JP6557053B2 - Transfer device - Google Patents

Description

  The present invention relates to a transfer device that transfers various workpieces in a predetermined direction.

  In recent years, laminated batteries have been used in various batteries such as automobile batteries, residential batteries, electronic device batteries, and solar batteries. This laminated battery is constructed by alternately stacking workpieces related to battery materials for positive electrode plates, separators, and negative electrode plates in a stacked state.

  In manufacturing such a stacked battery, after transferring a work related to the battery material of the positive electrode plate, the separator and the negative electrode plate by a transfer device such as a conveyor, Adjust the posture and load sequentially with the loading device (for example, see Patent Documents 1 and 2)

JP 2012-174388 A JP 2012-174389 A

  However, in the production of a conventional stacked battery, the position and posture of the workpiece in the plane direction are adjusted in the alignment device provided between the transfer device and the stacking device, and the flow of the workpiece must be stopped during that time. It was. For this reason, there is a problem that the entire manufacturing line is intermittently processed, and the time (tact) for manufacturing a product in one stacked state is increased, and the manufacturing speed of the product is reduced.

  Of course, in order to increase the production speed of the product, it is only necessary to continuously adjust the position and orientation of the workpiece in the plane direction without stopping the flow of the workpiece. It has been difficult to perform both the operation of adjusting the position and the posture of the device at the same time in terms of mechanism and manufacturing cost.

  Such problems are not limited to the manufacture of stacked batteries, but also to the manufacture of products that require two operations: the operation of transporting some workpiece and the operation of adjusting the position and orientation of the workpiece in the plane direction. It occurred as well.

  The present invention has been made in view of the above-described problems, and provides a transfer device that can easily and reliably adjust the position and / or posture of a workpiece in the plane direction in the process of transferring the workpiece in a predetermined direction. The issue is to provide.

  In order to achieve the above object, the present invention provides a transfer device that adjusts the position and posture of a workpiece in the plane direction in the process of transferring the workpiece in a predetermined direction, and a placement portion on which the workpiece is placed; A guide portion extending in a predetermined direction, a plurality of movable portions provided in a movable state in the guide portion, and one end portion connected to the placement portion in a rotatable state, and each movable portion A plurality of link portions connected to each other in a state where the other end portion is rotatable, and each movable portion moves on the guide portion at a predetermined direction and speed, whereby the placement portion Moves at the same predetermined direction and speed through the link part, and moves and / or rotates in the plane direction.

  According to this, when each movable part moves on the guide member in the same predetermined direction, the above-mentioned mounting part moves in a predetermined direction via the link part, so that the mounting part is mounted on the mounting part. The workpiece can be transferred in a predetermined direction. Further, when the movable parts move on the guide part while changing the movement direction and / or the movement speed, the mounting part moves and / or rotates in the plane direction via the link member. It is possible to adjust the position and / or posture of the workpiece placed on the placement unit in the planar direction. For this reason, in the process of transferring the workpiece in a predetermined direction, the position and / or posture of the workpiece in the planar direction can be easily and reliably adjusted.

  Further, when the movable parts move on the guide part at the same predetermined direction and speed, the mounting part moves at the same predetermined direction and speed via the link part. It is preferable that at least one of the movable parts change the moving speed so that the mounting part moves and / or rotates in the plane direction. According to this, in the process of transferring the workpiece in the same predetermined direction, the position and / or posture in the plane direction of the workpiece can be easily and reliably adjusted without stopping the transfer of the workpiece.

  The link unit and the movable unit include a first link unit and a movable unit arranged in one of the transfer directions, a second link unit and a movable unit arranged in the middle of the transfer direction, and a transfer direction It is preferable to include a third link portion and a movable portion arranged on the other side.

  The first link portion and the second link portion are connected at one end to one side in the transfer direction in the placement portion, and the third link portion is in the transfer direction in the placement portion. It is preferable that one end is connected to the other side.

  Moreover, it is preferable that the one end part is connected to the said 1st link part and the 2nd link part in the same location of the one side part of the transfer direction in a mounting part.

  In addition, the connection portion between the first link portion and the first movable portion is located on one side in the transfer direction with respect to the connection portion between the first link portion and the mounting portion, and the second link portion and The connection part of the second movable part is located on the other side of the transfer direction than the connection part of the second link part and the mounting part, and the connection part of the third link part and the third movable part is It is preferable that the third link portion and the placement portion are located on the other side in the transfer direction than the connecting portion.

  Moreover, it is preferable that the said guide part is provided with the three guide parts extended mutually parallel along a predetermined direction, and is provided in the state in which one movable part was respectively movable at each guide part.

  Moreover, it is preferable that the connection part of each said movable part and a link part is located in a line along the predetermined direction mutually.

  The guide portion and the movable portion are ball screws each including a screw shaft and a nut. The guide portion serving as the screw shaft rotates with a predetermined rotational direction and rotational speed, whereby the movable portion serving as the nut is guided to the guide portion. It is preferable to move in a predetermined direction and speed.

  The guide unit may include a single guide unit extending in a predetermined direction, and a plurality of movable units may be provided in the guide unit in a movable state.

  According to the present invention, when each movable part moves on the guide member in the same predetermined direction, the placement part moves in a predetermined direction via the link part, so that the placement part is placed on the placement part. The transferred work can be transferred in a predetermined direction. Further, when the movable parts move on the guide part while changing the movement direction and / or the movement speed, the mounting part moves and / or rotates in the plane direction via the link member. It is possible to adjust the position and / or posture of the workpiece placed on the placement unit in the planar direction. For this reason, in the process of transferring the workpiece in a predetermined direction, the position and / or posture of the workpiece in the planar direction can be easily and reliably adjusted. Therefore, the time (tact) for manufacturing the product can be shortened, and the manufacturing speed of the product can be improved.

It is a composition schematic diagram of the transfer device concerning one embodiment of the present invention. It is a top view which shows the 1st operation example of the transfer apparatus of FIG. It is a top view which shows the 2nd operation example of the transfer apparatus of FIG. It is a top view which shows the 3rd operation example of the transfer apparatus of FIG. It is the structure schematic of the transfer apparatus which concerns on other embodiment of this invention.

  Next, an embodiment of a transfer device according to the present invention (hereinafter referred to as the present device 1) will be described with reference to FIGS. In the present embodiment, the right direction in FIG.

  In the process of transferring the work W related to the battery material of the positive electrode plate, the separator and the negative electrode plate in a predetermined direction (in this embodiment, the right direction in FIG. 1), the apparatus 1 is a plane of the work W. The position and orientation of the direction are adjusted.

  In addition, on the starting point side of the transfer of the apparatus 1 (left side in FIG. 1), a mounting device (not shown) for mounting the workpiece W on the apparatus 1 is provided. The workpiece W is placed. In addition, a loading device (not shown) for separately loading the workpiece W placed on the device 1 is provided on the transfer end point side (right side in FIG. 1) of the device 1. The workpieces W transferred by the apparatus 1 are sequentially held and loaded separately. Further, the apparatus 1 is provided with a monitoring device such as a camera or a sensor for monitoring the state of the workpiece W, and adjusts the position and / or posture of the workpiece W in the plane direction based on the monitoring result by the monitoring device. It is like that.

  As shown in FIG. 1, the present apparatus 1 is provided in a state where it can move to a placement unit 10 on which a workpiece W is placed, three guide units 20 extending in a predetermined direction, and each guide unit 20. The three movable portions 30 and the three link portions 40 that connect the placement portion 10 and the movable portion are provided, and the respective members are provided in substantially the same plane direction. A driving device 2 is provided.

  As shown in FIG. 1, the placement unit 10 includes an alignment plate 11 on which a workpiece W is placed, and an alignment base 12 fixed to the back surface of the alignment plate 11 in a predetermined direction (see FIG. 1). 1 in the right direction and the left direction), and in a state of being movable and rotatable in the plane direction. The alignment plate 11 is a flat plate made of metal or synthetic resin formed in a rectangular shape in plan view, and is formed so that each side is longer than the workpiece W to be placed. On the other hand, the alignment base portion 12 is a metal or synthetic resin casing formed in a rectangular parallelepiped shape, and is fixed in a manner extending in the same direction as the guide portion 20 at the center of the back surface of the alignment plate 11.

  The guide portions 20 extend in parallel with each other along a predetermined direction, and are arranged on the farthest end side from the placement portion 10 and the first guide portion 21 disposed in the middle. 22 and the third guide portion 23 arranged on the end side closest to the placement portion 10, and the length is reduced in the order of the first, second and third guide portions 21, 22, 23. It has been. Each of the first, second and third guide portions 21, 22, and 23 has a screw formed on the peripheral surface to function as a screw shaft of a ball screw, and is driven by a drive device 2 provided on the base end side. The shafts are respectively rotated at a predetermined rotation direction and rotation speed. In addition, this drive device 2 controls the rotation direction and rotation speed of the guide part 20 based on the monitoring result of monitoring apparatuses, such as the above-mentioned camera and sensor.

  The movable part 30 includes a first movable part 31 having a rectangular shape in plan view provided in the first guide part 21, a second movable part 32 having a substantially square shape in plan view provided in the second guide part 22, and It is comprised from the 3rd movable part 33 of the planar view rectangular shape provided in the 3 guide part 23. As shown in FIG. These first, second and third movable parts 31, 32, 33 are screwed to the first, second and third guide parts 21, 22, 23 in order to function as nuts of ball screws, As the first, second, and third guide portions 21, 22, and 23 are axially rotated in a predetermined rotation direction and rotation speed, the first, second, and third guide portions 21, 22, and 23 are moved in a predetermined direction and speed.

  The link portion 40 includes a first link portion 41 that connects the placement portion 10 and the first movable portion 31, a second link portion 42 that connects the placement portion 10 and the second movable portion 32, and the placement portion 10. And a third link portion 43 connecting the third movable portion 33.

  Specifically, the first link portion 41 is connected to the front side portion in the transfer direction of the placement portion 10 in a state where one end portion is rotatable, and the other end portion is rotated to the first movable portion 31. Connected in a movable state. In addition, the second link portion 42 is connected to the front side portion in the transfer direction of the mounting portion 10 in a state where one end portion is rotatable, and the other end portion is rotatable to the second movable portion 32. Connected with. Further, the third link portion 43 is connected to the rear side portion in the transfer direction of the placement portion 10 in a state where one end portion is rotatable, and the other end portion is rotatable to the third movable portion 33. Connected in a state. In the present embodiment, in particular, the first link portion 41 and the second link portion 42 are connected at one end at the same location on the front side portion in the transfer direction in the placement portion 10.

  In addition, the connection portion between the first link portion 41 and the first movable portion 31 is located in front of the connection portion between the first link portion 41 and the mounting portion 10 in the transfer direction, and the second link portion 42 and the first movable portion 31 are connected to each other. 2 The connecting part of the movable part 32 is located behind the connecting part of the second link part 42 and the mounting part 10 in the transfer direction, and the first link part 41 and the second link part 42 are two sides of an isosceles triangle. Is configured. Moreover, the connection part of the 3rd link part 43 and the 3rd movable part 33 is located in the back of the transfer direction rather than the connection part of the said 3rd link part 43 and the said mounting part 10. As shown in FIG.

  Furthermore, the connection part of the 1st link part 41 and the 1st movable part 31, the connection part of the 2nd link part 42 and the 2nd movable part 32, and the connection part of the 3rd link part 43 and the 3rd movable part 33 are These are arranged on the same straight line along the transfer direction. That is, the first movable portion 31 extends from the first guide portion 21 to the second guide portion 22 and is connected to the first link portion 41 above the second guide portion 22, and the second movable portion 32 is connected to the second guide portion 22. The third movable portion 33 extends from the third guide portion 23 to the second guide portion 22 and is connected to the third link portion 43 above the third guide portion 23. It is connected.

  Thus, when the first, second and third movable parts 31, 32, 33 move on the first, second and third guide parts 21, 22, 23 at the same predetermined direction and speed, the first The connecting portions of the second and third movable parts 31, 32, 33 and the first, second, and third link parts 41, 42, 43 move on the same straight line at the same predetermined direction and speed. Therefore, the first, second, and third link portions 41, 42, 43 move at the same predetermined direction and speed while maintaining the inclined posture in the plane direction, and accordingly, the first, second, and second links Since the mounting part 10 to which one end of the three link parts 41, 42, 43 is connected moves at the same predetermined direction and speed, the workpiece W placed on the mounting part 10 is moved in the same predetermined direction and speed. Can be transported.

  In the process of transferring the workpiece W at a predetermined direction and speed, if the first, second, and third movable parts 31, 32, 33 change the movement direction and / or the movement speed, the first, second, The connecting portions of the third movable parts 31, 32, 33 and the first, second, and third link parts 41, 42, 43 move on the same straight line with different moving directions and moving speeds. Therefore, the first, second, and third link portions 41, 42, 43 change the inclined posture in the plane direction, and accordingly, one end portions of the first, second, and third link portions 41, 42, 43. Is moved and / or rotated in a predetermined plane direction, the position and / or posture of the workpiece W in the plane direction can be adjusted.

  Next, a specific operation of the apparatus 1 will be described with reference to FIGS. For convenience of explanation, the alignment plate 11 and the workpiece W of the mounting portion 10 are omitted in the drawing.

  FIG. 2 is a plan view showing a first operation example of the transfer device of FIG.

  In this operation example, a case where the workpiece W is transferred in a predetermined direction while the position and posture of the workpiece W are maintained will be described.

  In the basic state of FIG. 2 (a), when the first, second, and third guide portions 21, 22, and 23 are rotated in the same predetermined rotational direction (for example, clockwise) and rotational speed by the driving device 2, As shown in FIG. 2B, the first, second and third movable parts 31, 32, 33 move in the same predetermined direction (for example, the right direction in FIG. 2) and the speed V0. Therefore, the first, second, and third link portions 41, 42, 43 move in the same direction (for example, the right direction in FIG. 2) and the speed V0 while maintaining the inclined posture in the plane direction, and accordingly Since the mounting portion 10 to which one end of the first, second and third link portions 41, 42, 43 is connected moves in the same direction (for example, the right direction in FIG. 2) and the speed V0, The workpiece W placed on the placement unit 10 can be transferred as it is in a predetermined direction (for example, the right direction in FIG. 2) and at a speed V0.

  On the other hand, in the basic state of FIG. 2A, when the drive device 2 causes the first, second, and third guide portions 21, 22, 23 to rotate in the same predetermined rotational direction (for example, counterclockwise) and rotational speed. As shown in FIG. 2B, the first, second and third movable parts 31, 32, 33 move in the same predetermined direction (for example, the left direction in FIG. 2) and the speed V0. For this reason, the first, second, and third link portions 41, 42, 43 move in the same direction (for example, the left direction in FIG. 2) and the speed V0 while maintaining the inclined posture in the plane direction. Since the mounting part 10 to which one end of the first, second and third link parts 41, 42, 43 is connected moves in the same direction (for example, the left direction in FIG. 2) and the speed V0, The placement unit 10 can return to the starting point side of the apparatus 1.

  FIG. 3 is a plan view showing a second operation example of the transfer device of FIG.

  In this operation example, a case where the posture of the workpiece W in the planar direction is adjusted when the workpiece W is transferred in the same predetermined direction and speed will be described.

  FIG. 3A shows a state in which the placement unit 10 is moving in the same predetermined direction (for example, the right direction in FIG. 3) and the speed V0.

  In the state of the predetermined speed V0 in FIG. 3A, when the first, second, and third guide parts 21, 22, and 23 are rotated at different rotational speeds by the driving device 2, the first movable part 31 is rotated. Changes to a predetermined speed V0−V1, moves the second movable part 32 to change to a predetermined speed V0 + V2, and moves the third movable part 33 to change to a predetermined speed V0−V3.

  At this time, when viewed from the placement unit 10, as shown in FIG. 3B, the relative speed of the first movable part 31 is −V1, the relative speed of the second movable part 32 is + V2, and the third movable part 33. Since the relative speed of −V3 becomes + V3 (the right direction in FIG. 3 is + and the left direction is −), the first link portion 41 and the second link portion 42 are inclined in the plane direction while moving in directions close to each other. As a result, the front side portion of the mounting portion 10 to which the first link portion 41 and the second link portion 42 are connected moves in a direction away from the guide portion 20. On the other hand, the third link portion 43 is in a state in which the inclined posture in the plane direction is laid down while moving in a direction away from the second link portion 42, and accordingly, the rear of the placement portion 10 to which the third link portion 43 is connected. The side part moves in the direction approaching the guide part 20.

  Thus, while the front side part of the mounting part 10 moves in the direction away from the guide part 20, the mounting part 10 moves in the direction in which the rear side part of the mounting part 10 approaches the guide part 20. Since it rotates counterclockwise in plan view, the workpiece W placed on the placement unit 10 also rotates counterclockwise in plan view and the orientation in the plane direction is adjusted.

  On the other hand, when the first, second, and third guide portions 21, 22, and 23 are rotated at different rotational speeds by the driving device 2 in the state of the predetermined speed V0 in FIG. The part 31 changes and moves at a predetermined speed V0 + V1, the second movable part 32 changes and moves at a predetermined speed V0−V2, and the third movable part 33 changes and moves at a predetermined speed V0 + V3.

  At this time, when viewed from the placement unit 10, as shown in FIG. 3C, the relative speed of the first movable part 31 is + V1, the relative speed of the second movable part 32 is -V2, and the third movable part 33. Since the relative speed of the vehicle is + V3 (the right direction in FIG. 3 is + and the left direction is −), the first link portion 41 and the second link portion 42 move in directions away from each other, and are inclined in the plane direction. Accordingly, the front side portion of the mounting portion 10 to which the first link portion 41 and the second link portion 42 are connected moves in a direction approaching from the guide portion 20. On the other hand, the third link portion 43 is in a state of causing an inclined posture in the plane direction while moving in a direction close to the second link portion 42, and accordingly, the rear portion of the placement portion 10 to which the third link portion 43 is connected. The side part moves away from the guide part 20.

  Thus, while the front side part of the mounting part 10 moves in the direction approaching the guide part 20, the mounting part 10 moves in the direction away from the guide part 20, so that the mounting part 10 is Since the workpiece W placed on the placement unit 10 rotates clockwise in plan view, the posture in the planar direction is adjusted by rotating clockwise in the plan view.

  After the workpiece W is adjusted to a predetermined posture in the plane direction, the first, second, and third movable parts 31, 32, 33 quickly return to the speed V0, so that the workpiece W is moved in a predetermined direction (for example, , In the right direction in FIG. 3) and at a speed V0.

  FIG. 4 is a plan view showing a third operation example of the transfer apparatus of FIG.

  In this operation example, a case will be described in which the position of the workpiece W in the planar direction is adjusted when the workpiece W is being transferred at the same predetermined direction and speed.

  FIG. 4A shows a state in which the placement unit 10 is moving in the same predetermined direction (for example, the right direction in FIG. 4) and the speed V0.

  In the state of the predetermined speed V0 in FIG. 4A, when the first, second, and third guide portions 21, 22, and 23 are rotated at different rotational speeds by the driving device 2, the first movable portion 31 is rotated. Changes to a predetermined speed V0−V1, moves the second movable part 32 to change to a predetermined speed V0 + V2, and moves the third movable part 33 to change to a predetermined speed V0 + V3.

  At this time, when viewed from the placement unit 10, as shown in FIG. 4B, the relative speed of the first movable part 31 is −V1, the relative speed of the second movable part 32 is + V2, and the third movable part 33. Since the relative speed of the vehicle is + V3 (the right direction in FIG. 4 is + and the left direction is −), the first link portion 41 and the second link portion 42 are inclined in the plane direction while moving in directions close to each other. Accordingly, the front side portion of the mounting portion 10 to which the first link portion 41 and the second link portion 42 are connected moves in a direction away from the guide portion 20. On the other hand, the third link part 43 is also in a state of causing an inclined posture in the plane direction while moving in a direction close to the second link part 42, and accordingly, the rear side of the mounting part 10 to which the third link part 43 is connected. The part also moves in a direction away from the guide part 20.

  Thus, while the front side part of the mounting part 10 moves in the direction away from the guide part 20 and the rear side part of the mounting part 10 moves in the direction away from the guide part 20, the mounting part 10 is Since the workpiece W is moved in a direction away from the guide unit 20, the workpiece W placed on the placement unit 10 is also moved in a direction away from the guide unit 20 to adjust the position in the planar direction.

  On the other hand, when the first, second, and third guide portions 21, 22, and 23 are rotated at different rotational speeds by the driving device 2 in the state of the predetermined speed V0 in FIG. The part 31 changes and moves at a predetermined speed V0 + V1, the second movable part 32 changes and moves at a predetermined speed V0−V2, and the third movable part 33 changes and moves at a predetermined speed V0−V3. To do.

  At this time, when viewed from the placement unit 10, as shown in FIG. 4C, the relative speed of the first movable part 31 is + V1, the relative speed of the second movable part 32 is -V2, and the third movable part 33. Since the relative speed of −V3 becomes + V3 (the right direction in FIG. 4 is + and the left direction is −), the first link portion 41 and the second link portion 42 are inclined in the plane direction while moving in directions away from each other. Along with this, the front side portion of the placement portion 10 to which the first link portion 41 and the second link portion 42 are connected moves in a direction approaching the guide portion 20. On the other hand, the third link portion 43 also moves in a direction away from the second link portion 42 while laying down the inclined posture in the plane direction, and accordingly, the rear side of the placement portion 10 to which the third link portion 43 is connected. The part also moves in the direction approaching the guide part 20.

  Thus, while the front side part of the mounting part 10 moves in the direction close to the guide part 20 and the rear side part of the mounting part 10 moves in the direction close to the guide part 20, the mounting part 10 is Since the workpiece W is moved in the direction approaching the guide unit 20, the workpiece W placed on the placement unit 10 is also moved in the direction closer to the guide unit 20 and the position in the plane direction is adjusted.

  After the workpiece W is adjusted to a predetermined position in the plane direction, the first, second, and third movable parts 31, 32, 33 quickly return to the speed V0, so that the workpiece W is moved in a predetermined direction (for example, , In the right direction in FIG. 4) and at a speed V0.

  As described above, by combining various operations shown in FIGS. 2 to 4, the position and / or posture of the workpiece W in the planar direction can be easily and reliably adjusted in the process of transferring the workpiece W in a predetermined direction. . Therefore, the time (tact) for manufacturing the product can be shortened, and the manufacturing speed of the product can be improved.

  In the present embodiment, in the process of transferring the workpiece W in the same predetermined direction, the position and / or posture of the workpiece W in the planar direction is continuously adjusted without stopping the transfer of the workpiece W. However, the transfer of the workpiece W may be stopped momentarily or for a short time, and the position and / or posture of the workpiece W in the plane direction may be adjusted. Even in this case, the position and / or posture of the workpiece W in the planar direction can be adjusted more quickly than when an alignment device is separately provided.

  Moreover, although 3 sets of link parts 40 and movable parts 30 were provided, it is good also as what provides 2 sets or 4 sets or more.

  Moreover, the location of the connecting portion between the link portion 40 and the movable portion 30 is not limited to the above-described one, and may be another location.

  Further, the positional relationship between the connecting portion of the link unit 40 and the movable unit 30 and the connecting portion of the link unit 40 and the mounting unit 10 is not limited to the above-described one, and may be other positional relationships.

  Moreover, although the connection part of each movable part 30 and the link part 40 shall be located on the same straight line, it is good also as what does not line up on the same straight line.

  Moreover, although the guide part 20 and the movable part 30 shall be comprised with a ball screw, as long as the movable part 30 can move on the guide part 20, another structure may be sufficient.

  Moreover, although each member of the mounting part 10, the link part 40, the movable part 30, and the guide part 20 shall be provided on the same plane, it does not need to be provided on the same plane.

  In addition, although three guide portions 20 are provided, other numbers may be provided. For example, as shown in FIG. 5, assuming that one guide unit 20 is provided, a transfer device 1 ′ in which the first, second and third movable units 31, 32, 33 move on one guide unit 20 is provided. Can be mentioned. In this case, the guide part 20 and the first, second and third movable parts 31, 32, 33 are not constituted by ball screws, but the first, second and third movable parts 31, 32, 33 are the guide parts. It is set as the structure which carries on 20 independently.

  As mentioned above, although embodiment of this invention was described with reference to drawings, this invention is not limited to the thing of embodiment shown in figure. Various modifications and variations can be made to the illustrated embodiment within the same range or equivalent range as the present invention.

1 ... Transfer device (this device)
DESCRIPTION OF SYMBOLS 2 ... Drive apparatus 10 ... Mounting part 11 ... Alignment plate 12 ... Alignment base 20 ... Guide part 21 ... 1st guide part 22 ... 2nd guide part 23 ... -3rd guide part 30 ... movable part 31 ... 1st movable part 32 ... 2nd movable part 33 ... 3rd movable part 40 ... link part 41 ... 1st link part 42 ... Second link part 43 ... Third link part

Claims (10)

In the process of transferring the workpiece to a predetermined plane Direction, a transfer device for adjusting the planar direction of the position and orientation of the workpiece,
A placement section that extends in the plane direction and on which the workpiece is placed;
One or more guide portions extending in a predetermined plane direction;
A plurality of movable parts provided in a movable state in the guide part;
A plurality of link portions connected to the mounting portion in a state where one end portion is rotatable, and connected to any one of the movable portions in a state where the other end portion is rotatable;
The mounting portion is provided in the same plane direction as the guide portion, the movable portion, and the link portion,
When each of the movable parts moves on the guide part at a predetermined plane direction and speed, the link part is brought into a state of causing an inclined posture in the plane direction or a state of being laid down , and the placing part is configured to suspend the link part. by moving in the same predetermined plane direction and speed through, while transferring the workpiece placed in a predetermined plane direction the mounting section, by moving and / or rotating in the planar direction, before described A transfer device that adjusts a position and / or posture in a planar direction of a workpiece placed on a placement unit. By the movable parts are displaced on the guide portion in the same predetermined plane direction and speed, when the mounting section is moving in the same predetermined plane direction and speed via the link portion The transfer device according to claim 1, wherein at least one of the movable parts changes a moving speed, whereby the mounting part moves and / or rotates in a plane direction.   The link part and the movable part include a first link part and a movable part arranged in one of the transfer directions, a second link part and a movable part arranged in the middle of the transfer direction, and the other in the transfer direction. The transfer apparatus according to claim 1, further comprising a third link part and a movable part arranged.   The first link portion and the second link portion are connected at one end to one side in the transfer direction in the placement portion, and the third link portion is the other in the transfer direction in the placement portion. The transfer device according to claim 3, wherein one end portion is connected to the side portion.   5. The transfer device according to claim 4, wherein the first link portion and the second link portion are connected at one end at the same position on one side in the transfer direction of the mounting portion. The connection part between the first link part and the first movable part is located on one side in the transfer direction than the connection part between the first link part and the mounting part,
The connection part of the second link part and the second movable part is located on the other side of the transfer direction than the connection part of the second link part and the mounting part,
The connection portion between the third link portion and the third movable portion is located on the other side in the transfer direction with respect to the connection portion between the third link portion and the placement portion. The transfer device described in 1.   The said guide part is provided with the three guide parts extended mutually parallel along a predetermined direction, and the one movable part is each provided in the state which can move to each guide part. The transfer apparatus in any one of.   The transfer device according to any one of claims 1 to 7, wherein connection portions between the movable portions and the link portions are aligned on the same straight line along a predetermined direction.   The guide part and the movable part are ball screws composed of a screw shaft and a nut, and the guide part as a screw shaft rotates at a predetermined rotational direction and rotational speed so that the movable part as a nut moves on the guide part. The transfer device according to any one of claims 1 to 8, wherein the transfer device moves in a predetermined direction and speed.   The transfer device according to claim 1, wherein the guide unit includes one guide unit extending in a predetermined direction, and a plurality of movable units are provided in the guide unit in a movable state. .