JP2005230894A - Panel transfer device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a panel transfer device capable of simplifying the entire device even when a tilt mechanism is provided thereon, eliminating any structural dead point of a link mechanism even at any position in the panel transfer motion, and enhancing the controllability. <P>SOLUTION: The panel transfer has a tilt mechanism 18 to tilt a panel holding unit 15. The tilt mechanism 18 comprises a rotary actuator mounted on a first slide block 4 or a second slide block 5, and a transmission mechanism to tilt the panel holding unit 15 by transmitting the rotational drive of the rotary actuator. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a panel transport device that transports a panel formed by a press or the like.

  For example, an automobile panel has a complicated shape, and therefore, the molding process is divided into several stages, and is molded by molds arranged in a straight line. In a transfer press or a tandem press using such a plurality of presses, a panel transport device is provided to sequentially transport members (panels) formed by a certain press to the next press.

  As a panel transfer device for transfer press, a crossbar type transfer device disclosed in Patent Document 1 below has been widely used. This device is provided with a lift beam extending in the line direction so as to be movable up and down in the entire press station. A carrier is suspended on the lift beam so as to be able to reciprocate between stations in the line direction. , A work gripper is attached to the crossbar, and the work material at each station is conveyed simultaneously and intermittently.

Such a crossbar type conveying apparatus has the following features.
(1) A feed motion between mold stations of a forming panel is generated by cam control or motion control by an AC servo motor.
(2) The panel is transported by a combined motion in the feed direction (horizontal direction) and the lift direction (vertical direction), and a vacuum cup attached to a transport tool called a crossbar sucks and transports the panel.
(3) The cross bar between each mold station is connected in both the feed direction and the lift direction, and each cross bar is interlocked to perform exactly the same motion.
(4) The feed arm that generates the feed motion between stations is usually on the front side or the rear side of a series of feed devices consisting of a carriage connected to a crossbar and its coupling mechanism. Generate.

  In addition to the above-described crossbar type transfer device, panel transfer devices described in the following Patent Documents 2 to 4 have been proposed.

  The "transfer feeder" described in Patent Document 2 is provided with a plurality of carriers that are independently driven by a linear motor on a pair of lift beams that are moved up and down by a lifter. Is made possible.

  The “transfer press conveying device” described in Patent Document 3 is provided with a plurality of carriers in a lift beam, and enables the workpiece (panel) to be conveyed at high speed by using the carriers as a drive source.

  The “TRANSPORT AND POSITIONING SYSTEM” described in Patent Document 4 includes a drive device 40 having a lever mechanism 33 having an output unit 35 for driving and positioning the crossbar 32 as shown in FIG. The lever mechanism 33 has a swing arm 34 that forms an output portion 35 at one end, and the output portion 35 is connected to the crossbar 32. The swing arm 34 is connected at two points, a support point 38 and a drive point 43 that are spaced apart from each other. The distance between the support point 38 and the drive point 43 is shorter than the distance between the output unit and the support point. In this figure, 31 is a work gripper attached to the crossbar 32, 42 is a guide rod for connecting the slide block 47 and the drive point 43, 51 is a swing motor for swinging the guide rod 42, and 55 is a slide block. 47 is a linear motion device that moves up and down 47.

  With this configuration, the slide block 47 is moved up and down by the linear motion device 55, and the guide rod 42 is swung by the swing motor 51 to drive and position the tip (drive point 43) of the guide rod 42, and the movement is controlled. The crossbar 32 to which the workpiece gripper 31 is attached is driven and positioned by enlarging the lever ratio.

  However, in the panel transport apparatus described in Patent Documents 1 and 3 described above, (1) each crossbar cannot have a different motion, and (2) the crossbars for all the stations are moved simultaneously, so the servo motor (3) Since the motion curves for each press station are the same, it is necessary to devise the mold shape to avoid interference, and to cope with diversification of plate forming There was a problem that it was difficult. In addition, the linear motor system of Patent Document 2 can increase the feed (feed) speed with a linear motor, but requires a separate lift mechanism, and there is a problem that the entire structure becomes complicated and large. The AC servo system has a problem that high rigidity cannot be obtained due to the serial link.

  Further, in the swing arm method of Patent Document 4, since the panel is transported by the swing arm, it is necessary to increase the length of the arm as the transport distance is longer, and the bending of the arm causes vibration. Moreover, since the panel conveying apparatus of patent document 4 is provided with the slide mechanism driven to a perpendicular direction between press stations, it cannot apply to the multi-slide type transfer press without an upright which installs this. Furthermore, in order to support complicated press molding, in order to swing the workpiece gripper (tilting), it is necessary to separately provide a tilting device on the crossbar, the structure becomes complicated, and the movable part There is a problem in that the weight increases and speeding up becomes more difficult.

  Therefore, in order to solve such problems, the present applicant has applied for a “panel conveying device” in Japanese Patent Application No. 2003-142399. FIG. 11 is a perspective view of the panel transport device. As shown in FIG. 11, the panel transport device 60 is installed between the press stations 59 and 59, and includes a panel gripping portion 62 for gripping the panel, Link mechanism 63 connected to section 62, and connected to a part of link mechanism 63, and incline with respect to the horizontal plane so that the drive region has a high position on the upstream side of the transport line and a low position on the downstream side of the transport line. The first slide 64 that is linearly driven in the direction to be connected, and a part of the link mechanism 63, with respect to the horizontal plane so that the drive region is low on the upstream side of the transport line and high on the downstream side of the transport line Second slide 65 that is linearly driven in a tilting direction, and first slide drive means 66 and second slide drive that drive first slide 64 and second slide 65, respectively. And means 67, the first slide 64 second slide 65 is configured to move the panel grasp portion 62 by a position change in the panel transportation direction by being driven. Reference numeral 68 denotes a crossbar, and reference numeral 69 denotes a vacuum cup.

  FIG. 12 is a schematic diagram of the panel conveyance device 60 of FIG. As shown in this figure, the first slide 64 comprises two independent slides 64a and 64b, and the first slide driving means 66 includes two independent driving means 66a for individually driving the two slides 64a and 64b, 66b. The link mechanism 63 includes an output member 72 connected to both sides of the work gripping portion 62 (cross bar 68), and a first link 70 and a second link 71 pivotally attached to the output member 72. The first link 70 includes two arms 70a and 70b having the same length, and one end of each of the two arms 70a and 70b is pivotally attached to the output member 72 so as to be rotatable about a horizontal axis. The other end is pivotally attached to the two slides 64a and 64b so as to be rotatable about a horizontal axis. The second link 71 is composed of an arm having the same length as the two arms 70a and 70b of the first link 70. One end is pivotally attached to the output member 72 so as to be rotatable around a horizontal axis, and the other end is attached. The second slide 65 is pivotally mounted so as to be rotatable about a horizontal axis.

  According to the panel transport device 60, the entire link mechanism 63 is turned by a combination of the operations of the first slide 64 and the second slide 65, and the panel gripping portion 62 connected to the link mechanism 63 is moved in the panel transport direction. By moving, the panel gripped by the panel gripping portion 62 can be transported from the panel gripping position P to the panel placement position Q in the panel transporting direction X. Further, since the link (arm) is supported only at both ends, bending stress does not act, and the weight of the movable part, speeding up, and vibration reduction can be realized. Moreover, this panel conveyance apparatus 60 can be provided for every press station, and can give a different motion for every press station. Further, by driving the two slides 64a and 64b at different heights (changing the relative positions) by the individual driving means 66a and 66b, the panel gripping portion 62 is tilted, thereby If necessary, the panel can be held / placed at an optimum angle. Hereinafter, this panel transport device is referred to as a “V-type panel transport device”.

Japanese Patent Laid-Open No. 10-328766 Japanese Patent Publication No.7-73756 Japanese Patent Laid-Open No. 10-328766 US Pat. No. 6,382,400

  However, in the above-mentioned V-shaped panel conveyance device of the prior application, the tilt mechanism for tilting the panel gripping portion 62 constitutes a part of the link mechanism 63. Therefore, when the link mechanism 63 is configured, the panel gripping is performed. Parts similar to the structural parts such as the slide for positioning the portion 62, the slide driving means, and the arm are required. For this reason, there has been a problem that the structure of the entire apparatus becomes complicated.

  Further, as schematically shown in FIG. 13, when the cross bar 68 is moved to the vicinity of the panel placement position Q, the first slide 64 and the output member 72 become substantially the same height, and the two arms 70a, 70b may be close enough to overlap each other when viewed from the conveyance line width direction, or may overlap on a straight line. In this case, since the link mechanism 63 approaches or enters the mechanical dead center, the control of the link mechanism 63 may be difficult. In addition, the two arms cross over the mechanical dead point, and the link mechanism 63 may fall out of control. Contrary to the V-type panel conveyance device of FIG. 11, when the second link 71 is constituted by two arms, the same phenomenon can occur near the panel gripping position P.

  The present invention has been made to solve such problems. That is, an object of the present invention is to simplify the entire apparatus even if a tilt mechanism is provided, and to improve controllability so that there is no mechanical dead center of the link mechanism at any position of the panel transport operation. An object of the present invention is to provide a panel transport device that can perform the above.

  In order to achieve the above object, a panel transport apparatus according to the present invention includes a panel gripping part that grips a panel, a link mechanism that moves the panel gripping part in the panel transporting direction, and the panel gripping part that moves in the panel transporting direction. In this manner, the slide mechanism includes a slide mechanism that operates the link mechanism and moves the entire link mechanism, and a tilt mechanism that tilts the panel gripping portion (claim 1).

According to the present invention, the link mechanism can be operated by the slide mechanism and the entire link mechanism can be moved, thereby moving the panel gripping portion in the panel transport direction. Therefore, the panel gripped by the panel gripper can be transported in a predetermined transport direction.
Moreover, since the panel conveying apparatus of this invention can be provided for every press station, it can have a different motion for every press station.
Further, since the panel gripping portion can be tilted by the tilt mechanism, the panel can be gripped / placed at an optimum angle as necessary.

  In the panel transport device, the slide mechanism includes a first slide mechanism and a second slide mechanism disposed on the downstream side of the transport line from the first slide mechanism, and the first slide mechanism includes: A first slide block connected to the link mechanism, wherein the first slide block is inclined with respect to a horizontal plane so that the first slide block is at a high position on the upstream side of the conveyance line and at a low position on the downstream side of the conveyance line. The second slide mechanism has a second slide block connected to the link mechanism, and the second slide block is low on the upstream side of the conveyance line in the drive region. The link mechanism is configured to linearly drive in a direction inclined with respect to a horizontal plane so that the position becomes a high position on the downstream side of the transfer line. 1 slide block and 2nd slide block, and the said panel holding part are connected, and the said 1st slide block and the 2nd slide block are each linearly driven, and it is comprised so that a panel holding part may be moved to a panel conveyance direction (Claim 2).

  According to this configuration, the first slide block and the second slide block that move in the V-shaped drive region are linearly driven, so that the panel gripping unit connected thereto is moved in the panel transport direction via the link mechanism. be able to. Thereby, the panel hold | gripped by the panel holding part can be conveyed in a predetermined | prescribed conveyance direction.

  In the panel transport device, the link mechanism includes an output member connected to the panel gripping portion, a first link having one end pivotally attached to the output member and the other end pivotally attached to the first slide block. And a second link having one end pivotally attached to the output member and the other end pivotally attached to the second slide block.

  With this configuration, the first link is moved by driving the first slide block, the link mechanism is moved by moving the second link by driving the second slide block, and thereby the panel grip connected to the output member The part can be moved in a predetermined panel conveyance direction.

  Further, in the panel transport device, the tilt mechanism tilts the panel gripping portion by transmitting a rotary actuator mounted on the first slide block or the second slide block and a rotational drive of the rotary actuator. It is preferable to include a transmission mechanism.

In addition, since the tilt mechanism is composed of a rotary actuator and a transmission mechanism mounted on the slide block, the structure can be simplified, and the entire apparatus is simpler than a conventional V-type panel transport device equipped with a tilt mechanism. Can be achieved.
Further, since the tilt mechanism is separated from the link mechanism, the mechanical dead center of the link mechanism can be eliminated. Thereby, the controllability is greatly improved.

  In the panel transport device, the transmission mechanism includes a first arm having one end fixed to the drive shaft of the rotary actuator, and a second arm having one end fixed or integrally formed with the output member or the panel gripping portion. An arm and one end pivotally connected to the other end of the first arm and the other end pivotally attached to the other end of the second arm, and a connecting rod connecting the first arm and the second arm. Preferred (claim 5).

  With this configuration, the rotational drive of the rotary actuator can be transmitted to the panel gripping portion via the first arm, the connecting link, and the second arm, and the panel gripping portion can be tilted. In addition, since the length of the first link or the second link and the length of the connecting rod, and the lengths of the first arm and the second arm are made the same, they maintain a parallelogram, so that the tilt During normal conveyance without operation, the panel gripper can always be maintained in a constant posture without driving the rotary actuator.

  Further, in the panel transport device, the transmission mechanism includes a first pulley fixed to a drive shaft of the rotary actuator, a second pulley fixed or integrally formed with the output member or the panel grip portion, and a first pulley. It is preferable that a driving belt for transmitting the rotational driving of one pulley to the second pulley is provided.

  With this configuration, the rotational drive of the rotary actuator can be transmitted to the panel gripping portion via the first pulley, the drive belt, and the second pulley, and the panel gripping portion can be tilted. In addition, by setting the ratio of the nominal diameters of the first pulley and the second pulley to 1: 1, the panel gripping portion is always maintained in a constant posture without driving the rotary actuator during normal conveyance without tilting operation. be able to.

  Moreover, in the said panel conveying apparatus, it is preferable that a pair of said link mechanism and a slide mechanism are provided symmetrically with respect to both sides of the said panel holding part.

  With this configuration, the panel can be stably conveyed.

  As described above, according to the present invention, it is possible to simplify the structure of the entire apparatus, and to obtain excellent effects such as eliminating the mechanical dead point of the link mechanism and improving controllability.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the accompanying drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

    1 and 2 are diagrams showing a panel transport apparatus according to a first embodiment of the present invention. FIG. 1 is a perspective view of a panel transport apparatus 10. FIG. 2 is a panel transport apparatus 10 of FIG. It is a block diagram which shows the figure from the conveyance line width direction inner side. In this figure, for convenience of explanation, two upstream and downstream press stations 14 and the V-type panel conveyance device 10 of the present invention provided between them are shown. In an actual machine, usually, about 2 to 5 press stations are provided. In this specification, “upstream side” and “downstream side” mean the upstream side and the downstream side of the transport line, respectively.

  As shown in FIGS. 1 and 2, the panel transport device 10 receives the formed material (panel) from the upstream press station 14 and transports the material (panel) to the downstream press station 14. It is installed between. Moreover, the panel conveying apparatus 10 attaches the both ends to the arm provided in the upstream and downstream press station 14 or the press stand which is not shown in figure, or it is made to hang from a ceiling, between press stations 14 and 14. Installed.

  The panel transport apparatus 10 applies a predetermined operation to the link mechanism 6 and moves the entire link mechanism 6 while the panel gripping part 15 and a pair of link mechanisms 6 connected symmetrically to both sides of the panel gripping part 15 are provided. A slide mechanism 13 and a tilt mechanism 18 for tilting the panel gripping portion 15 are provided, which operate symmetrically to move the panel gripping portion 15 in the feed direction and the vertical direction, and the panel 1 is moved to the next press station. Are transported in order.

  The panel gripping portion 15 includes a work gripping tool 2 such as a vacuum cup that sucks the panel (work 1), and a cross bar 3 to which the work gripping tool 2 is attached and extends in a direction perpendicular to the transport line. Link mechanisms 6 are connected to both ends of the bar 3.

  The slide mechanism 13 includes a first slide mechanism 11 having a first slide block 4 and a second slide mechanism 12 having a second slide block 5. The first slide mechanism 11 and the second slide mechanism 12 are attached to a V-shaped base member 16. The two slide mechanisms 11 and 12 are each provided with a linear actuator having the same length, and by driving the linear actuator, the first slide block 4 and the second slide block 5 are linearly driven, In addition, accurate positioning can be achieved by numerical control or the like. Reference numeral 17 denotes a drive motor for a linear actuator. In the present embodiment, the linear actuator is a ball screw and a ball nut, 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.

  The first slide mechanism 11 linearly drives the first slide block 4 in a direction inclined with respect to the horizontal plane so that the first slide block 4 is located at a high position on the upstream side of the conveyance line and a low position on the downstream side of the conveyance line. It has become. Further, the second slide mechanism 12 linearly drives the second slide block 5 in a direction inclined with respect to the horizontal plane so that the second slide block 5 is in a low position on the upstream side of the conveyance line and in a high position on the downstream side in the drive region. It has become. The second slide mechanism 12 is disposed downstream of the first slide mechanism 11 on the transport line, and is provided symmetrically about the axis Y perpendicular to the horizontal plane with respect to the first slide mechanism 11.

  The two slide mechanisms 11 and 12 intersect with each other in a downward extension line in the slide direction, and an angle θ formed between them is set to 60 °. Note that the angle θ formed is determined individually for each press device according to the interval between the press stations 14, that is, the transport distance of the panel 1, and is not limited to the above angle.

  FIG. 3 is a schematic diagram of the panel transport apparatus 10 of FIGS. 1 and 2. As shown in this figure, the link mechanism 6 includes an output member 19 connected to both sides of the work gripping portion 15 (crossbar 3), and a first link 7 and a second link 8 pivotally attached to the output member 19. It has.

  One end of the first link 7 is pivotally attached to the output member 19 so as to be rotatable about a horizontal axis (this pivot point is a1), and the other end is rotated to the first slide block 4 around the horizontal axis. It is pivotally attached (this pivot point is a2). The second link 8 is composed of an arm having the same length as the first link 7, and one end is pivotally attached to the output member 19 so as to be rotatable about a horizontal axis (this pivot point is referred to as b1), and the other end. Is pivotally attached to the second slide block 5 so as to be rotatable about a horizontal axis (this pivot point is referred to as b2). In addition, in this figure, although the pivot point a1 and the pivot point b1 are arrange | positioned coaxially, it does not necessarily need to be coaxial.

  The tilt mechanism 18 includes a rotary actuator 21 mounted on the first slide block 4, a first arm 22, a second arm 23, and a connecting rod 24. One end of the first arm 22 is fixed to the drive shaft of the rotary actuator 21, and one end of the second arm 23 is fixed to the output member 19. The connecting rod 24 connects the first arm 22 and the second arm 23, and one end of the connecting rod 24 is pivotally attached to the other end of the first arm 22 so as to be rotatable about a horizontal axis (this pivot point is defined as c1). The other end is pivotally attached to the other end of the second arm 23 so as to be rotatable about a horizontal axis (this pivot point is referred to as c2). With this configuration, the panel actuator 15 is tilted by driving the rotary actuator 21 and transmitting this rotational drive via the first arm 22, the connecting rod 24 and the second arm 23. In the panel transport apparatus 10 shown in FIG. 1, the tilt mechanisms 18 are provided on both sides of the panel gripping portion 15, but may be provided on only one of them. Moreover, in this Embodiment, the 1st arm 22, the 2nd arm 23, and the connecting rod 24 comprise the transmission mechanism in this invention.

  The distance L1 between the pivot points c1 and a1 is the same as the distance L2 between the pivot points c2 and a2, and the lengths of the connecting rod 24 and the first link 7 are equal. As a result, a parallelogram that passes through the pivot points c1, c2, a2, and a1 in order is formed. By this configuration, the rotary actuator 21 is mounted on the first slide block 4 and is fixed, so that it does not perform a tilting operation. At the time of conveyance, the panel gripping portion 15 can always be held in a constant posture without driving the rotary actuator 21. That is, if the panel gripping portion 15 is positioned so as to be horizontal, even if the position of the output member 19 changes, the workpiece gripping portion 15 (crossbar 3) can be leveled without driving the rotary actuator 21. Can be held.

  4 and 5 are explanatory diagrams of the panel transport operation of the panel transport apparatus according to the first embodiment of the present invention. In this figure, P is the panel gripping position of the upstream press station, and Q is the downstream panel mounting position.

  FIG. 4A shows a position where the panel of the upstream press station is gripped. From this position, the first slide block 4 and the second slide block 5 are linearly driven obliquely upward at a predetermined speed, and the position of the output member 19 is raised to the position shown in FIG.

  From the position of FIG. 4 (B), the first slide block 4 and the second slide block 5 are linearly driven obliquely upward at a predetermined speed, respectively, so that the entire link mechanism 6 is moved in the panel transport direction while turning. The output member 19 attached to the tip of the link mechanism 6 is set to the position of FIG. At this time, the slide blocks 4 and 5 are controlled so that the output member 19 moves in a substantially straight line from the position of FIG. Thereafter, when the first slide block 4 is driven slightly diagonally downward and the second slide block 5 is driven diagonally upward, the link mechanism 6 further moves in the panel transport direction while further turning, as shown in FIG. In addition, the output member 19 moves near the lowest point of the first slide mechanism 11 and the second slide mechanism 12.

  Further, by driving the first slide block 4 obliquely downward and driving the second slide block 5 obliquely upward, the output member 19 is linearly moved in the panel conveying direction to the position shown in FIG. . Thereafter, the first slide block 4 and the second slide block 5 are driven obliquely downward at a predetermined speed, respectively, to the position of FIG. 5 (F), from which the slide blocks 4 and 5 are further driven obliquely downward, The panel placement position Q in FIG.

  FIG. 6 is a diagram illustrating a motion curve of the panel conveyance device 10 of FIG. As shown in this figure, the material (panel) molded in the upstream press station is gripped by the work gripping tool (not shown) attached to the output member 19 and lifted by the operation of FIG. 4 and FIG. 5 described above. The sheet can be conveyed in the feeding direction and lowered at the downstream press station to position the panel at the molding position on the mold. Thereafter, the panel is left in the downstream press station, the output member is returned to a predetermined standby position, and molding is performed at each press station.

  FIG. 7 is an explanatory view of the tilting operation of the panel transport apparatus according to this embodiment. In this figure, (B) shows the normal position when the tilt operation is not performed. When the panel gripping portion 15 is tilted, the rotary actuator 21 is driven in the direction of the arrow in the figure to operate as shown in (A). On the other hand, when the panel gripping portion 15 is tilted in the direction opposite to (A), the rotary actuator 21 is driven to rotate in the direction opposite to (A) and operated as shown in (B). In this way, the panel can be held / placed at an optimum angle as required.

According to the first embodiment of the present invention, the following effects can be obtained.
(1) The first slide block 4 and the second slide block 5 are linearly driven in a predetermined direction at a predetermined speed, respectively, thereby turning the link mechanism 6 including the first link 7 and the second link 8 to rotate the link mechanism. 6 can be moved in the panel conveying direction. Therefore, there is no need to provide a driving device in the movable part, the movable part can be reduced in size and weight, the rigidity of the movable part can be increased, and bending and vibration can be suppressed.
(2) Since each press station is provided, a different motion can be given to each press station.
(3) Since the tilt mechanism 18 includes the rotary actuator 21 and the transmission mechanism (the first arm 22, the second arm 23, and the connecting rod 24) mounted on the first slide block 4, the structure thereof can be simplified. As a result, the whole apparatus can be simplified as compared with a conventional V-type panel transport apparatus provided with a tilt mechanism.
(4) Since the tilt mechanism 18 is separated from the link mechanism 6, the mechanical dead center of the link mechanism 6 can be eliminated. Thereby, the controllability is greatly improved.

  In the first embodiment, the rotary actuator 21 of the tilt mechanism 18 is mounted on the first slide block 4, but instead, it is mounted on the second slide block 5. Alternatively, the panel holding portion may be tilted by the first arm 22, the second arm 23, and the connecting rod 24. In addition, the second arm 23 of the tilt mechanism 18 is fixed to the output member 19, but instead, the panel grip 15 is tilted by being directly fixed to the panel grip 15 (crossbar 3). It may be. The second arm 23 may be a member formed integrally with the output member 19 or the panel grip portion. Further, depending on the shape of the output member 19 and how the crossbar 3 is attached, the quadrilaterals that pass through the pivot points c1, c2, a2, and a1 in sequence do not necessarily need to form a parallelogram.

  Next, a panel transport apparatus according to a second embodiment of the present invention will be described. FIG. 8 is a configuration diagram of a panel transport apparatus according to the second embodiment of the present invention. In the present embodiment, the tilt mechanism 18 includes a rotary actuator 21 mounted on the first slide block 4, a first pulley 26 fixed to the drive shaft of the rotary actuator, and a second pulley 27 fixed to the output member 19. And a drive belt 28 that transmits the rotational drive of the first pulley 26 to the second pulley 27. The ratio of the nominal diameters of the first pulley 26 and the second pulley 27 is 1: 1. In the present embodiment, the first pulley 26, the second pulley 27, and the drive belt 28 constitute a transmission mechanism in the present invention. That is, in the present embodiment, a belt drive mechanism is employed as the transmission mechanism of the tilt mechanism 18. With this configuration, the rotary actuator 21 is driven, and this rotational drive is transmitted through the first pulley 26, the drive belt 28, and the second pulley 27, whereby the panel gripping portion 15 is tilted. Other configurations are the same as those of the first embodiment.

  FIG. 9 simply shows the panel transport operation of the panel transport apparatus according to the second embodiment of the present invention. This figure shows the panel carrying operation during normal carrying without tilting operation, and as shown in this figure, the position of the panel gripper 15 is not driven by the operation of the belt driving mechanism without driving the rotary actuator 21. Even if it is, it can always maintain a certain posture. That is, since the ratio of the nominal diameters of the first pulley 26 and the second pulley 27 is 1: 1, the second pulley 27 is in a horizontal plane if the first pulley 26 does not rotate even if the position of the panel gripping portion 19 changes. As a result, the panel grip 19 is also held at a constant angle with respect to the horizontal plane.

  In the panel transport apparatus 10 according to the present embodiment, when the tilt operation is performed, the rotary actuator 21 may be driven in the same direction as the direction in which the panel gripping portion 15 is desired to be tilted. Note that other panel transport operations and motion curves are substantially the same as those in the first embodiment, and a description thereof will be omitted.

  According to the second embodiment of the present invention, the same effect as that of the first embodiment can be obtained.

  Although the rotary actuator 21 of the tilt mechanism 18 is mounted on the first slide block 4, it is assumed that it is mounted on the second slide block 5 instead. The panel grip 15 may be tilted by the two pulleys 27 and the drive belt 28. Further, the second pulley 27 is fixed to the output member 19, but instead, the panel grip 15 may be tilted by being directly fixed to the panel grip 15 (crossbar 3). . The second pulley 27 may be a member formed integrally with the output member 19 or the panel grip portion.

  In addition, this invention is not limited to embodiment mentioned above, Of course, it can change variously in the range which does not deviate from the summary of this invention.

It is a perspective view which shows the 1st Embodiment of this invention. It is a block diagram which shows the 1st Embodiment of this invention. It is a schematic diagram which shows the 1st Embodiment of this invention. It is panel transport operation explanatory drawing of the panel transport apparatus by the 1st Embodiment of this invention. It is panel transport operation explanatory drawing of the panel transport apparatus by the 1st Embodiment of this invention. It is a figure which shows the motion curve of the panel conveying apparatus which concerns on this invention. It is a tilt operation explanatory view of the panel transport device according to the present invention. It is a block diagram which shows the 2nd Embodiment of this invention. It is panel transport operation explanatory drawing of the panel transport apparatus by the 2nd Embodiment of this invention. It is a perspective view of the conventional panel conveying apparatus. It is a block diagram of a V-type panel conveying apparatus. It is a schematic diagram of a V-type panel conveying apparatus. It is another schematic diagram of a V-type panel conveying apparatus.

Explanation of symbols

1 Workpiece (panel)
2 Work gripping tool (vacuum cup)
3 Crossbar 4 First slide block 5 Second slide block 6 Link mechanism 7 First link 8 Second link 10 Panel transport device 11 First slide mechanism 12 Second slide mechanism 13 Slide mechanism 14 Press station 15 Work gripping portion 16 Base Member 17 Direct-acting actuator drive motor 18 Tilt mechanism 21 Rotating actuator 22 First arm 23 Second arm 24 Connecting rod 26 First pulley 27 Second pulley 28 Driving belt

Claims (7)

  A panel gripper for gripping the panel, a link mechanism for moving the panel gripper in the panel transport direction, and operating the link mechanism to move the panel gripper in the panel transport direction and moving the entire link mechanism A panel transport device comprising a slide mechanism and a tilt mechanism for tilting the panel gripping portion. The slide mechanism is composed of a first slide mechanism and a second slide mechanism disposed downstream of the first slide mechanism on the transport line,
The first slide mechanism has a first slide block connected to the link mechanism, and the first slide block has a high position on the upstream side of the transport line and a low position on the downstream side of the transport line in the drive region. Configured to be linearly driven in a direction inclined with respect to a horizontal plane,
The second slide mechanism has a second slide block connected to the link mechanism, and the second slide block has a low position on the upstream side of the transport line and a high position on the downstream side of the transport line in the drive region. Configured to be linearly driven in a direction inclined with respect to a horizontal plane,
The link mechanism connects the first slide block, the second slide block, and the panel gripping portion, and the first slide block and the second slide block are linearly driven, thereby transporting the panel gripping portion to the panel. The panel transport device according to claim 1, wherein the panel transport device is configured to move in a direction.   The link mechanism includes an output member connected to the panel gripping portion, a first link having one end pivotally attached to the output member and the other end pivotally attached to the first slide block, and one end pivoted to the output member. The panel conveyance device according to claim 2, further comprising a second link attached to the second slide block and having the other end pivotally attached to the second slide block.   The tilt mechanism includes: a rotary actuator mounted on the first slide block or the second slide block; and a transmission mechanism that tilts the panel grip portion by transmitting a rotational drive of the rotary actuator. The panel conveyance apparatus of Claim 2 or 3 characterized by the above-mentioned.   The transmission mechanism includes a first arm having one end fixed to the drive shaft of the rotary actuator, a second arm having one end fixed or integrally formed with the output member or the panel gripping portion, and one end being the first arm. 5. The connecting rod according to claim 4, further comprising a connecting rod pivotally attached to the other end of the arm, the other end pivotally attached to the other end of the second arm, and connecting the first arm and the second arm. Panel transport device.   The transmission mechanism includes a first pulley fixed to a drive shaft of the rotary actuator, a second pulley fixed to or integrally formed with the output member or the panel gripping portion, and a second pulley that rotationally drives the first pulley. The panel conveyance device according to claim 4, further comprising a drive belt that transmits to the pulley. The panel transport device according to claim 1, wherein a pair of the link mechanism and the slide mechanism are provided symmetrically with each other on both sides of the panel gripping portion.

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