JP6829542B2 - Work transfer device - Google Patents

Description

The present invention relates to a work transfer device.

Patent Document 1 discloses a compound processing apparatus for processing a work. In the composite processing apparatus disclosed in Patent Document 1, a transport table 11 is arranged in a central portion, and a groove cutting device 13, a groove chamfering device 14, a groove grinding device 15, and a groove measuring device 16 surround the transport table 11. Then, the NC control device 28 controls processing and measurement.

Japanese Unexamined Patent Publication No. 2005-349532

However, in the composite processing apparatus disclosed in Patent Document 1, a plurality of fixed jigs 12 (fixed jigs 12a, 12b, 12c, 12d) are provided on the transport table 11, and the hydraulic cylinder 36 and the clamper 32 are provided for each fixed jig 12. Each is provided. That is, a plurality of hydraulic cylinders 36 are indispensable for transporting and processing a plurality of workpieces 100 by the transport table 11, and it is possible to avoid an increase in cost and an increase in installation space due to the installation of a large number of such parts. There is a problem that there is no.

The present invention has been made in view of the above-mentioned circumstances, and the work can be transferred while being gripped by a plurality of gripping portions, and the gripping state of these gripping portions can be changed by a common operating device. Providing a work transfer device is an issue to be solved.

The work transfer device of the present invention has a transport table that rotates in the circumferential direction, a grip portion that is arranged in the circumferential direction of the transport table and grips the work, and either the center side or the outer peripheral side of the rotation path of the grip portion. On the side, a first operating device installed so as not to rotate in the circumferential direction of the transport table is provided. The first operating device includes a first operating unit that acts on the grip portion, and a first driving unit that moves the first operating unit to a position that acts on the grip portion and a position that retracts the grip portion. Then, in the first operating device, while facing the grip portion , the first operating portion moves to the position where the first operating portion acts on the grip portion, and the first operating portion becomes the grip portion. On the other hand, the operation of changing the gripping state of the work is performed.

According to the present invention, a plurality of workpieces can be gripped by gripping portions arranged in the circumferential direction of the transport table, and these works can be transferred by rotation of the transport table. Further, as the transport table rotates, a plurality of grip portions arranged in the circumferential direction sequentially face the first operating device, and the first operating device changes the gripping state of the work in a state of facing the grip portion. It is composed. That is, since the gripping state of a plurality of gripping portions can be changed by a common operating device, it is possible to realize a configuration in which the gripping state of each gripping portion can be changed while simplifying the configuration and saving space. it can. Further, according to the present invention, a first operation unit is used as a common operation unit, and the first operation unit is driven by the first drive unit. It can be changed sequentially.

In the present invention, the first operating portion may have a protruding portion. Then, in the present invention, the grip of the work is released by moving the first driving portion to a position where the protruding portion is pressed against the grip portion, and the work is gripped by retracting the protruding portion from the grip portion. It may be a configuration.

According to this configuration, each grip portion is gripped by a simple configuration in which a protrusion formed in the first operation portion is used as a common pressing action portion and the protrusion is moved by the first drive portion. Can be switched to the open state.

The present invention may further include a second operating device that is arranged on the other side of the center side or the outer peripheral side of the rotation path of the grip portion and changes the state of the grip portion. The second operating device may include a second operating unit that acts on the grip portion and a second driving unit that moves the second operating unit to a position that acts on the grip portion and a position that retracts the second operating unit. ..

According to this configuration, since the grip portion can be operated from both the central side and the outer peripheral side of the rotation path of the grip portion, the degree of freedom in processing and assembling the work is increased, and the degree of freedom is increased from both sides. It becomes more advantageous in the application where the operation of is desired.

In the present invention, the grip portion may include a grip body portion that grips the work and a rotation support portion that rotatably supports the grip body portion. Then, the second operating portion may have a configuration that acts to rotate the gripping main body portion at a predetermined angle.

According to this configuration, since the gripping main body portion can be rotated by the second operating portion, the posture of the work gripped by the gripping main body portion can be changed in the process of transferring the work. Therefore, the degree of freedom in processing and assembling can be further increased, and it can be applied to applications where it is required to change the posture in the process of transferring the work.

In the present invention, the grip portion may include a switching portion that switches the rotation of the grip body portion with respect to the rotation support portion between the regulated state and the released state. Then, the second operating portion may rotate the gripping main body portion at a predetermined angle in a state where the rotation of the gripping main body portion is switched to the released state by the switching portion.

In this configuration, when the posture of the work should be set to one posture, the posture of the work can be surely maintained by setting the regulation state to regulate the rotation. On the other hand, in a situation where a posture change is required, such posture holding can be canceled and the posture can be changed to another proper posture for processing or assembly.

It is a perspective view of the work transfer apparatus of Embodiment 1. FIG. It is a top view of the work transfer apparatus of Embodiment 1. It is a front view of the work transfer device of Embodiment 1. It is a perspective view which shows the work gripping device of the work transfer device of Embodiment 1. It is a front view of the work gripping device. It is a side view of the work gripping device. It is a rear view of the work gripping device. It is a top view of the work gripping device. It is a vertical sectional view of the work gripping device. It is a cross-sectional view of the gripping unit. It is an enlarged view which enlarged a part of FIG. It is a perspective view which shows the switching operation device and the release operation device. It is a top view which shows the switching operation device and the release operation device. (A) is an explanatory diagram for explaining the release operation, and (B) is an explanatory diagram for explaining the switching operation.

<Embodiment 1>
The first embodiment, which is an example of embodying the work transfer device of the present invention, will be described with reference to the drawings.

First, the outline of the work transfer device 1 of the first embodiment will be described. The work transfer device 1 shown in FIGS. 1 to 3 has a configuration in which the work 190 (FIGS. 2, 5, and 6) is gripped by the work gripping device 10 as shown in FIGS. 4 to 6. In FIGS. 2, 5, 6, 6 and the like, the outer shape of the work 190 to be gripped is virtually illustrated by a two-dot chain line.

First, the outline of the work transfer device 1 will be described.
The work transfer device 1 shown in FIGS. 1 to 3 performs a switching operation between a rotating body 3 that rotates around a rotating shaft C2 (FIGS. 2 and 3) and a rotating driving device 2 that drives the rotating body 3. It includes a switching operation device 5, a release operation device 7 that performs a release operation, and a rotation operation device 9 that performs a rotation operation.

As shown in FIG. 2, the rotating body 3 has a configuration in which a plurality of work gripping devices 10 are arranged at equal intervals apart from the rotating shaft C2 and rotate about the rotating shaft C2. The rotation driving device 2 functions as a control unit, has a configuration in which a driving force for rotation is applied to the rotating body 3, and operates so as to control the rotating body 3 to be stopped at a plurality of rotation positions. By driving the rotating body 3 by the rotation driving device 2, the plurality of work gripping devices 10 move along a predetermined rotation path, and each of the plurality of work gripping devices 10 has a plurality of predetermined stop positions. It works to stop at.

The work gripping device 10 forming a part of the rotating body 3 functions as a gripping portion, and has a configuration in which the work 190 is continuously pressed and gripped by a support member to which an elastic force from the first urging portion is transmitted. The work gripping device 10 has an appearance as shown in FIG. 4, and targets the work 190 as shown in FIGS. 5 and 6 for gripping. The work 190 to be gripped has a plurality of receiving portions 192 having holes 194 formed on one side thereof.

As shown in FIGS. 5 and 6, the work gripping device 10 is provided with a first support portion 21, and the first support portion 21 is formed with any one of a plurality of receiving portions 192 formed on the work 190. It is configured as a convex portion that comes into contact with each other in the inserted state. Further, the work gripping device 10 is provided with a second support portion 22 having a configuration in which the distance from the first support portion 21 changes, and the second support portion 22 is along the projecting direction of the first support portion 21. It is configured as a convex portion to be arranged. The second support portion 22 comes into contact with the second receiving portion 192B, which is different from the first receiving portion 192A in which the first support portion 21 is inserted, among the plurality of receiving portions 192 formed on the work 190 in the inserted state. Make up the composition.

As shown in FIG. 5, the work transfer device 1 is provided with a gripping operation unit 30. The gripping operation portion 30 includes a spring member 32 which is an elastic member corresponding to an example of the first urging portion, and the spring member 32 urges the second support portion 22 based on the elastic force generated by itself. The spring member 32 exerts a continuous force on the second support portion 22 toward a first direction (one side in the lateral direction that is closer to the first support portion 21) orthogonal to the extension direction of the second support portion 22. It is configured to be urged to give. The gripping operation portion 30 has an inner wall surface of the receiving portion 192 at each of the first supporting portion 21 and the second supporting portion 22 in a state where the first supporting portion 21 and the second supporting portion 22 are fitted with the receiving portion 192, respectively. Generates a force that continuously pushes.

Further, the work transfer device 1 is provided with a grip release portion. Specifically, the link mechanism 40 shown in FIGS. 5 and 10 functions as a grip release portion, and is located at a predetermined position (rear end portion 44A of the shaft member 44) of the work gripping device 10 from the outside in a predetermined direction (forward direction). It operates in response to the application of force. The link mechanism 40 attaches a continuous force (specifically, specifically, the elastic force of the spring member 32) to the second support portion 22 by the gripping operation portion 30 in the first direction. The second support portion 22 is moved in the direction opposite to the first direction against the force), and the grip by the first support portion 21 and the second support portion 22 is released.

The two release operation devices 7 (first release operation device 7A, second release operation device 7B) shown in FIGS. 1 and 2 function as inner operation devices and have the configurations shown in FIGS. 12 and 13. Eggplant. The two release operation devices 7 have the same configuration, and both drive the inner operation unit 100 and the inner operation unit 100 arranged inside the rotation path of the work gripping device 10 (grip unit). It is provided with an inner drive unit (actuator 104). The inner drive unit (actuator 104) is configured as an actuator that displaces the inner operation unit 100 to at least a position that acts on the work gripping device 10 and a position retracted from the work gripping device 10. In the release operation device 7, when the work gripping device 10 is stopped at a predetermined position (a position facing the operation unit 100) under the control of the rotation drive device 2, the actuator 104 holds the inner operation unit 100 on the work gripping device 10. Performs an operation operation to move to a position that acts on.

The switching operation device 5 shown in FIGS. 1 and 2 also functions as an inner operation device and has the configurations shown in FIGS. 12 and 13. The switching operation device 5 includes an inner operation unit 110 arranged inside the rotation path of the work gripping device 10 and an inner drive unit (actuator 114) for driving the inner operation unit 110. The actuator 114 is configured as an actuator that displaces the inner operating portion 110 to at least a position that acts on the work gripping device 10 and a position retracted from the work gripping device 10. In the switching operation device 5, the inner actuator 114 grips the inner operation unit 110 when the work gripping device 10 is stopped at a predetermined position (a position facing the operation unit 110) under the control of the rotation drive device 2. An operation operation for moving the device 10 to a position acting on the device 10 is performed.

The rotation operating device 9 shown in FIGS. 1 and 2 functions as an outer operating device. The rotation operation device 9 has an outer operation unit 121, 122 arranged outside the rotation path of the work gripping device 10 (grip unit) and an outer drive unit 124 for driving the outer operation unit 121, 122. Be prepared. The outer drive unit 124 is configured as a device that displaces the outer operation units 121, 122 to at least a position that acts on the work gripping device 10 and a position retracted from the work gripping device 10. In the rotation operation device 9, the outer drive unit 124 grips the outer operation units 121 and 122 at the time when the work gripping device 10 is stopped at a predetermined position (position facing the outer operation units 121 and 122). An operation operation for moving the device 10 to a position acting on the device 10 is performed. Further, the rotation operation device 9 also performs a rotation operation for rotating the gripping main body portion 12 of the work gripping device 10.

Next, the rotating body 3 will be described in detail.
As shown in FIGS. 1 to 3, the rotating body 3 includes a rotary table 3A as a base and a plurality of work gripping devices 10 fixed to the rotary table 3A, and these are integrally rotated. Eggplant. The plurality of work gripping devices 10 are arranged at equal intervals in the circumferential direction centered on the rotation axis C2. As shown in FIG. 2, all the rotation axes C1 in the plurality of work gripping devices 10 are arranged on a predetermined virtual plane orthogonal to the rotation axis C2 of the rotating body 3. The plurality of work gripping devices 10 have the same angle formed by both rotation axes C1 of both work gripping devices 10 (72 ° in the example of FIG. 2) in any pair of adjacent work gripping devices 10. It has become. In FIGS. 1 and 2, the plurality of work gripping devices 10 are specifically described as the first work gripping device 10A, the second work gripping device 10B, the third work gripping device 10C, the fourth work gripping device 10D, and the fifth work. It is shown as a gripping device 10E, which has the same structure. Hereinafter, the structure common to all the work gripping devices 10 will be described.

The work gripping device 10 has an appearance as shown in FIGS. 4 to 8, and as shown in FIG. 4, the gripping main body portion 12 which is a portion for gripping the work 190 (FIG. 5) and the gripping main body portion 12 can be rotated. A support base 14 (rotational support portion) for supporting is provided. As shown in FIG. 5, in the gripping main body portion 12, the first support portion 21, the second support portion 22, and the gripping operation portion 30 described above are integrally assembled, and these are integrally assembled around the rotation shaft C1. It has a structure that can rotate. In the following description, the direction parallel to the rotation axis C1 of the gripping main body 12 is the front-rear direction of the work gripping device 10, and the direction parallel to the rotation axis C2 of the rotation drive device 2 shown in FIG. 2 is the work gripping device 10. In the vertical direction of. Then, the directions orthogonal to the front-rear direction and the vertical direction are defined as the lateral direction of the work gripping device 10.

As shown in FIGS. 9 and 10, the gripping main body portion 12 includes a base portion 50 in which a through hole portion 50A extending in a direction orthogonal to the rotation axis C2 (FIG. 2) of the rotation driving device 2 is formed. Further, the gripping main body portion 12 includes a displacement portion 52 having a configuration capable of approaching and separating from the base portion 50, and a spring member 54 that applies an elastic force in a direction in which the base portion 50 and the displacement portion 52 are separated from each other. The base 50 is integrally composed of a plurality of parts and is rotatably held by a support base 14. A bearing portion 16 is provided between the base portion 50 and the support base 14. The base 50 is rotatably supported by the support base 14 via the bearing portion 16 in a state where the movement in the direction of the rotation axis C1 is restricted and the movement in the plane direction orthogonal to the rotation axis C1 is restricted, and the base portion 50 rotates. It is configured to rotate around the axis C1.

As shown in FIG. 4, the support base 14 holds a support plate 90 extending in the vertical direction with the radius of gyration direction orthogonal to the rotation axis C2 (FIG. 2) of the rotation drive device 2 as the plate thickness direction, and the support plate 90. It also includes a base portion 94 fixed to the rotary table 3A of the rotary drive device 2. Further, arm portions 91 and 92 are connected to the support base 14 in a fixed state, and these arm portions 91 and 92 extend from the rear surface portion of the support plate 90 to the rear side of the work gripping device 10. As shown in FIGS. 9 and 10, the support plate 90 of the support base 14 is formed with a through hole portion 90A penetrating in the plate thickness direction (front-rear direction), and is inserted through the through hole portion 90A. The base 50 is arranged at. A bearing portion 16 is arranged between the inner peripheral portion of the through hole portion 90A and the outer peripheral portion of the base portion 50, and the base portion 50 can rotate while being supported by the bearing portion 16. The base portion 50 includes an intermediate portion 62 which is a portion to be inserted through the through hole portion 90A. Further, the base portion 50 has a front wall portion 64 projecting in the radius of gyration direction orthogonal to the rotation axis C1 on the front end side of the intermediate portion 62, and a radius of gyration direction orthogonal to the rotation axis C1 on the rear end side of the intermediate portion 62. It is provided with a rear wall portion 66 overhanging.

As shown in FIG. 10, a first support portion 21, a second support portion 22, a gripping operation portion 30, and the like are provided on the front surface portion 50B formed on the front surface side of the front wall portion 64 in the base portion 50. The first support portion 21 is configured as a convex portion. The first support portion 21 has a configuration that projects forward along the front-rear direction and is non-displaceable with respect to a portion (that is, an intermediate portion 62) supported by the support plate 90 at the base portion 50, and the intermediate portion 62. It is fixed so that the positional relationship with and does not change. As shown in FIG. 11, the first support portion 21 is formed in a columnar shape centered on the center line B1 in the front-rear direction, and the tip portion has a tapered shape. The first support portion 21 is configured such that the relative displacement in the front-rear direction with respect to the support base 14 and the relative displacement in the plane direction orthogonal to the rotation axis C1 are regulated, and the first support portion 21 is not relatively displaced in these directions. The distance between the center line B1 of the first support portion 21 and the rotation shaft C1 is always kept constant. The first support portion 21 configured in this way has a configuration in which it is inserted into the hole portion 194A formed in the work 190 and is in contact with the hole portion 194A (see also FIGS. 5 and 6).

The second support portion 22 is configured as a convex portion. The second support portion 22 has a structure that projects forward along the front-rear direction, and can be slightly displaced relative to the first support portion 21. The second support portion 22 projects forward from the base portion 34 movably configured on the front surface portion 50B of the base portion 50, and is arranged along the projecting direction (that is, the front-rear direction) of the first support portion 21. .. As shown in FIG. 11, the second support portion 22 is formed in a columnar shape centered on the center line B2 in the front-rear direction, and the tip portion has a tapered shape. The second support portion 22 is regulated from the relative displacement in the front-rear direction with respect to the support base 14, and the relative displacement in the front-rear direction with respect to the first support portion 21, and the first support portion 21 and the second support portion 22 have a front-rear positional relationship. It is designed not to change. On the other hand, the second support portion 22 is allowed to move relative to the rotation axis C1 in the plane direction, and the distance between the center line B2 of the second support portion 22 and the rotation axis C1 can be changed. Specifically, the base portion 34 is assembled so as to be able to slide laterally with respect to the front wall portion 64 fixed to the intermediate portion 62, and is fixed to the base portion 34 and the base portion 34 in the work gripping device 10. The second support portion 22 to be formed can slide in the lateral direction. The second support portion 22 of the second support portion 22 configured in this way has a configuration in which the second support portion 22 is inserted into the hole portion 194B formed in the work 190 and is in contact with the hole portion 194B (FIG. 5). , See also FIG. 6).

As shown in FIG. 5, a gripping operation portion 30 is provided on the front surface portion 50B formed on one surface side (front surface side) of the base portion 50. The gripping operation portion 30 includes the above-mentioned base portion 34 and a spring member 32 that applies an elastic force toward one side with respect to the base portion 34. The base portion 34 is interlocked with the second support portion 22 and is configured to move in a direction intersecting the direction of the convex portion constituting the second support portion 22. Specifically, the base portion 34 has a plate-like structure with the front-rear direction as the plate thickness direction, and is slidably held by the front wall portion 64. The base portion 34 is restricted from moving relative to the front wall portion 64 in the front-rear direction and the up-down direction, and the relative movement in the lateral direction (horizontal direction) is allowed within a predetermined range. The spring member 32 continuously pushes the base portion 34, which is configured to be slidable only in the lateral direction, toward one side in the lateral direction (the side where the second support portion 22 approaches the first support portion 21). Specifically, the spring member 32 is sandwiched between the fixed portion 36 fixed to the front wall portion 64 and the extending portion 34B extending downward from the main body portion 34A of the base portion 34, and the spring member 32 extends. The portion 34B is continuously pushed toward the side away from the fixed portion 36 (the side closer to the first support portion 21).

In this way, the base portion 34 is continuously pushed toward the side approaching the first support portion 21 by the elastic force of the spring member 32. Therefore, if the lateral distance between the second support portion 22 and the first support portion 21 is equal to or greater than the predetermined first distance, the second support portion 22 continuously tries to approach the first support portion 21. Proximity is generated. When the distance between the second support portion 22 and the first support portion 21 reaches the first gap, a stopper (not shown) regulates the operation of the base portion 34 to move closer to the first support portion 21 side. That is, the distance between the second support portion 22 and the first support portion 21 is the minimum distance within the range in which the first gap can be changed. On the other hand, when a force on the opposite side (the side away from the first support portion 21) is applied to the base portion 34 by the transmission member 42 during the release operation described later, the base portion 34 is placed on the other side in the lateral direction (first support). Move to the side away from the unit 21). Then, when the lateral distance between the second support portion 22 and the first support portion 21 reaches a predetermined second gap, the contact portion 36A forming a part of the fixing portion 36 and the extension portion 34B come into contact with each other. , The movement of the base portion 34 to move further away from the first support portion 21 is restricted. That is, the distance between the second support portion 22 and the first support portion 21 is the maximum distance within a range in which the second gap can be changed.

In this configuration, as shown in FIGS. 5 and 6, when the first support portion 21 is inserted into the hole portion 194A formed in the work 190 and the second support portion 22 is inserted into the hole portion 194B in the inserted state. , A force that tries to bring the second support portion 22 closer to the first support portion 21 side is continuously generated. Therefore, the portion between the hole portion 194A and the hole portion 194B in the work 190 is sandwiched between the first support portion 21 and the second support portion 22. At this time, the first support portion 21 comes into contact with the inner wall portion of the hole portion 194A in the inserted state inserted into the hole portion 194A, and continuously presses the inner wall portion, so that a frictional force is generated between them. .. Similarly, the second support portion 22 comes into contact with the inner wall portion of the hole portion 194B in the inserted state inserted into the hole portion 194B, and continuously presses the inner wall portion, so that a frictional force is generated between them. .. Therefore, the first support portion 21 and the second support portion 22 are less likely to come off from the holes 194A and 194B, and the work 190 is stably held by the gripping main body portion 12.

The predetermined first interval described above is the interval when the first support portion 21 and the second support portion 22 sandwich the portion between the hole portion 194A and the hole portion 194B (that is, the interval in the gripped state). ) Is narrower. Therefore, in the gripped state, the movement regulation by the stopper described above is not performed. Further, at the time of the predetermined second interval described above, the distance between the centers of the first support portion 21 and the second support portion 22, that is, the distance between the center line B1 and the center line B2 shown in FIG. 11 is the hole portion 194A. , 194B is set to be about the same as the center-to-center distance. The outer diameter of the first support portion 21 is slightly smaller than the inner diameter of the hole portion 194A, and the first support portion 21 is in the inserted state with a slight gap. Similarly, the outer diameter of the second support portion 22 is slightly smaller than the inner diameter of the hole portion 194B, and the second support portion 22 is in the inserted state with a slight gap. Therefore, at the time of the second interval, the first support portion 21 and the second support portion 22 can be easily inserted into the hole portions 194A and 194B, and the first support portion 21 and the second support portion 21 and the second support portion 21 and the second support portion are easily inserted from the hole portions 194A and 194B. It becomes easier to pull out 22.

Next, the release unit and the related configuration will be described.
As shown in FIGS. 9 and 10, the work transfer device 1 includes a link mechanism 40 composed of a transmission member 42 and a shaft member 44 provided in the work gripping device 10, and the link mechanism 40 serves as a gripping release portion. Function. A release operation device 7 (FIGS. 1, 2, etc.) capable of operating the link mechanism 40 is provided at a position different from the work gripping device 10.

As shown in FIG. 10, the shaft member 44 corresponds to an example of the shaft portion, and has a configuration that extends in the axial direction along the direction of the second support portion 22 and moves in the axial direction. Specifically, the axial direction of the shaft member 44 is the front-rear direction, and the shaft center of the shaft member 44 is the rotation shaft C1 described above. As shown in FIGS. 9 and 10, the gripping main body portion 12 is provided with a displacement portion 52 behind the rear wall portion 66 of the base portion 50, and the displacement portion 52 is arranged with the plate thickness direction in the front-rear direction. It is held. As shown in FIG. 10, the displacement portion 52 includes a displacement plate 70 configured in a plate shape, and a pair of spring members 71 and 72 continuously exerts a force on the displacement plate 70 in a direction away from the rear wall portion 66. Has been added. The base 50 does not move in the front-rear direction and is only allowed to rotate, and the spring members 71 and 72 keep the displacement portion 52 away from the base 50 with respect to the displacement portion 52 by continuously pushing the displacement portion 52 to the rear side. A downward (backward) force is constantly applied. In a state where no force is applied by the switching operation device 5 described later, the displacement portion 52 is maintained in the arrangement and posture as shown in FIGS. 9 and 10.

In the displacement portion 52, a through hole portion 70A penetrating in the plate thickness direction is formed in the central portion of the displacement plate 70, and the shaft member 44 is inserted inside the through hole portion 70A. That is, in the shaft member 44, the front side portion and the vicinity of the center are inserted through the through hole portion 50A of the base portion 50, and the vicinity of the rear end portion is inserted through the through hole portion 70A of the displacement portion 52. Then, as shown in FIGS. 4 and 7, the rear end portion 44A of the shaft member 44 is exposed to the rear side, and as shown in FIGS. 9 and 10, the front end portion 44B side of the shaft member 44 is the front wall portion 64. It is arranged in the vicinity and is connected to the transmission member 42. The transmission member 42 corresponds to an example of the conversion unit, and has a configuration in which the axial movement motion of the shaft member 44 is converted into the movement motion of the second support portion 22, and one end side is rotatably connected to the shaft member 44. The rotation axis of the connection is in the vertical direction. Further, the other end side of the transmission member 42 is rotatably connected to the above-mentioned base portion 34, and the rotation axis of the connection is in the vertical direction. The transmission member 42 configured in this way is configured to be displaced along a plane direction orthogonal to the vertical direction, and displacement in a direction intersecting the plane direction is restricted. Since one end side of the transmission member 42 is connected to the shaft member 44, it moves only in the front-rear direction, and the other end side of the transmission member 42 moves only in the lateral direction because it is connected to the base portion 34.

In the link mechanism 40 configured in this way, the shaft member 44 moves in the axial direction by applying a force to one end side installed in a second direction different from the first direction with respect to the shaft member 44. .. Then, the transmission member 42 is connected to the other end side of the shaft member 44 and the second support portion, and acts to convert the moving motion of the shaft member 44 into the moving motion of the second support portion 22. .. Specifically, the axial movement of the portion of the shaft member 44 arranged on one side in the axial direction (the portion on the front end 44B side) is converted into the lateral movement of the base 34. The lateral position of the base portion 34 corresponds to the position in the front-rear direction of the shaft member 44, and the more the shaft member 44 moves to the rear side in the axial direction, the more the base portion 34 moves to one side in the lateral direction (to the first support portion 21). Move to the approaching side). On the contrary, as the shaft member 44 moves forward in the axial direction, the base portion 34 moves to the other side in the lateral direction (the side away from the first support portion 21). As described above, the base portion 34 is continuously exerted by the spring member 32 shown in FIG. 5 on the side approaching the first support portion 21. Therefore, as shown in FIG. 5, in a state where the first support portion 21 and the second support portion 22 are inserted into the holes 194A and 194B and are not operated by the release operation device 7, the first support portion 21 and the second support portion 21 and the second support portion 22 are not operated. The support portion 22 is held at a position where the holes 194A and 194B are sandwiched between the support portions 22. Then, the shaft member 44 is arranged at a rear position corresponding to the position of the base portion 34 in the state of being sandwiched in this way.

On the other hand, as shown by the alternate long and short dash line shown in FIG. 14A, when the operation unit 100 of the release operation device 7 presses the shaft member 44 forward, the shaft member 44 moves forward from the rear position described above. To do. In response to such forward movement of the shaft member 44, the base portion 34 and the second support portion 22 move to the other side in the lateral direction (the side away from the first support portion 21).

The release operation device 7 shown in FIGS. 12 and 13 is a device that applies an operation force for moving the shaft member 44 in the axial direction, and is fixed to a fixed base 4 that is configured to be non-displaceable. In the examples of FIGS. 1 and 2, a first release operation device 7A used when the work 190 is carried into the work transfer device 1 and a second release operation device 7B used when the work 190 is carried out are provided. ing. These release operation devices 7A and 7B have the same structure. Hereinafter, the structure common to both release operation devices 7 will be described.

The release operation device 7 shown in FIGS. 12 and 13 is operated so as to push the operation target portion (specifically, the rear end portion 44A) provided on the rear end portion side of the shaft member 44 shown in FIGS. 9 and 10. It is a device to do. As shown in FIGS. 12 and 13, the release operation device 7 includes an operation unit 100 (inner operation unit) and an actuator 104 (inner drive unit) that drives the operation unit 100. The actuator 104 is composed of a linear actuator such as an air cylinder, and is configured to reciprocate the operation unit 100 along a predetermined direction (rotational radius direction) orthogonal to the rotation axis C2. The release operation device 7 reciprocates the operation unit 100 between the retracted position shown by the solid line in FIGS. 13 and 14 (A) and the approaching position shown by the alternate long and short dash line in FIGS. 13 and 14 (A). Make a configuration to make. As shown in FIG. 14A, the operation unit 100 is arranged so as to be separated from the path of the operation target portion (rear end portion 44A) in the work gripping device 10 at the retracted position and not act on the work gripping device 10. Then, at the approaching position, the arrangement is such that the work gripping device 10 can act on the path of the operation target portion (rear end portion 44A).

In the release operation device 7, as the actuator 104 moves the operation unit 100 to a position (the approaching position described above) that acts on the work gripping device 10, the operation unit 100 grips the work 190 with respect to the work gripping device 10. Perform an operation to change the state. Specifically, the holding state in which the portion between the hole portions 194A and 194B of the work 190 is pressed and sandwiched by the first support portion 21 and the second support portion 22 by the operation of the release operation device 7 and the like. It is possible to switch to the released state in which the pinching in the pressed state is released. As shown in FIG. 13, a protruding portion 102 is formed on the tip surface of the operating portion 100 so as to project in the moving direction of the operating unit 100 (in the radial direction of the rotating body 3), and as shown in FIG. 14A, the protruding portion 102 protrudes. The portion 102 is arranged at a height similar to that of the shaft member 44 in the vertical direction. In the release operation device 7, the actuator 104 shown in FIG. 13 drives the operation unit 100 when the rotating body 3 is stopped due to the positional relationship between the protrusion 102 and the shaft member 44, and the alternate long and short dash line in FIG. 14 (A). As described above, the protruding portion 102 is operated so as to push the rear end portion 44A of the shaft member 44.

As shown in FIGS. 1 and 2, in the work transfer device 1, the rotating body 3 is arranged in an annular shape around the fixing base 4, and rotates around the rotating shaft C2. On the other hand, the release operation device 7 and the switching operation device 5 fixed to the fixing base 4 are non-rotatably fixed, and each of them has a configuration extending in the radius of gyration direction orthogonal to the rotation axis C2 as shown in FIG. .. That is, the rotary table 3A and the plurality of work gripping devices 10 fixed to the rotary table 3A move relative to the release operation device 7 and the switching operation device 5 fixed to the fixing base 4. As a result, the positional relationship between the work gripping device 10 and the release operation device 7 and the switching operation device 5 changes.

Specifically, when the rotating body 3 reaches a predetermined rotation position, one of the release operation device 7 and the plurality of work gripping devices 10 are arranged to face each other. For example, in the example of FIG. 2, the release operation device 7A and the first work gripping device 10A are arranged to face each other, and the release operation device 7B and the fifth work gripping device 10E are arranged to face each other. At this time, as shown in FIG. 14A, the protruding portion 102 of the operation unit 100 provided in one release operation device 7 is formed on the axial extension of the shaft member 44 provided in one work gripping device 10. Be placed.

When the rotating body 3 is stopped while any of the release operation devices 7 and any of the work gripping devices 10 are in the positional relationship as shown in FIG. 14 (A), the actuator 104 of the release operation device 7 (FIG. 13). Is driven, and the operation unit 100 is displaced as shown by the alternate long and short dash line shown in FIG. 14 (A). Then, the protruding portion 102 formed on the operating portion 100 comes into contact with the rear end portion 44A of the shaft member 44 and pushes the shaft member 44 forward. In the state where this pressing operation is not performed, the shaft member 44 is held at the solid line position (rear position) shown in FIG. 14 (A) by the elastic force of the spring member 32 (FIG. 5). When the pressing operation is performed by the protruding portion 102, the extruded shaft member 44 moves to the front side of the solid line position (rear position). When the shaft member 44 moves to the front side in this way, the link mechanism 40 performs a conversion operation accordingly, and the base portion 34 and the second support portion 22 move to the other side in the lateral direction (the side away from the first support portion 21). Move to. In the state where the shaft member 44 is pressed by the projecting portion 102 in this way, the extending portion 34B of the base portion 34 is maintained in a state of being in contact with the abutting portion 36A. In this state, the distance between the centers of the first support portion 21 and the second support portion 22 shown in FIG. 11 is about the same as the distance between the centers of the holes 194A and 194B (the second interval described above). The work 190 can be attached to the gripping main body 12 and the work 190 can be detached from the gripping main body 12.

In the work transfer device 1 shown in FIG. 2, a position (first position) facing the release operation device 7A in the movement range of the work gripping device 10 is a position (carry-in position) for receiving the work 190. As shown in FIG. 2, every time the rotating body 3 rotates by 72 ° from the state where the work gripping device 10A faces the release operation device 7A, the work gripping device 10 facing the release operation device 7A changes the work gripping device 10B. , The work gripping device 10C and the work gripping device 10D are switched in order. Further, in each of the work gripping devices 10, each time the rotating body 3 rotates by 72 ° with the carry-in position as the start position, the position facing the device 8A (second position) and the position facing the device 8B (third position). Position) is switched in sequence. Further, the position is sequentially switched to the position facing the switching operation device 5 and the rotation operation device 9 (fourth position) and the position facing the release operation device 7B (fifth position). Within the moving range of the work gripping device 10, the position facing the release operation device 7B (fifth position) is the position where the work 190 is removed (unloading position).

When the work gripping device 10 is in the carry-in position (first position) as in the first work gripping device 10A shown in FIG. 2, when the release operation is performed by the first release operation device 7A, the work gripping device 10 The distance between the centers of the first support portion 21 and the second support portion 22 is switched to the second interval described above. That is, when the release operation is performed at the carry-in position, the first support portion 21 and the second support portion 22 are spaced so that they can be easily inserted into the holes 194A and 194B of the work 190, and the work 190 can be easily assembled to the work gripping device 10. be able to. The work of attaching the work 190 to the work gripping device 10 at the carry-in position may be performed by an automatic moving device such as a robot, or may be manually performed by an operator. After the first support portion 21 and the second support portion 22 of the work gripping device 10 at the carry-in position are inserted into the holes 194A and 194B of the work 190, the drive of the actuator 104 of the first release operation device 7A is stopped. Then, the operation unit 100 is returned to the retracted position. In response to this, in the work gripping device 10, the shaft member 44 is returned to the rear position, the distance between the first support portion 21 and the second support portion 22 is narrowed, and the work 190 is in the gripped state.

When the work gripping device 10 is in the carry-out position (fifth position) as in the fifth work gripping device 10E shown in FIG. 2, when the release operation is performed by the second release operation device 7B, the work gripping device 10 The distance between the centers of the first support portion 21 and the second support portion 22 is switched to the second interval described above. That is, when the release operation is performed at the carry-out position, the first support portion 21 and the second support portion 22 can be easily pulled out from the holes 194A and 194B of the work 190, and the work 190 can be easily removed from the work gripping device 10. it can. The work of removing the work 190 from the work gripping device 10 at the carry-out position may be performed by an automatic moving device such as a robot, or may be manually performed by an operator. After the work 190 is removed from the work gripping device 10 in the carry-out position, the drive of the actuator 104 in the second release operation device 7B is stopped, and the operation unit 100 is returned to the retracted position.

Next, the switching unit and related configurations will be described.
As shown in FIGS. 9 and 10, the work gripping device 10 is provided with a position holding mechanism 18 that determines the relative position of the gripping main body 12 with respect to the support base 14. Further, a switching operation device 5 for operating the position holding mechanism 18 is provided inside the rotation path of the work gripping device 10, and a rotation operation device for rotating the gripping main body 12 is provided outside the rotation path of the work gripping device 10. 9 is provided.

The position holding mechanism 18 corresponds to an example of the rotation restricting portion, and has a function of restricting the rotation of the gripping main body portion 12 with respect to the support base 14 (rotation support portion). Then, when an external force is applied to the position holding mechanism 18 (rotation regulating unit) by the switching operation device 5, the rotation restriction of the gripping main body 12 with respect to the support base 14 is released. Specifically, the position holding mechanism 18 switches the state of the gripping main body 12 supported by the support base 14 into a "rotation-regulated state" that regulates rotation and a "rotation-allowed state" that allows rotation. Make up the composition. The position holding mechanism 18 switches the state of the gripping main body 12 supported by the support base 14 to the "allowable rotation state" when a predetermined switching operation is performed from the outside, and when this switching operation is released, The state of the gripping main body 12 supported by the support base 14 is switched to the "rotation restricted state". The "rotation restricted state" is a state in which the gripping main body 12 cannot rotate with respect to the support base 14, and the gripping main body 12 is positioned at one rotation position to determine the posture of the gripping main body 12. is there. The "allowable state of rotation" is a state in which the gripping main body 12 can rotate with respect to the support base 14, and the posture of the gripping main body 12 can be changed by rotating the gripping main body 12. .. Then, the gripping main body 12 rotates in response to a predetermined rotation operation being performed from the outside by the rotation operation device 9 in a state of being switched to the "allowable state of rotation" by the position holding mechanism 18, and the support base It is configured to change the posture with respect to 14.

The position holding mechanism 18 mainly includes a displacement portion 52, a slide mechanism for holding the displacement portion 52 so as to be slidable in the front-rear direction, spring members 71 and 72, arm portions 91 and 92, and a protruding portion 96. .. In this configuration, the rear wall portion 66 provided on the gripping main body portion 12 corresponds to the first receiving plate, and the displacement portion 52 corresponds to the second receiving plate. Then, the rear wall portion 66 (first receiving plate) and the displacement portion 52 (second receiving plate) are arranged so as to face each other. The arm portions 91, 92 and the protruding portion 96 correspond to an example of the rotational positioning portion, and are connected to the support base 14 and come into contact with the displacement portion 52 to perform rotational positioning of the gripping main body portion 12. The spring members 71 and 72 provided between the rear wall portion 66 and the displacement portion 52 correspond to the second urging portion, and urge the displacement portion 52 in the direction (rear side) of the rotational positioning portion to urge the displacement portion 52. Functions to contact the protrusion 96. Then, in this position holding mechanism 18, by moving the displacement portion 52 in the direction opposite to the urging direction of the spring members 71 and 72 (that is, the front side), the protruding portion 96 and the displacement portion 52 are not in contact with each other, and the gripping main body The rotational positioning of the portion 12 is released. The plate-shaped displacement portion 52 is formed with a hole portion 74 penetrating in the thickness direction. The arm portion 91 of the support base 14 is formed with a protruding portion 96 projecting forward. As shown in FIG. 10, when the displacement portion 52 is not switched and the gripping main body portion 12 is in a predetermined rotation position, the protruding portion 96 is inserted into the hole portion 74. In this state, the vicinity of the tip portion of the arm portion 91 is arranged on the rear side of the displacement portion 52, and the protruding portion 96 protruding near the tip portion of the arm portion 91 is inserted from the rear side with respect to the hole portion 74. Since the protruding portion 96 on the support base 14 side and the hole portion 74 on the gripping main body portion 12 side are fitted in this way, the gripping main body portion 12 cannot rotate. Since the displacement portion 52 is continuously pushed to the rear side by the spring members 71 and 72, the displacement portion 52 is shown in the figure when the displacement portion 52 is not switched (pressed to the front side). It is maintained in a rear position such as 10. Therefore, in a state where the switching operation with respect to the displacement portion 52 is not performed, the fitted state of the protruding portion 96 and the hole portion 74 is maintained, and the “rotation restricted state” is maintained.

As shown by the alternate long and short dash line in FIG. 14B, the switching operation device 5 pushes the displacement portion 52 forward against the forces of the spring members 71 and 72, and moves the displacement portion 52 forward. Operate. Then, as the displacement portion 52 approaches the rear wall portion 66, the hole portion 74 moves forward with respect to the protruding portion 96, and the protruding portion 96 comes out of the hole portion 74. When the protruding portion 96 comes out of the hole portion 74 in this way, the gripping main body portion 12 is in the “allowable state of rotation”, and the gripping main body portion 12 can rotate about the rotation axis C1.

Although not shown in FIG. 10 and the like, a protrusion (not shown) is also formed in the arm portion 92, and in the state of FIG. 10, this protrusion is fitted with a hole (not shown) formed in the displacement portion 52. ing. Then, when the displacement portion 52 is pushed forward by the switching operation device 5 as shown by the alternate long and short dash line in FIG. 14B, the protruding portion 96 is pulled out from the hole portion 74 and the protruding portion of the arm portion 92 is formed. (Not shown) also exits from the hole (not shown) of the displacement portion 52. As a result, the gripping main body portion 12 is in the “allowable state of rotation”.

Next, the operation operation by the switching operation device 5 and the rotation operation device 9 will be described.
The switching operation device 5 and the rotation operation device 9 hold the work piece arranged at a position (fourth position) between the switching operation device 5 and the rotation operation device 9 each time the rotating body 3 rotates by 72 ° and stops. Operate the device 10. For example, in the state of FIG. 2, the switching operation device 5 and the rotation operation device 9 operate the fourth work gripping device 10D.

The switching operation device 5 shown in FIGS. 12 and 13 is fixed to a fixed base 4 configured to be non-displaceable, and an operation target portion arranged at the rear end portion of the gripping main body portion 12 shown in FIGS. 9 and 10. (Specifically, it is a device operated to push the displacement portion 52). As shown in FIGS. 12 and 13, the switching operation device 5 includes an operation unit 110 (inner operation unit) and an actuator 114 (inner drive unit) that drives the operation unit 110. The actuator 114 is composed of a linear actuator such as an air cylinder, and is configured to reciprocate the operation unit 110 along a predetermined direction (rotational radius direction) orthogonal to the rotation axis C2. In the example of FIG. 12, an arm unit 113 for connecting the drive shaft of the actuator 114 and the operation unit 110 is provided, and the drive shaft of the actuator 114, the arm unit 113, and the operation unit 110 are integrated in the predetermined direction. It is configured to reciprocate to. The switching operation device 5 reciprocates the operation unit 110 between the retracted position shown by the solid line in FIGS. 13 and 14 (B) and the approaching position shown by the alternate long and short dash line in FIGS. 13 and 14 (B). Make a configuration to operate. As shown in FIG. 14B, the operation unit 110 is arranged so as to be separated from the path of the operation target portion (displacement unit 52) in the work gripping device 10 and not act on the work gripping device 10 at the retracted position. Then, at the approaching position, the arrangement is such that it can approach the path of the operation target portion (displacement portion 52) and act on the work gripping device 10.

In the switching operation device 5, as the actuator 114 moves the operation unit 110 to a position (the approaching position described above) that acts on the work gripping device 10, the operation unit 110 grips the work 190 with respect to the work gripping device 10. Perform an operation to change the state. Specifically, the switching operation device 5 moves the operation unit 110 to a position (approaching position) that acts on the work gripping device 10, so that the gripping state of the work gripping device 10 is not allowed to change the posture of the work 190. The state is changed from the state to the state where the posture change of the work 190 is allowed.

As shown in FIG. 14B, the operating portion 110 is formed with a hole portion 112 that is recessed to the rear side near the central portion of the front end portion 111, and the inner diameter of the hole portion 112 is larger than the outer diameter of the shaft member 44. Is also large, and is arranged at the same height as the shaft member 44 in the vertical direction. In the switching operation device 5, the actuator 114 shown in FIG. 13 drives the operation unit 110 when the rotating body 3 is stopped due to the positional relationship between the hole portion 112 and the shaft member 44, and the alternate long and short dash line in FIG. 14 (B). As described above, the front end portion 111 is operated to push the displacement plate 70 of the displacement portion 52. At this time, the shaft member 44 does not move in the front-rear direction, and the rear end portion 44A is inserted into the hole portion 112. Further, the operating portion 110 is rotatably connected to the tip portion 113A forming a part of the arm portion 113, and the operating portion 119 presses the displacement portion 52 as shown by the alternate long and short dash line in FIG. 14B. In this state, the operation unit 110 and the gripping body unit 12 can rotate integrally. In this way, in a state where the operation unit 110 and the gripping main body 12 can rotate integrally, the rotation operating device 9 described later performs an operation so as to rotate the gripping main body 12.

As shown in FIG. 2, the rotation operation device 9 has an outer operation unit 121, 122 arranged outside the rotation path of the work gripping device 10 (grip unit) and an outer operation unit 121, 122 for driving the outer operation unit 121, 122. A drive unit 124 is provided. The outer drive unit 124 is a portion that functions to rotate the outer operation units 121 and 122 together with the grip body unit 12 in a state of being moved to a position that acts on the grip body unit 12. Specifically, in a state where the above-mentioned position holding mechanism 18 (switching unit) switches the gripping main body 12 to the “rotation allowed state” in response to the operation of the switching operation device 5, the outer operating units 121 and 122 are moved. It operates so as to rotate together with the gripping body portion 12.

Holes 121A and 122A are formed in the outer operating portions 121 and 122, respectively. Then, in a state where the direction of the rotation axis C3 of the rotation operation device 9 and the direction of the rotation axis C1 of the gripping body portion 12 are aligned in the same direction, the holes 121A and 122A are held in the protruding portions 12A and 12B of the gripping body portion 12. It operates so as to be fitted into and rotate these integrally. Specifically, the protruding portions 12A and 12B are formed so as to project forward in the gripping main body portion 12.

The rotation operating device 9 has two points shown in FIGS. 2 and 8 when the rotation position is such that the direction of the rotation axis C3 of the rotation operation device 9 and the direction of the rotation axis C1 of the gripping main body 12 are aligned in the same direction. Like the chain wire, the operating portions 121 and 122 are moved toward the gripping main body portion 12 along the direction of the rotation axis C3. The rotation operation device 9 grips the unit in which the operation units 121 and 122 and the rotation device 126 are integrated while aligning the direction of the rotation axis C3 of the rotation operation device 9 with the direction of the rotation axis C1 of the gripping main body portion 12. A moving device 125 for moving to the main body 12 side is provided. Further, a rotating device 126 for rotating the operating units 121 and 122 around the rotating shaft C3 is provided.

In this configuration, when the moving device 125 moves the unit in which the operating units 121 and 122 and the rotating device 126 are integrated to the gripping main body 12 side, the protruding portion of the gripping main body 12 is inserted into the holes 121A and 122A. 12A and 12B are inserted respectively. In such an inserted state, the rotating device 126 rotates the operating units 121 and 122, so that the gripping main body portion 12 rotates. The angle at which the rotating device 126 rotates the operating units 121 and 122 is not particularly limited, and may be 180 °, 90 °, or any other angle. The rotating device 126 is adapted to hold this angle for a certain period of time in a state where the operating units 121 and 122 are rotated by a predetermined angle from the states shown in FIGS. 2 and 8, whereby the work 190 is in a rotating posture. Will be held at. While the work 190 is held in the rotated posture in this way, the parts may be assembled or processed by an assembling device or a processing device (not shown).

As described above, the work transfer device 1 having the present configuration includes a rotary table 3A (conveyor table) that rotates in the circumferential direction and a work gripping device 10 (grip portion) that grips the work 190, and the work gripping device 10 is provided. A plurality of rotary tables 3A are arranged in the circumferential direction. A first operating device (switching operating device 5, releasing operating device 7) is installed in a fixed state on the center side of the rotation path of the work gripping device 10 so as not to rotate in the circumferential direction of the rotary table 3A. Then, these first operation devices (switching operation device 5, release operation device 7) operate so as to change the gripping state of the work while facing the work gripping device 10. According to this configuration, a plurality of works 190 are gripped by the work gripping devices 10 arranged in the circumferential direction of the rotary table 3A (conveyor table), and these works 190 are transferred by the rotation of the rotary table 3A. Can be done. Further, as the rotary table 3A rotates, a plurality of work gripping devices 10 arranged in the circumferential direction sequentially face the first operation device (switching operation device 5, release operation device 7). Then, the first operation device (switching operation device 5, release operation device 7) can change the gripping state of the work 190 while facing the work gripping device 10. That is, since the gripping state of the plurality of work gripping devices 10 can be changed by the common operation device (the switching operation device 5 and the release operation device 7), the gripping state of each work gripping device 10 can be changed. It can be realized while trying to simplify and save space.

The switching operation device 5 and the release operation device 7 corresponding to the first operation device both have a first operation unit that acts on the work gripping device 10, a position where the first operation unit acts on the work gripping device 10, and a position. It is provided with a first drive unit for moving to a position to be retracted. For example, the switching operation device 5 includes an operation unit 110 (first operation unit) that acts on the work gripping device 10 and an actuator 114 (the first operation unit) that moves the operation unit 110 to a position that acts on the work gripping device 10 and a position to retract the work. 1 drive unit). The release operation device 7 includes an operation unit 100 (first operation unit) that acts on the work gripping device 10 and an actuator 104 (first operation unit) that moves the operation unit 100 to a position that acts on the work gripping device 10 and a position to retract the work. It is equipped with a drive unit). According to this configuration, the operation units 100 and 110 (first operation unit) are used as a common operation unit, and the operation units 100 and 110 are driven by the actuators 104 and 114. The gripping state of the device 10 can be sequentially changed.

In the release operation device 7 corresponding to the first operation device, a protrusion 102 is formed in the operation unit 100 (first operation unit). Then, the actuator 104 (first driving unit) moves the protruding portion 102 to the pressing position (the position where the protruding portion 102 presses the work gripping device 10), so that the gripping of the work 190 is released. .. Further, the work 190 is gripped by retracting the protruding portion 102 from the work gripping device 10. According to this configuration, each work has a simple configuration in which the protruding portion 102 formed in the operating portion 100 (first operating portion) is used as a common pressing action portion and the protruding portion 102 is moved by the actuator 104. The gripping device 10 can be switched between a gripping state and an open state.

The work transfer device 1 having the present configuration is provided with a rotation operation device 9 (second operation device) for changing the state of the work gripping device 10 on the outer peripheral side of the rotation path of the work gripping device 10. Then, the rotation operation device 9 is a position where the operation units 121 and 122 (second operation unit) and the operation units 121 and 122 (second operation unit) that act on the work gripping device 10 act on the work gripping device 10. And a drive unit 124 (second drive unit) for moving to a position to be retracted. According to this configuration, the work gripping device 10 can be operated from both the central side and the outer peripheral side of the rotation path of the work gripping device 10, so that the work 190 has a degree of freedom in processing and assembling. Will be more advantageous in applications where operation from both sides is desired.

In the work transfer device 1 having this configuration, the work gripping device 10 (grasping portion) has a gripping main body portion 12 that grips the work 190 and a support base 14 (rotary support portion) that rotatably supports the gripping main body portion 12. Be prepared. Then, the operating units 121 and 122 (second operating units) act to rotate the gripping main body portion 12 at a predetermined angle. According to this configuration, since the gripping main body portion 12 can be rotated by the operating portions 121 and 122, the posture of the work 190 gripped by the gripping main body portion 12 can be changed in the process of transferring the work 190. .. Therefore, the degree of freedom in processing and assembling can be further increased, and it can be applied to applications where it is required to change the posture of the work in the transfer process.

Further, the work gripping device 10 (grip portion) includes a position holding mechanism 18 (switching portion) that switches the rotation of the gripping main body portion 12 with respect to the support base 14 (rotational support portion) between the regulated state and the released state. Then, the operation units 121 and 122 (second operation unit) rotate the grip body portion 12 at a predetermined angle in a state where the rotation of the grip body portion 12 is switched to the released state by the position holding mechanism 18. .. In this configuration, when the posture of the work 190 should be set to one posture, the posture of the work 190 can be surely maintained by setting the regulation state to regulate the rotation. On the other hand, in a situation where a posture change is required, such posture holding can be canceled and the posture can be changed to another proper posture for processing or assembly.

The present invention is not limited to the embodiments described in the above description and drawings, and for example, the following embodiments are also included in the technical scope of the present invention.
(1) In the first embodiment, an example in which only one first support portion is provided is shown, but the first support portion may be two or more. Similarly, the number of second supports may be two or more.
(2) Although the conversion unit having a configuration including two members is illustrated in the first embodiment, the conversion unit may be a link mechanism composed of two or more members. Further, the present invention is not limited to this, and other known mechanisms capable of converting the displacement in a predetermined direction into other directions may be adopted.
(3) In the first embodiment, an example in which the elastic member indirectly transmits a force to the second support portion via the interlocking portion is shown, but the elastic member directly applies a force to the second support portion. It may be a configuration.
(4) In the first embodiment, a configuration is shown in which the release portion operates in response to a force applied in the front direction to the rear end portion of the shaft member, but the present invention is not limited to this. For example, another member may be connected near the rear end portion of the shaft member, or the shaft member may be displaced in the front-rear direction by operating the other member. In addition to these configurations, any operation configuration that can apply a force in the front-rear direction to the shaft member may be used.
(5) In the first embodiment, the configurations of the devices 8A and 8B of FIG. 2 are not particularly limited, but as various devices such as an assembly device for assembling parts to the work 190 and a processing device for processing the work 190. Can be configured. Further, the apparatus shown in FIG. 2 is merely an example, and an apparatus other than the apparatus shown in FIG. 2 may be arranged.
(6) In the first embodiment, the configuration in which the gripping operation unit 30 applies a continuous force to the side approaching the first support unit 21 with respect to the second support unit 22 is illustrated, but it moves away from the first support unit 21. You may give continuous force to the side.
(7) In the first embodiment, the rotation position of the gripping main body portion 12 is determined by inserting the protruding portion 96 provided in the arm portion 91 into the hole portion 74 provided in the displacement portion 52. Any structure may be used as long as it can hold the twelve in a non-rotatable state. For example, the unevenness may be reversed between the arm portion 91 side and the gripping main body portion 12 side. That is, the rotation position may be determined by forming a protruding portion in the displacement portion 52 and inserting the protruding portion into the hole formed in the arm portion 91.
(8) In the first embodiment, the operation device provided on the central side of the rotation path of the work gripping device 10 is used as the first operation device, but the operation device provided on the outer peripheral side of the rotation path of the work gripping device 10 May be used as the first operating device. Further, in the first embodiment, an example in which a plurality of types and a plurality of first operating devices are provided is shown, but the first operating device may be one type or only one. Good. Further, in the first embodiment, the operation device provided on the outer peripheral side of the rotation path of the work gripping device 10 is used as the second operation device, but the operation device provided on the center side of the rotation path of the work gripping device 10 is used. It may be used as a second operating device. Further, in the first embodiment, an example in which one type and one second operating device is provided is shown, but the second operating device may be of a plurality of types or may be two or more. ..

1 ... Work transfer device, 3A ... Rotating table (transport table), 5 ... Switching operating device (first operating device), 7 ... Release operating device (first operating device), 9 ... Rotating operating device (second operating device) Operating device), 10 ... Work gripping device (grip part), 12 ... Gripping body part, 14 ... Support base (rotary support part), 18 ... Position holding mechanism (switching part), 100, 110 ... Operation part (first Operation unit), 102 ... Projection unit, 104, 114 ... Actuator (first drive unit), 121, 122 ... Operation unit (second operation unit), 124 ... Drive unit (second drive unit), 190 ... work

Claims (5)

A carrier that rotates in the circumferential direction and
A plurality of gripping portions arranged in the circumferential direction of the transport table to grip the work, and
A first operating device installed on either the center side or the outer peripheral side of the rotation path of the grip portion so as not to rotate in the circumferential direction of the transport table.
With
The first operating device is a first operating portion that acts on the grip portion and a linear actuator that moves the first operating portion to a position that acts on the grip portion and a position that retracts the grip portion along a predetermined direction. The work is provided with a first drive unit and is moved to a position where the first drive unit presses the first operation unit against the grip portion while facing the grip portion. The work transfer device is characterized in that the work is gripped by releasing the grip of the work and retracting the first operating portion from the grip portion . A carrier that rotates in the circumferential direction and
A plurality of gripping portions arranged in the circumferential direction of the transport table to grip the work, and
A first operating device installed on either the center side or the outer peripheral side of the rotation path of the grip portion so as not to rotate in the circumferential direction of the transport table.
With
The first operating device is a first operating portion that acts on the grip portion and a linear actuator that moves the first operating portion to a position that acts on the grip portion and a position that retracts the grip portion along a predetermined direction. The work is provided with a first drive unit and is moved to a position where the first drive unit presses the first operation unit against the grip portion while facing the grip portion. Change from the state where the posture change of the work is not allowed to the state where the posture change of the work is allowed.
A work transfer device characterized in that. The first operating portion has a protruding portion and has a protruding portion.
The grip of the work is released by moving the protruding portion to a position where the first driving portion presses against the grip portion.
The work is gripped by retracting the protruding portion from the grip portion.
The work transfer device according to claim 1. A carrier that rotates in the circumferential direction and
A plurality of gripping portions arranged in the circumferential direction of the transport table to grip the work, and
A first operating device installed on either the center side or the outer peripheral side of the rotation path of the grip portion so as not to rotate in the circumferential direction of the transport table.
With
The first operating device changes the gripping state of the work while facing the gripping portion.
A second operating device, which is arranged on the center side or the other side of the outer peripheral side of the rotation path of the grip portion and changes the state of the grip portion, is further provided.
The second operating device is
A second operating portion that acts on the grip portion and
It includes a second driving unit that moves the second operating unit to a position that acts on the grip portion and a position that retracts the grip unit.
A work transfer device characterized in that. The grip portion
The gripping body that grips the work and
A rotary support portion that rotatably supports the grip body portion and
With
The second operation unit is
Acts to rotate the gripping body at a predetermined angle
The work transfer device according to claim 4, wherein the work transfer device is characterized in that.

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