JPH0647616Y2 - Misalignment correction device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to a misalignment correcting device, and more particularly to a misalignment correcting device that corrects misalignment of a work deviated from a reference position.

[Prior Art] Conventionally, when a work is transferred from a work cradle to a transfer trolley on a processing line, even if the left and right positions of the work on the work cradle are deviated, they are placed on the transfer trolley as they are. Since the work has various width dimensions, the position of the work on the work cradle could not be regulated, and the work was merely placed.

[Problems to be solved by the invention] For this reason, there is a large variation in the amount of lateral displacement of the work on the transport carriage, and there is a problem that the lateral accuracy of the work cannot be guaranteed when the work robot is externally working while transporting the work on the transport carriage. there were.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a misalignment correcting device that can correct a work position even if the work position is deviated to the left or right on the work cradle and transfer the work to a transfer carriage.

[Means for Solving the Problems] Means of the present invention for achieving the above object include a fixed frame arranged at a predetermined height, and a slide frame hung on the fixed frame so as to be horizontally movable in the left-right direction. A pair of clamp arm supports that are arranged symmetrically with respect to the center of the slide frame and that can be horizontally moved uniformly in the slide frame in the left-right symmetrical direction by a drive device,
A pair of sensor arms attached to each of the supports with the tip protruding outside the slide frame and abutting against the work by the horizontal movement of the supports to move the slide frame horizontally so that the center of the slide frame matches the center of the work. A pair of clamp arms rotatably attached to each support base and capable of gripping the work at a position where both the sensor arms contact the work, and a return mechanism for returning the slide frame to the reference position of the fixed frame are provided. It is a misalignment correction device.

[Operation] Both support bases of the clamp arms are always drawn inward, both clamp arms are raised upward, and the interval between the sensor arms is narrowed inward so that both ends of the workpiece stand upright. Each of them is in an insertable state.

When the center line of the work arranged below the device is deviated from the center line of the slide frame, the drive device uniformly moves both support bases outward. One of the sensor arms attached to the support comes into contact with the work, and the resistance of the work restricts horizontal movement. However, since the support base continues to spread, the entire slide frame horizontally moves due to the reaction force of the work, and the center line of the slide frame and the center line of the work match.

Then, the crank arm is operated to grip the work. At this time, the work cradle is lowered or the apparatus itself is raised to suspend the work. Then, the return mechanism is operated to return the slide frame holding the work to the reference position of the fixed frame.

[Embodiment] Next, an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 shows the misalignment correcting device 1 in a free state in which the work W is not clamped. In the misalignment correcting device 1, a slide frame 6 is attached in a hanging manner via a slide mechanism 3 to a fixed frame 2 horizontally fixed at a predetermined height, and a work W arranged below is clamped by a clamp mechanism 7. It is formed so as to correct the misalignment of the work W after it is securely clamped.

The slide mechanism 3 is means for suspending and supporting the box-shaped slide frame 6 so as to be slidable in the left-right direction,
A pair of connecting members 4A, 4B provided on the lower surface of the fixed frame 2
Is formed by engaging the engaging slits 5A and 5B at the upper end of the slide frame 6.

The clamp mechanism 7 includes left and right support bases 8A and 8B symmetrically arranged in the slide frame 6, and hook-shaped clamp arms 9A and 9B that are attached to the support bases 8A and 8B so as to project outside the slide frame 6. Mainly and. Both supports 8
A and 8B are arranged on a slide rail (not shown) of the slide frame 6, and can be horizontally moved evenly left and right by an electric motor (not shown) mounted on the slide frame 6. The clamp arms 9A and 9B are rotatably supported by operating means such as an air cylinder provided on the supports 8 and 8B.
, And can clamp and unclamp the work W.

On the other hand, the support bases 8A and 8B of the clamp mechanism 7 are provided with sensor arms 10A and 10B that contact the work W and detect the work W. The sensor arms 10A and 10B are the sensor unit 11 at the lower end.
A and 11B are projected to the outside of the slide frame 6, and the support base 8 is located inside the connecting position of the clamp arms 9A and 9B.
It is installed on A and 8B. The sensor arms 10A, 10B
Has a structure that does not interfere with the slide frame 6 when the support bases 8A and 8B slide. Both sensor arms 10A, 10B
Moves along with the support bases 8A and 8B, and the work W and the slide frame 6 are deviated, and when one sensor arm 10A or 10B abuts on the work W, the slide frame 6 is supported until its center matches the center of the work. Operate the electric motors on the platforms 8A and 8B. Electric motor has both sensor arms 10
When A and 10B come into contact with the work W, they are stopped, and when the electric motor is stopped, the movement of the support bases 8A and 8B is stopped. When both sensor arms 10A and 10B come into contact with the work W, the clamp arms 9A and 9B are lowered downward until the operation means of the clamp arms 9A and 9B actuate to grip the work W.

Both support bases 8A, 8B are always retracted inward, both clamp arms 9A, 9B are raised, the distance on the tip side is expanded outward, and the distance between both sensor arms 10A, 10B is increased. Is narrowed inward, and both ends of the workpiece W are erected at the sensor arm.
Insertion is possible between 10A, 10B and clamp arms 9A, 9B.

Further, the fixed frame 2 is provided with a return mechanism 12 for returning the slide frame 6 deviated from the reference position (center line FCL) of the fixed frame 2 to the reference position. The return mechanism 12 corrects the center line SCL of the slide frame 6 and the center line FCL of the fixed frame until they match. The return mechanism 12 is composed of an operating member 13 attached to the central portion of the lower surface of the fixed frame 2 and abutting members 14A and 14B provided upright on the upper surface of the slide frame 6. Both contact members 1
4A and 14B have a space on both sides of the operating member 13 and are fixed at symmetrical positions with respect to the center line SCL of the slide frame 6. The actuating member 13 is provided with both actuating shafts 15A and 15B which are constantly reduced and are evenly extended to the left and right by the operation of a dedicated electric motor or hydraulic means.
The outer ends of A and 15B are evenly extended until they come into contact with both contact members 14A and 14B. When the center line SCL of the slide frame 6 is deviated from the center line FCL of the fixed frame 2, the contact member 14A or 14B on the side closer to the tips of the operating shafts 15A and 15B operates on the side closer to each other. The slide frame 6 slides when pushed by the shaft 15A or 15B,
The slide frame 6 slides until the tips of both operating shafts 15A, 15B abut the abutting members 14A, 14B.
That is, when the tips of both operating shafts 15A, 15B abut the abutting members 14A, 14B, the center line FCL of the fixed frame 2 and the center line SCL of the slide frame 6 coincide. The actuating shafts 15A and 15B are held in contact with the abutting members 14A and 14B, so that the slide frame 6 is locked with respect to the fixed frame 2. In addition, when the misalignment is corrected and the clamped work W is completely placed on the carriage 16 and is in a free state, the clamp mechanism 7 and the return mechanism 12 are returned to the original position state.

The work W is placed by the carriage 16 below the misalignment correction device 1 of this example. In this example, the work W placed on the raised pedestal 17 of the dolly 16 with the lifting means 16A is arranged. When the center line WCL of the placed work W is deviated to the left with respect to the center line SCL of the slide frame 6, the misalignment is corrected by the following procedure. The electric motor of the clamp mechanism 7 is actuated to horizontally move the support bases 8A and 8B evenly to the left and right to widen the space between the support bases 8A and 8B. The sensor portion 11B of the sensor arm 10B attached to the support 8A contacts the work W, and the resistance of the work W restricts the horizontal movement. However, since the support bases 8A and 8B of the clamp mechanism 7 continue to further spread, the entire slide frame 6 slides at the slide mechanism 3 portion by the reaction force from the work W and horizontally moves to the right.

When the sensor arm 10A attached to the support base 8A comes into contact with the work W (both sensor arms 10A and 10B come into contact with the work W), the horizontal movement of the support bases 8A and 8B stops. That is, the center line SCL of the slide frame 6 and the work W
The center lines WCL of are matched. At this time, the operating means of the support bases 8A and 8B are activated and the clamp arms 9A and 9B move downward to grip the work W.

Next, the work W is attached to the center line FCL of the fixed frame 2.
The operation to move to is performed. The lifting means 16A of the carriage 16 and the cradle 17 is lowered, and the work W is suspended from the slide frame 6 via the clamp arms 9A and 9B. The return mechanism 12 of the fixed frame 2 corrects the displacement while the slide frame 6 displaced by the left and right displacement of the work W is returned to the center line FCL of the fixed frame 2, and the slide frame 6 is locked at the reference position. .

Thus, the center line FCL of the fixed frame 2, the center line SCL of the slide frame 6 and the center line WCL of the work W are corrected to match each other.

The work W, which has been corrected for misalignment, is placed on a predetermined position of another transport carriage 18 which is replaced at a predetermined position below. The carrier 18 on which the work W is placed passes through a predetermined processing line, and the work robot performs predetermined processing on the work W. Since the work W is placed at the accurate position of the carriage 18, the work W is accurately processed in the processing line.

Further, in the dolly 16 according to the present invention, the pedestal 17 is moved up and down by the elevating means 16A of the dolly 16. However, the pedestal 17 is fixed, and a means (not shown) for elevating the misalignment correcting device 1 itself is provided. You may have.

[Effect of the Invention] The present invention hangs a slide frame on a fixed frame having a predetermined height so as to be horizontally movable in the left-right direction, and supports a pair of clamp arms that horizontally move in the symmetrical direction on the slide frame. Since the base is provided, the clamp arm and the sensor arm are attached to the support base, and the return mechanism for returning the slide frame to the reference position of the fixed frame is provided, the structure of the above-mentioned intended device is achieved. Various purposes are achieved. That is, according to the misalignment correcting device of the present invention, (a) even if the work width is various, the clamp width is adjusted and clamped, and (b) the center line position is indexed by the machine. Since there is no need to adjust the center line, and (c) misalignment is corrected, the work can be placed at the correct position of the transfer carriage on the processing line, and the position of the work relative to the work robot on the processing line. The effect of being able to guarantee accuracy is achieved.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention, FIG. 1 is a main view of the apparatus structure, and FIG. 2 is an operation explanation view in a state where a work is clamped,
FIG. 3 is a state diagram in which the misalignment of the work is corrected. 1 …… Center misalignment correction device 2 …… Fixed frame 3 …… Slide mechanism 6 …… Slide frame 7 …… Clamp mechanism 8A, 8B …… Support base 9A, 9B …… Clamp arm 10A, 10B …… Sensor arm 12… … Return mechanism 14A, 14B …… Abutting member

Claims (1)

[Scope of utility model registration request] 1. A fixed frame disposed at a predetermined height, a slide frame suspended from the fixed frame so as to be horizontally movable in the left-right direction, and arranged symmetrically with respect to the center of the slide frame.
A pair of clamp arm supports that can be horizontally moved in the slide frame evenly in the left-right symmetric direction by the drive unit, and the ends of the clamp arms are attached to the supports so that they protrude outside the slide frame. A pair of sensor arms that abut the work and horizontally move the slide frame so that the center of the slide frame coincides with the center of the work, and rotatably attached to each support base. A misalignment correcting device comprising a pair of clamp arms capable of gripping a work and a return mechanism for returning a slide frame to a reference position of a fixed frame.