JP2018144096A - Workpiece conveying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To secure versatility, and increase a speed of linear movement of a workpiece in a conveying direction.SOLUTION: A workpiece conveying device 6 conveys a workpiece W between a first processing machine 1 for processing the workpiece W in a first processing position A, and a second processing machine 2 for processing the workpiece in a second processing position B apart from the first processing position A. The workpiece conveying device 6 includes a first conveying part 8, a second conveying part 10, and a third conveying part 12. The first conveying part 8 includes a first drive part 14, and a first conveying frame 16 which is driven by a first drive part 14 and linearly conveys the workpiece W along a conveying direction between the first processing position A and a first conveying position C. The second conveying part 10 includes a third drive part 114, and a second conveying frame 116 which is driven by the third drive part 114 and linearly conveys the workpiece W along the conveying direction between the second conveying position D and the second processing position B. The third conveying part 12 includes a third conveying frame 84 which is driven by a fifth drive part 80 and linearly moves along the conveyance direction F, and a belt conveyer 86.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a workpiece transfer apparatus.

  2. Description of the Related Art Conventionally, there is known a workpiece transfer device that transfers a workpiece between a first processing machine and a second processing machine. In such a workpiece transfer device, in consideration of the operating ranges of the first processing machine and the second processing machine, the workpiece is transferred to the first processing machine so that the first processing machine and the second processing machine do not interfere with the workpiece transfer device. And then transported to the second processing machine (see, for example, Patent Document 1). The workpiece transfer apparatus of Patent Document 1 has one shuttle and two multi-joint robots arranged on both sides of the shuttle. The articulated robot has a first arm, a second arm connected to the first arm so as to be rotatable about a horizontal axis, and a hand connected to the second arm so as to be rotatable about a horizontal axis. . Further, the first arm, the second arm, and the hand are provided with a driving unit for rotation such as a servo motor, for example.

Japanese Patent Laid-Open No. 5-200465

  In the workpiece conveyance device of Patent Document 1, a multi-joint robot is used to take out a workpiece from the first processing machine and convey it to a shuttle. The articulated robot controls the drive unit in consideration of the lengths of the first arm, the second arm, and the hand so that the workpiece moves linearly in the transport direction. However, when such an articulated robot is used for linear motion in the transport direction, it is necessary to rotate the first arm and the second arm about the horizontal axis. The drive unit needs to rotate the first arm and the second arm around the horizontal axis. As a result, the rotational movement of the drive unit is used in addition to the linear movement in the conveyance direction, and a useless movement is required for the linear movement in the conveyance direction. Therefore, it is difficult to increase the speed with respect to the linear motion in the transport direction. Furthermore, in the workpiece transfer apparatus of Patent Document 1, the first arm overtakes the second arm to realize linear motion. Therefore, the height position for linear movement is regulated by the length of the second arm when the first arm and the second arm overlap. As a result, the shape of the workpiece and the shape of the holding member that holds the workpiece are limited by the length of the first arm and the length of the second arm. For this reason, the versatility of a workpiece conveyance apparatus is impaired.

  An object of the present invention is to ensure versatility of a work transfer device and to increase the speed of linear movement in the work transfer direction.

  A workpiece transfer device according to the present invention moves a workpiece between a first processing machine that processes a workpiece at a first processing position and a second processing machine that processes the workpiece at a second processing position separated from the first processing position. Transport. The workpiece transfer device includes a first transfer unit, a second transfer unit, and a third transfer unit. The first transport unit includes a first transport frame and a first lifting unit. The first transport frame is driven by the first drive unit. The first conveyance frame conveys the workpiece linearly along the conveyance direction while holding the workpiece between the first machining position and the first conveyance position closer to the first machining position than the second machining position. . The first elevating unit is driven by the second driving unit. The 1st raising / lowering part raises / lowers the 1st conveyance frame. The 2nd conveyance part has the 2nd conveyance frame and the 2nd raising / lowering part. The second transport frame is driven by the third drive unit. The second transport frame is along the transport direction between the second transport position and the second transport position on the first processing position side of the second processing position and on the second processing position side of the first transport position. The workpiece is conveyed linearly. The second elevating unit is driven by the fourth driving unit. The 2nd raising / lowering part raises / lowers the 2nd conveyance frame. The third transport unit includes a third transport frame and a conveyor. The third transport frame is driven by the fifth drive unit. The third transport frame moves linearly along the transport direction. The conveyor is fixed to the third transport frame. A conveyor conveys a workpiece | work linearly along a conveyance direction.

  In the workpiece conveyance device having such a configuration, each conveyance frame can convey the workpiece linearly along the workpiece conveyance direction from the first machining position to the second machining position using an independent drive unit. Therefore, each conveyance frame does not move in a useless direction with respect to the workpiece conveyance direction. As a result, it is possible to increase the speed of linear movement in the workpiece conveyance direction. Moreover, the 1st conveyance frame and the 2nd conveyance frame can be raised / lowered using the raising / lowering part which has an independent drive part, respectively. Therefore, the height which conveys a workpiece | work can be freely set between the processing height of each processing machine, and the conveyance height which conveys a workpiece | work. Therefore, in such a workpiece conveyance device, the workpiece conveyance height can be changed according to the workpiece and the height of the holding member that holds the workpiece. As a result, the shape of the workpiece and the shape of the holding member that holds the workpiece are not limited, and the versatility of the workpiece transfer apparatus can be ensured. Each lifting unit and each transport frame are driven by independent driving units. As a result, the first transfer frame and the second transfer frame can be raised and lowered without reducing the transfer speed in the workpiece transfer direction, and the speed of linear movement in the transfer direction of the workpiece can be increased.

  The first transport frame includes a pair of first arms arranged to face each other in a direction intersecting the transport direction, and a first moving unit that moves the pair of first arms in a direction intersecting the transport direction. May be. The second transport frame may include a pair of second arms arranged to face each other in a direction intersecting the transport direction, and a second moving unit that moves the pair of second arms in a direction intersecting the pair of second arms. .

  According to such a configuration, the pair of first arms can be moved by the first moving unit and the pair of second arms can be moved by the second moving unit in a direction intersecting the transport direction. As a result, the workpiece can be held and transported while being held by the pair of arms. Depending on the shape of the workpiece, the distance between the pair of first arms and the distance between the pair of second arms can be flexibly changed. Moreover, a pair of 1st arm and a pair of 2nd arm can each move to the direction which cross | intersects a conveyance direction. For this reason, when taking out a workpiece | work from a 1st processing machine, and when mounting | wearing a workpiece | work to a 2nd processing machine, interference with the movable range of each processing machine can be flexibly avoided.

  The pair of first arms may include a pair of first guide arms and a pair of first transfer arms. The pair of first guide arms may be moved in the intersecting direction by the first moving unit. The pair of first transfer arms may be supported by the first guide arm so as to be movable in the transfer direction. The pair of first transfer arms may be driven in the transfer direction by the first drive unit. Each of the pair of first transfer arms may include a first attachment portion for attaching a holding member that detachably holds the workpiece to the tip. The pair of second arms may include a pair of second guide arms and a pair of second transfer arms. The pair of second guide arms may be moved in the intersecting direction by the second moving unit. The pair of second transfer arms may be supported by the second guide arm so as to be movable in the transfer direction. The pair of second transfer arms may be driven in the transfer direction by the second drive unit. Each of the pair of second transfer arms may include a second attachment portion for attaching a holding member that detachably holds the workpiece to the tip.

  According to such a structure, a separate holding member can be attached at each attachment portion of each arm. Therefore, different holding members can be attached to the first transport unit and the second transport unit, respectively. As a result, it is possible to attach a holding member suitable for workpiece transfer between the first transfer unit and the second transfer unit.

  The first transport frame may be controlled so that the holding member is attached to and detached from the first attachment portion at the first transport position when the holding member is attached and detached. The second transport frame may be controlled so that the holding member is attached to and detached from the second mounting portion at the second transport position. When the holding member is supplied to the supply position between the first transfer position and the second transfer position, the third transfer unit may be controlled to transfer the holding member from the supply position to the first transfer position. The third transport unit may be controlled to transport the holding member from the supply position to the second transport position when the holding member is supplied to the supply position.

  According to such a configuration, the holding member attached to the first attachment portion can be attached at the first transport position. Further, the holding member attached to the second attachment portion can be attached at the second transport position. Moreover, the 3rd conveyance part can convey the holding member attached to a 1st attachment part to a 1st conveyance position. Furthermore, the 3rd conveyance part can convey the holding member attached to a 2nd attachment part to a 2nd conveyance position. Therefore, for example, if a plurality of holding members are temporarily placed in the third transport unit, the holding members can be transported to the first transport position and the second transport position. As a result, it is possible to shorten the time required for the setup change by exchanging the holding member.

  The holding member may have a first holding member and a second holding member that are different in shape or holding structure. The first attachment portion and the second attachment portion may be configured to selectively attach the first holding member and the second holding member.

  According to such a configuration, one of a plurality of holding members having different holding structures or shapes can be selectively attached to the first attachment portion. In addition, one of a plurality of holding members having different holding structures or shapes can be selectively attached to the second attachment portion. As a result, the shape or holding structure of the holding member can be changed according to the shape of the workpiece, and a highly versatile workpiece transfer device can be provided.

  ADVANTAGE OF THE INVENTION According to this invention, the versatility of a workpiece conveyance apparatus can be ensured and the linear movement of the workpiece conveyance direction can be accelerated.

The whole side view of the workpiece conveyance apparatus of this invention. The front view of a 1st conveyance part. The side view which shows the operation | movement at the time of raising / lowering of a 1st conveyance part. The top view which shows the operation | movement at the time of the workpiece | work conveyance of a 1st conveyance part. The front view of a 3rd workpiece conveyance apparatus. The side view which shows the operation | movement at the time of conveyance of a workpiece conveyance apparatus. The top view which shows the operation | movement at the time of attachment or detachment of the chuck type 1st holding member of a workpiece conveyance apparatus. The top view which shows the operation | movement at the time of attachment or detachment of the adsorption | suction type 2nd holding member of other embodiment of a workpiece conveyance apparatus. The block diagram which shows the structure of the control system of a workpiece conveyance apparatus.

  Hereinafter, a workpiece transfer device 6 according to an embodiment of the present invention will be described with reference to the drawings.

<Overall configuration>
As shown in FIG. 1, a workpiece transfer device 6 according to an embodiment of the present invention transfers a workpiece W between a first processing machine 1 and a second processing machine 2. The first processing machine 1 processes the workpiece W at the first processing position A. The second processing machine 2 processes the workpiece W at the second processing position B separated from the first processing position A in the transport direction F. In the present embodiment, the workpiece transfer device 6 takes out the workpiece W processed by the first processing machine 1 from the first processing position A, and transfers the workpiece W to the second processing machine 2 that performs the next processing step. The workpiece transfer device 6 sets the workpiece W on the second processing machine 2 at the second processing position B of the second processing machine 2. In the present embodiment, the first processing machine 1 and the second processing machine 2 are press devices each having a movable mold 3 and a fixed mold 4. In the present embodiment, two processing machines are illustrated as the first processing machine 1 and the second processing machine 2, but actually two or more processing machines are arranged according to the pressing process. . Also in this case, the workpiece conveyance device 6 is disposed between the processing machines. The workpiece W is a press-formed product by tandem press processing that is formed through a plurality of press forming operations.

  The workpiece transfer device 6 according to the present embodiment includes a base member 7, a first transfer unit 8, a second transfer unit 10, a third transfer unit 12, and a control device 200 (see FIG. 9). The base member 7 is disposed between the first processing machine 1 and the second processing machine 2. The base member 7 is a portal frame having four pillars 7a, for example. The first transport unit 8 and the second transport unit 10 are arranged in line symmetry with respect to the center position I of the first processing position A and the second processing position B.

<Configuration of the first transport unit>
As shown in FIGS. 2 to 4, the first transport unit 8 includes a first drive unit 14, a first transport frame 16, a second drive unit 18, and a first elevating unit 20. The first transport unit 8 is disposed adjacent to the first processing machine 1 in the transport direction F.

<First drive unit>
As shown in FIGS. 2 and 4, the first drive unit 14 includes a first transport motor 14a, a first transport ball screw shaft 14b, a first transport ball nut 14c, and a pair of first transport members in the form of a round bar. 14d. The first transport motor 14a is, for example, a servo motor, and is coupled to the first transport ball screw shaft 14b so as to be integrally rotatable. The first transport ball screw shaft 14b is rotationally driven by the first transport motor 14a. The first transport ball screw shaft 14b is disposed along the transport direction F at the center position in the width direction G (the direction perpendicular to the plane of FIG. 2) intersecting the transport direction F of the pair of first transport frames 16. The base member 7 Is supported rotatably. The first transport ball nut 14c is screwed onto the first transport ball screw shaft 14b. The first transfer ball nut 14c moves a first transfer arm 30b described later via the first transfer member 14d. The first conveying member 14d extends along the width direction G from both sides of the first conveying ball nut 14c. The rotation of the first transport motor 14a is transmitted to the first transport ball screw shaft 14b by, for example, a power transmission mechanism 14e including a pair of toothed pulleys and a toothed belt wound around the pair of toothed pulleys.

<First transport frame>
As shown in FIG. 2, the first transport frame 16 is driven by the first drive unit 14. The first transport frame 16 holds the work W between the second processing position B and the second processing position B on the first processing position A side with respect to the second processing position B, and is along the transport direction F. The workpiece W is conveyed linearly. In the present embodiment, the first transport frame 16 transports the workpiece W linearly along the transport direction F from the first processing position A to the first transport position C of the first processing machine 1. That is, the first transport unit 8 takes out the workpiece W from the first processing machine 1.

  As shown in FIGS. 2 to 4, the first transport frame 16 includes a pair of first arms 30 that are arranged to face the width direction G, and a pair that moves the pair of first arms 30 in the width direction G, respectively. 1st moving part 32. The first arm 30 includes a pair of first guide arms 30a (feed carrier) and a pair of first transfer arms 30b (feed bar).

  The pair of first guide arms 30a are moved individually by the pair of first moving portions 32 so that the distance facing the width direction G changes. The pair of first guide arms 30 a extends along the transport direction F. The pair of first guide arms 30 a is supported by the first elevating unit 20 via the first moving unit 32 so as to be movable in the width direction G. A first slit 30c (see FIG. 3) through which the first transport member 14d can pass is formed along the transport direction F on the side surface on the downstream side in the transport direction F of the pair of first guide arms 30a.

  The pair of first transfer arms 30b are supported individually by the pair of first guide arms 30a so as to be movable in the transfer direction F via the pair of first transfer linear guides 34. The first transport arm 30 b is driven in the transport direction F by the first drive unit 14. The 1st conveyance linear guide 34 is a well-known structure which has the guide rail arrange | positioned along the conveyance direction F, and the slider which roll-contacts to a guide rail. The guide rail is provided on the first transport frame 16 along the transport direction F, and reciprocates along the transport direction F while being in rolling contact with the slider. The sliders are respectively fixed to the pair of first guide arms 30a. The pair of first transfer arms 30b is driven in the transfer direction F by the first drive unit 14, and moves between the first processing position A and the first transfer position C (see FIGS. 3 and 4). The 1st conveyance arm 30b is a square pipe-shaped member which has the 2nd slit 30d along the conveyance direction F on the upper surface. The lower part of the first guide arm 30a enters the inside of the first transfer arm 30b through the second slit 30d.

  The first transport member 14d of the first drive unit 14 penetrates downstream of the pair of first transport arms 30b in the transport direction F (see FIG. 4). The pair of first transfer arms 30b are individually connected to the pair of first transfer members 14d so as not to move in the transfer direction F and to move in the width direction G. The pair of first transfer arms 30b move in the transfer direction F and in the direction opposite to the transfer direction F by the movement of the first transfer member 14d in the transfer direction F. Each of the pair of first transfer arms 30b has a first attachment portion 36 for attaching a holding member 38 that detachably holds the workpiece W to the tip. In this embodiment, the 1st attaching part 36 can attach the holding member 38 so that attachment or detachment is possible.

  As shown in FIG. 2, the first attachment portion 36 is provided inside the end portion of the first transfer arm 30b on the first processing machine 1 side. As shown in the enlarged view of the L portion in FIG. 2, the first attachment portion 36 includes a first attachment frame 42, a first pneumatic cylinder 44, a first cam member 46, and a pair of first lock members 48. And a pair of first urging members 50 and a pair of first guide shafts 52. The first mounting frame 42 is fixed to the inner side surface (opposing surface) of the tip of the first transport frame 16. The first mounting frame 42 is a rectangular pipe-shaped member having a rectangular opening 42 a through which the holding member 38 can pass. The first pneumatic cylinder 44 is biased toward the retreat side by a spring. The first pneumatic cylinder 44 is disposed on the upper surface of the first mounting frame 42.

  The first cam member 46 is attached to the tip of the first piston rod 44 a of the first pneumatic cylinder 44. The first cam member 46 has a pair of cam surfaces 46a formed to be tapered. The pair of cam surfaces 46a are configured by tapered inclined surfaces.

  The pair of first lock members 48 locks the holding member 38 to the first mounting portion 36. The pair of first lock members 48 are disposed on both sides of the first cam member 46. The first lock member 48 includes a cam receiving portion 48 a that engages with the cam surface 46 a, a lock protrusion 48 b that locks the holding member 38, and a boss portion 48 c that is supported by the first guide shaft 52. The cam receiving portion 48 a is engaged with the cam surface 46 a, and when the first cam member 46 moves downward, the pair of first lock members 48 moves along the first guide shaft 52 in a direction away from each other. Configured. In the present embodiment, the cam receiving portion 48a is configured by an inclined surface that contacts the cam surface 46a, but the cam receiving portion 48a is not limited to the inclined surface. The boss portion 48c is formed in a stepped cylindrical shape. The first urging member 50 is attached to the small diameter portion of the boss portion 48c.

  The first urging member 50 is disposed in a compressed state between the step surface of the boss portion 48 c and the inner surface of the first mounting frame 42. The first urging member 50 is, for example, a coil spring. The first biasing member 50 biases the pair of first lock members 48 toward the first cam member 46. The pair of first guide shafts 52 are fixed to the inner surface of the first mounting frame 42. The pair of first guide shafts 52 individually support the pair of first lock members 48 so as to be axially movable and non-rotatable.

  In the first mounting portion 36 having such a configuration, when compressed air is supplied to the first pneumatic cylinder 44 and the first piston rod 44 a is advanced, the first cam member 46 spreads the pair of first lock members 48. Press in the direction. As a result, the pair of first locking members 48 is opened, and the holding member 38 is unlocked. As a result, the holding member 38 can be detached from the first attachment portion 36 and attached. On the other hand, when the compressed air is extracted with the holding member 38 disposed at a desired position, the first cam member 46 is retracted together with the first piston rod 44a by the spring in the pneumatic cylinder, and the first lock member 48 is moved. close up. As a result, the holding member 38 is locked by the first lock member 48.

  The holding member 38 has a wide flange 38 c that is prevented from being detached by the lock protrusions 40 b of the pair of first lock members 48. By providing the flange 38 c on the holding member 38, the pair of lock protrusions 48 b of the first lock member 48 prevents the holding member 40 from falling off while the flange 38 c is locked to the first lock member 48.

  In the present embodiment, the holding member 38 has a first holding member 38a shown in FIG. 7 and a second holding member 38b shown in FIG. The first attachment portion 36 and the second attachment portion 136 described later are configured to be able to selectively attach the first holding member 38a and the second holding member 38b.

  As shown in FIG. 7, the first holding member 38 a is, for example, a chuck-type holding member 38 that holds a circular workpiece W therebetween. The first holding member 38a has a flange 38c at the base end, and has an arcuate recess 38d at the tip so that the work W can be held in the width direction G. The recess 38d has an arcuate groove 38e into which the workpiece W can enter.

  As shown in FIG. 8, the second holding member 38b is, for example, an adsorption-type holding member 38 that adsorbs and holds the workpiece W. The 2nd holding member 38b is formed in the rectangle whose length of the width direction G is longer than the length of the conveyance direction F, and has the flange 38c in both ends. The second holding member 38 b has a length in the width direction G that can be attached to the first attachment portion 36 and the second attachment portion 136. The second holding member 38b has a plurality (for example, 2 to 6, four in the present embodiment) of suction holes 38f arranged with the central position in the width direction G interposed therebetween.

  As shown in FIG. 2, the pair of first moving parts 32 moves the pair of first arms 30 in the width direction G separately. The pair of first moving parts 32 includes a first moving linear guide 54, a first moving motor 56, a first moving ball screw shaft 58, and a first moving ball nut 60, respectively. The pair of first moving linear guides 54 has a known configuration that includes a guide rail disposed along the width direction G and a slider that moves in the width direction G. Two pairs of the first moving linear guides 54 are provided at an interval in the transport direction F. Accordingly, the pair of first arms are guided in the width direction G by the two first moving linear guides 54, respectively. The guide rails are provided along the width direction G at both ends in the width direction G of the first elevating frame 70 described later of the first elevating unit 20. The sliders are respectively fixed to the pair of first guide arms 30a, and move in the width direction G while rolling and contacting the guard rail. The pair of first moving motors 56 are servo motors, for example, and are arranged at positions symmetrical with respect to the center position J of the first elevating frame 70 in the width direction G. The pair of first moving motors 56 are coupled to the first moving ball screw shaft 58 so as to be integrally rotatable. The pair of first moving ball screw shafts 58 are disposed along the width direction G and penetrate the pair of first guide arms 30a. The pair of first moving ball screw shafts 58 are rotationally driven separately by the pair of first moving motors 56. The pair of first moving ball nuts 60 are provided in the penetrating portions of the first moving ball screw shaft 58 of the pair of first guide arms 30a, and are screwed into the pair of first moving ball screw shafts 58, respectively. When the pair of first movement motors 56 are rotated in different directions, the pair of first arms 30 rotate away from and approach the center position J. As a result, the first arm 30 can attach and detach the workpiece W at the first processing position A and the first transfer position C, and when the pair of first movement motors 56 are rotated in the same direction, the pair of first arms 30. Can be placed at a position deviated from the center position J.

<Second drive unit>
The second drive unit 18 includes a pair of first lifting linear guides 62, a first lifting motor 64, a first lifting ball screw shaft 66, and a first lifting ball nut 68. A pair of 1st raising / lowering linear guide 62 is a well-known structure which each has the guide rail arrange | positioned along an up-down direction, and the slider which moves to an up-down direction. Two pairs of the first elevating linear guides 62 are provided in the transport direction F with an interval therebetween. The guide rail is provided on the column 7a of the base member 7 along the vertical direction. The sliders are respectively fixed to the first elevating frame 70, and move in the vertical direction while rolling and contacting the guide rail. Accordingly, the first elevating unit 20 is guided in the vertical direction by the two first elevating linear guides 62, respectively. The first elevating motor 64 is a servo motor and is disposed on the upper surface of the base member 7. The first elevating motor 64 is coupled to the first elevating ball screw shaft so as to be integrally rotatable. The first elevating ball screw shaft 66 is disposed along the vertical direction and penetrates the first elevating frame 70. The first lifting ball screw shaft 66 is rotationally driven by a first lifting motor 64. The first elevating ball nut 68 is provided in a through portion of the first elevating ball screw shaft 66 of the first elevating frame 70 and is screwed into the first elevating ball screw shaft 66. The first lifting frame 70 is raised and lowered according to the rotation direction of the first lifting motor 64.

<First lifting part>
As shown in FIGS. 2 and 3, the first elevating unit 20 is driven by the second driving unit 18. The first elevating unit 20 includes a first elevating frame 70 that elevates and lowers the first guide arms 30 a of the pair of first arms 30 via the pair of first moving units 32. The first elevating unit 20 elevates and lowers the first transport frame 16 via the pair of first moving units 32. In the present embodiment, the first elevating unit 20 includes a first processing height H1 at which the first processing machine 1 illustrated in FIG. 1 processes the workpiece W, and a first conveyance height at which the first conveyance frame 16 conveys the workpiece W. The first transport frame 16 is moved up and down between the height H2 and the third transport height H3 at which the third transport unit 12 transports the workpiece W.

<Configuration of second transport unit>
As shown in FIG. 1, the second transport unit 10 is disposed adjacent to the second processing machine 2 in the direction opposite to the transport direction F. The second transport unit 10 is arranged at a position symmetrical to the first transport unit 8 with respect to the center position I. The first transport unit 8 and the second transport unit 10 have substantially the same configuration. Accordingly, the reference numerals of the constituent members of the second transport unit 10 are described in parentheses in FIGS. 2 to 4 by adding 100 to the reference numerals of the constituent members of the first transport unit 8, and the details of the second transport unit 10 are described. Description is omitted.

  As shown in FIGS. 2 to 4, the second transport unit 10 includes a third drive unit 114, a second transport frame 116, a fourth drive unit 118, and a second elevating unit 120.

<Third drive unit>
The third drive unit 114 has the same configuration as the first drive unit 14, and includes a second transport motor 114a, a second transport ball screw shaft 114b, a second transport ball nut 114c, and a pair of second transports in the shape of a round bar. 114d. The rotation of the second transport motor 114a is transmitted to the second transport ball screw shaft 114b by, for example, a power transmission mechanism 114e including a pair of toothed pulleys and a toothed belt wound around the pair of toothed pulleys.

<Second transport frame>
As shown in FIG. 2, the second transport frame 116 has the same configuration as the first transport frame 16. The second transport frame 116 is driven by the third drive unit 114. The second transfer frame 116 holds the workpiece W between the second transfer position D and the second processing position B, and transfers the workpiece W linearly along the transfer direction F. The second transport position D is a position closer to the first processing position A than the second processing position B and closer to the second processing position than the first transport position C. In the present embodiment, the second conveyance frame 116 linearly conveys the workpiece W along the conveyance direction F from the second machining position B to the second machining position B. That is, the first transport unit 8 sets the workpiece W on the first processing machine 1.

  As shown in FIG. 2 to FIG. 4, the second transport frame 116 includes a pair of second arms 130 disposed to face the width direction G, and a pair for moving the pair of second arms 130 in the width direction G, respectively. 2nd moving part 132. The pair of second arms 130 includes a second guide arm 130a (feed carrier) and a second transfer arm 130b (feed bar). The pair of second guide arms 130a are moved individually by the pair of second moving parts 132 so that the distance facing the width direction G changes.

  The pair of second guide arms 130 a extends along the transport direction F. The pair of second guide arms 130 a is supported by the second elevating unit 120 via the second moving unit 132 so as to be movable in the width direction G. The pair of second transfer arms 130b are supported individually by the pair of second guide arms 130a through the pair of second transfer linear guides 134 so as to be movable in the transfer direction F. The second transfer arm 130 b is driven in the transfer direction F by the second transfer member 114 d of the third drive unit 114. The pair of second transfer arms 130b each have a second attachment portion 136 for attaching a holding member 38 that detachably holds the workpiece W to the tip. The 2nd attachment part 136 is the same structure as the 1st attachment part 36, and can attach the holding member 38 containing the 1st holding member 38a and the 2nd holding member 38b so that attachment or detachment is possible.

<Fourth drive unit>
The fourth drive unit 118 has the same configuration as the second drive unit 18. The fourth drive unit 118 includes a pair of second elevating linear guides 162, a second elevating motor 164, a second elevating ball screw shaft 166, and a second elevating ball nut 168.

<Second lifting part>
The second elevating unit 120 has the same configuration as the first elevating unit 20. The second elevating unit 120 is driven by the fourth driving unit 118. The second elevating unit 120 includes a second elevating frame 170 that elevates and lowers the second guide arms 130 a of the pair of second arms 130 via the pair of second moving units 132. In the present embodiment, the second elevating unit 120 includes a third transport height H3 at which the third transport unit 12 illustrated in FIG. 1 transports the workpiece W, and a second transport height at which the second transport frame 116 transports the workpiece W. The first transport frame 16 is moved up and down between the height H4 and the second processing height H5 at which the second processing machine 2 processes the workpiece W. In the present embodiment, the first processing height H1, the second processing height H5, and the third transport height H3 are the same height. Further, the first transport height H2 and the second transport height H4 are the same. However, the height H1 to the height H5 when the workpiece W is transported from the first processing machine 1 to the second processing machine 2 are the first processing machine 1, the second processing machine 2, the first transport unit 8, and the second. It can be appropriately changed according to the conveyance unit 10, the third conveyance unit 12, and the workpiece W.

<Configuration of third transfer unit>
As shown in FIG. 1, the third transport unit 12 transports the workpiece W between the first transport position C and the second transport position D. The third transport unit 12 is disposed below the first transport unit 8 and the second transport unit 10 so that both ends overlap the first transport unit 8 and the second transport unit 10. As shown in FIG. 5, the third transport unit 12 includes a fifth drive unit 80, a base frame 82 provided on the base member 7, a third transport frame 84, and a belt conveyor 86. A belt conveyor is an example of a conveyor. The third transport unit 12 transports the workpiece W linearly along the transport direction F between the first transport position C and the second transport position D. The third transport unit 12 reciprocates between the first transport position C and the second transport position D at the third transport height H3 (see FIG. 1). The transport distance (L1) from the first processing position A to the first transport position C is shorter than the transport distance (L2) from the first transport position C to the second transport position D. Similarly, the transport distance (L3) from the second transport position D to the second processing position B is shorter than the transport distance (L2) from the first transport position C to the second transport position D. The third transport unit 12 transports a longer transport distance than the first transport unit 8 and the second transport unit 10. More preferably, L1 may be a distance of 1/2 or less of L2, and L3 may be a distance of 1/2 or less of L2.

<Fifth drive unit>
The fifth drive unit 80 includes a pair of third transport linear guides 88, a third transport motor 90, a third transport ball screw shaft 92, and a third transport ball nut 94. The pair of third transport linear guides 88 includes guide rails arranged along the transport direction F on the base frame 82 and a pair of sliders that move in the transport direction. The pair of guide rails are arranged at an interval in the width direction G. The pair of sliders are provided on the third conveyance frame 84 with an interval in the width direction G, and are guided while being in rolling contact with the pair of guide rails. The third transport motor 90 is a servo motor and is coupled to the third transport ball screw shaft 92 so as to be integrally rotatable. The third conveying ball screw shaft 92 is rotatably supported by the base frame 82 between the pair of guide rails, and is disposed below the belt conveyor 86. The third transport ball nut 94 is provided on the third transport frame 84 and is screwed to the third transport ball screw shaft 92. The third transport frame 84 reciprocates along the transport direction F by the rotation of the third transport motor 90.

<Third transport frame>
The third transport frame 84 is driven by the fifth drive unit 80 and moves linearly along the transport direction F. The third transport frame 84 is supported by the base frame 82 so as to be movable in the transport direction F by the third transport linear guide 88. A third transport ball nut is provided at the center in the width direction G of the third transport frame 84.

<Belt conveyor>
As shown in FIG. 5, the belt conveyor 86 is arranged along the conveyance direction F. The belt conveyor 86 is fixed to the third conveyance frame 84 and conveys the workpiece W linearly along the conveyance direction F between the first conveyance position C and the second conveyance position D. The belt conveyor 86 includes a conveyor motor 96, a pair of conveyance belts 98, and a pair of belt support portions 100 arranged at intervals in the conveyance direction F.

  The pair of belt support portions 100 are fixed to the upstream side in the conveyance direction of the third conveyance frame 84 and the end portion on the downstream side in the conveyance direction. The belt support unit 100 on the upstream side in the transport direction rotatably supports the drive shaft 102 disposed along the width direction G. A pair of toothed drive pulleys 104 arranged at an interval in the width direction G are mounted on the drive shaft 102 so as to be integrally rotatable. The rotation of the conveyor motor 96 is transmitted to the drive shaft 102 by a belt drive mechanism 106 having a pair of toothed pulleys and a drive belt. The belt support unit 100 on the downstream side in the transport direction rotatably supports the driven shaft 108 disposed along the width direction G. A pair of toothed driven pulleys 105 arranged at intervals in the width direction G are attached to the driven shaft 108 so as to be integrally rotatable. The pair of conveyor belts 98 are toothed belts, and are arranged at intervals in the width direction G. A tray 110 on which the workpiece W is placed so as to be positioned is fixed to the transport belt 98.

  In the 3rd conveyance part 12, when reciprocating, the 3rd conveyance frame 84 and the belt conveyor 86 operate | move simultaneously. That is, the third transport unit 12 transports the transport direction F by a plurality of driving units. Thereby, it can convey to the 1st conveyance part 8 and the 2nd conveyance part 10 at high speed. Further, the tray 110 reciprocates between the first transport position C and the second transport position D. The tray 110 reciprocates so as to be close to the first processing machine 1 and the second processing machine 2 until the end portion does not interfere with the operation range of the first processing machine 1 and the second processing machine 2. Accordingly, the transport distance (the distance from the first processing position A to the first transport position C and the distance from the second transport position D to the second processing position B) between the first transport unit 8 and the second transport unit 10 is shortened. can do.

<Control system configuration>
The control device 200 controls the workpiece transfer device 6 in cooperation with the first processing machine 1 and the second processing machine 2. As illustrated in FIG. 9, the control device 200 includes a control unit 202 including a microcomputer and a motor driver group 204 that drives a plurality of motors. The control device 200 is connected to the first transport unit 8, the second transport unit 10, the third transport unit 12, and the electrical components of the operation panel 206. In the first transport unit 8, the control unit 202 is connected to the first transport motor 14 a, the first elevating motor 64, and the pair of first moving motors 56 via the motor driver group 204. Further, the control unit 202 determines whether or not the first control valve 111 for turning on and off the first pneumatic cylinder 44 of the first mounting portion 36 and the holding member 38 attached to the first mounting portion 36 holds the workpiece W. And a first work sensor 2112 for detecting

  In the second transport unit 10, the control unit 202 is connected to the second transport motor 114 a, the second elevating motor 164, and the pair of second moving motors 156 via the motor driver group 204. Further, the control unit 202 determines whether or not the second control valve 211 that turns on and off the second pneumatic cylinder 144 of the second mounting portion 136 and the holding member 38 that is mounted on the second mounting portion 136 hold the workpiece W. It is connected to the 2nd work sensor 212 which detects.

  In the third transport unit 12, the control unit 202 is connected to the third transport motor 90 and the conveyor motor 96 via the motor driver group 204. Further, the control unit 202 is connected to a third work sensor 224 that detects whether or not the work W is normally placed on the tray 110.

<Conveying operation of the conveyed product in the workpiece conveying device>
Next, the operation when the workpiece transfer device 6 controlled by the control unit 202 transfers the workpiece W will be described with reference to FIGS. 3, 4, and 6. In the present embodiment, it is assumed that a chuck-type first holding member 38 a shown in FIG. 4 that grips the workpiece W from the width direction G is attached to the first attachment portion 36. The same applies to the second holding member 38b.

  The workpiece W is set on the fixed die 4 of the first processing machine 1 and press-formed by receiving a press pressure from the movable die 3. When the press work is finished and the movable die 3 starts to rise, the pair of first transfer arms 30b of the first transfer frame 16 moves from the first transfer position C to the first processing position A in the transfer direction F of the workpiece W. And move linearly in the opposite direction (see FIG. 3). At this time, the pair of first transfer arms 30b moves at the first processing height H1 so as not to interfere with the movable range of the movable mold 3. The pair of first transfer arms 30b are moved by the first moving unit 32 in the direction of approaching each other in the width direction G to a position where the first holding member 38a can hold the workpiece W (FIGS. 4A and 4). (See (b)).

  As a result, the workpiece W is held between the pair of first holding members 38a, and is raised from the first processing height H1 to the first transport height H2 by the first elevating unit 20. After the ascent, the workpiece W is conveyed linearly along the conveyance direction F from the first processing position A to the first conveyance position C (FIGS. 6A, 6B, and 6C). reference). When the workpiece W is conveyed to the first conveyance position C, the workpiece W is lowered from the first conveyance height H2 to the third conveyance height H3 by the first elevating unit 20, and is moved by the pair of first conveyance arms 30b. , Set on the tray 110. The pair of first transfer arms 30b are moved in the direction of separation in the width direction G by the first moving unit 32 and are separated from the workpiece W (see FIG. 4D).

  The workpiece W set on the tray 110 is linearly conveyed along the conveyance direction F from the first conveyance position C to the second conveyance position D by the third conveyance unit 12.

  The pair of workpieces W transported to the second transport position D is attached to the second attachment portion 136 of the pair of second transport arms 130b moved by the second moving unit 132 in the direction of approaching each other in the width direction G. The holding member 38 is sandwiched. The workpiece W is raised to the second transport height H4 by the second elevating unit 120 while being sandwiched between the pair of holding members 38. The workpiece W is linearly conveyed along the conveyance direction F from the second conveyance position D to the second processing position B by the pair of second conveyance arms 130b. The workpiece W transported to the second processing position B is lowered from the second transport height H4 to the second processing height H5 by the second elevating unit 120, and then set on the fixed mold 4 of the second processing machine 2. The Thereafter, the second transfer arm 130 b is moved in the direction intersecting the transfer direction F and away from each other by the second moving unit 132, and is separated from the workpiece W.

  When the suction-type second holding member 38b is attached to the pair of first attachment portions 36, the second holding member 38b sucks the workpiece W at the first processing position A. Thereafter, after the workpiece W is raised to the first conveyance height H2 by the first elevation unit 20, the first elevation unit 20 lowers the workpiece W to the third conveyance height H3 and sets the workpiece W on the tray 110. To do. Thereafter, the second holding member 38b releases the suction of the workpiece W.

  As described above, the work W is transported by the third transport unit 12 from the first transport position C to the second transport position D.

  The workpiece W conveyed to the second conveyance position D is adsorbed by the second holding member 38b, and is raised to the second conveyance height H4 by the second elevating unit 120. The raised workpiece W is linearly conveyed along the conveyance direction F from the second conveyance position D to the second processing position B by the pair of second conveyance arms 130b. Thereafter, the workpiece W is lowered to the second machining height H5 by the second elevating unit 120 and set on the fixed die 4 of the second machining machine 2. Then, the second holding member 38b releases the suction and leaves the workpiece W.

<Procedure for attaching / detaching the holding member in the workpiece transfer device>
Next, with reference to FIGS. 7 and 8, the removal and attachment procedure of the first holding member 38a and the second holding member 38b will be described. In the present embodiment, for example, for changing the setup, the procedure for removing and attaching the holding member when replacing the holding member from the first holding member 38a shown in FIG. 7 to the second holding member 38b shown in FIG. (Removal procedure) will be described.

  As shown in FIGS. 7 and 8, when the holding member 38 is attached / detached, the first conveying frame 16 attaches / detaches the holding member 38 to / from the first attachment portion 36 at the first conveying position C by the control unit 202. To be controlled. The second conveyance frame 116 is controlled by the control unit 202 so that the holding member 38 is attached to and detached from the second attachment portion 136 at the second conveyance position D.

  When the third conveyance unit 12 supplies the holding member 38 attached to the first attachment unit 36 to a supply position (for example, the central position I or the vicinity thereof) between the first conveyance position C and the second conveyance position D, The third transport unit 12 is controlled by the control unit 202 so as to transport the holding member 38 from the supply position to the first transport position C. When the holding member 38 attached to the second attachment portion 136 is supplied to the supply position, the third conveyance unit 12 is controlled to convey the holding member 38 from the supply position to the second conveyance position.

  That is, the holding member 38 attached to the first attachment portion 36 is attached / detached at the first transport position C. In addition, the holding member 38 attached to the second attachment portion 136 is attached and detached at the second transport position D.

  As shown in FIG. 7, in the first transport unit 8, the first transport motor 14 a is controlled by the control unit 202, and the pair of first holding members 38 a separately attached to the pair of first mounting portions 36 includes the first transport member 14 a. Arranged at one transport position C. Further, the first moving motor 56 is controlled by the control unit 202, and the pair of first transfer arms 30 b are arranged at positions approaching in the width direction G. In the third transport unit, the third transport motor 90 and the conveyor motor 96 are controlled by the control unit 202, and the tray 110 is disposed at the first transport position C. When the first holding member 38a is disposed at the first transport position C, the first elevating motor 64 is controlled by the control unit 202, and the pair of first transport arms 30b is transported from the first transport height H2 to the third transport. The pair of first holding members 38a are lowered to the height H3 and are placed on the tray 110 at the first transport position C. In this state, the control unit 202 turns on the first control valve 111 for a predetermined time, and advances the first pneumatic cylinders 44 of the pair of first mounting portions 36. After turning on the first control valve 111, the control unit 202 controls the first elevating unit 20 to raise the first transfer arm 30b from the third transfer height H3 to the first transfer height H2. As a result, the pair of first holding members 38 a are separated from the pair of first mounting portions 36, and the first holding members 38 a are arranged side by side in the width direction G of the tray 110. The pair of first holding members 38 a arranged on the tray 110 is transported to the second transport position D by the third transport unit 12 controlled by the control unit 202.

  In the second transport unit 10, the second transport motor 114 a is controlled by the control unit 202, and a pair of first holding members 38 a that are individually attached to the pair of second mounting parts 136 are disposed at the second transport position D. The Further, the second moving motor 154 is controlled by the control unit 202, and the pair of second transfer arms 130 b are arranged at positions that are separated from each other in the width direction G. When the first holding member 38a is disposed at the second transport position D, the second elevating motor 164 is controlled by the control unit 202, and the pair of second transport arms 130b is transported from the second transport height H4 to the third transport. The pair of first holding members 38a is lowered to the height H3 and placed on the tray 110 at the second transport position D. In this state, the control unit 202 turns on the second control valve 211 for a predetermined time (for example, 2 seconds), and advances the second pneumatic cylinder 144 of the pair of second mounting portions 136. After turning on the first control valve 111, the control unit 202 controls the second elevating unit 120 to raise the second transport arm 130b from the second transport height H4 to the second transport height H4. As a result, the pair of first holding members 38a are separated from the pair of second attachment portions 136, respectively. As a result, the first holding members 38a that are disengaged from the second attachment portions 136 are arranged side by side on the outside of the pair of first holding members 38a that are disengaged from the first attachment portions 36 in the width direction G on the tray 110. . The four first holding members 38a arranged on the tray 110 are controlled by the control unit 202 up to a supply position (for example, the center position I or its vicinity) between the first transfer position C and the second transfer position D. It is transported by the third transport unit 12. The first holding member 38a is removed by the operator at the supply position, and the operator supplies the second holding member 38b to the supply position.

  Next, the procedure for attaching the second holding member 38b will be described with reference to FIG.

  As shown in FIG. 8, for example, the worker arranges the second holding member 38 b side by side on the tray 110 along the conveyance direction F with the center position I interposed therebetween, for example. When the two second holding members 38 b are arranged on the tray 110, the third transport unit 12 is controlled by the control unit 202 by a predetermined operation of the operator. In the third transport unit 12 controlled by the control unit 202, the second holding member 38b on the upstream side in the transport direction F of the tray 110 (the second holding member 38b on the lower side in FIG. 8) is disposed at the first transport position C. As shown, the tray 110 is conveyed. Further, the first transport arm 30b is controlled in accordance with the operation of the operator, and the first attachment portion 36 moves to the first transport position C. When the second holding member 38b is transported to the first transport position C, the control unit 202 turns on the first control valve 111, advances the first pneumatic cylinder 44 of the first mounting portion 36, and performs the second holding. The first locking member 48 is opened so that the flange 38c of the member 38b can be attached to the first attachment portion 36. Thereafter, the control unit 202 controls the first elevating unit 20 to lower the first transfer arm 30b from the first transfer height H2 to the third transfer height H3. As a result, the flange 38c of the second holding member 38b is inserted into the first mounting portion 36. With the flange 38c inserted, the control unit 202 turns off the first control valve 111 and shuts off the supply of compressed air to the first pneumatic cylinder 44. As a result, the first pneumatic cylinder 44 is retracted, and the second holding member 38 b is attached to the first attachment portion 36. After the second holding member 38b is attached, the third transport unit 12 transports the tray 110 on which the remaining second holding member 38b is set to a position where the second holding member 38b comes to the second transport position D. . The procedure for attaching the second holding member 38b to the second attachment portion 136 is the same as that of the first attachment portion 36, and a description thereof will be omitted.

  According to the above configuration, the first drive unit 14 moves the first arm 30 of the first transport frame 16 linearly along the transport direction F, thereby moving the workpiece W along the transport direction F. Can be conveyed linearly. Further, the second drive unit 114 linearly moves the second arm 130 of the second transfer frame 116 along the transfer direction F, so that the workpiece W can be transferred linearly. By moving the fifth drive unit 80 and the belt conveyor 86 linearly along the conveyance direction F, the workpiece W can be conveyed linearly along the conveyance direction F. With such a configuration, for example, by increasing the pitch of the transport ball screw shafts 14b, 114b, and 92 of the first drive unit 14, the third drive unit 114, and the fifth drive unit 80, the transport direction F It is easy to increase the reciprocating speed with respect to. Furthermore, the speed of the reciprocating movement with respect to the transport direction F can be easily increased by increasing the rotational speed of the transport motor arranged in each drive unit. Moreover, the 1st conveyance part 8, the 2nd conveyance part 10, and the 3rd conveyance part 12 are each driven with respect to the conveyance direction F by a separate drive part. Therefore, each can be transported at different speeds, and the reciprocating speed can be flexibly set in accordance with the movement of the movable mold 3 of the first processing machine 1 and the second processing machine 2.

  Furthermore, the 1st conveyance part 8 and the 2nd conveyance part 10 are provided with the 1st raising / lowering part 20 and the 2nd raising / lowering part 120 which were respectively independent. Therefore, the conveyance height can be changed flexibly according to the height of the workpiece W. Moreover, according to the height of the 1st holding member 39a and the 2nd holding member 39b, a conveyance height can be changed flexibly. The first moving unit 32 includes a pair of first moving motors 56. Therefore, the first arms 30 can be moved independently of each other. As a result, the work W can be transported with the center of the work W being offset with respect to the transport direction F. As a result, for example, the work W can be placed on the tray 110 in consideration of the position of the center of gravity of the work W.

  Further, when the workpiece is taken out from the first machining position A and when the workpiece is set at the second machining position B, the accuracy and speed of the multidirectional operation are required. That is, in the 1st conveyance part 8 which takes out the workpiece | work W from the 1st processing position A, and the 2nd conveyance part 10 which sets the workpiece | work W in the 2nd processing position B, in the 1st processing position A and the 2nd processing position B, It is required to move at an accurate position and at a high speed. Therefore, it is preferable that the moving distance between the first arm 30 and the second arm 130 be as short and linear as possible, since the first arm 30 and the second arm 130 are less likely to be displaced from each processing position. . In the above configuration, the transport distance (L1) from the first processing position A to the first transport position C is shorter than the transport distance (L2) from the first transport position C to the second transport position D. Similarly, the transport distance (L3) from the second transport position D to the second processing position B is shorter than the transport distance (L2) from the first transport position C to the second transport position D. The third transport unit 12 transports a longer transport distance than the first transport unit 8 and the second transport unit 10. Further, the tray 110 reciprocates so as to be close to the first processing machine 1 and the second processing machine 2 until the end portion does not interfere with the operation range of the first processing machine 1 and the second processing machine 2. That is, taking out and setting the workpiece W from the processing machine that requires accuracy and speed of multi-directional operation, the conveyance distance F is short, the conveyance direction F, the elevation direction, and the direction G intersecting the conveyance direction. The first transport unit 8 and the second transport unit 10 driven by independent drive units perform a long transport distance with a plurality of drive units in the transport direction F, and can be transported at high speed in the transport direction F. The 3rd conveyance part 12 performs. If it is such composition, while taking out and setting work W with the 1st conveyance part 8 and the 2nd conveyance part 10 at high speed and accuracy, between the 1st conveyance position C and the 2nd conveyance position D is carried out. 3 can be transported at high speed by the transport unit 12.

  Further, the first arm 30 and the second arm 130 are provided with a first attachment portion 36 and a second attachment portion 136. For this reason, the holding member 38 can be automatically detached without using a tool. As a result, the holding member 38 can be easily replaced. As a result, it is possible to simplify the work of changing the setup for replacing the holding member 38 and improve the production efficiency.

<Other embodiments>
As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the summary of invention. In particular, a plurality of embodiments and modifications described in the present specification can be arbitrarily combined as necessary.

  (A) In the above embodiment, the toothed belt conveyor is disclosed as the conveyor of the third transport unit 12, but the present invention is not limited to this. The conveyor may be a chain conveyor or a roller conveyor. In the fifth drive unit 80, the third transport frame 84 is reciprocated in the transport direction F by the third transport ball screw shaft 92 and the third transport ball nut 94. However, the present invention is not limited to this. For example, the third transport frame 84 may be reciprocated in the transport direction F by fixing the belt to be circulated to the third transport frame 84. Further, the third transport frame 84 may be reciprocated in the transport direction F by a rack and a pinion.

  (B) In the above embodiment, the pair of first arms 30 (or the second arms 130) are individually moved by the pair of first moving portions 32 (or the second moving portions 132). It is not limited to. The pair of first arms 30 (or the second arms 130) may be moved together in the width direction G by one moving unit. For example, a moving part is configured by one ball screw shaft in which a right screw and a left screw are formed, a right screw ball nut provided in one arm, and a left screw ball nut provided in the other arm. Also good. In the case of only the adsorption-type second holding member 38b, the drive mechanism of the first moving unit 32 (or the second moving unit 132) may be omitted.

  (C) Although the chuck-type first holding member 38a and the suction-type second holding member 38b are disclosed in the above embodiment, the present invention is not limited to this. When the workpiece W is a magnetic body, the holding member 38 may be one using magnetic force.

  (D) In the above embodiment, the workpiece transfer device 6 includes the first transfer unit 8, the second transfer unit 10, and the third transfer unit 12 between the first processing machine 1 and the second processing machine 2, respectively. Although the configuration is one, the present invention is not limited to this. A workpiece transfer device may be configured by using a plurality of the first transfer unit 8 and the third transfer unit 12 between the third transfer unit 12 and the second transfer unit 10. For example, the 1st conveyance part 8, the 3rd conveyance part 12, the 1st conveyance part 8, the 3rd conveyance part 12, and the 2nd conveyance part 10 were provided between the 1st processing machine 1 and the 2nd processing machine 2. It may be a work transfer device.

  (E) In the above embodiment, an example of the structure of the first attachment portion 36 and the second attachment portion 136 has been described, but the present invention is not limited to this. The first attachment portion 36 and the second attachment portion 136 may be configured so that the holding member 38 can be automatically detached. For example, the holding member 38 may be provided with a lock groove, and the lock member may be inserted into the lock groove by a pneumatic cylinder.

  (F) In the above embodiment, the first slit 30c along the transport direction F is provided on the side surface of the first guide arm 30a. However, the present invention is not limited to this. The first guide arm 30a may be shortened so that the first slit 30c is not provided.

1: 1st processing machine 2: 2nd processing machine 6: Work conveyance device 8: 1st conveyance part 10: 2nd conveyance part 12: 3rd conveyance part 14: 1st drive part 16: 1st conveyance frame 18: 1st 2 drive part 20: 1st raising / lowering part 30: 1st arm 30a: 1st guide arm 30a: Guide arm 30b: 1st conveyance arm 32: 1st moving part 36: 1st attaching part 38: Holding member 38a: 1st Holding member 38b: 2nd holding member 39a: 1st holding member 39b: 2nd holding member 40: Holding member 80: 5th drive part 84: 3rd conveyance frame 86: Conveyor 114: 3rd drive part 116: 2nd conveyance Frame 118: 4th drive part 120: 2nd raising / lowering part 130: 2nd arm 130a: 2nd guide arm 130b: 2nd conveyance arm 132: 2nd moving part 136: 2nd attaching part A: 1st process position B: Second Engineering Position C: first conveying position D: the second transfer position F: conveying direction W: workpiece

Claims (5)

A workpiece transfer apparatus that transfers the workpiece between a first processing machine that processes the workpiece at a first processing position and a second processing machine that processes the workpiece at a second processing position that is separated from the first processing position. Because
Driven by a first drive unit, holds the workpiece between the first processing position and a first transport position closer to the first processing position than the second processing position, and along the transport direction A first conveyance unit that linearly conveys the workpiece, and a first elevating unit that is driven by a second drive unit to raise and lower the first conveyance frame;
A second driving position driven by a third drive unit, closer to the first processing position than the second processing position and closer to the second processing position than the first transport position; and the second processing position. A second transport frame that holds the work in between and linearly transports the work along the transport direction, and a second elevating unit that is driven by a fourth drive unit to raise and lower the second transport frame A second transport unit having
A third transport frame that is driven by a fifth drive unit and moves linearly along the transport direction, and is fixed to the third transport frame, and the workpiece is between the first transport position and the second transport position. A conveyor that linearly conveys the conveyor along the conveyance direction,
A workpiece transfer device comprising: The first transport frame is
A pair of first arms arranged to face each other in a direction intersecting the transport direction;
A first moving unit that moves the pair of first arms in a direction crossing the transport direction;
The second transport frame is
A pair of second arms arranged to face each other in a direction intersecting the transport direction;
The workpiece transfer apparatus according to claim 1, further comprising: a second moving unit that moves the pair of second arms in a direction intersecting the transfer direction. The pair of first arms includes:
A pair of first guide arms that move in a direction intersecting the transport direction by the first moving unit;
A pair having a first attachment portion that is supported by the first guide arm so as to be movable in the conveyance direction, is driven in the conveyance direction by the first drive unit, and attaches a holding member that detachably holds the workpiece to the tip. Each having a first transfer arm,
The pair of second arms is
A pair of second guide arms that move in a direction intersecting the transport direction by the second moving unit;
The second guide arm is supported by the second guide arm so as to be movable in the transport direction, is driven in the transport direction by the second drive unit, and has a second attachment portion for attaching a holding member that detachably holds the workpiece to the tip. The workpiece transfer apparatus according to claim 2, further comprising two transfer arms. When attaching and detaching the holding member,
The first transport frame is controlled to attach / detach the holding member to / from the first mounting portion at the first transport position,
The second transport frame is controlled to attach and detach the holding member to and from the second mounting portion at the second transport position.
When the third transport unit supplies the holding member to a supply position between the first transport position and the second transport position, the third transport unit transports the holding member from the supply position to the first transport position. The workpiece transfer apparatus according to claim 3, wherein the workpiece transfer device is controlled to transfer the holding member from the supply position to the second transfer position when the holding member is supplied to the supply position. The holding member has a first holding member and a second holding member that are different in shape or holding structure,
5. The workpiece transfer device according to claim 3, wherein the first attachment portion and the second attachment portion are configured to be capable of selectively attaching the first holding member and the second holding member.

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