JP2018187731A - Transport device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transport device which can prevent contact between a workpiece and an arm.SOLUTION: A first gear 22 is fixed to a base 13 so as not to be able to rotate. A first rotary shaft 31 integrally rotates with a motor shaft 12 of a motor 11. Revolving plates 32, 33 are fixed to the first rotary shaft 31 at a base end side and revolve in conjunction with rotation of the motor 11. A second rotary shaft 41 is rotatably supported by the revolving plates 32, 33. A second gear 42 is fixed to the second rotary shaft 41 to engage with the first gear 22. A first pulley 43 is fixed to the second rotary shaft 41. A third rotary shaft 51 is rotatably supported at leading end sides of the revolving plates 32, 33. A second pulley 53 is fixed to the third rotary shaft 51. A belt 58 is wound around the first pulley 43 and the second pulley 53. Chucks 61, 62 can hold a workpiece 80, are fixed to the third rotary shaft 51, and is relatively rotatable with respect to the revolving plates 32, 33 in conjunction with rotation of the second pulley 53.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a transport apparatus.

2. Description of the Related Art Conventionally, a transfer device that performs a series of operations of gripping a workpiece placed at a specific position, transferring the workpiece to a target position, and releasing the workpiece there is known. Such a conveying apparatus is called a pick-and-place system, and generally uses biaxial control that enables the workpiece to move in the horizontal and vertical directions. However, the two-axis control transfer device has problems such as a complicated configuration, difficulty in arrangement on the transfer work place, and a low work transfer speed.
Patent Document 1 discloses a one-axis control conveying device in which an arm to which a chuck portion that holds a workpiece is attached rotates around a motor shaft to convey the workpiece.

Japanese Patent Laid-Open No. 2015-128806

In Patent Document 1, the driven pulley is rotated by the same angle as the rotation angle of the telescopic arm, so that the chuck portion maintains the same posture relative to the telescopic arm. However, in Patent Document 1, for example, when the work is a long object, the work and the arm may come into contact with each other.
The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a transport device that can prevent contact between a workpiece and an arm.

  The conveying device of the present invention conveys a workpiece (80) by a motor (11), and includes a base (13), a first gear (22), a first rotating shaft (31), and an arm (32). 33), the second rotating shaft (41), the second gear (42), the first rotating wheel (43), the third rotating shaft (51), the second rotating wheel (53), and the transmission A member (58) and a chuck (61, 62) are provided.

  The first gear is fixed to the base in a non-rotatable manner. The first rotating shaft rotates integrally with the rotating shaft of the motor. The base end side of the arm is fixed to the first rotating shaft, and turns with the rotation of the motor. The second rotation shaft is rotatably supported by the arm. The second gear is fixed to the second rotation shaft and meshes with the first gear. The first rotating wheel is fixed to the second rotating shaft. The third rotating shaft is rotatably supported on the tip side of the arm. The second rotating wheel is fixed to the third rotating shaft. The transmission member is wound around the first rotating wheel and the second rotating wheel. The chuck can hold a workpiece. The chuck is fixed to the third rotating shaft and can be rotated relative to the arm as the second rotating wheel rotates.

  In the present invention, the arm turns by the rotation of the motor. Further, the rotation of the motor is transmitted to the third rotating shaft by the first gear, the second gear, the first rotating wheel, the second rotating wheel, and the transmission member, and the third rotating shaft is in the same direction as the arm and to the arm. Relative rotation. The chuck fixed to the third rotation shaft rotates outside the arm as the arm rotates. Thereby, a contact with an arm and a workpiece | work can be prevented.

It is a perspective view which shows the conveying apparatus by one Embodiment. It is a top view of the conveyance apparatus by one Embodiment. It is the III-III sectional view taken on the line of FIG. It is a schematic diagram explaining operation | movement of the conveying apparatus by one Embodiment.

Hereinafter, a transport device according to the present invention will be described with reference to the drawings.
(One embodiment)
A transport apparatus according to an embodiment will be described with reference to FIGS.
As shown in FIGS. 1 to 3, the conveyance device 1 includes a fixed unit 10, an arm unit 30, and a chuck unit 60, and a workpiece 80 held by the chuck unit 60 by uniaxial conveyance by the motor 11. It is transported by the pick and place method. As illustrated in FIG. 4, the transfer device 1 transfers the workpiece 80 from the first equipment S1 to the second equipment S2 by the arm unit 30 rotating 180 °. 1-3 has shown the conveying apparatus 1 when the chuck | zipper part 60 exists in 1st position R1 which goes to the 1st installation S1 side.

  As shown in FIGS. 1 to 3, the arm portion 30 is rotatably provided on the fixed portion 10. The chuck portion 60 is provided on the side opposite to the side on which the arm portion 30 is fixed to the fixing portion 10. Hereinafter, in the arm part 30, the fixing part 10 side is referred to as a proximal end side, and the chuck part 60 side is referred to as a distal end side.

The fixed portion 10 includes a motor 11, a base 13, a fixed shaft 21, a first gear 22, a rotation stopper 23, and the like.
A bearing holding member 17 that holds the bearing 16 is fixed to the base 13 with a bolt or the like. The bearing 16 rotatably supports the first rotating shaft 31 that is fitted to the outer side in the radial direction of the motor shaft 12.

  The fixed shaft 21 is disposed coaxially with the motor shaft 12, and an end opposite to the motor shaft 12 is fixed to the rotation stopper 23 so as not to rotate. The rotation stopper 23 is formed in a substantially T shape in a sectional view, and is fixed to the base 13 with a screw or the like. Thus, the fixed shaft 21 is provided on the base 13 so as not to rotate.

The first gear 22 is fixed to the outer side in the radial direction of the fixed shaft 21 so as not to rotate.
A clearance is provided between the fixed shaft 21 and the motor shaft 12. That is, the fixed shaft 21 and the motor shaft 12 face each other with a distance therebetween, and the rotation of the motor 11 is not transmitted to the fixed shaft 21. Accordingly, the first gear 22 does not rotate even when the motor 11 rotates.

  A bearing 25 is provided at the end on the motor 11 side, and a bearing 26 is provided at the end on the rotation stop 23 side, which is outside the fixed shaft 21 in the radial direction. The bearing 25 is provided between the fixed shaft 21 and the first rotating shaft 31. The bearing 26 is provided between the bearing holding member 27 fixed to the second swivel plate 33 with a screw or the like and the fixed shaft 21. The first rotating shaft 31 and the second swivel plate 33 are provided to be rotatable with respect to the fixed shaft 21 by bearings 25 and 26. Thereby, the arm part 30 is rotatable on the radially outer side of the fixed shaft 21.

The arm unit 30 includes a first rotating shaft 31, swivel plates 32 and 33, a second rotating shaft 41, a second gear 42, a first pulley 43, a third rotating shaft 51, a second pulley 53, a belt 58, and the like. Have.
The first rotating shaft 31 is formed in a substantially cylindrical shape, is fitted on the radially outer side of the motor shaft 12, and rotates integrally with the motor shaft 12. A first swivel plate 32 is fixed to the end surface of the first rotating shaft 31 opposite to the motor 11 by screws or the like.

The swivel plates 32 and 33 are formed in a flat plate shape, and are provided on both sides of the gears 22 and 42, the pulleys 43 and 53, and the belt 58.
The first turning plate 32 is disposed below the gears 22 and 42, the pulleys 43 and 53, and the belt 58, and the base end side is fixed to the first rotating shaft 31.
The second swivel plate 33 is disposed on the upper side of the gears 22 and 42, the pulleys 43 and 53, and the belt 58, and is fixed to the first swirl plate 32 by through bolts 35 inserted through the support columns 34. Thereby, the swivel plates 32 and 33 rotate integrally with the first rotation shaft 31. In the present embodiment, the swivel plates 32 and 33 rotate 180 ° from the first position R1 on the first equipment S1 side to the fifth position R5 on the second equipment S2 side (see FIG. 4).
A cover 59 that covers the gears 22 and 42, the pulleys 43 and 53, the belt 58, and the like is provided between the swiveling plates 32 and 33.

  The second rotating shaft 41 is provided closer to the chuck portion 60 than the first gear 22 and the first rotating shaft 31. The second rotating shaft 41 is held by a bearing 45 that is held by a bearing holding member that is fixed to the first swivel plate 32 with a screw or the like, and a bearing holding member that is fixed to the second swivel plate 33 by a screw or the like. The bearing 46 is supported so as to be rotatable relative to the swivel plates 32 and 33.

  A second gear 42 and a first pulley 43 are fixed on the radially outer side of the second rotating shaft 41. The second gear 42 and the first pulley 43 rotate integrally with the second rotating shaft 41. In the present embodiment, the second gear 42 is provided on the second turning plate 33 side, and the first pulley 43 is provided on the first turning plate 32 side. The second gear 42 meshes with the first gear 22. In the present embodiment, the gear ratio between the first gear 22 and the second gear 42 is 1: 1.

  The third rotating shaft 51 is provided on the distal end side of the swivel plates 32 and 33. The third rotating shaft 51 is held by a bearing 55 that is held by a bearing holding member that is fixed to the first swivel plate 32 with a screw or the like, and a bearing holding member that is fixed to the second swivel plate 33 by a screw or the like. The bearing 56 is supported so as to be rotatable with respect to the swivel plates 32 and 33. In the present embodiment, in the arm portion 30, the first rotation shaft 31, the second rotation shaft 41, and the third rotation shaft 51 are arranged in this order from the base end side.

A second pulley 53 is fixed on the radially outer side of the third rotating shaft 51. A belt 58 is wound around the first pulley 43 and the second pulley 53. As a result, the third rotating shaft 51 and the second pulley 53 rotate with the rotation of the first pulley 43. In the present embodiment, the pulley ratio between the first pulley 43 and the second pulley 53 is 1: 1.
A chuck portion 60 is fixed to the third rotating shaft 51.

The chuck unit 60 includes a first chuck 61, a second chuck 62, and joints 63 and 64.
The first chuck 61 is fixed to the first rotating plate 32 side of the third rotating shaft 51 via the joint 63. The second chuck 62 is fixed to the second rotating plate 33 side of the third rotating shaft 51 via the joint 64. Accordingly, the chuck portion 60 is provided on the distal end side of the arm portion 30 so as to be rotatable with respect to the arm portion 30 in accordance with the rotation of the third rotation shaft 51.
The first chuck 61 and the second chuck 62 can grip the workpiece 80. Since the first chuck 61 is provided on the lower side of the third rotation shaft 51 and the second chuck 62 is provided on the upper side of the third rotation shaft 51, the workpiece 80, which is a long cylindrical object, can be gripped. is there.

  Here, operation | movement of the conveying apparatus 1 at the time of conveying the workpiece | work 80 from 1st installation S1 to 2nd installation S2 is demonstrated based on FIG. In FIG. 4, reference numerals are omitted as appropriate to avoid complication. Further, rotation angles θa and θc, which will be described later, are illustrated for the case where the rotation angle is rotated from the first position R1 to the second position R2.

As shown in FIG. 4, when the arm part 30 is in the first position R1, the chuck part 60 is provided so as to be orthogonal to the direction in which the arm part 30 extends and to face the first equipment S1.
When the motor 11 rotates, the arm part 30 turns as a whole in the direction of the arrow A1. When the arm portion 30 turns, the second gear 42 that meshes with the first gear 22 that is a fixed gear rotates in the direction of the arrow A2 that is the same direction as the arrow A1. Thereby, the 2nd rotating shaft 41, the 2nd gearwheel 42, and the 1st pulley 43 rotate in the direction of arrow A2.

  The rotation of the first pulley 43 is transmitted to the second pulley 53 by the belt 58 as indicated by an arrow A3. Thereby, the 3rd rotating shaft 51, the 2nd pulley 53, and the chuck | zipper part 60 rotate in the direction of arrow A4 which is the same direction as arrow A1, A2. That is, the chuck portion 60 rotates relative to the arm portion 30 in the same direction as the rotation direction of the arm portion 30. Accordingly, the chuck portion 60 rotates so as to face the outer side of the arm portion 30 as the arm portion 30 rotates, so that contact between the workpiece 80 and the arm portion 30 can be avoided.

In the present embodiment, the gear ratio of the first gear 22 and the second gear 42 is 1: 1, and the pulley ratio of the first pulley 43 and the second pulley 53 is 1: 1. θa is equal to the rotation angle θc of the chuck portion 60.
Therefore, when the arm unit 30 rotates 45 ° from the first position R1 to the second position R2, the orientation of the chuck unit 60 rotates 90 ° when viewed as the entire conveying device 1.
When the arm unit 30 is rotated by 90 ° from the first position R1 to the third position R3, the orientation of the chuck unit 60 is rotated by 180 ° when viewed as the entire transport apparatus 1. At this time, the arm part 30 and the chuck part 60 are arranged on the same straight line.
When the arm unit 30 rotates 135 ° from the first position R1 to the fourth position R4, the orientation of the chuck unit 60 rotates 270 ° when viewed as the entire transport apparatus 1.

  When the arm unit 30 is rotated 180 ° from the first position R1 to the fifth position R5, the orientation of the chuck unit 60 is rotated 360 ° when viewed as the entire conveying device 1. The first equipment S1 and the second equipment S2 are arranged side by side. At the first position R1 and the fifth position R5, which are delivery positions of the workpiece 80, the chuck unit 60 faces the equipment S1 and S2 side. Yes. Thereby, the conveying apparatus 1 can convey the workpiece | work 80 appropriately from 1st installation S1 to 2nd installation S2.

  As described above, the transport apparatus 1 according to the present embodiment transports the workpiece 80 by the motor 11, and includes the base 13, the first gear 22, the first rotating shaft 31, and the swivel plates 32 and 33. A second rotating shaft 41, a second gear 42, a first pulley 43, a third rotating shaft 51, a second pulley 53, a belt 58, and chucks 61 and 62.

  The first gear 22 is fixed to the base 13 so as not to rotate. The first rotating shaft 31 rotates integrally with the motor shaft 12 of the motor 11. The revolving plates 32 and 33 are fixed to the first rotating shaft 31 at the base end side, and revolve as the motor 11 rotates. The second rotating shaft 41 is rotatably supported by the swivel plates 32 and 33. The second gear 42 is fixed to the second rotating shaft 41 and meshes with the first gear 22. The first pulley 43 is fixed to the second rotating shaft 41. The third rotating shaft 51 is rotatably supported on the distal end side of the swivel plates 32 and 33. The second pulley 53 is fixed to the third rotating shaft 51. The belt 58 is wound around the first pulley 43 and the second pulley 53. The chucks 61 and 62 can hold the workpiece 80 and are fixed to the third rotating shaft 51 and can rotate relative to the swiveling plates 32 and 33 as the second pulley 53 rotates.

Since the transport device 1 is uniaxial transport, the configuration can be simplified and the transport speed can be increased as compared with the biaxial transport device.
In the present embodiment, the turning plates 32 and 33 are turned by the rotation of the motor 11. Further, the rotation of the motor 11 is transmitted to the third rotation shaft 51 by the first gear 22, the second gear 42, the first pulley 43, the second pulley 53, and the belt 58, and the third rotation shaft 51 is connected to the swivel plate 32. , 33 rotate relative to the swivel plates 32, 33 in the same direction as the swivel direction. As a result, the chucks 61 and 62 fixed to the third rotating shaft 51 swivel outside the swiveling plates 32 and 33 as the swiveling plates 32 and 33 swivel. Contact can be prevented.

  The gear ratio between the first gear 22 and the second gear 42 is 1: 1. The pulley ratio between the first pulley 43 and the second pulley 53 is 1: 1. Thereby, when the revolving plates 32 and 33 are rotated by 180 °, the chucks 61 and 62 are directed in the same direction, so that the workpiece 80 can be appropriately conveyed from the first equipment S1 arranged side by side to the second equipment S2. it can.

  The arm unit 30 includes a first turning plate 32 and a second turning plate 33. The first turning plate 32 is provided on one side of the second rotating shaft 41 and the third rotating shaft 51 and is fixed to the first rotating shaft 31. The second turning plate 33 is provided on the other side of the second rotating shaft 41 and the third rotating shaft 51 and is fixed to the first turning plate 32 by a through bolt 35. The first turning plate 32 and the second turning plate 33 are rotated together by the rotation of the motor 11.

The chuck portion 60 is fixed to the first chuck 61 fixed to the first rotating plate 32 side of the third rotating shaft 51 and the second rotating plate 33 side of the third rotating shaft 51.
Thereby, the work 80 which is a long object can be held by the two chucks 61 and 62. Moreover, since the chuck | zipper part 60 turns the outer side of the turning plates 31 and 32, even if the workpiece | work 80 is a long thing, the workpiece | work 80 can be conveyed appropriately, without contacting the arm part 30. FIG.

  In the present embodiment, the turning plates 32 and 33 correspond to “arms”, the first turning plate 32 corresponds to “first arm”, and the second turning plate 33 corresponds to “second arm”. The first pulley 43 corresponds to the “first rotating wheel”, the second pulley 53 corresponds to the “second rotating wheel”, the belt 58 corresponds to the “transmission member”, and the through bolt 35 corresponds to the “fixing member”.

(Other embodiments)
In the above embodiment, there are two revolving plates, which are arranged on both sides of the second rotating shaft and the third rotating shaft. In another embodiment, the number of swivel plates may be one, or three or more. In the said embodiment, an arm is a turning board formed in plate shape. In other embodiments, the arm is not limited to a plate shape, and may have any shape. Moreover, in the said embodiment, a 2nd turning board is fixed to a 1st turning board with a through volt | bolt. In other embodiments, the fixing member used for fixing the second swivel plate is not limited to a through bolt, and any member may be used.
In the said embodiment, a workpiece | work is a cylindrical elongate object. In other embodiments, the workpiece is not limited to a cylindrical long object, and may have any shape. The chuck can be designed as appropriate according to the shape of the workpiece.

  In the above embodiment, the gear ratio between the first gear and the second gear is 1: 1, and the pulley ratio between the first pulley and the second pulley is 1: 1. In other embodiments, the gear ratio and the pulley ratio are not limited to 1: 1, and may be any ratio, and may be set as appropriate according to the installation location of the transport source equipment and the transport destination equipment. Is desirable.

In the above embodiment, the first rotating wheel and the second rotating wheel are pulleys, and the transmission member is a belt. In another embodiment, the first rotating wheel and the second rotating wheel may be sprockets, and the transmission member may be a chain.
As mentioned above, this invention is not limited to the said embodiment at all, In the range which does not deviate from the meaning of invention, it can implement with a various form.

DESCRIPTION OF SYMBOLS 1 ... Conveyance apparatus 11 ... Motor 12 ... Motor shaft 22 ... 1st gear 31 ... 1st rotating shaft 32, 33 ... Turning board (arm)
41 ... 2nd rotating shaft 42 ... 2nd gearwheel 43 ... 1st pulley (1st rotating wheel)
51... Third rotating shaft 53... Second pulley (second rotating wheel)
58 ... Belt (power transmission member)
61, 62 ... chuck 80 ... work

Claims (3)

A conveying device for conveying a workpiece (80) by a motor (11),
A base (13);
A first gear (22) fixed non-rotatably to the base;
A first rotating shaft (31) that rotates integrally with the rotating shaft (12) of the motor;
Arms (32, 33) whose proximal end is fixed to the first rotating shaft and pivots as the motor rotates,
A second rotating shaft (41) rotatably supported by the arm;
A second gear (42) fixed to the second rotating shaft and meshing with the first gear;
A first rotating wheel (43) fixed to the second rotating shaft;
A third rotating shaft (51) rotatably supported on the tip side of the arm;
A second rotating wheel (53) fixed to the third rotating shaft;
A transmission member (58) wound around the first rotating wheel and the second rotating wheel;
Chucks (61, 62) capable of holding the workpiece and fixed relative to the third rotating shaft and relative to the arm as the second rotating wheel rotates;
A transport apparatus comprising: The first rotating wheel and the second rotating wheel are pulleys,
The gear ratio of the first gear to the second gear is 1: 1;
The transport apparatus according to claim 1, wherein a pulley ratio between the first rotating wheel and the second rotating wheel is 1: 1. The arm is provided on one side in the axial direction of the second rotating shaft and the third rotating shaft and is fixed to the first rotating shaft (32), and the second rotating shaft and A second swivel plate (32) provided on the other axial side of the third rotating shaft and fixed to the first swivel plate by a fixing member (35);
The chuck includes a first chuck (61) fixed to the first rotating plate side of the third rotating shaft and a second chuck (62) fixed to the second rotating plate side of the third rotating shaft. The conveying apparatus of Claim 1 or 2 which has).

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