JP2012096342A - Conveying device and conveying method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a conveying device that can supply, at uneven intervals, a plurality of works arranged at even intervals.SOLUTION: The conveying device 1 includes: a first retaining portion 11, a second retaining portion 12, a third retaining portion 13 and a fourth retaining portion 14 that hold and convey a plurality of works W arranged at even intervals and supply them to a supply pallet 7 at any intervals; and a retaining base 20 to which the first retaining portion 11 to the fourth retaining portion 14 are connected. The retaining base 20 includes a first sliding portion 210, a second sliding portions 220, a third sliding porion 230 and a fourth sliding portion 240 that make the first retaining portion 11 to fourth retaining portion 14 approach each other or separate in the arrangement direction of the works W. The first retaining portion 11 to fourth retaining portion 14 include first engaging parts and second engaging parts 110a and 110b, 120a and 120b, 130a and 130b, and 140a and 140b, respectively, that are disengage with the works W independently.

Description

  The present invention relates to a transport apparatus and a transport method, and more particularly, to a transport apparatus and a transport method for gripping and transporting a plurality of works arranged at equal intervals and supplying the workpieces to a supply unit at arbitrary intervals.

  Conventionally, in a manufacturing process, a plurality of workpieces are temporarily stored in a cutting pallet for arranging these workpieces at equal intervals. The conveying device grips and conveys a plurality of workpieces arranged at equal intervals on the cutting pallet and supplies them to a predetermined supply unit.

  Here, a plurality of works may have different intervals when arranged on the cut-out pallet depending on the type of the work. Therefore, it is necessary for the transport device to change the position of the gripping part that grips a plurality of workpieces according to the interval between the workpieces arranged on the cutting pallet.

In Patent Document 1, a plurality of driving wheels having different diameters and coaxially fixed to each other, a plurality of timing belts respectively hung around the driving wheels, and a plurality of timing wheels attached to each timing belt to hold an article. There is disclosed an article supply apparatus that holds a plurality of articles arranged at equal intervals by a holding section that includes an article holding section and a rotation driving unit that rotationally drives a plurality of drive wheels.
According to this article supply apparatus, the plurality of drive wheels are integrally rotated by the rotation driving means, and each article holding section moves by an amount corresponding to the rotation angle of the driving wheel. In addition, the distance can be varied arbitrarily according to the rotation angle of the drive wheel.

Japanese Patent Laying-Open No. 2005-67752

  However, in the manufacturing process, a plurality of works arranged at equal intervals on the cutting pallet may be supplied to the supply unit at unequal intervals. For example, in an engine manufacturing process, valve guides and valve seats, which are workpieces, are arranged at equal intervals on a cutting pallet and supplied to a position where they can be press-fitted into an intake port or an exhaust port of a cylinder head by a conveying device. Although the intake ports and the exhaust ports are arranged on a substantially straight line, the intervals are unequal.

  An object of this invention is to provide the conveying apparatus which can supply the some workpiece | work arranged at equal intervals at unequal intervals.

  (1) A conveying device (for example, a workpiece W (described later, workpiece W)) that is gripped and conveyed at an equal interval, and is supplied to a supply unit (for example, a supply pallet 7 (described later)) at an arbitrary interval (for example, A plurality of gripping units (for example, a first gripping unit 11, a second gripping unit 12, a third gripping unit 13, and a fourth gripping unit 14 described later) for gripping the workpiece; A grip base portion (for example, a grip base portion 20 to be described later) connected to the plurality of grip portions, and the grip base portion approaches and separates the plurality of grip portions from each other in the arrangement direction of the workpieces. A plurality of sliding parts (for example, a first sliding part 210, a second sliding part 220, a third sliding part 230, and a fourth sliding part 240, which will be described later), At least two engaging portions (for example, described later) that are separately engaged with and disengaged from the workpiece The first engaging part 110a and the second engaging part 110b, the first engaging part 120a and the second engaging part 120b, the first engaging part 130a and the second engaging part 130b, the first engaging part 140a and the first engaging part 2 engaging section 140b).

  According to (1), the transport device that grips and transports a plurality of workpieces arranged at equal intervals and supplies the workpiece to the supply unit at an arbitrary interval is a gripping base in which a plurality of gripping portions that grip the workpiece are connected. The plurality of gripping portions are provided with a plurality of sliding portions that approach and separate from each other in the arrangement direction of the workpieces, and the plurality of gripping portions are provided with at least two engaging portions that are individually engaged with and disengaged from the workpiece.

Accordingly, the transport device grips the plurality of works arranged at equal intervals by at least two engaging portions of the plurality of gripping portions, and the interval between the gripped workpieces becomes the interval of the workpieces supplied to the supply unit. As described above, the workpiece can be supplied to the supply unit after the plurality of gripping portions gripping the workpiece by the plurality of sliding portions are brought close to and away from each other. That is, a plurality of workpieces gripped by a plurality of gripping units can be divided into at least two systems, and a plurality of workpieces can be supplied to the supply unit at arbitrary intervals for each system.
Therefore, it is possible to provide a transport apparatus that can supply a plurality of works arranged at equal intervals at unequal intervals.

  (2) A transfer method for supplying a plurality of works arranged at equal intervals to a supply unit (for example, a supply pallet 7 described later) at an arbitrary interval, and the plurality of works are respectively provided in a plurality of gripping units. A step of gripping by at least two engaging portions, a step of transporting the plurality of workpieces to the supply portion, and a plurality of slides for moving the plurality of gripping portions closer to and away from each other in the arrangement direction of the plurality of workpieces. By driving a portion, a step of setting a first workpiece, which is one of the plurality of workpieces gripped by at least two of the engaging portions, to a predetermined interval; Of the plurality of workpieces gripped by at least two of the engaging portions by driving the sliding portions of the plurality of gripping portions, respectively, other Second work (e.g., workpiece Wb below) is a step for a predetermined interval, to the supply unit, conveying method characterized by and a step of supplying the second workpiece.

  According to (2), in the conveyance method of supplying a plurality of works arranged at equal intervals to the supply unit at an arbitrary interval, the plurality of works are provided by at least two engaging units respectively provided on the plurality of gripping units. A step of gripping, a step of transporting a plurality of workpieces to the supply unit, and a plurality of sliding portions that drive the plurality of gripping portions closer to and away from each other in the arrangement direction of the plurality of workpieces. A step of setting a first workpiece, which is one of a plurality of workpieces gripped by the joint portion, to a predetermined interval, a step of supplying the first workpiece to the supply portion, and sliding the plurality of gripping portions And driving the second part to the supply part, and supplying the second work to the supply part, with the second work being the other of the plurality of work gripped by the at least two engaging parts being driven. And a process comprising

Accordingly, the plurality of gripping portions are brought close to and separated from each other, and the first workpiece among the plurality of workpieces gripped by the at least two engaging portions is supplied to the supply portion after a predetermined interval, The gripping portions can be brought close to and away from each other, and a second workpiece among a plurality of workpieces gripped by at least two engaging portions can be supplied to the supply portion after a predetermined interval. That is, a plurality of workpieces gripped by a plurality of gripping units can be divided into at least two systems, and a plurality of workpieces can be supplied to the supply unit at arbitrary intervals for each system.
Therefore, it is possible to provide a transport method capable of supplying a plurality of works arranged at equal intervals at unequal intervals.

  According to the present invention, it is possible to provide a transfer apparatus that can supply a plurality of works arranged at equal intervals at unequal intervals.

It is a figure which shows the structure of the conveying apparatus 1 which concerns on one embodiment of this invention. It is a figure explaining the cutting pallet and supply pallet which concern on the said embodiment. (A) is sectional drawing of a cutting pallet. (B) is sectional drawing of a supply pallet. It is a figure explaining the electrical structure of the control part which concerns on the said embodiment. It is a figure explaining operation | movement of the conveying apparatus which hold | grips the several workpiece | work arranged at equal intervals in a cutting pallet, and conveys to a supply pallet. (A) is a figure which shows the state by which the conveying apparatus was arrange | positioned on the upper part of the some workpiece | work arranged at equal intervals in the cutting pallet. (B) is a figure which shows the state which the conveyance apparatus hold | gripped the some workpiece | work. (C) is a figure which shows the state which the conveying apparatus conveyed the some workpiece | work to a supply pallet, and match | combined a part of some workpiece | work with the predetermined position of the supply pallet. It is a figure explaining operation | movement of the conveying apparatus which supplies the workpiece | work conveyed to the supply pallet to a supply pallet. (A) is a figure which shows the state which a conveying apparatus supplies a part of several workpiece | work to the predetermined position of a supply pallet. (B) is a figure which shows the state which the conveying apparatus united a part of several workpiece | work in the predetermined position of the supply pallet. (C) is a figure which shows the state which a conveying apparatus supplies a part of several workpiece | work to the predetermined position of a supply pallet.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing a configuration of a transport apparatus 1 according to an embodiment of the present invention.
The conveyance device 1 holds a plurality of workpieces W arranged at equal intervals in the cut-out pallet 6 and is moved by the robot arm 5 so that these workpieces W are supplied at irregular intervals as a supply pallet 7 ( (See FIG. 2). In the present embodiment, the transport device 1 is used in an engine manufacturing process, grips and transports a workpiece W, which is a valve guide, from a pallet 6 and supplies it to a supply pallet 7 (see FIG. 2).

The transport apparatus 1 includes a first gripping part 11, a second gripping part 12, a third gripping part 13, and a fourth gripping part 14 that grip a plurality of workpieces W, the first gripping part 11, the second gripping part 12, A grip base portion 20 to which the third grip portion 13 and the fourth grip portion 14 are connected.
The 1st holding part 11 is provided with the 1st engaging part 110a engaged / disengaged with the workpiece | work Wa, and the 2nd engaging part 110b engaged / disengaged with the workpiece | work Wb. The first engagement portion 110a and the second engagement portion 110b include a pair of chucks (not shown) that are close to and away from each other, and operate each of the pair of chucks to “tighten” or “relax”, By moving close to and away from each other, the workpiece Wa and the workpiece Wb are engaged and disengaged.

  In this embodiment, the workpiece Wa and the workpiece Wb are the same workpiece W, but for convenience of explanation, the workpiece W that is engaged with and disengaged from the first engaging portion is referred to as a workpiece Wa and is engaged and disengaged from the second engaging portion. The workpiece W to be performed is referred to as a workpiece Wb. Here, the workpiece Wa and the workpiece Wb may be the same type or different types.

  Similar to the first gripping portion 11, the second gripping portion 12 includes a first engagement portion 120a that engages and disengages with the workpiece Wa, and a second engagement portion 120b that engages and disengages with the workpiece Wb, and has a third gripping portion. The portion 13 includes a first engaging portion 130a that engages and disengages with the workpiece Wa, and a second engaging portion 130b that engages and disengages with the workpiece Wb, and the fourth gripping portion 14 is a first engaging and disengaging with the workpiece Wa. An engagement portion 140a and a second engagement portion 140b that engages and disengages with the workpiece Wb are provided.

  In the present embodiment, the transport device 1 includes four gripping portions, that is, the first gripping portion 11, the second gripping portion 12, the third gripping portion 13, and the fourth gripping portion 14, but there are other numbers. May be. In the present embodiment, two engaging portions are provided in each of the first gripping portion 11, the second gripping portion 12, the third gripping portion 13, and the fourth gripping portion 14. However, the number is not limited to two. One engaging part can also be provided. Accordingly, four workpieces can be gripped and conveyed by one gripping unit and supplied to the supply unit.

The first engaging part 110a and the second engaging part 110b are individually controlled by the control part 10 (see FIG. 3). That is, at each timing, the first engaging portion 110a is engaged with and disengaged from the work Wa, and the second engaging portion 110b is engaged with and disengaged from the work Wb.
Similarly, the first engaging portion 120a and the second engaging portion 120b are individually controlled by the control unit 10 (see FIG. 3). That is, at each timing, the first engagement portion 120a is engaged with and disengaged from the work Wa, and the second engagement portion 120b is engaged with and disengaged from the work Wb.
Similarly, the first engaging portion 130a and the second engaging portion 130b are individually controlled by the control unit 10 (see FIG. 3). That is, at each timing, the first engagement portion 130a is engaged with and disengaged from the work Wa, and the second engagement portion 130b is engaged with and disengaged from the work Wb.
Similarly, the first engaging portion 140a and the second engaging portion 140b are individually controlled by the control unit 10 (see FIG. 3). That is, at each timing, the first engagement portion 140a is engaged with and disengaged from the work Wa, and the second engagement portion 140b is engaged with and disengaged from the work Wb.

  The grip base 20 is provided on the grip base body 21 connected to the robot arm 5 and extends in the direction in which the workpieces W are arranged on the cutting pallet 6 (LR direction in FIG. 1). Two rail portions 22, a first sliding portion 210, a second sliding portion 220, a third sliding portion 230, and a fourth sliding portion 240 that are slidably engaged with the rail portion 22 are provided.

The first sliding part 210 is connected to the first gripping part 11 and moves in the L direction or the R direction along the rail part 22 under the control of the control part 10 (see FIG. 3). Thereby, the 1st holding | gripping part 11 moves to the sequence direction (LR direction in FIG. 1) of the workpiece | work W with the movement of the 1st sliding part 210. FIG.
The second sliding part 220 is connected to the second gripping part 12, and moves the second gripping part 12 in the L direction or the R direction along the rail part 22 under the control of the control part 10 (see FIG. 3). . Thereby, the 2nd holding | grip part 12 moves to the arrangement | sequence direction (LR direction in FIG. 1) of the workpiece | work W with the movement of the 2nd sliding part 220. FIG.
The third sliding part 230 is connected to the third gripping part 13 and moves the third gripping part 13 in the L direction or the R direction along the rail part 22 under the control of the control part 10 (see FIG. 3). . Thereby, the 3rd holding part 13 moves to the arrangement direction (LR direction in Drawing 1) of work W with movement of the 3rd sliding part 230.
The fourth sliding portion 240 is connected to the fourth gripping portion 14, and moves the fourth gripping portion 14 in the L direction or the R direction along the rail portion 22 under the control of the control portion 10 (see FIG. 3). . Thereby, the 4th holding | grip part 14 moves to the arrangement | sequence direction (LR direction in FIG. 1) of the workpiece | work W with the movement of the 4th sliding part 240. FIG.
Thus, the first sliding part 210, the second sliding part 220, the third sliding part 230, and the fourth sliding part 240 are the first gripping part 11, the second gripping part 12, and the third gripping part 13 respectively. And the 4th holding | grip part 14 is mutually adjoined and spaced apart in the sequence direction (LR direction in FIG. 1) of the workpiece | work W. As shown in FIG.

  The first sliding part 210, the second sliding part 220, the third sliding part 230, and the fourth sliding part 240 are respectively a motor (not shown) controlled by the control part 10 (see FIG. 3), A cam (not shown) that is rotated by the motor is provided, and each cam moves to a predetermined position along the rail portion 22 in the L direction or the R direction.

FIG. 2 is a diagram for explaining the cutting pallet 6 and the supply pallet 7 according to the embodiment. FIG. 2A is a cross-sectional view of the cut-out pallet 6. FIG. 2B is a cross-sectional view of the supply pallet 7.
In the cut-out pallet 6, works W (work Wa, work Wb) are arranged at equal intervals at a predetermined interval x (for example, 40 mm).

  The supply pallet 7 includes a supply pallet hole 71a to which a work Wa engaged with the first engagement portion 110a (see FIG. 1) is supplied, and a work Wb engaged with the second engagement portion 110b (see FIG. 1). The supply pallet hole 71b to be supplied, the supply pallet hole 72a to which the workpiece Wa engaged with the first engagement portion 120a (see FIG. 1) is supplied, and the second engagement portion 120b (see FIG. 1) are engaged. The supply pallet hole 72b to which the workpiece Wb supplied is supplied, the supply pallet hole 73a to which the workpiece Wa engaged with the first engagement portion 130a (see FIG. 1) is supplied, and the second engagement portion 130b (see FIG. 1). ) And the supply pallet hole 73b to which the work Wb engaged with the first engagement portion 140a (see FIG. 1) is supplied, the supply pallet hole 74a to which the work Wa engaged with the first engagement portion 140a (see FIG. 1) is supplied, and the second engagement portion 140b. Workpiece engaged with (see Fig. 1) b is and a supply pallet hole 74b to be supplied.

  The supply pallet hole 71a and the supply pallet hole 71b, the supply pallet hole 72a and the supply pallet hole 72b, the supply pallet hole 73a and the supply pallet hole 73b, and the supply pallet hole 74a and the supply pallet hole 74b are spaced by an interval y (for example, 35 mm). It is formed to be empty. Further, the supply pallet hole 71b and the supply pallet hole 72a, the supply pallet hole 72b and the supply pallet hole 73a, and the supply pallet hole 73b and the supply pallet hole 74a are formed with an interval z (for example, 50 mm). Thus, in the supply pallet 7, the supply pallet hole 71a, the supply pallet hole 71b, the supply pallet hole 72a, the supply pallet hole 72b, the supply pallet hole 73a, and the supply pallet hole to which the work W (work Wa, work Wb) is supplied. 73b, the supply pallet hole 74a, and the supply pallet hole 74b are formed at unequal intervals.

  In this embodiment, supply pallet hole 71a, supply pallet hole 71b, supply pallet hole 72a, supply pallet hole 72b, supply pallet hole 73a, supply pallet hole 73a, supply pallet hole to which work W (work Wa, work Wb) which is a valve guide is supplied. 73b, the supply pallet hole 74a, and the supply pallet hole 74b are formed at the same interval as the interval between the intake port and the exhaust port formed in the cylinder head of the engine as the product. That is, the distances y and z are determined according to the distance between the intake port and the exhaust port formed in the cylinder head of the engine as the product.

  In the present embodiment, the interval between the holes in the supply pallet 7 is two types, the interval y and the interval z, but instead of the interval y, the interval y1 is sequentially arranged from the supply pallet hole 71a side in FIG. , Y2, y3, y4... Yn, and instead of the interval z, the intervals z1, z2, z3... Zn are sequentially set from the supply pallet hole 71b side in FIG. It is possible to set an arbitrary interval.

Next, the electrical configuration of the control unit 10 will be described with reference to FIG.
FIG. 3 is a diagram illustrating an electrical configuration of the control unit 10 according to the embodiment.
The control unit 10 is a robot control unit 50 that controls the operation of the robot arm 5, and an engagement control that individually controls the first gripping unit 11, the second gripping unit 12, the third gripping unit 13, and the fourth gripping unit 14. Unit 101 and a sliding control unit 102 that individually controls the first sliding unit 210, the second sliding unit 220, the third sliding unit 230, and the fourth sliding unit 240.

  The engagement control unit 101 includes a first engagement part 110a and a second engagement part 110b of the first grip part 11, a first engagement part 120a and a second engagement part 120b of the second grip part 12, The first engaging portion 130a and the second engaging portion 130b of the third gripping portion 13 and the first engaging portion 140a and the second engaging portion 140b of the fourth gripping portion 14 are individually connected and individually connected. The operation of engaging and disengaging the workpiece W (see FIG. 1) is controlled at the timing of.

  In the sliding control unit 102, the first sliding unit 210, the second sliding unit 220, the third sliding unit 230, and the fourth sliding unit 240 are individually connected to each other, and are moved by a predetermined distance. Control.

Next, with reference to FIG.4 and FIG.5, operation | movement of the conveying apparatus 1 is demonstrated.
FIG. 4 is a diagram for explaining the operation of the transport device 1 that grips a plurality of workpieces Wa and Wb arranged at equal intervals in the cutout pallet 6 and transports them to the supply pallet 7. FIG. 4A is a diagram showing a state in which the transfer device 1 is arranged above the plurality of workpieces Wa and Wb arranged at equal intervals in the cutting pallet 6. FIG. 4B is a diagram illustrating a state where the plurality of workpieces Wa and Wb are gripped by the transfer device 1. FIG. 4C is a diagram illustrating a state in which the transport device 1 transports the plurality of workpieces Wa and Wb to the supply pallet 7 and aligns the plurality of workpieces Wa to a predetermined position of the supply pallet 7.

  FIG. 5 is a diagram for explaining the operation of the transport apparatus 1 that supplies the workpieces Wa and Wb transported to the supply pallet 7 to the supply pallet 7. FIG. 5A is a diagram illustrating a state in which the transport device 1 supplies a plurality of workpieces Wa to a predetermined position on the supply pallet 7. FIG. 5B is a diagram illustrating a state in which the transport device 1 has aligned a plurality of workpieces Wb with predetermined positions on the supply pallet 7. FIG. 5C is a diagram illustrating a state in which the transport device 1 supplies a plurality of workpieces Wb to a predetermined position on the supply pallet 7.

  First, as shown in FIG. 4A, the transfer device 1 includes a plurality of workpieces Wa and Wb arranged at equal intervals x (for example, 40 mm) on the cutting pallet 6 by the robot arm 5 (see FIG. 1). Placed at the top of the. At this time, the first engaging portion 110a and the second engaging portion 110b of the first holding portion 11, the first engaging portion 120a and the second engaging portion 120b of the second holding portion 12, and the third holding portion 13 are used. The first engaging portion 130a and the second engaging portion 130b, and the first engaging portion 140a and the second engaging portion 140b of the fourth gripping portion 14 are arranged at equal intervals x. In the cutout pallet 6, the work Wb is inserted into the cutout pallet 6 shallower than the work Wa.

  Next, as shown in FIG. 4B, the transfer device 1 is brought close to the plurality of workpieces Wa and Wb arranged on the cutting pallet 6 by the robot arm 5 (see FIG. 1), and the engagement control unit A plurality of workpieces Wa and Wb are gripped by the control of 101 (see FIG. 3). Specifically, the first engaging portion 110a, the first engaging portion 120a, the first engaging portion 130a, and the first engaging portion 140a each engage with the workpiece Wa. Further, the second engaging portion 110b, the second engaging portion 120b, the second engaging portion 130b, and the second engaging portion 140b each engage with the workpiece Wb. At this time, the length of the workpiece Wa protruding from the transfer device 1 is longer than the length of the workpiece Wb protruding from the transfer device 1.

  Next, as illustrated in FIG. 4C, the transport device 1 transports the gripped workpieces Wa and Wb to the supply pallet 7 by the robot arm 5 (see FIG. 1). At this time, the transport device 1 controls the first engagement portion to place the workpiece Wa engaged with the first engagement portion 110a on the upper portion of the supply pallet hole 71a of the supply pallet 7 under the control of the sliding control portion 102 (see FIG. 3). The workpiece Wa engaged with the joint portion 120a is located above the supply pallet hole 72a of the supply pallet 7, the workpiece Wa engaged with the first engagement portion 130a is located above the supply pallet hole 73a of the supply pallet 7, and the first engagement. The workpiece Wa engaged with the joining portion 140a is arranged on the upper portion of the supply pallet hole 74a of the supply pallet 7.

  Next, as shown in FIG. 5A, the transfer device 1 is brought close to the supply pallet 7 by the robot arm 5 (see FIG. 1). As a result, the tip of the workpiece Wa engaged with the first engagement portion 110a is in the supply pallet hole 71a, the tip of the workpiece Wa engaged with the first engagement portion 120a is in the supply pallet hole 72a, and the first engagement. The front end portion of the work Wa engaged with the joint portion 130a is inserted into the supply pallet hole 73a, and the front end portion of the work Wa engaged with the first engagement portion 140a is inserted into the supply pallet hole 74a. Here, the tip portion of the workpiece Wa is a portion where the workpiece Wb is longer than the length protruding from the transfer device 1.

  Thereafter, the conveyance device 1 controls the work in the first engagement portion 110a, the first engagement portion 120a, the first engagement portion 130a, and the first engagement portion 140a under the control of the engagement control portion 101 (see FIG. 3). Release the engagement with Wa. As a result, the workpiece Wa engaged with the first engagement portion 110a, the first engagement portion 120a, the first engagement portion 130a, and the first engagement portion 140a falls, and the supply pallet hole 71a and the supply pallet It is supplied to the hole 72a, the supply pallet hole 73a, and the supply pallet hole 74a, respectively.

As described above, the transport device 1 is controlled by the sliding control unit 102 (see FIG. 3), so that the first engagement unit 110a, the first engagement unit 120a, the first engagement unit 130a, and the first engagement unit 140a. The workpieces Wa engaged with each other are set to a predetermined interval (y + z), these workpieces Wa are set as a first system, and the workpieces Wa of this first system are supplied to the supply pallet 7 at a time.
Further, as described above, the interval between the holes in the supply pallet 7 is set to intervals y1, y2, y3, y4... Yn in order from the supply pallet hole 71a side in FIG. When the intervals z1, z2, z3... Zn are set in order from the supply pallet hole 71b side in FIG. 2B instead of the interval z, the first engagement portion 110a and the first engagement portion 120a are engaged. The predetermined interval between the workpieces Wa is y1 + z1, and the predetermined interval between the workpieces Wa engaged with the first engagement portion 120a and the first engagement portion 130a is y2 + z2, and the first engagement portion 130a and the first engagement are separated. The predetermined interval between the workpieces Wa engaged with the joint portion 140a is y3 + z3.

  Next, as illustrated in FIG. 5B, the conveyance device 1 supplies the workpiece Wb engaged with the second engagement portion 110 b to the supply pallet 7 under the control of the sliding control unit 102 (see FIG. 3). The workpiece Wb engaged with the second engaging portion 120b is provided above the pallet hole 71b, the workpiece Wb engaged with the second engaging portion 130b is provided above the supply pallet hole 72b of the supply pallet 7, and the supply pallet 7 is supplied. The workpiece Wb engaged with the second engagement portion 140b is disposed above the pallet hole 73b and above the supply pallet hole 74b of the supply pallet 7.

As described above, the work engaging with the first engaging portion 110a, the first engaging portion 120a, the first engaging portion 130a, and the first engaging portion 140a is replaced with the second engaging portion 110b and the second engaging portion. Compared to the workpiece Wb engaged with the portion 120b, the second engagement portion 130b, and the second engagement portion 140b, the length protruding from the conveying device 1 is increased so that the workpiece Wa is supplied to the supply pallet hole. 71a, the supply pallet hole 72a, the supply pallet hole 73a, and the supply pallet hole 74a are supplied, and then the second engagement portion 110b, the second engagement portion 120b, the second engagement portion 130b, and the second engagement portion 140b are moved. Even so, it is possible to prevent the workpiece Wb engaged with the second engagement portion 110b, the second engagement portion 120b, the second engagement portion 130b, and the second engagement portion 140b from interfering with the supply pallet 7. .
Even if the length of the workpiece Wa and the workpiece Wb protruding from the transfer device 1 is the same, the workpiece Wa is supplied to the supply pallet hole 71a, the supply pallet hole 72a, the supply pallet hole 73a, and the supply pallet hole 74a, and then the robot After the conveying device 1 is separated from the supply pallet 7 by the arm 5 (see FIG. 1), the second engaging portion 110b, the second engaging portion 120b, the second engaging portion 130b, and the second engaging portion 140b are moved. Even if it moves, the work Wb engaged with the second engaging part 110b, the second engaging part 120b, the second engaging part 130b, and the second engaging part 140b interferes with the supply pallet 7. Can be prevented.

  Next, as shown in FIG. 5C, the transfer device 1 is brought close to the supply pallet 7 by the robot arm 5 (see FIG. 1). As a result, the tip of the workpiece Wb engaged with the second engagement portion 110b is in the supply pallet hole 71b, the tip of the workpiece Wb engaged with the second engagement portion 120b is in the supply pallet hole 72b, and the second engagement. The leading end portion of the workpiece Wb engaged with the joint portion 130b is inserted into the supply pallet hole 73b, and the leading end portion of the workpiece Wb engaged with the second engaging portion 140b is inserted into the supply pallet hole 74b.

  Thereafter, the conveyance device 1 controls the work in the second engagement portion 110b, the second engagement portion 120b, the second engagement portion 130b, and the second engagement portion 140b under the control of the engagement control portion 101 (see FIG. 3). The engagement with Wb is released. As a result, the workpiece Wb engaged with the second engagement portion 110b, the second engagement portion 120b, the second engagement portion 130b, and the second engagement portion 140b drops, and the supply pallet hole 71b and the supply pallet It is supplied to the hole 72b, the supply pallet hole 73b, and the supply pallet hole 74b, respectively.

As described above, the transport device 1 is controlled by the sliding control unit 102 (see FIG. 3), and the second engagement unit 110b, the second engagement unit 120b, the second engagement unit 130b, and the second engagement unit 140b. The workpieces Wb engaged with each other are set to a predetermined interval (z + y), these workpieces Wb are set as the second system, and the workpieces Wb of the second system are supplied to the supply pallet 7 at a time.
Further, as described above, the interval between the holes in the supply pallet 7 is set to intervals y1, y2, y3, y4... Yn in order from the supply pallet hole 71a side in FIG. When the intervals z1, z2, z3... Zn are set in order from the supply pallet hole 71b side in FIG. 2B instead of the interval z, the second engagement portion 110b and the second engagement portion 120b are engaged. The predetermined interval between the workpieces Wb is z1 + y2, and the predetermined interval between the workpieces Wb engaged with the first engagement portion 120b and the second engagement portion 130b is z2 + y3, and the second engagement portion 130b and the second engagement portion. The predetermined interval between the workpieces Wb engaged with the joint portion 140b is z3 + y4.

According to this embodiment, there exist the following effects.
The conveyance device 1 of the present embodiment grips and conveys a plurality of workpieces W arranged at equal intervals, and supplies them to the supply pallet 7 at arbitrary intervals. Further, the transport device 1 includes the first gripping unit 11, the first gripping unit 11 that grips the workpiece W, the second gripping unit 12, the third gripping unit 13, and the gripping base unit 20 connected to the fourth gripping unit 14. A first sliding part 210, a second sliding part 220, and a third sliding part 230 that cause the second gripping part 12, the third gripping part 13, and the fourth gripping part 14 to approach and separate from each other in the arrangement direction of the workpieces W. And a fourth sliding portion 240, and a first engaging portion 110a and a first engaging portion 110a and a first engaging portion 110a, which are separately engaged with and disengaged from the work on the first gripping portion 11, the second gripping portion 12, the third gripping portion 13 and the fourth gripping portion 14, respectively. 2 engaging portions 110b, a first engaging portion 120a and a second engaging portion 120b, a first engaging portion 130a and a second engaging portion 130b, a first engaging portion 140a and a second engaging portion 140b. .

As a result, the transfer device 1 can move the plurality of workpieces W arranged at equal intervals to the first engagement portion 110 a and the second engagement portion 110 b of the first grip portion 11 and the first engagement of the second grip portion 12. Portion 120a and second engaging portion 120b, first engaging portion 130a and second engaging portion 130b of third gripping portion 13, and first engaging portion 140a and second engaging portion of fourth gripping portion 14. The first sliding portion 210, the second sliding portion 220, the third sliding portion 230, and the like so that the interval between the gripped workpieces W is the interval between the workpieces W supplied to the supply pallet 7 After the first gripping part 11, the second gripping part 12, the third gripping part 13 and the fourth gripping part 14 gripping the work W by the fourth sliding part 240 are brought close to and away from each other, the work is placed on the supply pallet 7. W can be supplied. That is, a plurality of workpieces W gripped by the first gripping portion 11, the second gripping portion 12, the third gripping portion 13, and the fourth gripping portion 14 are divided into a first system work Wa and a second system work Wb. It can be divided and supplied to the supply pallet 7 at an arbitrary interval for each system.
Therefore, it is possible to provide a transport apparatus that can supply a plurality of works arranged at equal intervals at unequal intervals.

  Moreover, according to this embodiment, in the conveyance method which supplies the some workpiece | work W arranged at equal intervals to the supply pallet 7 by arbitrary intervals, several workpiece | work W is supplied to the 1st holding part 11 and the 2nd holding part 12. The first engaging portion 110a and the second engaging portion 110b, the first engaging portion 120a and the second engaging portion 120b, and the first engaging portion provided in the third gripping portion 13 and the fourth gripping portion 14, respectively. 130a and the 2nd engaging part 130b, the process of grasping with the 1st engaging part 140a and the 2nd engaging part 140b, the process of conveying a plurality of works W to supply pallet 7, the 1st grasping part 11, the 2nd A first sliding part 210, a second sliding part 220, and a third sliding part 230 that cause the gripping part 12, the third gripping part 13, and the fourth gripping part 14 to approach and separate from each other in the arrangement direction of the plurality of workpieces W. And by driving the fourth sliding portion 240, the first engaging portion 10a and the second engaging part 110b, the first engaging part 120a and the second engaging part 120b, the first engaging part 130a and the second engaging part 130b, the first engaging part 140a and the second engaging part 140b. A step of setting a work Wa, which is one of the plurality of workpieces W respectively gripped to a predetermined interval, a step of supplying the workpiece Wa to the supply pallet 7, a first gripping portion 11, and a second gripping portion 12. The first gripping portion 13 and the fourth gripping portion 14 are driven by the first sliding portion 210, the second sliding portion 220, the third sliding portion 230 and the fourth sliding portion 240, thereby engaging the first engagement. 110a and second engagement part 110b, first engagement part 120a and second engagement part 120b, first engagement part 130a and second engagement part 130b, first engagement part 140a and second engagement part On the other of the plurality of workpieces W respectively held by 140b A step of the workpiece Wb with the predetermined interval that, in the supply pallet 7, comprising the steps of providing a workpiece Wb, the.

Thereby, the 1st holding part 110a, the 2nd holding part 110b, the 1st holding part 110b, the 3rd holding part 13, and the 4th holding part 14 are made to adjoin and separate mutually, and 1st. Of the plurality of workpieces W gripped by the engaging portion 120a and the second engaging portion 120b, the first engaging portion 130a and the second engaging portion 130b, and the first engaging portion 140a and the second engaging portion 140b, respectively. The workpiece Wa is supplied to the supply pallet 7 after a predetermined interval, and the first gripping portion 11, the second gripping portion 12, the third gripping portion 13 and the fourth gripping portion 14 are brought close to and away from each other, and the first engagement Combined portion 110a and second engaging portion 110b, first engaging portion 120a and second engaging portion 120b, first engaging portion 130a and second engaging portion 130b, first engaging portion 140a and second engaging portion Of a plurality of workpieces W respectively held by the portion 140b b can be supplied to the supply pallet 7 from a predetermined interval.
Therefore, it is possible to provide a transport method capable of supplying a plurality of works arranged at equal intervals at unequal intervals.

  It should be noted that the present invention is not limited to the above-described embodiment, and modifications, improvements, etc. within a scope that can achieve the object of the present invention are included in the present invention.

DESCRIPTION OF SYMBOLS 1 Transfer apparatus 11 1st holding part 110a 1st engaging part 110b 2nd engaging part 12 2nd holding part 120a 1st engaging part 120b 2nd engaging part 13 3rd holding part 130a 1st engaging part 130b 1st 2 engaging part 14 4th holding part 140a 1st engaging part 140b 2nd engaging part 20 holding base part 210 1st sliding part 220 2nd sliding part 230 3rd sliding part 240 4th sliding part 7 Supply pallet (supply section)
W Work

Claims (2)

A conveying device that grips and conveys a plurality of workpieces arranged at equal intervals, and supplies the workpieces to an arbitrary interval,
A plurality of gripping portions for gripping the workpiece;
A grip base portion to which the plurality of grip portions are connected, and
The grip base portion includes a plurality of sliding portions that bring the plurality of grip portions close to and away from each other in the arrangement direction of the workpieces,
The plurality of gripping portions each include at least two engaging portions that are individually engaged with and disengaged from the workpiece. A conveying method of supplying a plurality of works arranged at equal intervals to a supply unit at an arbitrary interval,
Gripping the plurality of workpieces with at least two engaging portions respectively provided on the plurality of gripping portions;
Conveying the plurality of workpieces to the supply unit;
One of the plurality of workpieces gripped by at least two of the engaging portions by driving a plurality of sliding portions that move the plurality of gripping portions toward and away from each other in the arrangement direction of the plurality of workpieces. A step of setting the first workpiece as a predetermined interval;
Supplying the first workpiece to the supply unit;
A step of driving the sliding portion with the plurality of gripping portions to set a second workpiece, which is the other of the plurality of workpieces gripped by the at least two engaging portions, to a predetermined interval;
And a step of supplying the second workpiece to the supply unit.

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