JP4887693B2 - Work positioning apparatus and work positioning method - Google Patents

Description

  The present invention relates to a workpiece positioning device and a workpiece positioning method for positioning a workpiece.

  For example, since a plurality of types of workpieces having different sizes and shapes are supplied to an automobile assembly line for each vehicle type, the plurality of types of workpieces are positioned and supported to the assembly process or welding process on the assembly line. A workpiece positioning device for sequentially conveying is used.

  For such a workpiece positioning device, for example, it is necessary to position a workpiece having a different size or shape for each vehicle type, and therefore, a workpiece positioning device compatible with multiple types of vehicles is required (for example, see Patent Document 1 below).

The workpiece positioning device described in Patent Document 1 is provided with a revolver unit in which a plurality of dedicated receiving pieces corresponding to various types of workpieces are arranged in an annular shape, and the necessary receiving pieces in the revolver unit are moved in and out by a cylinder. In addition, positioning support for various types of workpieces is performed.
JP 2000-190157 A

  However, the above-described conventional workpiece positioning device has a problem that a large installation space is required to set a large number of dedicated receiving pieces for each of various types of workpieces, and the types of workpieces that can be handled are limited. is there.

  Therefore, an object of the present invention is to enable positioning and support with respect to various types of workpieces without setting dedicated receiving pieces for the various types of workpieces.

The present invention comprises: a first positioning portion that performs positioning by contacting a workpiece; and the workpiece contacts and positions in a direction parallel to a plane perpendicular to the contacting direction of the workpiece with respect to the first positioning portion; and , A workpiece positioning device including positioning jigs each having a second and a third positioning portion whose planes perpendicular to the plane including the contact direction intersect each other, wherein the positioning jig includes: 1 positioning arm and a second positioning arm extending from both sides of the first positioning arm in a direction perpendicular to the first positioning arm, and the first and second positioning arms of the workpiece comprising a first positioning portion in a plane perpendicular to the abutment direction, the first, on each side of the four peripheral portions of the intersection each other in the second of each positioning arm, against the first positioning portion And second, most important further comprising a third each of the positioning portions of the workpiece from a direction perpendicular to the contact direction perpendicular to the plane parallel to each other of said workpiece is positioned against.

  According to the present invention, each positioning part composed of the first positioning part and the second and third positioning parts in the positioning jig is selectively used according to the shape and size of the work, so that each kind of work is dedicated to each kind. It is possible to position without setting the receiving piece.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a perspective view of a workpiece positioning apparatus 1 according to an embodiment of the present invention. The work positioning device 1 comprises a pair of arms 8 as the movable arm, and respectively the positioning jig 100 to the distal end of each arm 8, as shown in FIG. 1 2 and 1 3 to be described later, For example, the engine complete 4 and the rear member 5 made of an automobile body panel material are positioned and supported.

  The arm 8 can be rotated about the lower side as a fulcrum in the direction in which the pair of positioning jigs 100 approach and separate from each other by the first lifting drive motor 22 according to the shape and size of the workpiece to be positioned (see FIG. 18). 1, and can be moved in the vertical direction (Z direction) in FIG. 1 by the second lifting / lowering drive motor 31. Further, the arm 8 is movable in the Y direction in FIG. 1 together with the table 10 on which the second lifting drive motor 31 is installed. Such a drive mechanism of the arm 8 will be described later.

  The positioning jig 100 described above is provided at the tip of the arm 8 via the positioning jig support member 12. FIG. 2A is a plan view of the positioning jig 100 and FIG. Each figure is shown. The positioning jig 100 includes a first positioning arm 101 extending in the X direction orthogonal to the Y direction and the Z direction described above, and a first positioning arm 101 extending in the Y direction from both sides of an appropriate position in the longitudinal direction. 2 positioning arms 103, and positioning pins 105 as projections extending upward (in the Z direction) from the intersections of the positioning arms 101 and 103, respectively. The positioning pin 105 constitutes a fourth positioning portion, and the tip thereof is a spherical surface.

  With the positioning pin 105 of the first positioning arm 101 as a boundary, the positioning jig support member 12 side is a first arm base 107 and the opposite side is a first arm tip 109. Further, the lower side in FIG. 2A is the second arm one portion 111 and the upper side is the second arm other portion 113 with the positioning pin 105 of the second positioning arm 103 as a boundary.

  Each of the first and second positioning arms 101 and 103 has a quadrangular prism shape, and the upper surfaces in the vertical direction form the same plane, and the same plane serves as a first positioning portion. The positioning surface 100a is configured. The workpiece comes into contact with the first positioning surface 100a from above, and positioning in the Z direction is performed.

  Further, the inner side surface 107a and the side surface 111a of the portion where the first arm base 107 of the first positioning arm 101 and the second arm one portion 111 of the second positioning arm 103 intersect each other are the second positioning portions. A second positioning surface as a third positioning surface and a third positioning surface as a third positioning portion are configured.

  Similarly, the side surface 107b and the side surface 113a inside the portion where the first arm base portion 107 of the first positioning arm 101 and the second arm other portion 113 of the second positioning arm 103 intersect with each other are respectively A second positioning surface as a positioning portion and a third positioning surface as a third positioning portion are configured.

  Further, the side surface 109a and the side surface 111b inside the portion where the first arm tip 109 of the first positioning arm 101 and the second arm one portion 111 of the second positioning arm 103 intersect each other are the second positioning. A second positioning surface as a portion and a third positioning surface as a third positioning portion are configured.

  Further, the inner side surface 109b and the side surface 113b of the portion where the first arm distal end portion 109 of the first positioning arm 101 and the second arm other portion 113 of the second positioning arm 103 intersect each other are the second positioning portions. A second positioning surface as a portion and a third positioning surface as a third positioning portion are configured.

  FIG. 3 shows an example of positioning with respect to the workpiece by the positioning jig 100 as shown in FIG. FIG. 3A shows that the bottom surface Wa of the convex portion projecting downward from the workpiece W is brought into contact with the first positioning surface 100a located on the top surface of the first arm tip 109, and the side surface Wb is positioned. Positioning with respect to the workpiece W in the Z direction and the X direction shown in FIG.

  3B, the bottom surface Wa of the above-described convex portion of the workpiece W is brought into contact with the first positioning surface 100a located on the top surface of the first arm tip 109, as in FIG. 3A. The positioning pins 105 are inserted into the positioning holes Wc formed on the bottom surface Wa, and the workpiece W is positioned in the Z, X, and Y directions shown in FIG.

  FIG. 3C shows that the side surface Wb of the convex portion of the workpiece W is brought into contact with the distal end surface of the first arm distal end portion 109, and the tip of the positioning pin 105 is applied to the lower surface of the general surface Wd of the workpiece W. The workpiece W is positioned in the Z direction and the X direction shown in FIG.

  In FIG. 3D, a bolt B projecting downward is provided on the bottom surface Wa of the convex portion of the workpiece W, and the side surfaces of the bolt B are, for example, the first arm tip portion 109 and the second arm one portion 111. 1 with respect to the workpiece W, and the tip of the positioning pin 105 is brought into contact with the bottom surface Wa of the workpiece W so as to be in the Z direction and the X direction shown in FIG. And positioning in the Y direction.

  FIG. 4 is a plan view showing a state in which the pair of left and right positioning jigs 100 shown in FIG. 1 are used in the vertical direction in FIG.

  FIG. 4A uses the positioning method of FIG. 3A described above, and the side portions of the positioning pins 105 of the positioning jigs 100 are arranged on two side surfaces orthogonal to each other inside the corners of the workpiece W. The workpiece W is placed on the first positioning surface 100a of each positioning jig 100 in a state where it abuts against one side surface (corresponding to the side surface Wb in FIG. 3A).

  Specifically, in FIG. 4A, the upper left positioning jig 100 places the workpiece W on the first arm tip 109 and the second arm other part 113, and the lower left positioning jig 100 A workpiece W is placed on the front end portion 109 of one arm and the one end portion 111 of the second arm. 4A, the upper right positioning jig 100 and the lower right positioning jig 100 perform symmetrical operations with respect to the upper left positioning jig 100 and the lower left positioning jig 100, respectively. .

  As a result, the workpiece W is positioned in the three directions of the X direction and the Y direction in FIG. 4A and the Z direction orthogonal to the paper surface in FIG. 4A.

  4B shows an example in which the upper left and right pair of positioning jigs 100 are used in the positioning method of FIG. 3B described above, and the positioning pin 105 is used as a positioning hole of the workpiece W. FIG. The workpiece W is inserted and placed on the first positioning surface 100a. On the other hand, the pair of left and right positioning jigs 100 in the drawing shows an example used in the positioning method of FIG. 3A described above, and the workpiece W is positioned on the first arm tip 109 by the first positioning. At the same time as being placed on the surface 100a, one side portion of the positioning pin 105 is brought into contact with the side surface of the workpiece W.

  As a result, the workpiece W is positioned in the three directions in the X direction, the Y direction, and the Z direction perpendicular to the paper surface in FIG. The positioning jig 100 performs positioning in the X direction and the Z direction.

  FIG. 4C shows an example in which the pair of positioning jigs 100 in the upper and lower portions in the drawing are used in the positioning method shown in FIG.

  4C, the pair of positioning jigs 100 in the upper portion are arranged so that the side portion of the bolt B protruding from the lower surface of the work W toward the back side in the drawing is the side surface of the first arm tip portion 109. 109b is brought into contact with the side surface 113b of the second arm other portion 113, and the tip of the positioning pin 105 is brought into contact with the bottom surface of the workpiece W (corresponding to the bottom surface Wa in FIG. 3D). In FIG. 4C, positioning in the three directions of the X direction, the Y direction, and the Z direction orthogonal to the paper surface is performed.

  On the other hand, in the lower pair of positioning jigs 100 in FIG. 4C, the bolt B projecting from the lower surface of the work W toward the back side of the drawing in the drawing is used as the side arm 109a of the first arm tip 109 and the second arm. While making it contact | abut to the side surface 111b of the one part 111, the front-end | tip of the positioning pin 105 is made to contact | abut to the bottom face (equivalent to the bottom face Wa of FIG.3 (d)), and the workpiece | work W is FIG. ) In the three directions of the X direction, the Y direction, and the Z direction orthogonal to the paper surface.

  Of course, the workpiece W to be positioned by the positioning jig 100 described above is not limited to the shape and size shown in FIG. 4, and the positioning jig 100 is used for workpieces of various shapes and sizes as shown in FIG. It can be positioned and supported using various methods.

  Using the positioning jig 100 according to the present embodiment as described above, the first positioning surface 100a for positioning the workpiece W in the Z direction, and the side surface 107a serving as the second positioning surface for positioning in the Y direction, 107b, 109a, 109b, side surfaces 111a, 113a, 111b, 113b, which are third positioning surfaces for positioning in the same X direction, and positioning pins 105, which are fourth positioning portions, are formed in the shape and size of the workpiece W. By properly using them, it is possible to position various types of workpieces without setting a dedicated receiving piece and without requiring a large installation space.

  When positioning the workpiece W using the positioning tool 100 described above, the first positioning surface 100a, the side surfaces 107a, 107b, 109a, 109b to be the second positioning surfaces, and the third positioning surface. Positioning is performed by bringing at least two positioning portions among the four positioning portions of the positioning pins 105 serving as the fourth positioning portions into contact with the corresponding portions of the workpiece W. In addition, the positioning unit to be used is appropriately changed between the pair of left and right positioning jigs 100 or between the plurality of workpiece positioning devices 1 to thereby position the workpiece W in the three directions X, Y, and Z. It can be performed.

  In addition, since it is not necessary to provide a large number of dedicated receiving pieces, a space for the welding gun to enter the welding spot portion of the workpiece W can be ensured when welding work is performed on the workpiece W.

  Furthermore, when positioning the body panel material of an automobile, it is possible to prevent problems such as adding a dedicated receiving piece and reviewing the positioning device itself every time a vehicle type is added. It is not necessary to remanufacture the vehicle, and the concept, design, production, assembly, correction, and confirmation man-hour for adding a vehicle type can be greatly reduced.

In addition to the positioning jig 100 having the shape shown in FIG. 2, an L-shaped positioning jig 200 as shown in FIG. 5 can be used as a reference example . FIG. 6A is a plan view of the positioning jig 200, and FIG. 6B is a side view thereof.

  5 and 6 includes a first positioning arm 201 extending in the X direction and a second positioning arm 203 extending from the tip of the first positioning arm 201 to one side in the Y direction. And positioning pins 205 as protrusions extending upward in the Z direction from the upper surface of the intersection of the first positioning arm 201 and the second positioning arm 203.

  Each of the first and second positioning arms 201 and 203 has a quadrangular prism shape similar to that of FIG. 2, and the Z-direction upper surfaces thereof form the same plane, and the same plane is the first plane. A first positioning surface 200a as a positioning portion is configured. A part of the work comes into contact with the first positioning surface 200a from above and is positioned.

  Further, the inner side surface 201a and the side surface 203a at which the first positioning arm 201 and the second positioning arm 203 intersect each other serve as a second positioning surface as a second positioning portion and a third positioning portion. A third positioning surface is configured.

  Instead of the shape shown in FIG. 5, the second positioning arm 203 may have an L shape that is bent with respect to the first positioning arm 201 in the direction opposite to that shown in FIG. The arm 203 may be formed in a T shape by projecting left and right from the tip of the first positioning arm 201. In addition, if the configuration includes the first to fourth positioning portions described above for the workpiece, The shape is not limited.

  Further, as shown in FIGS. 7A and 7B, a groove 115 is provided on the upper surface of the first arm base 107 near the positioning pin 105 in the positioning jig 100 of FIG. F may be inserted and positioned. The groove 115 may be provided on the first positioning arm 201 in the vicinity of the positioning pin 205 in the positioning jig 200 shown in FIGS.

The positioning jig 200 shown in FIGS. 5 and 6 or other positioning jigs having the above-described shape is provided at the tip of the arm 8 in FIG. 1 so that each pattern as shown in FIGS. Positioning work can be performed. At this time, the positioning jig need not be installed of the same shape on the left and right pair of arms 8, it may be provided suitably of different shapes, also 1 2, 1 3 to be described later As shown, when a plurality of workpiece positioning devices 1 are installed in the workpiece transfer direction, positioning jigs having different shapes may be used between the workpiece positioning devices 1.

  FIG. 8A shows a positioning jig 300 showing a modification of the usage example in FIG. 3A with respect to the positioning jig 100 in FIG. FIG. 8B is a view taken in the direction of arrow A in a state in which the workpiece W in FIG. 8A is omitted. In the positioning jig 300, a leaf spring 117 made of an annular thin plate is attached as a positioning member at a position close to the positioning pin 105 of the first arm tip 109.

  A state in which the first arm tip 109 serving as an arm is inserted into the annular leaf spring 117 so as to be loosely fitted, and the right side of the leaf spring 117 is in contact with the positioning pin 105 in FIG. Then, the lower part of the leaf spring 117 is fixed to the lower surface of the first arm tip 109 with a bolt 119. As a result, a deformation space 121 when the leaf spring 117 is elastically deformed is provided between the upper portion of the leaf spring 117 and the first arm tip portion 109.

  With the configuration of FIG. 8A, when positioning the workpiece W in the same manner as in FIG. 3A, the bottom surface Wa of the convex portion projecting downward from the workpiece W is used as the top surface of the first arm tip portion 109. The side surface Wb is brought into contact with the side portion of the leaf spring 117 opposite to the positioning pin 105 in a state where it is in contact with the first positioning surface 100a located at the center.

  Thereby, it is possible to perform positioning work on a workpiece whose side Wb is different in the left-right direction (X direction) in FIG. 3A with respect to the workpiece W in FIG.

  Further, as shown in FIG. 9A, the positioning operation equivalent to that in FIG. 3A can be performed using the positioning jig 300 in FIG. FIG.9 (b) is a B arrow view of Fig.9 (a).

  That is, the workpiece W is placed on the first arm tip 109 from above the leaf spring 117 and elastically deformed so as to crush the leaf spring 117. At this time, a concave portion 123 into which the upper portion of the leaf spring 117 enters is formed on the first arm tip portion 109, and the leaf spring 117 enters the recess portion 123, so that the bottom surface Wa of the workpiece W becomes the first arm tip portion. It comes into contact with the upper surface of the portion 109, that is, the first positioning surface 100a.

  FIG. 10 shows a positioning jig 400 in which a plurality of leaf springs 117 (117a, 117b, 117c) are arranged side by side in the direction away from the positioning pin 105, compared to the example of FIG. For example, as shown in FIG. 10A, the leaf spring 117a located farthest from the positioning pin 105 is crushed and elastically deformed in the same manner as in FIG. 9, so that the bottom surface Wa of the workpiece W is the first positioning surface. It abuts on 100a. At this time, the side surface Wb of the workpiece W comes into contact with the side portion of the leaf spring 117b at the center position. FIG.10 (b) is a C arrow directional view of Fig.10 (a).

  As described above, by providing a plurality of leaf springs 117, the position of the side surface Wb can be determined with respect to the workpieces W having various kinds.

  FIG. 11 shows an annular leaf spring 117e inside the annular leaf spring 117f adjacent to the positioning pin 105, the annular portion having a smaller diameter than the leaf spring 117f and having a longer left and right length in FIG. 11 (a). Further, a positioning jig 500 in which an annular leaf spring 117d having a smaller diameter than the leaf spring 117e and having a longer length in the left-right direction in FIG. 11A is disposed inside the leaf spring 117e. Is shown. Each of the leaf springs 117e and 117d constitutes a second annular leaf spring in which the end opposite to the positioning pin 105 projects from the same end of the leaf spring 117f. FIG. 11B is a view as seen from the direction of arrow E in FIG.

  The three plate springs 117f, 117e, and 117d are simultaneously fixed by the bolt 119a, the two plate springs 117e and 117d are simultaneously fixed by the bolt 119b, and only the plate spring 117d is fixed by the bolt 119c.

  11A and 11B, the two leaf springs 117e and 117d are simultaneously crushed and elastically deformed. The two leaf springs 117e and 117d enter the recess 125, and the bottom surface Wa of the workpiece W is shown. Is in contact with the upper surface of the first arm tip 109, that is, the first positioning surface 100a.

  Further, when the side surface Wb of the workpiece W is brought into contact with the side portion of the positioning pin 105, the three leaf springs 117f, 117e, 117d are simultaneously crushed, so that the above-described recess 125 has the three leaf springs 117f, It is formed deeper than the concave portion 123 of FIG. 10 so that the depths 117e and 117d are inserted.

  In the example of FIG. 11 described above, unlike the example of FIG. 10, a plurality of leaf springs are not simply arranged, but also in the left-right direction in FIG. 11A of leaf springs 117e and 117d located inside the leaf spring 117f. By appropriately setting the length (width) of the plate spring 117e, the amount of protrusion of the leaf spring 117e from the leaf spring 117f can be set to be small, and for the leaf spring 117d, the leaf spring 117e from the leaf spring 117e to the left The amount of protrusion can be set very small.

  As a result, the side surface Wb of the workpiece W can be positioned with respect to the workpiece W whose position in the left-right direction is slightly different in FIG. When the workpiece W having a slightly different position on the side surface Wb is to be implemented in the example of FIG. 10, the width dimensions of the leaf springs 117b and 117a (the width in the left-right direction in FIG. 10A) are smaller. However, in the example shown in FIG. 11 described above, it is possible to cope with such a problem without causing such a problem.

  The workpiece positioning apparatus 1 including the positioning jig 100 (200, 300, 400, 500) as described above is disposed (laid) in parallel on the vehicle body assembly line of an automobile as shown in FIGS. It is arranged on a base plate 3 that is slidable along the pair of transport rails 2 and 2. In FIG. 2, the conveyance rails 2 and 2 are not shown.

  Here, four workpiece positioning devices 1 are arranged on each base plate 3, and each of these workpiece positioning devices 1 is positioned and supported by an engine complete 4 and a rear member 5 (workpiece) that are equivalent to one vehicle. It moves along the rails 2 and 2 for conveyance so that it may become an appropriate position, and the engine complete 4 and the rear member 5 are positioned and supported by the work positioning device 1. Then, the workpiece positioning device 1 is sequentially conveyed to each process such as an assembly process or a welding process provided in the assembly line. Specifically, the workpiece is supported and conveyed from the previous process to the subsequent process between adjacent processes.

  The four base plates 3 on which the workpiece positioning device 1 is placed are connected by a connecting rod 6 disposed (laid) between the pair of conveying rails 2 and 2 to constitute one device unit, and illustration is omitted. By being driven and controlled by the drive control unit, the workpieces can be reciprocated freely between the workpiece machining steps for performing various types of machining on the workpiece along the transport rails 2 and 2. The connecting rod 6 is, for example, a hollow pipe having a substantially rectangular cross section, and is fixed to the lower surface of each base plate 3 by fastening means such as bolts and nuts.

  Note that below the transfer rails 2, 2, rail supports 7, 7 for supporting the transfer rails 2, 2 are fixed on the floor.

  As shown in FIGS. 1, 14, and 15, the workpiece positioning device 1 has a workpiece positioning jig 100 that positions and supports the engine complete 4 or the rear member 5, and the positioning jig 100 is attached to the tip portion. The above-mentioned two sets of arms 8 and 8 and the base end portion 8a of the arms 8 and 8 can be opened and closed in a closed state and an open state so that the arms 8 and 8 can be opened and closed. The position of the positioning jig 100 attached to the engine complete 4 and the engaged portion of the rear member 5 to the position where it can be engaged with the arm 8, 8 is opened to the outside, and the arm 8, 8 The work opening / closing mechanism 9 is composed of an arm opening / closing means for disposing each of them in the non-engagement position closed inside, and the positioning jig 100, arms 8, 8 and arm opening / closing means. Elevating means for approaching and moving away from the engine complete 4 or the rear member 5, and the table 10 on which the work positioning mechanism 9 and the elevating means are placed are moved to a position for positioning and supporting the engine complete 4 or the rear member 5. Moving means.

  As shown in FIG. 16, the arms 8, 8 are composed of two sets of arms 8, 8 having a square shape in plan view when viewed from the workpiece conveyance direction (Y direction). Each set of arms 8 and 8 includes two arms, a first arm 8A and a second arm 8B. The first arm 8A and the second arm 8B are movably attached to an arm attachment plate 13 (see FIG. 17), which is one of the components constituting the workpiece positioning mechanism 9 described later.

  That is, the first arm 8A is movable about the support shaft 14 by attaching the base end portion 8a to the support shaft 14 fixed to the arm mounting plate 13 so as to be rotatable. The second arm 8B is movable around the shaft 16 by attaching the base end portion 8a to the shaft 16 fixed between the arm mounting plate 13 and the arm support plate 15 connected thereto. It is said.

  Further, the distal end portions 8b of the first arm 8A and the second arm 8B are both rotatable with respect to a support shaft 17 attached to the positioning jig support member 12 at a predetermined interval. Therefore, the arm 8 composed of the two first arms 8A and the second arm 8B is a so-called parallel link mechanism, and the positioning jig support member 12 attached to the tip 8b is always kept in a horizontal state. At the same time, the tip of the positioning pin 105 in the positioning jig 100 fixed to the positioning jig support member 12 is always kept upward.

  As shown in FIGS. 16 and 17, the arm opening / closing means includes a link member 18 in which one end 18 a is connected to a middle position of the distal end portion 8 b and the base end portion 8 a of the first arm 8 A, and the other end of the link member 18. The first arm 8A connected to the link member 18 by rotating the elevating member 19 connected to 18b and the link member 18 connected to the elevating member 19 by moving the elevating member 19 up and down. And an elevating member driving mechanism that can be freely opened and closed.

  The link member 18 is movable around the support shaft 20 by attaching one end 18a thereof to a support shaft 20 fixed to a position near the base end portion 8a of the first arm 8A. Further, the link member 18 is movable around the support shaft 21 by attaching the other end 18b to the tip of the support shaft 21 fixed to the elevating member 19 so as to be rotatable.

  The elevating member drive mechanism section includes a first elevating drive motor 22 for moving the elevating member 19 up and down, and a pair of first pulleys 23 and 23 for transmitting the power of the first elevating drive motor 22. The first driving belt 24 hung between the first pulleys 23, 23, the first ball screw 25 rotating with one base pulley 23 fixed to the base end, and the lifting member 19 And a first nut member 26 that moves up and down along the first ball screw 25.

  The first lifting / lowering drive motor 22 is fixed to the lifting / lowering table 27 and transmits a rotational force via a first drive belt 24 hung between a pair of first pulleys 23, 23. By rotating the first ball screw 25 fixed to one pulley 23 in the forward and reverse directions, the first nut member 26 screwed into the first ball screw 25 is moved up and down, and the first The elevating member 19 fixed to the nut member 26 is moved up and down. The first raising / lowering driving motor 22 is constituted by, for example, a stepping motor, and the like, and allows the raising / lowering member 19 to be moved up and down to a desired position with high accuracy when instructed by a drive control unit.

  The first pulleys 23 and 23 and the first drive belt 24 are rotatably disposed inside the lifting table 27. The first ball screw 25 and the first nut member 26 are provided in a first guide column 28 having a quadrangular prism shape that is fixed vertically to the lifting table 27. Most of the first nut member 26 is covered with the first guide column 28, but one surface to which the lifting member 19 is attached protrudes outward. The first nut member 26 is formed with a screw portion (not shown) that is screwed with the first ball screw 25, and the first ball screw 25 is rotated so that the first nut screw 26 rotates. The nut member 26 is sent to the first ball screw 25 and moves up and down between the lower end position and the upper end position.

  In the arm opening / closing means configured as described above, in the standby state (the state shown in FIGS. 15 and 18) before positioning and supporting the engine complete 4 and the rear member 5, the two arms cross each other, In this state, the positioning jig 100 attached to the distal end of the arm 8 is disposed at a position inside the arms 8 and 8. That is, the positioning jig 100 is positioned inside the tip end portion 8b of the second arm 8B disposed outside, and the jigs 29 and 30 used in the respective steps disposed on both sides of the workpiece positioning device 1 It is provided in a retracted position so as not to touch.

  In response to a command from the drive control unit from this standby state, the first lifting drive motor 22 is driven, and the first ball screw 25 is rotated via the first pulleys 23 and 23 and the first drive belt 24. Then, the first nut member 26 screwed into the first ball screw 25 is sent to the upper position (raised). At this time, the elevating member 19 fixed to the first nut member 26 also rises together. As the elevating member 19 is raised, the elevating member 19 is rotatably attached to the support shaft 21 fixed to the elevating member 19. The link member 18 is rotated about the other end 18b attached to the support shaft 21 in the direction indicated by the arrow D in FIG. 18 so that the first arm 8A connected to the one end 18a is opened outward. Rotate to. When the first arm 8A is rotated so as to open outward, the second arm 8B connected to the positioning jig support member 12 fixed to the tip end portion 8b of the first arm 8A is also linked outward. Rotate together.

  As shown in FIGS. 16 and 20, the two sets of arms 8 and 8 are opened on the right side and the left side so as to largely flutter outward, and are attached to the end portions 8 b of the arms 8 and 8. 100 is arranged further outward from the tip 8b of the arms 8,8. In a series of states in which the arms 8 and 8 are rotated, the positioning jig support member 12 always holds the positioning jig 100 directly above by the first arm 8A and the second arm 8B constituting the parallel link mechanism. Move while keeping level. Therefore, regardless of the opening angle of the arms 8 and 8, the engine complete 4 and the rear member 5 can be positioned and supported in any state. Positioning and support can be performed only with the tool 100.

  As shown in FIGS. 1 and 14, the lifting / lowering means moves the entire workpiece positioning mechanism portion 9 including the positioning jig 100, the arms 8 and 8, and the arm opening / closing means to the engine complete 4 or the rear member 5. The second elevating drive motor 31 for moving the workpiece positioning mechanism 9 up and down, and a pair of second elevating drive motors 31 for transmitting the power of the second elevating drive motor 31. Pulleys 33, 33, a second drive belt 34 hung between the second pulleys 33, 33, and a second ball screw that rotates with one base pulley fixed to one second pulley 33. 35 and a second nut member 36 that fixes the arm mounting plate 13 on one surface and moves up and down along the second ball screw 35.

  The second lifting / lowering drive motor 31 is fixed on the table 10 described above. The second raising / lowering drive motor 31 transmits a rotational force via a second drive belt 34 hung between a pair of second pulleys 33, 33, and is fixed to one of the second pulleys 33. By rotating the second ball screw 35 in the forward and reverse directions, the second nut member 36 screwed into the second ball screw 35 is moved up and down to be fixed to the second nut member 36. The entire workpiece positioning mechanism 9 is moved up and down. The second lifting / lowering drive motor 31 is a stepping motor, similar to the first lifting / lowering driving motor 22, and the work positioning mechanism 9 is moved to a desired position with high accuracy when instructed by the drive control unit. It can be moved up and down.

  The second pulleys 33, 33 and the second drive belt 34 are arranged in a case 39 provided at the lower end of a second guide column 38 having a quadrangular prism shape fixed vertically to the table 10. In the second guide column 38, the second ball screw 35 and the second nut member 36 are disposed. The second nut member 36 is formed with a threaded portion (not shown) that is screwed with the second ball screw 35, and the second nut screw 36 rotates so that the second nut The member 36 is sent to the second ball screw 35 and moves up and down between the lower end position and the upper end position.

  In the lifting / lowering means configured as described above, when the second lifting / lowering driving motor 31 is driven and the second ball screw 35 is rotated via the second pulleys 33 and 33 and the second driving belt 34. Then, the second nut member 36 screwed into the second ball screw 35 is sent up and down (moved up and down). Therefore, the work positioning mechanism 9 having the arm mounting plate 13 fixed to the second nut member 36 is engaged with the standby position lowered to the lower end shown in FIG. 18 and the predetermined position shown in FIG. It will move up and down between positions.

  The moving means is for moving the table 10 on which the work positioning mechanism 9 and the lifting means are mounted to a work support position for positioning and supporting the engine complete 4 or the rear member 5, and the table 10 is slidable. A rack rail 41 formed with a rack gear 40, a table moving motor 42 fixed to the table 10, and a table moving motor 42 attached to the rack gear 40 and teeth. And a pinion gear 43 for moving the table 10.

  The moving rails 37, 37 are provided continuously so as to bridge the four base plates 3, and are fixed on a rail base 44 fixed on the base plate 3. The rack rail 41 is provided in the vicinity of one of the moving rails 37 and is fixed on the rail base 3. A rack gear 40 is formed on the rack rail 41 along the longitudinal direction thereof. The table moving motor 42 is fixed to the table 10, and a pinion gear 43 protruding from the lower surface of the table 10 is engaged with the rack gear 40 and rotated to rotate the table 10 to the moving rails 37, 37. It can be reciprocated along. The table moving motor 42 is a stepping motor that can be controlled by the control unit.

  In the present embodiment, it is only necessary to drive the table moving motor 42 to move each table 10 on which the workpiece positioning mechanism unit 9 and the elevating means are mounted to at least each workpiece support position. It is also possible to move 10 by gathering them at one position.

  Next, the operation of positioning and supporting the work (the engine complete 4 and the rear member 5) by the work positioning apparatus 1 configured as described above and conveying the work will be described.

  First, the table moving motor 42 is driven to rotate the pinion gear 43 that meshes with the rack gear 40, thereby moving the table 10 along the moving rails 37 and 37. The table 10 has a work positioning mechanism 9 provided on the table 10 until a position corresponding to a work support position corresponding to a position below the engine complete 4 and the rear member 5 set at the positions shown in FIGS. 12 and 13. Moved.

  Next, the second lifting / lowering driving motor 31 is driven, and the second nut 36 is kept in the state where the arms 8 and 8 are kept closed from the standby state where the arms 8 and 8 are closed in FIG. Is raised to a position where it does not interfere with the surrounding jigs 29, 30 and the like.

  Next, the first raising / lowering driving motor 22 is driven to raise the first nut member 26, thereby rotating the link member 18 described above, and the two sets of arms 8 and 8 in the closed state are shown in the figure. As shown by an alternate long and two short dashes line in FIG.

  A plurality of positioning portions (first positioning surface 100a, positioning pins 105, etc.) in the positioning jigs 100, 100 of the arms 8, 8 can be appropriately engaged with the engaged portions of the engine complete 4 and the rear member 5. When the position is reached, the second raising / lowering drive motor 31 is driven again to raise the work positioning mechanism 9, and the positioning of the engine complete 4 and the rear member 5 is supported by the positioning jig 100.

  This positioning support can be appropriately performed using various methods according to the shape and size of the workpiece W as shown in FIGS.

  After the engine complete 4 and the rear member 5 are positioned and supported by the workpiece positioning mechanism 9, the four base plates 3 connected by the connecting rod 6 are driven along the transport rails 2 and 2 by driving a driving source (not shown). The engine complete 4 and the rear member 5 are transported to the next process (post process) adjacent thereto. Forwarding after the workpiece transfer is performed by reversing the above-described operation, returning the arms 8 and 8 to the closed state, and forwarding the workpiece positioning mechanism 9 to the adjacent previous process (previous process) as a standby position. .

  According to the workpiece positioning apparatus 1 of the present embodiment, a positioning jig 100 that positions and supports workpieces such as the engine complete 4 and the rear member 5 is attached to the distal ends of the arms 8 and 8, and the arms 8 and 8 are attached. Since the positioning jig 100 is disposed at the engagement position and the non-engagement position so that it can be opened and closed in a closed state and an open state, and the positioning jig 100 is moved toward and away from the workpiece. By appropriately adjusting the degree of opening of the arms 8 and 8 and the raising / lowering position of the positioning jig 100 with respect to the workpieces having different sizes and shapes for each of them, a plurality of types of workpieces corresponding to various types of vehicles can be received. Positioning and support can be performed without using a part or cylinder.

  Further, according to the workpiece positioning apparatus 1 of the present embodiment, the arms 8 and 8 are closed at the non-engagement position after the workpiece conveyance is finished, and the positioning jig 100 attached to the distal ends of the arms 8 and 8 is provided. If the robot is lowered to a position separated from the workpiece and stands by, it is prevented from interfering with the jigs 29 and 30 arranged in each process on the assembly line when the workpiece is transferred to the workpiece receiving position (previous process). it can.

  Further, according to the workpiece positioning apparatus 1 of the present embodiment, the arm opening / closing means is provided by a link mechanism that allows the arms 8, 8 to be opened and closed by rotating the link member 18 in conjunction with the vertical movement of the elevating member 19. Since it comprised, even if it is multiple types of workpiece | work of a different magnitude | size and a shape, a workpiece | work can be positioned and supported easily by adjusting the opening angle of the arms 8 and 8 suitably.

  Further, according to the workpiece positioning apparatus 1 of the present embodiment, when the arms 8 and 8 are closed, the two sets of arms 8 and 8 cross and are attached to the distal ends of the arms 8 and 8. Since 100 is arranged at the position inside the tip of the arm 8, 8, the arm 8, 8 comes into contact with the jigs 29, 30 and the like arranged around it when it is forwarded to the previous process. Can be prevented.

  Also, according to the workpiece positioning apparatus 1 of the present embodiment, each arm 8 and 8 is a so-called parallel link mechanism with two arms, so that the positioning jig 100 can always be kept horizontal. it can. Therefore, since the positioning jig 100 is always horizontal regardless of the opening angle of the arms 8 and 8, even a plurality of types of workpieces can be easily positioned and supported.

  Further, according to the workpiece positioning apparatus 1 of the present embodiment, the pinion gear 43 provided on the table moving motor is provided with a moving means for moving the table 10 on which the workpiece positioning mechanism portion 9 and the lifting / lowering means are placed to the workpiece support position. And the rack gear 40 are engaged with each other so that the table 10 can be moved along the moving rails 37, 37, so that a low-cost apparatus using conventional moving means can be obtained. . Furthermore, since the moving rails 37 and 37 are continuously provided so as to bridge the four bases 3 together with the rail base 44, it can function as a rigid member of the entire apparatus unit, and the plate thickness of other constituent members Weight reduction such as reduction is possible.

  Moreover, according to the workpiece positioning apparatus 1 of the present embodiment, an apparatus unit formed by connecting a plurality of base plates 3 including the entire table 10 including the table 10 by connecting means is reciprocated between the workpiece processing steps. Therefore, it is not necessary to perform troublesome control for moving each base plate 3.

  Although specific embodiments to which the present invention is applied have been described above, the above-described embodiments are merely examples of the present invention, and the present invention is not limited to these embodiments.

It is a perspective view of the workpiece positioning device concerning one embodiment of the present invention. (A) is a top view of the positioning jig used for the workpiece | work positioning device of FIG. 1, (b) is the same side view. It is explanatory drawing which shows the various positioning examples with respect to the workpiece | work by the positioning jig of FIG. It is the top view which showed the positioning example of FIG. 3 more concretely. It is a perspective view which shows the other example of the positioning jig. (A) is a top view of the positioning jig of FIG. 5, (b) is the side view. (A) is a top view which shows the example which provided the groove | channel in the upper surface of the 1st arm base in the positioning jig of FIG. 2, (b) is the same side view. (A) is a front view at the time of positioning which shows the further another example of a positioning jig, (b) is an A arrow directional view of (a). (A) is a front view at the time of positioning the other workpiece | work with the positioning jig of FIG. 8, (b) is a B arrow view of (a). (A) is the front view at the time of positioning which shows the modification of the positioning jig of FIG. 8, (b) is C arrow directional view of (a). (A) is the front view at the time of positioning which shows the further modification of the positioning jig of FIG. 8, (b) is the E arrow directional view of (a). It is a side view which shows the state which supported and positioned the workpiece | work using two or more workpiece | work positioning devices of FIG. FIG. 13 is a plan view of FIG. 12. It is a side view of the workpiece | work positioning device of FIG. It is a front view of the workpiece | work positioning device of FIG. 1 is a perspective view showing the main part of the work positioning device of the present embodiment. It is a perspective view which takes out and shows a part of arm opening / closing means in the workpiece | work positioning device of FIG. It is a front view of the workpiece | work positioning device in the standby state which the arm closed. It is a front view of the workpiece | work positioning device in the engagement state which the arm opened. It is a top view of the workpiece | work positioning device in the engagement state which the arm opened.

Explanation of symbols

W Work F Edge of work 1 Work positioning device 8 Arm (movable arm)
100a 1st positioning surface (1st positioning part)
105 Positioning pin (fourth positioning part)
107a, 107b, 109a, 109b Side surfaces (second positioning surface, second positioning portion)
111a, 111b, 113a, 113b Side surfaces (third positioning surface, third positioning portion)
115 Groove for Inserting Edge of Workpiece 117 (117a, 117b, 117c, 117f) Annular leaf spring (positioning member)
117 (117d, 117e) Second annular leaf spring (positioning member)
121 Deformation space when the leaf spring is elastically deformed 123, 125 Recess

Claims (13)

A first positioning portion that contacts and positions the workpiece; and the workpiece contacts and positions in a direction parallel to a plane perpendicular to the contact direction of the workpiece with respect to the first positioning portion; A workpiece positioning device including a positioning jig having second and third positioning portions whose planes perpendicular to a plane including a direction intersect with each other, wherein the positioning jig includes a first positioning arm. And a second positioning arm extending from both sides of the first positioning arm in a direction perpendicular to the first positioning arm, and the first and second positioning arms in the contact direction of the workpiece. comprising a first positioning portion in a plane perpendicular said first, on each side of the four peripheral portions of the intersection each other in the second of each positioning arm, the word for the first positioning portion Abutting the second work from a direction is positioned against perpendicular to the vertical plane parallel to each other in a direction, work positioning device, characterized in that it comprises a third each of the positioning portions of the.   The workpiece positioning apparatus according to claim 1, wherein the positioning jig includes a fourth positioning portion including a projection portion standing on the first positioning portion. A positioning member is provided on the first positioning portion at a position adjacent to a side portion of the fourth positioning portion, and the positioning member is positioned by contacting a part of the workpiece on the first positioning portion. in state, said with other parts of the the side of the positioning member workpiece is positioned against, the opposite side of the first positioning portion in between the positioning member, positioning a workpiece first The workpiece positioning apparatus according to claim 2 , wherein the positioning member is elastically deformed to bring the workpiece into contact with the first positioning portion when moving to contact the portion. A first positioning portion that contacts and positions the workpiece; and the workpiece contacts and positions in a direction parallel to a plane perpendicular to the contact direction of the workpiece with respect to the first positioning portion; A workpiece positioning device including a positioning jig having second and third positioning portions each having a plane perpendicular to a plane including a direction intersecting each other, wherein the positioning jig is the first positioning jig. A positioning member is provided on the first positioning portion at a position adjacent to a side portion of the fourth positioning portion, and the positioning member includes with a portion position of the workpiece on the first positioning portion on is positioned against, along with other parts of the workpiece on the side of the positioning member is positioned against, interposed between said positioning member From the side opposite to said first positioning portion in, when moving to abut the workpiece into the first positioning portion, is brought into contact with the workpiece to the first positioning portion and the positioning member is elastically deformed A workpiece positioning device characterized by that. The said 4th positioning part consists of a positioning pin standingly arranged in the direction parallel to the contact direction of the said workpiece | work with respect to the said 1st positioning part , The any one of Claim 2 thru | or 4 characterized by the above-mentioned. Work positioning device. Wherein the first positioning portion, the work positioning device according to any one of claims 1 to 5, characterized in that a groove for inserting the edge of the workpiece. The workpiece positioning apparatus according to claim 3 or 4 , wherein a concave portion that enters when the positioning member is elastically deformed is provided on the first positioning portion. It said positioning member, said fourth work positioning device according to any one of claims 3,4,7, characterized in that it has arranged plurality in a direction away from the positioning unit. The positioning member is composed of an annular leaf spring, and an arm portion having the first positioning portion is inserted into the annular leaf spring in a loose-fitting manner, and the leaf spring is inserted into the first portion of the arm portion. It is fixed to a portion opposite to the positioning portion, and a deformation space is provided between the first positioning portion and the inner peripheral surface of the leaf spring when the leaf spring is elastically deformed. Item 9. The workpiece positioning device according to any one of Items 3, 4 , 7 , and 8 . Inside the annular leaf spring, a second annular leaf spring whose end opposite to the fourth positioning portion protrudes from the same end portion of the leaf spring is provided in the first positioning in the arm portion. The workpiece positioning device according to claim 9 , wherein the workpiece positioning device is fixed to a portion opposite to the portion. The positioning jig, work positioning device according to any one of claims 1 to 10, characterized in that provided left and right so as to position the width direction on both sides of the workpiece. The positioning jig, work positioning device according to any one of claims 1 to 11, characterized in that received on a movable arm which is movable according to the shape of the workpiece. Of the positioning unit in the work positioning device according to any one of claims 1 to 12, the positioning portion of the at least two positions, the work positioning method for positioning is brought into contact with the workpiece.

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