JP6578138B2 - Work carriage and work transfer device - Google Patents

Description

  The present invention relates to a work carriage that can change the positions of a plurality of sucking portions that suck a work, and a work conveying apparatus that includes the work carriage.

  In a conventional press processing line, a work at the top is picked up from a plurality of works placed in a stacked state in a stock space, and is carried into a press device, and the work is placed in the press device. Some are equipped with a workpiece transfer device. For example, there is a work transport device that includes a work carriage that attracts and suspends a work by a plurality of suction units, and a transfer device that transports the work carriage between a stock space and a press device.

  For example, according to a press device equipped with such a work transport device, the work at the top of the stock space is sucked by a plurality of suction portions and suspended from the work carriage, and the work carriage is moved inside the press device by a transfer device. After being transported to a predetermined position in the press device, the suction operation of the suction portion is stopped, and when separated from the work carriage, the work carriage is carried out of the press device by the transport device. Then, it is press-molded by a press device.

Japanese Utility Model Publication No. 5-0776629

  However, in such a press processing line, workpieces of the same size and form are not always conveyed and pressed, and the size and form of the workpiece may change depending on various situations. In particular, if the shape or size of the workpiece is changed, the center of gravity of the workpiece may change, so in order to transfer various workpieces stably and at high speed, the position of each suction portion of the workpiece carriage must be set. It is preferable to appropriately change according to specifications such as the form and size of the workpiece.

  However, in order to move and change the position of each suction portion of the work carriage according to various situations, a drive device that moves each suction portion is required. When such a drive device is mounted on the work carriage, As a result, the work carriage becomes heavier and the transfer device becomes overloaded, which causes a problem that the transfer speed of the work carriage and the work by the transfer device decreases.

  Since speeding up the work transfer contributes to improving the productivity of the press processing line, various proposals have been made to reduce the weight of the work carriage. This is an important issue regardless of whether or not a driving device is mounted.

  However, in order to reduce the load on the transfer device in order to increase the speed of movement of the work carriage, if the work carriage is extremely lightened, the mechanical strength of the work carriage may be reduced. If the mechanical strength of the work carriage decreases, the work carriage may be bent or distorted due to the weight of the work when the work is picked up by each suction part. There is also a problem that it becomes difficult.

  In addition, such bending and distortion of the work carriage may induce vibration of the work carriage and the workpiece during the conveyance of the workpiece. If such vibration is generated, There is a possibility that the suction state may be deteriorated. As a result, there is a problem that it is difficult to increase the work conveyance speed.

  The present invention has been made in order to solve the above-described problems, and relates to a work carriage that can change the positions of a plurality of suction portions, and achieves weight reduction while preventing a decrease in mechanical strength of the work carriage. Accordingly, it is an object of the present invention to provide a work carriage characterized by having a form suitable for high-speed movement of a work and a work transfer device provided with the work carriage.

  In order to achieve this object, the work carriage of the first invention has a plurality of adsorbing portions that adsorb and suspend the work, and a transfer device that conveys the work carriage and conveys the work to the processing apparatus. And a drive device for moving and changing the position of the suction portion in the work carriage transferred by the transfer device, and further orthogonal to the transfer direction of the workpiece by the transfer device The main frame is connected to and supported by the transfer device at both ends in the extending direction, and is movable in the extending direction of the main frame by the transfer device. A traveling member disposed on the main frame; a drive connecting portion provided on the traveling member and detachably coupled to the driving device; A pair of front and rear arm members that extend forward and rearward in the conveying direction of the main frame and perpendicular to the extending direction of the main frame, and the plurality of suction portions that are disposed on the arm members and suck the work from above. One or two or more movable arm units and the traveling member of the movable arm unit are restrained and fixed to the main frame in a non-coupled state between the drive coupling portion and the drive device, and the drive A brake device that releases the restraint so as to be movable with respect to the main frame in a connected state between the connecting portion and the drive device is provided, and is formed separately from the drive device.

  A work carriage according to a second aspect of the present invention is the drive connection unit according to the first aspect, wherein the work connection portion is detachably connected to a moving body of the driving device that reciprocates in the extending direction of the main frame. And the drive connecting portion provided on the upper surface portion of the traveling member.

  A work carriage according to a third aspect of the present invention is the work carriage according to the first or second aspect, wherein the traveling member is disposed on a front surface portion of the main frame in the work conveyance direction, and a base end portion of the front arm member is fixed. A forearm pedestal, a rear arm pedestal disposed on a rear surface portion of the main frame in a workpiece transfer direction, to which a base end portion of the rear arm member is fixed, and a rear arm pedestal and a forearm pedestal are arranged on the main frame. And a drive connecting portion provided on the connecting portion.

  A work carriage according to a fourth aspect of the present invention is the work carriage according to the third aspect, wherein the brake device is disposed on the forearm pedestal and restrains and fixes the forearm pedestal at a predetermined position on a front portion of the main frame in the conveyance direction of the work. A rear arm brake disposed on the rear arm pedestal and restraining and fixing the rear arm pedestal to a predetermined position on a rear surface portion of the main frame in the workpiece conveyance direction.

  A work carriage according to a fifth aspect of the present invention is the work carriage according to the third or fourth aspect, wherein the main frame is disposed on each of a front surface portion and a rear surface portion in a work conveyance direction, and is continuously provided in an extending direction of the main frame. The forearm pedestal is movably engaged along the guide rail on the guide rail disposed on the front surface of the main frame, and the rear arm pedestal is The guide rail is disposed on the rear surface of the frame so as to be movable along the guide rail.

  A work carriage according to a sixth aspect of the present invention is the work carriage according to any one of the first to fifth aspects, wherein the work carriage is fixed to the front and rear surfaces of the main frame in the direction of conveyance of the work so as to be immovable. And a pair of front and rear fixed arm members extending rearward and perpendicular to the extending direction of the main frame, and the pair of front and rear fixed arm members are set in one set or predetermined in the extending direction of the main frame. Two or more sets are arranged at intervals.

  A work carriage according to a seventh invention is the work carriage according to any one of the first to sixth inventions, wherein the movable range of some of the two or more movable arm units is a range in which the movable range of a part of the movable arm units is a half on one side in the extending direction of the main frame. And the movable range of the remaining movable arm unit is within the other half of the extending direction of the main frame.

  A work carriage according to an eighth aspect of the present invention is the work carriage guide according to any one of the first to seventh aspects, wherein a cable or a hose or the like is wired or piped to the one or more movable arm units. A member is provided on either the front surface portion or the rear surface portion of the main frame in the workpiece conveyance direction.

  A workpiece transfer device according to a ninth aspect of the present invention is the workpiece carriage according to any one of claims 1 to 8, the transfer device that transfers the workpiece carriage to transfer the workpiece to the processing device, and the transfer device that transfers the workpiece carriage. And a drive device that moves and changes the position of one or more movable arm units in the work carriage.

  According to the work carriage and the work conveyance device of the present invention, the work carriage is moved above the work stacked in the stock space by the transfer device, and the work at the uppermost position is adsorbed by the plurality of adsorbing portions, Suspend below the work carriage. Then, the work carriage on which the work is sucked and suspended is transferred toward the front (downstream side) in the transfer direction by the transfer device, and is carried into the processing apparatus together with the work.

  After the work carriage is moved to a predetermined position in the processing apparatus, when the plurality of suction portions are stopped and the work is set at the predetermined processing position, the work carriage is moved backward (upstream) in the transport direction by the transfer device. After being transferred and carried out of the processing apparatus, the workpiece is processed by the processing apparatus. The work carriage carried out of the processing apparatus is transferred again to the work stock space by the transfer device in order to transfer the next work to the processing apparatus, and the above-described operation is repeated.

  Further, the position of the plurality of suction portions of the work carriage is changed by appropriately moving the movable arm unit on the main frame in the extending direction by the driving device. Specifically, when the work carriage is transferred to the installation position of the drive device by the transfer device and the drive device is connected to the drive connection portion of the travel member, the brake device is released from stopping and the travel member is moved to the main frame. It will be in the state which can move to the extending direction.

  After that, when the traveling member is moved to a desired position in the extending direction of the main frame by the driving device, the pair of front and rear arm members of the movable arm unit are moved together with the traveling member in the extending direction of the main frame. The position is changed. By changing the positions of the pair of front and rear arm members, the positions of the suction portions arranged in these arms are changed in the direction orthogonal to the workpiece conveyance direction.

  After the position of the movable arm unit is changed, the connection state between the drive connecting portion of the travel member and the drive device is released, and the brake device is activated along with the release to stop and fix the travel member to the main frame. By the operation of the brake device, the pair of front and rear arm members of the movable arm unit and the plurality of suction portions disposed thereon are positioned and fixed at the changed positions.

  Note that the drive device appropriately moves a movable arm unit that requires a position change in the extending direction of the main frame in accordance with the size and form of the workpiece among one or more movable arm units.

  According to the work carriage and the work transfer device of the present invention, since the arm members extend from the main frame in the front-rear direction, for example, when the lengths of the pair of front and rear arm members are equal, either the front or the rear As compared with the case where only the arm member is extended, the length of one arm member can be reduced to half or less, and the mechanical strength of the arm member can be improved correspondingly. Therefore, when the work is attracted and suspended by the work carriage, it is possible to prevent each arm member from being greatly bent and deformed without being able to withstand its own weight or the weight of the work. This can be reduced and can greatly contribute to an increase in the work conveyance speed.

  In addition, since both ends of the main frame in the extending direction are connected and supported by the transfer device, the portion excluding the connected portion can be used as effectively as possible as the movable range of the movable arm unit. Even if the width of the workpiece greatly increases or decreases in the direction orthogonal to the direction, or the shape of the workpiece may change, the position of one or more movable arm units is widely changed according to the width and shape of the workpiece. This is advantageous in that workpieces of different sizes and shapes can be appropriately adsorbed and suspended.

  In addition, when the drive device is connected to the drive connecting portion of the traveling member, the restraint is released by the brake device so that the movable arm unit can move with respect to the main frame, while the drive device is the drive connecting portion of the traveling member. When it is separated from the main frame, the movable arm unit becomes immovable with respect to the main frame by being restrained and fixed by the brake device. That is, there is an effect that the movable arm unit can be automatically stopped or released by the brake device depending on whether or not the movable arm unit needs to be moved by the driving device.

  In addition, since the drive device for moving and changing the position of the movable arm unit is formed separately from the work carriage, it is possible to avoid an increase in weight associated with mounting the drive device on the work carriage. There is an effect that it is possible to prevent a decrease in the conveyance speed.

  According to the work carriage of the second aspect of the invention, since the driving connecting portion is provided on the upper surface of the traveling member, the moving body of the driving device can be disposed above the work carriage. The space below the work carriage is not required to be disposed below, and the limited space on the production line can be used effectively, for example, by using the space below the work carriage as a stock space for stacking and mounting the work. effective.

  According to the work carriage of the third invention, the pair of front and rear arm members are respectively disposed on the front and rear portions in the work transport direction of the main frame via the forearm pedestal and the rear arm pedestal. There is no need to dispose the upper part or the lower part so that the work carriage can be made thinner as a whole, and the work carriage can be easily carried into a processing apparatus having a height restriction.

  Further, since the forearm pedestal and the rear arm pedestal are integrated via the connecting portion, when the drive device is connected to the drive connection portion of the traveling member, the pair of front and rear arm members are moved together by the drive device. Therefore, there is no need to individually move and change the positions of the pair of front and rear arm members, and there is an effect that the movement changing operation of such positions can be performed smoothly.

  In addition, by connecting the upper portions of the forearm pedestal and the rear arm pedestal on the upper surface portion of the main frame via the connecting portion, the connecting portion is connected to the forearm pedestal and the rear arm pedestal, and There is an effect that it can also be used as a medium for forming a drive connecting portion for connecting the drive device.

  According to the work carriage of the fourth aspect of the invention, the movable arm unit is configured such that the base ends of the pair of front and rear arm members are fixed to the forearm base and the rear arm base, and the forearm brake and the rear arm brake are respectively attached to the forearm base and the rear arm base. Therefore, the root portions of the pair of arm members can be directly restrained and fixed to the front and rear portions of the main frame in the workpiece conveying direction via these forearm brakes and rear arm brakes. There is an effect that it is possible to prevent the base portion of the member from being loose or displaced.

  According to the work carriage of the fifth aspect of the present invention, the guide rails serving as the track of the traveling member are disposed on the front surface portion and the rear surface portion of the main frame, and the forearm pedestal and the rear arm pedestal are movable relative to the guide rails. Are combined. For this reason, it is not necessary to dispose the guide rail of the traveling member on the upper surface of the main frame, and accordingly, the work carriage as a whole is reduced in thickness, and the work carriage is carried into a processing apparatus with a height restriction. There is an effect that it becomes easy to do.

  According to the work carriage of the sixth invention, the plurality of arm members on the work carriage are not a pair of movable front and rear arm members, all of which are arranged in the movable arm unit, but a part of them is fixed to the main frame. Since it is a pair of front and rear fixed arm members, there is no need to change the positions of all the arm members according to the size and form of the work, and there is an effect that the labor required for changing the position of the suction portion can be simplified.

  According to the work carriage of the seventh invention, the movable range of one movable arm unit is limited to a half range in the extending direction of the main frame. It is possible to reduce the wiring distance of connection lines such as hoses, and to that extent, it is possible to reduce the installation distance of the cable support guide members that accommodate and support these connection lines, and the work carriage can be reduced in weight and size. .

  According to the work carriage of the eighth aspect of the invention, the connection lines such as cables or hoses wired or piped to the movable arm unit are accommodated in the cable support guide member, and the cable support guide member serves as a work transfer for the main frame. Since it is disposed along the front or rear direction, it is not necessary to dispose such a support guide member at the lower or upper portion of the main frame, and accordingly, the work carriage can be further reduced in thickness and height. There is an effect that the work carriage can be more easily carried into a limited processing apparatus.

BRIEF DESCRIPTION OF THE DRAWINGS It is the schematic block diagram which showed the workpiece conveyance apparatus which is one Example of this invention, (a) is a whole block diagram, (b) is the partial block diagram which extracted the work carriage and the drive device. It is. It is an external appearance perspective view of a work carriage. It is a longitudinal cross-sectional view regarding a pair of front and rear fixed arm members. (A) is an external perspective view of a movable arm unit, (b) is an enlarged front view of a vacuum cup, and (c) is an enlarged internal structure diagram of the vacuum cup. It is a longitudinal cross-sectional view regarding a movable arm unit. (A) is a top view of a work carriage, (b) is a front view of a work carriage. It is explanatory drawing which showed the movable range of four movable arm units, (a) is a top view, (b) is a front view.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described with reference to the accompanying drawings. FIG. 1 is a schematic configuration diagram showing a workpiece conveyance device 1 according to an embodiment of the present invention, (a) is an overall configuration diagram, and (b) is a workpiece carriage 2 and a driving device 4. FIG.

  Here, in FIG. 1A, the state where the work carriage 2 is positioned above the work W in the stock space 30 is indicated by “solid line”, and the state where the work carriage 2 is located within the press device 20 is indicated by “two-dot chain line”. ", Respectively.

  Further, the left and right arrows in FIG. 1A indicate the transfer direction of the work carriage 2 by the transfer device 3, and the left arrow in the transfer direction indicates the same direction as the workpiece transfer direction. Yes. Moreover, the up and down arrows in FIG. 1B indicate the up and down movement direction of the moving body 8 of the driving device 4.

  As shown in FIG. 1, the workpiece transfer device 1 is a device that transfers workpieces W stacked and placed in a stock space 30 one by one to a press device 20 that is a processing device. A transfer device 3 and a drive device 4 are provided.

  The work carriage 2 is a device that sucks and suspends the uppermost work W stacked and placed in the stock space 30, and the transfer device 3 transfers the work carriage 2 and conveys the work W to the press device 20. For example, a robot arm 5. This transfer device 3 is, for example, one on each side of the workpiece carrying entrance side (left side in FIG. 1) of the press device 20 on both sides in the transverse direction (depth direction with respect to FIG. 1 paper) with respect to the workpiece conveyance direction (left and right direction in FIG. 1). It is arranged.

  In the transfer device 3, the arm at the forefront of the two robot arms 5 is connected to the longitudinal direction of the main frame 6 of the work carriage 2 (see FIG. 1 with respect to the paper surface of FIG. 1) via an attachment 12 (see FIG. 2) described later. Depth direction) are connected to both ends. In FIG. 1, only one robot arm 5 is shown.

  The drive device 4 is a device that moves and changes the positions of the plurality of suction portions 7 in the work carriage 2 and appropriately changes the positions of the plurality of suction portions 7, and is formed separately from the work carriage 2. Has been. The drive device 4 includes a moving body 8 that moves the movable arm unit 10 of the work carriage 2 in order to move and change the positions of the plurality of suction portions 7.

  The moving body 8 is disposed so as to be positioned above the movable arm unit 10 when the work carriage 2 moves to the stock space 30. The moving body 8 is reciprocated by a horizontal driving mechanism built in the driving device 4 in the horizontal direction perpendicular to the workpiece conveyance direction (the depth direction in FIG. 1), that is, in the extending direction of the main frame 6 of the workpiece carriage 2. It is possible.

  The moving body 8 extends from the main body of the driving device 4 toward the upper side of the stock space 30 and is inserted into and removed from the driving connection hole 11d in the traveling member 11 of the movable arm unit 10 at the tip. A free connection pin 8a is provided. The connecting pin 8 a protrudes downward from the lower part of the tip of the moving body 8. The movable body 8 can be reciprocated in the vertical direction by a vertical drive mechanism built in the main body of the drive band 4. By this vertical movement of the moving body 8, the connecting pin 8 a is inserted into and removed from the driving connecting hole 11 d in the traveling member 11 of the movable arm unit 10.

  The moving body 8 is provided with a connecting pin 8 a that can be inserted into and removed from a driving connecting hole 11 d in the traveling member 11 of the movable arm unit 10. The connecting pin 8 a protrudes downward from the lower part of the tip of the moving body 8.

  According to the driving device 4, the moving body 8 is moved downward and the connecting pin 8a is inserted into the driving connecting hole 11d, whereby the moving body 8 and the traveling member 11 of the movable arm unit 10 are connected. When the moving body 8 is moved upward and the connecting pin 8a is removed from the drive connecting hole 11d, the connected state between the moving body 8 and the traveling member 11 of the movable arm unit 10 is released.

  Here, although a plurality of movable arm units 10 are provided on the work carriage 2 (see FIG. 2), each movable arm unit 10 is configured to move independently on the main frame 6. Yes. One or two or more moving bodies 8 of the driving device 4 may be provided. For example, the same number of movable bodies 10 as the movable arm units 10 may be provided.

  FIG. 2 is an external perspective view of the work carriage 2, and both arrows in the figure indicate the transfer direction of the work carriage 2 by the transfer device 3. The same direction as the workpiece transfer direction is shown. As shown in FIG. 2, the work carriage 2 mainly includes a main frame 6, two pairs of front and rear fixed arm members 9, and four movable arm units 10.

  The main frame 6 is extended in the horizontal direction orthogonal to the workpiece conveyance direction. Attachments 12 connected to the robot arm 5 are disposed at both ends in the extending direction (longitudinal direction) of the main frame 6. The work carriage 2 looks like the main frame 6 is supported by the two robot arms 5 via the attachment 12, and is moved in the work conveyance direction (left and right direction in FIG. 1).

  The two pairs of front and rear fixed arm members 9 are arranged in the extending direction central portion of the main frame 6 with a predetermined interval in the extending direction. Of the pair of front and rear fixed arm members 9, one fixed arm member 9 moves to the front surface portion 6 a of the main frame 6 in the workpiece conveyance direction, and the other fixed arm member 9 moves to the rear surface portion 6 b of the main frame 6 in the workpiece conveyance direction. It is fixed impossible.

  FIG. 3 is a longitudinal sectional view of the pair of front and rear fixed arm members 9. As shown in FIG. 3, the pair of front and rear fixed arm members 9 extend horizontally from the main frame 6 to the front and rear in the workpiece transfer direction, and the extending direction is the extending direction of the main frame 6 ( It is orthogonal to the depth direction of FIG. Two vacuum cups 13 (see FIGS. 4B and 4C), which are suction portions 7 for sucking the workpiece W from above, are fastened and fixed to each of the fixed arm members 9 by two.

  Returning to FIG. Each of the four movable arm units 10 is configured to be able to travel on the main frame 6 via a traveling member 11, and a pair of front and rear moving arm members 14 are fixed to the traveling member 11. Two vacuum cups 13 (see FIGS. 4B and 4C), which are suction portions 7 for sucking the workpiece W from above, are fastened and fixed to the member 14 by two.

  As described above, two vacuum cups 13 are attached to each fixed arm member 9 and each movable arm member 14. Each vacuum cup 13 is fastened and fixed to each fixed arm member 9 and each movable arm member 14 via a fixture 15, and each vacuum cup 13 is manually released once by fastening. These attachment positions can be changed along the extending direction of each fixed arm member 9 and each movable arm member 14.

  4 (a) is an external perspective view of the movable arm unit 10, FIG. 4 (b) is an enlarged front view of the vacuum cup 13, and FIG. 4 (c) is an enlarged internal structure diagram of the vacuum cup 13. It is.

  As shown in FIG. 4A, the movable arm unit 10 includes the traveling member 11, a pair of front and rear moving arm members 14, and a plurality of vacuum cups 13 as described above. Here, the traveling member 11 mainly includes a forearm base 11a and a rear arm base 11b, a connection plate 11c, and a drive connection hole 11d, and is formed to be movable in the extending direction of the main frame 6. Yes.

  The forearm pedestal 11a is disposed on the front surface portion 6a of the main frame 6 in the workpiece conveyance direction. Of the pair of front and rear moving arm members 14, a base end portion of the moving arm member 14 on the front surface portion 6 a in the workpiece transfer direction is fixed to the forearm base 11 a. The rear arm pedestal 11 b is disposed on the rear surface portion 6 b of the main frame 6 in the workpiece conveyance direction. Of the pair of front and rear moving arm members 14, a base end portion of the moving arm member 14 on the rear side of the main frame 6 in the work transfer direction is fixed to the rear arm base 11 b.

  The connecting plate 11c has upper end portions of the forearm pedestal 11a and the rear arm pedestal 11b connected to each other at the upper surface portion 6c of the main frame 6. The upper surface of the connecting plate 11c is connected to the moving body 8 of the driving device 4. A drive connection hole 11d to be connected is provided. The drive connection hole 11 d is provided in the upper surface portion 6 c of the traveling member 11. The drive connection hole 11 d is provided below the moving body 8 of the driving device 4, and a connecting pin 8 a protruding from the moving body 8 of the driving device 4 is provided. It is removable. The travel member 11 of the movable arm unit 10 is connected to the moving body 8 of the drive device 4 by inserting the connection pin 8a into the drive connection hole 11d.

  The pair of front and rear moving arm members 14 extend horizontally from the forearm pedestal 11a and the rear arm pedestal 11b of the traveling member 11 toward the front and the rear in the work transfer direction, respectively, and the extending direction is the main frame 6 direction. It is orthogonal to the extending direction.

  FIG. 5 is a longitudinal sectional view relating to the movable arm unit 10. As shown in FIG. 5, the movable arm unit 10 has a runner 11 e fixed to the inner side surfaces of the forearm base 11 a and the rear arm base 11 b of the traveling member 11. The runner 11e forms a linear guide together with the guide rail 6e disposed on the main frame 6. The runner 11e of the linear guide is movably engaged with the guide rail 6e of the main frame 6 and includes a pneumatic clamper 16 as a brake device that stops the movement of the runner 11e.

  The pneumatic clamper 16 restrains and fixes the traveling member 11 of the movable arm unit 10 to the main frame 6 in a state where the connection pin 8a of the moving body 8 and the drive connection hole 11d are disconnected. In the state where the connecting pin 8a of the moving body 8 and the drive connecting hole 11d are connected, the restrained state is released so that the traveling member 11 of the movable arm unit 10 can be moved with respect to the main frame 6. is there.

  Here, the pneumatic clamper 16 disposed in each movable arm unit 10 includes a forearm clamper 17 disposed on a runner 11e fixed to the forearm base 11a and a runner 11e fixed to the rear arm base 11b. And a rear arm clamper 18 disposed on the rear side. The forearm clamper 17 restrains and fixes the runner 11e of the forearm pedestal 11a to the guide rail 6e disposed on the front surface portion 6a of the main frame 6 in the work transfer direction. On the other hand, the rear arm clamper 18 restrains and fixes the runner 11e of the rear arm base 11b to the guide rail 6e disposed on the rear surface portion 6b of the main frame 6 in the work conveyance direction.

  Here, the pneumatic clamper 16 (17, 18) is a normally closed pneumatic clamper, and clamps the guide rail 6e of the linear guide when compressed air is discharged from the clamper 16 (17, 18). The runner 11e is restrained and fixed at a predetermined position of the guide rail 6e, while the clamp of the linear guide guide rail 6e is released when compressed air is supplied to the clamper 16 (17, 18), and the runner 11e is It is movable with respect to the guide rail 6e.

  FIG. 6A is a plan view of the work carriage 2, and FIG. 6B is a front view of the work carriage 2. As shown in FIG. 6, the work carriage 2 is formed symmetrically with respect to a center line (a chain line in the drawing) passing through the center position in the extending direction of the main frame 6. The two pairs of front and rear fixed arm members 9 are arranged one by one at positions that are symmetrical with respect to the center line of the main frame 6.

  FIG. 7 is an explanatory view showing the movable range of the four movable arm units 10, FIG. 7 (a) is a plan view, and FIG. 7 (b) is a front view. In the drawing, the state in which the movable arm unit 10 is at the rightmost end of the first movable range A1 and the second movable range A2 is shown by a solid line, and the movable arm unit 10 is shown in the first movable range A1 and the second movable range A2. The state moved to the leftmost end is shown by a two-dot chain line.

  In the work carriage 2, in the extending direction of the main frame 6, the portions that are outward from the arrangement portion of the pair of front and rear fixed arm members 9 are movable ranges of the movable arm unit 10. Specifically, one side portion (left side in FIG. 6) of the extending direction of the main frame 6 is a first movable range A1 in which the two movable arm units 10 can move. The other side portion in the direction (right side in FIG. 6) is a second movable range A2 in which the remaining two movable arm units 10 can move.

  As described above, the main frame 6 is provided with two movable arm units 10 each on one half and the other half in the extending direction. In the first and second movable ranges A2 of the main frame 6, guide rails 6e for guiding the movable arm unit 10 are provided.

  The guide rails 6e are respectively disposed on the front surface portion 6a and the rear surface portion 6b in the workpiece conveying direction in the first movable range A1 and the second movable range A2, and the extending direction of the main frame 6 (the left-right direction in FIG. 4). It is lined up towards. Thus, since the guide rail 6e is disposed on the vertical surface of the front surface portion 6a and the rear surface portion 6b of the main frame 6, it is not necessary to dispose a linear guide on the upper surface portion 6c of the main frame 6. Thus, the thickness of the work carriage 2 is reduced and the work carriage 2 is made thinner.

  Further, a cable 19 for accommodating and supporting various connection wires such as cables and hoses wired and piped to each movable arm unit 10 is disposed on the front portion 6a of the main frame 6 in the work transfer direction. Yes.

  The cables supporting guide members 19 for the two movable arm units 10 in the first movable range A1 are located within the first movable range A1 in the main frame 6 and two movable in the second movable range A2. Those for the arm unit 10 are provided in the main frame 6 in the second movable range A2. Note that the arrangement position of the cables support guide member 19 is not necessarily limited to the front surface portion 6a of the main frame 6 in the work conveyance direction, and may be provided adjacent to the rear surface portion 6b of the main frame 6 in the work conveyance direction. good.

  According to the work carriage 2 and the work conveyance device 1 configured as described above, as shown in FIG. 1, the work W is stacked and placed in the stock space 30 and is conveyed by the work conveyance device 1 therefrom. Then, it is carried into the press device 20 and processed.

  Specifically, the work carriage 2 is moved above the work W in the stock space 30 by the two robot arms 5, and the work W at the uppermost position is attracted and suspended by the plurality of vacuum cups 13. . The work carriage 2 from which the work W is suspended is transferred toward the press apparatus 20 by the two robot arms 5 and is carried into the press apparatus 20 together with the work W.

  When the work carriage 2 reaches a predetermined position in the press device 20, suction by the plurality of vacuum cups 13 is stopped, and after the work W is placed in the press device 20, the work carriage 2 is moved by the two robot arms 5. Is transferred to the outside of the press device 20.

  When the work carriage 2 is unloaded from the press device 20, the work W is processed by the press device 20. The work carriage 2 carried out of the press apparatus 20 is transferred again to the stock space 30 of the work W by the robot arm 5 to carry the next work W to the press apparatus 20 and repeats the above-described operation. .

  According to the work carriage 2, the position of the plurality of vacuum cups 13 is changed by appropriately moving the movable arm unit 10 in the extending direction of the main frame 6 by the driving device 4. Specifically, after the work carriage 2 is transferred to the lower position of the moving body 8 of the driving device 4 by the robot arm 5, the moving body 8 is moved downward and moved to the driving connection hole 11 d of the traveling member 11. When the connecting pin 8a is inserted and engaged, compressed air is supplied to the forearm clamper 17 and the rear arm clamper 18 by a pneumatic control device (not shown), and the forearm clamper 17 and the rear arm clamper 18 are restrained. The travel member 11 is released and can move in the extending direction of the main frame 6.

  Thereafter, when the moving body 8 is driven by the driving device 4 and the traveling member 11 is moved to a desired position in the extending direction of the main frame 6, the pair of front and rear moving arm members 14 of the movable arm unit 10 are The position of the main frame 6 in the extending direction is changed by being moved together with the traveling member 11. By changing the positions of the pair of front and rear moving arm members 14, the vacuum cups 13 disposed on them are changed in the direction perpendicular to the workpiece transfer direction.

  After the position of the movable arm unit 10 is changed, the moving body 8 is moved upward, so that the connection state between the drive connecting hole 11d of the traveling member 11 and the connecting pin 8a of the moving body 8 is released. Then, the supply of compressed air to the forearm clamper 17 and the rear arm clamper 18 is stopped by the pneumatic control device. Then, the restrained state of the forearm clamper 17 and the rear arm clamper 18 is recovered, and the traveling member 11 is restrained and fixed to the main frame 6. By the operation of the forearm clamper 17 and the rear arm clamper 18, the pair of front and rear movable arm members 14 and the plurality of vacuum cups 13 disposed thereon are positioned and fixed at the changed positions.

  In this way, depending on whether or not the movable arm unit 10 needs to be moved by the driving device 4, the forearm clamper 17 and the rear arm clamper 18 are automatically stopped or released.

  As described above, according to the work carriage 2 of this embodiment and the work transfer device 1 including the work carriage 2, the moving arm member 14 and the fixed arm member 9 extend from the main frame 6 in both the front and rear directions. Therefore, compared with the case where the movable arm member 14 or the fixed arm member 9 is extended only on either the front side or the rear side, the length of each of the movable arm member 14 and the fixed arm member 9 can be shortened. In addition, the rigidity against the bending deformation of the movable arm member 14 and the fixed arm member 9 and the performance against vibration suppression can be improved.

  For this reason, when the workpiece W is attracted and suspended by the workpiece carriage 2, each moving arm member 14 and each fixed arm member 9 can be prevented from being greatly bent and deformed without resisting its own weight and the weight of the workpiece W, As a result, since the deflection of the workpiece W suspended by suction can be reduced, it can greatly contribute to the increase in the conveyance speed of the workpiece W.

  Further, since the drive device 4 that moves and changes the position of the movable arm unit 10 is provided separately from the work carriage 2, an increase in weight associated with mounting the drive device 4 on the work carriage 2 is avoided. It is possible to prevent a decrease in the conveyance speed of the work carriage 2.

  In addition, since the driving connection hole 11d into which the connecting pin 8a of the driving device 4 is inserted and engaged is provided on the upper surface portion 6c of the traveling member 11, the moving body 8 of the driving device 4 can be disposed above the work carriage 2. Yes (see FIG. 1). For this reason, there is no need to dispose the moving body 8 of the driving device 4 below the work carriage 2, so the space below the work carriage 2 is effectively used as the stock space 30 on which the work W is stacked and placed. Can be used.

  Further, the pair of front and rear movable arm members 14 and the pair of front and rear fixed arm members 9 are disposed within the height of the main frame 6 at the front and rear surfaces 6a and 6b in the workpiece conveyance direction of the main frame 6, respectively. There is no need to dispose the arm member 14 and the fixed arm member 9 on the upper surface portion 6c or the lower surface portion 6d of the main frame 6, so that the work carriage 2 as a whole can be reduced in thickness.

  The present invention has been described based on the embodiments. However, the present invention is not limited to the above-described embodiments, and various improvements and modifications can be easily made without departing from the spirit of the present invention. It can be guessed.

  For example, as a modification of the work carriage 2 of the first embodiment described above, for the forearm clamper 17 and the rear arm clamper 18 using the normally closed type pneumatic clamper 16, the drive connecting hole 11d is provided in the forearm clamper 17 as shown in FIG. The connecting pin 8a of the driving device 4 is also detachable for supplying compressed air to the forearm clamper 17 and the rear arm clamper 18 as a compressed air supply port for releasing the clamp of the rear arm clamper 18. You may make it also use as a joint joint.

  In this way, by inserting and engaging the connecting pin 8a into the drive connecting hole 11d, compressed air is automatically supplied to the forearm clamper 17 and the rear arm clamper 18, and the forearm clamper 17 and the rear arm clamper 17 are thereby supplied. The restrained state by the arm clamper 18 can be automatically released, and supply of compressed air to the forearm clamper 17 and the rear arm clamper 18 by removing the connecting pin 8a from the drive connecting hole 11d. Is automatically stopped, and the restrained state by the forearm clamper 17 and the rear arm clamper 18 can be automatically recovered.

  Further, in the present embodiment, the air suction type vacuum cup 13 is described as an example of the suction portion, but the aspect of the suction portion is not necessarily limited to this, and for example, a magnetic force such as an electromagnet is used. It may be an adsorption part.

1 Work Transfer Device 2 Work Carriage 3 Transfer Device 4 Drive Device 5 Robot Arm (Part of Transfer Device)
6 Front side of main frame 6a (front side of workpiece transfer direction on main frame)
6b Front part (rear part of workpiece transfer direction on main frame)
6c Upper surface (upper surface of main frame)
6d Lower surface (lower surface of main frame)
6e Guide rail 7 Suction part 8 Moving body 8a Connecting pin 9 Fixed arm member (a pair of front and rear fixed arm members)
DESCRIPTION OF SYMBOLS 10 Movable arm unit 11 Traveling member 11a Forearm base 11b Rear arm base 11c Connection board (continuous connection part)
11d Drive connection hole (drive connection part)
11e Runner 12 Attachment 13 Vacuum cup (Suction part)
14 Moving arm member (a pair of front and rear arm members)
15 Fixing device 16 Pneumatic clamper (brake device)
17 Forearm clamper (Forearm brake, part of brake device)
18 Rear arm clamper (rear arm brake, part of brake device)
19 Cable support guide member 20 Press device (processing device)
A1 first movable range (one movable range of movable arm unit)
A2 Second movable range (the other movable range of the movable arm unit)
W Work

Claims (8)

In the work carriage having a plurality of suction portions for sucking and hanging the work, a transfer device for transferring the work carriage and transferring the work to the processing device, and the work carriage transferred by the transfer device In the work carriage in the work transport device provided with a drive device that moves and changes the position of the suction portion,
A main frame that extends perpendicularly to the transfer direction of the workpiece by the transfer device, is supported by being connected to both ends of the extension direction in the transfer device, and moved in the transfer direction of the workpiece by the transfer device;
A traveling member disposed on the main frame so as to be movable in the extending direction of the main frame; a drive connecting portion provided on the traveling member and detachably coupled to the driving device; and A pair of front and rear arm members that extend forward and rearward in the conveying direction and perpendicular to the extending direction of the main frame, and the plurality of suction portions that are disposed on the arm members and suck workpieces from above. One or more movable arm units,
The traveling member of the movable arm unit is restrained and fixed to the main frame in a state where the drive connecting portion and the drive device are not connected, while the main body is connected in the connected state between the drive connecting portion and the drive device. A brake device for releasing the restraint so as to be movable with respect to the frame ;
The drive connecting portion that is detachably connected to a moving body of the driving device that reciprocates in the extending direction of the main frame, and is provided below the moving body and provided on an upper surface portion of the traveling member. And the drive connecting portion ,
A work carriage formed separately from the driving device. The traveling member is disposed on a front arm pedestal disposed on a front surface portion of the main frame in the workpiece conveyance direction and to which a base end portion of the front arm member is fixed, and a rear surface portion of the main frame in the workpiece conveyance direction. A rear arm base to which the base end portion of the rear arm member is fixed, a rear arm base and a forearm base connected to each other on the upper surface of the main frame, and a continuous portion work carriage according to claim 1, characterized in that it comprises a said drive connection. The brake device is provided on the forearm pedestal and is disposed on the forearm pedestal to restrain and fix the forearm pedestal at a predetermined position on the front surface of the main frame in the workpiece transfer direction. The work carriage according to claim 2, further comprising a rear arm brake that is restrained and fixed at a predetermined position on a rear surface portion of the main frame in the conveyance direction of the work. The main frame is provided on each of the front surface portion and the rear surface portion in the workpiece conveyance direction, and includes guide rails that are continuously provided in the extending direction of the main frame.
The forearm pedestal is engaged so as to be movable along the guide rail on the guide rail disposed on the front portion of the main frame,
4. The workpiece according to claim 2 , wherein the rear arm pedestal is engaged with the guide rail disposed on the rear surface portion of the main frame so as to be movable along the guide rail. 5. carriage. A pair of front and rear that are fixed to the front and rear surfaces of the main frame in the workpiece conveyance direction so as to be immovable, extend forward and rearward in the workpiece conveyance direction from the fixed portions, and are orthogonal to the extension direction of the main frame. A fixed arm member,
Before and after the pair of fixing arms member is set, or, according to any of claims 1 to 4, characterized in that said are provided two or more sets at a predetermined interval in the extending direction of the main frame Work carriage. Of the two or more movable arm units, the movable range of some of the movable arm units is within a range of one half of the extending direction in the main frame, and the movable range of the remaining movable arm units is extended in the main frame. work carriage according to any of claims 1 5, characterized in that in the arrangement direction of the other side half range. A cable support guide member that accommodates a connection line such as a cable or a hose wired or piped to the one or more movable arm units is either the front surface portion or the rear surface portion in the workpiece conveyance direction of the main frame. Meanwhile workpiece carriage according to any of claims 1 to 6, characterized in that it is parallel in. A work carriage according to any one of claims 1 to 7 ;
A transfer device for transferring the workpiece carriage and transferring the workpiece to the processing device;
And a drive device for moving and changing the position of one or more movable arm units in the work carriage transferred by the transfer device.

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