JP2015044638A - Workpiece conveyance device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a workpiece conveyance device capable of lessening the occupied space thereof.SOLUTION: A workpiece conveyance device is provided with: a base; a turning body turnable with respect to the base around a turning shaft L1 and turnable between the first and second rotation angle positions; a first arm 3 in which a first workpiece holding table rotation shaft is installed to the turning body turnably around a first axial line parallel to the turning shaft L1 between the adjacent and separate rotation angle positions; and an interlock mechanism turning the arm by interlocking with turning of the turning body. The interlock mechanism turns the first arm 3 from the separate rotation angle position to the adjacent rotation angle position accompanying the turn of the turning body from the first time rotation angle position to the second time that position to locate a workpiece holding part to an adjacent position in the side of the turning shaft L1 and thereafter, turns the first arm 3 reversibly to return to the separate rotation angle position.

Description

  The present invention relates to a workpiece transfer device that transfers a workpiece.

  2. Description of the Related Art Conventionally, a conveying device that conveys a workpiece is known (see, for example, Patent Document 1).

  This conveying device is configured to be able to move the workpiece between the painting position and the mounting position. The transport device includes a transport base, a first link body whose one end is connected to the transport base so as to be rotatable around a first rotation axis, and a first link body whose one end is rotatable around a second rotation axis. A second link body connected to the other end portion of the second link body, and an interlocking mechanism. In this interlocking mechanism, the movement path of the work connecting the coating position and the mounting position is interlocked with the rotational displacement around the first rotational axis of the first link body with respect to the transport base, and the first rotational axis is more than the second rotational axis. The second link body is rotationally displaced in a predetermined direction around the second rotation axis with respect to the first link body so as to pass through the side. Thus, the workpiece can be transported by passing through a region in the vicinity of the gantry on which the processing device is installed, and the space occupied by the transport device can be reduced.

JP 2007-283221 A

  However, in the conveyance device described in Patent Document 1, the movement path of the work connecting the coating position and the mounting position passes through the first rotation axis side with respect to the other end portion (second rotation axis) of the first link body. For this reason, the other end portion of the first link body protrudes to the side of the conveying device rather than the workpiece movement path, and there is a problem that the space occupied by the coating device increases.

  In order to solve the above-described problem, a workpiece transfer device according to an aspect of the present invention is configured to allow a workpiece to be rotated around the pivot axis with respect to the platform, and to replace the workpiece behind the pivot axis. A revolving body rotatable between a first rotation angle position positioned at a position and a second rotation angle position positioning the work at a work processing position in front of the revolving axis, and a drive for rotationally driving the revolving body An apparatus, one end portion is a workpiece holding portion, the workpiece holding portion is located in a proximity position close to the turning axis, and the workpiece holding portion is located farther from the turning axis than the proximity position. An arm having a first predetermined portion closer to the other end than the work holding portion attached to the swivel body so as to be rotatable around a first axis parallel to the swivel axis between the separated rotation angle position and An interlocking mechanism for rotating the arm in conjunction with the rotation of the revolving body, and the interlocking mechanism allows the revolving body to rotate from the first rotation angle position to the second rotation angle position. Accordingly, the arm is rotated from the separation rotation angle position to the proximity rotation angle position to position the work holding portion at the proximity position on the side of the turning axis, and then returns to the separation rotation angle position. Thus, the arm is configured to reversibly rotate. Here, “reversibly rotate the arm” means that when the arm is rotated in one direction and then the arm is rotated in the other direction, the arm is rotated in one direction. This means that the arm rotates so as to follow the path in the reverse direction.

  According to this configuration, when the work holding unit is in the proximity position, the part of the revolving body to which the arm is attached does not protrude to the side of the work transfer device from the work holding unit of the arm. In addition, when the arm is not rotated relative to the revolving structure, the workpiece transfer path is an arc, whereas the arm is rotated relative to the revolving structure, so that the work transfer path is long in the front-rear direction. It becomes an ellipse arc. Thereby, the occupation space of a workpiece conveyance apparatus can be made small.

  One end portion is rotatably attached to the base around a second axis parallel to the pivot axis, and the other end is the first predetermined portion of the arm around a third axis parallel to the pivot axis. Further comprising a connecting member rotatably attached to a second predetermined portion closer to the other end, the base, the swivel body, the arm, and the connecting member constitute a four-bar link, The interlocking mechanism may be the four-bar link.

  According to this configuration, the configuration of the interlocking mechanism can be simplified, which is advantageous for manufacturing and the manufacturing cost is low.

  The interlock mechanism rotates the arm from the separated rotation angle position to the close rotation angle position as the revolving body rotates from the first rotation angle position to the second rotation angle position. The cam mechanism may be configured to reversibly rotate the arm so as to return to the separation rotation angle position after the workpiece holding portion is positioned at the close position on the side of the turning axis.

  According to this structure, the freedom degree of the movement path | route of a workpiece | work holding | maintenance part can be raised.

  The interlock mechanism moves the arm from the separated rotation angle position in a direction opposite to the rotation of the swing body as the swing body rotates from the first rotation angle position to the second rotation angle position. After rotating the workpiece holding portion to the proximity position on the side of the turning axis line by rotating to the close rotation angle position, the arm is rotated in the same manner as the turning body to return to the separation rotation angle position. It may be configured to rotate in the direction.

  According to this structure, the conveyance path | route of a workpiece | work becomes a monotonous arc shape.

  In order to solve the above-described problem, a workpiece transfer device according to another aspect of the present invention is rotatable with respect to a base and a turning axis around the base, and has a first rotation angle position and a second rotation. A revolving body that can rotate between angular positions, a drive device that rotationally drives the revolving body, a first work holding portion at one end, and a first work holding portion that is close to the revolving axis. The swivel between a first close rotation angle position located at a close position and a first separate rotation angle position where the first work holding part is located at a first separate position farther from the swivel axis than the first close position. A first arm having a first predetermined portion that is closer to the other end than the first work holding portion is attached to the revolving body, and one end portion is a second work holding portion that is rotatable about a first axis parallel to the axis. A second proximity of the second work holding part close to the pivot axis The swivel axis between a second close rotation angle position located at a position and a second separate rotation angle position where the second work holding part is located at a second separation position farther from the swivel axis than the second close position. A second predetermined arm attached to the revolving body and a third predetermined portion closer to the other end than the second work holding portion, and is rotatable in relation to the rotation of the revolving body. A first interlocking mechanism for rotating the first arm, and a second interlocking mechanism for rotating the second arm in conjunction with the rotation of the revolving body, the first interlocking mechanism comprising: As the revolving body rotates from the first rotation angle position to the second rotation angle position, the first arm rotates from the first separation rotation angle position to the first proximity rotation angle position. The first work holding portion is positioned near the first side on the side of the turning axis. The first arm is configured to reversibly rotate so as to return to the first separation rotation angle position after being positioned, and the second interlocking mechanism is configured such that the swivel body is in the second rotation angle position. As the second arm is rotated from the second separated rotation angle position to the second adjacent rotation angle position, the second work holding portion is moved to the first rotation angle position. The second arm is configured to reversibly rotate so as to return to the second separated rotation angle position after being positioned at the second proximity position on the side of the first rotation angle position. The work held by the first work holding part is positioned at the first work exchange position at the rear of the turning axis, and the work held at the second work holding part is located at the work processing position at the front of the turning axis. Corner The second rotation angle position is a position where the work held by the first work holding part is positioned at a work processing position in front of the turning axis and the work held by the second work holding part is The angular position is set at the second workpiece replacement position behind the pivot axis.

  According to this configuration, the tact time can be shortened as compared with the case where the workpiece transfer apparatus includes only one arm. In addition, since the first interlocking mechanism and the second interlocking mechanism are configured to rotate the first arm and the second arm, respectively, in conjunction with the rotation of the swinging body, other than the drive device that rotationally drives the swinging body. There is no need to provide a driving device for rotating these two arms, the configuration of the work transfer device can be simplified, and it is advantageous for manufacturing and the manufacturing cost is low.

  The operation of the first arm accompanying the rotation of the swing body from the first rotation angle position to the second rotation angle position and the rotation of the swing body from the second rotation angle position to the first rotation angle position. The movement of the second arm that accompanies the movement may be axisymmetric with respect to a virtual reference line that extends in the front-rear direction through the pivot axis in a plan view.

  According to this configuration, the first arm and the second arm can be moved symmetrically.

  When it is assumed that the revolving body is located at an intermediate angular position between the first rotational angular position and the second rotational angular position, the first rotational angle position with respect to the virtual reference line in a plan view The workpiece holding portion, the first proximity position, the first proximity rotation angle position, and the first predetermined portion are the second workpiece holding portion, the second proximity position, the second proximity rotation angle position, and The first work holding part when it is assumed that the revolving body is located at the first rotation angle position with respect to the virtual reference line, arranged symmetrically with the third predetermined portion. The posture of the first arm at the first separation position, the first separation rotation angle position, the first predetermined portion, the second work holding portion, the second separation position, and the second arm at the second separation rotation angle position. Posture and the third predetermined Minutes of the second arm at the second work holding portion, the second separation position, and the second separation rotation angle position when it is assumed that the revolving body is located at the second rotation angle position. The first predetermined portion, the third predetermined portion, the first work holding portion, the first separation position, the posture of the first arm at the first separation rotation angle position, and the first predetermined portion are arranged in line symmetry. It may be configured.

  According to this configuration, when the swing body is located at an intermediate angular position between the first rotational angle position and the second rotational angular position, the workpiece conveyed to the first arm and the workpiece conveyed to the second arm are: In plan view, they are arranged symmetrically with respect to a virtual reference line extending in the front-rear direction through the turning axis. Further, in a state where the swing body is located at the first rotation angle position, the work transported to the first arm, the work transported to the second arm, and the swing body are positioned at the second rotation angle position. In the state, the work conveyed to the second arm and the work conveyed to the first arm are arranged symmetrically with respect to the reference line.

  The present invention has an effect that the occupation space of the work transfer device can be reduced.

It is a top view which shows the structural example of the coating equipment containing the workpiece conveyance apparatus which concerns on Embodiment 1 of this invention. It is a top view which shows the structural example of the workpiece conveyance apparatus of FIG. 1, and is a figure which shows the state in which a turning body is located in the intermediate angle position of a 1st rotation angle position and a 2nd rotation angle position. It is a top view which shows the structural example of the workpiece conveyance apparatus of FIG. 1, and is a figure which shows the state in which a turning body is located in a 1st rotation angle position. It is a top view which shows the structural example of the workpiece conveyance apparatus of FIG. 1, and is a figure which shows the state in which a turning body is located in a 2nd rotation angle position. It is a top view which shows operation | movement of the 1st arm of the workpiece conveyance apparatus of FIG. It is a top view which shows operation | movement of the 2nd arm of the workpiece conveyance apparatus of FIG. It is a top view which shows the operation example of the coating equipment of FIG. It is a top view which shows the operation example of the coating equipment of FIG. It is a top view which shows the operation example of the coating equipment of FIG. It is a top view which shows the operation example of the coating equipment of FIG. It is a top view which shows the structural example of the workpiece conveyance apparatus which concerns on Embodiment 2 of this invention, and is a top view which shows operation | movement of a 1st arm.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following, the same reference numerals are given to the same or corresponding elements throughout all the drawings, and the duplicated explanation is omitted.
(Embodiment 1)
[Configuration example of painting equipment]
FIG. 1 is a plan view showing a configuration example of a painting facility 150 including a workpiece transfer device 100 according to an embodiment of the present invention. The painting facility 150 is an example of a work processing facility. Therefore, the equipment to which the workpiece transfer apparatus 100 is applied is not limited to the painting equipment, but is arbitrary.

  As shown in FIG. 1, the painting facility 150 is a facility for painting the workpiece W. The painting facility 150 includes a robot 110, a paint supply device (not shown), and a painting booth 120 in addition to the workpiece transfer device 100. The painting facility 150 includes a control unit (not shown) that controls the workpiece transfer device 100, the robot 110, and the paint supply device.

  The robot 110 is, for example, an articulated robot, and includes an arm 112 and a discharge gun 111 provided at the tip of the arm 112. Then, the spraying position and posture of the paint can be changed by moving the arm 112 and changing the posture of the discharge gun 111. This can prevent the occurrence of coating unevenness. Since the robot 110 is a known articulated robot, further description is omitted.

  The paint supply device supplies paint to the discharge gun 111.

  The painting booth 120 has an opening 121. A painting work space for spraying paint onto the workpiece W is set inside the opening 121. And the wall surface 122 is provided so that the coating work space except the opening part 121 may be enclosed. The wall surface 122 is a paint mist discharged from the discharge gun 111 of the robot 110 and prevents the paint mist dispersed and floating in the painting work space from flowing out of the painting work space. The painting booth 120 has a mechanism for collecting paint mist. In the present embodiment, the painting booth 120 collects the paint mist by causing water to flow down along the wall surface 122. The mechanism for collecting the paint mist is not limited to this. Since the painting booth 120 is constituted by a known painting booth, further explanation is omitted.

  The robot 110, the workpiece transfer device 100, and the painting booth 120 are arranged in a line in this order from the rear to the front, for example. The painting booth 120 is arranged so that the opening 121 faces the robot 110 and the workpiece transfer device 100. In the following, for convenience of explanation, the direction from the robot 110 toward the painting booth 120 is sometimes referred to as the front, and the opposite direction is sometimes referred to as the rear. For convenience of explanation, a direction orthogonal to the front-rear direction when viewed from the vertical direction may be referred to as a left-right direction.

  Then, in the painting work space of the painting booth 120, a workpiece processing position P1 for the robot 110 to paint the workpiece W is set. The workpiece processing position P1 is a position for painting a workpiece W held by a first arm 3 described later of the workpiece transfer apparatus 100 and a workpiece W held by a second arm 4 described later of the workpiece transfer apparatus 100. That is, in the painting facility 150, the workpiece W held by the first arm 3 and the workpiece W held by the second arm 4 are processed at the same position. As a result, the robot 110 can paint the workpiece W held by the first arm 3 and the workpiece W held by the second arm 4 by the same operation, and thus the configuration of the painting facility 150 can be simplified. it can. While the workpiece W held by one arm is being processed, the processed workpiece held by the other arm can be replaced with an unprocessed workpiece W, so that the workpiece transfer apparatus 100 has only one arm. The tact time can be shortened compared to the case where

  And the 1st workpiece exchange position P2 and the 2nd workpiece exchange position P3 for exchanging work W mentioned below are set up behind the work conveyance device 100. In the present embodiment, the first workpiece replacement position P2 and the second workpiece replacement position P3 are set on both sides of the robot 110. The first workpiece exchange position P2 is a position for exchanging a workpiece W held by a first arm 3 described later of the workpiece transfer apparatus 100, and the second workpiece exchange position P3 is described later of the workpiece transfer apparatus 100. This is a position for exchanging the workpiece W held by the second arm 4. Therefore, unlike the workpiece processing position P1, the exchange position of the workpiece W held by the first arm 3 and the exchange position of the workpiece W held by the second arm 4 are set to different positions. Then, a work holding table 8 to be described later on which the work W positioned at the first work exchange position P2 and the second work exchange position P3 is placed is replaced by, for example, an operator or a transfer robot located behind the painting facility 150. The The workpiece processing position P1, the first workpiece replacement position P2, and the second workpiece replacement position P3 are examples, and may be disposed at any appropriate position other than those described above.

[Configuration example of work transfer device]
FIG. 2 is a plan view showing a configuration example of the workpiece transfer apparatus 100, and shows a state in which the revolving unit 2 is located at an intermediate angular position Pθn between the first rotational angular position Pθ1 and the second rotational angular position Pθ2. is there. FIG. 3 is a plan view illustrating a configuration example of the workpiece transfer device 100, and is a diagram illustrating a state in which the swing body 2 is located at the first rotation angle position. FIG. 4 is a plan view illustrating a configuration example of the workpiece transfer device 100, and is a diagram illustrating a state in which the swing body 2 is located at the second rotation angle position. 3 and 4, the illustration of the drive device is omitted.

  As shown in FIG. 2, the workpiece transfer device 100 includes a base 1, a revolving body 2, a first arm 3, a second arm 4, a first interlocking mechanism, a second interlocking mechanism, and a driving device 131. And comprising.

  In the present embodiment, the drive device 131 is, for example, a servo motor, and is disposed, for example, inside the base 1 and controlled by the control unit of the painting facility 150.

  The base 1 is mounted and fixed on the floor, for example. In the present embodiment, for example, the base 1 is formed in a cylindrical shape whose axis extends in the vertical direction, but is not limited thereto.

  The swivel body 2 is connected to the base 1 so as to be rotatable around the swivel axis L1. This connected portion constitutes a first joint 61 in a four-joint link described later. The revolving unit 2 includes, for example, a base portion 23 formed in a thick plate shape, and a shaft portion 24 having an upper end fixed to the base portion 23 and extending downward from the base portion 23 to the inside of the base 1. Including. The shaft portion 24 is disposed such that the axis extends in the extending direction of the turning axis L1. Then, the shaft portion 24 is rotationally driven around the turning axis L <b> 1 by the drive device 131 of the work transfer device 100. In the present embodiment, the swing body 2 is configured to be rotatable between a first rotation angle position Pθ1 shown in FIG. 3 and a second rotation angle position Pθ2 shown in FIG.

  The first rotation angle position Pθ1 shown in FIG. 3 is an angular position at which the work W of the work holding base 8 (see FIG. 1) attached to the first arm 3 is positioned at the work exchange position P2 (see FIG. 1). The first rotation angle position Pθ1 is also an angular position at which the workpiece W of the workpiece holder 8 (see FIG. 1) attached to the second arm 4 is positioned at the workpiece processing position P1 (see FIG. 1).

  Further, the second rotation angle position Pθ2 shown in FIG. 4 is an angular position at which the workpiece W of the workpiece holding base 8 (see FIG. 1) attached to the first arm 3 is positioned at the workpiece processing position P1 (see FIG. 1). is there. The second rotation angle position Pθ2 is also an angular position at which the workpiece W of the workpiece holding base 8 (see FIG. 1) attached to the second arm 4 is positioned at the workpiece replacement position P3 (see FIG. 1).

  And in this Embodiment, as shown in FIG. 2, the base | substrate part 23 of the turning body 2 has the two protrusion parts 21 and 22 which protrude to radial direction outward with respect to the turning axis L1, for example. Yes. The two protrusions 21 and 22 are portions to which the first arm 3 and the second arm 4 are attached. The projecting portions 21 and 22 turn when it is assumed that the swing body 2 is located at an intermediate angular position (intermediate angular position) Pθn between the first rotational angular position Pθ1 and the second rotational angular position Pθ2. As viewed from the direction in which the axis L1 extends (hereinafter sometimes referred to as “in plan view”), the axis L1 is provided so as to be symmetric with respect to a virtual reference line S extending in the front-rear direction through the turning axis L1. Yes. Hereinafter, the virtual reference line S extending in the front-rear direction through the turning axis L1 in the plan view may be simply referred to as the reference line S.

  The 1st arm 3 is formed in the shape (for example, rod shape) extended along virtual 1st extending | stretching axis | shaft La1. The first arm 3 is provided with a first work holder rotating shaft 31 at one end 3a so as to be rotatable with respect to the first arm 3. The first work holding table rotating shaft 31 is configured to be rotationally driven by a work holding table rotation driving device (not shown). In addition, this work holding | maintenance base rotation drive device may be comprised by the drive device 131 of the workpiece conveyance apparatus 100, and in this case, the drive device 131 of the workpiece conveyance apparatus 100 is made into the axis | shaft of the turning body 2 by the clutch mechanism which is not shown in figure. It may be configured to be switchable so as to rotate any one of the part 24 and the first work holding table rotating shaft 31 of the first arm 3. And it is comprised so that the workpiece holding stand 8 (refer FIG. 1) for mounting the workpiece | work W can be attached to the 1st workpiece holding stand rotating shaft 31 so that attachment or detachment is possible. The work holding table 8 is formed in a flat plate shape, for example. Therefore, the workpiece holding table 8 attached to the first workpiece holding table rotating shaft 31 is rotated by the workpiece holding table rotation driving unit. This can prevent the occurrence of coating unevenness. Thus, the 1st workpiece holding stand rotating shaft 31 comprises the 1st workpiece holding part.

  The first arm 3 has a portion (first predetermined portion) closer to the other end than the first work holding table rotating shaft 31, and can rotate about the first axis L <b> 2 to the protruding portion 21 of the base portion 23 of the revolving structure 2. It is connected to. This connected portion constitutes a second joint 62 in a four-joint link described later. The first axis L2 extends in parallel with the turning axis L1.

  Here, in the present embodiment, the rotation angle of the swing body 2 is represented by the rotation angle around the swing axis L1 of the swing body 2 with respect to the reference line S for convenience. Further, for convenience, the angular position in the rotation of the swivel body 2 around the swivel axis L1 is represented by a link line LL1 passing through the swivel axis L1 and the first axis L2 in plan view. The first rotation angle position Pθ1 is designed at a rotation angle position where the link line LL1 forms a rotation angle of θ1 with respect to the reference line S (see FIG. 3), and the second rotation angle position Pθ2 is a link line with respect to the reference line S. LL1 is designed at a rotation angle position where a rotation angle of θ2 is formed (see FIG. 4). Further, the intermediate angle position Pθn is designed at a rotation angle position at which the link line LL1 forms a rotation angle of θn with respect to the reference line S. θ1 is designed to be an acute rotation angle, θ2 is designed to be a rotation angle exceeding 180 degrees, and θn is designed to be a rotation angle exceeding θ1 and less than θ2.

  Further, the first arm 3 pivots around the first axis L2 between the first approaching rotation angle position Pnθ1 shown in FIG. 2 and the first separation rotation angle position Pdθ1 shown in FIGS. It is attached to the body 2. In the present embodiment, for the sake of convenience, the rotation angle of the first arm 3 is represented by a rotation angle around the first axis L2 of the first arm 3 with respect to the link line LL1. Further, for convenience, the angular position of the first arm 3 in the rotation around the first axis L2 is represented by the first extending axis La1 as a representative. Note that, in plan view, an axis passing through the first work holding table rotating shaft 31 and the first axis L2 is defined as the above-described first extending axis La1. The first separation rotation angle position Pdθ1 is designed to be a rotation angle position where the first extending axis La1 forms a rotation angle of θa1 with respect to the link line LL1 (see FIG. 3), and the first proximity rotation angle position Pnθ1 is the first separation rotation position Pnθ1. The rotation angle position Pdθ1 is designed to be an angle position that is rotated θmax1 in the first rotation direction C1. For example, θa1 is designed to be an obtuse angle of 180 degrees or less, and θmax1 is designed to be an acute angle. The first approach rotation angle position Pnθ1 is an angle position of the first arm 3 with respect to the swing body 2 at which the first work holding table rotation shaft 31 is located at the first approach position Pn1 close to the swing axis L1. The first separation rotation angle position Pdθ1 is a first arm in which the first work holding base rotation shaft 31 is located at a first separation position Pd1 (see FIGS. 3 and 4) farther from the turning axis L1 than the first proximity rotation angle position Pnθ1. 3 is an angular position with respect to the revolving unit 2. The first arm 3 may be configured to be rotatable beyond an angular range between the first proximity rotation angle position Pnθ1 and the first separation rotation angle position Pdθ1.

  As shown in FIG. 2, the width of the portion from the second joint 62 to the other end 3 b of the first arm 3 is larger than the width of the portion from the one end 3 a to the second joint 62 of the first arm 3. It is narrower. Thereby, the first arm 3 can be reduced in weight. This portion constitutes an extension 32 of the first arm 3.

  The 2nd arm 4 is formed in the shape (for example, rod shape) extended along virtual 2nd extending | stretching axis | shaft La2. The second arm 4 is provided with a second work holder rotating shaft 41 at one end 4a so as to be rotatable with respect to the second arm 4. The second work holding table rotating shaft 41 is configured to be rotated by a work holding table rotation driving device (not shown). In addition, this work holding | maintenance base rotation drive device may be comprised by the drive device 131 of the workpiece conveyance apparatus 100, and in this case, the drive device of the workpiece conveyance apparatus 100 is made into the shaft part 24 of the revolving body 2 by the clutch mechanism. The second arm 4 may be configured to be switchable so as to rotate any one of the second work holding table rotation shafts 41 of the second arm 4. And it is comprised so that the workpiece holding stand 8 (refer FIG. 1) for mounting the workpiece | work W can be attached to the 2nd workpiece holding stand rotating shaft 41 so that attachment or detachment is possible. Therefore, the workpiece holding table 8 attached to the second workpiece holding table rotating shaft 41 is rotated by the workpiece holding table rotation driving unit. This can prevent the occurrence of coating unevenness. Thus, the 2nd workpiece holding base rotating shaft 41 comprises the 2nd workpiece holding part.

  In the second arm 4, a portion (third predetermined portion) closer to the other end than the second work holding table rotating shaft 41 can be rotated around the fourth axis L <b> 5 by the protruding portion 22 of the base portion 23 of the swing body 2. It is connected to. This connected portion constitutes a fifth joint 65 in a four-joint link described later. The fourth axis L5 extends in parallel with the turning axis L1.

  Further, the second arm 4 pivots around the fourth axis L5 between the second proximity rotation angle position Pnθ2 shown in FIG. 2 and the second separation rotation angle position Pdθ2 shown in FIGS. It is attached to the body 2. In the present embodiment, for the sake of convenience, the rotation angle of the second arm 4 is represented by the rotation angle around the fourth axis L5 of the second arm 4 with respect to the link line LL2 passing through the turning axis L1 and the fourth axis L5 in plan view. . In addition, for convenience, the angular position of the second arm 4 in the rotation around the fourth axis L5 is represented by the second extending axis La2 as a representative. Note that, in plan view, an axis passing through the second work holder rotating shaft 41 and the fourth axis L5 is defined as the above-described second extending axis La2. The second separation rotation angle position Pdθ2 is designed to be a rotation angle position where the second extending axis La2 forms a rotation angle of θa2 with respect to the link line LL2 (see FIG. 3), and the second proximity rotation angle position Pnθ2 is the second separation rotation position Pnθ2. It is designed to be an angular position rotated by θmax2 in the second rotational direction C2 from the rotational angular position Pdθ2. For example, θa2 is designed to be an obtuse angle of 180 degrees or less, and θmax2 is designed to be an acute angle. In the present embodiment, θa2 is designed to be the same angle as the angle θa1 corresponding to the first separation rotation angle position Pdθ1 of the first arm 3, and θmax2 corresponds to the second separation rotation angle position Pdθ2 of the first arm 3. The angle is designed to be the same as the angle θmax1. The second proximity rotation angle position Pnθ2 is an angular position of the second arm 4 with respect to the swing body 2 at which the second work holding base rotation shaft 41 is positioned at the second proximity position Pn2 close to the swing axis L1. The second separation rotation angle position Pdθ2 is a second separation position Pd2 (see FIGS. 3 and 4) in which the second work holder rotation shaft 41 is located farther from the turning axis L1 than the second proximity rotation angle position Pnθ2. This is the angular position of the arm 4 with respect to the swivel body 2. Note that the second arm 4 may be configured to be rotatable beyond an angular range between the second proximity rotation angle position Pnθ2 and the second separation rotation angle position Pdθ2.

  As shown in FIG. 2, the width of the portion from the fifth joint 65 to the other end 4 b of the second arm 4 is larger than the width of the portion from the one end 4 a to the fifth joint 65 of the second arm 4. It is narrower. Thereby, the second arm 4 can be reduced in weight. This portion constitutes an extension 42 of the second arm 4.

  The first interlocking mechanism is a mechanism that rotates the first arm 3 in conjunction with the rotation of the revolving body 2.

  In the present embodiment, a four-bar link including the base 1, the swivel body 2, the first arm 3, and the first connecting member 51 constitutes a first interlocking mechanism.

  The first connecting member 51 is formed in a rod shape. One end 51a of the first connecting member 51 is connected to the base 1 so as to be rotatable around the second axis L3. This connected portion constitutes a third joint 63 in a four-joint link described later. Accordingly, the second axis L3 is configured such that the position thereof does not change with respect to the base 1. Further, the other end 51b of the first connecting member 51 is around the third axis L4 in the extension portion 32 of the first arm 3, that is, the second predetermined portion closer to the other end than the first predetermined portion of the first arm 3. It is connected to the pivotable. This connected portion constitutes a fourth joint 64 in a four-joint link described later. The second axis L3 and the third axis L4 extend in parallel with the turning axis L1.

  And as above-mentioned, the 1st joint 61 and the 3rd joint 63 are comprised so that a position may not change with respect to the base 1, and comprise the fixed joint in a 4-joint link.

  And the base 1 which connects the 1st joint 61 and the 3rd joint 63 comprises the stationary link in a 4-joint link. Further, the revolving body 2 (represented by the virtual link line LL1) that connects the first joint 61 that is a fixed joint and the second joint 62 that rotates about the revolving axis L1 as the revolving body 2 rotates. ) Constitutes the driving link in the 4-section link. Further, the first connecting member 51 that connects the third joint 63, which is a fixed joint, and the fourth joint 64, which is driven by the second joint 62 that rotates around the turning axis L1, constitutes a driven link in the four-joint link. . And the extension part 32 of the 1st arm 3 which connects the 2nd joint 62 and the 4th joint 64 comprises an intermediate link. In the present embodiment, the intermediate link is represented by a virtual link line LL3 that passes through the second joint 62 and the fourth joint 64 in the extension portion 32 of the first arm 3. In the present embodiment, the link line LL3 is designed to coincide with the first extending axis La1 of the first arm 3. Accordingly, the first work holding base rotating shaft 31 is disposed at a portion of the four-link that extends the intermediate link. The link line LL3 does not necessarily have to coincide with the first extending axis La1 of the first arm 3.

  FIG. 5 is a plan view showing the operation of the first arm 3 of the workpiece transfer apparatus 100. In FIG. 5, the second arm 4 is omitted.

  The length dimensions of the stationary link, the driving link, the driven link, and the intermediate link of the four-bar linkage mechanism, and the positions of the first joint 61, the second joint 62, the third joint 63, and the fourth joint 64 are as follows. In conjunction with the rotation, the first arm 3 is designed to rotate so that the first work holding table rotation shaft 31 of the first arm 3 passes through a path T1 indicated by a thick two-dot chain line in FIG. .

  That is, as described above, when the swing body 2 is located at the first rotation angle position Pθ1 shown in FIG. 3, the first arm 3 is located at the first separation rotation angle position Pdθ1 and the first work holding table rotation shaft is located. 31 is located at the first separation position Pd1. That is, in the state where the first arm 3 is located at the first separation rotation angle position Pdθ1, the link line LL1 connecting the first joint 61 and the second joint 62, the second joint 62, and the first work holding table rotation shaft 31. The angle formed by the first extending axis La1 connecting the two is designed to be an angle θa1. Then, when the swing body 2 is rotated counterclockwise toward the second rotation angle position Pθ2 shown in FIG. 4, first, the first arm 3 is first rotated relative to the swing body 2 in the first rotation direction C1 (each The first interlocking mechanism is configured so that the first work holding base rotating shaft 31 approaches the turning axis L1 by rotating in the clockwise direction in the drawing (see FIG. 7). As shown in FIG. 2, the first arm 3 is located at the first proximity rotation angle position Pnθ1 and the first work holder rotation axis 31 is located at the first proximity position Pn1 on the side of the turning axis L1. . That is, the first proximity rotation angle position Pnθ1 is an angle position that is rotated from the first separation rotation position Pdθ1 by the angle θmax1 (see FIG. 2) in the first rotation direction C1. At this time, the second joint 62 where the first axis L2 is positioned is located on the inner side in the left-right direction with respect to the first work holding table rotating shaft 31, and is configured not to protrude to the side of the work transfer device 100. Yes. Thereby, the occupation space of the workpiece conveyance apparatus 100 can be reduced.

  Then, when the revolving body 2 is further rotated toward the second rotation angle position Pθ2 shown in FIG. 4 from here, the first arm 3 is in the opposite direction to the first rotation direction C1 with respect to the revolving body 2. In the second rotational direction C2 (counterclockwise direction in each figure, see FIG. 8), the path of the first arm 3 when rotated in the first rotational direction C1 is rotated to follow the reverse direction, The first interlocking mechanism is configured such that the first work holding table rotating shaft 31 is moved away from the turning axis L1. Then, when the swing body 2 reaches the second rotation angle position Pθ2, the first arm 3 returns to the first separation rotation angle position Pdθ1, and the first work holder rotation shaft 31 is located at the first separation position Pd1. The first interlocking mechanism is configured.

  Therefore, in the first interlocking mechanism, the path T1 of the first work holding base rotating shaft 31 indicated by the thick two-dot chain line in FIG. The path T2 of the first work holding table rotation shaft 31 (assuming that the first arm 3 is located at the first separated rotation angle position Pdθ1 from the turning axis L1 with the turning axis L1 as the center) when the fixed position Pdθ1 is assumed. The revolving body 2 that rotates between the first rotation angle position Pθ1 and the second rotation angle position Pθ2 so as to pass through the inner side of the virtual arc) having a radius of the distance to the first work holder rotation shaft 31). The first arm 3 is configured to rotate in conjunction with the rotation. And the path | route T1 of the 1st workpiece holding base rotating shaft 31 becomes a monotonous ellipse arc long in the front-back direction. Therefore, the first interlocking mechanism is configured such that the path T1 passes the distance D1 (see FIG. 5) swivel axis L1 side than the path T2 when the first work holding base rotating shaft 31 is lateral to the swivel axis L1. . Thereby, the occupation space of the workpiece conveyance apparatus 100 can be reduced.

  When the swing body 2 is rotated from the second rotation angle position Pθ2 toward the first rotation angle position Pθ1, the first arm 3 causes the swing body 2 to move from the first rotation angle position Pθ1 to the second rotation angle position Pθ2. It is configured to rotate so as to follow the above-mentioned path in the reverse direction when it is rotated toward the direction.

  The second interlocking mechanism is a mechanism that rotates the second arm 4 in conjunction with the rotation of the revolving body 2.

  In the present embodiment, as shown in FIG. 2, a four-bar link including a base 1, a revolving body 2, a second arm 4, and a second connecting member 52 constitutes a second interlocking mechanism. Yes.

  The second connecting member 52 is formed in a rod shape. And the one end part 52a of the 2nd connection member 52 is connected with respect to the base 1 so that rotation around the 5th axis L6 is possible. This connected portion constitutes a sixth joint 66 in a four-joint link described later. Therefore, the fifth axis L <b> 6 is configured so that its position does not change with respect to the base 1. Further, the other end 52b of the second connecting member 52 is around the sixth axis L7 in the extension portion 42 of the second arm 4, that is, the fourth predetermined portion closer to the other end than the third predetermined portion of the second arm 4. It is connected to the pivotable. This connected portion constitutes a seventh joint 67 in a four-joint link described later. The fifth axis L6 and the sixth axis L7 extend in parallel with the turning axis L1.

  And as above-mentioned, the 1st joint 61 and the 6th joint 66 are comprised so that a position may not change with respect to the base 1, and it comprises the fixed joint in a 4-joint link.

  And the base 1 which connects the 1st joint 61 and the 6th joint 66 comprises the stationary link in a 4-joint link. Further, the revolving body 2 that connects the first joint 61, which is a fixed joint, and the fifth joint 65 that rotates about the revolving axis L1 as the revolving body 2 rotates is a driving link (virtual link) in a 4-joint link. (Represented by link line LL2). Furthermore, the second connecting member 52 that connects the sixth joint 66, which is a fixed joint, and the seventh joint 67, which is driven by the fifth joint 65 that rotates about the turning axis L1, constitutes a driven link in the four-joint link. . And the extension part 42 of the 2nd arm 4 which connects the 5th joint 65 and the 7th joint 67 comprises an intermediate link. In the present embodiment, the intermediate link is represented by a virtual link line LL4 that passes through the fifth joint 65 and the seventh joint 67 in the extension portion 42 of the second arm 4. In the present embodiment, the link line LL4 is designed so as to coincide with the second extending axis La2 of the second arm 4. Accordingly, the second work holding base rotating shaft 41 is disposed at a portion of the four-bar link where the intermediate link is extended. The link line LL4 does not necessarily need to coincide with the second extending axis La2 of the second arm 4.

  FIG. 6 is a plan view showing the operation of the second arm 4 of the workpiece transfer apparatus 100. In FIG. 6, the first arm 3 is omitted.

  The length dimensions of the stationary link, the driving link, the driven link, and the intermediate link of the four-bar linkage mechanism, and the positions of the first joint 61, the fifth joint 65, the sixth joint 66, and the seventh joint 67 are as follows. In conjunction with the rotation, the second arm 4 is designed to rotate so that the second work holding table rotation shaft 41 of the second arm 4 passes through a path T3 indicated by a thick two-dot chain line in FIG. .

  That is, as described above, when the swing body 2 is located at the second rotation angle position Pθ2 shown in FIG. 4, the second arm 4 is located at the second separation rotation angle position Pdθ2, and the second workpiece holding table rotation shaft is located. 41 is located at the second separation position Pd2. That is, in the state where the second arm 4 is positioned at the second separation rotation angle position Pdθ2, the link line LL2 connecting the first joint 61 and the fifth joint 65, the fifth joint 65, and the second workpiece holding table rotation shaft 41 The angle formed by the second stretching axis La2 connecting the two is designed to be an angle θa2. When the swing body 2 is rotated toward the first rotation angle position Pθ1 shown in FIG. 3, first, the second arm 4 is rotated with respect to the swing body 2 in the second rotation direction C2, and the second work piece is rotated. The second interlocking mechanism is configured so that the holding base rotating shaft 41 approaches the turning axis L1. As shown in FIG. 2, the second arm 4 is located at the second proximity rotation angle position Pnθ2 and the second work holder rotation axis 41 is located at the second proximity position Pn2 on the side of the turning axis L1. . That is, the second proximity rotation angle position Pnθ2 is an angle position that is rotated from the second separation rotation position Pdθ2 by the angle θmax2 (see FIG. 2) in the second rotation direction C2. At this time, the fifth joint 65 in which the fourth axis L5 is located is located on the inner side in the left-right direction with respect to the second work holding base rotating shaft 41 and is configured not to protrude to the side of the work transfer device 100. Yes. Thereby, the occupation space of the workpiece conveyance apparatus 100 can be reduced.

  Then, when the swivel body 2 is further rotated in the clockwise direction toward the first rotation angle position Pθ1 shown in FIG. 3, the second arm 4 moves in the first rotation direction C1 with respect to the swivel body 2. The second interlocking mechanism rotates so as to follow the path of the second arm 4 when rotated in the two rotation directions C2 in the opposite direction so that the second work holding table rotation shaft 41 moves away from the turning axis L1. It is configured. Then, when the swing body 2 reaches the first rotation angle position Pθ1, the second arm 4 returns to the second separation rotation angle position Pdθ2, and the second workpiece holder rotation shaft 41 is located at the second separation position Pd2. In addition, the second interlocking mechanism is configured.

  Therefore, in the second interlocking mechanism, the path T3 of the second work holding base rotating shaft 41 indicated by a thick two-dot chain line in FIG. When it is assumed that the second arm 4 is fixed at the position Pdθ2, the path T4 of the second work holder rotating shaft 41 (the second arm 4 positioned at the second separated rotation angle position Pdθ2 from the turning axis L1 with the turning axis L1 as the center). It is configured to pass through the inner side of a virtual circle having a radius of the distance to the second work holder rotating shaft 41. And the path | route T3 of the 2nd workpiece holding base rotating shaft 41 becomes a monotonous ellipse arc long in the front-back direction. Therefore, the second interlocking mechanism is configured such that the path T3 passes the distance D1 (refer to FIG. 6) swivel axis L1 side than the path T4 on the side of the swivel axis L1 with the second work holding base rotating shaft 41. Yes. Thereby, the occupation space of the workpiece conveyance apparatus 100 can be reduced.

  In the present embodiment, the second work holding base rotating shaft 41 and the fifth joint 65 are, in plan view, in a state where the revolving unit 2 is located at the intermediate angle position Pθn as shown in FIG. The workpiece transfer apparatus 100 is configured so as to be arranged in line symmetry with the first workpiece holding table rotating shaft 31 and the second joint 62 with respect to the line S. Further, the posture of the second arm 4 at the second proximity position Pn2 and the second proximity angle position Pnθ2 is the reference in plan view when the swing body 2 is positioned at the intermediate angle position Pθn as shown in FIG. With respect to the line S, the workpiece transfer apparatus 100 is configured so as to be arranged in line symmetry with the posture of the first arm 3 at the first proximity position Pn1 and the first proximity angle position Pnθ1. Thereby, in a state where the revolving unit 2 is located at the intermediate angle position Pθn, the workpiece W conveyed to the first arm 3 and the workpiece W conveyed to the second arm 4 are in the reference line in plan view. S is arranged symmetrically with respect to S.

  And the 1st workpiece holding stand rotating shaft 31, the 2nd joint 62, the 2nd workpiece holding stand rotating shaft 41, and the 5th in the state which the turning body 2 is located in 1st rotation angle position P (theta) 1 shown in FIG. Each of the joints 65 shown in FIG. 4 includes the second work holding base rotating shaft 41, the fifth joint 65, and the first work holding base rotating shaft 31 in a state where the swing body 2 is located at the second rotation angle position Pθ2. The workpiece transfer apparatus 100 is configured to be arranged in line symmetry with the second joint 62. Further, as shown in FIG. 3, the posture of the first arm 3 at the first separation position Pd1 and the first separation rotation angle position Pdθ1 in the state where the revolving body 2 is located at the first rotation angle position Pθ1, and the second separation position Pd2 And the posture of the second arm 4 at the second separation rotation angle position Pdθ2 are respectively the second separation position Pd2 and the second separation position P2 in the state where the swing body 2 is located at the second rotation angle position Pθ2 as shown in FIG. The workpiece transfer device 100 is configured to be arranged in line symmetry with the posture of the second arm 4 at the separation rotation angle position Pdθ2, the first separation position Pd1, and the posture of the second arm 4 at the first separation rotation angle position Pdθ1. ing. Thus, in a state where the swing body 2 is located at the first rotation angle position Pθ1, the workpiece W transported to the first arm 3 and the work W transported to the second arm 4 and the swing body 2 are second. In a state where the rotation angle position Pθ2 is located, the workpiece W transferred to the second arm 4 and the workpiece W transferred to the first arm 3 are arranged symmetrically with respect to the reference line S in plan view. Is done.

  The first interlocking mechanism and the second interlocking mechanism are configured such that the operation of the first arm 3 associated with the rotation of the swing body 2 from the first rotation angle position Pθ1 to the second rotation angle position Pθ2 and the second of the swing body 2 are performed. The operation of the second arm 4 associated with the rotation from the rotation angle position Pθ2 to the first rotation angle position Pθ1 is configured to be symmetric with respect to the reference line S.

  When the swing body 2 is rotated from the first rotation angle position Pθ1 toward the second rotation angle position Pθ1, the second arm 4 causes the swing body 2 to move from the second rotation angle position Pθ2 to the first rotation angle position Pθ1. It is configured to rotate so as to follow the above-mentioned path in the reverse direction when it is rotated toward.

  Thus, in the present embodiment, since the first interlocking mechanism and the second interlocking mechanism are four-bar links, the structure of the interlocking mechanism can be simplified, which is advantageous for manufacturing, and inexpensive to manufacture. Become.

  In addition, when the drive device 131 rotates the swing body 2, the first interlock mechanism and the second interlock mechanism rotate the first arm 3 and the second arm 4 in conjunction with the swing of the swing body 2. Therefore, it is not necessary to provide a driving device for rotating these two arms other than the driving device 131 that rotationally drives the swivel body 2, and the configuration of the workpiece transfer device 100 can be simplified. This is advantageous for manufacturing and is low in manufacturing cost.

[Operation example]
Next, an operation example of the painting facility 150 including the workpiece transfer device 100 will be described.

  7 to 10 are plan views showing an operation example of the painting facility 150. FIG.

  First, as shown in FIGS. 3 and 7, the control unit of the painting facility 150 drives the drive device 131 (see FIG. 2) of the workpiece transfer device 100 to position the swivel body 2 at the first rotation angle position Pθ1. . Accordingly, the first arm 3 and the second arm 4 are positioned at the first separation rotation angle position Pdθ1 and the second separation rotation angle position Pdθ2, respectively. Moreover, the 1st workpiece holding stand rotating shaft 31 and the 2nd workpiece holding stand rotating shaft 41 are located in the 1st separation position Pd1 and the 2nd separation position Pd2, respectively. And the workpiece holding stand 8 attached to the 1st workpiece holding stand rotating shaft 31 (refer FIG. 2) of the 1st arm 3 is located in the 1st workpiece replacement position P2. Further, the workpiece holding table 8 attached to the second workpiece holding table rotating shaft 41 (see FIG. 2) of the second arm 4 is located at the workpiece processing position P1. Then, for example, a worker or a transfer robot places the workpiece W on the workpiece holding table 8 attached to the first workpiece holding table rotating shaft 31.

  Next, the control unit rotates the swing body 2 in the counterclockwise direction toward the second rotation angle position Pθ2. Accordingly, the first interlocking mechanism and the second interlocking mechanism rotate the first arm 3 and the second arm 4 in conjunction with the rotation of the revolving body 2. As shown in FIGS. 2 and 8, the first arm 3 and the second arm 4 are respectively located at the first proximity rotation angle position Pnθ1 and the second proximity rotation angle position Pnθ2 on the side of the turning axis L1. . Further, the first work holding table rotating shaft 31 and the second work holding table rotating shaft 41 are located at the first proximity position Pn1 and the second proximity position Pn2.

Then, when the swing body 2 further rotates from here, and the swing body 2 is positioned at the second rotation angle position Pθ2 as shown in FIGS. 4 and 9, the first arm 3 and the second arm 4 are respectively the first arm 3 and the second arm 4. It returns to the separation rotation angle position Pdθ1 and the second separation rotation angle position Pdθ2. Further, the first work holding table rotating shaft 31 and the second work holding table rotating shaft 41 return from the first proximity position Pn1 to the first separation position Pd1 and from the second proximity position Pn2 to the second separation position Pd2, respectively.
And the workpiece holding stand 8 attached to the 1st arm 3 is located in the workpiece processing position P1. Further, the second work holder rotating shaft 41 of the second arm 4 is located at the second work exchange position P3.

  Next, the control unit rotates the first work holding table rotating shaft 31 to rotate the work holding table 8 and controls the robot 110 to be placed on the work holding table 8 attached to the first arm 3. Paint the workpiece W. While the workpiece W is being painted, for example, an operator or a transfer robot places the workpiece W on the workpiece holding table 8 attached to the second workpiece holding table rotating shaft 41 of the second arm 4. . As described above, the workpiece transfer device 100 includes the first arm 3 and the second arm 4, and while performing the painting operation of the workpiece W placed on the workpiece holding base 8 attached to one arm, Since the workpiece W of the workpiece holding table 8 attached to the other arm can be exchanged, the cycle time of the painting process of the workpiece W using the painting facility 150 can be shortened.

  When the painting of the workpiece W is completed, as shown in FIGS. 3 and 10, the control unit then turns the swivel body 2 clockwise from the second rotation angle position Pθ2 toward the first rotation angle position Pθ1. To the first rotation angle position Pθ1. As a result, the work holding base 8 attached to the first arm 3 and finished with coating is positioned at the first work replacement position P2. Then, for example, a worker or a transfer robot lowers the workpiece W on which painting has been completed from the workpiece holder 8. Further, the work holding base 8 attached to the second arm 4 is located at the work processing position P1. As a result, the workpiece W placed on the workpiece holder 8 attached to the second arm 4 can be painted by the robot 110.

  As described above, the first interlocking mechanism of the workpiece transfer apparatus 100 according to the present invention has the first arm 3 as the turning body 2 rotates from the first rotation angle position Pθ1 to the second rotation angle position Pθ2. And the first workpiece holder rotating shaft 31 is positioned at the first proximity position Pn1 on the side of the turning axis L1. In this state, the first interlocking mechanism is configured so that the second joint 62 where the first axis L2 is located is located on the inner side in the left-right direction with respect to the first work holding base rotating shaft 31. Rotate. That is, the first interlocking mechanism rotates the first arm 3 so that the second joint 62 does not protrude to the side of the work transfer device 100 from the first work holding base rotating shaft 31. In addition, when the first arm 3 is not rotated relative to the revolving body 2, the transport path T2 of the work W becomes an arc, whereas the first arm 3 is rotated relative to the revolving body 2, so that the work The conveyance path T1 of W becomes an arc of a long ellipse that is long in the front-rear direction. Thereby, the occupation space of the workpiece conveyance apparatus 100 can be reduced.

  Further, the second interlocking mechanism of the workpiece transfer device 100 of the present invention rotates the second arm 4 as the revolving body 2 rotates from the second rotation angle position Pθ2 to the first rotation angle position Pθ1, On the side of the turning axis L1, the second work holder rotating shaft 41 is positioned at the second proximity position Pn2. In this state, the second interlocking mechanism is configured so that the fifth joint 65 where the fourth axis L5 is located is located on the inner side in the left-right direction with respect to the second workpiece holding base rotation shaft 41. Rotate. That is, the second interlocking mechanism rotates the second arm 4 so that the fifth joint 65 does not protrude from the second work holding table rotating shaft 41 to the side of the work transfer device 100. In addition, when the second arm 4 is not rotated relative to the revolving structure 2, the transport path T4 of the work W becomes an arc, whereas the second arm 4 is rotated relatively to the revolving structure 2. The transfer path T3 of W becomes an arc of a long ellipse that is long in the front-rear direction. Thereby, the occupation space of the workpiece transfer apparatus 100 can be further reduced.

(Embodiment 2)
Hereinafter, the configuration and operation of the second embodiment will be described focusing on the differences from the first embodiment.

  FIG. 11 is a plan view showing a configuration example of the workpiece transfer apparatus 200 according to the second embodiment of the present invention, and is a plan view showing the operation of the first arm 203. In FIG. 11, the second arm is omitted.

  In the first embodiment, the first interlocking mechanism and the second interlocking mechanism of the workpiece transfer apparatus 100 are exemplified by a four-bar link. However, in the present embodiment, the first transfer mechanism of the workpiece transfer apparatus 200 is the first. The interlocking mechanism and the second interlocking mechanism are constituted by a cam mechanism.

  That is, as shown in FIG. 11, in the present embodiment, the workpiece transfer device 200 includes a base 1, a revolving body 2, a first arm 203, a second arm (not shown), and a first interlock. A mechanism, a second interlocking mechanism, and a drive device;

  About the base 1, the revolving structure 2, and the drive device, since it is the structure similar to the said Embodiment 1, the description is abbreviate | omitted.

  The first arm 203 is urged in a second rotation direction C2 around the first axis L2 by an urging mechanism (not shown). And the cam follower 213 attached rotatably about the 3rd axis line L4 is provided. The cam follower 213 is formed in a cylindrical shape. Other configurations are the same as those in the first embodiment, and thus the description thereof is omitted.

  The second arm is formed symmetrically with respect to the first arm 203 and the reference line S (see FIG. 2) in plan view.

  In the present embodiment, the urging mechanism and cam follower 213 of the first arm 203 and the first plate cam 251 constitute a first interlocking mechanism.

  The first plate cam 251 is a plate having an outer peripheral edge 251a formed in a predetermined contour. The first plate cam 251 is disposed so that the cam follower 213 is urged toward the outer peripheral edge 251 a of the first plate cam 251. The contour shape of the outer peripheral edge 251a of the first plate cam 251 is configured to rotate the first arm 203 as shown in FIG. The rotation operation of the first arm 203 in conjunction with the rotation of the revolving body 2 is the same as that in the first embodiment.

  That is, when the swing body 2 is located at the first rotation angle position Pθ1, the first arm 203 is located at the first separation rotation angle position Pdθ1. When the revolving unit 2 is rotated toward the second rotation angle position Pθ2, first, the outer peripheral edge 251a of the first plate cam 251 resists the urging force of the urging mechanism of the first arm 203 to the first arm. 203 is rotated around the first axis L2 in the first rotation direction C1. As a result, the first interlocking mechanism is configured such that the first workpiece holder rotating shaft 31 approaches the turning axis L1. Then, on the side of the turning axis L1, the first arm 203 is located at the first proximity rotation angle position Pnθ1, and the first work holding base rotation axis 31 is located at the first proximity position Pn1.

  Then, when the revolving unit 2 is further rotated toward the second rotation angle position Pθ2 shown in FIG. 4, the cam follower 213 of the first arm 203 is caused by the urging force of the urging mechanism of the first arm 203. Following the outer peripheral edge 251a of the first plate cam 251, the first arm 203 rotates in the second rotation direction C2 around the first axis L2. As a result, the first interlocking mechanism is configured such that the first workpiece holder rotating shaft 31 moves away from the turning axis L1. The first interlocking mechanism is configured such that when the revolving unit 2 reaches the second rotation angle position Pθ2, the first arm 203 returns to the first separation rotation angle position Pdθ1.

  In the present embodiment, the urging mechanism and cam follower of the second arm, and the second plate cam constitute a second interlocking mechanism. The second plate cam is formed symmetrically with respect to the first plate cam 251 and the reference line S (see FIG. 2) in plan view. Since the rotation operation of the second arm in conjunction with the rotation of the revolving body 2 is the same as that of the first embodiment, detailed description thereof will be omitted.

  Therefore, the first interlocking mechanism rotates the first arm 203 from the first separated rotation angle position Pdθ1 to the first proximity rotation as the swing body 2 rotates from the first rotation angle position Pθ1 to the second rotation angle position Pθ2. The first arm 203 is reversibly moved back to the first separated rotation angular position Pdθ1 after rotating to the angular position Pnθ1 to position the first work holding part at the first proximity position Pn1 on the side of the turning axis L1. It is comprised so that it may rotate.

  Further, the second interlocking mechanism moves the second arm from the second separated rotation angle position Pdθ2 to the second proximity rotation angle position Pnθ2 as the revolving body 2 rotates from the second rotation angle position to the first rotation angle position. The second arm is reversibly rotated so as to return to the second separated rotation angle position Pdθ2 after the second work holding portion is positioned at the second proximity position Pn2 on the side of the turning axis L1. It is configured to let you.

  In the present embodiment, the first arm 203 and the second arm exemplarily operate in the same manner as in the first embodiment in conjunction with the rotation of the revolving body 2. However, the present invention is not limited to this. is not. As described above, by changing the shape of the outer peripheral edge of the arm, the first work holding base rotating shaft 31 and the second work holding base rotating shaft 41 are located on the side of the turning axis L1 from those in the above embodiment. Further, it can be configured to pass through the turning axis L1.

(Embodiment 3)
In the first embodiment, the workpiece transfer device 100 includes a motor that drives the first arm 3 and the second arm 4 together or individually, and the control device moves the first arm 3 and the second arm 4 to the first embodiment. The motor may be controlled to operate as described in.

(Embodiment 4)
In any of the first to third embodiments, the workpiece transfer device 100 may include only one of the first arm 3 and the second arm 4.

(Embodiment 5)
Furthermore, in any one of the first to fourth embodiments, the rotation directions of the first arm 3 and the second arm 4 by the rotation of the revolving body 2 are the first arm 3 and the second arm 4 of the first to fourth embodiments. You may comprise opposite to the rotation direction.

  From the foregoing description, many modifications and other embodiments of the present invention are obvious to one skilled in the art. Accordingly, the foregoing description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. The details of the structure and / or function may be substantially changed without departing from the spirit of the invention.

  The present invention can be applied to a transfer device in a facility for processing a workpiece.

DESCRIPTION OF SYMBOLS 1 Base 2 Revolving body 3 1st arm 4 2nd arm 7 Drive device 8 Work holding base 21 Protruding part 23 Plate part 24 Shaft part 31 1st work holding base rotating shaft 32 Extension part 41 2nd work holding base rotating shaft 42 Extension part 51 1st connection member 52 2nd connection member 61 1st joint 62 2nd joint 63 3rd joint 64 4th joint 65 5th joint 66 6th joint 67 7th joint 100 Work conveyance apparatus 110 Robot 111 Discharge gun 112 Arm 120 Painting booth 121 Opening 122 Wall 150 Painting equipment

Claims (7)

The base,
A first rotation angle position that is pivotable about the pivot axis relative to the base and that positions the workpiece at a workpiece replacement position behind the pivot axis and the workpiece at a workpiece processing position in front of the pivot axis. A revolving body that is rotatable between a second rotation angle position to be positioned;
A drive device for rotationally driving the revolving structure;
One end is a work holding part, the rotation angle position where the work holding part is located at a close position near the turning axis, and the separated rotation where the work holding part is located at a position farther from the turning axis than the close position An arm having a first predetermined portion closer to the other end than the work holding portion attached to the swivel body so as to be rotatable around a first axis parallel to the swivel axis with respect to an angular position;
An interlocking mechanism for rotating the arm in conjunction with the rotation of the revolving body,
The interlock mechanism rotates the arm from the separated rotation angle position to the close rotation angle position as the revolving body rotates from the first rotation angle position to the second rotation angle position. A workpiece transfer device configured to reversibly rotate the arm so as to return to the separation rotation angle position after the workpiece holding portion is positioned at the close position on the side of the turning axis. One end portion is rotatably attached to the base around a second axis parallel to the pivot axis, and the other end is the first predetermined portion of the arm around a third axis parallel to the pivot axis. And further comprising a connecting member rotatably attached to the second predetermined portion closer to the other end,
The base, the swivel body, the arm, and the connecting member constitute a four-bar link,
The workpiece transfer apparatus according to claim 1, wherein the interlocking mechanism is the four-bar link.   The interlock mechanism rotates the arm from the separated rotation angle position to the close rotation angle position as the revolving body rotates from the first rotation angle position to the second rotation angle position. The cam mechanism configured to reversibly rotate the arm so as to return to the separated rotation angle position after the workpiece holding portion is positioned at the close position on the side of the turning axis. The workpiece transfer device described in 1.   The interlock mechanism moves the arm from the separated rotation angle position in a direction opposite to the rotation of the swing body as the swing body rotates from the first rotation angle position to the second rotation angle position. After rotating the workpiece holding portion to the proximity position on the side of the turning axis line by rotating to the close rotation angle position, the arm is rotated in the same manner as the turning body to return to the separation rotation angle position. The workpiece transfer apparatus according to claim 1, wherein the workpiece transfer apparatus is configured to rotate in a direction. The base,
A revolving body that is rotatable with respect to the base around a revolving axis and is rotatable between a first rotation angle position and a second rotation angle position;
A drive device for rotationally driving the revolving structure;
One end portion is a first workpiece holding portion, and the first workpiece holding portion is located at a first proximity position close to the pivot axis, and the first proximity rotation angle position and the first workpiece holding portion are from the first proximity position. Is also pivotable about a first axis parallel to the pivot axis between a first separated rotational angle position located at a first spaced position far from the pivot axis and closer to the other end than the first work holding part A first arm having a first predetermined portion attached to the swivel body;
One end portion is a second workpiece holding portion, and the second workpiece holding portion is located at a second proximity position close to the pivot axis, and the second proximity rotation angle position and the second workpiece holding portion are from the second proximity position. Is also pivotable about a fourth axis parallel to the pivot axis between a second separated rotational angle position located at a second spaced position far from the pivot axis and closer to the other end than the second workpiece holding part A second arm having a third predetermined portion attached to the revolving structure;
A first interlocking mechanism for rotating the first arm in conjunction with rotation of the revolving body;
A second interlocking mechanism for rotating the second arm in conjunction with the rotation of the revolving body,
The first interlocking mechanism rotates the first arm from the first separated rotation angle position to the first proximity rotation angle as the turning body rotates from the first rotation angle position to the second rotation angle position. The first arm is reversibly moved back to the first separated rotation angular position after being rotated to an angular position and the first work holding portion is positioned at the first proximity position on the side of the pivot axis. Configured to rotate,
The second interlocking mechanism rotates the second arm from the second separated rotation angle position to the second proximity rotation angle as the revolving body rotates from the second rotation angle position to the first rotation angle position. The second arm is reversibly moved back to the second separated rotation angle position after being rotated to an angular position and the second work holding portion is positioned at the second proximity position on the side of the pivot axis. Configured to rotate,
The first rotation angle position is such that the work held by the first work holding part is positioned at a first work exchange position behind the turning axis and the work held by the second work holding part is moved by the turning axis. The second rotation angle position is a position at which the work held by the first work holding portion is located at a work processing position in front of the turning axis and the second rotation angle position. A workpiece transfer device, which is an angular position at which a workpiece held by a workpiece holding unit is positioned at a second workpiece exchange position behind the swivel axis.   The operation of the first arm accompanying the rotation of the swing body from the first rotation angle position to the second rotation angle position and the rotation of the swing body from the second rotation angle position to the first rotation angle position. The operation of the second arm accompanying the movement is configured to be axisymmetric with respect to a virtual reference line extending in the front-rear direction through the pivot axis in a plan view. Work transfer device. When it is assumed that the revolving body is located at an intermediate angular position between the first rotational angular position and the second rotational angular position, the first rotational angle position with respect to the virtual reference line in a plan view The workpiece holding portion, the first proximity position, the first proximity rotation angle position, and the first predetermined portion are the second workpiece holding portion, the second proximity position, the second proximity rotation angle position, and Arranged in line symmetry with the third predetermined portion,
In addition, the first work holding unit, the first separation position, and the first separation rotation angle when it is assumed that the revolving body is located at the first rotation angle position with respect to the virtual reference line. The posture of the first arm at the position, the first predetermined portion, the second work holding portion, the second separation position, the posture of the second arm at the second separation rotation angle position, and the third predetermined portion, respectively , The second work holding portion, the second separation position, the posture of the second arm at the second separation rotation angle position when it is assumed that the revolving body is located at the second rotation angle position, 3 The predetermined part, the first work holding part, the first separation position, the posture of the first arm at the first separation rotation angle position, and the first predetermined part are arranged in line symmetry. , Claims Workpiece transfer apparatus according to.