JP2020116668A - Workpiece conveying device - Google Patents

Abstract

To provide a workpiece conveying device which can flexibly and easily change a conveyance pitch of a workpiece.SOLUTION: A workpiece conveying device 1 conveys a workpiece W from a process S1 arranged at one end side to a process S9 arranged at the other end side out of a plurality of processes S1-S9 arranged on a horizontal plane in a line, and includes a slide unit 3 arranged so as to move to advance and retreat in a process arrangement direction, and a slide guide 2 which guides advancing/retreating movement of the slide unit 3. The slide unit 3 includes a servo motor 4 as a drive source of the slide unit 3, and a workpiece holding mechanism 5 which can switch a holding state for holding the workpiece W and a non-holding state, in which the workpiece W is not held, on the basis of a signal output from a control device 6 which performs operation control of the servo motor 4.SELECTED DRAWING: Figure 4

Description

The present invention relates to a work transfer device, and more particularly to a work transfer device that can be used in combination with semi-automatic equipment to sublimate the semi-automatic equipment into automatic equipment.

Machine products such as rolling bearings and constant velocity universal joints that consist of an assembly of multiple parts must undergo various work processes such as the process of assembling the parts together and the inspection process to inspect the accuracy of the parts. Is completed. If all of the work (processing) to be performed in these work steps is performed manually, a large amount of cost is required, and the product quality may vary due to the skill level of the worker. Therefore, the various work processes provided on the production line of the above-mentioned machine products are automatically carried out by using the work device as much as possible.

"Semi-automatic equipment" or "automatic equipment" can be preferably used in the production line of the above-mentioned machine products. The semi-automatic equipment includes, for example, a plurality of work processes arranged in a line, and the work to be performed in each work process is automatically performed by using the work device, while the work transfer work for transferring the work between the processes is performed. This is a manual facility. Further, automatic equipment (also referred to as fully automatic equipment) is equipment that automatically performs all work including work transfer work between processes. Semi-automatic equipment has the advantage of being able to flexibly respond to changes in the inter-process pitch (workpiece conveyance pitch) due to equipment layout changes, etc., but to reduce the manufacturing cost of mechanical products. Then, it is more advantageous to use automatic equipment that can save labor.

However, enormous cost would be required if automatic equipment was newly installed according to the specifications of the product. Therefore, the present inventors have examined sublimation of the semi-automatic equipment to the automatic equipment by combining the semi-automatic equipment and an appropriate work transfer device. Examples of the work transfer device to be combined with the semi-automatic equipment include an industrial robot having a three-dimensionally movable arm, and a work transfer device disclosed in Japanese Patent Application Laid-Open No. 7-214452 (Patent Document 1), specifically, a work. An example thereof is one including a slide member that is slidable along the guide rail in the held state, and a fluid pressure cylinder that applies a moving force to the slide member.

JP-A-7-214452

By using the industrial robot as the work transfer device, it is possible to flexibly and easily cope with a change in the transfer pitch. However, the industrial robot cannot be easily adopted because it requires a vast installation space and additionally requires costly and strict safety measures.

On the other hand, although the work transfer device of Patent Document 1 has an advantage that it can be realized at a much lower cost than an industrial robot, the slide movement amount of the slide member is equal to the forward/backward movement amount of the fluid pressure cylinder (piston rod provided therein). Due to the dependency, it is hard to say that it is possible to flexibly deal with the change of the work transfer mode such as the change of the transfer pitch. In addition, since the fluid pressure cylinder basically operates the operation target between the two positions, that is, the shortening limit and the extension limit of the piston rod, if the pitch between the processes is not accurately adjusted, the conveyance error will occur. May occur.

In view of the above situation, an object of the present invention is to provide a work transfer device that can flexibly and easily cope with a change in the transfer mode of a work.

The present invention, which was conceived to achieve the above-mentioned object, has a plurality of processes arranged in a line in a horizontal plane, from a process arranged on one end side to a process arranged on the other end side. And a slide guide that guides the forward and backward movements of the slide unit, and the slide unit is a slide unit. A work holding mechanism capable of switching between a holding state in which a work is held and a non-holding state in which a work is not held based on a signal output from a servo motor serving as a drive source of the motor and a control device electrically connected to the servo motor. And having. The “process” in the present invention means not only a process of performing a predetermined work on a work (working process) but also a process of temporarily storing a work without performing any work on the work ( This is a concept that also includes (temporary storage process).

In the work transfer device according to the present invention having the above configuration, since the servo motor is mounted on the slide unit that can move back and forth along the arrangement direction of the plurality of steps while holding the work, the transfer amount of the work (Stop position) can be controlled arbitrarily and accurately. Therefore, even if it is necessary to change the work transfer pitch due to, for example, a change in the process pitch, it is possible to change the transfer pitch simply by changing the servo motor operation control program stored in the controller. Therefore, it is not necessary to change the hardware surface of the work transfer device or adjust the pitch between steps with high accuracy. Further, the work holding mechanism provided in the slide unit is switched between a holding state in which the work is held and a non-holding state in which the work is not held based on a signal output from the control device. That is, the control device for the servo motor also has a part for controlling the operation of the work holding mechanism. Therefore, it is possible to appropriately convey the work between the processes even with a simple configuration. Therefore, according to the present invention, it is possible to realize a work transfer device which can flexibly and easily cope with a change in the transfer mode of a work.

The work holding mechanism can also be configured to be able to move up and down based on a signal output from the control device. By doing so, even if it is necessary to move the work up and down in order to convey the work between the processes, it is possible to easily meet such a request.

The slide guide may be provided with a rack gear that extends along the arrangement direction of the plurality of steps and that meshes with a pinion gear provided on the rotation shaft of the servo motor. By doing so, it is possible to realize a slide unit that has a simple structure and that moves forward and backward in response to the rotational movement of the servo motor.

The work transfer device according to the present invention may have a plurality of slide units. In this case, if the servo motor provided in each slide unit is electrically connected to the single control device, the work transfer device having a plurality of slide units can be simplified.

As described above, the work transfer device according to the present invention can flexibly and easily cope with a change in the transfer mode of a work. Therefore, if this work transfer device is used in combination with, for example, a semi-automatic equipment including a plurality of steps (working steps) arranged side by side in a horizontal plane, the automatic equipment can be constructed at low cost.

It is a conceptual diagram when an example of the production line in which the work transfer device according to the embodiment of the present invention is incorporated is viewed from above. It is sectional drawing which shows an example of the workpiece|work thrown into the production line shown in FIG. It is a figure which shows the state in which the workpiece|work shown in FIG. 2 was conveyed to the workpiece|work delivery position of a 2nd process. It is a schematic perspective view of the work conveyance apparatus shown in FIG. FIG. 2 is a plan view of the work transfer device shown in FIG. 1. FIG. 2 is a side view of the work transfer device shown in FIG. 1. It is a block diagram which shows notionally the control system of the work conveyance apparatus shown in FIG.

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a conceptual diagram when an example of a production line in which a work transfer device 1 according to an embodiment of the present invention is incorporated is viewed from above. This production line is a so-called automatic line in which no manual work is performed during normal operation, and the first step S1 to the ninth step S9 are arranged in a line in a horizontal plane, and the work W carried into the first step S1 ( 2 (which will be described later in detail)) is automatically conveyed to the ninth step S9 through the second step S2 to the eighth step S8 in order. The work transfer unit of the present embodiment includes a work transfer device 1 and a transfer conveyor 9 that is provided separately from the work transfer device 1 and that transfers the work W from the third step S3 to the fourth step S4. The work transfer unit can be configured by only the work transfer device 1.

Here, an example of the work W will be described with reference to FIG. The work W shown in FIG. 2 is a double row ball bearing 100 that constitutes a wheel bearing device for rotatably supporting the wheels of an automobile with respect to the vehicle body. The double-row ball bearing 100 includes an outer member 101 having a double-row outer raceway surface 101a on the inner circumference, an inner member 102 having a double-row inner raceway surface 102a on the outer circumference, and a pair of raceway surfaces. The intervening ball 103, the cage 104 that holds the ball 103 at a predetermined circumferential interval, and the outboard side of the annular space defined between the outer member 101 and the inner member 102 (the left side in the drawing of FIG. 2). And sealing members 105 and 106 for sealing the end opening on the inboard side (the right side in the drawing of FIG. 2).

The outer member 101 integrally has a flange 101b extending outward in the radial direction, and the flange 101b is provided with a bolt hole 101c through which a bolt member for attaching the outer member 101 to the vehicle body is inserted. .. The inner member 102 is formed by swaging and fixing the second inner member 108 to the outer peripheral portion on the inboard side of the first inner member (also referred to as a hub wheel) 107 having the flange 107a extending outward in the radial direction. The inner raceway surfaces 102a are provided on the outer diameter surfaces of the first inner member 107 and the second inner member 108, respectively. The flange 107a of the first inner member 107 is provided with a bolt hole 107b into which a bolt member for fixing the inner member 102 to the wheel is inserted.

The wheel bearing device may be provided with a rotation detection device for controlling various systems (for example, an antilock brake system (ABS)) provided in the automobile. The rotation detection device includes, for example, an annular pulser ring 109 disposed adjacent to the outside of the seal member 106 in the axial direction, and a sensor (not shown) axially opposed to the pulser ring 109, and the sensor is the outer member 101. Is attached and fixed to a sensor cap (not shown) attached to the end portion on the inboard side. The production line shown in FIG. 1 is configured to automatically manufacture an assembly in which a sensor cap is attached and fixed to a predetermined position in the circumferential direction of the outer member 101, and the double-row ball bearing 100 is shown in FIG. As described above, the vertical posture with its central axis along the vertical direction (more specifically, the vertical posture in which the flange 107a of the first inner member 107 is arranged on the lower side and the second inner member 108 is arranged on the upper side) ), it is transported inside the production line (between processes).

Next, the first step S1 to the ninth step S9 provided on the production line will be briefly described.

First, the first step S1 is a step of temporarily storing the work W (double-row ball bearing 100) carried into the production line, and no work (processing) is performed on the work W. The second step S2 is a step in which a marking operation for printing the model number, the manufacturing date, etc. is performed on a predetermined portion of the work W, and a working device (not shown) for automatically performing this marking operation is provided. Has been. The third step S3 is a step of temporarily storing the marked work W, and no work is performed on the work W.

The fourth step S4 is a step of receiving the work W conveyed from the third step S3 and temporarily storing the work W, and no work is performed on the work W. The fifth step S5 is a step of rotating the outer member 101 around its axis in order to attach and fix the sensor cap to a predetermined circumferential position of the outer member 101 in the next step (sixth step S6) (of the sensor cap). This is a process in which the mounting position is determined), and a working device (not shown) for automatically performing this work is provided. As described above, the sixth step S6 is a step in which the work of attaching and fixing the sensor cap to a predetermined position in the circumferential direction of the outer member 101 is performed, and a work device (not shown) for automatically performing this work. Is provided. The seventh step S7 is a step of inspecting the mounting accuracy of the sensor cap, and a working device (not shown) for automatically performing this inspection work is provided. Although not shown in the drawing, a temporary placing table for temporarily placing the work W determined as a rejected product in the seventh step S7 is installed on the production line, and the work is transferred to the temporary placing table. The work is performed by a separate transport device (not shown).

The eighth step S8 is a step of temporarily storing the capped work W that has been determined to be a passed product in the seventh step S7, and no work is performed on this work W. The ninth step S9 is a step of performing anticorrosion treatment on the work W with a cap, and a working device (not shown) for automatically performing the anticorrosion treatment is provided. The work W that has been subjected to the rust prevention treatment is discharged to the outside of the production line by a conveyance device different from the work conveyance device 1 or manually.

In the production line configured as described above, the pitch between two adjacent steps is not constant, and the size, cycle time, etc. of the working device (not shown) provided in each of the second step S2 and the fifth step S5 to the seventh step S8, etc. Has been adjusted accordingly. Further, the number of steps to be provided in the production line and the pitch between steps may be changed due to replacement of work devices or addition or removal of work devices depending on the specifications of the work W or the like. Therefore, it is desired that the work transfer device 1 can flexibly and easily change the transfer pitch of the work W according to the change in the inter-process pitch, and the work transfer device 1 of the present embodiment meets such a request. Can easily respond. Hereinafter, the work transfer device 1 will be described in detail.

As shown in FIG. 1, the work transfer device 1 includes a slide guide 2 linearly extending along the arrangement direction of the first step S1 to the ninth step S9, and a plurality of slides that move back and forth along the slide guide 2. The unit 3 (here, the first slide unit 3A to the fourth slide unit 3D) is provided. In this embodiment, the slide guide 2 is divided between the third step S3 and the fourth step S4. This is because, as described above, the work W is carried from the third step S3 to the fourth step S4 by the carrying conveyor 9 provided separately from the work carrying device 1.

In the present embodiment, the first slide unit 3A is provided so as to be able to move back and forth between the first step S1 and the third step S3, and the work is sequentially performed in the order of the first step S1→the second step S2→the third step S3. Transport W. Further, the second slide unit 3B is provided to move back and forth between the fourth step S4 and the sixth step S6, and conveys the work W in the order of the fourth step S4→fifth step S5→sixth step S6. .. The third slide unit 3C is provided so as to be movable back and forth between the sixth step S6 and the eighth step S8, and conveys the work W in the order of the sixth step S6→the seventh step S7→the eighth step S8. To do. Further, the fourth slide unit 3D is provided to be movable back and forth between the eighth step S8 and the ninth step S9, and conveys the work W from the eighth step S8 to the ninth step S9. Each of the first slide unit 3A to the fourth slide unit 3D can move forward and backward at the same time as the other slide units move forward and backward. Therefore, in the above production line, a plurality of works W may be simultaneously (in parallel) carried by the work carrying device 1.

As shown in FIG. 1, in the first step S1 to the ninth step S9, the work transfer positions P1 to P1 at which the work W is transferred between the work transfer section (the work transfer device 1 and the transfer conveyor 9), respectively. P9 is provided. Therefore, strictly speaking, the first slide unit 3A has the work transfer position P1 provided in the first step S1→the work transfer position P2 provided in the second step S2→the work transfer position provided in the third step S3. The work W is conveyed in the order of the position P3. The same applies to the second slide unit 3B to the fourth slide unit 3D.

Of the first step S1 to the ninth step S9, at least the work transfer positions of the second step S2, the fifth step S5 to the seventh step S7, and the ninth step S9 in which a working device for automatically performing a predetermined work is provided. As shown in FIG. 3, a work receiver 10 for supporting the work W is installed in the. The work receiver 10 has a bottomed tubular shape having a tubular portion and a bottom portion, and is a cylindrical portion (also referred to as a pilot portion) provided at the end portion of the first inner member 107 on the outboard side with the inner diameter surface of the tubular portion. The outer diameter surface of the first inner member 107 is supported at the upper end of the tubular portion from below.

As shown in FIGS. 1 and 4 to 6, the slide guide 2 includes a base member 11 that is supported in a horizontal posture by columns that are erected on the floor surface, and a pair of base members 11 that are laid on the upper surface of the base member 11. A guide rail 12 and a rack gear 13 that is fixedly mounted on the base member 11 and meshes with a pinion gear 4b that is integrally rotatable with a rotary shaft 4a of a servo motor 4 described later are provided.

As shown in FIGS. 4 to 6, each slide unit 3 (first slide unit 3A to fourth slide unit 3D) has a servo motor 4 as a drive source of the slide unit 3 and a work holding mechanism for holding a work W. 5, a lifting mechanism 16 that supports the work holding mechanism 5 so as to be lifted, and a base member 14 that supports these. A first slider 15 fitted to a guide rail 12 provided on the slide guide 2 is attached and fixed to the base member 14. The first slider 15 slides with respect to the guide rail 12 when the slide unit 3 moves forward and backward in the horizontal direction along the slide guide 2.

The rotation shaft 4a of the servomotor 4 is provided with a pinion gear 4b that can rotate integrally with the rotation shaft 4a, and the pinion gear 4b meshes with a rack gear 13 provided on the slide guide 2. With this configuration, when the servo motor 4 is rotationally driven, the slide unit 3 moves back and forth along the slide guide 2 by an amount corresponding to the amount of rotation of the rotation shaft 4a of the servo motor 4. Although illustration is omitted, a sensor (rotation confirmation sensor) for confirming whether or not the rotary shaft 4a (pinion gear 4b) of the servomotor 4 is properly rotating is attached to each slide unit 3. There is. Then, when the rotation confirmation sensor detects that the pinion gear 4b is not properly rotating, it is notified that an abnormality has occurred in the work transfer device 1.

As conceptually shown in FIG. 7, the servomotor 4 provided in each slide unit 3 is electrically connected to a single control device 6 (the motor control unit 7 provided therein) via a power line 26. At the same time, it is electrically connected to the motor control unit 7 via the signal line 25. The motor control unit 7 is electrically connected to the power supply 30 via the power supply line 28. The motor control unit 7 of the control device 6 stores a program for controlling the operation of the servomotor 4 provided in each slide unit 3 (rotation/stop of the rotation shaft 4a and rotation amount), and each slide unit. A signal for controlling the rotation/stop and the amount of rotation of the rotary shaft 4a of each servo motor 4 is output at a predetermined timing based on the position information or the like input from the motor 3 to control the position of the motor 4. As a result, each slide unit 3 moves forward and backward by a predetermined amount at a predetermined timing and carries the work W.

As shown in FIGS. 4 to 6, the work holding mechanism 5 includes a pair of work chucks 17, 17 capable of holding (chucking) the work W in cooperation with the other side, and the work chucks 17 and the work W. And a drive unit 18 that reciprocates between a holding position (not shown) capable of holding the workpiece W and a non-holding position (see FIG. 5) where the workpiece W is not held. In short, the work holding mechanism 5 can be switched between a holding state in which the work W can be held and a non-holding state in which the work W is not held. The work holding mechanism 5 that operates in this manner is supported by the support member 23 that is attached and fixed to the piston rod 20a of the air cylinder 20 that constitutes the lifting mechanism 16.

Each work chuck 17 has a rotating member 17a that is rotatable around a vertical axis in response to the output of the driving unit 18, and a claw member 17b (see FIG. 5) connected to the rotating member 17a. When the work chuck 17 is located at the holding position, it is in a state of being axially engageable with the flange 107a of the first inner member 107 (a state in which the flange 107a can be supported from below). As the drive unit 18, for example, an air drive type actuator is used. In this case, as shown in FIG. 7, the drive unit 18 is connected to an air source 31 via an air pipe 27, and the air source 31 is electrically connected to the work chuck control unit 8 provided in the control device 6. Has a solenoid valve connected to. Then, when a control signal is output from the work chuck control unit 8, the solenoid valve provided in the air source 31 is opened and closed based on the control signal to drive the drive unit 18, and the work chuck 17 is held at the holding position and the non-operation position. One of the holding positions moves to the other (the work W is held or released).

The elevating mechanism 16 is arranged on the base member 14, and has an air cylinder 20 as a linear actuator having an operating portion (piston rod 20a) that moves up and down, and a support attached and fixed to the tip of the piston rod 20a of the air cylinder 20. The main components are the member 23 and an elevating guide part that guides the elevating movement of (the work holding mechanism 5 supported by) the supporting member 23. The up-and-down guide unit includes an up-and-down guide 19 provided upright on the base member 14 and a second slider 22 that moves up and down along a guide rail 19 a provided on the up-and-down guide 19. A part of the support member 23 is attached and fixed to the second slider 22. A bracket 21 for holding the air cylinder 20 in a vertical posture (a posture in which the central axis extends along the vertical direction) is attached and fixed to a lower region of the elevating guide 19. By providing the elevating mechanism 16 having such a configuration, the work holding mechanism 5 can be moved up and down with high accuracy.

In the present embodiment, as described with reference to FIG. 3, the bottomed cylindrical workpiece receiver 10 is installed at the workpiece transfer position P2 or the like provided in the second step S2, and the workpiece transfer device 1 transfers the workpiece transfer position. The outer diameter surface of the work W conveyed to P2 or the like is guided by the inner diameter surface of the cylindrical portion of the work receiver 10. Therefore, if the elevating mechanism 16 is not provided, the work W cannot be transferred between the slide unit 3 of the work transfer device 1 and the work transfer position P2. However, if the work receiver 10 as described above is not installed at the work transfer position P2 or the like, the elevating mechanism 16 is unnecessary. Therefore, the elevating mechanism 16 does not necessarily have to be provided and may be omitted in some cases. When the lifting mechanism 16 is omitted, the work holding mechanism 5 may be supported by an appropriate supporting member provided on the base member 14.

Although not shown in detail, the lifting mechanism 16 (the air cylinder 20 constituting the lifting mechanism 16) can be moved up and down by using the air source 31 for operating the drive unit 18 of the work holding mechanism 5 and the control device 6. You can This eliminates the need to use a dedicated air source and control device for operating the elevating mechanism 16, so that the work transfer device 1 can have a simple configuration as a whole.

As described above, in the work transfer device 1 of the present embodiment, the slide unit 3 (first slide unit 3A to fourth slide) that can move forward and backward along the arrangement direction of a plurality of steps while holding the work W is held. Since the servo motor 4 is mounted on each of the units 3D) and the slide unit 3 is capable of self-propelling, it is possible to arbitrarily and accurately control the carry amount and the stop position of the work W. Therefore, even when the conveyance pitch of the work W needs to be changed due to the change of the inter-process pitch, for example, the operation of the servo motor 4 stored in the control device 6 (the motor control unit 7 provided therein) It is possible to deal with the change of the conveyance pitch only by changing the control program (the rotation amount control program of the rotary shaft 4a), and it is not necessary to change the hardware surface of the work conveyance device 1 or to adjust the pitch between steps with high accuracy. ..

In particular, the work transfer device 1 of the present embodiment has a plurality of slide units 3 (3A to 3D), and the servomotors 4 provided in each slide unit 3 are electrically connected to a single control device 6. Therefore, the entire device can be simplified as compared with the case where the operation control of the servo motors 4 individually provided in each slide unit 3 is performed by using the individually provided control device.

Further, the work holding mechanism 5 provided in each slide unit 3 is based on a signal output from the control device 6 that controls the operation of the servomotor 4, and holds the work W and holds the work W in a non-holding state. The state is switched. That is, the control device 6 provided for controlling the operation of the servo motor 4 also has a portion for controlling the operation of the work holding mechanism 5. Therefore, it is possible to appropriately convey the work W between the steps while having a simple configuration.

Even when the work transfer device 1 according to the present invention needs to change the transfer pitch of the work W or the like due to a change in the layout of the production line, etc. due to the combination of the above-described effects. It is possible to respond flexibly and easily to changes. Therefore, when the work transfer device 1 is used in combination with the semi-automatic equipment having a plurality of processes (working steps) arranged in a line in a horizontal plane, the automatic equipment can be manufactured at low cost (for example, the production line described above). Can be built.

Although the work transfer device 1 according to the embodiment of the present invention has been described above, the work transfer device 1 can be appropriately modified without departing from the scope of the present invention.

For example, in the embodiment described above, the work transfer device 1 including four slide units 3 is adopted, but the work transfer device including one to three slide units 3 or five or more slide units 3 is used. It is of course possible to employ the device 1, and the number of slide units 3 installed and the operating range of each slide unit 3 can be arbitrarily changed according to the number of steps provided in the production line, the pitch between steps, and the like.

Further, in the above, the air-driven actuator is used as the drive unit 18 constituting the work holding mechanism 5, but the drive unit 18 can also be configured by an electric actuator or a hydraulic actuator. Similarly, although the air cylinder 20 is used as the direct-acting actuator constituting the lifting mechanism 16, it may be replaced with an electric cylinder or a hydraulic cylinder.

Further, although the case where the work transfer device 1 according to the present invention is used in a so-called assembly line has been described above, the work transfer device 1 according to the present invention can sequentially machine other production lines, for example, a work. It is also possible to use it for carrying (automatic carrying) the work W on a working line for carrying out the work or a combined line of the working line and the assembly line.

The present invention is not limited to the above-described embodiments, and can be carried out in various forms without departing from the gist of the present invention. That is, the scope of the present invention is defined by the claims, and includes equivalent meanings in the claims and all modifications within the scope.

1 Work Transfer Device 2 Slide Guide 3 Slide Unit 4 Servo Motor 4a Rotating Shaft 4b Pinion Gear 5 Work Holding Mechanism 6 Controller 7 Motor Control Section 8 Work Chuck Control Section 10 Work Receptor 13 Rack Gear 16 Lifting Mechanism 17 Work Chuck 18 Drive Section 30 Power Supply 31 Air source 100 Double row ball bearing (workpiece)
P1 to P9 Work transfer position S1 to S9 Process W Work

Claims (4)

Among a plurality of processes arranged side by side in a horizontal plane, a work transfer device for transferring a work from a process arranged on one end side to a process arranged on the other end side,
A slide unit provided to be movable back and forth along the arrangement direction of the plurality of steps; and a slide guide for guiding the forward and backward movement of the slide unit,
The slide unit has a holding state for holding the work and a non-holding state for not holding the work based on a signal output from a servo motor as a drive source of the slide unit and a control device that controls the operation of the servo motor. And a work holding mechanism capable of switching between and. The work transfer device according to claim 1, wherein the work holding mechanism is configured to be movable up and down based on a signal output from the control device. The work transfer device according to claim 1 or 2, wherein the slide guide is provided with a rack gear that extends along the arrangement direction of the plurality of steps and that meshes with a pinion gear provided on a rotation shaft of the servo motor. Having a plurality of the slide units,
The work transfer device according to claim 1, wherein the servo motor provided in each slide unit is electrically connected to the single control device.

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