JP7158122B2 - Work transfer device - Google Patents

Description

The present invention relates to a work conveying device for a press machine.

2. Description of the Related Art Conventionally, a work transfer apparatus using two SCARA robot units has been proposed as a work transfer apparatus for carrying a work into and out of a press machine (for example, Patent Document 1).

The work conveying device of Patent Document 1 has a holding portion at the tip of each SCARA robot, each holding portion holds two works and conveys the works to the press machine. The two holding parts are slidably connected to each other. For this reason, the work transfer trajectory of one SCARA robot and the work transfer trajectory of the other SCARA robot are substantially the same.

Japanese Patent Application Laid-Open No. 2009-208080

However, in the work conveying device of Patent Document 1, when one work is held by two holding parts, the two holding parts swing in directions toward and away from each other, so there is a possibility that the work may be distorted. It is considered that the vibration of the holding part is caused by the backlash in the gear of the joint part of the arm bar that constitutes the SCARA robot and the inertial force that accompanies the deceleration during the arm extension operation.

Accordingly, the present disclosure provides a work transfer device capable of suppressing the occurrence of distortion in a work even when transferring one work.

[1] One aspect of the work conveying device according to the present invention is
a substrate positioned adjacent to the press;
a pair of first arms whose proximal ends are rotatably supported with respect to the base;
a pair of second arms whose proximal ends are rotatably supported by the respective distal ends of the first arms;
a pair of holding parts independent of each other rotatably supported at respective tips of the second arms;
A work conveying device comprising
The holding unit includes a plurality of holding members each holding a work,
At least one of the holding parts is
a first support member that supports the plurality of holding members;
a second support member rotatably supported at the tip of the second arm and supporting the first support member;
an absorbing member provided between the first supporting member and the second supporting member;
including
The second support member movably supports the first support member along a cross direction that crosses the conveying direction in which the work is conveyed,
The absorbing member allows movement of the second supporting member with respect to the first supporting member in the cross direction and allows the second supporting member to return to an initial position in the cross direction with respect to the first supporting member. and
the absorbing member includes a first spring and a second spring comprising compression coil springs compressible between the first supporting member and the second supporting member;
the first spring compresses the second support member by moving closer to the other holding portion, and restores the second support member so as to move away from the other holding portion;
The second spring is characterized in that the second support member is compressed by moving away from the other holding portion, and is restored so as to move the second support member closer to the other holding portion . .

According to one aspect of the work conveying apparatus, it is possible to suppress the occurrence of distortion in the work even when one work is conveyed by a pair of holding portions that are independent of each other. Furthermore, according to one aspect of the work conveying apparatus, the compression and restoration of the compression coil spring can suppress the occurrence of distortion in the work even when one work is conveyed by a pair of mutually independent holding portions.
[2] Another aspect of the work conveying device according to the present invention is
a substrate positioned adjacent to the press;
a pair of first arms whose proximal ends are rotatably supported with respect to the base;
a pair of second arms whose proximal ends are rotatably supported by the respective distal ends of the first arms;
a pair of holding parts independent of each other rotatably supported at respective tips of the second arms;
A work conveying device comprising
The holding unit includes a plurality of holding members each holding a work,
At least one of the holding parts is
a first support member that supports the plurality of holding members;
a second support member rotatably supported at the tip of the second arm and supporting the first support member;
an absorbing member provided between the first supporting member and the second supporting member;
including
The second support member movably supports the first support member along a cross direction that crosses the conveying direction in which the work is conveyed,
The absorbing member allows movement of the second supporting member with respect to the first supporting member in the cross direction and allows the second supporting member to return to an initial position in the cross direction with respect to the first supporting member. and
the absorbing member includes a first cylinder and a second cylinder comprising pneumatic cylinders compressible between the first supporting member and the second supporting member;
The first cylinder is compressed by moving the second support member closer to the other holding portion, and restores the second support member so as to move away from the other holding portion;
The second cylinder is characterized in that the second cylinder is compressed by moving the second support member away from the other holding portion, and is restored so that the second support member moves closer to the other holding portion. .
According to one aspect of the work conveying device, one work is held by a pair of holding units independent of each other.
Even when conveying, it is possible to suppress the occurrence of distortion in the work. Furthermore, according to one aspect of the work conveying apparatus, the compression and restoration of the pneumatic cylinder can suppress the occurrence of distortion in the work even when one work is conveyed by a pair of mutually independent holding portions.
[3] Another aspect of the work conveying device according to the present invention is
a substrate positioned adjacent to the press;
a pair of first arms whose proximal ends are rotatably supported with respect to the base;
a pair of second arms whose proximal ends are rotatably supported by the respective distal ends of the first arms;
a pair of holding parts independent of each other rotatably supported at respective tips of the second arms;
A work conveying device comprising
The holding unit includes a plurality of holding members each holding a work,
At least one of the holding parts is
a first support member that supports the plurality of holding members;
a second support member rotatably supported at the tip of the second arm and supporting the first support member;
an absorbing member provided between the first supporting member and the second supporting member;
including
The second support member movably supports the first support member along a cross direction that crosses the conveying direction in which the work is conveyed,
The absorbing member allows movement of the second supporting member with respect to the first supporting member in the cross direction and allows the second supporting member to return to an initial position in the cross direction with respect to the first supporting member. and
The absorbing member includes a first magnet set and a second magnet set, which are arranged between the first supporting member and the second supporting member with the same poles facing each other and spaced apart from each other;
the first magnet set moves the second supporting member away from the other holding portion by a repulsive force generated when the second supporting member approaches the other holding portion;
The second magnet set moves the second support member closer to the other holding portion by a repulsive force generated when the second supporting member moves away from the other holding portion. do.
According to one aspect of the work conveying apparatus, it is possible to suppress the occurrence of distortion in the work even when one work is conveyed by a pair of holding portions that are independent of each other. Furthermore, according to one aspect of the work conveying apparatus, the generation of distortion in the work can be suppressed even when one work is conveyed by a pair of mutually independent holding portions by adjusting the spacing using the repulsive force of the magnet set.

[ 4 ] In one aspect of the work transport device,
each of the pair of holding portions includes the first support member and the second support member;
At least one of the pair of holding parts includes the absorbing member,
In a state in which one of the workpieces is held by the pair of holding portions, while maintaining a first distance between one of the first supporting members and the other of the first supporting members, one of the second supporting members and The absorbing member is deformable so as to narrow the second distance from the other second supporting member, and the narrowed second distance is widened while the first distance is maintained. The absorbent member can be deformable.

According to one aspect of the work conveying device, by making it possible to adjust the second distance while maintaining the first distance, distortion occurs in the work even when one work is conveyed by a pair of mutually independent holding parts. can be suppressed.

[ 5 ] In one aspect of the work conveying device,
the first arm rotates about a first rotation axis with respect to the base;
the second arm rotates about a second rotation axis with respect to the first arm;
the second support member rotates about a third rotation axis with respect to the second arm;
The first rotating shaft, the second rotating shaft and the third rotating shaft may be parallel to each other.

According to one aspect of the work conveying device, it is possible to suppress the distortion of the work caused by the inertial force generated in each part such as the first arm due to deceleration and the backlash in the gear used for the rotational movement.

[ 6 ] In one aspect of the work conveying device,
the first support member comprises a guide member;
The second support member may include a guided member that slides and guides the guided member along the cross direction.

According to one aspect of the work transport device, by guiding the second support member with respect to the first support member, it is possible to prevent the displacement of the second support member occurring in the cross direction from being transmitted to the first support member.

[ 7 ] In one aspect of the work transport device,
further comprising a first lifting drive section and a second lifting drive section fixed to the base;
The first elevation driving unit raises and lowers one of the pair of first arms with respect to the base,
The second elevating drive section can elevate the other of the pair of first arms with respect to the base.

According to one aspect of the work conveying apparatus, the degree of freedom in setting the conveying trajectory of the work can be improved by independently raising and lowering the holding sections by the first elevation driving section and the second elevation driving section.

[ 8 ] In one aspect of the work transport device,
The movement of the second support member relative to the first support member in the cross direction and the return to the initial position can be performed at a release position where the holding member releases the workpiece.

According to one aspect of the work conveying device, it is possible to suppress the distortion of the workpiece at the release position where the workpiece is most likely to be distorted due to inertial force.

According to the work conveying apparatus of the present invention, it is possible to suppress the occurrence of distortion in the work even when one work is conveyed by a pair of holding portions.

It is a perspective view showing the whole work conveying device concerning this embodiment. It is a side view of the work conveying device concerning this embodiment. 1 is a front view of a work conveying device according to this embodiment; FIG. 1 is a plan view of a work conveying device according to this embodiment; FIG. 4 is an enlarged perspective view of an absorbing member of the work conveying device according to the embodiment; FIG. 3 is a plan view of an absorbing member of the work conveying device according to the embodiment; FIG. FIG. 4 is a plan view for explaining the operation of the absorbing member according to the embodiment; FIG. 4 is a plan view for explaining the operation of the absorbing member according to the embodiment; 4 is an enlarged perspective view of an absorbing member of the work conveying device according to the embodiment; FIG. FIG. 11 is a front view of an absorbing member of a work conveying device according to Modification 1; FIG. 11 is a plan view of an absorbing member of a work conveying device according to Modification 1; FIG. 11 is a plan view of an absorbing member of a work conveying device according to Modification 2; FIG. 11 is a front view of a first holding portion in a work conveying device according to Modification 3; FIG. 11 is a plan view of a first holding portion in a work conveying device according to Modification 3; FIG. 11 is a front view for explaining the operation of an absorbing member according to Modification 3; FIG. 11 is a front view for explaining the operation of an absorbing member according to Modification 3;

Preferred embodiments of the present invention will be described in detail below with reference to the drawings. It should be noted that the embodiments described below do not unduly limit the scope of the invention described in the claims. Moreover, not all the configurations described below are essential constituent elements of the present invention.

A work conveying device according to the present embodiment includes a substrate arranged adjacent to a press machine, a pair of first arms whose base ends are rotatably supported with respect to the substrate, and a pair of first arms. A work transfer device comprising: a pair of second arms rotatably supported at distal ends thereof; and a pair of independent holding portions rotatably supported at respective distal ends of the second arms. , the holding section includes a plurality of holding members each holding a workpiece, and at least one of the holding sections includes a first support member that supports the plurality of holding members and a rotatable tip of the second arm. a second supporting member that supports and supports the first supporting member; and an absorbing member that is provided between the first supporting member and the second supporting member, wherein the second supporting member comprises: The first supporting member is movably supported along a cross direction crossing the conveying direction in which the work is conveyed, and the absorbing member moves the second supporting member relative to the first supporting member in the cross direction. and the second support member can be returned to the initial position in the cross direction with respect to the first support member.

1. Overview of Work Transfer Device An overview of a work transfer device 1 according to the present embodiment will be described with reference to FIGS. 1 to 4. FIG. 1 is a perspective view showing the entire work conveying device 1 according to this embodiment, FIG. 2 is a side view of the work conveying device 1, FIG. 3 is a front view of the work conveying device 1, and FIG. 2 is a plan view of the work conveying device 1; FIG.

As shown in FIGS. 1 to 4, the work conveying device 1 carries the work W into the press machine and unloads the work W from the press machine. In this embodiment, an example in which the work conveying device 1 is arranged between two press machines will be described. The work conveying device 1 may be arranged, or the work conveying device 1 may be arranged as a product take-out device for taking out a product after press working. 1 to 4, the press machine is shown only by the lower mold 5a and the lower mold 5b, and the illustration of the main body of the press machine is omitted.

The work conveying device 1 conveys the work W along the conveying direction D from above the lower mold 5a on the upstream side toward above the lower mold 5b on the downstream side. As shown in FIG. 4, the conveying direction D is within a horizontal plane at an arbitrary height within the height range in which the work W is moved up and down by the work conveying device 1, and is the first position P1 where the work conveying device 1 receives the work W. and an intermediate position MP2 at the fifth position P5 where the work W is released. The intermediate position MP1 is the middle point between the first holding portion 21 and the second holding portion 22 at the first position P1. The intermediate position MP2 is the middle point between the first holding portion 21 and the second holding portion 22 . Therefore, the transport direction D does not have to indicate the actual transport locus of the work W. FIG.

A work conveying device 1 includes a base 2 arranged adjacent to a press machine, and a first unit 3 and a second unit 4 which are a pair of arm units.

The work conveying device 1 includes a control device 8 that controls operations of the first unit 3 and the second unit 4 . The control device 8 includes, for example, a storage unit that stores control programs, a computing unit that receives information from sensors in each unit and performs various computations based on the control program, and outputs commands to each driving unit based on the computation results. and a control unit. The control device 8 includes a CPU, RAM, ROM, etc., and may further include a display device and an input device.

The substrate 2 is arranged adjacent to the lower die 5a of the press machine on the upstream side and the lower die 5b of the press machine on the downstream side. The base 2 is fixed to, for example, a leg (not shown) standing on the same floor as the press machine and arranged at a predetermined height. The substrate 2 may also be fixed to an adjacent press machine.

The first unit 3 is provided on the side surface of the base body 2 so as to be vertically movable with respect to the base body 2 via the first lifting drive section 41 . The second unit 4 is provided on the side surface of the base body 2 so as to be vertically movable with respect to the base body 2 via a second elevating drive section 42 . The second unit 4 has basically the same structure as the first unit 3 and is symmetrical to the first unit 3 with respect to a plane extending vertically between the first unit 3 and the second unit 4 .

The first unit 3 and the second unit 4 have a pair of first arms 11, 11 whose base ends are rotatably supported with respect to the base body 2, and the base ends of the first arms 11, 11 rotate at the respective tips. A pair of second arms 12, 12 that are rotatably supported, and a first holding part 21 and a second holding part that are a pair of independent holding parts that are rotatably supported at respective ends of the second arms 12, 12. a portion 22; Since the first holding portion 21 and the second holding portion 22 are independent of each other, that is, the first holding portion 21 and the second holding portion 22 are not directly connected, the first unit 3 and the second unit 4 are separated from each other. It is possible to set the transport locus of the work W without the motion of one of them being physically restricted by the motion of the other.

While one workpiece W is held by the first holding part 21 and the second holding part 22, at least one holding part, such as the first holding part 21, moves the other holding part, such as the second holding part 22, closer to and away from it. You can move in any direction. One of the holding portions, such as the first holding portion 21, can return the other holding portion, such as the second holding portion 22, to the initial position in the direction of approach and separation. By configuring in this way, according to the work conveying device 1, even when one work W is conveyed by the first holding portion 21 and the second holding portion 22 which are independent of each other, the occurrence of distortion in the work W can be suppressed. can be done.

As shown in FIG. 4, the work conveying device 1 receives the work W from the press machine on the upstream side at the first position P1 on the lower die 5a, and bends the first unit 3 and the second unit 4 outward. At the fifth position P5 of the lower die 5b, the workpiece W is released to the press machine on the downstream side through the second position P2, the third position P3 and the fourth position P4.

1.1. Elevation Drive Section As shown in FIGS. 1 to 4, the first elevation drive section 41 and the second elevation drive section 42 are fixed to the base 2 . The first elevation drive section 41 raises and lowers the first arm 11 of the first unit 3 with respect to the base 2 , and the second elevation drive section 42 raises and lowers the first arm 11 of the second unit 4 with respect to the base 2 . do. Since the first elevation drive section 41 and the second elevation drive section 42 have the same basic configuration, the second elevation drive section 42 will be described here.

The second elevation driving section 42 includes a ball screw mechanism that rotates a screw shaft by an electric motor fixed to the base 2 . A screw shaft extending vertically downward of the electric motor is screwed with a nut portion having a ball. The screw shaft is rotated by an electric motor, and the nut part linearly moves up and down along the screw shaft. The nut portion is fixed to the side surface of the lifting body 45 . The elevating body 45 is a tubular frame having a rectangular cross section and extending upward from the base end of the first arm 11 . A pair of rails 44, 44 are provided on the other side surface of the lifting body 45 so as to extend in the vertical direction. A guide 43 that is slidably guided by a rail 44 is fixed to the side surface of the base body 2 .

When the electric motor of the second elevating drive unit 42 is driven, the screw shaft rotates to move the nut vertically, and the rails 44 of the elevating body 45 slide against the guides 43 fixed to the base 2 to elevate. A body 45 moves up and down with respect to the base body 2 .

In the work conveying device 1, each holding portion can be moved up and down independently by the first elevating drive section 41 and the second elevating drive section 42, so that the degree of freedom in setting the transfer trajectory of the work W can be improved. can. Each holding unit can be vertically moved independently, for example, the operation of one of the first lifting drive unit 41 and the second lifting drive unit 42 is not physically restricted by the operation of the other. This means that it is possible to set the up/down motion of the unit.

Other drive mechanisms can be employed for the first elevation drive unit 41 and the second elevation drive unit 42 as long as they lift the elevation body 45 with respect to the base 2. For example, rack and pinion, belt A known direct acting mechanism such as a drive can be employed.

1.2. Arm Unit As shown in FIGS. 1 to 4, the first unit 3 includes a first arm 11, a second arm 12, and a first holding section . The base end of the first arm 11 is rotatably supported with respect to the base 2 at the lower end of the elevating body 45 of the first elevating drive section 41 . The base end of the second arm 12 is rotatably supported on the lower surface of the tip portion of the first arm 11 . The first holding portion 21 is rotatably supported on the lower surface of the tip portion of the second arm 12 .

The second unit 4 includes a first arm 11, a second arm 12, and a second holding portion 22. The base end of the first arm 11 is rotatably supported with respect to the base 2 by the lower end of the elevating body 45 of the second elevating drive section 42 . The base end of the second arm 12 is rotatably supported on the lower surface of the tip portion of the first arm 11 . The second holding portion 22 is rotatably supported on the lower surface of the tip portion of the second arm 12 .

A first motor 51 is fixed to the lower end of the elevating body 45, and the driving of the first motor 51 causes the first arm 11 to rotate about the first rotation axis O1 with respect to the elevating body 45 (base 2). The first motor 51 is an electric motor. The first rotation axis O1 extends vertically through the center of the lifting body 45 . The driving force of the first motor 51 is transmitted to the first arm 11 via a plurality of gears (not shown).

A second motor 52 is provided inside the tip portion of the first arm 11 , and the second arm 12 is driven by the second motor 52 to rotate relative to the first arm 11 around the second rotation axis O<b>2 . The second motor 52 is an electric motor. The second rotation axis O2 extends vertically in a region where the distal end of the first arm 11 and the proximal end of the second arm 12 overlap vertically. The driving force of the second motor 52 is transmitted to the second arm 12 via a plurality of gears (not shown).

A third motor 53 is provided inside the distal end portion of the second arm 12 . By driving the third motor 53 , the first holding portion 21 or the second holding portion 22 is rotated with respect to the second arm 12 by the third rotation axis. Rotate around O3. The third motor 53 is an electric motor. The third rotation axis O3 extends vertically at a portion where the tip of the second arm 12 and the center of the first holding portion 21 or the center of the second holding portion 22 overlap vertically. The center of the first holding portion 21 is the center of the width of the first holding portion 21 in the transport direction D, and the center of the length of the first holding portion 21 in the orthogonal direction D1 orthogonal to the transport direction D. The length of the first holding portion 21 in the orthogonal direction D1 is the length of the first holding portion 21 when the work conveying device 1 is viewed from above. Similarly to the center of the first holding portion 21, the center of the second holding portion 22 is also the center of the width of the second holding portion 22 in the transport direction D and the center of the length in the orthogonal direction D1. The driving force of the third motor 53 is transmitted to the first holding portion 21 or the second holding portion 22 via a plurality of gears (not shown). It is assumed that the orthogonal direction D1 is within the horizontal plane including the transport direction D. As shown in FIG.

The first rotation axis O1, the second rotation axis O2 and the third rotation axis O3 are parallel to each other. By decelerating the conveying speed of the work W, the inertial force generated in the first arm 11 and the second arm 12 acts to bring the first holding portion 21 and the second holding portion 22 closer to each other, thereby It becomes a force that causes distortion. In addition, a plurality of gears are provided in each part of the first unit 3 and the second unit 4 for the rotation operation on each rotation shaft, and the backlash in the rotation stopping operation of these gears is caused by the first holding part 21. By acting to bring the second holding portion 22 closer, it becomes a force that causes the workpiece W to be distorted. In this way, the inertial force and the backlash are generated in the direction intersecting the conveying direction D (the According to the direction of each rotation axis, a force is generated to move the first holding part 21 and the second holding part 22 in the orthogonal direction D1). This force acts as a force that causes the first holding portion 21 and the second holding portion 22 to approach each other with respect to the second arm 12 that has stopped moving. By providing the mechanism of the first holding portion 21 and/or the second holding portion 22 described below, it is possible to suppress the distortion of the workpiece caused by the inertial force and backlash. In the above description, the problem is the distortion that occurs in the work W from when the work W is decelerated until it stops. It is preferable to have an effect also on the distortion that occurs in the workpiece W afterward.

1.3. Holding Section The first holding section 21 and the second holding section 22, which are holding sections, will be described with reference to FIGS. 1 to 6. FIG. 5 is a cross-sectional view along AA in FIG. 4 and an enlarged perspective view of the absorbing member 30 of the work conveying device 1 according to the present embodiment, and FIG. 6 is a cross-sectional view along BB in FIG. 3 is an enlarged plan view of member 30. FIG.

As shown in FIGS. 1 to 6, the first holding part 21 and the second holding part 22 each have a plurality of holding members 23 that hold the workpiece W. As shown in FIG. The holding member 23 is for holding the work W. For example, an adsorption structure using air suction such as a vacuum cup or a magnetic attachment structure using magnetism can be adopted. A clamping mechanism, a hook for suspending the workpiece W, or the like can be employed. In the illustrated example, four holding members 23 are provided in each holding portion, but the number of holding members 23 is not limited to this as long as the workpiece W can be stably held.

At least one of the holding portions, for example, the first holding portion 21, is rotatably supported by a first support member 24 that supports the plurality of holding members 23 and the tip of the second arm 12, and the first support member 24 is supported. A supporting second support member 26 and an absorbing member 30 provided between the first support member 24 and the second support member 26 are included. The first support member 24 and the second support member 26 are made of metal. The absorbent member 30 is shown in FIG.

Each of the first holding portion 21 and the second holding portion 22 has a first supporting member 24 and a second supporting member 26, and at least one of the first holding portion 21 and the second holding portion 22 has an absorbing member 30. may be If either one of the first holding portion 21 and the second holding portion 22 has the absorbing member 30, even if the distance between the first holding portion 21 and the second holding portion 22 is narrowed, distortion occurs in the workpiece W. can be suppressed. Both the first holding portion 21 and the second holding portion 22 may include the absorbing member 30 as in the present embodiment.

The second support member 26 supports the first support member 24 so as to be movable along the cross direction crossing the transport direction D in which the work W is transported. The cross direction is the orthogonal direction D1 in this embodiment. The intersecting direction may be a direction other than the orthogonal direction D1 as long as it is possible to suppress distortion of the workpiece W due to the inertial force and backlash described above. For example, depending on the shape of the workpiece W, the longitudinal direction of the first support member 24 may not coincide with the orthogonal direction D1, but the movement of the first support member 24 along the intersecting direction suppresses the distortion in the orthogonal direction D1. I wish I could. Since the second support member 26 supports the first support member 24 so as to be movable in the cross direction, it is possible to suppress the occurrence of distortion in the work W even when one work W is conveyed by a pair of holding portions.

The first support member 24 includes a mounting rod 240 extending along the orthogonal direction D1 and a first block 242 that fixes the two mounting rods 240 together. A through hole 244 is formed through the first block 242 along the orthogonal direction D1. Two mounting rods 240 are arranged side by side in parallel with the transport direction D. As shown in FIG. Two first blocks 242 are arranged at intervals in the orthogonal direction D1. The through hole 244 is formed only in one of the two first blocks 242 according to the arrangement of the absorbing member 30 .

The second support member 26 includes a crossbar 260 extending along the orthogonal direction D1 and two second blocks 262 fixed to protrude downward from both ends of the crossbar 260 . The crossbar 260 is supported at the tip of the second arm 12 so as to be rotatable around the third rotation axis O3 near the center in the orthogonal direction D1. The crossbar 260 has a fourth motor 54, and the crossbar 260 rotates around the fourth rotation axis O4. By driving the fourth motor 54 to tilt the first support member 24 and the holding member 23 , the workpiece W can be tilted with respect to the second arm 12 . The second block 262 is formed across the first block 242 in the orthogonal direction D1.

The first support member 24 includes a guide member 34 . The second support member 26 includes a guided member 35 that slides and guides the guide member 34 along the cross direction, for example, the orthogonal direction D1. The guided member 35 can be a linear shaft that connects the opposing inner surfaces of the second block 262 across the first block 242, and the guiding member 34 can be a linear bush that penetrates the first block 242 in the orthogonal direction D1. can be done. When the second support member 26 moves in the orthogonal direction D1, the linear shaft is guided by the linear bushing to allow movement of the first support member 24 along the cross direction. By sliding and guiding the second support member 26 with respect to the first support member 24, it is possible to prevent the displacement of the second support member 26 occurring in the cross direction from being transmitted to the first support member 24 and the workpiece W.

The guide member 34 and the guided member 35 may employ other known linear motion mechanisms as long as they can guide the second support member 26 along the cross direction, for example, the orthogonal direction D1. For example, a linear guide may be used. .

1.3.1. Absorption Member The absorption member 30 will be described in detail with reference to FIGS. 5 to 9. FIG. 7 and 8 are plan views for explaining the operation of the absorbing member 30, and FIG. 9 is an enlarged perspective view of the absorbing member 30 of the work conveying device 1 according to this embodiment. 7 and 8 show the state of each absorbing member 30 of the first holding portion 21 and the second holding portion 22 in an enlarged manner inside the dashed line circle.

As shown in FIGS. 5-9, the absorbent member 30 allows movement of the second support member 26 relative to the first support member 24 occurring in a cross direction, such as the orthogonal direction D1, and a second movement relative to the first support member 24. As shown in FIGS. The support member 26 can be returned to its initial position in the transverse direction. The initial position is the position before the second support member 26 moves relative to the first support member 24 in the cross direction. Also, the initial position is a neutral position where the absorbing member 30 is not substantially loaded. In order to move the first support member 24 even when the first support member 24 is slightly displaced from the initial position, a slight load may be applied to the absorbing member 30 at the initial position.

The movement of the second support member 26 relative to the first support member 24 in the cross direction and the return to the initial position can be performed at the fifth position P5 (FIG. 4), which is the releasing position where the holding member 23 releases the workpiece W. can. Since the second support member 26 can move closer to the first support member 24 without affecting the work W even when the work W is held by the holding member 23, the work W is most strained by inertial force and backlash. It is possible to suppress the distortion of the workpiece W at the release position where it is easy to release. Further, when the holding member 23 releases the workpiece W at the release position, the absorbing member 30 returns the first supporting member 24 and the second supporting member 26 to their initial positions. If the positions of the first support member 24 and the second support member 26 are at the initial positions, the holding member 23 can contact a desired portion of the workpiece W to be conveyed next.

As shown in FIGS. 7 and 8, in a state in which one workpiece W is held by the first holding portion 21 and the second holding portion 22, the first gap L1 is maintained and the second gap L2 is narrowed. The absorbing member 30 is deformable, and the absorbing member 30 is deformable so as to expand the narrowed second space L2 while maintaining the first space L1. The first distance L1 is the distance between the first support member 24 of the first holding portion 21 and the first support member 24 of the second holding portion 22, and the second distance L2 is the second distance between the first holding portion 21 and the second support member 24. It is the distance between the member 26 and the second support member 26 of the second holding portion 22 . The definition of the first interval L1 and the second interval L2 is, of course, premised on the initial state in which the first holding portion 21 and the second holding portion 22 are not rotated around the third rotation axis O3. do. The deformation of the absorbing member 30 means that the total length of the absorbing member 30 in the cross direction changes. If there is, the deformation that narrows the distance between the magnets is also included. By making it possible to adjust the second space L2 while maintaining the first space L1, it is possible to suppress the occurrence of distortion in the work W even when one work W is transported by a pair of mutually independent holding portions.

The absorption member 30 includes a first spring 31 and a second spring 32 which are compression coil springs compressible between the first support member 24 and the second support member 26 . The first spring 31 is provided facing the second spring 32 across the first block 242 in the orthogonal direction D1. The first spring 31 compresses the second support member 26 by moving closer to the second holding portion 22 , which is the other holding portion, and restores the second support member 26 away from the second holding portion 22 . do. Further, the second spring 32 can be compressed by moving the second support member 26 away from the second holding portion 22 , and can be restored so as to move the second support member 26 closer to the second holding portion 22 . . The compression and restoration of the compression coil spring can suppress the occurrence of distortion in the work W even when one work W is conveyed by a pair of mutually independent holding portions.

The first spring 31 is arranged to be wound around a flanged collar 264 extending from the inner surface of the second block 262 toward the first block 242 along the orthogonal direction D1. The flanged collar 264 is integrally provided with a collar portion having an outer diameter larger than that of the columnar body portion at the free end of the columnar body. One end of the first spring 31 contacts the inner surface of the second block 262 , and the other end contacts the washer 266 pressed against the tip of the flanged collar 264 . The second spring 32 is similarly mounted around the collar 264 with a collar.

As shown in FIGS. 5 and 6, the through hole 244 of the first block 242 allows the flange of the flanged collar 264 to pass therethrough, and the washer 266 cannot pass therethrough. Therefore, from the state in which the second support member 26 in FIG. 7 is at the initial position, the second support member 26 of the first holding portion 21 moves toward the second holding portion 22 as shown in FIG. 8 (downward in FIG. 8). ), the flanged collar 264 assumes the condition shown enlarged in FIG. As shown in FIG. 9, the second spring 32 is pressed and compressed against the washer 266 as the second block 262 moves, and the flanged collar 264 to which the second spring 32 is attached enters the through hole 244 . Therefore, when the holding member 23 releases the workpiece W, the restoring force that causes the second spring 32 to return to its original length acts between the washer 266 and the second block 262 to move the second supporting member 26 to the second position. 2 move away from the holding portion 22; Since the first spring 31 is on the opposite side, the second support member 26 gradually returns to its initial position. Note that the mounting structure of the first spring 31 and the second spring 32 is not limited to this.

2. Modification 1
Modification 1 of the work conveying device 1 will be described with reference to FIGS. 10 and 11. FIG. 10 is a front view of the absorbing member 30a of the first holding portion 21 in the work conveying device 1 according to Modification 1, and FIG. 11 is the absorbing member 30a of the first holding portion 21 in the work conveying device 1 according to Modification 1. is a plan view of the. The work conveying device 1 shown in FIGS. 10 and 11 is basically the same as the work conveying device 1 according to the above embodiment except for the structure of the absorbing member 30a. Therefore, the same reference numerals are used for the same members as in the above-described embodiment, and overlapping descriptions are omitted.

As shown in FIGS. 10 and 11, the absorbing member 30a of the first holding portion 21 includes a first cylinder 301 and a first cylinder 301 which are pneumatic cylinders compressible between the first supporting member 24 and the second supporting member . 2 cylinders 302 . Here, "compressible between the first support member 24 and the second support member 26" means a state in which the first support member 24 and the second support member 26 can be compressed by relative movement between the two. It means that Therefore, as shown in FIGS. 10 and 11, the first cylinder 301 or the second cylinder 302 is compressed by changing the distance between the first support member 24 and the second support member 26 along the orthogonal direction D1. Alternatively, an arrangement in which a pneumatic cylinder is sandwiched between the first support member 24 and the second support member 26 may be employed. Figure 10
and FIG. 11 shows the second support member 26 in its initial position with respect to the first support member 24 .

As for the first cylinder 301 and the second cylinder 302 , the respective cylinder tubes are fixed to the second block 262 so that the respective piston rods pass through the second block 262 . 6 is not formed in the first block 242, the tip of the piston rod of the first cylinder 301 contacts the side surface of the first block 242, and the piston rod of the second cylinder 302 The tip contacts the opposite side surface of the first block 242 . Compressed air is sent into the first cylinder 301 and the second cylinder 302 to always urge the respective piston rods toward the first block 242 side.

The first cylinder 301 compresses the second supporting member 26 by moving closer to the second holding portion 22 , which is the other holding portion, and restores the second supporting member 26 so as to move away from the second holding portion 22 . do. The second cylinder 302 is compressed by moving the second support member 26 away from the second holding portion 22 and restores the second support member 26 so as to move closer to the second holding portion 22 . By compressing and restoring the pneumatic cylinder, it is possible to suppress the occurrence of distortion in the work W even when one work W is conveyed by a pair of mutually independent holding portions.

Although the absorbing member 30a of the first holding portion 21 has been described, the second holding portion 22 may also be provided with a similar absorbing member 30a.

Further, the supply and discharge of compressed air to the first cylinder 301 and the second cylinder 302 may be controlled while the work W is being conveyed. For example, when the holding member 23 receives the workpiece W at the first position P1 in FIG. When W is adsorbed, the compressed air to each piston of the first cylinder 301 and the second cylinder 302 is deaerated or each piston is retreated to allow the movement of the second block 262 with respect to the first block 242, and furthermore, the fifth position P 5 , the pistons of the first cylinder 301 and the second cylinder 302 may be controlled to advance and return to the initial positions when the holding member 23 releases the workpiece W.

3. Modification 2
Modification 2 of the work conveying device 1 will be described with reference to FIG. 12 . FIG. 12 is a plan view of the absorbing member 30b of the first holding portion 21 in the work conveying device 1 according to Modification 2. As shown in FIG. The work conveying device 1 of FIG. 12 is basically the same as the work conveying device 1 according to the above embodiment except for the structure of the absorbing member 30b. Therefore, the same reference numerals are used for the same members as in the above-described embodiment, and overlapping descriptions are omitted.

As shown in FIG. 12, the absorbing member 30b of the first holding portion 21 is a first magnet composed of a set of magnets arranged with the same poles facing each other and spaced apart between the first supporting member 24 and the second supporting member 26. It includes a set 311 and a second magnet set 312 . The first magnet set 311 is composed of magnets 311a and 311b that are spaced apart from each other, and the magnets 311a and 311b are arranged such that the same poles face each other. The second magnet set 312 is composed of magnets 312a and 312b that are spaced apart from each other, and the magnets 312a and 312b are arranged such that the same poles face each other.

The first magnet set 311 moves the second supporting member 26 away from the other holding portion by the repulsive force generated when the second supporting member 26 moves closer to the second holding portion 22 which is the other holding portion. do. The second magnet set 312 moves the second support member 26 closer to the other holding portion by the repulsive force generated when the second supporting member 26 moves away from the second holding portion 22 which is the other holding portion. can do. By adjusting the gap by the repulsion of the magnet set, it is possible to suppress the occurrence of distortion in the work W even when one work W is conveyed by a pair of mutually independent holding portions.

Although the absorbing member 30b of the first holding portion 21 has been described, the second holding portion 22 may also be provided with a similar absorbing member 30b.

4. Modification 3
Modification 3 of the work transfer device 1 will be described with reference to FIGS. 13 to 16. FIG. 13 is a front view of the first holding portion 21 in the work conveying device 1 according to Modification 3, FIG. 14 is a plan view of the first holding portion 21 in the work conveying device 1 according to Modification 3, and FIG. 16A and 16B are diagrams explaining the operation of the absorbing member 30c according to Modification 3, and FIG. 16 are diagrams explaining the operation of the absorbing member 30c according to Modification 3. FIG. In FIGS. 13 to 16, portions of the first block 242 and the second block 262 and cross sections of the cylinder tubes of the first cylinder 301 and the second cylinder 302 are hatched. 13 to 16 will be described using the same reference numerals for the same members as those of the work transport device 1 according to the above-described embodiment, and redundant description will be omitted. The second holding portion 22 (not shown) does not include the absorbing member 30c, and the first supporting member 24 and the second supporting member 26 are integrated.

As shown in FIGS. 13 and 14, the absorbing member 30c of the first holding portion 21 includes a first cylinder 301 and a first cylinder 301 which are pneumatic cylinders compressible between the first supporting member 24 and the second supporting member 26. 2 cylinders 302 . Here, "compressible between the first support member 24 and the second support member 26" means that the first support member 24 and the second support member 26 are relatively close to each other, as in the first modification. It means that it is in a state that can be compressed by physical movement. 13 and 14 show the second support member 26 in its initial position relative to the first support member 24. FIG.

The two second blocks 262 are fixed to the crossbar 260 so as to protrude downward from both ends of the crossbar 260 extending along the orthogonal direction D1. Also, the second block 262 extends to both sides of the crossbar 260 in the direction along the X-axis as shown in FIG.

Each cylinder tube of the first cylinder 301 and the second cylinder 302 is fixed to the outer surface of the two second blocks 262 such that the respective piston rods 321 and 322 face each other. As a result, as shown in FIG. 14, the two first cylinders 301 are fixed to the second block 262 on the right side with a space therebetween in the direction along the X-axis. Also, as shown in FIG. 14, the two second cylinders 302 are fixed to the left second block 262 spaced apart from each other in the direction along the X-axis.

The two first blocks 242 are provided with two guide holes 245 at positions corresponding to the respective piston rods 321 and 322 of the first cylinder 301 and the second cylinder 302, respectively. The guide hole 245 extends along the orthogonal direction D1. The guide hole 245 does not pass through the first block 242 and has a bottom.

The piston rod 321 of the first cylinder 301 and the piston rod 322 of the second cylinder 302 pass through the second block 262 and extend into the guide hole 245 of the first block 242 . The tips of the piston rods 321, 322 contact the bottom of the guide hole 245 at the initial position. The piston rods 321 and 322 are slidably guided by the guide holes 245 and are movable relative to the first block 242 along the orthogonal direction D1.

Compressed air is fed into each cylinder tube of the first cylinder 301 and the second cylinder 302 from an air pressure circuit (not shown). to activate the piston rods 321, 3
22 pushes the first block 242, the first block 242 and the second block 262 have a predetermined distance along the orthogonal direction D1 in the initial position. Therefore, the first block 242 can move relative to the second block 262 by the distance against the pushing force of the piston rod 321 or the piston rod 322 .

FIG. 15 shows a state in which the second support member 26 moves toward the right side (arrow a1) in FIG. 15, that is, a state in which it moves closer to the second holding portion 22 (not shown) which is the other holding portion. The tip of the piston rod 321 of the first cylinder 301 is separated from the bottom of the guide hole 245, and the distance between the first block 242 and the second block 262 on the left side of FIG. 15 is narrowed from the initial state. At this time, the piston rod 322 of the second cylinder 302 retreats inside the second cylinder 302 . After that, the second cylinder 302 moves the second block 262 leftward by the compressed air in the second cylinder 302, and returns the second support member 26 to the initial position.

FIG. 16 shows a state in which the second support member 26 moves toward the left side (arrow a2) in FIG. 16, that is, moves away from the second holding portion 22 (not shown) which is the other holding portion. The tip of the piston rod 322 of the second cylinder 302 moves away from the bottom of the guide hole 245, and the distance between the first block 242 and the second block 262 on the right side of FIG. 16 narrows from the initial state. At this time, the piston rod 321 of the first cylinder 301 retreats inside the first cylinder 301 . After that, the first cylinder 301 moves the second block 262 rightward by the compressed air in the first cylinder 301, and returns the second support member 26 to the initial position.

15 and 16, the distance between the first support member 24 of the first holding portion 21 and the first support member 24 of the second holding portion 22 (not shown) is kept constant, and the first support members 24 and 24 are kept constant. No distortion occurs in the workpiece W held by the member 24 either. In this way, by compressing and restoring the two pneumatic cylinders, it is possible to suppress the occurrence of distortion in the work W even when one work W is conveyed by a pair of mutually independent holding portions.

In Modified Example 3, the absorbing member 30c is provided only in the first holding portion 21, but the second holding portion 22 may also be provided with a similar absorbing member 30c. Also, the absorption member 30c is always urged in the direction in which each piston rod pushes the first block 242, but during the transfer of the workpiece W, compressed air is supplied to and discharged from the first cylinder 301 and the second cylinder 302. Control may be used to adjust the biasing force of each piston rod.

The present invention is not limited to the above-described embodiments, and various modifications are possible. or a configuration having the same purpose and effect). Moreover, the present invention includes configurations in which non-essential portions of the configurations described in the embodiments are replaced. In addition, the present invention includes a configuration that achieves the same effects or achieves the same purpose as the configurations described in the embodiments. In addition, the present invention includes configurations obtained by adding known techniques to the configurations described in the embodiments.

DESCRIPTION OF SYMBOLS 1... Work conveyance apparatus, 2... Base|substrate, 3... 1st unit, 4... 2nd unit, 5a, 5b... Lower mold, 8... Control apparatus, 11... 1st arm, 12... 2nd arm, 21... 1st Holding portion 22 Second holding portion 23 Holding member 24 First supporting member 240 Mounting rod 242 First block 244 Through hole 245 Guide hole 26 Second supporting member 260... Cross bar 262... Second block 264... Collar with collar 266... Washer 30, 30a, 30b, 30c... Absorbing member 31... First spring 301... First cylinder 311... First magnet set , 311a, 311b... Magnet 32... Second spring 302... Second cylinder 312... Second magnet set 312a, 312b... Magnet 321, 322... Piston rod 34... Guide member 35... Guided member, 41 First up-and-down drive unit 42 Second up-and-down drive unit 43 Guide 44 Rail 45 Lifting body 51 First motor 52 Second motor 53 Third motor 54 Third 4 motors, D... Conveying direction, D1... Orthogonal direction, L1... First interval, L2... Second interval, MP1, MP2... Intermediate position, O1... First rotation axis, O2... Second rotation axis, O3... Third Rotation axis, O4... 4th rotation axis, P1... 1st position, P2... 2nd position, P3... 3rd position, P4... 4th position, P5... 5th position, W... work

Claims (8)

a substrate positioned adjacent to the press;
a pair of first arms whose proximal ends are rotatably supported with respect to the base;
a pair of second arms whose proximal ends are rotatably supported by the respective distal ends of the first arms;
a pair of holding parts independent of each other rotatably supported at respective tips of the second arms;
A work conveying device comprising
The holding unit includes a plurality of holding members each holding a work,
At least one of the holding parts is
a first support member that supports the plurality of holding members;
a second support member rotatably supported at the tip of the second arm and supporting the first support member;
an absorbing member provided between the first supporting member and the second supporting member;
including
The second support member movably supports the first support member along a cross direction that crosses the conveying direction in which the work is conveyed,
The absorbing member allows movement of the second supporting member with respect to the first supporting member in the cross direction and allows the second supporting member to return to an initial position in the cross direction with respect to the first supporting member. and
the absorbing member includes a first spring and a second spring comprising compression coil springs compressible between the first supporting member and the second supporting member;
the first spring compresses the second support member by moving closer to the other holding portion, and restores the second support member so as to move away from the other holding portion;
The second spring is compressed by moving the second support member away from the other holding portion, and restores the second support member so as to move closer to the other holding portion . a substrate positioned adjacent to the press;
a pair of first arms whose proximal ends are rotatably supported with respect to the base;
a pair of second arms whose proximal ends are rotatably supported by the respective distal ends of the first arms;
a pair of holding parts independent of each other rotatably supported at respective tips of the second arms;
A work conveying device comprising
The holding unit includes a plurality of holding members each holding a work,
At least one of the holding parts is
a first support member that supports the plurality of holding members;
a second support member rotatably supported at the tip of the second arm and supporting the first support member;
an absorbing member provided between the first supporting member and the second supporting member;
including
The second support member movably supports the first support member along a cross direction that crosses the conveying direction in which the work is conveyed,
The absorbing member allows movement of the second supporting member with respect to the first supporting member in the cross direction and allows the second supporting member to return to an initial position in the cross direction with respect to the first supporting member. and
the absorbing member includes a first cylinder and a second cylinder comprising pneumatic cylinders compressible between the first supporting member and the second supporting member;
The first cylinder is compressed by moving the second support member closer to the other holding portion, and restores the second support member so as to move away from the other holding portion;
The second cylinder is compressed by moving the second support member away from the other holding portion, and restores the second support member so as to move closer to the other holding portion . a substrate positioned adjacent to the press;
a pair of first arms whose proximal ends are rotatably supported with respect to the base;
a pair of second arms whose proximal ends are rotatably supported by the respective distal ends of the first arms;
a pair of holding parts independent of each other rotatably supported at respective tips of the second arms;
A work conveying device comprising
The holding unit includes a plurality of holding members each holding a work,
At least one of the holding parts is
a first support member that supports the plurality of holding members;
a second support member rotatably supported at the tip of the second arm and supporting the first support member;
an absorbing member provided between the first supporting member and the second supporting member;
including
The second support member movably supports the first support member along a cross direction that crosses the conveying direction in which the work is conveyed,
The absorbing member allows movement of the second supporting member with respect to the first supporting member in the cross direction and allows the second supporting member to return to an initial position in the cross direction with respect to the first supporting member. and
The absorbing member includes a first magnet set and a second magnet set, which are arranged between the first supporting member and the second supporting member with the same poles facing each other and spaced apart from each other;
the first magnet set moves the second supporting member away from the other holding portion by a repulsive force generated when the second supporting member approaches the other holding portion;
The second magnet set moves the second support member closer to the other holding portion by a repulsive force generated when the second supporting member moves away from the other holding portion. . In any one of claims 1 to 3 ,
each of the pair of holding portions includes the first support member and the second support member;
At least one of the pair of holding parts includes the absorbing member,
In a state in which one of the workpieces is held by the pair of holding portions, while maintaining a first distance between one of the first supporting members and the other of the first supporting members, one of the second supporting members and The absorbing member is deformable so as to narrow the second distance from the other second supporting member, and the narrowed second distance is widened while the first distance is maintained. A work conveying device, wherein the absorbing member is deformable. In any one of claims 1 to 4 ,
the first arm rotates about a first rotation axis with respect to the base;
the second arm rotates about a second rotation axis with respect to the first arm;
the second support member rotates about a third rotation axis with respect to the second arm;
The work conveying device, wherein the first rotating shaft, the second rotating shaft, and the third rotating shaft are parallel to each other. In any one of claims 1 to 5 ,
the first support member comprises a guide member;
The work conveying device, wherein the second support member includes a guided member that slides and guides the guide member along the cross direction. In any one of claims 1 to 6 ,
further comprising a first lifting drive section and a second lifting drive section fixed to the base;
The first elevation driving unit raises and lowers one of the pair of first arms with respect to the base,
The second elevating drive unit is a work conveying device that elevates the other of the pair of first arms with respect to the base. In any one of claims 1 to 7 ,
The work conveying device, wherein the movement of the second support member relative to the first support member in the cross direction and the return to the initial position are performed at a release position where the holding member releases the work.

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