JP2703660B2 - Position adjustment method - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position adjusting method for adjusting a position of a work while holding the work.

[Prior Art] Conventionally, gripping and movement adjustment are performed, for example, by combining a moving stage that can be moved using a ball screw and a motor with an air chuck or the like for gripping a work. As disclosed in the gazette, a configuration is known in which only cylinders are used, but gripping and moving each use a unique cylinder.

[Problems to be Solved by the Invention] However, in the above-described conventional example, since the driving means for gripping the work and the moving means for adjusting the position of the gripped work are separately required, the apparatus itself becomes large. ,
It is pointed out that there is a problem that the space is restricted and the cost is high.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a common drive source for holding and moving a work, thereby reducing the size of the entire apparatus and reducing the cost. The aim is to provide a position adjustment method that can be achieved.

[Means for Solving the Problems] In order to achieve the above object, a position adjusting method according to the present invention has the following features. That is, a first step of driving a pair of air cylinder means positioned on both sides of the temporarily placed work to grip the work from both sides with gripping claws provided on each of the work;
A second step of determining the direction of movement of the work from the temporary placement position to the target position, and driving an air cylinder positioned upstream with respect to the direction of movement of the work determined in the second step to target the work. A third sub-step of detecting a current position of the work; and a third sub-step of detecting a current position of the work, and a third sub-step of detecting the current position of the work detected in the first sub-step. A second sub-step of calculating an intermediate stop position located halfway to the target position; a third sub-step of moving the work to the intermediate stop position; and a third sub-step of moving the work in the third sub-step. A fourth sub-step of judging whether or not the distance between the position and the target position is within a predetermined standard; and in the fourth sub-step, the distance is not within the predetermined standard. Was determined to be In this case, returning to the first sub-step, in the fourth sub-step, a fifth sub-step of repeatedly performing the movement of the work until it is determined that the separation distance falls within a predetermined standard; In a fourth sub-step, a sixth sub-step of determining that the work has reached the target position when it is determined that the separation distance is within the predetermined standard is provided.

[Embodiment] Hereinafter, a configuration of a position adjustment device to which an embodiment of a position adjustment method according to the present invention is applied will be described with reference to the accompanying drawings.
This will be described in detail.

As shown in FIG. 1, the position adjusting device 10 includes a substantially square device main body 12 having a hollow inside, on a base (not shown). That is, the apparatus main body 12, a fixed block 12a defined from a square bottom, and first and second standing blocks 12a standing from left and right ends in the figure of the fixed block 12a, respectively.
The support blocks 12b and 12c and the ceiling block 12d connecting the upper ends of the support blocks 12b and 12c to each other are integrally formed.

A fixing jig 14 for mounting and fixing the work W is mounted on the fixing block 12a. Here, in this embodiment, the workpiece W is a first workpiece W _1, on the first workpiece W _1, composed from the second workpiece W ₂ Metropolitan attached in a state of being accurately positioned Have been. Then, the first work W ₁ is fixed to the fixing jig 14, the second workpiece W ₂ is in a predetermined position of the first workpiece W ₁ top, based on the position adjustment operation as a feature of the present invention, accurate Is positioned. That is, the position adjusted in this embodiment is set to a second workpiece W _2.

Then, the position adjustment device 10, while maintaining the state that gripping the second workpiece W ₂ from both sides, the second work
To such it is possible to adjust the relative position with respect to W _1, the second on both sides in the figure of the workpiece W ₂ left in each separate state contactable first and second air cylinder mechanisms 1
It has 6,18.

First, the first air cylinder mechanism 16 on the left side is a first support block 12b located on the left side and supported by the first support block 12b.
Of the air cylinder body 16a, a first piston rod 16b which along connexion retractable horizontally from the first air cylinder body 16a, attached to the distal end of the first piston rod 16b, the second workpiece W ₂ A first gripping claw 16c that can be brought into contact with the left side surface in the figure is provided.

Here, the first air cylinder main body 16a has an air introduction port 16d for introducing working air at both axial ends thereof.
16e is attached. In the first air cylinder mechanism 16, when working air is introduced through the first air introduction port 16d on the left side in the figure, the first piston rod 16b is protruded rightward in the figure, the gripping claws 16c operates as extruded into proximity or rightward to a second workpiece W _2, also when the working air is introduced through the second air insertion port 16e on the right side of the figure, the first Piston rod
16b pull to the left in the figure, the gripping claws 16c second workpiece W ₂
It operates so as to be separated from.

The first piston rod 16b protrudes leftward in the figure from the first cylinder body 16a, and its protruding end is defined as a detected portion 16f for detecting the current position of the piston rod 16b. .

On the other hand, the second air cylinder mechanism 18 on the right side is the second air cylinder mechanism 18 which is supported in the middle of the second support block 12c located on the right side.
An air cylinder body 18a of a second piston rod 18b which along connexion retractable horizontally from the second air cylinder body 18a, attached to the tip of the second piston rod 18b, the second workpiece W ₂ A second gripping claw 18c that can abut on the right side in the figure is provided.

Here, the second air cylinder main body 18a has an air introduction port 18d for introducing working air to both axial ends thereof.
18e is attached. In the second air cylinder mechanism 18, when the working air is inserted through the first air introduction port 18d on the right side in the drawing, the second piston rod 18b is projected leftward in the drawing. the gripping claws 18c operates as extruded into proximity or leftward to the second workpiece W _2, also when the working air is introduced through the second air introduction port 18e of the left side in the figure, the second Piston rod
18b is pulled to the right in the figure, and the gripper 18c is pulled into the second work W _2.
It operates so as to be separated from.

In the middle of the ceiling block 12d, the first work W ₁
The third air cylinder mechanism for temporarily fixed pressing a second workpiece W ₂ placed on the upper 20 are arranged.
The third air cylinder mechanism 20 includes a third cylinder body 20a supported by a ceiling block 12d, a third piston rod 20b capable of moving back and forth in a vertical direction from the third cylinder body 20a, and attached to the lower end of the third piston rod 20b, and a contact capable pressing member 20c to the second top surface of the workpiece W _2.

The third air cylinder mechanism 20 is operated by the biasing force of a built-in coil spring (not shown) as long as working air is not inserted into the air introduction port 20d of the third cylinder body 20a. the upward, i.e., lifting so as to apart from the second from the workpiece W _2,
When working air to the air inlet port 20d is introduced, against the biasing force of the coil spring, pushes down the third piston rod 20b downward, as pressing the second workpiece W ₂ to the first work W ₁ Works.

The position adjusting device 10 includes an air supply source 22 for supplying working air to each of the first to third air cylinder mechanisms 16, 18, and 20. This air supply source 22 is provided with a first air supply passage 24 for switching a supply direction of working air to the first and second air introduction ports 16d and 16e of the first air cylinder 16a. A second direction switching valve 26 for switching the direction of supply of working air to the first and second air introduction ports 18d and 18e of the second air cylinder 18a via the second air supply path 28. Of the third cylinder body 20a through the third directional control valve 30 and the third supply path 32
Are respectively connected to the introduction ports 20d of.

Here, the first air supply passage 24, a first electropneumatic control valve 34 for performing a second gripping force and positioning of the workpiece W ₂ of the first air cylinder mechanism 16, also, the The second air supply passage 28 has the second air cylinder mechanism 18
The second electropneumatic valve 36 for performing a gripping force and positioning of the workpiece W ₂ is also in the third supply passage 32, an air supply source
Connection valves 38 for interrupting the supply of the working air from 22 to the third air cylinder mechanism 20 are provided respectively.

On the other hand, the two air output ports 26 of the first directional control valve 26
a, 26b and the first and second air introduction ports 16d, 16e of the first air cylinder mechanism 16 are connected to the fourth and fifth air supply paths 4
0 and 42 are connected to each other. Further, two air output ports 30a and 30b of the second directional control valve 30 and first and second air introduction ports 18 of the second air cylinder mechanism 18 are provided.
d and 18e are connected to each other via sixth and seventh air supply paths 44 and 46, respectively.

Further, while the positioning device 10, by the first to third air cylinder mechanism 16, 18, 20 for driving and controlling in accordance with a predetermined control procedure, as well as gripping the second workpiece W _2, and the grasping , The second work W ₂ is replaced with the first work W ₂
A control unit 48 is provided for adjusting the position to an accurate position with respect to the position. Further, the position adjusting device 10, the position sensor 50 for detecting the second current position of the workpiece W ₂
It has. The position sensor 50 is a detection target 16f defined from the protruding end of the first piston rod 16b.
By detecting the protrusion both have been made so as to detect a second current position of the workpiece W _2. The detection signal from the position sensor 50 is transmitted to the control unit 48 via the amplifier 52.

The control unit 48 includes the first and second directional control valves 2.
6, 30; first and second electropneumatic control valves 34, 36;
And the second workpiece W ₂ from the position sensor 50
Based on the detection information, the current positions are controlled by a control procedure described in detail below.

In the position adjusting device 10 configured as described above, a second position adjusting method as a feature of the present invention will be described below.
Of the workpiece W ₂ grasping operation and the position adjustment operation will be described with reference to the flow chart shown in Figure 2.

First, is conveyed onto the fixture 14 by the transport mechanism in which the first workpiece W ₁ is not shown, fixed at a predetermined position on the fixture 14, a first fixed on the fixing jig 14 on the work W _1, likewise is conveyed by unillustrated conveying mechanism second workpiece W ₂ is and is placed here, control Yunitsuto 48
Is started.

First, as shown in step S10, when the start of the control operation is detected, in step S12, the gripping pressure of the _second work W2 is set in the first and second electropneumatic control valves 34, 36. In step S14, the first and second directional control valves 26 and 30 are connected to the second air introduction ports 16e and 18e, respectively.
The working air supply direction is switched and controlled so that the working air is introduced into the air. As a result, the first and second piston rods 16b and 18b move away from each other, and are largely opened on the fixing jig 14. Thereafter, in step S16, and outputs the first and second mounting tolerance signal of the work W _1, W _2.

When the placement permission signals for the first and second works W ₁ and W ₂ are output, a work transfer control procedure (not shown) is started, and first, the first work W ₁ is fixedly fixed by a transfer mechanism (not shown). are conveyed onto the jig 14 is fixed at a predetermined position on the fixture 14, a first fixed on the fixing jig 14 on the work W _1, by the transfer mechanism (not shown) similar to the second workpiece W ₂ is conveyed, is placed here, the second workpiece W ₂
When the temporary positioning is performed, the control unit 48
A placement end signal is output.

The control unit 48 has the output of this placement end signal in step S18, and when the output of this placement end signal is detected, in step S20, the connection valve 3
An open signal is output for 8. As a result, the air supply source 22
Is supplied into the cylinder body 20a of the third air cylinder mechanism 20 via the air introduction port 20d via the second air supply path 32, and the third piston rod 20b is lowered to move the 2 of the workpiece W ₂ against the first on the work W _1.

Thereafter, in step S22, the first and second directional control valves 26 and 30 are respectively connected to the first air introduction ports 16d and 16d.
The working air supply direction is switched and controlled so that the working air is introduced into 8d. As a result, the first and second piston rods 16b, 18b are moved toward each other, the second workpiece W ₂ is on the first workpiece W _1, both gripping claws 16c, 18
In the state of being sandwiched by c, it will be grasped.

Then, in step S24, it reads the second target position P _O of the workpiece W _2, in step S26, a second current position P _P of the workpiece W ₂ is read by the position sensor 50,
In step S28, a distance D between the target position P _O and the current position P _P is calculated. Thereafter, in step S30,
It is determined whether or not the separation distance D calculated in step S28 falls within the target position standard A. If YES is determined in this step S30, that is, the current position P _P
There when it is determined that substantially coincides with the target position P _O, at step S32, the first and second directional control valves 26 and 30, respectively the second air introduction port 16e, Switching to the working air supply direction is controlled so that working air is introduced into 18e. As a result, the first and second piston rods 16b, 18b are moved in a direction away from each other, both gripping claws 16c, 18c is a gripping state of the second to the work W ₂ which is positioned in the target position P _O It will be released and you will leave each of the corresponding sides.

Then, in step S34, a close signal is output to the connection valve 38. As a result, the second air cylinder mechanism 20
The supply of operating air to the cylinder body 20a is stopped, the third piston rod 20b is lifted by the urging force of the coil spring (not shown) which is built, slave connexion, the pressing member 20c is positioned in the target position P _O It will be away from the second of the top surface of the workpiece W _2.

In this way, the second workpiece W ₂ is in the state of being accurately positioned on the first workpiece W _1, the mounted state alone. Then, in step S36, a position adjustment end signal is output, and a series of position adjustment operations ends. Note that with the output of such a positioning completion signal, activates the adhesive attachment mechanism, not shown, adhesive between the first workpiece W ₁ and the second workpiece W ₂ is attached, both They will be fixed to each other.

Further, in step S30 described above, if it is determined that NO, that is, when the current position P _P is determined to still Do not coincide with the target position P _O, at step S38, the target position P _O and the current in an intermediate position between the position P _P, the intermediate stopping position P _I {= (current position P _P - the target position P _O) / n, where 1 <
Calculate n ≦ 2｝. Further, in step S40, the calculating the moving force required to move the second workpiece W ₂ from the current position P _P to the intermediate stop position P _I.

Thereafter, in step S42, based on the difference between the target position P _O and the current position P _P, the second moving direction of the work W ₂ selected, in step S44, the second moving direction of the work W ₂ Determine. That is, in step S44, the second
Of when the moving direction of the work W ₂ is determined to be and the right in the drawing, at step S46, the corresponding first air cylinder mechanisms 16 located on the upstream side with respect to the moving direction 1
The directional control valve 26 outputs a control signal to the first electropneumatic control valve 34 so that working air is output from the first air output port 26a.

As a result, the working air is gradually introduced into the first cylinder body 16a of the first air cylinder mechanism 16 from the first air introduction port 16d. With the introduction of the working intake air, the biasing forces of the first and second air cylinder mechanisms 16 and 18 that have been balanced so far are superior to the biasing force of the first air cylinder mechanism 16. Accordance connexion, a first piston rod 16b of the first air cylinder mechanism 16 in response to that is gradually moved to the right in the figure, the second work W ₂ is pushed to the first gripping claws 16c, toward right in the drawing, i.e., toward the intermediate stop position P _I, a possible gradual movement.

Then, in step S48, whether the second workpiece W ₂ reaches the intermediate stop position P _I is determined. Step S48
If NO is determined in, i.e., when the second workpiece W ₂ is still determined not to have reached the intermediate stop position P _I, the process returns to step S44 mentioned above, again do this following steps I do.

On the other hand, if YES is determined in step S48, i.e., if the second workpiece W ₂ is determined to have reached the intermediate stop position P _I, the process proceeds to step S50, the first and second electropneumatic The control signal is output to the control valves 34 and 36 so that the working air is not output from the corresponding first and second direction switching valves 26 and 30. As a result, the first and second air cylinders 16, 18
Biasing force at the time of the balance, so that the movement of the second work W ₂ is stopped of. Here, this stop position is
Friction and air compression of the sliding portion of the air cylinder mechanism, the response or the like of the electro-pneumatic control valve, may be filed that overshoot the calculated intermediate stop position P _I.

Thereafter, the process returns to the above-described step S26, and the subsequent control procedures are executed again. That is, the intermediate stopping position P _I is that reached by the execution of the control procedure up to step S50, step
Again by the execution of S26, the current position P _P next to the new second workpiece W _2, between the new current position P _P and the target position P _O, with the distance D is calculated, a new calculated intermediate stop position P _P is, so that the second movement control of the work W ₂ until the new intermediate stop position P _P is executed.

The setting of such a new intermediate stop position P _P
In step S30, if the distance D between the intermediate stop position P _P and the target position P _O immediately before is determined to NyuTsuta the target position within the standard A, i.e., the second workpiece W ₂ is substantially The process is executed until it is determined that the target position P _O has been reached. That is, such an intermediate stop position repeatedly P _I is calculated, by repeatedly executing the movement control to the intermediate stop position P _I, the second workpiece W ₂ is adjusted to progressively target position P _O Will be.

On the other hand, in step S44 described above, the second workpiece W
If it is determined that the _second moving direction is the left direction, the process proceeds to step S52, where the second direction switching valve 30 corresponding to the second air cylinder mechanism 18 located on the upstream side with respect to the moving direction.
At the time, a control signal is output to the second electropneumatic control valve 36 so that working air is supplied from the first air output port 30a. Then, the process proceeds to step S48 described above, in the manner described above, to perform the second movement control of the work W ₂ to the intermediate stop position P _I.

As described in detail above, in this embodiment, a pair of air cylinder mechanisms 16 and 18, at a second workpiece W ₂ to be adjusted located between, by arranging in opposition to each other, respectively gripping claws 16c provided on, so that it is gripped from both sides of the second workpiece W ₂ by 18c. Also, in state where the grasped a second workpiece W _2, the state two air cylinder mechanism 16, 18 which keep the thrust balance, upstream with respect to the second moving direction of the work W ₂ for the positioning By increasing the amount of working air introduced into the air cylinder mechanism located at the position (1), the thrust balance is gradually lost. As a result, when the second workpiece W _2, but this is to slide on the first workpiece W _1, which is placed is uniformly rather than speed increases, as shown in FIG. 3, first, It moves at a very slow speed (slowly moving region A), and then rapidly increases in speed (a high speed moving region B). By using this very low speed movement region A, the second position control of the work W ₂ it will be executed very precisely. Then, the electropneumatic control valves 34, 36
At the intermediate stop position P _I between the target position P _O and the current position P _P
One担加by the compression side by reduced pressure is stopped, the stopped position (i.e., the new current position) the midpoint between the target position P _O, defined again as an intermediate stop position P _I, the newly defined intermediate stop by repeating the movement of the second workpiece W ₂ to the position P _I, the target position P _O to a second workpiece W ₂ a pair of gripping claws 16c, to be moved in a state of gripping with 18c can become. In this way, the second position adjustment of the workpiece W ₂ becomes possible in a state of gripping the same.

As described above, the position adjusting device of this embodiment,
And according to the position adjustment method, can be reduced in size and weight of the device itself since it is the second gripping and positioning of the workpiece W ₂ by a pair of air cylinder mechanisms 16, 18 are opposed to each other, the cost reduction due to the number of parts reduced Can also be achieved.

It is needless to say that the present invention is not limited to the configuration of the above-described embodiment, but can be variously changed without departing from the gist of the present invention.

For example, in one embodiment described above, the second workpiece
The position detection of the W _2, has been described so as to perform by detecting the projected position of the first piston rod 16b through the position sensor 50, the present invention is not limited to such a configuration, for example, , the second photographing the workpiece W _2, the position output of the result of the image processing by the image processing apparatus may be configured so as to detect the position.

In the above-described embodiment, the first and second directional control valves 26 and 30 are both controlled by the corresponding first and second electropneumatic control valves 34 and 36, respectively. But,
The present invention is not limited to such a configuration, and may be any device that is controlled by the electropneumatic control valve of at least one of the direction switching valves 26 and 30.

[Effects of the Invention] As described above in detail, according to the present invention, by providing a common drive source for gripping and moving a work,
The size of the entire apparatus can be reduced, and the cost can be reduced.

[Brief description of the drawings]

FIG. 1 is a front view schematically showing a configuration of a position adjusting apparatus to which an embodiment of a position adjusting method according to the present invention is applied; FIG. 2 shows a control procedure for performing an embodiment of the position adjusting method. FIG. 3 is a diagram showing an operation state of the gripping claws at the time of position adjustment. In the figure, 10: position adjusting device, 12: device main body, 12a: fixed block, 12b; 12c: support block, 12d: ceiling block,
14: fixing jig, 16: first air cylinder mechanism, 16a: first cylinder body, 16b: first piston rod, 16c ...
First gripping claw, 16d; 16e: air introduction port, 16f: detected part, 18: second air cylinder mechanism, 18a: second cylinder body, 18b: second piston rod, 18c: second grip Claw, 18d; 18e: air introduction port, 20: second air cylinder mechanism, 20a: third cylinder body, 20b: third piston rod, 20c: second holding portion, 20d: air introduction port, 22 ... Air supply source, 24 ... first air supply path, 26 ... first
Directional switching valve, 28 second air supply path, 30 second directional switching valve, 32 third air supply path, 34 second electropneumatic control valve, 36 second electropneumatic control Valve, 38 ... connecting valve, 40; 42; 44; 46
... air supply path, 48 ... control unit, 50 ... position sensor, 52
... an amplifier.

Claims (1)

(57) [Claims] A pair of air cylinders disposed on both sides of the work are driven to temporarily hold the work from both sides, and the work is gripped from both sides by gripping claws provided on the work.
And a second step of determining the moving direction of the work from the temporary placement position to the target position; and driving an air cylinder positioned upstream with respect to the moving direction of the work determined in the second step. And a third step of moving the work to a target position. The third step includes: a first sub-step of detecting a current position of the work; and a work detected in the first sub-step. A second sub-step of calculating an intermediate stop position located at an intermediate position from the current position to the target position, a third sub-step of moving the work to the intermediate stop position, and a third sub-step. A fourth sub-step of judging whether or not a distance between the position of the moved workpiece and the target position is within a predetermined standard; and in the fourth sub-step, the distance is equal to the predetermined standard. Get inside If it is determined that it is not, the first
Returning to the sub-step, in the fourth sub-step, a fifth sub-step of repeatedly executing the movement of the work until it is determined that the separation distance falls within a predetermined standard; and in the fourth sub-step, And a sixth sub-step of determining that the workpiece has reached the target position when it is determined that the separation distance falls within the predetermined standard.