JP2021146348A - Work-piece conveyance device - Google Patents

Abstract

To provide a work-piece conveyance device which can further widen a distance between two sheets of work-pieces while conveying the two sheets of work-pieces and can reduce weight load on an arm as much as possible with a simple structure.SOLUTION: A work-piece conveyance device 100 includes: a conveyance section 1 which has a right upper arm 11a pivotally attached to one end of a body section 10, a right lower arm 12a pivotally attached to a tip of the right upper arm 11a, a left upper arm 11b pivotally attached to the other end, and a left lower arm 12b; and a suction section 2 which has a rail section provided on a top face of a cross bar extending in a Y-axis direction, an auxiliary bar movable along the rail section, first suction means mounted in a holder of the cross bar, and second suction means mounted in the auxiliary bar.SELECTED DRAWING: Figure 1

Description

The present invention relates to a work transfer device, and more particularly to a double arm type work transfer device capable of simultaneously transporting two workpieces while changing the distance between the workpieces.

In the field of press working, a work transfer device is used to continuously carry in or out a work to a press machine.
Among them, a so-called double-arm type work transfer device is known in which the work is supported by two arms via a crossbar in order to reduce the weight load due to the work on the arm that grips the work.

Such a work transfer device includes a pair of arm units, a work gripping mechanism mounted between the tips of the arm units, and an elevating unit for raising and lowering the arm units, and the work held by the work gripping mechanism is held. A work transfer device (see, for example, Patent Document 1) that transfers by operating the arm unit and the elevating unit, a pair of arm units, a work gripping mechanism mounted between the tips of each arm unit, and raising and lowering the arm unit with respect to a substrate. The arm unit has a slide arm for slidably connecting the tips of the arm units to each other, and a work transfer device (for example, a work transfer device) that supports the work gripping mechanism via the slide arm. , Patent Document 2) and the like are known.

In recent years, in press working, from the viewpoint of improving productivity and rationalization, two workpieces are conveyed at the same time and while changing the distance between the two workpieces, and the two workpieces are pressed at the same time. ing.
As such a work transfer device, a first arm unit and a second arm unit rotatably supported by a substrate arranged at appropriate positions between press stages, an elevating unit for raising and lowering both arm units, and a first elevating unit. The arm unit is provided with a first slide arm, the second arm unit is provided with a second slide arm, the first slide arm and the second slide arm are slidably connected to each other, and the first slide arm is the first. A work transfer device (for example, Patent Document 3) having a work grip portion and a second slide arm having a second work grip portion, a main body portion, and a horizontally rotatable right arm attached to the main body portion. It includes a left arm, a crossbar connected to the right arm, a first suction means attached to the crossbar, a shifter attached to the crossbar, and a second suction means attached to the shifter. , The shifter consists of a mounting part and a driving part that moves with respect to the mounting part, and the driving part is pivotally attached to a connecting bar attached to the left arm, based on the rotation of the right arm and the left arm. , A work transfer device (for example, Patent Document 4) in which a drive unit moves with respect to a crossbar is known.

Japanese Unexamined Patent Publication No. 2006-346699 JP-A-2007-216254 JP-A-2009-208080 International Publication No. 2014/171604 Pamphlet

However, in the work transfer device described in Patent Documents 3 and 4, although it is possible to increase the distance between the two works while conveying the two works, the widening distance is between the arms. There is a drawback that the movement width of the slide arm that can be attached is limited.
Further, since a heavy load is applied to the arm by the amount of the slide arm mounted, the driving speed of the arm tends to decrease and the transport accuracy tends to decrease from the viewpoint of inertia.

The present invention has been made in view of the above circumstances, and while transporting two workpieces, the distance between the two workpieces can be further increased, the structure is simple, and the weight load on the arm is as small as possible. An object of the present invention is to provide a work transfer device that can be reduced.

As a result of diligent studies to solve the above problems, the present inventors have attached a first suction means capable of sucking the work to the holder of the crossbar at the suction part, and suck the work to the auxiliary bar attached and fixed to the base. We have found that the above problems can be solved by attaching a possible second suction means and providing a rail portion for moving the base portion in the width direction directly on the crossbar, and have completed the present invention.

In the present invention, (1) when the transport direction is the X-axis direction, the width direction is the Y-axis direction, and the directions orthogonal to the X-axis and the Y-axis are the Z-axis directions, the two workpieces are simultaneously in the X-axis direction. In a work transfer device capable of transporting a workpiece, the main body, the upper right arm pivotally attached to one end of the main body, the lower right arm pivotally attached to the tip of the upper right arm, and the other end of the main body. A transport portion having a worn upper left arm and a lower left arm pivotally attached to the tip of the upper left arm, a crossbar extending in the Y-axis direction, and a rail extending in the Y-axis direction provided on the upper surface of the crossbar. A portion, a base movable along the rail portion, an auxiliary bar attached and fixed to the base, a first suction means attached to a crossbar holder, and a second suction means attached to the auxiliary bar. It is provided with a right connecting portion for connecting the suction portion, the tip of the lower right arm, and the crossbar, and a left connecting portion for connecting the tip and the base of the lower left arm, and is connected to the right. The portion is rotatable about the Z axis with respect to the tip of the lower right arm, the left connecting portion is rotatable about the Z axis with respect to the tip of the lower left arm, and the base is the tip of the lower left arm. , And a work transfer device that is integrated with the left connecting portion and can move along the rail portion.

In the present invention, (2) the right connecting portion is composed of a right neck portion connected to the tip of the lower right arm and a right head connected to the upper surface of the crossbar, and the left connecting portion is attached to the tip of the lower left arm. It consists of a connected left neck and a left head connected to the base, and the right head is rotatable around the Y axis with respect to the right neck, and the left head is around the Y axis with respect to the left neck. It exists in the work transfer device according to (1) above, which is rotatable.

In the present invention, (3) the suction portion further has a spacer provided on the upper surface of the crossbar, and the right connecting portion connects the tip of the lower right arm and the spacer. The right connecting part consists of a right neck part connected to the tip of the lower right arm and a right head connected to a spacer, and the left connecting part is connected to the left neck part connected to the tip of the lower left arm and the base part. The right head is rotatable around the Y axis with respect to the right neck, and the left head is rotatable around the Y axis with respect to the left neck. The work transfer device according to (1) above, wherein the distance between the tip of the lower arm and the crossbar is substantially the same as the distance between the tip of the lower left arm and the crossbar.

In the present invention, (4) a right protrusion is attached to the right neck portion, a right grip portion is attached to the tip of the lower right arm, and the right grip portion grips the right protrusion to the right. The rotation of the neck around the Z axis is restricted, a left protrusion is attached to the left neck, a left grip is attached to the tip of the lower left arm, and the left grip grips the left protrusion. This exists in the work transfer device according to (2) or (3) above, wherein the rotation of the left neck portion around the Z axis is restricted.

In the present invention, (5) the suction portion further has an auxiliary rail portion that extends in the Y-axis direction attached to the holder of the crossbar, and the auxiliary bar can move along the auxiliary rail portion ( It exists in the work transfer apparatus according to any one of 1) to (4).

The present invention exists in the work transfer device according to any one of (1) to (5) above, wherein the base portion is provided with a brake for temporarily fixing the base portion to the rail portion.

In the work transfer device of the present invention, in the suction portion, the first suction means capable of sucking the work is attached to the holder of the crossbar, and the second suction means capable of sucking the work is attached to the auxiliary bar attached and fixed to the base. Therefore, it is possible to grip two workpieces at the same time.
The work transfer device shall include a right connecting portion and a left connecting portion, the right connecting portion shall be rotatable about the Z axis with respect to the tip of the lower right arm, and the left connecting portion shall be of the lower left arm. By making it rotatable around the Z axis with respect to the tip, it is possible to simultaneously grasp the above-mentioned two workpieces and convey them in the X axis direction.

At this time, in the work transfer device, since the base portion can be moved along the rail portion directly provided on the crossbar, the distance between the two workpieces can be reduced while conveying the two workpieces. Can be changed. Although the length of the rail portion in the Y-axis direction is less than or equal to the length of the crossbar in the Y-axis direction, the length of the crossbar in the Y-axis direction is not particularly limited, so that the rail portion also has a desired length. Can be. As a result, the movement width of the base can be expanded to a desired range.
Further, since the rail portion is provided directly on the crossbar, a so-called slide arm is not used. As a result, the weight load on the arm can be reduced. As a result, it is possible to suppress a decrease in the driving speed and transport accuracy of the arm due to a heavy load.

In the work transfer device of the present invention, the right connecting portion is composed of the right neck portion and the right head portion, the left connecting portion is composed of the left neck portion and the left head portion, and the right head portion is Y with respect to the right neck portion. By making it rotatable around the axis and allowing the left head to rotate around the Y axis with respect to the left neck portion, the suction means can be tilted around the Y axis during transportation. As a result, even when the surface on which the work is gripped is inclined back and forth, the work can be gripped by the suction means.
Further, it is possible to change the posture when gripping and transporting the work so as to be at high speed and not to apply a load.

In the work transfer device of the present invention, when the suction portion further has a spacer, the distance between the tip of the lower right arm and the crossbar and the tip of the lower left arm and the crossbar can be adjusted by adjusting the height of the spacer. Can be the same as the distance of. As a result, the balance when transporting the work is improved, and the weight load due to the work can be evenly distributed to the lower left arm and the lower right arm as much as possible.
Further, by using the spacer, it is possible to save the trouble of changing the tip of the lower right arm, the right connecting portion, etc. to a special size.

In the work transfer device of the present invention, the auxiliary rail portion is attached to the crossbar so that the auxiliary bar can move along the auxiliary rail portion, so that the accuracy and stability of the movement along the rail portion of the base portion can be achieved. Can be improved.
Further, by attaching the auxiliary rail portion to the crossbar, a part of the weight load of the work on the auxiliary bar can be borne by the auxiliary rail portion.

In the work transfer device of the present invention, the right grip portion grips the right protrusion portion and the left grip portion grips the left protrusion portion, thereby limiting the rotation of the right neck portion and the left neck portion around the Z axis, respectively. Can be done. This makes it possible to easily attach these to the crossbar (spacer) and the base.

In the work transfer device of the present invention, by providing the brake, the base portion can be temporarily fixed to the rail portion when the suction portion 2 is attached to and detached from the right connecting portion 3a and the left connecting portion 3b. This makes it possible to easily perform the attachment / detachment work.
Further, by temporarily fixing the base portion to the rail portion, the position of the base portion with respect to the rail portion before detachment can be reproduced at the time of mounting.

FIG. 1 is a perspective view showing an embodiment of a work transfer device according to the present invention. FIG. 2A is a top view for explaining the lock mechanism attached to the lower right arm and the lower left arm in the work transfer device according to the present embodiment, and FIG. 2B is a top view for explaining the lock mechanism attached to the lower right arm and the lower left arm. It is a transmission side view of the gripping device shown in (a). FIG. 3 is an enlarged perspective view showing a right connecting portion, a left connecting portion, and a suction portion of the work transfer device shown in FIG. FIG. 4 is a front view showing a suction portion of the work transfer device according to the present embodiment. FIG. 5 is a top view showing a state in which a work is conveyed by using the work transfer device according to the present embodiment. FIG. 6 is a perspective view for explaining a state in which the work is tilted using the work transfer device according to the present embodiment. FIG. 7 is a front view showing a suction portion of the work transfer device according to another embodiment. FIG. 8 is a perspective view for explaining a locking mechanism for restricting the rotation of the right neck portion with respect to the lower right arm and the rotation of the left neck portion with respect to the lower left arm in the work transfer device according to another embodiment. be.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings as necessary. In the drawings, the same elements are designated by the same reference numerals, and duplicate description will be omitted. In addition, the positional relationship such as up, down, left, and right shall be based on the positional relationship shown in the drawings unless otherwise specified. Furthermore, the dimensional ratios in the drawings are not limited to the ratios shown.

In the present specification, the transport direction of the work is the X-axis direction, the width direction of the work is the Y-axis direction, and the directions orthogonal to the X-axis and the Y-axis (vertical direction) are the Z-axis directions.
Further, the upstream side of the work transfer in the X-axis direction is "front", the downstream side is "rear", one side in the Y-axis direction is "right", and the other side is "left".

The work transfer device of the present invention is a device capable of simultaneously transferring two workpieces in the X-axis direction. Therefore, for example, in the field of press working, it is used as a device for loading or unloading two workpieces into or out of a press machine at the same time. The press machine may be not only a press machine arranged independently, but also a tandem press line press machine or a transfer press line press machine.

FIG. 1 is a perspective view showing an embodiment of a work transfer device according to the present invention.
As shown in FIG. 1, the work transfer device 100 includes a transfer unit 1, a suction unit 2, and a right connection unit 3a and a left connection unit 3b for connecting the transfer unit 1 and the suction unit 2.
That is, in the work transfer device 100, the transfer unit 1 and the suction unit 2 are integrated via the right connecting portion 3a and the left connecting portion 3b. On the other hand, the transport portion 1 and the suction portion 2 are detachable from the right connecting portion 3a and the left connecting portion 3b, respectively.

In the work transfer device 100, the suction unit 2 has a function of sucking and gripping two works W1 and W2, and the transfer unit 1 conveys the two works W1 and W2 in the X-axis direction.
At this time, as will be described later, it is possible to change the distance between the two workpieces W1 and W2. The drive control and the position control when the workpieces W1 and W2 are conveyed are performed by using a known control device.

In the work transfer device 100, the transfer unit 1 includes a main body portion 10, an upper right arm 11a pivotally attached to one end on the lower side of the main body portion 10, and a lower right arm pivotally attached to the tip of the upper right arm 11a. It has a 12a, an upper left arm 11b pivotally attached to the other end on the lower side of the main body 10, and a lower left arm 12b pivotally attached to the tip of the upper left arm 11b.
Here, in the transport unit 1, the upper right arm 11a and the lower right arm 12a and the upper left arm 11b and the lower left arm 12b have the same structure except that they are attached so as to be symmetrical.

The main body 10 is attached, for example, directly to an upright (post) of a press machine (not shown) or indirectly via a frame or the like erected on the upright. As a result, the entire work transfer device 100 is attached to the press machine.
In this case, in the press machine, the work is carried in or out by the work transfer device 100 from the side to which the main body 10 of the work transfer device 100 is attached.
In this way, in the work transfer device 100, since the main body 10 can be attached to the press machine, the work can be carried in or out compactly without taking up space.
In the work transfer device 100, a drive mechanism (air cylinder, ball screw, etc.) may be attached to the main body 10 so that the work transfer device 100 can move up and down with respect to the press machine (upright). In this case, it is possible to efficiently perform operations such as maintenance and setup change of the work transfer device 100.

One ends of the upper right arm 11a and the upper left arm 11b are pivotally attached to pivot shafts (not shown) extending in the Z-axis direction provided at the lower portions on both sides of the main body 10, respectively. As a result, the upper right arm 11a and the upper left arm 11b can rotate about the Z axis (on the XY surface) with respect to the main body portion 10.
Further, the upper right arm 11a is provided with a pivot shaft 11a1 extending in the Z-axis direction at the other end. One end of the lower right arm 12a is pivotally attached to the pivot axis 11a1 of the upper right arm 11a. As a result, the lower right arm 12a can rotate about the Z axis (on the XY plane) with respect to the upper right arm 11a.
Further, the upper left arm 11b is provided with a pivot shaft 11b1 extending in the Z-axis direction at the other end. One end of the lower left arm 12b is pivotally attached to the pivot shaft 11b1 of the upper left arm 11b. As a result, the lower left arm 12b can rotate about the Z axis (on the XY plane) with respect to the upper left arm 11b.

In the transport unit 1, the upper right arm 11a is equipped with a motor M11 for rotationally driving the upper right arm 11a and a motor M12 for rotationally driving the lower right arm 12a.
Similarly, the upper left arm 11b is equipped with a motor M21 for rotationally driving the upper left arm 11b and a motor M22 for rotationally driving the lower left arm 12b.

A right connecting portion 3a for connecting to the suction portion 2 is attached to the tip of the lower right arm 12a.
Similarly, the lower left arm 12b is attached with a left connecting portion 3b for connecting to the suction portion 2 at the other end.
Therefore, in the work transfer device 100, the double arm type transfer unit 1 is connected to the suction unit 2 by the right connecting portion 3a and the left connecting portion 3b.
The right connecting portion 3a and the left connecting portion 3b have the same structure except that they are attached so as to be symmetrical.

Specifically, the right connecting portion 3a connects the tip of the lower right arm 12a of the conveying portion 1 and the spacer S described later of the suction portion 2.
At this time, the right connecting portion 3a is pivotally attached to the pivoting shaft 12a1 whose right neck portion 3a1 extends in the Z-axis direction provided at the other end of the lower right arm 12a. As a result, the right connecting portion 3a can rotate around the Z axis (on the XY plane) with respect to the lower right arm 12a.

Similarly, the left connecting portion 3b connects the tip of the lower left arm 12b of the conveying portion 1 and the base portion 21b of the suction portion 2.
At this time, the left connecting portion 3b is pivotally attached to the pivot shaft 12b1 whose left neck portion 3b1 extends in the Z-axis direction provided at the other end of the lower left arm 12b. As a result, the left connecting portion 3b can rotate about the Z axis (on the XY plane) with respect to the lower left arm 12b.

FIG. 2A is a top view for explaining the lock mechanism attached to the lower right arm and the lower left arm in the work transfer device according to the present embodiment, and FIG. 2B is a top view for explaining the lock mechanism attached to the lower right arm and the lower left arm. It is a transmission side view of the gripping device shown in (a). In FIG. 2A, for convenience, the lower right arm 12a and the lower left arm 12b are drawn so as to be linear.
As shown in FIG. 2A, in the work transfer device 100, the lock mechanism 4 is attached to the side portion of the tip of the lower right arm 12a and the side portion of the tip of the lower left arm 12b, respectively. ..
The lock mechanism 4 is for restricting the rotation of the right neck portion 3a1 with respect to the lower right arm 12a and the rotation of the left neck portion 3b1 with respect to the lower left arm 12b.

As shown in FIG. 2B, the lock mechanism 4 is provided with a pin portion 41 projecting downward at the tip thereof.
On the other hand, the right neck portion 3a1 is provided with a plurality of pin holes 42 on the upper surface of the outer peripheral edge of the pivot shaft 12a1 so as to be along the circumferential direction of the pivot shaft 12a1.
Then, in the work transfer device 100, by inserting the pin portion 41 into the pin hole 42, the rotation of the right neck portion 3a1 around the Z axis is restricted. Since a plurality of pin holes 42 are provided, the direction (angle) of the right neck portion 3a1 can be changed and fixed by appropriately selecting the pin hole 42 into which the pin portion 41 is inserted.
Thereby, for example, when the work of attaching / detaching the right connecting portion 3a to / from the spacer S of the crossbar 20 is performed, the work can be easily performed by limiting the rotation of the right neck portion 3a1 around the Z axis. Become.

The lock mechanism 4 provided on the side of the tip of the lower left arm 12b has the same configuration as the lock mechanism 4 provided on the side of the tip of the lower right arm 12a described above, except that it is symmetrical. The explanation is omitted.
Thereby, for example, when the work of attaching / detaching the left connecting portion 3b to / from the base portion 21b of the crossbar 20 is performed, the work can be easily performed by limiting the rotation of the left neck portion 3b1 around the Z axis. Become.

FIG. 3 is an enlarged perspective view showing a right connecting portion, a left connecting portion, and a suction portion of the work transfer device shown in FIG.
As shown in FIG. 3, in the work transfer device 100, the right connecting portion 3a is the length of the right neck portion 3a1 pivotally attached to the pivot shaft 12a1 extending in the Z-axis direction at the tip of the lower right arm 12a and the right neck portion 3a1. It is composed of a right head 3a2 pivotally attached to a pivotal axis (not shown) extending in the longitudinal direction (Y-axis direction) and connected to a spacer S described later.
In the right connecting portion 3a, the right neck portion 3a1 is rotatable around the Z axis (on the XY plane) with respect to the lower right arm 12a, and the right head portion 3a2 is around the Y axis with respect to the right neck portion 3a1. It is rotatable (on the XZ plane).
The right head 3a2 of the right connecting portion 3a has a flat plate shape, and its lower surface is attached and fixed to the spacer S.

Similarly, the left connecting portion 3b has a left neck portion 3b1 pivotally attached to a pivoting shaft 12b1 extending in the Z-axis direction at the tip of the lower left arm 12b and a pivoting portion extending in the length direction (Y-axis direction) of the left neck portion 3b1. It is composed of a left head 3b2 pivotally attached to a shaft (not shown) and connected to a base portion 21b described later.
In the left connecting portion 3b, the left neck portion 3b1 is rotatable about the Z axis (on the XY plane) with respect to the lower left arm 12b, and the left head portion 3b2 is rotated around the Y axis with respect to the left neck portion 3b1. It is rotatable (on the XZ plane).
The left head portion 3b2 of the left connecting portion 3b has a flat plate shape, and its lower surface is attached and fixed to the base portion 21b.

The suction portion 2 is provided on the crossbar 20, the spacer S provided on the upper surface of the crossbar 20, the rail portion 21a provided on the left side from the center of the upper surface of the crossbar 20 in the Y-axis direction, and the rail portion 21a. A base 21b that can be moved along, a pair of auxiliary bars 22b that are attached and fixed to the base 21b, a pair of auxiliary rails 22a that are attached to the holder of the crossbar 20 and extend in the Y-axis direction, and a holder of the crossbar 20. It has a plurality of first suction means V1 attached to each auxiliary bar 22b and a plurality of second suction means V2 attached to each auxiliary bar 22b.
Then, the first suction means V1 sucks and grips the work W1, and the second suction means V2 sucks and grips the work W2 having a shape different from that of the work W1.

The crossbar 20 has a plate shape extending in the Y-axis direction. The length of the crossbar 20 in the Y-axis direction can be arbitrarily determined.
Further, the crossbar 20 has a plurality of so-called holders on the front and rear side portions.
The first suction means V1 for sucking the work W1 is attached to the front and rear holders in the right side region of the crossbar 20, and the auxiliary rail portion 22a is attached to the front and rear holders in the left side region. The front and rear first suction means V1 have a symmetrical structure, and the front and rear auxiliary rail portions 22a have a symmetrical structure.
Both the first suction means V1 and the auxiliary rail portion 22a are detachable from the crossbar 20. Incidentally, when it is not necessary to change the distance between the works when the work is conveyed, it is also possible to remove the auxiliary rail portion 22a from the holder and attach another suction means to the holder for use.

Here, the first adsorption means V1 is not particularly limited, and known ones can be appropriately adopted. For example, as the first suction means V1, a suction pad or the like can be mentioned. In this case, the work is sucked and gripped by vacuum sucking the inside of the suction pad.

The auxiliary rail portion 22a includes a connecting portion 22a2 that can be attached to the holder and an auxiliary rail main body portion 22a1 that is supported by the connecting portion 22a2 and extends in the Y-axis direction. Therefore, the auxiliary rail main body 22a1 is arranged at a certain distance in front of and behind the crossbar 20.
The auxiliary rail main body 22a1 on the front side and the auxiliary rail main body 22a1 on the rear side are parallel to each other with the rail portion 21a provided on the upper surface of the crossbar 20.
The auxiliary rail portion 22a guides the auxiliary bar 22b. The relationship between the auxiliary rail portion 22a and the auxiliary bar 22b will be described later.

In the work transfer device 100, the spacer S described above is attached and fixed to the upper surface of the crossbar 20 at a position deviated from the center to the right side of the crossbar.
FIG. 4 is a front view showing a suction portion of the work transfer device according to the present embodiment.
As shown in FIG. 4, the spacer S has a right head in a state where the upper surface of the spacer S is in contact with the lower surface of the right head 3a2 of the right connecting portion 3a and the lower surface of the spacer S is in contact with the upper surface of the crossbar 20. It is connected and fixed to the portion 3a2 and the crossbar 20. That is, in the work transfer device 100, the spacer S is sandwiched between the right head 3a2 and the crossbar 20, and the right head 3a2, the spacer S, and the crossbar 20 are integrated in this order.
Therefore, in the work transfer device 100, the lower right arm 12a is attached to the crossbar 20 via the right connecting portion 3a and the spacer S.

Here, the height of the spacer S can be arbitrarily determined. For example, it is preferable to adjust the height of the spacer S so that the distance H1 between the tip of the lower right arm 12a and the crossbar 20 is substantially the same as the distance H2 between the tip of the lower left arm 12b and the crossbar 20. .. Specifically, it is preferable to adjust the height of the spacer S so as to match the heights of the rail portion 21a and the base portion 21b. The positions for measuring the distances H1 and H2 are not particularly limited as long as they are the distances from the positions corresponding to each other on the left and right arms 12a and 12b to the crossbar 20.
As a result, the balance when transporting the works W1 and W2 is improved, and the weight load due to the works W1 and W2 can be evenly distributed to the lower right arm 12a and the lower left arm 12b as much as possible.
Further, by using the spacer S, it is possible to save the trouble of changing the tip of the lower right arm, the right connecting portion, and the like to a special size.

Returning to FIG. 3, in the work transfer device 100, a rail portion 21a composed of two linear bodies extending from the center in the Y-axis direction on the left side is provided on the upper surface of the crossbar 20. By forming the rail portion 21a from the two linear bodies in this way, the movement of the base portion 21b can be stabilized, and the braking described later can be reliably performed.
The length of the rail portion 21a in the Y-axis direction can be arbitrarily set as long as it is equal to or less than the length of the crossbar 20 in the Y-axis direction. As a result, the movement width of the base portion 21b can be expanded to a desired range.

The base portion 21b is connected and fixed to the left head portion 3b2 in a state where the upper surface of the base portion 21b is in contact with the lower surface of the left head portion 3b2 of the left head portion 3b.
Then, the base portion 21b is attached to the rail portion 21a so as to be movable along the rail portion 21a.
Therefore, in the work transfer device 100, the lower left arm 12b is attached to the crossbar 20 via the left connecting portion 3b, the base portion 21b, and the rail portion 21a.

In the work transfer device 100, two brakes 25 for temporarily fixing the base portion 21b to the rail portion 21a are attached to the lower surface of the base portion 21b. Therefore, the brake 25 moves together with the base portion 21b. The two brakes 25 have the same structure.
Each brake 25 is arranged so as to correspond to each linear body of the rail portion 21a, and it is possible to clamp the linear body.
Therefore, in the work transfer device 100, when the base portion 21b is moving along the rail portion 21a, the brake 25 clamps the linear body of the rail portion 21b so that the movement of the base portion 21b is stopped. It has become. When the base portion 21b is stopped, the brake 25 clamps the linear body of the rail portion 21b to maintain that state.

Since the work transfer device 100 has the brake 25, the base portion 21b can be temporarily fixed to the rail portion 21a when the suction portion 2 is attached to and detached from the right connecting portion 3a and the left connecting portion 3b. As a result, the attachment / detachment work can be easily performed, and by maintaining the temporarily fixed state, the position of the base portion 21b with respect to the rail portion 21a before the detachment can be reproduced at the time of attachment.

In the work transfer device 100, auxiliary bars 22b are attached and fixed to the base 21b so as to project forward and backward from the crossbar 20. Therefore, the pair of auxiliary bars 22b move together with the base portion 21b.
The auxiliary bar 22b includes a support portion 22b2 attached to the base portion 21b, and a rod-shaped auxiliary bar main body portion 22b1 supported by the support portion and extending in the Y-axis direction. The front and rear auxiliary bars 22b have a symmetrical structure.

In the work transfer device 100, a second suction means V2 for sucking the work W2 is attached to the auxiliary bar main body 22b1.
As the second adsorption means V2, the same one as the above-mentioned first adsorption means V1 can be adopted.

In the work transfer device 100, the support portion 22b2 not only supports the auxiliary bar main body portion 22b1 but also is in contact with the auxiliary rail main body portion 22a1 described above.
As a result, in the work transfer device 100, when the base portion 21b moves along the rail portion 21a, the support portion 22b2 of the auxiliary bar 22b attached to the base portion 21b also assists the auxiliary rail portion 22a attached to the crossbar 20. It is designed to move along the rail body portion 22a1.

Next, the movement of the work transfer device 100 will be described.
FIG. 5 is a top view showing a state in which a work is conveyed by using the work transfer device according to the present embodiment.
As shown in FIG. 5, in the work transfer device 100 according to the present embodiment, first, the work W1 on the right side is sucked by the first suction means V1 attached to the holder of the crossbar 20, and is attached and fixed to the base portion 21b. The work W2 on the left side is sucked by the second suction means V2 attached to the auxiliary bar 22b. As a result, the two workpieces W1 and W2 are gripped at the same time.

Next, in the work transfer device 100, as described above, the upper right arm 11a and the upper left arm 11b can rotate about the Z axis with respect to the main body 10, and the lower right arm 12a with respect to the upper right arm 11a. It is rotatable around the Z axis, the right connecting portion 3a is rotatable about the Z axis with respect to the lower right arm 12a, and the upper left arm 11b is rotatable about the Z axis with respect to the upper left arm 11b. Since the left connecting portion 3b is rotatable about the Z axis with respect to the lower left arm 12b, the upper right arm 11a and the lower right arm 12a, and the upper left arm 11b and the lower left arm 12b are appropriately rotated. Even when the base portion 21b moves along the rail portion 21a, the works W1 and W2 can be smoothly conveyed in the X-axis direction.

Then, the second suction means V2, the auxiliary bar 22b to which the second suction means V2 is attached, and the base portion 21b to which the auxiliary bar 22b is attached are integrally formed, for example, on the left side (for example, along the rail portion 21a). Move to the upper side in FIG.
At this time, the auxiliary bar 22b is guided by the auxiliary rail portion 22a. Thereby, the accuracy and stability of the movement of the base portion 21b along the rail portion 21a can be improved.
Further, by attaching the auxiliary rail portion 22a to the crossbar 20, a part of the weight load of the works W1 and W2 on the auxiliary bar 22b can be borne by the auxiliary rail portion 22a.
As a result, in the work transfer device 100, the distance between the two works can be changed while the two works are being transferred.
The moving distance of the base portion 21b on the rail portion 21a is set by a computer program, and when the moving distance is moved, the movement of the base portion 21b is stopped by the brake 25.

Next, in the works W1 and W2 conveyed from the front side to the rear side of the main body 10, the work W1 is separated from the first suction means V1 and the work W2 is separated from the second suction means V2 at a predetermined position. ..
After that, by moving the upper right arm 11a and the lower right arm 12a, and the upper left arm 11b and the lower left arm 12b again from the rear side to the front side of the main body 10, each arm returns to the original position. ..

In the work transfer device 100, the distance D2 between the work W1 and the work W2 after transfer is larger than the distance D1 between the work W1 and the work W2 before transfer. Depending on the set computer program, the distance D2 between the work W1 and the work W2 after the transfer can be made smaller than the distance D1 between the work W1 and the work W2 before the transfer.

As described above, in the work transfer device 100, the distance between the works W1 and W2 can be changed by moving the base portion 21b along the rail portion 21a during the transfer. That is, the work transfer device 100 can simultaneously transfer two workpieces while changing the distance between the workpieces, although it has a simple structure.

FIG. 6 is a perspective view for explaining a state in which the work is tilted using the work transfer device according to the present embodiment.
As shown in FIG. 6, in the work transfer device 100, the right head 3a2 can rotate about the Y axis with respect to the right neck 3a1, and the left head 3b2 rotates about the Y axis with respect to the left neck 3b1. Since it is movable, by appropriately rotating the right head 3a2 and the left head 3b2, the first suction means V1 and the second suction means V2 can be moved on the Y axis even while the workpieces W1 and W2 are being conveyed. You can tilt it around. That is, a so-called tilt function can be provided.
As a result, even when the gripped surfaces of the works W1 and W2 are inclined back and forth, the works W1 and W2 can be gripped by the first suction means V1 and the second suction means V2. ..
Further, it is possible to change the posture when gripping and transporting the workpieces W1 and W2 so as to be at high speed and not to apply a load.

Although the preferred embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment.

In the work transfer device according to the present embodiment, the suction unit 2 has a spacer S, but the spacer S is not essential.
FIG. 7 is a front view showing a suction portion of the work transfer device according to another embodiment.
As shown in FIG. 7, in the work transfer device according to another embodiment, the right head 3a3 is directly attached to the crossbar 20 without using a spacer.
In this case, it is necessary to change the right head 3a3 of the right connecting portion to a special size.

The work transfer device according to the present embodiment is provided with a lock mechanism 4 for restricting the rotation of the right neck portion 3a1 with respect to the lower right arm 12a and the rotation of the left neck portion 3b1 with respect to the lower left arm 12b. (See FIG. 2), the structure of the locking mechanism is not limited to this.
FIG. 8 is a perspective view for explaining a locking mechanism for restricting the rotation of the right neck portion with respect to the lower right arm and the rotation of the left neck portion with respect to the lower left arm in the work transfer device according to another embodiment. be.
As shown in FIG. 8, in the work transfer device according to another embodiment, the lock mechanism 4a is attached to the protruding portion 41a attached to the side portion of the right neck portion 3a1 and the side portion of the tip of the lower right arm 12a. It is composed of a gripping device 42a.
Then, by gripping the protrusion 41a by the gripping device 42a, the rotation of the right neck portion 3a1 around the Z axis can be restricted.
In this case, a similar lock mechanism 4a is also provided on the side of the tip of the lower left arm 12b. Thereby, the rotation of the left neck portion 3b1 around the Z axis can be restricted.

In the work transfer device 100 according to the present embodiment, two brakes 25 for temporarily fixing the base portion 21b to the rail portion 21a are attached to the lower surface of the base portion 21b, and the brakes 25 are the lines of the rail portion 21a. It is arranged so as to correspond to the shape, and it is possible to clamp the linear body, but the structure of the brake is not limited to this.

The work transfer device of the present invention is used, for example, as a device for transferring a work to a press machine in press working. According to the work transfer device of the present invention, while transporting two workpieces, the distance between the two workpieces can be further increased, and the structure is simple and the weight load on the arm can be reduced as much as possible. can.

1 ... Transport part 10 ... Main body part 11a ... Upper right arm 11a1, 11b1, 12a1, 12b1 ... Pivot attachment shaft 11b ... Upper left arm 12a ... Lower right arm 12b ... Lower left arm 2 ... Adsorption part 20 ... Crossbar 21a ... Rail part 21b ... Base 22a ... Auxiliary rail part 22a1 ... Auxiliary rail body part 22a2 ... Connection part 22b ... Auxiliary bar 22b1 ・ ・ ・ Auxiliary bar body 22b2 ・ ・ ・ Support 25 ・ ・ ・ Brake 3a ・ ・ ・ Right connection 3a1 ・ ・ ・ Right neck 3a2, 3a3 ・ ・ ・ Right head 3b ・ ・ ・ Left connection 3b1 ・・ ・ Left neck part 3b2 ・ ・ ・ Left head part 4,4a ・ ・ ・ Lock mechanism 41 ・ ・ ・ Pin part 41a ・ ・ ・ Protruding part 42 ・ ・ ・ Pin hole 42a ・ ・ ・ Gripping device 100 ・ ・ ・ Work transfer device M11, M12, M21, M22 ... Motor S ... Spacer V1 ... First suction means V2 ... Second suction means W1, W2 ... Work

Claims (6)

A workpiece transfer device capable of simultaneously transporting two workpieces in the X-axis direction when the transport direction is the X-axis direction, the width direction is the Y-axis direction, and the directions orthogonal to the X-axis and the Y-axis are the Z-axis directions. In
The main body, the upper right arm pivotally attached to one end of the main body, the lower right arm pivotally attached to the tip of the upper right arm, the upper left arm pivotally attached to the other end of the main body, and A transport unit having a lower left arm pivotally attached to the tip of the upper left arm,
A crossbar extending in the Y-axis direction, a rail portion extending in the Y-axis direction provided on the upper surface of the crossbar, a base portion movable along the rail portion, an auxiliary bar attached and fixed to the base portion, and the crossbar. A suction portion having a first suction means attached to the holder and a second suction means attached to the auxiliary bar, and
A right connecting portion for connecting the tip of the lower right arm and the crossbar,
A left connecting portion for connecting the tip of the lower left arm and the base portion,
With
The right connecting portion can rotate about the Z axis with respect to the tip of the lower right arm.
The left connecting portion can rotate about the Z axis with respect to the tip of the lower left arm.
A work transfer device in which the base portion is integrated with the tip of the lower left arm and the left connecting portion so as to be movable along the rail portion. The right connecting portion comprises a right neck portion connected to the tip of the lower right arm and a right head connected to the upper surface of the crossbar.
The left connecting portion comprises a left neck portion connected to the tip of the lower left arm and a left head connected to the base portion.
The right head can rotate about the Y axis with respect to the right neck.
The work transfer device according to claim 1, wherein the left head is rotatable about the Y axis with respect to the left neck. The suction portion further has a spacer provided on the upper surface of the crossbar.
The right connecting portion is for connecting the tip of the lower right arm and the spacer.
The right connecting portion comprises a right neck portion connected to the tip of the lower right arm and a right head connected to the spacer.
The left connecting portion comprises a left neck portion connected to the tip of the lower left arm and a left head connected to the base portion.
The right head can rotate about the Y axis with respect to the right neck.
The left head can rotate about the Y axis with respect to the left neck.
The work transfer device according to claim 1, wherein the distance between the tip of the lower right arm and the crossbar is substantially the same as the distance between the tip of the lower left arm and the crossbar. A right protrusion is attached to the right neck,
A right grip portion is attached to the tip of the lower right arm.
When the right grip portion grips the right protrusion portion, the rotation of the right neck portion around the Z axis is restricted.
A left protrusion is attached to the left neck,
A left grip portion is attached to the tip of the lower left arm.
The work transfer device according to claim 2 or 3, wherein the left grip portion grips the left protrusion portion to limit the rotation of the left neck portion around the Z axis. The suction portion further has an auxiliary rail portion that extends in the Y-axis direction and is attached to the holder of the crossbar.
The work transfer device according to any one of claims 1 to 4, wherein the auxiliary bar is movable along the auxiliary rail portion. The work transfer device according to any one of claims 1 to 5, wherein the base portion is provided with a brake for temporarily fixing the base portion to the rail portion.

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