Positioning mechanism and positioning method

Abstract

Provided are a positioning mechanism and a positioning method for enabling automation of a processing site for various kinds of workpieces in small quantities. [Solution] A positioning mechanism 10 includes comprises a mounting plate 7D on which a mounting surface SM is set, and two guide rails 14 extending in an X direction (movement direction) at both ends in a Y direction (width direction) of the mounting surface SM. The width of a movement path R defined by the two guide rails 14 is slightly greater than the width of a vise fixing device 6. The two guide rails 14 enable the vice fixing device 6 to move in the X direction with a predetermined play in the Y direction between the two guide rails 14. The mounting plate 7D is provided with a horizontal overhanging plate 7DB. The horizontal overhanging plate 7DB is provided so as to protrude from the X-direction downstream side end part of the mounting plate 7D to the X-direction downstream side.

Description

Positioning mechanism and positioning method

[0001] The present invention relates to a positioning mechanism and a positioning method.

[0002] When machining a workpiece using a machining device such as a machining center, it is necessary to transport the workpiece to a machining area set up within the machining center, or to transport the workpiece from the machining area to outside the machining center. These transport operations have traditionally been performed manually, but automation using transport devices such as robot arms is progressing (for example, see Patent Document 1).

[0003] Utility Model Registration No. 3203369

[0004] However, when the shape of the workpiece changes, the position where the robot arm holds the workpiece must be adjusted, making it difficult to automate the machining process for small-lot, high-mix workpieces.

[0005] SUMMARY OF THE INVENTION In view of the above circumstances, the present invention aims to provide a positioning mechanism and a positioning method that enable automation of workpiece processing sites where small quantities of a wide variety of workpieces are produced.

[0006] The present invention provides a positioning mechanism capable of positioning a vise fastening device by sliding the vise fastening device from an upstream side to a downstream side along a movement path, the positioning mechanism comprising: two guide rails that define the movement path; a width direction positioning unit that aligns the position of the vise fastening device in the width direction; and a movement direction positioning unit that aligns the position of the vise fastening device in the movement direction. The width direction positioning unit comprises a first device side projection mechanism that is provided on the vise fastening device and protrudes downstream of the vise in the movement direction; and a first path side projection mechanism that is disposed between the two guide rails and can engage with the first device side projection mechanism when the vise fastening device moves downstream along the guide rails. The movement direction positioning unit comprises a second device side projection mechanism that is provided on the vise fastening device and protrudes downstream of the vise in the movement direction. The device is equipped with a side collision mechanism, and a second road-side collision mechanism that is arranged between the two guide rails and is engageable with the second device-side collision mechanism when the vise fixing device moves downstream along the guide rails, wherein the first device-side collision mechanism and the second device-side collision mechanism are aligned in a direction transverse to the moving path, the first road-side collision mechanism and the second road-side collision mechanism are aligned in a direction transverse to the moving path, the vise fixing device is aligned in the width direction of the moving path by the abutment between the first road-side collision mechanism and the first device-side collision mechanism, the vise fixing device is aligned in the moving direction of the moving path by the abutment between the second road-side collision mechanism and the second device-side collision mechanism, one of the abutment portions where the abutment occurs between the first road-side collision mechanism and the first device-side collision mechanism is convex, and the other abutment portion of the abutment portion is concave.

[0007] When the position of the vise fixing device in the movement direction deviates from the target position while the position of the vise fixing device in the width direction of the movement path is the target position, the collision between the first device side collision mechanism and the first road side collision mechanism occurs simultaneously with the collision between the second device side collision mechanism and the second road side collision mechanism, and when the position of the vise fixing device in the movement direction and the width direction deviates from the target position, it is preferable that the collision between the first device side collision mechanism and the first road side collision mechanism occurs before the collision between the second device side collision mechanism and the second road side collision mechanism.

[0008] The present invention provides a positioning mechanism capable of positioning a vise fixing device by sliding the vise fixing device from an upstream side to a downstream side along a movement path, the positioning mechanism comprising: two guide rails that define the movement path; a first device-side projection mechanism that is provided on the vise fixing device and protrudes downstream in the movement direction beyond the vise; and a second device-side projection mechanism that is provided on the vise fixing device and protrudes downstream in the movement direction beyond the vise, and when the vise fixing device moves downstream along the guide rails, the first device-side projection mechanism projects downstream in the movement direction beyond the vise. When a first road-side collision mechanism engageable with the side collision mechanism and a second road-side collision mechanism engageable with the second device-side collision mechanism when the vise fixing device moves downstream along the guide rail are defined, the first device-side collision mechanism and the second device-side collision mechanism are aligned in a direction transverse to the movement path, the first road-side collision mechanism and the second road-side collision mechanism are aligned in a direction transverse to the movement path, and the position of the vise fixing device in the width direction of the movement path is adjusted by the collision between the first road-side collision mechanism and the first device-side collision mechanism, When the side collision mechanism and the second device side collision mechanism collide with each other, the position of the vice fixing device in the movement direction of the movement path is aligned, and the position of the vice fixing device in the movement direction deviates from the target position, while the position of the vice fixing device in the width direction of the movement path is at the target position, the collision between the first device side collision mechanism and the first roadside collision mechanism occurs simultaneously with the collision between the second device side collision mechanism and the second roadside collision mechanism, and the first roadside collision mechanism and the first device side collision mechanism are separated from each other, When the second roadside collision mechanism and the second device side collision mechanism move apart, and the position of the vise fixing device in the movement direction and the width direction deviates from the target position, the first device side collision mechanism and the first roadside collision mechanism collide before the second device side collision mechanism and the second roadside collision mechanism collide, and one of the collision portions where the collision occurs between the first roadside collision mechanism and the first device side collision mechanism is convex, and the other collision portion of the collision portion is concave.

[0009] The present invention provides a positioning mechanism capable of positioning a vice fixing device by sliding the vice fixing device from the upstream side to the downstream side along a moving path, the positioning mechanism including two guide rails that define the moving path, a first path side projection mechanism that is disposed between the two guide rails and is engageable with a first device side projection mechanism provided on the vice fixing device when the vice fixing device moves downstream along the guide rails, and a second path side projection mechanism that is disposed between the two guide rails and is engageable with a first device side projection mechanism provided on the vice fixing device when the vice fixing device moves downstream along the guide rails. and a second road-side collision mechanism engageable with a second device-side collision mechanism provided on a vice fixing device, wherein when a first device-side collision mechanism is provided on the vice fixing device and protrudes downstream in the movement direction beyond the vice, and a second device-side collision mechanism is provided on the vice fixing device and protrudes downstream in the movement direction beyond the vice, the first device-side collision mechanism and the second device-side collision mechanism are aligned in a direction transverse to the movement path, and the first road-side collision mechanism and the second road-side collision mechanism are aligned in a direction transverse to the movement path, and the first road-side collision mechanism and the first device-side collision mechanism collide with each other to cause the movement path to be broken. When the position of the vise fixing device in the width direction of the moving path is adjusted, and the second road-side collision mechanism and the second device-side collision mechanism collide with each other, the position of the vise fixing device in the moving direction of the moving path is deviated from the target position, while the position of the vise fixing device in the width direction of the moving path is at the target position, the collision between the first device-side collision mechanism and the first road-side collision mechanism occurs simultaneously with the collision between the second device-side collision mechanism and the second road-side collision mechanism, and the first road-side collision mechanism and the When the first device side collision mechanism moves away and the second roadside collision mechanism moves away from the second device side collision mechanism, and the position of the vise fixing device in the movement direction and the width direction deviates from the target position, the first device side collision mechanism and the first roadside collision mechanism collide before the second device side collision mechanism and the second roadside collision mechanism collide, and one of the collision portions where the collision occurs between the first roadside collision mechanism and the first device side collision mechanism is convex, and the other collision portion of the collision portion is concave.

[0010] The first device side projection mechanism comprises a one-side guide surface formed downstream in the movement direction and engageable with the first road side projection mechanism, and a other-side guide surface formed downstream in the movement direction and engageable with the first road side projection mechanism, the one-side guide surface and the other-side guide surface being arranged to face each other, and it is preferable that the distance between the one-side guide surface and the other-side guide surface each becomes narrower as it moves from the downstream side to the upstream side in the movement direction.

[0011] The first road-side projection mechanism comprises a one-side guide surface formed downstream in the movement direction and engageable with the first device-side projection mechanism, and a other-side guide surface formed downstream in the movement direction and engageable with the first device-side projection mechanism, the one-side guide surface and the other-side guide surface being arranged to face each other, and it is preferable that the distance between the one-side guide surface and the other-side guide surface each becomes wider as it moves from the downstream side to the upstream side in the movement direction.

[0012] It is preferable that the device has a one-side guide member having the one-side guide surface and an other-side guide member having the other-side guide surface, and that the one-side guide member and the other-side guide member are aligned in a direction crossing the moving path.

[0013] Preferably, one of the first device-side projection mechanism and the first road-side projection mechanism is formed with the one-side guide surface and the other-side guide surface, and the other of the first device-side projection mechanism and the first road-side projection mechanism is provided with a curved surface that can engage with the one-side guide surface and the other-side guide surface. The curved surface preferably has an arc-shaped cross section. Furthermore, the curved surface is preferably a side surface of a cylinder, a semi-cylinder, a circular arc cylinder, or an elliptical arc cylinder.

[0014] It is preferable that the first roadside projection mechanism and the second roadside projection mechanism are aligned in the width direction of the moving path, that slopes are formed downward from the upper ends of the first roadside projection mechanism and the second roadside projection mechanism, that the slopes face the upstream side of the moving path and approach the upstream side of the moving path as they go from top to bottom.It is preferable that the first device-side projection mechanism and the second device-side projection mechanism are aligned in the width direction of the moving path, that the first roadside projection mechanism and the second roadside projection mechanism are aligned in the width direction of the moving path, and that in the moving direction, a downstream end of the first device-side projection mechanism protrudes downstream more than a downstream end of the second device-side projection mechanism.

[0015] It is preferable that one of the second roadside collision mechanism and the second device side collision mechanism has an abutment surface extending in the width direction, and that the other of the second roadside collision mechanism and the second device side collision mechanism abuts against the abutment surface, thereby aligning the vise fixing device in the movement direction of the movement path.

[0016] The apparatus preferably includes a rotating shaft provided to stand upright relative to the guide rail, and a door provided on the rotating shaft and switchable between a closed state that separates the movement path and an open state retracted from the closed state, the door being engageable directly or indirectly with the vise fixing device that moves along the guide rail, and the movement of the door from the open state to the closed state causes the vise fixing device to slide downstream along the guide rail by engaging with the door. The apparatus also preferably includes a first holding member provided on the vise fixing device and capable of holding a transport device, and a second holding member provided on the vise fixing device and capable of holding the transport device.

[0017] The device comprises a pivot shaft arranged to stand upright relative to the guide rail, a door arranged on the pivot shaft and switchable between a closed state that separates the travel path and an open state retracted from the closed state, and a locking mechanism that regulates the opening and closing operation of the door, wherein the door is capable of engaging directly or indirectly with the vise fixing device located on the guide rail, and when the door is in the closed state, it is preferable that the first roadside collision mechanism engages with the first device side collision mechanism, and the second roadside collision mechanism engages with the second device side collision mechanism.

[0018] The present invention is a positioning method for positioning the vise fixing device using the above-mentioned positioning mechanism, comprising: a moving step for moving the vise fixing device in the moving direction on the guide rail; a first abutment step performed by the moving step in which the first roadside collision mechanism and the first device side collision mechanism abut; and a second abutment step performed by the moving step in which the second roadside collision mechanism and the second device side collision mechanism abut, wherein the first abutment step is performed before the second abutment step or simultaneously with the second abutment step.

[0019] It is preferable that the method includes a transport step of using a transport mechanism to lift the vise fixing device on the moving path and transport the vise fixing device to another location, and that the transport step is performed on the vise fixing device in a state where the first road side collision mechanism and the first device side collision mechanism are in abutment and the second road side collision mechanism and the second device side collision mechanism are in abutment.

[0020] The positioning mechanism comprises a pivot shaft arranged to stand upright relative to the guide rail, and a door arranged on the pivot shaft that can be switched between a closed state that separates the movement path and an open state retracted from the closed state, and the door is capable of engaging directly or indirectly with the vise fixing device located on the guide rail, and in the movement step, when the door is switched from the open state to the closed state, it is preferable that the vise fixing device slides along the guide rail while engaged with the door.

[0021] Preferably, the positioning mechanism includes a locking mechanism that restricts the opening and closing of the door, the first roadside projection mechanism and the second roadside projection mechanism are aligned in the width direction of the moving path, and a slope is formed downward from the upper end of each of the first roadside projection mechanism and the second roadside projection mechanism, the slope facing upstream in the moving direction and extending toward the upstream side of the moving path as it extends from top to bottom, and the method further includes a carry-in step that uses the transport mechanism to return the vise fixing device located at another location to between the door in the closed state and the first roadside projection mechanism and the second roadside projection mechanism, and the opening and closing of the door is restricted by the locking mechanism during the carry-in step. It is also preferable that the carry-in step be performed so that the downstream end of the vise fixing device in the moving direction engages with the slope.

[0022] According to the present invention, it is possible to provide a positioning mechanism and a positioning method that enable automation of a machining site for small-lot, high-mix workpieces.

[0023] FIG. 1 is a plan view schematically showing an overview of processing equipment; FIG. 2 is a perspective view showing an overview of a storage shelf; FIG. 3 is an exploded perspective view showing an overview of a positioning mechanism provided on the storage shelf; FIG. 4 is a plan view showing an overview of the positioning mechanism when the door is in an open state; FIG. 5 is a plan view showing an overview of the positioning mechanism when the door is in an open state; FIG. 6 is a plan view showing an overview of the determining mechanism when the door is in an intermediate state between the open state and the closed state; FIG. 7 is a plan view showing an overview of the determining mechanism when the door is in a closed state; FIG. 8 is a plan view explaining the state of positioning by the positioning mechanism; FIG. 9 is a plan view explaining the state of positioning by the positioning mechanism; FIG. 10 is a plan view explaining the state of positioning by the positioning mechanism; FIG. 11 is a flow diagram showing an overview of a processing method; FIG. 12 is a plan view explaining the state of positioning by the positioning mechanism (variant); FIG. 13 is a plan view explaining the state of positioning by the positioning mechanism (variant); FIG. 14 is a plan view explaining the state of positioning by the positioning mechanism (variant); FIG. 15 is a plan view explaining the state of positioning by the positioning mechanism (variant); 10A and 10B are plan views illustrating the state of positioning by the positioning mechanism (modified example).

[0024] (Processing Equipment) As shown in Figures 1 and 2, the processing equipment 2 includes a machining center 4 (processing device) that processes a workpiece, a vise 5 that fixes the workpiece, a vise fixing device 6 that can fix the vise 5, a storage shelf 7 that can store the vise fixing device 6, a robot arm 8 (transport device) that transports the vise fixing device 6 with the workpiece fixed thereon between the storage shelf 7 and the machining center 4, and a control device 9 that controls each device.

[0025] For ease of explanation, the following description will be given below with reference to an arbitrary direction in a horizontal plane as the X direction, a direction perpendicular to the X direction among the arbitrary directions in the horizontal plane as the Y direction, and a direction perpendicular to the horizontal plane as the Z direction.

[0026] (Work storage shelf) As shown in Figure 2, the storage shelf 7 comprises a horizontally arranged top plate 7A, a horizontally arranged bottom plate 7B, side plates 7C connecting the top plate 7A and the bottom plate 7B, loading plates 7D arranged horizontally and at a predetermined interval in the Z direction, and partition plates 7E parallel to the side plates 7C and at a predetermined interval in the Y direction.

[0027] The top plate 7A and the bottom plate 7B are formed in a rectangular shape with sides extending in the X direction and sides extending in the Y direction. The side plates 7C connect both Y-direction ends of the top plate 7A to both Y-direction ends of the bottom plate 7B, and are formed in a rectangular shape with sides extending in the X direction and sides extending in the Z direction. The storage shelf 7 is formed in a square tube shape by the top plate 7A, bottom plate 7B, and side plates 7C, and its hollow portion is partitioned by a mounting plate 7D and a partition plate 7E, and each partition serves as a storage space 7K for a vise fixing device 6.

[0028] The accommodation space 7K of the vise fixing device 6 extends in the X direction. As shown in Fig. 1 , an opening 7KA on one side of the accommodation space 7K in the X direction is an entrance and exit for manual loading and unloading, and an opening 7KB on the other side of the accommodation space 7K in the X direction is an entrance and exit for loading and unloading by the robot arm 8.

[0029] Hereinafter, the direction from the opening 7KA toward the opening 7KB in the X direction will be referred to as the downstream side in the X direction, and the direction from the opening 7KB toward the opening 7KA will be referred to as the upstream side in the X direction.

[0030] (Vice Fixing Device) As shown in Fig. 3, the vise fixing device 6 includes a horizontally disposed horizontal fixing plate 6A and a vertically disposed vertical fixing plate 6B. The horizontal fixing plate 6A is formed in a rectangular shape with sides extending in the X direction and sides extending in the Y direction. A vise 5 capable of fixing a workpiece W is fixed to the center of the upper surface of the horizontal fixing plate 6A. The vertical fixing plate 6B is formed in a rectangular shape with sides extending in the Y direction and sides extending in the Z direction. The vise 5 is switchable between a fixed state in which it clamps and fixes the workpiece W, and a fixed and retracted state in which it is retracted from the fixed state.

[0031] (Positioning Mechanism) As shown in FIG. 1, the positioning mechanism 10 positions the vice fixing device 6 on the storage shelf 7 so that it can be transported by the robot arm 8.

[0032] As shown in FIGS. 3 and 4 , the positioning mechanism 10 includes two guide rails 14 extending in the X direction (movement direction). A mounting surface SM is set on the upper surface of the mounting plate 7D. The two guide rails 14 are provided on the mounting surface SM. A movement path R defined by the two guide rails 14 is set on the mounting surface SM. The width of the movement path R is slightly wider than the width of the vise fixing device 6. These two guide rails 14 allow the vise fixing device 6 to slide freely in the X direction between the two guide rails 14 with a predetermined amount of play in the width direction (Y direction) of the movement path ( FIGS. 5 to 7 ). The mounting plate 7D also includes a horizontal extension plate 7DB. The horizontal extension plate 7DB is provided so as to protrude downstream in the X direction from the downstream end of the mounting plate 7D in the X direction.

[0033] Furthermore, the positioning mechanism 10 includes a width direction alignment unit 20 , a movement direction alignment unit 30 , a conveying device holding unit 50 , and a door unit 60 .

[0034] 3 and 4, the width direction alignment unit 20 aligns the vice fixing device 6 in the Y direction, and includes a first device-side projection mechanism 21 provided on the vertical fixing plate 6B, and a first stopper 23 (first road-side projection mechanism) projecting in the Z direction from the horizontal extension plate 7DB. Although not shown, the first device-side projection mechanism 21 and the vertical fixing plate 6B are detachably connected by bolts.

[0035] The first device side projection mechanism 21 protrudes downstream in the X direction further than the vise 5 and the vise fixing device 6, and comprises a block main body 21T, a first guide surface 21A (one side guide surface) formed on the block main body 21T, and a second guide surface 21B (other side guide surface) formed on the block main body 21T.

[0036] The block body 21T is formed in a rectangular parallelepiped shape with sides in the X, Y, and Z directions. An upstream side 21U, which is the side of the block body 21T with sides in the Y and Z directions and is located upstream in the X direction, is fixed to the vertical fixing plate 6B. A first guide surface 21A and a second guide surface 21B are formed on a downstream side 21L, which is the side of the block body 21T with sides in the Y and Z directions and is located downstream in the X direction. The first guide surface 21A and the second guide surface 21B are formed as flat surfaces and extend obliquely with respect to the Y direction. The first guide surface 21A and the second guide surface 21B are arranged to face each other. Furthermore, the distance CY between the first guide surface 21A and the second guide surface 21B in the Y direction narrows from the downstream side to the upstream side in the X direction. The first guide surface 21A and the second guide surface 21B are formed on the downstream side surface 21L of the block body 21T, so that when viewed from the upstream side in the X direction, a recess is formed on the downstream side surface 21L of the block body 21T that is recessed upstream in the X direction. This recess can come into contact with the first stopper 23 (FIG. 7).

[0037] The first stopper 23 is disposed between the two guide rails 14 in the Y direction and can abut against the first device-side projection mechanism 21 when the vise fastening device 6 moves downstream in the X direction along the guide rails 14. The first stopper 23 in the figure is columnar and extends in the Z direction. The first stopper 23 includes a first cylindrical portion 23A disposed on the horizontal extension plate 7DB and a first truncated cone portion 23B provided on the first cylindrical portion 23A. The first cylindrical portion 23A protrudes above the movement path R. Therefore, when the vise fastening device 6 moves in the X direction, the first guide surface 21A and the second guide surface 21B contact the first cylindrical portion 23A, and the first device-side projection mechanism 21 abuts against the first cylindrical portion 23A ( FIG. 7 ). The peripheral surface of the first truncated cone portion 23B has a downward slope from its center toward the upstream side in the X direction. Although not shown, the first stopper 23 and the horizontal extension plate 7DB are connected by a connecting structure. This connecting structure preferably includes a recess formed on the upper surface of the horizontal extension plate 7DB, a protrusion provided on the bottom surface of the first cylindrical portion 23A and insertable into the recess, and a bolt that can be threaded into a bolt hole formed in each of the recess and the protrusion. The first stopper 23 and the horizontal extension plate 7DB are connected by threading the bolt into the bolt hole formed in each of the recess and the protrusion. These recess, protrusion, and bolt hole are preferably formed coaxially with the center of the second cylindrical portion 33.

[0038] 3 and 4, the movement direction alignment unit 30 aligns the position of the vise fixing device 6 in the X direction, and includes an abutment plate 31 (second device-side projection mechanism) provided on the vertical fixing plate 6B, and a second stopper 33 (second road-side projection mechanism) projecting in the Z direction from the horizontal extension plate 7DB. Although not shown, the second device-side projection mechanism 31 and the vertical fixing plate 6B are detachably connected by bolts.

[0039] The abutment plate 31 protrudes downstream in the X direction from the vise 5 and the vise fixing device 6, and is formed in a rectangular shape with sides in the Y and Z directions. The portion of the abutment plate 31 that abuts against the second cylindrical portion 33A is a flat surface formed in a rectangular shape with sides in the Y and Z directions.

[0040] The second stopper 33 is disposed between the two guide rails 14 in the Y direction. The second stopper 33 can abut against the abutment plate 31 when the vise fixing device 6 moves downstream in the X direction along the guide rails 14. The second stopper 33 in the figure is columnar and extends in the Z direction. The second stopper 33 includes a second cylindrical portion 33A disposed on the horizontal extension plate 7DB and a second truncated cone portion 33B disposed on the second cylindrical portion 33A. The second cylindrical portion 33A protrudes above the moving path R. Therefore, when the vise fixing device 6 moves in the X direction, the abutment plate 31 disposed on the vertical fixing plate 6B abuts against the second cylindrical portion 33A ( FIG. 7 ). The peripheral surface of the second truncated cone portion 33B has a downward slope from its center toward the upstream side in the X direction. Although not shown, the second stopper 33 and the horizontal extension plate 7DB are connected by a connecting structure. This connecting structure preferably includes a recess formed on the upper surface of the horizontal extension plate 7DB, a protrusion provided on the bottom surface of the second cylindrical portion 33A and insertable into the recess, and a bolt that can be threaded into a bolt hole formed in each of the recess and the protrusion. The second stopper 33 and the horizontal extension plate 7DB are connected by threading the bolt into the bolt hole formed in each of the recess and the protrusion. These recess, protrusion, and bolt hole are preferably formed coaxially with respect to the center of the second cylindrical portion 33.

[0041] Here, the first device-side collision mechanism 21 and the abutment plate 31 are aligned at a predetermined interval in the Y direction. Also, the downstream end of the first device-side collision mechanism 21 in the X direction protrudes downstream in the X direction beyond the abutment plate 31. Also, the first stopper 23 and the second stopper 33 are aligned at a predetermined interval in the Y direction.

[0042] Here, the reference position set in the vise fixing device 6 is defined as the reference position P, the target position of the reference position P is defined as the target position P0, the X- and Y-direction components of the reference position P are defined as (xn, yn) (n: natural number), and the X- and Y-direction components of the target position P0 are defined as (x0, y0) (FIGS. 8A-8B). In this embodiment, the reference position P is the corner of the Y-direction end and downstream end in the X-direction of the vertical fixing plate 6B of the vise fixing device 6.

[0043] 8A , when the abutment plate 31 abuts against the second cylindrical portion 33A, the X-direction component of the reference position P set in the vise fixing device 6 becomes x0. Then, when the abutment plate 31 abuts against the second stopper 33 and the first guide surface 21A and the second guide surface 21B of the first device-side abutment mechanism 21 engage with the first stopper 23, the reference position P set in the vise fixing device 6 becomes the target position P0; that is, the X-direction component of the reference position P set in the vise fixing device 6 becomes x0, and the Y-direction component of the reference position P becomes y0.

[0044] When the first device-side projection mechanism 21 is not engaged with the first stopper 23 and the projection plate 31 is not engaged with the second stopper 33, and the vise fixing device 6 is deviated from the reference position P only in the X direction (FIG. 8B), i.e., when the reference position P of the vise fixing device 6 is expressed as coordinates (x1, y0), when the vise fixing device 6 moves in the X direction, the first guide surface 21A and the second guide surface 21B simultaneously engage with the first stopper 23 (FIG. 8A). As a result, the reference position P set in the vise fixing device 6 becomes the target position P0.

[0045] When the first device-side projection mechanism 21 is not engaged with the first stopper 23 and the abutment plate 31 is not engaged with the second stopper 33, and the position of the vise fixing device 6 is deviated from the reference position P in both the X and Y directions ( FIG. 8C ), i.e., when the position of the vise fixing device 6 is expressed as coordinates (x1, y1), when the vise fixing device 6 moves in the X direction, one of the first guide surface 21A and the second guide surface 21B of the first device-side projection mechanism 21 first engages with the first stopper 23 ( FIG. 8D ). Subsequently, when the vise fixing device 6 moves in the X direction, one of the first guide surface 21A and the second guide surface 21B engages with the first stopper 23, and the vise fixing device 6 moves in the X and Y directions. In other words, the vise fixing device 6 moves along one of the first guide surface 21A and the second guide surface 21B. Therefore, the reference position P of the vise fixing device 6 moves closer to the target position P0. Furthermore, when the vise fixing device 6 moves, the first guide surface 21A and the second guide surface 21B engage with the first stopper 23, and the abutment plate 31 butts against the second cylindrical portion 33A. As a result, the reference position P of the vise fixing device 6 becomes the target position P0 (FIG. 8A).

[0046] As shown in FIG. 4 , the transport device holding unit 50 includes a first holding member 51 provided on the vertical fixed plate 6B above the first device-side thrust mechanism 21 and a second holding member 52 provided on the vertical fixed plate 6B above the abutment plate 31. In FIG. 4 , the first holding member 51 and the second holding member 52 are indicated by dashed lines to avoid clutter. The first holding member 51 and the second holding member 52 are each cylindrical and extend downstream in the X direction from the downstream end face of the vertical fixed plate 6B in the X direction. The first holding member 51 and the second holding member 52 are arranged at a predetermined interval in the Y direction. Under the control of the control device 9, the robot arm 8 is freely switchable between a gripping state in which it grips the first holding member 51 and the second holding member 52 and a release state in which it releases its grip on the first holding member 51 and the second holding member 52. For this reason, it is preferable that the tip of the first holding member 51 be located above the first stopper 23 and protrude downstream in the X direction further than the first stopper 23. Similarly, it is preferable that the tip of the second holding member 52 be located above the second stopper 33 and protrude downstream in the X direction further than the second stopper 33.

[0047] As shown in Figures 4 and 5, the door unit 60 comprises a door 61 arranged upstream of the guide rail 14, a handle 62 provided on the outer surface 61G of the door 61, an engagement block 63 provided on the inner surface 61N of the door 61, a pivot shaft 66 that enables the door 61 to rotate, and a locking mechanism 67 that regulates the rotation of the door 61.

[0048] The rotation shaft 66 is provided to stand upright relative to the guide rail 14, and in this embodiment, the rotation shaft 66 is provided to extend in the Z direction. The door 61 is formed in a plate shape and is rotatably attached to the rotation shaft 66. The door 61 can be switched between a closed state ( FIG. 7 ) in which the door separates the travel path R and an open state ( FIG. 5 ) in which the door is retracted from the closed state by rotating around the rotation shaft 66.

[0049] The engagement block 63 can be switched between an engageable state ( FIG. 6 ) in which it can engage with the vise fixing device 6 located on the movement path R, and an engageable retracted state ( FIG. 5 ) in which it is retracted from the engageable state, by opening and closing the door 61. The engagement block 63 in the engageable state ( FIG. 6 ) is engageable with the upstream end of the horizontal fixing plate 6A in the X direction. When the door 61 is moved closer to the closed state ( FIG. 7 ) in the state in which the engagement block 63 is engaged with the upstream end of the horizontal fixing plate 6A in the X direction, the engagement between the engagement block 63 and the horizontal fixing plate 6A causes the vise fixing device 6 to move downstream in the X direction along the guide rail 14.

[0050] The locking mechanism 67 is controlled by the control device 9 and is provided on the partition plate 7E. Under the control of the control device 9, the locking mechanism 67 is freely switchable between a restricted state in which the opening and closing operation of the door 61 is restricted and a non-restricted state in which the restriction is released. When the locking mechanism 67 is in the non-restricted state, the door 61 can be freely opened and closed. On the other hand, when the door 61 is closed and the locking mechanism 67 is activated to switch to the restricted state, the door 61 in the closed state is restricted from being switched to the open state.

[0051] Next, the flow of the processing method in the processing equipment 2 will be described.

[0052] As shown in FIG. 9, the processing method 200 includes a shelf loading step S210, a positioning step S220, a processing device loading step S230, a processing step S240, and a shelf returning step S250.

[0053] (Shelf Loading Step) In the shelf loading step S210, the handle 62 is pulled to change the door 61 from the closed state (FIG. 7) to the open state (FIG. 4). The vice fixing device 6 is placed on the guide rail 14 provided on the storage shelf 7 (FIG. 5). This allows the vice fixing device 6 to move freely in the X direction on the movement path R.

[0054] (Positioning Step) Next, in the positioning step S220, the door 61 is pushed to switch from the open state ( FIG. 5 ) to the closed state ( FIG. 6 ). During this movement of the door 61, the engagement block 63 provided on the inner surface 61N of the door 61 engages with the upstream end of the horizontal fixing plate 6A of the vise fixing device 6 in the X direction. As the door 61 continues to close, the engagement between the engagement block 63 and the horizontal fixing plate 6A causes the vise fixing device 6 to slide downstream in the X direction along the guide rail 14. When the door 61 reaches the closed state ( FIG. 7 ), the vise fixing device 6 slides downstream in the X direction along the guide rail 14, causing the first device-side impact mechanism 21 to abut against the first stopper 23. As a result, the reference position P of the vise fixing device 6 coincides with the Y component of the target position. Then, when the abutment plate 31 abuts against the second stopper 33, the reference position P of the vise fixing device 6 coincides with the X component of the target position. In this way, the positioning of the vise fixing device 6 in the X and Y directions is performed simultaneously.

[0055] (Processing Device Carry-In Step) In the processing device carry-in step S230, under the control of the control device 9, the locking mechanism 67 restricts the door 61 from switching from a closed state to an open operation. Thereafter, further under the control of the control device 9, the robot arm 8 moves to the storage shelf 7 and becomes able to grasp the first holding member 51 and the second holding member 52. This enables the robot arm 8 to transport the vise fixing device 6 from the storage shelf 7 to the machining center 4.

[0056] (Machining Step) In the machining step S240, the machining center 4 performs predetermined machining on the workpiece W fixed by the vise fixing device 6.

[0057] (Returning Step) In the returning step S250, the robot arm 8, under the control of the control device 9, transports the vise fastening device 6 from the machining center 4 to the storage shelf 7 while gripping the first holding member 51 and the second holding member 52. The destination of the workpiece W is preferably the storage space from which the vise fastening device 6 was transported in the processing device carrying-in step S230. When the vise fastening device 6 is positioned in the storage space from which it was transported, the robot arm 8, under the control of the control device 9, releases its grip on the first holding member 51 and the second holding member 52. At this time, the first device-side thrust mechanism 21 and the abutment plate 31 of the vise fastening device 6 are positioned directly above the first stopper 23 and the second stopper 33. However, because the upper portions of the first stopper 23 and the second stopper 33 are each formed as a truncated cone, the inclined surfaces of the truncated cones allow the vise fastening device 6 to return to the position positioned in the positioning step S220. In the shelving return step S250, the locking mechanism 67 restricts the door 61 from switching from the closed state to the open operation, so the door 61 does not transition to the closed state, and the positioning of the vice fixing device 6 is reliably performed. Thereafter, under the control of the control device 9, the locking mechanism 67 releases the restriction on the door 61 from switching from the closed state to the open operation.

[0058] In this way, the positioning of the vise fastening device 6 in the X and Y directions is possible by the abutment between the first device side projection mechanism 21 and the first stopper 23 and the engagement between the second device side projection mechanism 31 and the second stopper 33. As a result, even if the shape of the workpiece W is changed, there is no need to change the control content of the robot arm 8 unless the vise fastening device 6 that secures the workpiece W is changed. As a result, it is possible to automate the machining process for small-lot, high-mix workpieces.

[0059] Furthermore, since an engagement block 63 provided on an inner surface 61N of the door 61 engages with the upstream end in the X direction of the horizontal fixing plate 6A of the vise fixing device 6, it is possible to position the vise fixing device 6 in the X and Y directions by closing the door 61. Furthermore, since the rotation shaft 66 of the door 61 extends in the Z direction, when the vise fixing device 6 is carried into the accommodation space 7K, the door 61 in the open state does not interfere with the operation of carrying in the vise fixing device 6.

[0060] Furthermore, since the upper portions of the first stopper 23 and the second stopper 33 are each formed in a truncated cone shape, the sloping surface of the truncated cone allows the alignment vice fixing device 6 to return to the position determined in the positioning step S220. Therefore, even if reprocessing is required in the return step S250, the processing device carrying-in step S230 can be performed immediately.

[0061] Modifications of the above embodiment will be described below, with the same reference numerals being used to designate similar components, and detailed descriptions will be given only to the different parts, with the same descriptions omitted.

[0062] In the above embodiment, the tip of the first holding member 51 is located above the first stopper 23 and protrudes downstream in the X direction further than the first stopper 23, and the tip of the second holding member 52 is located above the second stopper 33 and protrudes downstream in the X direction further than the second stopper 33, but the present invention is not limited to this. The tip of the first holding member 51 and the tip of the second holding member 52 only need to be located to an extent that they can be grasped by the robot arm 8 when the reference position P is the target position P0, and it is preferable that they are separated from the first device-side projection mechanism 21 and the second device-side projection mechanism 31 in the Y direction and the Z direction and protrude downstream in the X direction further than the first device-side projection mechanism 21 and the second device-side projection mechanism 31. The tip of the first holding member 51 and the tip of the second holding member 52 can be positioned away from the first device side collision mechanism 21 and the second device side collision mechanism 31 in the Y and Z directions, such as between the first device side collision mechanism 21 and the second device side collision mechanism 31 (inside in the Y direction), outside in the Y direction of the first device side collision mechanism 21 and the second device side collision mechanism 31, or above the first device side collision mechanism 21 and the second device side collision mechanism 31, and any of these positions are applicable.

[0063] In the above embodiment, the first device-side collision mechanism 21 and the abutment plate 31 are aligned in the Y direction, and the first stopper 23 and the second stopper 33 are aligned in the Y direction, but the present invention is not limited to this. When the position of the vise fixing device 6 deviates from the target position in the X component while being at the target position in the Y component, movement of the vise fixing device 6 in the X component causes the first device-side collision mechanism 21 to abut against the first stopper 23 simultaneously with the abutment plate 31 to abut against the second stopper 33. Furthermore, when the position of the vise fixing device 6 deviates from the target position in both the X component and the Y component, movement of the vise fixing device 6 in the X component causes the first device-side collision mechanism 21 to abut against the first stopper 23 before the abutment plate 31 to abut against the second stopper 33.

[0064] In the above embodiment, the first stopper 23 and the second stopper 33 are arranged downstream of the guide rail 14 in the X direction, but the present invention is not limited to this and the first stopper 23 and the second stopper 33 may be arranged between the guide rails 14. That is, in the present invention, it is sufficient that the first stopper 23 and the second stopper 33 are arranged so that they can engage with the first device-side impact mechanism 21 and the impact plate 31 when the vise fixing device 6 moves along the guide rail 14.

[0065] In the above embodiment, the first device-side collision mechanism 21 and the abutment plate 31 are arranged at a predetermined interval in the Y direction, but the present invention is not limited to this and may be arranged in any direction transverse to the Y direction. That is, the first device-side collision mechanism 21 and the abutment plate 31 may be arranged in the Y direction or in a direction oblique to the Y direction. Similarly, in the above embodiment, the first stopper 23 and the second stopper 33 are arranged at a predetermined interval in the Y direction, but the present invention is not limited to this and may be arranged in any direction transverse to the Y direction. That is, the first stopper 23 and the second stopper 33 may be arranged in the Y direction or in a direction oblique to the Y direction.

[0066] 10A-10B, the first stopper 23 may be located upstream of the second stopper 33 in the X direction, or as shown in FIGS. 10C-10D, the first stopper 23 may be located downstream of the second stopper 33 in the X direction. Also, in the above embodiment, the first device-side collision mechanism 21 and the abutment plate 31 are arranged in the Y direction, but the abutment plate 31 may be omitted. In this case, the vertical fixing plate 6B may also serve as the second device-side collision mechanism (FIGS. 10C-10D).

[0067] In the above embodiment, the first guide surface 21A and the second guide surface 21B are formed as flat surfaces, but the present invention is not limited to this, and one or both of the first guide surface 21A and the second guide surface 21B may be curved (Figure 11).

[0068] In the above embodiment, the first stopper 23 and the second stopper 33 have a cylindrical lower portion and a truncated cone upper portion. However, the present invention is not limited to this. The lower portion may be a columnar shape having a curved side surface, and the upper portion preferably has a sloped surface. Here, the curved surface refers to the side surface of the first stopper 23 or the second stopper 33 that appears on a cross section perpendicular to the Z direction. Examples of a columnar shape having a curved side surface include a semi-cylinder ( FIG. 12 ), an arc-shaped columnar, and an elliptical arc-shaped columnar. In the case of a semi-cylinder, an arc-shaped columnar, or an elliptical arc-shaped columnar, it is preferable that the curved side surface faces upstream in the X direction. Furthermore, it is preferable that the shape of the upper portion having a sloped surface faces upstream in the X direction and approaches the upstream side in the X direction as it moves from the upper end of the slope to the lower end of the slope. Furthermore, the lower portions of the first stopper 23 and the second stopper 33 are not limited to columns having curved side surfaces, but may also be polygonal columns such as triangular columns or rectangular columns. When the first stopper 23 is a polygonal prism, when the first device side projection mechanism 21 and the first stopper 23 come into contact, it is preferable that the first guide surface 21A and the second guide surface 21B simultaneously come into contact with the two side surfaces of the polygonal prism that form a ridge extending in the Z direction.

[0069] In the above embodiment, the first device-side projection mechanism 21 is a block main body 21T having a first guide surface 21A and a second guide surface 21B. However, the present invention is not limited to this. For example, a first device-side projection mechanism 120 may be used that includes a first device-side projection member 121 having a first guide surface 21A and a second device-side projection member 122 having a second guide surface 21B (see FIG. 13). Here, the first device-side projection member 121 and the second device-side projection member 122 are aligned at a predetermined interval in the Y direction and are fixed to the vertical fixing plate 6B. Therefore, the positioning conditions can be adjusted by selecting the interval between the first device-side projection member 121 and the second device-side projection member 122.

[0070] In the above embodiment, the first device-side collision mechanism includes a block body 21T having a first guide surface 21A and a second guide surface 31A, the second device-side collision mechanism includes a flat abutment plate 31, the first roadside collision mechanism includes a cylindrical first stopper 23, and the second roadside collision mechanism includes a cylindrical second stopper 33. However, the present invention is not limited to this. For example, as shown in FIGS. 14A and 14B , a semi-cylindrical first device-side collision mechanism 221 and a semi-cylindrical second device-side collision mechanism 231 may be used. The curved sides of the first device-side collision mechanism 221 and the second device-side collision mechanism 231 face downstream in the X direction, and these sides abut against the first roadside collision mechanism and the second roadside collision mechanism. Alternatively, a block-shaped first roadside collision mechanism 223 may be used as the first roadside collision mechanism, and a flat-shaped second roadside collision mechanism 233 may be used as the second roadside collision mechanism.

[0071] The first roadside projection mechanism 223 includes a block main body 223T, a first guide surface 223A (one-side guide surface) formed on the block main body 223T, and a second guide surface 223B (the other-side guide surface) formed on the block main body 223T. The block main body 223T is formed in a rectangular parallelepiped shape with sides in the X, Y, and Z directions. The bottom surface of the block main body 223T is fixed to a horizontal protruding plate 7DB (not shown). The first guide surface 223A and the second guide surface 223B are formed on an upstream side surface 223U of the block main body 223T, which has sides in the Y and Z directions and is located upstream in the X direction. The first guide surface 223A and the second guide surface 223B are each formed on a flat surface and extend obliquely with respect to the Y direction. The first guide surface 223A and the second guide surface 223B are arranged to face each other. Furthermore, the distance CY between the first guide surface 223A and the second guide surface 223B in the Y direction increases from the downstream side to the upstream side in the X direction. The first guide surface 223A and the second guide surface 223B are formed on the upstream side 223U of the block main body 223T, forming a recess in the upstream side 223U of the block main body 223T that is concave when viewed from the downstream side in the X direction. This recess can come into contact with the semi-cylindrical first device-side projection mechanism 221.

[0072] In the above embodiment, the first road-side projection mechanism 223 is a block main body 223T having a first guide surface 223A (one-side guide surface) and a second guide surface 223B, but the present invention is not limited to this. For example, the first road-side projection mechanism may include a first device-side projection member having the first guide surface 223A and a second device-side projection member having a second guide surface 223B formed adjacent to the first device-side projection member (not shown). Here, the first device-side projection member and the second device-side projection member are aligned at a predetermined interval in the Y direction and are each fixed to the vertical fixing plate 6B. Therefore, the positioning conditions can be adjusted by selecting the interval between the first device-side projection member and the second device-side projection member.

[0073] That is, the portion of the first roadside collision mechanism that abuts against the first device-side collision mechanism (abutment portion) is a convex portion that is convex toward the upstream side in the X direction (for example, in the case where a curved surface on the upstream side of a cylindrical body in the X direction (FIGS. 8A to 8D, 10A to 10D, 11 to 13) or the like is formed, the portion of the first device-side collision mechanism that abuts against the first roadside collision mechanism (abutment portion) is a concave portion that is concave toward the upstream side in the X direction (for example, in the case where a curved surface on the upstream side of a cylindrical body in the X direction (FIGS. 8A to 8D, 10A to 10D, 11 to 13) or the like is formed). The portion of the first road-side collision mechanism that abuts against the first device-side collision mechanism (abutment portion) may be a concave portion that is concave toward the downstream side in the X direction (for example, when the first guide surface 223A and the second guide surface 223B (FIGS. 14A to 14B) are formed, the portion of the first device-side collision mechanism that abuts against the first road-side collision mechanism (abutment portion) may be a convex portion that is convex toward the downstream side in the X direction (for example, a curved surface of a cylindrical body on the downstream side in the X direction).

[0074] The present invention is not limited to the above-described embodiment, and it goes without saying that various modifications can be made without departing from the spirit of the present invention.

[0075] 2 Machining equipment 4 Machining center 5 Vice 6 Vice fixing device 6A Horizontal fixing plate 6B Vertical fixing plate 7 Storage shelf 8 Robot arm 9 Control device 10 Positioning mechanism 14 Guide rail 20 Width direction positioning unit 30 Movement direction positioning unit 50 Conveyor device holding unit 60 Door unit 200 Machining method 223 Block body 223T Block body 223U Upstream side surface P Reference position P0 Target position CY Interval P Reference position P0 Target position R Movement path S210 Shelf loading step S220 Step S230 Machining device loading step S240 Machining step S250 Step

Claims

1. A positioning mechanism capable of positioning a vise fixing device by sliding the vise fixing device from an upstream side to a downstream side along a movement path, comprising: two guide rails that define the movement path; a width direction positioning unit that aligns the vise fixing device in the width direction; and a movement direction positioning unit that aligns the vise fixing device in the movement direction, wherein the width direction positioning unit comprises: a first device side projection mechanism that is provided on the vise fixing device and protrudes downstream in the movement direction beyond the vise; and a first path side projection mechanism that is arranged between the two guide rails and can engage with the first device side projection mechanism when the vise fixing device moves downstream along the guide rails, and the movement direction positioning unit comprises: a second device side projection mechanism that is provided on the vise fixing device and protrudes downstream in the movement direction beyond the vise; and a second path side projection mechanism that is arranged between the two guide rails and can engage with the second device side projection mechanism when the vise fixing device moves downstream along the guide rails, the first device-side collision mechanism and the second device-side collision mechanism are aligned in a direction transverse to the moving path, the first road-side collision mechanism and the second road-side collision mechanism are aligned in a direction transverse to the moving path, the vise fixing device is positioned in the width direction of the moving path by the abutment between the first road-side collision mechanism and the first device-side collision mechanism, the vise fixing device is positioned in the moving direction of the moving path by the abutment between the second road-side collision mechanism and the second device-side collision mechanism, one of the abutment portions where the abutment occurs between the first road-side collision mechanism and the first device-side collision mechanism is convex, and the other abutment portion of the abutment portion is concave.

2. A positioning mechanism as described in claim 1, characterized in that when the position of the vise fixing device in the movement direction deviates from the target position while the position of the vise fixing device in the width direction of the movement path is the target position, the collision between the first device side collision mechanism and the first road side collision mechanism occurs simultaneously with the collision between the second device side collision mechanism and the second road side collision mechanism, and when the position of the vise fixing device in the movement direction and the width direction deviates from the target position, the collision between the first device side collision mechanism and the first road side collision mechanism occurs before the collision between the second device side collision mechanism and the second road side collision mechanism.

3. A positioning mechanism capable of positioning a vice fixing device by sliding the vice fixing device from an upstream side to a downstream side along a movement path, comprising: two guide rails that define the movement path; a first device-side projection mechanism that is provided on the vice fixing device and protrudes downstream in the movement direction beyond the vice; and a second device-side projection mechanism that is provided on the vice fixing device and protrudes downstream in the movement direction beyond the vice; when the first road-side projection mechanism is defined as being engageable with the first device-side projection mechanism when the vice fixing device moves downstream along the guide rails, and the second road-side projection mechanism is defined as being engageable with the second device-side projection mechanism when the vice fixing device moves downstream along the guide rails, the first device-side projection mechanism and the second device-side projection mechanism are aligned in a direction transverse to the movement path; and The abutment between the first road-side collision mechanism and the first device-side collision mechanism aligns the position of the vise fixing device in the width direction of the movement path, the abutment between the second road-side collision mechanism and the second device-side collision mechanism aligns the position of the vise fixing device in the movement direction of the movement path, and when the position of the vise fixing device in the movement direction deviates from the target position but the position of the vise fixing device in the width direction of the movement path is the target position, the abutment between the first device-side collision mechanism and the first road-side collision mechanism occurs simultaneously with the abutment between the second device-side collision mechanism and the second road-side collision mechanism, When the first roadside collision mechanism and the first device-side collision mechanism move apart and the second roadside collision mechanism and the second device-side collision mechanism move apart, and when the position of the vise fixing device in the movement direction and the width direction deviates from the target position, the first device-side collision mechanism and the first roadside collision mechanism collide before the second device-side collision mechanism and the second roadside collision mechanism collide, and one of the collision portions where the collision occurs between the first roadside collision mechanism and the first device-side collision mechanism is convex, and the other collision portion of the collision portion is concave.

4. A positioning mechanism capable of positioning a vice fixing device by sliding the vice fixing device from the upstream side to the downstream side along a moving path, comprising: two guide rails that define the moving path; a first road-side projection mechanism that is disposed between the two guide rails and is engageable with a first device-side projection mechanism provided on the vice fixing device when the vice fixing device moves downstream along the guide rails; and a second road-side projection mechanism that is disposed between the two guide rails and is engageable with a second device-side projection mechanism provided on the vice fixing device when the vice fixing device moves downstream along the guide rails, wherein when the first device-side projection mechanism that is disposed on the vice fixing device and protrudes downstream in the moving direction beyond the vice, and the second device-side projection mechanism that is disposed on the vice fixing device and protrudes downstream in the moving direction beyond the vice, are defined, the first device-side projection mechanism and the second device-side projection mechanism are aligned in a direction that crosses the moving path, the first roadside collision mechanism and the second roadside collision mechanism are aligned in a direction transverse to the movement path, the position of the vise fixing device in the width direction of the movement path is adjusted by the collision between the first roadside collision mechanism and the first device side collision mechanism, the position of the vise fixing device in the movement direction of the movement path is adjusted by the collision between the second roadside collision mechanism and the second device side collision mechanism, when the position of the vise fixing device in the movement direction deviates from a target position but the position of the vise fixing device in the width direction of the movement path is the target position, the collision between the first device side collision mechanism and the first roadside collision mechanism occurs simultaneously with the collision between the second device side collision mechanism and the second roadside collision mechanism, when the first roadside collision mechanism and the first device-side collision mechanism move apart and the second roadside collision mechanism and the second device-side collision mechanism move apart, and when the position of the vice fixing device in the movement direction and the width direction deviates from a target position, the first device-side collision mechanism and the first roadside collision mechanism collide with each other before the second device-side collision mechanism and the second roadside collision mechanism collide with each other,A positioning mechanism characterized in that one of the impact portions where the impact occurs in the first roadside impact mechanism and the first device side impact mechanism is convex, and the other impact portion of the impact portion is concave.

5. The first device side projection mechanism comprises a one-side guide surface formed on the downstream side in the movement direction and engageable with the first road side projection mechanism, and a second-side guide surface formed on the downstream side in the movement direction and engageable with the first road side projection mechanism, the one-side guide surface and the second-side guide surface are arranged to face each other, and the distance between the one-side guide surface and the second-side guide surface each becomes narrower from the downstream side to the upstream side in the movement direction. A positioning mechanism as described in claim 3, characterized in that 6. The positioning mechanism described in claim 3, characterized in that the first road-side projection mechanism comprises a one-side guide surface formed on the downstream side in the movement direction and engageable with the first device-side projection mechanism, and a other-side guide surface formed on the downstream side in the movement direction and engageable with the first device-side projection mechanism, the one-side guide surface and the other-side guide surface are arranged to face each other, and the distance between the one-side guide surface and the other-side guide surface each becomes wider as it moves from the downstream side to the upstream side in the movement direction.

7. A positioning mechanism as described in claim 5 or 6, characterized in that it comprises a one-side guide member having the one-side guide surface, and an other-side guide member having the other-side guide surface, the one-side guide member and the other-side guide member being aligned in a direction crossing the movement path.

8. A positioning mechanism as described in claim 5 or 6, characterized in that one of the first device side projection mechanism and the first road side projection mechanism is formed with the one side guide surface and the other side guide surface, and the other of the first device side projection mechanism and the first road side projection mechanism is provided with a curved surface that can engage with the one side guide surface and the other side guide surface.

9. The positioning mechanism according to claim 8, wherein said curved surface has a cross section that is arc-shaped.

10. The positioning mechanism according to claim 8, wherein the curved surface is the side surface of a cylinder, a semi-cylinder, a circular arc cylinder, or an elliptical arc cylinder.

11. A positioning mechanism as described in claim 5 or 6, characterized in that the first roadside projection mechanism and the second roadside projection mechanism are aligned in the width direction of the moving path, and slopes are formed downward from the upper ends of the first roadside projection mechanism and the second roadside projection mechanism, and the slopes face the upstream side of the moving path and approach the upstream side of the moving path as they move from top to bottom.

12. A positioning mechanism as described in claim 10, characterized in that the first device projection mechanism and the second device side projection mechanism are aligned in the width direction of the moving path, the first road side projection mechanism and the second road side projection mechanism are aligned in the width direction of the moving path, and in the moving direction, the downstream end of the first device side projection mechanism projects further downstream than the downstream end of the second device side projection mechanism.

13. A positioning mechanism as described in claim 5 or 6, characterized in that one of the second roadside collision mechanism and the second device side collision mechanism has an abutment surface extending in the width direction, and the other of the second roadside collision mechanism and the second device side collision mechanism abuts against the abutment surface, thereby aligning the vise fixing device in the movement direction of the movement path.

14. A positioning mechanism as described in claim 10, comprising: a rotating shaft arranged to stand upright relative to the guide rail; and a door arranged on the rotating shaft and switchable between a closed state that separates the movement path and an open state in which it is retracted from the closed state, wherein the door is capable of engaging directly or indirectly with the vise fixing device that moves along the guide rail; and wherein movement of the door from the open state to the closed state causes the vise fixing device to slide downstream along the guide rail by engaging with the door.

15. A positioning mechanism according to claim 14, comprising: a first holding member provided on the vise fixing device and capable of holding a transport device; and a second holding member provided on the vise fixing device and capable of holding the transport device.

16. A positioning mechanism as described in claim 14, comprising: a rotating shaft arranged to stand upright relative to the guide rail; a door arranged on the rotating shaft and switchable between a closed state that separates the travel path and an open state retracted from the closed state; and a locking mechanism that regulates the opening and closing operation of the door, wherein the door is capable of engaging directly or indirectly with the vise fixing device located on the guide rail, and when the door is in the closed state, the first road-side collision mechanism engages with the first device-side collision mechanism, and the second road-side collision mechanism engages with the second device-side collision mechanism.

17. A positioning method for positioning the vise fixing device using the positioning mechanism of any one of claims 1 to 6, comprising: a moving step for moving the vise fixing device on the guide rail in the moving direction; a first abutment step performed by the moving step, in which the first roadside collision mechanism and the first device side collision mechanism abut; and a second abutment step performed by the moving step, in which the second roadside collision mechanism and the second device side collision mechanism abut, wherein the first abutment step is performed before the second abutment step or is performed simultaneously with the second abutment step.

18. A positioning method as described in claim 17, characterized in that it includes a transport step of using a transport mechanism to lift the vise fixing device on the moving path and transport the vise fixing device to another location, and the transport step is performed on the vise fixing device in a state where the first road side collision mechanism and the first device side collision mechanism are in abutment, and the second road side collision mechanism and the second device side collision mechanism are in abutment.

19. The positioning mechanism comprises a rotating shaft arranged to stand upright relative to the guide rail, and a door arranged on the rotating shaft and switchable between a closed state that separates the movement path and an open state retracted from the closed state, the door being capable of engaging directly or indirectly with the vise fixing device positioned on the guide rail, and in the movement step, when the door is switched from the open state to the closed state, the vise fixing device slides along the guide rail while engaged with the door. A positioning method as described in claim 17, characterized in that 20. The positioning method described in claim 17, characterized in that the positioning mechanism comprises a locking mechanism that regulates the opening and closing operation of the door, the first roadside projection mechanism and the second roadside projection mechanism are aligned in the width direction of the moving path, and a slope is formed downward from the upper end of each of the first roadside projection mechanism and the second roadside projection mechanism, the slope facing upstream in the moving direction and extending toward the upstream side of the moving path as it goes from top to bottom, and the method further comprises a carrying-in step that uses the transport mechanism to return the vise fixing device located in another location to between the door in the closed state and the first roadside projection mechanism and the second roadside projection mechanism, and in the carrying-in step, the opening and closing operation of the door is regulated by the locking mechanism.

21. The positioning method according to claim 20, wherein the carrying-in step is carried out so that the downstream end of the vise fixing device in the moving direction is engaged with the inclined surface.

Images