JP2013066924A - Workpiece conveying device - Google Patents
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Abstract
Description
本発明は、ワーク搬送装置に関し、特に製品以外の部分が最終的に製品となる部分と一体化した状態のワークを搬送するための装置に関する。 The present invention relates to a work transfer device, and more particularly, to a device for transferring a work in a state in which a part other than a product is integrated with a part that finally becomes a product.
例えば、鋳造品の生産工程においては、下記特許文献1に記載されているように、ダイカストマシンで所定の形状に成形されたワーク(鋳造品)を、ワーク取出しアーム等を備えた取出し装置により取り出してトリミング処理機に移載すると共に、この処理機でビスケット、ランナなどの方案部を鋳造品から取り除いた後、コンベアで次工程(仕上げ加工工程など)に向けて搬送することが行われている。 For example, in the production process of a cast product, as described in Patent Document 1 below, a work (cast product) formed into a predetermined shape by a die casting machine is taken out by a take-out device equipped with a work take-out arm or the like. Are transferred to the trimming processing machine, and after removing the design parts such as biscuits and runners from the cast product with this processing machine, they are transported to the next process (finishing process etc.) by the conveyor. .
ところで、最近では、この種の分野(鋳造工程)においても、生産工程におけるハイサイクル化へのニーズが高まってきており、上記特許文献1に記載のように、トリミング処理機で方案部を除去した後に、方案部を除去した状態の鋳造品を次工程に搬送するプロセスを見直す必要性が生じている。すなわち、従来、鋳造品は、ダイカストマシンから取り出された直後に方案部を除去して、然る後、コンベアで次工程に搬送されていたが、この方案部の除去工程がハイサイクル化の妨げと推察されることから、この除去工程(トリミング工程)を省略して、言い換えると方案部を残したままで鋳造品を次工程に向けて搬送し、次工程で仕上げ加工と共に方案部の除去を併せて実施することが検討されている。 By the way, recently, in this kind of field (casting process), there is an increasing need for a high cycle in the production process, and as described in Patent Document 1, the design part is removed by a trimming processor. Later, it has become necessary to review the process of transporting the cast product with the design part removed to the next step. That is, conventionally, the cast product has been removed from the die casting machine immediately after being taken out of the die casting machine, and then transported to the next process by a conveyor. However, the removal process of the design part hinders high cycle operation. Therefore, the removal process (trimming process) is omitted, in other words, the cast product is transported to the next process while leaving the plan part, and the plan part is removed together with finishing in the next process. Implementation is under consideration.
しかしながら、方案部等を残した状態の鋳造品をコンベアなどの搬送装置で搬送する場合には、方案部やバリなどの鋳造品から突出した部分が搬送装置やその周囲と干渉し、あるいは搬送方向に隣接する鋳造品同士が干渉する事態が懸念される。そのため、このような事態を回避するべく、鋳造品1個当りの搬送スペースを大きくとる必要が生じるが、これだと、コンベアの幅寸法や全長を必要以上に大きくとらざるを得ず、搬送効率の低下、ひいてはハイサイクル化に相反する結果を招く。 However, when the cast product with the design part remaining is transported by a transport device such as a conveyor, the part protruding from the cast product such as the design part or burr interferes with the transport device and its surroundings, or the transport direction. There is a concern that castings adjacent to each other interfere with each other. For this reason, in order to avoid such a situation, it is necessary to increase the transport space per cast product, but in this case, the width and overall length of the conveyor must be increased more than necessary, so that the transport efficiency can be increased. Results in a contradiction to the lowering of the cycle and the higher cycle.
あるいは、搬送装置やその周囲との干渉がなかったとしても方案部やバリが鋳造品の製品部分から脱落して落下することがあり、これにより搬送装置が停止する事態が起こり得る。また、ハイサイクル化のためには、搬送先の工程での作業性(ワークに対するコンタクトのし易さ)を重視して、ワークの搬送姿勢(コンベアへの載置姿勢)を決定する必要も生じるが、そうなると、ワークの種類によっては、搬送時にバランスを大きく崩してしまいかねず、安定した搬送が難しくなるおそれもある。このように、従来の搬送装置では、鋳造品を安定して搬送することが難しく、このことによっても生産工程のハイサイクル化を達成し難いとの問題がった。 Alternatively, even if there is no interference with the conveying device and its surroundings, the design part and the burr may fall off the product part of the cast product, and this may cause a situation where the conveying device stops. In addition, in order to increase the cycle, it is necessary to determine the workpiece transport posture (mounting posture on the conveyor) with an emphasis on workability in the transport destination process (ease of contact with the workpiece). However, depending on the type of workpiece, the balance may be greatly lost during conveyance, and there is a possibility that stable conveyance becomes difficult. As described above, in the conventional conveying device, it is difficult to stably convey the cast product, and this also causes a problem that it is difficult to achieve a high cycle of the production process.
上述の問題は何も鋳造品の生産工程に限ったことではなく、例えば樹脂の射出成形品など、製品以外の部分(ランナやゲートなど)が最終的に製品となる部分と一体化した状態で成形される成形品のほか、コンベアの搬送面に対して全面で当接載置できない、言い換えると安定した姿勢で載置できないようなワークの生産工程においても同様の問題が懸念される。 The above-mentioned problems are not limited to the production process of cast products. For example, in a state where parts other than the product (runners, gates, etc.) such as resin injection-molded products are integrated with the final product. In addition to the molded product to be molded, there is a concern about the same problem in the production process of workpieces that cannot be placed in contact with the entire conveyance surface of the conveyor, in other words, cannot be placed in a stable posture.
以上の事情に鑑み、ワーク形状によらず、製品以外の部分が最終的に製品となる部分と一体化した状態のワークを効率良くかつ安定して搬送することで、生産工程のハイサイクル化を達成することを、本発明により解決すべき技術的課題とする。 In view of the above circumstances, high-cycle production processes can be achieved by efficiently and stably transporting workpieces in a state where parts other than products are integrated with parts that will eventually become products, regardless of the workpiece shape. Achieving this is a technical problem to be solved by the present invention.
前記課題の解決は、本発明に係るワーク搬送装置により達成される。すなわち、この搬送装置は、長手方向の中心軸まわりに回転可能な複数の棒状部材と、棒状部材の回転を制御するための回転制御部とを備え、複数の棒状部材は、長手方向の一端側を他端側より上方に配置することで、水平方向に対して傾斜させた状態で配設され、かつ、ワークが複数の棒状部材に跨って載置可能なように、当該複数の棒状部材が互いに平行に配設され、ワークを載置した状態で棒状部材の回転を回転制御部で制御することにより、ワークを棒状部材の長手方向に沿って移動可能とした点をもって特徴付けられる。 The solution to the above-described problem is achieved by the work transfer device according to the present invention. In other words, this transport device includes a plurality of rod-shaped members that can rotate around the longitudinal central axis, and a rotation control unit for controlling the rotation of the rod-shaped members, and the plurality of rod-shaped members are arranged at one end side in the longitudinal direction. Is disposed above the other end side so as to be inclined with respect to the horizontal direction and so that the workpiece can be placed across the plurality of rod-shaped members. It is characterized by the fact that the workpieces can be moved along the longitudinal direction of the rod-shaped member by controlling the rotation of the rod-shaped member with the rotation control unit in a state where the workpieces are placed in parallel with each other.
このように、本発明によれば、複数の棒状部材に跨るようにワークを載置することで、当該ワークが各棒状部材によって下方から支持される。そして、この状態から棒状部材を長手方向の中心軸まわりに回転させるようにし、かつ、その際の回転を回転制御部により制御することでワークを棒状部材の長手方向に沿って移動させるようにしたので、ワークを落下させることなく安定して搬送することができる。言い換えると、回転制御部による棒状部材の回転制御により、ワークの形状や棒状部材上への載置姿勢に応じて、搬送中のバランスが保たれるようにワークを搬送することができる。従って、例えばワークが鋳造品の場合における方案部など、製品以外の部分が最終的に製品となる部分と一体化した状態のワークを周囲と干渉させることなく搬送でき、干渉回避のための余分なスペースをワークのまわりや搬送装置の周囲に設けずに済む。これにより、ワークの間隔を詰めて搬送することができるので、搬送効率の向上、ひいてはハイサイクル化につながる。また、棒状部材上での載置姿勢に関係なくワークを搬送できることで、搬送先での作業性が増すため、これによってもハイサイクル化が期待できる。また、複数の棒状部材でワークの支持及び搬送を図るようにしているので、バリなど製品以外の部分がワークから脱落して落下したとしても棒状部材の回転が停止することはない。従って、搬送ラインが停止する事態を確実に回避することができ、これによってもハイサイクル化を図ることができる。 Thus, according to this invention, the said workpiece | work is supported from the downward direction by each rod-shaped member by mounting a workpiece | work so that it may straddle a some rod-shaped member. Then, the rod-shaped member is rotated around the central axis in the longitudinal direction from this state, and the workpiece is moved along the longitudinal direction of the rod-shaped member by controlling the rotation at that time by the rotation control unit. Therefore, it can be stably conveyed without dropping the workpiece. In other words, by controlling the rotation of the bar-shaped member by the rotation control unit, the work can be transferred so that the balance during transfer is maintained according to the shape of the work and the mounting posture on the bar-shaped member. Therefore, for example, when a workpiece is a cast product, a workpiece in which a portion other than a product is integrated with a portion that will eventually become a product can be transported without causing interference with the surroundings, which is extra for avoiding interference. It is not necessary to provide a space around the work or around the transfer device. As a result, the workpieces can be transported at a reduced interval, which leads to an improvement in transport efficiency and a high cycle. In addition, since the work can be transported regardless of the mounting posture on the rod-shaped member, workability at the transport destination is increased, so that a high cycle can be expected. Further, since the workpiece is supported and transported by the plurality of rod-shaped members, even if a portion other than the product such as a burr drops off from the workpiece and falls, the rotation of the rod-shaped member does not stop. Therefore, it is possible to surely avoid the situation where the transfer line stops, and it is also possible to achieve a high cycle.
また、本発明に係るワーク搬送装置は、回転制御部が、複数の棒状部材の回転方向及び回転速度を個別に制御可能としたものであってもよい。 Moreover, the workpiece conveyance apparatus which concerns on this invention WHEREIN: The rotation control part may be able to control individually the rotation direction and rotation speed of a some rod-shaped member.
本発明のように、複数の棒状部材に跨って載置したワークを、棒状部材の回転により移動させるようにした場合、本発明者の検証によれば、ワークによっては、複数ある棒状部材の回転方向を異ならせることで、安定した搬送が実現できることが判明した。また、これら棒状部材の間で回転速度を異ならせることで、ワークの移動速度を調整できることも判明した。従って、上述のように複数の棒状部材の回転方向や回転速度を個別に制御することにより、ワークの形状や棒状部材への載置姿勢に応じて、安定した搬送を実現できる。また、搬送距離やサイクルタイムに応じてワークの搬送速度を調整することもできるようになるため、搬送装置の汎用性をさらに高めることが可能になる。 When a workpiece placed across a plurality of rod-like members is moved by rotation of the rod-like member as in the present invention, according to verification by the present inventor, depending on the workpiece, rotation of a plurality of rod-like members is performed. It was found that stable conveyance can be realized by changing the direction. It has also been found that the moving speed of the workpiece can be adjusted by varying the rotational speed between these rod-shaped members. Accordingly, by individually controlling the rotation direction and rotation speed of the plurality of rod-shaped members as described above, stable conveyance can be realized according to the shape of the workpiece and the mounting posture on the rod-shaped member. Further, since the workpiece conveyance speed can be adjusted according to the conveyance distance and cycle time, the versatility of the conveyance device can be further enhanced.
また、本発明に係るワーク搬送装置は、回転制御部により全ての棒状部材の回転を停止させることにより、棒状部材の長手方向に沿って移動中のワークを停止可能としたものであってもよい。 Moreover, the workpiece conveyance apparatus which concerns on this invention may stop the workpiece | work currently moving along the longitudinal direction of a rod-shaped member by stopping rotation of all the rod-shaped members by a rotation control part. .
このように、棒状部材の回転制御により棒状部材上を移動中のワークを停止可能とすることで、棒状部材上におけるワークの位置を制御することができるので、棒状部材上に複数個のワークを整列させることができる。従って、効率よく複数個のワークを次工程に向けて搬送することができる。また、何らかの事情で搬送作業を一時的に中止せざるを得ない場合であっても、迅速にワークの搬送を停止することができる。 In this way, the position of the workpiece on the rod-shaped member can be controlled by making it possible to stop the workpiece moving on the rod-shaped member by controlling the rotation of the rod-shaped member, so that a plurality of workpieces can be placed on the rod-shaped member. Can be aligned. Therefore, a plurality of workpieces can be efficiently conveyed toward the next process. Further, even if the conveyance work has to be temporarily stopped for some reason, the conveyance of the workpiece can be stopped quickly.
また、本発明に係るワーク搬送装置は、棒状部材を回転支持する回転支持部をさらに備え、回転支持部は、棒状部材の長手方向一端部に連結される連結部材と、連結部材に設けられ、棒状部材より外径の小さい小径部と、小径部を回転可能に支持する受け部材とで構成されるものであってもよい。 Moreover, the workpiece conveyance apparatus according to the present invention further includes a rotation support portion that rotatably supports the rod-shaped member, and the rotation support portion is provided on the connection member, which is coupled to one end portion in the longitudinal direction of the rod-shaped member, You may be comprised by the small diameter part whose outer diameter is smaller than a rod-shaped member, and the receiving member which supports a small diameter part rotatably.
このように棒状部材の回転支持部を構成することで、例えばワーク搬出側となる長手方向一端側に配設される回転支持部の外径寸法を、棒状部材と同径もしくはそれ以下に設計することができる。正確には、回転支持部を構成する受け部材の上方部分の形状及びサイズを、搬送装置(棒状部材上)から搬出されるワークと干渉しないように設計することができる。棒状部材それ自体ではなく、棒状部材の長手方向一端部と連結される連結部材を回転支持するようにしているためである。従って、この構成によれば、ワークを持ち上げることなくスムーズに搬出することが可能となる。 By configuring the rotation support portion of the rod-shaped member in this way, for example, the outer diameter of the rotation support portion disposed on one end side in the longitudinal direction on the workpiece carry-out side is designed to be the same diameter or less than that of the rod-shaped member. be able to. Precisely, the shape and size of the upper part of the receiving member constituting the rotation support portion can be designed so as not to interfere with the work carried out from the conveying device (on the rod-shaped member). This is because the connecting member connected to one end in the longitudinal direction of the rod-shaped member is rotatably supported instead of the rod-shaped member itself. Therefore, according to this structure, it becomes possible to carry out smoothly, without lifting a workpiece | work.
以上のように、本発明によれば、ワーク形状によらず、製品以外の部分が最終的に製品となる部分と一体化した状態のワークを効率良くかつ安定して搬送することで、生産工程のハイサイクル化を達成することが可能となる。 As described above, according to the present invention, regardless of the work shape, the production process can be performed by efficiently and stably transporting the work in a state in which the part other than the product is integrated with the part that finally becomes the product. It is possible to achieve a high cycle.
以下、本発明に係るワーク搬送装置の一実施形態を図面に基づき説明する。この実施形態では、ダイカスト法で成形したエンジンのシリンダブロック(鋳造品)を鋳造工程から次工程に向けて搬送する場合を例に取って説明する。なお、これ以降の説明においては、特に断りのない限り、鉛直方向を単に上下方向というものとする。 Hereinafter, an embodiment of a work transfer device according to the present invention will be described with reference to the drawings. In this embodiment, a case where a cylinder block (cast product) of an engine molded by a die casting method is conveyed from a casting process to the next process will be described as an example. In the following description, the vertical direction is simply referred to as the vertical direction unless otherwise specified.
図1は、本発明の一実施形態に係るワーク搬送装置10の全体構成を示す平面図である。同図に示すように、この搬送装置10は、長手方向の中心軸Xまわりに回転可能な複数の棒状部材11と、棒状部材11の回転を制御するための回転制御部12と、棒状部材11を回転支持する回転支持部13とを備える。この実施形態では、図2に示すように、2本の棒状部材11が互いに平行に配設されると共に、これら2本の棒状部材11に跨ってワークWを載置可能なように、2本の棒状部材11の間隔が所定の大きさに設定される。また、この実施形態では、回転制御部12は、棒状部材11の長手方向一端部と動的に連結され、棒状部材11に駆動力を付与する回転駆動部14と、回転駆動部14に接続され、回転駆動部14による駆動力の伝達を制御する制御手段15とで構成される。よって、この場合、棒状部材11の長手方向一端側(ワーク搬入側)を回転支持する回転支持部13は、回転駆動部14で構成される。 FIG. 1 is a plan view showing an overall configuration of a workpiece transfer apparatus 10 according to an embodiment of the present invention. As shown in FIG. 1, the transport device 10 includes a plurality of rod-like members 11 that can rotate around a central axis X in the longitudinal direction, a rotation control unit 12 that controls the rotation of the rod-like member 11, and the rod-like member 11. And a rotation support portion 13 that rotatably supports the rotation. In this embodiment, as shown in FIG. 2, two rod-shaped members 11 are arranged in parallel with each other, and two workpieces W are placed so that the workpiece W can be placed across the two rod-shaped members 11. The interval between the rod-shaped members 11 is set to a predetermined size. In this embodiment, the rotation control unit 12 is dynamically connected to one end in the longitudinal direction of the rod-shaped member 11, and is connected to the rotation drive unit 14 that applies a driving force to the rod-shaped member 11, and the rotation drive unit 14. , And a control means 15 for controlling transmission of driving force by the rotation driving unit 14. Therefore, in this case, the rotation support portion 13 that rotates and supports one end side (work carry-in side) in the longitudinal direction of the rod-shaped member 11 is constituted by the rotation drive portion 14.
棒状部材11は円筒状の外周面を有するもので、例えばSUSなどの金属製のパイプから形成される。また、この実施形態では、2本の棒状部材11は共に、後述するワーク搬入側の端部(図2でいえば左側の端部)が、ワーク搬出側の端部(図2でいえば右側の端部)に比べて上方に位置するよう水平方向に対して所定角(例えば5〜10°)傾斜させた状態で配設されている。この角度範囲は、後述のように、全ての棒状部材11の回転を停止することにより、棒状部材11の長手方向に沿って移動中のワークWを停止可能とし、かつ棒状部材11を静止させた状態で、棒状部材11上に載置した状態のワークWが自重で移動しない程度の角度範囲として設定される。 The rod-shaped member 11 has a cylindrical outer peripheral surface, and is formed from, for example, a metal pipe such as SUS. Further, in this embodiment, the two rod-shaped members 11 have both a workpiece loading side end portion (left end portion in FIG. 2), which will be described later, and a workpiece unloading side end portion (right side in FIG. 2). It is arrange | positioned in the state inclined by the predetermined angle (for example, 5-10 degrees) with respect to the horizontal direction so that it may be located upwards compared with the edge part. As will be described later, this angular range allows the workpiece W being moved along the longitudinal direction of the rod-shaped member 11 to be stopped by stopping the rotation of all the rod-shaped members 11 and makes the rod-shaped member 11 stationary. In this state, the angular range is set so that the workpiece W placed on the rod-shaped member 11 does not move under its own weight.
回転制御部12を構成する回転駆動部14は例えばモータで構成され、図1に示すように、回転駆動部14の回転軸と、各棒状部材11の長手方向の中心軸Xとが一致するように動的に連結される。これにより、棒状部材11を長手方向の中心軸Xまわりに回転させることが可能となっている。また、各回転駆動部14はそれぞれ制御手段15に電気的に接続されており、制御手段15によって各棒状部材11の回転方向や回転速度、あるいは回転トルクを個別に制御可能としている。従って、上述の回転制御部12により各棒状部材11の回転を制御することによって、2本の棒状部材11に跨って載置したワークWを、棒状部材11の長手方向に沿って、かつワーク搬出側に向けて移動(スライド)可能としている(後述する図5、図6を参照)。また、全ての棒状部材11の回転を停止することにより、棒状部材11の長手方向に沿って移動中のワークWを停止可能としている。このようにして、棒状部材11上におけるワークWの長手方向位置が調整され得る。 The rotation drive unit 14 constituting the rotation control unit 12 is configured by a motor, for example, and as shown in FIG. 1, the rotation axis of the rotation drive unit 14 and the central axis X in the longitudinal direction of each rod-shaped member 11 coincide with each other. Dynamically linked to Thereby, it is possible to rotate the rod-shaped member 11 around the central axis X in the longitudinal direction. Further, each rotation drive unit 14 is electrically connected to the control means 15, and the control means 15 can individually control the rotation direction, rotation speed, or rotation torque of each rod-like member 11. Therefore, by controlling the rotation of each rod-shaped member 11 by the rotation control unit 12 described above, the workpiece W placed across the two rod-shaped members 11 is moved along the longitudinal direction of the rod-shaped member 11 and the workpiece is carried out. It is possible to move (slide) toward the side (see FIGS. 5 and 6 to be described later). In addition, by stopping the rotation of all the bar-shaped members 11, it is possible to stop the workpiece W that is moving along the longitudinal direction of the bar-shaped members 11. In this way, the longitudinal position of the workpiece W on the rod-like member 11 can be adjusted.
棒状部材11の長手方向他端側、すなわちワーク搬出側の端部を回転支持する回転支持部13は、この実施形態では、図3に示すように、棒状部材11のワーク搬出側の端部に連結される連結部材16と、連結部材16に設けられ、棒状部材11より外径の小さい小径部17と、小径部17を回転可能に支持する受け部材18とで構成される。この場合、連結部材16は、小径部17及び小径部17より大径の大径部19とを一体に有する筒状部材20と、筒状部材20の内周に嵌め込むことで大径部19を拡径可能とする連結ボルト21、及び筒状部材20と連結ボルト21との間に介装されるキャップ22とからなる。また、大径部19には円周方向の数箇所に長手方向に伸びるスリット(図示は省略)が設けられている。従って、金属製のパイプ材から形成される棒状部材11の内周に筒状部材20の大径部19を挿入し、小径部17を受け部材18としての滑り軸受の内周に配置した状態で、小径部17側から筒状部材20の内周に連結ボルト21を嵌め込む(締め付ける)ことで、大径部19が拡径し、筒状部材20と棒状部材11が連結される。そして、筒状部材20の小径部17を受け部材18で回転支持することで、筒状部材20を有する連結部材16と連結された棒状部材11を回転支持可能としている。また、この際、受け部材18としての滑り軸受の外径寸法は、棒状部材11の外径寸法以下に設計される。 In this embodiment, the rotation support portion 13 that rotates and supports the other end in the longitudinal direction of the rod-shaped member 11, that is, the end on the workpiece carry-out side, is arranged at the end of the rod-like member 11 on the workpiece carry-out side as shown in FIG. The connecting member 16 is connected, the small-diameter portion 17 is provided on the connecting member 16 and has an outer diameter smaller than that of the rod-shaped member 11, and the receiving member 18 that rotatably supports the small-diameter portion 17. In this case, the connecting member 16 is fitted into the tubular member 20 integrally having the small-diameter portion 17 and the large-diameter portion 19 larger in diameter than the small-diameter portion 17, and the large-diameter portion 19 by fitting into the inner periphery of the tubular member 20. The connecting bolt 21 can be expanded in diameter, and the cap 22 is interposed between the tubular member 20 and the connecting bolt 21. The large diameter portion 19 is provided with slits (not shown) extending in the longitudinal direction at several locations in the circumferential direction. Accordingly, the large diameter portion 19 of the cylindrical member 20 is inserted into the inner periphery of the rod-shaped member 11 formed from a metal pipe material, and the small diameter portion 17 is disposed on the inner periphery of the slide bearing as the member 18. By fitting (tightening) the connecting bolt 21 to the inner periphery of the cylindrical member 20 from the small diameter portion 17 side, the large diameter portion 19 is expanded, and the cylindrical member 20 and the rod-shaped member 11 are connected. And the rod-shaped member 11 connected with the connection member 16 which has the cylindrical member 20 can be rotationally supported by rotating and supporting the small diameter part 17 of the cylindrical member 20 with the member 18. At this time, the outer diameter of the sliding bearing as the receiving member 18 is designed to be equal to or smaller than the outer diameter of the rod-shaped member 11.
以下、上記構成のワーク搬送装置10を用いた場合のワークWの搬送態様の一例を説明する。 Hereinafter, an example of the conveyance mode of the workpiece | work W at the time of using the workpiece conveyance apparatus 10 of the said structure is demonstrated.
まず、図1に示すように、図示しない鋳造装置で成形された鋳造品(ワークW)を、同じく図示しないロボットアーム等により鋳造装置から取り出して、ワーク搬送装置10の棒状部材11上に設けたワーク受け入れ位置23に移載する。この実施形態では、鋳造装置から取り出した直後のワークW(鋳造品)を棒状部材11上に移載することから、ワークWとしての鋳造品は、図4に示すように、最終的に製品となる部分Waと、方案部など製品以外の部分Wbとが一体化した状態にある。そのため、その載置姿勢によっては、図4に示すように、製品以外の部分Wbが棒状部材11と幅方向(水平方向でかつ棒状部材11の長手方向に直交する向きをいうものとする。以下、同じ。)で当接した状態でワークWが2本の棒状部材11に跨って載置される。 First, as shown in FIG. 1, a cast product (work W) formed by a casting device (not shown) is taken out from the casting device by a robot arm or the like (not shown) and provided on the rod-like member 11 of the work transport device 10. Transfer to work receiving position 23. In this embodiment, since the workpiece W (cast product) immediately after being taken out from the casting apparatus is transferred onto the rod-shaped member 11, the cast product as the workpiece W is finally a product as shown in FIG. The portion Wa and the portion Wb other than the product such as the plan portion are integrated. Therefore, depending on the mounting posture, as shown in FIG. 4, the portion Wb other than the product refers to the rod-shaped member 11 and the width direction (horizontal direction and orthogonal to the longitudinal direction of the rod-shaped member 11). The workpiece W is placed across the two rod-shaped members 11 in the state of being in contact with each other.
このように、棒状部材11上の所定位置(ワーク受け入れ位置23)にワークWが載置され、2本の棒状部材11で下方から支持されたら、次のワークWがロボットアーム等によりワーク受け入れ位置23に移載されて来るまでの間に、制御手段15からの指令により各回転駆動部14(モータ)を駆動し、各回転駆動部14と動的に連結された2本の棒状部材11を共に回転駆動させる。この際、ワークWの形状や載置姿勢(図4を参照)に応じて、各棒状部材11の回転方向や回転速度等がそれぞれ制御される。言い換えると、搬送中のワークWの姿勢が変わらずバランスが維持されるように、各棒状部材11の回転方向等が制御手段15により制御される。この図示例の場合、図4に示すように、例えば2本の棒状部材11を同じ方向(図4でいうと方案部が棒状部材11に押し付けられる向き)に回転させることで、ワーク受け入れ位置23に載置したワークWが、棒状部材11の長手方向の一方に向けて移動を開始する。具体的には、図5中の2点鎖線で示す位置から実線で示す位置に向けてワークWがスライド動作を開始する。そして、所定距離だけ移動した時点で、回転駆動部14の駆動を停止し、棒状部材11の回転を停止する。これに伴い、ワークWのスライド動作も終了し、終了時の位置(図5でいえば実線で示す位置)で停止する。 As described above, when the workpiece W is placed at a predetermined position (work receiving position 23) on the rod-shaped member 11 and supported from below by the two rod-shaped members 11, the next workpiece W is moved to the workpiece receiving position by the robot arm or the like. In the meantime, the two rotary members 14 (motors) are driven by commands from the control means 15 until the two rod-like members 11 dynamically connected to the rotary drive units 14 are transferred. Both are driven to rotate. At this time, the rotation direction, rotation speed, and the like of each rod-shaped member 11 are controlled according to the shape and placement posture of the workpiece W (see FIG. 4). In other words, the rotation direction of each rod-shaped member 11 is controlled by the control means 15 so that the balance is maintained without changing the posture of the workpiece W being conveyed. In the case of this illustrated example, as shown in FIG. 4, for example, by rotating the two rod-shaped members 11 in the same direction (in FIG. 4, the direction in which the design portion is pressed against the rod-shaped member 11), the workpiece receiving position 23. The workpiece W placed on the rod-shaped member 11 starts moving toward one side in the longitudinal direction of the rod-shaped member 11. Specifically, the workpiece W starts to slide from the position indicated by the two-dot chain line in FIG. 5 toward the position indicated by the solid line. And when it moves only the predetermined distance, the drive of the rotation drive part 14 is stopped and rotation of the rod-shaped member 11 is stopped. Along with this, the slide operation of the workpiece W is also ended and stopped at a position at the end (a position indicated by a solid line in FIG. 5).
このようにして、ワーク受け入れ位置23に載置したワークWを棒状部材11の長手方向の一方に向けてスライドさせ、所定距離移動させた後に停止させると共に、図6に示すように、新たに鋳造装置で成形されたワークW’(鋳造品)を、上記スライド動作により空いたワーク受け入れ位置23に移載する動作を繰り返すことで、棒状部材11上に複数個のワークWが所定間隔で整列された状態で順次搬送される。そして、スライド方向の最も前方側に到達したワークW’’はワーク搬送装置10の外へ搬出される。この際、図3に示すように、ワーク搬出側の回転支持部13を構成する受け部材18は、棒状部材11と同じかそれ以下の外径寸法に設計されているので、棒状部材11よりも上方に突出することはない。よって、上述のようにワークW’’のスライド動作を引き続き行うことで、ワークW’’が棒状部材11のワーク搬出側の端部から受け部材18へと乗り移り、そのままワーク搬送装置10の外に排出される。これにより、ワーク搬送装置10に隣接して配設される次工程(例えば図示は省略するが、方案部除去工程、又は方案部除去工程を兼ねた仕上げ加工工程)へとワークW’’が搬送される。 In this way, the workpiece W placed at the workpiece receiving position 23 is slid toward one side in the longitudinal direction of the rod-like member 11 and stopped after being moved by a predetermined distance. As shown in FIG. By repeating the operation of transferring the workpiece W ′ (cast product) formed by the apparatus to the empty workpiece receiving position 23 by the sliding operation, a plurality of workpieces W are aligned on the rod-shaped member 11 at predetermined intervals. It is conveyed sequentially in the state. Then, the workpiece W ″ that has reached the foremost side in the sliding direction is carried out of the workpiece transfer apparatus 10. At this time, as shown in FIG. 3, the receiving member 18 that constitutes the rotation support portion 13 on the workpiece carry-out side is designed to have an outer diameter that is the same as or smaller than that of the rod-shaped member 11. It does not protrude upward. Therefore, by continuing the slide operation of the workpiece W ″ as described above, the workpiece W ″ is transferred from the end of the rod-shaped member 11 on the workpiece carry-out side to the receiving member 18 and is directly outside the workpiece transfer device 10. Discharged. As a result, the workpiece W ″ is transferred to the next step (for example, although not shown, the plan portion removing step or the finishing processing step also serving as the plan portion removing step) disposed adjacent to the workpiece transfer apparatus 10. Is done.
以上のように、複数の棒状部材11に跨るようにワークWを載置した状態で棒状部材11を長手方向の中心軸Xまわりに回転させるようにし、かつ、その際の回転を回転制御部12により制御することでワークWを棒状部材11の長手方向に沿って移動させることで、ワークWを落下させることなく安定して搬送することができる。言い換えると、回転制御部12による棒状部材11の回転制御により、ワークWの形状や棒状部材11上への載置姿勢に応じて、搬送中のバランスが保たれるようにワークWを搬送することができる。特に、この実施形態では、図4に示すように、方案部(製品以外の部分Wb)が一方の棒状部材11に押し当てられる向きに棒状部材11を回転させるようにしているので、棒状部材11がガイドとして機能し、より確実に搬送することができる。従って、方案部(製品以外の部分Wb)が最終的に製品となる部分Waと一体化した状態のワークWを周囲と干渉させることなく搬送でき、干渉回避のための余分なスペースをワークWのまわりや搬送装置の周囲に設けずに済む。これにより、ワークWの間隔を詰めて搬送することができるので、搬送効率の向上、ひいてはハイサイクル化につながる。また、棒状部材11上での載置姿勢に関係なくワークWを搬送できることで、搬送先となる次工程での作業性を優先して載置姿勢を決定することができ、これによってもハイサイクル化が期待できる。また、複数の棒状部材11でワークWの支持及び搬送を図るようにしているので、バリなど製品以外の部分WbがワークWから脱落して落下したとしても棒状部材11の回転が停止することはない。従って、搬送ラインが停止する事態を確実に回避することができ、これによってもハイサイクル化を図ることができる。 As described above, the rod-shaped member 11 is rotated around the central axis X in the longitudinal direction while the workpiece W is placed so as to straddle the plurality of rod-shaped members 11, and the rotation at that time is controlled by the rotation control unit 12. The workpiece W can be moved stably along the longitudinal direction of the rod-shaped member 11 by controlling in accordance with the above, so that the workpiece W can be stably conveyed without dropping. In other words, by controlling the rotation of the rod-shaped member 11 by the rotation control unit 12, the workpiece W is conveyed so that the balance during conveyance is maintained according to the shape of the workpiece W and the mounting posture on the rod-shaped member 11. Can do. In particular, in this embodiment, as shown in FIG. 4, the rod-shaped member 11 is rotated in a direction in which the design portion (part Wb other than the product) is pressed against the one rod-shaped member 11. Functions as a guide and can be transported more reliably. Therefore, the work part (the part Wb other than the product) can be transported without interfering with the surroundings in a state where the plan part (part Wb other than the product) is finally integrated with the part Wa to be the product, and extra space for avoiding interference can be obtained. It is not necessary to provide around. As a result, the work W can be transported with a small interval, which leads to an improvement in transport efficiency and a high cycle. In addition, since the workpiece W can be transported regardless of the mounting posture on the rod-shaped member 11, the mounting posture can be determined with priority given to workability in the next process as a transport destination, and this is also a high cycle. Can be expected. In addition, since the workpiece W is supported and transported by the plurality of rod-shaped members 11, even if a portion Wb other than the product such as a burr drops off from the workpiece W and falls, the rotation of the rod-shaped member 11 does not stop. Absent. Therefore, it is possible to surely avoid the situation where the transfer line stops, and it is also possible to achieve a high cycle.
また、この実施形態では、回転制御部12により、複数の棒状部材11の回転方向及び回転速度等を個別に制御可能としたので、ワークの形状や載置姿勢に関係なく、当該ワークを安定して搬送することが可能となる。例えば図7に示すような形状のワークWを搬送する場合、2本の棒状部材11を異なる方向(それぞれ幅方向の内向き)に回転させることで、ワークWの姿勢を変えることなくバランスを維持した状態で搬送することが可能となる。また、これら棒状部材11の回転速度を高めることで、ワークWの移動速度を高めることもできるので、搬送距離やサイクルタイムに応じてワークWの搬送速度を調整することもできる。なお、上述のように棒状部材11の回転方向や回転速度等を制御することで、載置状態にあるワークWの移動(スライド)動作を制御できる理由として、ワークWと棒状部材11とが搬送方向に沿って接触しており、接触面積が小さい点、ワークWが鋳造品であって、その表面は成形面であることから比較的粗面である点、などが考えられる。すなわち、搬送対象となるワークWが鋳造品であれば、よりワークWの搬送を所望の態様に制御し易いため、好適である。 In this embodiment, since the rotation control unit 12 can individually control the rotation direction and rotation speed of the plurality of rod-like members 11, the workpiece can be stabilized regardless of the shape and placement posture of the workpiece. Can be conveyed. For example, when a workpiece W having a shape as shown in FIG. 7 is conveyed, the balance is maintained without changing the posture of the workpiece W by rotating the two rod-shaped members 11 in different directions (inward in the width direction, respectively). It becomes possible to carry in the state. Moreover, since the moving speed of the workpiece | work W can also be raised by raising the rotational speed of these rod-shaped members 11, the conveyance speed of the workpiece | work W can also be adjusted according to a conveyance distance and cycle time. In addition, the workpiece | work W and the rod-shaped member 11 convey as a reason which can control the movement (slide) operation | movement of the workpiece | work W in a mounting state by controlling the rotation direction, rotational speed, etc. of the rod-shaped member 11 as mentioned above. It is considered that the contact is made along the direction and the contact area is small, the work W is a cast product, and the surface thereof is a molding surface, so that the surface is relatively rough. In other words, if the workpiece W to be conveyed is a cast product, it is preferable because the conveyance of the workpiece W can be more easily controlled in a desired manner.
また、この実施形態のように、ワークWを2本の棒状部材11で支持及び搬送するようにしたので、搬送中のワークWの露出面積が大きい。そのため、鋳造直後のワークW(鋳造品)をワーク搬送装置10で搬送する間にワークWを冷却する場合、冷却水等を噴き付け可能な面積が大きくなり、冷却効率が高まる。また、搬送時、ワークWの下方が空いているので、冷却水を下方に排出することができるので、この点でも冷却に適している。また、上述のように、ワークWが鋳造品の場合、これを支持する棒状部材11をSUS等の金属で形成できることから、冷却水が付着しても錆びることはない。また、載置直後のワークWが高温であっても熱ダメージを受けずに済む。さらには、水の介在下であっても、棒状部材11の回転制御によりワークWの搬送を所望の態様に搬送できることが本発明者の検証により判明しているので、この点でも問題はない。 Moreover, since the workpiece | work W was supported and conveyed by the two rod-shaped members 11 like this embodiment, the exposed area of the workpiece | work W in conveyance is large. Therefore, when the workpiece W is cooled while the workpiece W (cast product) immediately after casting is conveyed by the workpiece conveyance device 10, the area where the cooling water or the like can be sprayed is increased, and the cooling efficiency is increased. Moreover, since the lower part of the workpiece | work W is vacant at the time of conveyance, since cooling water can be discharged | emitted below, this point is also suitable for cooling. Further, as described above, when the workpiece W is a cast product, the rod-like member 11 that supports the workpiece W can be formed of a metal such as SUS, so that it does not rust even if the cooling water adheres. Further, even if the workpiece W immediately after placement is at a high temperature, it is not necessary to receive thermal damage. Furthermore, since it has been proved by the inventor that the workpiece W can be conveyed in a desired manner by controlling the rotation of the rod-shaped member 11 even under the presence of water, there is no problem in this respect as well.
また、上述のように、本発明に係るワーク搬送装置10によれば、ワークWの形状に関係なく安定した搬送を実現できるので、複数種のワークWを単一のラインで搬送することができる。これにより、搬送ラインの削減化、ひいては設備コストの低減化を図ることが可能となる。また、上述したワーク搬送装置10であれば、非常に単純な構造とすることができるので、製作コストを小さく抑えられる。 In addition, as described above, according to the workpiece transfer device 10 according to the present invention, stable transfer can be realized regardless of the shape of the workpiece W, so that a plurality of types of workpieces W can be transferred in a single line. . As a result, it is possible to reduce the number of transport lines and thus reduce the equipment cost. In addition, since the workpiece transfer device 10 described above can have a very simple structure, the manufacturing cost can be reduced.
以上、本発明に係るワーク搬送装置の一実施形態を説明したが、この搬送装置及びこの搬送装置を用いた搬送方法は、上記例示の形態に限定されることなく、本発明の範囲内において任意の形態を採ることが可能である。 As mentioned above, although one Embodiment of the workpiece conveyance apparatus which concerns on this invention was described, this conveyance apparatus and the conveyance method using this conveyance apparatus are not limited to the said illustration form, Arbitrary within the scope of the present invention. It is possible to take the form.
例えば、上記実施形態では、棒状部材11を金属製のパイプで形成した場合を説明したが、もちろん、柱状の金属棒材を切り出すことで中実状の棒状部材11を形成してもよい。また、ワークWの重量にもよるが、2本の棒状部材11のみでワークWを安定して支持することが困難と思われる場合には、3本あるいはそれ以上の棒状部材11を並列に配設するようにしても構わない。 For example, in the above-described embodiment, the case where the rod-shaped member 11 is formed of a metal pipe has been described. Of course, the solid rod-shaped member 11 may be formed by cutting out a columnar metal rod. Depending on the weight of the workpiece W, when it is difficult to stably support the workpiece W with only the two rod-shaped members 11, three or more rod-shaped members 11 are arranged in parallel. You may make it install.
また、回転制御部12による棒状部材11の回転制御に関し、例えば複数の棒状部材11の回転方向が同じであれば、一方の棒状部材11にのみ回転駆動部14を連結して、この回転駆動部14からの回転駆動力を他方の棒状部材11側にチェーン等を介して伝達するようにしてもよい。また、ワークWの種類や載置状態によっては、複数ある棒状部材11のうち一部の棒状部材11のみを回転駆動し、残りの棒状部材11を停止状態にすることでワークWを搬送するようにしてもよい。あるいは、上記実施形態では、複数(2本)ある棒状部材11の間隔を一定の大きさに保っているが、当該間隔を可変とすることで、幅方向寸法の大きく異なるワークWに対応するようにしてもよい。 Further, regarding the rotation control of the rod-shaped member 11 by the rotation control unit 12, for example, if the rotation directions of the plurality of rod-shaped members 11 are the same, the rotation drive unit 14 is connected to only one of the rod-shaped members 11, and this rotation drive unit The rotational driving force from 14 may be transmitted to the other rod-shaped member 11 side via a chain or the like. Further, depending on the type and placement state of the workpiece W, only some of the rod-shaped members 11 are rotationally driven, and the remaining rod-shaped members 11 are stopped so that the workpiece W is conveyed. It may be. Or in the said embodiment, although the space | interval of the several (2) rod-shaped member 11 is maintained at the fixed magnitude | size, it can respond to the workpiece | work W from which the width direction dimension differs greatly by making the said space | interval variable. It may be.
なお、上記実施形態では、ワーク受け入れ位置23に搬入(移載)されたワークWを所定距離だけスライドさせた後に、棒状部材11の回転を停止させることで、ワークWのスライドを停止させる動作を繰り返すようにして、ワーク搬送装置10の外へ搬出する場合を説明したが、棒状部材11の回転を停止せずともワークWの搬入及び搬出を行うこともできる。例えば、図示は省略するが、棒状部材11を回転し続けてワークWを停止させることなく搬出位置までスライドさせることも可能である。また、この際、ワークWが棒状部材11の外周面上をスライドすることを利用して、搬出位置付近にストッパ(図示は省略)を設けてもよい。これにより、搬出位置近傍に位置する複数個のワークW間ピッチを搬入側に比べて狭めることができ、あるいは隣接するワークW同士を当接させた状態で搬出待機させることができる。これにより、搬送装置10の全長を短くしつつも、適切にアキューム搬送を図ることができる。 In the above embodiment, the operation of stopping the slide of the workpiece W is performed by stopping the rotation of the rod-shaped member 11 after the workpiece W loaded (transferred) to the workpiece receiving position 23 is slid by a predetermined distance. As described above, the case of carrying out of the workpiece transfer apparatus 10 has been described. However, the workpiece W can be carried in and out without stopping the rotation of the rod-shaped member 11. For example, although not shown, it is possible to slide the rod-shaped member 11 to the unloading position without stopping the workpiece W and stopping the workpiece W. At this time, a stopper (not shown) may be provided near the carry-out position by utilizing the fact that the workpiece W slides on the outer peripheral surface of the rod-shaped member 11. Thereby, the pitch between the plurality of workpieces W located in the vicinity of the carry-out position can be narrowed compared to the carry-in side, or the carry-out standby can be performed in a state where the adjacent works W are in contact with each other. Thereby, it is possible to appropriately carry the accumulator while shortening the overall length of the transport device 10.
また、上記実施形態では、エンジンのシリンダブロックを鋳造成形し、これを鋳造装置から次工程に搬送する場合を例にとって説明を行ったが、本発明は、上記以外の工程間の搬送にも適用することが可能である。また、搬送対象となるワークWについても上記例示の部品には限らない。例えば、樹脂の射出成形品など、製品以外の部分(ランナやゲートなど)が最終的に製品となる部分と一体化した状態で成形される成形品のほか、フラットな搬送面に対して全面で当接載置できない、言い換えると安定した姿勢で載置できないようなワーク(例えばクランクシャフトの如き鍛造品)の搬送にも本発明を適用することが可能である。 In the above embodiment, the case where the cylinder block of the engine is cast and transferred from the casting apparatus to the next process has been described as an example. However, the present invention is also applied to transfer between processes other than the above. Is possible. Further, the workpiece W to be transported is not limited to the above-described components. For example, in addition to molded products that are molded in a state where parts other than the product (runners, gates, etc.) are integrated with the final product, such as resin injection molded products, The present invention can also be applied to conveyance of a workpiece (for example, a forged product such as a crankshaft) that cannot be placed in contact, in other words, cannot be placed in a stable posture.
また、上記以外の事項についても、本発明の技術的意義を没却しない限りにおいて他の具体的形態を採り得ることはもちろんである。 Of course, other specific forms can be adopted for matters other than the above as long as the technical significance of the present invention is not lost.
10 ワーク搬送装置
11 棒状部材
12 回転制御部
13 回転支持部
14 回転駆動部
15 制御手段
16 連結部材
17 小径部
18 受け部材
19 大径部
20 筒状部材
21 連結ボルト
23 ワーク受け入れ位置
W ワーク
Wa 最終的に製品となる部分
Wb 製品以外の部分
X 中心軸
DESCRIPTION OF SYMBOLS 10 Work conveying apparatus 11 Rod-shaped member 12 Rotation control part 13 Rotation support part 14 Rotation drive part 15 Control means 16 Connection member 17 Small diameter part 18 Receiving member 19 Large diameter part 20 Cylindrical member 21 Connection bolt 23 Work receiving position W Work Wa Final Part Wb that is the product in general Wb Non-product part X Central axis
Claims (3)
前記複数の棒状部材は、長手方向の一端側を他端側より上方に配置することで、水平方向に対して傾斜させた状態で配設され、かつ、
ワークが前記複数の棒状部材に跨って載置可能なように、前記複数の棒状部材が互いに平行に配設され、
前記ワークを載置した状態で前記棒状部材の回転を前記回転制御部で制御することにより、前記ワークを前記棒状部材の長手方向に沿って移動可能としたワーク搬送装置。 A plurality of rod-shaped members rotatable around a central axis in the longitudinal direction, and a rotation control unit for controlling the rotation of the rod-shaped members,
The plurality of rod-shaped members are arranged in a state inclined with respect to the horizontal direction by disposing one end side in the longitudinal direction above the other end side, and
The plurality of rod-shaped members are arranged in parallel to each other so that the workpiece can be placed across the plurality of rod-shaped members,
A workpiece transfer device that enables the workpiece to be moved along the longitudinal direction of the rod-shaped member by controlling the rotation of the rod-shaped member with the rotation control unit in a state where the workpiece is placed.
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CN110963230A (en) * | 2019-12-18 | 2020-04-07 | 狄永杰 | Transfer robot of engine cylinder block based on vision |
CN112191838A (en) * | 2020-09-25 | 2021-01-08 | 广东先导稀材股份有限公司 | Automatic metal pouring production line |
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US7364031B1 (en) * | 2007-06-18 | 2008-04-29 | Cbw Automation, Inc. | Split spin bar for use with plastic lid handling system |
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JPS54144685U (en) * | 1978-03-31 | 1979-10-06 | ||
US7364031B1 (en) * | 2007-06-18 | 2008-04-29 | Cbw Automation, Inc. | Split spin bar for use with plastic lid handling system |
JP2009184809A (en) * | 2008-02-08 | 2009-08-20 | Kao Corp | Article alignment apparatus |
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CN110963230A (en) * | 2019-12-18 | 2020-04-07 | 狄永杰 | Transfer robot of engine cylinder block based on vision |
CN112191838A (en) * | 2020-09-25 | 2021-01-08 | 广东先导稀材股份有限公司 | Automatic metal pouring production line |
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