JP2019198955A - Work-piece transfer device - Google Patents

Abstract

To chiefly achieve down-sizing and cost reduction of a work-piece transfer device.SOLUTION: A work-piece transfer device 1 transfers a work-piece 2 from a first stage 3 to a second stage 4. The device comprises: a swing arm 12 which vertically extends, and of which a lower end part is capable of reciprocationally pendulum-swinging with a fulcrum 11, which is provided on an upper end side, as a center between the first stage 3 and the second stage 4; a work-piece gripping part 13 which is fitted to a lower end side of the swing arm 12 and can grip/release the work-piece 2; a guide mechanism 14 for guiding reciprocational swinging of the swing arm 12; and a vertical movement mechanism 15 which can vertically move the fulcrum 11. The guide mechanism 14 has a guide member 17 which guides a guide body 16 provided on the swing arm 12, and causes the swing arm 12 to reciprocationally swing by changing a height of the fulcrum 11 by the vertical movement mechanism 15.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a workpiece transfer apparatus.

  In a factory or the like, a transfer device for transferring a workpiece from the first stage to the second stage is installed (see, for example, Patent Document 1).

JP 2018-8343 A

  However, since the workpiece transfer apparatus described in Patent Document 1 uses a robot hand having a plurality of actuators, there is a problem that the robot hand becomes large and the cost is high.

  Therefore, the present invention mainly aims to solve the above-described problems.

In order to solve the above problems, the present invention provides:
In a workpiece transfer device that transfers workpieces from the first stage to the second stage,
A swing arm that extends vertically and has a lower end swingable back and forth between the first stage and the second stage around a fulcrum provided on the upper end side;
A workpiece gripping portion attached to the lower end side of the swing arm and capable of gripping and releasing the workpiece;
A guide mechanism for guiding reciprocal swing of the swing arm;
A vertical movement mechanism capable of moving the fulcrum up and down;
The guide mechanism includes a guide member that guides a guide body provided on the swing arm and causes the swing arm to reciprocate by changing the height of the fulcrum by the vertical movement mechanism. It is characterized by.

  According to the present invention, it is possible to reduce the size and cost of the workpiece transfer device by the above configuration.

1 is an overall front view of a workpiece transfer apparatus according to Embodiment 1. FIG. It is a rear view of FIG. It is a whole front view which shows the operation state of the workpiece transfer apparatus following FIG. It is a whole front view which shows the operation state of the workpiece transfer apparatus following FIG. It is a whole front view which shows the operation state of the workpiece transfer apparatus following FIG. It is the figure (back view) which looked at the guide member which comprises a guide mechanism from the back side (side of FIG. 1A). It is an action | operation figure which shows the state of the guide member at the time of FIG. It is an operation | movement figure which shows the state of the guide member at the time of FIG. It is an operation | movement figure which shows the state of the guide member at the time of FIG. It is an operation | movement figure which shows the state of the guide member at the time of FIG. It is a side view which shows the state of the workpiece holding part at the time of FIG. It is a side view which shows the state of the workpiece | work holding part at the time of FIG. It is a side view which shows the state of the workpiece | work holding part at the time of FIG. It is a side view which shows the state of the workpiece | work holding part at the time of FIG. It is a side view of the 1st stage provided with the space | interval adjustment part (before the 1st workpiece | work injection | throwing-in). It is a side view of the 1st stage provided with the space | interval adjustment part (before 2nd workpiece | work injection | throwing-in). It is a side view of the 1st stage provided with the space | interval adjustment part (after 2nd workpiece | work injection | throwing-in). It is a whole front view (the 1st arm is the front state) of the work transfer equipment concerning Example 2. FIG. 18 is an overall front view of the workpiece transfer device similar to that in FIG. 17 (the second arm is in the front state). It is a top view which shows arrangement | positioning of a some rocking | fluctuating arm, (a) is a serial arrangement, (b) is a parallel arrangement. It is a top view which shows arrangement | positioning of the several rocking | swiveling arm whose rocking | swiveling direction is non-parallel (90 degree | times). It is a top view which shows arrangement | positioning of the several rocking | swiveling arm whose rocking | fluctuation direction is non-parallel (90 degrees or less). It is a rear view of the workpiece transfer apparatus of FIG. It is a figure which shows a motion of the 1st arm (the sky waiting in the transfer origin vicinity). It is a figure which shows a motion of the 1st arm (it descends at a transfer origin). It is a figure which shows a motion of the 1st arm (the sky waiting in the transfer origin vicinity). It is a figure which shows a motion of the 1st arm (it descends at a transfer place). It is a figure which shows the guide groove of a guide member. It is a partial expansion perspective view which shows the support structure of the movable wall in the back side of a guide member. It is a figure which shows the position of the guide body corresponding to FIG. It is a figure which shows the position of the guide body corresponding to FIG. It is a figure which shows the position of the guide body corresponding to FIG. It is a figure which shows the position of the guide body corresponding to FIG. It is a side view which shows a horizontal maintenance mechanism. It is a side view which shows a shake control part (when a horizontal arm is in an inclined state). It is a side view which shows a shake control part (when a horizontal arm is a horizontal state). It is a front view (gripping state) which shows a positioning mechanism. It is a front view (release state) showing a positioning mechanism.

Hereinafter, the present embodiment will be described in detail with reference to the drawings.
1 to 37 are for explaining this embodiment. Of these, FIGS. 1 to 16 relate to the first embodiment, and FIGS. 17 to 37 relate to the second embodiment.

  <Configuration> The configuration of this embodiment will be described below.

  As shown in FIG. 1 (FIG. 1A) to FIG. 4, the workpiece transfer device 1 is a device that transfers the workpiece 2 from the first stage 3 to the second stage 4.

  Here, the workpiece 2 is a product being manufactured or a manufactured product. The first stage 3 and the second stage 4 are places where the workpiece 2 is set. For the workpiece transfer apparatus 1, the first stage 3 is a stage serving as a transfer source, and the second stage 4 is a stage serving as a transfer destination. The first stage 3 and the second stage 4 may be any stage. For example, the first stage 3 is a standby place (storage place) for temporarily waiting or storing the workpiece 2, or the second stage. 4 can be a workpiece cradle (processing position) of the processing apparatus.

  In this embodiment, the workpiece 2 is fed to the standby place (first stage 3) by the conveyor 5 and is transferred from the standby location to the workpiece cradle (second stage 4). The case where it processes by is demonstrated.

  In this case, the workpiece 2 (refer to FIG. 10 hereinafter) is a circuit board 7 set in the case 6 and an unfinished state before the circuit board 7 is screwed to the case 6. The case 6 and the circuit board 7 have a substantially rectangular planar shape.

  The conveyor 5 is configured to send a plurality of workpieces 2 at random intervals (feeding intervals). It is assumed that two workpieces 2 can be set in each of the standby place and the workpiece cradle. It is assumed that the workpiece cradle holds the workpiece 2 with an interval (set interval 8) necessary for processing by the processing apparatus. The processing apparatus is a screwing device that automatically screws the circuit board 7 to the case 6. However, the configuration of the workpiece transfer device 1 and the application target (the workpiece 2 and the processing device) are not limited to the above.

  In contrast to the basic configuration as described above, this embodiment has the following configuration.

(1-1) The workpiece transfer device 1 extends vertically and has a lower end reciprocatingly swinging between the first stage 3 and the second stage 4 around a fulcrum 11 provided on the upper end side. A free swing arm 12;
A workpiece gripping portion 13 attached to the lower end side of the swing arm 12 and capable of gripping and releasing the workpiece 2;
A guide mechanism 14 for guiding the reciprocating swing of the swing arm 12;
It is assumed that a vertical movement mechanism 15 capable of moving the fulcrum 11 up and down is provided.
Then, the guide member 14 guides the guide body 16 provided on the swing arm 12 and causes the swing arm 12 to perform reciprocal swing by changing the height of the fulcrum 11 by the vertical movement mechanism 15. 17 (see FIG. 1A).

  Here, the swing arm 12 is a rod-like body extending substantially in the vertical direction 21. The workpiece gripping portion 13 is directly or indirectly attached to the lower end portion of the swing arm 12 or the vicinity thereof. The fulcrum 11 is a substantially horizontal axis (support axis), and is directed perpendicular to the swinging direction 23 of the swinging arm 12 when viewed from the side. The first stage 3 and the second stage 4 are arranged along the swing direction 23 of the swing arm 12.

  The workpiece transfer apparatus 1 may have a gate-type frame 25 that straddles at least a part of the first stage 3 and the second stage 4. A wheel such as a caster may be attached to the lower part of the portal frame 25 so that the workpiece transfer device 1 can be moved. The wheels may have drive wheels. A guide member 17 constituting the guide mechanism 14 is installed at an upper position of the gate-type frame 25. The guide body 16 is provided at the same position as the guide member 17 in a substantially middle portion of the swing arm 12 in the longitudinal direction.

  The guide body 16 can be a guide roller or a cam shaft. From the upper part of the gate-shaped frame 25, a guide column 26 extending upward is provided. The vertical movement mechanism 15 is provided using a guide column 26. The fulcrum 11 is disposed directly or indirectly on the upper end side of the guide column 26.

  (1-2) As shown in FIG. 5 (FIGS. 6 to 9), the guide member 17 causes the swing of the swing arm 12 from the first stage 3 to the second stage 4 in the feed direction, and the second stage. A guide groove 32 that can guide the guide body 16 through different guide paths by swinging the swing arm 12 in the return direction from 4 to the first stage 3 may be provided.

  Here, in the guide path, for example, the guide body 16 passes through a high position when the swing arm 12 swings in the feed direction, and the guide body 16 passes through a low position when the swing arm 12 swings in the return direction. Can be. However, the above may be reversed. The guide groove 32 accommodates the guide body 16 and has a groove width and a depth that allow the guide body 16 to move (by rolling or sliding).

(1-3) The guide groove 32 is at least between the first guide groove portion 41 that causes the swing arm 12 to swing in the feed direction and the second guide groove portion 42 that swings in the return direction. Further, two elevating groove portions 43 and 44 for causing the swing arm 12 to perform the elevating operation may be provided.
In addition, the guide groove 32 is configured so that the guide body 16 moves backward in each of the elevating groove portions 43 and 44 at a transition portion from each of the elevating groove portions 43 and 44 to the first guide groove portion 41 or the second guide groove portion 42. You may have the detent part 45 and 46 to regulate.

  Here, the first guide groove portion 41, the second guide groove portion 42, and the two elevating groove portions 43 and 44 may be linear, curved, or other shapes, respectively. The two elevating groove portions 43 and 44 respectively hold the empty workpiece gripping portion 13 on the first stage 3 from the state where the empty workpiece gripping portion 13 is waiting above the first stage 3 and grip the workpiece. From the state where the first elevating groove 43 that grips the workpiece 2 on the first stage 3 by the portion 13 and the workpiece gripping portion 13 that grips the workpiece 2 above the second stage 4 are on standby. And a second elevating groove portion 44 for releasing the workpiece 2 from the workpiece gripping portion 13. The two elevating groove portions 43 and 44 are preferably directed in a direction perpendicular to the first stage 3 and the second stage 4, respectively.

  Both end portions of the first elevating groove portion 43 and the second elevating groove portion 44 are respectively connected to both end portions of the first guide groove portion 41 and the second guide groove portion 42 or in the vicinity thereof. In these connection portions, intersections (for example, crossroads), merge branch portions (for example, Y-shaped paths), and the like are appropriately formed. And the above-mentioned transition part is made into a junction branch part mainly.

  More specifically, the first guide groove portion 41 has a shape in which a curved portion and a straight portion for moving the work gripping portion 13 while detouring from the first stage 3 toward the second stage 4 are combined. It is a guide route. The second guide groove portion 42 is an inclined linear guide path for moving the workpiece gripping portion 13 from the second stage 4 toward the first stage 3 at the shortest distance.

  The first elevating groove 43 is a short guide path that is substantially linear for moving the workpiece gripping part 13 close to and away from the first stage 3 above the first stage 3. The second elevating groove 44 is a long guide path that is substantially linear for moving the workpiece gripping part 13 close to and away from the second stage 4 above the second stage 4.

  A cushion material 48 for absorbing a stop shock or the like is appropriately disposed at the end of each groove (first guide groove 41, second guide groove 42, first elevating groove 43, second elevating groove 44). Can be provided.

  (1-4) The detent portions 45 and 46 may be constituted by a spring hinge 51.

  The hinge is a movable part for attachment in which two attachment surface portions 52 are rotatably connected by a hinge shaft 53. The spring hinge 51 is a hinge in which the two attachment surface portions 52 are urged to rotate in one direction by the spring 54. The spring 54 is fitted on the hinge shaft 53.

  In this embodiment, the spring hinge 51 fixes one mounting surface portion 52 to the elevating groove portions 43 and 44 so as to be along the wall surface (bottom surface or side surface) of the elevating groove portions 43 and 44 (to be a fixing portion). Thus, the other mounting surface portion 52 is tilted up and down at an angle of about 90 ° inside the lifting groove portions 43 and 44 (to be used as a climbing portion), and the other mounting surface portion 52 is moved by the spring 54 to the lifting groove portions 43 and 44. It is always urged in the standing direction in the interior. However, the method of attaching the spring hinge 51 to the guide member 17 is not limited to this.

  At this time, when the guide body 16 is lowered along the elevating groove portions 43 and 44, the other mounting surface portion 52 is laid down against the urging force of the spring 54 so that the lowering of the guide body 16 is not hindered. In addition, the other mounting surface portion 52 is erected at about 90 ° by the urging force of the spring 54 so that the guide body 16 cannot be overcome, so that the other mounting surface portion 52 prevents the guide body 16 from rising. It has become.

  The other mounting surface portion 52 of the spring hinge 51 has the first guide groove portion 41 and the second guide groove portion 52 when standing up to guide the guide body 16 toward the first guide groove portion 41 and the second guide groove portion 42. The guide groove portion 42 is disposed obliquely along the wall surface so as to constitute a part of the wall surface.

(1-5) As shown in FIG. 1 (FIG. 1A), the vertical movement mechanism 15 includes a vertical movement part 61 that moves the fulcrum 11 up and down, and a cylinder 62 that raises the position of the fulcrum 11 via the vertical movement part 61. You may have.
The cylinder 62 may be mechanically separated from the vertical movement unit 61.

  Here, the vertical movement part 61 is a lifting body that moves up and down along the guide column 26. An oscillating arm 12 is pivotally supported by an upper portion of the vertical movement portion 61 via a fulcrum 11 so as to be oscillating. A pressing portion 61 a extending upward of the cylinder 62 (the rod portion thereof) is attached to the upper end portion of the vertical moving portion 61 so as to be movable up and down integrally with the vertical moving portion 61.

  The cylinder 62 includes a cylinder body and a rod portion that extend in the vertical direction 21 in parallel with the guide column 26 and can be expanded and contracted in the vertical direction 21. The cylinder body is attached to the upper portion of the gate-shaped frame 25, and the tip of the rod portion is arranged to be opposed to the pressing portion 61a in an unfixed state from the lower side and is moved up and down via the pressing portion 61a. It is installed so that the part 61 can be pushed upward from the lower side.

  The mechanical separation means that the tip of the rod portion and the pressing portion 61a are not connected in a fixed state. Note that the tip of the rod portion and the pressing portion 61a may be connected by, for example, a string-like body or a spring as long as the rod portion is not fixed so as to be movable integrally as a whole.

  (1-6) The first stage 3 and the second stage 4 differ in height (difference in height) along an arc (see an arrow indicating the swinging direction 23) drawn by the lower end of the swinging arm 12 with the fulcrum 11 as the center. 71).

  Here, the arc drawn by the lower end portion of the swing arm 12 around the fulcrum 11 is based on the locus drawn by the lower end portion of the swing arm 12 when the fulcrum 11 is fixed at the lowest position.

  For example, the first stage 3 can be installed at a position that is above the lowest point of the arc. For example, the second stage 4 can be installed at the position of the lowest point of the arc or in the vicinity thereof. As a result, the first stage 3 becomes higher, the second stage 4 becomes lower, and a height difference 71 is formed between them. In this embodiment, the heights are compared at the set position of the lower workpiece 2 out of the two workpieces 2 installed on the first stage 3 and the second stage 4. However, the positional relationship between the first stage 3 and the second stage 4 is not limited to the above, but may be reversed or may be a position other than the above.

  (1-7) The first stage 3 and the second stage 4 may be installed toward the tangential directions 75 and 76 of the arc.

  Here, the first stage 3 is disposed at a position above the lowest point of the arc, and thus is disposed in an inclined state with a downward slope toward the second stage 4. Then, by installing the conveyor 5 on the opposite side of the first stage 3 from the second stage 4, the first stage 3 (standby place) is transported by the conveyor 5 and dropped from the end of the conveyor 5. A supply slider or the like that receives the workpiece 2 while being slid down along the conveying direction of the conveyor 5 is obtained. The supply slider can hold a plurality of workpieces 2 (two in this embodiment) along the inclined surface.

  The second stage 4 is arranged in a substantially horizontal state by being arranged at the lowest point of the arc or in the vicinity thereof. The second stage 4 is a substantially horizontal work cradle.

  The directions of the first stage 3 and the second stage 4 are not limited to the above.

  (1-8) As shown in FIG. 10 (FIG. 13), a gripping mechanism 81 for gripping the workpiece 2 on the workpiece gripping portion 13 on the first stage 3 and a workpiece 2 on the workpiece gripping portion 13 on the second stage 4 You may provide the release mechanism 82 to release.

  Here, the gripping mechanism 81 and the release mechanism 82 may use a driving force, but the workpiece 2 can be used without using the driving force by utilizing a movement (mainly a downward movement) of the workpiece gripping portion 13. It is preferable to use a mechanism that automatically performs gripping and release. The gripping mechanism 81 and the release mechanism 82 can be provided inside the workpiece gripping portion 13, outside the workpiece gripping portion 13, or across the inside and outside of the workpiece gripping portion 13. In this embodiment, the gripping mechanism 81 is provided inside the workpiece gripping portion 13, and the release mechanism 82 is provided across the workpiece gripping portion 13 and the second stage 4. The release mechanism 82 is configured as a release mechanism that releases the gripping state of the workpiece 2 by the gripping mechanism 81.

  First, the workpiece gripping portion 13 will be described. The workpiece gripping portion 13 has a hand portion 83 that can hold the workpiece 2 from above. One or a plurality of hand units 83 can be provided in the work gripping unit 13 in accordance with the number of workpieces 2 that can be gripped by the work gripping unit 13 at a time. In this embodiment, two hand portions 83 are attached to the workpiece gripping portion 13.

  Each hand portion 83 includes a pair of fingers 84 that can be opened and closed. The pair of fingers 84 are provided on the main body of the workpiece gripping portion 13 with a distance substantially equal to the lateral dimension of the workpiece 2. The hand 83 can be opened and closed in the front-rear direction (swinging direction 23), but preferably in the left-right direction (direction perpendicular to the swinging direction 23). The pair of fingers 84 are pivotally supported by the main body of the workpiece gripping portion 13 in a suspended state so as to be held in a normally closed state. The pair of fingers 84 are rotatably attached to the hand portion 83 by a hinge 85 or the like. For the configuration of holding the pair of fingers 84 in the closed state, the weight of the fingers 84, a weight, a biasing means, or the like can be used.

  The gripping mechanism 81 includes a locking portion 81a provided on the inner side of the pair of fingers 84, and an introduction taper portion 81b provided on the entry side of the locking portion 81a. The locking portion 81a is, for example, a recess that can be fitted and locked from the side of the flange portion 2a provided on the outer side of the workpiece 2. However, the gripping mechanism 81 is not limited to the one that locks the flange portion 2a of the workpiece 2. For example, the entire side surface of the workpiece 2 may be a recess that can be fitted and locked from the side. The concave portion of the locking portion 81a can be formed, for example, by partially reducing the thickness of the inner side of the finger 84, or by forming a pair of upper and lower claw portions protruding from the inner side of the finger 84.

  The introduction taper portion 81b is guided to the upper edge portion by contacting the upper edge portion of the workpiece 2 when the workpiece gripping portion 13 is lowered, and gradually opens the finger 84, while the flange portion 2a (or the side surface of the workpiece 2). Is an inclined surface portion that introduces into the locking portion 81a. The introduction taper portion 81 b is formed as a downwardly expanding shape at the lower end portion of the pair of fingers 84. Accordingly, the flange 2a of the workpiece 2 is guided to the inside of the locking portion 81a along the introduction taper portion 81b simply by lowering the workpiece gripping portion 13 on the first stage 3, so that the workpiece 2 is automatically Can be gripped (locked and held). When the flange portion 2a or the like enters the locking portion 81a, the finger 84 is closed again by its own weight, and the weight of the workpiece 2 acts on the finger 84, so that the finger 84 is kept closed even when the workpiece 2 is lifted. Get drunk.

  The release mechanism 82 is connected to at least one of the fingers 84 and is provided on the operation projection 86 for rotating the finger 84 in the opening direction and the second stage 4. By having the operating projection 86 abut or be guided, it has an expanding portion 87 (see FIGS. 12 and 13) for moving the operating projection 86 laterally and opening the finger 84. Yes. A guide taper 86a for guiding the pair of fingers 84 in the opening direction may be provided in the mutual contact portions of the operation protrusion 86 and the spreader 87 as required. The guide taper 86 a of the operation protrusion 86 has an inclined surface substantially the same as the introduction taper 81 b of one finger 84. In this embodiment, the operating projection 86 has a laterally extending portion that extends laterally from the outer surface of the one finger 84 and a lower extending portion that extends downward from the distal end side of the laterally extending portion. The taper 86a is provided at the lower end of the lower extension. The position of the guide taper 86a is provided at a position higher than the introduction taper portion 81b of the finger 84 so that the workpiece 2 can be released early.

  Further, when the release mechanism 82 is provided for one finger 84, interlocking operation portions 88a and 88b for opening the other finger 84 in conjunction with each other may be provided. The interlocking operation portions 88a and 88b can be operation rods or the like that are attached to the inner upper portion of each finger 84 so as to overlap vertically. The interlocking operation portions 88a and 88b are provided at positions and heights that do not interfere with the workpiece 2. In this embodiment, the interlocking operation portion 88a of one finger 84 is on the upper side, the interlocking operation portion 88b of the other finger 84 is on the lower side, and the lower interlocking operation portion 88b is operated by the upper interlocking operation portion 88a. Can be pressed from above. Accordingly, it is possible to automatically release the workpiece 2 simply by lowering the workpiece gripping portion 13 onto the second stage 4. When the release mechanism 82 is provided for both fingers 84, the interlocking operation portions 88a and 88b may or may not be provided.

  Further, the work gripping portion 13 may be provided with a presser member 89 for pressing the gripped work 2 from above. The holding member 89 can hold the substantially center part of the workpiece 2 by its own weight. The pressing member 89 is attached to the lower end portion of the elevating shaft 89 a extending in the up-down direction 21. The raising / lowering shaft 89a is supported by the shaft support part 89b extended from the workpiece | work holding part 13 so that raising / lowering is possible. A weight 89c that also serves as a retaining stopper is attached to the upper side of the shaft support 89b of the elevating shaft 89a as necessary. As a result, the pressing member 89 holds the workpiece 2 while the swinging arm 12 is moving to stabilize the workpiece 2 (the circuit board 7 and the case 6), and the swinging arm 12 swings on the second stage 4. It is possible to prevent the workpiece 2 (the circuit board 7 and the case 6 constituting the workpiece 2) from being separated and disassembled by a stop shock when the operation is stopped. Note that the presser member 89 is preferably provided with a position shifted from the interlocking operation portions 88a and 88b.

  (1-9) As shown in FIG. 14 (FIG. 16), the first stage 3 has a spacing adjustment for adjusting the plurality of workpieces 2 to the same spacing as the set spacing 8 of the workpieces 2 with respect to the second stage 4. A portion 91 may be provided.

  Here, when the second stage 4 can set a plurality of workpieces 2, the set interval 8 is the same as or wider than the processing space required for processing the plurality of workpieces 2 simultaneously by the processing apparatus. It is considered as an interval. In addition, when the 1st stage 3 or the 2nd stage 4 handles the single workpiece | work 2, the space | interval adjustment part 91 is especially unnecessary.

  (1-10) The interval adjusting unit 91 may be a self-weight stopper 93 that adjusts the interval between the preceding workpiece 2 and the succeeding workpiece 2 using the own weight of the preceding workpiece 2.

  Here, the self-weight stopper 93 can be constituted by, for example, a seesaw-shaped tilting member 94. The tilting member 94 is embedded in the first stage 3 so as to extend in the conveying direction of the conveyor 5 or the setting direction of the workpiece 2 in the first stage 3 and to be the same as or lower than the upper surface of the first stage 3. . In this embodiment, the self-weight stoppers 93 are installed in pairs at the positions on both sides of the first stage 3. The self-weight stopper 93 may be provided between the preceding workpiece 2 and the succeeding workpiece 2, but in this embodiment, it is also provided at a position on the rear side of the succeeding workpiece 2.

  The tilting member 94 is pivotally supported by a tilting center shaft 95 extending substantially in the width direction of the first stage 3, and one of the tilting members 94 projects upward from the upper surface of the first stage 3. Sometimes, the other has a pair of projecting portions 96 and 97 that are drawn downward from the upper surface of the first stage 3.

  When the workpiece 2 is not present, the tilting member 94 stands by in a tilting state in which the protruding portion 96 on the second stage 4 side protrudes upward and the protruding portion 97 on the opposite side retracts downward. In order to place the tilting member 94 in such a standby state, for example, the protruding portion 96 is urged upward between the end of the tilting member 94 on the second stage 4 side and the first stage 3. The urging means 98 can be interposed. Alternatively, the tilting member 94 may be configured such that the conveyor 5 side is heavier than the second stage 4 side, or the protruding portion 97 opposite to the protruding portion 96 is heavier. Alternatively, the conveyor 5 side may be heavier by installing the tilt center shaft 95 so as to be shifted to the second stage 4 side from the center part of the tilt member 94.

  When the workpiece 2 is present, the tilting member 94 serves as an operation portion that is pushed in by the preceding workpiece 2 riding on, and the opposite protruding portion 97 is disposed on the preceding workpiece 2. On the other hand, it becomes a stopper portion that stops the subsequent workpiece 2 at the set interval 8. A taper surface for allowing the workpiece 2 to run smoothly can be formed on at least the upper surface of the protruding portion 96 on the second stage 4 side. Further, a stopper surface against which the subsequent workpiece 2 abuts is formed on the end surface of the opposite projecting portion 97 on the conveyor 5 side.

  <Operation> The operation of this embodiment will be described below.

  The workpiece transfer apparatus 1 transfers the workpiece 2 from the first stage 3 to the second stage 4.

  In the workpiece transfer apparatus 1, the swing arm 12 that extends vertically swings reciprocally swings between the first stage 3 and the second stage 4 between the first stage 3 and the second stage 4 around the fulcrum 11 on the upper end side. The workpiece gripping portion 13 is attached to the lower end side of the swing arm 12 and grips and releases the workpiece 2. Specifically, the workpiece gripping unit 13 grips the workpiece 2 with the first stage 3 and releases the workpiece 2 with the second stage 4. The guide mechanism 14 guides the reciprocating swing of the swing arm 12. The vertical movement mechanism 15 moves the fulcrum 11 up and down.

  More specifically, as shown in FIG. 1 (FIGS. 1A, 6, and 10), from a state in which the workpiece gripping portion 13 is waiting above the first stage 3, FIG. 2 (FIGS. 7 and 11). As shown, the workpiece gripping part 13 grips the workpiece 2 of the first stage 3, and the workpiece gripping part 13 moves above the second stage 4 as shown in FIG. 3 (FIGS. 8 and 12). As shown in FIG. 4 (FIGS. 9 and 13), the work gripping unit 13 repeats the operation of releasing the work 2 on the first stage 3.

  <Effect> According to this embodiment, the following effects can be obtained.

  (Effect 1-1) By changing the height of the fulcrum 11 using the vertical movement mechanism 15, the guide body 16 of the swing arm 12 is guided along the guide member 17 of the guide mechanism 14. As the fulcrum 11 moves up and down, it is swung back and forth. At this time, the swing arm 12 moves by combining the pendulum motion by its own weight and the forced movement by the guide mechanism 14.

  As described above, since the swing arm 12 moves up and down and reciprocally swings only by changing the height of the fulcrum 11 by the vertical movement mechanism 15, the workpiece transfer device 1 is small in size and simple in structure. In addition, with a single actuator, the swing arm 12 is caused to perform complicated movements that combine vertical movement and reciprocating swing, thereby moving the workpiece 2 from the first stage 3 to the second stage 4. It will be possible to transfer it reliably. Therefore, the workpiece transfer apparatus 1 can be automatically operated by installing only one actuator in the vertical movement mechanism 15 and driving the vertical movement mechanism 15 with one actuator. Moreover, since the workpiece transfer apparatus 1 has a simple structure, it is hard to break down and can also obtain operation | movement stability.

  (Effect 1-2) The guide member 17 may have guide grooves 32 having different guide paths for the swing in the feed direction and the swing in the return direction. For example, when swinging in the feed direction, the work gripping part 13 gripping the work 2 passes through the upper guide path, and when swinging in the return direction, the work gripping part 13 not gripping the work 2 is on the lower side. It can be made to pass through a guide path. As a result, by changing the height of the fulcrum 11 by the vertical movement mechanism 15, the swing arm 12 can be made to swing in the feed direction and swing in the return direction as separate movements. By optimizing the guide path, the swing arm 12 can be moved accurately and smoothly.

  (Effect 1-3) You may comprise the guide groove 32 by the 1st guide groove part 41, the 2nd guide groove part 42, and the two raising / lowering groove parts 43 and 44 which connect between these. As a result, the guide groove 32 causes the swing arm 12 to swing in the feed direction by the first guide groove portion 41 while guiding the guide body 16 in a loop along the guide path that travels substantially in one direction. The guide groove 42 causes the swing arm 12 to swing in the return direction, and the swing arms 12 are moved up and down by the two lift grooves 43 and 44 to move and hold the workpiece 2. And standby operations can be performed. Therefore, by using the guide groove 32 having such a loop-shaped guide path that advances in almost one direction, it is possible to cause the swing arm 12 to accurately perform a complicated movement that combines reciprocating swing and lifting movement. it can.

  The elevating groove portions 43 and 44 may be provided with detent portions 45 and 46. As a result, the detent portions 45 and 46 surely shift at the portion (transition portion) where the guide body 16 descending the elevating groove portions 43 and 44 moves to the first guide groove portion 41 and the second guide groove portion 42. Accordingly, it is possible to prevent the guide body 16 from moving backward in the ascending / descending groove portions 43 and 44 without being transferred to the first guide groove portion 41 or the second guide groove portion 42. Therefore, the guide body 16 can be moved accurately and smoothly in the guide groove 32 without malfunction.

  (Effect 1-4) The detent portions 45 and 46 may be constituted by the spring hinge 51. Thereby, the detent (prevention of reverse movement) of the guide body 16 can be reliably performed using inexpensive parts.

  (Effect 1-5) The vertical movement mechanism 15 may be composed of the vertical movement unit 61 and the cylinder 62. As a result, the vertical movement mechanism 15 (that is, the workpiece transfer device 1) can be driven by only one cylinder 62 (actuator), and the configuration of the workpiece transfer device 1 (particularly, the configuration of the drive portion) is simplified. To make the device inexpensive. Further, by using the cylinder 62 only for raising the position of the fulcrum 11, the movement of the cylinder 62 itself can be simplified, and the cylinder 62 can be mechanically separated from the vertical movement portion 61 structurally. It becomes easy. In addition, although the position of the fulcrum 11 may be lowered by the cylinder 62, it can be caused by its own weight.

  The cylinder 62 is mechanically separated from the vertical movement unit 61, so that even if the swing arm 12 or the workpiece gripping unit 13 is inadvertently in contact with an operator or an obstacle, the driving force of the cylinder 62 is As a result, the driving force can be cut off so that it is not affected by workers or obstacles, so safety can be ensured and improved.

  (Effect 1-6) The first stage 3 and the second stage 4 may be arranged along an arc. As a result, the first stage 3 and the second stage 4 are arranged at the optimum position in accordance with the movement of the lower end portion (the workpiece gripping portion 13) of the swing arm 12, so that the first stage 3 and the second stage 4 The workpiece gripping portion 13 can be moved smoothly between them to transfer the workpiece 2.

  The first stage 3 and the second stage 4 may be arranged at different heights. As a result, a height difference 71 is generated between the first stage 3 and the second stage 4, so that the lower end side (the workpiece gripping portion 13) of the swing arm 12 is moved from higher to lower using the potential energy. And can move naturally. As a result, it is possible to easily realize a configuration in which the vertical movement mechanism 15 (the cylinder 62 thereof) is mechanically separated from the vertical movement portion 61 and only driven up the fulcrum 11 is driven.

  (Effect 1-7) You may arrange | position the 1st stage 3 and the 2nd stage 4 toward the tangent direction 75,76 of a circular arc. As a result, the first stage 3 and the second stage 4 face in a direction substantially perpendicular to the swing arm 12, so that the workpiece gripping portion 13 provided on the swing arm 12 can be moved from the first stage 3 without changing the posture. 2 can be received easily and reliably, and the workpiece 2 can be easily and reliably released by the second stage 4. Therefore, it is possible to ensure and improve the stability of the grip release operation with respect to the workpiece 2.

  (Effect 1-8) The workpiece transfer apparatus 1 may include a gripping mechanism 81 and a release mechanism 82. As a result, the work gripping portion 13 is automatically gripped by the first stage 3 without using driving force, and the work gripping portion 13 is automatically gripped by the second stage 4 without using driving force. Can be released.

  (Effect 1-9) The first stage 3 may be provided with an interval adjusting unit 91. Thereby, even if the feeding interval of the workpiece 2 sent to the first stage 3 (from the conveyor 5) is different from the set interval 8 of the workpiece 2 with respect to the second stage 4, the interval adjustment provided in the first stage 3 is adjusted. The section 91 can adjust the interval of the workpiece 2 sent to the first stage 3, and the standby interval of the workpiece 2 in the first stage 3 is matched with the set interval 8 of the workpiece 2 in the second stage 4. be able to.

  (Effect 1-10) The interval adjusting portion 91 may be the self-weight stopper 93. Thereby, the space | interval adjustment of the workpiece | work 2 and the succeeding workpiece | work 2 can be automatically performed using the dead weight of the workpiece | work 2. FIG. This eliminates the need to use a driving force for adjusting the interval between the workpieces 2.

  <Configuration> The configuration of this embodiment will be described below.

  This embodiment is different from the above embodiment in the following points. However, the following configuration can also be applied to the first embodiment. Further, the configuration of the first embodiment can also be applied to the present embodiment. In addition, about the structure which is not described in a present Example, it can be made to be the same as that of Example 1. FIG.

  (2-1) As shown in FIG. 17 (FIG. 18), the workpiece transfer apparatus 1 may include a plurality of swing arms 12.

  Here, the plurality of swing arms 12 are simultaneously installed on one workpiece transfer device 1. For example, as shown in FIG. 19A, the plurality of swing arms 12 in the workpiece transfer apparatus 1 are arranged in series (vertically arranged) as viewed from above, or as shown in FIG. 19B. Thus, it can be arranged in parallel (side by side) as viewed from above. Alternatively, the arrangement of the plurality of swing arms 12 may be other than the above, as will be described later. Note that two or three or more swing arms 12 can be provided.

  (2-2) As shown in FIGS. 20 and 21, the plurality of swing arms 12 may include a first arm 101 and a second arm 102 having different swing directions 23.

  Here, the swinging direction 23 of the swinging arm 12 in this embodiment refers to a swinging locus and its direction drawn by the lower end of the swinging arm 12 when viewed from above. Or it is the movement locus | trajectory when the workpiece | work holding | gripping part 13 and the workpiece | work 2 attached to the rocking | swiveling arm 12 are seen from the upper direction.

  When the swinging direction 23 is different, the swinging directions 23 of the plurality of swinging arms 12 are not aligned in a straight line as shown in FIG. 19A or parallel as shown in FIG. 19B. Or, the swinging direction 23 is inclined with respect to each other or has an angle. Thereby, for example, the plurality of swing arms 12 can be swung so as to intersect at one point.

  Then, by making the swinging direction 23 different from each other, the workpiece transfer apparatus 1 causes the plurality of swinging arms 12 to intersect, for example, 90 degrees (orthogonal arrangement, FIG. 20) or other angles (90 degrees). More than or 90 degrees or less can be crossed in FIG.

  At this time, the plurality of swing arms 12 (the first arm 101 and the second arm 102) may have substantially the same or different lengths, swing angles around the fulcrum 11, and the like. it can. The moving distance of the workpiece 2 can be individually set for each swing arm 12 according to the length or swing angle of the swing arm 12. That is, the moving distance of the workpiece 2 can be increased by increasing the length of the swing arm 12 or increasing the swing angle. On the contrary, the moving distance of the workpiece 2 can be reduced by shortening the length of the swing arm 12 or reducing the swing angle. In the workpiece transfer apparatus 1 of FIGS. 17 and 18, the length and the swing angle of the first arm 101 and the second arm 102 are substantially the same, and the movement distance of the workpiece 2 is substantially the same.

(2-3) As shown in FIG. 17 (FIG. 21), the first arm 101 and the second arm 102 having different swing directions 23 may be installed in a juxtaposed state.
Then, the second stage 4 (transfer destination) of the first arm 101 and the first stage 3 (transfer) of the second arm 102 are located at positions where the swing directions 23 of the first arm 101 and the second arm 102 intersect. May be arranged as a common stage 103.
On the opposite side of the common stage 103, the first stage 3 (transfer source) of the first arm 101 and the second stage 4 (transfer destination) of the second arm 102 may be arranged in a separated state.

  Here, the first arm 101 and the second arm 102 being arranged in parallel means that the first arm 101 and the second arm 102 are arranged substantially side by side as viewed from above. The parallel arrangement includes a completely parallel state and an incomplete parallel state. The completely parallel state is a case where the swing direction 23 of the first arm 101 and the swing direction 23 of the second arm 102 are parallel to each other when viewed from above (FIG. 19B). The parallel state is a case where the swing direction 23 of the first arm 101 and the swing direction 23 of the second arm 102 are non-parallel within a range that can be said to be substantially parallel as viewed from above (FIG. 21). ). In this embodiment, the first arm 101 and the second arm 102 are in an incomplete parallel state because the swing directions 23 are different. In this embodiment, the first arm 101 and the second arm 102 are arranged so that the swing direction 23 intersects at an angle of, for example, about 60 degrees or less.

  The position where the swing direction 23 of the first arm 101 and the second arm 102 intersects is the intersection of the swing direction 23 and the surrounding position, and the common stage 103 is located at or below the intersecting position ( Almost directly below or around it).

  The common stage 103 is provided to use the first arm 101 and the second arm 102 in cooperation with each other. In the case where the common stage 103 is not provided, the first arm 101 and the second arm 102 are configured to individually transfer different workpieces 2 between the different stages. The one arm 101 and the second arm 102 cooperate to sequentially feed the same work 2. In this case, it is preferable that the first arm 101 and the second arm 102 are moved so as not to cause interference on the common stage 103 (with a shifted timing).

  In addition, as shown to Fig.19 (a), when the some rocking | swiveling arm 12 is arrange | positioned in series, as shown in FIG. 20, it is set as orthogonal arrangement | positioning with the 1st arm 101 and the 2nd arm 102. As shown in FIG. In some cases, it is possible to provide the common stage 103 or not to provide the common stage 103.

  As shown in FIG. 21 (FIGS. 17 and 18), the first stage 3 of the first arm 101 and the second stage 4 of the second arm 102 are within the swing range of the first arm 101 and the second arm 102. It is appropriately disposed at a position opposite to the common stage 103 or below (substantially directly below or around it). The first stage 3 of the first arm 101 and the second stage 4 of the second arm 102 are arranged in the parallel direction by an amount corresponding to the angle at which the swing directions 23 of the first arm 101 and the second arm 102 intersect. Spaced apart.

  In this embodiment, a columnar shape (substantially extending in the vertical direction) is provided at a substantially intermediate position in the juxtaposition direction between the first stage 3 of the first arm 101 and the second stage 4 of the second arm 102. The main body 105 of the workpiece transfer apparatus 1 is provided, and a pair of guide columns 26 extending substantially in the vertical direction are arranged on the left and right sides (both sides in the side-by-side direction) of the main body 105. The pair of guide columns 26 are fixed to the main body 105 of the workpiece transfer device 1 via at least one attachment member 106. In this embodiment, two or more attachment members 106 are provided on the upper and lower sides. The attachment member 106 is a plate-like body that extends in the juxtaposition direction.

  Further, the first arm 101 and the second arm 102 are swingably installed on the pair of guide columns 26 via the fulcrum 11 and the like in substantially the same manner as in the first embodiment. Then, as shown in the rear view of the workpiece transfer device 1 in FIG. 22, the first arm 101 and the second arm 102 can be individually swing-driven by separate guide mechanisms 14 and vertical movement mechanisms 15. ing. A wheel such as a caster may be attached to the lower end of the main body 105 so that the workpiece transfer device 1 can be moved. The wheels may have drive wheels. The main body 105 of the workpiece transfer apparatus 1 is not limited to a columnar one.

  At this time, each guide column 26 has a rectangular cross section and is fixed to the mounting member 106 or the main body 105 of the workpiece transfer device 1 in a state where the directions of the cross sections are different from each other, and in a direction along the surface of each guide column 26. By swinging the first arm 101 and the second arm 102, the swing direction 23 can be made different. In this embodiment, the direction of the surface of the guide column 26 is the direction in which the swing arms 12 are arranged side by side. Therefore, in order to attach the guide struts 26 so that the directions of the cross sections are different from each other, both ends of the attachment member 106 are attachment portions bent in a direction perpendicular to the swing direction 23 of each swing arm 12. Is formed.

  In this embodiment, the first arm 101 is a supply arm, the second arm 102 is a discharge arm, the common stage 103 is a processing position by a processing apparatus, the first stage 3 of the first arm 101 is a supply position of a workpiece 2, and a second The second stage 4 of the arm 102 is the discharge position of the work 2. Supply and discharge conveyors 5 (FIG. 21) are installed for the supply position and the discharge position, respectively. Alternatively, the workpiece transfer device 1 is set between the existing supply conveyor 5 and the discharge conveyor 5. As a result, it is possible to add a function of extracting the workpiece 2 to the side and processing it in the middle of the workpiece transportation facility, and returning it to the original state after the processing. The first stage 3 and the second stage 4 of the first arm 101 and the second arm 102 are not in the swing direction 23 of each swing arm 12 but in a direction perpendicular to the juxtaposed direction (work transfer device 1 In order to keep the direction of the workpiece 2 constant.

  And in the workpiece transfer apparatus 1 provided with the some rocking | fluctuating arm 12, the 1st arm 101 is rock | fluctuated as shown to FIGS. 23-26 seeing from a side. Of these, FIG. 23 shows the sky standby in the vicinity of the supply position (first stage 3), FIG. 24 shows the lowering to the supply position (gripping the workpiece 2), and FIG. 25 shows the sky in the vicinity of the supply position (first stage 3). FIG. 26 shows waiting (lowering of the workpiece 2) to the machining position (common stage 103). However, the movement of the first arm 101 is not limited to this.

  At this time, the guide groove 32 of the guide member 17 is as shown in FIG. 27, and the guide body 16 corresponds to the swinging of the first arm 101 in FIGS. 23 to 26 as shown in FIGS. The guide groove 32 is moved.

  On the other hand, the second arm 102 moves in the opposite direction to the first arm 101. That is, when the first arm 101 is in FIG. 23, it waits in the vicinity of the discharge position (second stage 4), when it is in FIG. 24, it is lowered to the machining position (common stage 103) (gripping the workpiece 2), and in FIG. In the vicinity of the discharge position (second stage 4), the vehicle waits in the sky, and in the case of FIG. 26, it is lowered to the discharge position (the work 2 is released). However, the movement of the second arm 102 is not limited to this.

  In this embodiment, the guide groove 32 of the guide member 17 for the second arm 102 has a horizontally reversed shape with respect to the guide groove 32 of the guide member 17 for the first arm 101. However, the guide groove 32 of the guide member 17 for the second arm 102 is not limited to the above.

  (2-4) As shown in FIG. 23 (FIG. 26 to FIG. 26), a lateral arm 121 extending laterally along the swing direction 23 of the swing arm 12 is attached to the lower end side of the swing arm 12. You may attach the workpiece | work holding | grip part 13 to the front end side.

  Here, the horizontal arm 121 may be of any shape as long as it extends in the horizontal direction, but in this embodiment, the horizontal arm 121 has a rod shape and is substantially perpendicular to the swing arm 12 as viewed from the side. It is installed to become. The lateral arm 121 can be provided in the lower end portion of the swing arm 12 or in the vicinity of the lower end portion. The lateral arm 121 may be attached to the swing arm 12 at an angle other than a right angle. In this embodiment, the horizontal arm 121 uses the same member as the swing arm 12. When there are a plurality of swing arms 12, the swing arm 12 having the lateral arm 121 and the swing arm 12 not having the lateral arm 121 can be mixed.

  The lateral arm 121 may be attached to the swing arm 12 toward one side of the swing direction 23 (the common stage 103 side) or toward the other side (the side opposite to the common stage 103). It may be attached. In this embodiment, the lateral arm 121 is attached toward the common stage 103 side.

  Thus, by providing the horizontal arm 121, the position of the lower end of the swing arm 12 and the position of the work gripping portion 13 can be shifted in the swing direction 23. The lateral arm 121 can set the amount of positional displacement of the workpiece gripping portion 13 from the position of the lower end of the swing arm 12 according to its length. Note that the member for shifting the position between the lower end of the swing arm 12 and the workpiece gripping portion 13 (position shifting member) is not limited to the lateral arm 121. Therefore, a member (position shifting member) other than the lateral arm 121 is interposed between the swing arm 12 and the workpiece gripping portion 13, or another member (position shifting member) is interposed in addition to the lateral arm 121. You can also.

  For example, in this embodiment, when the lower end of the swing arm 12 is at the lowest position (FIG. 26), the work gripping portion 13 is not directly below the fulcrum 11 (provided around the upper end portion of the guide column 26). In addition, the position of the workpiece gripping portion 13 is shifted by the lateral arm 121. The length of the horizontal arm 121 is set so that the workpiece gripping portion 13 reaches the common stage 103 when the lower end of the swing arm 12 is at the lowest position.

  Further, when the lower end of the swing arm 12 becomes higher than the lowest position (FIG. 24), the position of the workpiece gripping portion 13 is set by the lateral arm 121 so that the workpiece gripping portion 13 is positioned almost directly below the fulcrum 11. Is slipping. Then, the horizontal arm 121 is attached so that the workpiece gripping portion 13 is positioned with respect to the first stage 3 of the first arm 101 and the second stage 4 of the second arm 102 that are installed almost directly below the fulcrum 11. The swing angle of the swing arm 12 is set.

  In this embodiment, the swing range of the first arm 101 and the second arm 102 uses a region on one side (left side in the figure) of a vertical line that is lowered directly from the fulcrum 11 (both on the same side). But is not limited to this). The common stage 103 is positioned in a region opposite to the swing range of the first arm 101 and the second arm 102.

  The workpiece gripping portion 13 has almost the same configuration as that of the first embodiment.

  (2-5) As shown in FIG. 27, the (at least one) detent portion 46 constitutes a part of the boundary wall 131 between the first guide groove portion 41 and the second guide groove portion 42, and The movable upright wall 132 may be extended substantially to the position of the elevating groove 44.

  Here, the boundary wall 131 is a wall portion that rises almost straight from the position of the bottom surface of the guide groove 32 of the guide member 17 and serves as a partition portion of the guide groove 32. In this embodiment, the first guide groove portion 41 and the second guide groove portion 42 are formed substantially in parallel and are arranged close to each other vertically so that the width of the boundary wall 131 is substantially constant except for the upper end portion. It is trying to become. And the transition part from the edge part (lower end) of the 1st guide groove part 41 to the raising / lowering groove part 44 is made into the narrow part 41a from which a groove width becomes narrow partially, and the lower end part of the 2nd guide groove part 42 A joining portion is formed. Therefore, in order to be able to guide the descending movement of the guide body 16 from the first guide groove portion 41 to the elevating groove portion 44 and the upward movement from the elevating groove portion 44 to the second guide groove portion 42, a boundary is provided. A part of the lower end side of the wall 131 is notched larger than the diameter of the guide body 16 (notched portion).

  In this way, when a part of the boundary wall 131 is cut out to a large size, if the detent portion 46 is a climbing portion that rises and falls with respect to the bottom surface of the guide groove 32 as in the first embodiment, As shown by the two-dot chain line arrow in the figure, the guide body 16 that descends from the one guide groove portion 41 toward the elevating groove portion 44 mistakenly gets over the overpass portion and from the position of the notch portion to the second guide groove portion 42. The swinging arm 12 may not move smoothly. Therefore, in order to prevent the guide body 16 from the first guide groove portion 41 toward the elevating groove portion 44 from inadvertently entering the second guide groove portion 42, the lower detent portion 46 is provided on the bottom surface of the guide groove 32. And a movable wall that is movable along the bottom surface of the guide groove 32 (movable standing wall 132).

  The movable upright wall 132 may have a length that does not reach the position of the elevating groove 44 (near side) or a length that reaches the end, or may be a length that reaches the inside or the back of the elevating groove 44.

  The movable upright wall 132 is located on the side of the elevating groove 44 around the end (upper end) connected to the other part (fixed wall) of the boundary wall 131 when the guide body 16 passes down the upper surface. This part (lower part) is tilted downward (the second guide groove part 42 side) along the bottom surface of the guide groove 32 (FIG. 31). And after the guide body 16 passes, the movable standing wall 132 is returned to the upper side (FIG. 32).

  In order to operate in this way, the movable upright wall 132 can be configured as shown in FIG. 28, for example. In other words, the spring hinge 51 is disposed on the back surface 17a of the guide member 17 so that the hinge shaft 53 is perpendicular. Then, one attachment surface portion 52 of the spring hinge 51 is attached to the attachment portion 17b provided on the back surface 17a of the guide member 17, and the base portion of the movable upright wall 132 is attached to the other attachment surface portion 52 in a freely rotatable manner. Further, the front end portion of the movable upright wall 132 is protruded to the surface side through the through hole 17 c provided in the guide member 17, and is rotated and biased upward by the spring 54. As a result, the movable upright wall 132 always stands up from the bottom surface of the guide groove 32 and can tilt up and down around the hinge shaft 53.

  Note that the other (upper) detent portion 46 is a climbing portion as in the first embodiment.

  (2-6) As shown in FIG. 33 (to FIG. 35), a horizontal maintaining mechanism 141 that can maintain the workpiece gripping portion 13 in a horizontal state is provided between the swing arm 12 and the workpiece gripping portion 13. good.

  Here, the horizontal maintenance mechanism 141 is a mechanism for keeping the empty workpiece gripping portion 13 and the workpiece gripping portion 13 holding the workpiece 2 in a horizontal state. The horizontal maintenance mechanism 141 may be any mechanism, but may be, for example, a balance mechanism that keeps the workpiece gripping portion 13 horizontal by utilizing the weight of the workpiece gripping portion 13. In this embodiment, the horizontal maintaining mechanism 141 includes a substantially horizontal mounting shaft 142 attached to the swing arm 12 or the lateral arm 121 and a hanging support member 145 pivotally supported with respect to the mounting shaft 142. I have it. The hanging support member 145 has a bearing portion 144 on the upper end side. The bearing portion 144 includes a bearing that is externally fitted to the mounting shaft 142. One or more hanging support members 145 are provided for the mounting shaft 142. The plurality of hanging support members 145 can be provided on both sides of the lateral arm 121, for example.

  The attachment shaft 142 is provided in a direction parallel to the fulcrum 11 of each swing arm 12. The upper part of the workpiece gripping part 13 is attached to the lower end of the hanging support member 145. The work gripping portion 13 is attached with the lower end portion of the hanging support member 145 directly above or around the center of gravity.

  In the case where a plurality of swing arms 12 are provided, the hanging support member 145 adjusts the mounting height of the work gripping portion 13 with respect to each swing arm 12 or the lateral arm 121 by setting the length thereof optimally. be able to. That is, the drooping support member 145 can be used as a height setting portion of the workpiece gripping portion 13. An urging member that urges the workpiece gripping portion 13 to be horizontal may be provided between the swing arm 12 or the lateral arm 121 and the hanging support member 145 or the workpiece gripping portion 13.

  (2-7) The swing arm 12 may be provided with a swing restricting portion 151 that restricts the swing of the work gripping portion 13 by the horizontal maintaining mechanism 141.

  Here, the shake restricting portion 151 is provided to quickly stop the shake of the work gripping portion 13 that may be generated by the horizontal maintaining mechanism 141, or to restrict the shake width.

  The swing restricting portion 151 can be provided, for example, between the swing arm 12 or the lateral arm 121 and the workpiece gripping portion 13 or the like. In this embodiment, the shake restricting portion 151 is provided between the distal end side of the lateral arm 121 and the hanging support member 145 of the horizontal maintenance mechanism 141. The swing restricting portion 151 can be stopper portions 152 and 153 that stop the drooping support member 145 when the drooping support member 145 hits when the rocking arm 12 or the lateral arm 121 is swung. The stoppers 152 and 153 are moved when the swing arm 12 or the lateral arm 121 swings toward the first stage 3 (FIG. 34 in the case of the first arm 101) and when swings toward the second stage 4 side. (In the case of the first arm 101, FIG. 35) The distance between both sides of the hanging support member 145 (longitudinal direction of the swing arm 12 and the lateral arm 121) is such that the swing of the workpiece gripping portion 13 can be regulated. May be provided.

  In this embodiment, the stopper portions 152 and 153 are respectively provided at the tips (lower ends) of both arm portions of the regulating member 154 having a downward substantially U-shaped portion. The stoppers 152 and 153 are set in accordance with the swing angles of the swing arm 12 and the lateral arm 121 so that the hanging support member 145 is stopped in a vertical state. . The restriction member 154 is attached to the lower side (lower surface side) of the swing arm 12 and the lateral arm 121.

  At least one of the drooping support member 145 and the stopper portions 152 and 153 may be provided with an impact absorbing member 155 or the like for absorbing the impact when both of them abut and attenuating the swing of the workpiece gripping portion 13. . As the shock absorbing member 155, an elastic member such as rubber or foamed resin can be used.

(2-8) As shown in FIGS. 36 and 37, the first stage 3 (FIG. 36) and the second stage 4 (FIG. 37) are positioned so that they can be fitted into the positioning holes 161 provided in the release mechanism 82. Pins 163 and 164 may be provided.
The positioning pin 163 of the first stage 3 may be a vertically extending pin (vertical pin) of the first stage 3.
The positioning pin 164 of the second stage 4 is tilted in the direction in which the work gripping portion 13 releases the work 2 by operating the release mechanism 82 with respect to the vertical upper side of the second stage 4 (inclination pin). The upper end may extend higher than the positioning pin 163 of the stage 3 (h1 <h2).

  Here, the positioning hole 161 and the positioning pins 163 and 164 are for positioning the workpiece gripping portion 13 in the first stage 3 and the second stage 4 (positioning mechanism).

  For example, the positioning hole 161 is formed so as to penetrate substantially vertically with respect to an operation protrusion 86 (laterally protruding portion) attached to the outer surface of one finger 84 of the workpiece gripping portion 13. The positioning pins 163 and 164 are provided at the positions of the first stage 3 and the second stage 4 or their periphery so as to match the positioning holes 161.

  Note that two or a plurality of positioning pins 163 and 164 may be provided so that the positioning holes 161 are sandwiched from inside and outside so that positioning can be performed more accurately. The positioning hole 161 can have substantially the same shape and size as the cross section of the positioning pins 163 and 164 when viewed from above, but may be a long hole or the like in order to absorb errors.

  When the workpiece transfer device 1 has a plurality of swing arms 12 such as the first arm 101 and the second arm 102, positioning holes 161 (operation protrusions 86) and positioning pins 163 for the swing arms 12. , 164 are preferably provided at a position opposite to the side adjacent to the other swing arm 12 in order to avoid interference with the other swing arm 12 and misuse.

  The position h2 of the upper end of the positioning pin 164 of the second stage 4 is such that the workpiece 2 is not damaged when the workpiece gripping part 13 releases the workpiece 2 by the release mechanism 82. What is necessary is just to become higher than the position h1.

  The points other than those described above can employ the same configuration as that of the first embodiment even if not particularly described.

  <Operation> The operation of this embodiment will be described below.

  The basic operation of the workpiece transfer apparatus 1 is the same as that in the first embodiment. In this embodiment, since the workpiece transfer apparatus 1 includes a plurality of swing arms 12, the workpiece 2 can be transferred using the plurality of swing arms 12.

  <Effect> According to this embodiment, the following effects can be obtained.

  (Effect 2-1) The workpiece transfer apparatus 1 may include a plurality of swing arms 12. Thereby, the function and application of the workpiece transfer apparatus 1 can be expanded. For example, the workpiece transfer apparatus 1 can move the plurality of workpieces 2 separately by the plurality of swing arms 12.

  In addition, the workpiece transfer apparatus 1 can also sequentially transfer one workpiece 2 between multiple stages by using a plurality of swing arms 12, for example. Therefore, for example, in a specific stage, the loading operation (supply) and the unloading operation (discharge) of the workpiece 2 can be efficiently performed using separate swing arms 12. Therefore, the workpiece transfer device 1 can increase the degree of design freedom.

  (Effect 2-2) The workpiece transfer apparatus 1 includes the first arm 101 and the second arm 102, and makes the swing direction 23 of the first arm 101 different from the swing direction 23 of the second arm 102. You may do it. Thereby, the workpiece | work 2 can be transferred to a different direction.

  The second stage 4 of the first arm 101 and the first stage 3 of the second arm 102 may be the common stage 103. As a result, one workpiece 2 is sequentially transferred using the first arm 101 and the second arm 102, the transfer direction (supply direction) of the workpiece 2 by the first arm 101, and the transfer of the workpiece 2 by the second arm 102. The loading direction (discharge direction) can be changed.

  (Effect 2-3) The first arm 101 and the second arm 102 may be arranged side by side (arranged side by side). Thereby, the 1st arm 101 and the 2nd arm 102 can be put together in one place, and the workpiece transfer apparatus 1 can be compactized. For this reason, the workpiece transfer device 1 having two swing arms 12 can be easily installed on the transfer line of the workpiece 2 or can be easily removed from the transfer line of the workpiece 2 when not in use. Is possible.

  The common stage 103 may be arranged at a position where the swing directions 23 of the first arm 101 and the second arm 102 intersect. Further, the first stage 3 of the first arm 101 and the second stage 4 of the second arm 102 may be arranged on the opposite side of the common stage 103 in a separated state. Thereby, the transfer direction (supply direction) of the workpiece 2 by the first arm 101 and the transfer direction (discharge direction) of the workpiece 2 by the second arm 102 can be reversed in a V shape.

  (Effect 2-4) The workpiece gripping portion 13 may be attached to the lower end side of the swing arm 12 via the lateral arm 121. Thereby, the position of the workpiece gripping portion 13 can be shifted laterally from the position of the lower end of the swing arm 12 to the position of the distal end side of the lateral arm 121. Therefore, the installation positions of the first stage 3 and the second stage 4 can be set freely.

  Further, by using the horizontal arm 121, for example, when the lower end of the swing arm 12 is positioned at the lowermost position, the tip of the horizontal arm 121 is set to the same height as the lower end of the swing arm 12, When the lower end is higher than the lowest part, the tip of the horizontal arm 121 can be made lower than the lower end of the swing arm 12. As a result, it is possible to make the heights of the first stage 3 and the second stage 4 substantially equal to eliminate or reduce the height difference 71 between the stages. On the contrary, when the lower end of the swing arm 12 is higher than the lowermost portion, the tip of the horizontal arm 121 can be made higher than the lower end of the swing arm 12. As a result, the height difference 71 between the stages can be made larger, contrary to the above.

  Further, by attaching the horizontal arm 121 to the lower end side of the swing arm 12, the swing arm 12 and the horizontal arm 121 are bent into an L shape or the like. For example, the swing arm 12 can be configured not to interfere with detection by the sensor.

  (Effect 2-5) The detent portion 46 may constitute a part of the boundary wall 131 between the first guide groove portion 41 and the second guide groove portion 42. Thereby, compared with the case where the whole boundary wall 131 of the 1st guide groove part 41 and the 2nd guide groove part 42 is used as a fixed wall, the guide groove 32 is reduced in size and the design freedom with respect to the guide groove 32 is raised. Can do.

  The detent portion 46 may be a movable upright wall 132 extending to the position of the elevating groove portion 44. As a result, the guide body 16 can be accurately and reliably guided from the first guide groove portion 41 to the elevating groove portion 44 by the movable upright wall 132. And the guide body 16 which reached the raising / lowering groove part 44 is reliably passed in the raising / lowering groove part 44, when the movable standing wall 132 retracts | saves. For this reason, the force to return to the swing arm 12 due to the weight of the swing arm 12 acts on the wrong path (for example, in the second guide groove portion 42), and the motion of the swing arm 12 moves. Can prevent the problem of blurring. Such shaking of the swing arm 12 is likely to occur when the weight balance of the swing arm 12 changes when the horizontal arm 121 or the like is attached to the swing arm 12. Then, the guide body 16 guided from the first guide groove portion 41 to the elevating groove portion 44 when the movable standing wall 132 returns to the original position after passing through the guide body 16 is moved from the elevating groove portion 44 by the movable standing wall 132. It can guide to the 2nd guide groove part 42. FIG.

  (Effect 2-6) A horizontal maintaining mechanism 141 may be provided between the swing arm 12 and the work gripping portion 13. Accordingly, the workpiece gripping portion 13 can be maintained in the horizontal state by the horizontal maintaining mechanism 141 regardless of the angle change of the lower end of the swing arm 12 or the tip of the lateral arm 121 due to the swing of the swing arm 12. Therefore, it is not necessary to arrange the first stage 3 and the second stage 4 toward the tangential direction of the arc drawn by the lower end of the swing arm 12, and the first stage 3 and the second stage 4 are horizontally arranged. be able to. Since the workpiece holding unit 13 can be tilted by providing the horizontal maintaining mechanism 141, the horizontal maintaining mechanism 141 is arranged in the first stage 3 arranged toward the tangential direction of the arc drawn by the lower end portion of the swing arm 12. It can be used without any trouble even in the case of the second stage 4.

  (Effect 2-7) The swing restricting portion 151 may be provided on the swing arm 12. Thereby, the swinging width of the workpiece gripping portion 13 can be restricted to be small so that the workpiece gripping portion 13 does not uselessly move by the horizontal maintenance mechanism 141. Further, even when the workpiece gripping portion 13 is about to temporarily swing greatly by the horizontal maintenance mechanism 141 when the swinging arm 12 swings or stops, the swing of the workpiece gripping portion 13 is suppressed, The workpiece gripping portion 13 can be quickly stabilized in a horizontal state.

  (Effect 2-8) The first stage 3 and the second stage 4 may be provided with positioning pins 163 and 164 that can be fitted into the positioning holes 161 provided in the release mechanism 82. As a result, the work gripping portion 13 can be accurately and reliably positioned on the first stage 3 and the second stage 4.

  At this time, the positioning pins 163 of the first stage 3 may extend vertically upward with respect to the first stage 3 (vertical pins). Thereby, in the 1st stage 3, the workpiece | work holding part 13 can be raised / lowered to the 1st stage 3, without operating the release mechanism 82. FIG. Therefore, the work gripping unit 13 can securely grip the work 2 by the gripping mechanism 81 on the first stage 3.

  On the other hand, the positioning pin 164 of the second stage 4 may be inclined (inclined pin) with respect to the vertical upper side of the second stage 4. Accordingly, the release mechanism 82 positions the workpiece gripping portion 13 with respect to the second stage 4 by fitting the positioning pin 164 and the positioning hole 161, and the inclined positioning pin 164 operates the release mechanism 82. The work gripping portion 13 is released. Therefore, the workpiece gripping part 13 can reliably release the workpiece 2 on the second stage 4. As a result, it is possible to consolidate the functions by providing the positioning pins 164 and the positioning holes 161 with the functions of the guide taper 86a and the expansion portion 87 of the operation projection 86 of the first embodiment.

  At this time, the positioning pin 164 of the second stage 4 may extend higher in the position of the upper end than the positioning pin 163 of the first stage 3. As a result, the positioning hole 161 enters the positioning pin 164 of the second stage 4 earlier than when entering the positioning pin 163 of the first stage 3, so that the workpiece 2 is moved at a timing earlier than the gripping mechanism 81 grips the workpiece 2. Can be released.

DESCRIPTION OF SYMBOLS 1 Work transfer apparatus 2 Work 3 First stage 4 Second stage 8 Set interval 11 Supporting point 12 Swing arm 13 Work gripping part 14 Guide mechanism 15 Vertical movement mechanism 16 Guide body 17 Guide member 32 Guide groove 41 First guide groove part 42 Second guide groove portion 43 Elevating groove portion 44 Elevating groove portion 45 Detent portion 46 Detent portion 51 Spring hinge 61 Vertical movement portion 62 Cylinder 71 Height difference 75 Tangential direction 76 Tangential direction 81 Grip mechanism 82 Release mechanism 91 Spacing adjustment portion 93 Self-weight stopper 101 First arm 102 Second arm 103 Common stage 121 Lateral arm 131 Boundary wall 132 Movable standing wall 141 Horizontal maintenance mechanism 151 Swing restricting portion 163 Positioning pin 164 Positioning pin 161 Positioning hole

Claims (18)

In a workpiece transfer device that transfers workpieces from the first stage to the second stage,
A swing arm that extends vertically and has a lower end swingable back and forth between the first stage and the second stage around a fulcrum provided on the upper end side;
A workpiece gripping portion attached to the lower end side of the swing arm and capable of gripping and releasing the workpiece;
A guide mechanism for guiding reciprocal swing of the swing arm;
A vertical movement mechanism capable of moving the fulcrum up and down;
The guide mechanism includes a guide member that guides a guide body provided on the swing arm and causes the swing arm to reciprocate by changing the height of the fulcrum by the vertical movement mechanism. A workpiece transfer device. The workpiece transfer apparatus according to claim 1,
The guide member swings in the feed direction of the swing arm from the first stage to the second stage, and swings in the return direction of the swing arm from the second stage to the first stage. A workpiece transfer apparatus having a guide groove capable of guiding the guide body along a different guide path. The workpiece transfer apparatus according to claim 2,
The guide groove is provided between the swing arm and at least a first guide groove portion that causes the swing arm to swing in the feed direction and a second guide groove portion that swings in the return direction. It has two elevating grooves that allow the elevating operation,
A detent portion for restricting the guide body from moving backward in each of the elevating groove portions is provided at a transition portion from each of the elevating groove portions to the first guide groove portion or the second guide groove portion. A workpiece transfer device. The workpiece transfer device according to claim 3,
The detent part is comprised by the spring hinge, The workpiece transfer apparatus characterized by the above-mentioned. The workpiece transfer device according to any one of claims 1 to 4,
The vertical movement mechanism has a vertical movement part that moves the fulcrum up and down, and a cylinder that raises the position of the fulcrum via the vertical movement part,
The workpiece transfer apparatus, wherein the cylinder is mechanically separated from the vertical movement unit. The workpiece transfer device according to any one of claims 1 to 5,
The workpiece transfer apparatus, wherein the first stage and the second stage are arranged at different heights along an arc drawn by a lower end portion of the swing arm with the fulcrum as a center. The workpiece transfer device according to claim 6,
The workpiece transfer apparatus, wherein the first stage and the second stage are directed in a tangential direction of the arc. The workpiece transfer apparatus according to any one of claims 1 to 7,
A workpiece transfer apparatus comprising: a gripping mechanism that causes the workpiece gripping portion to grip the workpiece on the first stage; and a release mechanism that causes the workpiece gripping portion to release the workpiece on the second stage. The workpiece transfer apparatus according to any one of claims 1 to 8,
The workpiece transfer apparatus, wherein the first stage is provided with an interval adjusting unit that arranges the plurality of workpieces at the same interval as the interval between the workpieces with respect to the second stage. The workpiece transfer apparatus according to claim 9,
The workpiece transfer device, wherein the interval adjusting unit is a dead weight stopper that adjusts the interval between the preceding workpiece and the succeeding workpiece using the dead weight of the preceding workpiece. The workpiece transfer apparatus according to any one of claims 1 to 10, wherein
A workpiece transfer system characterized in that a lateral arm extending laterally along the swing direction of the swing arm is attached to the lower end side of the swing arm, and the workpiece gripping portion is attached to the distal end side of the horizontal arm. apparatus. The workpiece transfer apparatus according to any one of claims 4 to 11, which refers to claim 3 and claim 3.
The detent portion constitutes a part of a boundary wall between the first guide groove portion and the second guide groove portion, and is a movable upright wall extending to the position of the elevating groove portion. Workpiece transfer device. The workpiece transfer device according to any one of claims 1 to 12,
A workpiece transfer apparatus comprising a horizontal maintaining mechanism capable of maintaining the workpiece gripping portion in a horizontal state between the swing arm and the workpiece gripping portion. The workpiece transfer device according to claim 13,
A workpiece transfer device, wherein the swing arm includes a swing restricting portion that restricts swing of the workpiece gripping portion by the horizontal maintaining mechanism. The workpiece transfer device according to any one of claims 9 to 14, wherein the workpiece transfer device refers to claim 8 and claim 8.
The first stage and the second stage are provided with positioning pins that can be fitted into positioning holes provided in the release mechanism,
The positioning pin of the first stage extends vertically upward of the first stage;
The positioning pin of the second stage is tilted in the direction of operating the release mechanism to release the workpiece to the workpiece gripping portion with respect to the vertical upper side of the second stage, and the first stage A workpiece transfer device that extends so that an upper end is higher than a positioning pin. The workpiece transfer apparatus according to any one of claims 1 to 15,
A workpiece transfer apparatus comprising a plurality of the swing arms. The workpiece transfer apparatus according to claim 16, wherein
The plurality of swing arms include a first arm and a second arm having different swing directions. The workpiece transfer apparatus according to claim 17,
The first arm and the second arm having different swing directions are arranged in a juxtaposed state,
The second stage of the first arm and the first stage of the second arm are arranged as a common stage at a position where the swing directions of the first arm and the second arm intersect.
The workpiece transfer apparatus, wherein the first stage of the first arm and the second stage of the second arm are arranged on the opposite side of the common stage in a separated state.