JP3651959B2

JP3651959B2 - Transport device

Info

Publication number: JP3651959B2
Application number: JP11386495A
Authority: JP
Inventors: 平三郎加藤
Original assignee: Sankyo Manufacturing Co Ltd
Current assignee: Sankyo Manufacturing Co Ltd
Priority date: 1995-04-15
Filing date: 1995-04-15
Publication date: 2005-05-25
Anticipated expiration: 2020-05-25
Also published as: JPH08282841A

Description

【０００１】
【産業上の利用分野】
本発明は、ワークをリニア方向に自動的に搬送するようにした搬送装置に関する。
【０００２】
【従来の技術】
近年ではオートメーション化を達成するためにワークの搬送を自動的に行うようにした搬送装置が用いられる。この搬送装置ではワークを掴んで送り、目的位置に放すという一連の動作が行われるが、これら一連の動作を行わせるにあたって従来では、ワークをクランプするクランプユニットと、ワークを搬送する搬送ユニットとが個別に存在するようになっており、例えばクランプユニットを搬送ユニットに設けられる送りバーの上に取付けることにより、掴む，送る，放すの一連の動作を作り出すようにしたものがある。
【０００３】
【発明が解決しようとする課題】
しかしながら、かかる従来の搬送装置にあっては、上述したように複数の独立したユニットの動きで一連の動作を達成する場合には、それぞれのユニットにより全体装置の大型化が来されてしまうと共に、それぞれのユニットのメンテナンスが煩雑になってしまう。また、クランプユニットとしてエアチャックを用いた場合には、搬送ユニットとのタイミングがとりにくくなってしまうため、搬送作業の高速化を図るのが著しく困難になってしまうという課題があった。
【０００４】
そこで、本発明はかかる従来の課題に鑑みて、ワークをリニア方向に搬送するのに必要な掴む，送る，放すという一連の動作を、１つの駆動源によって達成するようにした搬送装置を提供することを目的とする。
【０００５】
【課題を解決するための手段】
かかる目的を達成するために本発明は、搬送方向に沿って互いに平行配置される第１、第２送りバーと、これら第１、第２送りバーをそれぞれ搬送方向にスライド自在に支持する第１スライド機構と、共通の駆動源からの入力回転をそれぞれ個別に予め決定された揺動回転運動に変換する第１、第２揺動機構と、これら第１、第２揺動機構の一方の出力部を前記第１、第２送りバーの一方に、他方の出力部を第１、第２送りバーの他方にそれぞれ連結する連結機構と、前記第１スライド機構を上下方向にスライド自在に支持する第２スライド機構と、前記駆動源からの入力回転を所定のタイミングをもって上下動に変換して、前記第２スライド機構にとって可動側となる第１スライド機構側に伝達する上下動機構と、前記第１スライド機構および、または第２スライド機構を前後方向にスライド自在に支持する第３スライド機構と、前記駆動源からの入力回転を所定のタイミングをもって前後動に変換して前記第３スライド機構にとって可動側となる第１スライド機構および、または第２スライド機構側に伝達する前後動機構と、前記第１、第２送りバーにそれぞれ対をなすように設けられて、両者間にワークを掴むグリップ爪とを備え、前記第１、第２揺動機構は、前記第１、第２送りバーの下方に、入力軸同士が回転軸を介して互いに連結されており、前記駆動源の出力軸から前記回転軸に回転力が伝達されることを特徴とする。
【０００６】
また、搬送方向に沿って互いに平行配置される第１、第２送りバーと、これら第１、第２送りバーをそれぞれ搬送方向にスライド自在に支持する第１スライド機構と、共通の駆動源からの入力回転をそれぞれ個別に予め決定された揺動回転運動に変換する第１、第２揺動機構と、これら第１、第２揺動機構の一方の出力部を前記第１、第２送りバーの一方に、他方の出力部を第１、第２送りバーの他方にそれぞれ連結する連結機構と、前記第１スライド機構を上下方向にスライド自在に支持する第２スライド機構と、前記駆動源からの入力回転を所定のタイミングをもって上下動に変換して、前記第２スライド機構にとって可動側となる第１スライド機構側に伝達する上下動機構と、前記第１スライド機構および、または第２スライド機構を前後方向にスライド自在に支持する第３スライド機構と、前記駆動源からの入力回転を所定のタイミングをもって前後動に変換して前記第３スライド機構にとって可動側となる第１スライド機構および、または第２スライド機構側に伝達する前後動機構と、前記第１、第２送りバーにそれぞれ対をなすように設けられて、両者間にワークを掴むグリップ爪とを備え、前記第１、第２揺動機構は、前記第１、第２送りバーの下方に、前記搬送方向に対向して設けられて、入力軸同士が同軸上で回転軸を介して互いに連結されており、前記駆動源の出力軸から前記回転軸に回転力が伝達され、前記上下動機構及び前記前後動機構は、第１、第２揺動機構の入力軸の、前記回転軸に連結されている側とは反対側端部にそれぞれ連結されており、前記第１、第２揺動機構の一方の出力部と前記第１、第２送りバーの一方との間を連結する連結機構、及び第１、第２揺動機構の他方の出力部と第１、第２送りバーの他方との間を連結する連結機構が、互いに対向して設けられているという構成としてもよい。
さらに、前記グリップ爪を、第１、第２送りバーの長さ方向に複数設けることが望ましい。
【０００７】
【作用】
以上の構成により本発明の搬送装置にあっては、平行配置された第１，第２送りバーは第１スライド機構によって搬送方向にスライド自在に支持され、かつ、連結機構を介して第１，第２揺動機構の出力部に連結されているので、これら第１，第２送りバーは第１，第２揺動機構の揺動回転に伴って往復運動が行われることになる。このとき、前記第１，第２揺動機構の相対的な揺動回転運動によって前記第１，第２送りバーの相対移動を制御することができ、これら第１，第２送りバーに設けたグリップ爪を互いに近接または離反する運動、およびそれぞれのグリップ爪の相対位置を保持した状態で往復運動をすることができる。従って、前記グリップ爪を近接させることによりワークの掴みを行い、この掴み状態で第１，第２送りバーを搬送方向に移動させることによりワークを送り、そして、グリップ爪を離反させることによりワークを放して搬送することができる。尚、前記第１，第２送りバーはワークを放した後に戻されて次のワークを掴むことになる。
【０００８】
一方、前記第１スライド機構は第２スライド機構を介して上下方向にスライド自在に支持され、第１スライド機構は上下動機構を介して所定のタイミングで上下動が可能となっているので、この上下動タイミングをワークの搬送終点で第１スライド機構を上方移動させると共に、ワークの搬送始点で下方移動させることにより、グリップ爪を下降しつつワークを掴み、かつ、グリップ爪を上昇しつつワークを放すことができ、ワークの掴み動作および放し動作を円滑に行うことができる。
【０００９】
更に、第１スライド機構および，または前記第２スライド機構は、第３スライド機構を介して前後方向にスライド自在に支持されることにより、第１スライド機構は前後動機構を介して所定のタイミングで前後動が可能となっているので、この前後動タイミングをワークの搬送終点で第１スライド機構を後方移動させると共に、ワークの搬送始点で前方移動させることにより、グリップ爪を前進しつつワークを掴み、かつ、グリップ爪を後退しつつワークを放すことができ、ワークの掴み動作および放し動作を円滑に行うことができる。
【００１０】
ところで、前記第１，第２揺動機構は共通の駆動源からの入力回転を揺動回転運動に変換すると共に、前記上下動機構および前記前後動機構はこの駆動源からの入力回転を上下動および前後動に変換するようになっているため、ワークの掴み，送り，放しおよびグリップ爪の上下動および前後動の一連の動きを１つの駆動源で同期して行うことができる。このため、かかる一連の動きによる搬送作業の大幅な高速化を達成することができる。
【００１１】
また、前記グリップ爪は、第１，第２送りバーの長さ方向に複数組設けることにより、一度の送り動作で複数のワークを搬送することができる。
【００１２】
【実施例】
以下、本発明の実施例を添付図面を参照して詳細に説明する。図１から図２４は本発明の搬送装置の一実施例を示し、図１は搬送装置の正面図、図２は搬送装置の平面図、図３は搬送装置に用いられる揺動機構の拡大縦断面図、図４は図３中のＡ−Ａ線断面図、図５は揺動機構の要部構成図、図６は搬送装置に用いられるコネクティングロッドの一端側連結部の拡大正面図、図７はコネクティングロッドの他端側連結部の拡大正面図、図８は搬送装置に用いられる上下動機構および前後動機構の要部拡大正面図、図９は図８中Ｂ−Ｂ線断面図、図１０は図８中Ｃ−Ｃ線断面図、図１１は図８中Ｄ−Ｄ線断面図、図１２は図８中Ｅ−Ｅ線断面図、図１３は揺動機構の回転角度およびグリップ爪の開閉，送りレバーの往復，上下，前後運動を示すタイミングチャート、図１４は搬送装置の一連の動きを順を追って示す概略説明図、図１５は搬送装置の初期状態を示す平面図、図１６は搬送装置の掴み状態を示す平面図、図１７は搬送装置の送り状態を示す平面図、図１８は送りバーの上昇状態を示す上下機構の正面図、図１９は送りバーの上昇状態を示す上下機構の側面図、図２０は送りバーの後退状態を示す平面図、図２１は送りバーの後退状態を示す前後機構の側面図、図２２はコネクティングロッドの傾斜状態を示す一端側連結部の拡大正面図、図２３はコネクティングロッドの傾斜状態を示す他端側連結部の拡大正面図、図２４は搬送装置の運動軌跡を示す概略図である。
【００１３】
即ち、本実施例の搬送装置１０は図１，図２に示すように互いに平行配置される第１，第２送りバー１２，１４を備え、これら第１，第２送りバー１２，１４の往復移動によって、ワーク１６をこれら送りバー１２，１４の延設方向に沿った方向に搬送できるようになっている。前記第１，第２送りバー１２，１４は第１，第２揺動機構１８，２０によって移動が制御され、この移動制御によりワーク１６の掴み，送りおよび放しの一連の動きが行われる。
【００１４】
前記第１，第２揺動機構１８，２０は図３から図５に示すように、入力軸１８ａ，２０ａに設けた揺動回転カム２２の外周に、出力軸１８ｂ，２０ｂに設けたターレット２４のカムフォロア２４ａが摺接されるカム構造として構成される。前記揺動回転カム２２は図５に示すように、ドラム２２ａの外周に断面台形状のカム山２２ｂが予め設定した蛇行形状をもって突設される一方、前記カムフォロア２４ａは前記カム山２２ｂの両側を挟むように一対設けられる。そして、カムフォロア２４ａがカム山２２ｂの両側に摺接してドラム２２ａが回転することにより、このカム山２２ｂの蛇行形状に沿ってターレット２４が揺動回転される。従って、入力軸１８ａ，２０ａに入力された回転はターレット２４の揺動回転運動として変換され、この揺動回転運動は前記出力軸１８ｂ，２０ｂから取り出される。
【００１５】
前記第１，第２揺動機構１８，２０の出力軸１８ｂ，２０ｂには、図１，図２に示したようにそれぞれ揺動アーム２６，２８が取付けられる。第１揺動機構１８の揺動アーム２６は、連結機構としてのコネクティングロッド３０を介して第１送りバー１２に連結されると共に、第２揺動機構２０の揺動アーム２８は、連結機構としてのコネクティングロッド３２を介して第２送りバー１４に連結される。尚、前記コネクティングロッド３０，３２は互いに対向される方向を指向して延設配置される。
【００１６】
前記コネクティングロッド３０，３２の第１，第２送りバー１２，１４に連結される一端部、および揺動アーム２６，２８に連結される他端部には、図６，図７に示すようにボールジョイント３０ａ，３２ａおよび３０ｂ，３２ｂが設けられ、これらボールジョイント３０ａ，３２ａおよび３０ｂ，３２ｂを介して前記コネクティングロッド３０，３２は水平方向および上下方向の回動を自在にして前記第１，第２送りバー１２，１４および揺動アーム２６，２８に取付けられる。
【００１７】
前記第１，第２送りバー１２，１４は、図８，図９に示すように第１スライド機構３４，３６を介してそれぞれが搬送方向（図１，図２中左右方向）にスライド自在に支持されるようになっている。前記第１スライド機構３４，３６は、断面Ｕ字状のスライドガイド３４ａ，３６ａと、前記第１，第２送りバー１２，１４の下面にこれら送りバー１２，１４の延設方向に沿って固定されるスライダー３４ｂ，３６ｂとで構成され、このスライダー３４ｂ，３６ｂが前記スライドガイド３４ａ，３６ａ内に摺動可能に嵌合支持される。
【００１８】
前記第１，第２送りバー１２，１４にはそれぞれ対を成すようにグリップ爪３８，４０が取付けられる。グリップ爪３８，４０はそれぞれの先端部が図２中手前側に突出され、突出した先端部の対向部にはワーク１６の外側形状に沿った凹部３８ａ，４０ａが形成される。また、前記グリップ爪３８，４０は、実線で示すように第１，第２送りバー１２，１４の図２中左端部に所定間隔をもって２組を設けてある。尚、前記第１，第２送りバー１２，１４は同図中２点鎖線に示すように３組以上のグリップ爪３８，４０を所定間隔を保って設けることもできる。
【００１９】
一方、前記第１，第２揺動機構１８，２０の入力軸１８ａ，２０ａは互いに対向して同軸上に配置され、これら両入力軸１８ａ，２０ａ間にはこれらに軸継手４８，４８ａを介して両端が接続された回転軸４６が設けられており、この回転軸４６は従動プーリ４４を介して駆動源たるモータ４２の出力軸から回転力が伝達される様になっている。従って、前記第１，第２揺動機構１８，２０の入力軸１８ａ，２０ａには、１つのモータ４２を同一の駆動源として回転力が入力されるようになっている。
【００２０】
また、前記第１スライド機構３４，３６は、図８，図９に示したように第２スライド機構５０，５２を介して上下方向にスライド自在に支持される。前記第２スライド機構５０，５２は、前記第１，第２揺動機構１８，２０のケーシングに取付けられるスライドガイド５０ａ，５２ａと、上下可動板５０ｂ，５２ｂを介して取付けられる断面逆Ｕ字状のスライダー５０ｃ，５２ｃとで構成される。
【００２１】
更に、前記第１スライド機構３４，３６と前記第２スライド機構５０，５２との間には、図８，図９に示したようにワーク１６の搬送方向（図１中左右方向）に対して直角方向となる前後方向にスライド自在に支持する第３スライド機構５４，５６が設けられる。前記第３スライド機構５４，５６は、前記上下可動板５０ｂ，５２ｂに取付けられるスライドガイド５４ａ，５６ａと、前記第１スライド機構３４，３６のスライドガイド３４ａ，３６ａの下面に支持台５４ｂ，５６ｂを介して取付けられる断面逆Ｕ字状のスライダー５４ｃ，５６ｃとで構成される。
【００２２】
前記第１，第２揺動機構１８，２０の入力軸１８ａ，２０ａは、これら第１，第２揺動機構１８，２０のケーシングを貫通して反対側に突出され、これら軸突出部１８ｃ，２０ｃに第１，第２上下動機構５８，６０が設けられる。第１，第２上下動機構５８，６０はカム構造として構成され、図８から図１０に示すように前記軸突出部１８ｃ，２０ｃに一体回転可能に設けられる板カム５８ａ，６０ａと、前記上下可動板５０ｂ，５２ｂに回転自在に枢着されるカムフォロア５８ｂ，６０ｂとを備える。前記カムフォロア５８ｂ，６０ｂは前記板カム５８ａ，６０ａの外周に沿って転動し、この板カム５８ａ，６０ａの外周形状に応じて前記上下可動板５０ｂ，５２ｂを上下動する。尚、前記第１，第２上下動機構５８，６０は同期して上下動され、この上下動により第１，第２送りバー１２，１４が平行状態を保持しつつ上昇，下降される。
【００２３】
また、前記軸突出部１８ｃ，２０ｃには第１，第２前後動機構６２，６４が設けられる。前記第１，第２前後動機構６２，６４はカム構造として構成され、図８および図１１，図１２に示すように前記軸突出部１８ｃ，２０ｃに一体回転可能に設けられる溝カム６２ａ，６４ａと、この溝カム６２ａ，６４ａの回転によって揺動される揺動アーム６２ｂ，６４ｂとを備える。前記溝カム６２ａ，６４ａは端面にカム溝６２ｃ，６４ｃが形成される一方、前記揺動アーム６２ｂ，６４ｂの中間部には、前記カム溝６２ｃ，６４ｃに摺動可能に係合されるカムフォロア６２ｄ，６４ｄが設けられる。そして、前記揺動アーム６２ｂ，６４ｂの下端部は、カバー１８ｄ，２０ｄにピン６６を介して回動可能に枢着され、前記溝カム６２ａ，６４ａの回転に伴ってカムフォロア６２ｄ，６４ｄがカム溝６２ｃ，６４ｃ内に案内され、揺動アーム６２ｂ，６４ｂの上端部が前記ピン６６を中心として前後方向に揺動される。
【００２４】
前記第１スライド機構３４，３６のスライドガイド３４ｂ，３６ｂに取付けられた支持台５４ｂ，５６ｂにはＬ字状のガイドプレート６８が一側部を水平にして取付けられている。このガイドプレート６８の他側部は下方に垂直に延び、この垂直部分に形成されたガイド穴６８ａに、前記揺動アーム６２ｂ，６４ｂの上端部に設けたローラフォロア７０が摺動可能に係合される。従って、前記揺動アーム６２ｂ，６４ｂが揺動されることにより、ローラフォロア７０が前記ガイド穴６８ａを摺動しつつ支持台５４ｂ，５６ｂを前後移動し、これに伴って第１スライド機構３４，３６と共に、第１，第２送りバー１２，１４が前進および後退される。尚、前記第１，第２前後動機構６２，６４の揺動アーム６２ｂ，６４ｂは同期して前後揺動され、前記第１，第２送りバーは平行状態を保ちつつ前進，後退される。
【００２５】
ここで、前記モータ４２の回転を、前記第１，第２揺動機構１８，２０による揺動回転運動、第１，第２上下動機構５８，６０による昇降運動、第１，第２前後動機構６２，６４による前後運動にそれぞれ変換されるにあたって、本実施例では図１３に示すタイミングをもって、グリップ爪開閉，送り，リフトおよび前後の各運動が制御される。
【００２６】
即ち、第１揺動機構１８では特性Ａに示す回転角度制御により第１送りバー１２の送り方向と戻り方向とのタイミングがとられる。一方、第２揺動機構２０では特性Ｂに示す回転角度制御により第２送りバー１４の送り方向と戻り方向とのタイミングがとられる。このように、第１，第２送りバー１２，１４の送り方向と戻り方向のタイミングが独自に制御されることにより、これら第１，第２送りバー１２，１４の協同で特性Ｃに示すように前記グリップ爪３８，４０の開閉動作（掴む，放す）、および特性Ｄに示すようにワーク１６のリニア方向の送り動作（搬送，戻り）が行われる。
【００２７】
一方、第１，第２上下動機構５８，６０では、特性Ｅに示すように第１，第２送りバー１２，１４の上昇と下降とのタイミングが制御されると共に、第１，第２前後動機構６２，６４では、特性Ｆに示すように第１，第２送りバー１２，１４の後退と前進とのタイミングが制御される。
【００２８】
図１４（ア）〜（キ）は前記第１，第２揺動機構１８，２０の回転角度制御および第１，第２上下動機構５８，６０の前後揺動制御、更に第１，第２前後動機構６２，６４による搬送装置１０の一連の動きを順を追って示す。まず、同図中（ア）は図１３中ａ位置に対応する初期状態（図１５参照）で、この初期状態から第１揺動機構１８を戻り方向、第２揺動機構２０を送り方向に作動（図１３中ａ〜ｂ）することにより、（イ）に示すようにワーク１６を掴む（図１６参照）。次に、ワーク１６を掴んだ状態で第１，第２揺動機構１８，２０を送り方向に作動（図１３中ｃ〜ｄ）することにより、（ウ）に示すようにワーク１６をリニア方向に搬送（図１７参照）し、この搬送が終了した後に第１揺動機構１８を送り方向、第２揺動機構２０を戻し方向に作動（図１３中ｅ〜ｆ）することにより、（エ）に示すようにワーク１６を放す。次に、第２揺動機構１８，２０を戻り方向に作動（図１３中ｇ〜ｈ）することにより、（カ）に示すように第１，第２送りバー１２，１４を戻し方向に移動する。
【００２９】
ところで、前記搬送装置１０がワーク１６の掴み，送り，放しの一連の動きを行う途中のワーク１６を掴んだ後において、第１，第２上下動機構５８，６０の板カム５８ａ，６０ａが図９の状態から図１９に示す位置に回転されることにより、第１，第２送りバー１２，１４を図８に示す下降位置から図１８に示す上昇位置へと上昇（図１３中ｂ〜ｃ）させ、かつ、ワーク１６を搬送終了した後に前記板カム５８ａ，６０ａが前記図９の位置に回転されることにより、第１，第２送りバー１２，１４が下降（図１３中ｄ〜ｅ）される。
【００３０】
一方、第１，第２前後機構６２，６４の溝カム６２ａ，６４ａが、ワーク１６を放した後に図１１の状態から図１２の位置に回転されることにより、（オ）に示すように第１，第２送りバー１２，１４は後退する（図１３中ｆ〜ｇ）。そして、この後退状態で第１，第２送りバー１２，１４が戻された後、前記溝カム６２ａ，６４ａが図１１の位置に回転されることにより、（キ）に示すように第１，第２送りバー１２，１４を前進（図１３中ｈ〜ｉ）して初期状態に戻される。即ち、前記図１３および図１４に示す搬送装置１０の一連の動きは、図２４に示す運動軌跡となる。
【００３１】
尚、前記第１，第２上下動機構５８，６０および第１，第２前後動機構６２，６４により第１，第２送りバー１２，１４を上下動および前後動させる際に、第１，第２送りバー１２，１４の相対位置を保持するために、カム形状により第１，第２揺動機構１８，２０の揺動回転を補正するようになっている。また、前記第１，第２送りバー１２，１４の上昇，下降時には、コネクティングロッド３０，３２の両端部は図２２，図２３に示すようにボールジョイント３０ａ，３２ａを介して傾斜されるようになっている。
【００３２】
かかる構成になる本実施例の搬送装置１０にあっては、平行配置された第１，第２送りバー１２，１４に第１，第２揺動機構１８，２０の揺動回転運動が伝達されることにより、送りバー１２，１４を搬送方向に移動させ、この送りバー１２，１４の運動によりグリップ爪３８，４０がワーク１６を掴んで搬送した後に放す。また、第１，第２上下動機構５８，６０の上下運動により、ワーク１６を掴んだ後に第１，第２送りバー１２，１４を上昇させ、目的位置まで搬送した後に下降させるようになっている。更に、第１，第２前後動機構６２，６４の前後運動によりワーク１６を放した後に後退させ、かつ、第１，第２送りバー１２，１４を戻した後に前進させるようになっている。
【００３３】
このとき、前記第１，第２揺動機構１８，２０と前記第１，第２上下動機構５８，６０と前記第１，第２前後動機構６２，６４とは１つのモータ４２を共通の駆動源として回転力が入力され、この回転から前記ワーク１６の掴み，送り，放しの一連の動作、更には第１，第２送りバー１２，１４の上昇，下降および後退，前進の動きを同期して行うことができる。このため、搬送作業の前記一連の動きの高速化が可能となって、搬送作業の著しい能率化を図ることができると共に、搬送作業の全行程を前記１つのモータ４２で駆動することが可能となるため、搬送装置１０の小型化を達成してそのメンテナンスを大幅に簡略化することができる。
【００３４】
また、本実施例では前記グリップ爪３８，４０を、第１，第２送りバー１２，１４の長さ方向に複数組設けたので、これら第１，第２送りバー１２，１４の一度の送り動作で前記グリップ爪３８，４０の組数に対応した複数のワークを搬送することができ、搬送作業の大幅な能率化を図ることができる。
【００３５】
尚、前記実施例にあっては、前後方向への移動を許容するための第３スライド機構５４，５６は、搬送方向への移動を許容する第１スライド機構３４，３６と上下方向への移動を許容する第２スライド機構５０，５２との間に介在させる様にしているが、これに限らず第１スライド機構３４，３６と第３スライド機構５４，５６との間に第２スライド機構５０，５２を介在させる様にしても良い。
【００３６】
【発明の効果】
以上説明したように、本発明の請求項１に示す搬送装置にあっては、平行配置された第１、第２送りバーを第１スライド機構を介して搬送方向にスライド可能に支持し、これら第１、第２送りバーに対を成してグリップ爪を設け、第１、第２揺動機構の揺動回転運動でグリップ爪によるワークの掴み、送り、放しの一連の動きを行うと共に、上下動機構によって第１、第２送りバーの上昇、下降を所定のタイミングをもって行い、かつ、前後動機構によって第１、第２送りバーの後退、前進を所定のタイミングで行うようになっており、これら第１、第２揺動機構、上下動機構および前後動機構の駆動を１つの駆動源で同期して行うようになっている。従って、かかるワークの掴み、送り、放しは勿論のこと、第１、第２送りバーを上昇、下降および後退、前進という一連の搬送作業を大幅に高速化させることができる共に、駆動源が１つであることから搬送装置の構造を簡単にしてメンテナンスを容易にすることができる。
また、第１、第２揺動機構は、第１、第２送りバーの下方に、入力軸同士が回転軸を介して互いに連結されており、駆動源の出力軸から前記回転軸に回転力が伝達されることになるので、第１送りバー及び第２送りバーを高精度で搬送方向に往復動させることができるとともに、高精度で上下動させることができ、さらに高精度で搬送方向と直交する方向に前後動させることができる。従って、ワークの掴み、送り、放しの一連の動作を高精度で行うことができる。
【００３７】
また、本発明の請求項２に示す搬送装置にあっては、第１、第２揺動機構を、第１、第２送りバーの下方に、搬送方向に対向して設け、入力軸同士を同軸上で回転軸を介して互いに連結し、駆動源の出力軸から回転軸に回転力を伝達し、上下動機構及び前後動機構を、第１、第２揺動機構の入力軸の、回転軸に連結されている側とは反対側端部にそれぞれ連結し、第１、第２揺動機構の一方の出力部と第１、第２送りバーの一方との間を連結する連結機構、及び第１、第２揺動機構の他方の出力部と第１、第２送りバーの他方との間を連結する連結機構を、互いに対向して設けたので、装置全体をコンパクト化することができる。
さらに、本発明の請求項３に示す搬送装置にあっては、グリップ爪を第１、第２送りバーの長さ方向に複数設けたので、一度の送り動作で複数のワークを搬送することが可能となり、搬送作業の大幅な能率化を図ることができる。
【図面の簡単な説明】
【図１】本発明の搬送装置の一実施例を示す正面図である。
【図２】本発明の搬送装置の一実施例を示す平面図である。
【図３】本発明の搬送装置に用いられる揺動機構の一実施例を示す拡大縦断面図である。
【図４】図３中のＡ−Ａ線断面図である。
【図５】本発明の搬送装置に用いられる揺動機構の一実施例を示す要部構成図である。
【図６】本発明の一実施例を示す搬送装置に用いられるコネクティングロッドの一端側連結部の拡大正面図である。
【図７】本発明の一実施例を示す搬送装置に用いられるコネクティングロッドの他端側連結部の拡大正面図である。
【図８】本発明の搬送装置に用いられる上下動機構および前後動機構の一実施例を示す要部拡大正面図である。
【図９】図８中のＢ−Ｂ線断面図である。
【図１０】図８中のＣ−Ｃ線断面図である。
【図１１】図８中のＤ−Ｄ線断面図である。
【図１２】図８中のＥ−Ｅ線断面図である。
【図１３】本発明の一実施例の搬送装置の揺動機構の回転角度およびグリップ爪の開閉，送りレバーの往復，上下，前後運動を示すタイミングチャートである。
【図１４】本発明の一実施例の搬送装置における一連の動きを順を追って示す概略説明図である。
【図１５】本発明の一実施例の搬送装置の初期状態を示す平面図である。
【図１６】本発明の一実施例の搬送装置の掴み状態を示す平面図である。
【図１７】本発明の一実施例の搬送装置の送り状態を示す平面図である。
【図１８】本発明の一実施例の搬送装置に備えた送りバーの上昇状態を示す上下機構の正面図である。
【図１９】本発明の一実施例の搬送装置に備えた送りバーの上昇状態を示す上下機構の側面図である。
【図２０】本発明の一実施例の搬送装置に備えた送りバーの後退状態を示す平面図である。
【図２１】本発明の一実施例の搬送装置に備えた送りバーの後退状態を示す前後機構の側面図である。
【図２２】本発明の一実施例の搬送装置に用いられるコネクティングロッドの傾斜状態を示す一端側連結部の拡大正面図である。
【図２３】本発明の一実施例の搬送装置に用いられるコネクティングロッドの傾斜状態を示す他端側連結部の拡大正面図である。
【図２４】本発明の一実施例の搬送装置の運動軌跡を示す概略図である。
【符号の説明】
１０搬送装置１２第１送りバー
１４第２送りバー１６ワーク
１８第１揺動機構２０第２揺動機構
２２揺動回転カム２６，２８揺動アーム
３０，３２コネクティングロッド（連結機構）
３４，３６第１スライド機構３８，４０グリップ爪
４２モータ（駆動源）５０，５２第２スライド機構
５４，５６第３スライド機構５８，６０上下動機構
６２，６４前後動機構[0001]
[Industrial application fields]
The present invention relates to a conveying apparatus that automatically conveys a workpiece in a linear direction.
[0002]
[Prior art]
In recent years, in order to achieve automation, a transfer device that automatically transfers a workpiece is used. In this transport device, a series of operations of gripping and feeding a workpiece and releasing it to a target position is performed. Conventionally, in order to perform these series of operations, a clamp unit for clamping the workpiece and a transport unit for transporting the workpiece are provided. For example, a clamp unit is mounted on a feed bar provided in the transport unit so that a series of operations of gripping, feeding, and releasing is created.
[0003]
[Problems to be solved by the invention]
However, in such a conventional transport apparatus, when a series of operations is achieved by the movement of a plurality of independent units as described above, the overall apparatus is increased in size by each unit, Maintenance of each unit becomes complicated. In addition, when an air chuck is used as the clamp unit, it is difficult to take a timing with the transport unit, and thus there is a problem that it is extremely difficult to increase the speed of the transport work.
[0004]
Therefore, in view of such conventional problems, the present invention provides a transport device that achieves a series of operations of gripping, sending, and releasing necessary for transporting a workpiece in a linear direction with a single drive source. For the purpose.
[0005]
[Means for Solving the Problems]
In order to achieve such an object, the present invention provides a first feed bar and a second feed bar that are arranged in parallel with each other along the transport direction, and a first support that slidably supports the first and second feed bars in the transport direction. A slide mechanism, first and second swing mechanisms that convert input rotations from a common drive source into swing motions individually determined in advance, and one output of the first and second swing mechanisms A coupling mechanism that couples a portion to one of the first and second feed bars, and an output portion of the other to the other of the first and second feed bars, and a first slide mechanism that is slidably supported in the vertical direction. A second slide mechanism, a vertical movement mechanism that converts an input rotation from the driving source into a vertical movement at a predetermined timing, and transmits the vertical rotation to the first slide mechanism side that is a movable side for the second slide mechanism; 1 slide mechanism Or a third slide mechanism that slidably supports the second slide mechanism in the front-rear direction, and converts the input rotation from the drive source into a forward-backward movement at a predetermined timing to become a movable side for the third slide mechanism. The first slide mechanism and a forward / backward movement mechanism that transmits to the second slide mechanism side, and a grip claw that is provided so as to make a pair with each of the first and second feed bars and grips the workpiece between them. In the first and second swing mechanisms, input shafts are connected to each other via a rotation shaft below the first and second feed bars, and the output shaft of the drive source is connected to the rotation shaft. Rotational force is transmitted .
[0006]
Further, the first and second feed bars arranged in parallel with each other along the transport direction, the first slide mechanism that slidably supports the first and second feed bars in the transport direction, and a common drive source. First and second swing mechanisms that individually convert the input rotations of the first and second swing mechanisms into a predetermined swing rotational motion, and one output portion of the first and second swing mechanisms. One of the bars, a coupling mechanism for coupling the other output portion to the other of the first and second feed bars, a second slide mechanism for slidably supporting the first slide mechanism in the vertical direction, and the drive source The vertical rotation mechanism that converts the input rotation from the vertical movement to a vertical movement at a predetermined timing and transmits it to the first slide mechanism side, which is the movable side of the second slide mechanism, and the first slide mechanism and / or the second slide Mechanism A third slide mechanism that is slidably supported in the rearward direction, and a first slide mechanism that converts the input rotation from the drive source into a forward / backward movement at a predetermined timing and becomes a movable side for the third slide mechanism, and / or A forward / backward movement mechanism that transmits to the two-sliding mechanism side, and a grip claw that is provided so as to be paired with each of the first and second feed bars and that grips a workpiece between the first and second swing bars. The moving mechanism is provided below the first and second feed bars so as to face the conveying direction, and the input shafts are coaxially connected to each other via a rotating shaft, and the output of the drive source Rotational force is transmitted from the shaft to the rotary shaft, and the vertical movement mechanism and the forward / backward movement mechanism are on the opposite ends of the input shafts of the first and second swing mechanisms to the side connected to the rotary shaft. Each of which is connected to the 1, a connecting mechanism for connecting one output portion of the second swing mechanism and one of the first and second feed bars, and the other output portion of the first and second swing mechanisms and the first, It is good also as a structure that the connection mechanism which connects between the other of the 2nd feed bars is provided facing each other .
Furthermore, it is desirable to provide a plurality of grip claws in the length direction of the first and second feed bars.
[0007]
[Action]
With the above configuration, in the transport apparatus of the present invention, the first and second feed bars arranged in parallel are supported by the first slide mechanism so as to be slidable in the transport direction, and the first and second feed bars are connected via the coupling mechanism. Since the first and second feed bars are connected to the output portion of the second swing mechanism, the first and second feed bars are reciprocated as the first and second swing mechanisms swing. At this time, the relative movement of the first and second feed bars can be controlled by the relative swing rotation of the first and second swing mechanisms, and the first and second feed bars are provided. The grip claws can be reciprocated while moving the grip claws close to or away from each other and maintaining the relative positions of the grip claws. Accordingly, the workpiece is gripped by bringing the grip claws close to each other, the workpiece is fed by moving the first and second feed bars in the transport direction in this gripped state, and the workpiece is moved by separating the grip claws. It can be released and transported. The first and second feed bars are returned after releasing the workpiece to grip the next workpiece.
[0008]
On the other hand, the first slide mechanism is supported to be slidable in the vertical direction via the second slide mechanism, and the first slide mechanism can be moved up and down at a predetermined timing via the vertical movement mechanism. By moving the first slide mechanism upward at the workpiece transfer end point and moving it downward at the workpiece transfer start point, the workpiece is gripped while the grip claw is lowered, and the workpiece is moved while the grip claw is raised. The workpiece can be released and the workpiece can be gripped and released smoothly.
[0009]
Further, the first slide mechanism and / or the second slide mechanism are supported to be slidable in the front-rear direction via the third slide mechanism, so that the first slide mechanism is moved at a predetermined timing via the forward-backward movement mechanism. Since the forward / backward movement is possible, the first slide mechanism is moved backward at the workpiece transfer end point and the forward movement is moved forward at the workpiece transfer start point, thereby gripping the workpiece while moving the grip claw forward. In addition, the workpiece can be released while the grip claw is retracted, and the gripping operation and the releasing operation of the workpiece can be performed smoothly.
[0010]
By the way, the first and second swing mechanisms convert the input rotation from the common drive source into the swing rotation motion, and the vertical movement mechanism and the forward / backward movement mechanism move the input rotation from the drive source up and down. Further, since it is converted to the forward and backward movement, a series of movements of gripping, feeding, releasing the workpiece, and the vertical movement of the grip claw and the forward and backward movement can be performed synchronously by one drive source. For this reason, it is possible to achieve a significant increase in the speed of the conveyance work by such a series of movements.
[0011]
Further, by providing a plurality of sets of grip claws in the length direction of the first and second feed bars, a plurality of workpieces can be conveyed by a single feed operation.
[0012]
【Example】
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. 1 to 24 show an embodiment of a transport apparatus according to the present invention, FIG. 1 is a front view of the transport apparatus, FIG. 2 is a plan view of the transport apparatus, and FIG. 3 is an enlarged vertical section of a swing mechanism used in the transport apparatus. FIG. 4 is a cross-sectional view taken along line AA in FIG. 3, FIG. 5 is a configuration diagram of the main part of the swing mechanism, and FIG. 6 is an enlarged front view of a connecting portion on one end side of a connecting rod used in the conveying device. 7 is an enlarged front view of the connecting portion on the other end side of the connecting rod, FIG. 8 is an enlarged front view of the main part of the vertical movement mechanism and the forward / backward movement mechanism used in the conveying device, and FIG. 9 is a cross-sectional view taken along the line BB in FIG. 10 is a sectional view taken along line CC in FIG. 8, FIG. 11 is a sectional view taken along line DD in FIG. 8, FIG. 12 is a sectional view taken along line EE in FIG. Timing chart showing claw opening / closing, feed lever reciprocation, up / down, and back-and-forth motion, Fig. 14 shows the sequence of movement of the transport device. 15 is a plan view showing the initial state of the transport device, FIG. 16 is a plan view showing the gripping state of the transport device, FIG. 17 is a plan view showing the feed state of the transport device, and FIG. 18 is a feed bar. FIG. 19 is a side view of the vertical mechanism showing the raising state of the feed bar, FIG. 20 is a plan view showing the backward state of the feed bar, and FIG. 21 shows the backward state of the feed bar. 22 is a side view of the front-rear mechanism, FIG. 22 is an enlarged front view of one end side connecting portion showing the inclined state of the connecting rod, FIG. 23 is an enlarged front view of the other end side connecting portion showing the inclined state of the connecting rod, and FIG. It is the schematic which shows the exercise | movement locus | trajectory.
[0013]
That is, the transport apparatus 10 of the present embodiment includes first and second feed bars 12 and 14 arranged in parallel to each other as shown in FIGS. 1 and 2, and the reciprocation of the first and second feed bars 12 and 14. By movement, the workpiece 16 can be conveyed in a direction along the extending direction of the feed bars 12 and 14. The movement of the first and second feed bars 12 and 14 is controlled by the first and second swing mechanisms 18 and 20, and a series of movements of gripping, feeding and releasing the workpiece 16 is performed by this movement control.
[0014]
As shown in FIGS. 3 to 5, the first and second swing mechanisms 18 and 20 are arranged on the outer periphery of the swing rotation cam 22 provided on the input shafts 18a and 20a, and on the turret 24 provided on the output shafts 18b and 20b. This cam follower 24a is configured as a cam structure that is slidably contacted. As shown in FIG. 5, the oscillating rotary cam 22 has a cam peak 22b having a trapezoidal cross section protruding on the outer periphery of the drum 22a with a predetermined meandering shape, while the cam follower 24a is provided on both sides of the cam peak 22b. A pair is provided so as to sandwich. Then, when the cam follower 24a slides on both sides of the cam peak 22b and the drum 22a rotates, the turret 24 swings and rotates along the meandering shape of the cam peak 22b. Therefore, the rotation input to the input shafts 18a and 20a is converted as a swinging rotary motion of the turret 24, and this swinging rotary motion is taken out from the output shafts 18b and 20b.
[0015]
As shown in FIGS. 1 and 2, swing arms 26 and 28 are attached to the output shafts 18b and 20b of the first and second swing mechanisms 18 and 20, respectively. The swing arm 26 of the first swing mechanism 18 is connected to the first feed bar 12 via a connecting rod 30 as a connection mechanism, and the swing arm 28 of the second swing mechanism 20 is a connection mechanism. The connecting rod 32 is connected to the second feed bar 14. The connecting rods 30 and 32 are extended and arranged in directions facing each other.
[0016]
As shown in FIGS. 6 and 7, the connecting rods 30 and 32 have one end connected to the first and second feed bars 12 and 14 and the other end connected to the swing arms 26 and 28 as shown in FIGS. Ball joints 30a, 32a and 30b, 32b are provided, and the connecting rods 30, 32 are freely rotatable in the horizontal and vertical directions via the ball joints 30a, 32a and 30b, 32b. The two feed bars 12 and 14 and the swing arms 26 and 28 are attached.
[0017]
As shown in FIGS. 8 and 9, the first and second feed bars 12 and 14 are slidable in the conveying direction (left and right direction in FIGS. 1 and 2) via the first slide mechanisms 34 and 36, respectively. It has come to be supported. The first slide mechanisms 34, 36 are fixed to the lower surfaces of the slide guides 34a, 36a having a U-shaped cross section and the first and second feed bars 12, 14 along the extending direction of the feed bars 12, 14. The sliders 34b and 36b are slidably fitted and supported in the slide guides 34a and 36a.
[0018]
Grip claws 38 and 40 are attached to the first and second feed bars 12 and 14 so as to form a pair. The grip claws 38, 40 have respective front end portions protruding toward the front side in FIG. 2, and concave portions 38 a, 40 a along the outer shape of the workpiece 16 are formed at the opposed portions of the protruded front end portions. Further, as shown by the solid line, the grip claws 38 and 40 are provided in two sets at predetermined intervals at the left end portions of the first and second feed bars 12 and 14 in FIG. The first and second feed bars 12 and 14 may be provided with three or more sets of grip claws 38 and 40 at a predetermined interval as shown by a two-dot chain line in FIG.
[0019]
On the other hand, the input shafts 18a and 20a of the first and second swinging mechanisms 18 and 20 are coaxially arranged to face each other, and the shafts 48 and 48a are interposed between the input shafts 18a and 20a. A rotating shaft 46 having both ends connected to each other is provided. The rotating shaft 46 is adapted to transmit a rotational force from an output shaft of a motor 42 as a driving source via a driven pulley 44. Accordingly, a rotational force is input to the input shafts 18a and 20a of the first and second swing mechanisms 18 and 20 by using one motor 42 as the same drive source.
[0020]
The first slide mechanisms 34 and 36 are supported so as to be slidable in the vertical direction via the second slide mechanisms 50 and 52 as shown in FIGS. The second slide mechanisms 50 and 52 are reverse U-shaped cross-sections that are attached via slide guides 50a and 52a attached to the casings of the first and second swing mechanisms 18 and 20 and upper and lower movable plates 50b and 52b. Sliders 50c and 52c.
[0021]
Furthermore, between the first slide mechanisms 34 and 36 and the second slide mechanisms 50 and 52, as shown in FIGS. 8 and 9, the conveying direction of the workpiece 16 (left and right direction in FIG. 1). Third slide mechanisms 54 and 56 are provided that are slidably supported in the front-rear direction, which is a perpendicular direction. The third slide mechanisms 54 and 56 include slide guides 54a and 56a attached to the upper and lower movable plates 50b and 52b, and support bases 54b and 56b on the lower surfaces of the slide guides 34a and 36a of the first slide mechanisms 34 and 36, respectively. And sliders 54c and 56c having inverted U-shaped cross sections.
[0022]
The input shafts 18a and 20a of the first and second swing mechanisms 18 and 20 pass through the casings of the first and second swing mechanisms 18 and 20 and protrude to the opposite side. First and second vertical movement mechanisms 58 and 60 are provided at 20c. The first and second vertical movement mechanisms 58 and 60 are configured as cam structures, and as shown in FIGS. 8 to 10, plate cams 58a and 60a provided on the shaft projecting portions 18c and 20c so as to be integrally rotatable, Cam followers 58b and 60b pivotally mounted on the movable plates 50b and 52b. The cam followers 58b and 60b roll along the outer periphery of the plate cams 58a and 60a, and move the vertical movable plates 50b and 52b up and down according to the outer peripheral shape of the plate cams 58a and 60a. The first and second vertical movement mechanisms 58 and 60 are moved up and down synchronously, and the vertical movement causes the first and second feed bars 12 and 14 to be raised and lowered while maintaining a parallel state.
[0023]
The shaft protrusions 18c and 20c are provided with first and second longitudinal movement mechanisms 62 and 64, respectively. The first and second longitudinal movement mechanisms 62 and 64 are configured as cam structures, and as shown in FIGS. 8, 11 and 12, groove cams 62a and 64a are provided so as to be rotatable integrally with the shaft projecting portions 18c and 20c. And swing arms 62b and 64b that are swung by the rotation of the groove cams 62a and 64a. Cam grooves 62c and 64c are formed on the end surfaces of the groove cams 62a and 64a, while a cam follower 62d is slidably engaged with the cam grooves 62c and 64c at an intermediate portion of the swing arms 62b and 64b. , 64d are provided. The lower ends of the swing arms 62b and 64b are pivotally attached to the covers 18d and 20d via pins 66, and the cam followers 62d and 64d are cam grooves as the groove cams 62a and 64a rotate. The upper ends of the swing arms 62b and 64b are swung in the front-rear direction around the pin 66.
[0024]
An L-shaped guide plate 68 is attached to one side of the support bases 54b and 56b attached to the slide guides 34b and 36b of the first slide mechanisms 34 and 36, respectively. The other side portion of the guide plate 68 extends vertically downward, and a roller follower 70 provided at the upper ends of the swing arms 62b and 64b is slidably engaged with a guide hole 68a formed in the vertical portion. Is done. Accordingly, when the swing arms 62b and 64b are swung, the roller follower 70 moves back and forth on the support bases 54b and 56b while sliding on the guide hole 68a, and accordingly, the first slide mechanism 34, Along with 36, the first and second feed bars 12, 14 are advanced and retracted. The swing arms 62b and 64b of the first and second back-and-forth motion mechanisms 62 and 64 are swung back and forth synchronously, and the first and second feed bars are moved forward and backward while maintaining a parallel state.
[0025]
Here, the rotation of the motor 42 is changed into a swinging and rotating motion by the first and second swinging mechanisms 18 and 20, a lifting and lowering motion by the first and second vertical moving mechanisms 58 and 60, and a first and second back and forth motion. When converted into the longitudinal motions by the mechanisms 62 and 64, in this embodiment, the grip claw opening / closing, feed, lift and forward / backward motions are controlled at the timing shown in FIG.
[0026]
That is, in the first swing mechanism 18, the feed direction and return direction of the first feed bar 12 are timed by the rotation angle control indicated by the characteristic A. On the other hand, in the second swing mechanism 20, the feed direction and return direction of the second feed bar 14 are timed by the rotation angle control indicated by the characteristic B. In this way, the timings of the feed direction and the return direction of the first and second feed bars 12 and 14 are independently controlled, so that the characteristic C is shown in cooperation with the first and second feed bars 12 and 14. The grip claws 38 and 40 are opened / closed (gripped and released) and the workpiece 16 is fed in the linear direction (conveyed and returned) as shown by the characteristic D.
[0027]
On the other hand, in the first and second vertical movement mechanisms 58 and 60, as shown by the characteristic E, the timings of raising and lowering the first and second feed bars 12 and 14 are controlled, and the first and second front and rear movement mechanisms are controlled. In the moving mechanisms 62 and 64, as shown by the characteristic F, the timing of the backward and forward movements of the first and second feed bars 12 and 14 is controlled.
[0028]
14A to 14G show the rotation angle control of the first and second swing mechanisms 18 and 20, the front and rear swing control of the first and second vertical movement mechanisms 58 and 60, and the first and second. A series of movements of the conveyance device 10 by the longitudinal movement mechanisms 62 and 64 will be shown in order. First, (a) in the figure is an initial state corresponding to the position a in FIG. 13 (see FIG. 15). From this initial state, the first swinging mechanism 18 is set in the return direction, and the second swinging mechanism 20 is set in the feed direction. By actuating (ab in FIG. 13), the workpiece 16 is gripped as shown in (a) (see FIG. 16). Next, the work 16 is moved in the linear direction as shown in (c) by operating the first and second swing mechanisms 18 and 20 in the feed direction (c to d in FIG. 13) while holding the work 16. (See FIG. 17), and after the transfer is completed, the first swing mechanism 18 is operated in the feed direction and the second swing mechanism 20 is operated in the return direction (e to f in FIG. 13). The workpiece 16 is released as shown in FIG. Next, by operating the second swing mechanisms 18 and 20 in the return direction (g to h in FIG. 13), the first and second feed bars 12 and 14 are moved in the return direction as shown in FIG. To do.
[0029]
By the way, after the conveying device 10 grips the workpiece 16 in the middle of a series of movements of gripping, feeding, and releasing the workpiece 16, the plate cams 58a and 60a of the first and second vertical movement mechanisms 58 and 60 are illustrated. 9, the first and second feed bars 12, 14 are raised from the lowered position shown in FIG. 8 to the raised position shown in FIG. 18 (b to c in FIG. 13). And the plate cams 58a and 60a are rotated to the position shown in FIG. 9 after the workpiece 16 is conveyed, whereby the first and second feed bars 12 and 14 are lowered (de in FIG. 13). )
[0030]
On the other hand, the groove cams 62a and 64a of the first and second front and rear mechanisms 62 and 64 are rotated from the state shown in FIG. 11 to the position shown in FIG. 1 and 2nd feed bars 12 and 14 move backward (f to g in FIG. 13). Then, after the first and second feed bars 12 and 14 are returned in this retracted state, the groove cams 62a and 64a are rotated to the positions shown in FIG. The second feed bars 12 and 14 are advanced (h to i in FIG. 13) to return to the initial state. That is, a series of movements of the transfer apparatus 10 shown in FIGS. 13 and 14 becomes a movement locus shown in FIG.
[0031]
When the first and second feed bars 12 and 14 are moved up and down and moved back and forth by the first and second up and down mechanisms 58 and 60 and the first and second back and forth mechanisms 62 and 64, In order to maintain the relative position of the second feed bars 12 and 14, the swing rotation of the first and second swing mechanisms 18 and 20 is corrected by the cam shape. Further, when the first and second feed bars 12 and 14 are raised and lowered, both end portions of the connecting rods 30 and 32 are inclined through the ball joints 30a and 32a as shown in FIGS. It has become.
[0032]
In the transport apparatus 10 of this embodiment having such a configuration, the swinging and rotating motions of the first and second swinging mechanisms 18 and 20 are transmitted to the first and second feed bars 12 and 14 arranged in parallel. Accordingly, the feed bars 12 and 14 are moved in the transport direction, and the grip claws 38 and 40 are gripped and transported by the movement of the feed bars 12 and 14 and then released. Further, the first and second vertical movement mechanisms 58 and 60 move up and down to raise the first and second feed bars 12 and 14 after gripping the workpiece 16 and lower it after transporting to the target position. Yes. Further, the workpiece 16 is released by the longitudinal movement of the first and second longitudinal movement mechanisms 62 and 64 and then retracted, and the first and second feed bars 12 and 14 are returned and advanced.
[0033]
At this time, the first and second swing mechanisms 18 and 20, the first and second vertical movement mechanisms 58 and 60, and the first and second vertical movement mechanisms 62 and 64 share a single motor 42. A rotational force is inputted as a drive source, and a series of operations of grasping, feeding and releasing the workpiece 16 from this rotation, and further, ascending, descending and retreating, and advancing motions of the first and second feeding bars 12 and 14 are synchronized. Can be done. For this reason, it is possible to increase the speed of the series of movements of the transfer work, and to improve the efficiency of the transfer work, and it is possible to drive the entire stroke of the transfer work by the one motor 42. Therefore, it is possible to reduce the size of the transport device 10 and greatly simplify its maintenance.
[0034]
Further, in this embodiment, a plurality of sets of the grip claws 38, 40 are provided in the length direction of the first and second feed bars 12, 14, so that the first and second feed bars 12, 14 are fed once. A plurality of workpieces corresponding to the number of sets of the grip claws 38, 40 can be transported by operation, and the efficiency of transporting work can be greatly improved.
[0035]
In the embodiment, the third slide mechanisms 54 and 56 for allowing the movement in the front-rear direction and the first slide mechanisms 34 and 36 for allowing the movement in the transport direction are moved in the vertical direction. The second slide mechanism 50 is interposed between the first slide mechanism 34, 36 and the third slide mechanism 54, 56, but is not limited thereto. , 52 may be interposed.
[0036]
【The invention's effect】
As described above, in the transport apparatus according to the first aspect of the present invention, the first and second feed bars arranged in parallel are supported so as to be slidable in the transport direction via the first slide mechanism. A pair of grip claws are provided on the first and second feed bars, and a series of movements of gripping, feeding, and releasing the workpiece by the grip claws are performed by swinging and rotating movements of the first and second swinging mechanisms. The first and second feed bars are raised and lowered at a predetermined timing by a vertical movement mechanism, and the first and second feed bars are moved backward and forward at a predetermined timing by a forward and backward movement mechanism. The first and second swing mechanisms, the vertical movement mechanism, and the forward / backward movement mechanism are driven synchronously by a single drive source. Accordingly, not only can the workpiece be gripped, fed, released, but also the first and second feed bars can be moved up, lowered, retracted, and moved forward at a high speed, and the drive source is 1 Therefore, the structure of the transfer device can be simplified and maintenance can be facilitated.
In the first and second swing mechanisms, the input shafts are connected to each other via a rotation shaft below the first and second feed bars, and a rotational force is applied from the output shaft of the drive source to the rotation shaft. Therefore, the first feed bar and the second feed bar can be reciprocated in the transport direction with high accuracy, and can be moved up and down with high accuracy. It can be moved back and forth in the orthogonal direction. Therefore, a series of operations of gripping, feeding and releasing the workpiece can be performed with high accuracy.
[0037]
In the transport apparatus according to claim 2 of the present invention, the first and second swinging mechanisms are provided below the first and second feed bars so as to face the transport direction, and the input shafts are connected to each other. Coaxially connected to each other via a rotation shaft, transmits a rotational force from the output shaft of the drive source to the rotation shaft, and rotates the vertical movement mechanism and the longitudinal movement mechanism on the input shafts of the first and second swing mechanisms. A connecting mechanism for connecting between one output portion of the first and second swinging mechanisms and one of the first and second feed bars, respectively, connected to the end opposite to the side connected to the shaft; Since the connecting mechanism for connecting the other output portion of the first and second swing mechanisms and the other of the first and second feed bars is provided opposite to each other, the entire apparatus can be made compact. it can.
Furthermore, in the transport apparatus according to claim 3 of the present invention, since a plurality of grip claws are provided in the length direction of the first and second feed bars, a plurality of workpieces can be transported by a single feed operation. This makes it possible to improve the efficiency of conveyance work.
[Brief description of the drawings]
FIG. 1 is a front view showing an embodiment of a transport apparatus according to the present invention.
FIG. 2 is a plan view showing an embodiment of a transport apparatus according to the present invention.
FIG. 3 is an enlarged longitudinal sectional view showing an embodiment of a swing mechanism used in the transport device of the present invention.
4 is a cross-sectional view taken along line AA in FIG.
FIG. 5 is a main part configuration diagram showing an embodiment of a swing mechanism used in the transport device of the present invention.
FIG. 6 is an enlarged front view of one end side connecting portion of a connecting rod used in a conveying apparatus according to an embodiment of the present invention.
FIG. 7 is an enlarged front view of the connecting portion on the other end side of the connecting rod used in the transfer apparatus according to the embodiment of the present invention.
FIG. 8 is an enlarged front view of an essential part showing an embodiment of a vertical movement mechanism and a longitudinal movement mechanism used in the transport apparatus of the present invention.
9 is a cross-sectional view taken along the line BB in FIG.
FIG. 10 is a cross-sectional view taken along the line CC in FIG.
11 is a sectional view taken along line DD in FIG. 8. FIG.
12 is a cross-sectional view taken along line EE in FIG.
FIG. 13 is a timing chart showing the rotation angle of the swing mechanism of the transport device according to an embodiment of the present invention, opening and closing of the grip claw, reciprocation, up and down, and back and forth movement of the feed lever.
FIG. 14 is a schematic explanatory diagram illustrating a series of movements in order in the transport apparatus according to the embodiment of the present invention.
FIG. 15 is a plan view showing an initial state of the transfer apparatus according to the embodiment of the present invention.
FIG. 16 is a plan view showing a gripping state of the transport apparatus according to the embodiment of the present invention.
FIG. 17 is a plan view illustrating a feeding state of the transport device according to the embodiment of the present invention.
FIG. 18 is a front view of an up-and-down mechanism showing an ascending state of a feed bar provided in a transport device according to an embodiment of the present invention.
FIG. 19 is a side view of the vertical mechanism showing the ascending state of the feed bar provided in the transport apparatus according to the embodiment of the present invention.
FIG. 20 is a plan view showing a retracted state of the feed bar provided in the transport device according to the embodiment of the present invention.
FIG. 21 is a side view of the front / rear mechanism showing the retracted state of the feed bar provided in the transport apparatus according to the embodiment of the present invention.
FIG. 22 is an enlarged front view of the one end side connecting portion showing an inclined state of the connecting rod used in the transport apparatus according to the embodiment of the present invention.
FIG. 23 is an enlarged front view of the other end side connecting portion showing an inclined state of the connecting rod used in the transfer device of one embodiment of the present invention.
FIG. 24 is a schematic view showing a movement locus of the transfer apparatus according to the embodiment of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Conveying device 12 1st feed bar 14 2nd feed bar 16 Work 18 1st rocking mechanism 20 2nd rocking mechanism 22 Rocking rotation cam 26, 28 Swing arm 30, 32 Connecting rod (connection mechanism)
34, 36 First slide mechanism 38, 40 Grip claw 42 Motor (drive source) 50, 52 Second slide mechanism 54, 56 Third slide mechanism 58, 60 Vertical movement mechanism 62, 64 Longitudinal movement mechanism

Claims

First and second feed bars arranged in parallel to each other along the transport direction;
A first slide mechanism for slidably supporting each of the first and second feed bars in the transport direction;
First and second swing mechanisms that convert input rotations from a common drive source into swing motions individually determined in advance,
A coupling mechanism for coupling one output portion of each of the first and second swing mechanisms to one of the first and second feed bars, and the other output portion to the other of the first and second feed bars;
A second slide mechanism that slidably supports the first slide mechanism in a vertical direction;
A vertical movement mechanism that converts an input rotation from the drive source into a vertical movement at a predetermined timing and transmits it to the first slide mechanism side, which is a movable side for the second slide mechanism;
A third slide mechanism that slidably supports the first slide mechanism and / or the second slide mechanism in the front-rear direction;
A first slide mechanism that converts the input rotation from the drive source into a forward / backward movement at a predetermined timing and transmits it to the movable side of the third slide mechanism, or a forward / backward movement mechanism that transmits it to the second slide mechanism side;
The first and second feed bars are provided so as to be paired with each other, and grip claws for gripping the workpiece between the two are provided.
In the first and second swing mechanisms, input shafts are connected to each other via a rotating shaft below the first and second feed bars,
A conveying device, wherein a rotational force is transmitted from the output shaft of the driving source to the rotating shaft .

First and second feed bars arranged in parallel to each other along the transport direction;
A first slide mechanism for slidably supporting each of the first and second feed bars in the transport direction;
First and second swing mechanisms that convert input rotations from a common drive source into swing motions individually determined in advance,
A coupling mechanism for coupling one output portion of each of the first and second swing mechanisms to one of the first and second feed bars, and the other output portion to the other of the first and second feed bars;
A second slide mechanism that slidably supports the first slide mechanism in a vertical direction;
A vertical movement mechanism that converts the input rotation from the drive source into vertical movement at a predetermined timing and transmits it to the first slide mechanism side, which is the movable side for the second slide mechanism;
A third slide mechanism that slidably supports the first slide mechanism and / or the second slide mechanism in the front-rear direction;
A first slide mechanism that converts the input rotation from the drive source into a forward / backward movement at a predetermined timing and transmits it to the movable side of the third slide mechanism, or a forward / backward movement mechanism that transmits it to the second slide mechanism side;
The first and second feed bars are provided so as to be paired with each other, and grip claws for gripping the workpiece between the two are provided.
The first and second swinging mechanisms are provided below the first and second feed bars so as to face the transport direction, and input shafts are coaxially connected to each other via a rotating shaft. And
A rotational force is transmitted from the output shaft of the drive source to the rotary shaft,
The vertical movement mechanism and the back-and-forth movement mechanism are respectively connected to ends of the input shafts of the first and second swing mechanisms opposite to the side connected to the rotation shaft,
A connecting mechanism that connects between one output portion of the first and second swing mechanisms and one of the first and second feed bars; and the other output portion of the first and second swing mechanisms and the first 1. A conveying apparatus characterized in that a coupling mechanism for coupling the other of the first and second feed bars is provided opposite to each other .

The conveying apparatus according to claim 1, wherein a plurality of sets of the grip claws are provided in the length direction of the first and second feed bars.