JP2007038368A - Conveying device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a conveying device which can convey a conveyance material through a simple structure. <P>SOLUTION: The conveying device is formed of: a plurality of air cylinders 5a, 5b, 5c which have axially movable rods 6a, 6b, 6c, respectively; ball joints 3a, 3b, 3c which rigidly position the air cylinders 5a, 5b, 5c, respectively, and floatingly support the same with rigidly positioned locations as fulcrums, respectively; a joint member 7 to which lower ends of the rods 6a, 6b, 6c of the air cylinders 5a, 5b, 5c are connected via ball joints, respectively; and a conveying base 12 arranged perpendicularly to the joint member 7. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a transport apparatus that can transport a transported object to a predetermined position.

Conventionally, as this type of conveying device, as disclosed in, for example, Patent Document 1, a component holding tool for holding a component, an X-axis direction rail means arranged in the X-axis direction, and a component holding tool X X-axis direction driving means for moving along the axial rail means, Y-axis direction rail means arranged in the Y-axis direction, and Y-axis for moving the component holding tool along the Y-axis direction rail means There has been proposed one comprising a direction driving means, a Z-axis direction rail means arranged in the Z-axis direction, and a Z-axis direction driving means for moving the component holding tool along the Z-axis direction rail means. .
In this apparatus, by driving the X-axis direction driving means, the Y-axis direction driving means, and the Z-axis direction driving means, the component holding tool is desired along the X-axis direction rail, the Y-axis direction rail, and the Z-axis direction rail. It can be moved to the position.
Japanese Patent No. 3342187

  However, in such a conveying apparatus, rails for moving the component holding tool to a desired position must be arranged in each axial direction, which causes a problem that the structure becomes complicated and large. It was.

  The present invention has been devised in view of the above-described conventional problems, and is one of the objects to convey the conveyed object with a simple configuration and one of the objects to reduce the burden on the operator. According to the first aspect of the present invention, a plurality of actuators each having an actuator rod movable in the axial direction, and a plurality of actuators are positioned and fixed, and the floating positions are used as fulcrums. Positioning support means for supporting the connecting rods, and connecting and conveying means for connecting the tips of the actuator rods so as to be movable corresponding to the loose movements of the plurality of actuators and capable of conveying the conveyed product.

  A second aspect of the present invention includes a storage unit that stores conveyance information regarding conveyance, and a drive control unit that drives and controls the plurality of actuators based on the conveyance information stored in the storage unit.

  A third aspect of the present invention is that the plurality of actuators is three or more, and the positioning support means is means for supporting the plurality of actuators in a hanging shape.

  According to a fourth aspect of the present invention, the connecting and transporting means is a means having a transporting section for transporting the transported article and a vertical direction means for always directing the transporting section in the vertical direction.

  According to a fifth aspect of the present invention, the positioning support means is a means having a ball joint as a means for supporting the actuator movably with the positioning and fixing position as a fulcrum.

  According to a sixth aspect of the present invention, the connecting / conveying means is a means having a ball joint as means for connecting the tip ends of the actuator rods so as to be movable corresponding to the play of the plurality of actuators.

  A seventh aspect of the present invention is that the plurality of actuators are air cylinders that move the actuator rods by air pressure.

  The transport device of the present invention includes a plurality of actuators having actuator rods that are movable in the axial direction, and positioning support means for positioning and fixing each of the plurality of actuators and supporting the positioning and fixing so as to be freely movable. In addition, the actuator rods can be moved at fixed positions by connecting the tip ends of the actuator rods so as to be movable corresponding to the movements of the plurality of actuators, and connecting and conveying means capable of conveying the conveyed object. Since the leading ends of the actuator rods of the plurality of actuators are coupled by the coupled conveying means so as to be able to cope with the movement of the actuator, the position of the coupled conveying means can be changed based on the amount of movement of each actuator rod. That is, the transported object can be transported to a desired position without a rail or the like, and the transported object can be transported with a simple configuration.

  In addition, the apparatus includes a storage unit that stores conveyance information related to conveyance, and a drive control unit that drives and controls the plurality of actuators based on the conveyance information stored in the storage unit. Will be able to do.

  Further, the plurality of actuators is three or more, and the positioning support means is a means for supporting the plurality of actuators in a hanging manner, so that a conveyed product can be conveyed in a three-dimensional direction. It becomes.

  Further, the connecting and conveying means is a means having a conveying part for conveying the conveyed object and a vertical means for always directing the conveying part in the vertical direction, so that the conveying part is always directed in the vertical direction. It is something that can be done.

  Further, the positioning support means is a means having a ball joint as a means for supporting the actuator movably with the positioning and fixing position as a fulcrum, so that the actuator can be easily moved with the positioning and fixing position as a fulcrum. It can be supported as possible.

  Further, the connecting and conveying means is a means having ball joints as means for connecting the tip ends of the actuator rods so as to be movable corresponding to the movement of the plurality of actuators, thereby easily supporting the movement of the plurality of actuators. The tip of the actuator rod can be connected as possible.

  Further, since the plurality of actuators are air cylinders that move the actuator rod by air pressure, the actuator rod can be favorably moved only by changing the air pressure.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a schematic configuration diagram of the transport device.
In the figure, the apparatus frame 2 of the transport apparatus is provided with ball joints 3a, 3b, 3c at intervals at three locations, and the positioning support arms 4a, 4c, downward from the ball joints 3a, 3b, 3c. 4b and 4c are provided, and air cylinders 5a, 5b and 5c are connected to lower ends of the positioning support arms 4a, 4b and 4c, respectively.

The lower ends of the rods 6a, 6b, 6c of the air cylinders 5a, 5b, 5c are connected to the connecting member 7 via ball joints 7a, 7b, 7c, respectively.
A suspension bar 8 is provided downward from the connecting member 7, and a suspension cylinder 10 is suspended from a lower end of the suspension bar 8 via a ball joint 9. A rod of the suspension cylinder 10 is provided. A transport base 12 is provided at the lower end of 10a in a substantially horizontal shape via a ball joint 11, and elastic members 13a and 13b such as springs are interposed on the lower surface of the transport base 12 so that the electromagnets 14a and 14a, respectively. 14b is provided.

The air cylinders 5a, 5b, 5c are connected to flow path switching valves 15a, 15b, 15c, respectively. Similarly, the suspension cylinder 10 is connected to the flow path switching valve 15d.
The control device 17 is configured as a microprocessor centered on the CPU 17a. In addition to the CPU 17a, the control device 17 includes a ROM 17b for storing processing programs, a RAM 17c for temporarily storing data, an input / output port and a communication port (not shown). Prepare.
The control device 17 includes a stroke sensor that detects a start signal from a start switch 18 for starting work and a stroke amount of the rods 6a, 6b, 6c of the air cylinders 5a, 5b, 5c and the rod 10a of the suspension cylinder 10. Magnetization signal P from the pressure sensor 14c for detecting that the transported object is magnetized on the stroke signals S1, S2, S3, S4 and the electromagnets 14a, 14b from 50a, 50b, 50c and 100a is input via the input port. Has been. The control device 17 outputs drive signals to the flow path switching valves 15a, 15b, 15c, and 15d and excitation signals to the electromagnets 14a and 14b through the output port.

In this example, the air cylinders 5a, 5b, 5c are supported by the ball joints 3a, 3b, 3c so as to be freely movable. Therefore, the rods 6a, 6b, 6c of the three air cylinders 5a, 5b, 5c. By controlling the amount of movement, the conveyed product can be conveyed to a desired position in the X, Y, and Z axis directions without a rail.
The suspension cylinder 10 is always supported in the vertical direction by a ball joint 7a or the like, and the electromagnets 14a and 14b are excited while the transport base 12 is moved to a desired position, whereby the transported object is electromagnet 14a. , 14b can be magnetically attached to the transport base 12, and in this state, the amount of movement of the rods 6a, 6b, 6c of the air cylinders 5a, 5b, 5c can be adjusted appropriately to transport to a desired position. An object can be moved, and the conveyed object can be dropped to a desired position by turning off the electromagnets 14a and 14b in this state.

Next, the operation of the transport apparatus 1 configured as described above will be described.
FIG. 2 is a flowchart showing an example of a main routine executed by the control device 17. This routine is executed when the start switch 18 is turned on. Note that the initial position of the transfer apparatus 1 before the start switch 18 is turned on, that is, the initial positions of the air cylinders 5a to 5c, 10 are determined in advance by the transfer base 12 when the transfer apparatus 1 is turned on. The position is set so that the transported object can be picked up.
Here, in the embodiment, the initial positions of the air cylinders 5a to 5c and the suspension cylinder 10 are set in advance such that the transport base 12 is in a position where the transport base 12 can pick up the transported object by trial operation of the transport device 1 or the like. The amount of air supplied to 5c and the suspension cylinder 10, that is, the exciting current to the flow path switching valves 15a to 15d, was measured and stored in the ROM 17b in advance as the initial amount of supplied air.

  When the main routine is executed, the CPU 17a of the control device 17 first executes the excitation process for the electromagnets 14a and 14b (step S10), and subsequently the transfer process (step S12) illustrated in FIG. The part detachment process (step S14) illustrated in FIG.

In the carrying process, as shown in FIG. 3, the CPU 17a of the control device 17 first executes a process of reading the magnetization signal P from the pressure sensor 14c (step S20). Then, it is determined whether or not there is a magnetizing signal P from the pressure sensor 14c (step S22). If it is determined that there is a magnetizing signal P, the supply air amount during conveyance is set (step S24). Then, the flow path switching valves 15a to 15d are driven and controlled to achieve the set supply air amount (step S26), and this routine is finished.
Here, in the embodiment, the setting of the supply air amount at the time of conveyance is necessary in order for the air cylinders 5a to 5c and the suspension cylinder 10 to convey the conveyed product to the conveyance destination by performing a trial operation of the conveyance device 1 in advance. A simple supply air amount, that is, an excitation current to the flow path switching valves 15a to 15d was measured and stored in the ROM 17b in advance as a supply air amount during conveyance.

  In the component detachment process, as shown in FIG. 4, the CPU 17a of the control device 17 executes a process of reading the stroke signals S1 to S4 from the stroke sensors 50a to 50c and 100a and the magnetization signal P from the pressure sensor 14c ( Step S30). Then, it is determined whether or not all stroke signals S1 to S4 have been input (step S32), and when it is determined that all stroke signals S1 to S4 have been input, excitation to the electromagnets 14a and 14b is stopped (step). S34). Subsequently, the presence / absence of the magnetization signal P from the pressure sensor 14c is determined (step S36). When it is determined that there is no magnetization signal P, the initial supply air amount is set (step S38), and the set supply is set. The flow path switching valves 15a to 15d are driven and controlled so that the air amount is reached (step S40), and this routine is finished.

  According to the conveying apparatus 1 of the embodiment described above, the three air cylinders 5a, 5b, 5c are supported on the apparatus frame 2 by the ball joints 3a, 3b, 3c so as to be freely suspended, and the three air cylinders 5a, 5b, 3c are supported. The lower ends of the rods 6a, 6b, 6c of the air cylinders 5a, 5b, 5c are connected to the connecting member 7 via ball joints 7a, 7b, 7c. And the conveyance base 12 is provided in the lower end of the rod 10a of the suspension cylinder 10 hung downward from the connection member 7 through the ball joint 9. Therefore, the amount of movement of each air cylinder 5a, 5b, 5c and each rod 6a, 6b, 6c and 10a of the suspension cylinder 10, that is, the amount of air supplied to each air cylinder 5a, 5b, 5c and the suspension cylinder 10 Since the conveyed product can be conveyed to a desired position simply by changing the value, the conveyance of the conveyed product can be secured with a simple configuration.

  In addition, since the three air cylinders 5a, 5b, and 5c are only supported in a suspended manner, the conveyed product can be conveyed in a three-dimensional direction with a simple configuration. Furthermore, since the conveyance base 12 is provided on the rod 10a via the ball joint 11, the electromagnets 14a and 14b provided on the conveyance base 12 can always be directed in the vertical direction, and the picked-up and removal of the conveyance object can be performed. It can be carried out stably and satisfactorily.

  In the transport apparatus 1 of the embodiment, the three air cylinders 5a, 5b, and 5c are used. However, the number of air cylinders may be two, or may be four or more.

  In the transfer device 1 of the embodiment, the suspension cylinder 10 is used in addition to the three air cylinders 5a, 5b, 5c. However, the suspension cylinder 10 may be omitted if there is a margin in the vertical direction. . In this case, the transport base 12 may be attached to the lower end of the suspension bar 8 via the ball joint 9.

  In the transfer apparatus 1 of the embodiment, the air cylinders 5a, 5b, and 5c are used. However, any actuator may be used as long as the rod can be expanded and contracted, such as a hydraulic cylinder or an electric cylinder.

  In the transport apparatus 1 of the embodiment, the transported object is picked up using the electromagnets 14a and 14b. Any thing can be used.

  In the transport device 1 of the embodiment, the three air cylinders 5a, 5b, 5c are assumed to move freely with respect to the device frame 2 with the ball joints 3a, 3b, 3c as fulcrums, but the three air cylinders 5a, 5b If the strokes of the rods 6a, 6b, 6c of 5c, 5c are not enough, for example, the base can swing three air cylinders 5a, 5b, 5c via the ball joints 3a, 3b, 3c. The base may be rocked by another air cylinder to increase the stroke amount. FIG. 5 is a front view showing an example of the transport apparatus 1 having such a configuration, and FIG. 6 is a plan view showing an example of the transport apparatus 1 having such a configuration.

5 and 6, the ball joints 3a, 3b, 3c for supporting the upper ends of the three air cylinders 5a, 5b, 5c are attached to a trifurcated base 20. The base 20 is connected to the lower end of a swing arm 19 that is swingably mounted on the apparatus frame 2 via a fulcrum shaft 18.
In addition, a part of the trifurcated base 20 is provided with an upper and lower plate 20a that supports the air cylinder 5a so as to be swingable in the vertical direction via a hinge 22 for moving the upper and lower plate 20a up and down. Are provided on the upper surface of the base 20.
In addition, the tip of the rod 21a of the X-direction air cylinder 21 is connected in the X-axis direction on the lower surface of the base 20, and when the X-direction cylinder 21 is operated, the base 20 is expanded and contracted. Is configured to be rotated about the fulcrum shaft 18 as a fulcrum.

If the X-direction cylinder 21 is provided in this way, the X-direction air cylinder 21 is operated as necessary to rotate the base 20 in the X-axis direction, thereby reducing the movement distance of the transport base 12 in the X-axis direction. The amount of movement of the rod 21a can be earned, and the transport base 12 can be favorably moved to a distant position in the X-axis direction.
Further, if necessary, the air cylinder 5a can be moved downward by operating the vertical cylinder 23 and lowering the vertical plate 20a. The vertical movement distance of the vertical plate 20a is equivalent to the rod of the air cylinder 5a. The amount of movement can be increased.

Here, instead of the air cylinder 5a, the air cylinder 5b or the air cylinder 5c or all of the air cylinders 5a, 5b and 5c may be supported on the upper and lower plates so as to be swingable in the vertical direction via hinges. The upper and lower cylinders for raising and lowering the upper and lower plates may be provided corresponding to the air cylinder 5b or the air cylinder 5c or the air cylinders 5a, 5b and 5c.
Further, instead of the X direction cylinder 21, a Y direction cylinder may be provided, or both the X direction cylinder 21 and the Y direction cylinder may be provided. When both the X direction cylinder 21 and the Y direction cylinder are provided, the rod of each cylinder is connected to the base 20 via a ball joint, and the base 20 is attached to the apparatus frame 2 via a ball joint; Just do it.

  Although the embodiments of the present invention have been described with reference to the embodiments, the present invention is not limited to these embodiments and can be implemented in various forms without departing from the gist of the present invention. Of course.

It is a schematic block diagram of a conveying apparatus. 3 is a flowchart illustrating an example of a main routine executed by a control device 17; 4 is a flowchart illustrating an example of a conveyance process executed by a control device 17. 4 is a flowchart illustrating an example of a component removal process executed by a control device 17. It is a schematic block diagram which shows the example of a change of a conveying apparatus. It is a plane schematic block diagram of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Transfer apparatus 2 Apparatus frame 3a, 3b, 3c Ball joint 4a, 4b, 4c Positioning support arm 5a, 5b, 5c Air cylinder 6a, 6b, 6c Rod 7 Connecting member 7a, 7b, 7c Ball joint 10 Hanging cylinder 10a Rod 12 Conveying base 13a, 13b Elastic member 14a, 14b Electromagnet 15a, 15b, 15c, 15d Flow path switching valve 16 Air source 17 Controller 18 Supporting shaft 19 Oscillating arm 20 Trifurcated base 20a Top and bottom plate 21 X direction air cylinder 21a Rod 22 Hinge 23 Vertical cylinder 23a Rod

Claims (7)

A plurality of actuators having actuator rods movable in the axial direction;
Positioning support means for positioning and fixing the plurality of actuators and supporting the positioning and fixing in a freely movable manner with the position fixed as a fulcrum;
A connecting and conveying means for connecting the tip of each of the actuator rods movably corresponding to the play of the plurality of actuators and capable of conveying the conveyed object;
A transport apparatus comprising: Storage means for storing conveyance information relating to conveyance;
The transport apparatus according to claim 1, further comprising: a drive control unit that drives and controls the plurality of actuators based on the transport information stored in the storage unit. The plurality of actuators is three or more,
The transport apparatus according to claim 1, wherein the positioning support unit is a unit that supports the plurality of actuators in a hanging shape.   The transport apparatus according to claim 3, wherein the connection transport unit includes a transport unit for transporting the transported object and a vertical direction unit that always directs the transport unit in a vertical direction.   5. The transport device according to claim 1, wherein the positioning support means is a means having a ball joint as a means for supporting the actuator movably with the position fixed and positioned as a fulcrum.   6. The transport apparatus according to claim 1, wherein the connecting and transporting means is a means having a ball joint as means for connecting the tip ends of the actuator rods so as to be movable corresponding to the play of the plurality of actuators.   The transfer device according to claim 1, wherein the plurality of actuators are air cylinders that move the actuator rods by air pressure.

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