JPS6254569B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a positioning control device for an auto-riveter.
The present invention relates to a positioning control device for an auto-riveter that uses a video sensor to accurately position a workpiece.

Prior Art As shown in Fig. 1, the fuselage of an aircraft consists of a reinforcing channel material 2 in which a curved skin material 1 extends vertically and horizontally.
and 3 are generally riveted together. Such riveting between the skin material and the channel material is currently performed using an automatic riveter.

As shown in FIG. 2, for example, this automatic riveter is equipped with a work frame 5 to which a workpiece 4, in other words a piece to be processed, having a reinforcing channel material temporarily attached to a skin material is attached. The work frame 5 is rotatable about the a-axis, and also movable along the vertical axis, ie, the Z-axis, and the horizontal axis, ie, the Y-axis, perpendicular to the a-axis. Further, a riveter head 6 is disposed so as to be movable along the X axis parallel to the a axis of the work frame 5. Three level sensors 7a, 7b,
7c is provided. As shown in FIG. 3, these three level sensors 7a, 7b, and 7c draw an isosceles triangle whose base is parallel to the Y-axis and where the fastener driving center point P is located on a line extending from the apex to the base at right angles. It is arranged like this. Level sensor 7
The outputs of a, 7b, and 7c are input to a level control circuit 8. This level control circuit 8 operates based on the outputs of the level sensors 7a, 7b, and 7c.
The a-axis drive device 9 and the Z-axis drive device 10 are controlled so that the three points on the workpiece surface that are in contact with the two level sensors are located at predetermined heights with virtually no difference in height. Adjust the angle around the a-axis and adjust the displacement along the Z-axis. On the other hand, the riveter controller 11 controls the X-axis drive device 12 and the Y-axis drive device 13 according to a built-in program to move the riveter head 6 along the X-axis and move the work frame 5 along the Y-axis. move it.

The skin material of the workpiece extends straight in the longitudinal direction, that is, in the X-axis direction. Therefore, when riveting the skin material 1 to the channel material 2 in the longitudinal direction, the level control circuit 8 controls the level sensors 7a, 7b, 7c.
The riveter controller 11 drives the riveter header 6 in the X-axis direction at a predetermined riveting interval (for example, approximately 2 , 3cm intervals) Each time it is moved, a rivet is driven in with a rivet gun.

However, the curved shape of the skin material of the workpiece, that is,
The cross-sectional shape on a plane perpendicular to the axis may or may not be a circular arc, as shown in Figure 4.
The workpiece is not attached to the workframe so that its center of curvature C is located on the a-axis. Therefore, if the work frame is simply rotated about the a-axis, the height of the work surface directly below the fastener driving center point will not only change but also be tilted.

Therefore, when riveting the skin material 1 to the lateral channel material 3, the automatic riveter is operated as follows. For example, in Fig. 4, when the workpiece 4 is at the position indicated by the thick solid line, if the riveting is completed at the riveting point _P1 , then in order to drive the rivet to the next riveting point _P2 , teeth,
First, set the rivet so that the riveting point P ₂ is on the riveting center axis (coinciding with the Z-axis in Fig. 4) and the plane in contact with the riveting point P ₂ is located horizontally at a predetermined height. The controller 11 controls the Y-axis drive device 13 according to its built-in program to move the workpiece 4 in the Y direction ΔY. With this movement of ΔY, the work surface detected by the level sensors 7a, 7b, 7c lowers and tilts, so the level control circuit 8 that receives the outputs of the level sensors 7a, 7b, 7c operates. Tilt control is performed by rotating the a-axis using the a-axis drive device 9 so that the outputs of the level sensors 7a and 7b are equal, and the Z-axis drive device 10 rotates the a-axis so that the outputs of the level sensors 7a, 7b, and 7c are equal. The workpiece is raised along the Z axis to perform height control, that is, level control. The above movement along the Y axis, tilt control, and level control are performed simultaneously. However, for the sake of clarity, if we assume that the three operations are performed sequentially, the a-axis moves by △Y in the Y-axis direction, the workpiece 4 is displaced from the position of the thick solid line to the position of the dotted line, and then , the workpiece 4 rotates △α around its △Y-displaced a-axis, i.e., a', and moves to the position indicated by the two-dot chain line, and finally rises △Z in the Z-axis direction and moves to the position indicated by the thin solid line. . As a result, _P2 point on workpiece 4 is
In FIG. 4, it moves from P ₂ through P' and P'' to P ₁ , and is horizontally positioned at a predetermined height at the center point of driving the fastener (on the Z axis in FIG. 4).

The above operation is performed when the curved surface of the workpiece 4 is an arc.
This corresponds to rotating the workpiece 4 by △θ around the center of curvature C, and therefore, △Y
can be calculated geometrically from the curvature of the workpiece and the spacing between the fastener driving points so that the next fastener driving point _P2 moves to the fastener driving center point and its normal line coincides with the Z axis. If ΔY is calculated and programmed in this way, the autoriveter should be able to rive with high precision.

However, the above-mentioned automatic riveter has poor positioning accuracy in the direction along the curved surface of the workpiece, that is, in the Y direction. One of the reasons for this is that the level sensor cannot accurately detect the heights of the three points on the workpiece surface due to unevenness on the workpiece surface or a small amount of dirt between the workpiece surface and the level sensor. This is caused by an excess or deficiency in the rotation around the center. Another reason is that due to the unavoidable deflection of the work frame, the geometric reference shape and dimensions of the work frame, which are the basis for calculating command values such as △Y, are not actually maintained. This is not the case. The error caused by this deflection becomes larger when the work frame is tilted more, and the error due to the deflection increases in the longitudinal direction of the work frame, that is, the
The closer it is to the center in the axial direction, the larger it is.

OBJECTS OF THE INVENTION Therefore, it is an object of the present invention to provide a positioning control device for an automatic riveter, which has high positioning accuracy in the bending direction of a workpiece.

Structure of the Invention That is, according to the present invention, at least three level sensors are provided in contact with the surface of a workpiece attached to a workpiece frame, and the height and longitudinal inclination of the workpiece are adjusted based on the outputs of the level sensors. Z to move both ends of the work frame up and down as in
In response to the output of the shaft drive device and level sensor, the work frame is rotated around the a-axis in the longitudinal direction of the work frame so as to adjust the inclination of the work with respect to the horizontal Y-axis, which is approximately perpendicular to the longitudinal direction of the work frame. a riveter controller that controls the Y-axis drive to move the work frame in the Y-axis direction according to a program. In a positioning control device for an automatic riveter that drives rivets to a workpiece attached to a work frame, a television camera means is placed to photograph the riveting point of the workpiece, and a video signal is transmitted from the television camera. a displacement meter means for outputting a distance signal indicating the distance from the reference point of the marking on the workpiece; means for outputting a deviation signal indicating the deviation signal; switch means for supplying the deviation signal to the a-axis drive device when the inclination of the workpiece in the Y-axis direction becomes less than or equal to a predetermined value; an a-axis locking means for locking the rotation of the work frame about the a-axis when the deviation signal becomes below the first predetermined value until it becomes below the second predetermined value; Y
and comparator means for outputting a shaft feed command signal.

In the positioning control device as described above, when the inclination of the workpiece with respect to the Y-axis becomes less than a predetermined value, that is, when the marking approaches the fastener driving center point, positioning control based on the output of the level sensor is performed. Instead, positioning control is performed using a television camera.

Effects of the Invention Therefore, the positioning control device according to the present invention can position the riveting point with high precision without being affected by the unevenness of the workpiece surface or the deflection of the workpiece frame.

Embodiments Hereinafter, embodiments of a positioning control device for an automatic riveter according to the present invention will be described with reference to the accompanying drawings.

FIG. 5 is a partially cutaway overall perspective view of an auto-riveter incorporating a positioning control device according to the present invention, and FIG. 6 is a sectional view taken along the line - in FIG. 5. The illustrated automatic riveter includes an elongated work frame 20, and a pair of guide rails 22 are arranged on the floor so as to extend in the longitudinal direction of the work frame 20, that is, in the X-axis direction. A moving table 24 is supported on these guide rails,
It is movable in the axial direction. This moving platform 2
4 is a base 26 and a U-shaped riveter head 28
A rivet gun 30 is attached to the tip of the rivet head 28, an anvil 32 is arranged directly below the rivet gun 30, and the rivet gun 30 and anvil 32 are moved vertically. is being done.

Both ends of the work frame 20 are connected to rotation mounts 36 via a pair of pins 34, as shown in FIG.
is fixed, and a rotating shaft 38 extending outward from the rotating mount 36 in the X-axis direction is rotatably supported by a Y-axis moving mount 40. This rotating shaft 38 corresponds to the a-axis mentioned above. A frame 42 having the shape shown in the figure is fixed to this Y-axis moving mount 40, and one end of a hydraulic actuator 46 is pivotally attached to the tip of an upper horizontal arm 44 of the frame 42. The other end of the hydraulic actuator 46 is pivotally connected to an arm 48 extending horizontally from the rotation mount 36. Therefore, when this hydraulic actuator 46 is operated, the rotation mount 36, that is, the work frame 20 rotates about the rotation axis 38. That is, the hydraulic actuator 46 constitutes an a-axis rotation drive device.

The Y-axis moving mount 40 has an E-shaped cross section as shown in FIG. 8, and a female threaded hole 58 is formed in the center portion 56 of the E-shape.
Y-axis moving mount 40 formed in this way
As shown in Figure 9, both ends of the E shape are Y
A box-shaped Z-axis moving mount 60 that is elongated in the axial direction is slidably held therein, and a female thread in the central portion 56 is fitted with a
A threaded rod 62 extending longitudinally through the center of the Z-axis moving mount 60 is screwed onto the Z-axis moving mount 60 . A servo motor 64 is installed at one end of the Z-axis moving mount 60.
is attached, and its rotating shaft is coupled to a threaded rod 62. Therefore, when the servo motor 64 is driven, the threaded rod 62 rotates and the Y-axis moving mount 40 moves along the Z-axis moving mount 60, that is, in the Y-axis direction. Therefore, the servo motor 64 constitutes a Y-axis drive device. Furthermore, the servo motors 64 at both ends of the work frame 20 are driven synchronously.

E-shaped members 66 similar to the Y-axis moving mount 40 are fixed to both ends of the Z-axis moving mount 60,
A female threaded hole is formed in the center of the E-shaped member. These two E-shaped members are
It is attached to the box-shaped member 68 elongated in the Z-axis direction by a method similar to the method for attaching the Y-axis moving mount 40 to the Z-axis moving mount 60. That is, E
Both ends of the shaped member 66 slidably sandwich the box-shaped member 68, and a threaded rod 70 extending longitudinally through the center of the box-shaped member 68 is screwed into a female thread at the center of the E-shaped member 66. ing. This threaded rod 70 is
Gearbox 72 placed at the bottom of box-shaped member 68
The horizontal rotation shaft 74 is connected to a horizontal rotation shaft 74 via a gear box 76, and the horizontal rotation shaft 74 is driven by a servo motor 78 via a gear box 76. Therefore, when the servo motor 78 is driven, the threaded rod 70 is rotated through the gearbox 76 , the rotating shaft 74 and the gearbox 72 , and the E-shaped member 66 , that is, the Z-axis moving mount 60 is moved along the box-shaped member 68 . It moves up and down, that is, moves in the Z-axis direction. Therefore, the servo motor 78 constitutes a Z-axis drive device. However, the servo motors 7 at both ends of the work frame 20
8 are each independently controlled.

The box-shaped member 68 has its lower part connected to a support stand 80 and is held vertically with the aid of an auxiliary support member 82 and the like.

Three level sensors (not shown in FIG. 5) are arranged at the tip of the rivet head 28 so as to surround the rivet gun 30 and in the positional relationship shown in FIG. 3, and are suspended vertically. This level sensor may be of a differential transformer type, for example, and outputs an analog voltage signal depending on the height of the sensor pin pressed downward by a spring. Furthermore, a television camera 86 is attached to the tip of the riveter head 28 via an attachment frame 84. This television camera 86 is oriented so that the center point of driving a fastener by a rivet gun is placed at the center of its field of view.
The output of the television camera 86 and the outputs of the three level sensors are sent to a positioning control device 88, and the positioning control device 88 controls the hydraulic actuator 46, servo motors 64, 78, etc. based on these input data. Run it and drive the riveting according to the built-in program.

FIG. 10 is a block diagram showing the configuration of the positioning control device 88. Among the level sensors 7a, 7b, and 7c arranged as shown in FIG.
The output of the adder 100 is input to a comparator 102 which receives a reference voltage at one input, and the output of the comparator 102 is amplified by a servo amplifier 104 to drive two servo motors forming a Z-axis drive device. 78, for example, the left servo motor 78L. As a result, the comparator 102 causes the servo motor 78L to raise the left side of the work frame if the total value of the level sensors 7a and 7b, that is, the additive average value, is smaller than a predetermined value. If the value is larger than a predetermined value, the left side of the work frame is lowered by the servo motor 78L, and operates so that the average height of the two points of the workpiece detected by the level sensors 7a and 7b is maintained at the predetermined value. .

The output of the remaining level sensor 7c is input to a comparator 106 which receives a reference voltage at one input, and the output of the comparator 106 is amplified by a servo amplifier 108 and then applied to the other servo motor 78.
Supplied to R. In this case as well, the comparator 106 causes the servo motor 78R to raise the right side of the work frame if the output value of the level sensor 7c is smaller than the predetermined value, and conversely, if the output value of the level sensor 7c is larger than the predetermined value , the right side of the work frame is lowered by the servo motor 78R so that the height of one point on the workpiece detected by the level sensor 7c is maintained at a predetermined value.

Thus, these two comparators 102 and 106 calculate the average height of the two points on the workpiece that the level sensors 7a and 7b are in contact with, and the level sensor 7c.
The height of one point on the workpiece that is in contact with the workpiece is maintained at the same predetermined value, and as a result, the vicinity of the riveting point of the workpiece is maintained horizontally in the longitudinal direction of the workpiece. There is.

Further, the outputs of the level sensors 7a and 7b are input to a subtracter 110, and the voltage output Vl of the subtracter 110 is supplied to a servo valve control device 114 via a mode changeover switch 112. This servo valve control device controls a servo valve (not shown) attached to the hydraulic actuator 46 so that the input value becomes zero. As a result, the two points on the work surface that are in contact with the level sensors 7a and 7c are maintained at the same height.

The voltage output Vl of the subtracter 110 is further input to one input of a comparator 116. The other input of the comparator 116 receives the precision position control start setting voltage Va. Then, this comparator 116 outputs the output voltage of the subtracter 110.
When the absolute value of Vl is equal to or smaller than the set voltage Va (|Vl|Va), the flip-flop 118
Outputs a pulse signal to the set input of and,
The mode changeover switch 112 is controlled by the Q output of the flip-flop 118, and when the Q output is at a low level (|Vl|>Va), the output of the subtracter 110 is connected to the servo valve control device 114, and the opposite When the Q output is at a high level (|Vl|Va), the output of the subtracter 124, which will be described later, is connected to the servo valve control device 114.

The output of the television camera 86 is the one-dimensional dynamic displacement meter 1
20 is input. This one-dimensional dynamic displacement meter 120
The input video signal is binarized for each pixel, and for example, the bright part is set to "0" and the dark part is set to "1", and the binary pixel signal changes from "0" to "1" from the start of scanning the central horizontal scanning line. The number of pixels on the horizontal scanning line until the change occurs is counted, and an analog voltage signal corresponding to the counted value is output. Furthermore, the binarized video signal is output to the monitor 122.

The surface material of the workpiece is metal, and its color is silvery white. Then, as shown in FIG.
Markings M are made with red or black paint at predetermined intervals. A television camera that photographs such a workpiece is a black-and-white camera that captures the markings in black and the rest of the workpiece surface in bright light.The monitor 12 receives the binary video signal.
2, only the marking M is shown in black. Furthermore, a vertical line VL passing through the center point of the fastener driving is also displayed on the monitor 122.

The output voltage Vm of the one-dimensional dynamic displacement meter 120 corresponds to the distance Dm between the marking M displayed on the monitor 122 and the left edge of the screen. This output voltage Vm is input to the subtracter 124. The subtracter 124 is further supplied with a reference voltage Vs corresponding to the distance Ds from the left edge of the screen of the monitor 122 to the vertical line VL of the fastener driving center point. Therefore, the subtracter 124 calculates the vertical line VL between the marking M and the center point of the fastener driving.
Outputs a voltage Vv corresponding to the distance (Ds - Dm) from the This voltage output Vv is input to the servo valve control device 114 via the mode changeover switch 112, and further input to the comparators 126 and 128.

Comparator 126 further receives a-axis lock setting voltage Vb, and outputs a pulse signal to the set input of flip-flop 130 when |Vv|Vb. At that time, this flip-flop 1
The Q output of 30 becomes high level and is output to the riveter sequencer 132 as an a-axis lock command signal. Upon receiving the a-axis lock command signal, the riveter sequencer 132 sends a signal to the servo valve control device 114 so that the hydraulic actuator 46 is fixed at that position.

The comparator 128 also receives a precision position control completion setting voltage Vc (where Vc<Vb). Comparator 128 outputs a high-level Y-axis feed command signal to AND gate 134 when |Vv|>Vc. This AND gate 134 also receives an a-axis lock command signal from the Q output of flip-flop 130. Therefore, the Y-axis feed command signal is output to the riveter controller 136 via the AND gate 134 only when the high-level a-axis lock command signal is output. Upon receiving the Y-axis feed command signal, the riveter controller 136 operates the servo motor 64 to slightly move the work frame 20 in the Y-axis feed direction. On the other hand, |Vv|Vc
Then, the comparator 128 outputs a fine positioning completion signal to the riveter controller 136 and also to the clear input of the flip-flop 118. As a result, flip-flop 118
The Q output becomes low level, and the mode changeover switch 112 connects the output of the subtracter 110 to the servo valve control device.

Note that the riveter controller 136 controls the flip-flop 1 when executing rough positioning control.
It is designed to clear 30. In addition, the interval between markings on the workpiece is determined by the allowable range of the angular difference between the end face of the rivet and the surface of the workpiece, even if only the Y-axis is moved with the A-axis locked. . In other words,
In a range where the flatness or smoothness of the surface of the riveted workpiece is not a problem, the Y-axis is moved while the A-axis remains locked.

Next, referring to the flowchart in Figure 12, Y
The axial positioning control operation will be explained.

(a) First, the riveter controller outputs a Y-axis movement command of a predetermined amount ΔY to the servo motor 64 according to the built-in program. At the same time, a coarse positioning control start signal is output to the clear input of the flip-flop 130 to release the a-axis lock. At this time, the mode selector switch 112
The output of the subtracter 110 is sent to the servo valve control device 114.
is in a state where it is connected to.

(b) As a result, when the workpiece 4 moves in the Y-axis feeding direction, a difference occurs between the outputs of the level sensors 7a and 7b, and this voltage difference is applied to the servo valve control device 114 through the mode changeover switch 112.
The shaft hydraulic actuator 46 is operated to rotate the a-axis. Here, the direction of rotation is the direction in which the difference between the level sensors 7a and 7b becomes smaller.

(c) At the same time, the comparator 102 that receives the sum of the outputs of the level sensors 7a and 7b drives the servo motor 78L to adjust the height of the ZL axis of the work frame, and the comparator 106 that receives the output of the level sensor 7c controls the height of the ZR axis of the work frame by driving the servo motor 78R, so that the height of the work is always kept constant.

(d) The controls in (b) and (c) above are performed in parallel and independently until the movement of ΔY in the Y-axis direction is completed.

(e) If the output difference Vl between the level sensors 7a and 7b is within a certain range (|Vl|<Va), the comparator 116 sets the flip-flop 118 and switches the mode changeover switch 112 to the precision position control side. so that the output of subtractor 124 is connected to servo valve controller 114. At this time, the marking on the workpiece indicating the location of the fastener is
It is captured within the field of view of the television.

(f) Therefore, the marking M captured by the television camera at this time is converted by the one-dimensional dynamic displacement meter 120 into a voltage Vm corresponding to the position and output to the subtracter 124.

(g) This subtracter 124 converts the difference Vv between the voltage Vs and Vm indicating the position of the fastener driving point into the mode changeover switch 1.
12 to the servo valve controller 114, and as a result, the a-axis actuator 46 is continuously operated to continue micro-rotating the a-axis.
On the other hand, at this time, since |Vv|>Vc, the comparator 128 is outputting a Y-axis feed command signal, but since the AND gate 134 is closed, the Y-axis feed command is sent to the rivet controller 136. is not sent, and fine adjustment in the Y-axis direction is not performed.

(h) Then, the marking M on the screen of the monitor 122 moves closer to the fastener driving point. Also, during this control, level adjustment in the vertical direction is performed as in (c) above.

(i) Marking M approaches the riveting point and the voltage above
When the absolute value of Vv becomes less than Vb, comparator 126 sets flip-flop 130 to output the a-axis lock command signal, and as a result,
The rivet sequencer 132 causes the servo valve controller 114 to lock the a-axis and stop controlling the a-axis.

(j) Since the AND gate 134 opens after the a-axis is locked, the Y-axis feed command from the comparator 128 is input to the riveter controller 136 through the AND gate 134. That is, a
Fine adjustment of positioning in the Y-axis direction is performed with the axis fixed.

(k) As a result, when |Vv| becomes smaller than Vc,
The comparator 128 stops outputting the Y-axis feed command, and at the same time outputs a precision positioning completion signal to the riveter controller 136. Furthermore, the flip-flop 118 is cleared, the mode changeover switch 112 is returned to the coarse position control side, and the output of the subtracter 110 is connected to the servo valve control device 114.

(l) When the riveter controller 136 learns that precise positioning has been completed, it instructs the riveter sequencer 132 to perform a riveting sequence. As a result, a rivet is driven onto the marking M.

(m) After completing the riveting, the riveter controller 13
6 outputs the moving distance ΔY to the next fastener driving point as a Y-axis command. As a result, movement in the Y-axis direction is performed while the a-axis remains locked.

(n) The riveter controller 136 repeats the above processes (l) and (m) according to the built-in program until the riveting point before the next marking.

(o) After that, the riveter controller 136 outputs a command to start coarse positioning control, clears the flip-flop 130, releases the a-axis lock, and repeats the processes (a) to (n) described above.

As described above, in the positioning control in the Y-axis direction, that is, in the bending direction of the workpiece, the level sensors 7a and 7b
After the difference in the detection level between the Positioning can be performed with high precision.

[Brief explanation of the drawing]

Fig. 1 is a schematic perspective view of the fuselage component of an aircraft, Fig. 2 is a block diagram showing the configuration of a conventional auto-riveter positioning control device, and Fig. 3 is a level sensor installed at the tip of the riveter head of the auto-riveter. Fig. 4 is a diagram showing the arrangement relationship of
5 is a schematic perspective view of an automatic riveter to which the present invention is applied; FIG. 6 is a cross-sectional view taken along the line in FIG. 5; and FIG. 7 is a diagram illustrating the movement of the work in the bending direction. FIG. 8 is a partial perspective view of the a-axis rotation mechanism of the frame, FIG. 8 is a front partial view seen from the direction of the arrow in FIG. 7, FIG. 9 is a perspective view of the Y-axis and Z-axis drive mechanisms, and FIG. , a block diagram showing the configuration of the positioning control device according to the present invention, FIG. 11 is a diagram showing the relationship between markings and riveting points, and FIG. 12 is a flowchart showing the operation of the device shown in FIG. . 1...Skin material, 2, 3...Channel material, 4...
... Workpiece, 5 ... Work frame, 6 ... Riveter head, 7a, 7b, 7c ... Level sensor,
8...Level control circuit, 9...A-axis drive device, 1
0... Z-axis drive device, 11... Riveter controller, 12... X-axis drive device, 13... Y-axis drive device, 20... Work frame, 22... Guide rail, 24... Moving table, 26 ...Base, 28...
Rivet head, 30... Rivet gun, 32...
Anvil, 86... Television camera, 88... Positioning control device, 100... Adder, 102... Comparator, 104... Servo amplifier, 106...
... Comparator, 108 ... Servo amplifier, 11
0...Subtractor, 112...Mode changeover switch,
114...Servo valve control device, 116...Comparator, 118...Flip-flop, 120...
...One-dimensional dynamic displacement meter, 122...Monitor, 124...
...Subtractor, 126, 128...Comparator, 1
30...Flip-flop, 132...Rivet sequencer, 134...AND gate, 136...
...Rivetsuta controller.

Claims (1)

[Claims] 1 At least three level sensors that contact the surface of the workpiece attached to the workframe, and both ends of the workframe are moved up and down so as to adjust the height and longitudinal inclination of the workpiece in response to the output of the level sensors. In response to the output of the Z-axis drive device and the level sensor, the work frame is moved around the a-axis in the longitudinal direction of the work frame so as to adjust the inclination of the work with respect to the horizontal Y-axis, which is approximately perpendicular to the longitudinal direction of the work frame. an a-axis drive device that rotates the
A Y-axis drive device that moves the work frame in the Y-axis direction and a Y-axis drive device that moves the work frame in the Y-axis direction according to the program.
In a positioning control device for an automatic riveter that performs riveting on a workpiece attached to a work frame, the device is equipped with a riveter controller that controls a Y-axis drive device to move the workpiece in the axial direction. television camera means placed to photograph the part; displacement meter means for receiving a video signal from the television camera and outputting a distance signal indicating the distance from the reference point of the marking on the workpiece; means for receiving a reference signal indicating the distance to the center point and the distance signal and outputting a deviation signal indicating the difference; a switch means for supplying the deviation signal to the a-axis drive device; an a-axis locking means for locking the rotation of the work frame about the a-axis when the deviation signal becomes equal to or less than a first predetermined value; and comparator means for outputting a Y-axis feed command signal so that at least fine movement adjustment in the Y-axis direction is performed during the period from when the first predetermined value becomes below to when the second predetermined value becomes below the second predetermined value. positioning control device.