JPH02311237A - Carrying device - Google Patents

Abstract

PURPOSE:To remove a change point on moving operation of a carrying table having simple structure by driving second links so as to help motion in the same direction as immediately before the change point through abutting spring elements against fixed members in a situation where first and second links are piled up together. CONSTITUTION:A carrying table 12 does parallel motion according to a rotation of a drive axis 5 by a motor. When the carrying table 12 arrives at a position of the plane made by connecting the drive axis 5 and a rotation axis 4, a link 1A and a link 2A, also a link 1B and a link 2B, are piled up together. This state is unstable because the carrying table 12 is able to move either upwards or downwards. Only in the case where a rotation axis 3A and a rotation axis 3B are located within a required range, which includes the position of piling-up of the links 1A, 2A, 1B and 2B, leaf springs 9A and 9B abut against fixed pins 10A and 10B. Consequently, the links 2A and 2B are rotated slightly about the rotation axes 3A and 3B in the same direction as that immediately before entering the required range. By this constitution, a change point on moving operation of the carrying table 12 can be removed.

Description

[Detailed description of the invention] [Industrial application field]

The present invention relates to a conveyance device that uses a link mechanism as a main part and moves an article conveyance platform, and particularly relates to a conveyance device that has a simple configuration that eliminates the need for a link mechanism.

[Conventional technology]

A conventional example will be described below with reference to the drawings. FIG. 6 is a plan view of the conventional example, and FIG. 7 is a side view thereof. In FIG. 6, links 31A and 32^ having the same effective length are rotatably connected at one end to each other by a rotating shaft 33A, forming one set of links. Further, each of the links 31B and 32B having the same effective length as before is rotatably connected at one end by a rotation shaft 33B to form another set of links. Each link 318, 31B, 328. At the other end of 32B, each gear 36 has the same diameter.
A, 36B, 38A, 38B are fixed and arranged symmetrically so that the gears 368, 36B and the gears 38A, 38B mesh with each other. That is, each gear 36A, 36B is connected to the drive shaft 3 whose position is fixed.
51 is fixed to the rotating shaft 34, and each gear 38A, 38B is fixed to each rotating shaft 37A, 37B, respectively, and these are rotatably supported by a movable carrier 44. In FIG. 7, a drive shaft 352 and a rotation shaft 34 are each rotatably supported by a support base 43, and in particular, the drive shaft 35 is directly connected to a motor 45. Therefore, by the rotational drive of the motor 45, the conveyance table 44 is moved to a position slightly higher than that shown in FIG.
32A and 32B move in parallel from the fully extended position to a symmetrical position below beyond the plane formed by the drive shaft 351 and rotation shaft 34. The two-dot chain line indicates when the conveyance table 44 slightly exceeds the plane formed by the drive shaft 351 and the rotation shaft 34 downward. Here, when the links 31A and 32A on one side overlap each other and the links 31B and 32B on the other side, in other words, when the conveyance table 44 comes directly above the drive shaft 351 and the rotation axis 34, the so-called Positioned at the consideration point, the conveyance table 44 is placed in an uncertain state in which it can be moved either upward or downward in the figure by the rotational drive of the drive shaft 35. In order to eliminate this point of consideration and clearly limit or specify the movement of the conveyance table 44, the following measures have been taken. A pulley 39 is fixed to the support base 43, and a pulley 40 is fixed to a rotating shaft 338 fixed to the link 32A side, and a belt 41 is wound between each pulley 39 and 40. Note that the diameter of the pulley 40 is half the diameter of the pulley 39. Therefore, due to the rotation of the link 31A,
The link 32A receives a driving moment so as to rotate symmetrically with this, and this produces the effect of removing the point of consideration.

[Problem to be solved by the invention]

As explained above, the conventional technology requires the pulleys 39 and 40 and the belt 41 in order to eliminate points of concern, and is structurally difficult to accommodate in a narrow space and increases the space. is unavoidable. Here, a power transmission method other than using the pulleys 39 and 40 and the belt 41 may be considered, but in either case, there are problems in that the structure becomes complicated or the space becomes large. SUMMARY OF THE INVENTION An object of the present invention is to provide a conveying device that solves the problems of the conventional technology and eliminates the need for a link mechanism with a simple configuration.

[Means to solve the problem]

In order to solve this problem, a conveying device according to a first aspect of the present invention is provided with a first conveying device having the same effective length, which is rotatably connected at one end to each other around a predetermined axis. two sets of links consisting of second links; each set is rotatable around a pair of fixed axes parallel to the predetermined axis, is fixed to the other end of each of the first links, and meshes with each other; gears having the same diameter; each gear and another gear having the same diameter are fixed so as to mesh with each other; a conveyance table rotatably supported; either a spring member or a corresponding abutment member fixed to at least one end of each of the second links; and the other member placed in a corresponding position; one of the first links is rotationally driven around its fixed axis to move the conveyance table in parallel across both sides of a plane defined by the fixed axes. and the predetermined axis is aligned with the first axis. Only when the second links are located in a predetermined region including the overlapping position, the second link enters the predetermined region around the predetermined axis by contact between the spring member and the abutting member. An auxiliary rotational drive is performed in the same direction as that just before. The conveying device according to the second aspect of the present invention includes a first conveying device having the same effective length, which is rotatably connected at one end to each other around a predetermined axis. two sets of links consisting of second links; each set is rotatable around a pair of fixed axes parallel to the predetermined axis, is fixed to the other end of each of the first links, and meshes with each other; gears having the same diameter; each gear and another gear having the same diameter are fixed so as to mesh with each other; a conveyance table rotatably supported; either a spring member or a corresponding abutment member fixed to at least one end of each of the second links; the other member that is fixed correspondingly; a position sensor that detects the position of the predetermined axis in the moving direction of the conveyance platform; a control unit configured to prevent the direction of rotational drive around the fixed axis from being reversed immediately before and after entering the predetermined region of the predetermined axis based on detection that the fixed axis is located at the predetermined region; Either one of the first links is rotationally driven around its fixed axis to move the conveyance platform in parallel across both sides of a plane defined by each of the fixed axes, and the predetermined axis is aligned with the first link. Only when each of the second links is located in a predetermined region including an overlapping position, the second link is moved around the predetermined axis in the predetermined region by contact between the spring member and the abutment member. An auxiliary rotational drive is performed in the same direction as that immediately before entering. The conveying device according to the third invention is as follows: 1. In the conveyance device according to each of the second inventions, the pair of fixed axes are rotatable around another predetermined axis parallel to the pair of fixed axes.

[For use]

In the conveying device according to the first aspect of the invention, one of the first links is driven to rotate about its fixed axis, and the conveying platform is moved in parallel across both sides of the plane defined by the fixed axes. The predetermined axis is the first. Only when the second links are located in a predetermined area including the overlapping position, the contact between the spring member and the abutting member causes the second link to move to the position immediately before entering the predetermined area around the predetermined axis. It is auxiliary rotationally driven in the same direction. As a result, considerations regarding the movement of the conveyor table are eliminated. The conveyance device according to the second invention produces the same effect as the conveyance device according to the first invention, and also fixes the predetermined axis based on the detection by the position sensor that the predetermined axis is located at each limit point on both sides of the predetermined area. The direction of rotational drive around the axis is prevented from reversing immediately before and after entering a predetermined region of the predetermined axis. As a result, the points of consideration regarding the moving operation of the conveyor table are eliminated, and the removal of these points of consideration is reliably guaranteed. In the transport device according to the third invention, the first. In addition to the effects of the transport device according to the second invention, the movement range of the transport platform is 360 degrees.
It is enlarged in a circular manner over a period of time.

【Example】

An embodiment of the first invention will be described below with reference to the drawings. FIG. 1 is a plan view of one embodiment, and FIG. 2 is a side view of the same except for a part. Note that FIG. 1 is common to the plan view of an embodiment according to the second invention, and
The figure is a side view of an embodiment according to the second invention. In FIG. 1, 1. Links IA and 2A having the same effective length as the second links are rotatably connected at one end by a rotation shaft 3A, and constitute one link set. Also, each link IB with the same effective length as before
, 2B are rotatably connected at one end by a rotary wheel 3B, forming another set of links. Each link IA
, IB, 2A, and 2B have respective gears 6A having the same diameter. 6B, 8^, and 8B are fixed and arranged symmetrically so that the gears 6^, 6B and the gears 8A, 8B mesh with each other. That is, each of the gears 6A and 6B is fixed to the drive shaft 52 and the rotating shaft 4 whose position is fixed, and each of the gears 8
A and 8B are respective rotation axes 7A. 7B, and these are rotatably supported by a movable carrier 12. In FIG. 2, a drive shaft 52 and a rotation shaft 4 are each rotatably supported by a support base 11, and in particular, a drive shaft 5 is directly connected to a motor 14. In the embodiment according to the first invention, the detection pieces 15 and 16 and the position sensors 17 and 18 shown in FIG. 2 are omitted. Therefore, motor 14
Due to the rotational drive of
, 2A, and 2B move in parallel from the fully extended position to a symmetrical position below beyond the plane formed by the drive shaft 51 and the rotation shaft 4. The two-dot chain line indicates when the conveyance table 12 slightly exceeds the plane defined by the drive shaft 51 and the rotation shaft 4 downward. Here, when the links LA and 2A on one side overlap each other and the links IB and 2B on the other side, in other words, when the conveyance table 12 is directly above the drive shaft 51 and the rotation axis 4, the so-called Positioned at the consideration point, the conveyor table 12 is placed in an unstable state in which it can be moved either upward or downward in the drawing by the rotational drive of the drive shaft 5. In order to eliminate this point of consideration and clearly limit or specify the movement of the conveyance table 12, the following measures are not taken. In FIG. 1, each leaf spring 9A, 9B is fixed to the end of each link 2A, 2B on the side of each rotating wheel 3A, 3B, respectively. Each pin loA as a contact portion in the invention corresponds to each leaf spring 9A, 9B: As will be described in detail later, each pin loA is located on the left and right of the location where each rotation axis 3A, 3B is located at the consideration point, respectively. Each is placed outwardly. In addition, although only one leaf spring 9A and pin 10A will be used below, and the other leaf spring 9B and pin IOB will be omitted, the structure and operation are exactly the same. The operation of this embodiment is as follows. In FIG. 1, the link IA is driven to rotate around the axis of the drive shaft 5 by the motor 14, and the conveyance platform 12 is moved in parallel across both sides of the plane defined by the axes of the drive shaft 5 and the rotation shaft 4. Only when the axis of the rotation shaft 3^ is located in a predetermined area including the position where the links IA and 2A overlap, the link 2A is moved to the axis of the rotation shaft 3A due to contact between the plate spring 9A and the pin IOA. is auxiliary rotationally driven in the same direction as immediately before entering the predetermined area. As a result, considerations regarding the movement of the conveyor table 12 are eliminated. The operation of the above consideration point removal will be explained in more detail with reference to FIG. FIG. 3 is a plan view of each link at each stage of operation, and FIG. 3(a) shows the position immediately before reaching the consideration point when the conveyance platform 12 moves downward in the figure. In this position, the leaf spring 9A is just before contacting the pin 108, and at this time, the auxiliary driving moment around the rotation axis 3A by the leaf spring 98 and the pin IOA is still acting on the link 2A. do not have. FIG. 2B shows a state in which the conveyance table 12 has reached the consideration point. At this position, the link 2A has a pin IO connected to the leaf spring 9.
An auxiliary driving moment in the clockwise direction is applied to the rotating shaft 3 due to the biasing force generated by the contact with A. In the same figure (C), the conveyance platform 12 passes the consideration point and the leaf spring 9
This shows the moment when the 8 is removed from the pin IOA, and at this position,
The auxiliary driving moment by the leaf spring 98 and the pin IOA no longer acts on the link 2A. The range of movement of the axis to the rotating shaft 3 from FIG. 10A to FIG. The direction of the auxiliary driving moment that link 2A receives when in the predetermined region is clockwise, the same direction as immediately before entering the predetermined region. This auxiliary driving moment eliminates the uncertainty regarding the possible positions of the link 28 in the vicinity of the consideration point, and eliminates the so-called consideration point. However, in order to remove the point of consideration, it is necessary to remove the leaf spring 9A and pin I.
It is sufficient to have at least one of the set of OA or the set of leaf spring 9B and pin IOB. However, for smooth movement of the conveyor table 12, it is better to balance the forces of both sets rather than only one set. FIG. 4 is a plan view of another embodiment according to the first invention. In this alternative embodiment, each pin 2 on the side of each link 2A, 2B.
0A and 20B are fixed, respectively, and the corresponding leaf springs 19A and 19B are fixed at positions corresponding to the pins IOA and IOB in the embodiment according to the first invention. The operation in this case is similar to that in the previous embodiment. Which configuration to use is a design issue. An embodiment of the second invention will be described with reference to FIGS. 1 and 2. Figure 1 is a plan view of this embodiment, Figure 2 is a plan view of this embodiment;
The figure is also a side view. This embodiment is different from the embodiment according to the first invention in terms of configuration, as shown in FIG.
5.16 are fixed, and corresponding position sensors 17 and 1B are provided on the support base 11 side. A set of the detection piece 155 position sensor 17 and a set of the detection piece 161 position sensor 18 respectively detect when the axis of the rotating shaft 3A is located at each limit location on both sides of the predetermined area. The operation of this embodiment is the same as that of the embodiment according to the first invention, and has the following features. The axis of the rotation shaft 3A is determined by a control unit (not shown) based on detection by each detection piece 15.16 and each position sensor 17.18 that the axis is located at each limit point on both sides of a predetermined area. The direction of the rotational drive around the axis of the drive shaft 5, that is, the direction of rotation of the motor 14, is controlled so as not to reverse immediately before and after the axis of the rotation shaft 3A enters the predetermined region. In other words, the detection signal of each position sensor 17, 18 becomes a reverse rotation prohibition signal for the motor 14. As a result, the point of consideration regarding the twelfth transport movement is removed, and the removal of this point of consideration is reliably guaranteed. Another embodiment according to the second invention is shown in FIG. In this other embodiment, as in the other embodiment according to the first invention already described, only the installation locations of the leaf spring and the pin are reversed, so the explanation will be omitted. An embodiment according to the third invention will be described with reference to FIG. 5. FIG. 5 is a side view of this embodiment. This embodiment is a modification of the already described embodiment of the second invention (see FIG. 2) to a structure that is rotatable around a predetermined axis. A support stand 21 is used in place of the support stand 11 in FIG. 2, and this support stand 21 is directly connected to the output shaft of a motor 24 so as to be rotatable around its axis. This rotation axis is parallel to each axis of the drive shaft 5 and rotation shaft 4, and is located at the center thereof. Therefore, the conveyance table 12 is expanded from moving straight back and forth in a predetermined direction to moving over a wide range by turning 360 degrees.

【Effect of the invention】

Therefore, the present invention has the following superior effects compared to the conventional technology. (1) All of the inventions have a simple structure, which makes it easy to implement, improve reliability of operation, and reduce costs. (2) Similarly, since all but a few of the connecting parts are rotating pairs, the generation of dust at these parts can be suppressed to an extremely low level. (3) According to the second invention, the removal of the consideration point is reliably guaranteed, and the reliability of the moving operation of the conveyor table can be further improved. (4) According to the third invention, the range of movement of the conveyance platform can be expanded in a 360-degree rotational manner by a simple structural change, so the article conveyance area is expanded and the flexibility of conveyance is increased with a relatively small cost increase. do.

[Brief explanation of the drawing]

Figure 1 is 1. FIG. 2 is a side view of the embodiment according to the second invention, and FIG. 3 is a common plan view of the embodiment according to the second invention. 4 is a diagram illustrating the operation common to the embodiments according to the second invention; FIGS. 4A, 4B, and 4C are plan views at each operation stage; A plan view common to other embodiments according to the second invention; FIG. 5 is a side view of the embodiment according to the third invention; FIG. 6 is a plan view of the conventional example; and FIG. 7 is a side view thereof. It is a diagram. Code explanation IA, IB, 2B, 2B: Arm, 3A, 3B, 4
．． IA, IB: rotation axis, 5: drive axis, 68, 6B,
7A, 7B: Gear, 9A, 9B, 19A, 19B
: Board blade, 10A, IOB, 20^, 20B
: Pin, 11.12 : Support stand, 12: Transport stand, 14
．． 24: Motor, = 2 [

Claims (1)

[Scope of Claims] 1) two sets of links each consisting of a first link and a second link having the same effective length, which are rotatably connected around a predetermined axis at one end; a pair of gears each rotatable around a pair of fixed axes parallel to the axis, fixed to the other end of each of the first links, and having the same diameter meshing with each other; another gear having the same diameter as each of the gears; a conveyance platform that rotatably supports the other end of each of the second links, which are fixed so as to mesh with each other, about another pair of axes parallel to the predetermined axis; one of the second links; a spring member or a corresponding contact member fixed to at least one of the ends of the spring member; and the other member positioned correspondingly to the spring member; One of the links is rotationally driven around its fixed axis to move the conveyance platform in parallel across both sides of the plane formed by each of the fixed axes, and the predetermined axis is the same as that of each of the first and second links. Only when the second link is located in a predetermined area including the position where they overlap, the second link is moved around the predetermined axis in the same direction as immediately before entering the predetermined area by the contact between the spring member and the abutting member. A conveyance device characterized in that it is auxiliary rotationally driven. 2) two sets of links consisting of first and second links of the same effective length that are rotatably connected around a predetermined axis at one end; a pair of links parallel to the predetermined axis; gears of the same diameter that are rotatable around each fixed axis and are fixed to the other end of each of the first links and mesh with each other; each of the gears and another gear of the same diameter are fixed so that they mesh with each other; a conveyance table rotatably supporting the other end of each of the second links around another pair of axes parallel to the predetermined axis; at least one of the ends of each of the second links; one of the spring member and the corresponding abutting member fixed to the spring member; the other member fixed corresponding thereto; and the predetermined axis in the moving direction of the carrier a position sensor that detects the position;
Based on the detection by the position sensor that the predetermined axis is located at each limit point on both sides of the predetermined area, the direction of rotational drive around the fixed axis is changed to the direction immediately before and when the predetermined axis enters the predetermined area. a control unit that prevents the rotation from reversing between the first links and the second link; and a control unit that rotates either one of the first links about the fixed axis thereof to move the conveyance platform across both sides of the plane formed by the respective fixed axes. Only when the predetermined axis line is located in a predetermined region including the position where the first and second links overlap, the second link is moved in parallel by the contact between the spring member and the abutting member A conveying device characterized in that the link is auxiliary rotationally driven around the predetermined axis in the same direction as the link immediately before entering the predetermined area. 3) A conveyance device according to claim 1 or 2, wherein the pair of fixed axes are rotatable about another predetermined axis parallel to the pair of fixed axes.