WO2021131842A1 - 位置決め装置 - Google Patents

位置決め装置 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
English (en)
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/ja
Publication of WO2021131842A1 publication Critical patent/WO2021131842A1/ja

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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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)
PCT/JP2020/046500 2019-12-27 2020-12-14 位置決め装置 WO2021131842A1 (ja)

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CN116922122A (zh) * 2023-07-11 2023-10-24 博众精工科技股份有限公司 定位机构和载具

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