CN101569911B - Panel transportation device - Google Patents
Panel transportation device Download PDFInfo
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- CN101569911B CN101569911B CN200810099211XA CN200810099211A CN101569911B CN 101569911 B CN101569911 B CN 101569911B CN 200810099211X A CN200810099211X A CN 200810099211XA CN 200810099211 A CN200810099211 A CN 200810099211A CN 101569911 B CN101569911 B CN 101569911B
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Abstract
A panel transportation device of the present invention has a panel grasp portion for grasping a panel, a link mechanism for moving the panel grasp portion in a panel transportation direction, and a slide mechanism for operating the link mechanism so as to move the panel grasp portion in the panel transportation direction and moving the entire link mechanism. The slide mechanism is constituted of afirst slide mechanism with a first slide block and a second slide mechanism with a second slide block. The link mechanism is constructed such that the first slide block and the second slide block are connected to the panel grasp portion and the panel grasp portion is moved in the panel transportation direction by individually and linearly driving the first slide block and the second slide block.
Description
The application be first to file (applying date: on May 19th, 2004, application number: 200480013929.2, denomination of invention: dividing an application panel carrying device).
Technical field
The present invention relates to the panel carrying device carried by the panel of moulding such as forcing press.
Background technology
For example automobile is made for complicated shape with panel, so molding procedure is divided into several stages, by the mould molding of the shape that is arranged in a straight line.In the multiple position press or series connection forcing press (tandem press) of so a plurality of forcing presses of use, in order to be transported to next forcing press successively and panel carrying device to be set by the parts (panel) of certain forcing press moulding.
Panel carrying device as multiple position press is used is extensive use of the crossbar type conveying device that following patent documentation 1 is arranged in the prior art.This device is such device: on line direction, liftably be arranged on the lifting beam of extending in the whole zone of each press stations, and then it can be moved back and forth between each station at line direction at the conveyer that dangles on this lifting beam, on this conveyer, be assembled with cross bar, on cross bar, set up the workpiece grips, simultaneously and off and on the workpiece material of each station is carried.
Such crossbar type conveying device has following feature.
(1) motion control by being undertaken by cam drive-type or AC servo motor, feed motion between the mould station of generation moulding panel.
(2) carry out the conveying of panel according to the resultant motion of feeding direction (horizontal direction) and direction of improvement (vertical direction), adsorb and carry by being installed in vacuum cup counter plate on the means of delivery that is called as cross bar.
(3) cross bar between each mould station is all linking on feeding direction, direction of improvement, and each cross bar carries out identical motion in linkage.
(4) generate the arm of sending to of feed motion between the station, be usually located at the front side or the rear side of a succession of feeder that constitutes by the chassis that is connecting cross bar and its connect mechanism, generate feed motion by the swing of arm.
In addition, except that above-mentioned crossbar type conveying device, the panel carrying device that has following patent documentation 2～4 grades to be put down in writing is proposed also.
" multistation feed arrangement (the transfer feeder) " of patent documentation 2 records, on a pair of lifting beam that moves up and down by lift, be provided with by linear motor independently a plurality of conveyers voluntarily, linear motor can be carried as the high speed that drive source carry out workpiece (panel).
" the multiple position press conveying device " of patent documentation 3 records is provided with a plurality of conveyers on lifting beam, this conveyer can be carried servo motor as the high speed that drive source carries out workpiece (panel).
" the TRANSPORT AND POSITIONING SYSTEM (conveying and positioning device) " of patent documentation 4 records, as shown in Figure 1, possess the drive unit 40 with leverage 33, this leverage 33 has and drives cross bar 32 and to its efferent that positions 35.This leverage 33 has the swing arm 34 that at one end forms efferent 35, and this efferent 35 links with cross bar 32.In addition, swing arm 34 with the supporting-point 38 of devices spaced apart and drive point 43 these 2 linking.Supporting-point 38 and the interval specific output portion of drive point 43 and the interval weak point of supporting-point.In the figure, 31 for being installed in the workpiece grips on the cross bar 32, and 42 for linking the guide rod of slide block 47 and drive point 43, and 51 is the rotary actuator of wobble drive guide rod 42, and 55 is the direct acting device that slide block 47 is moved up and down.
According to this formation, by slide block 47 being moved up and down with direct acting device 55, make guide rod 42 swings with rotary actuator 51, thereby the front end (drive point 43) of guide rod 42 is driven the location, amplify this action and the cross bar 32 that workpiece grips 31 is installed is driven the location with lever ratio.
Patent documentation 1: Japanese kokai publication hei 10-328766 communique
Patent documentation 2: the special fair 7-73756 communique of Japan
Patent documentation 3: Japanese kokai publication hei 10-328766 communique
Patent documentation 4: No. 6382400 communique of United States Patent (USP)
But, have following problem in above-mentioned patent documentation 1 and 3 described panel carrying devices: (1) can not make each cross bar have the motion that has nothing in common with each other, (2) move simultaneously owing to all sporting cross bars, so servo motor and send drive unit to and maximize, (3) because the curve movement that each press stations is used is identical, so need on mold shape, work hard, the variation of corresponding surface sheet metal forming difficult for fear of interfering.In addition, in the linear motor mode of patent documentation 2, though can realize sending to the high speed of (feeding) by linear motor, but need other hoisting mechanism, the problem that has complicated integral structure and maximization, in the servo mode of the AC of patent documentation 3, exist owing to be series connection bar and can not obtain the problem of higher rigidity.
In addition, in the swing arm mode of patent documentation 4, because with the swing arm transportation panel, fed distance is long more just need must be long more with the length setting of arm, and the deflection of arm etc. becomes the reason of vibration.In addition, the panel carrying device of patent documentation 4, owing to possess the slide mechanism that between press stations, is vertically driven, so, can not be applied to not be provided with multiple position presses column, many sliding types of this mechanism.In addition, for corresponding complicated forcing press moulding, make workpiece grips swing (inclination), tilting gearing need individually be set on cross bar, it is complicated that structure becomes, and the increase of the weight of movable part, is difficult to realize high speed more.
Summary of the invention
The present invention makes for addressing the above problem.That is, main purpose of the present invention is to provide a kind of and can makes each press stations have different motions, can make the movable part lightweight easily, can improve the rigidity of movable part and suppress deflection or vibration, can also be applied to the panel carrying device of the multiple position press of (multi slide) modes of sliding more in addition.In addition, another object of the present invention be to provide a kind of not to movable part add other devices, can with the movable part lightweight situation under make the fascinate panel carrying device of (inclination) of workpiece grips.
In order to reach purpose of the present invention, according to first invention, a kind of panel carrying device is provided, it is characterized in that possessing: the panel handle part that counter plate is controlled, make the linkage that this panel handle part moves to the panel throughput direction and make the aforementioned linkage action and make that linkage is whole to be moved so that the slide mechanism that aforementioned panel handle part moves to the panel throughput direction.
According to first invention, make the linkage action and make linkage whole mobile by slide mechanism, the panel handle part is moved to the panel throughput direction.Therefore, can carry to the throughput direction of regulation the panel of controlling with the panel handle part.In addition, owing to panel carrying device of the present invention can corresponding each press stations be provided with, so can make each press stations possess different motions.In addition, because constituent apparatus self compactly, so also can be applied to the press arrangement of many sliding types.
Second invention is the preferred implementation of first invention, is provided with a pair of aforementioned linkage, slide mechanism symmetrically in the both sides of aforementioned panel handle part.
According to second invention, the stably transportation panel.
The 3rd invention, it is the preferred implementation of first invention, aforementioned slide mechanism comprises: first slide mechanism, second slide mechanism with the conveying circuit downstream that is configured in this first slide mechanism, aforementioned first slide mechanism constitutes, has first slide block that is connected with aforementioned linkage, on the direction that horizontal plane tilts relatively, this first slide block is carried out linear drives, make the slide block of winning among its driving scope, become the high position at the conveying circuit upstream side, become lower position in the conveying circuit downstream, aforementioned second slide mechanism constitutes, has second slide block that is connected with aforementioned linkage, on the direction that horizontal plane tilts relatively, this second slide block is carried out linear drives, make second slide block among its driving scope, become lower position at the conveying circuit upstream side, become the high position in the conveying circuit downstream, aforementioned linkage constitutes, connect aforementioned first slide block and second slide block and aforementioned panel handle part, this first slide block and second slide block be respectively by linear drives, thereby the panel handle part is moved to the panel throughput direction.
According to the 3rd invention, first slide block and second slide block by linear drives moves in V-type driving scope can make connected panel handle part move to the panel throughput direction by linkage.Thus, can carry to the throughput direction of regulation the panel of controlling with the panel handle part.
The 4th invention, be the preferred implementation of the 3rd invention, aforementioned linkage possesses: output block, an end pivoting that is connected with aforementioned panel handle part be installed on aforementioned output block and other end pivotal mounting in the first connecting rod of aforementioned first slide block and an end pivoting be installed on output block and other end pivotal mounting in the second connecting rod of aforementioned second slide block.
According to the 4th invention, make the first connecting rod action by driving first slide block, make the second connecting rod action by driving second slide block, thereby make the linkage action, thus, the panel handle part that is connected with output block is moved to the predetermined panel throughput direction.
The 5th invention is the preferred implementation of the 4th invention, and aforementioned first connecting rod possesses two arms, and these two arms end pivoting separately is installed on aforementioned output block, and other end pivotal mounting is in aforementioned first slide block.
According to the 5th invention, can output block be remained certain posture by two arms, the workpiece handle part that is installed on output block can be remained certain posture, realize stable panel conveying.
The 6th invention, it is the preferred implementation of the 5th invention, aforementioned first slide block comprises two slide blocks, aforementioned first slide mechanism possesses two driving mechanisms that individually drive these two slide blocks, the other end of aforementioned two arms pivotal mounting respectively makes the relative position variation of these two slide blocks and the aforementioned panel handle part that is connected with aforementioned output block is fascinated in aforementioned two slide blocks.
According to the 6th invention, the panel handle part is fascinated, so, can carry out controlling/mounting of panel with optimal angle as required.
The 7th invention, it is the preferred implementation of the 5th invention, the relative horizontal plane of straight line of straight line by aforementioned two arms and each pivotal mounting point of aforementioned first slide block and/or each the pivotal mounting point by aforementioned two arms and aforementioned output block tilts, so that aforementioned two arms can remain the state of mutually noninterfere under the attitude of observing from the conveying circuit width.
According to the 7th invention, by the straight line of two arms and each pivotal mounting point of first slide block and/or by of the straight line relative horizontal plane inclination of two arms with each pivotal mounting point of output block, so that two arms are at the state that can remain mutually noninterfere under the attitude of conveying circuit width observation, so, first connecting rod constitutes tetragonal connecting rod all the time, can be at the institutional dead point that panel carries the optional position of action to eliminate linkage.Thus, can obtain to make the controlled effect that significantly improves.
The 8th invention, it is the preferred implementation of the 6th invention, the relative horizontal plane of straight line of straight line by aforementioned two arms and each pivotal mounting point of aforementioned first slide block and/or each the pivotal mounting point by aforementioned two arms and aforementioned output block tilts, so that aforementioned two arms can remain the state of mutually noninterfere under the attitude of observing from the conveying circuit width.
According to the 8th invention, by the straight line of two arms and each pivotal mounting point of first slide block and/or by of the straight line relative horizontal plane inclination of two arms with each pivotal mounting point of output block, so that two arms are at the state that can remain mutually noninterfere under the attitude of conveying circuit width observation, so, first connecting rod constitutes tetragonal connecting rod all the time, can be at the institutional dead point that panel carries the optional position of action to eliminate linkage.Thus, can obtain to make the controlled effect that significantly improves.
The 9th invention is the preferred implementation of the 4th invention, and aforementioned second connecting rod possesses two arms, and these two arms end pivoting separately is installed on aforementioned output block, and other end pivotal mounting is in aforementioned second slide block.
According to the 9th invention, can output block be remained certain posture by two arms, the workpiece handle part that is installed on output block can be remained certain posture, realize stable panel conveying.
The tenth invention, it is the preferred implementation of the 9th invention, aforementioned second slide block comprises two slide blocks, aforementioned second slide mechanism possesses two driving mechanisms that individually drive these two slide blocks, the other end of aforementioned two arms pivotal mounting respectively makes the relative position variation of these two slide blocks and the aforementioned panel handle part that is connected with aforementioned output block is fascinated in aforementioned two slide blocks.
According to the tenth invention, the panel handle part is fascinated, so, can carry out controlling/mounting of panel with optimal angle as required.
The 11 invention, it is the preferred implementation of the 9th invention, the relative horizontal plane of straight line of straight line by aforementioned two arms and each pivotal mounting point of aforementioned second slide block and/or each the pivotal mounting point by aforementioned two arms and aforementioned output block tilts, so that aforementioned two arms can remain the state of mutually noninterfere under the attitude of observing from the conveying circuit width.
According to the 11 invention, by the straight line of two arms and each pivotal mounting point of second slide block and/or by of the straight line relative horizontal plane inclination of two arms with each pivotal mounting point of output block, so that two arms are at the state that can remain mutually noninterfere under the attitude of conveying circuit width observation, so, second connecting rod constitutes tetragonal connecting rod all the time, can be at the institutional dead point that panel carries the optional position of action to eliminate linkage.Thus, can obtain to make the controlled effect that significantly improves.
The 12 invention, it is the preferred implementation of the tenth invention, the relative horizontal plane of straight line of straight line by aforementioned two arms and each pivotal mounting point of aforementioned second slide block and/or each the pivotal mounting point by aforementioned two arms and aforementioned output block tilts, so that aforementioned two arms can remain the state of mutually noninterfere under the attitude of observing from the conveying circuit width.
According to the 12 invention, by the straight line of two arms and each pivotal mounting point of second slide block and/or by of the straight line relative horizontal plane inclination of two arms with each pivotal mounting point of output block, so that two arms are at the state that can remain mutually noninterfere under the attitude of conveying circuit width observation, so, second connecting rod constitutes tetragonal connecting rod all the time, can be at the institutional dead point that panel carries the optional position of action to eliminate linkage.Thus, can obtain to make the controlled effect that significantly improves.
The 13 invention, it is the preferred implementation of the 3rd invention, possess the leaning device that aforementioned panel handle part is fascinated, this leaning device possesses: the transmission mechanism that carries the revolving actuator on aforementioned first slide block or aforementioned second slide block and by the rotation driving of transmitting this revolving actuator aforementioned panel handle part is fascinated.
According to the 13 invention, can utilize leaning device that the panel handle part is fascinated, so, can carry out controlling/mounting of panel with optimal angle as required.In addition, leaning device, owing to comprise revolving actuator and the transmission mechanism that is equipped on slide block, so, can constitute this mechanism simply.In addition, owing to be made as the formation that leaning device is separated with linkage, so, the institutional dead point that can eliminate linkage.Thus, significantly improve controlled.
The 14 invention, it is the preferred implementation of the 13 invention, aforementioned transmission mechanism possesses: an end is fixed on the first arm on the driving shaft of aforementioned revolving actuator, one end is fixed or is integrally formed on the other end that second arm on aforementioned output block or the panel handle part and an end pivoting be installed in aforementioned the first arm and the other end is pivotally mounted on the other end of aforementioned second arm, links the connecting rod of the aforementioned the first arm and second arm.
According to the 14 invention, can the rotation of revolving actuator be driven by the first arm, connecting rod and second arm and be transferred to the panel handle part, the panel handle part is fascinated.In addition, the length of first connecting rod or second connecting rod and the length of connecting rod are set as equal length, and be identical length with the length setting of second arm with the first arm, thereby they keep parallelogram, so, when not carrying out the common conveying of tilting action, do not drive revolving actuator and just the panel handle part can be maintained certain posture all the time.
The 15 invention, be the preferred implementation of the 13 invention, aforementioned transmission mechanism possesses: be fixed on first belt wheel on the driving shaft of aforementioned revolving actuator, fixing or be integrally formed in second belt wheel on aforementioned output block or the panel handle part and the rotation of first belt wheel driven the rotating band that is delivered on second belt wheel.
According to the 15 invention, can the rotation of revolving actuator be driven by first belt wheel, rotating band and second belt wheel and be delivered to the panel handle part, the panel handle part is fascinated.In addition, be set at 1: 1, when not carrying out the common conveying of tilting action, do not drive revolving actuator and just the panel handle part can be maintained certain posture all the time by nominal diameter ratio with first belt wheel and second belt wheel.
The 16 invention is the preferred implementation of the 3rd invention, and aforementioned first slide mechanism and aforementioned second slide mechanism possess the straight moving actuator of difference aforementioned first slide block of linear drives and aforementioned second slide block.
According to the 16 invention, can action be delivered to linkage by driving first slide block and second slide block with straight moving actuator.
The 17 invention is the preferred implementation of the 16 invention, and aforementioned straight moving actuator is ball-screw and ball nut, synchronous band, hydraulic cylinder, rack-and-pinion or linear motor.
According to the 17 invention,, each slide block is moved with high-speed straight-line, and can position exactly by adopting these directly moving actuators.
The 18 invention is the preferred implementation of the 17 invention, and aforementioned panel handle part possesses: the cross bar that is connected with aforementioned linkage and be installed on the workpiece grips of this cross bar.
According to the 18 invention, can cross bar be moved with linkage, the motion that the workpiece grips that is installed on cross bar is expected.
Other purposes of the present invention and favorable characteristics will become clear by the explanation of carrying out with reference to the accompanying drawings.
Description of drawings
Fig. 1 is the figure of the panel carrying device of expression prior art.
Fig. 2 is the stereogram of expression first embodiment of the invention.
Fig. 3 is the pie graph of expression first embodiment of the invention.
Fig. 4 is the schematic diagram of expression first embodiment of the invention.
Fig. 5 A is that the panel of the panel carrying device of first embodiment of the invention is carried action specification figure.
Fig. 5 B is that the panel of the panel carrying device of first embodiment of the invention is carried action specification figure.
Fig. 5 C is that the panel of the panel carrying device of first embodiment of the invention is carried action specification figure.
Fig. 5 D is that the panel of the panel carrying device of first embodiment of the invention is carried action specification figure.
Fig. 5 E is that the panel of the panel carrying device of first embodiment of the invention is carried action specification figure.
Fig. 5 F is that the panel of the panel carrying device of first embodiment of the invention is carried action specification figure.
Fig. 5 G is that the panel of the panel carrying device of first embodiment of the invention is carried action specification figure.
Fig. 6 is the figure of the curve movement of the panel carrying device of expression first embodiment of the invention.
Fig. 7 is the pie graph of expression second embodiment of the invention.
Fig. 8 is the schematic diagram of expression second embodiment of the invention.
Fig. 9 A is the tilting action key diagram of the panel carrying device of second embodiment of the invention.
Fig. 9 B is the tilting action key diagram of the panel carrying device of second embodiment of the invention.
Fig. 9 C is the tilting action key diagram of the panel carrying device of second embodiment of the invention.
Figure 10 A is that the panel of the panel carrying device of second embodiment of the invention is carried action specification figure.
Figure 10 B is that the panel of the panel carrying device of second embodiment of the invention is carried action specification figure.
Figure 10 C is that the panel of the panel carrying device of second embodiment of the invention is carried action specification figure.
Figure 11 is the pie graph of expression third embodiment of the invention.
Figure 12 is the schematic diagram of expression third embodiment of the invention.
Figure 13 is the figure when making cross bar move to panel mounting position in the panel carrying device of first embodiment of the invention.
Figure 14 is the figure when making cross bar move to panel mounting position in the panel carrying device of third embodiment of the invention.
Figure 15 is the pie graph of expression fourth embodiment of the invention.
Figure 16 is the schematic diagram of expression fourth embodiment of the invention.
Figure 17 is the figure when making cross bar move to panel mounting position in the panel carrying device of second embodiment of the invention.
Figure 18 is the pie graph of expression fifth embodiment of the invention.
Figure 19 is the schematic diagram of expression fifth embodiment of the invention.
Figure 20 A is that the panel of the panel carrying device of fifth embodiment of the invention is carried action specification figure.
Figure 20 B is that the panel of the panel carrying device of fifth embodiment of the invention is carried action specification figure.
Figure 20 C is that the panel of the panel carrying device of fifth embodiment of the invention is carried action specification figure.
Figure 20 D is that the panel of the panel carrying device of fifth embodiment of the invention is carried action specification figure.
Figure 20 E is that the panel of the panel carrying device of fifth embodiment of the invention is carried action specification figure.
Figure 20 F is that the panel of the panel carrying device of fifth embodiment of the invention is carried action specification figure.
Figure 20 G is that the panel of the panel carrying device of fifth embodiment of the invention is carried action specification figure.
Figure 21 A is the tilting action key diagram of the panel carrying device of fifth embodiment of the invention.
Figure 21 B is the tilting action key diagram of the panel carrying device of fifth embodiment of the invention.
Figure 21 C is the tilting action key diagram of the panel carrying device of fifth embodiment of the invention.
Figure 22 is the pie graph of expression sixth embodiment of the invention.
Figure 23 is the schematic diagram of expression sixth embodiment of the invention.
The specific embodiment
Below, based on accompanying drawing to a preferred embodiment of the present invention will be described in detail.Part mark general in each figure omits repeat specification with identical Reference numeral.
Fig. 2 and Fig. 3 are the figure of the panel carrying device of expression first embodiment of the invention, and Fig. 2 is the stereogram of panel carrying device 10, and Fig. 3 is the pie graph of expression from the attitude of the panel carrying device 10 of the inboard Fig. 2 of observation of conveying circuit width.In the figure, for convenience of explanation, show two press stations 14 in upstream side, downstream and be arranged on therebetween panel carrying device of the present invention 10.In actual machine, be provided with a plurality of about 2～5 usually as press stations.In this manual, " upstream side ", " downstream " mean upstream side, the downstream of conveying circuit respectively.
As shown in Figures 2 and 3, for receive moulding from upstream side press stations 14 material (panel) and with its downstream lateral pressure machine station 14 carry, between press stations 14,14, be provided with panel carrying device 10.In addition, on the arm that its both ends is installed in the press stations 14 that is arranged at upstream and downstream or not shown forcing press support, or be hung on ceiling, thereby panel carrying device 10 is arranged between the press stations 14,14.
Panel handle part 15 possesses: workpiece grips 2 such as absorption panel (workpiece) 1 vacuum cup with this workpiece grips 2 is installed and in the side vertical with conveying circuit upwardly extending cross bar 3, be connected with linkage 6 at the two ends of this cross bar 3.
Above-mentioned two slide mechanisms 11,12, the below extended line of glide direction separately intersects, and the angle θ that is become is set at 60 °.The angle θ that is become according to the interval between the press stations 14,14, be the fed distance of panel 1 and corresponding each press arrangement individually determines, be not limited to above-mentioned angle.
In addition, in the present embodiment, first slide mechanism 11 and second slide mechanism 12 constitute the slide mechanism of the V font that below extended line each other intersects, but not necessarily be defined in this, for example, can be also that the slide mechanism of the inverted v-shaped that the mode of intersecting with first slide mechanism 11 and second slide mechanism 12 top extended line each other constitutes or first slide mechanism 11 stagger on the width of conveying circuit with second slide mechanism 12 and the slide mechanism that makes the X type that its driving scope intersects.
Fig. 4 is the schematic diagram of the panel carrying device 10 of Fig. 2 and Fig. 3.As shown in the drawing, linkage 6 possesses the output block 19 that is connected with the both sides of workpiece handle part 15 (cross bar 3) and is pivotally mounted in first connecting rod 7 and second connecting rod 8 on this output block 19.
First connecting rod 7, possess two isometric arm 7a, 7b mutually, these two arm 7a, 7b, an end separately to be can being that the mode that the center is rotated is pivotally mounted in (this pivotal mounting point is respectively a1, a2 from a left side) on the output block 19 with the trunnion axis, and the other end is can being that the mode that the center is rotated is pivotally mounted in (this pivotal mounting point is respectively a3, a4 from a left side) on first slide block 4 with the trunnion axis.Second connecting rod 8, by constituting with the isometric arm of two arm 7a, 7b of first connecting rod 7, one end to be can being that the mode that the center is rotated is pivotally mounted in (this pivotal mounting point is b1) on the output block 19 with the trunnion axis, and the other end is can being that the mode that the center is rotated is pivotally mounted in (this pivotal mounting point is b2) on second slide block 5 with the trunnion axis.In the figure, pivotal mounting point a2 and pivotal mounting point b1 are configured on the same axle, but also not necessarily leave no choice but be configured on the same axle.
The interval L1 of pivotal mounting point a1, a2 is set at the length identical with the interval L2 of pivotal mounting point a3, a4.By this formation, it is parallel to keep two arm 7a, 7b, so, can be all the time relatively horizontal plane output block 19 is remained the angle of regulation.That is, constitute parallel rod a1, a2, a4, a3,, can not make the workpiece handle part 15 (cross bar 3) that is mounted thereon carry out level with fascinating and keep even under the situation about changing in the position of output block 19, also can flatly position to it.
Fig. 5 A～Fig. 5 G is that the panel of the panel carrying device of the first embodiment of the present invention is carried action specification figure.In the figure, P is that the panel of upstream side press stations is controlled the position, and Q is the panel mounting position in downstream.
The position of the panel of having controlled the upstream side press stations has been shown in Fig. 5 A.From this position, so that the speed of regulation is square obliquely respectively first slide block 4 and second slide block 5 are carried out linear drives, rise to the position of Fig. 5 B up to the position that makes output block 19.
Position from Fig. 5 B, the side first slide block 4 and second slide block 5 are carried out linear drives obliquely with the speed of regulation respectively, linkage 6 is whole to be moved to the panel throughput direction while rotating thereby make, and makes the output block 19 of the front end that is installed in linkage 6 become the position of Fig. 5 C.At this moment, each slide block 4,5 is controlled, made output block 19 roughly move towards the panel throughput direction linearly from the position of Fig. 5 B.Afterwards, when driving first slide block 4 to oblique below slightly, when driving second slide block 5 obliquely upward, linkage 6 further moves to the panel throughput direction while rotating, like that, output block 19 moves near descending most the point of first slide mechanism 11 and second slide mechanism 12 shown in Fig. 5 D.
And then, by drive first slide block 4 to oblique below, drive second slide block 5 obliquely upward, thereby output block 19 is moved to panel throughput direction straight line, become the position of Fig. 5 E.Afterwards, the speed with regulation drives first slide block 4 and second slide block 5 towards oblique below respectively, becomes the position of Fig. 5 F, from then on further drives each slide block 4,5 towards oblique below, becomes the panel mounting position of Fig. 5 G.
Fig. 6 is the figure of curve movement of the panel carrying device 10 of presentation graphs 2.As shown in the drawing such, action by above-mentioned Fig. 5 A～Fig. 5 G, can be installed in workpiece grips on the output block 19 (omitting diagram) be held in moulding in the upstream side press stations material (panel) and make its rising, carry along feeding direction, it is descended, panel is positioned at shaping position on the mould.Afterwards, panel is stayed the downstream press stations, make output block turn back to the position of readiness of regulation, carry out moulding in each press stations.
According to the first embodiment of the present invention, by respectively with the regulation speed to the regulation direction linear drives first slide block 4 and second slide block 5, can make linkage 6 rotations that comprise first connecting rod 7 and second connecting rod 8, the workpiece handle part 15 that is installed on the output block 19 that is connected with the front end of linkage 6 is moved to the panel throughput direction.Therefore, need not drive unit to be set, can realize miniaturization, the lightweight of movable part, and can improve the rigidity of movable part, suppress deflection or vibration at movable part.In addition, this panel carrying device can corresponding each press stations be provided with, and can make each press stations have different motions.
In first embodiment, the situation that constitutes parallel rod about first connecting rod 7 is illustrated, but is not limited to this, as other embodiment, also can level keep workpiece handle part 15 by second connecting rod 8 is constituted parallel rod.In addition, according to the shape of output block 19 or the mounting means of cross bar 3, not necessarily constitute parallel rod.
Then, the panel carrying device to the second embodiment of the present invention describes.Fig. 7 is the pie graph of the panel carrying device of second embodiment.
In a second embodiment, first slide block 4 comprises independently two slide block 4a, 4b, two arm 7a, 7b, an end separately is can being that the mode that the center is rotated is pivotally mounted on the output block 19 with the trunnion axis, the other end of an arm 7a to be can being that mode that the center is rotated is pivotally mounted on (left side among a figure) slide block 4a with the trunnion axis, and the other end of another arm 7b is can being that mode that the center is rotated is pivotally mounted on the slide block 4b of another (right side among the figure) with the trunnion axis.
Fig. 8 is the schematic diagram of the panel carrying device of Fig. 7.Two slide mechanism 11a, 11b are configured to, and the interval L2 of pivotal mounting point a3, a4 and the interval L1 of pivotal mounting point a1, a2 are isometric, constitute parallel rod by pivotal mounting point a1, a2, a4, a3.
Fig. 9 A～Fig. 9 C is the tilting action key diagram of the panel carrying device of Fig. 7.Fig. 9 A is the situation that drives two slide block 4a, 4b on the position of pivotal mounting point a3 and pivotal mounting point a4 maintenance equal height.Fig. 9 B is the situation that drives two slide block 4a, 4b at pivotal mounting point a3 on than the low position of pivotal mounting point a4, according to the relative position variation of two pivotal mounting point a3, a4 and by two arm 7a, 7b output block 19 is fascinated.Fig. 9 C is the situation that drives two slide block 4a, 4b at pivotal mounting point a 3 on than the high position of pivotal mounting point a4, at this moment towards the direction opposite with Fig. 9 B output block is fascinated.Like this, first slide block 4 is configured to comprises the independently formation of two slide block 4a, 4b, drive this two slide block 4a, 4b by highly differently (making relative position change ground) by individual other slide mechanism 11a, 11b respectively, output block 19 is fascinated, make the workpiece handle part 15 that is mounted thereon fascinate (tilting).Thus, can carry out controlling/mounting of panel with only angle as required.
The relative position of pivotal mounting point a3, a4 between two slide block 4a, 4b and pivotal mounting two arm 7a, the 7b thereon is controlled so as to the state that maintains Fig. 9 A usually, so, as Figure 10 A～Figure 10 C simply illustrated, panel carried action roughly the same with first embodiment except the situation of carrying out above-mentioned tilting action.
According to a second embodiment of the present invention, on the basis of the effect of first embodiment, can obtain following effect: first slide block 4 is configured to comprises the independently formation of two slide block 4a, 4b, drive this two slide block 4a, 4b by highly differently (making relative position change ground) by individual other slide mechanism 11a, 11b respectively, output block 19 is fascinated, make the workpiece handle part 15 that is mounted thereon fascinate (tilting).Thus, can carry out controlling/mounting of panel with only angle as required.
With first embodiment in the same manner, according to the shape of output block 19 or the mounting means of cross bar 3, first connecting rod 4 not necessarily constitutes parallel rod.In addition, the situation that first slide block 4 is made of two slide blocks has been described in the 3rd embodiment, but also can be in contrast, as other embodiment, make second slide block 5 by constituting that two slide blocks constitute, at this moment, needing only with axle Y is that the center constitutes formation shown in Figure 8 axisymmetricly.
Then, the panel carrying device to third embodiment of the invention describes.Figure 11 is the pie graph of the panel carrying device of second embodiment, and Figure 12 is its schematic diagram.
In the panel carrying device of the first above-mentioned embodiment, illustrate to property as schematically shown in Figure 13 like that, when making cross bar 3 move near the panel mounting position Q, following situation may appear, promptly, first slide block 4 becomes roughly the same height with output block 19, two arm 7a, 7b perhaps overlap on same straight line fully near overlapping degree when the conveying circuit width is observed.At this moment, linkage is approaching or reach institutional dead point, so can infer has linkage control situation of difficult.In addition, also might surpass institutional dead point, two arms intersect, and linkage becomes and can not control.Opposite with the panel carrying device of Fig. 2, when constituting second connecting rods 8 with two arms, also deducibility goes out to have near panel is controlled position P that the situation of same phenomenon takes place.
Therefore, preferably, carry any position of moving, all do not have the institutional dead point of linkage, realize controlled raising at panel.
Like this, in the panel carrying device of the third embodiment of the present invention, as shown in Figure 12, and straight line by pivotal mounting point a1 and a2 and the straight line by pivotal mounting point a3 and a4, horizontal plane tilts relatively.This tilt angle alpha is set at the angle that makes two arm 7a, 7b can remain the state of mutually noninterfere under the attitude of observing from the conveying circuit width.Should " hands-off state " be meant that two arm 7a, 7b are not overlapped point-blank, yet Uncrossed state.In the present embodiment,, this angle is not limited, can individually set according to the length of the arm of linkage 6 though angle [alpha] is set at 25 degree.Thus, as shown in Figure 14, even when output block 19 is in the roughly the same height of first slide block 4 near panel mounting position, first connecting rod also constitutes tetragonal connecting rod all the time.Therefore, carry arbitrary position of moving at panel, the institutional dead point that can both eliminate linkage 6 is so can improve controlled significantly.
The interval L1 of pivotal mounting point a1, a2 becomes the length identical with the interval L2 of pivotal mounting point a3, a4.By this formation, can keep two arm 7a, 7b abreast, so, can be all the time relatively horizontal plane output block 19 is remained the angle of regulation.On the other hand, workpiece handle part 15 is installed obliquely with respect to output block 19, so that can level control panel 1.Thus, constitute parallel rod a1, a2, a4, a3,, can not make the workpiece handle part 15 (cross bar 3) that is mounted thereon remain level with fascinating even under the situation about changing in the position of output block 19, also can flatly position to it.In addition formation is identical with first embodiment.In addition, it is also identical with first embodiment that panel is carried action.
A third embodiment in accordance with the invention, because first connecting rod constitutes tetragonal connecting rod all the time, so, at the institutional dead point that panel carries arbitrary position of action can both eliminate linkage.Thus, can obtain significantly to improve controlled effect.Certainly in the 3rd embodiment, also can obtain identical effect with above-mentioned first embodiment.
In addition, the situation that in the 3rd embodiment first connecting rod 7 is constituted parallel rod is illustrated, but is not limited thereto, and also can constitute parallel rod and level maintenance workpiece handle part 15 by making second connecting rod 8 as other embodiment.In addition, according to the shape of output block 19 or the mounting means of cross bar 3, not necessarily leave no choice but constitute parallel rod, at this moment, as long as with following angle make by pivotal mounting point a1 and a2 straight line with by any the relative horizontal plane inclination in the straight line of pivotal mounting point a3 and a4, the angle ranging from and make two arm 7a, 7b in the angle that under the attitude of conveying circuit width observation, can keep the state of mutually noninterfere.
Then, the panel carrying device to fourth embodiment of the invention describes.Figure 15 is the pie graph of the panel carrying device of the 4th embodiment, and Figure 16 is its schematic diagram.
In the panel carrying device of the second above-mentioned embodiment, what illustrate to property as schematically shown in Figure 17 is such, when making cross bar 3 move near the panel mounting position Q, also following situation might appear, promptly, first slide block 4 becomes roughly the same height with output block 19, two arm 7a, 7b perhaps overlap on same straight line fully near overlapping degree when the conveying circuit width is observed.
Therefore, in the 4th embodiment, optimal way as the panel carrying device of second embodiment, as shown in Figure 16, two slide mechanism 11a, 11b carry out the Position Control of two slide block 4a, 4b, make when the common conveying that does not have tilting action, by the straight line of pivotal mounting point a1 and a2 and the relative horizontal plane inclination of straight line predetermined angular by pivotal mounting point a3 and a4.At this moment, be controlled to the angle [alpha] that makes two arm 7a, 7b under the attitude of observing, can remain the state of mutually noninterfere from the conveying circuit width.Thus, identical with the 3rd embodiment, even when output block 19 is positioned at panel and controls near the position, first connecting rod also constitutes tetragonal connecting rod all the time.Therefore, at the institutional dead point that panel carries arbitrary position of action can both eliminate linkage 6, so, can significantly improve controlled.Formation in addition is identical with second embodiment.In addition, it is also identical with second embodiment that panel is carried action.
In addition, as other embodiment, also can be second slide block 5 by constituting that two slide blocks constitute, at this moment, needing only with axle Y is that central shaft constitutes formation shown in Figure 15 symmetrically.
Then, the panel carrying device to the fifth embodiment of the present invention describes.Figure 18 is the pie graph of the panel carrying device of the 5th embodiment.
In the panel carrying device of the second and the 4th above-mentioned embodiment, the leaning device that is used to make panel handle part 15 to fascinate constitutes the part of linkage 6, so, when constituting linkage 6, need carry out panel handle part 15 the location, with the identical parts of structural member such as slide block, slide mechanism and arm.Therefore, the whole structure of device becomes complicated.
In addition, in the panel carrying device of first and second embodiment, as Figure 13 and Figure 17 are illustrated and since linkage near or reach institutional dead point, have linkage become uncontrollable may.
Therefore, preferably realize controlled raising,, and carry arbitrary position of action all not have the institutional dead point of linkage at panel even make that possessing leaning device also can make the device overall simplification.
Like this, the panel carrying device of the 5th embodiment as shown in Figure 19, except panel handle part 15, linkage 6, slide mechanism 13, also has leaning device 18.
The panel carrying device of panel handle part 15 and slide mechanism 13 and first～the 4th embodiment is identical.
Figure 19 is the schematic diagram of the panel carrying device 10 of Figure 18.As shown in the drawing, linkage 6 possesses the output block 19 and first connecting rod 7 and the second connecting rod 8 of pivotal mounting on this output block 19 that are connected with the both sides of workpiece handle part 15 (cross bar 3).
First connecting rod 7, the one end to be can being that the mode of center rotation is pivotally mounted in (establishing this pivotal mounting point is a1) on the output block 19 with the trunnion axis, and its other end is can being that the mode that the center rotates is pivotally mounted in (establishing this pivotal mounting point is a2) on first slide block 4 with the trunnion axis.Second connecting rod 8, by constituting with the isometric arm of first connecting rod 7, the one end to be can being that the mode of center rotation is pivotally mounted in (establishing this pivotal mounting point is b1) on the output block 19 with the trunnion axis, and its other end is can being that the mode that the center rotates is pivotally mounted in (establishing this pivotal mounting point is b2) on second slide block 5 with the trunnion axis.In the figure, pivotal mounting point a1 and pivotal mounting point b1 are configured on the same axle, but also not necessarily leave no choice but be configured on the same axle.
Leaning device 18 possesses: the revolving actuator 21, the first arm 22, second arm 23 and the connecting rod 24 that are equipped on first slide block 4.One end of the first arm 22 is fixed on the driving shaft of revolving actuator 21, and an end of second arm 23 is fixed on the output block 19.Connecting rod 24 links the first arm 22 and second arm 23, one end to be can being that the mode of center rotation is pivotally mounted on the other end of the first arm 22 (establishing this pivotal mounting point is c1) with the trunnion axis, and the other end is can being that mode that the center rotates is pivotally mounted on the other end of second arm 23 (establishing this pivotal mounting point is c2) with the trunnion axis.By this formation, drive revolving actuator 21, transmit this rotation by this first arm 22, connecting rod 24 and second arm 23 and drive, thus, panel handle part 15 is fascinated.Panel carrying device 10 shown in Figure 180 is provided with leaning device 18 symmetrically in the both sides of panel handle part 15, but also can only be arranged on a certain side.In addition, in the present embodiment, the transmission mechanism that the first arm 22, second arm 23 and connecting rod 24 constitute among the present invention.
The interval L1 of pivotal mounting point c1, a1 becomes the length identical with the interval L2 of pivotal mounting point c2, a2, the equal in length of connecting rod 24 and first connecting rod 7.Thus, constitute successively parallelogram by pivotal mounting point c1, c2, a2, a1, by this formation, revolving actuator 21 lift-launchs also are fixed in first slide block 4, so, when not doing the common conveying of tilting action, do not drive revolving actuator 21, just panel handle part 15 can be remained certain posture.Just, as long as in advance panel handle part 15 is positioned to level,, also needn't drives revolving actuator 21 and just workpiece handle part 15 (cross bar 3) can be remained level even then under the situation about changing in the position of output block 19.
Figure 20 A～Figure 20 G is that the panel of the panel carrying device of fifth embodiment of the invention is carried action specification figure.In the figure, P is that the panel of upstream side press stations is controlled the position, and Q is the panel mounting position in downstream.
Figure 20 A is the position of having controlled the panel of upstream side press stations.From this position,, make the position of output block 19 rise to the position of Figure 20 B respectively with speed linear drives first slide block 4 and second slide block 5 obliquely upward of regulation.
Position from Figure 20 B, the side first slide block 4 and second slide block 5 are carried out linear drives obliquely with the speed of regulation respectively, linkage component 6 is whole to be moved to the panel throughput direction while rotating thereby make, and makes the output block 19 of the front end that is installed in linkage 6 become the position of Figure 20 C.At this moment, each slide block 4,5 is controlled, made output block 19 roughly move towards the panel throughput direction linearly from the position of Figure 20 B.Afterwards, when driving first slide block 4 to oblique below slightly, when driving second slide block 5 obliquely upward, linkage 6 further moves to the panel throughput direction while rotating, like that, output block 19 moves near descending most the point of first slide mechanism 11 and second slide mechanism 12 shown in Figure 20 D.
And then, by drive first slide block 4 to oblique below, drive second slide block 5 obliquely upward, thereby output block 19 is moved to panel throughput direction straight line, become the position of Figure 20 E.Afterwards, the speed with regulation drives first slide block 4 and second slide block 5 towards oblique below respectively, becomes the position of Figure 20 F, from then on further drives each slide block 4,5 towards oblique below, becomes the panel mounting position of Figure 20 G.
Figure 21 A～Figure 21 C is the tilting action key diagram of the panel carrying device of the 5th embodiment.In the figure, Figure 21 A shows the common position when not carrying out tilting action.When panel handle part 15 was fascinated, the direction of arrow drove revolving actuator 21 in figure, moves as Figure 21 B.On the other hand, when panel handle part 15 is fascinated towards the direction opposite with Figure 21 B, drive revolving actuator 21, as Figure 21 C, move to the direction opposite with Figure 21 B.Thus, can carry out controlling/mounting of panel with only angle as required.
According to a fifth embodiment of the invention, leaning device 18 comprises revolving actuator 21 and the transmission mechanism (the first arm 22, second arm 23 and connecting rod 24) that is equipped on first slide block 4, so, compare with the 3rd or the 4th embodiment, can constitute leaning device with succinct structure.
In addition, owing to constitute leaning device 18 discretely with linkage 6, so, the institutional dead point that can eliminate linkage 6.Thus, significantly improve controlled.
In the 5th embodiment, the revolving actuator 21 of leaning device 18 is equipped on first slide block 4, but also can replace, and is equipped on second slide block 5, utilizes the first arm 22, second arm 23 and connecting rod 24 that the panel handle part is fascinated equally.In addition, second arm 23 of leaning device 18 is fixed on the output block 19, but also can replace, and by directly being fixed on the panel handle part 15 (cross bar 3) panel handle part 15 is fascinated.In addition, second arm 23 also can be and output block 19 or the integrally formed parts of panel handle part.In addition, according to the shape of output block 19 or the mounting means of cross bar 3, not necessarily leave no choice but the quadrangle by pivotal mounting point c1, c2, a2, a1 is successively constituted parallelogram.
Then, the panel carrying device to the sixth embodiment of the present invention describes.Figure 22 is the pie graph of the panel carrying device of the 6th embodiment.The 6th embodiment makes other formations with the leaning device of the panel carrying device of the 5th embodiment.
As shown in figure 22, in the 6th embodiment, leaning device 18, is fixed in second belt wheel 27 of output block 19 and the rotation of first belt wheel 26 is driven the rotating band 28 that is delivered on second belt wheel 27 first belt wheel 26 of the driving shaft that possess the revolving actuator 21 that is equipped on first slide block 4, is fixed in revolving actuator.The ratio of the nominal diameter of first belt wheel 26 and second belt wheel 27 is 1: 1.In the present embodiment, the transmission mechanism among first belt wheel 26, second belt wheel 27 and rotating band 28 formation the present invention.Just, adopted the transmission mechanism of tape drive mechanism in the present embodiment as leaning device 18.By this formation, drive revolving actuator 21, transmit this rotation by first belt wheel 26, rotating band 28 and second belt wheel 27 and drive, thus, panel handle part 15 is fascinated.All the other formations are identical with the 5th embodiment.
Figure 23 shows the panel of the panel carrying device of sixth embodiment of the invention simply and carries action.Panel when the figure shows the common conveying of not carrying out tilting action is carried action, as shown in the drawingly by the effect of tape drive mechanism, does not drive revolving actuator 21 like that, just can at an arbitrary position panel handle part 15 be remained certain posture.Promptly, because the nominal diameter ratio of first belt wheel 26 and second belt wheel 27 is 1: 1, so, even the position of panel handle part 19 changes, only otherwise rotate first belt wheel 26, then second belt wheel 27 also just not relatively horizontal plane rotate, its result, panel handle part 19 also relatively horizontal plane remain certain angle.
In the panel carrying device 10 of present embodiment, when carrying out tilting action, as long as drive revolving actuator 21 towards the direction identical with the direction that panel handle part 15 is fascinated.The panel of the panel carrying device of the 6th embodiment is carried action, and is roughly the same with the 5th embodiment, its explanation of Therefore, omited.
Also can obtain the effect identical according to a sixth embodiment of the invention with the 5th embodiment.
The revolving actuator 21 of leaning device 18 is equipped on first slide block 4, but also can replace, and is equipped on second slide block 5, utilizes first belt wheel 26, second belt wheel 27 and rotating band 28 that panel handle part 15 is fascinated equally.In addition, second belt wheel 27 is fixed on the output block 19, but also can replace, and by directly being fixed on the panel handle part 15 (cross bar 3) panel handle part 15 is fascinated.In addition, second belt wheel 27 also can be and output block 19 or the integrally formed parts of panel handle part.
Though by several preferred embodiments panel carrying device of the present invention is illustrated, should be understood that the interest field that the present invention comprises is not limited to these embodiment.On the contrary, interest field of the present invention comprises subsidiary all improvement, change and equivalent that claims contained.
Claims (3)
1. panel carrying device, it is characterized in that, possess: the panel handle part that counter plate is controlled, make the linkage that this panel handle part moves to the panel throughput direction and make the aforementioned linkage action and make that linkage is whole to be moved so that the slide mechanism that aforementioned panel handle part moves to the panel throughput direction
Aforementioned slide mechanism comprises: first slide mechanism and be configured in second slide mechanism in the conveying circuit downstream of this first slide mechanism,
Aforementioned first slide mechanism constitutes, has first slide block that is connected with aforementioned linkage, on the direction that horizontal plane tilts relatively, this first slide block is carried out linear drives, make the slide block of winning among its driving scope, become the high position, become lower position in the conveying circuit downstream at the conveying circuit upstream side
Aforementioned second slide mechanism constitutes, has second slide block that is connected with aforementioned linkage, on the direction that horizontal plane tilts relatively, this second slide block is carried out linear drives, make second slide block among its driving scope, become lower position, become the high position in the conveying circuit downstream at the conveying circuit upstream side
Aforementioned linkage possesses: output block, an end pivoting that is connected with aforementioned panel handle part be installed on aforementioned output block and other end pivotal mounting in the first connecting rod of aforementioned first slide block and an end pivoting be installed on output block and other end pivotal mounting in the second connecting rod of aforementioned second slide block, by this first slide block and second slide block are carried out linear drives respectively, thereby the panel handle part is moved to the panel throughput direction
Aforementioned second connecting rod possesses two arms, these two arms end pivoting separately is installed on aforementioned output block, other end pivotal mounting is in aforementioned second slide block, the relative horizontal plane of straight line of straight line by aforementioned two arms and each pivotal mounting point of aforementioned second slide block and/or each the pivotal mounting point by aforementioned two arms and aforementioned output block tilts, so that aforementioned two arms can remain the state of mutually noninterfere under the attitude of observing from the conveying circuit width
Aforementioned first slide mechanism and aforementioned second slide mechanism possess the straight moving actuator of difference aforementioned first slide block of linear drives and aforementioned second slide block.
2. panel carrying device as claimed in claim 1 is characterized in that, is provided with a pair of aforementioned linkage, slide mechanism symmetrically in the both sides of aforementioned panel handle part.
3. panel carrying device as claimed in claim 1 or 2 is characterized in that, aforementioned panel handle part possesses: the cross bar that is connected with aforementioned linkage and be installed on the workpiece grips of this cross bar.
Applications Claiming Priority (9)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003142399 | 2003-05-20 | ||
| JP2003142399A JP4725003B2 (en) | 2003-05-20 | 2003-05-20 | Panel conveyor |
| JP2003-142399 | 2003-05-20 | ||
| JP2004045975 | 2004-02-23 | ||
| JP2004045928 | 2004-02-23 | ||
| JP2004045975A JP4766221B2 (en) | 2004-02-23 | 2004-02-23 | Panel conveyor |
| JP2004045928A JP2005230894A (en) | 2004-02-23 | 2004-02-23 | Panel transfer device |
| JP2004-045975 | 2004-02-23 | ||
| JP2004-045928 | 2004-02-23 |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004800139292A Division CN100430167C (en) | 2003-05-20 | 2004-05-19 | Panel transportation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101569911A CN101569911A (en) | 2009-11-04 |
| CN101569911B true CN101569911B (en) | 2011-05-25 |
Family
ID=33530500
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2008100992124A Pending CN101569912A (en) | 2003-05-20 | 2004-05-19 | Panel transportation device |
| CN2008100992105A Active CN101569910B (en) | 2003-05-20 | 2004-05-19 | Panel transportation device |
| CNB2004800139292A Active CN100430167C (en) | 2003-05-20 | 2004-05-19 | Panel transportation device |
| CN200810099211XA Active CN101569911B (en) | 2003-05-20 | 2004-05-19 | Panel transportation device |
Family Applications Before (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2008100992124A Pending CN101569912A (en) | 2003-05-20 | 2004-05-19 | Panel transportation device |
| CN2008100992105A Active CN101569910B (en) | 2003-05-20 | 2004-05-19 | Panel transportation device |
| CNB2004800139292A Active CN100430167C (en) | 2003-05-20 | 2004-05-19 | Panel transportation device |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP4725003B2 (en) |
| CN (4) | CN101569912A (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4715266B2 (en) * | 2005-03-28 | 2011-07-06 | 株式会社Ｉｈｉ | Panel conveyor |
| JP2007044708A (en) * | 2005-08-08 | 2007-02-22 | Ishikawajima Harima Heavy Ind Co Ltd | Work transfer device |
| JP2007111822A (en) * | 2005-10-20 | 2007-05-10 | Ishikawajima Harima Heavy Ind Co Ltd | Parallel linkage mechanism and workpiece transfer device |
| JP2008142724A (en) * | 2006-12-07 | 2008-06-26 | Ihi Corp | Parallel link type carrying apparatus and its control method |
| DE602007006236D1 (en) | 2006-12-19 | 2010-06-10 | Abb Research Ltd | METHOD AND DEVICE FOR HANDLING PARTS |
| JP2008178945A (en) * | 2007-01-25 | 2008-08-07 | Ihi Corp | Control unit and control method for parallel link type carrier |
| CN103128185B (en) * | 2011-11-25 | 2015-03-11 | 鸿富锦精密工业（深圳）有限公司 | Carrying device and stamping device adopting the same |
| JP6960761B2 (en) * | 2017-04-26 | 2021-11-05 | 株式会社Ｉｈｉ物流産業システム | Transport device |
| EP3656476B1 (en) | 2017-07-18 | 2023-01-18 | ABB Schweiz AG | Painting device |
| CN116079817B (en) * | 2023-02-10 | 2023-11-07 | 南通迅达橡塑制造有限公司 | High-elasticity damping rubber production device for elevator and application method of high-elasticity damping rubber production device |
| CN116329407B (en) * | 2023-03-10 | 2023-12-15 | 济南二机床集团有限公司 | Workpiece carrying device between presses |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1175915A (en) * | 1995-02-23 | 1998-03-11 | 联合产品有限公司浮生分公司 | Multi-station press transferring system and method |
| US6109087A (en) * | 1998-04-27 | 2000-08-29 | Ishikawajima-Harima Heavy Industries Co., Ltd. | Apparatus and methods for transferring workpiece in a transfer press machine |
| US6382400B1 (en) * | 1998-11-10 | 2002-05-07 | Schuler Pessen Gmbh & Co. | Transport and positioning system |
| US6516681B1 (en) * | 1999-09-17 | 2003-02-11 | Francois Pierrot | Four-degree-of-freedom parallel robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US584237A (en) * | 1897-06-08 | Harry t | ||
| US5842370A (en) * | 1996-12-19 | 1998-12-01 | Schuler Pressen Gmbh & Co. | Transfer device and multistation presses |
| JPH10328766A (en) * | 1997-05-29 | 1998-12-15 | Ishikawajima Harima Heavy Ind Co Ltd | Transfer press carrying device |
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2003
- 2003-05-20 JP JP2003142399A patent/JP4725003B2/en not_active Expired - Lifetime
-
2004
- 2004-05-19 CN CNA2008100992124A patent/CN101569912A/en active Pending
- 2004-05-19 CN CN2008100992105A patent/CN101569910B/en active Active
- 2004-05-19 CN CNB2004800139292A patent/CN100430167C/en active Active
- 2004-05-19 CN CN200810099211XA patent/CN101569911B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1175915A (en) * | 1995-02-23 | 1998-03-11 | 联合产品有限公司浮生分公司 | Multi-station press transferring system and method |
| US6109087A (en) * | 1998-04-27 | 2000-08-29 | Ishikawajima-Harima Heavy Industries Co., Ltd. | Apparatus and methods for transferring workpiece in a transfer press machine |
| US6382400B1 (en) * | 1998-11-10 | 2002-05-07 | Schuler Pessen Gmbh & Co. | Transport and positioning system |
| US6516681B1 (en) * | 1999-09-17 | 2003-02-11 | Francois Pierrot | Four-degree-of-freedom parallel robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN101569911A (en) | 2009-11-04 |
| CN101569910B (en) | 2011-07-06 |
| CN101569912A (en) | 2009-11-04 |
| CN1791481A (en) | 2006-06-21 |
| CN101569910A (en) | 2009-11-04 |
| JP4725003B2 (en) | 2011-07-13 |
| CN100430167C (en) | 2008-11-05 |
| JP2004344899A (en) | 2004-12-09 |
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