JP5790493B2 - Work transfer device - Google Patents

Description

  The present invention relates to a workpiece transfer device that mounts a workpiece in a temporary placement position on a second slide member and transfers the workpiece to a predetermined position by a back-and-forth slide operation of the first slide member and the second slide member.

Patent Document 1 discloses a technique related to a workpiece transfer device that transfers a workpiece using a slide member.
The workpiece conveying apparatus described in Patent Document 1 includes a slide member that can move along a rail-shaped guide frame, a motor that serves as a drive source for moving the slide member, and the rotational force of the motor. It is comprised from the pulley and thread | yarn which convert to the force of a forward direction, or the force of a reverse direction. Then, the pulley is rotated forward by the driving of the motor, and the yarn is pulled forward by the pulley, so that the slide member moves forward along the guide frame. Further, the pulley is reversely rotated by the motor, and the thread is pulled backward by the pulley, so that the slide member moves backward along the guide frame.

JP 2006-069697 A

  In the above-described workpiece transfer device, one slide member is moved forward or backward (slid back and forth) by one motor. For this reason, if the first slide member is slid back and forth with respect to the guide frame, and the second slide member is slid back and forth with respect to the first slide member, two motors are required.

  The present invention has been made to solve the above problems, and the problem to be solved by the present invention is that the first slide member slides back and forth with respect to the support frame, and the second slide member with respect to the first slide member. It is intended to reduce the cost of the work transfer device by enabling the front / rear slide to be performed with a single motor.

The above-described problems are solved by the inventions of the claims.
The invention according to claim 1 includes a first slide member attached to the support frame so as to be slidable back and forth, and a second slide member attached to be slidable back and forth relative to the first slide member. A workpiece transfer device that mounts a workpiece at a position on the second slide member and transfers the workpiece to a predetermined position by a back-and-forth slide operation of the first slide member and the second slide member, and is held coaxially and integrally A first rotating body and a second rotating body configured to rotate, a single motor for integrally rotating the first rotating body and the second rotating body in the forward rotation direction or the reverse rotation direction, and the first rotation body A first power transmission member capable of converting the rotational force of the second rotational body into a force in the sliding direction and transmitting it to the first slide member, and the rotational force of the second rotating body converted into a force in the sliding direction and transmitted to the second slide member Possible second A force transmission member, and the first power transmission member cancels the transmission of force to the first slide member when the front and rear slide of the first slide member is prohibited, and the second power transmission The member is configured to be able to transmit force to the second slide member when the first power transmission member cancels transmission of force to the first slide member. And

According to the present invention, for example, when both the first rotating body and the second rotating body rotate in the forward sliding direction of the first slide member (forward rotation) while the first slide member is slidable forward, the first power The first slide member slides forward by the action of the transmission member. Then, when the first slide member reaches a predetermined position and the front slide is prohibited, the first power transmission member cancels the transmission of force to the first slide member. Thereby, the rotational force of the second rotating body is transmitted to the second slide member by the second power transmission member, and the second slide member slides relative to the first slide member.
Similarly, when both the first rotating body and the second rotating body rotate (reversely rotate) to the rear slide of the first slide member in a state in which the first slide member can slide rearwardly, the first power transmission member acts as the first slide. One slide member slides backward. When the first slide member reaches the predetermined position and the rear slide is prohibited, the first power transmission member releases the force transmission to the first slide member. Thereby, the rotational force of the second rotating body is transmitted to the second slide member by the second power transmission member, and the second slide member slides relative to the first slide member.
That is, the front and rear slide of the first slide member relative to the support frame and the front and rear slide of the second slide member relative to the first slide member can be performed with a single motor.

According to a second aspect of the present invention, the first power transmission member is configured such that when the first rotating body rotates forward, the first slide member is slid forward, and when the first rotating body rotates reversely, the first slide member The second power transmission member slides the second slide member backward when the second rotating body rotates forward, and the second slide member rotates forward when the second rotating member reverses. It is characterized by making it.
For this reason, for example, when the first slide member is slid forward to a predetermined position by the normal rotation of the first rotating body, and the first power transmission member cancels the transmission of force to the first slide member, The second slide member slides backward with respect to the first slide member by rolling.
Similarly, when the first slide member slides back to a predetermined position due to the reverse rotation of the first rotating body, and the first power transmission member cancels the transmission of force to the first slide member, the reverse rotation of the second rotary body causes The second slide member slides forward with respect to the first slide member.

According to the invention of claim 3, the support frame that supports the first slide member and the second slide member is placed on the upper end of the inclined column that is configured to be rotatable about the axis, and the support frame is The fulcrum position supported by the inclined column and the center of gravity of the first slide member, the second slide member, and the entire support frame are shifted in the horizontal direction, so that the support frame is rotated around the axis of the inclined column. It is the structure which can be rotated.
For this reason, when the temporary placement positions of the workpiece are divided into a plurality of locations, the workpiece can be mounted on the second slide member by horizontally rotating the support frame. Furthermore, a drive source for horizontally rotating the support frame is not necessary, which is economical.

According to invention of Claim 4, the 2nd slide member is provided with the workpiece mounting part which mounts the workpiece | work in a temporary placement position in the 2nd slide member, The said workpiece mounting part is the said 2nd slide member. Is configured to scoop up the workpiece at the temporary placement position by the action of the cam and the cam follower by retreating from the forward limit position with respect to the first slide member.
For this reason, the drive source (motor) for operating a workpiece | work mounting part so that a workpiece | work is scooped up becomes unnecessary.

  According to the present invention, the front and rear slide of the first slide member with respect to the support frame and the front and rear slide of the second slide member with respect to the first slide member can be performed with one motor, thereby reducing the cost of the work transfer device. be able to.

It is a schematic plan view of a workpiece | work supply equipment provided with the workpiece conveyance apparatus which concerns on Embodiment 1 of this invention. It is a schematic plan view of the workpiece supply facility. It is a schematic side view (III-III arrow line view of FIG. 1) of the said workpiece | work supply equipment. It is a model side view of the said workpiece conveyance apparatus. It is a model front view (VV arrow view of FIG. 4) of the said workpiece conveyance apparatus. It is the perspective view (A figure) of a workpiece | work, and the BB schematic sectional drawing (B figure) of A figure. It is a model side view showing the conveyance operation of the said workpiece conveyance apparatus. It is a model side view of the workpiece | work mounting part of the said workpiece conveyance apparatus. It is a model side view showing operation | movement of the workpiece | work mounting part of the said workpiece conveyance apparatus. It is a model side view showing the conveyance operation of the said workpiece conveyance apparatus. It is a model side view showing the conveyance operation of the said workpiece conveyance apparatus. It is a model side view showing the conveyance operation of the said workpiece conveyance apparatus. It is a model side view showing the conveyance operation of the said workpiece conveyance apparatus. It is a model side view showing the conveyance operation of the said workpiece conveyance apparatus. It is a model side view showing the conveyance operation of the said workpiece conveyance apparatus. It is a model side view showing the conveyance operation of the said workpiece conveyance apparatus. It is a model side view showing the workpiece acceptance operation | movement of the workpiece loading apparatus of the said workpiece | work supply equipment. It is a model side view showing the loading operation | movement of the said workpiece loading apparatus. It is a model side view showing return operation | movement of the said workpiece loading apparatus. It is a model front view showing operation | movement of the holding stopper of the said workpiece loading apparatus.

[Embodiment 1]
Hereinafter, the workpiece transfer apparatus according to the first embodiment of the present invention will be described with reference to FIGS.
The workpiece conveyance device 20 is a device that alternately conveys the workpiece W temporarily placed on the first pallet 11 and the workpiece W temporarily placed on the second pallet 12 to the workpiece loading device 40 in the workpiece supply facility 10.
Here, front and rear, right and left, and up and down shown in the figure correspond to front and rear, right and left and up and down in the workpiece supply equipment 10.

<About the outline of the work supply equipment 10>
First, before describing the workpiece conveyance device 20, an outline of the workpiece supply facility 10 will be described.
The workpiece supply facility 10 is a facility that temporarily places a wheel house panel (hereinafter referred to as a workpiece W) of a vehicle sent from the previous process and supplies it to the AGV carriage 50. As shown in FIGS. 1 and 2, the workpiece supply facility 10 includes a first pallet 11 and a second pallet 12 for temporarily placing the workpiece W sent from the previous process, and the workpiece W of the first pallet 11. Alternatively, a workpiece transfer device 20 that alternately transfers the workpieces W on the second pallet 12 to the supply position, and a workpiece loading device 40 that receives the workpieces W at the supply position and loads the workpieces W one by one on the AGV carriage 50 in order. It is composed of
Here, the workpiece W is a panel formed in a substantially inverted U-shape as shown in FIG. 6 (A) and the like, and the first workpiece with the plurality of workpieces W set up as shown in FIG. 3 and the like. Temporarily placed on the pallet 11 and the second pallet 12.

As shown in FIGS. 1 and 2, the first pallet 11 is arranged at the left side position of the workpiece supply equipment 10, and the second pallet 12 is arranged at the front side position of the workpiece supply equipment 10. Further, the workpiece loading device 40 is disposed at the right side position of the workpiece supply facility 10. And the workpiece conveyance apparatus 20 is arrange | positioned in the position enclosed by the 1st pallet 11, the 2nd pallet 12, and the workpiece loading apparatus 40 from three directions.
That is, the positions of the first pallet 11 and the second pallet 12 correspond to the temporary placement position of the present invention, and the position of the workpiece loading device 40 corresponds to the predetermined position of the present invention.

<About the workpiece transfer device 20>
The workpiece conveyance device 20 is configured to be able to alternately convey the workpiece W temporarily placed on the first pallet 11 and the workpiece W temporarily placed on the second pallet 12 to the workpiece loading device 40 while standing. ing. As shown in FIGS. 3, 4, and the like, the workpiece transfer device 20 is configured so that the transfer device main body 21 that transfers the workpiece W and the transfer device main body 21 horizontally on the first pallet 11 side or the second pallet 12 side. It is comprised from the rotation support part 30 to rotate.
The rotation support unit 30 includes an inclined column 31 that supports the conveying device main body 21 at its upper end, a bearing unit 33 that supports the inclined column 31 so as to be rotatable about its axis, and the bearing unit 33 that is fixed vertically. The fixed mount 34 to be provided. The inclined column 31 is configured to be supported at the upper end in the longitudinal center position (fulcrum position 21c) of the support base 22 (described later) of the transport apparatus main body 21. Then, as will be described later, the transport device main body 21 is driven and the center of gravity of the transport device main body 21 changes with respect to the fulcrum position 21 c, so that the transport device main body 21 is horizontal around the axis of the inclined column 31. It starts to rotate.

Here, the inclination angle of the inclined column 31 is such that when the center of gravity of the transport device main body 21 is on the tip side (left side in FIGS. 1 and 3) with respect to the fulcrum position 21c, the transport device main body 21 can rotate to the left. Thus, when the position of the center of gravity is located on the base end side (rear side in FIG. 2) with respect to the fulcrum position 21c, the conveyance device main body 21 is adjusted so as to be rotatable to the right.
Further, a locking mechanism (not shown) that can lock the rotation of the inclined column 31 is provided on the fixed base 34 of the rotation support unit 30. The lock mechanism is positioned so that the front end side of the transport device main body 21 faces the first pallet 11 (see FIG. 1) and the front end side of the transport device main body 21 faces the second pallet 12. When it is done (see FIG. 2), the rotation of the inclined column 31 is locked. Here, the lock state of the lock mechanism is configured to be released in the process of rear sliding of a second slide member 25 (described later) of the transport apparatus main body 21.
As shown in FIG. 4 and the like, the fixed base 34 includes a first limit switch 35x that operates when the front end side of the transport device main body 21 faces the first pallet 11, and the transport device main body 21. A second limit switch 35y is provided that operates when the tip side is positioned so as to face the second pallet 12.

<About the transport device main body 21>
The transport device main body 21 is a device configured to be able to horizontally transport the workpiece W in a posture in which the work W is erected from the front end side to the base end side of the transport device main body portion 21. As shown in FIG. 4 and the like, the transport device main body 21 includes a support base 22 formed in a rail shape, and a first slide member that is also formed in a rail shape and is placed on the support base 22 so as to be overlaid thereon. 24 and a second slide member 25 placed on the first slide member 24.
Hereinafter, the front end side of the transport apparatus main body 21 is referred to as a front side, and the proximal end side of the transport apparatus main body 21 is referred to as a rear side.

As shown in FIG. 7 and the like, a guide rail 22r extending in the longitudinal direction (front-rear direction) is provided on the support base 22 of the transport device main body 21, and the first slide member 24 slides on the guide rail 22r. The child 24s is connected along the guide rail 22r so as to be slidable back and forth. The first slide member 24 is also provided with a guide rail 24z that extends in the longitudinal direction (front-rear direction), and a slider 25s of the second slide member 25 extends along the guide rail 24z along the guide rail 24z. Are connected so that they can slide back and forth. And the workpiece mounting part 27 used in order to mount the workpiece | work W in the 2nd slide member 25 is provided.
At the front end position (front end position) of the support frame 22, a first drive pulley 221 that slides the first slide member 24 back and forth with respect to the support frame 22 and a second slide member with respect to the first slide member 24. A second drive pulley 222 that slides 25 back and forth is attached coaxially and in an integrally rotatable state (see FIG. 4 and the like). Further, a motor 220 that rotates the first drive pulley 221 and the second drive pulley 222 integrally in the forward rotation direction or the reverse rotation direction is installed at the front end position (front end position) of the support base 22. 7 and the like, in order to facilitate understanding of the rotational force transmission structure between the first drive pulley 221 and the second drive pulley 222, the pulleys 221 and 222 are divided into upper and lower parts, and the motor 220 is separated to the left side. doing.

A rear driven pulley 223 is rotatably attached to the base end position (rear end position) of the support base 22 as shown in FIG. The first nylon wire 225 is hung on the rear driven pulley 223 and the first drive pulley 221 in an endless track shape so that the rear driven pulley 223 rotates in the same direction as the first drive pulley 221. One end side of the first nylon wire 225 is connected to the front side of the slider 24s of the first slide member 24, and the other end side of the first nylon wire 225 is connected to the rear side of the slider 24s. Yes.
Further, as shown in FIG. 7, a front driven pulley 241 is rotatably attached to the front end position of the first slide member 24, and a rear driven pulley 243 is rotatably attached to the rear end position. Yes. Then, the second driven pulley 241, the rear driven pulley 243, and the second driving pulley 222, and the second driven pulley 241 and the rear driven pulley 243 rotate in the opposite direction to the second driving pulley 222. A wire 245 is hung. One end side of the second nylon wire 245 is connected to the front side of the slider 25s of the second slide member 25, and the other end side of the second nylon wire 245 is connected to the rear side of the slider 25s. Yes.

For this reason, as shown in FIG. 7, when the first drive pulley 221 and the second drive pulley 222 rotate counterclockwise by driving the motor 220 (see the arrow (forward rotation)), the first rotation of the first drive pulley 221 causes the first rotation. The slider 24s of the first slide member 24 is pulled forward by the nylon wire 225, and the first slide member 24 slides forward (see white arrow).
Further, when the second drive pulley 222 rotates counterclockwise together with the first drive pulley 221, the second drive pulley 222 moves forward together with the first slide member 24 while the first slide member 24 is sliding forward. It moves relatively backward along the nylon wire 245 and does not prevent the second nylon wire 245 from moving forward.
In other words, the second drive pulley 222 only transmits the second nylon wire 245 by left rotation (forward rotation), and the front driven pulley 241 and the rear driven pulley 243 around which the second nylon wire 245 is hung do not rotate. . For this reason, the second slide member 25 is held at a fixed position with respect to the first slide member 24.

  Here, the slider 24s of the first slide member 24 is provided with a slide lock member 24r before the forward limit and a slide lock member (not shown) before the reverse limit that prohibit the forward slide of the slider 24s. . Then, as shown in FIGS. 7 to 9 and the like, the forward limit slide lock member 24r is operated in response to the workpiece W detection operation of the workpiece detection lever 24w provided at the tip (front end) of the first slide member 24. Is configured to do. That is, as shown in FIGS. 7 to 9 and the like, the workpiece detection lever 24w is configured to be able to rotate back and forth within a certain range, and the workpiece detection lever 24w comes into contact with the workpiece W as the first slide member 24 moves forward. Then, the backward rotation operation of the workpiece detection lever 24w is transmitted to the front-advance limit slide lock member 24r by a wire or the like (not shown), and the forward sliding of the slider 24s is prohibited.

If the first drive pulley 221 and the second drive pulley 222 continue to rotate counterclockwise (forward rotation) while the front slide of the first slide member 24 is prohibited, the first nylon wire 225 is driven first. It slides with respect to the pulley 221, and the rotation of the rear driven pulley 223 stops. That is, the first slide member 24 is held at the forward limit position (see FIG. 10).
For this reason, as the second drive pulley 222 rotates forward, the second nylon wire 245 pulls the slider 25s of the second slide member 25 rearward as shown in FIG. 11, and the second slide member 25 slides backward. It becomes like this.

Further, when the first drive pulley 221 and the second drive pulley 222 rotate rightward (reversely) as shown in FIG. 12 with the first slide member 24 held at the forward limit position, the first nylon wire 225 is rotated. As a result, the slider 24s of the first slide member 24 is pulled rearward, and the first slide member 24 slides backward. Then, in the process in which the first slide member 24 slides backward, the workpiece detection lever 24w is returned to the front position (original position), and the locking operation of the slide lock member 24r before the forward limit of the slider 24s is released.
Further, when the second drive pulley 222 rotates clockwise (reversely) together with the first drive pulley 221, the second drive pulley 22 travels along the second nylon wire 245 while the first slide member 24 slides backward. Move relatively forward.
In other words, the second drive pulley 222 is only transmitted through the second nylon wire 245 by right rotation (reverse rotation), and the front driven pulley 241 and the rear driven pulley 243 around which the second nylon wire 245 is hung do not rotate. For this reason, the second slide member 25 is held at a fixed position with respect to the first slide member 24.

After the first slide member 24 reaches the retreat limit position, when the reverse rotation of the first drive pulley 221 and the second drive pulley 222 is continued, the first nylon wire 225 moves relative to the first drive pulley 221. Thus, the rear driven pulley 223 stops rotating and the first slide member 24 is held at the retreat limit position.
Thereby, by the reverse rotation of the second drive pulley 222, the second nylon wire 245 pulls the slider 25s of the second slide member 25 forward, and the second slide member 25 slides forward.
In the state where the first slide member 24 is held at the retreat limit position, the above-described slide lock member before retreat limit (not shown) operates to prohibit the forward slide of the slider 24s of the first slide member 24. Is done. Here, the slide lock member before the retreat limit is configured to be unlocked while the second slide member 25 returns to the original position, as will be described later.

As shown in FIG. 7 and the like, a first proximity switch 24 x capable of detecting that the second slide member 25 is in the original position is provided at the tip position of the first slide member 24. A second proximity switch 24y that detects that the second slide member 25 has reached the rear predetermined position is provided at the rear predetermined position. Further, a third proximity switch 22w that detects that the first slide member 24 has moved back to the rear end limit position is provided at the rear end position of the support base 22. The first to third proximity switches 24x, 24y, and 22w are used for switching forward, reverse, and stop of the motor 220.
Thus, the 1st drive pulley 221 and the 2nd drive pulley 222 of the above-mentioned conveyance device main-body part 21 are equivalent to the 1st rotary body and the 2nd rotary body in this invention. Further, the first nylon wire 225 and the rear driven pulley 223 correspond to the first power transmission member in the present invention. Further, the second nylon wire 245, the front driven pulley 241 and the rear driven pulley 243 correspond to the second power transmission member in the present invention.

<About the workpiece mounting unit 27>
The second slide member 25 is provided with a work mounting portion 27 for mounting the work W temporarily placed on the first pallet 11 or the second pallet 12 on the second slide member 25. As shown in FIGS. 8 and 9, the workpiece mounting portion 27 is a mechanism for scooping up the workpiece W and mounting it on the second slide member 25. The workpiece mounting portion 27 is formed in a side L shape by a tip claw portion 28f and a support plate portion 28w. And a cam follower 29 fixed to a corner of the hook-shaped portion 28. And the edge of the support plate part 28w of the bowl-shaped part 28 is connected with the front-end | tip of the workpiece | work support flat plate 25b of the 2nd slide member 25 in the state which can be rotated up and down. The hook-shaped portion 28 has an upper limit position (see FIG. 9) where the tip claw portion 28f of the hook-shaped portion 28 stands and is hung on the workpiece W, and a lower limit position where the tip claw portion 28f extends forward (see FIG. 8). It is comprised so that it can rotate up and down between.

As shown in FIG. 8 and the like, a cam 247 is provided at the tip position of the first slide member 24, and the cam surface on which the roller 29w of the cam follower 29 rolls on the outer peripheral surface (front surface, upper surface) of the cam 247. 247c is formed. Here, the cam surface 247c is composed of a horizontal plane, a vertical plane formed at right angles to the horizontal plane, and an arc surface connecting the horizontal plane and the vertical plane. Therefore, when the second slide member 25 slides rearward from the forward limit position with respect to the first slide member 24, as shown in FIG. 9, the hook-like portion of the work mounting portion 27 is operated by the cam 247 and the cam follower 29. 28 rotates upward from the lower limit position to the upper limit position. As a result, the workpiece W temporarily placed on the first pallet 11 or the like is scooped up by the hook-shaped portion 28 of the workpiece mounting portion 27 and mounted on the second slide member 25.
Conversely, when the second slide member 25 slides forward with respect to the first slide member 24, the hook-shaped portion 28 of the work mounting portion 27 rotates downward from the upper limit position to the lower limit position by the action of the cam 247 and the cam follower 29. To come.

<About the workpiece loading device 40>
The workpiece loading device 40 is a device that receives the workpiece W conveyed by the workpiece conveyance device 20 and loads the workpiece W on the AGV carriage 50 by using its own weight. 17 to 20, the workpiece loading device 40 includes a receiving frame 41 that receives the workpiece W, an elevator frame 43, a lifting mechanism 44 that raises the elevator frame 43 to the upper limit position, and the elevator frame 43. It comprises a lowering lock mechanism 45 that prohibits lowering and holds it at a predetermined height position, and a supply stand 47 that supplies the workpiece W to the AGV carriage 50.
The receiving platform 41 is configured to receive and hold one workpiece W conveyed by the workpiece conveyance device 20 and to supply the workpiece W to the lifting platform 43 at a predetermined timing. The receiving frame 41 is formed to have a width dimension (dimension in the direction perpendicular to the paper surface in FIG. 17) so as to settle inside the inverted U-shaped work W shown in FIG. 6A, and at the upper end position of the receiving frame 41. An inclined support portion 410 that supports the workpiece W is provided. The inclined support portion 410 is inclined so that the right side is lowered so that the workpiece W can move in the direction of the lifting platform 43 ((downstream side) right side in FIG. 17) while sliding by its own weight.

A return stopper 412 that prohibits the workpiece W from returning to the workpiece transfer device 20 side is provided on the entry side of the receiving frame 41 (left side in FIG. 17). The return stopper 412 is a block in which a stopper portion 412k and a weight portion 412w are integrated, and a receiving stand in a state where a boundary portion between the stopper portion 412k and the weight portion 412w can be rotated by a horizontal connection pin (symbol omitted). The inclined support portions 410 are attached to both sides in the width direction. That is, as shown in FIG. 17, the return stopper 412 is held upright so that the weight of the weight portion 412w is such that the stopper portion 412k is on the upper side and the weight portion 412w is on the lower side. When a force in the right rotation direction (right pressing direction) is applied from the workpiece W to the stopper portion 412k of the return stopper 412, the return stopper 412 rotates to the right against the weight of the weight portion 412w. Movement is allowed. On the contrary, when a force in the left rotation direction (return direction) is applied from the workpiece W to the stopper portion 412k of the return stopper 412, the weight portion 412w comes into contact with the wall surface of the receiving frame 41 and the return stopper 412 rotates to the left. Is prohibited. That is, the return of the workpiece W received on the receiving platform 41 is prohibited.
An entrance side photoelectric sensor 413 for detecting that the workpiece W has been received by the receiving frame 41 is provided in the vicinity of the inclined support portion 410 of the receiving frame 41. The incoming-side photoelectric sensor 413 is used for driving control of the motor 220 of the work transfer device 20.

  At the downstream end (right side in FIG. 17) of the receiving frame 41, a holding stopper 414 that holds the workpiece W on the inclined support portion 410 and pays out the workpiece W by the lifting operation of the lifting frame 43 is provided. As shown in FIG. 20, the holding stopper 414 is a block in which the stopper portion 414k and the weight portion 414w are integrated, and the boundary portion between the stopper portion 414k and the weight portion 414w is rotated by a horizontal connecting pin (symbol omitted). It is attached to both sides in the width direction on the exit side of the receiving stand 41 in a movable state. As shown in FIG. 20, the holding stoppers 414 on both sides are configured such that the stopper part 414k extends obliquely upward and widens outward in the width direction, as shown in FIG. 20, and the stopper parts 414k. The work W is supported. As will be described later, when the lifting platform 43 is raised, the weight portions 412w of the holding stoppers 414 on both sides are pushed up, so that the stopper portions 414k on both sides rotate downward and come off the workpiece W. Become. Accordingly, the workpiece W slides in the direction of the lifting platform 43 by its own weight and is supplied to the lifting platform 43.

The lifting platform 43 is a platform that receives the workpiece W from the receiving platform 41 and supplies the workpiece W to the AGV carriage 50 via the supply platform 47 when the AGV carriage 50 arrives. As shown in FIG. 17, the lifting platform 43 includes a lifting member 432 configured to be movable up and down along the guide column 431 and a pair of front and rear configured to be attached to the lifting member 432 and support the workpiece W. An inclined support bar 433 and a work stopper 435 provided at the tip (right end) of the inclined support bar 433 are provided. Here, the inclination angle of the inclination support bar 433 is set to an angle equal to that of the inclination support part 410 of the receiving frame 41.
One end of the nylon wire 441 of the lifting mechanism 44 is connected to the lifting member 432 of the lifting platform 43.
The lifting mechanism 44 is a mechanism for lifting the lifting platform 43 using the weight of the weight 445, and includes a lifting pulley 442, an auxiliary pulley 443, a weight 445, and the nylon wire 441. The pulling pulley 442 and the auxiliary pulley 443 are attached to predetermined positions inside the receiving frame 41, and the nylon wire 441 is hung on the pulleys 442 and 443. A weight 445 is connected to the other end of the nylon wire 441. The weight of the weight 445 is set to be heavier than the weight of the main body of the lifting platform 43 and lighter than the weight of the lifting platform 43 on which the workpiece W is placed. For this reason, the empty lifting platform 43 is pulled up by the weight of the weight 445. However, the lifting platform 43 on which the workpiece W is placed goes down while lifting the weight 445.

At a predetermined position in the height direction of the receiving frame 41, a lock claw 451 of a lowering lock mechanism 45 that stops the lowering of the lifting frame 43 on which the workpiece W is placed is provided. As shown in FIG. 17 and the like, the lock claw 451 is formed in an inverted L shape, and is held at a lock position where the upper lock surface 451u is horizontal by the spring force of the spring 452. The lock claw 451 is prohibited from turning right from the lock position, and is configured to be able to turn left against the spring force of the spring 452.
For this reason, when the elevating member 432 of the elevating rack 43 rises from the lower side of the lock claw 451 with the lock claw 451 in the locked position (see FIG. 18), the lock claw 451 is spring-powered by the lifting force of the elevating member 432. Therefore, the elevator 43 is not hindered from rising.
On the other hand, when the lifting member 432 of the lifting platform 43 is lowered from the upper side of the locking claw 451 while the locking claw 451 is in the locked position, the lifting member 432 contacts the locking surface 451u of the locking claw 451 as shown in FIG. Touch. As described above, since the right rotation of the lock claw 451 is prohibited, the descent of the elevating member 432 is prohibited by the lock claw 451. As a result, the lifting platform 43 is held at a height position supported by the lock claw 451.

  One end of a wire 453 that rotates the lock claw 451 to the left against the spring force of the spring 452 is connected to the lock claw 451. As shown in FIG. 17 and the like, the wire 453 extends through the tube 454 to the lower end of the tip of the supply base 47, and the other end of the wire 453 is connected to one end of the carriage detection lever 471. . The cart detection lever 471 is a lever that rotates horizontally when pushed by the AGV cart 50 when the AGV cart 50 reaches the position of the supply platform 47. For this reason, when the cart detection lever 471 rotates horizontally and the wire 453 is pulled, the lock claw 451 rotates counterclockwise against the spring force, and the lowering lock of the lifting platform 43 on which the workpiece W is placed is released. . That is, the lifting member 432 of the lifting platform 43 on which the workpiece W is placed passes through the lock claw 451 of the lowering lock mechanism 45 and further descends.

  The supply frame 47 is a frame formed with a width dimension that can be accommodated between the pair of front and rear inclined support bars 433 in the lifting frame 43, and passes through the lock claw 451 of the lowering lock mechanism 45 as shown in FIG. The workpiece W is received from the lifting platform 43 that descends. An inclined support portion 470 is provided at the upper end portion of the supply stand 47 to slide the workpiece W received from the lifting stand 43 to the receiving portion 52 of the AGV carriage 50. Further, the inclination angle of the inclined support portion 470 is set equal to the inclination angle of the inclined support portion 410 of the receiving stand 41. Furthermore, the supply stand 47 is provided with a load photoelectric switch 474 that detects that the work W is loaded on the AGV carriage 50. The loaded photoelectric switch 474 is used for driving control of the motor 220 of the work transfer device 20.

<Operations of Work Transfer Device 20 and Work Loading Device 40>
First, the transport device main body 21 of the work transport device 20 faces the second pallet 12 as shown in FIG. 2, and the work stacking device 40 moves up and down with the receiving stand 41 as shown in FIG. Assume that one work W is held on each of the gantry 43.
In this state, when the AGV carriage 50 arrives on the right side of the supply platform 47 of the workpiece loading device 40 and presses the carriage detection lever 471 of the lowering lock mechanism 45, the carriage detection lever 471 rotates horizontally, and the operation thereof is a wire. It is transmitted to the lock claw 451 through 453. Accordingly, the lock claw 451 rotates counterclockwise against the spring force of the spring 452 in FIG. 17 (see the dotted line), and the lowering lock of the lifting platform 43 is released. As a result, as shown in FIG. 18, the lifting platform 43 is lowered against the weight of the weight 445 of the lifting mechanism 44 by its own weight and the weight of the workpiece W. Then, when the tilt support bar 433 and the work stopper 435 of the lift platform 43 are lowered from the level of the tilt support portion 470 of the supply stand 47, the workpiece W on the lift stand 43 is received by the supply stand 47. As a result, the workpiece W slides on the inclined support portion 470 of the supply base 47 and is supplied to the receiving portion 52 of the AGV carriage 50.

The fact that the workpiece W is supplied to the AGV carriage 50 is detected by the operation of the loaded photoelectric switch 474.
When the workpiece W is supplied to the AGV carriage 50 in this way, the AGV carriage 50 starts and the lifting platform 43 is pulled up by the weight 445 of the lifting mechanism 44. In the process of lifting the lifting platform 43, as shown in FIGS. 19 and 20, the lifting member 432 of the lifting platform 43 pushes up the lock claw 451 of the lowering lock mechanism 45 and passes through the position of the lock claw 451. Further, the holding stopper 414 of the receiving frame 41 is moved in the workpiece dispensing direction. As a result, the workpiece W held on the receiving frame 41 slides on the inclined support 410 by its own weight and is supplied to the lifting frame 43. As a result, the lifting platform 43 again descends against the weight of the weight 445 of the lifting mechanism 44 by its own weight and the weight of the workpiece W, and stops at the position of the lock claw 451 of the lowering locking mechanism 45 as shown in FIG. To do.

The transport device main body 21 of the work transport device 20 has a second limit switch 35y (FIG. 4 etc.) that operates when the stacked photoelectric switch 474 operates and the transport device main body 21 faces the direction of the second pallet 12. The first proximity switch 24x (see FIG. 7 and the like) that detects that the second slide member is in the original position is operated to drive the motor 220 in the normal direction.
When the motor 220 rotates forward, as shown in FIG. 7, the first drive pulley 221 and the second drive pulley 222 rotate counterclockwise (forward). Then, by the left rotation of the first drive pulley 221, the first nylon wire 225 pulls the slider 24s of the first slide member 24 forward, and the first slide member 24 slides forward on the support base 22. . Further, when the second drive pulley 222 is rotated counterclockwise (forward rotation), the second drive pulley 222 is moved backward along the second nylon wire 245 that moves forward together with the first slide member 24, so that the second The movement of the nylon wire 245 is not hindered. That is, the second slide member 25 is held at the tip (front end) position of the first slide member 24.

In this way, the first slide member 24 slides forward, and the workpiece W where the workpiece detection lever 24w at the tip of the first slide member 24 is temporarily placed on the second pallet 12 as shown in FIGS. When the contact is made, the workpiece detection lever 24w rotates backward. As a result, the operation of the workpiece detection lever 24w is transmitted to the pre-advance limit slide lock member 24r of the first slide member 24, and the pre-advance limit slide lock member 24r prohibits the first slide member 24 from sliding forward. As a result, the first nylon wire 225 slips with respect to the first drive pulley 221, the rotation of the rear driven pulley 223 stops, and the first slide member 24 is held at the forward limit position (see FIG. 10).
In this manner, when the front slide of the first slide member 24 is prohibited, the left rotation (forward rotation) of the second drive pulley 222 is caused to cause the front driven pulley 241 and the rear driven pulley 243 via the second nylon wire 245. The second nylon wire 245 pulls the slider 25s of the second slide member 25 rearward. As a result, the second slide member 25 slides back on the first slide member 24. Then, as the second slide member 25 slides rearward with respect to the first slide member 24, the cam follower 29 of the work mounting portion 27 of the second slide member 25 and the first slide member 24, as shown in FIG. 9. By the action of the cam 247, the bowl-shaped portion 28 of the work mounting portion 27 rotates upward from the lower limit position to the upper limit position. Thereby, the bowl-shaped portion 28 of the workpiece mounting portion 27 scoops up the workpiece W, and the workpiece W is mounted on the second slide member 25 as shown in FIG.

Then, in the process in which the second slide member 25 on which the workpiece W is placed slides backward, the lock state of the rotation lock mechanism in the inclined column 31 of the rotation support portion 30 is released. Furthermore, when the second slide member 25 on which the workpiece W is placed reaches the position of the second proximity switch 24y located at the rear portion of the first slide member 24 and the second proximity switch 24y is operated, as shown in FIG. The motor 220 is switched in the reverse direction.
When the motor 220 is reversely rotated, the first drive pulley 221 and the second drive pulley 222 are integrally rotated to the right (reverse). Then, by the right rotation of the first drive pulley 221, the first nylon wire 225 pulls the slider 24s of the first slide member 24 rearward, and the first slide member 24 slides backward.

Further, by the right rotation (reverse rotation) of the second drive pulley 222, the second drive pulley 222 moves relatively forward along the second nylon wire 245 that moves backward together with the first slide member 24, and the second nylon wire 245. Does not hinder the movement. In other words, the second slide member 25 is held at a predetermined rear position of the first slide member 24 (the position of the second proximity switch 24y).
Then, in the process in which the first slide member 24 slides rearward, the locked state of the pre-advance limit slide lock member 24r is released.
In this way, when the first slide member 24 reaches the rear end limit position of the support base 22, the third proximity switch 22w operates to stop the motor 220 (see FIG. 13).

When the first slide member 24 reaches the rear end limit position of the support base 22, the slide lock member (not shown) in front of the rear end operates to move the slider 24s of the first slide member 24 forward. It is forbidden. Further, the center of gravity of the transport device main body 21 moves to the rear side (base end side) from the fulcrum position 21c (see FIG. 4 and the like) of the rotation support portion 30, and the transport device main body 21 is in the state shown in FIG. To the right about the inclined column 31 of the pivot support 30. As shown in FIG. 1, the lock mechanism of the rotation support unit 30 operates to lock the rotation of the transport device main body 21 in a state where the transport device main body 21 faces the first pallet 11 side. At the same time, the first limit switch 35x operates.
Next, the motor 220 of the transport device main body 21 rotates forward (left rotation) by the operation of the first limit switch 35x and the operation of the third proximity switch 22w.
At this time, since the first drive pulley 221 and the second drive pulley 222 integrally rotate forward (left rotation) in a state where the front slide of the first slide member 24 is prohibited, as shown in FIG. The second slide member 25 on which the workpiece W is mounted slides backward with respect to the first slide member 24, and the workpiece W passes through the return stopper 412 of the receiving frame 41 of the workpiece stacking apparatus 40 shown in FIG. As a result, one workpiece W is supplied to the receiving frame 41 of the workpiece loading device 40.

Then, when the workpiece W is supplied to the receiving platform 41 of the workpiece loading device 40 and the entry side photoelectric sensor 413 (see FIG. 17) is operated, the motor 220 of the transport device main body 21 is reversed as shown in FIG. As a result, the first drive pulley 221 and the second drive pulley 222 are integrally rotated in the reverse direction (right rotation) in a state where the rear slide of the first slide member 24 is prohibited, so that the second slide member 25 is moved to the first slide. It slides forward with respect to the member 24, and as shown in FIG. 16, it returns to an original position (1st proximity switch 24x operation | movement). In this state, as shown in FIG. 1, the transport device main body 21 is held in a state facing the first pallet 11 (operation of the first limit switch 35x). Furthermore, the locked state of the slide lock member before the retreat limit is released while the second slide member 24 returns to the original position.
In this state, when the AGV carriage 50 arrives again at the position of the workpiece loading device 40 and the workpiece W is supplied to the AGV carriage 50, the loading photoelectric switch 474 operates. At this time, since the first proximity switch 24x and the first limit switch 35x are operating, the motor 220 of the transport device main body 21 rotates forward, and the first slide member 24 supports as shown in FIG. Slide forward with respect to the gantry 22 to receive the workpiece W temporarily placed on the first pallet 11, and the workpiece W on the first pallet 11 is conveyed to the workpiece loading device 40 in the procedure described above. The

Here, after the workpiece W on the first pallet 11 is conveyed to the workpiece loading device 40, the second slide member 25 is slid forward relative to the first slide member 24 and returned to the original position, as shown in FIG. Then, the center of gravity of the transport device main body 21 moves to the front side (tip side) from the fulcrum position 21c of the rotation support unit 30 (see FIG. 4 and the like). As a result, the rotation lock state of the rotation support portion 30 is released, so that the transport device main body portion 21 rotates counterclockwise from the state shown in FIG. Then, as shown in FIG. 2, the lock mechanism of the rotation support unit 30 operates to lock the rotation of the transport device main body 21 with the transport device main body 21 facing the second pallet 12 as shown in FIG. 2. .
In this way, each time the workpiece loading device 40 supplies the workpiece W to the AGV carriage 50, the workpiece conveying device 20 is driven, and the workpiece W on the first pallet 11 and the workpiece W on the second pallet 12 are alternately loaded. It is transported to the loading device 40.

<Advantages of the workpiece transfer device 20 according to the present embodiment>
According to the workpiece transfer device 20 according to the present embodiment, a single motor 220 performs a front / rear slide of the first slide member 24 relative to the support base 22 and a front / rear slide of the second slide member 25 relative to the first slide member 24. become able to. For this reason, the cost of the workpiece transfer apparatus 20 can be reduced.
Further, the support frame 22 is placed on the upper end of the inclined column 31, and the fulcrum position 21 c where the support frame 22 is supported by the inclined column 31 and the center of gravity position of the support frame 22 and the like are shifted in the horizontal direction. The support frame 22 is configured to be rotatable about the axis of the inclined column 31. For this reason, the drive source for rotating the support stand 22 horizontally becomes unnecessary.
Further, the work mounting portion 27 of the second slide member 25 is moved to the temporary placement position by the action of the cam 247 and the cam follower 29 as the second slide member 25 moves backward from the forward limit position with respect to the first slide member 24. It is the structure which scoops up a certain workpiece | work W. For this reason, the drive source for operating the workpiece | work mounting part 27 so that the workpiece | work W is scooped up becomes unnecessary.

<Example of change>
Here, the present invention is not limited to the above-described embodiment, and can be modified without departing from the gist of the present invention. For example, in the present embodiment, proximity switches 24x, 24y, 22w and photoelectric switches 413, 474 provided at respective positions of the work transfer device 20 are used to switch forward, reverse, and stop of the motor 220 of the work transfer device 20. An example of automatically performing the above is shown. However, it is also possible for the operator to switch between forward rotation, reverse rotation, and stop of the motor 220 by manually operating forward, reverse, and stop switches.
Moreover, in this embodiment, the workpiece conveyance apparatus 20 which conveys the workpiece | work W of the 1st pallet 11 and the 2nd pallet 12 to the workpiece loading apparatus 40 alternately was illustrated. However, a configuration in which the pallet is set as one and the work W is transported to the work stacking device 40 without horizontally rotating the transport device main body 21 is also possible.
Moreover, although the example which conveys the workpiece | work W horizontally was shown in this embodiment, the structure which conveys the workpiece | work W to an up-down direction is also possible.

20... Work conveying device 21... Conveying device main body 22... Support frame 220 ... Motor 221 ... First drive pulley (first rotating body)
222... Second driving pulley (second rotating body)
223: Rear driven pulley (first power transmission member)
225 ... 1st nylon wire (1st power transmission member)
24 ··· First slide member 241 ··· Front driven pulley (second power transmission member)
243 ... Rear driven pulley (second power transmission member)
245 ... 2nd nylon wire (2nd power transmission member)
247 ... cam 25 ... second slide member 27 ... work mounting part 29 ... cam follower 30 ... rotation support part 31 ... tilting column 21c ... fulcrum position W: Work

Claims (4)

A first slide member attached to the support frame so as to be slidable back and forth; and a second slide member attached to the first slide member so as to be slidable back and forth. A workpiece transfer device mounted on two slide members and configured to transfer to a predetermined position by a back-and-forth slide operation of the first slide member and the second slide member;
A first rotator and a second rotator configured to be held coaxially and rotate integrally ;
One motor for rotating the first rotating body and the second rotating body integrally in the forward rotation direction or the reverse rotation direction;
A first power transmission member capable of converting a rotational force of the first rotating body into a force in a sliding direction and transmitting the force to the first slide member;
A second power transmission member capable of converting the rotational force of the second rotating body into a force in the sliding direction and transmitting it to the second slide member;
The first power transmission member cancels the transmission of force to the first slide member when front and rear sliding of the first slide member is prohibited,
The second power transmission member is configured to be able to transmit force to the second slide member when the first power transmission member releases the force transmission to the first slide member. A workpiece transfer device characterized by that. It is the workpiece conveyance apparatus described in Claim 1, Comprising:
The first power transmission member causes the first slide member to slide forward when the first rotating body rotates forward, and causes the first slide member to slide rearward when the first rotating body rotates reversely.
The second power transmission member is configured to cause the second slide member to slide rearward when the second rotating body rotates forward, and to cause the second slide member to slide forward when the second rotating body reversely rotates. A workpiece transfer device. A workpiece transfer apparatus according to claim 1 or 2, wherein:
The support frame that supports the first slide member and the second slide member is placed on an upper end of an inclined column that is configured to be rotatable about an axis,
The fulcrum position at which the support frame is supported by the inclined column and the center of gravity of the first slide member, the second slide member, and the entire support frame are shifted in the horizontal direction, so that the support frame is positioned on the inclined column. A workpiece transfer device characterized by being configured to be rotatable about an axis. The workpiece transfer device according to any one of claims 1 to 3,
The second slide member is provided with a work mounting portion for mounting the work in the temporary placement position on the second slide member,
The workpiece mounting portion is configured to scoop up the workpiece at the temporary placement position by the action of the cam and the cam follower by the second slide member retracting from the forward limit position with respect to the first slide member. A workpiece transfer device.

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