JP2691057B2 - Transfer device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a transfer device for removing and inserting a transfer work that fits into a predetermined position and moving the transfer work between the transfer work and another position.

[Prior Art] Conventionally, in a transfer device that moves a work to be inserted into a predetermined position and then moves the work to another position, the work is supported without play and is accurately positioned with respect to the predetermined position. It was common to do it later.

[Problems to be Solved by the Invention] However, in such a conventional technique, accurate and strict motion control is required to prevent interference with a predetermined position, and the mechanism becomes large or complicated. Then, there was a problem that it became an expensive device unnecessarily.

The present invention has been made in view of such a conventional problem, and provides a transfer device capable of allowing a slight error in position accuracy and easily moving a transfer work with a simple configuration. It is intended to be provided.

“Means for Solving the Problem” The gist of the present invention for achieving such an object is that in a transfer device that moves a transfer work to be inserted into and removed from a predetermined position by inserting and removing the transfer work, On a moving base arranged so as to be linearly movable in the inserting / removing direction to / from the predetermined position, a rotary head part, an arm part,
A pulse motor is supported, and the pulse motor is provided in the rotary head unit and swings the arm unit. When stopped, the output shaft stops at a predetermined holding torque, and the holding unit holds the pulse motor. It is configured such that it can be rotationally displaced by a force larger than the torque and returns when the large force disappears. The arm portion is engageable with and disengageable from the transfer work, and is between the transfer work and the predetermined position. To hold the conveyed work by positioning it to such an extent that the interference of the pulse motor is allowed, is connected to the output shaft of the pulse motor via a relay portion, and is swingably supported by the rotary head portion. , When a part of the conveyed work is fitted into the predetermined position, it interferes with each other, and a rotational force from the arm portion side is generated, which becomes larger than the holding torque of the output shaft of the pulse motor and can rotate the output shaft. The degree of Has a speed ratio, it consists in conveying apparatus characterized by is provided with a guide for relief during interference on at least one of the predetermined position and conveying the workpiece.

"Operation" The transfer device inserts the transfer work into a predetermined position, or connects to the inserted transfer work to extract the transfer work and move it to another position.

When inserting the transferred work into the specified position, the transferred work is received by engaging it with the arm of the rotary head at another position, and the pulse motor is energized so that the arm can be inserted into the specified position. The arm part is controlled to rotate and then stopped, and then the moving base is linearly moved to fit the transferred work into a predetermined position.

When fitting, a part of the conveyed work collides with the entrance or the like at a predetermined position due to a slight displacement, and when the arm part is rotated by a small angle, a rotating force is generated on the arm part side, and this rotating force is a pulse motor. Becomes larger than the holding torque of the pulse motor, and the pulse motor is rotated via the relay section.

In other words, due to the characteristics of the pulse motor, if a force greater than the holding torque is applied at the position where the output shaft is stopped and held, the output motor will rotate without difficulty and will return to its original position when released.

Then, when the arm side rotates as described above, the relay section transmits this rotation to the pulse motor, the pulse motor is rotated against the holding torque, the transfer work is inserted into a predetermined position, and the arm section transfers. The work is released, and the arm part returns to the original position by the restoring force of the pulse motor.

When the transfer work is taken out from the predetermined position, the arm portion is positioned in a direction in which it can be inserted into and removed from the predetermined position, and the moving base is linearly moved to engage or grip the transfer work at the predetermined position.

At this time, if an error occurs in the positional relationship between the workpiece and the arm due to a slight misalignment and the arm attempts to swing, the pulse motor is rotated through the relay section, and the pulse motor does not interfere with the pulse movement. Conveyance can be continued without overloading the motor.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

 Each drawing shows an embodiment of the present invention.

The transfer device 10 is for inserting and removing the transfer work W, which is stored in the multi-stage stacks A, A, ... The transfer work W is formed with a fitting groove W1 in the vertical direction, and guide inclined surfaces W2 and W2 are formed at the tip.

The multi-stage stack A has shelves A1, A1 ...
The openings A2, A2 ... Are arranged so as to face the transport device 10. The multi-stage stack A is set such that one of the shelves A1 is always at a predetermined height by a lifting mechanism (not shown).

The transfer device 10 includes a movable base 30 supported by a fixed base 20 and a rotary head section 40 supported by the movable base 30.

The fixed base 20 includes a movable base 30 and a rotary head unit.
Vertical guide rails 21 and 21 slidably supporting the moving base 30 are provided so that the transfer work W can be linearly moved in the insertion / removal direction of the transferred work W to / from the shelf A1 of the stack A at a predetermined position.

Endless drive belts 23 are provided on both ends of the upper surface of the fixed base 20 for linearly moving the moving base 30.
Are hung on reels 22 and 22. A part of the drive belt 23 is connected to the moving base 30, and a vertical drive motor 24 that drives the drive belt 23 is mounted so as to rotate one reel 22.

The moving base 30 is provided with a lateral guide rail 31 that laterally guides the rotary head unit 40 so that the rotary head unit 40 can be moved to the front of each of the horizontally arranged multi-stage stacks A, A.

Similar to the fixed base 20, reels 32 and 32 are arranged at both ends of the upper surface of the moving base 30, and an endless drive belt 33 that moves the rotary head unit 40 in the lateral direction is wound around the reels 32 and 32. . A part of the drive belt 33 is connected to the rotary head portion 40, and a lateral drive motor 34 that drives the drive belt 33 is mounted so as to rotate one reel 32.

A pulse motor 41 is mounted on the upper end of the rotary head portion 40, a relay bracket 43, which is a relay portion, is fixedly mounted on the rotary shaft 42 of the pulse motor 41, and an arm portion 45 is supported at the tip of the relay bracket 43. There is.

The pulse motor 41 controls and oscillates the rotational position of the arm portion 45, and is set so that the angular position at which the pulse motor 41 stops is in the insertion / removal direction to / from the stack A.

The arm portion 45 is formed to have a predetermined width so that the arm portion 45 can be inserted into and fitted into the fitting groove W1 of the transfer work W facing in the inserting / removing direction.

 Next, the operation will be described.

The transfer device 10 inserts the transfer work W into the stack A at a predetermined position, or connects to the inserted transfer work W to extract the transfer work W and move it to another position.

When the transfer work W is fitted into the stack A, the transfer work W is engaged with the arm part 45 of the rotary head part 40 by inserting the arm part 45 into the fitting groove W1 at another position and fitting the same. Upon reception, the lateral drive motor 34 is activated to rotate the reel 32, and the drive belt 33 moves the rotary head portion 40 laterally along the lateral guide rail 31.

The pulse motor 41 is rotationally controlled so that the arm portion 45 can be inserted into the stack A located at a predetermined position, and the arm portion 45 is rotated so that the transported work W is directed in the front direction of the opening A2 of the multi-stage stack A. When facing, the pulse motor 41 is controlled so as to stop at that position, and the arm portion 45 is also held at the angular position.

Next, the vertical drive motor 24 is energized to rotate the reel 22, and the drive belt 23 moves the moving base 30 to the vertical guide rail 2
Move straight along 1,21 in the direction close to the multi-stage stack A. The rotary head part 40 also moves together with the moving base 30, and the transferred work W enters the opening A2 from the tip and is inserted into the shelf A1 of the multi-stage stack A.

When the transfer work W is fitted into the shelf A1, if there is a slight misalignment, a part of the front end of the transfer work W may hit the edge of the opening A2 of the stack A at a predetermined position. Since the hitting portion is the guide inclined surface W2, the arm 45 is guided and rotated by a small angle.

Rotational force is generated on the arm portion 45 side by the rotation from the arm portion 45 side, and the relay bracket 43, which is a relay portion, transmits this rotation to the pulse motor 41. Since the rotational force is larger than the holding torque of the output shaft of the pulse motor 41, the pulse motor 41 is smoothly rotated against the holding torque, and the transported work W is inserted into the stack A at a predetermined position.

When the transfer work W is inserted into the stack A and the arm 45 opens the transfer work W, the composite force of the pulse motor 41 causes the arm 45 to return to the original angular position.

When the transfer work W is taken out from the stack A at a predetermined position, the arm portion 45 is positioned in a direction in which it can be inserted into and removed from the stack A at a predetermined position, the pulse motor 41 is stopped and held, and the moving base 30 is linearly moved. Then, the arm portion 45 is engaged with or grasped by the transport work W of the stack A located at a predetermined position.

At this time, if an error occurs in the positional relationship between the transported work W and the arm portion 45 due to a slight displacement and the arm portion 45 tries to swing, the pulse motor 41 is rotated via the relay bracket 43 that is a relay portion. The conveyance can be continued without causing interference and without causing any strain on the pulse motor 41.

In addition, in the above-described embodiment, the relay portion is configured by the relay bracket that does not have a decelerating action, but as a relay portion having a decelerating action with a reduction ratio that allows the output force of the pulse motor to be rotated by the rotational force from the arm side. Good. Further, it goes without saying that the guide for escape at the time of interference may be provided at a predetermined position side, that is, at the opening of the shelf of the stack in the above embodiment.

[Advantages of the Invention] According to the carrier device of the present invention, since the positional deviation is absorbed by utilizing the characteristics of the pulse motor, the strict operation control for preventing the interference is not required, and the positional accuracy is improved. A slight error can be tolerated, and the transfer device can move the transfer work smoothly and easily with a simple structure.

[Brief description of the drawings]

Each drawing shows one embodiment of the present invention. Fig. 1 is a plan view of a conveying device, Fig. 2 is a front view of the same, and Fig. 3 is Fig. 2 II.
FIG. W ... Transport work, A ... Multi-stage stack 10 ... Transport device, 20 ... Fixed base 30 ... Moving base, 40 ... Rotating head part 41 ... Pulse motor 43 ... Relay bracket (relay part) 45 ... Arm part

Claims (1)

(57) [Claims] 1. A transfer device for inserting / removing a transfer work to be inserted into a predetermined position and moving the transfer work to / from another position, wherein a transfer base is provided so as to be linearly movable in the inserting / removing direction to / from the predetermined position. A rotary head unit, an arm unit, and a pulse motor, wherein the pulse motor is provided in the rotary head unit and swings the arm unit. It is configured to stop at a predetermined holding torque, to be rotationally displaceable with a force larger than the holding torque, and to return when the large force disappears, wherein the arm portion is detachable from a transfer work, The workpiece is held by positioning it so as to allow interference between the workpiece and the predetermined position, and is connected to the output shaft of the pulse motor via a relay section to swing to the rotary head section. Movement The relay portion interferes when a part of the conveyed work is fitted into the predetermined position, and a rotational force is generated from the arm portion side. A conveyance device having a reduction ratio that is large enough to rotate the output shaft and is provided with a guide for escape at the time of interference at least one of the conveyance work and the predetermined position.