JP2020116631A - Workpiece conveying device - Google Patents

Abstract

To provide a workpiece conveying device which can suppress generation of distortion of a workpiece even in conveying the one workpiece W.SOLUTION: A workpiece conveying device 1 includes a base 2 arranged adjacently to a press machine, a pair of first arms 11, a pair of second arms 12, and a first holding part 21 and second holding part 22 which are independent from each other. Each of the first holding part 21 and second holding part 22 includes a plurality of holding members 23 for holding a workpiece W. The first holding part 21 includes a first support member 24, a second support member 26, and an absorption member 30. The second support member 26 movably supports the first support member 24 along an intersection direction. The absorption member allows movement of the second support member 26 with respect to the first support member 24 in the intersection direction, and can restore the second support member 26 to an initial position in the intersection direction with respect to the first support member 24.SELECTED DRAWING: Figure 1

Description

The present invention relates to a work transfer device for a press machine.

Conventionally, a work transfer device using two SCARA robot units has been proposed as a work transfer device for loading and unloading a work into and from a press machine (for example, Patent Document 1).

The work transfer device of Patent Document 1 includes a holding part at the tip of each SCARA robot, and each holding part holds two works and transfers the works to the press machine. The two holding parts are slidably connected to each other. Therefore, the work transfer path of the one SCARA robot and the work transfer path of the other SCARA robot are substantially the same.

JP, 2009-208080, A

However, in the work transfer device of Patent Document 1, when one work is held by the two holding parts, the two holding parts shake in a direction in which the two holding parts approach and separate from each other, so that the work may be distorted. It is considered that the swinging of the holding portion occurs due to backlash in the gear of the joint portion of the arm bar that constitutes the SCARA robot and inertial force due to deceleration during the arm extension operation.

Therefore, the present disclosure provides a work transfer device capable of suppressing the occurrence of distortion in a work even when transferring one work.

[1] One aspect of the work transfer device according to the present invention is
A substrate disposed adjacent to the press machine,
A pair of first arms whose base ends are rotatably supported with respect to the base body;
A pair of second arms whose base ends are rotatably supported on the respective tip ends of the first arms;
A pair of holding portions that are rotatably supported at the respective tips of the second arms and that are independent of each other;
A work transfer device including:
The holding unit includes a plurality of holding members that respectively hold the work,
At least one of the holding portions is
A first support member supporting a plurality of the holding members,
A second support member that is rotatably supported by the tip of the second arm and that supports the first support member;
An absorbing member provided between the first supporting member and the second supporting member;
Including
The second support member movably supports the first support member along an intersecting direction intersecting a transport direction for transporting the work,
The absorbing member allows movement of the second supporting member with respect to the first supporting member occurring in the intersecting direction and can return the second supporting member to the initial position in the intersecting direction with respect to the first supporting member. Is characterized in that

According to one aspect of the work transfer device, it is possible to suppress the occurrence of distortion in a work even when a single work is transferred by a pair of holding portions that are independent of each other.

[2] In one aspect of the work transfer device,
Each of the pair of holding portions includes the first support member and the second support member,
At least one of the pair of holding portions includes the absorbing member,
In a state where one of the workpieces is held by the pair of holding portions, while maintaining the first gap between the one first supporting member and the other first supporting member, The absorbing member is deformable so that a second gap with the other second support member is narrowed, and the second gap in a narrowed state is expanded while maintaining the first gap. The absorbent member can be deformable.

According to one aspect of the work transfer device, the second interval can be adjusted while maintaining the first interval, so that the distortion of the work occurs even when one work is transferred by the pair of holding portions independent of each other. Can be suppressed.

[3] In one aspect of the work transfer device,
The absorbing member includes a first spring and a second spring, which are compression coil springs compressible between the first supporting member and the second supporting member,
The first spring compresses when the second support member moves closer to the other holding portion, and restores the second support member so as to move away from the other holding portion,
The second spring may be compressed by moving the second support member away from the other holding portion, and may be restored to move the second support member closer to the other holding portion.

According to one aspect of the work transfer device, by compressing and restoring the compression coil spring, it is possible to suppress the occurrence of distortion in the work even when a single work is transferred by a pair of holding portions that are independent of each other.

[4] In one aspect of the work transfer device,
The absorbing member includes a first cylinder and a second cylinder, which are pneumatic cylinders compressible between the first supporting member and the second supporting member,
The first cylinder compresses when the second support member moves closer to the other holding portion, and restores the second support member so as to move away from the other holding portion.
The second cylinder may be compressed by moving the second support member away from the other holding portion, and may be restored so as to move the second support member closer to the other holding portion.

According to one aspect of the work transfer device, by compressing and restoring the pneumatic cylinder, it is possible to suppress the occurrence of distortion in a work even when a single work is transferred by a pair of holding portions that are independent of each other.

[5] In one aspect of the work transfer device,
The absorbing member includes a first magnet set and a second magnet set, which are magnet sets having the same poles facing each other and spaced apart from each other between the first support member and the second support member,
The first magnet set moves so that the second support member moves away from the other holding portion by a repulsive force generated by the second support member moving closer to the other holding portion,
The second magnet set can move such that the second support member moves closer to the other holding portion by a repulsive force generated by the second support member moving away from the other holding portion.

According to one aspect of the work transfer device, the occurrence of distortion in the work can be suppressed by adjusting the interval by the repulsive force of the magnet set, even when a single work is transferred by a pair of independent holding portions.

[6] In one aspect of the work transfer device,
The first arm rotates about a first rotation axis with respect to the base body,
The second arm rotates about a second rotation axis with respect to the first arm,
The second support member rotates about the third rotation axis with respect to the second arm,
The first rotating shaft, the second rotating shaft, and the third rotating shaft may be parallel to each other.

According to one aspect of the work transfer device described above, it is possible to suppress the strain generated in the work due to the inertial force generated in each part of the first arm and the like due to deceleration and the backlash in the gear used for the rotation operation.

[7] In one aspect of the work transfer device,
The first support member includes a guide member,
The second support member may include a guided member that slides and guides the guided member along the intersecting direction.

According to the aspect of the work transfer device, by guiding the second support member with respect to the first support member, it is possible to prevent the displacement of the second support member occurring in the intersecting direction from being transmitted to the first support member.

[8] In one aspect of the work transfer device,
Further comprising a first lifting drive unit and a second lifting drive unit fixed to the base,
The first elevating/lowering drive unit elevates and lowers one of the pair of first arms with respect to the base body,
The second elevating/lowering drive unit can elevate and lower the other of the pair of first arms with respect to the base body.

According to one aspect of the work transfer apparatus, the degree of freedom in setting the transfer path of the work can be improved by independently moving up and down each holding unit by the first lift drive unit and the second lift drive unit.

[9] In one aspect of the work transfer device,
The movement of the second support member with respect to the first support member occurring in the intersecting direction and the return to the initial position can be performed at a release position where the holding member releases the work.

According to one aspect of the work transfer device, it is possible to suppress the generation of the work distortion at the release position where the work is most likely to be distorted by the inertial force.

[10] One aspect of the work transfer device according to the present invention is
A substrate disposed adjacent to the press machine,
A pair of first arms whose base ends are rotatably supported with respect to the base body;
A pair of second arms whose base ends are rotatably supported on the respective tip ends of the first arms;
A pair of holding portions that are rotatably supported at the respective tips of the second arms and that are independent of each other;
A work transfer device including:
While holding one work by the pair of holding portions, at least one of the holding portions is movable in a direction in which the other holding portion approaches and separates, and the one of the holding portions is in the direction. It is possible to return the other holding portion to the initial position in.

According to one aspect of the work transfer device, it is possible to suppress the occurrence of distortion in a work even when a single work is transferred by a pair of holding portions that are independent of each other.

According to the work transfer device of the present invention, it is possible to suppress the occurrence of distortion in a work even when one work is transferred by the pair of holding portions.

It is a perspective view which shows the whole workpiece conveyance apparatus which concerns on this embodiment. It is a side view of the work conveyance device concerning this embodiment. It is a front view of the work conveyance device concerning this embodiment. It is a top view of the work conveyance apparatus concerning this embodiment. It is an expansion perspective view of an absorption member of a work transportation device concerning this embodiment. It is a top view of an absorption member of a work transportation device concerning this embodiment. It is a top view explaining operation of an absorption member concerning this embodiment. It is a top view explaining operation of an absorption member concerning this embodiment. It is an expansion perspective view of an absorption member of a work transportation device concerning this embodiment. FIG. 9 is a front view of an absorbing member of a work transfer device according to Modification 1. FIG. 8 is a plan view of an absorbing member of a work transfer device according to Modification 1. FIG. 9 is a plan view of an absorbing member of a work transfer device according to a modified example 2. FIG. 11 is a front view of a first holding unit in a work transfer device according to Modification 3. FIG. 11 is a plan view of a first holding unit in a work transfer device according to Modification 3. FIG. 11 is a front view illustrating the operation of the absorbing member according to Modification 3. FIG. 11 is a front view illustrating the operation of the absorbing member according to Modification 3.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. It should be noted that the embodiments described below do not unduly limit the content of the invention described in the claims. In addition, not all of the configurations described below are essential configuration requirements of the invention.

The work transfer device according to the present embodiment includes a base body disposed adjacent to a press machine, a pair of first arms whose base ends are rotatably supported with respect to the base body, and the first arm. A work transfer device comprising: a pair of second arms, the base ends of which are rotatably supported at the tips, and a pair of independent holding portions, which are rotatably supported at the ends of the second arms. The holding unit includes a plurality of holding members that respectively hold a work, and at least one of the holding units is rotatably attached to a first support member that supports the plurality of holding members and a tip of the second arm. A second support member that is supported and that supports the first support member, and an absorbing member that is provided between the first support member and the second support member, wherein the second support member is The first support member is movably supported along an intersecting direction that intersects with a conveying direction for conveying the work, and the absorbing member moves the second supporting member with respect to the first supporting member generated in the intersecting direction. And permitting the second support member to return to the initial position in the intersecting direction with respect to the first support member.

1. Outline of Work Conveying Device An outline of the work conveying device 1 according to the present embodiment will be described with reference to FIGS. 1 to 4. FIG. 1 is a perspective view showing the entire work transfer device 1 according to the present embodiment, FIG. 2 is a side view of the work transfer device 1, FIG. 3 is a front view of the work transfer device 1, and FIG. FIG. 3 is a plan view of the work transfer device 1.

As shown in FIGS. 1 to 4, the work transfer device 1 carries the work W into the press machine and carries out the work W from the press machine. In the present embodiment, an example in which the work transfer device 1 is arranged between two press machines will be described. However, in order to carry the material before press working into the press machine, it is used as a carry-in device between the material and the press machine. The work transfer device 1 may be arranged, or the work transfer device 1 may be arranged as a product takeout device for taking out a product after press working. 1 to 4, the press machine is shown only by the lower mold 5a and the lower mold 5b, and the illustration of the main body of the press machine is omitted.

The work transfer device 1 transfers the work W along the transfer direction D from the upper mold 5a on the upstream side to the lower mold 5b on the downstream side. As shown in FIG. 4, the transport direction D is in a horizontal plane at an arbitrary height within the height range in which the work transport device 1 moves up and down, and the work transport device 1 receives the work W at the first position P1. Is a direction on an imaginary straight line connecting the intermediate position MP1 at the position and the intermediate position MP2 at the fifth position P5 for releasing the work W. The intermediate position MP1 is the midpoint between the first holding portion 21 and the second holding portion 22 at the first position P1. The intermediate position MP2 is a midpoint between the first holding portion 21 and the second holding portion 22. Therefore, the transport direction D does not have to indicate the actual transport trajectory of the work W.

The work transfer device 1 includes a base 2 arranged adjacent to a press machine, and a first unit 3 and a second unit 4 which are a pair of arm units.

The work transfer device 1 includes a control device 8 that controls the operations of the first unit 3 and the second unit 4. The control device 8 stores, for example, a storage unit that stores a control program and the like, an arithmetic unit that receives information from the sensors of each unit and performs various calculations based on the control program, and outputs a command to each drive unit based on the calculation result. And a control unit. The control device 8 includes a CPU, a RAM, a ROM, and the like, and may further include a display device and an input device.

The base body 2 is arranged adjacent to the lower die 5a of the upstream press machine and the lower die 5b of the downstream press machine. The base body 2 is fixed to, for example, leg portions (not shown) standing on the same floor surface as the press machine, and is arranged at a predetermined height. Further, the base body 2 may be fixed to an adjacent press machine.

The first unit 3 is provided on the side surface of the base body 2 so as to be movable up and down with respect to the base body 2 via a first lift drive unit 41. The second unit 4 is provided on the side surface of the base body 2 so as to be movable up and down with respect to the base body 2 via the first lifting drive unit 41. The second unit 4 has basically the same structure as the first unit 3, and is plane-symmetric with the first unit 3 with respect to a plane extending in the vertical direction at an intermediate position between the first unit 3 and the second unit 4.

The first unit 3 and the second unit 4 have a pair of first arms 11, 11 whose base ends are rotatably supported with respect to the base body 2, and the base ends of which are rotated by the respective distal ends of the first arms 11, 11. A pair of second arms 12 and 12 that are movably supported, and a first holding portion 21 and a second holding that are a pair of independent holding portions that are rotatably supported at the respective tips of the second arms 12 and 12. And a part 22. Since the first holding portion 21 and the second holding portion 22 are independent of each other, that is, the first holding portion 21 and the second holding portion 22 are not directly connected, the first unit 3 and the second unit 4 are It is possible to set the transfer trajectory of the work W without physically controlling one of the operations by the other operation.

In the state where one work W is held by the first holding unit 21 and the second holding unit 22, at least one holding unit, for example, the first holding unit 21, approaches and separates the other holding unit, for example, the second holding unit 22. It can move in any direction. Then, one holding portion, for example, the first holding portion 21, can return the other holding portion, for example, the second holding portion 22, to the initial position in the approaching and separating directions. With such a configuration, according to the work transfer device 1, even when one work W is transferred by the first holding part 21 and the second holding part 22, which are independent of each other, the occurrence of distortion in the work W is suppressed. You can

As shown in FIG. 4, the work transfer device 1 receives the work W from the upstream press machine at the first position P1 on the lower die 5a, and bends the first unit 3 and the second unit 4 outward from each other. Then, the work W is released to the downstream press machine at the fifth position P5 of the lower die 5b through the second position P2, the third position P3, and the fourth position P4.

1.1. Lifting/Driving Unit As shown in FIGS. 1 to 4, the first lifting/lowering driving unit 41 and the second lifting/lowering driving unit 42 are fixed to the base 2. The first elevating/lowering drive unit 41 elevates/lowers the first arm 11 of the first unit 3 with respect to the base body 2, and the second elevating/lowering drive unit 42 elevates/lowers the first arm 11 of the second unit 4 with respect to the base body 2. To do. The first elevating/lowering drive unit 41 and the second elevating/lowering drive unit 42 have basically the same configuration, and therefore the second elevating/lowering drive unit 42 will be described here.

The second lift drive unit 42 includes a ball screw mechanism that rotates a screw shaft by an electric motor fixed to the base 2. A screw shaft extending vertically downward of the electric motor is screwed with a nut portion having a ball. The screw shaft is rotated by an electric motor, and the nut portion moves linearly in the vertical direction along the screw shaft. The nut portion is fixed to the side surface of the lifting body 45. The elevating body 45 is a tubular frame having a quadrangular cross section extending upward from the base end of the first arm 11. A pair of rails 44, 44 are provided on the other side surface of the lifting body 45 so as to extend in the vertical direction. A guide 43 slidably guided by a rail 44 is fixed to the side surface of the base body 2.

When the electric motor of the second elevating/lowering drive unit 42 is driven, the screw shaft rotates to move the nut unit in the up/down direction, and the rail 44 of the elevating/lowering body 45 slides up and down with respect to the guide 43 fixed to the base body 2. The body 45 moves up and down with respect to the base body 2.

In the work transfer device 1, since the respective holding parts can be independently moved up and down by the first elevating drive part 41 and the second elevating drive part 42, the degree of freedom in setting the transfer path of the work W can be improved. it can. Each holding unit can be independently moved up and down means, for example, that one operation of the first lifting drive unit 41 and the second lifting drive unit 42 is not physically controlled by the other operation and each holding unit is held. This means that it is possible to set the lifting operation of the unit.

As the first elevating and lowering drive unit 41 and the second elevating and lowering drive unit 42, another drive mechanism can be adopted as long as it elevates and lowers the elevating body 45 with respect to the base body 2. A known direct-acting mechanism such as driving can be adopted.

1.2. Arm Unit As shown in FIGS. 1 to 4, the first unit 3 includes a first arm 11, a second arm 12, and a first holding portion 21. The base end of the first arm 11 is rotatably supported with respect to the base body 2 at the lower end of the lifting body 45 of the first lifting drive unit 41. The second arm 12 has a base end rotatably supported on the lower surface of the tip end portion of the first arm 11. The first holding portion 21 is rotatably supported on the lower surface of the tip portion of the second arm 12.

The second unit 4 includes a first arm 11, a second arm 12, and a second holding portion 22. The base end of the first arm 11 is rotatably supported by the base 2 at the lower end of the lifting body 45 of the second lifting drive unit 42. The second arm 12 has a base end rotatably supported on the lower surface of the tip end portion of the first arm 11. The second holding portion 22 is rotatably supported on the lower surface of the tip portion of the second arm 12.

The first motor 51 is fixed to the lower end of the lifting body 45, and the first arm 51 is driven by the first motor 51 to rotate with respect to the lifting body 45 (base 2) about the first rotation axis O1. The first motor 51 is an electric motor. The first rotation axis O1 extends in the vertical direction at the center of the lifting body 45. The driving force of the first motor 51 is transmitted to the first arm 11 via a plurality of gears (not shown).

A second motor 52 is provided inside the tip portion of the first arm 11, and the second motor 52 is driven to rotate the second arm 12 about the second rotation axis O2 with respect to the first arm 11. The second motor 52 is an electric motor. The second rotation axis O2 extends vertically in a region where the tip end of the first arm 11 and the base end of the second arm 12 vertically overlap. The driving force of the second motor 52 is transmitted to the second arm 12 via a plurality of gears (not shown).

A second motor 52 is provided inside the tip portion of the second arm 12, and the first holding portion 21 or the second holding portion 22 is driven by the third motor 53 so that the first holding portion 21 or the second holding portion 22 moves to the third rotation axis O3. Rotate around. The third motor 53 is an electric motor. The third rotation axis O3 extends vertically in a portion where the tip of the second arm 12 and the center of the first holding portion 21 or the center of the second holding portion 22 vertically overlap. The center of the first holding unit 21 is the center of the width of the first holding unit 21 in the transport direction D, and the center of the length of the first holding unit 21 in the orthogonal direction D1 orthogonal to the transport direction D. The length of the first holding portion 21 in the orthogonal direction D1 is the length of the first holding portion 21 in a state where the work transfer device 1 is viewed in plan. Similarly to the center of the first holding portion 21, the center of the second holding portion 22 is also the center of the width of the second holding portion 22 in the transport direction D and the center of the length in the orthogonal direction D1. The driving force of the third motor 53 is transmitted to the first holding unit 21 or the second holding unit 22 via a plurality of gears (not shown). The orthogonal direction D1 is assumed to be within a horizontal plane including the transport direction D.

The first rotation axis O1, the second rotation axis O2, and the third rotation axis O3 are parallel to each other. By reducing the transport speed of the work W, the inertial force generated in the first arm 11, the second arm 12, and the like acts so that the first holding portion 21 and the second holding portion 22 come close to each other, and It becomes a force that causes distortion. Further, a plurality of gears are provided in each portion of the first unit 3 and the second unit 4 for the rotation operation of each rotation shaft, and the backlash in the rotation stop operation of these gears is caused by the first holding portion 21. By acting so as to be close to the second holding portion 22, it becomes a force that causes the work W to be distorted. As described above, the inertial force and the backlash are in a direction intersecting the transport direction D at the position where the first unit 3 and the second unit 4 extend, that is, at the position where the work W is released at the fifth position P5 (in the present embodiment, the position in which the workpiece W is released). A force for moving the first holding portion 21 and the second holding portion 22 is generated in the orthogonal direction D1) according to the direction of each rotation axis. This force is a force that causes the first holding unit 21 and the second holding unit 22 to approach each other with respect to the second arm 12 that has stopped moving. By providing the mechanism of the 1st holding part 21 and/or the 2nd holding part 22 explained below, distortion to the work which arises by the inertial force and backlash can be controlled. Further, in the above description, the distortion that occurs in the work W between the deceleration of the conveyance speed of the work W and the stop is taken as an issue, but the present invention is not limited to this. Moreover, it is preferable to have an effect also on the strain generated in the work W.

1.3. Holding Unit The first holding unit 21 and the second holding unit 22, which are holding units, will be described with reference to FIGS. 1 to 6. 5 is an AA sectional view in FIG. 4, which is an enlarged perspective view of the absorbing member 30 of the work transfer device 1 according to the present embodiment, and FIG. 6 is a BB sectional view in FIG. It is an enlarged plan view of member 30.

As shown in FIGS. 1 to 6, the first holding unit 21 and the second holding unit 22 each include a plurality of holding members 23 that hold the work W. The holding member 23 is a member for holding the work W, and for example, a suction structure by air suction such as a vacuum cup or a magnetic sticking structure by magnetism can be adopted, and for example, the work W other than the suction structure is gripped. A clamp mechanism or a hook for suspending the work W can be adopted. In the illustrated example, the holding members 23 are provided at four places in each holding portion, but the number of holding members 23 is not limited to this as long as the work W can be held stably.

At least one holding portion, for example, the first holding portion 21, is rotatably supported by the first supporting member 24 that supports the plurality of holding members 23 and the tip of the second arm 12, and the first supporting member 24 is It includes a second support member 26 for supporting, and an absorbing member 30 provided between the first support member 24 and the second support member 26. The first support member 24 and the second support member 26 are made of metal. The absorbing member 30 is shown in FIG.

Each of the first holding portion 21 and the second holding portion 22 includes a first supporting member 24 and a second supporting member 26, and at least one of the first holding portion 21 and the second holding portion 22 includes an absorbing member 30. May be. If either the first holding part 21 or the second holding part 22 is provided with the absorbing member 30, the distortion of the work W occurs even if the distance between the first holding part 21 and the second holding part 22 becomes narrow. Can be suppressed. Both the first holding portion 21 and the second holding portion 22 may include the absorbing member 30 as in the present embodiment.

The second support member 26 movably supports the first support member 24 along an intersecting direction that intersects the transport direction D that transports the work W. The intersecting direction is the orthogonal direction D1 in this embodiment. The intersecting direction may be a direction other than the orthogonal direction D1 as long as the strain on the work W due to the inertial force and the backlash described above can be suppressed. For example, although it is assumed that the longitudinal direction of the first support member 24 does not match the orthogonal direction D1 depending on the shape of the work W, the strain in the orthogonal direction D1 is suppressed by the movement of the first support member 24 along the intersecting direction. I wish I could. Since the second support member 26 supports the first support member 24 so as to be movable in the intersecting direction, it is possible to suppress the occurrence of distortion in the work W even when one work W is transported by the pair of holding portions.

The first support member 24 includes a mounting rod 240 extending along the orthogonal direction D1 and a first block 242 that integrally fixes the two mounting rods 240. A through hole 244 is formed in the first block 242 so as to penetrate along the orthogonal direction D1. Two mounting rods 240 are arranged side by side in parallel with the transport direction D. Two first blocks 242 are arranged at intervals in the orthogonal direction D1. The through hole 244 is formed only in one of the two first blocks 242 according to the arrangement of the absorbing member 30.

The second support member 26 includes a crossbar 260 extending along the orthogonal direction D1 and two second blocks 262 fixed so as to project downward from both ends of the crossbar 260. The crossbar 260 is supported by the tip of the second arm 12 so as to be rotatable around the fourth rotation axis O4 near the center in the orthogonal direction D1. The crossbar 260 includes the fourth motor 54, and the crossbar 260 rotates about the fourth rotation axis O4. By driving the first support member 24 and the holding member 23 by driving the fourth motor 54, the work W can be tilted with respect to the second arm 12. The second block 262 is formed so as to straddle the first block 242 in the orthogonal direction D1.

The first support member 24 includes a guide member 34. The second support member 26 includes a guided member 35 that slides and guides the guide member 34 along the intersecting direction, for example, the orthogonal direction D1. The guided member 35 may be a linear shaft connecting the facing inner surfaces of the second block 262 straddling the first block 242, and the guiding member 34 may be a linear bush penetrating the first block 242 in the orthogonal direction D1. You can When the second support member 26 moves in the orthogonal direction D1, the linear shaft is guided by the linear bush to allow the first support member 24 to move along the intersecting direction. By sliding and guiding the second support member 26 with respect to the first support member 24, it is possible to prevent the displacement of the second support member 26 occurring in the intersecting direction from being transmitted to the first support member 24 and the work W.

For the guide member 34 and the guided member 35, other known linear motion mechanisms can be adopted as long as they can guide the second support member 26 along the intersecting direction, for example, the orthogonal direction D1, and for example, a linear guide or the like may be used. ..

1.3.1. Absorbing Member The absorbing member 30 will be described in detail with reference to FIGS. 5 to 9. 7 and 8 are plan views for explaining the operation of the absorbing member 30, and FIG. 9 is an enlarged perspective view of the absorbing member 30 of the work transfer device 1 according to this embodiment. 7 and 8 show the states of the respective absorbing members 30 of the first holding portion 21 and the second holding portion 22 in an enlarged manner within the circle indicated by the alternate long and short dash line.

As shown in FIGS. 5 to 9, the absorbing member 30 allows the movement of the second supporting member 26 with respect to the first supporting member 24 in the intersecting direction, for example, the orthogonal direction D1, and the second supporting member 24 with respect to the first supporting member 24. The support member 26 can be returned to the initial position in the intersecting direction. The initial position is a position before the second support member 26 moves with respect to the first support member 24 in the intersecting direction. Further, the initial position is a neutral position in which the load is not substantially applied to the absorbing member 30. In addition, in order to move the first support member 24 even if the first support member 24 is slightly displaced in the initial position, a slight load may be generated on the absorbing member 30 at the initial position.

The movement of the second support member 26 with respect to the first support member 24 in the intersecting direction and the return to the initial position can be performed at the fifth position P5 (FIG. 4) which is the release position where the holding member 23 releases the work W. it can. Even when the holding member 23 holds the work W, the second support member 26 can move closer to the first support member 24 without affecting the work W, and therefore the work W is most distorted due to inertial force and backlash. The occurrence of distortion of the work W can be suppressed at the release position where it is easy to perform. Further, when the holding member 23 releases the work W at the release position, the absorbing member 30 returns the first support member 24 and the second support member 26 to the initial position. If the positions of the first support member 24 and the second support member 26 are at the initial positions, the holding member 23 can contact a desired position of the work W to be conveyed next.

As shown in FIGS. 7 and 8, in the state where one work W is held by the first holding portion 21 and the second holding portion 22, the second distance L2 is narrowed while the first distance L1 is maintained. The absorbing member 30 is deformable, and the absorbing member 30 is deformable so as to expand the narrowed second gap L2 while maintaining the first gap L1. The first spacing L1 is a spacing between the first support member 24 of the first holding portion 21 and the first support member 24 of the second holding portion 22, and the second spacing L2 is the second support of the first holding portion 21. It is the distance between the member 26 and the second support member 26 of the second holding portion 22. The definitions of the first spacing L1 and the second spacing L2 are, of course, based on the assumption that the first holding portion 21 and the second holding portion 22 are in an initial state in which they are not rotated about the third rotation axis O3. To do. The deformation of the absorbing member 30 means that the total length of the absorbing member 30 in the intersecting direction changes, and in the case of a cylinder of Modification 1 described later, the piston rod is pushed into the cylinder or the magnet set of Modification 2 is used. If so, the deformation between the magnets is also included. By making the second distance L2 adjustable while maintaining the first distance L1, it is possible to suppress the occurrence of distortion in the work W even when one work W is conveyed by a pair of holding portions that are independent of each other.

The absorbing member 30 includes a first spring 31 and a second spring 32, which are compression coil springs that are compressible between the first supporting member 24 and the second supporting member 26. The first spring 31 is provided to face the second spring 32 across the first block 242 in the orthogonal direction D1. The first spring 31 compresses when the second support member 26 moves closer to the second holding portion 22 which is the other holding portion, and restores the second support member 26 so as to move away from the second holding portion 22. To do. Further, the second spring 32 can be compressed by moving the second support member 26 away from the second holding portion 22, and can restore the second support member 26 so as to move closer to the second holding portion 22. .. By compressing and restoring the compression coil spring, it is possible to suppress the occurrence of strain in the work W even when a single work W is transported by a pair of holding portions that are independent of each other.

The first spring 31 is arranged so as to be wound around a collar 264 with a collar that extends from the inner surface of the second block 262 along the orthogonal direction D1 toward the first block 242. The collar 264 with a collar is integrally provided at the free end of the columnar body with a collar portion having an outer diameter larger than that of the columnar body portion. One end of the first spring 31 comes into contact with the inner surface of the second block 262, and the other end comes into contact with the washer 266 pressed against the flange at the tip of the collar 264 with a collar. The second spring 32 is likewise mounted around the collar 264.

As shown in FIGS. 5 and 6, the collar 264 of the collar 264 can be inserted through the through hole 244 of the first block 242, and the washer 266 cannot be inserted through the through hole 244. Therefore, from the state in which the second support member 26 in FIG. 7 is in the initial position, the second support member 26 of the first holding portion 21 is moved toward the second holding portion 22 as shown in FIG. 8 (downward in FIG. 8). ) Upon movement, the collar 264 is shown in the enlarged view of FIG. As shown in FIG. 9, as the second block 262 moves, the second spring 32 is pressed against the washer 266 and compressed, and the collar 264 with the collar to which the second spring 32 is attached enters the through hole 244. Therefore, when the holding member 23 releases the work W, the restoring force that the second spring 32 tries to return to the original length acts between the washer 266 and the second block 262 to move the second support member 26 to the first position. 2 Move away from the holding unit 22. Since there is the first spring 31 on the opposite side, the second support member 26 gradually returns to the initial position. The mounting structure of the first spring 31 and the second spring 32 is not limited to this.

2. Modification 1
A modified example 1 of the work transfer device 1 will be described with reference to FIGS. 10 and 11. FIG. 10 is a front view of the absorbing member 30a of the first holding unit 21 of the work transfer apparatus 1 according to Modification 1, and FIG. 11 is an absorption member 30a of the first holding unit 21 of the work transfer apparatus 1 according to Modification 1. FIG. The work transfer device 1 of FIGS. 10 and 11 is basically the same as the work transfer device 1 according to the above-described embodiment, except for the configuration of the absorbing member 30a. Therefore, the same members as those in the above-described embodiment will be described using the same reference numerals, and overlapping description will be omitted.

As shown in FIGS. 10 and 11, the absorbing member 30 a of the first holding portion 21 includes a first cylinder 301 and a first cylinder 301 which are pneumatic cylinders compressible between the first supporting member 24 and the second supporting member 26. And two cylinders 302. Here, "compressible between the first support member 24 and the second support member 26" means a state in which the first support member 24 and the second support member 26 are compressible by relative movement between the two. It means that Therefore, as shown in FIGS. 10 and 11, the first cylinder 301 or the second cylinder 302 is compressed by changing the distance between the first support member 24 and the second support member 26 along the orthogonal direction D1. Alternatively, the pneumatic cylinder may be sandwiched between the first support member 24 and the second support member 26. Figure 10
11 and 12 show a state in which the second support member 26 is in the initial position with respect to the first support member 24.

Regarding the first cylinder 301 and the second cylinder 302, respective cylinder tubes are fixed to the second block 262 so that respective piston rods penetrate the second block 262. The through hole 244 as shown in FIG. 6 is not formed in the first block 242, and the tip of the piston rod of the first cylinder 301 comes into contact with the side surface of the first block 242 and the piston rod of the second cylinder 302 The tip contacts the opposite side surface of the first block 242. Compressed air is sent into the first cylinder 301 and the second cylinder 302, and constantly urges the respective piston rods toward the first block 242.

The first cylinder 301 compresses when the second support member 26 moves closer to the second holding unit 22 which is the other holding unit, and restores the second support member 26 so as to move away from the second holding unit 22. To do. The second cylinder 302 compresses as the second support member 26 moves away from the second holding portion 22, and restores the second support member 26 so as to move closer to the second holding portion 22. By compressing and restoring the pneumatic cylinder, it is possible to suppress the occurrence of distortion in the work W even when one work W is transported by the pair of holding portions independent of each other.

Although the absorbent member 30a of the first holding portion 21 has been described, the second absorbent portion 22 may be provided with the same absorbent member 30a.

Further, the supply and discharge of compressed air to and from the first cylinder 301 and the second cylinder 302 may be controlled during the conveyance of the work W. For example, when the holding member 23 receives the work W at the first position P1 in FIG. 4, the pistons of the first cylinder 301 and the second cylinder 302 are advanced to maintain the initial position, and then the holding member 23 moves the work. When W is adsorbed, the compressed air to each piston of the first cylinder 301 and the second cylinder 302 is degassed or each piston is retracted to allow the second block 262 to move with respect to the first block 242, and further the fourth position P4. When the holding member 23 releases the work W, the pistons of the first cylinder 301 and the second cylinder 302 may be advanced to return to the initial position.

3. Modification 2
A modified example 2 of the work transfer device 1 will be described with reference to FIG. FIG. 12 is a plan view of the absorbing member 30b of the first holding unit 21 in the work transfer device 1 according to the second modification. The work transfer device 1 of FIG. 12 is basically the same as the work transfer device 1 according to the above-described embodiment, except for the configuration of the absorbing member 30b. Therefore, the same members as those in the above-described embodiment will be described using the same reference numerals, and overlapping description will be omitted.

As shown in FIG. 12, the absorbing member 30b of the first holding unit 21 is a first magnet including a magnet set in which the same poles of the first supporting member 24 and the second supporting member 26 face each other and are spaced apart from each other. A set 311 and a second magnet set 312 are included. The first magnet set 311 includes a magnet 311a and a magnet 311b that are arranged apart from each other, and the magnets 311a and 311b are arranged so that the same poles face each other. The second magnet set 312 is composed of a magnet 312a and a magnet 312b that are arranged apart from each other, and the magnets 312a and 312b are arranged so that the same poles face each other.

The first magnet set 311 moves so that the second support member 26 moves away from the other holding portion by the repulsive force generated when the second support member 26 moves closer to the second holding portion 22 which is the other holding portion. To do. The second magnet set 312 moves so that the second support member 26 moves closer to the other holding portion by the repulsive force generated by the second holding member 26 moving away from the second holding portion 22 which is the other holding portion. can do. By adjusting the distance by the repulsion of the magnet set, it is possible to suppress the occurrence of distortion in the work W even when one work W is conveyed by a pair of holding portions that are independent of each other.

Although the absorbing member 30b of the first holding unit 21 has been described, the second holding unit 22 may also include the similar absorbing member 30b.

4. Modification 3
Modification 3 of the work transfer device 1 will be described with reference to FIGS. 13 to 16. FIG. 13 is a front view of the first holding unit 21 in the work transfer apparatus 1 according to Modification 3, FIG. 14 is a plan view of the first holding unit 21 in the work transfer apparatus 1 according to Modification 3, and FIG. [Fig. 16] is a diagram for explaining the operation of the absorbing member 30c according to Modification 3, and Fig. 16 is a diagram for explaining the operation of the absorbing member 30c according to Modification 3. 13 to 16, the cross sections of a part of the first block 242 and the second block 262 and the cylinder tubes of the first cylinder 301 and the second cylinder 302 are shown by hatching. In the work transfer device 1 of FIGS. 13 to 16, the same members as those of the work transfer device 1 according to the above-described embodiment will be described using the same reference numerals, and redundant description will be omitted. In addition, the second holding portion 22 (not shown) does not include the absorbing member 30c, and the first supporting member 24 and the second supporting member 26 are integrated.

As shown in FIGS. 13 and 14, the absorbing member 30c of the first holding portion 21 includes a first cylinder 301 and a first cylinder 301 which are pneumatic cylinders that are compressible between the first supporting member 24 and the second supporting member 26. And two cylinders 302. Here, "compressible between the first support member 24 and the second support member 26" means that the relative distance between the first support member 24 and the second support member 26 is the same as in the first modification. That is, it is in a state in which it can be compressed by the automatic movement. 13 and 14 show a state in which the second support member 26 is in the initial position with respect to the first support member 24.

The two second blocks 262 are fixed to the crossbar 260 so as to project downward from both ends of the crossbar 260 extending along the orthogonal direction D1. Further, the second block 262 extends to both sides of the crossbar 260 in the direction along the X axis as shown in FIG.

The cylinder tubes of the first cylinder 301 and the second cylinder 302 are fixed to the outer surfaces of the two second blocks 262 so that the respective piston rods 321 and 322 face each other. As a result, as shown in FIG. 14, the two first cylinders 301 are fixed to the second block 262 on the right side with a space therebetween in the direction along the X axis. Further, as shown in FIG. 14, the two second cylinders 302 are fixed to the second block 262 on the left side with a space therebetween in the direction along the X axis.

The two first blocks 242 include two guide holes 245 at positions corresponding to the piston rods 321 and 322 of the first cylinder 301 and the second cylinder 302, respectively. The guide hole 245 extends along the orthogonal direction D1. The guide hole 245 does not penetrate the first block 242 and has a bottom portion.

The piston rod 321 of the first cylinder 301 and the piston rod 322 of the second cylinder 302 respectively penetrate the second block 262 and extend into the guide hole 245 of the first block 242. The tips of the piston rods 321 and 322 contact the bottom of the guide hole 245 at the initial position. The piston rods 321 and 322 are slidably guided by the guide hole 245 and relatively movable with respect to the first block 242 along the orthogonal direction D1.

Compressed air is sent into the inside of each cylinder tube of the first cylinder 301 and the second cylinder 302 from a pneumatic circuit (not shown), and the compressed air is constantly pistoned in the direction in which the piston rods 321 and 322 push the first block 242. Energize. Piston rod 321,3
22 pushes the first block 242, so that in the initial position, the first block 242 and the second block 262 have a predetermined distance along the orthogonal direction D1. Therefore, the first block 242 can move relative to the second block 262 by the distance, against the pushing force of the piston rod 321 or the piston rod 322.

FIG. 15 shows a state in which the second support member 26 moves toward the right side (arrow a1) in FIG. 15, that is, a state in which the second support member 26 moves close to the second holding portion 22 (not shown) which is the other holding portion. The tip of the piston rod 321 of the first cylinder 301 is separated from the bottom of the guide hole 245, and the distance between the first block 242 and the second block 262 on the left side of FIG. 15 is narrowed from the initial state. At this time, the piston rod 322 of the second cylinder 302 retracts inside the second cylinder 302. After that, the second cylinder 302 moves the second block 262 to the left side by the compressed air in the second cylinder 302, and returns the second support member 26 to the initial position.

FIG. 16 shows a state in which the second support member 26 moves toward the left side (arrow a2) in FIG. 16, that is, a state in which the second support member 26 moves away from the second holding portion 22 (not shown) which is the other holding portion. The tip of the piston rod 322 of the second cylinder 302 is separated from the bottom of the guide hole 245, and the distance between the first block 242 and the second block 262 on the right side of FIG. 16 is narrowed from the initial state. At this time, the piston rod 321 of the first cylinder 301 retracts inside the first cylinder 301. After that, the first cylinder 301 moves the second block 262 to the right by the compressed air in the first cylinder 301, and returns the second support member 26 to the initial position.

In the state of FIGS. 15 and 16, the distance between the first support member 24 of the first holding portion 21 and the first support member 24 of the second holding portion 22 (not shown) is kept constant, and the first support members No distortion occurs in the work W held by the member 24. As described above, by compressing and restoring the two pneumatic cylinders, it is possible to suppress the occurrence of distortion in the work W even when one work W is conveyed by the pair of holding portions that are independent of each other.

In Modification 3, the absorbing member 30c is provided only in the first holding portion 21, but the second holding portion 22 may be provided with the similar absorbing member 30c. Further, although the absorbing member 30c is always urged in the direction in which each piston rod pushes the first block 242, the compressed air is supplied to and discharged from the first cylinder 301 and the second cylinder 302 during the conveyance of the work W. You may control and adjust the urging|biasing force of each piston rod.

The present invention is not limited to the above-described embodiment, and various modifications are possible, and the configuration substantially the same as the configuration described in the embodiment (the configuration having the same function, method, and result, Alternatively, the same purpose and effect are included). Further, the invention includes configurations in which non-essential parts of the configurations described in the embodiments are replaced. Further, the invention includes a configuration that achieves the same effect as the configuration described in the embodiment or a configuration that can achieve the same object. Further, the invention includes configurations in which known techniques are added to the configurations described in the embodiments.

DESCRIPTION OF SYMBOLS 1... Work transfer device, 2... Base|substrate, 3... 1st unit, 4... 2nd unit, 5a, 5b... Lower mold, 8... Control device, 11... 1st arm, 12... 2nd arm, 21... 1st Holding part, 22... Second holding part, 23... Holding member, 24... First supporting member, 240... Mounting rod, 242... First block, 244... Through hole, 245... Guide hole, 26... Second supporting member, 260... Crossbar, 262... Second block, 264... Collar with collar, 266... Washer, 30, 30a, 30b, 30c... Absorbing member, 31... First spring, 301... First cylinder, 311... First magnet set 311a, 311b... Magnet, 32... Second spring, 302... Second cylinder, 312... Second magnet set, 312a, 312b... Magnet, 321, 322... Piston rod, 34... Guide member, 35... Guided member, 41... 1st raising/lowering drive part, 42... 2nd raising/lowering drive part, 43... Guide, 44... Rail, 45... Elevating body, 51... 1st motor, 52... 2nd motor, 53... 3rd motor, 54... 4 motors, D... conveyance direction, D1... orthogonal direction, L1... first interval, L2... second interval, MP1, MP2... intermediate position, O1... first rotation axis, O2... second rotation axis, O3... third Rotation axis, O4... Fourth rotation axis, P1... First position, P2... Second position, P3... Third position, P4... Fourth position, P5... Fifth position, W... Work

Claims (10)

A substrate disposed adjacent to the press machine,
A pair of first arms whose base ends are rotatably supported with respect to the base body;
A pair of second arms whose base ends are rotatably supported on the respective tip ends of the first arms;
A pair of holding portions that are rotatably supported at the respective tips of the second arms and that are independent of each other;
A work transfer device including:
The holding unit includes a plurality of holding members that respectively hold the work,
At least one of the holding portions is
A first support member supporting a plurality of the holding members,
A second support member that is rotatably supported by the tip of the second arm and that supports the first support member;
An absorbing member provided between the first supporting member and the second supporting member;
Including
The second support member movably supports the first support member along an intersecting direction intersecting a transport direction for transporting the work,
The absorbing member allows movement of the second supporting member with respect to the first supporting member occurring in the intersecting direction and can return the second supporting member to the initial position in the intersecting direction with respect to the first supporting member. The work transfer device. In claim 1,
Each of the pair of holding portions includes the first support member and the second support member,
At least one of the pair of holding portions includes the absorbing member,
In a state where one of the workpieces is held by the pair of holding portions, while maintaining the first gap between the one first supporting member and the other first supporting member, The absorbing member is deformable so that a second gap with the other second support member is narrowed, and the second gap in a narrowed state is expanded while maintaining the first gap. A work transfer device in which the absorbing member is deformable. In claim 1 or claim 2,
The absorbing member includes a first spring and a second spring, which are compression coil springs compressible between the first supporting member and the second supporting member,
The first spring compresses when the second support member moves closer to the other holding portion, and restores the second support member so as to move away from the other holding portion,
The work transfer device, wherein the second spring compresses when the second support member moves away from the other holding portion, and restores the second support member so as to move closer to the other holding portion. In claim 1 or claim 2,
The absorbing member includes a first cylinder and a second cylinder, which are pneumatic cylinders compressible between the first supporting member and the second supporting member,
The first cylinder compresses when the second support member moves closer to the other holding portion, and restores the second support member so as to move away from the other holding portion.
The work transfer device, wherein the second cylinder compresses the second support member by moving away from the other holding portion, and restores the second support member so as to move closer to the other holding portion. In claim 1 or claim 2,
The absorbing member includes a first magnet set and a second magnet set, which are magnet sets having the same poles facing each other and spaced apart from each other between the first support member and the second support member,
The first magnet set moves so that the second support member moves away from the other holding portion by a repulsive force generated by the second support member moving closer to the other holding portion,
The second magnet set moves the second support member so as to move closer to the other holding portion by a repulsive force generated by the second support member moving away from the other holding portion. .. In any one of Claims 1-5,
The first arm rotates about a first rotation axis with respect to the base body,
The second arm rotates about a second rotation axis with respect to the first arm,
The second support member rotates about the third rotation axis with respect to the second arm,
The work transfer device, wherein the first rotation shaft, the second rotation shaft, and the third rotation shaft are parallel to each other. In any one of Claims 1-6,
The first support member includes a guide member,
The work transfer device, wherein the second support member includes a guided member that slides and guides the guide member along the intersecting direction. In any one of Claims 1-7,
Further comprising a first lifting drive unit and a second lifting drive unit fixed to the base,
The first elevating/lowering drive unit elevates and lowers one of the pair of first arms with respect to the base body,
The said 2nd raising/lowering drive part is a work conveyance apparatus which raises/lowers the other of a pair of said 1st arm with respect to the said base|substrate. In any one of Claims 1-8,
The work transfer device, wherein the movement of the second support member with respect to the first support member occurring in the intersecting direction and the return to the initial position are performed at a release position where the holding member releases the work. A substrate disposed adjacent to the press machine,
A pair of first arms whose base ends are rotatably supported with respect to the base body;
A pair of second arms whose base ends are rotatably supported on the respective tip ends of the first arms;
A pair of holding portions that are rotatably supported at the respective tips of the second arms and that are independent of each other;
A work transfer device including:
While holding one work by the pair of holding portions, at least one of the holding portions is movable in a direction in which the other holding portion approaches and separates, and the one of the holding portions is in the direction. The work transfer device capable of returning the other holding portion to the initial position in.

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