workpiece attached to a work frame, the television is placed to photograph a riveting point portion of a workpiece, and the device is equipped with a riveter controller that controls a drive device. camera means, displacement meter means that receives a video signal from the television camera and outputs a distance signal indicating the distance from the reference point of the marking on the workpiece, and a reference point that indicates the distance from the reference point to the center point of the rivet. means for receiving the signal and the recording distance signal and outputting a deviation signal indicating the difference therebetween; and supplying the deviation signal to the a-axis drive device when the inclination of the workpiece in the Y-axis direction becomes less than a predetermined value. switch means for
an a-axis locking means for locking the rotation of the work frame about the a-axis when the deviation signal becomes equal to or less than a first predetermined value; Comparator means is provided for outputting a Y-transport command signal such that at least fine movement adjustment in the Y-axis direction is performed until the Y-axis becomes equal to or less than a predetermined value.

In the positioning control device as described above, when the height of the workpiece with respect to the Y axis becomes less than a predetermined value, i.e., when the marking approaches the center point of the fastener driving, the output of the level sensor is Positioning control using a television camera is performed instead of positioning control.

Effects of the Invention Accordingly, the positioning control device according to the present invention can position the riveting point with high precision without being affected by the unevenness of the workpiece surface or the deflection of the workpiece frame.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a positioning control device for an automatic riveter according to the present invention will be described with reference to the accompanying drawings.

FIG. 5 is a partially cutaway overall perspective view of an auto-living vine incorporating a positioning control device according to the present invention, and FIG. 6 is a sectional view taken along line N-IV in FIG. 5. The illustrated automatic riveter has an elongated work frame 20 (A
h, and the longitudinal direction of the work frame 20, that is,
A pair of guide rails 22 are arranged on the floor so as to extend in the axial direction. A movable table 24 is supported on these guide rails and is movable in the X-axis direction. This moving table 24 has a base 2[i and a U-shaped glue head 28, and a rivet gun 3o is attached to the tip of the riveter head 28, and directly below the rivet gun 30, An anvil 32 is arranged, and the rivet gun 3o and anvil 32 are configured to move in the vertical direction.

Both ends of the work frame 20 are as shown in FIG.
A rotating mount]-36 is fixed via a pair of pins 34, and a rotating shaft 38 extending outward from the rotating mount 36 in the X-axis direction is rotatably supported by a Y-axis moving mount 40. This rotating shaft 38 corresponds to the a-axis mentioned above. A frame 42 having a shape as shown in the figure is fixed to this Y-axis moving mount 40, and one end of a hydraulic actuator 46 is pivotally attached to the tip of an upper horizontal arm 44 of the frame 42. The other end of the hydraulic actuator 46 is pivotally connected to an arm 48 extending horizontally from the rotation mount 36. Therefore, this hydraulic actuator 46
When operated, the rotation mount 36 and the work frame 2o rotate around the rotation shaft 38. That is, the hydraulic actuator 46 constitutes an a-axis rotation drive device.

The Ylill moving mount 40 has an E-shaped cross section as shown in FIG. 8, and a female threaded hole 58 is formed in the center portion 56 of the figure 8 shape.

As shown in FIG. 9, the Y-axis movable mount 40 formed in this manner has both ends of the figure 8 shape slidably sandwiching the elongated box-shaped Z-axis movable mount 60 in the Y-axis direction. A threaded rod 62 extending longitudinally through the center of the Z-axis moving mount 60 is screwed into the female thread of the section 56, and is attached to the Z-axis moving mount 60. A servo motor 64 is attached to one end of the Z-axis moving mount 60, and its rotating shaft is coupled to a threaded rod 62. Therefore, when the servo motor 64 is driven, the threaded rod 62 rotates and the Y-axis moving mount 40 moves along the Z-axis moving mount 60, that is, in the Y-axis direction. Therefore, the servo motor 64 constitutes a Y-axis drive device.

Furthermore, the servo motors 64 at both ends of the work frame 20 are driven synchronously.

At both ends of the Z-axis moving mount 60, there are Y-axis moving mounts 4
A figure 8 member 66 similar to 0 is fixed, and a female threaded hole is formed in the center of the figure 8 member. These two figure-of-eight members are attached to the Y-axis movement mount 40 to the Z-axis movement mount 60 in a similar manner.
It is attached to a box-shaped member 68 with a long rope in the X-axis direction. That is, both ends of the figure-8-shaped member 66 slidably hold the box-shaped member 68, and the female thread in the center of the figure-8-shaped member 66 is
A threaded rod 70 extending in the longitudinal direction is screwed into the center of the box-shaped member 68. This threaded rod 70 is connected to a horizontal rotating shaft 74 via a gear box 72 placed at the bottom of the box-shaped member 68.
The horizontal rotating shaft 74 is driven by a servo motor 78 via a gear box 76. Therefore, when the servo motor 78 is driven, the threaded rod 70 is rotated through the gear box 76 , the rotating shaft 74 , and the gear box 72 , and the figure-eight member 66 , that is, the Z-axis moving mount 60 is moved along the box member 68 . It moves up and down, that is, in the X-axis direction. Therefore, the servo motor 78 constitutes a Z-axis drive device. However, the servo motors 7B at both ends of the work frame 20 are controlled independently.

The box-shaped member 68 has its lower part coupled to the support base 80,
It is held vertically by means of an auxiliary support member (32, etc.).

Three level sensors (not shown in FIG. 5) are arranged at the tip of the recess 128 so as to surround the recess 130 in the positional relationship shown in FIG. 3, and are suspended vertically. This level sensor may be of a differential transformer type, for example, and outputs an analog voltage signal depending on the height of the sensor bin being pressed downward by the spring. Further, a television camera 86 is attached to the tip of the rib notation hand 28 via an attachment frame 84. This television camera 86 is oriented so that the center point of driving a fastener by a riveting gun is placed at the center of its field of view. The output of the television camera 86 and the outputs of the three level sensors are sent to a positioning control device 88, and the positioning control device 88 uses these input data to control the hydraulic actuator 4.
6. Operate the servo motors 64, 78, etc. to perform rehesing according to the built-in program.

FIG. 10 is a plotter diagram showing the configuration of the positioning control device 88. Among the level sensors 7a, 7b, and 7c arranged Wq as shown in FIG. and the output of the adder 100 is connected to a comparator 1 which receives a reference voltage at its input.
02, and the output of the comparator 102 is
- One of the two servo motors 7B forming the Z+llI drive device, for example, the left tll1.
1 servo motor 78I. As a result, the comparator 102 causes the servo motor 18L to raise the left side of the work frame if the total value of the level sensors 9-'la and 7b, that is, the additive average value, is smaller than the predetermined value.
On the other hand, if the average output value of the level sensors 7a and 7b is larger than the predetermined value, the left side of the work frame is lowered by the servo motor 78L, and the average height of the two points of the workpiece detected by the level sensors 7a and 7b is lowered. is maintained at a predetermined value.

The output of the remaining level sensor 7C is input to a comparator 106 which receives a reference voltage at one input, and the output of the comparator 106 is amplified by a servo amplifier 108 and supplied to the other servo motor 78R. In this case as well, the comparator 106 causes the servo motor 78H to raise the right side of the work frame if the output value of the level sensor 7C is smaller than a predetermined value, and conversely, if the output value of the level sensor 7C is larger than a predetermined value, the servo motor 78H raises the right side of the work frame. , the right side of the work frame is lowered by the servo motor 78H,
It operates so that the height of one point on the workpiece detected by the level sensor 7C is maintained at a predetermined value.

Thus, these two comparators 102 and 106 set the average height of the two points on the workpiece that are in contact with the level sensors 7a and 7b and the height of the one point on the workpiece that the level sensor 7C is in contact with to be the same predetermined value. As a result, the longitudinal force of the workpiece is maintained horizontally in the vicinity of the riveting point of the workpiece.

Furthermore, the outputs of the level sensors 7a and 7b are input to a subtracter 110.
The voltage output V6 of the subtracter 110 is input to the control valve control device 1 via the mode switching switch 112.
14. "This servo valve control device controls a servo valve (not shown) attached to the hydraulic actuator 46 so that the input value becomes zero. As a result, the level sensors 7a and 7C are in contact with each other. 2 on the work surface
The points have the same height b=i(e).

The voltage output V6 of the subtracter 110 is further applied to the comparator 1.
16 inputs. This comparator 11
Precise position 1; 1 fln+...1 initial setting voltage Va is input to the other input of 6. Then, when the absolute value of the output voltage V/ of the subtracter 110 becomes low (lVj!l
≦■a), Free Nobuflo Nobu.

A pulse signal is output to the set input of 118. and,
Mode switching Sui Nochi 112 is Free Nobu Fronop 1
18, and when the Q output is at low rail, that is, (IVβ1>Va), the subtractor 1'0
The output of Q is connected to the valve control device 114, and conversely, the output of
When the output is at high level, that is ゛]V7! lヱVa)ba,
The output of the subtracter 124, which will be described later, is transmitted to the servo valve control device 114.
Connect to.

The output of the telegraph controller 86 is input to the -dimensional dynamic displacement meter 120. This -dimensional dynamic displacement meter 120 binarizes the input video signal for each pixel, and sets the bright part to "0" and the dark part to "1", and the binary pixel signal is 10 from the start of scanning of the central horizontal scanning line. The number of pixels on the horizontal scanning line from ``'' to ``l'' is counted, and an analog voltage signal corresponding to the counted value is output. Furthermore, the binarized video signal is output to the monitor 122.

The surface material of the workpiece is metal, and its color is silvery white. Then, as shown in FIG. 11, markings M are hung with red or black paint at predetermined intervals at riveting points P arranged in the bending direction of the workpiece, that is, in the Y-axis direction. The Derehi camera that photographs such workpieces is a black-and-white camera that captures the markings in black and the rest of the workpiece surface in bright light.The monitor 122 receives the binary video signal.
In this case, only the marking M is shown in black. Furthermore, the monitor 122 also displays a vertical line vL passing through the center point of the fastener driving.

The output voltage Vm of the one-dimensional dynamic displacement meter 120 is
Distance between marking M projected on the screen and the left edge of the screen]
) corresponds to m. This output voltage Vm is input to the subtracter 124. The subtracter 124 is further supplied with a reference voltage Vs corresponding to the distance Ds from the left edge of the screen of the monitor 122 to the vertical line VL of the fastener driving center point. Therefore, the subtracter 124 outputs a voltage VV corresponding to the distance M (Ds-Dm) between the marking M and the vertical line VL of the fastener driving center point. If this voltage output VV, the mode changeover switch 112
is input to the servo valve controller 114 via the servo valve controller 114, and is further input to comparators 126 and 128.

The comparator 126 further receives the a-axis lock setting voltage vb, and outputs the result that 1Vv1≦vb to the set input of the printer 130. At this time, the Q output of this flip-flop 130 becomes high level and is output to the riveter sequencer 132 as an a-axis lock command signal. The lever sequencer 132 receives the a-axis lock command signal, and the servo valve control device 11
4 to cause the hydraulic actuator 46 to be fixed in that position.

The comparator 12B also outputs a precise position control completion setting voltage V
c (however, Vc<Vb). Comparator 128
outputs a high-level Y transport command signal to the AND gate 134 when 1■v1>VC. This AND gate 134 further receives an a-axis lock command signal from the Q output of the flip-flop 130. Therefore, a high level of a
Only when the axis lock command signal is output, the Y transport command signal is output to the riveter controller 136 via the AND gate 134. Upon receiving the Y-transport command signal, the controller 136 operates the servo motor 64 to slightly move the work frame 20 in the Y-transport direction. On the other hand, when IVvl<Vc, the comparator 128 outputs a precision positioning completion signal to the riveter controller 136, and
It is also output to the clear input of 8. The result 1. The Q output of the flip-flop 118 becomes low level, and the mode selector switch 112 connects the output of the subtracter 110 to the servo valve control device.

Note that the riveter controller 136 is configured to clear the flip-flop 130 when executing rough positioning control. Further, the interval between markings to be placed on the workpiece is determined by the allowable range of the angular difference between the end face of the rivet and the workpiece surface even if only the Y-axis movement is performed with the a-axis locked. If you decide to change it, move the Y-axis while keeping the a-axis locked in a range where the flatness or smoothness of the riveted workpiece surface is not a problem.

Next, the positioning control operation in the Y-axis direction will be explained with reference to the flowchart in FIG.

tel First, the riveter controller sends a Y-axis movement command of a predetermined amount △Y to the servo motor 6 according to the built-in program.
Output to 4. At the same time, flip-flop 130
Output a coarse positioning control start signal to the clear input of a
Release the axis lock. At this time, the motor selector switch 1
12, the output of the subtracter 110 is transferred to the servo valve control device 114.
is in a state where it is connected to.

(bl) As a result, when the workpiece 4 moves in the Y transport direction, a difference occurs between the outputs of level sensors ? Hydraulic actuator 4
6 to make the a-axis coaxial. Here, the direction of rotation is the direction in which the difference between the rail sensors 7a and 7b is small.

[01 At the same time, the comparator 102, which receives the sum of the outputs of the level sensors 7a and 7b, drives the servo motor 78L to adjust the height of the ZR axis of the work frame, and also receives the output of the level sensor 7C. Comparator 106
drives the servo motor 78R to move the work frame to Z.
The height of the R-axis is adjusted to keep the workpiece height constant.

(dl The above (bl and (cl) are controlled by ΔY in the Y-axis direction.
are performed in parallel and independently until the movement is completed.

tel If the output difference V6 between level sensors 7a and 7b is within a certain range (IVβl<Va), comparator 1
16 is a subtracter by connecting the flip-flop 118 and switching the mode selector switch 112 to the box position control side.
24 is connected to the servo valve controller 114.

At this time, the worker's markings indicating where to drive the fasteners are within the field of view of the television.

(f) Therefore, the marking M captured by the television camera at this time is converted by the -dimensional dynamic displacement meter 120 into a voltage Vm corresponding to the position, and is output to the subtracter 124.

(Fl This subtractor 124 outputs the difference Vv between the voltages Vs and Vm indicating the position of the fastener driving point to the servo valve control device 114 via the mode changeover switch 112, and as a result, the a-axis actuator 46 It is operated and a minute rotation of the a-axis continues.

On the other hand, at this time, since 1■vl>VC, the comparator 128 outputs a Y transport command signal, but the Y transport command is not sent to the rivet controller 136 because the AND gate 134 is closed. It is not sent, and fine adjustment in the Y-axis direction is not performed.

(hl Then, the marking M on the screen of the monitor 122
If so, it will move closer to the fastener driving point. Also, during this control, level adjustment in the vertical direction is performed as in (C) above.

+11 Marking M approaches the riveting point and the above voltage Vv
When the absolute value of is smaller than vb, the comparator 126 causes the flip-flop 130 to output an a-axis lock command signal, and as a result, the sequencer 132 causes the servo valve control device 114 to lock the a-axis, and Stop axis control.

fjl After the a-axis is locked, AND gate 134 opens, so
The Y transport command from the comparator 128 is input to the riveter controller 136 through an AND gate 134. That is, the positioning in the Y-axis direction is finely adjusted while the a-axis is fixed.

(kl As a result, when 1Vvl becomes smaller than Vc,
The comparator 128 stops outputting the Y transport command, and at the same time outputs a fine positioning completion signal to the Lee/Tree controller 136. In addition, the flip-flop 118 is cleared and the mote changeover switch 112 is set to the coarse position control side.
1 and the output of the subtracter 110 is returned to the servo valve control device 11.
It will be connected to 4.

(11 When the riveter controller 136 learns that the precise positioning has been completed, it instructs the riveter sequencer 132 to perform a riveting sequence. As a result, a rivet is driven onto the marking M.

+m) After the riveting is completed, the riveter controller 136
The moving distance ΔY to the next fastener driving point is output as a Y-axis command. As a result, movement in the Y-axis direction is performed while maintaining the a-axis locked state.

(nl) Until the riveting point before the next marking, the riveter controller 136 follows the built-in program to
Repeat the processes of l and (m).

to+ After that, a coarse positioning control start command is output from the riveter controller 136, and the flip-flop 130
Clear the above (al) to release the a-axis lock.
Repeat the process from (nl).

As described above, in the positioning control of the Y-axis curved part and the workpiece in the bending direction, after the difference between the detection levels by the level sensors 7a and 7b becomes less than the predetermined value Va, the setting of the fastener driving point using the television camera is performed. By performing positioning control, the riveting point can be positioned with high precision regardless of irregularities on the surface of the workpiece or deflection of the workpiece frame.

[Brief explanation of drawings]

Fig. 1 is a schematic perspective view of the fuselage component of an aircraft. Fig. 2 is a block diagram showing the configuration of a conventional auto-riveter positioning control device. Fig. 3 is a level sensor provided at the tip of the auto-riveter's glue hem. FIG. 4 is a diagram illustrating the movement of the workpiece in the bending direction.
FIG. 5 is a schematic perspective view of an auto-riveter to which the present invention is applied, FIG. 6 is a sectional view taken along line IV-IV in FIG. 5, and FIG. 7 is a partial perspective view of the a-axis rotation mechanism of the work frame. 8 is a front partial view seen from the direction of the arrow ■ in FIG. 7, and FIG. 9 is a perspective view of the Y-axis and Z-axis drive mechanisms.
0 is a block diagram showing the configuration of the positioning control device according to the present invention, FIG. 11 is a diagram showing the relationship between markings and riveting points, and FIG. 12 is a flowchart showing the operation of the device in FIG. 10. It is. 1...Skin material, 2.3...Channel material, 4...
Workpiece, 5... Work frame, 6... Rihesotaheso F, 7a, 7b-7c... Level sensor, 8...
Level control times 1/&. 9...a-axis drive device, lO...Z! Ill drive device, 11... Riveter controller L-roller, 12... X-axis drive device, 13... Y-axis drive device, 20... Work frame, 22... Kanai rail, 24... mobile platform,
26...base, 28...rihesotahesodo, 30...
・Reheso HL32... Anvil, 86... Television camera, 88... Positioning control device, 100... Adder, 102... Comparator, 104... Servo amplifier, IO2... Comparator, 108 ...Servo amplifier, 11.0...Subtractor, 112...Mote changeover switch, 114...Servo valve control device, 116.
... Comparator, 118 ... Flip-flop, 1
20...-dimensional dynamic displacement meter, 122... monitor, 12
4...Subtractor, 126.128...Comparator,
130... Flip-flop, 132... Ribenota sequencer, 134... AND gate, 136...
rivetsuta controller. Figure 7 Figure 11

Claims (1)

[Claims] At least three level sensors are attached to the work frame and touch the surface of the work, and both ends of the work frame are moved up and down to adjust the height and longitudinal area of the work in response to the output of the level sensors. In response to the output of the Z-axis drive device and the level sensor, the work frame is moved around the a-axis in the longitudinal direction of the work frame so as to adjust the inclination of the work with respect to the horizontal Y-axis, which is approximately perpendicular to the longitudinal direction of the work frame. an a-axis drive device that rotates the work frame, a Y-axis drive device that moves the work frame in the Y-axis direction, and a Besota controller that controls the Y-axis drive device to move the work frame in the Y-axis direction according to a program. A positioning control device for an automatic riveter that performs reshaping on a workpiece attached to a work frame, which is equipped with a television camera means placed to photograph the riveting point portion of the workpiece, and a video signal from the television camera. a displacement meter means for outputting a distance signal indicating the distance from the reference point of the marking on the workpiece; means for outputting a deviation signal indicating the difference;
switch means for supplying the deviation signal to the a-axis drive device when the first rotation of the workpiece in the axial direction is below a predetermined value; an a-axis locking means for locking the rotation of the work frame about the center; and fine movement adjustment in at least the Y-axis direction from when the deviation signal becomes less than or equal to the first predetermined value until it becomes less than or equal to the second predetermined value. 1. A positioning control device comprising comparator means for outputting a Y transport command signal so that the Y transport command signal is performed.