JP4228451B2 - Work positioning device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an apparatus for positioning a workpiece such as a substantially rectangular plastic sheet at a predetermined position. More specifically, the present invention positions the workpiece as described above at a predetermined position in the X-axis and Y-axis directions orthogonal to each other in a substantially horizontal plane, and the rotational position around the θ-axis orthogonal to this plane. The present invention relates to a workpiece positioning apparatus capable of positioning.
[0002]
[Prior art]
Conventionally, for example, when a plastic sheet, a paper sheet, and the like are stacked and stacked, the plurality of sheets are positioned and stacked on a collating tray or the like, and these are stacked by thermocompression bonding or the like.
[0003]
In this case, in order to stack a plurality of sheets in a collated state, a hole for collation is formed at a predetermined position of these sheets, and these sheets are fitted to a collation pin of a collation tray. And let them overlap.
[0004]
In order to form such a hole in such a sheet or the like, the sheet is positioned at a predetermined position with respect to a punching device for punching, and the hole is punched at a predetermined position of the sheet. However, the position of the thin sheet or the like as described above is likely to shift when it is placed on the punch device as described above. Therefore, a device for positioning the above-described sheet or the like at a predetermined position is required.
[0005]
Since the above film is thin and flexible, it is difficult to position only this sheet by mechanical movement. For this reason, the positioning of such a sheet or the like has been conventionally performed on the table mechanism that moves in the X-axis direction and the Y-axis direction in a substantially horizontal plane and rotates around the θ axis perpendicular to the plane as described above. An image of the sheet is taken from above with a CCD camera or the like, and the image of the sheet is processed by an arithmetic circuit to control the table mechanism. The sheet is moved in the X-axis direction and the Y-axis direction. , And about the θ-axis, they are positioned at predetermined positions.
[0006]
However, in order to process such a sheet image and detect its position, it is necessary to perform image processing of rotation about the θ axis as well as movement of the sheet image in the X-axis direction and Y-axis direction. There is. Such image processing of rotation about the θ axis requires a large amount of calculation and requires a large capacity calculation circuit.
[0007]
Further, when the sheet is rotated around the θ axis by the above table mechanism, a deviation occurs in the X axis direction and the Y axis direction. Therefore, the positioning is not completed in one control operation, and this deviation occurs. A plurality of control operations must be performed about the X-axis direction, the Y-axis direction, and the θ-axis direction until convergence, resulting in problems such as a long time for the positioning operation.
[0008]
[Problems to be solved by the invention]
The present invention has been made based on the above circumstances, and can position a workpiece such as a plastic sheet at predetermined positions around the X-axis and Y-axis directions and around the θ-axis, and has a simple structure and positioning control. It is an object of the present invention to provide a workpiece positioning device that is simple in operation and can be positioned quickly.
[0009]
[Means for Solving the Problems]
In the present invention described in claim 1, the workpiece is placed on the upper surface, and the workpiece is moved in the X-axis direction and the Y-axis direction, respectively. A table unit mechanism having a θ-axis table mechanism for rotating the work around the θ-axis is provided, and the θ-axis rotation center of the θ-axis table mechanism is an edge of the mounted work It is arranged at a position corresponding to one place,
Also, provided on the fixed side, the workpiece is disposed corresponding to at least two positions on one edge of the workpiece when the workpiece is positioned at predetermined positions around the X-axis direction, the Y-axis direction, and the θ-axis. At least two first and second edge detectors for detecting one edge of the workpiece and at least one third edge detector for detecting at least one of the other edges of the workpiece. Equipped with
The first edge detector is disposed on the movement locus of the θ-axis rotation center of the θ-axis table mechanism when the table unit mechanism moves in the Y-axis direction or the X-axis direction. And
A control circuit for receiving signals from the first to third edge detectors and controlling the X-axis table mechanism, the Y-axis table mechanism, and the θ-axis table mechanism of the table unit mechanism; After the workpiece is placed on the table unit mechanism, the control circuit moves the Y-axis table mechanism or the X-axis table mechanism in the Y-axis direction or the X-axis direction, thereby Stops the movement of the Y-axis table mechanism or the X-axis table mechanism by detecting one position of one edge of the workpiece while the θ-axis rotation center of the θ-axis table mechanism substantially coincides with the edge detector. Next, the θ-axis table mechanism is rotated about the θ-axis so that the workpiece is rotated about the θ-axis, and the second edge detector detects the other edge of the workpiece. The θ-axis with the location detected The table mechanism is stopped, the X-axis table mechanism or the Y-axis table mechanism is then moved in the X-axis direction or the Y-axis direction, and the third edge detector detects the other edge of the workpiece. In this state, the workpiece positioning device stops movement of the X-axis table mechanism or the Y-axis table mechanism.
[0010]
Accordingly, the work is first moved in the Y-axis direction or the X-axis direction, and one portion of one edge thereof is positioned at the first edge detector, that is, a predetermined position. In this state, the θ-axis rotation center of the θ-axis table mechanism is positioned at the first edge detector, that is, a predetermined position. Then, the workpiece is rotated about the θ axis rotation center by the θ axis table mechanism, and the other edge portion of the workpiece is detected by the second edge detector, and this one edge portion is detected. Positioning is performed in the Y-axis direction or the X-axis direction. In this case, the center of rotation of the θ axis substantially coincides with the first edge detector, that is, a predetermined position. There is no deviation in the direction or the X-axis direction. Then, the workpiece is moved in the X-axis direction or the Y-axis direction, and the other edge portion of the workpiece is positioned in the X-axis direction or the Y-axis direction. It is positioned at a predetermined position around.
[0011]
Such a positioning operation can perform positioning in the Y-axis direction and around the θ-axis with a single operation, so that the workpiece can be positioned quickly and accurately. The control of this device is a simple control operation with only signal processing from at least three edge detectors and sequence control of the X-axis, Y-axis, and θ-axis table mechanisms. In addition, as described above, the control operation is quick.
[0012]
Further, in the present invention described in claim 2, the θ-axis table mechanism is disposed on the Y-axis table mechanism or the X-axis table mechanism, and the X-axis table is disposed on the θ-axis table mechanism. A mechanism or a Y-axis table mechanism is arranged.
[0013]
Therefore, the θ-axis table mechanism is simply moved linearly in the Y-axis direction or the X-axis direction by the Y-axis table mechanism or the X-axis table mechanism below the θ-axis table mechanism. It does not move in the Y-axis direction. Therefore, if the first edge detector is arranged on a linear movement locus in the Y-axis direction or the X-axis direction of the θ-axis rotation center of the θ-axis table mechanism, the θ-axis rotation is possible. Since the center of movement always coincides with the first edge detector, it is easy to control.
[0014]
According to a third aspect of the present invention, the θ-axis table mechanism includes a θ-axis table and a θ-rotating shaft that rotatably supports the θ-axis table about the θ-axis. It is a feature. Therefore, the structure is simple and the accuracy of the θ-axis table mechanism can be increased.
[0015]
According to a fourth aspect of the present invention, the θ table mechanism includes a θ axis table and a θ axis guide mechanism that rotates the θ axis table about the θ axis. To do. Therefore, it is not necessary to arrange a shaft or a bearing at the θ-axis rotation center portion of the θ-axis table mechanism, and the first edge detector that matches the θ-axis rotation center is provided with these shafts and bearings. The θ-axis table mechanism is simple in structure and easy to design.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 to 13 are diagrams showing the configuration and operation of the first embodiment of the present invention. In this embodiment, when manufacturing a magnetic card, an IC card, etc., a plurality of thin plastic sheets such as a base sheet, a printing sheet, a protective sheet and the like are stacked in a state where they are positioned with each other. It is a device for positioning.
[0017]
First, the overall schematic configuration of this embodiment will be described with reference to FIG. Reference numeral 1 in the figure denotes a positioning device according to the present invention, which places a sheet and moves the sheet in the X-axis and Y-axis directions perpendicular to each other in a substantially horizontal plane and around a θ-axis perpendicular to the plane. A table unit mechanism 2 for rotating and positioning is provided. The detailed configuration and operation of the positioning device 1 will be described later.
[0018]
In addition, a pair of punching punch mechanisms 3 are disposed in the vicinity of the table unit mechanism 2, and a collating hole is formed at a predetermined position of the sheet positioned by the table unit mechanism 2.
[0019]
A sheet table 4 is disposed on one side of the positioning device 1, and a plurality of sheets S are stacked on the sheet table 4. Further, a conveyor mechanism 5 such as a roller conveyor is provided on the other side of the positioning device 1, and the collating tray 6 is configured to be conveyed on the conveyor mechanism 5. The collating tray 6 is provided with a pair of collating pins 7, for example.
[0020]
Further, the suction unit 8 that sucks and holds the sheet S on the sheet tray 4 and transfers it to the table unit mechanism 2 of the positioning device 1 and the sheet S on the table unit mechanism are moved to the collating tray 6. A suction unit 9 is provided for transporting upward.
[0021]
Then, the sheet S on the sheet tray 4 is sucked by the suction unit 8 and transferred onto the table unit mechanism 2 and is positioned by the table unit mechanism 2, and the sheet is punched by the hole punching mechanism 3. A collating hole is formed at a predetermined position of S. Then, the sheet S in which the holes are formed in this way is transferred onto the collating tray 6 by the suction unit 9, and in this case, the holes of the sheet S are fitted to the collating pins 7, The sheet S is placed at a predetermined position on the collating tray 6.
[0022]
A plurality of sets of the sheet tray 4, the positioning device 1, the punching punch mechanism 3 and the like as described above are arranged along the conveyor mechanism 5, and the collating tray 6 includes the conveyor mechanism described above. 5, the sheets are sequentially stacked while being conveyed, and then sent to the next thermocompression bonding process, where they are integrated by thermocompression bonding.
[0023]
Next, the configuration and operation of the positioning device 1 will be described with reference to FIGS.
[0024]
As described above, the positioning device 1 includes the table unit mechanism 2. As shown in FIG. 2, the table unit mechanism 2 is installed on a floor surface 10 or the like that is a foundation on the fixed side. And this table unit mechanism 2 is provided with the base 11, and this base 11 is installed on the floor surface 10 which is a foundation of said fixed side.
[0025]
A Y-axis table mechanism 20 having a substantially rectangular shape is provided on the base 11. The Y-axis table mechanism 20 includes a Y-axis table 22 that is movable in the Y-axis direction along a substantially horizontal plane with respect to the base 11, that is, the fixed side. The Y-axis table 22 is configured to be moved in the Y-axis direction and positioned at an arbitrary position in the Y-axis direction by a Y-axis drive mechanism 21 in which, for example, a guide mechanism and a linear drive mechanism are integrated. Yes.
[0026]
A θ-axis table mechanism 30 is provided on the Y-axis table 22. The θ-axis table mechanism 30 includes a substantially rectangular θ-axis table 31 that rotates in the horizontal plane about the θ-axis that is substantially orthogonal to the horizontal plane with respect to the Y-axis table 22. One corner of the θ-axis table 31 is supported by the θ-rotating shaft 32 so as to be rotatable around the θ-axis as described above with respect to the Y-axis table 22. As shown in FIGS. 2 to 4, guide rollers 34 are rotatably provided at other corners of the θ-axis table 31, and these guide rollers 34 are arranged on the upper surface of the Y-axis table 22. The θ-axis table 31 is guided and supported so that the θ-axis table 31 rotates while maintaining a positional relationship parallel to the Y-axis table 22.
[0027]
Further, a θ-axis drive mechanism 33 is provided between the Y-axis table 22 and the θ-axis table 31, and the θ-axis table 31 is rotated around the θ-axis with respect to the Y-axis table 22. In addition, the θ-axis table 31 is configured to be positioned at an arbitrary rotation position.
[0028]
An X axis table mechanism 40 is provided on the θ axis table 31. The X-axis table mechanism 40 has the same configuration as the Y-axis table mechanism 20 described above, and moves in the X-axis direction orthogonal to the Y-axis in a plane substantially horizontal to the θ-axis table 31. An X-axis table 42 and an X-axis drive mechanism 41 that guides and moves the X-axis table 42 in the X-axis direction and positions the X-axis table 42 in a predetermined X-axis direction are provided.
[0029]
On the X-axis table 42, the workpiece, that is, the sheet S is placed at a predetermined position by the suction unit 8 described above. As shown in FIG. 3, when the X-axis table 42 is at a predetermined position, for example, the initial position, one portion of one edge portion of the sheet S placed on the X-axis table 42 is provided. The dimensions, positional relationships, and the like of the respective parts are set so that the rotation axis of the θ-axis table mechanism 30, that is, the θ-rotation axis 32, coincides with the corresponding position.
[0030]
Further, in the vicinity of the table unit mechanism 2 configured as described above, the punching punch mechanism 3 for forming collating holes at a predetermined position of the sheet S, for example, two positions near one edge thereof, is provided. is set up. These punching punch mechanisms 3 are installed on the fixed side of the floor surface 10 or the like described above.
[0031]
In the vicinity of the table unit mechanism 2, edge detectors 50a, 50b, and 50c for detecting the position of the sheet S are provided. These edge detectors detect the position of the edge of the sheet S. In this embodiment, a transmission type optical detector comprising a pair of light emitting elements and light receiving elements is used.
[0032]
These edge detectors are installed on the fixed side of the floor surface 10 and the like, and the sheet S is positioned at a predetermined position, that is, at a predetermined position with respect to the punching punch mechanism 3. In addition, the edge of the sheet S is detected.
[0033]
In the figure, the edge detectors 50a, 50b, 50c and the member for supporting the punching punch mechanism 3 are omitted, but as described above, these are appropriate for the fixed side of the floor surface 10 or the like. These members are supported by members, and these support members are configured not to interfere with each part of the table unit mechanism 2 described above. In addition, the edges of the X-axis table 42 are provided with notches 51a, 51b for preventing interference with the edge detector and the punching punch mechanism and for transmitting light from the edge detector. 51c is formed.
[0034]
The edge detector includes, for example, a first edge detector 50a and a second edge detector that detect one edge of the sheet S, that is, two portions of the edge perpendicular to the Y axis. 50b, and a third edge detector 50c that detects the other edge in the direction intersecting with the one edge, that is, one edge in the direction orthogonal to the X axis. Note that the number and arrangement of the edge detectors 50a, 50b, and 50c are the minimum necessary, and an edge detector may be provided in addition to these in order to increase the redundancy of position detection.
[0035]
In the first edge detector 50a, for example, the Y-axis table mechanism 20 of the table unit mechanism 2 moves in the Y-axis direction, and the θ-rotation shaft 32 of the θ-axis table mechanism 30 on the first-axis detector 50a moves. When the center, that is, the θ-axis rotation center moves in the Y-axis direction, it is arranged on the movement locus of the θ-axis rotation center. Therefore, when the θ-axis table mechanism 30 moves in the Y-axis direction together with the X-axis table mechanism 40 on the θ-axis table mechanism 30 as described above, the edge of the sheet S placed on the X-axis table mechanism 40 When the first edge detector 50a detects one point, the first edge detector 50a and the θ axis rotation center are configured to coincide with each other.
[0036]
The Y-axis table mechanism 20, the X-axis table mechanism 30, and the θ-axis of the table unit mechanism 2 are processed by receiving signals from the edge detectors 50a, 50b, and 50c and processing these signals. A control circuit 55 that controls the table mechanism 40 is provided.
[0037]
Next, the operation of the control circuit 55 and the apparatus will be described with reference to FIGS.
[0038]
FIG. 5 shows an initial state of the positioning device 1. In this initial state, the X-axis table 42 is at a predetermined position with respect to the θ-axis table 31, but the Y-axis table 22 is displaced in one direction. The rotation center does not coincide with the first edge detector 50a.
[0039]
Then, in this state, the suction unit 8 sucks one sheet S from the sheets stacked on the sheet tray 4, and the sheet S is placed on a predetermined axis on the X-axis table 42 as shown in FIG. Place in position. In this case, as described above, the θ rotation shaft 32 of the θ axis table mechanism 30, that is, the θ axis rotation center, and one portion of one edge of the placed sheet S substantially coincide with each other. As described above, the placement position of the sheet S by the suction unit 8 is set.
[0040]
FIG. 10 is a schematic plan view showing the positional relationship between the sheet S, the θ rotation shaft 32, and the edge detectors 50a, 50b, and 50c in this state. FIG. 10 shows a state in which the sheet S is shifted and placed so as to rotate around the θ axis. In this loaded state, the sheet S is also displaced in the Y-axis direction and the X-axis direction.
[0041]
As described above, since the sheet S is displaced when it is placed on the X-axis table 42, one position of one edge of the sheet S and the θ rotation center are not necessarily coincident. Although not limited, as will be described later, there is no practical problem even if they are slightly deviated.
[0042]
Next, when the placement of the sheet S is completed, a control signal is sent from the control circuit 55 to the Y-axis table mechanism 20 of the table unit mechanism 2 so that the Y-axis table 22 has the θ-axis table mechanism 30 thereon. And it moves in the Y-axis direction together with the X-axis table mechanism 40.
[0043]
Then, as shown in FIGS. 7 and 11, when one portion of one edge of the sheet S is detected by the first edge detector 50a, this detection signal is sent to the control circuit 55, and this The control circuit 55 stops the movement of the Y-axis table 22 in response to this signal. As a result, one portion of one edge of the sheet S is positioned at the position of the first edge detector 50a, that is, a predetermined position. As described above, since one part of one edge portion of the sheet S coincides with the θ rotation shaft 32, that is, the θ rotation center, the first edge detector 50a, θ rotation. The center and one part of the edge of the sheet S coincide with each other.
[0044]
Next, as shown in FIGS. 8 and 11, the θ-axis table mechanism 30 is actuated by a signal from the control circuit 55, and the θ-axis table 31 and the X-axis table mechanism 40 thereon are rotated around the θ axis. To do. When the other part of the edge of the sheet S is detected by the second edge detector 50b, the control circuit 55 stops the θ table mechanism 30 in response to the detection signal. As a result, one edge of the sheet S is positioned at a position defined by the first edge detector 50a and the second edge detector 50b, that is, a predetermined position in the Y-axis direction. The sheet S is positioned at a predetermined position around the θ axis.
[0045]
In this case, since one part of the edge of the sheet S and the θ rotation center coincide with each other, even if the sheet S rotates about the θ axis, One place does not shift in the Y-axis direction. Accordingly, one edge portion of the sheet S can be accurately positioned by one operation as described above.
[0046]
As described above, when the sheet S is placed, one edge portion of the sheet S may be displaced in the Y-axis direction with respect to the θ rotation center. However, in actuality, the rotation angle of the sheet S around the θ axis is a slight angle of several degrees, so even if one edge portion of the sheet S is slightly shifted, the sheet S The deviation in the Y-axis direction at one edge is extremely small, and there is no practical problem.
[0047]
As described above, when the positioning of one edge portion of the sheet S in the Y-axis direction is completed, the X-axis table mechanism 40 is actuated by a signal from the control circuit 55, and as shown in FIG. S moves in the X-axis direction.
[0048]
Then, as shown in FIG. 13, when one portion of the other edge portion of the sheet S is detected by the third edge detector 50c, the X-axis table mechanism 40 is supplied from the control circuit 55 in response to the detection signal. A stop signal is output to stop the X-axis table mechanism 40. As a result, the sheet S is also positioned in the X-axis direction, and the positioning of the sheet S is completed in all directions around the Y-axis direction, the X-axis direction, and the θ-axis.
[0049]
In this way, when the positioning of the sheet S is completed, the above-described punching punch mechanism 3 is operated by a signal from the control circuit 55, and a collating hole is formed at a predetermined position of the sheet 55.
[0050]
When the drilling is completed, as shown in FIG. 9, the Y-axis table 22 of the Y-axis table mechanism 20 is retracted in the Y-axis direction, and the sheet S is sucked by the suction unit 9 described above. The sheet is transferred onto the collating tray 6, and a sheet hole is fitted to the collating pin 7 to be positioned and placed. At the same time, a new sheet S is sucked from the sheet tray 4 by the suction unit 8 and placed on the table unit 2, and the same operation as described above is repeated.
[0051]
As described above, since the positioning device 1 hardly causes a shift in the Y-axis direction when positioning the sheet S around the θ axis, the positioning in the Y-axis direction and the positioning around the θ-axis are performed by one operation. It can be completed, its operation is simple and positioning can be done quickly.
[0052]
In addition, the control circuit for controlling the operation of the apparatus only needs to control the operation of each mechanism in sequence, and does not require a CCD camera for taking an image of the sheet or a complicated arithmetic processing for processing the image signal. Therefore, the configuration of this control circuit is simple, and the apparatus can be simplified.
[0053]
Note that the present invention is not limited to the first embodiment. For example, FIGS. 14 and 15 show a second embodiment of the present invention.
[0054]
In this embodiment, the θ-axis table 31 of the θ-axis table mechanism 30a is centered on the θ-axis rotation center O by the θ-axis guide mechanism 35 that guides and drives the arc table 31 in an arc shape around the θ-axis rotation center O, for example. It is made to rotate as. Note that this embodiment has the same configuration as that of the first embodiment except for the above points, and the same reference numerals are given to the portions corresponding to the first embodiment in FIGS. 14 and 15. A duplicate description is omitted.
[0055]
Since this embodiment does not have the θ rotation shaft as in the first embodiment, the shaft does not interfere with other members, the design is easy, and the structure is simplified. Is possible.
[0056]
Furthermore, the present invention is not limited to the above embodiment. For example, the Y axis and the X axis are set for convenience of explanation, and it goes without saying that the Y axis and the X axis are the same even if they are interchanged.
[0057]
In the above embodiment, the θ-axis table mechanism is disposed between the Y-axis table mechanism and the X-axis table mechanism. However, the θ-axis table is placed on the Y-axis table mechanism and the X-axis table mechanism, that is, on the top. A mechanism may be arranged. Further, the above-mentioned θ-axis table mechanism may be arranged below the Y-axis table mechanism and the X-axis table mechanism, that is, at the bottom. Thus, even if the arrangement of the table mechanism is changed, the function of the apparatus of the present invention is not changed.
[0058]
Further, the workpiece to be positioned is not limited to the sheet as described above, and the present invention can be applied as a positioning device for an arbitrary workpiece.
[0059]
Further, the edge detector for detecting the edge of the workpiece is not necessarily limited to the transmission type optical detector as described above, and of course, a magnetic or other detector may be used. It is.
[0060]
【The invention's effect】
As described above, according to the present invention, the θ-axis rotation center of the workpiece is substantially coincident with the first edge detector, that is, a predetermined position. The one edge portion is not shifted in the Y-axis direction or the X-axis direction. Therefore, the workpiece can be quickly and accurately positioned with respect to the θ-axis and the Y-axis or X-axis direction of the workpiece by one simple operation. The control of this device is a simple control operation with only signal processing from at least three edge detectors and sequence control of the X-axis, Y-axis, and θ-axis table mechanisms. In addition, as described above, the effect of the control operation is rapid.
[Brief description of the drawings]
FIG. 1 is a perspective view of an entire apparatus according to a first embodiment of the present invention.
FIG. 2 is a schematic side view of the positioning device according to the first embodiment.
FIG. 3 is a perspective view of the positioning device according to the first embodiment.
4 is a schematic plan view of a θ table mechanism of the positioning device of FIG. 4;
FIG. 5 is a perspective view showing an operating state of the apparatus of the first embodiment.
FIG. 6 is a perspective view showing another operating state of the apparatus of the first embodiment.
FIG. 7 is a perspective view showing another operating state of the apparatus of the first embodiment.
FIG. 8 is a perspective view showing another operating state of the apparatus of the first embodiment.
FIG. 9 is a perspective view showing another operating state of the apparatus of the first embodiment.
FIG. 10 is a schematic plan view showing a positional relationship between a sheet and an edge detector for explaining an operating state.
FIG. 11 is a schematic plan view showing a positional relationship between a sheet and an edge detector for explaining another operation state.
FIG. 12 is a schematic plan view showing a positional relationship between a sheet and an edge detector for explaining another operation state.
FIG. 13 is a schematic plan view showing a positional relationship between a sheet and an edge detector for explaining another operation state.
FIG. 14 is a perspective view of a positioning device according to a second embodiment.
15 is a schematic plan view of a θ table mechanism of the positioning device of FIG. 14;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Positioning device 2 Table unit mechanism 3 Hole punch mechanism 20 Y-axis table mechanism 22 Y-axis table 30 θ-axis table mechanism 31 θ-axis table 32 θ-rotation shaft 40 X-axis table mechanism 42 X-axis table 50a First edge detection Device 50b second edge detector 50c third edge detector 55 control circuit S sheet O θ axis rotation center

Claims (4)

A workpiece having one edge portion and the other edge portion in a direction intersecting with the one edge portion is positioned at a predetermined position in the X axis direction and the Y axis direction orthogonal to each other in a substantially horizontal plane. A device for positioning at a predetermined rotational position around the θ axis perpendicular to the surface,
The workpiece is placed on the upper surface, and the X-axis table mechanism and the Y-axis table mechanism that move the workpiece in the X-axis direction and the Y-axis direction, respectively, and the workpiece are rotated around the θ axis. a table unit mechanism provided with a θ-axis table mechanism, and the θ-axis rotation center of the θ-axis table mechanism is disposed at a position corresponding to one position of one edge portion of the placed workpiece;
Also, provided on the fixed side, the workpiece is disposed corresponding to at least two positions on one edge of the workpiece when the workpiece is positioned at predetermined positions around the X-axis direction, the Y-axis direction, and the θ-axis. At least two first and second edge detectors for detecting one edge of the workpiece and at least one third edge detector for detecting at least one of the other edges of the workpiece. Equipped with
The first edge detector is disposed on the movement locus of the θ-axis rotation center of the θ-axis table mechanism when the table unit mechanism moves in the Y-axis direction or the X-axis direction. And
A control circuit for receiving signals from the first to third edge detectors and controlling the X-axis table mechanism, the Y-axis table mechanism, and the θ-axis table mechanism of the table unit mechanism; After the workpiece is placed on the table unit mechanism, the control circuit moves the Y-axis table mechanism or the X-axis table mechanism in the Y-axis direction or the X-axis direction, thereby Stops the movement of the Y-axis table mechanism or the X-axis table mechanism by detecting one position of one edge of the workpiece while the θ-axis rotation center of the θ-axis table mechanism substantially coincides with the edge detector. Next, the θ-axis table mechanism is rotated about the θ-axis so that the workpiece is rotated about the θ-axis, and the second edge detector detects the other edge of the workpiece. The θ-axis with the location detected The table mechanism is stopped, the X-axis table mechanism or the Y-axis table mechanism is then moved in the X-axis direction or the Y-axis direction, and the third edge detector detects the other edge of the workpiece. A workpiece positioning apparatus that stops movement of the X-axis table mechanism or the Y-axis table mechanism in a state of being performed. The θ-axis table mechanism is disposed on the Y-axis table mechanism or the X-axis table mechanism, and the X-axis table mechanism or the Y-axis table mechanism is disposed on the θ-axis table mechanism. The workpiece positioning apparatus according to claim 1, wherein: 2. The workpiece positioning apparatus according to claim 1, wherein the θ-axis table mechanism includes a θ-axis table and a θ-rotating shaft that rotatably supports the θ-axis table about the θ-axis. 2. The workpiece positioning apparatus according to claim 1, wherein the θ table mechanism includes a θ axis table and a θ axis guide mechanism for rotating the θ axis table about the θ axis.

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