JP2004243397A - Panel transport apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a panel transport apparatus which has different motion at each press station, enables the movable part thereof to easily be lightened, is operated at high speed by a driving device with a short stroke even if transport distance is long, has the increased rigidity of the movable part to suppress deflection and vibration, and can tilt a work clamping tool while the movable part is lightened without adding another device to the movable part and without adding a driving device such as a motor to the movable part. <P>SOLUTION: The panel transport apparatus is provided with a panel clamping part 5 of clamping a panel 1, a second link mechanism connected to the panel clamping part, a first link mechanism attached pivotally to the second link mechanism, a slide mechanism 20 for moving the first link mechanism in the panel transport direction and a tilting mechanism 22 of tilting the second link mechanism. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a panel transport device that transports a panel formed by a press.
[0002]
[Prior art]
For example, a press-formed product such as an automobile panel has a complicated shape, and therefore, the forming process is divided into several stages, and is formed by a linearly arranged mold. In a transfer press or a tandem press using such a plurality of presses, a panel transfer device is provided to sequentially transfer members (panels) formed by one press to the next press.
[0003]
As a panel transfer device for a transfer press, a crossbar transfer device of [Patent Document 1] has been widely used conventionally.
In this apparatus, a lift beam extending in the entire area of each press station is provided so as to be able to ascend and descend in the line direction, and the carrier is suspended from the lift beam so as to be able to reciprocate between the stations in the line direction. And a work gripper attached to the crossbar to simultaneously and intermittently transfer the work material of each station.
[0004]
Such a crossbar type transfer device has the following features.
(1) A cam-driven type or a motion control by an AC servomotor is used to generate a feed motion between mold stations of a molding panel.
(2) The transport of the panel is performed by a combined motion in the feed direction (horizontal direction) and the lift direction (vertical direction), and a vacuum cup mounted on a transport tool called a crossbar sucks and transports the panel.
(3) The crossbars between the mold stations are connected in both the feed direction and the lift direction, and the respective crossbars cooperate to perform exactly the same motion.
(4) A feed arm for generating a feed motion between stations is usually located on the front side or the rear side of a series of feeders composed of a bogie connecting a crossbar and a coupling mechanism thereof. Generate.
[0005]
Further, in addition to the above-described crossbar type transport device, Patent Document 2, Patent Document 3, Patent Document 4, and the like have been proposed as panel transport devices.
[0006]
[Patent Document 1]
JP-A-10-328766
[Patent Document 2]
Japanese Patent Publication No. 7-73756
[Patent Document 3]
JP-A-10-328766
[Patent Document 4]
US Patent No. 6,382,400
[0007]
The "transfer feeder" of [Patent Literature 2] provides a plurality of carriers independently traveling by a linear motor on a pair of lift beams that move up and down by a lifter, and uses the linear motor as a drive source to drive a workpiece (panel) at high speed. This makes transport possible.
[0008]
The "transfer press transfer device" of [Patent Document 3] provides a plurality of carriers on a lift beam, and enables high-speed transfer of a work (panel) using the carriers as a drive source of a servomotor.
[0009]
[Patent Document 4] “TRANSPORT AND POSITIONING SYSTEM” (transport positioning device) includes a driving device 30 having a lever mechanism 23 having an output portion 25 for driving and positioning the crossbar 22 as shown in FIG. . The lever mechanism 23 has a swing arm 24 that forms an output section 25 at one end, and the output section 25 is connected to the crossbar 22. Further, the swing arm 24 is connected at two points: a support point 28 and a drive point 33 which are spaced apart. The distance between the supporting point 28 and the driving point 33 is shorter than the distance between the output section and the supporting point. In this figure, 21 is a work gripper attached to the cross bar 22, 32 is a guide rod connecting the slide block 37 and the driving point 33, 41 is a swing motor that swings the guide rod 32, and 45 is a slide block. 37 is a linear motion device that moves up and down.
[0010]
With this configuration, the slide block 37 is moved up and down by the linear motion device 45 and the guide rod 32 is swung by the swing motor 41 to drive and position the tip (drive point 33) of the guide rod 32, and the movement is performed. The crossbar 22 to which the work gripper is attached is driven and positioned at an enlarged ratio of the lever.
[0011]
[Problems to be solved by the invention]
But as mentioned above
[Patent Document 1] and
The device of Patent Document 3 has the following problems.
(1) Each crossbar cannot have a different motion.
(2) Since the crossbars for all the stations are simultaneously moved, the servomotor and the feed driving device become large.
(3) Since the motion curve for each press station is the same, it is necessary to devise a mold shape in order to avoid interference, and it is difficult to cope with diversification of plate forming.
[0012]
Also
In the linear motor system disclosed in Patent Document 2, the speed of feed can be increased by a linear motor, but a separate lift mechanism is required, and the entire structure is complicated and large.
In the AC servo system of Patent Document 3, high rigidity cannot be obtained because of the serial link.
In the swing arm system disclosed in Patent Document 4, since the panel is transported by the swing arm, the longer the transport distance, the longer the arm must be. The deflection of the arm causes vibration.
[0013]
Furthermore, in order to swing (tilt) the work gripper in order to cope with complicated press molding, it is necessary to provide a separate tilting device on the crossbar, which complicates the structure and makes the movable part movable. However, there is a problem that the weight is increased and it becomes more difficult to increase the speed.
[0014]
The present invention has been made to solve such a problem. That is, the main objects of the present invention are (1) a different motion can be provided for each press station, (2) a movable part can be easily reduced in weight, and (3) a drive having a short stroke even when the transport distance is long. It is an object of the present invention to provide a panel transport device that can perform high-speed operation with the device, and (4) increase the rigidity of the movable portion and suppress bending and vibration. Another object of the present invention is to provide a panel transfer device capable of swinging (tilting) a work gripper without adding a driving device such as a motor to the movable portion and keeping the weight of the movable portion light. Is to do.
[0015]
[Means for Solving the Problems]
According to the present invention, there is provided a panel transfer device for transferring a panel, the panel holding portion holding the panel, a second link mechanism connected to the panel holding portion, and pivotally attached to the second link mechanism. A first link mechanism, a slide mechanism for moving the first link mechanism in the panel transport direction, and a swing mechanism for swinging the second link mechanism. Is done.
[0016]
According to the configuration of the present invention, the first and second link mechanisms are moved in the panel transport direction by the slide mechanism, and are swung by the swing mechanism, so that the panel gripped by the panel gripper is moved in the predetermined transport direction. Can be transported. Further, both speeds are added by a combination of the movement in the panel transport direction and the swing, so that high-speed operation can be performed even if the transport distance is long. Further, the panel transfer device can be provided for each press station, and can have different motions for each press station.
[0017]
According to a preferred embodiment of the present invention, a pair of a first link mechanism, a second link mechanism, a slide mechanism, and a swing mechanism are provided symmetrically on both sides of the panel gripping portion.
With this configuration, the panel can be stably transported.
[0018]
The second link mechanism includes an output member connected to the panel grip portion, an intermediate member forming the opposite side of the output member, and two arms connecting the output member and the intermediate member. Configure parallel links.
With this configuration, by moving the parallel link, it is possible to cope with lifting and lowering and swinging (tilting) of the output member. Further, since it is not necessary to provide another driving device such as a motor in the movable portion, it is possible to reduce the weight of the movable portion, increase the rigidity of the movable portion, and suppress bending and vibration.
[0019]
The first link mechanism includes two arms that connect the intermediate member and the slide mechanism.
With this configuration, the movement of the slide mechanism in the panel transport direction can be transmitted to the second link mechanism.
[0020]
The slide mechanism includes a feed slide on which the first link mechanism is pivotally mounted, and a linear motion actuator that drives the feed slide in a panel transport direction.
According to this configuration, the feed slide can be moved in the transport direction of the panel by the linear motion actuator, and the movement of the feed slide can be transmitted to the first link mechanism.
[0021]
The slide mechanism moves the feed slide in the panel transport direction while maintaining the two arms of the first link mechanism in parallel.
With this configuration, the posture of the intermediate member can be maintained, and the intermediate member can be moved in the panel transport direction while horizontally holding the panel holding unit via the second link mechanism.
[0022]
The slide mechanism individually drives the two arms of the first link mechanism to move the feed slide in the panel transport direction, and tilts the panel grip.
With this configuration, the posture of the intermediate member can be tilted, and the panel gripping portion can be tilted via the second link mechanism.
[0023]
The swing mechanism includes a swing link mechanism pivotally attached to the first link mechanism and the second link mechanism, and a linear actuator that operates the swing link mechanism.
With this configuration, the second link mechanism can be swung with respect to the first link mechanism by operating the swing link mechanism with the linear motion actuator.
[0024]
A linear actuator of the swing mechanism drives a swing slide pivotally attached to the swing link mechanism in a panel transport direction.
According to this configuration, the swing slide can be moved in the transport direction of the panel by the linear motion actuator, and the movement of the swing slide can be transmitted to the swing link mechanism.
[0025]
The linear motion actuators of the slide mechanism and the swing mechanism are provided side by side. With this configuration, the drive unit for moving each slide in the panel transport direction can be compactly arranged, and it is necessary to add a drive device such as a motor to the movable units of the first and second link mechanisms and the swing link mechanism. There is no.
[0026]
The linear motion actuator of the slide mechanism and the swing mechanism is a ball screw and a ball nut, a timing belt, a hydraulic cylinder, a rack and pinion, or a linear motor.
By using these linear motion actuators, each slide can be linearly moved at high speed and accurately positioned.
[0027]
The panel gripper includes a crossbar connected to the second link mechanism, and a work gripper attached to the crossbar.
With this configuration, it is possible to move and swing the crossbar by the second link mechanism, and to cause the work gripper attached to the crossbar to perform a desired movement.
[0028]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. In each of the drawings, common portions are denoted by the same reference numerals, and redundant description will be omitted.
[0029]
FIG. 1 is a perspective view of a press line provided with the panel transfer device of the present invention. In this figure, for convenience of explanation, two press stations 6 on the upstream side and the downstream side and the panel transfer device of the present invention provided between them are shown. However, in an actual machine, usually two to five press stations are provided. Are provided.
[0030]
In order to receive the formed material (panel) 1 from the upstream press station 6 and transport it to the downstream press station 6, the panel transport device of the present invention is installed between the press stations 6,6.
The panel transport device of the present invention includes a pair of feed devices 10 provided symmetrically for each press station on both sides in the feed direction X for transporting the panel 1 to be press-formed.
[0031]
A pair of feeders 10 are mounted between press stands 7 between the upstream and downstream press stations 6,6. Each feed device 10 operates symmetrically with respect to the feed direction X, moves the crossbar 3 to which the work gripper 2 is attached in the feed direction and the vertical direction, and conveys the panel 1 sequentially to the next press station. It has become.
The feed device 10 is mounted on the arms (not shown) provided at the upstream and downstream press stations 6 and the press stand 7 or suspended from the ceiling by attaching both ends thereof to the press stands 6 and 6. It is installed in between.
[0032]
FIG. 2 is a perspective view of the first embodiment of the panel transport device of the present invention. In this figure, the feeder 10 includes a link mechanism 16, a slide mechanism 20, a swing mechanism 22, and a panel gripper 5.
[0033]
In this example, the slide mechanism 20 includes the feed slide 12 and the linear actuator 13, the swing mechanism 22 includes the linear actuator 13, the swing slide 14, and the swing link mechanism 18. It comprises a crossbar 3 and a work gripper 2.
[0034]
The feed slide 12 includes a first feed slide 12a and a second feed slide 12b. The first feed slide, the second feed slide, and the swing slide 14 are linearly driven in the feed direction X by independent linear actuators 13, respectively.
[0035]
The linear motion actuator 13 is a ball screw and a ball nut in this example, but the present invention is not limited to this, and may be a timing belt, a hydraulic cylinder, a rack and pinion, a linear motor, or the like.
[0036]
Further, a linear motion guide 15 for guiding linear driving of the swing slide 14, the first feed slide 12a, and the second feed slide 12b is provided.
[0037]
Further, the linear actuator 13 and the linear guide 15 are attached to a fixed portion (a main body or the like) of the press station, and only the movable portions (the first feed slide 12a, the second feed slide 12b, and the swing slide 14) are used. It is driven linearly in the feed direction X, and can be accurately positioned by numerical control or the like.
[0038]
FIG. 3 is a schematic diagram of the panel transport device of FIG. As shown in this figure, the link mechanism 16 includes a first link mechanism and a second link mechanism. Here, the second link mechanism includes an output member 19 connected to the panel grip portion 5, an intermediate member 17 forming the opposite side of the output member 19, and a pair of second links connecting the output member 19 and the intermediate member 17 ( The first link mechanism comprises a pair of first links (arms) 16a connecting the intermediate member 17 and the feed slide 12.
[0039]
The pair of first links 16a have the same length, and one ends a1 and a2 (upper ends in the drawing) are pivotally connected to the feed slide 12 so as to be rotatable about a horizontal axis, and the other ends a3 and a4 (lower ends in the drawing). ) Is pivotally attached to the intermediate member 17 so as to be rotatable about a horizontal axis. The pair of first links 16a are displaced in the width direction (the direction perpendicular to the plane of the paper in the figure), and can freely swing left and right around the ends a1 and a2 in the figure.
[0040]
The pair of second links 16b are equal in length and shorter than the first links 16a. One end a3, a4 (the lower end in the figure) of the pair of second links 16b is pivotally connected to the intermediate member 17 so as to be rotatable around a horizontal axis, and the other end a5, a6 (the upper end in the figure) is an output member 19. Is pivotally mounted about a horizontal axis. Further, the pair of second links 16b are displaced in the width direction (perpendicular to the plane of the paper in the figure), and do not interfere with the slides 12, 14 and the first link 16a, and center around one end a3, a4. In the figure, it can swing freely from side to side.
[0041]
In FIG. 3, the distance between the pivot points a3 and a4 of the intermediate member 17 and the output member 19 and the distance between the pivot points a5 and a6 are set to the same length L0.
[0042]
With this configuration, two parallel links a1, a2, a4, a3 and a4, a3, a5, a6 are formed, and even when the first link 16a and the second link 16b are swung, the output member 19 is fed and slid. 12 (that is, in the X direction), and the crossbar 3 attached thereto can be held horizontally without tilting.
Here, the case where the link mechanism 16 forms a parallel link has been described. However, the parallel link does not necessarily have to be formed depending on the shape of the output member 19 and how the crossbar 3 is attached.
[0043]
The swing link mechanism 18 includes a third link 18a and a fourth link 18b. One end b1 (upper end in the figure) of the third link 18a is pivotally connected to the swing slide 14 so as to be rotatable about a horizontal axis, and a part b2 (middle point) of the third link 18a is pivotally connected to the first link 16a. . The fourth link 18b is rotatably connected to the other end b3 (the lower end in the figure) of the third link 18a and the extended end b4 (the lower end in the figure) of the second link 16b so as to be rotatable about a horizontal axis. .
In this example, the interval between the pivot points b2 and b3 and the interval between the pivot points a3 and b4 are set to the same length. Accordingly, third parallel links b2, b3, b4, a3 are formed, and the third link 18a and the second link 16b are always parallel.
[0044]
The swing link mechanism 18 is not limited to this example, and may have another configuration as long as the first link 16a and the second link 16b can swing. For example, unlike this example, the fourth link 18b may be pivotally connected to an intermediate point between the third link 18a and the second link 16b, or may be connected to an opposite link.
For example, as shown in FIG. 8, the link 18a is rotatably pivoted to the intermediate point b3 of the members a1, a3 on the first link 16a, and the link 18b is rotatably pivoted to the pivot point a5 of the output member. I do. In this case, the linear movement distance of the swinging slide 14 is longer than that of the embodiment of FIG. Since this portion is not bent, the weight of the member can be reduced.
[0045]
With this configuration, only by linearly driving the swing slide 14 in the feed direction X, the first link 16a is swung via the third link 18a, and the second link 16b is swung via the fourth link 18b. Can be done. Therefore, there is no drive device in the swing link mechanism 18, the weight of the movable portion can be reduced, the rigidity of the movable portion can be increased, and bending and vibration can be suppressed.
[0046]
FIG. 4 is an explanatory view of a feeding operation of the panel transfer device of FIG. In this figure, 6a is the panel gripping position of the upstream press station 6, and 6b is the downstream panel mounting position. In this figure, the distance L between the pivot points of the first feed slide 12a and the second feed slide 12b is maintained at the same length L0 with respect to the distance L0 between the pivot points between the intermediate member 17 and the output member 19. , The first feed slide 12a, the second feed slide 12b, and the swing slide 14 are linearly driven in the feed direction X.
[0047]
FIG. 4A shows a position where the panel of the upstream press station 6 is raised. From this position, while the distance L between the pivot points of the first feed slide 12a and the second feed slide 12b is maintained at the same length L0, the linear drive is performed in the upstream direction, and simultaneously the swinging slide 14 is moved to the first feed slide. FIG. 4B is obtained when the distance is closer to 12a.
Further, when the first feed slide 12a and the second feed slide 12b are linearly driven to the upstream side, and simultaneously, the swinging slide 14 is linearly driven to a position overlapping with the second feed slide 12b (offset in the width direction). (C).
Further, when the first feed slide 12a and the second feed slide 12b are linearly driven to the upstream side and the swing slide 14 is simultaneously driven linearly to the right from the first feed slide 12a in FIG. Become. FIG. 4E illustrates a position where the panel of the downstream press station 6 is raised.
[0048]
As shown in FIG. 4, in the configuration of the present invention, the cross bar 3 for attaching the work gripper 2 is attached to a part of the link mechanism 16, and the linear movement of the feed slide 12 and the swing slide 14, In addition, since the crossbar is fed and moved up and down by the swing motion of the swing link mechanism 18, high-speed operation can be performed with a short stroke drive device even when the transport distance is long.
For example, when the interval between the press stations is about 6.5 m, the linear motion of the feed slide 12 and the swing slide 14 is about half or less of about 3 m. Therefore, even when high-speed conveyance of 10 m / sec or more is desired, the speed of the driving device can be reduced to half or less, and high-speed conveyance can be easily realized by using the highly practical linear actuator 13.
[0049]
FIG. 5 is an explanatory view of the elevating operation of the panel transport device of FIG. 5A shows a position where the panel of the upstream press station 6 is raised, and FIG. 5B shows a position before the panel of the upstream press station 6 is raised, that is, a position where the panel is gripped. is there. Further, the thin line in FIG. 5B indicates the position in FIG.
As shown in this figure, while the distance L between the pivot points of the first feed slide 12a and the second feed slide 12b is maintained at the same length L0, the linear drive is performed on the downstream side, and the swing slide 14 is simultaneously moved When the distance between the swing slide 14 and the first feed slide 12a is reduced by approaching the first feed slide 12a, the output member 19 is raised. When the distance between the swing slide 14 and the first feed slide 12a is increased, the crossbar is lowered. Accordingly, as shown in FIG. 5B, the output member 19 and the crossbar 3 attached thereto can be moved up and down without changing the position in the feed direction X. The same applies to the downstream press station 6.
[0050]
FIG. 6 is an explanatory view of the tilt operation of the panel transport device of FIG. FIG. 6B shows a case where the interval L between the pivot points of the first feed slide 12a and the second feed slide 12b is maintained at the same length L0 as the intermediate member 17, and FIG. When the interval L is shorter than L0, FIG. 6C shows the case where the interval L is longer than L0. In this figure, the positions of the second feed slide 12b and the swing slide 14 in the feed direction are constant.
As shown in this figure, by changing the feed amount of the first feed slide 12a and the second feed slide 12b, the interval L between the pivot points of the feed slide is made shorter than the interval L0 of the pivot point a of the intermediate member 17. Alternatively, only by making the distance longer than the interval L0, the output member 19 can be swung with respect to the feed slide, and the work gripper attached thereto can be swung (tilted).
[0051]
FIG. 7 is a diagram illustrating an example of a motion curve of the panel transport device in FIG. As shown in this figure, the material (panel) 1 formed in the upstream press station 6 is gripped by the work gripper attached to the output member 19 by combining the operations of FIGS. The panel can be raised, conveyed in the feed direction, and lowered at the downstream press station 6 to position the panel at the molding position on the mold. Thereafter, the output member 19 is returned to a predetermined standby position while leaving the panel at the downstream press station 6, and molding is performed at each press station 6.
[0052]
FIG. 9 is a schematic diagram of a third embodiment of the panel transport device of the present invention. In this figure, the feed slide 12 comprises a first feed slide 12a and a second feed slide 12b connected to each other. The interval between the pivot points of the first feed slide 12a and the second feed slide 12b is set to the same length L0 as the intermediate member 17. Further, the first feed slide 12a and the second feed slide 12b are linearly driven in the feed direction by a single linear actuator. Other configurations are the same as those in FIGS.
Note that the first feed slide 12a and the second feed slide 12b may be displaced in the width direction (the direction perpendicular to the plane of the drawing) as shown in FIGS. It may be provided on the same line without shifting in the direction.
[0053]
With this configuration, the first feed slide 12a and the second feed slide 12b are connected to each other, and are linearly driven in the feed direction by a single linear actuator, so that swinging (tilting) of the work gripper is unnecessary. In addition, the drive mechanism can be simplified.
[0054]
According to the above-described configuration of the present invention, a pair of feeders 10 symmetrical to each other are provided on both sides in the panel feed direction X for each press station, so that the feeders 10 have different motions for each press station. Can be made.
Further, since the feed device 10 includes the feed slide 12 and the swing slide 14 that are linearly driven in the feed direction X, and the link mechanism 16 and the swing link mechanism 18 that are pivotally connected to the feed slide 12 and the swing slide mechanism 18, the movable unit (the link mechanism) And the swing link mechanism) does not have a driving device, so that the movable portion can be easily reduced in weight, the rigidity of the movable portion can be increased, and bending and vibration can be suppressed.
Further, a crossbar 3 for attaching the work gripper 2 is attached to a part of the link mechanism 16, and the linear motion of the feed slide 12 and the swing slide 14 and the swing motion of the link mechanism 16 and the swing link mechanism 18, Since the crossbar 3 is fed and moved up and down, high-speed operation can be performed with a short stroke driving device even when the transport distance is long.
[0055]
It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that various changes can be made without departing from the spirit of the present invention.
[0056]
【The invention's effect】
As described above, according to the present invention, the following effects can be obtained.
(1) Since the linear feed motion and the rotary motion are combined, the sliding stroke of the actuator can be made shorter than the feed distance, and the design of driving parts such as a ball screw, a screw, and a linear actuator becomes easy.
(2) Since the movable portion does not have a power source such as a motor, the size and weight of the movable portion can be reduced.
(3) By the combination of the linear motions of the three systems of actuators on one side, the transport unit at the tip of the feeder feeds the material in the horizontal direction, vertically positions (lifts) in the vertical direction, and freely places the material in the mold. Various movements such as posture control (tilt) can be realized.
[0057]
Therefore, the panel transfer device of the present invention can have different motions for each press station, can easily reduce the weight of the movable part, can perform high-speed operation with a short stroke driving device even when the transfer distance is long, It is possible to increase the rigidity of the part, suppress deflection and vibration, and to swing (tilt) the work gripper while reducing the weight of the movable part without adding another device to the movable part. It has excellent effects such as being able to.
[Brief description of the drawings]
FIG. 1 is a perspective view of a press line provided with a panel transfer device of the present invention.
FIG. 2 is a perspective view of a first embodiment of the panel transport device of the present invention.
FIG. 3 is a schematic diagram of the panel transport device of FIG. 2;
FIG. 4 is an explanatory view of a feeding operation of the panel transfer device of FIG. 2;
FIG. 5 is an explanatory view of the elevating operation of the panel transport device of FIG. 2;
FIG. 6 is an explanatory view of a tilt operation of the panel transport device of FIG. 2;
FIG. 7 is a diagram illustrating an example of a motion curve of the panel transport device of FIG. 2;
FIG. 8 is a schematic diagram of a second embodiment of the panel transport device of the present invention.
FIG. 9 is a schematic view of a third embodiment of the panel transport device of the present invention.
FIG. 10 is a perspective view of a conventional panel transport device.
[Explanation of symbols]
1 Panel (Material), 2 Work gripper, 3 Crossbar,
5 Panel gripper, 6 Press station,
6a, 6b Panel holding position, 7 Press stand,
10 feeder, 12 feed slide,
12a first feed slide, 12b second feed slide,
13 linear actuator, 14 swing slide,
15 linear motion guide, 16 link mechanism,
16a first link, 16b second link,
17 intermediate member, 18 swing link mechanism,
18a third link, 18b fourth link,
19 output member, 20 slide mechanism,
22 Swing mechanism

Claims (12)

A panel transfer device for transferring a panel,
A panel gripper for gripping the panel,
A second link mechanism connected to the panel gripper;
A first link mechanism pivotally connected to the second link mechanism;
A slide mechanism for moving the first link mechanism in the panel transport direction;
A swing mechanism for swinging the second link mechanism. The panel transport device according to claim 1, wherein a pair of a first link mechanism, a second link mechanism, a slide mechanism, and a swing mechanism are provided symmetrically with each other on both sides of the panel gripping portion. The second link mechanism includes an output member connected to the panel grip portion, an intermediate member forming the opposite side of the output member, and two arms connecting the output member and the intermediate member. The panel transport device according to claim 1, wherein the panel transport device constitutes a parallel link. 4. The panel transfer device according to claim 3, wherein the first link mechanism includes two arms connecting the intermediate member and the slide mechanism. 5. 5. The slide mechanism according to claim 1, wherein the slide mechanism includes a feed slide on which the first link mechanism is pivotally mounted, and a linear motion actuator that drives the feed slide in a panel conveyance direction. 6. The panel transfer device according to item 1. 6. The panel transport apparatus according to claim 5, wherein the slide mechanism moves the feed slide in a panel transport direction while keeping two arms of the first link mechanism parallel. The said slide mechanism drives two arms of the said 1st link mechanism individually, moves the said feed slide in the conveyance direction of a panel, and tilts the said panel grip part, The said slide mechanism is characterized by the above-mentioned. The panel transfer device according to item 1. The said rocking | fluctuation mechanism is provided with the rocking | fluctuation link mechanism pivotally attached to the said 1st link mechanism and the 2nd link mechanism, and the linear motion actuator which operates this rocking | linkage link mechanism, The characterized by the above-mentioned. 2. The panel transport device according to 1. 9. The panel transfer apparatus according to claim 8, wherein the linear actuator of the swing mechanism drives a swing slide pivotally attached to the swing link mechanism in a panel transfer direction. 10. The panel transfer device according to claim 5, wherein the linear motion actuators of the slide mechanism and the swing mechanism are arranged side by side. The linear motion actuator of the slide mechanism and the swing mechanism is a ball screw and a ball nut, a timing belt, a hydraulic cylinder, a rack-and-pinion, or a linear motor. The panel transport device as described in the above. 2. The panel transfer device according to claim 1, wherein the panel holding unit includes a crossbar connected to the second link mechanism, and a work holding tool attached to the crossbar. 3.

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