WO2021131842A1 - Positioning device - Google Patents

Positioning device Download PDF

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Publication number
WO2021131842A1
WO2021131842A1 PCT/JP2020/046500 JP2020046500W WO2021131842A1 WO 2021131842 A1 WO2021131842 A1 WO 2021131842A1 JP 2020046500 W JP2020046500 W JP 2020046500W WO 2021131842 A1 WO2021131842 A1 WO 2021131842A1
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WO
WIPO (PCT)
Prior art keywords
positioning
pins
positioning pins
hole
work
Prior art date
Application number
PCT/JP2020/046500
Other languages
French (fr)
Japanese (ja)
Inventor
勇司 矢吹
舜 ▲高▼岡
Original Assignee
株式会社ジーテクト
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社ジーテクト filed Critical 株式会社ジーテクト
Priority to JP2021567269A priority Critical patent/JP7397885B2/en
Publication of WO2021131842A1 publication Critical patent/WO2021131842A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to a positioning device having a positioning pin inserted into a positioning hole to be positioned.
  • a positioning pin may be fitted into a positioning hole of the positioning object, for example, as described in Patent Document 1.
  • the positioning device disclosed in Patent Document 1 is for positioning an object to be positioned on a fixed press type. This positioning device is configured to insert a plurality of positioning pins erected in a fixed mold into one positioning hole of a positioning object.
  • the plurality of positioning pins are movably supported in a fixed shape so as to move in a closing direction which is a direction in which they come into contact with each other and an opening direction which is a direction in which they are separated from each other.
  • the fixed type is provided with radial urging means for urging a plurality of positioning pins in the closing direction.
  • the movable type is provided with a pin that is inserted into the central portion of the plurality of positioning pins.
  • the movable type pin is inserted into the central portion of the plurality of positioning pins as the movable type advances toward the fixed type, and the distance between the plurality of positioning pins is widened.
  • the plurality of positioning pins are inserted into the positioning holes of the positioning object in a state where they move in the closing direction and are in contact with each other.
  • a movable pin is inserted into the central portion of the plurality of positioning pins, and the plurality of positioning pins move in the opening direction against the spring force of the radial urging means.
  • a radial urging means for urging the base ends of a plurality of positioning pins in the closing direction and a movable type for pushing the tips of the plurality of positioning pins in the opening direction. Need a pin.
  • the device that can use the positioning device described in Patent Document 1 is limited to the device having a structure in which the positioning object is sandwiched from both sides.
  • An object of the present invention is to provide a highly versatile positioning device capable of driving only the proximal ends of a plurality of positioning pins for positioning.
  • the positioning device is connected to a plurality of positioning pins each having a tip portion that can be inserted into a positioning hole of a positioning object, and to each base end portion of the plurality of positioning pins.
  • a support that movably supports the plurality of positioning pins in a closing direction in contact with each other and an opening direction in which the plurality of positioning pins are separated from each other, and the plurality of positioning pins by driving the base end portions of the plurality of positioning pins. It includes an actuator that moves the positioning pin in the closing direction and the opening direction.
  • the plurality of positioning pins move in the closing direction and the opening direction, respectively, by being driven by the actuator in a state where the base ends of the plurality of positioning pins are supported by the support.
  • a plurality of positioning pins are inserted into the positioning holes of the positioning object in a state of being in contact with each other, they move in the opening direction and are pressed against the hole wall of the positioning hole, so that the positioning object is of the plurality of positioning pins. Positioned in position. Therefore, according to the present invention, positioning is performed by driving only the base ends of a plurality of positioning pins, and the device that can use this positioning device is not limited to the device that sandwiches the positioning object from both sides. , A highly versatile positioning device can be provided.
  • FIG. 1 is a perspective view of a positioning device attached to a transport member.
  • FIG. 2 is a perspective view of a transport member to which a positioning device is attached.
  • FIG. 3 is a plan view of the positioning object.
  • FIG. 4 is a front view for explaining the configuration of the clamp device.
  • FIG. 5 is a perspective view of the actuator and the positioning pin.
  • FIG. 6 is a plan view showing a part of the conversion mechanism.
  • FIG. 7A is a cross-sectional view of the main part viewed from diagonally above.
  • FIG. 7B is a cross-sectional view of the main part viewed from diagonally above.
  • FIG. 8 is an exploded perspective view of the positioning pin and the conversion mechanism.
  • FIG. 9A is a bottom view of a main part for explaining the operation of the conversion mechanism.
  • FIG. 9B is a bottom view of a main part for explaining the operation of the conversion mechanism.
  • FIG. 10A is a front view for explaining the operation at the time of positioning.
  • FIG. 10B is a front view for explaining the operation at the time of positioning.
  • FIG. 10C is a front view for explaining the operation at the time of positioning.
  • FIG. 11 is a perspective view showing a modified example of the positioning pin.
  • FIG. 12A is a schematic view for explaining an operation when the work is placed on the transfer destination device.
  • FIG. 12B is a schematic view for explaining an operation when the work is placed on the transfer destination device.
  • FIG. 12C is a schematic view for explaining an operation when the work is placed on the transfer destination device.
  • FIG. 13 is a perspective view showing a modified example of the positioning pin.
  • FIG. 14 is a perspective view showing a modified example of the positioning pin.
  • FIG. 15 is a perspective view showing a modified example of the positioning pin.
  • the positioning device 1 shown in FIG. 1 will be described in detail later, but in FIG. 1, a plurality of positioning pins 2 drawn at the bottom in FIG. 1, a support 3 for supporting the plurality of positioning pins 2, and FIG. It includes an actuator 5 that drives a plurality of positioning pins 2 using the rotary clamp cylinder 4 drawn at the top as a power source.
  • an example is shown in which the positioning device 1 is used in the posture shown in FIG. 1, that is, in a posture in which a plurality of positioning pins 2 project downward.
  • the support 3 and the actuator 5 are supported by the transport member 7 via the mounting bracket 6.
  • the mounting bracket 6 has a mounting plate 6a along the transport member 7.
  • the mounting plate 6a is fixed to the rail 7a of the transport member 7 by a fastening structure 9 having a plurality of fixing bolts 8.
  • the mounting bracket 6 becomes movable along the rail 7a by loosening the fixing bolt 8. Therefore, by loosening the fixing bolt 8, the mounting position of the positioning device 1 with respect to the transport member 7 can be changed.
  • the transport member 7 is composed of a frame portion 11 formed in a rectangular shape when viewed from above, and a plurality of component support portions 12 provided in the frame portion 11. There is.
  • the horizontal direction orthogonal to the longitudinal direction L of the frame portion 11 is referred to as the width direction W.
  • the transport member 7 is supported from above by a transport device (not shown) and is driven by the transport device to move in the vertical direction and the horizontal direction.
  • the functional parts are attached to the plurality of component support portions 12 of the transport member 7.
  • the functional parts are the positioning device 1 according to the present invention, and the first to seventh clamp devices 14 for gripping the positioning object 13 (hereinafter, simply referred to as the work 13) drawn below the transport member 7 in FIG. ⁇ 20.
  • the work 13 according to this embodiment is a metal plate material to be charged into a hot press molding apparatus (not shown) that carries out a hot stamping method.
  • the work 13 is formed in a shape that is substantially rectangular when viewed from the thickness direction (vertical direction orthogonal to the paper surface of FIG. 3).
  • the work 13 has a posture in which the longitudinal direction coincides with the longitudinal direction L of the transport member 7 and the width direction orthogonal to the longitudinal direction coincides with the width direction W of the transport member 7, that is, the frame portion 11 of the transport member 7. It is gripped by the first to seventh clamp devices 14 to 20 in a along posture.
  • the first to seventh clamp devices 14 to 20 are composed of an arm 21 that is swingable with respect to the work 13 and an air cylinder 22 that drives the arm 21, and is a pair.
  • the work 13 is attached to the transport member 7 so as to be sandwiched and gripped from both sides in the horizontal direction by a clamping device.
  • the arm 21 swings between a gripping position for gripping the work 13 as shown by the solid line in FIG. 4 and a retracted position separated from the work 13 as shown by the alternate long and short dash line in FIG.
  • the first clamp device 14 and the seventh clamp device 20 located at both ends of the transport member 7 in the longitudinal direction L sandwich and grip the work 13 from both sides in the longitudinal direction.
  • the second, fourth, and sixth clamp devices 15, 17, and 19 push one side portion of the work 13 in the width direction (the upper right side portion in FIG. 2) toward the opposite side in the width direction.
  • the third and fifth clamp devices 16 and 18 push the other side portion (the lower left side portion in FIG. 2) of the work 13 in the width direction toward the opposite side. Therefore, the second, fourth, and sixth clamp devices 15, 17, and 19 and the third and fifth clamp devices 16, 18 grip the work 13 from both sides in the width direction.
  • the number and position of the clamp devices can be changed as appropriate.
  • the positioning device 1 is provided at two locations separated from each other in the longitudinal direction and the width direction of the transport member 7. Each of these positioning devices 1 performs a positioning operation described later in a state where the positioning pin 2 is inserted into the positioning hole 23 (see FIG. 3) of the work 13.
  • the positioning hole 23 is a through hole formed so that the opening shape is circular.
  • the positioning device 1 includes three positioning pins 2. As shown in FIG. 8, these positioning pins 2 are formed in an L-shaped cross section having a tip portion 2a extending in the vertical direction and a base end portion 2b extending in the horizontal direction from the upper end of the tip portion 2a, respectively. , It is movably supported by a support 3 (see FIG. 1) described later. Knock pins 24 are provided upright at the base end portions 2b of the three positioning pins 2. The knock pin 24 is formed in a cylindrical shape and projects upward from the base end portion 2b.
  • the support 3 is configured by combining a plurality of parts in the vertical direction.
  • the support 3 according to this embodiment is composed of a bottom plate 25 drawn at the bottom in FIG. 8, a frame body 26 stacked on the bottom plate 25, and a lid 27 stacked on the frame body 26. Has been done.
  • a through hole 28 is formed in the central portion of the bottom plate 25.
  • the tip 2a of each of the three positioning pins 2 is inserted into the through hole 28.
  • three guide grooves 29 connected to the base end portions 2b of the three positioning pins 2 are formed on the upper surface of the bottom plate 25.
  • the guide groove 29 is formed so that the base end portion 2b of the positioning pin 2 is movably fitted, and extends radially from the through hole 28.
  • the three positioning pins 2 in which the base end portion 2b is fitted in the guide groove 29 can move in the closing direction and the opening direction by moving along the guide groove 29.
  • the closing direction is the direction in which the tip portions 2a come into contact with each other.
  • the opening direction is a direction in which the tip portions 2a are separated from each other.
  • the tip portions 2a of the positioning pin 2 are formed so as to form a columnar columnar body 31 having an outer diameter smaller than the hole diameter of the positioning hole 23 of the work 13 as shown in FIGS. 7A and 9A by contacting each other. Has been done. That is, the tip portion 2a of the positioning pin 2 is formed in a shape in which the columnar body 31 is evenly divided in the circumferential direction.
  • 7A and 7B are cross-sectional views of the lower portion and the work of the positioning device 1 seen from diagonally above by breaking at the positions shown by lines VII-VII in FIG.
  • a virtual circle corresponding to the outer circumference of the columnar body 31 composed of the tip portion 2a of the positioning pin 2 is shown by the alternate long and short dash line A.
  • the outer peripheral surface of the columnar columnar body 31 composed of the tip portions 2a of the three positioning pins 2 has the tip portion 2a inserted into the positioning hole 23 of the work 13. By moving in the opening direction in the state, it is formed along the hole wall 23a of the positioning hole 23.
  • the frame body 26 is formed with a circular hole 33 for accommodating the three positioning pins 2 and the rotating plate 32 described later.
  • the lid 27 is formed with a through hole 34 through which the boss portion 32a of the rotating plate 32, which will be described later, is inserted.
  • the lid 27 is fixed to the mounting bracket 6 by fixing bolts (not shown).
  • the bottom plate 25, the frame body 26, and the lid body 27 have a plurality of fastening bolts 35 (only one in FIG. 8) in a state where the positioning pin 2 and the rotating plate 32 are housed in the frame body 26. Is drawn) so that they cannot be separated from each other.
  • the rotating plate 32 is for driving the three positioning pins 2 in the closing direction and the opening direction, and as shown in FIGS. 6 and 8, the cylindrical boss portion 32a and the boss portion 32a are positioned at the center. It is composed of a disk portion 32b to be formed. A hexagonal hole 36 is formed in the boss portion 32a when viewed from above. A plug 37 having a hexagonal cross section (see FIG. 8) is fitted into the hole 36 from above. The plug 37 constitutes a part of the rotating shaft 38 (see FIG. 5) of the rotary clamp cylinder 4. The rotary clamp cylinder 4 rotates the rotating shaft 38 by air pressure.
  • the positioning device 1 includes a regulation structure 39 (see FIG. 7A) for defining the position of the rotating plate 32 in the rotational direction.
  • the regulation structure 39 is configured by using a recess 39a (see FIG. 8) provided on the outer peripheral surface of the boss portion 32a and a ball 39b (see FIG. 7A) in the lid 27 that engages with the recess 39a. There is.
  • the ball 39b is pressed against and engaged with the recess 39a by a spring member (not shown).
  • the ball 39b and the spring member are inserted into the lateral through hole 40 of the lid 27, and are held in the lid 27 by a rod-shaped holder 41 (see FIG. 8) inserted into the lateral through hole 40.
  • the disk portion 32b of the rotating plate 32 is formed with three elongated holes 42 (see FIG. 6) into which the knock pin 24 of the positioning pin 2 is inserted.
  • These elongated holes 42 are formed in an arc shape that is convex outward in the radial direction at positions that divide the disc portion 32b into three equal parts in the circumferential direction, and the disc portion 32b of the rotating plate 32 is vertically formed. It penetrates.
  • the opening width in the direction orthogonal to the longitudinal direction of the elongated hole 42 is a width into which the knock pin 24 of the positioning pin 2 can be inserted. More specifically, the opening width is such that when the knock pin 24 inserted in the slot 42 is moved horizontally with respect to the rotating plate 32, the knock pin 24 moves only in the longitudinal direction of the slot 42. Width.
  • the one end portion 42a of the elongated hole 42 in the longitudinal direction is formed at a different position in the radial direction of the disc portion 32b as compared with the other end portion 42b.
  • the one end 42a of the elongated hole 42 according to this embodiment is located inside the rotating plate 32 in the radial direction from the other end 42b. Therefore, when the rotating plate 32 rotates with the knock pin 24 inserted in the elongated hole 42, the positioning pin 2 having the knock pin 24 moves along the guide groove 29 of the bottom plate 25 in the radial direction of the rotating plate 32.
  • the rotation of the rotating shaft 38 is converted into a reciprocating movement in a direction orthogonal to the axis of the rotating shaft 38 and transmitted to the base end portions 2b of the plurality of positioning pins 2.
  • the rotating plate 32, the knock pin 24, and the guide groove 29 of the bottom plate 25 constitute a conversion mechanism 43 that converts rotation into reciprocating motion.
  • the tip portions 2a of the three positioning pins 2 are located at one end portion 42a of the elongated hole 42 in the longitudinal direction. It is formed so as to be in a closed state (see FIG. 7A) in contact with each other.
  • the columnar body 31 described above is realized by the tips 2a of the three positioning pins 2 coming into contact with each other in this way.
  • the tip portions 2a of the three positioning pins 2 are separated from each other in a state where the three knock pins 24 are located at the other end portions 42b of the elongated hole 42 in the longitudinal direction.
  • the rotating plate 32 rotates clockwise by about 90 degrees from the position shown in FIG. 9A, so that the tip portion 2a of the positioning pin 2 shifts from the closed state to the open state.
  • the transport member 7 In order to position the work 13 on the transport member 7 by the positioning device 1 configured in this way, first, as shown in FIG. 10A, the transport member 7 is positioned above the work 13. When positioning the transport member 7 above the work 13, the columnar body 31 composed of the positioning pins 2 is positioned directly above the positioning hole 23 of the work 13. Then, the transport member 7 is lowered toward the work 13 in a state where the tip portions 2a of the three positioning pins 2 are in the closed state. At this time, each arm 21 of the first to seventh clamp devices 14 to 20 is swung to the retracted position. The work 13 is heated to a predetermined molding temperature by a heating furnace (not shown) and placed on a support 44.
  • a heating furnace not shown
  • the transport member 7 After the transport member 7 starts the lowering operation, the transport member 7 is stopped when the positioning pin 2 is inserted into the positioning hole 23 of the work 13 by a predetermined length.
  • the rotary clamp cylinder 4 of the actuator 5 is operated to rotate the rotary plate 32 in one direction together with the rotary shaft 38.
  • the rotating plate 32 rotates from the position shown in FIG. 9A to the position shown in FIG. 9B.
  • the tip portions 2a of the three positioning pins 2 move in the opening direction, respectively, and move into the hole wall 23a of the positioning hole 23 of the work 13.
  • Contact. In FIG. 10B only two positioning pins 2 are drawn. When the positioning pin 2 comes into contact with the hole wall 23a of the positioning hole 23 in this way, the work 13 is positioned at the position of the positioning pin 2, that is, the gripping position.
  • each arm 21 of the first to seventh clamp devices 14 to 20 is swung to the gripping position, and the work 13 is gripped by the first to seventh clamp devices 14 to 20. ..
  • the work 13 can be correctly gripped by the first to seventh clamp devices 14 to 20.
  • "correctly gripping" means that a gap is created between the work 13 and the arm 21, the work 13 is tilted when the arm 21 grips the work 13, or the arm 21 is placed on the work 13. It means that there is no swinging and so-called missed swing.
  • the transport member 7 is driven by the transport device and rises together with the work 13, and further moves in the horizontal direction to be a hot press molding device. Will be sent to.
  • the three positioning pins 2 are closed by being driven by the actuator 5 in a state where the base end portions 2b of the three positioning pins 2 are supported by the support body 3. Move in the direction and the open direction.
  • the work 13 is inserted into the positioning hole 23 of the work 13 in a closed state in which the three positioning pins 2 are in contact with each other.
  • the three positioning pins 2 move in the opening direction and are pressed against the hole wall 23a of the positioning hole 23, whereby the work 13 is positioned at the positions of the three positioning pins 2.
  • the device that can use the positioning device 1 is a device having a structure that sandwiches the work 1 from both sides. Not limited to. As a result, according to this embodiment, it is possible to provide a highly versatile positioning device.
  • the actuator 5 has a plurality of rotary clamp cylinders 4 (power source) having a rotating shaft 38, and the rotation of the rotating shaft 38 is converted into reciprocating movement in a direction orthogonal to the axis of the rotating shaft 38. It is provided with a conversion mechanism 43 that transmits to the base end portion 2b of the positioning pin 2. Therefore, since the plurality of positioning pins 2 can be driven evenly, it is possible to provide a positioning device having even higher positioning accuracy.
  • the support 3 and the actuator 5 according to this embodiment are attached to a transport member 7 located above the work 13 (positioning object) so that the tip portion 2a of the positioning pin 2 projects downward.
  • the transport member 7 is movable in the vertical direction and the horizontal direction, and includes first to seventh clamp devices 14 to 20 for gripping the work 13. Therefore, the work 13 can be positioned by the positioning device 1 at a position where the first to seventh clamp devices 14 to 20 correctly grip the work 13. Therefore, the work 13 can be transported by the transport member 7 so that a transport error does not occur.
  • the positioning hole 23 of the work 13 is formed so that the opening shape is circular.
  • the tip portions 2a of the three positioning pins 2 are formed so as to form a columnar columnar body 31 having an outer diameter smaller than the hole diameter of the positioning hole 23 by contacting each other, and the columnar body 31 is formed in the circumferential direction. It is formed in an evenly divided shape.
  • the tip portions 2a of the three positioning pins 2 thus formed come into contact with each other along the hole wall 23a of the positioning hole 23 by moving in the opening direction so as to be separated from each other. Therefore, even though the work 13 is in a state of being easily deformed by heating, an excessive load is applied to the positioning hole 23 from the positioning pin 2 due to the positioning operation, and the positioning hole 23 may be deformed. Absent.
  • the positioning pin 2 can be configured as shown in FIGS. 11 to 12C.
  • FIGS. 11 to 12C the same or equivalent members as those described with reference to FIGS. 1 to 10 are designated by the same reference numerals, and detailed description thereof will be omitted as appropriate.
  • the positioning pin 2 shown in FIGS. 11 to 12C has a tip surface at the lower end different from that of the positioning pin 2 described above.
  • the tip surfaces of the three positioning pins 2 shown in FIGS. 11 to 12C, which are the lower ends, are formed with recesses 51 that are recessed upward.
  • the recess 51 is formed in the axial center of the columnar body 31 formed by the tips 2a of the three positioning pins 2 coming into contact with each other.
  • the shape of the recess 51 is such that the tip portion 53a of the pilot pin 53 projecting from the mold 52 (see FIGS. 12A to 12C) to which the work 13 is conveyed fits.
  • the tip portion 53a of the pilot pin 53 projects upward and is formed in a conical shape.
  • the positioning pin 2 is used.
  • the transport member 7 is stopped so as to be located above the pilot pin 53.
  • the positioning pin 2 is in contact with the hole wall 23a of the positioning hole 23 of the work 13 in the open state.
  • the three positioning pins 2 are moved in the closing direction to bring them into the closed state.
  • the transport member 7 is lowered to fit the tip portion 53a of the pilot pin 53 into the recess 51 of the positioning pin 2.
  • FIG. 12B is drawn with the recess 51 slightly separated from the pilot pin 53 so that the fitted state can be easily understood.
  • the positioning pin 2 is positioned on the pilot pin 53 in the horizontal direction, and the center of the positioning hole 23 of the work 13 coincides with the axis of the pilot pin 53. become.
  • the arms 21 of the first to seventh clamp devices 14 to 20 are swung to the retracted position to release the work 13, and the transport member 7 is raised to return to the initial position.
  • the work 13 is placed on the mold 52 with the pilot pin 53 as a guide by being released from the first to seventh clamp devices 14 to 20, and is positioned at a predetermined molding position defined by the pilot pin 53. .. Therefore, according to this embodiment, it is possible to provide a positioning device capable of easily positioning the work 13 with the transfer destination device.
  • the work 13 can be placed on the mold 52 as shown in FIG. 12C instead of fitting the pilot pin 53 into the recess 51 with the positioning pin 2 closed. That is, the pilot pin 53 is inserted into the recess 51 in a state where the positioning pin 2 is opened without being closed, and in this state, the work 13 is released from the first to seventh clamp devices 14 to 20 and dropped.
  • the positioning pin 2 shown in each of the above-described embodiments can have a function of gripping and transporting the work 13 in addition to the function of positioning the work 13.
  • This transport function can be realized by adopting a so-called pin clamp cylinder or a two-stage expansion type pin configuration.
  • An example of adopting a two-stage expansion type pin configuration will be described with reference to FIGS. 13 to 14.
  • 13 to 15 the same or equivalent members as those described with reference to FIGS. 1 to 12C are designated by the same reference numerals, and detailed description thereof will be omitted as appropriate.
  • the positioning pin 2 shown in FIG. 13 has a tip (lower end) of the tip portion 2a different from the positioning pin 2 described above.
  • the tip portion 2a of the positioning pin 2 according to this embodiment has an extension portion 61 that is passed through the positioning hole 23 of the work 13.
  • the positioning hole 23 is formed so as to penetrate the work 13 and open to the front surface 13a and the back surface 13b of the work 13.
  • the extension portion 61 is formed so that the tip portion 2a protrudes toward the back surface 13b side of the work 13 in a state where the tip portion 2a is inserted into the positioning hole 23 from the front surface 13a side of the work 13. More specifically, as shown in FIG. 14, the extension portion 61 is formed so as to be able to pass through the positioning hole 23 in a state where the plurality of positioning pins 2 are moved in the closing direction. Further, as shown in FIG. 15, the extension portion 61 is in a state where a plurality of positioning pins 2 inserted into the positioning holes 23 move in the opening direction and the movement is restricted by the hole walls of the positioning holes 23. It projects in the opening direction of the positioning pin 2 so as to face the back surface of the work 13.
  • the work 13 can be supported by the extension portion 61 while the work 13 is positioned. Therefore, by equipping the positioning device with the positioning pin 2, the work 13 can be positioned and the work 13 can be gripped and conveyed.
  • the number of positioning pins 2 can be changed as appropriate.
  • the number of positioning pins 2 may be two or four.
  • the power source of the actuator 5 is configured by the rotary clamp cylinder 4 .
  • the power source of the actuator 5 can be configured by a motor.
  • the structure of the conversion mechanism 43 that converts the rotation of the rotating shaft 38 into a reciprocating movement in a direction orthogonal to the axis of the rotating shaft 38 can be appropriately changed. For example, a configuration in which racks individually provided on the positioning pins 2 are driven by a common pinion can be adopted.
  • the actuator 5 is not limited to one having a configuration that converts the rotation of the rotating shaft 38 into a reciprocating movement in a direction orthogonal to the axis of the rotating shaft 38. That is, it is possible to adopt a configuration in which each positioning pin 2 is driven by an individual power source such as an air cylinder or a motor.
  • the positioning pin 2 can adopt a configuration that allows positioning even if the product is heated and easily adheres. Such a function of preventing the adhesion of the product can be realized by adopting a configuration in which the positioning pin 2 vibrates or the lubricating oil exudes.
  • the positioning pin 2 can be detachable so that maintenance can be easily performed.

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  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Jigs For Machine Tools (AREA)
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Abstract

The present invention is provided with a plurality of positioning pins (2) each having a tip section (2a) that can be inserted into a positioning hole in an object to be positioned. The present invention is also provided with a support body (3) that movably supports the plurality of positioning pins (2) in a closing direction in which the pins make contact with each other, and in an opening direction in which the pins are spaced apart from each other. The present invention is also provided with actuators that drive the respective base end sections (2b) of the plurality of positioning pins (2) to move the plurality of positioning pins (2) in the closing direction and the opening direction.　It is possible to perform positioning by driving only the base end sections of the plurality of positioning pins.

Description

位置決め装置Positioning device
　本発明は、位置決め対象の位置決め用孔に挿入される位置決めピンを有する位置決め装置に関する。 The present invention relates to a positioning device having a positioning pin inserted into a positioning hole to be positioned.
　従来、鋼板等の薄板材からなる位置決め対象物の位置を決めるにあたっては、例えば特許文献１に記載されているように、位置決め対象物の位置決め用孔に位置決めピンを嵌合させて行うことがある。特許文献１に開示されている位置決め装置は、プレス型の固定型に位置決め対象物を位置決めするためのものである。この位置決め装置は、固定型に立設された複数の位置決めピンを位置決め対象物の一つの位置決め用孔に挿入する構成が採られている。複数の位置決めピンは、互いに接触する方向である閉方向と、互いに離間する方向である開方向とに移動するように、固定型に移動自在に支持されている。固定型には、複数の位置決めピンを閉方向に付勢する径方向付勢手段が設けられている。 Conventionally, in determining the position of a positioning object made of a thin plate material such as a steel plate, a positioning pin may be fitted into a positioning hole of the positioning object, for example, as described in Patent Document 1. .. The positioning device disclosed in Patent Document 1 is for positioning an object to be positioned on a fixed press type. This positioning device is configured to insert a plurality of positioning pins erected in a fixed mold into one positioning hole of a positioning object. The plurality of positioning pins are movably supported in a fixed shape so as to move in a closing direction which is a direction in which they come into contact with each other and an opening direction which is a direction in which they are separated from each other. The fixed type is provided with radial urging means for urging a plurality of positioning pins in the closing direction.
　可動型には、複数の位置決めピンの中央部に挿入されるピンが設けられている。可動型のピンは、可動型が固定型に向けて進むことにより複数の位置決めピンの中央部に挿入され、複数の位置決めピンどうしの間隔を拡げる。
　複数の位置決めピンは、それぞれ閉方向に移動して互いに接触している状態で、位置決め対象物の位置決め用孔に挿入される。そして、複数の位置決めピンの中央部に可動型のピンが挿入され、複数の位置決めピンが径方向付勢手段のばね力に抗して開方向に移動する。このように複数の位置決めピンがそれぞれ開方向に移動することにより、各位置決めピンが位置決め用孔の孔壁を押すようになり、位置決め対象物の位置決めが行われる。 The movable type is provided with a pin that is inserted into the central portion of the plurality of positioning pins. The movable type pin is inserted into the central portion of the plurality of positioning pins as the movable type advances toward the fixed type, and the distance between the plurality of positioning pins is widened.
The plurality of positioning pins are inserted into the positioning holes of the positioning object in a state where they move in the closing direction and are in contact with each other. Then, a movable pin is inserted into the central portion of the plurality of positioning pins, and the plurality of positioning pins move in the opening direction against the spring force of the radial urging means. By moving each of the plurality of positioning pins in the opening direction in this way, each positioning pin pushes against the hole wall of the positioning hole, and the positioning object is positioned.
特開２０１５－８５３６２号公報Japanese Unexamined Patent Publication No. 2015-85362
　特許文献１に示す位置決め装置では、位置決めを行うにあたって、複数の位置決めピンの基端部を閉方向に付勢する径方向付勢手段と、複数の位置決めピンの先端部を開方向に押す可動型のピンとが必要である。この位置決め装置を使用するためには、位置決めピンの基端部と先端部とをそれぞれ駆動する必要がある。このため、特許文献１に記載されている位置決め装置を使用できる装置は、位置決め対象物を両側から挟むような構造の装置に限定されるという問題があった。
　本発明の目的は、複数の位置決めピンの基端部のみを駆動して位置決めを行うことができ、汎用性が高い位置決め装置を提供することである。 In the positioning device shown in Patent Document 1, in performing positioning, a radial urging means for urging the base ends of a plurality of positioning pins in the closing direction and a movable type for pushing the tips of the plurality of positioning pins in the opening direction. Need a pin. In order to use this positioning device, it is necessary to drive the base end portion and the tip end portion of the positioning pin, respectively. Therefore, there is a problem that the device that can use the positioning device described in Patent Document 1 is limited to the device having a structure in which the positioning object is sandwiched from both sides.
An object of the present invention is to provide a highly versatile positioning device capable of driving only the proximal ends of a plurality of positioning pins for positioning.
　この目的を達成するために、本発明に係る位置決め装置は、位置決め対象物の位置決め用孔に挿入可能な先端部をそれぞれ有する複数の位置決めピンと、前記複数の位置決めピンのそれぞれの基端部に接続され、前記複数の位置決めピンを互いに接触する閉方向と互いに離間する開方向とに移動自在に支持する支持体と、前記複数の位置決めピンのそれぞれの前記基端部をそれぞれ駆動して前記複数の位置決めピンを前記閉方向と前記開方向とに移動させるアクチュエータとを備えているものである。 In order to achieve this object, the positioning device according to the present invention is connected to a plurality of positioning pins each having a tip portion that can be inserted into a positioning hole of a positioning object, and to each base end portion of the plurality of positioning pins. A support that movably supports the plurality of positioning pins in a closing direction in contact with each other and an opening direction in which the plurality of positioning pins are separated from each other, and the plurality of positioning pins by driving the base end portions of the plurality of positioning pins. It includes an actuator that moves the positioning pin in the closing direction and the opening direction.
　本発明においては、複数の位置決めピンのそれぞれの基端部が支持体に支持された状態でアクチュエータによって駆動されることにより、複数の位置決めピンがそれぞれ閉方向と開方向とに移動する。複数の位置決めピンが互いに接触する状態で位置決め対象物の位置決め用孔に挿入された後にそれぞれ開方向に移動し、位置決め用孔の孔壁に押し付けられることによって、位置決め対象物が複数の位置決めピンの位置に位置決めされる。したがって、本発明によれば、複数の位置決めピンの基端部のみを駆動して位置決めが行われ、この位置決め装置を使用できる装置が位置決め対象物を両側から挟む装置に限定されることはないから、汎用性が高い位置決め装置を提供することができる。 In the present invention, the plurality of positioning pins move in the closing direction and the opening direction, respectively, by being driven by the actuator in a state where the base ends of the plurality of positioning pins are supported by the support. After a plurality of positioning pins are inserted into the positioning holes of the positioning object in a state of being in contact with each other, they move in the opening direction and are pressed against the hole wall of the positioning hole, so that the positioning object is of the plurality of positioning pins. Positioned in position. Therefore, according to the present invention, positioning is performed by driving only the base ends of a plurality of positioning pins, and the device that can use this positioning device is not limited to the device that sandwiches the positioning object from both sides. , A highly versatile positioning device can be provided.
図１は、搬送部材に取付けられた位置決め装置の斜視図である。FIG. 1 is a perspective view of a positioning device attached to a transport member. 図２は、位置決め装置が取付けられた搬送部材の斜視図である。FIG. 2 is a perspective view of a transport member to which a positioning device is attached. 図３は、位置決め対象物の平面図である。FIG. 3 is a plan view of the positioning object. 図４は、クランプ装置の構成を説明するための正面図である。FIG. 4 is a front view for explaining the configuration of the clamp device. 図５は、アクチュエータと位置決めピンの斜視図である。FIG. 5 is a perspective view of the actuator and the positioning pin. 図６は、変換機構の一部を示す平面図である。FIG. 6 is a plan view showing a part of the conversion mechanism. 図７Ａは、要部を斜め上方から見た断面図である。FIG. 7A is a cross-sectional view of the main part viewed from diagonally above. 図７Ｂは、要部を斜め上方から見た断面図である。FIG. 7B is a cross-sectional view of the main part viewed from diagonally above. 図８は、位置決めピンと変換機構の分解斜視図である。FIG. 8 is an exploded perspective view of the positioning pin and the conversion mechanism. 図９Ａは、変換機構の動作を説明するための要部の下面図である。FIG. 9A is a bottom view of a main part for explaining the operation of the conversion mechanism. 図９Ｂは、変換機構の動作を説明するための要部の下面図である。FIG. 9B is a bottom view of a main part for explaining the operation of the conversion mechanism. 図１０Ａは、位置決め時の動作を説明するための正面図である。FIG. 10A is a front view for explaining the operation at the time of positioning. 図１０Ｂは、位置決め時の動作を説明するための正面図である。FIG. 10B is a front view for explaining the operation at the time of positioning. 図１０Ｃは、位置決め時の動作を説明するための正面図である。FIG. 10C is a front view for explaining the operation at the time of positioning. 図１１は、位置決めピンの変形例を示す斜視図である。FIG. 11 is a perspective view showing a modified example of the positioning pin. 図１２Ａは、ワークを搬送先の装置に載置するときの動作を説明するための模式図である。FIG. 12A is a schematic view for explaining an operation when the work is placed on the transfer destination device. 図１２Ｂは、ワークを搬送先の装置に載置するときの動作を説明するための模式図である。FIG. 12B is a schematic view for explaining an operation when the work is placed on the transfer destination device. 図１２Ｃは、ワークを搬送先の装置に載置するときの動作を説明するための模式図である。FIG. 12C is a schematic view for explaining an operation when the work is placed on the transfer destination device. 図１３は、位置決めピンの変形例を示す斜視図である。FIG. 13 is a perspective view showing a modified example of the positioning pin. 図１４は、位置決めピンの変形例を示す斜視図である。FIG. 14 is a perspective view showing a modified example of the positioning pin. 図１５は、位置決めピンの変形例を示す斜視図である。FIG. 15 is a perspective view showing a modified example of the positioning pin.
　以下、本発明に係る位置決め装置の一実施の形態を図１～図１０Ｃを参照して詳細に説明する。図１に示す位置決め装置１は、詳細は後述するが、図１において最も下に描かれている複数の位置決めピン２と、これらの複数の位置決めピン２を支持する支持体３と、図１において最も上に描かれているロータリークランプシリンダ４を動力源として複数の位置決めピン２を駆動するアクチュエータ５とを備えている。この実施の形態においては、位置決め装置１を図１に示す姿勢、すなわち複数の位置決めピン２が下方に向けて突出するような姿勢で使用する場合の例を示す。 Hereinafter, an embodiment of the positioning device according to the present invention will be described in detail with reference to FIGS. 1 to 10C. The positioning device 1 shown in FIG. 1 will be described in detail later, but in FIG. 1, a plurality of positioning pins 2 drawn at the bottom in FIG. 1, a support 3 for supporting the plurality of positioning pins 2, and FIG. It includes an actuator 5 that drives a plurality of positioning pins 2 using the rotary clamp cylinder 4 drawn at the top as a power source. In this embodiment, an example is shown in which the positioning device 1 is used in the posture shown in FIG. 1, that is, in a posture in which a plurality of positioning pins 2 project downward.
　支持体３とアクチュエータ５は、取付用ブラケット６を介して搬送部材７に支持されている。取付用ブラケット６は、搬送部材７に沿う取付板６ａを有している。取付板６ａは、複数の固定用ボルト８を有する締結構造９によって搬送部材７のレール７ａに固定されている。取付用ブラケット６は、固定用ボルト８が緩められることによって、レール７ａに沿って移動自在となる。このため、固定用ボルト８を緩めることにより、位置決め装置１の搬送部材７に対する取付位置を変えることができる。 The support 3 and the actuator 5 are supported by the transport member 7 via the mounting bracket 6. The mounting bracket 6 has a mounting plate 6a along the transport member 7. The mounting plate 6a is fixed to the rail 7a of the transport member 7 by a fastening structure 9 having a plurality of fixing bolts 8. The mounting bracket 6 becomes movable along the rail 7a by loosening the fixing bolt 8. Therefore, by loosening the fixing bolt 8, the mounting position of the positioning device 1 with respect to the transport member 7 can be changed.
　搬送部材７は、図２に示すように、上方から見て長方形となる枠状に形成された枠部１１と、枠部１１の中に設けられた複数の部品支持部１２とによって構成されている。以下においては、枠部１１の長手方向Ｌとは直交する水平方向を幅方向Ｗという。この搬送部材７は、図示していない搬送装置に上方から支持され、搬送装置によって駆動されることにより上下方向と水平方向とに移動する。 As shown in FIG. 2, the transport member 7 is composed of a frame portion 11 formed in a rectangular shape when viewed from above, and a plurality of component support portions 12 provided in the frame portion 11. There is. In the following, the horizontal direction orthogonal to the longitudinal direction L of the frame portion 11 is referred to as the width direction W. The transport member 7 is supported from above by a transport device (not shown) and is driven by the transport device to move in the vertical direction and the horizontal direction.
　搬送部材７の複数の部品支持部１２には、それぞれ機能部品が取付けられている。機能部品は、本発明に係る位置決め装置１と、図２において搬送部材７の下方に描かれている位置決め対象物１３（以下、単にワーク１３という）を把持する第１～第７のクランプ装置１４～２０である。この実施の形態によるワーク１３は、ホットスタンプ工法を実施する熱間プレス成型装置（図示せず）に投入される金属板材である。ワーク１３は、図３に示すように、厚み方向（図３の紙面とは直交する上下方向）から見て略長方形となる形状に形成されている。このワーク１３は、長手方向が搬送部材７の長手方向Ｌと一致し、かつ長手方向とは直交する幅方向が搬送部材７の幅方向Ｗと一致する姿勢、すなわち搬送部材７の枠部１１に沿うような姿勢で第１～第７のクランプ装置１４～２０によって把持される。 Functional parts are attached to the plurality of component support portions 12 of the transport member 7. The functional parts are the positioning device 1 according to the present invention, and the first to seventh clamp devices 14 for gripping the positioning object 13 (hereinafter, simply referred to as the work 13) drawn below the transport member 7 in FIG. ~ 20. The work 13 according to this embodiment is a metal plate material to be charged into a hot press molding apparatus (not shown) that carries out a hot stamping method. As shown in FIG. 3, the work 13 is formed in a shape that is substantially rectangular when viewed from the thickness direction (vertical direction orthogonal to the paper surface of FIG. 3). The work 13 has a posture in which the longitudinal direction coincides with the longitudinal direction L of the transport member 7 and the width direction orthogonal to the longitudinal direction coincides with the width direction W of the transport member 7, that is, the frame portion 11 of the transport member 7. It is gripped by the first to seventh clamp devices 14 to 20 in a along posture.
　第１～第７のクランプ装置１４～２０は、図４に示すように、ワーク１３に対して揺動自在なアーム２１と、アーム２１を駆動するエアシリンダ２２とによって構成されており、一対のクランプ装置でワーク１３を水平方向の両側から挟んで把持するように搬送部材７に取付けられている。アーム２１は、図４中に実線で示すようにワーク１３を把持する把持位置と、図４中に二点鎖線で示すように、ワーク１３から離間する退避位置との間で揺動する。 As shown in FIG. 4, the first to seventh clamp devices 14 to 20 are composed of an arm 21 that is swingable with respect to the work 13 and an air cylinder 22 that drives the arm 21, and is a pair. The work 13 is attached to the transport member 7 so as to be sandwiched and gripped from both sides in the horizontal direction by a clamping device. The arm 21 swings between a gripping position for gripping the work 13 as shown by the solid line in FIG. 4 and a retracted position separated from the work 13 as shown by the alternate long and short dash line in FIG.
　搬送部材７の長手方向Ｌの両端部に位置する第１のクランプ装置１４と第７のクランプ装置２０は、ワーク１３を長手方向の両側から挟んで把持する。第２、第４および第６のクランプ装置１５，１７，１９は、ワーク１３の幅方向の一方の側部（図２においては右上側の側部）を幅方向の反対側に向けて押し、第３および第５のクランプ装置１６，１８は、ワーク１３の幅方向の他方の側部（図２においては左下側の側部）を反対側に向けて押す。このため、第２、４、６のクランプ装置１５，１７，１９と、第３、５のクランプ装置１６，１８とがワーク１３を幅方向の両側から把持する。なお、クランプ装置の数や位置は、適宜変更可能である。 The first clamp device 14 and the seventh clamp device 20 located at both ends of the transport member 7 in the longitudinal direction L sandwich and grip the work 13 from both sides in the longitudinal direction. The second, fourth, and sixth clamp devices 15, 17, and 19 push one side portion of the work 13 in the width direction (the upper right side portion in FIG. 2) toward the opposite side in the width direction. The third and fifth clamp devices 16 and 18 push the other side portion (the lower left side portion in FIG. 2) of the work 13 in the width direction toward the opposite side. Therefore, the second, fourth, and sixth clamp devices 15, 17, and 19 and the third and fifth clamp devices 16, 18 grip the work 13 from both sides in the width direction. The number and position of the clamp devices can be changed as appropriate.
　位置決め装置１は、図２に示すように、搬送部材７の長手方向と幅方向とに離間した２箇所にそれぞれ設けられている。これらの位置決め装置１は、それぞれ位置決めピン２がワーク１３の位置決め用孔２３（図３参照）に挿入された状態で後述する位置決め動作を行う。位置決め用孔２３は、開口形状が円形となるように形成された貫通孔である。
　位置決め装置１による位置決め動作が行われることにより、所定の把持位置にワーク１３が位置決めされる。所定の把持位置とは、第１～第７のクランプ装置１４～２０によってワーク１３が正しく把持されるワーク１３の位置である。 As shown in FIG. 2, the positioning device 1 is provided at two locations separated from each other in the longitudinal direction and the width direction of the transport member 7. Each of these positioning devices 1 performs a positioning operation described later in a state where the positioning pin 2 is inserted into the positioning hole 23 (see FIG. 3) of the work 13. The positioning hole 23 is a through hole formed so that the opening shape is circular.
By performing the positioning operation by the positioning device 1, the work 13 is positioned at a predetermined gripping position. The predetermined gripping position is the position of the work 13 in which the work 13 is correctly gripped by the first to seventh clamp devices 14 to 20.
　この実施の形態による位置決め装置１は、図５に示すように、３本の位置決めピン２を備えている。これらの位置決めピン２は、図８に示すように、それぞれ上下方向に延びる先端部２ａと、先端部２ａの上端から水平方向に延びる基端部２ｂとを有する断面Ｌ字状に形成されており、後述する支持体３（図１参照）に移動自在に支持されている。３本の位置決めピン２の基端部２ｂには、それぞれノックピン２４が立てて設けられている。ノックピン２４は、円筒状に形成されており、基端部２ｂから上方に向けて突出している。 As shown in FIG. 5, the positioning device 1 according to this embodiment includes three positioning pins 2. As shown in FIG. 8, these positioning pins 2 are formed in an L-shaped cross section having a tip portion 2a extending in the vertical direction and a base end portion 2b extending in the horizontal direction from the upper end of the tip portion 2a, respectively. , It is movably supported by a support 3 (see FIG. 1) described later. Knock pins 24 are provided upright at the base end portions 2b of the three positioning pins 2. The knock pin 24 is formed in a cylindrical shape and projects upward from the base end portion 2b.
　支持体３は、複数の部品を上下方向に組み合わせて構成されている。この実施の形態による支持体３は、図８において最も下に描かれている底板２５と、底板２５の上に重ねられる枠体２６と、枠体２６の上に重ねられる蓋体２７とによって構成されている。底板２５の中央部には貫通孔２８が穿設されている。貫通孔２８には、３つの位置決めピン２のそれぞれの先端部２ａが挿入される。また、底板２５の上面には、３つの位置決めピン２の基端部２ｂに接続される３つのガイド溝２９が形成されている。 The support 3 is configured by combining a plurality of parts in the vertical direction. The support 3 according to this embodiment is composed of a bottom plate 25 drawn at the bottom in FIG. 8, a frame body 26 stacked on the bottom plate 25, and a lid 27 stacked on the frame body 26. Has been done. A through hole 28 is formed in the central portion of the bottom plate 25. The tip 2a of each of the three positioning pins 2 is inserted into the through hole 28. Further, on the upper surface of the bottom plate 25, three guide grooves 29 connected to the base end portions 2b of the three positioning pins 2 are formed.
　ガイド溝２９は、位置決めピン２の基端部２ｂが移動自在に嵌合するように形成されており、貫通孔２８から放射状に延びている。ガイド溝２９に基端部２ｂが嵌合した３つの位置決めピン２は、ガイド溝２９に沿って移動することにより、閉方向と開方向とに移動可能となる。閉方向は、先端部２ａどうしが互いに接触する方向である。開方向は、先端部２ａどうしが互いに離間する方向である。 The guide groove 29 is formed so that the base end portion 2b of the positioning pin 2 is movably fitted, and extends radially from the through hole 28. The three positioning pins 2 in which the base end portion 2b is fitted in the guide groove 29 can move in the closing direction and the opening direction by moving along the guide groove 29. The closing direction is the direction in which the tip portions 2a come into contact with each other. The opening direction is a direction in which the tip portions 2a are separated from each other.
　位置決めピン２の先端部２ａは、互いに接触することにより、図７Ａおよび図９Ａに示すように、ワーク１３の位置決め用孔２３の孔径より外径が小さい円柱状の柱状体３１となるように形成されている。すなわち、位置決めピン２の先端部２ａは、この柱状体３１を周方向に均等に分割した形状に形成されている。図７Ａおよび図７Ｂは、位置決め装置１の下部およびワークを図６中にVII－VII線で示す位置で破断して斜め上方から見た断面図である。図９Ａにおいては、位置決めピン２の先端部２ａからなる柱状体３１の外周に相当する仮想の円を二点鎖線Ａによって示す。
　３つの位置決めピン２の先端部２ａからなる円柱状の柱状体３１の外周面は、図７Ｂおよび図１０Ｂ、図１０Ｃに示すように、先端部２ａがワーク１３の位置決め用孔２３に挿入された状態で開方向に移動することによって、位置決め用孔２３の孔壁２３ａに沿うように形成されている。 The tip portions 2a of the positioning pin 2 are formed so as to form a columnar columnar body 31 having an outer diameter smaller than the hole diameter of the positioning hole 23 of the work 13 as shown in FIGS. 7A and 9A by contacting each other. Has been done. That is, the tip portion 2a of the positioning pin 2 is formed in a shape in which the columnar body 31 is evenly divided in the circumferential direction. 7A and 7B are cross-sectional views of the lower portion and the work of the positioning device 1 seen from diagonally above by breaking at the positions shown by lines VII-VII in FIG. In FIG. 9A, a virtual circle corresponding to the outer circumference of the columnar body 31 composed of the tip portion 2a of the positioning pin 2 is shown by the alternate long and short dash line A.
As shown in FIGS. 7B, 10B, and 10C, the outer peripheral surface of the columnar columnar body 31 composed of the tip portions 2a of the three positioning pins 2 has the tip portion 2a inserted into the positioning hole 23 of the work 13. By moving in the opening direction in the state, it is formed along the hole wall 23a of the positioning hole 23.
　枠体２６には、３つの位置決めピン２と、後述する回転プレート３２とを収容する円形の孔３３が形成されている。蓋体２７には、後述する回転プレート３２のボス部３２ａが挿通される貫通孔３４が形成されている。蓋体２７は、取付用ブラケット６に図示していない固定用ボルトによって固定される。これらの底板２５と、枠体２６と、蓋体２７とは、枠体２６内に位置決めピン２と回転プレート３２とが収容された状態で複数の締結用ボルト３５（図８においては１本のみが描いてある）によって互いに離れることができないように締結されている。 The frame body 26 is formed with a circular hole 33 for accommodating the three positioning pins 2 and the rotating plate 32 described later. The lid 27 is formed with a through hole 34 through which the boss portion 32a of the rotating plate 32, which will be described later, is inserted. The lid 27 is fixed to the mounting bracket 6 by fixing bolts (not shown). The bottom plate 25, the frame body 26, and the lid body 27 have a plurality of fastening bolts 35 (only one in FIG. 8) in a state where the positioning pin 2 and the rotating plate 32 are housed in the frame body 26. Is drawn) so that they cannot be separated from each other.
　回転プレート３２は、３つの位置決めピン２を閉方向と開方向とに駆動するためのもので、図６および図８に示すように、円筒状のボス部３２ａと、ボス部３２ａが中心に位置する円板部３２ｂとによって構成されている。ボス部３２ａには、上方から見て６角形の穴３６が形成されている。この穴３６には、断面形状が６角形のプラグ３７（図８参照）が上方から嵌合する。プラグ３７は、ロータリークランプシリンダ４の回転軸３８（図５参照）の一部を構成するものである。ロータリークランプシリンダ４は、空気圧によって回転軸３８を回動させる。 The rotating plate 32 is for driving the three positioning pins 2 in the closing direction and the opening direction, and as shown in FIGS. 6 and 8, the cylindrical boss portion 32a and the boss portion 32a are positioned at the center. It is composed of a disk portion 32b to be formed. A hexagonal hole 36 is formed in the boss portion 32a when viewed from above. A plug 37 having a hexagonal cross section (see FIG. 8) is fitted into the hole 36 from above. The plug 37 constitutes a part of the rotating shaft 38 (see FIG. 5) of the rotary clamp cylinder 4. The rotary clamp cylinder 4 rotates the rotating shaft 38 by air pressure.
　この実施の形態による位置決め装置１は、回転プレート３２の回転方向の位置を規定するために規制構造３９（図７Ａ参照）を備えている。規制構造３９は、ボス部３２ａの外周面に設けられた凹部３９ａ（図８参照）と、この凹部３９ａに係合する蓋体２７内のボール３９ｂ（図７Ａ参照）とを用いて構成されている。ボール３９ｂは、図示していないばね部材によって凹部３９ａに押し付けられて係合している。ボール３９ｂとばね部材は、蓋体２７の横方向貫通穴４０に挿入され、横方向貫通穴４０に挿入された棒状のホルダー４１（図８参照）によって蓋体２７内に保持されている。 The positioning device 1 according to this embodiment includes a regulation structure 39 (see FIG. 7A) for defining the position of the rotating plate 32 in the rotational direction. The regulation structure 39 is configured by using a recess 39a (see FIG. 8) provided on the outer peripheral surface of the boss portion 32a and a ball 39b (see FIG. 7A) in the lid 27 that engages with the recess 39a. There is. The ball 39b is pressed against and engaged with the recess 39a by a spring member (not shown). The ball 39b and the spring member are inserted into the lateral through hole 40 of the lid 27, and are held in the lid 27 by a rod-shaped holder 41 (see FIG. 8) inserted into the lateral through hole 40.
　回転プレート３２の円板部３２ｂには、位置決めピン２のノックピン２４が挿入される３つの長穴４２（図６参照）が形成されている。これらの長穴４２は、円板部３２ｂを周方向に３等分する位置にそれぞれ径方向の外側に向けて凸になる円弧状に形成され、回転プレート３２の円板部３２ｂを上下方向に貫通している。長穴４２の長手方向とは直交する方向の開口幅は、位置決めピン２のノックピン２４が挿入可能な幅である。詳述すると、この開口幅は、長穴４２に挿入されたノックピン２４を回転プレート３２に対して水平方向に移動させたときに、ノックピン２４の移動方向が長穴４２の長手方向のみとなるような幅である。 The disk portion 32b of the rotating plate 32 is formed with three elongated holes 42 (see FIG. 6) into which the knock pin 24 of the positioning pin 2 is inserted. These elongated holes 42 are formed in an arc shape that is convex outward in the radial direction at positions that divide the disc portion 32b into three equal parts in the circumferential direction, and the disc portion 32b of the rotating plate 32 is vertically formed. It penetrates. The opening width in the direction orthogonal to the longitudinal direction of the elongated hole 42 is a width into which the knock pin 24 of the positioning pin 2 can be inserted. More specifically, the opening width is such that when the knock pin 24 inserted in the slot 42 is moved horizontally with respect to the rotating plate 32, the knock pin 24 moves only in the longitudinal direction of the slot 42. Width.
　また、長穴４２の長手方向の一端部４２ａは、他端部４２ｂと較べると、円板部３２ｂの径方向において異なる位置に形成されている。この実施の形態による長穴４２の一端部４２ａは、他端部４２ｂより回転プレート３２の径方向の内側に位置している。このため、長穴４２にノックピン２４が挿入された状態で回転プレート３２が回ることにより、ノックピン２４を有する位置決めピン２が底板２５のガイド溝２９に沿って回転プレート３２の径方向に移動する。すなわち、回転軸３８の回転が回転軸３８の軸線とは直交する方向への往復移動に変換されて複数の位置決めピン２の基端部２ｂに伝達される。この実施の形態においては、回転プレート３２と、ノックピン２４と、底板２５のガイド溝２９とによって、回転を往復移動に変換する変換機構４３が構成されている。 Further, the one end portion 42a of the elongated hole 42 in the longitudinal direction is formed at a different position in the radial direction of the disc portion 32b as compared with the other end portion 42b. The one end 42a of the elongated hole 42 according to this embodiment is located inside the rotating plate 32 in the radial direction from the other end 42b. Therefore, when the rotating plate 32 rotates with the knock pin 24 inserted in the elongated hole 42, the positioning pin 2 having the knock pin 24 moves along the guide groove 29 of the bottom plate 25 in the radial direction of the rotating plate 32. That is, the rotation of the rotating shaft 38 is converted into a reciprocating movement in a direction orthogonal to the axis of the rotating shaft 38 and transmitted to the base end portions 2b of the plurality of positioning pins 2. In this embodiment, the rotating plate 32, the knock pin 24, and the guide groove 29 of the bottom plate 25 constitute a conversion mechanism 43 that converts rotation into reciprocating motion.
　この実施の形態による長穴４２は、図９Ａに示すように、３つのノックピン２４が長穴４２の長手方向の一端部４２ａに位置している状態で、３つの位置決めピン２の先端部２ａが互いに接触する閉状態（図７Ａ参照）となるように形成されている。このように３つの位置決めピン２の先端部２ａどうしが互いに接触することにより、上述した柱状体３１が実現される。また、長穴４２は、図９Ｂに示すように、３つのノックピン２４が長穴４２の長手方向の他端部４２ｂに位置している状態で、３つの位置決めピン２の先端部２ａが互いに離間し、位置決め用孔２３の孔壁２３ａに接触する開状態（図７Ｂ参照）となるように形成されている。この実施の形態においては、回転プレート３２が図９Ａに示す位置から時計回りに約９０度回ることによって、位置決めピン２の先端部２ａが閉状態から開状態に移行する。 In the elongated hole 42 according to this embodiment, as shown in FIG. 9A, the tip portions 2a of the three positioning pins 2 are located at one end portion 42a of the elongated hole 42 in the longitudinal direction. It is formed so as to be in a closed state (see FIG. 7A) in contact with each other. The columnar body 31 described above is realized by the tips 2a of the three positioning pins 2 coming into contact with each other in this way. Further, in the elongated hole 42, as shown in FIG. 9B, the tip portions 2a of the three positioning pins 2 are separated from each other in a state where the three knock pins 24 are located at the other end portions 42b of the elongated hole 42 in the longitudinal direction. It is formed so as to be in an open state (see FIG. 7B) in contact with the hole wall 23a of the positioning hole 23. In this embodiment, the rotating plate 32 rotates clockwise by about 90 degrees from the position shown in FIG. 9A, so that the tip portion 2a of the positioning pin 2 shifts from the closed state to the open state.
　このように構成された位置決め装置１によってワーク１３を搬送部材７に位置決めするためには、先ず、図１０Ａに示すように、ワーク１３の上方に搬送部材７を位置付ける。搬送部材７をワーク１３の上方に位置付けるにあたっては、位置決めピン２からなる柱状体３１がワーク１３の位置決め用孔２３の真上に位置するように行う。そして、３つの位置決めピン２の先端部２ａが閉状態になっている状態で搬送部材７をワーク１３に向けて下降させる。なお、このときには、第１～第７のクランプ装置１４～２０の各アーム２１を退避位置に揺動させておく。ワーク１３は、図示していない加熱炉によって所定の成型温度に加熱され、支持台４４に載置しておく。 In order to position the work 13 on the transport member 7 by the positioning device 1 configured in this way, first, as shown in FIG. 10A, the transport member 7 is positioned above the work 13. When positioning the transport member 7 above the work 13, the columnar body 31 composed of the positioning pins 2 is positioned directly above the positioning hole 23 of the work 13. Then, the transport member 7 is lowered toward the work 13 in a state where the tip portions 2a of the three positioning pins 2 are in the closed state. At this time, each arm 21 of the first to seventh clamp devices 14 to 20 is swung to the retracted position. The work 13 is heated to a predetermined molding temperature by a heating furnace (not shown) and placed on a support 44.
　搬送部材７が下降動作を開始した後、位置決めピン２がワーク１３の位置決め用孔２３の中に所定の長さだけ挿入された時に搬送部材７を停止させる。次に、アクチュエータ５のロータリークランプシリンダ４を動作させ、回転軸３８とともに回転プレート３２を一方向に回す。このとき、回転プレート３２は、図９Ａに示す位置から図９Ｂに示す位置まで回る。このように回転プレート３２が回ることにより、図９Ｂおよび図１０Ｂに示すように、３つの位置決めピン２の先端部２ａがそれぞれ開方向に移動し、ワーク１３の位置決め用孔２３の孔壁２３ａに接触する。図１０Ｂにおいては、２本の位置決めピン２のみが描いてある。このように位置決めピン２が位置決め用孔２３の孔壁２３ａに接触することにより、ワーク１３が位置決めピン２の位置、すなわち把持位置に位置決めされる。 After the transport member 7 starts the lowering operation, the transport member 7 is stopped when the positioning pin 2 is inserted into the positioning hole 23 of the work 13 by a predetermined length. Next, the rotary clamp cylinder 4 of the actuator 5 is operated to rotate the rotary plate 32 in one direction together with the rotary shaft 38. At this time, the rotating plate 32 rotates from the position shown in FIG. 9A to the position shown in FIG. 9B. By rotating the rotating plate 32 in this way, as shown in FIGS. 9B and 10B, the tip portions 2a of the three positioning pins 2 move in the opening direction, respectively, and move into the hole wall 23a of the positioning hole 23 of the work 13. Contact. In FIG. 10B, only two positioning pins 2 are drawn. When the positioning pin 2 comes into contact with the hole wall 23a of the positioning hole 23 in this way, the work 13 is positioned at the position of the positioning pin 2, that is, the gripping position.
　次に、図１０Ｃに示すように、第１～第７のクランプ装置１４～２０の各アーム２１を把持位置に揺動させ、ワーク１３を第１～第７のクランプ装置１４～２０によって把持する。このとき、ワーク１３が位置決め装置１によって把持位置に正確に位置決めされているために、第１～第７のクランプ装置１４～２０でワーク１３を正しく把持することができる。ここでいう、「正しく把持する」とは、ワーク１３とアーム２１との間に隙間が生じたり、アーム２１がワーク１３を把持したときにワーク１３が傾斜したり、ワーク１３の上にアーム２１が揺動していわゆる空振りとなったりすることがないことを意味する。
　このように第１～第７のクランプ装置１４～２０でワーク１３を把持した後、搬送装置によって駆動されて搬送部材７がワーク１３とともに上昇し、さらに水平方向に移動して熱間プレス成型装置に送られる。 Next, as shown in FIG. 10C, each arm 21 of the first to seventh clamp devices 14 to 20 is swung to the gripping position, and the work 13 is gripped by the first to seventh clamp devices 14 to 20. .. At this time, since the work 13 is accurately positioned at the gripping position by the positioning device 1, the work 13 can be correctly gripped by the first to seventh clamp devices 14 to 20. Here, "correctly gripping" means that a gap is created between the work 13 and the arm 21, the work 13 is tilted when the arm 21 grips the work 13, or the arm 21 is placed on the work 13. It means that there is no swinging and so-called missed swing.
After gripping the work 13 with the first to seventh clamp devices 14 to 20 in this way, the transport member 7 is driven by the transport device and rises together with the work 13, and further moves in the horizontal direction to be a hot press molding device. Will be sent to.
　この実施の形態による位置決め装置１においては、３つの位置決めピン２のそれぞれの基端部２ｂが支持体３に支持された状態でアクチュエータ５によって駆動されることにより、３つの位置決めピン２がそれぞれ閉方向と開方向とに移動する。ワーク１３を位置決めピン２の位置に位置決めする際には、３つの位置決めピン２が互いに接触する閉状態でワーク１３の位置決め用孔２３に挿入される。その後、３つの位置決めピン２がそれぞれ開方向に移動し、位置決め用孔２３の孔壁２３ａに押し付けられることによって、ワーク１３が３つの位置決めピン２の位置に位置決めされる。したがって、この実施の形態によれば、３つの位置決めピン２の基端部２ｂのみを駆動して位置決めが行われるから、この位置決め装置１を使用できる装置は、ワーク１を両側から挟む構造の装置に限定されることがない。この結果、この実施の形態によれば、汎用性が高い位置決め装置を提供することができる。 In the positioning device 1 according to this embodiment, the three positioning pins 2 are closed by being driven by the actuator 5 in a state where the base end portions 2b of the three positioning pins 2 are supported by the support body 3. Move in the direction and the open direction. When positioning the work 13 at the position of the positioning pin 2, the work 13 is inserted into the positioning hole 23 of the work 13 in a closed state in which the three positioning pins 2 are in contact with each other. After that, the three positioning pins 2 move in the opening direction and are pressed against the hole wall 23a of the positioning hole 23, whereby the work 13 is positioned at the positions of the three positioning pins 2. Therefore, according to this embodiment, since positioning is performed by driving only the base end portions 2b of the three positioning pins 2, the device that can use the positioning device 1 is a device having a structure that sandwiches the work 1 from both sides. Not limited to. As a result, according to this embodiment, it is possible to provide a highly versatile positioning device.
　この実施の形態によるアクチュエータ５は、回転軸３８を有するロータリークランプシリンダ４（動力源）と、回転軸３８の回転を回転軸３８の軸線とは直交する方向への往復移動に変換して複数の位置決めピン２の基端部２ｂに伝達する変換機構４３とを備えている。このため、複数の位置決めピン２を均等に駆動できるから、位置決めの精度がより一層高い位置決め装置を提供することができる。 The actuator 5 according to this embodiment has a plurality of rotary clamp cylinders 4 (power source) having a rotating shaft 38, and the rotation of the rotating shaft 38 is converted into reciprocating movement in a direction orthogonal to the axis of the rotating shaft 38. It is provided with a conversion mechanism 43 that transmits to the base end portion 2b of the positioning pin 2. Therefore, since the plurality of positioning pins 2 can be driven evenly, it is possible to provide a positioning device having even higher positioning accuracy.
　この実施の形態による支持体３とアクチュエータ５とは、ワーク１３（位置決め対象物）の上方に位置する搬送部材７に、位置決めピン２の先端部２ａが下方に向けて突出するように取付けられている。搬送部材７は、上下方向と水平方向とに移動可能であるとともに、ワーク１３を把持する第１～第７のクランプ装置１４～２０を備えている。このため、第１～第７のクランプ装置１４～２０がワーク１３を正しく把持する位置に、位置決め装置１によってワーク１３を位置決めすることができる。したがって、搬送ミスが発生しないように搬送部材７によってワーク１３を搬送することができる。 The support 3 and the actuator 5 according to this embodiment are attached to a transport member 7 located above the work 13 (positioning object) so that the tip portion 2a of the positioning pin 2 projects downward. There is. The transport member 7 is movable in the vertical direction and the horizontal direction, and includes first to seventh clamp devices 14 to 20 for gripping the work 13. Therefore, the work 13 can be positioned by the positioning device 1 at a position where the first to seventh clamp devices 14 to 20 correctly grip the work 13. Therefore, the work 13 can be transported by the transport member 7 so that a transport error does not occur.
　この実施の形態によるワーク１３の位置決め用孔２３は、開口形状が円形となるように形成されている。３つの位置決めピン２の先端部２ａは、互いに接触することにより位置決め用孔２３の孔径より外径が小さい円柱状の柱状体３１となるように形成されているとともに、柱状体３１を周方向に均等に分割した形状に形成されている。
　このように形成された３つの位置決めピン２の先端部２ａは、互いに離間する開方向に移動することによって、位置決め用孔２３の孔壁２３ａに沿う状態で接触するようになる。したがって、ワーク１３が加熱により変形し易い状態になっているにもかかわらず、位置決め動作により位置決め用孔２３に位置決めピン２から過度な荷重が加えられて位置決め用孔２３が変形するようなことがない。 The positioning hole 23 of the work 13 according to this embodiment is formed so that the opening shape is circular. The tip portions 2a of the three positioning pins 2 are formed so as to form a columnar columnar body 31 having an outer diameter smaller than the hole diameter of the positioning hole 23 by contacting each other, and the columnar body 31 is formed in the circumferential direction. It is formed in an evenly divided shape.
The tip portions 2a of the three positioning pins 2 thus formed come into contact with each other along the hole wall 23a of the positioning hole 23 by moving in the opening direction so as to be separated from each other. Therefore, even though the work 13 is in a state of being easily deformed by heating, an excessive load is applied to the positioning hole 23 from the positioning pin 2 due to the positioning operation, and the positioning hole 23 may be deformed. Absent.
（位置決めピンの第１の変形例）
　位置決めピン２は図１１～図１２Ｃに示すように構成することができる。図１１～図１２Ｃにおいて、図１～図１０によって説明したものと同一もしくは同等の部材については、同一符号を付し詳細な説明を適宜省略する。
　図１１～図１２Ｃに示す位置決めピン２は、下端となる先端面が上述した位置決めピン２とは異なっている。図１１～図１２Ｃに示す３つの位置決めピン２の下端となる先端面には、上方に向かって凹む凹部５１がそれぞれ形成されている。この凹部５１は、３つの位置決めピン２の先端部２ａが互いに接触することにより形成される柱状体３１の軸心部に形成されている。凹部５１の形状は、ワーク１３の搬送先である金型５２（図１２Ａ～図１２Ｃ参照）に突設されたパイロットピン５３の先端部５３ａが嵌合する形状である。パイロットピン５３の先端部５３ａは、上方に向けて突出しており、円錐状に形成されている。 (First modification of the positioning pin)
The positioning pin 2 can be configured as shown in FIGS. 11 to 12C. In FIGS. 11 to 12C, the same or equivalent members as those described with reference to FIGS. 1 to 10 are designated by the same reference numerals, and detailed description thereof will be omitted as appropriate.
The positioning pin 2 shown in FIGS. 11 to 12C has a tip surface at the lower end different from that of the positioning pin 2 described above. The tip surfaces of the three positioning pins 2 shown in FIGS. 11 to 12C, which are the lower ends, are formed with recesses 51 that are recessed upward. The recess 51 is formed in the axial center of the columnar body 31 formed by the tips 2a of the three positioning pins 2 coming into contact with each other. The shape of the recess 51 is such that the tip portion 53a of the pilot pin 53 projecting from the mold 52 (see FIGS. 12A to 12C) to which the work 13 is conveyed fits. The tip portion 53a of the pilot pin 53 projects upward and is formed in a conical shape.
　この実施の形態による位置決めピン２を使用して搬送部材７（図示せず）に位置決めされたワーク１３を金型に載置するためには、先ず、図１２Ａに示すように、位置決めピン２がパイロットピン５３の上に位置するように搬送部材７を停止させる。このときは、位置決めピン２が開状態で、ワーク１３の位置決め用孔２３の孔壁２３ａに接触している。次に、３つの位置決めピン２をそれぞれ閉方向に移動させて閉状態とする。そして、図１２Ｂに示すように、搬送部材７を下降させ、位置決めピン２の凹部５１にパイロットピン５３の先端部５３ａを嵌合させる。図１２Ｂは、嵌合状態を理解し易いように、凹部５１がパイロットピン５３から僅かに離間している状態で描いてある。 In order to place the work 13 positioned on the transport member 7 (not shown) on the mold using the positioning pin 2 according to this embodiment, first, as shown in FIG. 12A, the positioning pin 2 is used. The transport member 7 is stopped so as to be located above the pilot pin 53. At this time, the positioning pin 2 is in contact with the hole wall 23a of the positioning hole 23 of the work 13 in the open state. Next, the three positioning pins 2 are moved in the closing direction to bring them into the closed state. Then, as shown in FIG. 12B, the transport member 7 is lowered to fit the tip portion 53a of the pilot pin 53 into the recess 51 of the positioning pin 2. FIG. 12B is drawn with the recess 51 slightly separated from the pilot pin 53 so that the fitted state can be easily understood.
　このように凹部５１がパイロットピン５３に嵌合することにより、水平方向において位置決めピン２がパイロットピン５３に位置決めされ、ワーク１３の位置決め用孔２３の中心がパイロットピン５３の軸心と一致するようになる。その後、図示してはいないが、第１～第７のクランプ装置１４～２０のアーム２１を退避位置に揺動させてワーク１３を解放し、搬送部材７を上昇させて初期の位置に戻す。ワーク１３は、第１～第７のクランプ装置１４～２０から解放されることによってパイロットピン５３をガイドとして金型５２に載置され、パイロットピン５３によって規定された所定の成型位置に位置決めされる。
　このため、この実施の形態によれば、ワーク１３を搬送先の装置で簡単に位置決めすることが可能な位置決め装置を提供することができる。なお、ワーク１３を金型５２に載置するにあたっては、位置決めピン２を閉状態として凹部５１にパイロットピン５３を嵌合させる代わりに、図１２Ｃに示すように行うことができる。すなわち、位置決めピン２を閉じることなく開いた状態で凹部５１にパイロットピン５３を挿入し、この状態でワーク１３を第１～第７のクランプ装置１４～２０から解放して落下させる。 By fitting the recess 51 into the pilot pin 53 in this way, the positioning pin 2 is positioned on the pilot pin 53 in the horizontal direction, and the center of the positioning hole 23 of the work 13 coincides with the axis of the pilot pin 53. become. After that, although not shown, the arms 21 of the first to seventh clamp devices 14 to 20 are swung to the retracted position to release the work 13, and the transport member 7 is raised to return to the initial position. The work 13 is placed on the mold 52 with the pilot pin 53 as a guide by being released from the first to seventh clamp devices 14 to 20, and is positioned at a predetermined molding position defined by the pilot pin 53. ..
Therefore, according to this embodiment, it is possible to provide a positioning device capable of easily positioning the work 13 with the transfer destination device. The work 13 can be placed on the mold 52 as shown in FIG. 12C instead of fitting the pilot pin 53 into the recess 51 with the positioning pin 2 closed. That is, the pilot pin 53 is inserted into the recess 51 in a state where the positioning pin 2 is opened without being closed, and in this state, the work 13 is released from the first to seventh clamp devices 14 to 20 and dropped.
（位置決めピンの第２の変形例）
　上述した各実施の形態に示した位置決めピン２には、ワーク１３の位置決めを行う機能の他に、ワーク１３を把持して搬送する機能をもたせることができる。この搬送機能は、いわゆるピンクランプシリンダや、２段拡径式のピンの構成を採ることによって実現可能である。２段拡径式のピンの構成を採る場合の一例を図１３～図１４によって説明する。図１３～図１５において、図１～図１２Ｃによって説明したものと同一もしくは同等の部材については、同一符号を付し詳細な説明を適宜省略する。 (Second modification of the positioning pin)
The positioning pin 2 shown in each of the above-described embodiments can have a function of gripping and transporting the work 13 in addition to the function of positioning the work 13. This transport function can be realized by adopting a so-called pin clamp cylinder or a two-stage expansion type pin configuration. An example of adopting a two-stage expansion type pin configuration will be described with reference to FIGS. 13 to 14. 13 to 15, the same or equivalent members as those described with reference to FIGS. 1 to 12C are designated by the same reference numerals, and detailed description thereof will be omitted as appropriate.
　図１３に示す位置決めピン２は、先端部２ａの先端（下端）が上述した位置決めピン２とは異なっている。この実施の形態による位置決めピン２の先端部２ａは、ワーク１３の位置決め用孔２３に通される延長部６１を有している。位置決め用孔２３は、ワーク１３を貫通してワーク１３の表面１３ａと裏面１３ｂとに開口するように形成されている。 The positioning pin 2 shown in FIG. 13 has a tip (lower end) of the tip portion 2a different from the positioning pin 2 described above. The tip portion 2a of the positioning pin 2 according to this embodiment has an extension portion 61 that is passed through the positioning hole 23 of the work 13. The positioning hole 23 is formed so as to penetrate the work 13 and open to the front surface 13a and the back surface 13b of the work 13.
　延長部６１は、図１５に示すように、先端部２ａが位置決め用孔２３にワーク１３の表面１３ａ側から挿入された状態でワーク１３の裏面１３ｂ側に突出するように形成されている。詳述すると、延長部６１は、図１４に示すように、複数の位置決めピン２が閉方向に移動した状態で位置決め用孔２３を通過可能に形成されている。また、延長部６１は、図１５に示すように、位置決め用孔２３に挿入された複数の位置決めピン２が開方向に移動して位置決め用孔２３の孔壁により移動が規制された状態で、ワーク１３の裏面と対向するように位置決めピン２の開方向に突出している。 As shown in FIG. 15, the extension portion 61 is formed so that the tip portion 2a protrudes toward the back surface 13b side of the work 13 in a state where the tip portion 2a is inserted into the positioning hole 23 from the front surface 13a side of the work 13. More specifically, as shown in FIG. 14, the extension portion 61 is formed so as to be able to pass through the positioning hole 23 in a state where the plurality of positioning pins 2 are moved in the closing direction. Further, as shown in FIG. 15, the extension portion 61 is in a state where a plurality of positioning pins 2 inserted into the positioning holes 23 move in the opening direction and the movement is restricted by the hole walls of the positioning holes 23. It projects in the opening direction of the positioning pin 2 so as to face the back surface of the work 13.
　このように構成された位置決めピン２においては、ワーク１３の位置決めを行った状態でワーク１３を延長部６１で支えることができる。このため、位置決め装置に位置決めピン２を装備することにより、ワーク１３の位置決めを行うことができるとともに、ワーク１３を把持して搬送することが可能になる。 In the positioning pin 2 configured in this way, the work 13 can be supported by the extension portion 61 while the work 13 is positioned. Therefore, by equipping the positioning device with the positioning pin 2, the work 13 can be positioned and the work 13 can be gripped and conveyed.
　上述した各実施の形態においては、３つの位置決めピン２を使用する例を示した。しかし、位置決めピン２の数は、適宜変更することができる。位置決めピン２は、２つでもよいし、４つでもよい。
　上述した各実施の形態においては、アクチュエータ５の動力源をロータリークランプシリンダ４によって構成する例を示した。しかし、アクチュエータ５の動力源は、図示してはいないが、モータによって構成することができる。また、回転軸３８の回転を回転軸３８の軸線とは直交する方向への往復移動に変換する変換機構４３の構造も適宜変更することができる。例えば、位置決めピン２に個別に設けられたラックを共通のピニオンによって駆動する構成を採ることができる。さらに、アクチュエータ５は、回転軸３８の回転を回転軸３８の軸線とは直交する方向への往復移動に変換する構成のものに限定されることはない。すなわち、個々の位置決めピン２をエアシリンダやモータなどの個別の動力源でそれぞれ駆動する構成を採ることができる。 In each of the above-described embodiments, an example in which three positioning pins 2 are used is shown. However, the number of positioning pins 2 can be changed as appropriate. The number of positioning pins 2 may be two or four.
In each of the above-described embodiments, an example in which the power source of the actuator 5 is configured by the rotary clamp cylinder 4 is shown. However, although not shown, the power source of the actuator 5 can be configured by a motor. Further, the structure of the conversion mechanism 43 that converts the rotation of the rotating shaft 38 into a reciprocating movement in a direction orthogonal to the axis of the rotating shaft 38 can be appropriately changed. For example, a configuration in which racks individually provided on the positioning pins 2 are driven by a common pinion can be adopted. Further, the actuator 5 is not limited to one having a configuration that converts the rotation of the rotating shaft 38 into a reciprocating movement in a direction orthogonal to the axis of the rotating shaft 38. That is, it is possible to adopt a configuration in which each positioning pin 2 is driven by an individual power source such as an air cylinder or a motor.
　また、位置決めピン２は、加熱されて付着し易い製品であっても位置決め可能な構成を採ることができる。このような製品の付着を防ぐ機能は、位置決めピン２が振動したり、潤滑油が滲み出るような構成を採ることにより実現可能である。 Further, the positioning pin 2 can adopt a configuration that allows positioning even if the product is heated and easily adheres. Such a function of preventing the adhesion of the product can be realized by adopting a configuration in which the positioning pin 2 vibrates or the lubricating oil exudes.
　さらに、位置決めピン２は、メンテナンスを行い易いように、着脱式とすることができる。 Furthermore, the positioning pin 2 can be detachable so that maintenance can be easily performed.
　１…位置決め装置、２…位置決めピン、２ａ…先端部、２ｂ…基端部、３…支持体、４…ロータリークランプシリンダ（動力源）、５…アクチュエータ、７…搬送部材、１３…ワーク（位置決め対象物）、１４～２０…第１～第７のクランプ装置、２３…位置決め用孔、３１…柱状体、３８…回転軸、４３…変換機構、５１…凹部、６１…延長部。 1 ... Positioning device, 2 ... Positioning pin, 2a ... Tip, 2b ... Base end, 3 ... Support, 4 ... Rotary clamp cylinder (power source), 5 ... Actuator, 7 ... Conveying member, 13 ... Work (positioning) Object), 14 to 20 ... 1st to 7th clamp devices, 23 ... positioning holes, 31 ... columnar body, 38 ... rotating shaft, 43 ... conversion mechanism, 51 ... recess, 61 ... extension.

Claims (6)

  1. 　位置決め対象物の位置決め用孔に挿入可能な先端部をそれぞれ有する複数の位置決めピンと、
    　前記複数の位置決めピンのそれぞれの基端部に接続され、前記複数の位置決めピンを互いに接触する閉方向と互いに離間する開方向とに移動自在に支持する支持体と、
    　前記複数の位置決めピンのそれぞれの前記基端部をそれぞれ駆動して前記複数の位置決めピンを前記閉方向と前記開方向とに移動させるアクチュエータとを備えていることを特徴とする位置決め装置。     A plurality of positioning pins each having a tip that can be inserted into a positioning hole of a positioning object,
    A support that is connected to the base end of each of the plurality of positioning pins and movably supports the plurality of positioning pins in a closing direction in contact with each other and an opening direction in which the plurality of positioning pins are separated from each other.
    A positioning device including an actuator that drives the base end portion of each of the plurality of positioning pins to move the plurality of positioning pins in the closing direction and the opening direction.
  2. 　請求項１記載の位置決め装置において、
    　前記アクチュエータは、
    　回転軸を有する動力源と、
    　前記回転軸の回転を前記回転軸の軸線とは直交する方向への往復移動に変換して前記複数の位置決めピンの前記基端部に伝達する変換機構とを備えていることを特徴とする位置決め装置。     In the positioning device according to claim 1,
    The actuator
    A power source with a rotating shaft and
    Positioning is provided with a conversion mechanism that converts the rotation of the rotating shaft into reciprocating movement in a direction orthogonal to the axis of the rotating shaft and transmits the rotation to the base ends of the plurality of positioning pins. apparatus.
  3. 　請求項１または請求項２に記載の位置決め装置において、
    　前記支持体と前記アクチュエータとは、前記位置決め対象物の上方に位置する搬送部材に、前記位置決めピンの前記先端部が下方に向けて突出するように取付けられ、
    　前記搬送部材は、上下方向と水平方向とに移動可能であるとともに、前記位置決め対象物を把持するクランプ装置を備えていることを特徴とする位置決め装置。     In the positioning device according to claim 1 or 2.
    The support and the actuator are attached to a transport member located above the positioning object so that the tip of the positioning pin projects downward.
    A positioning device characterized in that the transport member is movable in the vertical direction and the horizontal direction, and is provided with a clamp device for gripping the positioning object.
  4. 　請求項１～請求項３のいずれか一つに記載の位置決め装置において、
    　前記位置決め用孔は、開口形状が円形となるように形成され、
    　前記複数の位置決めピンの前記先端部は、互いに接触することにより前記位置決め用孔の孔径より外径が小さい円柱状の柱状体となるように形成されているとともに、前記柱状体を周方向に均等に分割した形状に形成されていることを特徴とする位置決め装置。     In the positioning device according to any one of claims 1 to 3.
    The positioning hole is formed so that the opening shape is circular.
    The tips of the plurality of positioning pins are formed so as to form a columnar columnar body having an outer diameter smaller than the hole diameter of the positioning hole by contacting each other, and the columnar body is evenly distributed in the circumferential direction. A positioning device characterized in that it is formed in a shape divided into two parts.
  5. 　請求項４記載の位置決め装置において、
    　前記位置決めピンの下端となる先端面には、上方に向かって凹む凹部が形成され、
    　前記凹部は、前記複数の位置決めピンの前記先端部が互いに接触することにより形成される柱状体の軸心部に形成されていることを特徴とする位置決め装置。     In the positioning device according to claim 4,
    A concave portion that is recessed upward is formed on the tip surface that is the lower end of the positioning pin.
    The positioning device is characterized in that the recess is formed in an axial center portion of a columnar body formed by contacting the tip portions of the plurality of positioning pins with each other.
  6. 　請求項１～請求項５の何れか一つに記載の位置決め装置において、
    　前記位置決め用孔は、前記位置決め対象物を貫通して前記位置決め対象物の表面と裏面とに開口するように形成され、
    　前記位置決めピンの前記先端部は、前記位置決め用孔に前記位置決め対象物の表面側から挿入された状態で前記位置決め対象物の裏面側に突出する延長部を有し、
    　前記延長部は、前記複数の位置決めピンが前記閉方向に移動した状態で前記位置決め用孔を通過可能に形成されているとともに、前記複数の位置決めピンが前記開方向に移動して前記位置決め用孔の孔壁により移動が規制された状態で前記位置決め対象物の前記裏面と対向するように前記開方向に突出していることを特徴とする位置決め装置。     The positioning device according to any one of claims 1 to 5.
    The positioning hole is formed so as to penetrate the positioning object and open to the front surface and the back surface of the positioning object.
    The tip portion of the positioning pin has an extension portion that protrudes to the back surface side of the positioning object in a state of being inserted into the positioning hole from the front surface side of the positioning object.
    The extension portion is formed so that the plurality of positioning pins can pass through the positioning holes in a state where the plurality of positioning pins are moved in the closing direction, and the plurality of positioning pins are moved in the opening direction to the positioning holes. A positioning device characterized in that it projects in the opening direction so as to face the back surface of the positioning object in a state where movement is restricted by the hole wall of the above.
PCT/JP2020/046500 2019-12-27 2020-12-14 Positioning device WO2021131842A1 (en)

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JPH01240249A (en) * 1988-03-22 1989-09-25 Shin Meiwa Ind Co Ltd Disc-like product grasping device
JPH0551584U (en) * 1991-12-19 1993-07-09 株式会社協豊製作所 Work gripping device
JPH07237076A (en) * 1994-02-23 1995-09-12 Topy Ind Ltd Chucking device for disc
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