JP2022094707A - Workpiece conveyance device - Google Patents

Abstract

To provide a workpiece conveyance device capable of performing a workpiece discharge operation by a workpiece conveyance operation and a tilt mechanism using one power source.SOLUTION: A workpiece conveyance device includes: a fork 2 that holds a workpiece; a power source 6 that rotates at a constant speed; a triangular cam 3 that rotates at the constant speed rotation by the power source 6; a conveyance direction slide mechanism 5 that slides in a conveyance direction of the workpiece by a rotational operation of the triangular cam 3; an orthogonal direction slide mechanism 4 that slides in an orthogonal direction orthogonal to the conveyance direction by the rotational operation of the triangular cam 3; an accelerating gear 7 that converts a conveyance direction stroke of the fork 2 to a plurality of times the conveyance direction stroke of the conveyance direction slide mechanism 5; a fork slide mechanism 8 that engages with the accelerating gear 7 and slides the fork 2 in the conveyance direction; and a tilt mechanism 9 that rotates around an axis 93 parallel to the conveyance direction, tilts the workpiece and sweeps it out, based on operations of the fork 2, the fork slide mechanism 8, and the orthogonal slide mechanism 4.SELECTED DRAWING: Figure 1

Description

The present invention relates to a work transfer device capable of performing a work transfer operation and a work discharge operation by a tilt mechanism using one power source.

Conventionally, in a production line or the like, a work transfer device may be used in which a workpiece to be conveyed is conveyed to a predetermined position and the workpiece conveyed to the predetermined position is swept out by a tilting operation by a tilt mechanism.

In Patent Document 1, the fork holding the work is moved in the Y direction by the triangular cam provided in the opening of the slide to which the fork is integrally attached, and then moved in the X direction to separate the fork from the work. The transport mechanism is disclosed.

Japanese Unexamined Patent Publication No. 59-115179

By the way, when the work conveyed to a predetermined position is ejected by using the tilt mechanism, the tilt mechanism repeats the operation of holding the conveyed workpiece and ejecting it by tilting. In this case, a plurality of power sources for driving the work transfer mechanism by the fork and the tilt mechanism for discharging the work are required, and the drive of each power source needs to be synchronously controlled to transfer the work. There is a problem that the configuration of the device becomes complicated.

The present invention has been made to solve the above problems, and to provide a work transfer device capable of performing a work transfer operation and a work discharge operation by a tilt mechanism using one power source. With the goal.

In order to solve the above-mentioned problems and achieve the object, the present invention is a work transfer device for transporting a work, the fork holding the work, a power source rotating at a constant speed, and a constant speed by the power source. A triangular cam mechanism in which the triangular cam is rotated by rotation, a transport direction slide mechanism that slides in the transport direction of the work by the rotation operation of the triangular cam mechanism, and a transport direction slide mechanism that slides in the transport direction of the work, and is orthogonal to the transport direction by the rotation operation of the triangular cam mechanism. An orthogonal slide mechanism that slides in the orthogonal direction, a speed-increasing gear that meshes with the transport direction slide mechanism and converts the transport direction stroke of the fork into a plurality of times the transport direction stroke of the transport direction slide mechanism, and the orthogonal direction. A fork slide mechanism that is guided by a slide mechanism to slide the fork in the orthogonal direction and meshes with the speed increasing gear to slide the fork in the transport direction, the fork, the fork slide mechanism, and the fork. Based on the operation of the orthogonal direction slide mechanism, the work is provided with a tilt mechanism that rotates about an axis parallel to the transport direction to tilt the work and sweep it out.

Further, in the above invention, in the above invention, the orthogonal direction slide mechanism is a rectangular member inscribed in the triangular cam and slides in the transport direction and the orthogonal direction, and the transport direction slide mechanism is the orthogonal direction. It is characterized in that it slides in the transport direction in synchronization with the slide in the transport direction of the slide mechanism.

Further, the present invention is characterized in that, in the above invention, the work is inserted and arranged in a case, and the fork holds the work through the case.

Further, in the above invention, in the above invention, the tilt mechanism has an engaging member whose one end engages with the fork, and the engaging member allows the fork to slide in the transport direction and is orthogonal to the fork. Only the slide is restricted to the fork, slides in the orthogonal direction in synchronization with the slide in the orthogonal direction of the fork, rotates around an axis parallel to the transport direction, tilts the work, and sweeps out. It is a feature.

Further, in the above invention, in the above invention, the transport direction slide mechanism has a reference rack extending in the direction opposite to the transport direction, and the fork slide mechanism has a speed increasing rack extending in the direction opposite to the transport direction. The speed-increasing gear is characterized in that a reference pinion that meshes with the reference rack and a speed-increasing pinion that meshes with the speed-increasing rack are coupled to a common rotation shaft.

According to the present invention, it is possible to perform a work transfer operation and a work discharge operation by a tilt mechanism using one power source, and it is not necessary to control synchronization between the transfer operation and the discharge operation. It will be simple.

FIG. 1 is a perspective view showing a configuration of a work transfer device according to the present embodiment. FIG. 2 is an explanatory diagram illustrating the trajectory of the orthogonal slide mechanism due to the rotation of the triangular cam. FIG. 3 is a plan view showing the configuration of the tilt mechanism. FIG. 4 is a right side view showing the configuration of the tilt mechanism. FIG. 5 is a diagram showing a state immediately after the work is discharged. FIG. 6 is a diagram showing a state in which the case including the work is held by the fork. FIG. 7 is a diagram showing a state in which the case held by the fork is conveyed in the conveying direction. FIG. 8 is a diagram showing a state during a tilting operation by the tilt mechanism after the case is conveyed. FIG. 9 is a diagram showing a state after the tilting operation of the case.

Hereinafter, the work transfer device according to the present embodiment will be described with reference to the attached drawings.

<Overview configuration>
FIG. 1 is a perspective view showing the configuration of the work transfer device 1 according to the present embodiment. As shown in FIG. 1, the work transfer device 1 includes a fork 2, a triangular cam 3, an orthogonal slide mechanism 4, a transfer direction slide mechanism 5, a power source 6, a speed increasing gear 7, a fork slide mechanism 8, and a tilt mechanism 9. Have. The work transfer device 1 conveys a cup-shaped case CA into which a spherical work W is inserted together with the work W, and discharges the work W by tilting the tilt mechanism 9. The case CA having the work W arranged at the position P0 is slid on the transport plate 100 via the position P1 and transported in the transport direction (+ X direction), and the case CA is conveyed by the tilt mechanism 9 at the position P2. Tilt and eject the work W. In the present embodiment, as an example, the work W at the position P0 is transported from the position P0 to the position P2 by the work transport / discharge operation twice, and is discharged at the position P2 by the second work transfer / discharge operation. However, the present invention is not limited to this, and one work transfer / discharge operation may be performed to transfer from position P0 to position P2, or three or more work transfer / discharge operations may be performed to transfer from position PO to position P2. You may try to do it.

The power source 6 is, for example, an electric motor, which rotates and drives the shaft 61 at a constant speed. The rotation of the shaft 61 is transmitted to the shaft 62 via the gear mechanism 63, and further transmitted to the cam shaft 30 (see FIG. 2) extending in the Z direction via the gear mechanism 64. The rotation of the cam shaft 30 causes the triangular cam 3 to rotate clockwise at a constant speed in a plan view. The cam shaft 30 and the triangular cam 3 are triangular cam mechanisms.

As shown in FIG. 2, the orthogonal slide mechanism 4 is a rectangular member inscribed in the triangular cam 3 and orbits in a square on the XY plane. Therefore, the orthogonal direction slide mechanism 4 slides in the transport direction (± X direction) and in the orthogonal direction (± Y direction) orthogonal to the transport direction.

The transport direction slide mechanism 5 slides in the transport direction as the orthogonal direction slide mechanism 4 slides in the transport direction. The transport direction slide mechanism 5 does not follow the slide in the orthogonal direction of the orthogonal direction slide mechanism 4, and does not slide in the orthogonal direction. Further, the transport direction slide mechanism 5 is guided by the guide 101 and slides in the transport direction (± X direction).

On the other hand, the fork 2 is provided with a plurality of comb teeth 22 extending in the Y direction on the fork body 21 extending in the transport direction. The fork body 21 is engaged via a guide portion at the −Y direction end of the orthogonal slide mechanism 4, and movement in the transport direction is permitted, and movement in the orthogonal direction is in the orthogonal direction of the orthogonal slide mechanism 4. It is restricted by the slide and slides in the orthogonal direction together with the orthogonal direction slide mechanism 4.

The end of the fork body 21 in the −X direction is connected to the fork slide mechanism 8. The fork slide mechanism 8 is guided by the guide 101 and slides in the transport direction (± X direction), and also allows the connected fork body 21 to slide in the orthogonal direction. Therefore, the guide 101 guides the slide in the transport direction of the transport direction slide mechanism 5 and the fork slide mechanism 8.

Here, the transport direction slide mechanism 5 has a reference rack 51 extending in the direction opposite to the transport direction (−X direction). Further, the fork slide mechanism 8 has a speed increasing rack 81 extending in the direction opposite to the transport direction (−X direction). The reference rack 51 meshes with the reference pinion 71, and the speed-increasing rack 81 meshes with the speed-increasing pinion 72. The reference pinion 71 and the speed-increasing pinion 72 are connected by a common rotation shaft 73. The number of teeth of the speed-increasing pinion 72 is a plurality of times the number of teeth of the reference pinion 71, and the transport direction stroke C of the speed-up rack 81 is a plurality of times the transport direction stroke A of the reference rack 51. This multiple times is, for example, three times. The orthogonal stroke B of the orthogonal slide mechanism 4 is the same as the transport direction stroke A. Further, the reference pinion 71, the speed-increasing pinion 72, and the common rotary shaft 73 constitute the speed-increasing gear 7.

Therefore, when the orthogonal direction slide mechanism 4 slides in the transport direction, the fork 2 slides with a stroke (stroke C in the transport direction) that is a plurality of times in the transport direction. The fork 2 slides in the orthogonal direction by the orthogonal stroke B due to the sliding in the orthogonal direction of the orthogonal direction slide mechanism 4. As a result, the fork 2 moves with a rectangular trajectory whose long side is the transport direction due to the rotation of the triangular cam 3. The distance between the comb teeth 22 of the fork 2 is substantially the same as the width of the case CA, and the work W is held by holding the case CA between the comb teeth 22.

The case CA at positions P0 and P1 is held in the case CA held by sliding the orthogonal slide mechanism 4 in the Y direction and sliding the fork slide mechanism 8 in the X direction in the rectangular orbit of the fork 2. Work W is conveyed in the X direction. For example, the case CA at position P0 is conveyed to position P1 together with the work W, and the case CA at position P1 is conveyed to position P2 together with the work W. After that, the holding of the case CA is released by sliding the orthogonal direction slide mechanism 4 in the −Y direction, and the fork 2 slides in the −X direction of the fork slide mechanism 8 to the original state before holding the case CA. Return to position. By repeating the clockwise rectangular orbit of the fork 2, the work W in the case CA is sequentially conveyed in the X direction. Then, the case CA that has reached the position P2 is tilted by the tilt mechanism 9, and a discharge operation in which the work W is swept out is performed at this position P2.

<Tilt mechanism>
The tilt mechanism 9 is arranged at the position P2, and based on the operations of the fork 2, the fork slide mechanism 8, and the orthogonal direction slide mechanism 4, the case CA is rotated about the axis 93 parallel to the transport direction to move the case CA. Tilt and sweep out the work W.

The tilt mechanism 9 has an engaging member 92 whose one end engages with the fork body 21. The engaging member 92 engages with the fork body 21 via a guide portion formed at the end in the −Y direction, allows the fork body 21 to slide in the transport direction, and slides only in the orthogonal direction is the fork body. It is restricted to 21 slides. That is, the engaging member 92 is slid in the −Y direction in synchronization with the −Y direction slide of the fork 2 accompanying the −Y direction slide of the orthogonal direction slide mechanism 4, and the + Y direction slide of the orthogonal direction slide mechanism 4. It is slid in the + Y direction in synchronization with the slide in the + Y direction of the fork 2. The engaging member 92 is guided to slide in the orthogonal direction by the guide 102. Further, the engaging member 92 does not slide in the transport direction.

<Details of tilt mechanism>
FIG. 3 is a plan view showing the configuration of the tilt mechanism 9. Further, FIG. 4 is a right side view showing the configuration of the tilt mechanism 9. As shown in FIGS. 3 and 4, the tilt mechanism 9 has a tilting portion 91 and an engaging member 92. As described above, the engaging member 92 slides in the ± Y direction. When the engaging member 92 slides in the −Y direction, the tilting portion 91 rotates around the shaft 93 and tilts in the −Z direction. Before this tilting operation, the tilting portion 91 holds the case CA at the position P2, and after the tilting operation, the work W in the case CA is discharged. At this time, the tilting portion 91 is linked to the engaging member 92 by the cam mechanism 94. On the other hand, when the engaging member 92 slides in the + Y direction, the tilting portion 91 rotates in the reverse direction around the shaft 93 and returns to the state before tilting.

The tilt mechanism 9 repeats this series of operations by the slide of the orthogonal direction slide mechanism 4 and the slide of the fork 2. The tilt mechanism 9 is designed so that the tilting portion 91 returns to the holding position of the case CA by sliding the fork 2, but even if a restoring force such as a contraction spring or an extension spring is used instead of the slide of the fork 2. good. Further, instead of the cam mechanism 94, the tilting operation may be performed by the link mechanism.

<A series of workpiece transfer and discharge operations>
5 to 9 are explanatory views illustrating a series of work transfer discharge operations of the work transfer device 1. FIG. 5 is a diagram showing a state immediately after the work W is discharged. FIG. 6 is a diagram showing a state in which the case CA including the work W is held by the fork 2. FIG. 7 is a diagram showing a state in which the case CA held by the fork 2 is conveyed in the conveying direction. FIG. 8 is a diagram showing a state during a tilting operation by the tilt mechanism 9 after the case CA is conveyed. FIG. 9 is a diagram showing a state after the tilting operation of the case CA.

First, in the initial state shown in FIG. 5, one work transfer / discharge operation has already been completed, the work W in the case CA at the position P0 is transferred to the position P1, and the case CA including the next work W to be transferred is present. It is located at position P0. In this state, when the triangular cam 3 rotates clockwise around the cam shaft 30, the orthogonal direction slide mechanism 4 slides in the + Y direction, and the fork 2 slides in the + Y direction accordingly. Then, the comb teeth 22 of the fork 2 hold the case CA at positions P0 and P1 (see FIG. 6).

In FIG. 6, when the triangular cam 3 further rotates clockwise around the cam shaft 30, the orthogonal direction slide mechanism 4 slides in the + X direction, and the transport direction slide mechanism 5 slides in the + X direction accordingly. The slide of the transport direction slide mechanism 5 slides the fork 2 in the + X direction with a triple stroke via the speed increasing gear 7, transports the case CA including the work W at the position P1 to the position P2, and transports the case CA to the position P0. The case CA including the work W of the above is conveyed to the position P1 (see FIG. 7).

In FIG. 7, the end portion of the orthogonal slide mechanism 4 on the transport direction side is engaged with the engaging member 92 of the tilt mechanism 9, and when the triangular cam 3 is further rotated clockwise about the cam shaft 30. The orthogonal slide mechanism 4 slides in the −Y direction, and the fork body 21 also slides in the −Y direction in synchronization with the orthogonal slide mechanism 4. The engaging member 92 is engaged with the fork body 21, and the engaging member 92 slides in the −Y direction in synchronization with the slide in the −Y direction of the fork body 21 to tilt the tilting portion 91 (see FIG. 8). ). The slide of the fork body 21 in the −Y direction releases the holding of the positions P1 and P0 by the fork 2 with respect to the case CA. Then, the work W at positions P1 and P0 is in a state of being stopped at positions P1 and P0, respectively (see FIG. 8). At this time, the orthogonal direction slide mechanism 4 does not slide in the transport direction.

Then, as shown in FIG. 9, when the triangular cam 3 further rotates clockwise around the cam shaft 30 to complete the tilting of the tilt mechanism 9, the work W in the case CA is discharged from the case CA. At this time, the case CA including the work W to be conveyed next is arranged at the position P0. In the state of FIG. 9, when the triangular cam 3 further rotates clockwise around the cam shaft 30, the orthogonal direction slide mechanism 4 slides in the −X direction, and the transport direction slide mechanism 5 slides accordingly. It slides in the X direction, and the fork 2 is slid in the −X direction with a triple stroke via the speed increasing gear 7, and the initial state, that is, the work W is discharged by the tilt mechanism 9 (see FIG. 5). ).

By repeating the series of work transfer / discharge operations of FIGS. 5 to 9, the case CA including the work W is conveyed in the transfer direction for each work transfer / discharge operation, and the tilt mechanism 9 tilts inside the case CA. Work W is discharged.

In the present embodiment, a series of work transfer / discharge operations, that is, a work W transfer operation and a work W discharge operation by the tilt mechanism can be performed only by constant speed rotation of the triangular cam 3 by one power source 6. Since this is possible, synchronization control between the transport operation and the discharge operation becomes unnecessary, and the configuration becomes simple.

In the above embodiment, the fork 2 holds and conveys the work W via the case CA, but the present invention is not limited to this, and the fork 2 may directly hold the work W. .. In the present embodiment, the work W is spherical and difficult to hold, so that the work W is held via the case CA.

Further, each configuration shown in the above embodiment is a schematic function, and does not necessarily have to be physically shown. That is, the form of distribution / integration of each device is not limited to the one shown in the figure, and all or part of them may be functionally or physically distributed / integrated in any unit according to various loads and usage conditions. Can be configured.

The work transfer device of the present invention is useful when the work transfer operation and the work discharge operation by the tilt mechanism are performed by using one power source.

1 Work transfer device 2 Fork 3 Triangular cam 4 Orthogonal slide mechanism 5 Transport direction slide mechanism 6 Power source 7 Acceleration gear 8 Fork slide mechanism 9 Tilt mechanism 21 Fork body 22 Comb tooth 30 Camshaft 51 Reference rack 61, 62, 93 Shaft 63, 64 Gear mechanism 71 Reference pinion 72 Acceleration pinion 73 Common rotating shaft 81 Acceleration rack 91 Tilt part 92 Engagement member 94 Cam mechanism 100 Transport plate 101, 102 Guide A, C Transport direction stroke B Orthogonal stroke CA case P0, P1, P2 Position W work

Claims (5)

A work transfer device that conveys work.
The fork that holds the work and
A power source that rotates at a constant speed and
A triangular cam mechanism in which the triangular cam is rotated by constant speed rotation by the power source,
A transport direction slide mechanism that slides in the transport direction of the work by the rotational operation of the triangular cam mechanism, and a transport direction slide mechanism.
An orthogonal slide mechanism that slides in an orthogonal direction orthogonal to the transport direction by the rotational operation of the triangular cam mechanism, and an orthogonal slide mechanism.
A speed-increasing gear that meshes with the transport direction slide mechanism to convert the transport direction stroke of the fork to a plurality of times the transport direction stroke of the transport direction slide mechanism.
A fork slide mechanism that is guided by the orthogonal slide mechanism to slide the fork in the orthogonal direction and meshes with the speed increasing gear to slide the fork in the transport direction.
Based on the operation of the fork, the fork slide mechanism, and the orthogonal slide mechanism, it is provided with a tilt mechanism that rotates around an axis parallel to the transport direction to tilt the work and sweep it out. A work transfer device characterized by. The orthogonal direction slide mechanism is a rectangular member inscribed in the triangular cam, and slides in the transport direction and the orthogonal direction.
The work transfer device according to claim 1, wherein the transfer direction slide mechanism slides in the transfer direction in synchronization with the slide in the transfer direction of the orthogonal direction slide mechanism. The work is inserted and placed in the case,
The work transfer device according to claim 1 or 2, wherein the fork holds the work through the case. The tilt mechanism has an engaging member at one end that engages the fork.
The engaging member allows the fork to slide in the transport direction, slides only in the orthogonal direction are restricted to the fork, slides in the orthogonal direction in synchronization with the slide in the orthogonal direction of the fork, and slides in the transport direction. The work transfer device according to any one of claims 1 to 3, wherein the work is tilted and swept out by rotating about a parallel axis. The transport direction slide mechanism has a reference rack extending in the direction opposite to the transport direction.
The fork slide mechanism has a speed-increasing rack extending in the direction opposite to the transport direction.
The speed-increasing gear according to any one of claims 1 to 4, wherein a reference pinion that meshes with the reference rack and a speed-increasing pinion that meshes with the speed-increasing rack are coupled to a common rotation shaft. Work transfer device.

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