JP3240259B2 - Work transfer device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for holding, transferring, and placing a work by upper and lower frames, front and rear frames, and a work holding mechanism attached to the front and rear frames. The present invention relates to a work transfer device which transfers a work after changing the direction of the work after holding the work.

[0002]

2. Description of the Related Art In the prior art, for example, as shown in FIG.
0 is attached so as to be able to move back and forth, a rotary actuator 133 that can be rotated and positioned below the front and rear frame body 130 is mounted, and a work holding mechanism 150 is mounted at the lower end of the rotary actuator 133. Devices are known.

In this work transfer device, the upper and lower frame members 120 are lowered by the action of the upper and lower cams 108,
After the workpiece W placed on top is gripped by the fingers 151 of the workpiece holding mechanism 150, the upper and lower frames 120 are raised, and the front and rear frames 130 are moved forward by the action of a front and rear cam (not shown) to transfer the workpiece W. The work W held by the fingers 151 by lowering the upper and lower frame bodies 120 again.
Is mounted on the transfer table 103, and the rotary actuator 133 is rotated until the work W on the turntable 102 is mounted on the transfer table 103.
For example, 90 ° with respect to the position of the upper workpiece W in the horizontal plane.
It is mounted on the carriage 103 by rotating.

[0004]

In the above-described work transfer device according to the prior art, the rotary actuator 133 is attached below the front and rear frames 130, but the rotary actuator 133 is heavy. For this reason, the vertical slide mechanism 122 that holds the upper and lower frame members 120 on the fixed frame member 110 so as to be vertically movable and the front and rear slide mechanism 132 that holds the front and rear frame members 130 on the upper and lower frame members 120 so as to be able to move back and forth tend to be overdriven. In addition, there is a problem that the gripping position of the finger 151 with respect to the work W placed on the turntable 102 and the placement position of the finger 151 with respect to a predetermined position of the work W placed on the carrier 103 are unstable. Was.

[0005] The rotary actuator 133 controls rotation and positioning by electric or pneumatic pressure using a servomotor, an air actuator, or the like. The rotation of the rotary actuator 133 with respect to the position of the upper and lower frames 120 or the front and rear frames 130 is controlled. There is a problem that it is difficult to determine the timing between the start and end of the dynamic positioning, and the control circuit becomes complicated.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and has as its object to mechanically reduce the weight of a work rotating mechanism provided on the front and rear frames, and to reduce the weight of the work. An object of the present invention is to provide a device which can easily determine the timing of the start and end of the rotational positioning with respect to the position of the frame or the front and rear frames and does not require a control circuit.

[0007]

In order to achieve the above object, a work transfer device according to the present invention comprises an upper and lower frame which is vertically movably attached to a fixed frame, and which has a front and rear A front and rear frame movably engaged with the upper and lower frames, the front and rear frames, and a work holding mechanism attached to and held by the front and rear frames, and having a holding function such as suction. A work transfer device for holding, transferring, and placing a work holding mechanism, one end of which is detachably formed with a work holding mechanism and one end of which is rotatably mounted on a front and rear frame body. A swing lever formed at the other end thereof and swingable together with the holding shaft, and a swing roller pivotally mounted between one end and the other end of the swing lever. The front end portion is formed so as to project at right angles to the front and rear movement direction of the front and rear frames and toward the inside of the front and rear frames. A dog attached to the upper and lower frames so as to be able to contact the swing roller, one end of which is hooked on a spring hook portion of the swing lever, and the other end of which is hooked on the upper and lower frames, to move the swing lever. A spring for urging the swing roller so that it can always contact the dog, and the holding shaft moves forward or backward together with the front and rear frames, so that the holding shaft is always in contact with the dog and is rotatable. With the swing roller as the swing center, the swing lever fixed to the holding shaft is swung, and the holding shaft is rotated by the swing of the swing lever.

A stop roller attached between one end and the other end of the swing lever; and a swing stopper attached to the front and rear frame so as to be in contact with the stop roller. The stop roller is brought into contact with the swing stopper during the time when the body reaches the retreat end from the retreat end or from the retreat end to the retreat end. The swing lever maintains a set swing angle position that has been swung from an angular position at which the swing starts to swing until the stop roller comes into contact with the swing stopper, so that the swing lever can move forward or backward together with the front and rear frames. It was made.

In the present invention, as described above, the holding shaft is pivotally attached to the front and rear frames and moves back and forth together with the front and rear frames, and the swinging lever is fixed to the holding shaft and pivotally attached to the swinging lever. Since the swing roller is configured to always contact the dog attached to the upper and lower frames, the holding shaft moves back and forth with the front and rear frames by the front and rear movement of the front and rear frames, and is fixed to the holding shaft. The swing lever is swung, and the holding shaft is rotated by the swing of the swing lever.

After the work is held by a work holding mechanism attached to the holding shaft and having a holding function such as gripping, holding, and suction, the upper and lower frames are raised, and the front and rear frames are moved from the forward end to the backward end, or During the transfer from the retreat end to the forward end to reach the target end, the work holding mechanism attached to the holding shaft is rotated together with the holding shaft rotated by the swing of the swing lever, and the work holding mechanism is rotated. The direction of the work held by the work holding mechanism is changed by the rotation angle of the work holding mechanism, and the work is placed after the upper and lower frames reach the lower end.

Further, the swing lever is provided with a stop roller and a swing stopper on the front and rear frames, and the swing angle of the swing lever can be arbitrarily set until the front and rear frames reach the forward end or the backward end. It can be set.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described based on embodiments with reference to the drawings. First, a configuration according to the apparatus of the present invention will be described below with reference to FIGS.

As shown in FIG. 2, the apparatus of the present invention
A fixed frame 10 attached to the upper surface of the frame, an upper and lower frame 20 that moves up and down on the front surface of the fixed frame 10, and a front and rear frame 30 that moves back and forth on the lower surface of the upper and lower frames 20. A holding shaft 33 is pivotally attached to the front and rear frames 30, and a work holding mechanism 50 is attached to a lower end of the holding shaft 33, and the upper and lower frames 20 are lowered. The work W placed on the upper surface of the turntable 2 is pinched,
The upper and lower frame members 20 move up, the front and rear frame members 30 advance, and the upper and lower frame members 20 move down again. At the same time, the work W is rotated to change the position in the horizontal plane. The device is mounted on the upper surface of the device.

The fixed frame 10 has a fixed frame 4 attached to the upper surface of the machine base 1. The fixed frame 4 has side plates 4 as shown in FIG.
A driven gear 7 is rotatably supported by the upper and lower cams 8 and the front and rear cams 11 by a drive gear 6 shown in FIGS. End plates of the upper and lower cams 8 and the front and rear cams 11 have side plates 4a and 4b, respectively.
2, cam cam surfaces 8a and 11a are formed on the outer periphery as shown in FIGS.

As shown in FIG. 2, an upper / lower lever 13 is provided above the one side plate 4a of the fixed frame 4 with a lever shaft 14 as shown in FIG.
The upper and lower levers 13 are pivotally connected at one ends thereof in the vicinity of the upper and lower cams 8. The upper and lower levers 13 are provided with a cam follower 9, which is in contact with a cam curved surface 8 a of the upper and lower cams 8 so as to be rotatable. Is supported at the approximate center of the
A universal joint 19A is supported so as to convert the swing operation of the vertical lever 13 into a linear action.

A spring hook 17A is provided between the cam follower 9 of the vertical lever 13 and the universal joint 19A, and a spring hook 17B is provided below the fixed frame 4 outside the side plate 4a. The vertical spring 18
However, the upper and lower levers 13 are urged downward, so that the cam follower 9 is engaged with the cam curved surface 8a of the upper and lower cams 8 so as to be always in contact therewith.

A T-shaped upper and lower stopper 26 is attached below the spring hook 17B of the side plate 4a. The lower end of the upper and lower stopper 26 has a lower surface and an upper end of an upper and lower block 23 described later. An adjustment bolt 26a is screwed at a position opposite to the tip so that the position of the tip can be adjusted.
The descending ends of the upper and lower blocks 23 (that is, the descending ends of the upper and lower frames 21) depend on the tip positions of the upper and lower cams 8.
Positioning is performed with priority over the descending end position a.
A front-rear spring 28, which will be described later, is located near the lower rear end of the side plate 4a.
Is provided upright.

As shown in FIG. 3, a front / rear lever 15 is provided above the other side plate 4b of the fixed frame 4 with a lever shaft 16 as shown in FIG.
One end of the front / rear lever 15 is pivotally connected to the front / rear cam 11 so as to be swingable. The roller 29 is supported on the other end by a guide groove 25a on the front side or the rear side (either depending on the front-rear action direction of the front-rear lever 15).
And is rotatably supported. Also, the side plate 4
A spring hook 27B for hooking a front-rear spring 28 described later is provided upright near the lower rear end of b.

As shown in FIG. 3, a slide rail 22A of a vertical slide mechanism 22 is mounted on the front surface of the fixed frame 4, and the slide rail 22A has sliders 22B and 2B.
2B is vertically movably engaged with the slide rail 22A. Then, the sliders 22B, 2B
The rear surface of an upper and lower frame 21 of an upper and lower frame 20 described below is attached to 2B, and the upper and lower frame 20 is held by a vertical slide mechanism 22 so as to be vertically movable.

Next, as described above, the upper and lower frames 20 are fixed to the fixed frame 10 by the upper and lower slide mechanisms 22.
The upper and lower frames 21 are held movably up and down by a fixing frame 4, and adjustment bolts 26 a are provided outside the side plates 21 a shown in FIGS.
An upper and lower block 23 is attached to the upper side of the upper and lower blocks, and a universal joint 19B connected to the universal joint 19A is pivotably mounted on the upper part of the upper and lower blocks 23.

The upper and lower levers 13 urged downward by the upper and lower springs 18 by the rotation of the upper and lower cams 8 shown in FIG.
The cam follower 9 is supported along the cam curved surface 8a toward the center of the upper and lower cams 8, and the upper and lower levers 13 are swung downward about the lever shaft 14 as a swing center.
A, 19B and upper and lower frames 21 via upper and lower blocks 23
Is lowered from the upper end position shown in FIG. 2, and the upper and lower frames 8 are raised by the rotation of the upper and lower cams 8 continuously.

Outside the side plate 21a of the upper and lower frame 21, a dog 24 is formed at the front end of the lower end, as shown in FIGS. 1 and 2, and an L-shaped tip portion formed orthogonal to the T-shaped lower end. Is attached to the inside of the front and rear frame body 30 so as to be able to contact the swing roller 36A described later, and to be position adjustable in the front and rear direction,
A block 37 is provided on the left rear end side of the dog 24 shown in FIG.
Is a spring hook 37B for hooking one end of a spring 38 described later.
Projecting downward.

As shown in FIGS. 1 to 3, sliders 32 B, 32
B is attached, and a slide rail 32A is attached to the sliders 32B, 32B so that the sliders 32B, 32B can be moved back and forth. And this slide rail 3
2A is a top plate 31 of a front and rear frame 31 of a front and rear frame body 30 described later.
The front and rear frame 30 is held by the front and rear slide mechanism 32 so as to be able to move back and forth.

Next, as described above, the top and bottom frames 31 of the front and rear frames 31 are held by the front and rear frames 21 of the upper and lower frames 20 so as to be able to move back and forth. At the front and rear ends, side plates 31c, 31c and a base plate 31b having a cylindrical portion bulging downward are formed on the lower surface of the side plates 31c, 31c, and a slide rail 32A fitted to a top plate 31a is attached to the base plate 31b. The front and rear blocks 2 at the rear end
5 is rotatably attached to the guide groove 25a so that the roller 29 can be inserted into the guide groove 25a.

The rotation of the front and rear cams 11 shown in FIG.
Is moved away from the center of the front and rear cams along the cam curved surface 11a, and the front and rear levers 15 are swung to the left around the lever shaft 16 as the swing center, and the front and rear frames are moved through the rollers 29, the front and rear blocks 25 and the slide rails 32A. The front and rear cams 31 are moved forward to the left from the retreat end position shown in FIG.

As shown in FIGS. 2 and 3, a front / rear stopper 41 is provided upright on the upper surface of the front end of the top plate 31a of the front / rear frame 31, and an adjustment bolt 41 is provided on the upper end of the front / rear stopper 41.
a is screwed so as to adjust the position of the front end at a position where the front end of the lower end of the upper and lower frame 21 faces the front end, and the retreat end of the top plate 31a (that is, the front and rear frames 3) is adjusted by the front end position of the adjustment bolt 41a.
1 (retreat end) is positioned in preference to the retreat end position of the front and rear cams 11 by the cam curved surface 11a.

On both side surfaces of the top plate 31a, spring hooks 27A, 27A are erected so that one end of a spring 28 can be hung, and the spring hooks 27A, 27A and the lower rear end of the fixed frame 4 are located near the lower rear end. The front and rear springs 28 urge the front and rear frames 31 to the rear, respectively, so that the cam followers 12 are always contacted with the cam curved surfaces 11a of the front and rear cams 11 with the vertically mounted spring hooks 27B and 27B.

The base plate 31b of the front and rear frame 31 is formed with a cylindrical portion swelling downward at the center, and a holding shaft 33 as shown in FIG. 3 and a work holding mechanism 50 shown in FIG.
A flange is formed so as to be attachable, and a step is formed at the upper end so as to be able to fasten one end of a swing lever 34, which will be described later, such that the step is located substantially at the center of the front and rear frame 31 in the vertical direction. And pivotally mounted.

One end of a swing lever 34 is fastened to the stepped portion of the holding shaft 33, and a swing roller 36A is formed at the lower end of the dog 24 at the center of the upper surface of the swing lever 34. The rocking roller 3 is rotatably supported in contact with the L-shaped tip (the state shown in FIGS. 5A and 5B).
A stop roller 36B is provided coaxially with 6A on the lower surface side of the swing lever 34 so as to be able to contact the front surface of the swing stopper 39 erected on the rear end side of the base plate 31b and just before the forward end of the front and rear frame 31 ( (State of FIG. 5 b)

At the other end of the swing lever 34, a spring hook 37A is provided upright so that one end of a spring 38 can be hooked. The spring hook 37A and the lower end of the upper and lower frame 21 are provided upright. The spring 38 is attached to the spring hook 37B by the swing lever 34.
Of the dog 24 so as to always contact the L-shaped tip of the dog 24 (the state shown in FIGS. 5A and 5B), and the stop roller 36B just before the forward end of the front and rear frame 31. 5b so that it can be brought into contact with a swing stopper 39 erected on the rear end side of the base plate 31b (the state shown in FIG. 5b. When the front and rear frames 31 are further advanced from the state shown in FIG. 5b, as shown in FIG. The swing roller 36A is separated from the dog 24).

When the front and rear frame 31 is advanced from the retreat end position shown in FIG. 5A, the swing lever 34 is rotated by a swing roller 36A which comes into contact with the dog 24 attached to the upper and lower frame 21.
Is pivoted clockwise toward the state shown in FIG. 5 (b), and the holding shaft 33 is rotated clockwise. When the front and rear frames 31 are further advanced to the position shown in FIG. 5B, the stop roller 36B comes into contact with the swing stopper 39, and the swing angle position of the swing lever 34 in the clockwise direction is determined. When the front and rear frames 31 are further advanced from the position shown in FIG.
4 and the swing lever 34 is kept in the clockwise swing angle position shown in FIG. 5B by the stop roller 36B abutting against the swing stopper 39 together with the front and rear frames 31 in FIG. Move forward to the position shown in c).

The setting of the swing angle (ie, the rotation angle of the holding shaft 33) from the start of the swing of the swing lever 34 to the end of the swing is performed by the swing of the dog 24 shown in FIGS. Either adjust the distance between the surface that the moving roller 36A abuts and the surface that the stop roller 36B of the swing stopper 39 abuts on, or adjust the axis of the holding shaft 33 and the swing lever 34 to the swing roller 36A. Although it can be set by adjusting the distance from the axis of the support shaft 35 that supports the roller 36B, in the present embodiment, the dog 24 is adjusted in position in the left-right direction (that is, the front-back direction) shown in FIG. The moving angle can be set.

The maximum swing angle of the swing lever 34 (that is, the maximum rotation angle of the holding shaft 33) is set by the front and rear frames 31.
Moving distance (stroke in the front-rear direction) of the shaft or the axis of the holding shaft 33 and the swing roller 36
A, the distance from the axis of the support shaft 35 that supports the stop roller 36B, or the swing roller 36A, the stop roller 3
It can be set by the outer diameter of 6B.

When the rotation angle of the holding shaft 33 is to be increased or decreased at a fixed ratio with respect to the swing angle of the swing lever 34, the swing lever of the holding shaft 33 is required. 34, and a part for attaching the work holding mechanism 50 are divided into two shafts. For example, gears having different numbers of teeth (not shown) are provided on each of the two divided shafts.
The swing angle of the swing lever 34 and the rotation angle of the holding shaft 33 can be changed depending on the gear ratio.

Next, the operation of the apparatus according to the present invention will be described with reference to FIGS. 1 to 3 and FIG.

As shown in FIG. 2, the cam follower 9 urged by the upper and lower springs 18 and in contact with the cam curved surface 8a of the upper and lower cams 8 positions the upper and lower ends of the upper and lower frame members 20.
Move along the cam curved surface 8a by the rotation of the upper and lower cams 8 so that the upper and lower levers 34 are swung, and the universal joint 19
A, 19B and upper and lower frame 2 via upper and lower blocks 23
0 is moved up and down.

The upper ends of the upper and lower frames 20 are positioned by the cam followers 9 abutting against the cam radii 8a of the maximum radii of the upper and lower cams 8, and the lower ends of the upper and lower frames 20 are moved upward and downward by the cam followers 9. The upper and lower stoppers 2 are positioned in contact with a cam curved surface 8a having the smallest radius of the cam 8 but above the lower end position positioned by the upper and lower cams 8.
When the tip of the adjustment bolt 26a is adjusted so as to contact the lower surface of the upper and lower block 23, the upper and lower cams 8 are positioned above the lower end position of the cam curved surface 8a with priority.

Next, the forward end and the backward end of the front and rear frame 30 are positioned by the cam followers 12 which are urged by the front and rear springs 28 and 28 abutting on the cam curved surface 11a of the front and rear cam 11 as shown in FIGS. However, since the front and rear cams 11 move along the cam curved surface 11a due to the rotation of the front and rear cams 11, the front and rear levers 15 are swung, and the front and rear frame bodies 30 are moved back and forth via the rollers 29, the front and rear blocks 25 and the slide rails 32A.

The forward end of the front and rear frame body 30 has a cam follower 12 having a cam curved surface 1 having the maximum radius of the front and rear cams 11.
The rear end of the front and rear frame 30 is positioned by contact with the cam curved surface 11a having the minimum radius of the front and rear cams 11, and the rear end of the front and rear frame 30 is positioned by the front and rear cams 11. The front ends of the adjustment bolts 41a of the front and rear stoppers 41
When the front and rear cams 11 are adjusted so as to contact with the front surface of the lower end, the front and rear cams 11 are positioned in front of the cam curved surface 11a in preference to the retracted end positions.

Next, as shown in FIGS. 1, 2, 3 and 5, the pivoting lever 34 is urged by a spring 38 so that the holding shaft 33 provided on the front and rear frame 30 is rotated. Since the swing roller 36A is in contact with the L-shaped tip of the dog 24, the swing lever 34 is moved forward or backward by moving the front and rear frame 31 around the swing roller 36A as the swing center. Swings counterclockwise when the front and rear frames 31 retreat, and rotates the holding shaft 33 in the same direction as the swing lever 34.

The pivot angle position of the pivot lever 34 in the counterclockwise direction is such that the front and rear frames 31 are positioned at the retracted end positions shown in FIG. 5A. The clockwise swing angle position of the swing lever 34 is such that when the front and rear frame 31 is advanced from the retracted end position shown in FIG. 5A to the position shown in FIG. Roller 36A that comes into contact with the roller
In the position shown in FIG. 5B, the stop roller 36B comes into contact with the swing stopper 39, and the swing lever 34 is set in the clockwise set swing angle position ( In this embodiment, 90 ° is set.

When the front and rear frame 31 is further advanced from the position shown in FIG. 5B, the swing roller 36A is separated from the dog 24, and the swing lever 34 is moved by the stop roller 36B which comes into contact with the swing stopper 39. While maintaining the clockwise swing angle position shown in FIG. 5B, the robot advances with the front and rear frames 31 to the position shown in FIG.

Accordingly, the work holding mechanism 50 attached to the holding shaft 33 at the retracted end position of the front and rear frames 31 shown in FIG.
The work W gripped by the robot moves forward while rotating clockwise in the horizontal plane with the advance of the front and rear frames 31,
At the position shown in FIG. 5 (b), it is positioned at the set turning angle (in this embodiment, set to 90 °), and while maintaining the set turning angle shown in FIG. 5 (b), up to the position shown in FIG. 5 (c). Advance.

Subsequently, the vertical movement position of the upper and lower frame members 20, the front and rear movement position of the front and rear frame members 30 and the swing lever 3
The respective correlations of the swing angle position 4 (= rotation angle position of the holding shaft 33 = rotation angle position of the work W) will be described below with reference to FIGS. 2, 5, and 6.

The operation cycle of this embodiment is shown in FIG.
The operation cycle is repeated from the start position S to the end position E. At the start position S of one operation cycle, the vertical movement position of the upper and lower frame 20 is slightly lower than the state of the rising end shown in FIG. 2, and the front and rear movement position of the front and rear frame 30 is the retreating end (FIG. B) and the swing angle position of the swing lever 34 are located at the start position c (the state shown in FIG. 5A).

From the state of the starting position S, first, the upper and lower frame members 20 are lowered from the position a to the position d at the lower end by the rotation of the upper and lower cams 8, and thereafter from the position e to the lower position where the lower end is maintained. After the work W is held by the work holding mechanism 50 shown in FIG. 2, the upper and lower frames 20 are raised and the front and rear frames 30 rotate the front and rear cams 11 at a position in front of the elevation position h by a time α. With the movement from the retreat end of the f position toward the advance end of the k position,
Simultaneously with the forward and backward movement of the front and rear frame 30, the swing lever 34 is moved from the starting angle of the position g to the center j with the axis of the support shaft 35 as the swing center.
It is swung toward the set angle of the position. By the swing of the swing lever 34, the work W is rotated 90 ° clockwise from the angular position in the horizontal plane shown in FIG. 5A, as shown in FIG. 5B.

When the swing lever 34 is at the j position, the stop roller 36B abuts against the swing stopper 39 (the state shown in FIG. 5B), and the swing of the swing lever 34 stops at the set angle. However, while the set angle of the swing lever 34 is maintained (that is, the position of the work W in the horizontal plane is maintained at an angular position rotated 90 ° clockwise as shown in FIG. 5B), 30 continues to advance, j
After γ hours from the position, the motor reaches the forward end at the k position (the state shown in FIG. 5C).

On the other hand, the upper and lower frame members 20, which have maintained the rising end position, are moved forward by β time when the front and rear frame members 30 reach the forward end at the k position (when the swing lever 34 reaches the set angle j). The workpiece W is released from the i position (at substantially the same timing as the position) toward the lower end of the m position to the lower position at which the lower end is maintained. After being placed, the upper and lower frames 20 rise from the n position toward the rising end of the q position.

During this time, the front and rear frames 30, which have maintained the forward end position, move from the p position, which is δ time before the q position, at which the upper and lower frames 20 reach the rising end, to the v position at the retreat end (ie, v).
It is retreated toward the same retreat end position as the start position S of the one operation cycle S and the η time after the p position of the front and rear frame 30 (the q position at which the upper and lower frame 20 reaches the rising end and the q position). At substantially the same timing), the swing lever 34, which has maintained the set angular position, starts from the r position and starts at the w position of the angular position (ie, the same start angular position as the c position of the start position S of one operation cycle). Rocks towards.

Further, the upper and lower frames 20 maintaining the rising end position are shifted by λ time from the v position where the front and rear frames 30 reach the retreat end position and the w position where the swing lever 34 reaches the initial angular position. (I.e., the starting position S of one operation cycle)
(The same descending position as the position a).

Then, the upper and lower frame members 20 are located at a position u where the upper and lower frame members are slightly lowered from the rising end, the front and rear frame members 30 are located at a v position where the retracted end positions are located, and the swing lever 34 is located at a w position where the starting angle position is. , One operation cycle ends at the end position E at which each reaches, the operation returns to the start position S, and the above-described operation is repeated.

In this embodiment, the front-rear frame 30 is set at the forward end at the start position S of one operation cycle and at the forward end at the end position E of the operation cycle. May be configured.

[0053]

Since the present invention is configured as described above, it has the following effects.

When the holding shaft moves forward or backward together with the front and rear frames, the swing lever fixed to the holding shaft is swung with the swinging roller, which is always in contact with the dog and is rotatable, as the swing center. The holding shaft is rotated by the swinging of the swing lever, so that the weight can be reduced, and a vertical slide mechanism that holds the upper and lower frames on the fixed frame so as to be able to move up and down, and a front and rear frame that moves forward and backward. The front-rear slide mechanism that holds the upper and lower frames as much as possible does not cause excessive force, and the work holding mechanism is placed on the workpiece holding mechanism with respect to the gripping position of the work before transfer and the predetermined mounting position of the work after transfer. The position can be stably positioned.

Also, since the work rotating mechanism provided below the front and rear frames is mechanically constructed, the timing of the start and end of the rotation positioning with respect to the positions of the upper and lower frames or the front and rear frames is taken. And a complicated control circuit is not required, and the cost can be reduced.

[Brief description of the drawings]

FIG. 1 is a front view of a work transfer device according to the present invention.

FIG. 2 is a left side view of FIG.

FIG. 3 is a right side view of FIG. 1 as viewed in the direction of the arrow B, and is a cross-sectional view of only the front and rear frame portions as viewed in the direction of the arrow CC.

FIG. 4 is a cross-sectional view of FIG.

FIGS. 5A and 5B are explanatory views showing the operation principle of the present invention when FIG. 2 is viewed from arrows E, and FIG.
(B) shows the respective forms when the front and rear frames are at the position immediately before the forward end, and (c) shows the respective forms when the front and rear frames are at the forward end position.

FIG. 6 is a timing chart showing the correlation between the vertical movement position of the upper and lower frames, the front and rear movement positions of the front and rear frames, and the rotation angle position of the holding shaft.

FIG. 7 is an explanatory diagram according to a conventional technique.

[Explanation of symbols]

 Reference Signs List 8 vertical cam 9 cam follower 10 fixed frame 11 front and rear cam 12 cam follower 13 vertical lever 15 front and rear lever 20 vertical frame 21 upper and lower frame 22 vertical slide mechanism 30 front and rear frame 31 front and rear frame 32 front and rear slide mechanism 33 holding shaft 34 rocking lever 35 Support shaft 36A Swing roller 36B Stop roller 37A, 37B Spring hook 38 Spring 39 Swing stopper 50 Work holding mechanism 51 Finger W Work

Claims (2)

(57) [Claims] 1. An upper and lower frame body movably engaged with a fixed frame body, and a front and rear frame body movably engaged with the upper and lower frame body, the upper and lower frame body and the front and rear frame being provided. A work transfer device for holding, transferring, and placing a work by a body and a work holding mechanism attached to the front and rear frames and having a holding function such as grasping, holding, and suctioning, and one end of which attaches and detaches the work holding mechanism. A holding shaft rotatably mounted on the front and rear frames so as to be rotatable, and having one end fixed to the holding shaft and a spring hook portion formed at the other end, and capable of swinging together with the holding shaft. A lever, a swing roller rotatably pivotally mounted between one end and the other end of the swing lever, and a tip portion perpendicular to the longitudinal movement direction of the front and rear frames, and A dog formed so as to protrude inward and attached to the upper and lower frames so as to be able to contact the swing roller, and one end of the dog is A spring that is hooked on a spring hook portion of the lever and the other end is hooked on the upper and lower frame members, and urges the swing roller so as to always contact the dog via the swing lever; When the shaft moves forward or backward together with the front and rear frames, the swing lever fixed to the holding shaft swings around the swing roller that is always in contact with the dog and is rotatable. Wherein the holding shaft is rotated by the swing of the swing lever. 2. A front and rear frame comprising: a stop roller attached between one end and the other end of a swing lever; and a swing stopper attached to the front and rear frame so as to be able to contact the stop roller. The stop roller is brought into contact with the swing stopper during the time when the body reaches the retreat end from the retreat end or from the retreat end to the retreat end. The swing lever maintains a set swing angle position that has been swung from an angular position at which the swing starts to swing until the stop roller comes into contact with the swing stopper, so that the swing lever can move forward or backward together with the front and rear frames. The workpiece transfer device according to claim 1, wherein: