JP3163939U - Transport device - Google Patents

Abstract

A parallel link mechanism is operated with a simple configuration and a low torque, and a transport device capable of stably transporting a workpiece between two points is provided. A base 12 extending in a vertical direction, a parallel link mechanism 14 having a fulcrum movably provided in the vertical direction on the base 12, a connecting member 40 provided in the parallel link mechanism 14, a base 12, a servo motor 16 provided so as to be movable in the vertical direction, a rotary shaft 18 connected to the servo motor 16, a rotary shaft 18 connected to the rotary shaft 18 so as to be rotatable forward and backward, and an upper portion 42 with respect to the coupling member 40. An arm 20 having a roller 46 at a lower portion 44 and a base 22 provided so as to be movable in a vertical direction on the base 12, and an air cylinder connected to the base 22. And a rolling surface 48 for rolling the roller 46 provided on the base 22. [Selection] Figure 1

Description

  The present invention relates to a transport device for transporting workpieces such as parts, semi-finished products, and products between two points.

  Conventional devices in this technical field include a drive pulley connected to a drive motor, a driven pulley to which rotation is transmitted from the drive pulley via a belt, and a driven pulley in a workpiece transfer device such as a glass substrate or a semiconductor wafer. A horseshoe cam connected via a shaft to a pinion, also connected to a driven pulley via a shaft, a gear meshing with the pinion, a parallel link mechanism connected to the gear via another shaft, A first support means provided on an upper part of the parallel link mechanism and having a support part for placing a work, and a roller positioned below the first support means and in contact with the outer periphery of the horseshoe cam And a slide unit having a roller rotatably at the top, a plate cam in contact with the bottom of the slide unit, and the plate cam being rotatable. A second support means having a cam motor for consist conveying apparatus is known (e.g., see Patent Document 1).

  In the conventional conveying apparatus, the horseshoe cam is rotated in the same direction through the driving pulley and the driven pulley by rotating the driving motor of the first support means, and at the same time, the pinion is rotated in the same direction to rotate the gear. Can be rotated in the opposite direction, and the parallel link mechanism connected to the gear via the shaft is tilted in the same direction as the rotation direction of the gear, thereby moving the support portion of the parallel link mechanism substantially horizontally. I was able to.

  Further, by rotating the cam motor of the second support means, the plate cam can be rotated to move the slide unit up and down, and accordingly, a horseshoe cam via a roller provided at the upper part of the slide unit By raising and lowering, the first support means was raised and lowered, and the support portion of the parallel link mechanism could be raised and lowered.

  For this reason, in the conventional transport device, the support part of the parallel link mechanism is raised and the work is lifted from the placement place, and after moving substantially as it is, the support part is lowered and the work is lowered to another placement place, Furthermore, the workpiece could be conveyed in a stable and stable manner between two points by a series of movements such as moving substantially horizontally and returning to the original placement location.

JP-A-7-267325

However, in the conventional transport device, a large number of members are required to move the parallel link mechanism and move the support portion up and down and substantially horizontally between the two points, and the configuration becomes complicated. For this reason, there is a risk that the production, repair, maintenance, etc. of the device itself may take a great deal of time.
Furthermore, since a series of drive means for moving a parallel link mechanism requires a big torque, there existed a possibility that it might become uneconomical.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a transport device that can operate a parallel link mechanism with a simple configuration and a low torque while stably transporting a workpiece between two points.

According to the first aspect of the present invention, a vertically extending base, a first link serving as a fulcrum, upward, a second link facing the first link downward, a third link and a first link A parallel link mechanism comprising four links arranged so that the four links are opposed to the left and right, and the first link being movable in a vertical direction with respect to the base; and the parallel link A connecting member provided between the third link and the fourth link of the mechanism, a driving means provided so as to be movable in a direction perpendicular to the base, and connected to the driving means. And a rotating shaft provided so as to be rotatable forward and backward, and an upper portion connected to the connecting member so as to be rotatable forward and backward, and a roller is provided at the lower portion, and the upper portion and the lower portion are Rotating shaft is connected and rotates forward and backward around the rotating shaft An arm provided on the base, a base provided so as to be movable in the vertical direction on the base, lifting means connected to the base, and the roller provided on the base to roll. And a rolling surface provided with stoppers at both ends.

The "parallel link mechanism" here is composed of four links with equal lengths of the opposing links. When any one link is moved as a fulcrum, they face each other. This means that links always move in parallel (the same applies below).

  Therefore, with the above-described configuration, which is a simple configuration, by moving the parallel link mechanism, the second link is moved relative to the first link that is the upper fulcrum between the two points with the base as the center line. Can be moved up and down and horizontally while maintaining parallelism.

For this reason, when a gripping tool for gripping a workpiece is attached to the second link below the parallel link mechanism, the workpiece is lifted by the gripping tool, moved in the horizontal direction as it is, stopped, and then lowered. A series of movements such as can be performed in a stable state.

Further, in order to move the parallel link mechanism from the above configuration, the upper part of the arm for pulling the connecting member provided in the parallel link mechanism by the operation of the driving means is, for example, rightward with the base as the center line. At the same time, the lower part of the arm moves to the left with the base as the centerline, and the roller provided at the lower part of the arm rolls to the left on the rolling surface of the base. The force required to pull the connecting member is reduced by the force with which the roller pulls the lower part of the arm.

According to the second aspect of the present invention, the base extending in the vertical direction, the first link upward, the second link facing the first link as the fulcrum, the third link and the fourth link And a parallel link mechanism provided such that the second link is movable in the vertical direction with respect to the base, and the parallel link mechanism. A connecting member provided between the third link and the fourth link, driving means provided so as to be movable in the vertical direction to the base, and connected to the driving means. A rotating shaft provided so as to freely rotate in the forward and reverse directions and a lower portion connected to the connecting member so as to be freely rotated in the forward and reverse directions, and a roller provided at the upper portion, and the rotation between the upper portion and the lower portion. Forward and reverse rotation around the rotation axis when the shaft is connected An arm provided on the base, a base provided so as to be movable in the vertical direction on the base, lifting means connected to the base, and the roller provided on the base to roll. A rolling surface provided with stoppers at both ends.

  Therefore, with the above-described configuration, which is a simple configuration, by moving the parallel link mechanism, the upper first link becomes the lower fulcrum between the two points with the base as the center line. It is possible to move up and down and move horizontally while maintaining parallelism.

For this reason, when the support for placing the work on the first link above the parallel link mechanism is attached, the work is lifted by the support, moved in the horizontal direction as it is, stopped, and then the work is lowered. Such a series of movements can be performed in a stable state.

Further, in order to move the parallel link mechanism from the above configuration, the lower part of the arm for pulling the connecting member provided in the parallel link mechanism by the operation of the driving means is, for example, rightward with the base as the center line. At the same time, the upper part of the arm moves leftward with the base as the center line, and the roller provided on the upper part of the arm rolls leftward on the rolling surface of the base. The force required to pull the connecting member will be reduced by the force with which the roller pulls the upper part of the arm.

A device according to a third aspect is the conveying device according to the first or second aspect, wherein the rolling surface is a groove cam.

  Therefore, with the above-described configuration, which is a simple configuration, when the arm is rotated forward and backward through the rotation shaft by the operation of the driving means, the roller provided on the upper or lower portion of the arm is rotated by the groove cam. The rolling surface rolls in a stable state.

A device according to a fourth aspect is the conveying device according to the first or second aspect, wherein the rolling surface is flat.

Accordingly, with the above-described configuration, which is a simple configuration, the roller provided at the lower portion of the arm rolls along the flat rolling surface of the base, so that the second link below the parallel link mechanism is transferred to the second link. When a gripping tool for gripping the workpiece is attached, the workpiece is lifted by the gripping tool by moving the parallel link mechanism, and then moved to draw a gentle arc that swells slightly downward in the horizontal direction. After stopping, a series of movements such as lowering the workpiece can be performed in a stable state.

Furthermore, with the above-described configuration, which is a simple configuration, the roller provided on the upper part of the arm rolls along the flat rolling surface of the base, so that the first link above the parallel link mechanism is moved to the first link. When the support for mounting the work is attached, by moving the parallel link mechanism, the work is lifted by the support, and moves in a horizontal arc, in a gentle arc that swells upward slightly, After stopping, a series of movements such as lowering the workpiece can be performed in a stable state.

According to a fifth aspect of the present invention, there is provided the conveying apparatus according to the fourth aspect, wherein the elevating means is a servo cylinder.

Therefore, with the above configuration, which is a simple configuration, by operating the servo cylinder, the base can be raised and lowered to several preset height positions, and the height position of the parallel link mechanism can be adjusted. When a gripping tool for gripping the work is attached to the second link below the parallel link mechanism, the work is lifted by the gripping tool by moving the parallel link mechanism, and then moved substantially horizontally and stopped. Later, a series of movements such as unloading the workpiece can be performed in a stable state.

  In addition, with the above configuration, which is a simple configuration, by operating the servo cylinder, the base can be raised and lowered to several preset height positions, and the height position of the parallel link mechanism can be adjusted. When the support for mounting the work is mounted on the first link above the parallel link mechanism, the work is lifted by the support by moving the parallel link mechanism, and then moved substantially horizontally and stopped. A series of movements such as unloading a workpiece can be performed in a stable state.

The invention according to claim 6 is the conveying apparatus according to claim 1, wherein the rolling surface is formed of a mountain-shaped cam having a central portion as a vertex.

Therefore, with the above-described configuration, which is a simple configuration, the roller provided at the lower part of the arm rolls on the rolling surface of the base along the mountain-shaped cam, so that the height position of the parallel link mechanism is increased. Will be adjusted.

For this reason, when a gripping tool for gripping a workpiece is attached to the second link below the parallel link mechanism, the workpiece is lifted by the gripping tool by moving the parallel link mechanism, and moved substantially horizontally as it is. After stopping, a series of movements such as lowering the workpiece can be performed in a stable state.

The invention according to claim 7 is the conveying apparatus according to claim 2, wherein the rolling surface is composed of an inverted mountain-shaped cam having a recessed central portion.

Therefore, the height of the parallel link mechanism is increased as the roller provided on the upper part of the arm rolls along the rolling surface of the base along the inverted mountain-shaped cam with the above-described structure, which is a simple structure. The position will be adjusted.

For this reason, when a support for mounting a work is mounted on the first link above the parallel link mechanism, the work is lifted by the support by moving the parallel link mechanism, and then moved substantially horizontally and stopped. After that, a series of movements such as unloading the workpiece can be performed in a stable state.

From the above configuration, the transport device of the present invention can move the parallel link mechanism with a simple configuration, so that the workpiece can be lifted and moved in the horizontal direction between two points in a stable state. It takes less time to manufacture, repair, and maintain the device itself.

Furthermore, from the above configuration, the force required for the upper part of the arm to pull the connecting member is reduced by the force with which the roller pulls the lower part of the arm, and the lower part of the arm pulls the connecting member. Since the necessary force is reduced by the force with which the roller pulls the upper part of the arm, a series of driving means for moving the parallel link mechanism does not require a large torque.
For this reason, it is not uneconomical.

It is a front view of the conveying apparatus of Example 1 of this invention. It is a side view of the conveying apparatus of Example 1 of this invention. It is explanatory drawing which shows the use condition of the conveying apparatus of Example 1 of this invention. It is another explanatory drawing which shows the use condition of the conveying apparatus of Example 1 of this invention. It is a partial enlarged view of the conveying apparatus of Example 2 of this invention. It is explanatory drawing which shows the use condition of the conveying apparatus of Example 2 of this invention. It is a partially expanded view of another conveying apparatus of the present invention. It is a front view of the conveying apparatus of Example 3 of this invention. It is a side view of the conveying apparatus of Example 3 of this invention. It is explanatory drawing which shows the use condition of the conveying apparatus of Example 3 of this invention. It is a partial enlarged view of the conveying apparatus of Example 4 of this invention. It is explanatory drawing which shows the use condition of the conveying apparatus of Example 4 of this invention.

  The purpose of operating the parallel link mechanism at a low torque and carrying the workpiece between two points in a stable state has been realized with a minimum number of parts and a simple part configuration.

A transport apparatus 10a according to a first embodiment of the present invention will be described with reference to FIGS.
The conveying device 10a according to the first embodiment of the present invention is mainly provided in the middle of the base 12, the base 12 extending in the vertical direction, the parallel link mechanism 14 provided above the base 12, and the base 12. Servo motor 16 with a reduction gear as drive means, arm 20 connected to servo motor 16 via rotary shaft 18 so as to be able to rotate forward and backward, base 22 provided below arm 20, and base 22 And an air cylinder 24, which is connected to the lift means, and is controlled by a control device (not shown) (see FIGS. 1 and 2).

The driving means is not limited to the servo motor 16 with a speed reducer.
Further, the lifting means is not limited to the air cylinder 24, and may be a hydraulic cylinder, a combination of a servo motor and a ball screw, or a combination of a servo motor and a rack and pinion.

The base 12 extending in the vertical direction is columnar.
The base 12 is provided with a linear guide rail 26 along the vertical direction.
The linear motion guide rail 26 is used to move linear motion guides 38a, 38b, and 38c, which will be described later, along the base 12 in the vertical direction.
In addition, what is made to move freely in the vertical direction along the base 12 is not limited to the linear motion guide.

  The parallel link mechanism 14 has the first link 28 facing upward, the second link 30 facing the first link 28 facing downward, and the third link 32 and the fourth link 34 facing left and right. It consists of four links arranged.

The 1st link 28 and the 2nd link 30, and the 3rd link 32 and the 4th link 34 are provided in the same length, respectively.
The lengths of the first link 28 and the second link 30 are shorter than the lengths of the third link 32 and the fourth link 34.
The parallel link mechanism 14 may have the same length for all four links.

  The parallel link mechanism 14 uses the upper first link 28 as a fulcrum and moves the third link 32 and the fourth link 34 to move the lower second link 30 like a pendulum. belongs to.

For this reason, the contact of each link is connected so that it can mutually rotate forward and backward.
The lower second link 30 is provided so that a gripping tool H for holding and transporting the workpiece W is attached (see FIGS. 3 and 4).

Moreover, it is not limited to attaching only the holding tool H to the 2nd link 30 below.
For example, any support may be used as long as it suits the application, such as a support for placing the work W or a hook for hooking the work W.

The first link 28 is connected to the base 12 via an attachment member 36 and a linear guide 38a so as to be movable in the vertical direction along the base 12 (see FIG. 2).
Therefore, as the first link 28 is movable in the vertical direction along the base 12, the entire parallel link mechanism 14 is also movable in the vertical direction along the base 12.

A connecting member 40 is provided between the third link 32 and the fourth link 34 of the parallel link mechanism 14.
The connecting member 40 is an action point where a force is applied when the parallel link mechanism 14 is moved. The connecting member 40 is connected to the upper part 42 of the arm 20 described later so as to be rotatable forward and backward. Yes.

The servo motor 16 is connected to the base 12 via a linear motion guide 38 b so as to be movable in the vertical direction along the base 12.
One end of the rotation shaft 18 is connected to the servo motor 16 so that the rotation shaft 18 can rotate forward and backward.
The other end of the rotating shaft 18 is connected to an arm 20 described later.

The arm 20 has a flat rectangular shape, and the upper part 42 is connected to the connecting member 40 so as to be rotatable forward and backward, and the roller 44 is provided to the lower part 44 so as to be rotatable forward and backward. It is what was done.
In addition, although the roller 46 is provided in the back side of the lower part 44, it is good also as what was provided in the front side.

Further, the shape of the arm 20 is not limited to a flat rectangular shape.
The roller 46 employs a cam follower, but is not limited to this.
Further, the rotary shaft 18 is connected between the upper part 42 and the lower part 44 of the arm 20, and the arm 20 is provided so as to be rotatable forward and backward in parallel to the base 12.

  For this reason, the arm 20 is connected to the upper part 42 of the arm 20 by rotating the upper part 42 of the arm 20 in either the left or right direction by being rotated forward or reverse by the servo motor 16 via the rotary shaft 18. The parallel link mechanism 14 is moved in either the left or right direction using the connected member 40 as an action point where a force is applied.

The base 22 is provided with a rolling surface 48 on the upper surface for constantly rolling the roller 46 of the arm 20.
The rolling surface 48 is provided flat, and stoppers 50 and 50 for stopping the rolling roller 46 are provided at both ends.
The rolling surface 48 is not limited to being provided flat.
Further, the rolling surface 48 may be configured as the groove cam 52 and the roller 46 may be rolled (see FIG. 7).

  For this reason, the arm 20 is rotated forward and backward by the servo motor 16 and the upper part 42 of the arm 20 moves in either the left or right direction, so that the lower part 44 of the arm 20 simultaneously moves in the opposite direction to the upper part 42, After the roller 46 provided in the lower part 44 of the arm 20 rolls on the rolling surface 48 in the same direction, it is stopped by the stoppers 50 and 50.

  Further, the base 22 raises and lowers the workpiece W by the gripping tool H attached to the second link 30 by raising and lowering the arm 20, the servo motor 16, and the parallel link mechanism 14 along the base 12. It is for making it possible.

The base 22 is connected to the base 12 via a linear motion guide 38c so as to be movable in the vertical direction along the base 12.
The base 22 is connected to an air cylinder 24 as lifting means so as to be lifted and lowered.

  For this reason, as the base 22 rises in the vertical direction along the base 12 by the operation of the air cylinder 24, the rolling surface 48 pushes up the roller 46 that comes into contact, so that the arm 20 moves to the base 12. In addition, the servo motor 16 connected to the arm 20 via the rotating shaft 18 and the parallel link mechanism 14 connected to the upper part 42 of the arm 20 via the connecting member 40 are also attached to the base 12. Ascending along the vertical direction.

  Furthermore, as the base 22 descends along the base 12 by the operation of the air cylinder 24, the arm 20, the servo motor 16 connected to the arm 20 via the rotary shaft 18, and the arm 20 The parallel link mechanism 14 connected to the upper portion 42 of the roller 42 with the connecting member 40 keeps the roller 46 in contact with the rolling surface 48 due to its own weight, or once the rolling surface 48 is slightly separated from the roller 46. When the roller 46 again comes into contact with the rolling surface 48, the roller 46 descends in the vertical direction along the base 12.

Then, the effect | action of the conveying apparatus 10a of Example 1 of this invention is demonstrated.
The following actions are performed based on the control of a control device (not shown).
Further, the second link 30 of the parallel link mechanism 14 is in a state in which a gripping tool H for gripping and transporting the workpiece W is attached.

First, the upper part 42 of the arm 20 that has been rotated forward by the servo motor 16 via the rotary shaft 18 moves leftward with the base 12 as the center line, and at the same time, the lower part 44 of the arm 20 is centered on the base 12. The roller 46 provided in the lower part 44 of the arm 20 moves to the right along the line, and rolls on the rolling surface 48 of the base 22 in the right direction.
At this time, the servo motor 16 is pulled downward along the base 12 by the movement of the arm 20 and descends.

Then, when the upper part 42 of the arm 20 moves leftward with the base 12 as the center line, the connecting member 40 connected to the upper part 42 of the arm 20 is pulled leftward.
At this time, the force required for the upper portion 42 of the arm 20 to pull the connecting member 40 is reduced by the force that the roller 46 that rolls the rolling surface 48 of the base 22 pulls the lower portion 44 of the arm 20. Become.
For this reason, the torque of the servo motor 16 is reduced.

Then, the connecting member 40 pulled leftward by the upper part 42 of the arm 20 moves the third link 32 and the fourth link 34 of the parallel link mechanism 14 leftward.
At this time, the connecting member 40 becomes an action point where a force is applied when the parallel link mechanism 14 is moved.

As the third link 32 and the fourth link 34 move to the left, the first link 28, which is the upper fulcrum, is pulled downward along the base 12 and lowered. The second link 30 below the first link 28 moves to the left with the base 12 as the center line while being parallel to the first link 28, and then stops.
At this time, the roller 46 that rolls the rolling surface 48 of the base 22 in the right direction is stopped by the right stopper 50.

Then, the air cylinder 24 is operated to lower the base 22 along the base 12 in the vertical direction.
As the base 22 descends in the vertical direction along the base 12, the arm 20, the servomotor 16, and the parallel link mechanism 14 together with the roller 46 on the rolling surface 48 are caused by their own weight. Along the vertical direction.

Then, as the parallel link mechanism 14 descends, the second link 30 that remains parallel to the first link 28 also descends.
Then, the workpiece W is gripped by the gripping tool H attached to the second link 30.

Then, the air cylinder 24 is operated again, and the base 22 is raised along the base 12 in the vertical direction.
As the base 22 rises vertically along the base 12, the arm 20, the servomotor 16, and the parallel link mechanism 14 are moved along the base 12 together with the roller 46 on the rolling surface 48. Ascend vertically.

When the parallel link mechanism 14 is raised, the second link 30 that is kept parallel to the first link 28 is also raised.
And the workpiece | work W hold | gripped by the holding | gripping tool H attached to the 2nd link 30 is lifted (refer Fig.3 (a)).

Then, when the upper part 42 of the arm 20 is reversely rotated by the servo motor 16 via the rotary shaft 18, the upper part 42 of the arm 20 moves rightward with the base 12 as the center line, and at the same time, the lower part of the arm 20. 44 moves to the left with the base 12 as the centerline, and the roller 46 provided on the lower part 44 of the arm 20 rolls on the rolling surface 48 of the base 22 to the left.

Then, the upper part 42 of the arm 20 moves rightward with the base 12 as the center line, whereby the connecting member 40 connected to the upper part 42 of the arm 20 is pulled rightward.
At this time, the force required for the upper portion 42 of the arm 20 to pull the connecting member 40 is reduced by the force that the roller 46 that rolls the rolling surface 48 of the base 22 pulls the lower portion 44 of the arm 20. Become.
For this reason, the torque of the servo motor 16 is reduced.

Then, the connecting member 40 pulled in the right direction by the upper portion 42 of the arm 20 moves the third link 32 and the fourth link 34 of the parallel link mechanism 14 in the right direction.
At this time, the connecting member 40 becomes an action point where a force is applied when the parallel link mechanism 14 is moved.

  When the connecting member 40 is pulled rightward by the upper portion 42 of the arm 20, the connecting member 40 moves the third link 32 and the fourth link 34 of the parallel link mechanism 14 to the right, and the upper fulcrum. The first link 28 is lifted by being pulled upward along the base 12 until the respective internal angles of the parallel link mechanism 14 become equal.

In addition, the arm 20 will be in the state with which the longitudinal direction was piled up along the base 12 at this time (refer FIG.3 (b)).
Further, at this time, the servo motor 16 is lifted by being pulled upward a little along the base 12 by the movement of the arm 20.

  Further, when the connecting member 40 is pulled rightward by the upper portion 42 of the arm 20, the connecting member 40 moves the third link 32 and the fourth link 34 of the parallel link mechanism 14 to the right, The first link 28 that is a fulcrum is pulled downward along the base 12 and descends, and the lower second link 30 facing the first link 28 is parallel to the first link 28. With the base 12 maintained, the base 12 moves to the right with the center line, and then stops (see FIG. 3C).

At this time, the roller 46 that rolls the rolling surface 48 of the base 22 in the left direction is stopped by the left stopper 50.
At this time, the servomotor 16 is pulled down slightly along the base 12 by the movement of the arm 20 and descends.

Then, the air cylinder 24 is operated to lower the base 22 along the base 12 in the vertical direction.
As the base 22 descends in the vertical direction along the base 12, the arm 20, the servomotor 16, and the parallel link mechanism 14 together with the roller 46 on the rolling surface 48 are caused by their own weight. Along the vertical direction.

Then, as the parallel link mechanism 14 descends, the second link 30 that remains parallel to the first link 28 also descends.
Then, the workpiece W is lowered by the gripping tool H attached to the second link 30.
Then, the air cylinder 24 is operated again, and the base 22 is raised along the base 12 in the vertical direction.

As the base 22 rises vertically along the base 12, the arm 20, the servomotor 16, and the parallel link mechanism 14 are moved along the base 12 together with the roller 46 on the rolling surface 48. Ascend vertically.
Then, when the parallel link mechanism 14 is raised, the second link 30 and the gripping tool H that are kept parallel to the first link 28 are raised.

When the upper portion 42 of the arm 20 is rotated forward by the servo motor 16 via the rotary shaft 18 again, the upper portion 42 of the arm 20 moves to the left with the base 12 as the center line. The lower part 44 of the arm 20 moves in the right direction with the base 12 as the center line, and the roller 46 provided in the lower part 44 of the arm 20 rolls on the rolling surface 48 of the base 22 in the right direction.
Then, the above series of movements are repeated.

For this reason, in the conveying apparatus 10a of the first embodiment, the second link 30 below the parallel link mechanism 14 is an upper fulcrum between the two points of the belt conveyors A and B with the base 12 as the center line. While moving parallel to the first link 28, the workpiece is moved up and down and horizontally, and the workpiece W is gripped and lifted from the belt conveyor A by the gripping tool H attached to the second link 30, and left as it is. A series of movements such as moving in a stable state so as to draw a gentle arc trajectory T slightly swollen downward in the direction, stopping, and then lowering the workpiece W onto the belt conveyor B can be repeated ( (See FIG. 4).
For this reason, the workpiece | work W between two points will be conveyed in the stable state.

  The trajectory T of the movement of the second link 30 in the horizontal direction is a gentle arc that slightly swells downward, and the first link 28 that is the upper fulcrum in the movement of the parallel link mechanism 14. The distance in the vertical direction between the second link 30 and the lower second link 30 opposite to the arm 20 is the shortest when the second link 30 stops moving to the left or right with the base 12 as the center line. When the longitudinal direction of the second link 30 is overlapped along the base 12 and the internal angles of the parallel link mechanisms 14 are equal, the length of the second link 30 becomes the longest. This is because.

  In addition, by installing the transfer device 10a of the first embodiment on a controllable turntable (not shown), it is possible to easily transfer the workpiece W between two points in multiple directions.

A transport device 10b according to a second embodiment of the present invention will be described with reference to FIGS.
In addition, the conveying apparatus 10b of Example 2 differs from the conveying apparatus 10a of Example 1 only in the rolling surface 48.
For this reason, about the structure same as the conveying apparatus 10a of Example 1, while using the same code | symbol, description of structure itself is abbreviate | omitted.

The rolling surface 48 of the conveying apparatus 10b is composed of a mountain-shaped cam 54 having a central portion as a vertex P (see FIG. 5).
The mountain-shaped cam 54 is for raising and lowering the arm 20, the servo motor 16, and the parallel link mechanism 14 along the base 12 as the roller 46 provided on the lower portion 44 of the arm 20 rolls. It is.

The mountain-shaped cam 54 moves substantially horizontally when the second link 30 of the parallel link mechanism 14 moves in the horizontal direction while maintaining parallel to the first link 28 that is the upper fulcrum. It is shaped so that it can.

  The apex P of the mountain-shaped cam 54 is such that the roller 46 is positioned on the apex P, the longitudinal direction of the arm 20 is overlapped along the base 12, and the inner angles of the parallel link mechanisms 14 are equal. So that the height position of the second link 30 is hardly changed between when the second link 30 is stopped by moving in the left or right direction with the base 12 as the center line. It is provided at a height that can be.

  In addition, even if the roller 46 is located at any part other than the vertex P, the height position of the second link 30 is the second link 30 except for the vertex P of the mountain-shaped cam 54. 30 is provided at a height that can be made almost the same as when the base 12 moves to the left or right in the center line and stops.

The cam shape of the rolling surface 48 is not limited to the mountain-shaped cam 54.
Any cam shape may be used as long as it corresponds to the desired horizontal movement trajectory of the second link 30.
Further, the mountain-shaped cam 54 may be configured as a groove cam, and the roller 46 may be rolled (not shown).

It is also possible to replace the air cylinder 24, which is an elevating means, with a servo cylinder (not shown) after providing the rolling surface 48 flat instead of the mountain-shaped cam 54.
In this case, by using a servo cylinder as the lifting / lowering means, the lifting / lowering of the base 22 is not used only for lifting and lowering the workpiece W, but the base 22 is set at several preset height positions. It is possible to adjust the second link 30 of the parallel link mechanism 14 so that the second link 30 can be moved substantially horizontally while maintaining parallel to the first link 28 that is the upper fulcrum. .

Then, the effect | action of the conveying apparatus 10b of Example 2 of this invention is demonstrated.
Note that the description of the parts common to the operation of the transport apparatus 10a of the first embodiment is omitted.

  In the transport apparatus 10b of the second embodiment, for example, the connecting member 40 is pulled leftward by the upper part 42 of the arm 20 from the state where the roller 46 provided in the lower part 44 of the arm 20 is stopped by the right stopper. As a result, the connecting member 40 moves the third link 32 and the fourth link 34 of the parallel link mechanism 14 to the left, and the first link 28 that is the upper fulcrum is moved to each of the parallel link mechanisms 14. It is pulled upward along the base 12 and rises until the inner angle becomes uniform.

  At this time, the arm 20 is in a state where the longitudinal direction thereof is overlapped along the base 12, and the roller 46 provided on the lower portion 44 of the arm 20 is positioned on the apex P of the mountain-shaped cam 54. (See FIG. 6).

  Since the roller 46 is positioned on the apex P of the mountain-shaped cam 54, the arm 20, the servo motor 16, and the parallel link mechanism 14 are raised along the base 12 by the height of the apex P. To do.

When the parallel link mechanism 14 is raised, the lower second link 30 and the gripping tool H while maintaining parallel to the first link 28 which is the upper fulcrum are at the height of the apex P. Ascend by minutes.

  The height position of the second link 30 at this time is substantially the same as the height position of the second link 30 when the base link 12 is moved to either the left or right direction and stopped. It has become.

  Subsequently, when the connecting member 40 is pulled leftward by the upper portion 42 of the arm 20 and the roller 46 rolls off the apex P of the mountain-shaped cam 54, the arm 20 and the servo motor 16 are linked in parallel. The mechanism 14 is lowered along the base 12 by the amount of the drop from the height of the vertex P.

Then, when the parallel link mechanism 14 is lowered, the lower second link 30 and the gripping tool H that are kept parallel to the first link 28 that is the upper fulcrum are removed from the height of the apex P. Decrease by the drop of.

  For this reason, in the transport apparatus 10b of the second embodiment, the second link 30 below the parallel link mechanism 14 is an upper fulcrum between the two points of the belt conveyors A and B with the base 12 as the center line. While maintaining parallel to the first link 28, it is moved up and down and moved horizontally, and the workpiece W is gripped and lifted from the belt conveyor A by the gripping tool H attached to the second link 30. A series of movements such as moving in a stable state so as to draw a horizontal trajectory T, stopping, and then lowering the workpiece W onto the belt conveyor B can be repeated (see FIG. 6).

For this reason, the workpiece | work W between two points will be conveyed in the stable state.
In addition, by installing the transfer device 10b of the second embodiment on a controllable turntable (not shown), it is possible to easily transfer the workpiece W between two points in multiple directions.

A transport device 10c according to a third embodiment of the present invention will be described with reference to FIGS.
In addition, the conveyance apparatus 10c of Example 3 differs only in the structure of the parallel link mechanism 14, the structure of the arm 20, and the structure of the base 22 with respect to the conveyance apparatus 10a of Example 1. FIG.
For this reason, about the structure same as the conveying apparatus 10a of Example 1, while using the same code | symbol, description of structure itself is abbreviate | omitted.

  The parallel link mechanism 14 of the transport apparatus 10c uses the lower second link 30 as a fulcrum, and moves the third link 32 and the fourth link 34 to make the upper first link 28 like a pendulum. It is intended for hanging around.

The second link 30 is connected to the base 12 via a mounting member 36 and a linear guide 38a so as to be movable in the vertical direction along the base 12 (see FIG. 9).
For this reason, as the second link 30 is movable in the vertical direction along the base 12, the entire parallel link mechanism 14 is also movable in the vertical direction along the base 12.

A connecting member 40 is provided between the third link 32 and the fourth link 34 of the parallel link mechanism 14.
The connecting member 40 is an action point where a force is applied when the parallel link mechanism 14 is moved. The connecting member 40 is connected to the lower part 44 of the arm 20 to be described later so as to be rotatable forward and backward. Yes.

The arm 20 has a flat rectangular shape, and is provided on the upper part 42 so that the roller 46 can rotate forward and backward, and the lower part 44 is connected to the connecting member 40 so as to be rotatable forward and backward. It is a thing.
In addition, although the roller 46 is provided in the back side of the upper part 42, it is good also as what was provided in the front side.

Further, the shape of the arm 20 is not limited to a flat rectangular shape.
Further, the rotary shaft 18 is connected between the upper part 42 and the lower part 44 of the arm 20, and the arm 20 is provided so as to be rotatable forward and backward in parallel to the base 12.

The base 22 is provided above the arm 20 and includes a rolling surface 48 for constantly rolling the roller 46 of the arm 20.
The rolling surface 48 is provided flat, and stoppers 50 and 50 for stopping the rolling roller 46 are provided at both ends.

The rolling surface 48 is not limited to being provided flat.
Further, the rolling surface 48 may be configured as a groove cam, and the roller 46 may be rolled (not shown).

  Furthermore, the base 22 is connected to the base 12 via a linear motion guide 38c so as to be movable in the vertical direction along the base 12, and an air cylinder 24 which is a lifting means is connected thereto. The base 22 is provided so as to be movable up and down.

  For this reason, as the base 22 rises in the vertical direction along the base 12 by the operation of the air cylinder 24, the rolling surface 48 pushes up the roller 46 that comes into contact, so that the arm 20 moves to the base 12. In addition, the servo motor 16 connected to the arm 20 via the rotary shaft 18 and the parallel link mechanism 14 connected to the lower part 44 of the arm 20 via the connecting member 40 are also attached to the base 12. Ascending along the vertical direction.

  Furthermore, as the base 22 descends along the base 12 by the operation of the air cylinder 24, the arm 20, the servo motor 16 connected to the arm 20 via the rotary shaft 18, and the arm 20 The parallel link mechanism 14 connected to the lower portion 44 of the roller 46 is connected to the rolling surface 48 by its own weight while the roller 46 is in contact with the rolling surface 48 or after the rolling surface 48 is slightly separated from the roller 46 once. When the roller 46 again comes into contact with the rolling surface 48, the roller 46 descends in the vertical direction along the base 12.

Furthermore, the rolling surface 48 is provided in the base 22 with a certain gap K between the base 12 and the base 12 in plan view (see FIG. 9).
The gap K is provided in such a size that the upper portion of the servo motor 16 can be accommodated.

For this reason, even when the servo motor 16 located below moves up with the movement of the parallel link mechanism 14, the upper portion of the servo motor 16 is accommodated in the gap K, and the base 22 and the servo motor 16 do not collide. .
Note that the base 22 is not limited to a structure having the gap K.

Further, the upper first link 28 is provided such that a support S for mounting and transporting the workpiece W is attached (see FIG. 10).
In addition, it is not limited to attaching only the support tool S to the upper first link 28.
For example, any gripping tool for gripping the workpiece W or hook for hooking the workpiece W may be used as long as it suits the application.

Then, the effect | action of the conveying apparatus 10c of Example 3 of this invention is demonstrated.
The following actions are performed based on the control of a control device (not shown).
Further, the first link 28 of the parallel link mechanism 14 is in a state in which a support S for mounting and transporting the workpiece W is attached.

  First, the lower part 44 of the arm 20 that has been forwardly rotated by the servo motor 16 via the rotary shaft 18 moves leftward with the base 12 as the center line, and at the same time, the upper part 42 of the arm 20 is centered on the base 12. The roller 46 provided in the upper part 42 of the arm 20 rolls to the right on the rolling surface 48 of the base 22.

At this time, the servomotor 16 is lifted by being pulled slightly upward along the base 12 by the movement of the arm 20.
Then, when the lower portion 44 of the arm 20 moves leftward with the base 12 as the center line, the connecting member 40 connected to the lower portion 44 of the arm 20 is pulled leftward.

At this time, the force required for the lower portion 44 of the arm 20 to pull the connecting member 40 is reduced by the force that the roller 46 that rolls the rolling surface 48 of the base 22 pulls the upper portion 42 of the arm 20. Become.
For this reason, the torque of the servo motor 16 is reduced.

Then, the connecting member 40 pulled leftward by the lower portion 44 of the arm 20 moves the third link 32 and the fourth link 34 of the parallel link mechanism 14 leftward.
At this time, the connecting member 40 becomes an action point where a force is applied when the parallel link mechanism 14 is moved.

Then, as the third link 32 and the fourth link 34 move to the left, the second link 30 that is the lower fulcrum is pulled upward along the base 12 and lifted. The upper first link 28 facing the second link 30 moves leftward with the base 12 as the center line while maintaining parallel to the second link 30, and then stops.

At this time, the roller 46 that rolls the rolling surface 48 of the base 22 in the right direction is stopped by the right stopper 50.
Then, the air cylinder 24 is operated to raise the base 22 along the base 12 in the vertical direction.

As the base 22 rises vertically along the base 12, the arm 20, the servomotor 16, and the parallel link mechanism 14 are moved along the base 12 together with the roller 46 on the rolling surface 48. Ascend vertically.

When the parallel link mechanism 14 is raised, the first link 28 that is kept parallel to the second link 30 is also raised.
Then, the workpiece W is placed on the support S attached to the first link 28.

When the lower portion 44 of the arm 20 is reversely rotated by the servo motor 16 via the rotary shaft 18, the lower portion 44 of the arm 20 moves rightward with the base 12 as the center line, and at the same time, the upper portion of the arm 20. 42 moves leftward with the base 12 as the center line, and the roller 46 provided on the upper part 42 of the arm 20 rolls the rolling surface 48 of the base 22 leftward.

Immediately after the roller 46 starts rolling leftward on the rolling surface 48 of the base 22, the roller 46 once floats slightly from the rolling surface 48 and then descends along the base 12 due to its own weight. The arm 20, the servomotor 16, and the parallel link mechanism 14 are pulled downward, and may come into contact with the rolling surface 48 again to roll.
In addition, when the rolling surface 48 is configured as a groove cam, the above phenomenon does not occur.

Then, when the lower portion 44 of the arm 20 moves rightward with the base 12 as the center line, the connecting member 40 connected to the lower portion 44 of the arm 20 is pulled rightward.
At this time, the force required for the lower portion 44 of the arm 20 to pull the connecting member 40 is reduced by the force that the roller 46 that rolls the rolling surface 48 of the base 22 pulls the upper portion 42 of the arm 20. Become.
For this reason, the torque of the servo motor 16 is reduced.

Then, the connecting member 40 pulled in the right direction by the lower portion 44 of the arm 20 moves the third link 32 and the fourth link 34 of the parallel link mechanism 14 in the right direction.
At this time, the connecting member 40 becomes an action point where a force is applied when the parallel link mechanism 14 is moved.

  Then, when the connecting member 40 is pulled rightward by the lower portion 44 of the arm 20, the connecting member 40 moves the third link 32 and the fourth link 34 of the parallel link mechanism 14 to the right, and the lower fulcrum. The second link 30 is lowered downward along the base 12 until the respective internal angles of the parallel link mechanism 14 become equal.

At this time, the arm 20 is in a state where the longitudinal direction is overlapped along the base 12.
At this time, the servo motor 16 moves downward along the base 12 together with the arm 20 by its own weight.

  Further, when the connecting member 40 is pulled rightward by the lower portion 44 of the arm 20, the connecting member 40 moves the third link 32 and the fourth link 34 of the parallel link mechanism 14 to the right, The second link 30, which is a fulcrum, is pulled upward along the base 12 and rises, and the upper first link 28 facing the second link 30 is parallel to the second link 30. With the base 12 kept, the base 12 is moved to the right with the center line, and then stopped.

At this time, the roller 46 that rolls the rolling surface 48 of the base 22 in the left direction is stopped by the left stopper 50.
Further, at this time, the servo motor 16 is lifted by being pulled upward a little along the base 12 by the movement of the arm 20.

Then, the air cylinder 24 is operated to lower the base 22 along the base 12 in the vertical direction.
As the base 22 descends in the vertical direction along the base 12, the arm 20, the servomotor 16, and the parallel link mechanism 14 together with the roller 46 on the rolling surface 48 are caused by their own weight. Along the vertical direction.

When the parallel link mechanism 14 is lowered, the first link 28 that is kept parallel to the second link 30 is also lowered.
Then, the workpiece W is lowered by the support tool S attached to the first link 28.

When the lower portion 44 of the arm 20 is rotated forward by the servo motor 16 via the rotary shaft 18 again, the lower portion 44 of the arm 20 moves leftward with the base 12 as the center line, and at the same time, the arm 20 The upper portion 42 of the arm 20 moves in the right direction with the base 12 as the center line, and the roller 46 provided on the upper portion 42 of the arm 20 rolls on the rolling surface 48 of the base 22 in the right direction.
Then, the above series of movements are repeated.

For this reason, in the conveyance apparatus 10c of Example 3, the round belt conveyors C and D (for example, two round belts arranged at intervals larger than the size of the support tool S) with the base 12 as the center line. The first link 28 above the parallel link mechanism 14 is kept parallel to the second link 30 that is the lower fulcrum between the two points of the workpiece W on which the workpiece W is placed) A trajectory of a gentle arc that is lifted and moved horizontally and lifted by placing the workpiece W on the round belt conveyor C by the support tool S attached to the first link 28, and then slightly swollen upward in the horizontal direction. After moving in a stable state to draw T and stopping, a series of movements such as dropping the workpiece W onto the round belt conveyor D can be repeated (see FIG. 10).
For this reason, the workpiece | work W between two points will be conveyed in the stable state.

  The trajectory T of the movement of the first link 28 in the horizontal direction is a gentle arc that slightly swells upward, facing the upper first link 28 in the movement of the parallel link mechanism 14. The vertical distance from the lower second link 30 that is the fulcrum is the shortest when the first link 28 moves in either the left or right direction with the base 12 as the center line and stops. When the longitudinal direction of the first link 28 is overlapped along the base 12 and the inner angles of the parallel link mechanisms 14 are equal, the length of the first link 28 becomes the longest. This is because.

  In addition, by installing the transfer device 10c of the third embodiment on a controllable turntable (not shown), it is possible to easily transfer the workpiece W between two points in multiple directions.

A transport device 10d according to a fourth embodiment of the present invention will be described with reference to FIGS.
The transport device 10d of the fourth embodiment is different from the transport device 10c of the third embodiment only in the rolling surface 48.
For this reason, about the structure same as the conveying apparatus 10c of Example 3, while using the same code | symbol, description of structure itself is abbreviate | omitted.

The rolling surface 48 of the conveying device 10d is composed of an inverted mountain-shaped cam 58 having a recessed central portion (see FIG. 11).
The inverted mountain-shaped cam 58 is used to raise and lower the arm 20, the servo motor 16, and the parallel link mechanism 14 along the base 12 as the roller 46 provided on the upper portion 42 of the arm 20 rolls. Is.

The inverted mountain-shaped cam 58 moves substantially horizontally when the first link 28 of the parallel link mechanism 14 moves in the horizontal direction while keeping parallel to the second link 30 which is the lower fulcrum. It is shaped to be able to do.

  The most concave recess R at the center of the inverted mountain-shaped cam 58 is such that the roller 46 is positioned in the recess R, the longitudinal direction of the arm 20 is overlapped along the base 12, and the parallel link mechanism 14. The height position of the first link 28 when the interior angles of the first link 28 become equal and when the first link 28 stops moving to the left or right with the base 12 as the center line. Is provided low enough to keep it from changing.

  In addition, even if the roller 46 is located in any part other than the recess R, the height position of the first link 28 is the first position of the first link 28 other than the recess R of the inverted mountain-shaped cam 58. The link 28 is provided at such a low level that it can be almost the same as when the link 28 is moved to either the left or right direction with the base 12 as the center line and stopped.

The cam shape of the rolling surface 48 is not limited to the inverted mountain cam 58.
Any cam shape may be used as long as it corresponds to a desired horizontal movement trajectory of the first link 28.
Further, the inverted mountain-shaped cam 58 may be configured as a groove cam, and the roller 46 may be rolled (not shown).

It is also possible to replace the air cylinder 24, which is an elevating means, with a servo cylinder (not shown) after providing the rolling surface 48 flat instead of the inverted mountain-shaped cam 58.
In this case, by using a servo cylinder as the lifting / lowering means, the lifting / lowering of the base 22 is not used only for lifting and lowering the workpiece W, but the base 22 is set at several preset height positions. The first link 28 of the parallel link mechanism 14 can be adjusted so that the first link 28 of the parallel link mechanism 14 can be moved substantially horizontally while maintaining parallel to the second link 30 that is the lower fulcrum. .

Then, the effect | action of the conveying apparatus 10d of Example 4 of this invention is demonstrated.
Note that the description of the parts common to the operation of the transfer device 10c of the third embodiment is omitted.
In the transfer device 10d of the fourth embodiment, when the longitudinal direction of the arm 20 is overlapped along the base 12 and the inner angles of the parallel link mechanisms 14 are equal, the inverted mountain shape is obtained. The roller 46 is positioned in the concave portion R of the cam 58.

When the roller 46 is positioned in the recess R, the arm 20, the servo motor 16, and the parallel link mechanism 14 are lowered along the base 12 by the height of the recess R.
When the parallel link mechanism 14 is lowered, the upper first link 28 and the support S, which are kept parallel to the second link 30 which is the lower fulcrum, are low in the recess R. Move down by minutes.

  Note that the height position of the first link 28 at this time is substantially the same as the height position of the first link 28 when the base link 12 is moved to either the left or right direction and stopped. It has become.

  Further, when the roller 46 rolls out of the concave portion R of the inverted mountain-shaped cam 58, the arm 20, the servo motor 16, and the parallel link mechanism 14 are raised along the base 12 by the height from the concave portion R. To rise.

Then, as the parallel link mechanism 14 is raised, the upper first link 28 and the support S that remain parallel to the second link 30 that is the lower fulcrum are raised from the recess R. Ascend by minutes.

  For this reason, in the conveyance device 10d of the fourth embodiment, the first link 28 above the parallel link mechanism 14 is located at the lower fulcrum between the two points of the round belt conveyors C and D with the base 12 as the center line. While maintaining parallel to a certain second link 30, it is moved up and down and moved in the horizontal direction, and the workpiece W is lifted from the round belt conveyor C by the support S attached to the first link 28, and left as it is. A series of movements such as moving in a horizontal direction in a stable state so as to draw a substantially horizontal trajectory T, stopping, and then lowering the workpiece W onto the round belt conveyor D can be repeated. (See FIG. 12).

For this reason, the workpiece | work W between two points will be conveyed in the stable state.
In addition, by installing the transport apparatus 10d of the fourth embodiment on a controllable turntable (not shown), it is possible to easily transport the workpiece W between two points in multiple directions.

10a Conveying device 10b Conveying device 10c Conveying device 10d Conveying device 12 Base 14 Parallel link mechanism 16 Servo motor 18 with speed reducer 18 Rotating shaft 20 Arm 22 Base 24 Air cylinder 26 Linear guide rail 28 First link 30 Second Link 32 third link 34 fourth link 36 mounting member 38a linear motion guide (parallel link mechanism)
38b Linear motion guide (servo motor)
38c Linear motion guide (base)
40 Connecting material 42 Upper part of arm 44 Lower part of arm 46 Roller 48 Rolling surface 50 Stopper 52 Groove cam 54 Mountain-shaped cam 58 Reverse mountain-shaped cam A Belt conveyor B Belt conveyor C Round belt conveyor D Round belt conveyor H Gripping tool K gap P apex R recess S support T locus W workpiece

Claims (7)

A base extending vertically,
The four links are arranged such that the first link as a fulcrum is positioned upward, the second link facing the first link is positioned downward, and the third link and the fourth link are positioned facing left and right. And a parallel link mechanism provided so that the first link is movable in the vertical direction on the base;
A connecting member provided between the third link and the fourth link of the parallel link mechanism;
Drive means provided on the base so as to be movable in the vertical direction;
A rotating shaft connected to the driving means and provided to be rotatable forward and backward;
The upper part is connected to the connecting member so as to be rotatable forward and backward, and the lower part is provided with a roller, and the rotary shaft is connected between the upper part and the lower part so that the forward axis is centered on the rotary axis. An arm provided so as to be rotatable in reverse,
A base provided to be movable in a vertical direction on the base;
Elevating means connected to the base;
A rolling surface provided on the base and having stoppers at both ends for rolling the roller;
A conveying apparatus comprising: A base extending vertically,
It consists of four links with the first link facing upward, the second link facing the first link as the fulcrum, and the third link and the fourth link facing left and right And a parallel link mechanism provided so that the second link is movable in the vertical direction on the base;
A connecting member provided between the third link and the fourth link of the parallel link mechanism;
Drive means provided on the base so as to be movable in the vertical direction;
A rotating shaft connected to the driving means and provided to be rotatable forward and backward;
The lower part is connected to the connecting member so as to be rotatable forward and backward, the upper part is provided with a roller, and the rotary shaft is connected between the upper part and the lower part so that the forward axis is centered on the rotary axis. An arm provided so as to be rotatable in reverse,
A base provided to be movable in a vertical direction on the base;
Elevating means connected to the base;
A rolling surface provided on the base and having stoppers at both ends for rolling the roller;
A conveying apparatus comprising: The conveying device according to claim 1, wherein the rolling surface is a groove cam. The conveying device according to claim 1, wherein the rolling surface is flat. 5. A transport apparatus according to claim 4, wherein the lifting means is a servo cylinder. 2. The conveying apparatus according to claim 1, wherein the rolling surface is a mountain-shaped cam having a central portion as a vertex. The conveying device according to claim 2, wherein the rolling surface is composed of an inverted mountain-shaped cam having a recessed central portion.

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