JP2017013201A - Positioning device and positioning method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a positioning device that can position a plate-like member with accuracy higher than positioning accuracy at the time of conveying the plate-like member to the positioning device.SOLUTION: A jig for assembling comprises: a supporting portion 110 that positions a plate-like structural member 200 having a pair of positioning holes 220 formed at both ends thereof and supports a lower surface 200a of the plate-like structural member 200; and a pair of positioning pins 120a to be inserted into the pair of positioning holes 220. Each of the pair of positioning pins 120 is formed in a taper shape in which an outer diameter thereof gradually reduces from a base end part 120c toward a tip part 120d. An outer diameter OD1 of the base end part 120c is smaller than inner diameters ID1 of the positioning holes 220. Each of the pair of positioning pins 120a is arranged so that the base end part 120c is inserted into the positioning holes 220, with the lower surface 200a of the plate-like structural member 200 supported by the supporting portion 110.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a positioning device and a positioning method for positioning a plate-like member on a support portion.

2. Description of the Related Art Conventionally, an automatic positioning system that positions a large structural member such as an aircraft fuselage using a robot having an articulated arm is known (see, for example, Patent Document 1).
Patent Document 1 discloses disposing a body part on a support body attached to a robot arm and positioning the body part disposed on the support body to another body part by a robot arm.

JP 2011-136416 A

  However, when the structural member is positioned by the robot arm as disclosed in Patent Document 1, the accuracy of positioning the structural member depends on the positioning accuracy of the robot arm itself. Therefore, when high-precision positioning is required, such as a structural member for an aircraft, the robot arm itself may not be able to perform positioning with the required accuracy.

  The present invention has been made in view of such circumstances, and in a positioning device that positions in a state where the first surface of the plate-like member is supported, the positioning accuracy when the plate-like member is transported to the positioning device. Another object of the present invention is to provide a positioning device and a positioning method capable of positioning a plate-like member with high accuracy.

In order to solve the above-described problems, the present invention employs the following means.
A positioning device according to an aspect of the present invention positions a plate-like member having a pair of positioning holes formed at both ends, and supports the first surface of the plate-like member, and is attached to the support portion. And a pair of positioning projections inserted into the pair of positioning holes from the first surface to the second surface of the plate-like member, each of the pair of positioning projections being from the proximal end portion to the distal end portion The outer diameter of the base end portion gradually decreases toward the outer surface, the outer diameter of the base end portion is smaller than the inner diameter of the positioning hole into which the base end portion is inserted, and each of the pair of positioning projections is The base end portion is arranged so as to be inserted into the positioning hole in a state where the lower surface of the plate-like member is supported by the support portion.

According to the positioning device according to one aspect of the present invention, the outer diameter of the distal end portion of the pair of positioning projections attached to the support portion is smaller than the outer diameter of the proximal end portion. Therefore, even if the positioning accuracy when the plate-shaped member is transported to the positioning device by a gripping device that grips the plate-shaped member is not sufficient, a pair of positioning projections are formed in the pair of positioning holes formed in the plate-shaped member. The tip of the part can be inserted.
In addition, since the outer peripheral surfaces of the pair of positioning protrusions are tapered, the center axis of the positioning hole and the center axis of the positioning protrusion gradually approach each other as the pair of positioning protrusions are inserted into the pair of positioning holes. To go. When the first surface of the plate-like member is supported by the support portion and the base end portions of the pair of positioning projections are inserted into the pair of positioning holes, the center axis of the positioning hole and the center axis of the positioning projection portion Is within a predetermined range. Here, “within a predetermined range” means a range that is not more than half of the difference between the inner diameter of the positioning hole and the outer diameter of the proximal end portion of the positioning projection.

As described above, according to the positioning device according to one aspect of the present invention, even if the positioning accuracy when the plate-like member is transported to the positioning device by the gripping device or the like is not sufficient, The positioning protrusion can be inserted, and the plate-like member can be positioned with high accuracy in a state where the first surface of the plate-like member is supported by the support portion.
Therefore, in the positioning device that positions in a state where the first surface of the plate member is supported, the plate member can be positioned with higher accuracy than the positioning accuracy when the plate member is transported to the positioning device.

In the positioning device according to one aspect of the present invention, the support unit may include an adjustment unit that adjusts a first arrangement interval between the one positioning projection and the other positioning projection.
By doing so, even when an error occurs in the arrangement interval of the pair of positioning holes formed in the plate-like member, the arrangement interval of the pair of positioning projections is adjusted to make the pair of positioning projections a pair of It can be appropriately inserted into the positioning hole.

In the positioning device having the above-described configuration, the measurement apparatus includes a measurement unit that measures a second arrangement interval between the one positioning hole and the other positioning hole, and the adjustment unit includes the second arrangement interval measured by the measurement unit. The first arrangement interval may be adjusted so as to match.
By doing in this way, the arrangement interval of a pair of positioning projection parts can be adjusted based on the measurement result of the arrangement interval of a pair of positioning holes.

  In the positioning device according to one aspect of the present invention, when the direction connecting the pair of positioning holes is the first direction and the direction orthogonal to the first direction is the second direction, the first of the positioning holes is The inner diameter in one direction is larger than the inner diameter in the second direction, and the support portion has an adjustment portion that adjusts the position in the first direction of the one positioning protrusion inserted into the one positioning hole. The adjusting portion may be configured to move the one positioning protrusion in a direction away from the other positioning protrusion in a state where the first surface of the plate-like member is supported by the support portion. Good.

  According to this configuration, when the direction connecting the pair of positioning holes is the first direction and the direction orthogonal thereto is the second direction, the inner diameter in the first direction of one positioning hole is larger than the inner diameter in the second direction. Even when an error occurs in the arrangement interval of the pair of positioning holes in the first direction, the pair of positioning projections can be inserted into the pair of positioning holes. Since the inner diameter of one positioning hole in the first direction is large, the plate-like member is easily bent downward due to its own weight, but it is possible to move the one positioning projection from the other positioning projection by the adjusting unit. it can. Therefore, the bending due to the weight of the plate-like member can be suppressed or eliminated by the tension in the first direction that acts when one positioning projection is separated from the other positioning projection.

In the above configuration, the adjustment unit includes a load measurement unit that measures a load required to move the one positioning projection in a direction away from the other positioning projection, and the adjustment unit includes the load measurement unit. The position of the first positioning projection in the first direction may be adjusted according to the load measured by the first positioning projection.
By doing in this way, since the position of one positioning projection part in the 1st direction is adjusted according to the load measured by a load measurement part, it can control the fault which excessive tension applies to a plate-shaped member. it can.

  In the positioning method according to one aspect of the present invention, the plate-like member is positioned on a support portion that supports the first surface of the plate-like member, and the plate-like member has a pair of positioning holes at both ends. The support portion is formed with a pair of positioning projections that are inserted into the pair of positioning holes from the first surface to the second surface of the plate-like member, each of the pair of positioning projections. Has a tapered shape in which the diameter gradually decreases from the base end portion toward the tip end portion, and the outer diameter of the base end portion is smaller than the inner diameter of the positioning hole into which the base end portion is inserted, and the plate shape An insertion step of inserting each of the pair of positioning holes into the tip end portions of the pair of positioning projections in a state where the member is gripped by a gripping device, and each of the pair of positioning holes by the insertion step is the pair of positioning holes. The tip of the positioning protrusion In the inserted state to parts, and a positioning step of inserting the proximal end portion to the positioning hole.

  In the insertion step of the positioning method according to one aspect of the present invention, the outer diameter of the distal end portions of the pair of positioning projections attached to the support portion is smaller than the outer diameter of the proximal end portion, so Even when the positioning accuracy during transportation is not sufficient, the tip ends of the pair of positioning projections can be inserted into the pair of positioning holes formed in the plate-like member.

  Further, in the positioning step, since the outer peripheral surfaces of the pair of protrusions are tapered, as the pair of protrusions are inserted into the pair of positioning holes, the center axis of the positioning hole and the center axis of the positioning protrusion are Gradually approaches. Then, when the first surface of the plate-like member is supported by the support portion and the base end portions of the pair of projection portions are inserted into the pair of positioning holes, the center axis of the positioning hole and the center axis of the positioning projection portion Is within a predetermined range. Here, “within a predetermined range” means a range that is not more than half of the difference between the inner diameter of the positioning hole and the outer diameter of the proximal end portion of the positioning projection.

As described above, according to the positioning method according to one aspect of the present invention, even if the positioning accuracy when the plate-shaped member is transported to the positioning device is not sufficient, the pair of positioning protrusions are provided in the pair of positioning holes. In addition to being able to be inserted, the plate member can be positioned with high accuracy in a state where the first surface of the plate member is supported by the support portion.
Therefore, when positioning the plate-shaped member on the support portion while supporting the first surface of the plate-shaped member, the plate-shaped member is positioned on the support portion with higher accuracy than the positioning accuracy when the plate-shaped member is transported to the support portion. Can do.

  According to the present invention, in a positioning device that positions in a state where the first surface of the plate-like member is supported, positioning that can position the plate-like member with higher accuracy than the positioning accuracy when the plate-like member is transported to the positioning device. An apparatus and positioning method can be provided.

It is a perspective view which shows the jig | tool for an assembly. It is a top view which shows a plate-shaped structure member. It is a perspective view which shows the jig | tool for an assembly of the state which positioned the plate-shaped structure member. It is a top view which shows an assembly system. It is a top view which shows an assembly system. It is a top view which shows an assembly system. It is AA arrow sectional drawing of the positioning part shown in FIG. It is BB arrow sectional drawing of the positioning part shown in FIG. It is a longitudinal cross-sectional view which shows a positioning pin. It is a longitudinal cross-sectional view which shows a slide mechanism. It is a top view which shows the plate-shaped structure member of 3rd Embodiment. It is a longitudinal cross-sectional view which shows the assembly jig | tool in which the plate-shaped structural member shown in FIG. 11 was installed. It is a longitudinal cross-sectional view which shows the assembly jig | tool in which the plate-shaped structural member shown in FIG. 11 was installed. It is a longitudinal cross-sectional view which shows the assembly jig | tool in which the plate-shaped structural member shown in FIG. 11 was installed.

[First Embodiment]
Below, the assembly system 600 concerning 1st Embodiment of this invention is demonstrated with reference to drawings.
In the assembly system 600 of this embodiment, a plurality of plate-like structural members 200 (plate-like members) having a pair of positioning holes 220 and 221 formed at both ends in the long side direction are used as an assembly jig 100 (positioning device). This is a system for positioning and assembling a plurality of plate-like structural members 200 by processing such as riveting.

An assembly jig 100 shown in FIG. 1 is a device for positioning a plurality of plate-like structural members 200 in which a pair of positioning holes 220 and 221 are formed at both ends in the long side direction.
As shown in FIG. 1, the assembling jig 100 is attached to the support unit 110 including a pair of first support members 110 a and a plurality of second support members 110 b, and has a plate-like structure on the support unit 110. A pair of positioning portions 120 and 121 for positioning the member 200 is provided.
The pair of first support members 110a are long members arranged in parallel along the axis X, and are fixed to the installation surface on which the support unit 110 is installed by fastening bolts (not shown) or the like.

The plurality of second support members 110b are members that have one end fixed to one of the pair of first support members 110a and the other end fixed to the other of the pair of first support members 110a. As shown in FIG. 1, each of the plurality of second support members 110 b is arranged in parallel along an axis Y that is orthogonal to the axis X.
As shown in FIG. 1, the second support member 110 b has an arch shape in which the central portion along the axis Y protrudes from both ends with respect to the installation surface on which the first support member 110 a is installed. The reason why the second support member 110b has an arch shape with a curvature is to support the lower surface of the plate-like structural member 200 along the shape. The plurality of second support members 110 b support the lower surface (first surface) of the plate-like structural member 200 at a plurality of locations along the axis X.

  The pair of positioning portions 120 and 121 are disposed at the same position along the axis Y. Three pairs of positioning portions 120 and 121 are formed at three different positions along the axis Y on the second support member 110b on both ends along the axis X. The three plate-like structural members 200 can be positioned by the three pairs of positioning portions 120 and 121.

As shown in FIG. 2, the plate-like structural member 200 is a plate-like member having a rectangular shape in plan view and having a pair of positioning holes 220 and 221 formed at both ends in the long side direction. A pair of projecting portions 210 and 211 formed so as to project outward are formed at both ends in the long side direction of the plate-like structural member 200. The pair of positioning holes 220 and 221 are formed in the pair of projecting portions 210 and 211.
As shown in FIG. 2, the direction (first direction) connecting the pair of positioning holes 220 and 221 coincides with the long side direction of the plate-like structural member 200.
As shown in the perspective view of FIG. 3, the three plate-like structural members 200 are positioned on the support portion 110 by three pairs of positioning portions 120 and 121 arranged at three different positions along the axis Y. Is done.
In addition, although the plate-shaped structural member 200 shown in FIG. 2 shall be a rectangular shape in planar view, another aspect may be sufficient. For example, the plate-like structural member 200 may have a pair of projecting portions 210 and 211 formed at both ends of a trapezoidal or other shape member.

  The plate-like structural member 200 of the present embodiment is a long structural member used for an aircraft fuselage or main wing, for example. Various lengths can be adopted as the length in the long side direction and the short side direction. For example, the long side direction is about 8 m to 10 m, and the short side direction is about 2 m. Moreover, the thickness of the plate-shaped structural member 200 is 3 mm-5 mm, for example.

Various materials can be used as the material of the plate-like structural member 200, for example, an aluminum alloy.
In addition, the plate-like structural member 200 shown in FIG. 2 has no through-holes. However, the plate-like structural member 200 has one or more through-holes (for example, a plurality of plate-like structural members 200 used in an aircraft fuselage). It is good also as what formed the through-hole for window attachment formed in (3).

Next, with reference to FIGS. 4 to 6, a process of positioning the plate-like structural member 200 on the assembly jig 100 by the assembly system 600 will be described.
As shown in FIG. 4, the assembly system 600 includes an assembly jig 100, a plate-like structural member 200, a pair of gripping devices 300 and 301 that move while holding the plate-like structural member 200, and a plate-like structure. A supply base 400 for temporarily holding the member 200 and a control device 500 for controlling the assembly system 600 are provided.

The pair of gripping devices 300 and 301 are vertical articulated robots, and are devices that can position the suction hand portions 300a and 301a attached to the tip in an arbitrary position in an arbitrary position in the three-dimensional space.
The suction hand portions 300a and 301a are configured to suck the upper surface (second surface) of the plate-like structural member 200 by the action of negative pressure.
In addition, imaging devices 300b and 301b (measurement units) are attached to the distal ends of the gripping devices 300 and 301.

The imaging device 300 b captures the protrusion 210 of the plate-like structural member 200 to acquire image information and transmits it to the control device 500. The control device 500 calculates the position of the positioning hole 220 formed in the protruding portion 210 based on the image information received from the imaging device 300b and the position and orientation of the imaging device 300b attached to the gripping device 300.
Similarly, the imaging device 301 b captures the protruding portion 211 of the plate-like structural member 200 to acquire image information, and transmits the image information to the control device 500. The control device 500 calculates the position of the positioning hole 221 formed in the protruding portion 211 based on the image information received from the imaging device 301b and the position and orientation of the imaging device 301b attached to the gripping device 301.

The pair of gripping devices 300 and 301 moves the suction hand portions 300a and 301a from the initial position shown by the solid line in FIG. 4 to the position shown by the broken line in FIG. 4 and moves the upper surface of the plate-like structural member 200 by the action of negative pressure. Adsorb.
As shown in FIG. 5, the pair of gripping devices 300 and 301 cooperate with each other in a state in which both ends in the long side direction of the long plate-like structural member 200 are attracted to the suction hand portions 300 a and 301 a. The plate-like structural member 200 held on the supply base 400 is moved toward the assembly jig 100.

  As shown in FIG. 6, the pair of gripping devices 300 and 301 includes a plate-like structural member 200 such that the pair of positioning holes 220 and 221 are disposed above the pair of positioning portions 120 and 121 of the assembly jig 100. Move. Thereafter, the pair of gripping devices 300 and 301 moves the plate-like structural member 200 downward so that the pair of positioning holes 220 and 221 are positioned in the pair of positioning portions 120 and 121.

Next, the positioning portions 120 and 121 included in the assembly jig 100 will be described with reference to FIGS. 7 is a cross-sectional view taken along line AA of the positioning unit 120 shown in FIG. 6, FIG. 8 is a cross-sectional view taken along line BB of the positioning unit 121 shown in FIG. 6, and FIG. 9 shows positioning pins 120a and 120b. FIG.
As shown in FIG. 7, the positioning part 120 includes a positioning pin 120a (positioning protrusion) inserted into the positioning hole 220 of the plate-like structural member 200, and an attachment member 120b for attaching the positioning pin 120a to the second support member 110b. Is provided.

Hereinafter, only one of the three pairs of positioning portions 120 and 121 shown in FIGS. 4 to 6 will be described, but the other two sets of structures are the same, and the description thereof is omitted.
The examples shown in FIGS. 4 to 6 are examples in which one plate-like structural member 200 is installed in the assembling jig 100. However, the assembly system 600 of this embodiment has two other plate-like members. It is assumed that the structural member 200 can be continuously supplied to the supply base 400 to the other two sets of positioning portions 120 and 121, and description thereof will be omitted.

  The mounting member 120b is fastened to the second support member 110b by a plurality of fastening bolts, and the positioning pin 120a is fastened to the mounting member 120b by a plurality of fastening bolts. Thus, the positioning pin 120a is attached to the second support member 110b via the attachment member 120b.

As shown in FIG. 7, the positioning pin 120a is a member formed in an axial shape extending along the axis Z1, and is inserted into the positioning hole 220 from the lower surface 200a to the upper surface 200b of the plate-like structural member 200. It is.
As shown in FIG. 9, the positioning pin 120a has a tapered shape in which the outer diameter gradually decreases from OD1 to OD2 from the base end portion 120c positioned below to the tip end portion 120d. The portion from the base end portion 120c to the tip end portion 120d of the positioning pin 120a has a truncated cone shape with a circular cross section.

The taper angle θ of the taper-shaped portion shown in FIG. 9 (an angle formed by a line extending in the vertical direction and the outer peripheral surface of the taper shape) is preferably 5 degrees or more and 45 degrees or less.
By setting the taper angle θ to 5 degrees or more, the positioning pin 120a and the positioning pin 121a may be inserted into the positioning holes 220 and 221 with respect to the positioning accuracy of the plate-like structure member 200 by the gripping devices 300 and 301. It can be raised enough.
Further, by setting the taper angle θ to 45 degrees or less, it is possible to suppress a problem that the positioning holes 220 and 221 are caught by the tapered portion and the positioning pins 120a and 121a are not inserted up to the base end portions 120c and 121c.

  As shown by a solid line in FIG. 7, the positioning pin 120a is arranged such that the base end portion 120c is inserted into the positioning hole 220 in a state where the lower surface 200a of the plate-like structural member 200 is supported by the second support member 110b. ing. As shown in FIG. 7, the outer diameter OD1 of the base end portion 120c is smaller than the inner diameter ID1 of the positioning hole 220 into which the base end portion 120c is inserted.

  The difference between the inner diameter ID1 and the outer diameter OD1 is not more than twice the positioning error (for example, 0.2 mm) allowed when the assembly jig 100 positions the plate-like structural member 200. By doing in this way, the clearance gap formed between the outer peripheral surface of the base end part 120c and the inner peripheral surface of the positioning hole 220 is maintained below a positioning error.

  As shown in FIG. 7, the plate-like structural member 200 is moved downward by the gripping devices 300 and 301 in the order of position P1, position P2, and position P3 while being gripped by the suction hand portion 300a. When the positioning accuracy of the gripping devices 300 and 301 is larger than an allowable positioning error, if the outer diameter of the distal end portion 120d of the positioning pin 120a is the same as the outer diameter OD1 of the proximal end portion 120c, the positioning hole 220 at the position P1. The tip portion 120d cannot be placed inside the region where the is placed. Therefore, the leading end 120d of the positioning pin 120a cannot be inserted into the positioning hole 220.

  Therefore, the outer diameter OD2 of the distal end portion 120d of the positioning pin 120a of the present embodiment is smaller than the outer diameter OD1 of the proximal end portion 120c. Therefore, as shown in FIG. 7, the front end 120d is arranged inside the region where the positioning hole 220 is arranged at the position P1. Therefore, even if the positioning accuracy when the plate-shaped structural member 200 is transported to the assembly jig 100 is not sufficient, the tip of the positioning pin 120a is inserted into the positioning hole 220 formed in the plate-shaped structural member 200. can do.

As shown in FIG. 7, when the gripping devices 300 and 301 move the plate-shaped structural member 200 downward from the position P1, the tip portion 120d of the positioning pin 120a is inserted into the positioning hole 220, and the plate-shaped structural member 200 is positioned. Move to P2 (insertion step).
At the position P2, the inner peripheral surface of the positioning hole 220 contacts the tapered outer peripheral surface of the positioning pin 120a. At the position P2, the axis Z2 serving as the central axis of the positioning hole 220 is separated from the axis Z1 serving as the central axis of the positioning pin 120a by a distance d1.

  When the gripping devices 300 and 301 move the plate-shaped structural member 200 further downward from the position P2, the axis Z2 of the positioning hole 220 is changed to the axis Z1 of the positioning pin 120a by the reaction force received from the tapered outer peripheral surface of the positioning pin 120a. The plate-like structural member 200 moves in the direction approaching (positioning step). When the plate-like structural member 200 moves to the position P3 and the base end portion 120c of the positioning pin 120a is inserted into the positioning hole 220, the distance between the axis Z2 of the positioning hole 220 and the axis Z1 of the positioning pin 120a is Less than the allowable positioning error.

After the three plate-like structural members 200 are positioned by the three pairs of positioning pins 120a and 121a, the three plate-like structural members 200 are assembled by processing such as riveting.
After the three plate-like structural members 200 are assembled, the protrusions 210 and 211 included in the three plate-like structural members 200 are cut by a cutting device (not shown). The protrusions 210 and 211 are cut because they are unnecessary portions as the final product.

  Thus, the positioning holes 220 and 221 are formed in the protruding portions 210 and 211 that are cut because they are unnecessary portions as the final product. Therefore, the protrusions 210 and 211 that are not used as a final product can be used for positioning for accurate assembly.

In the above description, the gripping devices 300 and 301 are configured to move the plate-like structural member 200 downward from the position P2 to the position P3 while gripping the plate-like structural member 200. Also good.
For example, the state in which the plate-like structural member 200 is sucked by the suction hand portions 300a and 301a at the position between the positions P2 and P3 is released without maintaining the state where the plate-like structural member 200 is held until the position P3. You may make it do. In this case, the plate-like structural member 200 falls from the suction hand portions 300a and 301a by its own weight at a position between the position P2 and the position P3, and moves to the position P3.

As described above, the structure of the positioning unit 120 has been described with reference to FIG. 7. However, the structure of the positioning unit 121 shown in FIG.
Positioning pins 121a, mounting members 121b, proximal end portions 121c, and distal end portions 121d shown in FIG. 8 correspond to positioning pins 120a, mounting members 120b, proximal end portions 120c, and distal end portions 120d shown in FIG. 7, respectively.
Further, the axis Z3 as the central axis of the positioning pin 121a shown in FIG. 8 and the axis line Z4 as the central axis of the positioning hole 221 and the distance d2 between the axis Z3 and the axis Z4 are respectively the centers of the positioning pins 120a shown in FIG. This corresponds to the axis line Z1 serving as the axis, the axis line Z2 serving as the central axis of the positioning hole 220, and the distance d1 between the axis line Z1 and the axis line Z2.

The operation and effects of the present embodiment described above will be described.
According to the assembly jig 100 of the present embodiment, the outer diameter OD2 of the distal end portions 120d and 121d of the pair of positioning pins 120a and 120b attached to the support portion 110 is smaller than the outer diameter OD1 of the base end portions 120c and 121c. . Therefore, even if the positioning accuracy when the gripping devices 300 and 301 transport the plate-like structural member 200 to the assembly jig 100 is not sufficient, the pair of positioning holes 220 and 220 formed in the plate-like structural member 200. The tip portions 120d and 121d of the pair of positioning pins 120a and 121a can be inserted into the 221.

  Further, since the outer peripheral surfaces of the pair of positioning pins 120a and 121a are tapered, the central axis Z2 of the positioning holes 220 and 221 is inserted as the pair of positioning pins 120a and 121a are inserted into the pair of positioning holes 220 and 221. , Z4 and the center axes Z1, Z3 of the positioning pins 120a, 121a gradually approach each other.

  When the lower surface 200a of the plate-like structural member 200 is supported by the support portion 110 and the base end portions 120c and 121c of the pair of positioning pins 120a and 121a are inserted into the pair of positioning holes 220 and 221, the positioning holes The distance between the central axes Z2 and Z4 of 220 and 221 and the central axes Z1 and Z3 of the positioning pins 120a and 121a is within a predetermined range. Within the predetermined range is within a range that is less than half of the difference between the inner diameter ID1 of the positioning holes 220 and 221 and the outer diameter OD1 of the base end portions 120c and 121c of the positioning pins 120a and 121a.

Thus, according to the assembly jig 100 of the present embodiment, even when the positioning accuracy when the plate-like structural member 200 is transported to the assembly jig 100 by the gripping devices 300 and 301 is not sufficient, The pair of positioning pins 120a, 121a can be inserted into the pair of positioning holes 220, 221 and the plate-like structural member 200 is positioned with high accuracy in a state where the lower surface 200a of the plate-like structural member 200 is supported by the support portion 110. can do.
Therefore, in the assembling jig 100 for positioning in a state where the lower surface 200a of the plate-like structural member 200 having a rectangular shape in plan view is supported, the positioning accuracy is higher than when positioning the plate-like structural member 200 to the assembling jig 100. The plate-like structural member 200 can be positioned with high accuracy.

[Second Embodiment]
Next, an assembly system according to a second embodiment of the present invention will be described with reference to the drawings.
The assembly system of the present embodiment is a modification of the assembly system 600 of the first embodiment, and is the same as that of the first embodiment, except as specifically described below.

The assembly jig 100 provided in the assembly system 600 of the first embodiment is one that does not move while the positioning pins 120a and 121a of the positioning units 120 and 121 attached to both ends of the support unit 110 are fixed.
On the other hand, the assembling jig of this embodiment does not move the positioning pin 121a of the positioning part 121 while being fixed, but moves the positioning pin 120a of the positioning part 120 in a direction approaching or separating from the positioning pin 121a. 130 (adjustment part) is provided.

  The arrangement interval in the long side direction of the pair of positioning holes 220 and 221 formed in the protrusions 210 and 211 at both ends of the plate-like structural member 200 is an error from the target position when the positioning hole 220 is formed in the protrusion 210. Further, it fluctuates due to an error from the target position when the positioning hole 221 is formed in the protruding portion 211. When this fluctuation exceeds an allowable error, the pair of positioning pins cannot be inserted into the pair of positioning holes 220 and 221.

  The slide mechanism 130 according to the present embodiment measures the arrangement interval between the pair of positioning holes 220 and 221 formed in the protrusions 210 and 211 at both ends of the plate-like structural member 200, and a pair of positioning pins according to the measurement result. It is a mechanism for adjusting the arrangement interval. By adopting this slide mechanism 130, even if the arrangement interval in the long side direction of the pair of positioning holes 220 and 221 fluctuates beyond an allowable error, a pair of positioning pins are inserted into the pair of positioning holes 220 and 221. Can be inserted.

  As shown in FIG. 10, the slide mechanism 130 includes a drive motor 131 fixed to the second support member 110b and a drive motor 131 inserted in a through hole (not shown) formed in the second support member 110b. A feed screw 132 coupled to the drive shaft, and a moving member 133 having a female screw engaged with the feed screw formed on the inner peripheral surface. The moving member 133 is attached to an attachment member 120b to which the positioning pin 120a is attached.

The slide mechanism 130 drives the drive motor 131 to rotate the feed screw 132, thereby moving the moving member 133 and the positioning pin 120a connected thereto in a direction close to the positioning pin 121a or away from the positioning pin 121a. It is something to be made.
The slide mechanism 130 adjusts the arrangement interval (first arrangement interval) in the long side direction between the one positioning pin 120a and the other positioning pin 121a by rotating the feed screw 132.

  In the assembly system according to the present embodiment, first, the projection 210 of the plate-like structure member 200 held on the supply base 400 is imaged by the imaging device 300b (measurement unit) and transmitted to the control device 500. The control device 500 calculates the position of the positioning hole 220 formed in the protruding portion 210 based on the image information received from the imaging device 300b and the position and orientation of the imaging device 300b attached to the gripping device 300.

  In the assembly system according to the present embodiment, the imaging unit 301b (measurement unit) images the protruding portion 211 of the plate-like structural member 200 held on the supply base 400, and transmits the image to the external control device. The control device calculates the position of the positioning hole 221 formed in the protruding portion 211 based on the image information received from the imaging device 301b and the position and orientation of the imaging device 301b attached to the gripping device 301.

  The control device 500 calculates the arrangement interval in the long side direction of the positioning hole 220 and the positioning hole 221 from the calculated position of the positioning hole 220 and the calculated position of the positioning hole 221. The control device 500 has an arrangement interval in the long side direction (second arrangement interval) between the positioning hole 220 and the positioning hole 221 and an arrangement interval in the long side direction (first arrangement interval) between the positioning pin 120a and the positioning pin 121a. An instruction for moving the positioning pin 120a is transmitted to the drive motor 131 so as to match.

  The drive motor 131 rotates the feed screw 132 based on the instruction received from the control device 500. As shown in FIG. 10, when the axis Z2 that is the central axis of the positioning hole 220 of the plate-like structural member 200 is separated from the axis Z1 that is the central axis of the positioning pin 120a, the axis Z1 is made to coincide with the axis Z2. The moving member 133 is moved toward the left in FIG.

  As described above, according to the present embodiment, even when an error occurs in the arrangement interval in the long side direction of the pair of positioning holes 220 and 221 formed in the plate-like structural member 200, the pair of positioning pins 120a. , 121a can be appropriately inserted into the pair of positioning holes 220, 221 by adjusting the arrangement interval in the long side direction of the pair of positioning pins 120a, 121a.

In the above description, the assembling system images the protrusions 210 and 211 by the imaging devices 300b and 301b attached to the front end sides of the gripping devices 300 and 301, but may be in other modes.
For example, the protrusions 210 and 211 may be imaged in advance by another imaging device fixed to an installation surface or the like in the vicinity of the supply base 400. In this case, the image information of the protrusions 210 and 211 preliminarily imaged by another imaging device is sent to the control device 500, and the control device 500 determines the positioning hole 220 formed in the protrusion 210 based on the image information. And the position of the positioning hole 221 formed in the protruding portion 211 are calculated.

[Third Embodiment]
Next, an assembly system according to a third embodiment of the present invention will be described with reference to the drawings.
The assembly system of the present embodiment is a modification of the assembly system of the second embodiment, and is the same as that of the second embodiment, except as specifically described below.

The pair of positioning holes 220 and 221 formed at both ends of the plate-like structural member 200 of the assembly system according to the second embodiment is a plane in which the inner diameter in the long side direction and the inner diameter in the short side direction of the plate-like structural member 200 coincide. The view was a circular hole.
On the other hand, the positioning hole 220 ′ formed at one end of the plate-like structural member 200 ′ of the assembly system of the present embodiment has an inner diameter ID2 in the long-side direction (first direction) of the plate-like structural member 200 ′. This is a hole larger than the inner diameter ID1 in the short side direction (second direction) orthogonal to.

  As shown in FIG. 11, the positioning hole 220 ′ formed at one end of the plate-like structural member 200 ′ is a hole whose inner diameter ID <b> 2 in the long side direction is larger than the inner diameter ID <b> 1 in the short side direction. is there. On the other hand, the positioning hole 221 formed at the other end of the plate-like structural member 200 ′ has a circular shape in plan view in which the inner diameter ID1 in the long side direction and the inner diameter ID1 in the short side direction coincide with each other. It is.

In the plate-like structural member 200 ′ of the present embodiment, the inner diameter ID2 in the long side direction of one positioning hole 220 ′ is larger than the inner diameter ID1 in the short side direction, so that the long side direction of the pair of positioning holes 220 ′ and 221 is Even when an error occurs in the arrangement interval, the pair of positioning pins 120a and 121a can be inserted into the pair of positioning holes 220 ′ and 221.
Specifically, by positioning the positioning hole 221 so that the positioning pin 121a is inserted, the positioning pin 120a can be inserted into the positioning hole 220 ′ having a wide insertable range in the long side direction.

  As described above, the positioning pin 120a can be inserted into the positioning hole 220 'by making the positioning hole 220' a long hole having a large inner diameter ID2 in the long side direction. On the other hand, since the inner diameter ID2 in the long side direction of the positioning hole 220 'is large, the plate-like structural member 200' is easily bent downward by its own weight until it comes into contact with the positioning pin 120a.

  FIG. 12 is a longitudinal sectional view showing the assembly jig 100 in which the plate-like structural member 200 ′ is installed. 300 and 301 are holding the plate-like structural member 200 ′. In this state, since the plate-like structural member 200 ′ is held by the holding devices 300 and 301, the plate-like structural member 200 ′ is not bent due to its own weight.

  On the other hand, FIG. 13 is a longitudinal sectional view showing the assembling jig 100 in which the plate-like structural member 200 ′ is installed. The gripping devices 300 and 301 show a state where the gripping of the plate-like structural member 200 ′ is released. In this state, since the holding of the plate-like structural member 200 ′ by the holding devices 300 and 301 is released, the plate-like structural member 200 ′ is bent downward by its own weight. This bending needs to be eliminated when the plate-like structural member 200 ′ is assembled with other members.

  The support part 110 of this embodiment includes a slide mechanism 130 (adjustment part) similar to that of the second embodiment in order to eliminate the downward deformation of the plate-like structural member 200 ′ due to its own weight. The slide mechanism 130 is a mechanism for adjusting the position of one positioning pin 120a inserted in one positioning hole 220 'in the long side direction.

In the slide mechanism 130, as shown in FIG. 13, the plate-like structural member 200 ′ is bent downward by its own weight while the lower surface (220a) of the plate-like structural member 200 ′ is supported by the second support member 110b. Then, the positioning pin 120a is moved in the direction of separating from the positioning pin 121a.
When the positioning pin 120a moves and the distance from the positioning pin 121a extends from L1 to L2, the state where the plate-like structural member 200 ′ is bent downward by its own weight is eliminated as shown in FIG.

If excessive tension acts on the plate-like structural member 200 ′ due to the movement of the positioning pin 120a, the plate-like structural member 200 ′ may be deformed or the positioning hole 220 ′ may be deformed.
In view of this, the slide mechanism 130 of the present embodiment is provided with a load measuring unit that measures the load required to move the positioning pin 120a in the direction of moving away from the positioning pin 121a. The slide mechanism 130 of the present embodiment adjusts the position (movement amount) of the positioning pin 120a in the long side direction so that the load measured by the load measuring unit does not exceed a predetermined set load. Thereby, deformation of the plate-like structural member 200 ′ and deformation of the positioning hole 220 ′ are suppressed.

100 Assembly jig (positioning device)
110 support part 110a first support member 110b second support member 120, 121 positioning part 120a, 121a positioning pin (positioning projection part)
120b, 121b Mounting member 120c, 121c Base end part 120d, 121d Tip part 130 Slide mechanism (adjustment part)
131 Drive motor 132 Feed screw 133 Moving member 200, 200 'Plate-like structure member (plate-like member)
200a Lower surface (first surface)
200b Upper surface (second surface)
210, 211 Protruding portion 220, 220 ′, 221 Positioning hole 300, 301 Grasping device 300a, 301a Suction hand portion 300b, 301b Imaging device (measurement portion)
400 supply base 500 control device 600 assembly system OD1, OD2 outer diameter ID1, ID2 inner diameter P1, P2, P3 position X, Y, Z1, Z2 axis

Claims (6)

A positioning device for positioning a plate-like member having a pair of positioning holes formed at both ends,
A support portion for supporting the first surface of the plate-like member;
A pair of positioning protrusions that are attached to the support and inserted into the pair of positioning holes from the first surface to the second surface of the plate-shaped member;
Each of the pair of positioning projections has a tapered shape in which the outer diameter gradually decreases from the proximal end portion toward the distal end portion,
An outer diameter of the base end portion is smaller than an inner diameter of the positioning hole into which the base end portion is inserted;
Each of the pair of positioning projections is a positioning device arranged such that the base end portion is inserted into the positioning hole in a state where the first surface of the plate-like member is supported by the support portion.   The positioning device according to claim 1, wherein the support portion includes an adjustment unit that adjusts a first arrangement interval between the one positioning protrusion and the other positioning protrusion. A measurement unit that measures a second arrangement interval between the one positioning hole and the other positioning hole;
The positioning device according to claim 2, wherein the adjustment unit adjusts the first arrangement interval so as to coincide with the second arrangement interval measured by the measurement unit. When the direction connecting the pair of positioning holes is the first direction and the direction orthogonal to the first direction is the second direction, the inner diameter in the first direction of one of the positioning holes is larger than the inner diameter in the second direction. Big
The support portion includes an adjustment portion that adjusts the position in the first direction of the one positioning projection portion inserted into the one positioning hole,
2. The adjustment unit according to claim 1, wherein the first positioning projection is moved away from the other positioning projection in a state where the first surface of the plate-like member is supported by the support. Positioning device. A load measuring unit that measures a load required for the adjusting unit to move the one positioning projection in a direction away from the other positioning projection;
The positioning device according to claim 4, wherein the adjustment unit adjusts a position of the one positioning projection in the first direction according to a load measured by the load measurement unit. A positioning method for positioning a plate-like member on a support portion that supports the first surface of the plate-like member,
The plate-like member has a pair of positioning holes at both ends,
A pair of positioning protrusions that are inserted into the pair of positioning holes from the first surface to the second surface of the plate-like member are formed on the support portion,
Each of the pair of positioning protrusions has a tapered shape with a diameter that gradually decreases from the proximal end portion toward the distal end portion,
An outer diameter of the base end portion is smaller than an inner diameter of the positioning hole into which the base end portion is inserted;
An insertion step of inserting each of the pair of positioning holes into the tip end portions of the pair of positioning protrusions in a state where the plate-like member is gripped by a gripping device;
A positioning method comprising: a positioning step of inserting the base end portion into the positioning hole in a state where each of the pair of positioning holes is inserted into the distal end portions of the pair of positioning projections by the insertion step.

Images