JP3871084B2 - Transfer equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a transfer device, and is particularly suitable for use in a clean room where low dust generation and light weight are required. The mechanism is simple and transfer can be selectively performed in both directions of the transfer device, and with high accuracy. The present invention relates to a transfer device that can be controlled.
[0002]
[Prior art]
Conventionally, in the case of a transfer apparatus for transferring articles in a clean room, a fork that selectively expands and contracts in both directions is provided on a table having a swing mechanism for adjusting a minute angle, and a turntable is provided at the tip of the fork. I am doing so.
When the workpiece is moved and transferred in one direction, the fork is extended to one side. When the workpiece is moved and transferred in the opposite direction, the fork is moved to the other side. The fork is driven to extend.
[0003]
[Problems to be solved by the invention]
The conventional transfer device includes a table having a swing mechanism for fine angle adjustment for correcting the angle with respect to ground equipment, a drive mechanism for selectively extending a fork in both directions, and a workpiece 180. Turntable and its drive mechanism are required to rotate, and the functions of both tables overlap each other and the structure of the fork drive mechanism is complicated, resulting in a large number of parts, an increase in cost, and weight. There was a problem of becoming big.
The present invention solves the problems of the above-described conventional transfer device, reduces the number of parts, reduces the weight, and enables a transfer device that can perform transfer in both directions with high accuracy with a simple structure. The purpose is to provide.
[0004]
[Means for Solving the Problems]
In order to achieve the above object, a transfer apparatus according to the present invention includes a base that is pivotably attached to a mounting base of the transfer apparatus, a fork base that is supported by the base so as to be movable up and down, and a fork base. In the transfer device comprising a fork provided to extend and retract in a direction, a turning mechanism for turning the base, and a lifting mechanism for raising and lowering the fork base, the lifting mechanism of the fork base (1) is provided as a fork base . The lifting body (4) suspended from the center of the lower surface of (1) is supported on the base (7) so as to be movable up and down, and a roller (12) driven to be lifted is brought into contact with the lower surface of the fork base (1). And the outer peripheral surface of the roller (12) is tapered, and the outer diameter of the contact portion of the lower surface of the fork base with which the roller (12) contacts the ratio of the large diameter portion to the small diameter portion of the roller (12) The ratio is equal to the ratio of the inner diameter to the inner diameter .
[0005]
This transfer device is configured so that the fork can be expanded and contracted in one direction, and the entire fork is rotated by turning the fork base. Therefore, the fork is actually rotated by rotating the fork base. Can be configured to selectively expand and contract in both directions, and high-precision control is possible without using a turntable.
The lifting mechanism of the fork base is supported by a lifting body suspended from the center of the lower surface of the fork base so that the lifting mechanism can be raised and lowered on the base, and a roller driven to be raised and lowered is brought into contact with the lower surface of the fork base. In addition, the outer peripheral surface of the roller is tapered, and the ratio of the large diameter portion to the small diameter portion of the roller is made equal to the ratio of the outer diameter to the inner diameter of the contact portion on the lower surface of the fork base with which the roller contacts. The moment load due to the load is supported and the rotational driving force can be transmitted smoothly, and by moving the roller up and down, the entire fork can be moved up and down so that it can be rotated by the roller even if the fork is swung by the base. In addition, it is possible to prevent slippage on the contact surface with the roller and to suppress dust generation by the roller friction surface.
[0006]
In this case, the turning mechanism of the base can be configured to be driven by a power source by attaching a power transmission mechanism to the outer periphery of the base supported on the mounting base via a bearing.
[0007]
In this way, the base equipped with a fork is supported so as to be able to turn, so the expansion and contraction direction of the fork can be freely selected by turning the base, and transfer work in both directions without using a turntable In addition, the turning drive can be easily and accurately performed.
[0008]
In addition, the fork is composed of forks arranged in two upper and lower stages, and two ropes are stretched between the fork base and the upper fork via a sheave arranged on the lower fork. By driving the fork with a power source, the upper fork can be driven.
[0009]
In this way, the two forks are stretched between the fork base and the upper fork via the sheave disposed on the lower fork, and the lower fork is driven by the power source, so that the upper fork By following this, the fork drive mechanism can be simply configured.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the transfer apparatus of the present invention will be described with reference to the drawings.
In the figure, reference numeral 1 denotes a fork base. A lower fork 2 is slidably disposed on the fork base 1 and an upper fork 3 for transferring a work G to the lower fork 2 is slidably disposed. Both forks 2 and 3 are configured to be extendable and contractable with respect to the fork base 1.
[0011]
The fork base 1 has an elevating body 4 protruding from the center of the lower surface, and the elevating body 4 is supported so as to be rotatable together with the base 7 via a ball spline mechanism 7A and to be movable up and down with respect to the base 7. At the same time, the lower portion of the base 7 is rotatably attached to the mounting base 6 via the bearing 5.
Thus, by arranging the lifting / lowering body 4 in the center of the fork base 1, the moment load due to the load of the workpiece G can be supported and the rotational driving force can be transmitted smoothly.
And, for example, a pulley 8 is attached to the outer periphery of the base 7 as a power transmission mechanism, and the belt 10 is directly stretched between the pulley 9 and the pulley 8 provided in the turning motor 11 installed on the mounting base 6 or the like. Or, as shown in FIG. 2, it is stretched through an idler 8A disposed between the pulleys 8 and 9.
Thus, the base 7 can be rotated by a predetermined angle via the pulley 9, the belt 10 and the pulley 8 by driving the turning motor 11.
In this case, in order to maintain the accuracy of the turning angle of the base 7 by the turning motor 11, it is possible to use a timing belt instead of the simple V belt or a chain sprocket system. .
[0012]
A roller 12 is brought into contact with the lower surface of the fork base 1 to rotatably support the fork base 1.
The roller 7 is in contact with and supported by the gravity load support point of the fork base 1, and the position of the support point is arranged on the center axis in the left-right direction shown in FIG. Thereby, even when the forks 2 and 3 are extended, the influence of the moment load can be reduced.
Further, the roller 12 has a tapered outer peripheral surface, and the taper angle uniformly contacts the lower surface of the base 7 from the inner peripheral side to the outer peripheral side of the outer peripheral surface of the roller 12 when the base 7 rotates. The roller 12 is prevented from slipping.
That is, by forming the ratio of the outer diameter and inner diameter of the roller 12 equal to the ratio of the outer diameter and inner diameter of the contact portion of the fork base 1, slippage of the roller 12 on the contact surface is prevented and dust generation is suppressed. be able to.
Then, as shown in FIGS. 2 to 3, this roller is rotatably attached to the lifting platform 13.
The lifting platform 13 is supported so as to be able to move up and down along a guide rail 14A provided along a guide rail support 14 established in a vertical direction on the mounting table 6 via a guide member 13A, and is projected to the lifting platform 13. The provided nut-like screwed body 15 is screwed into a screw rod 16 provided in parallel with the guide rail support 14.
[0013]
A pulley 17 is attached to the screw rod 16, and a belt 19 is stretched between the pulley 17 and the pulley 18 provided to the lifting motor 18M, and the lifting motor 18M is rotated forward or reverse, whereby the screw rod 16 And the fork base 1 is moved up and down by moving the roller 12 up and down via the lift 13.
As a result, the fork base 1 that is in contact with and supported by the roller 12 is moved up and down.
[0014]
The forks 2 and 3 are expanded and contracted by rotationally driving a pinion 21 meshed with a rack 22 disposed on the side surface of the lower fork 2.
That is, a pinion 21 is attached to a fork telescopic motor 20 attached to the fork base 1, the pinion 21 is engaged with a rack 22, and sheaves 23, 24 provided on the lower fork 2 are provided as shown in FIG. The two ropes 25a and 25b are stretched, and one end of each of the ropes 25a and 25b is engaged with the fork base 1 and the other end is attached to the upper fork 3 respectively.
Then, the fork telescopic motor 20 rotates the pinion 21 so that the lower fork 2 expands and contracts via the rack 22, and the upper fork 3 is simultaneously expanded and contracted accordingly.
With this configuration, when the lower fork 2 extends, the rope 25a extends through the sheave 24 by extending the upper fork 3 by a distance twice as long as the lower fork 2 extends. On the other hand, when the lower fork 2 contracts, the rope 25b acts to contract the upper fork 3 through the sheave 23 by a distance twice as long as the lower fork 2 contracts. To do.
[0015]
In addition, a vibration-proof guide 30 provided with a guide piece 31 is disposed on the mounting base 6 so as to surround the transfer device so that the workpiece G to be transferred can be supported.
[0016]
In this transfer device, when the screw rod 16 is rotated through the belt 19 by the rotation of the lifting motor 18M, the nut-like screwed body 15 restricted in rotation moves up and down by the rotation of the screw rod 16.
The fork base 1 can be moved up and down to a predetermined position by a roller 12 having a tapered outer peripheral surface provided on a lifting platform 13 provided integrally with the threaded body 15.
In addition, since the elevating body 4 is attached to the fork base 1 at the center of the lower surface thereof, the fork base 1 can be smoothly slid up and down via the base 7. .
[0017]
Further, the rotation of the turning motor 11 is transmitted to the pulley 8 by the belt 10, and the base 7 supported by the mounting base 6 via the bearing 5 is rotated.
As a result, the elevating body 4 supported by the base 7 rotates, and the fork base 1 configured integrally with the elevating body 4 rotates, so that the forks 2 and 3 extend in the extension direction, that is, the workpiece G. Determine the transfer direction.
[0018]
A fork telescopic motor 20 attached to the fork base 1 is driven, and a lower fork 2 provided with a rack 22 meshing with the pinion 21 is expanded and contracted via a pinion 21. The fork 3 is expanded and contracted.
That is, by extending the lower fork 2, the upper fork 3 is extended through the rope 25 a and the sheave 24 by a distance twice as long as the lower fork 2 extends, while the lower fork 2 is extended. By contracting, the upper fork 3 is contracted by a distance twice as long as the lower fork 2 contracts via the rope 25b and the sheave 23.
[0019]
In this way, the forks 2 and 3 can be expanded and contracted in a state set at an arbitrary height and an arbitrary turning angle.
[0020]
【The invention's effect】
According to the transfer device of claim 1, since the fork is configured to be able to extend and contract in one direction, and the fork is rotated by turning the fork base, the fork base By actually rotating the fork, the fork can actually be selectively expanded and contracted in both directions, and high-precision control can be performed without using a turntable.
In addition, the number of parts can be reduced and the weight can be reduced and the structure can be simplified, and the manufacturing cost of the transfer device can be reduced. be able to.
The lifting mechanism of the fork base is supported by a lifting body suspended from the center of the lower surface of the fork base so that the lifting mechanism can be raised and lowered on the base, and a roller driven to be raised and lowered is brought into contact with the lower surface of the fork base. In addition, the outer peripheral surface of the roller is tapered, and the ratio of the large diameter portion to the small diameter portion of the roller is made equal to the ratio of the outer diameter to the inner diameter of the contact portion on the lower surface of the fork base with which the roller contacts. The moment load due to the load is supported and the rotational driving force can be transmitted smoothly, and by moving the roller up and down, the entire fork can be moved up and down so that it can be rotated by the roller even if the fork is swung by the base. In addition, it is possible to prevent slipping on the contact surface with the roller and to suppress dust generation by the roller friction surface.
[0021]
According to the transfer device of claim 2, since the base provided with the fork is supported so as to be able to turn, the expansion and contraction direction of the fork can be freely selected by turning the base, and the turntable It is possible to perform transfer work in both directions without using, and to perform turning drive easily and reliably with high accuracy.
[0022]
Further, according to the transfer device of the third aspect , the two ropes are stretched between the fork base and the upper fork via the sheave disposed on the lower fork, and the lower fork is powered. By driving with the source, the fork drive mechanism can be simply configured by following the upper fork.
[Brief description of the drawings]
FIG. 1 is a front view showing an embodiment of a transfer apparatus according to the present invention.
FIG. 2 is a plan view of the same.
FIG. 3 is a side view of the same.
FIG. 4 is a schematic diagram showing a cable-stretching structure.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Fork base 2 Lower fork 3 Upper fork 4 Lifting body 5 Bearing 6 Mounting base 7 Base 8 Pulley 9 Pulley 10 Belt 11 Turning motor 12 Roller 13 Lifting base 14 Guide rail support body 14A Guide rail 15 Screwed body 16 Screw rod 17 Pulley 18M Lifting motor 18 Pulley 19 Belt 20 Fork telescopic motor 21 Pinion 22 Rack 23 Sheave 24 Sheave 25a Cable 25b Cable 30 Anti-vibration guide 31 Guide piece

Claims (3)

A base (7) pivotably attached to the mounting base (6) of the transfer device, a fork base (1) supported by the base (7) so as to be movable up and down, and a fork base (1). In the transfer device constituted by a fork (2, 3) provided to be extendable in a direction, a turning mechanism for turning the base (7), and a lifting mechanism (12) for raising and lowering the fork base (1) , The lifting mechanism (4) suspended from the fork base (1) at the center of the lower surface of the fork base (1) is supported by the base (7) so that it can be lifted and lowered. A roller (12) driven up and down is brought into contact with the lower surface, the outer peripheral surface of the roller (12) is tapered, and the ratio of the large diameter portion to the small diameter portion of the roller (12) is set to the roller (12). characterized in that but was equal to the lower surface ratio of the outer diameter and the inner diameter of the contact portion of the fork base (1) in contact with Transfer device to be.   The turning mechanism of the base (7) is driven by the power source (11) by attaching the power transmission mechanism (8) to the outer periphery of the base (7) supported by the mounting base (6) via the bearing (5). The transfer apparatus according to claim 1, wherein the transfer apparatus is configured as described above. The fork is composed of forks (2, 3) arranged in two upper and lower stages, and the fork base (1) and the upper fork are arranged through sheaves (23, 24) arranged in the lower fork (2). Two cords (25a, 25b) are stretched between (3), and the lower fork (2) is driven by the power source (20) so that the upper fork (3) is driven. The transfer apparatus according to claim 1 , wherein the transfer apparatus is provided.

Images