# US 9,433,994 B2 · Centering device for plate-shaped workpiece

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- Number: US 9,433,994 B2
- Document ID: US9433994B2
- Status: Granted
- Kind: B2
- Application number: 14/437,952
- Filed: 2013-08-12
- Published: 2015-11-05
- Granted: 2016-09-06
- Earliest claimed: 2012-10-24
- Assignees: Honda Motor Co., Ltd.; Oyabe-Seiki Co., Ltd.
- Applicants: Honda Motor Co., Ltd.; Oyabe Seiki Co., Ltd.
- Inventors: Shinya Matsuyama; Yuta Suzuki; Susumu Nishimoto; Toshihiko Matsumoto; Masanao Suzuki; Ryoji Tamai; Hiromitsu Kato
- Web page: https://patentgrep.com/patent/US9433994B2

## CPC

- B21D 43/105: {Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom}
- B65H 9/00: Registering, e.g. orientating, articles; Devices therefor
- B65H 9/10: Pusher and like movable registers; Pusher or gripper devices which move articles into registered position
- B65H 11/002: {incorporating transport belts}
- B65H 2404/2693: Arrangement of belts on movable frame
- B65H 2511/20: Location in space
- B65H 2511/212: Rotary position
- B65H 2511/22: Distance
- B65H 2511/23: Coordinates, e.g. three dimensional coordinates
- B65H 2553/42: Cameras
- B65H 2557/23: Recording or storing data
- B65H 2557/24: Calculating methods; Mathematic models
- G01B 11/002: {for measuring two or more coordinates}
- B21D: WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL (working or processing of wire B21F)
- B65H: HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS

## Abstract

A centering device for a plate-shaped workpiece comprises: a table (21) having a conveyor mechanism (23) for conveying a plate-shaped workpiece (10) in the horizontal direction; a camera (56) for taking an image of the plate-shaped workpiece (10) placed on the table (21); a table movement mechanism (28) for moving the table (21) horizontally in the direction orthogonal to the conveyance direction; a table rotation mechanism (60) for rotating the table (21) about a vertical axis; a computation unit (58) for comparing target central position information and information acquired by the camera (56) and computing the movement amount of the conveyor mechanism (23), the movement amount of the table movement mechanism (28), and the movement amount of the table rotation mechanism (60); and a control unit (59) for controlling the conveyor mechanism (23), the table movement mechanism (28), and the table rotation mechanism (60) on the basis of the movement amounts calculated by the computation unit (58).

## Claims

### Claim 1

A centering device for a plate-shaped workpiece, comprising:
a table having a conveyor mechanism for conveying a plate-shaped workpiece in a horizontal direction;
a camera for capturing an image of the plate-shaped workpiece placed on the table;
a table movement mechanism for moving the table horizontally in a direction orthogonal to the conveying direction and rotating the table about a vertical axis;
a computation unit for, based on shape information of a workpiece and target centering position information, comparing the target centering position information and position information acquired by the camera, and computing an amount of movement of the conveyor mechanism and an amount of movement of the table movement mechanism in order to correct a shift between the target centering position information and the position information acquired by the camera; and
a control unit for controlling the conveyor mechanism and the table movement mechanism based on the movement amounts calculated by the computation unit,
wherein the table movement mechanism comprises:
a base that is horizontally disposed;
a first slider that is supported moveably in the direction orthogonal to the conveying direction by the base;
a first threaded shaft that moves the first slider in the direction orthogonal to the conveying direction;
a first servo motor that rotates the first threaded shaft;
a first support shaft that extends upward from the first slider and supports one end of the table from below;
a second slider that is supported moveably in the direction orthogonal to the conveying direction by the base;
a second threaded shaft that moves the second slider in the direction orthogonal to the conveying direction;
a second servo motor that rotates the second threaded shaft;
a sub slider that is supported moveably in the conveying direction by the second slider; and
a second support shaft that extends upward from the sub slider and supports the other end of the table from below.

### Claim 2 (depends on 1)

The centering device of claim 1, wherein the computation unit perceives the characteristics of the plate-shaped workpiece from the position information acquired by the camera, and computes the amount of movement of the conveyor mechanism and the amount of movement of the table movement mechanism.

### Claim 3 (depends on 2)

A centering device for a plate-shaped workpiece, comprising a plurality of the centering devices of claim 2 provided in series.

### Claim 4 (depends on 3)

The centering device of claim 3, wherein each of the tables of respective ones of the centering devices is configured to support a portion of the plate-shaped workpiece which is sufficiently long to span over more than one said table.

### Claim 5 (depends on 4)

The centering device of claim 4, wherein each of each of the tables of respective ones of the centering devices is configured to support a portion of the plate-shaped workpiece which is an irregularly shaped piece.

### Claim 6 (depends on 3)

The centering device of claim 3, wherein each of the tables of respective ones of the centering devices is configured to support a portion of one plate-shaped workpiece which is placed thereon.

### Claim 7

A centering device for a plate-shaped workpiece, comprising:
a table having a conveyor mechanism for conveying a plate-shaped workpiece in a horizontal conveying direction;
a camera for capturing an image of the plate-shaped workpiece placed on the table;
a table movement mechanism for moving the table horizontally in a direction orthogonal to the conveying direction and rotating the table about a vertical axis;
a computation unit for comparing, based on shape information of a workpiece and target centering position information, target centering position information and position information in the image captured by the camera, and computing an amount of movement of the conveyor mechanism and an amount of movement of the table movement mechanism in order to correct a shift between the target centering position information and the position information in the image captured by the camera; and
a control unit for controlling the conveyor mechanism and the table movement mechanism based on the movement amounts calculated by the computation unit;
the centering device for a plate-shaped workpiece also being provided with a first robot for transferring a plate-shaped workpiece conveyed from a previous step into a subsequent step, and a second robot for transferring the movement-controlled plate-shaped workpiece to a subsequent step;
wherein the table movement mechanism comprising:
a base that is horizontally disposed;
a first slider that is supported moveably in the direction orthogonal to the conveying direction by the base;
a first threaded shaft that moves the first slider in the direction orthogonal to the conveying direction;
a first servo motor that rotates the first threaded shaft;
a first support shaft that extends upward from the first slider and supports one end of the table from below;
a second slider that is supported moveably in the direction orthogonal to the conveying direction by the base;
a second threaded shaft that moves the second slider in the direction orthogonal to the conveying direction;
a second servo motor that rotates the second threaded shaft;
a sub slider that is supported moveably in the conveying direction by the second slider; and
a second support shaft that extends upward from the sub slider and supports the other end of the table from below; and
the computation unit perceiving the characteristics of the plate-shaped workpiece from the position information in the image captured by the camera, and computing the amount of movement of the conveyor mechanism and the amount of movement of the table movement mechanism.

### Claim 8

A method for centering a plate-shaped workpiece, comprising the steps of:
providing a table having a conveyor mechanism for conveying a plate-shaped workpiece in a horizontal direction;
capturing an image of the plate-shaped workpiece placed on the table using a camera;
providing a table movement mechanism for moving the table horizontally in a direction orthogonal to the conveying direction and rotating the table about a vertical axis;
comparing target centering position information and position information of the plate-shaped workpiece in the image captured by the camera;
computing an amount of movement of the conveyor mechanism and an amount of movement of the table movement mechanism needed in order to correct any shift between the target centering position information and the position information in the image captured by the camera, based on shape information of a workpiece and target centering position information; and
controlling the conveyor mechanism and the table movement mechanism based on the movement amounts calculated by a control unit.

### Claim 9 (depends on 8)

The method for centering a plate-shaped workpiece of claim 8, wherein the table movement mechanism comprises:
a base that is horizontally disposed;
a first slider that is supported moveably in the direction orthogonal to the conveying direction by the base;
a first threaded shaft that moves the first slider in the direction orthogonal to the conveying direction;
a first servo motor that rotates the first threaded shaft;
a first support shaft that extends upward from the first slider and supports one end of the table from below;
a second slider that is supported moveably in the direction orthogonal to the conveying direction by the base;
a second threaded shaft that moves the second slider in the direction orthogonal to the conveying direction;
a second servo motor that rotates the second threaded shaft;
a sub slider that is supported moveably in the conveying direction by the second slider; and
a second support shaft that extends upward from the sub slider and supports the other end of the table from below.

### Claim 10 (depends on 8)

The method for centering a plate-shaped workpiece of claim 8, wherein in the computing step characteristics of the plate-shaped workpiece are determined from the position information in the image captured by the camera, and the amount of movement of the conveyor mechanism and the amount of movement of the table movement mechanism are computed based on the determined characteristics of the plate-shaped workpiece.