JPH0420729B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for positioning a workpiece in an automatic assembly line, such as a chassis for equipment.

In the past, it was common for equipment chassis to be assembled manually, but this resulted in uneven quality and was difficult to mass produce efficiently, so in recent years automatic assembly using machines has become more popular. It is being said.

However, when automatically assembling equipment chassis, etc., the machine usually only performs predetermined operations based on a predetermined sequence, so when high-level alignment is required, such as in mating work, components such as equipment chassis etc. It is necessary to place a workpiece in a predetermined position.

The following is an example of how to assemble a copying machine chassis.
The necessity of positioning the above-mentioned workpiece will be mentioned below.

As shown in FIG. 1, from among the front side plate 3 and rear side plate 3' (a, b in the first figure), which are a type of workpiece stacked with the cushioning material 5 in between, the front side plate 3 or the rear side plate is alternately stacked. 3' has been removed and placed in position, the pins 6 to 9 are installed (FIG. 1 c and d). After this, the front side plate 3 and the rear side plate 3' are separately subjected to a process similar to the above process,
The handle rubber 10, the base rubber 11, and the adjustment bolt 12 are attached (e, f, g in the first figure), and the chassis 1 is screwed to the substrate 2, which is a type of workpiece (h in the first figure), and after being inverted, the chassis 1 The assembly is completed (i, j shown in the first diagram).

FIG. 2 shows an example of an automatic assembly line that assembles the chassis 1 of a copying machine through the above steps.
The front side plates 3 and rear side plates 3', which are placed alternately on pallets attached to the conveyor 13, are transferred to the reversing machine 17 after the pins 6 and 7 are attached by the first parts attaching machine 15 (step c in the first figure). , the pins 8 and 9 are attached by the second component attaching machine 16 (step d in the first diagram), and then conveyed to a predetermined position, and then conveyed by the third work loader 62 . On the other hand, the board 2 placed on the pallet provided on the second conveyor 14 is attached with the handle rubber 10, the base rubber 11, and the adjustment bolt 12 by the third component attaching machine 18 (steps f and g shown in the first figure). )
It is transported to a predetermined position and transferred to the third work loader 6.
The chassis 1 is completed by being transported to the assembly device 19 at step 2 and combined with the front side plate 3 and rear side plate 3' conveyed by the third work loader 62.

However, the first to third component mounting machines 15, 1
6 and 18 perform predetermined operations, so in order to automatically assemble the chassis without any inconvenience, the front side plate 3, rear side plate 3', and base plate 2 should be
Accurately position the pieces in the predetermined positions and place them one by one.
It is necessary to place it on the second conveyor 13 or the second conveyor 14.

However, since the front side plate 3, the rear side plate 3', and the substrate 2 are not placed in an accurate position when loaded, these workpieces placed at a certain place are transported to the table 20, which is a mounting stand. After positioning it at a predetermined position, it is necessary to place it on the first conveyor 13 or the second conveyor 14.

Furthermore, in the automatic assembly line for the copying machine chassis 1 shown above, the front side plate 3 and the rear side plate 3' are placed alternately on the first conveyor 13. In some cases, the vertical dimensions of the front plate 3 and the rear plate 3' may differ depending on the model, and the dimensions of the side plates may differ depending on the model. equipment is required.

Furthermore, conventionally, the front side plate 3 and the rear side plate 3' as described above have been used.
When positioning a workpiece such as the above, two positioning frames or the like are provided on the table 20 and the workpiece is manually positioned, which is inefficient.

The present invention is for positioning various types of workpieces with different dimensions, which had previously been done manually, at predetermined positions on a positioning table, and its gist is as follows:
A device for positioning a workpiece placed on a positioning table at a predetermined position in one direction, comprising a first positioning member and a second positioning member that face each other and sandwich the workpiece, and a first positioning member and a second positioning member attached to the first positioning member. , and a presser member provided facing the second positioning member; first and second driving means for biasing the first and second positioning members in opposing directions, respectively; a third driving means for biasing the second positioning member in the direction of the second positioning member; and first and second stoppers for stopping the first and second positioning members at predetermined positions, respectively; A workpiece characterized in that the urging force by the driving means is greater than the urging force by the third driving means, and the urging force by the first driving means is set larger than the urging force by the second driving means. The present invention provides a positioning device.

Next, a workpiece positioning device according to an embodiment of the present invention will be explained with reference to the drawings from FIG. 3 onwards to provide an understanding of the present invention.

Here, FIG. 3 is a plan view of a workpiece positioning device according to an embodiment of the present invention, FIG. 4 is a cross-sectional view taken along the line A-A in FIG. 3, and FIG.
-B arrow sectional view, Figure 6 is C-C in Figure 3
7 is a right side view in FIG. 3.

Hereinafter, the front plate 3, which is an example of a work, will be referred to as a work 4, and the rear plate 3', which is another example of the work, will be referred to as a rear plate 3' (the front plate 3' has a vertical dimension smaller than that of the front plate 3 in FIG. 3). ) is represented by workpiece 4'. In addition, hereinafter, in FIG. 3, the direction of arrow X will be referred to as the X axis, and the direction of arrow Y will be referred to as the Y axis (perpendicular to the X axis).

As shown in FIGS. 3 and 4, a turntable 2 is a type of positioning table for the workpieces 4 and 4'.
5 is supported around its periphery by a freebear 26 which is attached to a pedestal 27 fixed on the table 20 and has a ball that rolls in a free direction.
It is arranged on the top of the table 20, which is a stand for the turntable 25. The turntable 25 is connected to a rotary cylinder 28 which rotates 180 degrees and serves as a driving means for the turntable 25, by a vertical shaft 25a fixed to the lower surface of the center thereof.

Further, on the surface of the table 20, a workpiece 4 (or 4') is placed around the turntable 25.
A first positioning member 31 that positions the workpiece 4 (or 4') facing each other in the Y-axis direction, a second positioning member 32 that also serves as a holding member, and a positioning member 33 that positions the workpiece 4 (or 4') facing each other in the X-axis direction. and the presser member 30 are slidably attached to the guides 21, 22, 23 and 24 fixed to the table 20 via the support member 29 via rollers 34, 35 and 36 (see FIG. 6). It is arranged.

First, the means for positioning the workpiece 4 (or 4') in the X-axis direction will be explained. The connecting arm 4 is rotatably supported by a bearing 44 on the
8, they are connected via a connecting pin 49 provided on the positioning member 33 and a long hole 50 provided on the connecting arm 48 and into which the pin 49 is inserted. The connecting arm 48 is constructed by integrally connecting an upper arm 51 and a lower arm 52 with the table 20 in between, and the positioning member 33 is connected to the upper arm 51 as described above. An air cylinder 53, which is a first driving means for the positioning member 33 in the X-axis direction, is connected to the arm 52.

Further, the guide 23 is provided with a stopper 57 for stopping the positioning member 33 at a predetermined position when the positioning member 33 is urged by the air cylinder 53 via the connecting arm 48. The stopper 57 has a structure in which the stopping position of the positioning member 33 can be adjusted by a screw mechanism, and in the above embodiment shown in FIG.
and 4' are positioned at predetermined positions by adjusting the stopper 57.

On the other hand, the presser member 30 provided opposite to the positioning member 33
The arm 46a, the lower arm 46b, and a vertical rotation shaft (bearing 45) which integrally connects both arms 46a and 46b are provided with a backing plate 40 made of a cushioning material, as shown in FIG. It is connected to an air cylinder 54 (connected to the lower arm 46b), which is a second drive means in the X-axis direction, via a connecting arm 46 consisting of a lower arm 46d (supported by the lower arm 46b). As described above, the holding member 30 has a structure that urges the workpiece 4 (or 4') in the direction of the opposing positioning member 33.
In addition, the holding member 30 for the work 4 (or 4')
The biasing force of the positioning member 33 is
(or 4') so that the biasing force is smaller than that of the first
The forces of the air cylinders 53 and 54, which are the second driving means, are also adjusted.

The above configuration constitutes a positioning means in the X-axis direction.

Next, the configuration of the positioning means in the Y-axis direction according to an embodiment of the present invention will be described.

As described above, the first positioning member 31 and the second positioning member 32 are provided facing each other in the Y-axis direction with the turntable 25 serving as a positioning stand for the works 4 and 4'.

The first positioning member 31 and the second positioning member 32 are connected to connecting arms 45 and 47 which are supported on the table 20 by bearings 42 and 43, respectively.
are connected to air cylinders 55 and 56, which are first and second driving means in the Y-axis direction, respectively, and the structure thereof is similar to that of the positioning member 3 in the X-axis direction.
3 is connected to the air cylinder 53 via the connecting arm 48.

A first stopper 59 for positioning the work 4 at a predetermined position is fixed to the guide 21 (see Fig. 5), and a first stopper 59 for positioning the work 4' to a predetermined position is fixed to the guide 22. A second stopper 58 is fixedly provided for this purpose. Here, the first positioning member 31 is formed to be laterally elongated in the X-axis direction, thereby preventing the pushed workpiece 4 or 4' from tilting in the X-axis direction.

Further, the first positioning member 31 is provided with pressing members 64 and 64a that press the workpiece 4' against the second positioning member 32. The holding members 64 and 64a are connected to air cylinders 65 and 65a, which are third driving means for urging the workpiece 4' in the direction of the second positioning member 32, and for positioning the air cylinders 65 and 65a in the first positioning position, respectively. Part 3
1, and mounting plates 39 and 39a made of a cushioning material or the like attached to the tip of a piston rod which is a pressing means for pressing the workpiece 4'. . When the air cylinders 66 and 66a are operated and the piston rod is retracted, the holding members 64 and 64a are moved back from the backing plate 37, which is the contact portion of the first positioning member 31 with the workpiece 4. (as shown in Figure 5), when positioning the workpiece 4, be sure to use the first positioning member 3.
The first contact plate 37 is brought into contact with the workpiece 4.

Further, the biasing force of the second positioning member 32 on the workpiece 4' is greater than the biasing force of the presser members 64 and 64a on the workpiece 4', and the biasing force of the first positioning member 31 on the workpiece 4 is The air cylinders 65 and 65a, which are the third driving means, the air cylinder 56, which is the second driving means, and the first driving means are arranged such that the urging force is larger than the urging force of the second positioning member 32 on the workpiece 4. The force of the air cylinder 55 which is the means is adjusted. The above configuration constitutes a positioning means in the Y-axis direction.

By the way, it is necessary to detect whether or not the workpiece 4 (or 4') is positioned in a normal state, so in the workpiece positioning device according to the above embodiment, the workpiece 4 (or 4') is positioned at a predetermined position. Holding member 30 and the first A structure in which the directionality of the workpiece 4 (or 4') can be confirmed by providing each of the positioning members 31 and detecting the presence or absence of a hole H at a predetermined position by the hole detection sensor 67 or 68 when the positioning operation is completed. (as shown in Figure 5).

The operation of the workpiece positioning device according to the above embodiment will be explained below. Since the above embodiment positions the workpieces in two ways, the workpiece 4 and the workpiece 4', the common parts are the workpiece 4. The operation will be explained, and if necessary, the operation will be explained in the case where the object to be positioned is the workpiece 4'.

Opposing first and second positioning members 31, 3
2 and opposing positioning member 33 and pressing member 3
0 are cylinders 55, 56, 5, which are driving means, respectively.
3 and 54, and the presser members 64 and 64a are also released by contracting the cylinders 65 and 65a, which are the driving means (solid lines 31, 32, 33, 3 in FIG. 3).
0, 64, and 64a), the first work loader 60 (second illustration) places the work 4 transported from a predetermined position on the turntable 25. In this case, the table surface of the turntable 25 protrudes beyond the table 20, and the mounting surface of the turntable 25 is parallel to the table 20, so that the side surface of the workpiece 4 is at the bottom as shown in a in FIG. Even if the front plate 3 has a bent edge, it is placed parallel to the table surface.

After confirming that the workpiece 4 is placed on the turntable 25, the first and second positioning members 31 and Positioning in the Y-axis direction is performed by sliding the workpiece 32 along the guides 21 and 23 and clamping the workpiece 4.

In this case, the workpiece 4 of the first positioning member 31
Since the biasing force of the second positioning member 32 toward the workpiece 4 is larger than the biasing force of the second positioning member 32 toward the workpiece 4, the first positioning member 31 comes into contact with the first stopper 59 and stops, and the second positioning member 32 First stopper 5
The workpiece 4 is stopped at the pressed position with reference to the first positioning member 31 in contact with the first positioning member 31 .

Further, the workpiece 4 of the presser members 64 and 64a is
Since the urging force on the workpiece 4 of the second positioning member 32 is smaller than the urging force of the second positioning member 32 on the workpiece 4, the pressing member 6
4 and 64a are driven by air cylinders 65 and 65a, and even if the workpiece 4 is being urged, the workpiece 4
The positioning position in the Y-axis direction does not change.
Therefore, each of the air cylinders 55, 56, 6
It is also possible to operate 4 and 64a simultaneously.

The above operations complete positioning of the workpiece 4 in the Y-axis direction.

Next, to explain the case where the object to be positioned is a small workpiece 4', after the workpiece 4' is placed on the turntable 25 which is a positioning base, the first positioning member 31, the second positioning member 32 and air cylinders 55, 56, 65 and 65 whose respective drive means are presser members 64 and 64a.
a, and clamps the workpiece 4'. However, since the width of the workpiece 4' in the Y-axis direction is shorter than the distance between the opposing surfaces of the first and second positioning members 31 and 32, which come into contact with and stop the first and second stoppers 59 and 58, The first and second positioning members 31 and 32 move until they abut against stoppers 59 and 58, respectively. At this time, the presser member 6
4 and 64a also urge the workpiece 4',
The biasing force applied to the workpiece 4' by the holding members 64 and 64a is smaller than the biasing force applied by the second positioning member 32 to the workpiece 4'. Therefore, work 4' is the second
It is stopped in a state where it is clamped and pressed by the holding members 64 and 64a with the positioning member 32 as a reference.

This completes the positioning of the workpiece 4' in the Y-axis direction.

Next, the workpiece 4 (or 4') is positioned in the X-axis direction, but if the above-mentioned Y-axis positioning remains unchanged, the workpiece 4 (or 4') is fixed, so the X-axis It is not possible to determine the direction. Therefore, first, the first positioning member 31, the second positioning member 32 (and the holding member 6
4 and 64a) as the air cylinder 5 which is the driving means.
5, 56 (64 and 64a) are driven and released.

In this case, if the second positioning member 32 is released first, the workpiece 4 or 4' will be
There is a risk that it will be pushed and moved by 4a. A similar phenomenon also occurs when the first positioning member 31 is released earlier than the second positioning member 32 when the workpiece 4 is being positioned. Therefore, it is desirable to release the biasing force on the workpiece 4 or 4' in the order of the holding members 64 and 64a -> the second positioning member 32 -> the first positioning member 31.
However, for a workpiece in which such a phenomenon does not occur, no problem will occur even if all the positioning members are opened at the same time.

Thereafter, the positioning member 33 and the holding member 30 are biased by compressing the air cylinders 53 and 54, which are driving means, to clamp the workpiece 4 or 4'. In this case, since the biasing force of the holding member 30 is smaller than the biasing force of the positioning member 33, the workpiece 4 or 4' is positioned based on the position where the positioning member 33 comes into contact with the stopper 57 and stops. As a result, the workpiece 4 or 4' in the X-axis direction
However, when performing this positioning in the X-axis direction, since the Y-axis direction is not positioned, there is a risk that the position of the workpiece 4 or 4' may shift to some extent. Therefore, positioning in the Y-axis direction is performed again using the method described above.

In FIG. 3, the position of the work 4 or 4' is shown by a chain line.

Even if the loading state of the workpieces 4 shown in FIG. It is precisely positioned in the axial direction.

Note that in the above embodiment, the first positioning member 31, the second positioning member 32, and the presser member 6
4 and 64a, positioning member 33 and holding member 3
Although an air cylinder is used as the driving means of the present invention, driving means using electromagnetic force or hydraulic pressure may also be used.

Further, in the above embodiment, since the workpieces 4 and 4' differ in size only in the Y-axis direction, the workpiece positioning device according to an embodiment of the present invention was adopted only in the Y-axis direction, but depending on the shape of the workpiece, The present invention can also be applied to the X-axis direction. Further, in the above embodiment, the case where there are two types of workpiece sizes has been described, but the present invention can be similarly applied to three or more types of workpieces.

As described above, the present invention provides an apparatus for positioning a workpiece placed on a positioning table at a predetermined position in one direction, including a first positioning member and a second positioning member that face each other and sandwich the workpiece; a presser member attached to the first positioning member and provided facing the second positioner; and first and second drives that bias the first and second positioning members in opposing directions, respectively. means, third driving means for biasing the holding member in the direction of the second positioning member, and first and second stoppers for stopping the first and second positioning members at predetermined positions, respectively. The urging force by the second driving means is set to be larger than the urging force by the third driving means, and the urging force by the first driving means is set to be larger than the urging force by the second driving means. Because it is a workpiece positioning device characterized by
The workpiece is automatically and accurately positioned, and the workpiece can be positioned even if the workpiece is placed on the table top at a considerable distance from the normal position. Furthermore, when positioning two or more types of workpieces with different dimensions, Since the workpiece is automatically positioned at a predetermined position even if there is a problem, work efficiency can be significantly improved.

[Brief explanation of drawings]

FIG. 1 is an assembly process diagram of a copying machine chassis including a workpiece used in an embodiment of the present invention, and FIG. 2 is a plan view of an automatic assembly line for the chassis including a workpiece positioning device according to an embodiment of the present invention. 3 is a plan view of a workpiece positioning device according to an embodiment of the present invention, FIG. 4 is a sectional view taken along the line A-A in FIG. 3, and FIG. 5 is a cross-sectional view taken along the line B-B in FIG. 3. cross section,
Figure 6 is a sectional view taken along the line C-C in Figure 3;
The figure is a right side view in FIG. 3. Explanation of symbols, 4, 4'... Work, 25... Turntable (positioning stand), 31... First positioning member, 32... Second positioning member, 6
4, 64a... Pressing member, 55... Air cylinder (first driving means), 56... Air cylinder (second
(driving means), 65, 65a...air cylinder (third driving means).

Claims (1)

[Claims] 1. In a device for positioning a workpiece placed on a positioning table at a predetermined position in one direction, a first positioning member and a second positioning member that face each other and sandwich the workpiece, and a first positioning member and a second positioning member attached to the first positioning member. a presser member provided facing the second positioning member; first and second driving means for urging the first and second positioning members in opposing directions, respectively; and the presser member. the second positioning member; and first and second stoppers for stopping the first and second positioning members at predetermined positions, respectively. The urging force by the driving means is set to be larger than the urging force by the third driving means, and the urging force by the first driving means is set to be larger than the urging force by the second driving means. workpiece positioning device.