KR101093908B1 - Rotation positioning device - Google Patents

Abstract

Not only a substantially cylindrical workpiece but also a tapered workpiece that is tapered as it goes down provides a highly versatile rotation positioning device capable of determining the rotation position.

Holding means 18 for holding the rotational positioning device 10 by holding three workpieces 14 in the conveying direction of the conveyor 12 and the held workpieces 14 around the vertical central axis 16. Rotating means 20 for rotating, stopping means 22 for stopping when the workpiece 14 to be rotated in a predetermined direction, and restriction means 24 for regulating the rise or fall of the gripped workpiece 14. It was configured to include.

Description

Rotation Positioning Device {ROTATION POSITIONING DEVICE}

1 is a front view showing a rotation positioning device of the present invention.

FIG. 2 is a plan view illustrating the rotation positioning device of FIG. 1.

3 is a front view for explaining the operation of the rotation positioning device of FIG.

4 is a side view showing another embodiment of the rotation positioning device of the present invention.

5 is a front view showing still another embodiment of the rotation positioning device of the present invention.

<Description of the symbols for the main parts of the drawings>

10, 50, 60: rotation positioning device 12: conveyor

14: workpiece 16: vertical central axis

17: pivot axis 18: gripping means

20: rotation means 22: stop means

24: regulatory means 26: star wheel

28 (a), 28 (b): plate 30: roller

32: roller 34: roller

36 sensor 38 roller

[Patent Document 1]

Japanese Patent Laid-Open No. 2000-85950

[Patent Document 2]

Japanese Patent Laid-Open No. 2002-60049

Conventionally, the rotation positioning apparatus which rotates the several workpiece | work conveyed arrange | positioned at a fixed interval on a conveyor around a vertical rotation axis, and faces in a fixed direction has been devised (for example, refer patent document 1 and patent document 2). .). The rotation positioning device includes a gripping means for gripping a plurality of workpieces arranged at regular intervals with a roller, a rotating means for rotating the gripping plural workpieces around a vertical central axis, and the rotated workpieces face a constant direction. It is provided with a stop means for stopping at the time of operation. According to the rotation positioning device, each work can be directed in the same direction while maintaining a constant interval of the plurality of work, and the processing for the work in the subsequent step can be improved. However, since this rotational positioning device is only aimed at a substantially cylindrical workpiece, a more versatile rotational positioning device has been required.

Therefore, an object of the present invention is to provide a highly versatile rotational positioning apparatus capable of determining the rotational position of not only a substantially cylindrical workpiece but also a tapered workpiece that is tapered as it goes down. Here, by using the conventional rotation positioning device, the present inventor intends to grip and rotate a taper-shaped workpiece with a roller, so that the workpiece is lifted in the axial direction, or the workpiece swings up and down and is irregular. The rotational movement was carried out, and the problem that exact positioning was not found came to be found. Therefore, this inventor came to this invention as a result of earnestly researching so that this subject might be solved.

The rotation positioning device of the present invention is a rotation positioning device having a circular horizontal cross section arranged at regular intervals and rotating in a constant direction by rotating a work being conveyed by a conveyor around a vertical central axis. Holding means for sending in the conveying direction of the conveyor, rotating means for rotating the gripped work around the vertical central axis, stopping means for stopping when the rotated work is directed in a constant direction, and And a regulating means for regulating the rise and fall.

Further, the rotation positioning device of the present invention is characterized in that, in the rotation positioning device, the regulating means includes a roller capable of free rotation, which is located above the gripped work.

Further, the rotation positioning device of the present invention, in the rotation positioning device, the regulating means is a roller capable of free rotation, which is located above the gripped work, and the gripper is located next to the gripped work. It is characterized by comprising a roller capable of free rotation.

The rotation positioning apparatus of the present invention is further characterized in that, in the rotation positioning apparatus, the rotational central axis of the roller located above the gripped workpiece intersects or coincides with the vertical central axis of the workpiece. .

BEST MODE FOR CARRYING OUT THE INVENTION [

EMBODIMENT OF THE INVENTION Next, embodiment of the rotation position determining device which concerns on this invention is described in detail based on drawing.

In FIG.1 and FIG.2, the code | symbol 10 is a rotation positioning device of this invention. The rotation positioning device 10 has a circular horizontal section and is arranged at regular intervals so that the work 14 conveyed by the conveyor 12 is rotated around the vertical central axis 16 to face in a constant direction. Consists of.

The rotation positioning device 10 grips three workpieces 14 and sends them in the conveying direction of the conveyor 12, and the gripped workpieces 14 around the vertical central axis 16. Rotating means 20 for rotating, stopping means 22 for stopping when the workpiece 14 to be rotated in a predetermined direction, and restriction means 24 for regulating the rise and fall of the gripped workpiece 14 It is provided with.

The conveyor 12 is comprised so that the several workpiece | work 14 arrange | positioned at fixed intervals by the rotating star wheel 26 of FIG. 2 may be conveyed continuously in an X-axis direction one by one. The workpiece | work 14 is a taper-shaped container which becomes thin as it goes down.

The holding means 18 comprises two plates {28 (a) and 28 (b)}, a roller 30 provided on the plate {28 (a)} through an arm {40 (a)}, and the like. The roller 32 provided in the {28 (b)} via the arm {40 (b)} etc. is comprised so that the three workpiece | work 14 may be clamped by the roller 30 and the roller 32. It is. One roller 30 is provided with respect to one workpiece | work 14, and three pieces are provided in total. Two rollers 32 are provided with respect to one workpiece | work 14, and a total of six rollers are provided. The outer periphery of the roller 30 and the roller 32 is comprised from the silicone rubber which has elasticity. In addition, the roller 32 can be freely rotated.

In these plates 28 (a) and 28 (b), a roller 34 for preventing the work 14 from falling down is provided via an arm 40 (a) or 40 (b). This roller 34 is located in the side of the workpiece | work 14 when the holding means 18 has clamped the workpiece | work 14, and is provided in the position which a gap arises between the outer periphery side surface. In addition, the roller 34 can be freely rotated.

The plates 28 (a) and 28 (b) of the gripping means 18 are connected to and supported by joint arms (not shown), respectively, and the plates {28 (a) by braking each joint arm. } Moves in the directions shown by A (a), B (a), C (a) and D (a) in FIG. 2, and the plate {28 (b)} is A (b) and B in FIG. 2. It is comprised so that it may move to the direction shown by (b), C (b), D (b). That is, the plates 28 (a) and 28 (b) are moved to draw a substantially rectangular trajectory parallel to the conveying direction of the conveyor 12, so that the workpiece 14 is held and sent in the conveying direction. Can be.

The rotating means 20 is comprised with the roller 30 and the rotation drive mechanism which does not show the rotation of the roller 30, and the workpiece | work 14 is clamped by the roller 30 and the roller 32, and is hold | maintained, By rotating the roller 30, the workpiece 14 can be rotated in the horizontal plane around the vertical central axis 16. Therefore, the roller 30 constitutes the holding means 18 and the rotating means 20.

The stop means 22 is comprised by the sensor 36 which detects the mark adhering to the fixed position of the outer periphery side surface of the workpiece | work 14, and the control means not shown which stops rotation of the roller 30. As shown in FIG. The rotation of the roller 30 is controlled for each work 14. When the mark is detected by the sensor 36 or after a certain time has elapsed from the detection, the rotation of the roller 30 is stopped and the rotation of the workpiece 14 is stopped so that the workpiece 14 faces the constant direction. Can be stopped. In addition, the form of the sensor 36 is not specifically limited, such as a reflective fiber sensor or a photoelectric sensor.

The restricting means 24 is provided on the plates 28 (a) and 28 (b) via an arm {40 (a) or 40 (b)} and the like, and the workpiece 14 is held by the holding means 18. It is comprised by the roller 38 which can be freely rotated and positioned above the workpiece | work 14, and the roller 34 mentioned above when it is fitted. The center of rotation of the roller 38 is such that even if the upper surface of the workpiece 14 is in contact during the rotational movement of the workpiece 14, the roller 38 rotates freely and does not damage the workpiece 14. The shaft 17 is provided in the direction orthogonal to the vertical central axis 16 of the work 14. Moreover, the roller 38 can be made to move up and down with respect to the plates 28 (a) and 28 (b) by the vertical micromovement means which is not shown in figure, and the upper surface of the roller 38 and the workpiece | work 14 and You can finely adjust the clearance height of the car. In addition, although the vertical movement means of up and down is comprised with a long hole, a screw mechanism, etc., the structure is not specifically limited.

The operation of the rotation positioning device 10 will be described below.

When positioning the workpiece | work 14 by the rotation positioning device 10, the clearance height of the roller 38 and the upper surface of the workpiece | work 14 is adjusted to several mm by the up-down micro movement means. . In addition, the height of the roller 38 is maintained after adjusting the clearance height. Moreover, the mark for positioning is previously attached to the fixed position of the outer peripheral side surface of the workpiece | work 14.

In the state where such adjustment is performed, when the rotation positioning process including the rotation positioning device 10 is operated, the plurality of workpieces 14 are arranged at regular intervals by the star wheel 26 shown in FIG. It is sent in the plus direction. Therefore, the articulated arms connected to the plates 28 (a) and 28 (b) operate, and the plate 28 (a)} moves in the direction indicated by A (a) in FIG. 2 (the X-axis minus direction), The plate {28 (b)} moves in the direction indicated by A (b) in FIG. 2 (the X-axis plus direction), and then the plate {28 (a)} indicates the direction indicated by B (a) (Y-axis minus direction). And the plate 28 (b) moves in the direction (Y-axis plus direction) indicated by B (b), so that the holding means 18 holds the three workpieces 14. When the holding means 18 has clamped the workpiece | work 14, as shown in FIG. 1, the rollers 30 and 32 contact the outer peripheral side surface of the workpiece | work 14, and are located in the upper part of each workpiece | work 14. As shown in FIG. Two rollers 38 are positioned. When the holding means 18 sandwiches the three workpieces 14, a gap is formed between the rollers 38 and the upper surface of the workpieces 14, so that the rollers 38 are attached to the workpieces 14. There is no interference.

Next, the plate 28 (a) moves in the direction (X-axis plus direction) indicated by C (a), and the plate 28 (b)} moves in the direction (X-axis plus direction) indicated by C (b). The holding means 18 sends three workpieces 14 in the X-axis plus direction. When the workpiece | work 14 is sent to the X-axis plus direction, the roller 30 drives rotation and the workpiece | work 14 is rotated about the vertical center axis 16 on the conveyor 12. As shown in FIG.

At this time, as shown in FIG. 3, the pressing force P acts on the workpiece | work 14 from the roller 30, and Pcos (theta) (theta is an angle between P and Z axis | shaft) acts in the Z-axis plus direction. The repulsive force N which is not shown with respect to the workpiece | work 14 also acts from the roller 32, and Ncos (theta) which is not shown in figure acts in the Z-axis plus direction. For this reason, it can be considered that the workpiece 14 is lifted up in the Z-axis plus direction. However, since the roller 38 is located above the work 14, the rise of the work 14 is restricted. Moreover, since the two rollers 38 are regulated with respect to one workpiece | work 14, the workpiece | work 14 does not perform an irregular rotational movement, rocking up and down. Therefore, it is preferable that the roller 38 is two or more. Moreover, especially when the workpiece | work 14 is in a tapered shape, since it can be considered that the workpiece | work 14 lifts up, or the workpiece | work 14 carries out irregular rotational motion in many cases, it is especially the workpiece | work 14 When is tapered, a more remarkable and superior effect of the present invention occurs.

Next, the rotation of the workpiece 14 is stopped at the moment when the sensor 36 detects the mark on the outer circumferential side of the workpiece 14 or after a predetermined time has elapsed from the detection, and the three workpieces 14 are moved in the same constant direction. Position is determined. Here, as described above, since the irregular rotational movement of the work 14 ascending and swinging up and down is prevented, positioning can be performed accurately.

After the rotational positioning is performed in this manner, the plate 28 (a)} moves in the direction indicated by D (a) (Y-axis plus direction), and the plate {28 (b)} shows the direction indicated by D (b). The gripping means 18 releases the three workpieces 14 by moving in the (Y-axis minus direction). The released work 14 is sent on the conveyor 12 in a subsequent step, and various processes are performed. Since the workpiece | work 14 is rotationally positioned correctly, the work | work in a subsequent process is easy.

As mentioned above, although one Embodiment of this invention was described, this invention is not limited to this embodiment.

For example, the rotation positioning device 50 shown in FIG. 4 may be sufficient. The rotation positioning device 50 is a form in which the rotation position is determined while holding and sending two workpieces 14. When the two workpieces 14 are sandwiched, two rollers 38 are positioned above the one workpiece 14.

In addition, the rotation positioning apparatus 60 shown in FIG. 5 may be sufficient. In this rotation positioning device 60, the rotational central axis 17 of the roller 38 intersects obliquely with the vertical central axis 16 of the work 14. In this case, the cap can be used for the dome-shaped work 14. Since the roller 38 can also prevent the fall of the workpiece | work 14, it becomes possible to remove the roller 34. FIG.

As mentioned above, although embodiment of this invention was described based on drawing, this invention is not limited to what was illustrated. For example, you may perform rotation positioning of a cylindrical workpiece by the rotation positioning device of this invention. In addition, the shape of the workpiece | work which determines a rotation position by the rotation positioning device of this invention will not be specifically limited if it has a circular horizontal cross section. The number of workpieces to be clamped by the rotation positioning device of the present invention is not limited to two or three, but may be one or four or more. The restricting means is not limited to the roller, but may be a fixed guide that does not rotate. Further, the restricting means has a rotational central axis that is not limited to the roller in the horizontal direction, but the rotational central axis coincides with the vertical central axis of the workpiece, even when the roller is freely rotatable positioned above the gripped workpiece. The roller may be rotatable with the workpiece when the workpiece is in contact.

In addition, the technical scope of the present invention includes a form in which various improvements, modifications, and modifications are made based on the knowledge of those skilled in the art without departing from the spirit thereof. Moreover, you may implement in the form which replaced several some invention specific matter with the other technique within the range which the same action or effect arises.

According to the rotation positioning apparatus of the present invention, the rotation positioning of the work can be accurately performed and the versatility can be improved. For this reason, it can be widely used for the rotation positioning operation of the workpiece | work which has a circular horizontal cross section.

According to the rotation positioning device of the present invention, even if the tapered workpiece is tapered as it goes down, the gripped work can be regulated by the restricting means. In addition, depending on the form of the regulating means, the workpiece does not cause irregular rotational movement while swinging up and down. For this reason, not only a substantially cylindrical workpiece but also a tapered workpiece can perform accurate rotation positioning. As a result, the rotational positioning can be accurately performed and the versatility can be improved.

In addition, according to the rotation positioning device of the present invention, in which the restricting means is a roller, even if the workpiece is raised during rotation and the upper surface of the workpiece contacts the roller, the workpiece is not damaged by the rotation of the roller. Moreover, if the rotation center axis of this roller is a form orthogonal to the perpendicular center axis of a workpiece | work, this roller will rotate easily when a workpiece | work contacts.

Claims (5)

A rotating positioning device having a circular horizontal section and arranged at regular intervals and rotating in a constant direction by rotating a workpiece conveyed by a conveyor around a vertical central axis, Holding means for holding the workpiece and sending it in a conveying direction of the conveyor; Rotating means for rotating the gripped workpiece around a vertical central axis; Stop means for stopping the workpiece to be rotated in a direction; And a regulating means for regulating the rise and fall of the gripped work, And the regulating means comprises a roller capable of free rotation, which is located above the gripped workpiece. delete The rotation positioning device according to claim 1, wherein the restricting means comprises a roller capable of free rotation located above the gripped workpiece, and a roller capable of free rotation located laterally of the gripped workpiece. The rotation positioning device according to claim 1, wherein the rotational central axis of the roller located above the gripped workpiece intersects or coincides with the vertical central axis of the workpiece. 4. The rotation positioning device according to claim 3, wherein the rotational center axis of the roller located above the gripped work intersects or coincides with the vertical center axis of the work.

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