JPH11124298A - Transfer device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To transfer a work piece in the shortest transfer path, by passing the work piece, gripped by a grip mechanism, between a right and left pair of supporting arms, to be made transferable. SOLUTION: A transfer device is constituted of: a right and left pair of supporting arms 3 tiltably fitted to a base 2; a cross member 7 stretched over the tips of these arms 3; a moving member 8 fitted to and movable along the cross member 7; a multistage arm mechanism 30, horizontally fitted to the moving member 8, and for expanding and contracting the arms in a direction orthogonal to the cross member 7; and a grip mechanism 60 fitted to the multistage arm mechanism 30.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an improvement of a transfer device.

[0002]

2. Description of the Related Art For example, as a transfer device,
No. 179791 "Vertical Link Arm Robot" and Japanese Utility Model Application Laid-Open No. 59-183777 "Manipulator Device"
It has been known. FIG. 1 of the above publication is a front view showing a conventional link arm robot, in which an operation arm 25 is pivotally mounted on a support 26. According to the above technique, as shown in FIG. 2 of the publication, an up-down driving device 15 is provided on a truck 7, a table 14 is provided which is moved up and down by the up-down driving device 15, and a driving device 31 is provided, and the pantograph arm 22 which expands and contracts by the driving device 31 is provided,
The gripping device 33 is attached to the tip of the pantograph arm 22.

[0003]

However, since the above-mentioned robot turns the operating arm 25 about the support 26, the turning radius is large. For example, when the robot has an obstacle nearby, the robot cannot work. There is no need to remove obstacles first. In other words, it can be said that the robot is a transfer device that is not suitable for a small work area such as a warehouse. In the above, since the pantograph method is used, there is a problem that there are many fulcrums and it is difficult to guarantee the accuracy of gripping and transferring the transferred object. In addition, the range of movement of the gripped transferred object is limited to the range in which the pantograph arm 22 can be extended and retracted and the range in which the table 14 can be moved up and down. narrow.

Accordingly, an object of the present invention is to provide a transfer device capable of moving a load linearly in a narrow place.

[0005]

In order to achieve the above object, a first aspect of the present invention is directed to a pair of left and right support arms attached to a base so as to be vertically movable, a cross member bridged over the tips of these arms, A moving member movably mounted along the cross member, a multi-stage slide arm mounted horizontally on the moving member and extending and contracting the arm in a direction perpendicular to the cross member, and a gripping mechanism mounted on the multi-stage slide arm Thus, the transfer device is configured so that the work gripped by the gripping mechanism can be transferred by passing between the pair of left and right support arms.

The work is gripped by the gripping mechanism, the pair of left and right support arms are lifted to lift the work, the multi-stage slide arm is extended and contracted, and the work is passed between the pair of left and right support arms and transferred. Since the transfer device is configured so that the workpiece gripped by the gripping mechanism can be passed and transferred between the pair of left and right support arms, the workpiece can be moved even if there is an obstacle on the right or left side. The work can be transferred by the shortest transfer path.

According to a second aspect of the present invention, a first parallel link having a support arm movably mounted on a base so as to be vertically movable, a first gear portion mounted at a tip of the first parallel link, and a first gear meshing with the first gear portion. A second gear portion and a second gear portion attached to the second gear portion.
A parallel link, a first connecting member for connecting the first parallel link and the second parallel link so as to be relatively movable, and a second connecting member attached to a tip of the second parallel link for attaching a cross member. Features. By moving one of the first and second parallel links, the other parallel link can be linked via the first and second gear portions.

A third aspect of the present invention includes a balancer mechanism for maintaining a state parallel to the weight of the cross member, the moving member, the multi-stage slide arm, and the gripping mechanism. And a flexible linear member connecting the support arm and the support arm. Since it is composed of a compression spring having a balancer mechanism mounted on a base and a flexible linear member connecting the free end of the compression spring and the support arm, the parallel state can be always maintained in conjunction with the movement of the support arm. it can.

According to a fourth aspect of the present invention, there is provided a transfer device wherein the base is a trolley. Since the base is a trolley, the transfer device can be moved freely.

[0010]

Embodiments of the present invention will be described below with reference to the accompanying drawings. The drawings should be viewed in the direction of reference numerals. Fr indicates the front side, and Rr indicates the rear side. FIG. 1 is a perspective view of a transfer device according to the present invention.
The transfer device 1 includes a trolley 2 as a base, a pair of left and right support arms 3 and 3 movably attached to the trolley 2, and balancer mechanisms 5 and 5 (for preventing the support arms 3 and 3 from falling down). Only one of them is shown), a cross member 7 extending over the distal ends of the support arms 3, 3, a moving member 8 movably mounted along the cross member 7, and a cross member horizontally mounted on the moving member 8. The multi-stage slide arm 30 is provided with a multi-stage slide arm 30 for extending and contracting the arm in a direction perpendicular to the direction 7, and a gripping mechanism 60 attached to the multi-stage slide arm 30. W indicates a work.

FIG. 2 is a side view of the transfer device according to the present invention. The truck 2 is configured by mounting wheels 12 to the body frame 11 (where a plurality is shown, the same applies hereinafter), and mounting portions 11a and 11c for mounting the support arm 3 and a cylinder 17 to be described later. Support portion 11b for
The balancer mechanism 5 includes support shafts 11d, 11e, 11f and mounting portions 11g, 11g. The support arm 3 is a first parallel link 1 having one end attached to the carriage 2 so as to be vertically movable.
3 and the first parallel link 13 fitted to the other end of the first parallel link 13.
A connecting member 14, a second parallel link 15 having one end rotatably attached to the first connecting member 14, and a second connecting member 16 attached to a tip of the second parallel link 15 for attaching the cross member 7. And an air cylinder 17 for driving the support arm 3. Since the carriage 2 is attached to the transfer device 1, the transfer device 1 can be freely moved.

The first parallel link 13 includes a first main link 18, a first sub link 19 disposed in parallel with the first main link 18, and a first gear portion 18 a provided at one end of the first main link 18. Consists of First connecting member 14
Is a member connecting the first parallel link 13 and the second parallel link 15 so as to be relatively movable, and a support portion 14a for rotatably mounting the rod 17a of the air cylinder 17 and a rotatable mounting for the first main link 18. A supporting shaft 14b, a supporting shaft 14c for rotatably mounting the first sub-link, and a second
Support shafts 14d and 14 for rotatably mounting the parallel link 15
e.

The second parallel link 15 includes a second main link 21, a second sub link 22 disposed in parallel with the second main link 21, and a second gear portion 21 a provided at one end of the second main link 21. Consists of Second connecting member 16
Are supporting portions 16a, 1 for attaching the cross member 7.
6a, a support shaft 16b for rotatably mounting the second main link 21, and a support shaft 16c for rotatably mounting the second sub-link 22. The support arm 3 is attached to the cart 2
The parallel link 13 is attached so as to be vertically movable, a first gear portion 18a is attached to the tip of the first parallel link 13, and a second gear portion 21a meshing with the first gear portion 18a is provided. Since the second parallel link 15 is attached to the support arm 3, the support arm 3 can operate the work W only in vertical movement.

The balancer mechanism 5 includes a spring holder 23 mounted on the mounting portions 11 g of the body frame 11, a compression spring 24 housed in the spring holder 23, and a pressing member 27 for pressing the compression spring against the spring holder 23. ,
A wire 26 is provided as a flexible linear member connecting between the pressing member 27 and the support shaft 14c. Pulley 25a,
25 b and 25 c are pulleys for changing the direction of the wire 26. The spring holder 23 includes a stopper 23a for receiving the compression spring 24 and a holder 23b for covering the outer periphery of the compression spring 34. As described later, the balancer mechanism 5
Is to keep the equilibrium state constantly in conjunction with the movement of the support arm 3.

FIG. 3 is a view taken in the direction of arrow 3 in FIG.
The side of is shown. The cross member 7 includes a second connecting member 16,
16 and supported by the second parallel links 15 and 15 via a support member body 28.
And a rodless cylinder 29 mounted along.
The rodless cylinder 29 includes a cylinder 29a and a moving element 29b that moves the cylinder 29a. The moving member 8 is connected to the moving element 29b, and can move the member main body 28 with the movement of the moving element 29b.

FIGS. 4A and 4B are explanatory views of a multi-stage slide arm according to the present invention, wherein FIG. 4A shows a plane view of the multi-stage slide arm, and FIG. 4B shows a side surface of the multi-stage slide arm. The multi-stage slide arm 30 includes a first arm 31 slidably attached to the cross member 7 via the moving member 8 and a second arm 32 slidably attached to the first arm 31. First arm 31
A moving member 33a of the first rodless cylinder 33 attached to the moving member 8 as a base member;
The first rodless cylinder 33 movably mounted in a
, A bracket 34 attached to the cylinder 33b, a guide rail 35 provided on the bracket 34, and a linear slider 35a that slidably moves the guide rail 35. Since the first rodless cylinder 33 has the moving member 33a attached to the moving member 8, the moving member 33a moves on the cylinder 33b by supplying compressed air to the cylinder 33b.

The second arm 32 is movably mounted on a guide rail 35 via a linear slider 35a, a slide member 37 mounted on the guide rail 36, and slidably mounted on the slide member 37. A suspension slider 38, a cylinder 39a of a second rodless cylinder 39 mounted along the slide member 37, and a movable member 39b of the second rodless cylinder 39 movably mounted in the cylinder 39a. The moving element 39b is a member attached to the linear slider 35a and moves together with the linear slider 35a, and the suspension slider 38 is a member for suspending the gripping mechanism 60. The second rodless cylinder 39 fixes the mover 39b to the first arm 31 and supplies compressed air to the cylinder 39a, so that the cylinder 39a
9b. When the cylinder 39a is fixed to the first arm 31, the moving element 39b moves on the cylinder 39a by supplying compressed air to the cylinder 39a.

The clutch mechanism 41 includes the slide member 37, the suspension slider 38, the moving member 39b of the second rodless cylinder 39, the front cylinder unit 42 provided at one end of the bracket 34, and the other end at the other end. And a rear cylinder unit 43 provided. The clutch mechanism 41 will be described with reference to the following drawings.

FIG. 5 is an enlarged view of a main part of the second arm shown in FIG.
7 and the mover 39b are shown. The slide member 37 has holes 37a and 37b into which the suspended slider body 45 is fitted. The suspension slider 38 includes a suspension slider body 45, lock claws 46 a and 46 b rotatably attached to the suspension slider body 45, and a leaf spring 47 that presses the lock claws 46 a and 46 b. When the lock claw 46a is fitted in the hole 37a of the slide member 37 or the lock claw 46b is fitted in the hole 37b, the suspension slider 38 moves together with the slide member 37.

The moving element 39b includes a frame 51 attached to the moving element body 49, fitting claws 52a and 52b rotatably mounted on the frame 51, and fitting claws 52a and 52b.
And a leaf spring 57 that presses the leaf spring 52b. The spring force of the leaf spring 47 is set to be larger than the spring force of the leaf spring 53. Accordingly, at positions where the lock claws 46a, 46b of the slide member 37 contact the fitting claws 52a, 52b, the fitting claws 52a,
52b pushes the lock claws 46a, 46b, and the moving element 39b
Connects the suspension slider 38 and the suspension slider 38
Moves together with the mover 39b.

FIG. 6 is an enlarged view of a main part of the first arm shown in FIG. 4B, showing a front cylinder unit 42 and a rear cylinder unit 43. The front cylinder unit 42 includes a cylinder 54 serving as a driving means attached to the bracket 34 so as to be able to swing, and a cylinder 5
Mover stopper member 55 fitted to the rod 54a
And a cylinder stopper member 56. Cylinder 5
Reference numeral 4 drives the mover stopper member 55 and the cylinder stopper member 56. Mover stopper member 55
Is provided on the front side of the first arm 31 with a fitting claw 52a (FIG. 5).
(See FIG. 3), the movable member 39b is locked to the first arm 31 side.

The rear cylinder unit 43 includes a cylinder 57 as a driving means mounted on the bracket 34 so as to swing, a movable member stopper member 58 and a cylinder stopper member 5 fitted to a rod 57a of the cylinder 57.
9 The cylinder 57 includes the movable member stopper member 5.
8 and the cylinder stopper member 59 are driven. The movable member stopper member 58 locks the movable member 39b to the first arm 31 side by fitting the movable member 39b to the fitting claw 52b (see FIG. 5) on the rear side of the first arm 31.

The cylinder stopper member 55 includes a cylinder 3
9a is a stopper for locking or releasing the front end of the cylinder 9a.
This is a stopper for locking or releasing the rear end of the lock.
Therefore, by raising the cylinder stopper members 55 and 39 in a state where the cylinder 39a is located in the first arm 31, the cylinder 39a is locked to the first arm 31 side. When the cylinder stopper member 55 is opened, the cylinder 39a can move to the front side,
When the cylinder stopper member 59 is opened, the cylinder 39
a can be moved to the rear side.

The operation of the transfer device 1 described above will now be described. FIGS. 7A to 7C are explanatory diagrams of a first operation of the transfer device according to the present invention. (A) shows that the workpiece W was gripped by the gripping mechanism 60. (B), the bent first parallel link 13 is raised clockwise in FIG.
The parallel link is raised in the counterclockwise direction in the figure, and the work W is lifted as indicated by the arrow. The first parallel link 13 and the second parallel link 15 are connected to the first gear portion 18a and the second gear portion 2 of FIG.
The work W is vertically moved by the distance A as shown by an arrow because the work W is linked at 1a. At this time, no horizontal force is applied to the work W. That is, by moving one of the first and second parallel links 13 and 15, the first and second gear portions 18a and 21a are moved.
The other parallel links 13 and 15 can be linked via the. (C) moves the second arm 32 as shown by the arrow, and moves the second arm 32 within the range of the first arm 31.
To store. By moving the second arm 32 as shown by the arrow, the work W is moved horizontally by the distance B1.

FIGS. 8A and 8B are explanatory views of a second operation of the transfer device according to the present invention. (A) shows that the suspension slider 43 was moved as shown by the arrow. By moving the suspension slider 43 as shown by the arrow, the work W is further horizontally moved by the distance B2. (B) shows that the first arm 31 has been moved by the distance B3 as shown by the arrow. By moving the first arm 31, the workpiece W is further horizontally moved by the distance B3 in the direction of the arrow. The workpiece W gripped by the gripping mechanism 60 can be passed between the pair of left and right support arms 3 and 3 (only one is shown), and the workpiece W can be transferred along the shortest transfer path.

FIGS. 9A and 9B are diagrams for explaining a third operation of the transfer device according to the present invention. (A) shows the second arm 3
2 is moved as shown by the arrow, and the second arm 32 is projected from the first arm 31. By moving the second arm 32 as shown by the arrow, the work W moves horizontally by the distance B. (B), the first and second parallel links 13 and 15 are bent, and the work W is lowered as indicated by arrows. Since the first parallel link 13 and the second parallel link 15 are linked by the first gear portion 18a and the second gear portion 21a in FIG. 2, the work W moves vertically by the distance A as indicated by the arrow.

FIGS. 10A and 10B are explanatory diagrams of the operation of the balancer mechanism according to the present invention. (A) shows that the first and second parallel links 13 and 15 are extended, so that a compression spring 24 is formed.
Indicates a state extended in the direction of the arrow, and its length is L1. Therefore, the balance acting on the support shaft 14c of the first connecting member 14 is minimum. (B) shows that the length of the compression spring 24 pressed by the holding member 27 becomes L2 because the wire 26 is pulled as shown by the arrow by bending the first and second parallel links 13 and 15. . here,
The increased balance amount is F, and the spring constant of the compression spring 24 is k.
Then, F = k (L1−L2). in this way,
The amount of balance acting on the support shaft 14c of the first connecting member 14 increases as the first and second parallel links 13 and 15 are bent.

As shown in the figure, the balancer mechanism 5 is
, And the wire 26 connecting the free end of the compression spring 24 and the support arm 3, the balance state can be always maintained in conjunction with the movement of the support arm 3.

Next, the operation of the multi-stage slide arm 30 will be described. 11 (a) to 11 (c) are explanatory diagrams (first half) of the operation of the multi-stage slide arm according to the present invention, in which a white triangle indicates an open state and a black triangle indicates a locked or fitted state. Is shown. (A) shows a state in which the second arm 32 is projected from the first arm 31 to the front side. By fitting the lock claw 46a into the hole 37a of the slide member 37, the suspension slider 38 is locked to the slide member 37. Further, by fitting the movable member stopper member 55 to the fitting claw 52a, the movable member 39b is locked on the first arm 31 side. Therefore, by supplying compressed air to the cylinder 39a, the cylinder 39a
(And the slide member 37) are movable as indicated by an arrow a.

(B) shows a state in which the cylinder 39a (and the slide member 37) has been moved into the first arm 31 as shown by the arrow b. Since the cylinder stopper member 59 located on the rear side is in a locked state, the cylinder 39a hits the cylinder stopper member 59 and stops. Hanging slider 3
8 is locked to the slide member 37, and the movable element 39b is
Is kept locked on the arm 31 side.

(C), the cylinder 54 (see FIG. 5) is actuated to release the lock pawl 46a from the hole 37a, and to release the mover stopper member 55 from the fitting pawl 52a.
This shows that the cylinder stopper member 56 is locked, the front side of the cylinder 39a is pressed, and the fitting claws 52a, 52b are locked to the lock claws 46a, 46b. That is, since the cylinder stopper members 56 and 59 are in the locked state, it indicates that the cylinder 39a is locked on the first arm 31 side, and that the movable member 39b is locked on the suspension slider 38. Therefore, by supplying compressed air to the cylinder 39a, the moving member 39b can move the cylinder 39a in the direction of arrow c. And the moving element 39b
Along with the movement, the suspension slider 38 can also move the slide member 37 as shown by the arrow c.

FIGS. 12 (a) to 12 (d) are explanatory diagrams (second half) of the operation of the multi-stage slide arm according to the present invention, wherein a white triangle indicates an open state, and a black triangle indicates a locked or fitted state. It indicates that there is. (A) shows that the slider 39b has moved the cylinder 39a from the front side to the rear side as shown by the arrow a, and the hanging slider 38 also moves the slide member 37 as shown by the arrow a with the movement of the slider 39b. Indicates that you have done. (B) shows the first rodless cylinder 33
By injecting air into the cylinder 33b, the first arm 31 has moved the movable member 33a attached to the movable member 8 to the rear side as shown by the arrow b. The cylinder 39a is locked on the first arm 31 side, and the suspension slider 3
8, the movable member 39b remains locked.

(C), the cylinder 57 (see FIG. 5) is operated, the cylinder stopper member 59 is opened, the rear side of the cylinder 39a is opened, and the fitting claws 52a, 52b
The lock claws 46a and 46b are released from the
b indicates that the lock claw 46b has been locked, and the movable claw stopper member 58 has been locked to the fitting claw 52b. That is,
This shows that the movable member 39b is locked on the first arm 31 side and the hanging slider 38 is locked on the slider member 37. Accordingly, by supplying the compressed air to the cylinder 39a, the cylinder 39b indicates that the movable member 39b can be moved as indicated by an arrow c, and as the cylinder 39a moves, the slide member 37 and the suspension slider 38 also move as indicated by the arrow. c
Indicates that it can be moved. (D) shows a state in which the second arm 32 projects from the rear side of the first arm 31 to the rear side as shown by the arrow d.

In this embodiment, the base is a trolley.
The present invention is not limited to the trolley, and the base pedestal may be fixed or may be moved on a rail. Further, in this embodiment, the multi-stage arm is constituted by two stages of the first arm and the second arm, but may be constituted by three or more stages.

[0035]

According to the present invention, the following effects are exhibited by the above configuration. According to the first aspect of the present invention, the transfer device is configured so that the workpiece gripped by the gripping mechanism can be passed between the pair of left and right support arms to transfer the workpiece. Can be moved, and the work can be transferred by the shortest transfer path. Therefore, the work transfer time can be shortened and the work can be transferred even in a narrow space.

According to a second aspect, the support arm is provided on the base with the first.
A parallel link is attached so as to be vertically movable, a first gear portion is attached to a tip of the first parallel link, a second gear portion meshing with the first gear portion is provided, and a second parallel link is attached to the second gear portion. With this configuration, by moving one of the first and second parallel links, the other parallel link can be linked via the first and second gear portions.

The third aspect of the present invention comprises a compression spring having a balancer mechanism mounted on a base, and a flexible linear member connecting the free end of the compression spring and the support arm. Can always be kept parallel. Therefore, stable transfer of the work has become possible.

According to a fourth aspect of the present invention, the transfer device can be freely moved since the base is a cart.

[Brief description of the drawings]

FIG. 1 is a perspective view of a transfer device according to the present invention.

FIG. 2 is a side view of the transfer device according to the present invention.

FIG. 3 is a view taken in the direction of arrow 3 in FIG. 2;

FIG. 4 is an explanatory view of a multi-stage slide arm according to the present invention.

FIG. 5 is an enlarged view of a main part of a second arm shown in FIG.

FIG. 6 is an enlarged view of a main part of the first arm shown in FIG. 4 (b).

FIG. 7 is an explanatory view of a first operation of the transfer device according to the present invention.

FIG. 8 is an explanatory view of a second operation of the transfer device according to the present invention.

FIG. 9 is a diagram illustrating a third operation of the transfer device according to the present invention.

FIG. 10 is a diagram illustrating the operation of the balancer mechanism according to the present invention.

FIG. 11 is a diagram illustrating the operation of the multi-stage slide arm according to the present invention (first half).

FIG. 12 is a diagram illustrating the operation of the multi-stage slide arm according to the present invention (second half).

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Transfer device, 2 ... Base (trolley), 3 ... Support arm,
5: balancer mechanism, 7: cross member, 8: moving member,
13: first parallel link, 14: first connecting member, 15: second parallel link, 16: second connecting member, 18a: first gear portion, 21a: second gear portion, 30: multi-stage slide arm,
24 ... compression spring, 26 ... flexible linear member (wire), 60
... Grip mechanism, W ... Work.

Claims (4)

[Claims] 1. A pair of left and right support arms attached to a base so as to be movable up and down, a cross member bridged over the ends of these arms, a movable member movably attached along the cross member, and a movable member A multi-stage slide arm that is mounted horizontally on the member and expands and contracts the arm in a direction perpendicular to the cross member; and a gripping mechanism mounted on the multi-stage slide arm. A transfer device configured to be able to transfer by passing through. 2. The support arm includes a first parallel link attached to the base so as to be vertically movable, a first gear portion attached to a tip of the first parallel link, and a second gear meshing with the first gear portion. Part, a second parallel link attached to the second gear part, a first connecting member for connecting the first parallel link and the second parallel link so as to be relatively movable, and a second parallel link for attaching the cross member. 2. The transfer device according to claim 1, further comprising a second connecting member attached to a tip of the link. 3. A compression spring having a balance member for maintaining a balance with the weight of the cross member, the moving member, the multi-stage slide arm and the gripping mechanism. 3. The transfer device according to claim 1, wherein the transfer device comprises a flexible linear member connecting the arm and the arm. 4. The transfer device according to claim 1, wherein the base is a cart.