JP2010149269A - Moving device and loader device of working tool - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a moving device of a working tool with a simple constitution, moving a working tool in a two-axis direction with a common drive source. <P>SOLUTION: This traveling device 1 moves a working tool 2 along a rail 3, and moves it in a direction crossing with the rail 3. The device is provided with: first and second traveling bodies 4, 5, on which traveling drive sources 7, 8 are mounted and which are traveling on the rail 3; a central traveling body 6 positioned between the first and second traveling bodies 4 and 5 and traveling on the rail 3; and a moving member 12, which is provided to the central traveling body 6 movably in the direction crossing with a direction of the rail 3 and to which the working tool 2 is mounted. One end of a winding body 18 is fixed to the first traveling body 4, and an intermediate part thereof is wound at a first guide point 15 provided to the central traveling body 6, at an intermediate guide point 17 provided to the moving member 12, and at a second guide point 16 provided to the central traveling body 6, sequentially. The other end is fixed to the second traveling body 5. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a moving device for moving a work hand or the like of a loader device, and a loader device including a work hand moved by the moving device.

  2. Description of the Related Art Gantry loaders are widely used for supplying and discharging workpieces to and from machine tools such as lathes and conveying workpieces between a plurality of machine tools. For example, as shown in FIG. 9, the gantry loader device 91 is provided with a front / rear moving table 94 on a traveling body 93 that travels on a horizontally installed rail 92, and an elevating rod 95 can be moved up and down on the front / rear moving table 94. A work hand 96 is provided at the lower end of the lifting rod 95 to hold the work. A traveling drive source (not shown) for traveling the traveling body 93, a moving drive source 94 a for moving the back-and-forth moving table 94, and a lifting drive source (not shown) for lifting and lowering the lifting rod 95 are provided individually. The work hand 96 is moved in the three axial directions, ie, the X-axis direction, the Y-axis direction, and the Z-axis direction, by controlling these drive sources in conjunction with each other. As each drive source, a servo motor that is easily controlled is often used.

  As in the conventional case, the movement of the work hand 96 in each axial direction is performed by an individual driving source, and the driving source is required for the moving direction, and each driving source has a maximum output capacity in the moving direction. Cost. In addition, the servo motor is relatively heavy. For this reason, the weight of the entire loader device is heavy, and the operation efficiency is not so good. To solve this problem, the number of drive sources and the capacity can be reduced by causing the common drive sources 113 and 114 to move the work tool 102 such as a work hand in a plurality of axial directions as shown in FIG. A proposed proposal has been made (Patent Document 1).

In addition to this, conventionally, as shown in FIG. 11, a link mechanism 125 is provided between two traveling bodies 123, 124 that can travel on a rail 122, and the interval between both traveling bodies 123, 124 is changed, There has been proposed one that advances and retracts the work tool 126 in a direction orthogonal to the rail 122 via a link mechanism 125.
JP 2000-109773 A Japanese Patent Laid-Open No. 2000-210832

  The loader device 101 proposed in Patent Document 1 has a two-axis movement configuration in which a work tool 102 such as a work hand is moved in a vertical direction (Y-axis direction) and a horizontal direction (Z-axis direction). A Y-direction guide block 103 that guides the Y-direction guide block 103 so as to be movable in the axial direction, and a Z-direction guide rail member 104 that guides the Y-direction guide block 103 so as to be movable in the Z-axis direction. And a winding body 112 such as a belt is wound around pulleys 105 to 111 provided on the Z-direction guide rail member 104, and the winding body 112 is driven by a drive source 113 composed of two motors and the like that can rotate forward and reverse. It is made to drive by 114. By controlling the rotation of the two drive sources 113 and 114, the work tool 102 is moved in the Y-axis direction with respect to the Y-direction guide block 103, and the Y-direction guide block 103 is moved Z with respect to the Z-direction guide rail member 104. Move in the axial direction.

  As is apparent from the drawing, the proposed loader device 101 needs to be provided with the winding body 112 over the entire length of the Z-direction guide rail member 104. When the maximum movement distance of the work tool 102 in the Z-axis direction is short, there seems to be no problem, but when the maximum movement distance is long, for example, the work tool 102 is configured to move a long distance between a plurality of machine tools. In such a case, it is expected that the winding body 112 becomes too long, and a problem occurs in terms of movement accuracy, cost, maintenance management, and the like.

  Further, the device 121 proposed in Patent Document 2 can change the position of the work tool 126 in the direction orthogonal to the rail 122 by traveling of the two traveling bodies 123 and 124, but by traveling of the traveling bodies 123 and 124. Since the work tool 126 also moves in the direction along the rail 122, there is a problem that the work tool 126 cannot be moved in a direction perpendicular to the rail 122 at a position near the end of the rail 122.

SUMMARY OF THE INVENTION An object of the present invention is to provide a work tool moving device that can move a work tool in two axial directions with a common drive source and has a simple configuration.
Another object of the present invention is to efficiently move the work tool along the rail and in a direction crossing the rail.
Still another object of the present invention is to enable the work tool to be moved in a direction intersecting the rail at a position where the rail direction position is close to the rail end.
Still another object of the present invention is to provide a loader device that can move a work tool in two axial directions with a common drive source and has a simple configuration.

  The moving device for a working tool according to the present invention is a moving device that moves a working tool along a rail and moves in a direction crossing the rail, and is equipped with a traveling drive source and travels on the rail. First and second traveling bodies, a central traveling body that is located between the first and second traveling bodies and travels on the rail, and is movable in a direction intersecting the rail direction with the central traveling body. And a moving member to which the working tool is attached. One end is fixed to the first traveling body, and the intermediate portion is in the order of a first guide point provided on the central traveling body, an intermediate guidance point provided on the moving member, and a second guidance point provided on the central traveling body. A winding body is provided which is wound and the other end is fixed to the second traveling body.

  The mobile device having this configuration operates as follows. That is, by running the first and second traveling bodies that are equipped with a traveling drive source and are capable of traveling on their own, the central traveling body that is connected to the first and second traveling bodies by the wrapping body is associated therewith. It travels and the work implement provided in this central traveling body moves along a rail. Further, if the relative positions of the first and second traveling bodies are changed, the moving member moves relative to the central traveling body by changing the length between the first guide point and the second guide point of the winding body. The work tool attached to the moving member moves in a direction intersecting with the rail. The traveling of the first and second traveling bodies and the change of the relative positions of the first and second traveling bodies can be performed only by the traveling drive source mounted on the first and second traveling bodies. By making effective use of a small number of drive sources, the entire moving device can be reduced in weight and configuration. In addition, by cooperating the two travel drive sources, each travel drive source can be reduced in size.

In this invention, by making the first and second traveling bodies travel in the same direction and at the same speed, the work implement is moved along the rail, and the relative distance between the first and second traveling bodies is changed. By doing so, it is preferable to provide a movement control means for controlling each of the travel drive sources so as to move the working tool in a direction crossing the rail.
If the first and second traveling bodies are traveled in the same direction and at the same speed, the work tool is efficiently moved along the rails by the cooperation of the two traveling drive sources mounted on the respective traveling bodies. be able to. Further, if the relative distance between the first and second traveling bodies is changed, the work tool is efficiently moved in the direction intersecting the rails in cooperation with the two traveling drive sources mounted on the respective traveling bodies. be able to. The above operation can be performed with high accuracy by controlling each driving source by the movement control means.

Further, a lock mechanism capable of individually blocking the traveling of the first and second traveling bodies is provided, and the traveling of the other traveling body is inhibited by the locking mechanism by the movement control means. Each traveling drive source may be controlled to move the working tool in a direction intersecting the rail by moving the body.
The work tool can also be moved in a direction crossing the rail by running the other running body in a state where the running of one of the running bodies is blocked by the lock mechanism. In this case, the work implement can be moved at a rail direction position close to the rail end by preventing the traveling body on the rail end side from traveling.

  The loader device according to the present invention is a loader device including a work hand that is moved along a rail and moved in a direction crossing the rail by a moving device, and the moving device includes a driving source for traveling. A first traveling body mounted on the rail and traveling on the rail; a central traveling body positioned between the first traveling body and the second traveling body; and a rail direction on the central traveling body. And a movable member to which the work hand is attached. One end is fixed to the first traveling body, and the intermediate portion is in the order of a first guide point provided on the central traveling body, an intermediate guidance point provided on the moving member, and a second guidance point provided on the central traveling body. A winding body is provided which is wound and the other end is fixed to the second traveling body.

  According to this configuration, the work hand operates as follows by the moving device. That is, by running the first and second traveling bodies that are equipped with a traveling drive source and are capable of traveling on their own, the central traveling body that is connected to the first and second traveling bodies by the wrapping body is associated therewith. The work hand provided on the central traveling body moves along the rail. Further, if the relative positions of the first and second traveling bodies are changed, the moving member moves relative to the central traveling body by changing the length of the winding body between the first guide point and the second guide point. The work hand attached to the moving member moves in a direction crossing the rail. The traveling of the first and second traveling bodies and the change of the relative positions of the first and second traveling bodies can be performed only by the traveling drive source mounted on the first and second traveling bodies. By making effective use of a small number of drive sources, the entire moving device can be reduced in weight and configuration. In addition, by cooperating the two travel drive sources, each travel drive source can be reduced in size.

  The moving device for a working tool according to the present invention is a moving device that moves a working tool along a rail and moves in a direction crossing the rail, and is equipped with a traveling drive source and travels on the rail. First and second traveling bodies, a central traveling body that is located between the first and second traveling bodies and travels on the rail, and is movable in a direction intersecting the rail direction with the central traveling body. And a moving member to which the working tool is attached, one end of which is fixed to the first traveling body, an intermediate portion is a first guide point provided on the central traveling body, and an intermediate guide provided on the moving member. Since the winding body wound around the second guide point provided on the central traveling body and the other end fixed to the second traveling body is provided in a biaxial direction with a common drive source It is movable and has a simple configuration.

  By moving the first and second traveling bodies in the same direction and at the same speed, the working tool is moved along the rails, and the relative distance between the first and second traveling bodies is changed. In the case where movement control means for controlling each of the travel drive sources is provided so as to move the work tool in a direction crossing the rail, the movement of the work tool along the rail, and in the direction crossing the rail, The movement can be performed efficiently.

  Further, a lock mechanism capable of individually blocking the traveling of the first and second traveling bodies is provided, and the traveling of the other traveling body is inhibited by the locking mechanism by the movement control means. When controlling each driving source so that the work tool is moved in a direction crossing the rail by moving the body, the position in the rail direction is close to the rail end, and the work tool is It is moved in the intersecting direction.

  The loader device according to the present invention is a loader device including a work hand that is moved along a rail and moved in a direction crossing the rail by a moving device, and the moving device includes a driving source for traveling. A first traveling body mounted on the rail and traveling on the rail; a central traveling body positioned between the first traveling body and the second traveling body; and a rail direction on the central traveling body. A moving member to which the work hand is attached, a first guide point provided at one end of the first traveling body, and an intermediate portion provided at the central traveling body, Since the intermediate guide point provided on the moving member and the second guide point provided on the central traveling body are wound in this order and the other end is fixed to the second traveling body, a common driving source is provided. To move the work tool in two axes An ability and configuration is simplified.

  An embodiment of the present invention will be described with reference to the drawings. 1 and 2 is a loader device 1 that transports a workpiece between a plurality of machine tools. The work tool in this case is a work hand 2 capable of gripping a work.

  The loader device 1 includes three traveling bodies 4, 5, and 6 that travel on rails 3 installed horizontally above the machine tool. Each of the traveling bodies 4, 5, 6 is supported on the rail 3 through rollers (not shown) so as to be movable. The first and second traveling bodies 4 and 5 on both sides are capable of self-propelled by being equipped with traveling drive sources 7 and 8, respectively. In this embodiment, the traveling drive sources 7 and 8 are linear motors, and the rail 3 is provided with coils 7a and 8a along the length direction thereof, and the first and second traveling bodies 4 and 5 are disposed for traveling. Electromagnets 7b and 8b which are part of the drive source are provided. The traveling drive sources 7 and 8 may be rotary motors.

  The first and second traveling bodies 4 and 5 are provided with locking mechanisms 9 and 10 that can individually block traveling. The lock mechanisms 9 and 10 can be configured by, for example, a brake that presses a friction plate (not shown) against the rail 3. The lock mechanisms 9 and 10 are driven by lock drive sources 9a and 10a (FIG. 4). The central central traveling body 6 travels as the first and second traveling bodies 4 and 5 travel by the action of the winding transmission device 14 described later.

  The central traveling body 6 has an elevating guide 11, and an elevating member 12 that is a moving member is provided along the elevating guide 11 so as to freely move up and down. The elevating member 12 is a member that is long in the vertical direction, and the elevating guide 11 is slidably engaged with a guide groove 12 a along the vertical direction of the elevating member 12. The elevating member 12 is urged upward by the urging means 13. In the case of this embodiment, the urging means 13 is a tension spring provided between the lower part of the elevating member 12 and the central traveling body 6. The work hand 2 that is a work tool is attached to the lower end of the elevating member 12.

  The traveling bodies 4, 5, 6 and the elevating member 12 are configured to operate in conjunction with each other by the winding transmission device 14. The winding transmission device 14 is wound around the first and second guide points 15 and 16 provided on the central traveling body 6, the intermediate guide point 17 provided on the elevating member 12, and the guide points 15, 16 and 17. It consists of the wound body 18 that is hung. Specifically, one end of the winding body 18 is fixed to the first traveling body 4, the intermediate portion is wound in the order of the first guide point 15, the intermediate guide point 17, and the second guide point 16, and the other end is the second one. It is fixed to the traveling body 5. In the case of this embodiment, the intermediate guide point 17 is provided at the upper end of the elevating member 12. For example, the winding body 18 is a wire, and the guide points 15, 16, and 17 are pulleys that are rotatably supported. In addition, the winding body 18 may be a chain, and the guide points 15, 16, and 17 may be sprockets. Alternatively, a belt and a belt wheel may be used.

  The work hand 2 is of a swivel type, and two loader chucks 23A and 23B are placed in a forward posture (Z-axis direction) and a downward posture (Y-axis direction) on a turntable 22 that rotates around an inclined rotation center 21. The positions of both loader chucks 23 </ b> A and 23 </ b> B are interchangeable by rotation of the turntable 22. The turntable 22 is rotated by a rotation drive source 24. The rotational drive source 24 is, for example, an electric motor. These loader chucks 23A and 23B have three open / close chuck claws 23a for gripping a workpiece. The chuck claws 23a are opened and closed by opening and closing drive sources 25A and 25B, respectively. The open / close drive sources 25A and 25B are, for example, air cylinders. The work hand 2 is supported so as to be movable back and forth with respect to a fixed plate 26 fixed to the elevating member 12, and is moved back and forth by a front and rear movement drive source 27. The back-and-forth movement drive source 27 is, for example, a servo motor.

  FIG. 3 shows an installation example of the loader device 1. The loader device 1 conveys a workpiece between a plurality of machine tools 28 arranged in a straight line, and a rail 3 is provided along the line of the machine tools 28. The machine tool 28 is a lathe, for example. You may install machines other than the machine tool 28, for example, measuring instruments (not shown).

  The control device of the loader device 1 will be described with reference to FIG. The control device 30 includes a computer, and includes a work hand control unit 31 that controls the work hand 2 and a movement control unit 32 that controls the movement of the work hand 2.

  Further, the work hand control means 31 includes open / close control units 33A and 33B, a rotation control unit 34, and a forward / backward movement control unit 35. The open / close controllers 33A and 33B output the open / close drive sources 25A and 25B of the loader chucks 23A and 23B to open and close the chuck claws 23a. The rotation control unit 34 outputs the rotation drive source 24 to exchange the positions of the loader chucks 23A and 23B. The forward / backward movement control unit 35 outputs the forward / backward movement drive source 27 to move the work hand 2 back and forth with respect to the fixed plate 26.

  Further, the movement control means 32 includes a first traveling body travel control unit 36, a first traveling body lock control unit 37, a second traveling body travel control unit 38, and a second traveling body lock control unit 39. The first traveling body control unit 36 outputs to the traveling drive source 7 and causes the first traveling body 4 to travel. Specifically, the electromagnet 7b is excited and a current is passed through the coil 7a. The 1st traveling body lock control part 37 outputs to lock drive source 9a, and makes lock mechanism 9 of the 1st traveling body 4 function and cancel a function. The second traveling body control unit 38 outputs to the traveling drive source 8 and causes the second traveling body 5 to travel. Specifically, the electromagnet 8b is excited and a current is passed through the coil 8a. The 2nd traveling body lock control part 39 outputs to lock drive source 10a, and makes lock mechanism 10 of the 2nd traveling body 4 function and cancel a function.

  FIG. 5 shows a state when the work hand 2 is moved along the rail 3. By bringing the first and second traveling bodies 4 and 5 into contact with both sides of the central traveling body 6 as shown in the figure, the elevating member 12 is raised by the action of the urging means 13, and the work hand 2 is moved up and down. Located at the top end of In this state, the central traveling body 6 travels at the same speed together with the first and second traveling bodies 4 and 5 by traveling the first and second traveling bodies 4 and 5 in the same direction at the same speed. Thereby, the work hand 2 moves along the rail 3.

  FIG. 6 shows a state when the work hand 2 is lowered. The distance between the first guide point 15 and the second guide point 16 of the winding body 18 is shortened by causing the first and second traveling bodies 4 and 5 to travel away from the central traveling body 6 as shown in the figure. Become. As a result, the elevating member 12 is pulled down by the winding body 18 against the urging force of the urging means 13 and the work hand 2 is lowered. Conversely, if the first and second traveling bodies 4 and 5 are traveled in directions approaching the central traveling body 6, the work hand 2 rises. That is, the work hand 2 is moved in a direction intersecting with the rail 3 by changing the relative distance between the first and second traveling bodies 4 and 5. Since the winding body 18 is wound around guide points 15, 16, 17 such as pulleys that are rotatably supported, there is almost no loss of force transmission, and the first and second traveling bodies 4, 5 travel. The force is transmitted as it is to lift and lower the elevating member 12.

  FIG. 7 shows a state when the work hand 2 is lowered at the end of the rail 3. Of the first and second traveling bodies 4, 5, the lock mechanism 9 of the traveling body (in the figure, the first traveling body 4) on the rail 3 end side is put into a functional state, and the other traveling body (in the case of the figure, the first 2 The traveling body 5) is traveled away from the central traveling body 6. Thereby, like the above, the distance between the 1st guide point 15 and the 2nd guide point 16 of the winding body 18 becomes short, and the work hand 2 descends. In this case, only one of the traveling bodies 5 is allowed to travel, but since the traveling distance of the traveling body 5 is twice that in the case of FIG. 6, the elevating member 12 can be raised and lowered with the same force as in the above case. Thus, since the raising / lowering member 12 can be raised / lowered in the state which blocked | prevented driving | running | working of one traveling body, it is possible to raise / lower the work hand 2 also at the rail 3 end.

  In FIG. 3, for example, the leftmost machine tool 28 (1) performs the first stage of machining, the right machine tool 28 (2) performs the second stage of machining, and the machine tools 28 (3) in the following order. , 27 (4), the processing will proceed. Information regarding the processing progress status of each machine tool 28 is sequentially transmitted to the control device 30 (FIG. 4). In that case, the loader device 1 operates as follows.

  First, under the control of the first traveling body control unit 36 and the second traveling body control unit 38 of the movement control means 32, the traveling bodies 4, 5, 6 are moved to the left and right positions corresponding to the machine tool 28 (1) ( At the same time, the work hand 2 is lowered to the height of the machine tool (1) (see FIG. 6). Next, the work hand 2 is advanced toward the machine tool (1) by the control of the back-and-forth movement control unit 35 of the work hand control means 31, and is in the forward posture by the control of the opening / closing control unit 33A (or 33B). The chuck claw 23a of the loader chuck 23A (or 23B) is closed to receive the processed workpiece of the machine tool 28 (1). Suppose that a workpiece is received by the loader chuck 23A. When the workpiece is received, the workpiece hand 2 is moved backward by the control of the forward / backward movement control unit 35.

  In addition, when the left-right position corresponding to the machine tool 28 (1) is the end of the rail 3, the work hand 2 is moved up and down as follows. That is, assuming that the first traveling body 4 side is the end of the rail 3, the lock mechanism 9 of the first traveling body 4 is functioned by the control of the first traveling body lock control unit 37 and the second traveling body travel control unit 38. The second traveling body 5 is traveled in a direction away from the central traveling body 6 (see FIG. 7). This also allows the work hand 2 to be lowered. Conversely, if the second traveling body 5 is brought close to the central traveling body 6 while the lock mechanism 9 of the first traveling body 4 is in the functional state, the work hand 2 is raised.

  Thereafter, the work hand 2 is raised under the control of the first traveling body control unit 36 and the second traveling body control unit 38 of the movement control means 32, and then each traveling body 4, 5, 6 is moved to the machine tool 28 (2). The work hand 2 is moved down to the height of the machine tool (2). Then, under the control of the control units 33A, 33B, 34, and 35 of the work hand control means 31, the machined work piece 28 (2) is received by the free loader chuck 23B, and the work of the loader chuck 23A is transferred to the machine tool. 28 (2). Thereafter, the workpiece is transferred to the machine tools 28 (3) and 27 (4) in the same manner.

  According to the loader device 1, the first and second traveling bodies 4, 5 capable of traveling by themselves are caused to travel, whereby the central traveling connected to the first and second traveling bodies 4, 5 by the winding body 18 is performed. The body 6 also travels along with it, and the work hand 2 provided on the central traveling body 6 moves along the rail 3. Further, if the relative positions of the first and second traveling bodies 4 and 5 are changed, the length between the first guide point 15 and the second guide point 16 of the winding body 18 changes, so that the central traveling body 6 On the other hand, the elevating member 12 moves up and down, and the work hand 2 attached to the elevating member 12 moves up and down. Both the traveling of the first and second traveling bodies 4 and 5 and the change of the relative positions of the first and second traveling bodies 4 and 5 are both the traveling drive source 7 mounted on the first and second traveling bodies 4 and 5. , 8 only. By effectively utilizing a small number of drive sources, the loader device 1 can be reduced in weight and simplified in configuration. In addition, by cooperating the two travel drive sources 7 and 8, the travel drive sources 7 and 8 can be reduced in size.

  In addition, the loader device 1 having this configuration can also run the other traveling body 4, 5 in a state where the traveling of any one of the self-propelled traveling bodies 4, 5 is blocked by the lock mechanisms 9, 10. Since the work hand 2 can be raised and lowered, the work hand 2 can be raised and lowered even at the end of the rail 3. Therefore, the movable range of the loader device 1 is wide. In other words, the length of the rail 3 can be shortened.

  In this embodiment, since the traveling drive sources 7 and 8 are linear motors, only the electromagnets 7b and 8b that are part of the traveling drive sources 7 and 8 are mounted on the first and second traveling bodies 4 and 5. It is only necessary to further reduce the weight and simplify the configuration. In addition, if the traveling drive sources 7 and 8 are linear motors, no wiring is required, so that the loader device 1 can be easily installed. Since the travel drive sources 7 and 8 and the lock drive sources 9a and 10a are controlled by the movement control means 32, the work hand 2 can be moved with high accuracy.

  FIG. 8 shows different installation examples of the loader device 1. In the loader device 1, the rails 3 are provided in a loop shape along the arrangement of the machine tools 28. Also in this case, the movement of the work hand 2 along the rail 3 and the movement in the direction orthogonal to the rail 3, that is, ascending / descending, are performed as described above. Since the traveling drive sources 7 and 8 of the first and second traveling bodies 4 and 5 are linear motors, the work hand 2 can be moved anywhere along the rail 3.

  In the above embodiment, only the first and second traveling bodies 4 and 5 are allowed to travel on their own, but a traveling drive source may also be mounted on the central traveling body 6 so as to be able to travel on its own. If the central traveling body 6 can also travel on its own, the traveling performance of the entire loader device 1 can be improved.

  Contrary to the above embodiment, the intermediate guide point 17 is positioned below the first and second guide points 15 and 16, and the first and second travel bodies 4 and 5 are separated from the central travel body 6. It is good also as a structure which raises the raising / lowering member 12 by the winding body 18, and raises the work hand 2 by making it drive | work to a direction. In this case, when the first and second traveling bodies 4 and 5 are brought closer to the central traveling body 6 side, the elevating member 12 is lowered by its own weight, so that the urging means 13 is unnecessary.

  Furthermore, although the said embodiment is the raising / lowering member 12 to which the moving member to which the work hand 2 is attached moves to an up-down direction with respect to the center traveling body 6, even if it provides so that a moving member may be moved to directions other than an up-down direction. Good. For example, the moving member can be moved in the horizontal direction perpendicular to the rail 3 with respect to the central traveling body 6. Moreover, you may make it move diagonally, without making it orthogonal to the rail 3. FIG.

  The work tool attached to the moving member may be other than the work hand 2. For example, a tool such as a drill for a machine tool or a cutting tool such as a laser may be used. That is, the present invention can also be applied to a moving device for a work tool other than the loader device 1.

It is a front view of the loader device concerning an embodiment of this invention. It is II-II sectional drawing of FIG. It is a top view which shows the example of installation of the loader apparatus. It is a block diagram of a control device of the loader device. It is a front view which shows the example of operation | movement of the loader apparatus. It is a front view which shows the example of a different operation | movement of the loader apparatus. It is a front view showing an example of still another operation of the loader device. It is a top view which shows the example of a different installation of the loader apparatus. (A) is a front view of a conventional loader device, and (B) is a side view thereof. It is a front view of the loader apparatus of the 1st proposal example. It is a front view of the apparatus of the 2nd proposal example.

Explanation of symbols

1. Loader device (moving device)
2 ... Work hand
DESCRIPTION OF SYMBOLS 3 ... Rail 4 ... 1st traveling body 5 ... 2nd traveling body 6 ... Central traveling body 7,8 ... Driving source 9,10 ... Lock mechanism 12 ... Elevating member (moving member)
14 ... winding transmission device 15 ... first guide point 16 ... second guide point 17 ... intermediate guide point 18 ... winding body 32 ... movement control means

Claims (4)

A moving device that moves a work tool along a rail and moves in a direction crossing the rail,
First and second traveling bodies that are equipped with a driving source for traveling and travel on the rail, a central traveling body that is positioned between the first and second traveling bodies and travels on the rail, and the center A traveling member provided movably in a direction intersecting the rail direction, and a moving member to which the working tool is attached;
One end is fixed to the first traveling body, and the intermediate portion is in the order of a first guide point provided on the central traveling body, an intermediate guidance point provided on the moving member, and a second guidance point provided on the central traveling body. A working tool moving device provided with a winding body that is wound and whose other end is fixed to the second traveling body.   By moving the first and second traveling bodies in the same direction and at the same speed, the working tool is moved along the rails, and the relative distance between the first and second traveling bodies is changed. The work tool moving apparatus according to claim 1, further comprising a movement control unit configured to control each of the traveling drive sources so as to move the work tool in a direction intersecting the rail.   A locking mechanism capable of individually blocking the traveling of the first and second traveling bodies is provided, and the other traveling body is moved in a state where the traveling of the traveling body is blocked by the locking mechanism by the movement control means. The work tool moving device according to claim 2, wherein the travel drive source is controlled so as to move the work tool in a direction crossing the rail by running. A loader device comprising a work hand that is moved along a rail by a moving device and moved in a direction crossing the rail,
The mobile device is
First and second traveling bodies that are equipped with a driving source for traveling and travel on the rail, a central traveling body that is positioned between the first and second traveling bodies and travels on the rail, and the center A traveling member provided movably in a direction intersecting the rail direction, and a moving member to which the work hand is attached;
One end is fixed to the first traveling body, and the intermediate portion is in the order of a first guide point provided on the central traveling body, an intermediate guidance point provided on the moving member, and a second guidance point provided on the central traveling body. Wrapped and provided with a wound body whose other end is fixed to the second traveling body,
Loader device.

Images