JP2006151571A - Conveying device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a conveying device reduced in working force applied to a guide mechanism. <P>SOLUTION: The conveying device is provided with a hollow straight fixed rail 2 and a cylindrical moving base 4, and the fixed rail 2 is inserted into the cylindrical body of the moving base 4, and the moving base 4 is movably supported by the fixed rail 2 through the guide mechanism. Multiple armature coils 16 are arranged on both sides of the fixed rail 2 along the longitudinal direction, and permanent magnets 18 are arranged in the moving base 4 on both sides in the cylindrical body of the moving base 4 corresponding to the armature coils 16 arranged on both outside the fixed rail 2. A swing mechanism 24 provided with a swing arm 30 can be arranged in the moving base 4, and a control means 72 for controlling swing of the swing arm 30 synchronously with the movement of the moving base 4 can be provided. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a transfer device that moves a moving table along a fixed rail.

Conventionally, for example, as disclosed in Patent Document 1, in a tandem press line, a plurality of presses are arranged apart from each other, and a work conveying device is arranged between the presses. In this workpiece transfer device, a carrier is provided on a lift beam provided along a press arranging direction so as to be movable along a longitudinal direction, and a linear motor is provided between the carrier and the lift beam. The vacuum cup device is moved by the carrier, and the workpiece adsorbed by the vacuum cup device is transported.
Japanese Patent Laid-Open No. 2003-200291

  However, in such a conventional device, a guide mechanism that supports the carrier movably along the lift beam by the acting force between the armature coil of the linear motor and the permanent magnet provided between the carrier and the lift beam. There is a problem that a large force is applied and the guide mechanism is required to have high rigidity.

  The subject of this invention is providing the conveying apparatus which reduced the acting force added to a guide mechanism.

In order to achieve this problem, the present invention has taken the following measures in order to solve the problem. That is,
A linear fixed rail having a hollow inside and a moving table formed in a cylindrical shape, and the fixed rail is inserted into the cylindrical shape of the moving table, and the fixed rail is inserted into the fixed rail via a guide mechanism. A movable table is movably supported, and a large number of armature coils are arranged along the longitudinal direction on both outer sides of the fixed rail, and the movable table is opposed to the armature coils on both outer sides. This is a transfer device in which permanent magnets are arranged on both sides of the moving base in a cylindrical shape.

  It is good also as a structure which supported the both ends of the said fixed rail. Furthermore, it is good also as a structure provided with the control mechanism which arrange | positions the rocking | fluctuation mechanism provided with the rocking | fluctuating arm in the said movement stand, and controls the rocking | fluctuation of the said rocking | swiveling arm synchronizing with the movement of the said movement stand. Alternatively, a plurality of gears, in which a moving rack is attached to the moving table in parallel with the moving direction, and a large pinion gear meshing with the moving rack and a small pinion gear coaxial with the large pinion gear are integrally provided. And a rotary encoder that detects the rotation of any one of the plurality of gears, and a position detection mechanism that movably supports a fixed rack that meshes with the small pinion gear. Also good. Moreover, it is good also as a structure which has a position detection mechanism which provided the linear scale in the said movable stand, and provided the some detection head which detects the said linear scale in the fixed side.

  The conveyance device of the present invention has an effect that the acting force applied to the guide mechanism can be reduced. Further, power consumption can be reduced and resource saving can be realized, and since there is no protrusion outside the movable range of the moving table, the apparatus can be made compact. In addition, since the power supply cable is connected to the armature coil on the fixed rail side, it is not necessary to move the power supply cable, so maintenance and inspection can be facilitated, maintenance and inspection costs can be reduced, and the equipment is compact. Even at times, there is little vibration and high speed operation is possible. By always contacting the flat part of the permanent magnet to the armature coil, it is not dangerous to approach the permanent magnet during maintenance.

The best mode for carrying out the present invention will be described below in detail with reference to the drawings.
As shown in FIG. 1, reference numeral 1 denotes a transport device, and the transport device 1 includes a fixed rail 2 and a moving table 4. The fixed rail 2 has a hollow linear shape inside, and is formed in a rectangular tube shape in this embodiment. The moving table 4 is formed in a hollow rectangular tube shape whose inside is slightly larger than the cross-sectional shape of the fixed rail 2, and the fixed rail 2 is inserted into the cylindrical shape of the moving table 4.

  Two guide rails 6, 8 are laid along the longitudinal direction on the upper surface side of the fixed rail 2, and the two guide rails 6, 8 engage with the cylindrical interior of the movable table 4. Guide members 10 and 12 that support the movable table 4 so as to be slidable in the longitudinal direction of the guide rails 6 and 8 are attached. In the present embodiment, a guide mechanism 14 is configured by the guide rails 6 and 8 and the guide members 10 and 12 provided between the fixed rail 2 and the movable table 4.

  A large number of armature coils 16 are arranged along the longitudinal direction on both sides of the outer side of the fixed rail 2. A permanent magnet 18 is attached to the movable table 4 on both side surfaces inside the cylindrical shape so as to face the armature coil 16. The armature coil 16 and the permanent magnet 18 constitute a linear motor 20. A leg member 22 (only one is shown) is fixed to the lower surface side of both ends of the fixed rail 2, and the fixed rail 2 can be mounted via the leg member 22.

  A rocking mechanism 24 is provided on the upper surface side of the moving table 4, and the rocking mechanism 24 includes a pair of attachment members 26 and 28 erected on the upper surface of the moving table 4 with a space therebetween. A swing arm 30 is swingably supported on the mounting members 26 and 28, and the swing arm 30 can be swung by a motor 32 fixed to one of the mounting members 28. ing.

  As shown in FIG. 3, the transport device 1 is provided with a position detection mechanism 34. The position detection mechanism 34 includes a moving side rack 36 attached to the moving table 4, and the moving side rack 36 is arranged in parallel with the longitudinal direction of the fixed rail 2. A plurality of large pinion gears 38 meshed with the moving side rack 36 are arranged along the moving direction of the moving table 4, and four in this embodiment. A small pinion gear 40 is formed integrally with the large pinion gear 38 on the same axis as each large pinion gear 38 to form a gear 42.

  The gears 42 are rotatably supported by the brackets 44, and pass through the brackets 44, and a stationary rack 46 meshed with the small pinion gear 40 is supported so as to be movable in the longitudinal direction of the stationary rail 2. . A rotary encoder 48 is attached to one gear 42 of the plurality of gears 42 so that the rotation of the gear 42 can be detected.

  As shown in FIG. 3, the moving side rack 36 has such a length that the moving side rack 36 meshes with one of the large pinion gears 38 when the moving table 4 moves in the longitudinal direction along the fixed rail 2. It is not necessary to mesh with all the large pinion gears 38. Therefore, the length of the moving side rack 36 only needs to be slightly longer than the interval between the gears 42. On the other hand, the number of teeth of the large pinion gear 38 is larger than the number of teeth of the small pinion gear 40, and the length of the fixed side rack 46 that meshes with all the small pinion gears 40 is further increased. It is formed in a length that takes into account.

  As shown in FIG. 4, when the workpiece 48 is transported, the transport device 1 described above is disposed, and the transport device 101 in which the linear motor 20 and the position detection mechanism 34 are removed from the transport device 1 described above. Has been placed. Each of the conveying devices 1 and 101 is attached to the slide bases 50 and 52 via the leg members 22 of the fixed rail 2. The fixed rails 2 of the respective conveying devices 1 are arranged so that the longitudinal directions thereof are parallel to each other, and the slide base 50 is supported so as to be able to move on the gantry 54 in a direction perpendicular to the longitudinal direction of the fixed rails 2. Since both ends of the fixed rail 2 are supported, vibration can be reduced.

  A screw member 56 is rotatably supported on the gantry 54, and a motor 58 that rotates the screw member 56 is attached to the gantry 54. Nuts 60 and 62 attached to the slide bases 50 and 52 are screwed into the screw member 56. Each bracket 44 of the position detection mechanism 34 is attached to the slide bases 50 and 52.

  A pendulum member 64 is stretched over both ends of the swing arm 30 of both the conveying devices 1 and 101. The pendulum member 64 is provided with a plurality of vacuum cups 66. When the swing arm 30 is swung, the pendulum member 64 is swung so that the workpiece 48 adsorbed by the vacuum cup 66 is kept horizontal. The pendulum member 64 may be configured to swing by the weight of the workpiece 48 and keep the level, or may be configured to forcibly swing by a motor or the like to keep the level. In the present embodiment, the workpiece moving device 70 is configured by the transfer devices 1, 101, the slides 50 and 52, the mount 54, the pendulum member 64, and the vacuum cup 66.

Next, the operation of the transfer apparatus 1 according to this embodiment described above will be described together with the workpiece moving apparatus 70.
As shown in FIG. 4, the motor 58 is driven to rotate the screw member 56. Thereby, the slide bases 50 and 52 slide on the stand 54 via the nuts 60 and 62, and the interval between the slide bases 50 and 52 is adjusted in accordance with the width of the workpiece 48.

  Then, the workpiece 48 is attracted by the vacuum cup 66 and the motor 32 is driven to swing the swing arm 30. As a result, the workpiece 48 is lifted by the pendulum member 64 while being kept horizontal. Further, the linear motor 20 is driven to move the movable table 4 along the fixed rail 2.

  As the moving table 4 moves, the moving side rack 36 moves, and the gear 42 is rotated via the meshed large pinion gear 38. As a result, the stationary rack 46 that meshes with the small pinion gear 40 moves, and the gears 42 are rotated through all the small pinion gears 40 that mesh with the stationary rack 46. This rotation is detected by the rotary encoder 48, and the moving position of the moving base 4 is detected.

  In synchronization with the movement of the movable table 4, the control circuit 72 controls the motor 32 to swing the swing arm 30 so that the workpiece 48 is lifted or lowered linearly. Is also possible. Further, the moving amount of the fixed rack 46 is small with respect to the moving amount of the moving rack 36 in accordance with the ratio of the number of teeth of the large pinion gear 38 and the small pinion gear 40, and the position detection mechanism 34 can be downsized. . Further, since the rotary encoder 48 is provided on the fixed side, the signal cable of the rotary encoder 48 can be attached to the fixed side.

  When the linear motor 20 is driven, the armature coil 16 is excited and a propulsive force is generated on the moving base 4 to which the permanent magnet 18 is attached. As shown in FIG. An attractive force is generated between the magnet 18 and the magnet 18. Since the armature coils 16 are arranged on both sides outside the fixed rail 2, the acting forces on the armature coils 16 on both sides are opposite to each other, and the acting forces in the opposite directions cancel each other in the fixed rail 2. .

  On the other hand, similarly, both the permanent magnets 18 are attached to both sides inside the moving table 4 on the moving table 4 side, so that the acting forces on the permanent magnets 18 on both sides are opposite to each other, and the action in the opposite direction is performed. The forces cancel out in the moving table 4. Therefore, by driving the linear motor 20, it is possible to greatly reduce the force applied to the guide rails 6 and 8 and the guide members 10 and 12, to smoothly guide the movable table 4, and to reduce power consumption. be able to. In addition, since the permanent magnet 18 is arranged on the moving table 4 side, the power feeding cable is connected to the armature coil 16 on the fixed rail 2 side, so that it becomes easy to supply power and the power feeding cable does not have to be moved. The maintenance inspection becomes easy and the maintenance inspection cost can be reduced.

  Even if the movable table 4 moves, there is nothing protruding beyond the fixed rail 2, and the apparatus can be made compact. Since the device has a compact structure, vibrations are reduced even at high speeds, enabling high speed operation. The linear motor 20 generates a large amount of heat, but since the fixed rail 2 is formed hollow, the cooling effect is great. By always contacting the flat portion of the permanent magnet 18 with the armature coil 16, it is not dangerous to approach the permanent magnet during maintenance.

  Since the workpiece moving device 70 is a floor mount, it is easy to install, and since the conveying devices 1 and 101 are configured independently, the left and right positions can be freely set, and the length of the pendulum member 64 is optimal. Can be length. A pipe for blowing off dust may be attached in the vicinity of the armature coil 16, and the above-described transport device 1 is applied to a transfer device, a vertical transfer device, a gripper device, a simulation device, a machine tool workpiece transport device, and the like. be able to.

  Furthermore, the position detection mechanism 34 is not limited to the case where the rotary encoder 48 is used, and can be similarly implemented using a position detection mechanism 72 using a linear scale as shown in FIG. The position detection mechanism 72 may be magnetic or optical, and the linear scale 74 is attached to the movable table 4 and a plurality of detection heads 76 are provided on the fixed rail 2 or the fixed side of the sliding table 50 at predetermined intervals. The intervals between the plurality of detection heads 76 are the same as or shorter than the length of the linear scale 74, and are arranged so that at least one detection head 76 detects the linear scale 74. As a result, the signal cable of the detection head 76 can be provided on the fixed side, and the length of the linear scale 74 can be made shorter than the length of the fixed rail 2 and can be miniaturized.

  The present invention is not limited to such embodiments as described above, and can be implemented in various modes without departing from the gist of the present invention.

It is a perspective view of the conveyance apparatus as one embodiment of the present invention. It is A arrow enlarged view of FIG. It is a perspective view of the position detection mechanism of this embodiment. It is a perspective view of the workpiece moving apparatus using the conveying apparatus of this embodiment. It is a perspective view of the position detection mechanism of other embodiments.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Conveyance apparatus 2 ... Fixed rail 4 ... Moving stand 6,8 ... Guide rail 10, 12-point guide member 14 ... Guide mechanism 16 ... Armature coil 18 ... Permanent magnet 20 ... Linear motor 22 ... Leg member 24 ... Swing mechanism DESCRIPTION OF SYMBOLS 26,28 ... Mounting member 30 ... Swing arm 34 ... Position detection mechanism 36 ... Moving side rack 38 ... Large pinion gear 40 ... Small pinion gear 42 ... Gear 46 ... Fixed side rack 48 ... Rotary encoder 48 ... Workpiece 50, 52 ... Sliding base 54 ... Stand base 64 ... Pendulum member 66 ... Vacuum cup 70 ... Work moving device 72 ... Control circuit

Claims (5)

A linear fixed rail having a hollow inside and a moving table formed in a cylindrical shape, and the fixed rail is inserted into the cylindrical shape of the moving table, and the fixed rail is inserted into the fixed rail via a guide mechanism. A movable table is movably supported, and a large number of armature coils are arranged along the longitudinal direction on both outer sides of the fixed rail, and the movable table is opposed to the armature coils on both outer sides. A transporting apparatus, wherein permanent magnets are arranged on both sides of the moving base in a cylindrical shape. The transport apparatus according to claim 1, wherein both ends of the fixed rail are supported. The swing mechanism having a swing arm is disposed on the movable table, and control means for controlling the swing of the swing arm in synchronization with the movement of the movable table is provided. The transport apparatus according to claim 2. A moving rack is attached to the moving table in parallel with the moving direction, and a plurality of gears are integrally provided with a large pinion gear meshing with the moving rack and a small pinion gear coaxial with the large pinion gear. And a rotary encoder that detects the rotation of any one of the plurality of gears, and a position detection mechanism that movably supports a fixed rack that meshes with the small pinion gear. The conveyance apparatus of Claim 1 thru | or 3. The transport apparatus according to any one of claims 1 to 3, further comprising a position detection mechanism in which a linear scale is provided on the movable table and a plurality of detection heads for detecting the linear scale are provided on a fixed side.

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