JP2671383B2 - Work transfer device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a work transfer device for loading and unloading a work into and from a machine tool, and more particularly, to moving a work by vertically moving a pair of gripping jaws. The present invention relates to a work transfer device configured to carry in and carry out.

<Prior Art> Conventionally, in this type of work transfer device, a so-called manipulator is used to carry in and carry out a work. When carrying in and out a work using a robot, the work is carried in. A manipulator and a workpiece unloading manipulator are used to carry in and out a workpiece.

<Problems to be Solved by the Invention> However, such a workpiece transfer apparatus has a problem that the workpiece transfer apparatus becomes large because it has two manipulators for loading and unloading the workpiece. there were.

<Means for Solving the Problems> According to the present invention, a first elevating member and a second elevating member capable of integral movement and relative movement in the up and down direction, and the first elevating member and the second elevating member in the up and down direction. In a workpiece transfer device including a device main body mounted so as to be capable of moving up and down, and a pair of gripping claws that are opened and closed by relative movement of the first elevating member and the second elevating member, the first elevating member is driven. A drive mechanism for applying a force, and a pair of links that are arranged so as to be openable and closable to each other and that are pivotally connected to each other at the intersecting portion, and one end of each of the pair of links is provided. Each of the pair of gripping claws is rotatably connected to the second elevating member, the pair of gripping claws are separately formed at the other ends of the pair of links, and the pair of gripping claws are projected to face each other. The second elevating member is restricted from elevating and lowering By relatively moving the first elevating member and the second elevating member,
A restricting member that opens and closes the pair of grip claws is provided in the apparatus main body.

<Operation> When the work is carried into a predetermined position in the present invention, when the pair of grip claws are locked to the work, the weight (load) of the work acts on the pair of links. Then, a moment acts on the pair of links in a direction in which the pair of gripping claws are closed with the pivot portion as a fulcrum. This moment causes the gripping force of the pair of gripping claws on the workpiece. That is, the weight of the workpiece is converted into the gripping force of the pair of gripping claws.

Next, when the first lifting member is lowered by the driving force of the driving mechanism while holding the workpiece, the first lifting member and the second lifting member are moved.
The elevating member descends integrally. When the first elevating member and the second elevating member are lowered by a predetermined amount, the lowering of the second elevating member is regulated by the regulating member. However, since the pair of gripping claws grips the workpiece, the pair of links are pivotally attached. The first elevating member and the second elevating member continue to descend integrally without rotating with the section as a fulcrum.

Then, when the first lifting member is lifted after the workpiece reaches the predetermined position, the lifting member restricts the lifting of the second lifting member. Then, the first elevating member and the second elevating member move relative to each other, and the pair of links rotate about the pivot portion as a fulcrum, the pair of gripping claws are opened, and the workpiece is carried into a predetermined position.

On the other hand, when the workpiece is carried out from the predetermined position, the first elevating member and the second elevating member are integrally lowered when the first elevating member is lowered by the drive mechanism with the pair of gripping claws being opened. To do. When the first elevating member and the second elevating member are lowered by a predetermined amount and the lowering of the second elevating member is restricted by the restricting member, the pair of links rotate about the pivot portion as a fulcrum, and the first elevating member and the first elevating member 2 The elevating member moves relatively. As a result, the pair of gripping claws are closed and locked to the workpiece. Then, due to the self-weight of the workpiece, a moment acts on the pair of links in the direction in which the pair of gripping claws are closed with the pivotal portion as a fulcrum, and a gripping force is generated on the workpiece. After the work is gripped by the pair of grip claws, the first moving member and the second elevating member are integrally lifted, so that the work is unloaded from the predetermined position.

<Example> Hereinafter, an example of the present invention will be described with reference to the drawings. FIG. 2 is an overall configuration diagram of the workpiece transfer device according to the embodiment of the present invention.

Reference numeral 1 is a machine tool for grinding or the like, 2a is a carry-in conveyor for the workpiece W arranged on one side of the machine tool 1, and 2b is a carry-out conveyor arranged on the other side. Reference numeral 3 denotes a support pillar that is provided upright on both sides of the machine tool 1, and a cross rail 4 is fixedly installed on the support pillar 3. The cross rail 4 extends right above the carry-in conveyor 2a, the machine tool 1 and the carry-out conveyor 2b.

A work transfer device 5 according to the present invention is movably provided on the cross rail 4. 6 is a traveling motor, 7
Is a guide rod (first elevating member), 8 is a motor (driving mechanism) for elevating the gripping claw, and 15 is a pair of gripping claws. The structure of the work transfer device 5 will be described with reference to FIGS. 1, 3, and 6. FIG. 3 is a side view of the work transfer device 5, and the work transfer device 5 includes an apparatus main body 23.
The device main body 23 includes a holding claw lifting motor 8, a guide rod 7,
An elevating member (second elevating member) 14 is attached. The guide rod 7 and the elevating / lowering member 14 are formed in a substantially elongated shape, and the guide rod 7 and the elevating / lowering member 14 are attached to the apparatus main body 23 so as to be vertically movable.

FIG. 6 is an enlarged view of the lower ends of the guide rod 7 and the elevating member 14. A pair of links 15A are attached to the lower ends of the guide rod 7 and the elevating member 14. As shown in FIG. 1, the pair of links 15A are bent and formed into a substantially W shape, and one end of the pair of links 15A is separately pivotably connected to the elevating member 14 by a hinge pin 16. The pair of links 15A are arranged to intersect with each other, and the intersecting portions are rotatably connected by a hinge pin (pivotally attached portion) 17. The hinge pin 17 is connected to the guide member 7.

On the other hand, at the lower ends of the pair of links 15A, the pair of grip claws 1
5 are formed separately. The pair of grip claws 15 are projected so as to face each other. A pair of links 50 are rotatably connected to the upper end of the guide rod 7 by hinge pins 51. The pair of links 50 are separately rotatably connected to the upper end side of the elevating member 14 by hinge pins 52.

As shown in FIG. 3, a rack (driving mechanism) 18 is fixed to the guide rod 7 with bolts 19.
A pinion (driving mechanism) 21 for transmitting the rotation of the grasping claw lifting motor 8 via gears (driving mechanism) 20a, 20b is provided at 18.
Are engaged. Further, an encoder 9 is attached to the gripping claw lifting motor 8 to detect the lifting position of the pair of gripping claws 15 based on the number of rotations of the gripping claw lifting motor 8. Then, based on the ascending / descending position of the pair of grip claws 15 detected by the encoder 9, in other words, the drive / stop of the grip claw lifting motor 8 is controlled.

Reference numeral 22 denotes guide rollers arranged on both sides of the guide rod 7, and both side edges of the guide rod 7 are brought into contact with the guide rollers 22 to restrict movement of the guide rod 7 in the width direction. As shown in FIG. 1, the device body 23 has a pair of parallel cam grooves.
24 are formed vertically. Further, as shown in FIGS. 3 and 4, two cam followers 25 are attached to the upper end of the elevating member 14. The two cam followers 25 are separately inserted into the pair of cam grooves 24 so as to be vertically movable. In other words, the cam follower 25 is brought into contact with the upper end or the lower end of the pair of cam grooves 24, whereby the lifting limit of the guide rod 7 and the lifting member 14 is set.

The device main body 23 has a pair of restriction members that are in contact with the cam follower 25 and selectively restrict the vertical movement of the vertical movement member 14.
26 is installed. On the other hand, a bearing 27 is attached to the device body 23. And a pair of regulating members
A shaft portion 32 of 26 is rotatably supported by a bearing 27. In addition, at a position where the pair of regulating members 26 face each other, approximately V
The V-shaped inner groove 33 is formed separately. Further, two outer grooves A and B are separately formed at positions on the opposite side of the inner groove 33 in the pair of regulating members 26. In addition, the device body 2
A pair of cylinders 28 is attached to the cylinder 3, and a spring 29 and a piston 30 that is pressed against the regulating member 26 by the elastic force of the spring 29 are separately arranged in the pair of plungers 28. Each piston 30 is a pair of regulating members
It is configured to engage with 26 outer grooves A or B.

With the above-described configuration, in the process of transporting the workpiece W, the workpiece transport device 5 grips the workpiece W on the carry-in conveyor 2a and transports the gripped workpiece W to the machining position of the machine tool 1 in FIG. To do. Then, the workpiece W that has been processed by the machine tool 1 is gripped and carried out to the carry-out conveyor 2b. When the work W is loaded and unloaded, the gripping claws 15 are vertically moved up and down and the pair of gripping claws 15 are opened and closed on the loading and unloading conveyors 2a and 2b and the machine tool 1.

Next, with respect to the opening / closing operation of the pair of grip claws 15, FIG.
A description will be given based on FIGS. 5 (a) to 5 (j). FIG. 5 is a simplified view of the work transfer device 5. FIG. 5A shows a state in which the pair of gripping claws 15 are locked to the lower portion of the workpiece W. In this state, the work W is attached to the pair of links 15A.
Due to its own weight, a moment acts on the pair of links 15A in the direction in which the pair of gripping claws 15 close with the hinge pin 17 as a fulcrum, and this moment generates a gripping force. Also, the cam follower 25 is located at the upper end of the cam groove 24,
The piston 20 is in contact with the outer groove A of the regulating member 26 as shown in FIG.

Next, the driving force output from the gripper lifting motor 8 is transmitted to the guide rod 7 via the gears 20a and 20b, the pinion 21 and the rack 18, and the guide rod 7 is lowered, whereby the lifting member 14 guides. It descends integrally with the rod 7. When the guide rod 7 and the elevating member 14 descend by a predetermined amount, the cam follower 25 contacts the inner groove 33 of the restricting member 26, and the elevating member 14 is restricted from descending. However, a pair of grip claws 15
Is holding the workpiece W, and the hinge pin 17 is the hinge pin.
Since the hinge pin 51 is located below the hinge pin 51 and below the hinge pin 52, the pair of links 17,5
0 does not rotate.

Therefore, the guide rod 7 and the elevating member 14 continue to descend integrally, the pair of regulating members 26 rotate a predetermined angle against the elastic force of the spring 29, and the piston 30 comes into contact with the outer groove B. To be done. Then, by the encoder 9, FIG.
When it is detected that the pair of gripping pawls 15 have reached a predetermined lowered position, that is, the machining position of the machine tool 1, the gripping pawl lifting motor 8 is stopped. As a result, the guide rod 7 and the elevating member 14 are stopped integrally.

Next, the guide rod 7 is lifted by the driving force of the motor 8 for raising and lowering the grip claw, and the cam follower 25 is moved as shown in FIG. 5 (c).
When the abutting contact with the inner groove 33 of the regulating member 26, the closing force of the pair of gripping claws 15 generated by the weight of the workpiece W and the pair of links 15 are generated.
Since the external force (regulating force) applied from the regulating member 26 to the elevating member 14 is larger than the sum of the rotational resistance of A and the rotational resistance of the pair of links 50, the elevation of the elevating member 14 is regulated. It

For this reason, only the guide rod 7 rises and the pair of links
15 rotates about hinge pin 17 as a fulcrum, and a pair of links 50 rotates about hinge pin 51 as a fulcrum. As a result, as shown in FIG. 5 (d), the pair of gripping claws 15 are opened, and the workpiece W is loaded onto the machine tool 1.

When the pair of gripping claws 15 are opened by a predetermined angle, the pair of links 15A and the pair of links 50 reach a predetermined rotation limit, and when the resistance force exceeds the regulation force of the regulation member 26, the guide rod 7 And the elevating member 14 rises integrally. As a result, the regulating member 26 is rotated and the piston 30 is brought into contact with the outer groove A. Further, the encoder 9 detects that the guide rod 7 and the elevating member 14 have risen and the pair of gripping claws 15 have reached the rising end as shown in (e) of FIG. Be stopped.

FIGS. 5 (f) to 5 (j) show the operation when the workpiece W carried into the machine tool 1 is carried out to the carry-out conveyor 2b. In the state of FIG. 5 (f), the pair of grip claws 15 are at the rising ends, and the piston 30 is in contact with the outer groove A of the restriction member 26. The pair of grip claws 15 are open.

Even if the guide rod 7 is moved down by the driving force of the gripper lifting motor, sliding resistance is hardly generated between the cam follower 25 and the cam groove 24. Therefore, the sliding resistance causes a pair of links 17 and a pair of links. 50 will not rotate. Therefore, the guide rod 7 and the elevating member 14 are integrally lowered with the pair of gripping claws 15 being released.

When the cam follower 25 comes into contact with the inner groove 33 of the regulation member 26 as shown in FIG. 5 (g) due to the lowering of the elevation member 14, the regulation member 26 regulates the lowering of the elevation member 14. Then, as the guide rod 7 descends, the pair of links 15A is rotated about the hinge pin 17 as a fulcrum, and the pair of links 15A is rotated.
50 is rotated about hinge pin 51 as a fulcrum. as a result,
As shown in FIG. 5 (h), the pair of grip claws 15 are closed and the workpiece W is gripped. The grip of the workpiece W is indirectly detected by the encoder 8 based on the descending amount of the guide rod 7, and the descending of the guide rod 7 is stopped. Therefore, after the workpiece W is gripped by the pair of gripping claws 15, the guide rod 7 does not further descend and the regulating member 26 does not rotate, and the cam follower 25 regulates as shown in FIG. 5 (b). Member 26
Is reached below.

Further, when the work W is gripped by the pair of gripping claws 15, a moment acts on the pair of links 15A in the direction in which the pair of gripping claws 15 closes with the hinge pin 17 as a fulcrum due to the weight of the work W. This moment causes a gripping force of the pair of gripping claws 15.

Further, after the work W is gripped by the pair of grip claws 15, the guide rod 7 and the elevating member 14 are integrally lifted. In this case, since the elevating member 14 is attached to the apparatus main body 23 so as to be able to ascend and descend in the vertical direction, the cam follower
The moment acting on the pair of links 15A is larger than the sliding resistance between the cam follower 25 and the cam groove 24.
There is no possibility that the pair of links 15A and the pair of links 50 may rotate due to the sliding resistance between the cam groove 24 and the cam groove 24. Therefore,
The workpiece W is reliably gripped by the pair of gripping claws 15.

Then, as shown in FIG. 5 (i), when the cam follower 25 comes into contact with the upper end of the cam groove 24, the lifting of the elevating member 14 is restricted. The external force that restricts the lifting of the elevating member 14 is larger than the sum of the moment acting on the pair of links 15A, the rotational resistance of the pair of links 17 and the rotational resistance of the pair of links 50, and the guide rod 7 Only continues to rise. As a result, the pair of links 15 are rotated around the hinge pin 17 as a fulcrum, and the pair of links 50 are connected to the hinge pin 17.
The pair of gripping claws 15 is opened as shown in FIG. 5 (j) by rotating about 51 as a fulcrum, and the workpiece W is paired with the pair of gripping claws.
Being separated from 15.

When the work W is unloaded from the machine tool 1, the work transfer device 5 is installed as shown in FIGS. 5A to 5D as in the case of loading the work W into the machine tool 1. It is also possible to carry out the work W and carry out the pair of gripping claws 15 to carry out the workpiece W onto the carry-out conveyor 2b. Further, in the technical field of the present invention, it is well known and common to use a spring to maintain a pair of gripping claws in a predetermined state, and it goes without saying that this type of technique can also be diverted to the present invention.

<Effects of the Invention> As described above, in the present invention, the first elevating member and the second elevating member are vertically moved with respect to the apparatus body, and the elevating and lowering of the second elevating member is selectively performed by the restricting member. And the first elevating member and the second elevating member are moved relative to each other,
The pair of links can be rotated to open and close the pair of grip claws. Therefore, it is possible to arbitrarily carry out both the loading and unloading of the work by the work carrying device including the pair of gripping claws, and there is an advantage that the work carrying device can be downsized.

[Brief description of the drawings]

The drawings show an embodiment of the present invention. FIG. 1 is a plan view of the apparatus of the present invention, FIG. 2 is a front view showing the state of equipment of the present invention, and FIG. 3 is a side view of FIG. FIG. 4 is a cross-sectional view taken along the line I-I in FIG. 1, FIGS. 5 (a) to (j) are views for explaining the loading / unloading operation, and FIG. 6 is an enlarged view of a pair of links. 5 ... Work transfer device, 6 ... Traveling motor, 7 ... Guide rod, (first elevating member), 8 ... Grasping claw elevating motor (driving mechanism), 18 ... Rack (driving mechanism, 20a) , 20b ...
... gear (drive mechanism), 21 ... pinion (drive mechanism),
15 …… Grip claw, 23 …… Device body, 25 …… Cam follower,
26 …… Regulator, 28 …… Plunger.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Katsuhisa Tanaka 1 Toyota Town, Toyota City, Aichi Prefecture, Toyota Motor Co., Ltd. (72) Inventor Shuji Sato 1 Toyota Town, Toyota City, Aichi Prefecture, Toyota Motor Co., Ltd.

Claims (1)

(57) [Claims] 1. A first raising / lowering member and a second raising / lowering member capable of integral movement and relative movement in the vertical direction, and an apparatus main body to which the first raising / lowering member and the second raising / lowering member are vertically movable. And a pair of grip claws that are opened and closed by relative movement of the first elevating member and the second elevating member, wherein a drive mechanism that applies a driving force to the first elevating member, And a pair of links whose pivot portions are connected to the first elevating member at the intersections of the first and second elevating members, and one end of each of the pair of links is connected to the second elevating member. The pair of gripping claws are movably connected to each other, and the pair of gripping claws are separately formed at the other ends of the pair of links. The first lifting member and the second lifting member. By relatively moving the member, the regulating member for opening and closing the pair of gripping claws, workpiece transfer apparatus, characterized in that provided on the apparatus main body.