JP2000296914A - Conveyance device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve production efficiency by quickly transferring a work between fixed positions by means of a simple structure and shortening the time it takes to transfer the work. SOLUTION: This conveyance device comprises a transfer table 2 reciprocated by a servomotor 3, a positioning sandwiching tool 4 connected to the transfer table 2 and sandwiching a work 1, a sandwiching table 5 connected to the transfer table 2 and reciprocated through a reciprocation mechanism 6, a pressing tool 7 connected to this sandwiching table 5 and sandwiching the work 1 together with the positioning sandwiching tool 4 as a pair, an elastic body 8 elastically pressing this pressing tool 7 toward the work 1, and a stopper 9 arranged between the pressing tool 7 and the sandwiching table 5 for limiting the position of the pressing tool 7. This conveyance device moves the transfer table 2 by means of the servomotor 3, moves the pressing tool 7 by means of the reciprocation mechanism 6, and sandwiches the work 1 in a predetermined position by means of the positioning sandwiching tool 4 and the pressing tool 7. Furthermore, this conveyance device moves the transfer table 2 with the work 1 in a sandwiched state and transfers it to a fixed position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and a method for transferring a work to be transferred from a predetermined position to a predetermined position.

[0002]

2. Description of the Related Art It is important that a transfer device for transferring a work from a fixed position to a fixed position be transferred quickly with a simple structure. A conventional device for achieving this is shown in FIG. This apparatus transfers a workpiece from a first position to a second position in the following steps. The hand 20 clamps the work 1 at the first position. After raising the hand 20 holding the work 1, the hand 20 is horizontally moved toward the second position. After the hand 20 holding the work 1 is lowered to transfer the work 1 to the second position, the holding state of the work 1 is released.

[0003]

An apparatus for transferring a work from the first position to the second position in the above steps includes, for example, a cylinder for holding the work, and a cylinder for transferring the held work. Need a cylinder and. Further, a transport device that sandwiches a plurality of works and transports them to an adjacent fixed position one after another requires a plurality of hands. A transfer device having a plurality of hands has a disadvantage that the entire device cannot be made compact because the number of cylinders for driving these hands increases. Further, since the mechanism for controlling the plurality of cylinders is complicated, there is a disadvantage that the cost cannot be reduced.

Further, the transfer device shown in FIG. 1 has a disadvantage that it takes time to transfer the work to the next step. That is, when this device transfers a work from the first position to the second position, the device holds the work with the hand, raises the hand holding the work, and then moves the hand horizontally. Further, after the hand holding the work is lowered, the state of holding the work is released. This transfer device clamps and transports the workpiece to the next process.
Since many steps such as ascent, horizontal movement, descent, and pinch release are required, it takes time to transfer the work. It is very important that the transfer device be transported promptly in order to improve production efficiency. The transfer device shown in FIG. 1 cannot transfer a work efficiently in a short time.

[0005] Further, in an apparatus having a plurality of hands,
In order to transfer a plurality of works one after another to the next process, it is necessary to drive these hands in synchronization. that is,
This is because transfer cannot be performed efficiently if there is a deviation in the movement of each hand. In order to drive multiple hands synchronously and to transfer accurately from fixed position to fixed position in a short time,
Control of these multiple hands is further complicated. Therefore, with the conventional transport device, a plurality of works cannot be efficiently transported together with a simple structure.

The present invention has been developed to solve these disadvantages. An important object of the present invention is
Provided is a transfer device that can transfer a work from a fixed position to a fixed position quickly with a simple structure, shortens the time required to transfer the work, and improves production efficiency, and a transfer method using the transfer device. It is in.

Further, another important object of the present invention is to provide a transfer apparatus which can transfer a plurality of works together one after another, and a transfer method using the transfer apparatus, in which the whole apparatus can be made compact with a simple structure. Is to do.

[0008]

According to a first aspect of the present invention, there is provided a transfer apparatus having the following configuration. The transfer device includes a transfer table 2 that is reciprocated in a feed direction of the work 1 by a servomotor 3, a positioning tool 4 that is connected to the transfer table 2 to hold the work 1, and is connected to the transfer table 2. Then, a clamping table 5 that is reciprocated in a direction parallel to the transfer table 2 via a reciprocating mechanism 6 and connected to the clamping table 5,
A pressing tool 7 for holding the work 1 in pairs with the positioning holding tool 4, an elastic body 8 for elastically pressing the pressing tool 7 toward the work 1, and a pressing tool 7 A stopper 9 is provided between the base 5 and the stopper 9 to limit the position at which the pressing tool 7 moves toward the work 1. The transfer device moves the transfer table 2 by the servomotor 3, and the pressing device 7 by the reciprocating mechanism 6.
Is moved, and the work 1 is
Is pinched at a predetermined position. Further, the transfer device moves the transfer table 2 while holding the work 1 therebetween,
It is configured to transfer to a fixed position.

Further, in the transfer device according to a second aspect of the present invention, a plurality of positioning clamping tools 4 and pressing tools 7 are connected to the transfer table 2 and the clamping table 5 to form a plurality of workpieces. 1 are sandwiched and can be integrally transferred.

Further, in the transfer device according to the third aspect of the present invention, the cylinder 16 is used for the reciprocating mechanism 6.

Further, in the transfer device according to the fourth aspect of the present invention, the holding table 5 is made to penetrate through a part of the positioning clip 4 so as to slide on the positioning clip 4. It is connected to.

Further, in the transfer method according to a fifth aspect of the present invention, the work 1 is held and held between the positioning zipper 4 and the pressing tool 7. The workpiece 1 is transported from the first position to the second position by transporting both together in the transport direction. The transfer method is such that the movement of the pressing tool 7 in the direction of holding the work 1 is restricted by the stopper 9 and the pressing tool 7 is connected to the positioning holding tool 4 so as to elastically press the pressing tool 7 toward the work 1. Then, the workpiece 1 is clamped by moving the positioning clamp 4 to a fixed position by the servo motor 3.
Further, in a state where the work 1 is held between the positioning holding tool 4 and the pressing tool 7, the transport device moves the positioning holding tool 4 by the servo motor 3 to transfer the work 1 to a fixed position. I have.
The transport device clamps the work 1 with the servo motor 3 and transfers the work 1 to a fixed position.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. However, the embodiments described below are intended to exemplify a transfer device and a transfer method using the transfer device for embodying the technical idea of the present invention. Not specific to

Further, in this specification, in order to make it easier to understand the claims, the numbers corresponding to the members shown in the embodiments will be referred to as “claims” and “ In the column of “means”.
However, the members described in the claims are not limited to the members of the embodiments.

The transfer device shown in FIGS. 2 and 3 includes a transfer table 2 which is reciprocated by a servomotor 3 in a feed direction of the work 1.
And a positioning tool 4 connected to the transfer table 2 for holding the work 1, and a reciprocating mechanism 6 connected to the transfer table 2
And a pressing tool connected to the holding table 5 and holding the work 1 in pairs with the positioning holding tool 4 via the holding table 5. 7 and this pressing tool 7
Elastic body 8 that elastically presses against workpiece 1
And a stopper 9 disposed between the pressing tool 7 and the holding table 5 to limit a position where the pressing tool 7 moves toward the work 1.
And

The transfer table 2 is an elongated plate-like base extended in the transfer direction of the work 1. The transfer table 2 is arranged above the guide rail 10 extended in the transfer direction of the work 1 in a horizontal posture and parallel to the guide rail 10.
The transfer table 2 has a plurality of guides 11 on the lower surface, and the guides 11 move along the guide rails 10 to make the transfer table 2 reciprocate smoothly.

The transfer table 2 is reciprocated by a servomotor 3. The servo motor 3 is fixed below the guide rail 10. The servomotor 3 has a rotating shaft connected to a screw rod 12 extending in parallel along the guide rail 10. A nut 13 is inserted through the screw rod 12, and the nut 13 is connected to one end of the transfer table 2 via a connecting member 14. When the servo motor 3 rotates the screw rod 12, the nut 1 inserted through the screw rod 12
3 moves along the screw rod 12 to move the transfer table 2. The transfer table 2 is reciprocated in the feed direction of the work 1 by rotating the servo motor 3 forward or backward. The transfer table 2 reciprocated by the servo motor 3 in this manner has a feature that the moving distance can be finely adjusted according to the rotation speed of the servo motor 3.

The positioning clamp 4 is fixed to the upper surface of the transfer table 2. A plurality of positioning pincers 4 are arranged at equal intervals. In the transfer table 2 shown in the figure, four positioning clamps 4 are arranged at equal intervals. These positioning clamps 4
Are formed in the same shape, and are disposed so as to protrude upward from the upper surface of the transfer table 2. Multiple positioning clamps 4
As shown in the figure, the projections from the transfer table 2 are made equal to each other so that a plurality of works 1 can be held in a straight line at the same height.

Further, the positioning pinching tool 4 has a holding portion 4A at the tip. The holding portion 4A is a portion that abuts on the work 1 and holds the work 1, and is disposed on the right side of the distal end portion of the positioning clamp 4 in FIG. The holding portion 4A is formed to have a concave center, and holds the work 1 at a predetermined position. As described above, the holding portion 4A formed in the central concave portion has a feature that the holding portion 4A reliably contacts the side surface of the cylindrical or spherical work 1 and can pinch them at an accurate position. Further, the holding portion 4A has a structure that can be detachably attached, and various changes can be made according to the shape of the work to be held.

The holding table 5 extends in the transfer direction of the work 1 and is disposed in parallel with the transfer table 2. Clamp 5
Can move back and forth along the transfer table 2.
It is connected to. The holding table 5 shown in the figure has an elongated rod shape, and is disposed above the transfer table 2 through the through holes 4B provided in the four positioning holding tools 4. In this manner, the structure in which the holding table 5 is connected to the transfer table 2 via the plurality of positioning holding tools 4 uses the positioning holding tool 4 in combination with the connecting member of the holding table 5, and There is a feature that the clamping table 5 can be reliably supported. Further, in FIG. 2, the holding table 5 also passes through a through hole 15A provided in a support table 15 provided on the right side of the positioning tool 4 at the right end. The support table 15 is arranged at regular intervals with the four positioning attachments 4 and is fixed to the upper surface of the transfer table 2.

The holding table 5 is a reciprocating mechanism 6, and the transfer table 2
Is reciprocated in a direction parallel to The reciprocating mechanism 6 includes
A cylinder 16 that reciprocates the holding table 5 with a predetermined stroke can be used. The transfer device has a cylinder 16 connected to one end of the clamping table 5. The holding table 5 is connected to a rod (not shown) of the cylinder 16, and the cylinder 16 is reciprocated by expanding and contracting the rod. In the transfer device shown in the figure, a cylinder 16 is provided at the right end of the transfer table 2, and the right end of the clamping table 5 is connected to the cylinder 16. However, the cylinder may be disposed at the left end of the transfer table to connect the left end of the clamping table. As the cylinder 16, for example, an air cylinder can be used.

Further, the holding table 5 has a plurality of pressing tools 7 connected in the middle. In the holding table 5 shown in FIG. 2, four pressing tools 7 are arranged to face the positioning holding tool 4 so as to form a pair with the four positioning holding tools 4. The holding table 5 connects the pressing tool 7 to a predetermined position while penetrating the pressing tool 7.

The pressing tool 7 forms a pair with the positioning holding tool 4 and holds the work 1. The pressing tool 7 has substantially the same height as the positioning pinching tool 4. The pressing tool 7 is a pressing face 7A on the upper left side face in FIG. 2, the face facing the holding portion 4A of the positioning fastening tool 4. The pressing tool 7 holds and holds the work 1 between the pressing surface 7A and the holding portion 4A of the positioning holding tool 4. Although not shown, the pressing tool can also detachably mount or fix a holding member that presses and holds the work on the pressing surface, and can more reliably hold and hold the work. Further, in the structure in which the holding member is provided on the pressing surface, various changes can be made to the holding member according to the shape of the work to be clamped.

Further, a guide 17 is connected to the lower surface of the pressing tool 7 so that the pressing tool 7 can reciprocate along the guide rail 10. The transfer table 2 is provided with openings 2A penetrating up and down at equal intervals in order to move the guide 17 of the pressing tool 7 along the guide rail 10. Opening 2 of transfer table 2
A is between four positioning clamps 4 adjacent to each other, and
Openings are provided at four locations between the positioning clamp 4 and the support base 15 so as to extend in the axial direction of the guide rail 10. Pressing tool 7
The guide 17 is disposed on the guide rail 10 through an opening 2A provided in the transfer table 2. The pressing tool 7
The lower part slides along the inner surface of the opening 2A, and reciprocates on the guide rail 10 in a horizontal posture.

The elastic body 8 is provided so that the pressing tool 7 can be elastically pressed toward the work 1. Elastic body 8
For example, a coil spring can be used. As shown in the figure, the elastic body 8 which is a coil spring has the rod-shaped holding table 5 inserted therethrough, between the pressing tool 7 and the positioning holding tool 4, and between the pressing tool 7 and the support base 15. Can be easily installed in between. The elastic body 8 shown in the figure has a position between the pressing tool 7 and the positioning pinching tool 4 which are not adjacent to each other, ie, a side opposite to the pressing surface 7A of the pressing tool 7, and the positioning tool. It is arranged between the holding portion 4A of the holding device 4 and the back surface on the opposite side. Further, an elastic body 8 is also provided between the pressing tool 7 located at the right end in FIG. These elastic bodies 8 press the back surface of the pressing tool 7 and press the pressing tool 7.
The pressing surface 7A is biased so as to be pressed toward the holding portion 4A of the positioning holding tool 4.

One end of the elastic body 8 disposed between the pressing tool 7 and the positioning clip 4 is fitted and connected to a recess 4C provided on the back surface of the positioning clip 4. The other end contacts the back surface of the pressing tool 7 and presses the pressing tool 7 toward the work 1. As shown in FIG. 2, the positioning pinching tool 4 has a concave portion 4 </ b> C on the back surface into which one end of the elastic body 8 is fitted. The positioning clamp 4 shown in the figure has a through hole 4B through which the clamp 5 passes.
Is provided with a step on its inner surface to form a recess 4C. However, the elastic body can also be provided without providing a concave portion in the positioning clip. Further, the elastic body 8 that presses the rear surface of the pressing tool 7 located at the right end is received by a support base 15 disposed on the right side of the pressing tool 7.

The elastic body 8 arranged as described above presses the back surface of the pressing tool 7 to move the pressing tool 7 toward the work 1. The pressing tool 7 pressed toward the work 1
The work 1 is clamped and held between the holding portion 4A of the positioning clamp 4 and the pressing surface 7A of the pressing member 7. Therefore, the elastic body 8
In this case, an elastic member that can securely hold and hold the work 1 between the positioning holding tool 4 and the pressing tool 7 is used.

The stopper 9 is provided between the pressing tool 7 and the holding table 5 to limit the position at which the pressing tool 7 moves toward the work 1. As shown in the figure, the stopper 9 is disposed between the pressing tool 7 and the side of the positioning clipping tool 4 that clamps the work 1. The stopper 9 is located in front of the pressing surface 7 </ b> A side of the pressing tool 7 and is fixed to the holding table 5 to limit the movement of the pressing tool 7 in the work direction. The stoppers 9 are arranged at equal intervals so that the plurality of pressing tools 7 can be moved together while being held at equal intervals.

The pressing tool 7 whose movement position is restricted by the stopper 9 is moved by the reciprocating mechanism 6 via the holding table 5.
The device shown in the figure is a cylinder 16 which is a reciprocating mechanism 6.
When the holding table 5 is moved in the transfer direction of the work 1, the stopper 9 fixed to the holding table 5 moves, and the pressing tool 7 is pushed out by the elastic body 8 and moves in the transfer direction. Conversely, when the cylinder 16 moves the holding table 5 in the reverse transfer direction, the stopper 9 fixed to the holding table 5 comes into contact with the pressing tool 7 and moves the pressing tool 7 in the reverse transfer direction. As described above, the holding table 5 is reciprocated by the reciprocating mechanism 6, and the plurality of pressing tools 7 connected to the holding table 5 are reciprocated together.

The transport device having the above structure is used to
FIG. 4 shows a state in which the workpiece 1 is transported while being clamped between the workpiece 1 and the pressing tool 7.
This will be described with reference to FIG. 4 to 7 and 9 show a state in which the workpiece 1 at the third position and the fourth position of the transfer device shown in FIG. 2 is transferred to the fourth position and the fifth position. Further, the plurality of works transferred by the transfer device have the same shape and the same diameter.

[Supplying Process] As shown in FIG. 4, the positioning clamp 4 is stopped at the open position A, and the pressing member 7 is stopped at the open position B by the stopper 9, and the clamping gap 19 is opened. Is supplied with the work 1. Opening gap 19 of pinching gap 19
Is set larger than the outer diameter of the work 1 to be clamped.

[Holding Step] As shown in FIG. 5, the transfer table 2 is moved by d in the reverse transfer direction by driving the servo motor 3, and the positioning clamp 4 is pinched to hold the work 1 at a fixed position. It is moved to the holding position C where it is put on. As shown in FIG. 6, the holding table 5 is moved in the transfer direction by the reciprocating mechanism 6, and the pressing tool 7 is moved toward the work 1. The pressing tool 7 is moved to the clamping position D where it is pressed by the elastic body 8 and abuts on the workpiece 1. In this state, the positioning holding tool 4 and the pressing tool 7 hold and hold the work 1 at the fixed position.

[Transportation Step] As shown in FIG. 7, the servomotor 3 is driven to move the transfer table 2 in the transfer direction while the work 1 is held by the positioning clamp 4 and the pressing tool 7. The transfer table 2 moves in a horizontal direction while holding the plurality of works 1 in a straight line. The transfer table 2 is moved by a predetermined pitch in the transfer direction of the work 1 to move each work 1 together in the next step. The transfer device is configured to move the work 1 from the first position to the fourth position shown in FIG.
Are moved from the second position to the fifth position, respectively, as shown in FIG.

When the work 1 is transferred to a predetermined position, the processing devices 18 located on both sides move forward and pinch and hold the transferred work 1. The work 1 is a processing device 1
Predetermined processing corresponding to each process is performed in the state held in 8.

The processing device 18 processes the work 1 at the first to fifth positions according to the respective steps. For example, at the first position, the work 1 is supplied to the transfer device,
From the second position to the fourth position, predetermined processing such as chamfering or polishing is performed, and at the fifth position, the processed workpiece 1 is discharged. At the first position and the fifth position, the work 1 can be processed.

[Return Process] When the transferred work 1 is held by the processing device 18, the transfer device moves the clamping table 5 in the reverse transfer direction by the reciprocating mechanism 6, as shown in FIG. Then, the pressing tool 7 is separated from the work 1 and stopped at the open position B, and the transfer table 2 is moved in the transfer direction by the servomotor 3 so that the positioning clamp 4 is separated from the work 1 and stopped at the open position A. Then, the clamped state of the work 1 is released.

After the positioning device 4 and the pressing device 7 are moved to the open position, the transport device is returned to the original position shown in FIG. The transport device returns both the positioning zipper 4 and the pressing tool 7 to the original position in a state where the work 1 is not held, that is, the nip gap 19 is opened. The transport device is returned while the processing device 18 performs a predetermined process on the work 1. This structure has a feature that the transport device can be returned to the home position by effectively using the time required for processing in the processing device 18.

Further, in the return step, the transport device
Both the positioning nipping tool 4 and the pressing tool 7 are moved so as not to contact the work 1. In order to realize this, the transport device includes an up-and-down mechanism (not shown) that moves the guide rail 10 up and down. The transport device is moved down by the up-down mechanism so as not to contact the workpiece 1 being processed, and then the transfer table 2 is moved in the reverse transfer direction by the servomotor 3 to move the positioning clamp 4.
And the pressing tool 7 is moved from the first position to a position corresponding to the fourth position. When the transfer table 2 moves to a predetermined position, the transport device is raised by the up-down mechanism so as not to contact the work 1 and returns to the supply position where the work 1 can be held by the positioning holding tool 4 and the pressing tool 7. Is done.

The vertical mechanism can be any mechanism that can move the entire transport device up and down. Preferably, a cylinder is used for the up-down mechanism. The cylinders serving as the up-and-down mechanism are disposed, for example, at both ends of the guide rail 10 in a vertical posture, and move the entire apparatus up and down via the guide rail 10. The cylinders provided at both ends of the guide rail 10 are characterized in that they can move up and down the entire transport device without hindering the movement of the transfer table 2 and can support the transport device in a well-balanced manner. The vertical mechanism is
The transport device is moved up and down with a predetermined stroke so that the transport device can return without contacting the work 1.

As described above, the supply step, the holding step, the transfer step, and the return step are repeated to transfer a plurality of works 1 having the same diameter one after another.

Further, the transfer device of the present invention can also hold and transfer a work 1 having the same shape as the above-mentioned work and having different diameters. In this case, the transport device adjusts the clamping position C of the positioning clamping tool 4 with the servo motor 3. For example, as shown by a chain line in FIG. 5, when the work 1 having a small diameter is to be held, the positioning holding tool 4 is moved to a holding position C ′ where the work 1 having a small diameter can be held at a fixed position. . The transfer device increases the distance d in which the positioning clamp 4 moves in the reverse transport direction to clamp the work 1 or increases the opening position A of the positioning clamp 4 which is the supply position. Is moved closer to the work 1 having a smaller size, and is moved in the reverse transfer direction by a predetermined distance d to move the positioning clamp 4 to the clamping position C ′. Further, since the pressing member 7 is pressed by the elastic body 8 and moves in the direction of the work 1, even the work 1 having a different diameter can be easily moved to the holding position D 'and held and held. That is, by adjusting and controlling the servo motor 3, the transfer apparatus of the present invention can pinch and hold a plurality of works 1 having different diameters and transfer them together one after another.

In the above-described embodiment, four pairs of positioning and holding members 4 and pressing members 7 which are opposed to each other are arranged above the transfer table 2 and
The structure is such that individual works 1 can be simultaneously held and transferred. However, in the transfer device of the present invention, the number of the positioning fastening tool and the pressing tool can be three or less, or five or more. A transfer device capable of holding and transferring a large number of works at one time has a feature that the processing capacity per time can be improved and the work efficiency can be increased. Various changes can be made to the number of the positioning clamping tool and the pressing tool according to the size of the work to be transferred, the number of work steps performed on the work, and the like.

[0043]

According to the transfer device of the present invention and the transfer method using the transfer device, the work can be quickly transferred from a fixed position to a fixed position with a simple structure, and the time required for transferring the work can be reduced. It has the advantage of improving production efficiency.
That is, the transfer device of the present invention and the transfer method using the transfer device move the positioning pinching tool to a fixed position where the workpiece is pinched by the servomotor and elastically press the pressing tool toward the workpiece. This is because the workpiece is clamped and held, and the positioning clamping tool and the pressing tool in a state where the workpiece is clamped are transferred to a fixed position by the servomotor. In the transfer device and the transfer method of the present invention, a servo motor, which is a mechanism for transferring a work, is used in combination with a mechanism for holding the work. That is, the movement for clamping and holding the work and the movement for transporting the work are performed by a servo motor as one drive system. For this reason, there is a feature that the whole device can be made compact with a simple structure without using a plurality of cylinders as in the related art, and the work can be quickly transferred from a fixed position to a fixed position by a servomotor. Further, the transfer apparatus and the transfer method of the present invention can transfer a work in a straight line, so that the time required for transferring the work can be shortened and the production efficiency can be improved.

Further, according to the second aspect of the present invention,
The simple structure has the features that the whole apparatus can be made compact and that a plurality of works can be transferred one after another. That is, the transfer device is configured such that a plurality of positioning squeezing tools and a pressing tool are connected to a transfer table and a squeezing table so that a plurality of works can be squeezed and transferred integrally. Because. This transfer device can increase the number of works that can be transferred at one time, and can transfer a plurality of works in a short time and efficiently, thereby realizing a feature that can improve production efficiency.

Further, in the transfer device according to the third aspect of the present invention, since the cylinder is used for the reciprocating mechanism, the holding table is reciprocated with a simple structure, and the pressing unit connected thereto is pressed. There is a feature that the tool can reciprocate.

Further, in the transfer device according to the fourth aspect of the present invention, the holding table is penetrated through a part of the positioning clip and connected to the positioning clip so as to be slidable. Because of this, there is a feature that the positioning clamp is used in combination with the connecting member of the clamp, and the clamp can be reliably supported. Further, the transfer device having this structure also has a feature that the holding table can be smoothly reciprocated at an accurate position.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing a state in which a conventional transfer device transfers a work.

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

FIG. 3 is a plan view of the transfer device shown in FIG. 2;

FIG. 4 is a partial cross-sectional side view illustrating a process of transferring a work by the transfer device illustrated in FIG. 2;

FIG. 5 is a partial cross-sectional side view showing a step of transferring a work by the transfer device shown in FIG. 2;

FIG. 6 is a partial cross-sectional side view illustrating a step of transferring a work by the transfer device illustrated in FIG. 2;

FIG. 7 is a partial cross-sectional side view showing a step of transferring a work by the transfer device shown in FIG. 2;

8 is a plan view showing a state in which the transfer device shown in FIG. 3 transfers a work.

FIG. 9 is a partial cross-sectional side view illustrating a step of transferring a work by the transfer device illustrated in FIG. 2;

[Description of Signs] 1 ... Work 2 ... Transfer Table 2A ... Opening 3 ... Servo Motor 4 ... Positioning Tool 4A ... Holding Unit 4
B ... Through-hole 4C ... Recess 5 ... Clamping table 6 ... Reciprocating mechanism 7 ... Pressing tool 7A ... Pressing surface 8 ... Elastic body 9 ... Stopper 10 ... Guide rail 11 ... Guide 12 ... Screw rod 13 ... Nut 14 ... Connecting member 15 ... Support 15A ... Through hole 16 ... Cylinder 17 ... Guide 18 ... Processing device 19 ... Cleaning gap 20 ... Hand

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[Procedure amendment]

[Submission date] March 13, 2000 (200.3.1)
3)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Full text

[Correction method] Change

[Correction contents]

[Document Name] Statement

[Title of the Invention] Conveying device

[Claims]

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to relates to <br/> equipment for conveying the work is transferred object, as determined from the determined position position.

[0002]

2. Description of the Related Art It is important that a transfer device for transferring a work from a fixed position to a fixed position be transferred quickly with a simple structure. A conventional device for achieving this is shown in FIG. This apparatus transfers a workpiece from a first position to a second position in the following steps. The hand 20 clamps the work 1 at the first position. After raising the hand 20 holding the work 1, the hand 20 is horizontally moved toward the second position. After the hand 20 holding the work 1 is lowered to transfer the work 1 to the second position, the holding state of the work 1 is released.

[0003]

An apparatus for transferring a work from the first position to the second position in the above steps includes, for example, a cylinder for holding the work, and a cylinder for transferring the held work. Need a cylinder and. Further, a transport device that sandwiches a plurality of works and transports them to an adjacent fixed position one after another requires a plurality of hands. A transfer device having a plurality of hands has a disadvantage that the entire device cannot be made compact because the number of cylinders for driving these hands increases. Further, since the mechanism for controlling the plurality of cylinders is complicated, there is a disadvantage that the cost cannot be reduced.

Further, the transfer device shown in FIG. 1 has a disadvantage that it takes time to transfer the work to the next step. That is, when this device transfers a work from the first position to the second position, the device holds the work with the hand, raises the hand holding the work, and then moves the hand horizontally. Further, after the hand holding the work is lowered, the state of holding the work is released. This transfer device clamps and transports the workpiece to the next process.
Since many steps such as ascent, horizontal movement, descent, and pinch release are required, it takes time to transfer the work. It is very important that the transfer device be transported promptly in order to improve production efficiency. The transfer device shown in FIG. 1 cannot transfer a work efficiently in a short time.

[0005] Further, in an apparatus having a plurality of hands,
In order to transfer a plurality of works one after another to the next process, it is necessary to drive these hands in synchronization. that is,
This is because transfer cannot be performed efficiently if there is a deviation in the movement of each hand. In order to drive multiple hands synchronously and to transfer accurately from fixed position to fixed position in a short time,
Control of these multiple hands is further complicated. Therefore, with the conventional transport device, a plurality of works cannot be efficiently transported together with a simple structure.

The present invention has been developed to solve these disadvantages. An important object of the present invention is
A simple structure, it is possible to transfer quickly to the place of work from the home position, to save time during the transport of the work is to provide a conveying equipment which can improve production efficiency.

Furthermore, another important object of the present invention is the entire device as a simple structure is possible compactly, in providing Hisage a conveying apparatus capable of successively transferring a plurality of workpieces together.

[0008]

According to a first aspect of the present invention, there is provided a transfer apparatus having the following configuration. The transfer device includes a transfer table 2 that is reciprocated in a feed direction of the work 1 by a servomotor 3, a positioning tool 4 that is connected to the transfer table 2 to hold the work 1, and is connected to the transfer table 2. Then, a clamping table 5 that is reciprocated in a direction parallel to the transfer table 2 via a reciprocating mechanism 6 and connected to the clamping table 5,
A pressing tool 7 for holding the work 1 in pairs with the positioning holding tool 4, an elastic body 8 for elastically pressing the pressing tool 7 toward the work 1, and fixed to the holding table 5. stopper 9 pusher 7 is to limit the location to move toward the workpiece 1
And The transfer device is the transfer table 2 by the servo motor 3
Is moved, and the pressing tool 7 is moved by the reciprocating mechanism 6 so that the work 1 is held at the determined position by the positioning holding tool 4 and the pressing tool 7. Further, the transfer device is configured to move the transfer table 2 while holding the work 1 and transfer the work 1 to a fixed position. In addition, transfer table (2) and clamping table (5)
Connects a plurality of positioning fastening tools (4) and pressing tools (7),
Multiple workpieces (1) can be sandwiched and transported together
Make up. The transfer table (2) has a guide (11) on the lower surface.
This guide (11) runs along the guide rail (10).
To move the transfer table (2) back and forth . Pressing tool (7)
Along the guide rail (10) that reciprocates the transfer table (2).
Guide (17) on the lower surface so that it can reciprocate
ing.

Further, according to a second aspect of the present invention, there is provided the transfer device, wherein the rotating shaft of the servomotor (3) is connected to a guide rail.
Connected to a threaded rod (12) extending parallel to the screw (10)
The nut (13) is inserted through the threaded rod (12)
The unit (13) is connected to the transfer table (2). Servomotor
Turn the screw rod (12) with (3) and insert it through the screw rod (12).
The nut (13) along the screw rod (12)
Move (2) and rotate servo motor (3) forward or reverse.
To move the transfer table (2) in the feed direction of the workpiece (1).
I am trying to reinstate.

Further, in the transfer device according to the third aspect of the present invention, the cylinder 16 is used for the reciprocating mechanism 6.

Further, in the transfer device according to the fourth aspect of the present invention, the holding table 5 is made to penetrate through a part of the positioning clip 4 so as to slide on the positioning clip 4. It is connected to.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. However, the embodiments described below are intended to illustrate the conveying device for embodying the technical idea of the present invention, the present invention does not specify the transport equipment in the following.

Further, in this specification, in order to make it easier to understand the claims, the numbers corresponding to the members shown in the embodiments will be referred to as “claims” and “ In the column of “means”.
However, the members described in the claims are not limited to the members of the embodiments.

The transfer device shown in FIGS. 2 and 3 includes a transfer table 2 which is reciprocated by a servo motor 3 in a feed direction of a work 1.
And a positioning tool 4 connected to the transfer table 2 for holding the work 1, and a reciprocating mechanism 6 connected to the transfer table 2
And a pressing tool connected to the holding table 5 and holding the work 1 in pairs with the positioning holding tool 4 via the holding table 5. 7 and this pressing tool 7
Elastic body 8 that elastically presses against workpiece 1
When, and a stopper 9 which press applying member 7 which limits the position moves toward the workpiece 1.

The transfer table 2 is an elongated plate-like base extending in the transfer direction of the work 1. The transfer table 2 is arranged above the guide rail 10 extended in the transfer direction of the work 1 in a horizontal posture and parallel to the guide rail 10.
The transfer table 2 has a plurality of guides 11 on the lower surface, and the guides 11 move along the guide rails 10 to make the transfer table 2 reciprocate smoothly.

The transfer table 2 is reciprocated by a servomotor 3. The servo motor 3 is fixed below the guide rail 10. The servomotor 3 has a rotating shaft connected to a screw rod 12 extending in parallel along the guide rail 10. A nut 13 is inserted through the screw rod 12, and the nut 13 is connected to one end of the transfer table 2 via a connecting member 14. When the servo motor 3 rotates the screw rod 12, the nut 1 inserted through the screw rod 12
3 moves along the screw rod 12 to move the transfer table 2. The transfer table 2 is reciprocated in the feed direction of the work 1 by rotating the servo motor 3 forward or backward. The transfer table 2 reciprocated by the servo motor 3 in this manner has a feature that the moving distance can be finely adjusted according to the rotation speed of the servo motor 3.

The positioning clamp 4 is fixed to the upper surface of the transfer table 2. A plurality of positioning pincers 4 are arranged at equal intervals. In the transfer table 2 shown in the figure, four positioning clamps 4 are arranged at equal intervals. These positioning clamps 4
Are formed in the same shape, and are disposed so as to protrude upward from the upper surface of the transfer table 2. Multiple positioning clamps 4
As shown in the figure, the projections from the transfer table 2 are made equal to each other so that a plurality of works 1 can be held in a straight line at the same height.

Further, the positioning pinching tool 4 has a holding portion 4A at the tip. The holding portion 4A is a portion that abuts on the work 1 and holds the work 1, and is disposed on the right side of the distal end portion of the positioning clamp 4 in FIG. The holding portion 4A is formed to have a concave center, and holds the work 1 at a predetermined position. As described above, the holding portion 4A formed in the central concave portion has a feature that the holding portion 4A reliably contacts the side surface of the cylindrical or spherical work 1 and can pinch them at an accurate position. Further, the holding portion 4A has a structure that can be detachably attached, and various changes can be made according to the shape of the work to be held.

The holding table 5 extends in the direction of transferring the work 1 and is disposed in parallel with the transfer table 2. Clamp 5
Can move back and forth along the transfer table 2.
It is connected to. The holding table 5 shown in the figure has an elongated rod shape, and is disposed above the transfer table 2 through the through holes 4B provided in the four positioning holding tools 4. In this manner, the structure in which the holding table 5 is connected to the transfer table 2 via the plurality of positioning holding tools 4 uses the positioning holding tool 4 in combination with the connecting member of the holding table 5, and There is a feature that the clamping table 5 can be reliably supported. Further, in FIG. 2, the holding table 5 also passes through a through hole 15A provided in a support table 15 provided on the right side of the positioning tool 4 at the right end. The support table 15 is arranged at regular intervals with the four positioning attachments 4 and is fixed to the upper surface of the transfer table 2.

The holding table 5 is a reciprocating mechanism 6, and the transfer table 2
Is reciprocated in a direction parallel to The reciprocating mechanism 6 includes
A cylinder 16 that reciprocates the holding table 5 with a predetermined stroke can be used. The transfer device has a cylinder 16 connected to one end of the clamping table 5. The holding table 5 is connected to a rod (not shown) of the cylinder 16, and the cylinder 16 is reciprocated by expanding and contracting the rod. In the transfer device shown in the figure, a cylinder 16 is provided at the right end of the transfer table 2, and the right end of the clamping table 5 is connected to the cylinder 16. However, the cylinder may be disposed at the left end of the transfer table to connect the left end of the clamping table. As the cylinder 16, for example, an air cylinder can be used.

Further, the holding table 5 has a plurality of pressing tools 7 connected in the middle. In the holding table 5 shown in FIG. 2, four pressing tools 7 are arranged to face the positioning holding tool 4 so as to form a pair with the four positioning holding tools 4. The holding table 5 connects the pressing tool 7 to a predetermined position while penetrating the pressing tool 7.

The pressing tool 7 forms a pair with the positioning holding tool 4 and holds the work 1. The pressing tool 7 has substantially the same height as the positioning pinching tool 4. The pressing tool 7 is a pressing face 7A on the upper left side face in FIG. 2, the face facing the holding portion 4A of the positioning fastening tool 4. The pressing tool 7 holds and holds the work 1 between the pressing surface 7A and the holding portion 4A of the positioning holding tool 4. Although not shown, the pressing tool can also detachably mount or fix a holding member that presses and holds the work on the pressing surface, and can more reliably hold and hold the work. Further, in the structure in which the holding member is provided on the pressing surface, various changes can be made to the holding member according to the shape of the work to be clamped.

Further, a guide 17 is connected to the lower surface of the pressing tool 7 so that the pressing tool 7 can reciprocate along the guide rail 10. The transfer table 2 is provided with openings 2A penetrating up and down at equal intervals in order to move the guide 17 of the pressing tool 7 along the guide rail 10. Opening 2 of transfer table 2
A is between four positioning clamps 4 adjacent to each other, and
Openings are provided at four locations between the positioning clamp 4 and the support base 15 so as to extend in the axial direction of the guide rail 10. Pressing tool 7
The guide 17 is disposed on the guide rail 10 through an opening 2A provided in the transfer table 2. The pressing tool 7
The lower part slides along the inner surface of the opening 2A, and reciprocates on the guide rail 10 in a horizontal posture.

The elastic body 8 is provided so that the pressing tool 7 can be elastically pressed toward the work 1. Elastic body 8
For example, a coil spring can be used. As shown in the figure, the elastic body 8 which is a coil spring has the rod-shaped holding table 5 inserted therethrough, between the pressing tool 7 and the positioning holding tool 4, and between the pressing tool 7 and the support base 15. Can be easily installed in between. The elastic body 8 shown in the figure has a position between the pressing tool 7 and the positioning pinching tool 4 which are not adjacent to each other, ie, a side opposite to the pressing surface 7A of the pressing tool 7, and the positioning tool. It is arranged between the holding portion 4A of the holding device 4 and the back surface on the opposite side. Further, an elastic body 8 is also provided between the pressing tool 7 located at the right end in FIG. These elastic bodies 8 press the back surface of the pressing tool 7 and press the pressing tool 7.
The pressing surface 7A is biased so as to be pressed toward the holding portion 4A of the positioning holding tool 4.

One end of the elastic body 8 provided between the pressing tool 7 and the positioning clip 4 is fitted and connected to a concave portion 4C provided on the back surface of the positioning clip 4. The other end contacts the back surface of the pressing tool 7 and presses the pressing tool 7 toward the work 1. As shown in FIG. 2, the positioning pinching tool 4 has a concave portion 4 </ b> C on the back surface into which one end of the elastic body 8 is fitted. The positioning clamp 4 shown in the figure has a through hole 4B through which the clamp 5 passes.
Is provided with a step on its inner surface to form a recess 4C. However, the elastic body can also be provided without providing a concave portion in the positioning clip. Further, the elastic body 8 that presses the rear surface of the pressing tool 7 located at the right end is received by a support base 15 disposed on the right side of the pressing tool 7.

The elastic body 8 arranged as described above presses the back surface of the pressing tool 7 to move the pressing tool 7 toward the work 1. The pressing tool 7 pressed toward the work 1
The work 1 is clamped and held between the holding portion 4A of the positioning clamp 4 and the pressing surface 7A of the pressing member 7. Therefore, the elastic body 8
In this case, an elastic member that can securely hold and hold the work 1 between the positioning holding tool 4 and the pressing tool 7 is used.

The stopper 9 limits the position press applying member 7 is moved toward the workpiece 1. As shown in the figure, the stopper 9 is disposed between the pressing tool 7 and the side of the positioning clipping tool 4 that clamps the work 1. The stopper 9 is located in front of the pressing surface 7 </ b> A side of the pressing tool 7 and is fixed to the holding table 5 to limit the movement of the pressing tool 7 in the work direction. The stoppers 9 are arranged at equal intervals so that the plurality of pressing tools 7 can be moved together while being held at equal intervals.

The pressing tool 7 whose movement position is restricted by the stopper 9 is moved by the reciprocating mechanism 6 via the holding table 5.
The device shown in the figure is a cylinder 16 which is a reciprocating mechanism 6.
When the holding table 5 is moved in the transfer direction of the work 1, the stopper 9 fixed to the holding table 5 moves, and the pressing tool 7 is pushed out by the elastic body 8 and moves in the transfer direction. Conversely, when the cylinder 16 moves the holding table 5 in the reverse transfer direction, the stopper 9 fixed to the holding table 5 comes into contact with the pressing tool 7 and moves the pressing tool 7 in the reverse transfer direction. As described above, the holding table 5 is reciprocated by the reciprocating mechanism 6, and the plurality of pressing tools 7 connected to the holding table 5 are reciprocated together.

The transport device having the above structure is used to
FIG. 4 shows a state in which the workpiece 1 is transported while being clamped between the workpiece 1 and the pressing tool 7.
This will be described with reference to FIG. 4 to 7 and 9 show a state in which the workpiece 1 at the third position and the fourth position of the transfer device shown in FIG. 2 is transferred to the fourth position and the fifth position. Further, the plurality of works transferred by the transfer device have the same shape and the same diameter.

[Supplying Process] As shown in FIG. 4, the positioning clamp 4 is stopped at the open position A, and the pressing member 7 is stopped at the open position B by the stopper 9 to open the clamping gap 19. Is supplied with the work 1. Opening gap 19 of pinching gap 19
Is set larger than the outer diameter of the work 1 to be clamped.

[Holding Step] As shown in FIG. 5, the transfer table 2 is moved by d in the reverse transfer direction by driving the servo motor 3, and the positioning clamp 4 is pinched to hold the work 1 at a fixed position. It is moved to the holding position C where it is put on. As shown in FIG. 6, the holding table 5 is moved in the transfer direction by the reciprocating mechanism 6, and the pressing tool 7 is moved toward the work 1. The pressing tool 7 is moved to the clamping position D where it is pressed by the elastic body 8 and abuts on the workpiece 1. In this state, the positioning holding tool 4 and the pressing tool 7 hold and hold the work 1 at the fixed position.

[Transfer Step] As shown in FIG. 7, the servo motor 3 is driven to move the transfer table 2 in the transfer direction in a state where the work 1 is held by the positioning clamp 4 and the pressing tool 7. The transfer table 2 moves in a horizontal direction while holding the plurality of works 1 in a straight line. The transfer table 2 is moved by a predetermined pitch in the transfer direction of the work 1 to move each work 1 together in the next step. The transfer device is configured to move the work 1 from the first position to the fourth position shown in FIG.
Are moved from the second position to the fifth position, respectively, as shown in FIG.

When the work 1 is transferred to a predetermined position, the processing devices 18 located on both sides move forward, and hold the transferred work 1 therebetween. The work 1 is a processing device 1
Predetermined processing corresponding to each process is performed in the state held in 8.

The processing device 18 processes the work 1 in the first to fifth positions according to each process. For example, at the first position, the work 1 is supplied to the transfer device,
From the second position to the fourth position, predetermined processing such as chamfering or polishing is performed, and at the fifth position, the processed workpiece 1 is discharged. At the first position and the fifth position, the work 1 can be processed.

[Return Process] When the transferred work 1 is held by the processing device 18, the transfer device moves the clamping table 5 in the reverse transfer direction by the reciprocating mechanism 6, as shown in FIG. Then, the pressing tool 7 is separated from the work 1 and stopped at the open position B, and the transfer table 2 is moved in the transfer direction by the servomotor 3 so that the positioning clamp 4 is separated from the work 1 and stopped at the open position A. Then, the clamped state of the work 1 is released.

After the positioning device 4 and the pressing device 7 are moved to the open position, the transport device is returned to the original position shown in FIG. The transport device returns both the positioning zipper 4 and the pressing tool 7 to the original position in a state where the work 1 is not held, that is, the nip gap 19 is opened. The transport device is returned while the processing device 18 performs a predetermined process on the work 1. This structure has a feature that the transport device can be returned to the home position by effectively using the time required for processing in the processing device 18.

Further, in the return step, the transport device includes:
Both the positioning nipping tool 4 and the pressing tool 7 are moved so as not to contact the work 1. In order to realize this, the transport device includes an up-and-down mechanism (not shown) that moves the guide rail 10 up and down. The transport device is moved down by the up-down mechanism so as not to contact the workpiece 1 being processed, and then the transfer table 2 is moved in the reverse transfer direction by the servomotor 3 to move the positioning clamp 4.
And the pressing tool 7 is moved from the first position to a position corresponding to the fourth position. When the transfer table 2 moves to a predetermined position, the transport device is raised by the up-down mechanism so as not to contact the work 1 and returns to the supply position where the work 1 can be held by the positioning holding tool 4 and the pressing tool 7. Is done.

The up-down mechanism can be any mechanism that can move the entire transport device up and down. Preferably, a cylinder is used for the up-down mechanism. The cylinders serving as the up-and-down mechanism are disposed, for example, at both ends of the guide rail 10 in a vertical posture, and move the entire apparatus up and down via the guide rail 10. The cylinders provided at both ends of the guide rail 10 are characterized in that they can move up and down the entire transport device without hindering the movement of the transfer table 2 and can support the transport device in a well-balanced manner. The vertical mechanism is
The transport device is moved up and down with a predetermined stroke so that the transport device can return without contacting the work 1.

As described above, the supply step, the holding step, the transfer step, and the return step are repeated to transfer a plurality of works 1 having the same diameter one after another.

Further, the transfer device of the present invention can also transfer a work 1 having the same shape as the above-mentioned work and having different diameters while being held therebetween. In this case, the transport device adjusts the clamping position C of the positioning clamping tool 4 with the servo motor 3. For example, as shown by a chain line in FIG. 5, when the work 1 having a small diameter is to be held, the positioning holding tool 4 is moved to a holding position C ′ where the work 1 having a small diameter can be held at a fixed position. . The transfer device increases the distance d in which the positioning clamp 4 moves in the reverse transport direction to clamp the work 1 or increases the opening position A of the positioning clamp 4 which is the supply position. Is moved closer to the work 1 having a smaller size, and is moved in the reverse transfer direction by a predetermined distance d to move the positioning clamp 4 to the clamping position C ′. Further, since the pressing member 7 is pressed by the elastic body 8 and moves in the direction of the work 1, even the work 1 having a different diameter can be easily moved to the holding position D 'and held and held. That is, by adjusting and controlling the servo motor 3, the transfer apparatus of the present invention can pinch and hold a plurality of works 1 having different diameters and transfer them together one after another.

In the above-described embodiment, four pairs of positioning and fixing members 4 and pressing members 7 facing each other are arranged above the transfer table 2 and
The structure is such that individual works 1 can be simultaneously held and transferred. However, in the transfer device of the present invention, the number of the positioning fastening tool and the pressing tool can be three or less, or five or more. A transfer device capable of holding and transferring a large number of works at one time has a feature that the processing capacity per time can be improved and the work efficiency can be increased. Various changes can be made to the number of the positioning clamping tool and the pressing tool according to the size of the work to be transferred, the number of work steps performed on the work, and the like.

[0042]

Conveying equipment of the present invention exhibits a simple structure, it is possible transported quickly to the place of work from the home position,
The feature is that the time required for transferring the work can be shortened and the production efficiency can be improved. It conveying equipment of the present invention, moves the positioning clamping tool by the servo motor to work in place of clamped, the workpiece holding clamping elastically presses the pressing tool to the workpiece This is because the positioning pinching tool and the pressing tool in a state where the workpiece is pinched are transferred to a fixed position by the servomotor. The transfer device of the present invention uses a servomotor, which is a mechanism for transferring a work, together with a mechanism for specifying a position at which the work is clamped . That is, a movement for clamping and holding the work at a fixed position and a movement for conveying the work are performed by a servo motor as one drive system. For this reason, there is a feature that the whole device can be made compact with a simple structure without using a plurality of cylinders as in the related art, and the work can be quickly transferred from a fixed position to a fixed position by a servomotor. Furthermore, the transport equipment of the present invention, it is possible to transport the workpiece in a straight line, to save time during the transport of the work, there is a feature that can improve the production efficiency.

[0043] Further, conveyance device of the present onset Ming, it is possible the entire device as a simple structure compact, there is a feature that can be successively transferring a plurality of workpieces together. That is, the transfer device is configured such that a plurality of positioning squeezing tools and a pressing tool are connected to a transfer table and a squeezing table so that a plurality of works can be squeezed and transferred integrally. Because. This transfer device increases the number of works that can be transferred at one time, and can transfer multiple works in a short time and efficiently.
Features that can improve production efficiency can be realized.

Further, in the transfer device according to the third aspect of the present invention, since the cylinder is used for the reciprocating mechanism, the holding table is reciprocated with a simple structure, and the pressing unit connected thereto is pressed. There is a feature that the tool can reciprocate.

Further, in the transfer device according to the fourth aspect of the present invention, the holding table is penetrated through a part of the positioning clip and connected to the positioning clip so as to be slidable. Because of this, there is a feature that the positioning clamp is used in combination with the connecting member of the clamp, and the clamp can be reliably supported. Further, the transfer device having this structure also has a feature that the holding table can be smoothly reciprocated at an accurate position.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing a state in which a conventional transfer device transfers a work.

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

FIG. 3 is a plan view of the transfer device shown in FIG. 2;

FIG. 4 is a partial cross-sectional side view illustrating a process of transferring a work by the transfer device illustrated in FIG. 2;

FIG. 5 is a partial cross-sectional side view showing a step of transferring a work by the transfer device shown in FIG. 2;

FIG. 6 is a partial cross-sectional side view illustrating a step of transferring a work by the transfer device illustrated in FIG. 2;

FIG. 7 is a partial cross-sectional side view showing a step of transferring a work by the transfer device shown in FIG. 2;

8 is a plan view showing a state in which the transfer device shown in FIG. 3 transfers a work.

FIG. 9 is a partial cross-sectional side view illustrating a step of transferring a work by the transfer device illustrated in FIG. 2;

[Description of Signs] 1 ... Work 2 ... Transfer Table 2A ... Opening 3 ... Servo Motor 4 ... Positioning Tool 4A ... Holding Unit 4
B ... Through-hole 4C ... Recess 5 ... Clamping table 6 ... Reciprocating mechanism 7 ... Pressing tool 7A ... Pressing surface 8 ... Elastic body 9 ... Stopper 10 ... Guide rail 11 ... Guide 12 ... Screw rod 13 ... Nut 14 ... Connecting member 15 ... Support 15A ... Through hole 16 ... Cylinder 17 ... Guide 18 ... Processing device 19 ... Cleaning gap 20 ... Hand

Claims (5)

[Claims] A transfer table (2) reciprocated in a feed direction of a work (1) by a servomotor (3), and a position for connecting the transfer table (2) to clamp the work (1). Clamping device (4) and transfer table
(2) and the transfer table via the reciprocating mechanism (6).
A clamping table (5) reciprocating in a direction parallel to (2), and a work (1) connected to the clamping table (5) and paired with the positioning clamping tool (4). And a resilient member (8) that elastically presses the pressing tool (7) toward the work (1).
And a stopper (9) disposed between the pressing tool (7) and the clamping table (5), and restricting a position where the pressing tool (7) moves toward the work (1). The transfer table (2) is moved by the servo motor (3) and the reciprocating mechanism
In (6), the pressing tool (7) is moved, and the work (1) is pinched at the determined position by the positioning pinching tool (4) and the pressing tool (7). A transfer device configured to move a transfer table (2) to transfer a work (1) to a fixed position in a sandwiched state. 2. A plurality of workpieces (1) by connecting a plurality of positioning fasteners (4) and pressing tools (7) to a transfer table (2) and a clamping table (5).
The transport device according to claim 1, wherein the transport device is configured to be able to be integrally transported while being sandwiched. 3. The transfer device according to claim 1, wherein the reciprocating mechanism (6) is a cylinder (16). 4. The positioning clamp (4) is slidably connected to the positioning clamp (4) by penetrating a part of the positioning clamp (4). The transfer device described in 1. 5. The work (1) is held by a positioning clamp (4) and a pressing tool.
(7), and both the holding tool (4) and the pressing tool (7) are transferred together in the transfer direction, and the work (1) is transferred from the first position to the second position. In the transfer method, the movement of the pressing tool (7) in the direction of clamping the work (1) is limited by the stopper (9), and the pressing tool (7) is positioned so as to be elastically pressed toward the work (1). Connect the positioning clamp (4) to the positioning clamp (4), move the positioning clamp (4) to the home position with the servo motor (3), clamp the workpiece (1), and position the clamping clamp (4). When the work (1) is clamped with the pressing tool (7), the servo motor (3) moves the positioning clamp (4) to transfer the work (1) to a fixed position, thereby achieving servo control. While holding the work (1) with the motor (3), the work (1)
A transport method using a transport device, which transports the paper to a fixed position.