JP2007063012A - Work carrying device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a work carrying device adaptable for works of different-shape that are carried, without adding or removing work supports. <P>SOLUTION: The work carrying device comprises a plurality of carriers 9, 11, 13, 15 having work supports 23, 25, 27 and arranged along a carrying bar 1 so as to be movable forward and backward together with the carrying bar 1, the carriers 9, 11, 13, 15 being slidable along guide rails 3, 5. The carrier 9 is only fixed to the carrying bar 1, and other adjacent carriers are connected to each other in sequence so as to be movable closer to or farther from each other with ball screw mechanisms 29, 31, 33. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a workpiece transfer device that transfers a workpiece by moving a transfer bar back and forth.

Conventionally, as a workpiece transfer device that transfers a workpiece using a transfer bar, for example, there is a device described in Patent Document 1 below. When assembling the car body of an automobile, a plurality of work receivers called fingers that support car body parts that are workpieces are attached to the transport bar, and the transport bar is moved in a state where the car body parts are supported by each work receiver. Thus, the vehicle body part is transported to a predetermined work position.
Japanese Patent No. 265569

  By the way, in the workpiece transfer apparatus as described above, it is sometimes difficult to support a workpiece having a different shape with a plurality of workpiece receivers fixed in the same position. Therefore, it is necessary to perform work such as adding or removing the workpiece receiver, which deteriorates workability when the workpiece is transported.

  Therefore, an object of the present invention is to make it possible to handle a workpiece having a different shape without adding or removing a workpiece receiver.

  According to the present invention, in a workpiece transfer device that transfers a workpiece by moving the transfer bar forward and backward, a plurality of movable bodies on which workpiece receivers can be installed are arranged along the transfer bar so that the workpiece can be moved forward and backward together with the transfer bar. The main feature is that at least one of a plurality of moving bodies is fixed to the transport bar, and the adjacent ones of the plurality of moving bodies are connected to each other so as to be able to move toward and away from each other by an extension mechanism. And

  According to the present invention, at least one of a plurality of moving bodies on which a workpiece receiver can be installed is fixed to a transport bar, and adjacent ones of the plurality of moving bodies can be moved toward and away from each other by an extension mechanism. In order to transport workpieces having different shapes, the workpiece receivers provided on the moving body can be added by appropriately changing the interval between adjacent ones of the plurality of moving bodies, or It can respond without removing, and can prevent deterioration in workability when a workpiece is conveyed.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a plan view of a workpiece transfer device showing an embodiment of the present invention, and FIG. 2 is a front view thereof. In this work transfer device, the transfer bar 1 is arranged extending in the left-right direction in FIG. 1, and can be moved back and forth in this extension direction. The forward / backward movement of the transport bar 1 is performed, for example, by engaging a pinion with a rack provided on the transport bar 1 and rotating the pinion via a speed reducer by driving a motor. 1 and 2, the left direction is the forward direction of the transport bar 1, and the right direction is the backward direction of the transport bar 1.

  A pair of travel guide rails 3, 5 are installed on the left and right sides of the above-described forward / backward movement direction of the transport bar 1, and the travel guide rails 3, 5 are installed and fixed on the base 7. . As shown in FIG. 3 which is an AA cross-sectional view of FIG. 2 and FIG. 4 which is a BB cross-sectional view of FIG. 2, the base 7 is formed with a concave portion 7a at the center in the width direction. A part of the lower side of the transfer bar 1 is accommodated.

  The traveling guide rails 3 and 5 are provided with a plurality of transport platforms 9, 11, 13, 15... As traveling bodies that can be provided with workpiece supports along the extending direction, and traveling guides 16, 17, 18, 19. It is installed so that it can be moved through. Among them, the transport table 9 is fixed on the transport bar 1 via the fixed plate 21 as shown in FIG. 4, but the other transport tables 11, 13, 15... It is not fixed to the transport bar 1.

  Workpiece holders 23, 25, 27,... Are installed on the carriages 11, 13, 15,... That are not fixed to the conveyor bar 1 via workpiece receiver mounting portions 23a, 25a, 27a,. Each of the workpiece receivers 23, 25, 27,... Supports, for example, a vehicle body part of an automobile as a workpiece, and is constituted by a clamp mechanism or a positioning pin. Note that a workpiece receiver may also be installed on the transfer table 9 fixed to the transfer bar 1.

  All of the transport bases 9, 11, 13, 15... Including the transport base 9 fixed to the transport bar 1 described above are used as expansion / contraction mechanisms so that adjacent ones can be moved toward and away from each other. Are sequentially connected by the ball screw mechanisms 29, 31, 33. As shown in FIG. 1, these ball screw mechanisms 29, 31, 33... Are arranged along the transport direction so that adjacent ones do not interfere with each other on the transport bases 9, 11, 13, 15. Are arranged alternately.

  A ball screw mechanism 29 for connecting the transport table 9 and the transport table 11 is provided with a motor 35 attached to the transport table 9 via a motor mounting bracket 37, and a screw rod 39 extending toward the transport table 11 is attached to the motor 35. Link. On the other hand, a nut 41 to be screwed onto the screw rod 39 is attached to the transport table 11 via a nut attachment portion 41a.

  That is, by driving the motor 35 described above, the screw rod 39 is rotated with respect to the nut 41, whereby the transport table 11 is moved toward and away from the transport table 9.

  The other ball screw mechanisms 31, 33... Have a configuration in which the motor 35 is installed on the right side in FIG. Are denoted by the same reference numerals as those of the ball screw mechanism 29 including the motor 35, and detailed description thereof will be omitted.

  That is, when the motor 35 on the conveyance table 11 is driven, the conveyance table 13 moves toward and away from the conveyance table 11, and when the motor 35 on the conveyance table 13 is driven, the conveyance table 15 moves relative to the conveyance table 13. Move close and away.

  FIG. 5 is a control block diagram relating to the workpiece transfer operation of the workpiece transfer apparatus described above, and FIG. 6 is a flowchart showing the operation procedure. In FIG. 5, the production instruction device 45 instructs the type of workpiece to be conveyed to the conveyance control device 47, and the conveyance control device 47 that has received this command instructs the expansion / contraction control devices 49, 51, 53, 55,. The position commands 57, 59, 61, 63.

  The expansion / contraction control devices 49, 51, 53,... That have received the position commands of the workpiece receivers 57, 59, 61, 63,. , 33...), And a transport driven unit 73, transport driven units 75, 77, 79, 81... (Corresponding to the transport bases 9, 11, 13, 15. Change the interval based on the shape of the workpiece.

  Here, the transport driven portion 73 corresponds to the transport base 9 in FIG. 1, and the transport driven portions 75, 77, 79, 81... Correspond to the transport bases 11, 13, 15. In FIG. 5, the conveyance driven portions 75, 77... Are also provided on the right side of the conveyance driven portion 73, but similarly in FIG. 1, a conveyance table corresponding to the conveyance driven portions 75, 77. That is, it is assumed that the transport table not fixed to the transport bar 1 is arranged on the right side of the transport table 9 in a state of being connected by the ball screw mechanism.

  In addition to issuing the position commands for the workpiece receivers 57, 59, 61, 63,..., The transport control device 47 transports the transport bar 1 that fixes the transport driven portion 73 forward and backward. A running operation command is issued to 83. Thereby, the conveyance drive unit 83 drives a drive source such as a motor (not shown) to move the conveyance bar 1 forward and backward. As the transport bar 1 moves forward and backward, the transport driven portion 73 and the transport driven portions 75, 77, 79, 81... Slide on the travel guide rail 95 by the travel guides 85, 87, 89, 91, 93. To do.

  Next, a workpiece transfer procedure will be described based on the flowchart shown in FIG. First, the production instruction device 45 instructs the type of work to be conveyed to the conveyance control device 47 (step S1), and then the conveyance control device 47 issues a travel operation command for the conveyance bar 1 to the conveyance drive unit 83 ( Step S2).

  Here, the transfer control device 47 determines whether the transfer bar 1 moves forward or backward (step S3). If the transfer bar 1 moves forward, the workpiece receivers 57, 59, 61, 63... (9, 11,. 13, 15... Is a state in which the workpiece is already supported and transported to a predetermined work position, so that the workpiece receiving position is not moved (step S 4), and the telescopic devices 65, 67, 69, 71. The ball screw mechanism 29, 31, 33... Is not operated (step S5).

  On the other hand, when the transport bar 1 moves backward, after the work such as welding to the work is finished at a predetermined work position and the work is not supported, the transport control device 47 is in a state of supporting the work 57 , 59, 61, 63... (9, 11, 13, 15...) Are sent to the telescopic devices 65, 67, 69, 71... (Ball screw mechanisms 29, 31, 33...). It performs (step S6).

  At this time, the conveyance control device 47 instructs the production instruction device 45 to extend or shorten the expansion / contraction devices 65, 67, 69, 71... (Ball screw mechanisms 29, 31, 33...). Judgment is made based on the shape of the workpiece based (step S7).

  Here, in the case of extension, whether the position of the transport driven parts 75, 77, 79, 81... (Transport table 11, 13, 15...) Is forward in the traveling direction as viewed from the transport driven part 73. It is determined whether it is backward (step S8). Since the traveling direction of the transport bar 1 here is the backward direction, that is, the right direction in FIGS. 1 and 2, the transport driven portions 75 and 77 positioned forward in the travel direction when viewed from the transport driven portion 73 are expanded and contracted. The devices 65 and 67 are not operated (step S9), and after the backward movement of the transport bar 1 is completed (step S10), the telescopic devices 65 and 67 are operated as required depending on the shape of the workpiece (step S11). By the operation of the telescopic devices 65 and 67, the distance between the transport driven parts 73 and the transport driven parts 77 and 75 adjacent to each other is increased.

  In FIG. 1, when the transport bar 1 is moved backward in the right direction, for example, the ball screw mechanism (extension device 67) is set so as to widen the distance between the transport table (not shown) adjacent to the right side of the transport table 9. When the extension operation is performed, the transfer table (not shown) is moved in the direction away from the transfer table 9, that is, in the same right direction as the backward movement direction of the transfer bar 1 (transfer table 9). Such movement of the carriage (not shown) is not preferable in consideration of the motor load in the ball screw mechanism (extension device 67) as compared with the case where the carriage 1 is stopped.

  Therefore, as described above, the telescopic devices 65 and 67 can be actuated after the backward movement of the transport bar 1 is completed, thereby reducing the load acting on the motor of the ball screw mechanism.

  That is, when the positions of the transport driven portions 75, 77, 79, 81... Are forward of the traveling direction when viewed from the transport driven portion 73, the telescopic devices 65, 67. Do not operate to extend during movement.

  In step S8, the positions of the transport driven portions 75, 77, 79, 81... Are behind the travel direction when viewed from the transport driven portion 73, that is, the travel direction when viewed from the transport base 9 in FIGS. As for the rear carriages 11, 13, 15..., The telescopic devices 69, 71... An extension operation is performed (step S11).

  Contrary to the above, in FIG. 1, when the transport table 9 is moved backward in the right direction, for example, the ball screw mechanism 29 is arranged so as to widen the distance from the transport table 11 adjacent to the left side of the transport table 9. When the expansion / contraction device 69 is extended, the conveyance table 11 moves in the direction away from the conveyance table 9, that is, in the left direction opposite to the backward movement direction of the conveyance bar 1 (conveyance table 9). Such movement of the conveyance table 11 is preferable in consideration of the load of the motor 35 in the ball screw mechanism 29 (extension device 69) as compared with the case where the conveyance bar 1 is stopped.

  Therefore, as described above, the telescopic devices 69 and 71 are actuated during the backward movement of the transport bar 1, thereby reducing the load acting on the motors 35 of the ball screw mechanisms 29, 31, and 33. be able to.

  That is, when the positions of the transport driven portions 75, 77, 79, 81... Are rearward in the traveling direction when viewed from the transport driven portion 73, the telescopic devices 69, 71. The extension is activated during movement.

  In the step S7, when the telescopic devices 65, 67, 69, 81... (Ball screw mechanisms 29, 31, 33...) Are shortened, the transport driven portions 75, 77, 79 are the same as in the case of the extension. , 81... Is determined to be forward or backward in the traveling direction as viewed from the transport driven portion 73 (step S12).

  Since the traveling direction of the transport bar 1 here is the backward direction, that is, the right direction in FIGS. 1 and 2, the transport driven portions 79 and 81 positioned rearward in the travel direction when viewed from the transport driven portion 73 are expanded and contracted. The devices 69 and 71 are not operated (step S13), and after the backward movement of the transport bar 1 is completed (step S14), the telescopic devices 69 and 71 are operated as required depending on the shape of the workpiece (step S15). By the operation of the telescopic devices 69 and 71, the distance between the transport driven parts 73 and the transport driven parts 79 and 81 adjacent to each other is reduced.

  In FIG. 1, when the transport table 9 is moved backward in the right direction, for example, the ball screw mechanism 29 (extension device 69) is arranged so as to reduce the distance between the transport table 9 and the adjacent transport table 11 on the left side. When the shortening operation is performed, the transfer table 11 is moved in the direction in which the transfer table 11 approaches the transfer table 9, that is, in the right direction that is the same as the backward movement direction of the transfer bar 1 (transfer table 9). Such movement of the conveyance table 11 is not preferable in consideration of the load of the motor 35 in the ball screw mechanism 29 (extension device 69), compared to the case where the conveyance bar 1 is stopped.

  Therefore, as described above, the telescopic devices 69, 71... Are operated after the backward movement of the transport bar 1 is completed, thereby reducing the load acting on the motors 35 of the ball screw mechanisms 29, 31, 33. can do.

  That is, when the positions of the transport driven portions 75, 77, 79, 83... Are rearward in the traveling direction when viewed from the transport driven portion 73, the telescopic devices 69, 71. Avoid shortening operation while moving.

  In step S12, when the positions of the transport driven portions 75, 77, 79, 81... Are forward in the travel direction as viewed from the transport driven portion 73, that is, the travel direction as viewed from the transport base 9 in FIGS. With respect to the front carrier table (not shown), the telescopic devices 65, 67... (Ball screw mechanism) are shortened as necessary depending on the shape of the workpiece in the process of moving the conveyor bar 1 backward (step S15). .

  Contrary to the above, in FIG. 1, when the carriage 9 is moved backward in the right direction, for example, a ball screw mechanism is arranged so as to reduce the gap between the carriage 9 adjacent to the right side of the carriage 9 and not shown. When the telescopic device 67 is shortened, the transport table (not shown) moves in the direction approaching the transport table 9, that is, in the left direction opposite to the backward movement direction of the transport bar 1 (transport table 9). Become. Such movement of the carriage (not shown) is preferable in consideration of the motor load in the ball screw mechanism as compared with the case where the carriage 1 is stopped.

  Therefore, as described above, the telescopic devices 67 and 65 can reduce the load acting on the motor of the ball screw mechanism by operating in the process in which the transport bar 1 is moving backward.

  That is, when the positions of the transport driven portions 75, 77, 79, 81... Are forward of the traveling direction when viewed from the transport driven portion 73, the telescopic devices 65, 67. Shortening the operation while moving.

  As described above, the transport bar 1 is moved backward, and the telescopic devices 65, 67, 69, 71... Are taken into account while considering the load of the motor 35 of the ball screw mechanisms 29, 31, 33. By actuating, the workpiece receivers 57, 59, 61, 63... (Work receivers 23, 25, 27...) Have been positioned according to the shape of the workpiece (step S16).

  After that, the workpiece receivers 57, 59, 61, 63... (Work receivers 23, 25, 27...) That have been positioned are supported by a workpiece (not shown), and in this state, the transfer bar 1 is moved forward to perform welding. The work is transported to a predetermined work position where the operation is performed.

  As described above, according to the present embodiment, at least one of the transport bases 9, 11, 13, 15... Including the work receivers 23, 25, 27. Here, the transport table 9) is fixed to the transport bar 1, and adjacent ones of the plurality of transport tables 9, 11, 13, 15... Are connected so that they can move toward and away from each other. When the workpieces are transported, it is possible to appropriately change the interval between adjacent ones of the plurality of transport platforms 9, 11, 13, 15... Without adding or removing the workpiece receiver. It is possible to prevent deterioration in workability when conveying a workpiece.

  At this time, since the adjacent ones of the plurality of transport bases 9, 11, 13, 15... Are connected by a simple configuration of the ball screw mechanism 29, 31, 33. It is possible to reliably change the interval between adjacent ones of the plurality of carriages 9, 11, 13, 15.

  The adjacent ones of the plurality of transport bases 9, 11, 13, 15... May be connected by a cylinder mechanism as an expansion / contraction mechanism so as to be able to move toward and away from each other. The same effect as when the mechanisms 29, 31, 33,... Are used can be obtained.

It is a top view of the workpiece conveyance apparatus which shows one Embodiment of this invention. It is a front view of the workpiece conveyance apparatus of FIG. It is AA sectional drawing of FIG. It is BB sectional drawing of FIG. It is a control block diagram which shows the operation | work which conveys a workpiece | work by the workpiece conveyance apparatus of FIG. It is a flowchart which shows the operation | work procedure which conveys a workpiece | work by the workpiece conveyance apparatus of FIG.

Explanation of symbols

1 Transport bar 9, 11, 13, 15 Transport table (moving body)
23, 25, 27 Work receiving 29, 31, 33 Ball screw mechanism (extension mechanism)

Claims (8)

  In a workpiece transfer apparatus that transfers a workpiece by moving the transfer bar forward and backward, a plurality of movable bodies that can be provided with workpiece receivers are arranged along the transfer bar so as to be able to move forward and backward together with the transfer bar. A workpiece transfer apparatus, wherein at least one of the plurality of moving bodies is fixed to the transfer bar and adjacent ones of the plurality of moving bodies are connected to each other by an extension mechanism so as to be moved toward and away from each other.   The workpiece conveying apparatus according to claim 1, wherein adjacent ones of the plurality of moving bodies are connected by a ball screw mechanism.   The workpiece conveying apparatus according to claim 1, wherein adjacent ones of the plurality of moving bodies are connected by a cylinder mechanism.   When the approaching / separating movement direction is opposite to the moving direction of the transport bar, the approaching / separating movement of the plurality of moving bodies is performed while the transport bar is moved, while the moving direction of the approaching / separating movement is performed. However, when the direction of movement of the transfer bar is the same, the work transfer apparatus according to any one of claims 1 to 3, wherein the transfer is performed in a state where the transfer bar is stopped.   When moving another moving body on the front side in the moving direction of the moving body fixed to the transport bar as the transport bar moves, the transport bar is moved closer to the moving body on the rear side in the moving direction. The workpiece transfer apparatus according to claim 4, wherein the workpiece transfer device is performed in a moved state.   When moving another moving body on the rear side in the moving direction of the moving body fixed to the transport bar as the transport bar moves, the transport bar is moved away from the moving body on the front side in the moving direction. The workpiece transfer apparatus according to claim 4, wherein the workpiece transfer device is performed in a moved state.   When the other moving body on the front side in the moving direction of the moving body fixed to the transport bar accompanying the movement of the transport bar is moved away from the moving body on the rear side in the moving direction, The workpiece transfer apparatus according to claim 4, wherein the workpiece transfer apparatus performs the movement in a stopped state.   When moving another moving body on the rear side in the moving direction of the moving body fixed to the transport bar accompanying the movement of the transport bar, to move closer to the moving body on the front side in the moving direction, The workpiece transfer apparatus according to claim 4, wherein the workpiece transfer apparatus performs the movement in a stopped state.

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