JP2008222352A - Workpiece lifting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a novel workpiece lifting device low in cost and safe in which fingers are prevented from being cut off even if the workers' fingers are caught between a workpiece placing member and a peripheral member and allowing the workpiece placing member to be driven by small power. <P>SOLUTION: The workpiece lifting device comprises the workpiece placing member 2 for placing a workpiece, and a workpiece lifting mechanism 3 lifting the workpiece placing member 2 in a state of holding the attitude of the workpiece placing member 2. The workpiece lifting mechanism 3 comprises a swing frame body 5 supporting the workpiece placing member 2; a swing pivot 46 supporting the swing frame body 5 in a swingable manner; a moving weight arranged in the swing frame body 5; and a weight moving means for moving the moving weight to the workpiece placing member 2 side and its opposite side. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a workpiece lifting / lowering device used for raising or lowering a workpiece received from a downstream process and delivering it to an upstream process.

  As the workpiece lifting / lowering device, a device for lifting and lowering the workpiece placing member directly by driving a fluid pressure cylinder or a device for lifting and lowering by a motor driving using a propulsive force of a screw member is used. In these apparatuses, the drive unit bears the weight of the structure on which the workpiece placement member is arranged (see Patent Document 1). For example, the invention described in Patent Document 1 is a transport device, and can be rotated on a vertical plane using a conveyor (work placement member) and a part on one end side of the work placement member as a fulcrum. And a support table that supports the portion of the work placement member that is separated from the portion that the support table supports, and that lifts and lowers the portion directly up and down.

  With this configuration, the workpiece placing member is rotated on the vertical plane with the portion supported by the support base as a fulcrum by directly moving the support portion by the lift device by operating the lift device, and its end portion is It is displaced up and down. Thereby, the workpiece | work mounting member can take the state inclined so that either one may be located in the state which was horizontal, and one end side and the other end side may be located below rather than the other.

JP 2004-059267 A

  However, in the above-described conventional transport device, the driving force of the lifting device (hydraulic cylinder in the embodiment described in Patent Document 1) that lifts and lowers the workpiece mounting member is the total weight of the workpiece mounting member and the workpiece. Since it has to be borne directly, there was a problem that a large amount of power was required and the manufacturing cost was high, especially when climbing. In addition, since the workpiece placement member is moved up and down directly by the lifting device with great power, for example, when the operator's fingers are sandwiched between the workpiece placement member and peripheral members, the fingers are cut. There was a problem of being.

  Therefore, the present invention has been proposed in order to solve the problems of the above-described prior art work lifting device, and is capable of driving a work mounting member with small and inexpensive power. An object of the present invention is to provide a safe and novel workpiece lifting / lowering device in which fingers are not cut even when an operator's fingers are sandwiched between a placing member and peripheral members.

  In order to achieve the above-described object, a workpiece lifting apparatus according to a first invention (invention of claim 1) is a state in which a workpiece placement member on which a workpiece is placed and a posture of the workpiece placement member are held. A workpiece lifting / lowering mechanism that lifts and lowers the workpiece placement member. The workpiece lifting / lowering mechanism includes a swing frame that supports the workpiece placement member and a swing that supports the swing frame so as to be swingable. A moving support shaft, a moving weight disposed in the swing frame, and a weight moving means for moving the moving weight in the direction of the workpiece placement member and the opposite side thereof. It is what.

  In the first aspect of the invention, the swinging frame body moves the moving weight to the workpiece mounting member side of the swinging frame body and the opposite side thereof, and the workpiece mounting member side to which the moving weight is moved or vice versa. The swinging frame body is swung as one of the swinging frame bodies on the side descends. Accordingly, the weight (Qa) of the moving weight is equal in the amount of movement of the moving weight on the workpiece placing member side and the opposite side, and each swing frame body portion on the workpiece placing member side and the opposite side thereof. If the masses are equal, the swinging frame body swings when the weight P is heavier than the weight P of the workpiece mounting member including the workpiece (P <Qa), and the swing speed increases as the difference increases. .

  That is, when the moving weight moves to the opposite side of the workpiece placing member, the workpiece placing member is raised by the load obtained by subtracting the weight P of the workpiece placing member from the weight (Qa) of the moving weight. When the moving weight moves toward the workpiece mounting member, the workpiece mounting member starts to descend when the workpiece mounting member becomes heavy, and the maximum load is reached when the moving weight reaches the end of the workpiece mounting member. Thus, the workpiece mounting member is lowered at the maximum speed. Therefore, it is not always necessary to move the moving weight of the moving weight to the workpiece placing member side or the opposite side to each moving end, and the moving weight may be moved to a position corresponding to the predetermined elevation of the workpiece placing member. By this swinging motion, the workpiece placed on the workpiece placement member can be raised or lowered from the raised position to the lowered position or from the lowered position to the raised position.

Then, the swinging motion of the swinging frame body is swung due to the balance or unbalanced relationship between the workpiece placing member side and the opposite side that change due to the movement of the movable weight. The swinging frame can be stopped with an extremely small resistance. That is, for example, even if the operator's fingers are sandwiched between the swinging frame body and the surrounding members during the swinging motion, the fingers are inadvertently collided with the operator without being cut. Even when it comes into contact with any member, it is possible to stop the swinging motion of the swinging frame body, the workpiece placing member or the workpiece during the swinging motion.

  In addition, since the workpiece placing member is not moved up and down directly by moving the moving weight, the driving force required to move the workpiece is the propulsive force required to move the moving weight. Well, it can be driven with less power than when the workpiece placement member is moved up and down directly. The swinging speed of the swinging frame body (work lifting / lowering speed) can be selected as a slow speed by adjusting the moving speed of the moving weight by the driving means. Therefore, when the weight of the work changes or when the work is transferred It is possible to easily cope with a change in time. Note that the drive unit of the weight moving means for moving the moving weight may be any of a motor, a hydraulic or pneumatic cylinder, or the like.

  According to a second invention (invention of claim 2), in the first invention, the weight moving means has a length in a direction orthogonal to a length direction of the swing support shaft and is on the outer periphery. One drive screw is formed on the moving weight, and the other screw formed on the moving weight is fixed to the moving weight and the other screw is formed on the moving weight or the moving weight itself. The other screw part screwed by the screw and a drive motor for rotating the drive shaft forward and backward are provided.

  In the second invention, the weight moving means is fixed to the moving weight and a drive shaft having a length in a direction perpendicular to the length direction of the swinging support shaft and one screw threaded on the outer periphery. A moving member in which the other screw screwed to the one screw is screwed or the other screw part formed on the moving weight itself and screwed to the one screw, and the drive shaft are moved forward and backward. Since the rotating motor is provided, the swing frame body can be adapted to the case where the weight of the workpiece changes or the workpiece delivery time is changed by controlling the rotational speed of the driving motor. Can be easily adjusted.

  According to a third invention (invention of claim 3), in any one of the first and second inventions, a fixed weight is provided on a side opposite to the workpiece placing member side of the swing frame body. It is characterized by being fixed.

  In the third aspect of the invention, since the fixed weight is fixed to the side opposite to the workpiece mounting member side of the swinging frame body, the propulsion that moves the moving weight by reducing the weight of the moving weight. The force can be made smaller. The weight R of the fixed weight is equal in the amount of movement of the moving weight on the workpiece placing member side and the opposite side, and the mass of each swing frame body portion on the workpiece placing member side and the opposite side is the same. If equal, it is heavier than the weight obtained by subtracting the weight (Qb) of the moving weight from the weight (P) of the workpiece mounting member including the workpiece (to raise the workpiece mounting member side), or the workpiece including the workpiece When it is lighter than the weight obtained by adding the weight (Qb) of the moving weight to the weight P of the mounting member (to lower the workpiece mounting member side), that is, in the expression “P−Qb <R <P + Qb” Since the swing frame swings, the weight (Qb) of the moving weight can be reduced.

  For example, when the weight (P) of the workpiece mounting member including the workpiece is set to 30 kg and the weight (Qa) of the moving weight is set to 40 kg when there is no fixed weight and only the moving weight is swung, the weight of the moving weight is set. (Qa) The workpiece placement member can be lifted by 10 kg obtained by subtracting 30 kg of the workpiece placement member weight (P) 30 kg from 40 kg and moved to the workpiece placement member weight (P) 30 kg including the workpiece. The workpiece mounting member can be lowered by 70 kg obtained by adding 40 kg of the weight (Qa) of the weight.

  On the other hand, when the fixed weight is provided, the same swinging condition as that of the moving weight alone is set. For example, the weight (P) of the workpiece mounting member including the workpiece (P) 30 kg, the weight of the moving weight (Qb) ) If the weight is set to 10 kg and the weight (R) 30 kg of the fixed weight, the weight of the workpiece mounting member including the workpiece (from 40 kg weight obtained by adding 10 kg of the weight (Qb) of the moving weight to 30 kg of the fixed weight (R) ( P) The workpiece mounting member can be raised by 10 kg minus 30 kg, and fixed from a weight of 40 kg obtained by adding 10 kg of the weight (Qb) of the moving weight to 30 kg of the workpiece mounting member including the workpiece (P). The workpiece placing member can be lowered by 10 kg obtained by subtracting 30 kg of the weight (R) of the weight.

  Therefore, the weight of the moving weight (Qb) of 10 kg when the fixed weight is used may be ¼ of the weight of the moving weight (Qa) of 40 kg when the fixed weight is not used. The driving force for driving the moving weight can be reduced to one-fourth, and when using a fixed weight, the load to be raised and the load to be lowered are made substantially uniform, The ascending speed and the descending speed can be made substantially the same. Thus, for example, when controlling the ascent and descent speed of the workpiece mounting member using a damper member or the like, there is no need to separately install a damper member or the like on the ascending side and the descending side, and one damper member It is possible to easily control the speed by such means.

  According to a fourth invention (invention according to claim 4), in the invention according to any one of the first, second and third inventions, the swing support shaft is fixed to a midway part on the side of the swing frame body. In addition, a column member on which the first rotation shaft is supported is provided above the fixed position of the swing support shaft, and a hanging arm is provided on the workpiece mounting member. The lower arm has a lower end pivotably coupled to the swing frame body via a second rotation shaft, and one end of the upper end side of the droop arm has the first rotation shaft. The other end of the pivot arm that is pivotally connected to the support member via the third pivot shaft is pivotally connected via a third pivot shaft, and is pivoted from the first pivot shaft. The distance from the moving support shaft to the distance from the second rotating shaft to the third rotating shaft should be the same. And between the swing support shaft and the second rotation shaft and between the first rotation shaft and the third rotation shaft are equal to each other. And parallel to each other.

  In the fourth aspect of the invention, the distance from the first rotation shaft to the swing support shaft and the distance from the second rotation shaft to the third rotation shaft are equal to each other. And between the swinging support shaft and the second rotation shaft and between the first rotation shaft and the third rotation shaft, respectively. Since it is configured to be parallel to each other (a so-called four-joint parallel link mechanism), when the workpiece mounting member is raised or lowered by swinging of the swinging frame body, the posture of the workpiece mounting member is changed. It can move while maintaining a constant state.

  According to a fifth invention (invention of claim 5), in the invention according to any one of the first, second, third and fourth inventions, the swing frame body and a damper disposed in the vicinity of the swing frame body. A damper member for controlling the swing speed of the swing frame body is provided between the support member and the damper member. The damper member is filled with a fluid in a sealed cylinder and circulates the fluid to the outside. A cylinder body having a port, a piston that reciprocates between the one and the other ports in the cylinder body, a piston rod that reciprocates the piston, a fluid storage container that stores fluid, One and the other connecting pipe for allowing fluid to flow between the fluid storage container and one and the other ports of the cylinder body, and the bottom of the piston rod or the cylinder body swings to the swing frame body Possible While being supported, bottom or the piston rod of the cylinder body is characterized in that formed by swingably supported on the damper supporting member.

  In the fifth aspect of the invention, a damper member for controlling the swinging speed of the swinging frame body is provided between the swinging frame body and the damper support member disposed in the vicinity of the swinging frame body. Since the bottom part of the piston rod or the cylinder body constituting the damper member is swingably supported by the swing frame body, and the bottom part of the cylinder body or the piston rod is swingably supported by the damper support member, With respect to the swinging speed of the swinging frame body determined by setting each weight of the moving weight and / or the fixed weight, or by setting the moving speed of the moving weight, the swinging frame body swings by the buffering action of the damper member. The moving speed can be controlled. The swing speed of the swing frame can be controlled to an optimum speed by, for example, installing a flow rate adjusting valve in the middle of the one or other connecting pipe and controlling the fluid flow rate. it can. The fluid is preferably liquid oil having a predetermined viscosity.

  In the workpiece lifting / lowering device according to the first aspect of the invention (invention of claim 1), the swinging motion of the swinging frame is caused by the weight of the moving weight and the swinging of each of the workpiece placing member side and the opposite side. It is swung according to the balance or unbalance relationship with the weight of the moving frame body. Therefore, the swinging swinging frame body can be stopped by an extremely small resistance force, and, for example, an operator's fingers are sandwiched between the swinging frame body swinging and the surrounding members. However, it is possible to stop the swinging frame body during the swinging motion without cutting fingers, so that safety can be improved and a protective cover or the like is provided in the vicinity of the swinging frame body. It is not necessary to install in

  In addition, since the workpiece placement member is moved up and down by the movement of the movable weight, the driving force required for raising and lowering the workpiece may be the propulsive force required to move the movable weight, compared to the case where the workpiece placement member is directly raised and lowered. Since it can be driven with a small amount of power, it is possible to reduce the size and cost of the drive unit and reduce power consumption. The swinging speed of the swinging frame (work lifting / lowering speed) can be selected by adjusting the moving speed of the moving weight by the driving means. Therefore, when the weight of the work changes or when the work is delivered When time changes, it can respond easily and can aim at the versatility of an apparatus.

  In the second invention (the invention described in claim 2), the weight moving means has a length in a direction perpendicular to the length direction of the swing support shaft, and one screw is screwed on the outer periphery. The drive shaft and the other screw that is fixed to the moving weight and screwed into the one screw, and the other screw that is formed on the moving weight itself and screwed into the one screw. And a drive motor that rotates the drive shaft forward and backward, and controls the rotation speed of the drive motor to handle changes in workpiece weight and workpiece delivery time. Since the swinging speed of the swinging frame body (work lifting / lowering speed) can be easily adjusted, it is easy to handle when the weight of the work changes or when the delivery time of the work is changed. And versatility of the apparatus can be achieved.

  In the third invention (the invention described in claim 3), since the fixed weight is fixed to the opposite side of the swing frame body to the workpiece mounting member side, the weight of the moving weight is reduced. Thus, the driving force for driving the moving weight can be further reduced, and the driving portion of the weight moving means can be reduced in size and the power consumption can be reduced. In addition, since the ascending speed and the descending speed of the workpiece placing member can be made substantially the same, when the ascending and descending speed of the workpiece placing member is controlled using a damper member or the like, the ascending side and the descending side In addition, it is not necessary to separately install a damper member or the like, and the speed can be easily controlled by one damper member or the like, so that the apparatus can be simplified. Furthermore, when the weight of the workpiece to be lifted / lowered (especially when the weight of the workpiece becomes high), it is not necessary to replace the cylinder or the drive motor as in the conventional case, and the fixed weight is simply used. It is enough to change only the weight.

  In the fourth invention (the invention described in claim 4), the so-called four-joint parallel link mechanism causes the workpiece mounting member to move in the posture of the workpiece mounting member when the workpiece mounting member is raised or lowered by the swing of the swing frame body. Therefore, it is not necessary to provide a workpiece drop-off prevention member or the like placed on the workpiece placement member, and the structure can be simplified.

  In the fifth invention (the invention according to claim 5), since the swing frame body is provided with a damper member for controlling the swing speed of the swing frame body, the movable weight and / or the fixed weight is provided. If the swing speed of the swing frame determined by each weight setting or the setting of the moving speed of the moving weight is too fast, an appropriate speed is obtained by the buffering action of the damper member, and the operator's finger It is possible to improve safety when the workpiece is sandwiched, and to prevent the workpiece from dropping or dropping from the workpiece placing member due to vibration, speed, or the like in the lifting operation.

  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the best mode of a workpiece lifting / lowering apparatus for carrying out the present invention will be described in detail with reference to the drawings. As shown in FIG. 1, the workpiece lifting / lowering device 1 includes a workpiece placement member 2 on which a workpiece W is placed, and the workpiece placement member 2 in a state where the posture of the workpiece placement member 2 is held constant. A workpiece elevating mechanism 3 that elevates and lowers, and the work elevating mechanism 3 includes an oscillating frame body 5 that supports the workpiece mounting member 2 and an oscillating support that supports the oscillating frame body 5 so as to be able to oscillate. A shaft 46, a moving weight 33 shown in FIG. 4 arranged in the swinging frame body 5, and a weight movement for moving the moving weight 33 in the direction of the workpiece placing member 2 and in the opposite direction. And means 6.

  As shown in FIG. 4 or FIG. 5, the swing frame 5 has one frame 11 and the other frame 12 erected on the side surface, and one end of these frames 11 and 12 (on the workpiece mounting member 2 side). One end side connecting plate 13 is connected to the end portion, and the other end side connecting plate 14 is connected to the other end (the end portion on the opposite side of the workpiece mounting member 2), thereby forming a square frame. ing. In addition, reinforcing plates 16, 17, 18, and 19 for reinforcement and a motor support plate 20 that supports a drive motor 27 described later are screwed to the one frame 11 and the other frame 12. It is connected by. A drive shaft 22 having a ball male screw 22b threaded on the outer periphery is laterally provided at a central position from one end side to the other end side in the swing frame body 5. The drive shaft 22 is connected to one end side. One end side is rotatably supported by a bearing 23 screwed inside the plate 13, and the other end side is rotatably supported by a bearing 24 screwed to the upper surface of the motor support plate 20.

  An L-shaped angle 26 is screwed to the lower surface of the motor support plate 20 (see FIG. 5), and a speed reducer 29 constituting the drive motor 27 is fixed to the side surface of the angle 26. A brushless motor 28 that rotates the drive shaft 22 via the speed reducer 29 is attached to the input side of the machine 29. The other end 22 a of the drive shaft 22 is connected to the output shaft 29 a of the speed reducer 29 by the joint 31, and the drive shaft 22 rotates integrally with the output shaft 29 a of the speed reducer 29. The drive motor is not limited to a brushless motor, and may be an induction motor, a servo motor, a synchronous motor, or the like, for example.

  Further, the ball male screw 22b of the drive shaft 22 is screwed with a moving member 32 in which a ball female screw 32b is screwed on the inner periphery, and a moving weight 33 (described later) is bolted to the flange portion 32a of the moving member 32. The moving weight 33 is guided by the linear guide mechanisms 7 and 7 shown in FIG. 4 or 6 and moves together with the moving member 32. The linear guide mechanisms 7 and 7 include slide rails 37 and 37 that are fixed inside the one frame 11 and the other frame 12, and sliders 38 and 38 that are guided and moved by the slide rails 37 and 37. The lower side inner side formed in an L shape is fixed to the lower surface of the moving weight 33, and the sliders 38 are fixed to the vertical side outer surface. When the drive shaft 22 is rotated via the joint 31 by driving the brushless motor 28, the moving weight 33 screwed to the moving member 32 is moved by the sliders 38 and 38 and the slide rails 37 and 37. It is guided straight and moves from the vicinity of the bearing 23 to the vicinity of the bearing 24.

  Further, fixed weights 41, 42, 42, and 43 are arranged at the other end of the swing frame 5 (the end opposite to the workpiece mounting member 2) as shown in FIG. 4 or FIG. The fixed weight 41 is screwed to the upper surfaces of the one frame 11 and the other frame 12 with bolts (not shown). The fixed weights 42 and 42 are screwed to the lower surfaces of the one frame 11 and the other frame 12 with bolts (not shown), but are divided into two parts to prevent interference with the drive motor 27 shown in FIG. Yes. The fixed weight 43 is screwed to the lower surfaces of the one frame 11 and the other frame 12 with bolts (not shown) so as to cover the fixed weights 42 and 42 and is divided into two parts. These are supported by four bolts 44 so as not to slip.

  As shown in FIG. 4, the swing support shafts 46, 46 that support the swing frame body 5 configured as described above so as to swing are substantially at the center of one frame 11 and the other frame 12. Each outer surface is screwed with two bolts 47 each. These swinging support shafts 46 and 46 are supported so as to be swingable by a bearing 51 screwed to the right side surface of the support member 49 shown in FIG. 1, and the support member 49 is fixed to the upper end of the apparatus frame 50. It is erected on the device base 48. Accordingly, the swing frame body 5 has a swinging position of the lower end shown in FIG. 1 and a swing of the rising end shown in FIG. Swing freely between positions. The swinging angle of the swinging frame 5 is such that the lower surface of one frame 11 or the other frame 12 is in contact with the downward angle restricting member 45A or the upward angle restricting member 45B shown in FIG. It is regulated by touching.

  Next, the workpiece mounting member 2 on which the workpiece W is mounted is in a state in which the posture is fixed even if the swinging body 5 swings on one end side of the swinging frame body 5 shown in FIG. 1 or 2. 4, bearings 52, 52 are screwed to the outside of one frame 11 and the other frame 12 shown in FIG. 4, and second rotation shafts 53 of these bearings 52, 52 are provided. The hanging arms 54, 54 are supported by 53 so as to be swingable. The mounting base plate 56 shown in FIG. 1, FIG. 2 or FIG. 3 is fixed to the upper ends of the hanging arms 54, 54, and a stay 57 is attached to the mounting base plate 56 and the hanging arms 54, 54. It is spanned and the mounting table 56 is reinforced. In addition, roller members 58 and 58 for placing the workpiece W and sliding the workpiece W are installed on the upper surface side of the mounting base plate 56, and the workpiece W is not dropped on both sides of the roller members 58 and 58. Work guides 59, 59 are attached.

  Further, a mechanism for detecting that the workpiece W is placed is disposed above the placement table 56 shown in FIG. 1, FIG. 2, or FIG. 3, and this mechanism is mounted on the bracket 66 above the placement table 56. The proximity switch 67 is attached via the, and it is detected that the workpiece W is placed on the placement base plate 56 and is close to the proximity switch 67. For example, when the workpiece W is placed at the lowered position shown in FIG. 1, the weight moving means 6 described later is driven by this detection signal, and the placement base plate 56 is moved to the raised position shown in FIG. The signal to make it go out. The same applies to the case where the workpiece W is transported from the raised position to the lowered position.

  Further, a mechanism for restricting the mounted work W from moving in the forward and backward directions is arranged above the mounting table plate 56 shown in FIG. 1, FIG. 2, or FIG. A bracket 69 is mounted above the plate 56, and a hollow bearing 75 is rotatably supported via a bolt shaft 70 at an upper position thereof. A rotating plate 78 is integrally fixed to the hollow bearing 75 so as to be rotatable about the bolt shaft 70. The left rear side of the rotating plate 78 shown in FIG. 79 is connected to the upper end of the column member 49.

  The rotating plate 78 is longer and heavier on the front side on the right side than the rear side on the left side of the drawing centering on the axis of the bolt shaft 70, so that the string member 79 is not stretched. In the state, the front side is lowered and the rear side is raised, but the lower end position on the front side is positioned by a stopper (not shown) at the horizontal position shown in FIG. Further, at the position shown in FIG. 2, the length of the string-like member 79 is set so that the string-like member 79 can lower the rear side of the rotating plate 78 as shown in the figure.

  Therefore, when the workpiece placing member 2 shown in FIG. 1 is at the lower end position, the workpiece W from the downstream process (not shown) is placed on the roller member 58 of the workpiece placing member 2, and the left backward side shown in FIG. When the workpiece W is transferred from the forward side to the right side, the workpiece W comes into contact with the front end surface of the rotating plate 78 and the forward end of the workpiece W is positioned. In the state shown in FIG. Since it is released from the workpiece W, it can be carried out to an upstream process (not shown). When the workpiece placement member 2 shown in FIG. 2 is at the raised end position, the rotating plate 78 is horizontal, and when the workpiece placement member 2 shown in FIG. 1 is at the lowered end position, the front of the turning plate 78 is raised. In order to be released from W, the string-like member 79 is hooked on the front side of the rotating plate 78, and the string-like member 79 is not stretched in the state shown in FIG. What is necessary is just to comprise so that it may be stretched in the state shown in.

  On the other hand, a check member 80 is mounted above the mounting base plate 56 at an intermediate position between the roller members 58 and 58 shown in FIG. 1 or FIG. An upper inclined surface 80a is formed on the upper surface of the inclined surface 80a toward the forward side, and a top portion (reference numeral is omitted) of the inclined surface 80a is formed higher than the lower surface of the workpiece W. In FIG. 3, when the workpiece W is transferred from a downstream process (not shown) and reaches the check member 80, the workpiece W is transferred to the forward side along the inclined surface 80 a, and the rear side of the workpiece W is inclined to the check member 80. The workpiece W is moved forward without moving to the rear side or the front side by moving forward from the top of the surface 80a and the front side of the workpiece W abuts the front end surface of the rotating plate 78. Or it can be lowered. When the workpiece W is transferred from the right side shown in FIG. 3 to the left side, the position of the rotary plate 78 and the check member 80 may be changed to the opposite side in the drawing.

  Next, the mechanism for maintaining a constant posture of the workpiece placing member 2 includes the swing support shaft 46, the first rotation shaft 61 above the swing support shaft 46, and the second The rotation shaft 53, the third rotation shaft 62 above the second rotation shaft 53, the hanging arm 54, and the rotation arm 63 that connects the hanging arm 54 and the column member 49. It is composed of a four-bar parallel link mechanism. Among these, the first rotation shaft 61 is inserted through the bearing bracket 64 screwed to the support member 49, and the third rotation shaft 62 is positioned below the mounting base plate 56 of the rotation arm 63. It is inserted. The rotation arm 63 is formed in a substantially L shape to prevent the mounting base plate 56 from interfering, and one end of the rotation arm 63 is swingably connected to the column member 49 via the first rotation shaft 61. The other end is slidably connected to the drooping arm 54 via the third rotation shaft 62.

  The distance between the first rotation shaft 61 and the swing support shaft 46 and the distance between the second rotation shaft 53 and the third rotation shaft 62 are equal to each other. They are parallel to each other, and the distance from the swing support shaft 46 to the second rotation shaft 53 is equal to the distance from the first rotation shaft 61 to the third rotation shaft 62. In addition, a four-joint parallel link mechanism is configured which is parallel to each other and maintains the posture of the workpiece placing member 2 constant.

  Next, the mechanism for detecting the rising end and the lowering end of the workpiece placing member 2 has a pad 68 protruding from the other end side of one frame 11 constituting the swing frame body 5. A mounting plate 71 is screwed onto the column member 49 corresponding to the end, and a lowering proximity switch 72 is mounted at a position facing the pad 68 at the tip of the mounting plate 71, and the lower end of the pad 68 A mounting plate 73 is threadedly attached to the column member 49 corresponding to, and a rising proximity switch 74 is mounted at a position facing the pad 68 at the tip of the mounting plate 73. A pad 68 on the other end side of one frame 11 is used to stop the swing frame 5 at the rising end position or the falling end position of the work placing member 2 close to the proximity switch 72 or 74. Give a signal.

  A mounting plate 76 is screwed to the column member 49 at an intermediate position between the descending proximity switch 72 and the ascending proximity switch 74, and a positioning hole 76 a is pivotally supported at the tip of the mounting plate 76. A holder 76b, which is drilled at the same position as the distance from the shaft 46 to the positioning hole 68a drilled in the pad 68 and has a hollow hole (not shown), is projected, and the positioning pin 77 is held in the hollow hole. Has been. Then, when the swing angle of the swing frame 5 is at a neutral position (not shown), the shaft portion 77a of the positioning pin 77 is passed through the positioning hole 76a of the mounting plate 76 and the positioning hole 68a of the pad 68, thereby The swing angle of the body 5 can be kept neutral.

  Next, the damper member 8 for controlling the swing speed of the swing frame 5 is installed on the device base 48 shown in FIG. 1 or FIG. 2, and this damper member 8 is shown in FIG. As shown in the figure, a cylindrical body 82a hermetically sealed by a lid 83 is filled with hydraulic fluid (the fluid of the present invention), and one port 82b and the other port 82c are formed to distribute the hydraulic fluid to the outside. A cylinder body 82, a piston 84 reciprocating between one port 82b and the other port 82c in the cylinder body 82, a piston rod 86 attached to the piston 84 and reciprocatingly moving the piston 84, The hydraulic oil storage container 87 shown in FIG. 1, FIG. 2, or FIG. 3 that stores hydraulic hydraulic oil, and is connected to the hydraulic oil storage container 87 and one port 82b and the other port 82c of the cylinder body 82, It is constituted by a dynamic oil reservoir 87 and one port 82b and the other between the port 82c one connection pipe 88 for circulating the hydraulic oil in and the other connection pipe 89 of the cylinder body 82.

  With this configuration, for example, when the piston 84 is lifted from the position shown in FIG. 7A, the hydraulic hydraulic oil filled in the cylinder body 82 corresponds to the amount of movement of the piston 84 and is connected to one connecting pipe 88. The hydraulic fluid stored in the hydraulic oil storage container 87 flows into the cylinder body 82 through the other connecting pipe 89. At this time, due to the viscous resistance when the hydraulic fluid flows, the buffering action due to the change in the flow velocity and pressure when the hydraulic fluid flows from the cylinder body 82 into the one connection pipe 88 or the other connection pipe 89. It is possible to control to attenuate the swing speed of the swing frame. Therefore, the control of the swing speed is performed by, for example, installing a flow rate adjustment valve (not shown) between one port 82b or the other port 82c of the cylinder main body 82 and the hydraulic oil storage container 87 so that the hydraulic hydraulic fluid flows. It can be arbitrarily controlled by adjusting the flow rate and pressure of.

  The damper member 8 is arranged such that support shafts 82d and 82d project from the lower end side of the cylinder body 82, and the forked shafts 91a and 91a of the support base 91 are supported by the support shafts 82d and 82d (the support shaft 82d is attached to the damper member 8). The support body 91 is fixed to the apparatus base 48 via a bracket 92 shown in FIG. 1 or 2. A hinge member 93 is screwed to the male thread portion 86a threaded on the upper end portion of the piston rod 86, and bifurcated portions 93a and 93a are formed on the upper portion of the hinge member 93. The bifurcated portions 93a and 93a A support shaft 94 is formed so as to be inserted therethrough.

  On the other hand, a bracket 96 is screwed to the outer surface of one frame 11 shown in FIG. 1 or FIG. 2, and a support shaft 94 can be inserted into the tip of the bracket 96 on the left side shown in FIG. A U-shaped protruding piece 96a is formed. The hinge member 93 is supported by the bracket 96 so as to be swingable by a support shaft 94. Accordingly, the center of the support shaft 94 of the damper member 8 is such that one end of the swing frame 5 (the end portion on the workpiece mounting member 2 side) is the position of the descending end shown in FIG. 1 and the position of the ascending end shown in FIG. When the cylinder body 82 is swung, the cylinder body 82 is swung by the support shaft 82d and the support shaft 94 in response to the circular motion. Can do.

  Next, the raising / lowering procedure and effect | action of the workpiece raising / lowering apparatus 1 comprised as mentioned above are demonstrated. The workpiece elevating device 1 of the present invention can raise the workpiece W at the lowered position upward, or conversely, can lower the workpiece W at the elevated position downward. In the present embodiment, FIG. The case where the workpiece W placed on the workpiece placement member 2 at the lowered end position of the workpiece placement member 2 shown in the figure is raised to the raised end position shown in FIG. 2 will be described.

  First, the lower end position of the workpiece mounting member 2 shown in FIG. 1 is such that the moving weight 33 that moves in the swing frame 5 shown in FIG. The workpiece is moved to the workpiece placing member 2 side and the weight on the workpiece placing member 2 side, which is one end side (right side in the figure) of the swing frame body 5, is the work piece on the other end side (left side in the figure) of the swing frame body 5. When the weight of the swinging frame body 5 is larger than the weight on the opposite side of the mounting member 2, the swinging frame body 5 swings in the clockwise direction around the swinging support shafts 46 and 46. The lower surface of the frame 11 is brought into contact with the downward-side angle regulating member 45A shown in FIG.

  In order to lower the workpiece placing member 2, the drive motor 27 shown in FIG. 4 or 5 is driven to rotate the drive shaft 22 on which the ball male screw 22b is threaded via the joint 31, By rotating the drive shaft 22, the moving weight 33 is moved to one end side (the right side in the drawing) of the swing frame body 5 together with the moving member 32 in which the ball female screw 32 b screwed to the drive shaft 22 is screwed. The workpiece placement member 2 is lowered by the weight on the workpiece placement member 2 side becoming heavier than the weight on the opposite side of the workpiece placement member 2. Due to this lowering, the lower-side proximity switch 72 shown in FIG. 1 detects the passage of the pad 68 and stops the drive motor 27. Even when the drive motor 27 is stopped, the swing frame 5 continues to swing clockwise and comes into contact with the lower angle regulating member 45A, thereby positioning the lower end position of the workpiece mounting member 2. The

  Here, the weight on the workpiece mounting member 2 side includes the swing frame body 5 and the weight moving means 6, the workpiece mounting member 2, the moving weight 33, etc. on the right side of the swing support shafts 46, 46 (workpiece weight 33). The weight on the opposite side of the workpiece placing member 2 includes the swinging frame body 5 and the weight moving means 6 on the left side of the swinging support shafts 46 and 46, fixed. The weights 41, 42, 43 and the like are included. Therefore, it is not essential that the moving distance of the weight moving means 6 is moved to the right end or the left end shown in FIG. 4 or FIG. 5, and any position is determined depending on the weight balance between the workpiece placing member 2 side and the opposite side. Just move to. Further, the speed of raising or lowering the workpiece placing member 2 can be set by the difference in weight and the rotational speed of the drive shaft 22.

  Next, in the state where the workpiece placement member 2 is positioned at the lowered end position shown in FIG. 1 as described above, the workpiece W from the downstream process (not shown) is transferred by the transfer means (not shown), and the workpiece placement member 2 is placed on the workpiece placement member 2. When the check member 80 is reached, the workpiece W is transferred to the forward side along the inclined surface 80a, and the rear side of the workpiece W advances forward from the top of the inclined surface 80a of the check member 80. When the front side of the workpiece W comes into contact with the front end surface of the rotating plate 78, the workpiece W is positioned so that the rear side and the front side do not shift.

  Next, the drive motor 27 shown in FIG. 4 is driven to move the moving weight 33 from the illustrated workpiece mounting member 2 side to the fixed weights 41, 42, and 42 on the opposite side, thereby moving the workpiece mounting member 2. When the weight on the opposite side of the workpiece placing member 2 is heavier than the weight on the side, the swing frame 5 is swung in the counterclockwise direction shown in FIG. 1 or FIG. 2, and the workpiece placing member 2 is raised. Let The ascending proximity switch 74 detects the passage of the pad 68 and stops the drive motor 27.

  Even when the drive motor 27 is stopped, the swing frame 5 continues to swing counterclockwise and comes into contact with the rising angle regulating member 45B, thereby positioning the rising end position of the workpiece mounting member 2. Is done. Here, the weight on the workpiece mounting member 2 side includes the swing frame body 5 and the weight moving means 6, the workpiece mounting member 2, the workpiece W, etc. on the right side of the swing support shafts 46, 46, The weight on the opposite side of the workpiece mounting member 2 includes the swing frame body 5 and the weight moving means 6, the fixed weights 41, 42, 43, the moving weight 33, etc. on the left side of the swing support shafts 46, 46. . 2 is rotated counterclockwise by the tension of the string-like member 79, the positioning of the forward end of the work W is released, and the work W is It will be ready to move forward.

  Next, in a state where the workpiece placing member 2 is positioned at the rising end position shown in FIG. 2 as described above, the workpiece W is transferred to the upstream process by a transfer means (not shown).

  Next, the movable weight 33 shown in FIG. 4 or FIG. 5 is moved to the work placement member 2 side on the right side of the swing support shafts 46, 46 at the rising end position of the work placement member 2 shown in FIG. Since the weight on the workpiece placing member 2 side (not including the weight of the workpiece W) is heavier than the weight on the opposite side of the workpiece placing member 2, the swing frame 5 is swung on the swing support shafts 46, 46. 1 and the lower surface of one frame 11 constituting the swing frame 5 abuts on the downward-side angle regulating member 45A shown in FIG. The lower end position is positioned. Thus, one cycle of the lifting / lowering procedure of the workpiece lifting / lowering device 1 is completed, and this is repeated.

  Next, the operation in this embodiment will be described. Since the workpiece placement member 2 is not moved up and down directly by the movement of the movable weight 33, the driving force required for raising and lowering the workpiece is the propulsion required for the movement of the movable weight 33. It may be a force, and can be driven with less power than when the workpiece placing member 2 is moved up and down directly. Further, since the fixed weights 41, 42, 43 are fixed to the side opposite to the workpiece mounting member 2 side of the swinging frame body 5, the weight of the moving weight 33 is reduced, and the moving weight 33 is attached. The power to be moved can be further reduced.

  Further, the swinging motion of the swinging frame body 5 is swung due to the balance or unbalanced relationship between the workpiece mounting member 2 side and the opposite side, which is changed by the movement of the movable weight 33. The swinging frame body 5 can be stopped by an extremely small resistance force. That is, even if, for example, an operator's finger is sandwiched between the swinging frame body 5 and a peripheral member during the swinging motion, the swinging frame during the swinging motion is not cut. The body 5 can be stopped.

  Further, the weight moving means 6 shown in FIG. 4 or 5 includes a drive shaft 22 in which a ball male screw 22b is threaded, a moving member 32 in which a ball female screw is threaded, and a brushless that rotates the drive shaft 22 forward and backward. Since the motor 28 is provided, the swing speed of the swing frame 5 (the lifting speed of the workpiece W) can be selected as a slow speed by adjusting the moving speed of the moving weight 33 according to the rotational speed of the brushless motor 28. Therefore, the swinging speed of the swinging frame body 5 (the lifting speed of the work W) can be easily adjusted when the weight of the work W changes or when the delivery time of the work W is changed. can do.

  Further, the mechanism for maintaining the posture of the workpiece placing member 2 at a constant level is from the first rotation shaft to the swing support shaft 46 shown in FIG. 1 or FIG. 2 and from the second rotation shaft 53 to the first rotation shaft. The distance between the third rotation shaft 62 and the third rotation shaft 62 is equal to each other and parallel to each other, and between the swing support shaft 46 and the second rotation shaft 53, the first rotation. Since the moving shaft to the third rotating shaft 62 are equal to each other and are constituted by a four-joint parallel link mechanism configured to be parallel to each other, the workpiece mounting member 2 swings. When the frame body 5 is raised or lowered by swinging, the workpiece placing member 2 can be moved while maintaining a constant posture.

  Further, the swing frame 5 shown in FIG. 1 or 2 is provided with a damper member shown in FIG. 7 for controlling the swing speed of the swing frame 5 and a piston rod 86 constituting the damper member is provided. Since the bottom of the cylinder body 82 is swingably supported by the swing frame body 5 and is swingably supported by the apparatus base 48, the moving weight 33 and / or the fixed weights 41, 42, 43 are supported. The swinging speed of the swinging frame body 5 is set by the buffering action of the damper member 8 with respect to the swinging speed of the swinging frame body 5 determined by the setting of the respective weights or by the setting of the moving speed of the moving weight 33. Can be controlled. The swing speed of the swing frame 5 is adjusted, for example, by installing a flow rate adjusting valve (not shown) in the middle of the one connection pipe 88 or the other connection pipe 89 to thereby adjust the flow velocity / pressure of the flowing hydraulic hydraulic fluid. Thus, the rocking speed can be controlled to an optimum speed by arbitrarily controlling.

  The driving means of the weight moving means is not limited to the above driving motor, and may be a hydraulic or pneumatic cylinder or the like. Further, the fluid of the damper member is not limited to the oil-based hydraulic fluid, but may be a water-soluble fluid. Furthermore, even in the case of the oil-based fluid, the fluid is not limited to the hydraulic fluid. Also, lubricating oil such as gear oil may be used.

It is a front view in the descent | fall end position of the workpiece | work mounting member of the workpiece | work raising / lowering apparatus which concerns on embodiment of this invention. It is a front view in a raise end position of a work placement member. It is a right view of the workpiece raising / lowering apparatus shown in FIG. It is an AA arrow top view of the rocking | fluctuation frame body shown in FIG. FIG. 5 is a cross-sectional view of the swing frame body shown in FIG. It is CC sectional view taken on the line of the rocking | fluctuation frame shown in FIG. The damper member is shown, (a) is a longitudinal sectional view of the damper member shown in FIG. 1, (b) is a right side view of (a).

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Work raising / lowering device 2 Workpiece mounting member 3 Work raising / lowering mechanism 5 Oscillating frame body 6 Weight moving means 7 Straight guide mechanism 8 Damper member 11, 12 Frame 22 Drive shaft 22b Ball male screw 27 Drive motor 32 Moving member 32b Ball female screw 33 Movement Weights 41, 42, 43 Fixed weights 46, 46 Oscillating support shaft 48 Device base 49 Column member 53 Second rotation shaft 54 Suspension arm 61 First rotation shaft 62 Third rotation shaft 63 Rotation arm 82 Cylinder body 82a Cylinder 82b, 82c Port 84 Piston 86 Piston rod 87 Hydraulic oil storage container 88, 89 Connection pipe W Workpiece

Claims (5)

A workpiece placement member on which the workpiece is placed;
A workpiece lifting mechanism that lifts and lowers the workpiece placement member in a state in which the posture of the workpiece placement member is maintained,
The workpiece lifting mechanism includes a swinging frame body that supports the workpiece placement member, a swinging support shaft that swingably supports the swinging frame body, and a movable weight disposed in the swinging frame body. And a weight moving means for moving the moving weight to the workpiece placing member side and the opposite side thereof.   The weight moving means includes a drive shaft having a length in a direction orthogonal to the length direction of the swing support shaft and one screw threaded on the outer periphery, and the one screw fixed to the moving weight. A moving member in which the other screw is screwed, or the other screw portion formed on the moving weight itself and screwed to the one screw, and a drive motor for rotating the drive shaft forward and backward The workpiece lifting / lowering device according to claim 1, comprising:   The workpiece lifting / lowering apparatus according to claim 1, wherein a fixed weight is fixed to a side of the swinging frame opposite to the workpiece mounting member side. A support column in which the swing support shaft is fixed in the middle of the swing frame body, and a first rotation shaft is supported above the fixed position of the swing support shaft. A member is provided, and the work placing member is provided with a hanging arm,
A lower end of the drooping arm is rotatably connected to the swing frame body via a second rotation shaft, and one end of the drooping arm is connected to the first rotation shaft. And the other end of the pivot arm pivotably connected to the support member via the third pivot shaft, and the other end of the pivot arm.
The distance from the first rotation shaft to the swing support shaft and the distance from the second rotation shaft to the third rotation shaft are equal to each other and are parallel to each other. In addition, the distance from the swing support shaft to the second rotation shaft is equal to the distance from the first rotation shaft to the third rotation shaft, and they are parallel to each other. The workpiece lifting / lowering device according to claim 1, 2 or 3, wherein Between the swing frame body and a damper support member disposed in the vicinity of the swing frame body, a damper member for controlling the swing speed of the swing frame body is provided,
The damper member includes a cylinder body having one and other ports that are filled with a fluid in a sealed cylinder and that circulates the fluid to the outside, and a space between the one and the other ports in the cylinder body. A piston that reciprocates, a piston rod that reciprocates the piston, a fluid storage container that stores fluid, and one and the other that allow fluid to flow between the fluid storage container and one and the other ports of the cylinder body With connecting pipes,
The piston rod or the bottom of the cylinder body is swingably supported by the swing frame, and the bottom of the cylinder body or the piston rod is swingably supported by the damper support member. 5. The work lifting device according to claim 1, 2, 3, or 4.