JPS6094245A - Work locating apparatus - Google Patents

Abstract

PURPOSE:To improve the efficiency of location in a work locating apparatus on a line for automatically assembling chassis or the like by poviding a turntable on which the work is mounted and pivoting controllably said table according to the output signal of a work position sensor. CONSTITUTION:This locating apparatus for locating a work 4 mounted on a table 20 is provided with a turntable 25 supported rotatably about a shaft 25a through free bearings 26... having balls rolling in any directions. Also, it is provided with locating members 30, 47 and holding members 29, 48 slidable along guides 22, 23 and 21, 24 arranged like a cross and these members are adapted to slide toward the center of a table 20 by the operation of respective air cylinders 40, 40a-40c. Said shaft 25a can be pivited by a rotary cylinder 28 which is controlled according to the output of a hole detecting sensors 57-58 for detecting the positions of holes provided in predetermined positions in the work 4.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention also relates to a device for locating leaks in an automatic assembly line for L-equipment chassis and the like.

Conventionally, the assembly of the machine's A14, 1, -, etc. was done by hand.
+1 to get 1j! However, the quality was uneven and it was difficult to efficiently produce ii', so in recent years machines have been used to assemble the ii'.

However, when automatically assembling equipment chassis etc.
However, since the machine only performs certain operations based on a predetermined sequence, when a high degree of alignment is required, such as in mating work, it is necessary to place the workpiece, which is a component such as the chassis of the device, in the predetermined position. It is necessary to place

Hereinafter, the requirements for positioning the workpiece will be described using the assembly of a copying machine chassis as an example.

As shown in FIG. 1, a front plate 3 and a rear plate 3, which are a type of workpiece, are stacked with a cushioning material 5 in between! Il!
3' (first illustrations (a), (b)) (7) After the front side plate 3 or rear side plate 3' is taken out alternately and placed in a predetermined position, the bins 6 to 9 are attached. (Illustrated in Figure 1 (c
) and (d)). After this, the front side plate 3 and the rear side plate 3'
The handle rubber 10 is separately processed through a process similar to the above process.
．． Base rubber 11 and jl! d The straightening bolt I2 is attached (first illustration ((+), N), (g)) and the screw 1F is attached to the board 2, which is a type of node (first illustration (h)).
), the assembly of chassis 1 is completed after being turned over (first
Illustrations (i), (j)).

FIG. 2 shows an example of an automatic assembly line in which the chassis 1 of a copying machine is erected through the above steps. The front side root 3 and the rear side plate 3' are made of the first number of parts 15.
After pins 6 and 7 were inspected by
)I culm) Inversion! The pins 8 and 9 are picked up by the second number of parts 11 and 16 (step (d) in the first diagram), and then transferred to a predetermined position. It is transported by a work loader 62. On the other hand, the board 24 is mounted on a bullet provided on the second conhair 14.
Jffi3 parts example machine 18 tens of im 105 units rubber 1
1 and the adjustment bolt I2 are removed (FIG. 1(f)).

(t+)-1 culm) is conveyed to a predetermined position "+IT," and the third soak 1 culm [i 21 = knee II i'
f, transported to the device 19 and the third Tnork II
The chassis 1 is completed by combining the front side plate 3 and the rear side plate 3', which have been fed II by the roller 62, with the silk.

However, 2. 1st value S) parts installation tai15.16
．． 18 is the predetermined 5, i! Therefore, in order to make the silk 1 degree knot without any inconvenience, the front side plate 3. Position the rear side plate 3' and the board 2 at the predetermined positions (1).
The first con hair 13 or the second ':in hair 14
You need to ride on top of it.

The angle is the front root 3° and the rear plate 3, which is an example of the workpiece.
' and the substrate 2 are not loaded in the predetermined positions (arrows p, q, and r in Fig. In some cases, the odor ζ (referred to as a workpiece) is placed in a rotational state of, for example, 180 degrees when viewed from a predetermined position in a plane.

In such a case, the workpiece is rotated 180 degrees U and predetermined (~
After positioning at the γ position, the first or second con hair 1
3 or 14. 11. There is a point.

Conventionally, regarding the positioning of an asymmetrical workpiece,
This method was inefficient because the shape of the workpiece was determined by visual measurement and the workpiece was manually positioned at a predetermined position.

In the present invention, when an asymmetrical workpiece is placed on a positioning table, it is determined whether or not it is rotated by a certain angle from a predetermined position when viewed on a plane, and the workpiece is rotated by a certain angle from a predetermined position. This system automatically rotates the workpiece by a certain angle and positions it at the U-normal position. a sensor for detecting the asymmetrical portion of
- A drive means for rotating the turntable by a predetermined angle in response to a signal from the sensor.

Next, referring to the drawings from FIG. 3 onwards, the present invention will be described.
Real hfl! An example of a node positioning device and the principle of the present invention will be described.

Here, FIG. 3 shows a workpiece position according to an embodiment of the present invention;
"I side view of the fixing device, FIG. 4 is the same side view, FIG. 5 is an enlarged view of the Δ arrow view of A in FIG. 4, and FIG. A partially enlarged view of the +3 missing part shown in Figure 3,
It is a 1v1 plane view on the CC arrow side in the first value S figure.

As shown in FIG.
The upper part of the table 20, which is the pedestal of the turntable 25, is supported by a freebear 26 which is composed of a ball that rolls in a free direction and is attached to a pedestal 27 (shown in the fourth figure) fixed to the top of the turntable 25. It is located in The turntable 25 is connected to a 180-degree rotating rotary cylinder 28, which is a driving means for the turntable 25, through a vertical shaft 25a fixed to the lower surface of the center (see FIG. 7).

Further, on the surface of the table 20, there are guides 22 and 23 on which positioning members 30 and 47 for positioning the work 4 slide, respectively, and a pressing member 29 and Guides 21, 22, 23, and 24 are arranged such that the guides 21, 22, 23, and 24 are opposed to each other with the turntable 25 at the center.
It is fixed to the table 20-11 via a support member 63 (FIGS. 4 and 5) so that the two sides are perpendicular to each other.

The positioning member 30 has l' on the surface that comes into contact with the work 4.
J f + 11th A, has a patch plate 55, table 2
A connecting pin 39 provided on the positioning member 30 is attached to a connecting arm 37 which is rotatably supported on a bearing 38 at the positioning member 30.
The connecting arm 37 is connected via the No. 1 hole 37a at
An air cylinder 40, which is a first driving means for the positioning member 30, is connected to. In addition, the holding member 29 described in -1- has a backing plate 5 which is a buffer shrine on the surface that comes into contact with the workpiece 4.
6 and is connected to a connecting arm 43 that is swingably supported on the table 20 by a bearing 42 through a connecting pin 4I and an IQ hole 438 implanted in the presser member 29,
An air cylinder 40+ (shown in the fourth figure), which is a second driving means for the holding member 29 described in 1-, is connected to the connecting arm I3.

As shown in FIG. 5, for example, the presser member 29 is
[I-ra 31, 32, 33, 34 and 3]
It slides while being guided by the ζ guide 21 by G. That is, 1
- Note 1 - La 32 and 33 are installed on the lower surface of the holding member 29.
The guides 21 are attached to the left and right mounting plates 29I, and the guides 21 are installed between the rollers 34 and 31 provided at the bottom of the mounting plates 29I, respectively.
1-Pinch below, and 29b, 29
The rollers 3'6 and 36 provided at t and 3' sandwich the guide 21 in the left-right direction, thereby guiding the holding member 29 along the guide 21 in the left-right direction and the earthwork direction. Other presser member 481
The same applies to the positioning member 47.30.

In order to make the device compact, as shown in FIG. So, upper arm 431
．． and lower arm 43. As described above, the presser foot A29 is connected to the lower arm 43. Air cylinder 40I.

are connected. Also, in the connecting arm 45 that drives the positioning member 3o along the guide 22, 1-
It has the same structure as described above.

Since the positioning member 30 needs to be accurately stopped at a predetermined position, when the positioning member 3o moves along the guide 22 to a certain distance, the positioning member 30 must be stopped at a predetermined position. A stopper 46, which can be adjusted to 7 positions, is provided on the table 20''.

Furthermore, the positioning member 30, the pressing member 29, and the beam 4
Since it has a sliding structure, the positioning part +A30 is pressed against the presser member 29 through the soak 4.
Even if pushed by
At this point, the biasing force of the positioning member 30 against the workpiece 4, which is biased by the air cylinder 40 which is the first driving means, is applied to the workpiece 4 by the second driving means. The holding portion 4A' urged by the air cylinder 40b (shown in the fourth figure) 290) 'is larger than the urging force applied to the soak 4.1, .), the connecting arm 37.4
3 length and air cylinder/10,401. Adjust the power. As described above, the positioning member 30. The means for positioning the workpiece 4 in the X-axis direction in the embodiment shown in FIG. 3 includes a presser and an air cylinder 4 (1, 40+, etc.).

Also, a positioning member 47 which is slidably attached to the guy 123, an air cylinder 4o□ (shown in the fourth figure) for driving the positioning member 47, and an air cylinder 4oa. position 77 (connecting arm 49 that connects the determining member 47 and the guide 24 slidably attached)
The arrow Y (as shown in FIG. A means for positioning the workpiece 4 in the direction (perpendicular to the

By the way, it is necessary to detect whether or not the workpiece 4 is correctly positioned, so in the workpiece positioning device according to the embodiment described in -1- ] ((This hole is provided horizontally or vertically asymmetrically in FIG. 3) Hole detection sensors 57 and 58 made of magnetic sensors or the like are provided on the holding member 29 and the positioning member 47, respectively. When the positioning operation is completed, that is, the positioning member 30 (
or between 47) and holding part +, 129 (or 48)"
When the workpiece 4 is held between the holes 1-1 and 58, the hole 1-1 is detected at a predetermined position by the hole detection sensors 57 and 58.
The structure is such that the directionality of the workpiece can be confirmed by detecting the presence or absence of the workpiece (see Figure 1).

In addition, 1-1 positioning part (A47 is +Elr& positioning,
Especially the state of being able to return to work 4! Prevent positioning with 4□
) - In order to do this, the positioning part that serves as a reference for workpiece positioning] 7I47's (1 positioning position I'l-tuk 47a) is set from the other three positioning positions 1 dock 3o, 48□, 29a. Make it long (long enough for correct positioning).

Note that (17 the positioning member 47 and the holding member 4 facing in one direction)
B also has a soba bar 51], but it is stiff.

The workpiece 4 is placed on the pull 25 at the turn 1). If the angle is not 9 degrees, this is to prevent oatsperuning of the holding part + and j4B.

Hereinafter, the operation of the workpiece positioning device according to the embodiment 1- will be explained.
8 and four air cylinders 40, each serving as a driving means.
．． 40a, 4'Ob, etc. (111) are released, and with these in the position shown by the solid line 319.1L, the 1-da 60 (shown in the second figure) is placed on the first workpiece in a predetermined position. 1~I i6 to ll! Sent Jl, 62 work 4
is placed on the turntable 25. In this case, the turntable 25 protrudes beyond its table surface table 20, and the 1st and 6th sides of the turntable 25 are the table 20 and the 5) 1a row, so it goes to the 11th table 1 (a), Even if the side surface of the work has an edge bent downward as shown in (b) and (e) & (4), it is placed parallel to the table surface.

After that, after confirming that the work 4 is placed on the turntable tray 25, first
The positioning member 47 and the holding member 48, which are part of the positioning means of l, respectively act as driving means for the air cylinder 40.
．． etc. (see FIG. 4), they are driven to sandwich the workpiece 4 via the connecting arms 49 and 50. In this case, since the biasing force of the positioning member 47 on the soak 4 is greater than the biasing force of the holding part +A48 on the workpiece 4, the positioning member 47 is always in contact with the stopper 51 and stops +I=shi(47'), The holding member 48 stops as described above (, 77.1, with reference to the deciding part + A47',
Workpiece 4 is sandwiched (stop at every 1 inch +1=, (48'
)do. This state is shown in the positioning member 47' and the holding member 48' indicated by a single point &J4 line in FIG.

When the positioning of the workpiece 4 in the Y-axis direction is completed as described above, positioning in the X-axis direction cannot be performed as it is, so the positioning member 47' and the support 11 are moved to the phase 48' by the air cylinder 40a, etc. It is driven through the connecting arms 49 and 50 and moves in the direction of the original position, thereby releasing the pressing force by the air cylinder in the Y-axis direction. (lIL By temporarily lowering the air pressure inside the air cylinder 40a, which is the driving source,
The pressing force by the air cylinder 4Qa may be relieved.

After that, the positioning member 30 and the holding member 29, which are part of the positioning means in the X-axis direction, are moved to the air cylinders 40 and 4.
0I is driven in a direction to sandwich the workpiece 4 via the connecting arms 37 and 43. Note that when releasing the positioning of the workpiece 4 in the Y-axis direction, if the positioning member 47' retreats first, the workpiece 4 may be pushed in the direction of the positioning member 47' by the holding part JfA 48'. It is desirable that the retraction of member 47' to its original position be delayed somewhat than the retraction of presser member 48' to its original position.

As described above, the positioning means in the X-axis direction is configured similarly to the positioning means in the Y-axis direction, so the positioning member 30 moves to a predetermined position and comes into contact with the stopper 46 and stops (30 ' ) l.

, the holding member 29 is based on the positioning member 30',
By stopping with the workpiece 4 sandwiched therebetween (29'), the workpiece 4 is positioned in the X-axis direction. When performing this positioning in the X-axis direction, since the Y-axis direction is not positioned, there is a risk of some deviation. Therefore, after positioning in the X-axis direction, the positioning member 47
Positioning in the Y-axis direction is performed using the holding portion) 448.

” Even if the loaded state of the workpieces 4 shown in FIG. 2 is slightly shifted in the X and Y directions after the step 1, the workpieces 4 placed on the surface of the turntable 25 by the workloader 60 are
, and are accurately positioned in the Y direction.

However, since the workpiece 4 according to the above embodiment has a rectangular plane, it may be erroneously positioned at a rotational position of 180 degrees from the predetermined position, and the workpiece 4 may be moved to the next workpiece as it is. When sent to the public, bin 6.7.8 or 9 (first
13! ! This may cause the inconvenience that the parts (I) may not be attached. Therefore, with the X-axis direction and the Y-axis direction both determined at the position 11, the ice detection sensors 57' and 58' (indicated by two-dot chain lines in FIG. 3) are installed asymmetrically on the soak 4. Detect the hole 11 (see Figure 6), and the workpiece 4 is in the normal position; If it is determined, the positioning means in the X-axis direction and the Y-axis direction are both released upon receiving the signals from the l-enlargement detection sensors 57' and 58', and the workpiece 4 is taken out by the second work loader 61. Export to the next process.

However, if the holes in the workpiece 4 detected by the hole detection sensors 57' and 58' are not in the normal state, then -
Release the positioning means in the axial direction and Y-axis direction, and move the table 2
The rotary cylinder 28 provided at the bottom of the turntable 25 and the workpiece 4 placed thereon are driven.
After rotating 180 degrees and repositioning in the X-axis direction and Y-axis direction as described above, the second work loader 61
1 μl is sent to the next step. As a result, the workpiece 4 is accurately positioned and placed on the pallet on the first container 13.

In the workpiece positioning device according to the above embodiment, after once accurately positioning the workpiece 4, the holes H provided asymmetrically in the workpiece 4 are detected.

Therefore, even if the hole H detected by the ice detection sensor 57' or 58' is small, it is possible to accurately detect the presence or absence of the hole H.

In the above embodiment, whether or not the workpiece 4 is in a predetermined position is detected by detecting the holes 11 provided asymmetrically in the workpiece 4. It is also possible to detect whether or not the workpiece 4 is placed at a predetermined position by using a sensor to detect a unique shape provided on the workpiece 4, such as a protrusion or notch.

Furthermore, in the embodiment described in -1-, two sensors 57 and 58 are used to detect the asymmetric hole l] in the workpiece 4. This is to increase the accuracy of the ice detection, and depending on the case, it may be sufficient to use only one of the sensors 57 and 58.

As described above, the gist of the present invention is to provide an apparatus Htq for positioning an asymmetrical workpiece at a predetermined position, including a sensor for detecting an asymmetrical portion of the workpiece, a turntable on which the workpiece is placed, and a turntable for placing the workpiece. , 1- A drive means for rotating the turntable by a predetermined angle in response to a signal from the sensor, the workpiece positioning device is characterized in that the asymmetrical workpiece can be positioned two-dimensionally. Even if the device is placed on the positioning table in a 180-degree rotational state, it is automatically corrected to the normal state, resulting in a significant improvement in work efficiency.

[Brief explanation of drawings]

FIG. 1 is an assembly process diagram of a copying machine chassis including a workpiece used in an embodiment of the present invention, and FIG. 2 is a plan view of an automatic assembly line for the chassis including a workpiece positioning device according to an embodiment of the present invention. 3 is a plan view of a workpiece positioning device according to an embodiment of the present invention, FIG. 4 is a side view of the same, FIG. 5 is an enlarged side view of a portion viewed from the Δ arrow in FIG. 4, and FIG. A top view of the part viewed from arrow B in Fig. 3 when the clamping state is reached, No. 7
The figure is a sectional view taken along the line CC in FIG. 3. (Explanation of symbols) 4...Work 25...Turntable 26...Free hair 28
...Lower cylinder (driving means) 57.58...
Ice detection sensor (sensor) I (... hole (asymmetrical part of the workpiece). Figure 4 Figure 5 LID Figure 6 Figure 7

Claims (1)

[Claims] A device for positioning a non-paired 4i+ shaped workpiece at a predetermined position, comprising: a sensor for detecting an asymmetrical portion of the workpiece; - a turntable for placing the workpiece;
A workpiece positioning device comprising driving means for rotating the turntable by a predetermined angle in response to a signal from the hinge.