JP6190425B2 - Attachment, work transfer device with attachment, and work transfer method using the same - Google Patents

Description

  The present invention relates to an attachment, a workpiece transfer device with an attachment, and a workpiece transfer method using the same, and more particularly, an attachment that can secure a certain distance between the tip of an arm and a crossbar, and an upstream workpiece. The present invention relates to a workpiece transfer device with an attachment that can be transferred to a left position or a right position on the downstream side while turning the workpiece, and a workpiece transfer method using the workpiece transfer device with an attachment.

In press working for continuously pressing a work, a work transport device is used to carry the work into or out of the press after the work is carried into the press.
As such a workpiece transfer device, a so-called single arm type workpiece transfer device composed of one arm is known.
According to the single arm type work transfer device, the work on the upstream side can be transferred to a desired position on the downstream side, and further, the work can be turned and transferred.

However, in the case of transferring a heavy workpiece with a single arm type workpiece transfer device, there is a drawback in that the load on the arm becomes large and quick transfer cannot be performed.
If the transfer is performed quickly, there is a drawback that the position accuracy of the work is remarkably lowered, and further, the work may be dropped or the arm may be broken during the transfer.

On the other hand, a so-called double-arm type work transfer device has been developed in which one work is held by a pair of arms.
For example, a work transfer means comprising a pair of arm units in which a plurality of arms are rotatably coupled to each other, a work gripping means attached to the tip of the arm unit, and a lifting unit for raising and lowering the arm unit. It is known (see Patent Document 1).

Japanese Patent No. 4584845

However, in the workpiece transfer apparatus described in Patent Document 1, when the workpiece is swung and transferred, there is no distance between the tip of the arm and the workpiece, so the upstream workpiece is transferred in the workpiece transfer direction. There is a drawback that it can only be transported to a downstream position on the center line of the apparatus.
Therefore, for example, even if it is a case where it is desired to efficiently convey the pressed workpiece on the upstream side by two conveyors arranged on the downstream side, the workpiece cannot be conveyed to each conveyor.

  The present invention has been made in view of the above circumstances, an attachment that can ensure a certain distance between the tip of the arm and the crossbar, the left position on the downstream side while turning the upstream workpiece or It is an object of the present invention to provide a work transfer device with an attachment that can be transferred to the right position and a work transfer method using the work transfer device with an attachment.

  The present inventor has intensively studied to solve the above problems, and has found that the above problems can be solved by providing a distance securing portion attached to the tip of the arm and the cross bar of the double arm type work transfer device. The present invention has been completed.

The present invention is, (1) et al used a double arm type workpiece transfer device is a holding means for attracting and holding the workpiece, and a cross bar that said retaining means is attached, the distance ensuring mounted to the cross bar A distance securing portion that can be pivotally attached to the distal ends of a pair of left and right arms of the work transfer device, and securing a certain distance between the distal ends of the arms and the crossbar. The distance securing part is composed of a right support rod fixed to the crossbar and a left support rod pivotally attached to the right support rod, and is V-shaped in top view, In the attachment , the angle formed by the left support rod and the right support rod during transport is variable .

  The present invention resides in (2) the attachment according to (1), wherein the distance securing part is detachable from the pair of left and right arms of the workpiece transfer device, and the distance securing part is detachable from the cross bar.

In the present invention, ( 3 ) The distance between the pivot point where the left support rod is pivotally attached to the right support rod and the fixed point where the tip of the right support rod is fixed to the crossbar is 200 mm or less (1 ) Or the attachment described in (2) .

The present invention resides in ( 4 ) the attachment according to any one of (1) to (3) , wherein the right support rod and the left support rod are made of carbon fiber.

The present invention includes: ( 5 ) a base, a left upper arm pivotally attached to the base, and a left lower arm pivotally attached to the left upper arm; an upper right arm pivotally attached to the base; and the upper right arm The right arm composed of a right lower arm part pivotally attached to the arm part, and any one of the above (1) to ( 4 ) pivotally attached to the distal end of the left lower arm part and the distal end of the right lower arm part There exists in the workpiece conveyance apparatus with an attachment provided with an attachment and the drive motor which drives a left arm and a right arm.

The present invention is ( 6 ) a method for conveying a workpiece using the workpiece conveying apparatus with an attachment according to ( 5 ) above, wherein the workpiece is conveyed to the downstream left position or the right position while turning the upstream workpiece, The right and left positions are provided symmetrically with respect to the center line of the base in the workpiece transfer direction, and when the workpiece is transferred to the left position, the left arm and the right arm rotate the attachment 90 degrees counterclockwise. When the workpiece is rotated and conveyed to the right position, the left arm and the right arm are in a workpiece conveying method in which the attachment is rotated 90 degrees clockwise.

In the present invention, ( 7 ) when the work is turned to reach the left position or the right position, the left lower arm portion is pivotally attached to the attachment, and the right lower arm portion is pivotally attached to the attachment. The second pivot point is located on the center line of the base portion in the workpiece conveyance direction. The workpiece conveyance method described in ( 6 ) above.

The attachment according to the present invention includes a distance securing portion attached to the tip of the arm of the double-arm type work transfer device and the crossbar, so that a certain distance is provided between the tip of the arm of the work transfer device and the crossbar. Can be secured.
As a result, the workpiece transfer device provided with the attachment is shifted by the distance securing portion of the attachment while turning the workpiece on the upstream side, and is referred to as the left and right positions on the downstream side (hereinafter referred to as “left position” or “right position”). ).
As a result, for example, the pressed workpiece on the upstream side can be conveyed to two conveyors arranged on the downstream side.

In the attachment of the present invention, the distance securing part is detachable from the pair of left and right arms of the work transfer device, and the distance securing part is detachable from the crossbar, so remove it when not using the attachment. Can do.
When the attachment is removed, the work can be transported by attaching a cross bar directly to the tip of the arm in the same manner as a known double arm work transport device.

In the attachment according to the present invention, the distance securing portion is composed of a right support rod fixed to the cross bar and a left support rod pivotally attached to the right support rod, and has a V shape in a top view. Even when a relatively heavy workpiece is conveyed, sufficient strength can be exhibited.
At this time, the angle formed between the left support rod and the right support rod during workpiece transfer is variable, so the load on the arm when transferring the workpiece can be reduced, and the operation of the arm is efficient. Can be moved.

  In the attachment of the present invention, when the distance between the pivot point where the left support rod is pivotally attached to the right support rod and the fixed point where the tip of the right support rod is fixed to the crossbar is 200 mm or less, the left support A load can be applied in a balanced manner to the heel and the right support ridge.

In the attachment of the present invention, when the right support rod and the left support rod are made of carbon fiber, the weight can be reduced. Thereby, the load to the arm to which the attachment is attached is reduced, and the power consumption can be reduced.
In addition, the workpiece can be conveyed quickly.

Since the workpiece transfer device with an attachment according to the present invention is a double arm type having a left arm and a right arm, even when a relatively heavy workpiece is transferred, quick transfer is possible, and the position during transfer is Decrease in accuracy can be suppressed, and accidents such as dropping of the workpiece and damage to the arm can also be prevented.
Moreover, since the attachment mentioned above is provided, it becomes possible to convey to the left position or the right position of a downstream side, turning an upstream workpiece | work.

For example, when an inspection process is performed after press processing, since inspection generally takes time, there is a disadvantage that the press processing cannot be speeded up. Since the workpieces can be inspected by the respective conveyors by respectively conveying them to the two conveyors arranged at the left position and the right position on the downstream side, the processing capacity of the inspection can be doubled.
As a result, it is possible to speed up the press work, and the productivity of the press work can be improved.

  In the workpiece transfer method of the present invention, when the workpiece transfer device with the attachment is used and the workpiece is transferred to the left position, the left arm and the right arm rotate the attachment 90 degrees counterclockwise, and the workpiece is transferred to the right position. When doing so, the left arm and the right arm turn the attachment 90 degrees clockwise, so that the work can be reliably turned and transported with a compact movement.

  In the workpiece transfer method of the present invention, when the workpiece is turned to reach the left position or the right position, the first pivot point where the lower left arm is pivotally attached to the attachment, and the lower right arm is pivotally attached to the attachment. By moving the second pivot point on the center line of the base in the workpiece conveyance direction, the workpiece can be conveyed relatively easily with high positional accuracy.

FIG. 1 is a top view schematically showing one embodiment of an attachment according to the present invention. FIG. 2 is a top view schematically showing one embodiment of a workpiece transfer apparatus with an attachment according to the present invention. FIG. 3 is a side view schematically showing a state in which the workpiece transfer apparatus with an attachment according to the present embodiment is attached to a press machine. FIG. 4A is a schematic diagram showing a state where the upstream workpiece shown in FIG. 2 is conveyed to the right position on the downstream side in the workpiece conveyance method using the workpiece conveyance device with an attachment according to the present invention. FIG. 4B is a left side position on the downstream side while turning the upstream workpiece shown in FIG. 2 in the workpiece transfer method using the workpiece transfer apparatus with an attachment according to the present invention. It is a top view which shows typically the state conveyed to. FIG. 5 is an explanatory diagram for explaining the left position and the right position in the workpiece transfer method according to the present embodiment. FIG. 6 is a top view schematically showing a distance securing portion of an attachment according to another embodiment.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings as necessary. In the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted. Further, the positional relationship such as up, down, left and right is based on the positional relationship shown in the drawings unless otherwise specified. Further, the dimensional ratios in the drawings are not limited to the illustrated ratios.

FIG. 1 is a top view schematically showing one embodiment of an attachment according to the present invention.
As shown in FIG. 1, the attachment 10 according to the present embodiment is used by being attached to a double arm type work transfer device.
The attachment 10 includes a holding unit 1 for holding the workpiece W by suction, a cross bar 5 to which the holding unit 1 is attached, and a distance securing unit 7 attached to the cross bar 5.

A plurality of holding means 1 are attached to the crossbar 5 so as to be substantially equidistant in the longitudinal direction of the crossbar 5.
Here, as the holding means 1, a known one can be employed. Specifically, a vacuum cup, a magnet, a gripper, etc. are mentioned, for example.

The crossbar 5 is provided with a first attachment portion 4a at the approximate center of the upper surface, and a tip of a right support rod, which will be described later, is fixed to the first attachment portion 4a.
Moreover, the crossbar 5 is provided with a plurality of attachment portions (not shown) on the upper surface in the same manner as a known crossbar. For this reason, it is also possible to remove the distance securing part 7 and attach the tip of the arm of the work transfer device directly to the crossbar.

The distance securing portion 7 includes a right support rod 7a fixed to the cross bar 5, and a left support rod 7b pivotally attached to the right support rod 7a. That is, the distance securing part 7 is V-shaped when viewed from above.
Thereby, even if it is a case where the workpiece | work with comparatively heavy weight is conveyed, sufficient intensity | strength can be exhibited.

In the distance securing unit 7, the rear ends of the right support rod 7a and the left support rod 7b are pivotally attached to the tips of the arms of the work transfer device, respectively. As a result, a certain distance is ensured between the tip of the arm of the workpiece transfer device and the crossbar 5 by the distance securing portion 7.
Then, as will be described later, the work transfer device to which the attachment 10 is attached is shifted by the distance securing portion 7 of the attachment 10 while turning the upstream work, and the left and right positions on the downstream side (hereinafter “left”). It is possible to transport to “position” or “right position”.

In the distance securing portion 7, a second attachment portion 4b is provided on the upper surface of the right support rod 7a, and the tip of the left support rod 7b is pivotally attached to the second attachment portion 4b.
Here, the center of the portion where the tip of the left support rod 7b is pivotally attached to the right support rod 7a is the pivot point, and the center of the portion where the tip of the right support rod 7a is fixed to the cross bar 5 is the fixation point. In this case, the distance between the pivot point and the fixed point is preferably greater than 0 and 200 mm or less.
In this case, a load can be applied in a balanced manner to the left support rod 7b and the right support rod 7a.
In addition, it is desirable that the distance between the pivot point and the fixed point is small from the viewpoint of the balance.
On the other hand, when the distance between the pivot point and the fixed point is 0, that is, when the pivot point and the fixed point are the same point, there is a disadvantage that the part (the same point) becomes bulky.
In this case, when transporting, it is necessary to avoid movement so that the part does not interfere with other parts, so that extra time and energy are required.

In the attachment 10, since the left support rod 7b is pivotally attached to the right support rod 7a, the angle formed by the left support rod 7b and the right support rod 7a when the workpiece W is conveyed is variable.
As a result, the load on the arm when the workpiece is transferred can be reduced, and the operation of the arm can be moved efficiently.
As described above, since the right support bar 7a is fixed to the cross bar 5, the angle formed by the right support bar 7a and the cross bar 5 when the workpiece W is conveyed is always constant.

Here, in the attachment 10, the material of the right support rod 7a and the left support rod 7b is not particularly limited, but carbon fiber is preferable from the viewpoint of weight reduction and strength.
In this case, since it is lightweight, the load on the arm to which the attachment 10 is attached is reduced, and the power consumption can be reduced.
In addition, it is possible to carry the workpiece with high positional accuracy and quickness.

As described above, the distance securing portion of the attachment 10 is detachable from the pair of left and right arms of the workpiece transfer device.
For this reason, when not using the attachment 10, it can remove from the arm of a workpiece conveyance apparatus.
Therefore, when the attachment is removed, a known cross bar can be directly attached to the end of the arm so that the workpiece can be conveyed linearly, similarly to the known double arm type workpiece conveying device.

FIG. 2 is a top view schematically showing one embodiment of a workpiece transfer apparatus with an attachment according to the present invention.
As shown in FIG. 2, the workpiece transfer device X with an attachment according to this embodiment includes a base 11, a pair of left and right arms 12 and 13 that are pivotally attached to the base 11, a left arm 12 and a right arm. An attachment 10 pivotally attached to the arm 13 and a drive motor (not shown) for driving the left arm 12 and the right arm 13 are provided.

Since the workpiece transfer device X with the attachment is a double arm type including the left arm 12 and the right arm 13, even when a relatively heavy workpiece W is transferred, quick transfer is possible. A decrease in position accuracy can be suppressed, and accidents such as dropping of the workpiece W and breakage of the arms 12 and 13 can be prevented.
Moreover, since the attachment 10 mentioned above is provided, it becomes possible to convey to the left position or the right position on the downstream side while turning the workpiece on the upstream side.

FIG. 3 is a side view schematically showing a state in which the workpiece transfer apparatus with an attachment according to the present embodiment is attached to a press machine.
As shown in FIG. 3, the workpiece carrying device X with an attachment is attached to a press device P.
For this reason, the work conveyance apparatus X with an attachment can carry in a workpiece | work to the press apparatus P, or can carry out the workpiece | work pressed by the press apparatus P. FIG.

Returning to FIG. 2, the base 11 is fixed to the beam B horizontally mounted on the upright A of the press apparatus P in the work transfer apparatus X with attachment.
That is, since the work transfer device X with an attachment is directly attached to the upright A of the press device, no extra space is required.

The workpiece transfer device with attachment X is provided with an elevating mechanism (not shown) between the base 11 and the beam B, and can move up and down in the vertical direction.
The base 11 is mounted with a drive motor (not shown) that rotationally drives the arms 12 and 13.

In the work transfer device with attachment X, the rear end of the left arm 12 is attached to the left side of the base 11 so as to be rotatable, and the rear end of the right arm 13 is enabled to be activated on the right side of the base 11. Installed on.
Here, the left arm 12 includes a left upper arm portion 12a and a left lower arm portion 12b pivotally attached to the tip of the left upper arm portion 12a, and the right arm 13 is provided on the tips of the upper right arm portion 13a and the upper right arm portion 13a. It consists of a right lower arm 13b pivotally attached.
Therefore, specifically, the rear end of the left upper arm portion 12a and the rear end of the upper right arm portion 13a are rotatably attached to the base 11, and the rear end of the left lower arm portion 12b is at the tip of the left upper arm portion 12a. The rear end of the right lower arm portion 13b is rotatably attached to the tip of the upper right arm portion 13a.

And the left support rod 7b of the attachment 10 is rotatably attached to the tip of the left lower arm portion 12b, and the right support rod 7a of the attachment 10 is rotatably attached to the tip of the right lower arm portion 13b. It is attached.
The right support rod 7a and the left support rod 7b of the attachment 10 are rotatable with respect to the corresponding right lower arm portion 13b and the left lower arm portion 12b, respectively, and as described above, the right support rod 7a. And the left support rod 7b are excellent in the degree of freedom because the angle formed by them is variable.

According to the workpiece transfer device X with an attachment, by providing the attachment 10, a certain distance can be secured between the tip of the arm and the crossbar 5. For example, the upstream workpiece is attached to the attachment 10. It can be transported to the downstream left position and right position shifted in the left-right direction by the distance securing portion 7.
In addition, by arrange | positioning a conveyor in each of the left position and the right position, the conveyed workpiece | work can be efficiently conveyed further downstream by the said conveyor.

Next, a workpiece transfer method using the attachment-attached workpiece transfer device X will be described.
FIG. 4A is a schematic diagram showing a state where the upstream workpiece shown in FIG. 2 is conveyed to the right position on the downstream side in the workpiece conveyance method using the workpiece conveyance device with an attachment according to the present invention. FIG. 4B is a left side position on the downstream side while turning the upstream workpiece shown in FIG. 2 in the workpiece transfer method using the workpiece transfer apparatus with an attachment according to the present invention. It is a top view which shows typically the state conveyed to.

As shown in FIG. 4 (a), in the method for transporting the workpiece W, when the workpiece W is transported to the right position R, the left arm 12 and the right arm 13 turn the attachment 10 clockwise by 90 degrees. .
Specifically, the upper left arm 12a and the upper right arm 13a are rotated with respect to the base 11, and the lower left arm 12b is rotated with respect to the upper left arm 12a. By rotating the arm portion 13b, the attachment 10 is rotated 90 degrees clockwise.
Thus, on the upstream side, the rectangular workpiece W (see FIG. 2) arranged so that the long side is perpendicular to the conveyance direction is arranged at the right position R so that the long side is parallel to the conveyance direction. be able to.

Further, as shown in FIG. 4B, in the method for transporting the workpiece W, when the workpiece W is transported to the left position L, the left arm 12 and the right arm 13 rotate the attachment 10 counterclockwise by 90 degrees. Turn.
Specifically, the upper left arm 12a and the upper right arm 13a are rotated with respect to the base 11, and the lower left arm 12b is rotated with respect to the upper left arm 12a. By rotating the arm portion 13b, the attachment 10 is turned 90 degrees counterclockwise.
Thus, on the upstream side, the rectangular workpiece W (see FIG. 2) arranged so that the long side is perpendicular to the conveying direction is arranged at the left position L so that the long side is parallel to the conveying direction. be able to.

  As described above, in the method of transporting the workpiece W, the attachment 10 holding the workpiece W by the holding means 1 is pivoted by the arms 12 and 13 so that the workpiece W is reliably pivoted and transported with a compact movement. be able to.

In the method of transporting the workpiece W, when the workpiece is turned and reaches the left position L or the right position R, the first pivot point where the left lower arm portion 12b is pivotally attached to the attachment 10 and the right lower arm portion 13b are attachments. The second pivot point pivotally attached to 10 is located on the center line Y of the base in the conveyance direction of the workpiece W.
As a result, the workpiece W can be transported relatively easily with high positional accuracy.

FIG. 5 is an explanatory diagram for explaining the left position and the right position in the workpiece transfer method according to the present embodiment.
The left position L and the right position R are positions on which the conveyed workpiece W is placed, and are provided at positions symmetrical to the center line Y of the base in the conveyance direction of the workpiece W.

In the workpiece transfer method according to the present embodiment, conveyors C are disposed at the left position L and the right position R, respectively.
And in this conveyor C, the arrange | positioned workpiece | work W is conveyed further downstream.

At this time, in each conveyor C, by inspecting the conveyor C on both sides, the workpiece W is inspected visually while the workpiece W is conveyed downstream.
For this reason, in the conveyance method of the workpiece | work W which concerns on this embodiment, since the 2 conveyors C are provided, the processing capacity of a test | inspection can be doubled.
In addition, as described above, the workpiece transfer device with attachment X rotates and places the workpiece W on the conveyor C at the left position L or the right position R so that the long side is parallel to the transfer direction. W can be easily inspected.

Here, the relationship between the distance D between the conveyors C, the shortest distance L1 from the tip of the left arm 12 to the crossbar 5, and the shortest distance L2 from the tip of the right arm 13 to the crossbar 5 is
L1> D / 2,
L2> D / 2,
L1 = L2,
Meet.
As a result, the workpiece can be reliably turned and conveyed, and the facility itself can be made more compact.

  According to the workpiece transfer method according to the present embodiment, by using the workpiece transfer device X with an attachment, the workpiece on the upstream side can be transferred to the downstream left position or the right position while turning.

  The preferred embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment.

For example, in the attachment 10 according to the present embodiment, the distance securing unit 7 includes a right support rod 7a to which the cross bar 5 is fixed, and a left support rod 7b to which the right support rod 7a is pivotally attached. However, the structure is not limited to this.
FIG. 6 is a top view schematically showing a distance securing portion of an attachment according to another embodiment.
As shown in FIG. 6, the distance securing portion includes a bridging rod 17b that connects both arms, and a support rod 17a that is attached to the approximate center of the bridging rod 17b, and has a T-shaped structure in a top view. It may be met. In this case, the cross bar 5 is attached to the tip of the support rod 17a.

In the attachment 10 according to this embodiment, the center of the portion where the tip of the left support rod 7b is pivotally attached to the right support rod 7a is the pivot point, and the tip of the right support rod 7a is the portion fixed to the cross bar 5. When the center is a fixed point, the distance between the pivot point and the fixed point is 200 mm or less. However, as described above, it does not become bulky, or even if it becomes bulky, it hinders the conveyance of the workpiece. If it does not occur, the pivot point and the fixed point may be the same point.
Further, the tip of the left support rod 7b and the tip of the right support rod 7a may be separately attached to the cross bar 5.

  In the attachment 10 according to the present embodiment, the angle formed between the left support rod 7b and the right support rod 7a during conveyance of the workpiece W is variable, but the left support rod 7b and the right support rod 7a are formed. It is also possible to fix the angle. In this case, there is an advantage that the position of the conveyed workpiece can be easily adjusted.

An attachment according to the present invention, a workpiece transfer device with an attachment, and a workpiece transfer method using the attachment, for example, in the field of press processing, when the workpiece on the upstream side is to be transferred while turning to the left or right position on the downstream side. Preferably used.
According to the attachment according to the present invention, it is possible to ensure a certain distance between the tip of the arm and the crossbar, and according to the work transport device with an attachment according to the present invention and a work transport method using the same, The upstream work can be conveyed to the downstream left or right position while turning.

DESCRIPTION OF SYMBOLS 1 ... Holding means 10 ... Attachment 11 ... Base part 12 ... Left arm 12a ... Left upper arm part 12b ... Left lower arm part 13 ... Right arm 13a ... Upper right arm part 13b ... Right lower arm portion 17a ... Support rod 17b ... Bridge bridging rod 4a ... First attachment portion 4b ... Second attachment portion 5 ... Cross bar 7 ... Distance securing portion 7a .. Right support rod 7b ... Left support rod A ... Upright B ... Beam C ... Conveyor L ... Left position P ... Press device R ... Right position W ... Workpiece X ... Work transfer device with attachment Y ... Center line

Claims (7)

Used for double arm type work transfer device ,
A holding means for adsorbing and holding a workpiece, a crossbar to which the holding means is attached, and a distance securing portion attached to the crossbar,
The distance securing portion is an attachment that can be pivotally attached to the distal ends of a pair of left and right arms of the work transfer device, and that secures a certain distance between the distal ends of the arms and the cross bar. There,
The distance securing portion comprises a right support rod fixed to the cross bar and a left support rod pivotally attached to the right support rod;
V-shaped in top view,
An attachment in which an angle formed by the left support rod and the right support rod during transfer of the workpiece is variable. The distance securing part is detachable from a pair of left and right arms of the workpiece transfer device,
The attachment according to claim 1, wherein the distance securing portion is detachable from the cross bar. The left supporting rod is the right support pivot point pivotally mounted to the rod, the distance between the fixed point tip is fixed to the cross bar of the right support rod is, in claim 1 or 2 is 200mm or less The attachment described. The attachment according to any one of claims 1 to 3, wherein the right support rod and the left support rod are made of carbon fiber. The base,
A left arm consisting of a left upper arm pivotally attached to the base and a left lower arm pivotally attached to the left upper arm;
A right arm comprising a right upper arm pivotally attached to the base and a right lower arm pivotally attached to the upper right arm;
The attachment according to any one of claims 1 to 4 , pivotally attached to a tip of the left lower arm and a tip of the right lower arm.
A drive motor for driving the left arm and the right arm;
A workpiece transfer device with an attachment. A workpiece transfer method using the workpiece transfer device with an attachment according to claim 5, wherein the workpiece is transferred to the downstream left position or the right position while turning the upstream workpiece,
The left position and the right position are provided at positions that are symmetrical with respect to the center line of the base in the conveyance direction of the workpiece,
When transporting the workpiece to the left position, the left arm and the right arm turn the attachment 90 degrees counterclockwise,
A method of transporting a workpiece in which when the workpiece is conveyed to the right position, the left arm and the right arm pivot the attachment 90 degrees clockwise. When the work is turned to reach the left position or the right position, the left lower arm is pivotally attached to the attachment, and the right lower arm is pivotally attached to the attachment. The workpiece conveying method according to claim 6, wherein the second pivot point is located on a center line of the base in the workpiece conveying direction.

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