JP3350496B2 - 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 a transfer device for transferring a work.

[0002]

2. Description of the Related Art FIG. 7 is a view showing a prior art transfer apparatus 1. As shown in FIG. The transfer device 1 is mounted on, for example, a wrist portion 10 of a 6-axis vertical articulated robot 2 and is used to transfer the work 5 pressed by the first press machine 6 to the second press machine 7. To transport the work 5,
First, the robot 2 is turned counterclockwise (as viewed from FIG. 7) to the position shown by the solid line in FIG. Next, the holding member 4 of the transport device 1 is slid outward (to the left in FIG. 7), and the holding member 4 is disposed above the work 5.
To hold the work 5 by suction. When the work 5 is held,
The transport device 1 retreats to the original position indicated by the virtual line 9,
The robot 2 reaches the position indicated by the virtual line 8 (as viewed from FIG. 7).
Turn clockwise. Thereafter, the holding member 4 is moved outward (FIG. 7).
(To the right), and the work 5 is placed in the second press machine 7. After that, the suction holding is released and the work 5 is placed on the second press machine 7.

FIG. 8 is a perspective view of another conventional transfer apparatus 11, and FIG. 9 is a sectional view of the transfer apparatus 11. As shown in FIG. The transfer device 11 is disclosed in Japanese Patent Application Laid-Open No. 8-141969. The transport device 11 includes a slider guide 18 attached to the wrist 24 of the robot 12, a long slide body 13, a holding member 14, a driving device including a motor 20, a pinion 19 and a rack 21, and a pair of pulleys 22.
a, 22b and a pair of timing belts 23a, 23
b. Work 15
First, the robot 12 slides the transfer device 11 to the upstream side in the transfer direction A (to the left in FIG. 9) and sends the transfer device 11. Accordingly, the pinion 19 rotates and the rack 21
Is moved upstream (to the left in FIG. 9). Then, the slider body 13 moves upstream with respect to the slider guide 18. In conjunction with the movement of the slider body 13, the pulleys 22a, 22b and the timing belts 23a, 23
By b, the holding member 14 moves to the upstream end of the slider body 13. When the holding member 14 moves to the upstream end of the slider body 13, the holding member 14 is disposed above the work 15, and thereafter, the holding member 14 sucks and holds the work 15.

When the work 15 is held, the robot 12
Sends the transport device 11 downstream in the transport direction A (to the right in FIG. 8), and at the same time, the slider body 13 moves downstream relative to the slider guide 18. This slider body 13
The holding member 14 moves the slider body 13
To the downstream end of the Then, the holding member 14
Is disposed in the second press machine 17 and the work of transporting the work 15 to the second press machine 17 is completed by releasing the suction holding.

As described above, since the transfer device 11 is provided with the double-size mechanism, the work 15 can be transferred to the transfer device 11 by a length L of 2 mm.
Double distance 2L can be transported.

[0006]

A transfer apparatus 1 shown in FIG.
In this case, since the robot 2 is configured to turn and transport the work 5, there is a problem that the transferred work 5a is inverted. In addition, the slide speed of the transfer device 1 is limited, and the work 5 cannot be transferred at high speed, and it is difficult to reduce the press cycle time of the press machines 6 and 7. Further, the transfer distance of the work 5 is only about the turning distance of the wrist portion 10 of the robot 2, and if the distance between the first press machine 6 and the second press machine 7 is large, the apparatus becomes large. was there.

In the conveying device 11 disclosed in Japanese Patent Application Laid-Open No. 8-141969, in addition to the turning distance of the wrist 24,
Further, it is possible to convey a distance 2L twice as long as the length L of the conveying device 11, but in order to save space in the factory, a more compact configuration, a longer conveying distance of the work, and a higher conveying speed. A device is desired.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a transfer device which can lengthen a transfer distance of a work, shorten a transfer time, and transfer a work in a non-inverted manner.

[0009]

According to the present invention, there is provided (a) a long first slider body 51 in which a central portion of an upper surface of the first slider body 51 rotates around a vertical axis 43 of the robot 33. A first slider body 51 having a hollow portion 60 attached to the free wrist portion 36 and extending in the transport direction A and having an opening formed in the lower surface extending in the transport direction A; (b) the hollow portion 60 And a ball screw 65 rotatably supported by both ends 55 and 56 of the first slider body 51 around its axis, and (c) screwed into the ball screw 65. A first moving member 52 fixed to the nut member 73;
(E) a first linear slider, provided on both side walls in the width direction of the first slider main body 51 and extending in the transport direction A;
First guide members 91a, 9 guided along a, 90b
(F) provided at one end of the first slider main body 51 and rotating one end of a ball screw 65, whereby the first moving member 52 is connected to the first slider main body 51. (G) a servomotor 70 that reciprocates between both ends;
(H) meshing with the first rack 71, and the first moving member 52
An idler pinion 76 rotatably supported around an axis extending in the width direction; and (i) a long second slider body 53, which is arranged at intervals in the width direction of the second slider body 53; A second slider body 53 having a pair of side plates 81a and 81b extending in the transport direction A and having a length equal to the length L of the first slider body 51; and (j) a second linear slider, A second guide rail 79a, 79b provided on the inner surface of each side plate 81a, 81b of the slider body 53 and extending in the transport direction A;
Second guide members 82a and 82b that are displaceably mounted along the guide rails 79a and 79b, and the second slider body 53 is kept parallel to the first slider body 51 while the first moving member A second movable relative to 52
A linear slider; and (k) a second rack 77, which is attached to the upper part of the side plate 81b, extends in the transport direction A, and
A second rack 77 that meshes with the idler pinion 76 and the first rack 71 to form the first double-size mechanism 61; and (1) a third linear slider, each side plate 81a of the second slider body 53, A third linear member, which is provided on the outer surface of 81b and has third guide rails 80a and 80b extending in the transport direction, and third guide members 86a and 86b displaceably mounted along the third guide rails 80a and 80b. A slider; (m) a second moving member 54 provided on the third guide members 86a, 86b; and (n) a pair of pulleys 84a, 84b provided on both end portions 58, 59 of the second slider body 53, Pulleys 84a and 84b rotatably provided around an axis parallel to the width direction of the second slider body 53; and (o) a timing belt 85,
84b and is wound endlessly between the first and second
Pulleys 84a, 84b are fixed to the moving members 52, 54,
(P) attached to the bottom of the second moving member 54 and the work 3
(Q) an encoder that detects the moving distance of the nut member 73; and (r) a control device that controls the robot 33 and the servomotor 70 in response to the output of the encoder. (S) the robot 33 is provided between the transfer start position 34 and the transfer end position 35; and (t) the first and second slider bodies 51 and 53 are connected between the transfer start position 34 and the transfer end position 35. In an initial position located at the center, the first moving member 52 is located at the center of the first slider body 51, and the second moving member 54 is located at the center of the second slider body 53. It is a transfer device.

The present invention also includes a first gear 68 attached to the one end of the ball screw 65, a second gear 69 attached to the output shaft of the servomotor 70, and first and second gears.
Endless timing belt 7 wound around gears 68 and 69
2 is included.

Work 38 using the transfer device 31 of the present invention
Will be described with reference to FIGS. 6 (a) to 6 (c). FIGS. 6A to 6C are diagrams schematically showing one cycle of the transport operation of the work 38. FIG. The transport device 1 according to the present invention includes a first slider main body 51 and a first moving member 52.
, A second slider body 53, a second moving member 54, and a holding member 50. In the following description, the moving direction of each member is the transport direction A of the work 38 unless otherwise specified.

FIG. 6A is a view showing a state of the transfer device 31 before the work 38 is transferred. FIG. 6 (a)
Is set as the initial position. The transfer device 31 is attached to a wrist portion 36 of a robot provided between the first press machine 34 on the upstream side in the transfer direction A of the work 38 and the second press machine 35 on the downstream side. In addition,
The transport device 31 is arranged so as to be parallel to the transport direction A. The length of the first slider main body 51 and the length of the second slider main body 53 are both length L. FIG.
As shown in (a), the first slider main body 51 and the second slider main body 53 are vertically stacked, and the first press machine 34.
And it is supported by the robot so as to be arranged at the center of the second press machine 35. At this time, the first moving member 52
Are arranged at the longitudinal center of the first slider body 51, and the second moving member 54 is arranged at the longitudinal center of the second slider body 53.

FIG. 6B is a view showing the transfer device 31 holding the work 38. The position of the transfer device 31 shown in FIG. 6B is a transfer start position. When the transfer device 31 at the initial position holds the work 38, each member moves as described below. The driving device moves the first moving member 52 to the upstream end 55 of the first slider body 51. In conjunction with the movement of the first moving member 52, the first scaling mechanism moves the second slider body 53 to the upstream side, and the first moving member 52 is disposed at the downstream end 59 of the second slider body 53. Is done. In conjunction with the movement of the second slider body 53, the second magnification mechanism moves the second moving member 54 to the upstream end 58 of the second slider body 53. By moving each member as described above, the holding member 50 is disposed in the first press machine 34, and thereafter, the holding member 50 holds the work 38.

FIG. 6C shows the transfer device 31 after the work 38 has been transferred. The position of the transfer device 31 shown in FIG. 6C is a transfer end position. When the transfer device 31 in the holding state moves to the transfer end position, each member moves as described below. First, the driving device moves the first moving member 52 from the upstream end 55 to the downstream end 56 of the first slider body 51.
At this time, the first moving member 52 is
, The distance L has moved downstream. In conjunction with the movement of the first moving member 52, the first magnification mechanism is
The second slider main body 53 is moved to the downstream side, and the first moving member 52 is disposed at the upstream end 58 of the second slider main body 53. At this time, the second slider body 53 has moved the distance L downstream with respect to the first moving member 52. In conjunction with the movement of the second slider body 53, the second magnification mechanism moves the second moving member 54 from the upstream end 58 to the downstream end 59 of the second slider body 53. At this time, the second moving member 54 has moved the distance L to the downstream side along the second slider main body 53.

That is, when the first moving member 52 moves the distance L downstream along the first slider body 51,
The second slider body 53 moves a distance 2L, and the second moving member 54 moves a distance 3L. As a result, the workpiece 38 held by the holding member 50 has been transported downstream by the transport device 31 by a distance 3L from the transport start position to the transport end position. After that, the holding member 50 releases the suction holding of the work 38, and the work 38 is arranged on the second press machine 35. As mentioned above,
The work 38 of the first press machine 34 is transferred to the second press machine 35 by the transfer device 31 of the present invention.

In the transfer device 1 shown in FIG.
Can be conveyed only about the turning distance of the wrist part 10 of the robot, the use of the conveying device 31 of the present invention, in addition to the turning distance of the wrist part 36 of the robot, and the length L of the conveying device 31 It is possible to carry the double distance 3L. Therefore, it is possible to carry the distance L further than the carrying device 11 disclosed in JP-A-8-141969. Further, since the second slider body 53 moves in conjunction with the movement of the first moving member 52 and the second moving member 54 moves in conjunction with the movement of the second slider body 53,
It is possible to convey a longer distance than the transfer device 11 in the same transfer time as the transfer device 11 disclosed in JP-A-8-1419695.

When the same distance is transported by the transport device 11 disclosed in Japanese Patent Application Laid-Open No. 8-141969 and the transport device 31 of the present invention, the transport device 31 of the present invention is used.
Can be transported in a short time. by this,
The working time for transporting the work 38 is reduced, and the press cycle time of the press machines 34 and 35 can be reduced. Further, since the length can be shorter than that of the transfer device 11 disclosed in Japanese Patent Application Laid-Open No. H8-1419695, space can be saved.

Further, since the work 38 held by the first press machine 34 is slid along the transfer direction A and transferred to the second press machine 35, the transferred work 38 may be inverted. There is no. Thus, it is not necessary to change the direction of the press die of the second press machine 35.

[0019]

FIG. 1 is a front view showing a use state of a transfer device 31 according to an embodiment of the present invention, and FIG. 2 is a plan view thereof. The transfer device 31 is attached to a wrist portion 36 of a six-axis vertical articulated robot 33 disposed between two first press machines 34 and a second press machine 35.
The transfer device 31 takes out the work 38 pressed by the first press machine 34 and takes out the work 38 from the two press machines 3.
This is a device for transporting the taken-out work 38 linearly to the second press machine 35 along a transport direction A parallel to a straight line connecting the rollers 4 and 35. The transfer device 31 may be used not only by being attached to the six-axis vertical articulated robot 33 but also by being attached to another robot such as a rectangular coordinate robot.

The robot 33 includes a base body 49 supported by the support table 40, a first arm 41 connected to the base body 49, and a second arm 41 connected to the first arm 41.
An arm 42 and a wrist 36 connected to the second arm 42 are provided. The base main body 49 is rotatable around a vertical first axis 43 by a first motor (not shown). The first arm 41 is vertically displaceable about a horizontal second axis 44 by a second motor (not shown). The second arm 42 includes a third motor (not shown)
Thereby, it can be angularly displaced around the horizontal third axis 45. The wrist 36 is rotatable around a fourth shaft 46 passing through the axis of the second arm 42 by a fourth motor (not shown), and is connected to the fourth shaft 46 by a fifth motor (not shown). Angular displacement is possible around a vertical fifth axis 47. The transfer device 31 is attached to the wrist 36 and is rotatable by a sixth motor (not shown) around a sixth axis 48 passing through the axis of the wrist 36. The first to sixth motors are controlled by a control device. The transfer device 31
Are arranged so as to be parallel to the transport direction A.

Next, referring to FIG. 3 to FIG.
1 will be described. FIG. 3 is a cross-sectional view of the transport device 31, FIG. 4 is a cross-sectional view as viewed from a section line IV-IV in FIG. 3, and FIG. 5 is a cross-sectional view as viewed from a section line VV in FIG. is there. The transfer device 31 includes a long first slider body 51 attached to the wrist portion 36 of the robot 33, a first moving member 52 supported below the first slider body 51 movably in the transfer direction A, A long second slider body 53 supported movably in the transport direction A below the first moving member 52, and a second second slider body movably supported in the transport direction A below the second slider body 53. A moving member 54 and a holding member 50 attached to a lower portion of the second moving member 54
A driving device 57 that is a driving source of the first moving member 52;
First magnification mechanism 61 serving as a drive source of second slider body 53
And a second magnification mechanism 66 serving as a drive source of the second moving member 54
It is constituted by and. These first slider bodies 5
1, the first moving member 52, the second slider body 53, and the second moving member 54 are made of, for example, an aluminum alloy and are lightweight. In the following description, the moving direction of each member is the transport direction A unless otherwise specified.

The first slider body 51 is a long member, and the center of the upper surface thereof is positioned at the wrist 36 of the robot 33.
, For example, with bolts. A hollow portion 60 extending in the transport direction A is formed in the first slider main body 51, and an opening extending in the transport direction A is formed on the lower surface. The hollow portion 60 faces downward through the opening. The hollow portion 60 is provided with one ball screw 65 arranged parallel to the transport direction A. This ball screw 6
A ball screw 6 is provided by a pair of bearings 62a, 62b provided at both ends 55, 56 of the first slider body 51.
5 is rotatably supported around a seventh shaft 67. A nut member 73 is screwed into the ball screw 65, and a pair of mounting members 74 is provided upstream of the nut member 73. This pair of mounting members 74
Moves in the same direction as the moving direction of the nut member 73 as the nut member 73 moves. The first moving member 52 is fixed below the mounting member 74. The moving distance of the nut member 73 is detected by, for example, a rotary encoder.

First guide rails 90a, 90b extending in the transport direction A are provided on both side walls in the width direction of the first slider body 51.
Is provided. Further, first guide members 91a, 91b guided along the first guide rails 90a, 90b are attached to the first moving member 52. This first guide rail 9
0 and the first guide member 91 form a linear slider, whereby the first moving member 52 is movably supported along the first slider main body 51.

A first gear 68 is attached to the upstream end of the ball screw 65. A servo motor 70 is provided on the upstream side of the first slider main body 51, and a second gear 69 is attached to an output shaft of the servo motor 70.
An endless timing belt 72 is wound around the first gear 68 and the second gear 69, whereby the rotational power of the servomotor 70 is transmitted to the ball screw 65. The servo motor 70 is controlled by a control device that controls the first to sixth motors of the robot 33 based on the rotary encoder.

The above-described servo motor 70, gears 68, 6
9, the driving device 57 is configured by the timing belt 72, the ball screw 65, and the nut member 73. When the servo motor 70 is driven to rotate in a predetermined direction, the first gear 6
8. The ball screw 65 rotates via the timing belt 72 and the second gear 69, and the nut member 73 moves downstream. As a result, the first moving member 52
From the upstream end 55 to the downstream end 56 of the slider body 51
Can be moved up. When the servo motor 70 is driven to rotate in a direction opposite to the predetermined direction, the nut member 73 moves to the upstream side. Thereby, the first moving member 52 can reciprocate from the downstream end 56 of the first slider body 51 to the upstream end 55. In addition,
The moving speed of the first moving member 52 is, for example, 1.4 m / sec at the maximum.

A first rack 71 extending in the transport direction A is attached to the first slider body 51, and the first moving member 52 is rotatable about an axis extending in the width direction (the left-right direction in FIG. 5). And an idler pinion 76 that meshes with the first rack 71 is provided.

The second slider main body 53 is a long member, and is disposed at a predetermined interval in the width direction (left-right direction in FIG. 5), and a pair of side plates 81a and 81b extending in the transport direction A.
And a bottom plate 83 connecting the two side plates 81a and 81b.
It is constituted by and. These two side plates 81a, 81b
In the transport direction A (the direction perpendicular to the plane of FIG. 5)
The second guide rails 79a and 79b extending to the first guide rail are provided.
The first moving member 5 is attached to the second guide rails 79a and 79b.
The two pair of second guide members 82 a and 82 b are displaceably mounted along the second guide rail 79. The second guide rail 79 and the second guide member 82 form a linear slider, and thereby the second slider main body 53 becomes movable. With the configuration described above, the second slider main body 53 can move with respect to the first moving member 52 while maintaining a state parallel to the first slider main body 51.

In the upper part of the side plate 81b, the transport direction A
The second rack 77 extending to the second rack 77 is attached.
And the idler pinion 76 described above are in mesh with each other. The second rack 77, the above-described idler pinion 76 and the first rack 71 constitute a first double-size mechanism 61.

As shown in FIG. 3, the driving device 57 causes the first moving member 52 to move to the upstream end 55 shown by a virtual line.
3, the idler pinion 76 rotates counterclockwise when viewed from FIG. When the idler pinion 76 rotates counterclockwise in this manner, the second rack 77 is sent to the downstream side. Accordingly, the second slider main body 53 is sent to the downstream side in conjunction with the movement of the first moving member 52 to the downstream side, and the first moving member 52 moves to the upstream end 58 of the second slider main body 53. I do. When the driving device 57 moves the first moving member 52 from the downstream end 59 shown by the solid line to the upstream end 58 shown by the imaginary line, the first moving member 52 is operated in a reverse manner to the above. Moves to the downstream end 59 of the second slider body 53.

The outer sides of the two side plates 81a and 81b of the second slider main body 53 in the width direction (the left-right direction in FIG. 5) are respectively extended in the transport direction A (the direction perpendicular to the plane of FIG. 5). Third guide rails 80a and 80b are provided,
The third rail of the second moving member 54 is attached to the guide rails 80a and 80b.
The guide members 86a and 86b are displaceably mounted along the third guide rail 80. The third guide rail 80 and the third guide member 86 form a linear slider.
Thus, the second moving member 54 can move.

As shown in FIG. 3, a pair of pulleys 84a,
84b are provided rotatably about an axis parallel to the width direction (the direction perpendicular to the plane of FIG. 3).
endless timing belt 85 between a and 84b
Is wound. Further, the timing belt 85 is fixed to the second guide members 82 a and 82 b of the first moving member 52 and the second guide members 86 a and 86 b of the third moving member 54. Thus, when the first moving member 52 moves to the upstream side, the second moving member 54 moves to the downstream side in conjunction with the movement. When the first moving member 52 moves to the downstream side, the second moving member 54 moves to the upstream side in conjunction with the movement. The pair of pulleys 84a and 84b and the timing belt 85 constitute a second double-size mechanism 66.
Further, since the second double-size mechanism 66 is constituted by the timing belt 85, it is lightweight.

As shown by the solid line in FIG. 3, the first scaling mechanism 61 moves the second slider body 53 downstream until the first moving member 52 is disposed at the upstream end 58 of the second slider body 53. Side, the second moving member 5
4 moves from the upstream end 58 to the downstream end 59 of the second slider body 53. Also, as shown by the phantom line in FIG.
When the first scaling mechanism 61 moves the second slider main body 53 to the upstream side until the moving member 52 is arranged, the second moving member 54 is moved in conjunction with this movement to move the second slider main body 53 to the downstream end of the second slider main body 53. It moves from 59 to the upstream end 58.

At the bottom of the second moving member 54, the work 38
Is attached. Holding member 50
Are provided with a plurality of, preferably four or more (four in the present embodiment) pads 87 for holding the work 38 by suction. The plurality of pads 87 include an air tube 88.
Is attached, and the other end of the air tube 88 is connected to a suction device (not shown). The air tube 88 is accommodated in the cable carrier 89 and protected so that the air tube 88 is not twisted or sagged when each member of the transfer device 31 moves. The holding member 50 is, for example, 30k at maximum.
g work 38 can be held.

Next, the operation of transporting the work 38 using the transport device 31 of the present invention will be described with reference to FIGS. 6 (a) to 6 (c). FIGS. 6A to 6C are diagrams schematically showing one cycle of the transport operation of the work 38. FIG.

FIG. 6A is a schematic diagram showing the state of the transfer device 31 before the transfer of the work 38 is started. FIG.
The position of the transfer device 31 shown in FIG. Note that the length of the first slider main body 51 and the length of the second slider main body 53 are both L, for example, 1
m or more and 1.5 m or less. As shown in FIG.
In the initial position, the first moving member 52 is connected to the first slider body 5.
The second moving member 54 is arranged at the center of the second slider body 53.

FIG. 6B is a view showing the transfer device 31 holding the work 38. The position of the transfer device 31 shown in FIG. 6B is a transfer start position.

FIG. 6C is a view showing the transfer device 31 after the work 38 has been transferred. FIG. 6 (c)
Is a transfer end position.
When the holding member 50 of the transfer device 31 at the transfer start position moves to the transfer end position, each member moves as described below. First, the driving device 57 is connected to the first moving member 5.
2 is moved to the downstream end 56 of the first slider body 51. At this time, the first moving member 52 has moved the distance L to the downstream side along the first slider main body 51.
In conjunction with the movement of the first moving member 52, the first scaling mechanism 61 moves the second slider body 53 to the downstream side, and the first moving member 52 is attached to the upstream end 58 of the second slider body 53. 52 are arranged. At this time, the second slider body 53
Means that the distance L has been moved downstream with respect to the first moving member 52. In conjunction with the movement of the second slider main body 53, the second scaling mechanism 66 moves the second moving member 54 to the downstream end 59 of the second slider main body 53. At this time, the second moving member 54 has moved the distance L to the downstream side along the second slider main body 53. That is, the first moving member 52 is moved along the first slider main body 51 by the distance L.
Is moved to the downstream side, the second slider body 53 moves to the downstream side by the distance 2L, and the second moving member 54 moves to the distance 3L.
Has been moved downstream. Thus, the holding member 50 holding the work 38 is disposed in the second press machine 35. Thereafter, the work 38 is conveyed to the second press machine 35 by the holding member 50 releasing the suction of the work 38.

As described above, since the driving device 57 can move the first moving member 52 at a speed of 1.4 m / sec, the second slider main body 53 moves at a speed of 2.8 m / sec.
c, and the second moving member 54 has a speed of 4.
It can move at 2 m / sec.

As described above, the work 38 is moved three times the length L of the transfer device 31 until the transfer from the transfer start position in FIG. 6B to the transfer end position in FIG. 6C. This means that 3 L has been transported.

The robot 33 is installed on a support table 40 as shown in FIG. 1, the first arm 41 is arranged substantially horizontally, and the second arm 42 is hung downward. To support. When the transfer device 31 moves the work 38 to the downstream side, the robot 33
The transport device 31 is linearly moved along the transport direction A by rotating the arm 41 in the horizontal direction about the first axis 43. Thus, in the conventional transport device 1 shown in FIG.
While the transfer device 31 of the present invention was able to convey only about the turning distance of the wrist portion 10, in addition to the turning distance of the wrist portion 36, the distance 3 which is three times the length L of the transfer device 31 is added.
L can be transported. Also, Japanese Patent Application Laid-Open No. 8-1419
It is possible to carry the distance L further than the carrying device 11 disclosed in JP-A-69.

The second slider body 53 moves in conjunction with the movement of the first moving member 52, and the second slider body 53 moves.
In this configuration, the second moving member 54 moves in conjunction with the movement of the first and second transfer devices 1 and 11, so that the second transfer member 54 can be transferred over a longer distance than the transfer devices 1 and 11 in the same transfer time as the transfer devices 1 and 11 of the related art described above. it can. Further, when the same distance as that of the above-described conventional transfer device is transferred, the transfer device 3 of the present embodiment is used.
In 1, the length L of the first slider main body 51 and the second slider main body 53 can be reduced. by this,
Since the configuration of the transfer device 31 can be made compact, the moment of inertia of the robot when turning can be reduced, the acceleration / deceleration of the robot operation can be increased, and the transfer speed of the transfer device 31 itself can be increased. And the cycle time of the press machines 34 and 35 can be shortened. Further, since the workpiece 38 held by the first press machine 34 is slid along the transport direction A and transported to the second press machine 35, the workpiece 38 after transport is not inverted. . Accordingly, it is not necessary to change the direction of the press die of the second press machine 35, and the influence of inertia on the operation of the robot due to the rotation of the work can be suppressed.

In the transfer device 31 of the present invention, since the first slider main body 51 is attached to the wrist 36 of the robot at the center in the transfer direction A, a large load is concentrated on the wrist 36 and the burden is increased. Is less likely to occur.

[0043]

As described above, according to the transfer apparatus of the present invention, the transfer apparatus has a more compact structure than the transfer apparatus of the prior art.
Work can be transported over a long distance in a short time. In addition, it is possible to prevent the work from being inverted after the conveyance.

[Brief description of the drawings]

FIG. 1 is a front view illustrating a use state of a transport device 31 according to an embodiment of the present invention.

FIG. 2 is a plan view of FIG.

FIG. 3 is a cross-sectional view of the transfer device 31.

FIG. 4 is a cross-sectional view taken along the line IV-IV of FIG. 3;

FIG. 5 is a cross-sectional view taken along the line VV of FIG. 3;

FIG. 6A is a schematic diagram illustrating a state of a transfer device 31 before transfer of a work 38. FIG. 4B is a schematic diagram illustrating a state of the transfer device 31 holding the work 38. (C) is a schematic diagram showing a state of the transfer device 31 after the transfer of the work 38.

FIG. 7 is a view showing a transfer device 1 according to the related art.

FIG. 8 is a perspective view of another conventional transfer device 11;

9 is a cross-sectional view of the transfer device 11. FIG.

[Explanation of symbols]

 1, 11, 31 Transfer device 2, 12, 33 Robot 4, 14, 50 Holding member 5, 15, 38 Work 51 First slider main body 52 First moving member 53 Second slider main body 54 Second moving member 57 Driving device 61 1st magnification mechanism 66 2nd magnification mechanism

──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-8-141969 (JP, A) JP-A-5-106704 (JP, A) JP-A-3-35356 (JP, U) (58) Survey Field (Int.Cl. ⁷ , DB name) B21D 43/05

Claims (2)

(57) [Claims] (A) A long first slider main body 51, wherein a central portion of an upper surface of the first slider main body 51 is attached to a wrist portion 36 which is rotatable around a vertical axis 43 of a robot 33. A first slider body 51 having an opening extending in the transport direction A on the lower surface thereof; and (b) a hollow portion 60 extending in the transport direction A in parallel with the transport direction A. (C) a nut member 73 screwed to the ball screw 65, the ball screw 65 being rotatably supported by both ends 55, 56 of the first slider main body 51 around the axis thereof; ) First moving member 52 fixed to nut member 73
(E) first linear sliders, which are provided on both side walls in the width direction of the first slider body 51 and extend in the transport direction A, along first guide rails 90a and 90b; The first to be guided
(F) a first linear slider having guide members 91a and 91b; and (f) provided at one end of the first slider main body 51 to rotate one end of a ball screw 65, whereby the first moving member 52 is moved to the first position. A servo motor 70 reciprocating between both ends of the slider body 51;
(H) meshing with the first rack 71, and the first moving member 52
An idler pinion 76 rotatably supported about an axis extending in the width direction thereof; and (i) a long second slider body 53, which is arranged at intervals in the width direction of the second slider body 53; A second slider body 53 having a pair of side plates 81a and 81b extending in the transport direction A and having a length equal to the length L of the first slider body 51; and (j) a second linear slider, A second guide rail 79 provided on the inner surface of each of the side plates 81a and 81b of the slider body 53 and extending in the transport direction A.
a and 79b, and second guide members 82a and 82b that are displaceably mounted along the second guide rails 79a and 79b. The second slider body 53 is in a state parallel to the first slider body 51. A second linear slider movable with respect to the first moving member 52 while being maintained; and (k) a second rack 77, which is attached to the upper part of the side plate 81b, extends in the transport direction A, and has an idler pinion 76. And (1) a third linear slider, each side plate 81a, 81b of the second slider body 53, which meshes with the idler pinion 76 and the first rack 71. The third guide rail 80a, which is provided on the outer surface of the
(B) a third linear slider having third guide members 86a and 86b that are displaceably mounted along the third guide rails 80a and 80b; and (m) a second linear slider provided on the third guide members 86a and 86b. A moving member 54; and (n) a pair of pulleys 84a, 84b provided at both end portions 58, 59 of the second slider main body 53, which are rotatably provided around an axis parallel to the width direction of the second slider main body 53. And (o) a timing belt 85, which is wound endlessly between the pulleys 84a and 84b, and is fixed to the first and second moving members 52 and 54, and together with the pulleys 84a and 84b, (P) attached to the bottom of the second moving member 54,
(Q) an encoder that detects the moving distance of the nut member 73; and (r) a control device that controls the robot 33 and the servomotor 70 in response to the output of the encoder. (S) the robot 33 is provided between the transfer start position 34 and the transfer end position 35; and (t) the first and second slider bodies 51 and 53 are connected between the transfer start position 34 and the transfer end position 35. In an initial position located at the center, the first moving member 52 is located at the center of the first slider body 51, and the second moving member 54 is located at the center of the second slider body 53. Transfer device. 2. A first gear 68 attached to the one end of the ball screw 65, and a second gear 69 attached to an output shaft of the servomotor 70.
The transfer device according to claim 1, further comprising: an endless timing belt (72) wound around the first and second gears (68, 69).