JP7350875B2 - Work lifting device and work moving device - Google Patents

Description

The present disclosure relates to a workpiece lifting device and a workpiece moving device.

Carbon fiber reinforced resin (CFRP) is increasingly being used to construct long parts, including aircraft wings and fuselages. When manufacturing products using CFRP, a plurality of sheets called prepregs, which are carbon fibers impregnated with resin, are laminated, and then the resin is melted in a high-temperature environment. Thereafter, a CFRP product is formed by cooling and hardening the molten resin.

Here, in the middle of the manufacturing process, the long prepreg as described above may be moved within the factory. At this time, care must be taken not to cause wrinkles or deformation in the prepreg. For this reason, a method can be considered in which the prepreg is placed on a pedestal and moved. Further, as another example, it is also possible to move the prepreg using the apparatus described in Patent Document 1 below. The apparatus described in Patent Document 1 includes a suction section that suctions a workpiece using negative pressure, and a holding section that supports this suction section. It is said that the workpiece can be moved by moving the holding part while the workpiece is lifted up by the suction part.

Unexamined Japanese Patent Publication No. 2016-60006

However, in the apparatus and method using the above-described pedestal, the pedestal itself needs to have a considerable degree of rigidity in order to prevent deformation of the prepreg. Moreover, it cannot be said to be economical in that a large machine such as a crane is required to move the cradle. On the other hand, when using the apparatus described in Patent Document 1, in addition to requiring a large number of suction parts and holding parts in order to handle long prepregs, it is difficult to control the operation of these suction parts and holding parts. There is also concern about the difficulty of synchronization.

The present disclosure has been made to solve the above problems, and aims to provide a workpiece lifting device and a workpiece moving device that can more stably handle a workpiece with a simpler configuration. purpose.

In order to solve the above problems, a workpiece lifting device according to the present disclosure includes a base, a drive section provided on the base, a main wire that can be advanced and retreated by the drive section, and a main wire that extends in the direction of extension of the main wire. a wire mechanism having a plurality of branch wires branching and extending from respective locations at intervals; and a wire mechanism having a plurality of branch wires provided at intervals in the horizontal direction corresponding to each of the branch wires with respect to the base; A plurality of pulleys guiding the branch wires downward, a rail extending in the horizontal direction and suspended by the lower end of each of the branch wires, and a plurality of pulleys provided at intervals in the extending direction of the rails, on the lower surface. a suction part in which a suction hole is formed, the suction part is attached to a plate-shaped bottom part in which the suction hole is formed, and a lower surface of the bottom part, and at a position corresponding to the suction hole; A plate-shaped cushion in which a cushion hole communicating with the suction hole is formed, and a porous mat made of a porous material and attached to the lower surface of the cushion and disposed between the suction part and the workpiece. The workpiece is a member made of fiber-reinforced resin.

A workpiece moving device according to the present disclosure includes the above-described workpiece lifting device and a horizontal moving section that moves the workpiece lifting device in a direction in which the base extends .

According to the workpiece lifting device and workpiece moving device of the present disclosure, the workpiece can be handled more stably with a simpler configuration.

FIG. 1 is a front view showing the configuration of a workpiece moving device according to an embodiment of the present disclosure. FIG. 2 is a cross-sectional view showing the configuration of a suction section according to an embodiment of the present disclosure.

(Configuration of workpiece moving device)
A workpiece moving device 100 according to an embodiment of the present disclosure will be described below with reference to FIGS. 1 and 2. The workpiece moving device 100 is used, for example, to move a little less than a trillion prepregs before being subjected to a curing process. The workpiece moving device 100 includes a workpiece lifting device 90 and a horizontal moving section 7 provided on the base 1 of the workpiece lifting device 90. As will be described in detail later, the base 1 extends horizontally, and the horizontal moving section 7 can move the entire workpiece lifting device 90 horizontally along the base 1. Specifically, the horizontal moving unit 7 can use a driving method appropriately selected from a structure using a chain and sprockets, a structure using a belt and pulleys, and a structure using a ball screw.

(Configuration of workpiece lifting device)
Next, the workpiece lifting device 90 will be explained. The workpiece lifting device 90 includes the above-described base 1, a drive section 2, a wire mechanism 3, a plurality of pulleys 4, a rail 5, and a suction section 6.

The drive unit 2 is provided on the lower surface side of the base 1 and is capable of winding up and unwinding the wire mechanism 3. The wire mechanism 3 includes one main wire 31 that can be moved back and forth by the drive unit 2, and a plurality of branch wires 32 that branch off and extend from the main wire 31. The branch wires 32 are branched from respective locations on the main wire 31 at intervals (equally spaced) in the extending direction.

Each branch wire 32 is supported by a plurality of pulleys 4. A plurality of pulleys 4 are provided on the base 1 at intervals (equally spaced) in the horizontal direction. Each pulley 4 is supported rotatably around a rotation axis X extending in a direction perpendicular to the direction in which the main wire 31 extends within a horizontal plane. The pulley 4 supports the branch wire 32 at a position farther away from the drive unit 2 than the branch position between the main wire 31 and the branch wire 32. By being supported by each pulley 4, each branch wire 32 is guided downward with respect to the pulley 4 as a reference.

The rail 5 is a member for supporting a suction section 6, which will be described later. The rail 5 has a plate shape extending in the horizontal direction. The rail 5 is suspended from the lower ends of the plurality of branch wires 32 described above. A plurality of suction parts 6 are attached to the lower surface of the rail 5.

The suction unit 6 is a device for suctioning a workpiece W such as prepreg. A plurality of suction parts 6 are provided on the lower surface of the rail 5 at intervals in the horizontal direction. In addition, although the example of FIG. 1 shows four suction parts 6, the number of suction parts 6 provided is not limited to four, and can be changed as appropriate according to design and specifications.

As shown in FIG. 2, each suction section 6 has a box shape in external view, and a plurality of suction holes 6H for suctioning the workpiece W are formed on the lower surface thereof. Specifically, the suction part 6 includes a bottom part 61 in which the suction holes 6H are formed, and a casing 62 that covers the bottom part 61 from above to form a space inside (suction space Vs and discharge space Ve). , an ejector tube 63 inserted into the suction space Vs, an air supply section 64, a cushion 8, and a porous mat 9.

The bottom portion 61 has a plate shape that extends in the horizontal direction. The suction hole 6H penetrates this bottom surface portion 61 in the thickness direction (vertical direction). The plurality of suction holes 6H are arranged at intervals in a horizontal plane.

The casing 62 includes an upstream wall 62A in which the air supply section 64 is provided, a downstream wall 62B provided on the opposite side of the upstream wall 62A with the suction space Vs in between, and the upstream wall 62A and the downstream wall 62B. It has an upper surface portion 62C that connects the upper edges.

An introduction hole 65A for introducing compressed air supplied from the air supply section 64 is formed in the upstream wall 62A. A discharge hole 65B for discharging compressed air flowing from the upstream wall 62A side to the outside is formed in the downstream wall 62B. In the following description, the side where the upstream wall 62A is located when viewed from the downstream wall 62B may be referred to as the upstream side, and the opposite side may be referred to as the downstream side.

A first partition portion 66 extending downward from the upper surface portion 62C is provided between the upstream wall 62A and the downstream wall 62B. Furthermore, a second partition part 67 that extends in the horizontal direction is provided at the lower edge of the first partition part 66. The upstream edge of the second partition 67 extends further upstream than the first partition 66. A downstream end of the second partition portion 67 is connected to the downstream wall 62B. The second partition portion 67 faces the upper surface of the bottom portion 61 with an interval in the vertical direction.

A space surrounded by the bottom surface portion 61, the upstream wall 62A, and the top surface portion 62C is a suction space Vs. A space on the downstream side of the suction space Vs with the first partition 66 in between is a discharge space Ve.

An ejector tube 63 is provided within the suction space Vs. The ejector tube 63 has a cylindrical shape extending from the introduction hole 65A described above to a relay hole 66H formed in the first partition portion 66. More specifically, the ejector tube 63 includes a reduced diameter portion 631 that communicates with the introduction hole 65A, an enlarged diameter portion 632 that communicates with the relay hole 66H, and a narrowed portion that connects the reduced diameter portion 631 and the enlarged diameter portion 632. 63A.

The reduced diameter portion 631 has an inner diameter that gradually decreases from the upstream side toward the downstream side. The expanded diameter portion 632 has an inner diameter that gradually increases from the upstream side toward the downstream side. The narrowed portion 63A has the smallest inner diameter in the extension region of the ejector tube 63. A communication hole 63B is formed in the middle of the enlarged diameter portion 632, that is, at a position downstream of the narrowed portion 63A, which communicates the flow path in the ejector tube 63 with the above-mentioned suction space Vs.

Further, a cushion 8 is attached to the lower surface of the bottom surface portion 61. The cushion 8 has a plate shape integrally made of an elastically deformable resin material. Cushion holes 8H are formed in the cushion 8 at positions corresponding to the suction holes 6H described above. In other words, the cushion hole 8H and the suction hole 6H are in communication with each other. Note that, specifically, EPDM (ethylene propylene diene rubber) is preferably used as such a cushion 8.

A porous mat 9 is attached to the lower surface of the cushion 8. The porous mat 9 is provided between the suction section 6 and the workpiece W, and is provided to disperse pressure caused by suction generated between the suction section 6 and the surface of the workpiece W. A porous mat is made of a material (porous material) in which many fine pores are formed.

(effect)
Next, the operations of the workpiece lifting device 90 and the workpiece moving device 100 according to this embodiment will be described. In operating the workpiece moving device 100, first, the air supply section 64 is driven to supply compressed air to the adsorption section 6. Specifically, as shown in FIG. 2, compressed air supplied from the air supply section 64 flows into the ejector tube 63 through the introduction hole 65A. The compressed air that has flowed into the ejector tube 63 increases in flow velocity as it passes through the reduced diameter portion 631. This high-speed compressed air flows into the enlarged diameter portion 632 through the narrowed portion 63A. Here, the enlarged diameter portion 632 is formed with a communication hole 63B that communicates with the suction space Vs. Therefore, the air within the suction space Vs is drawn into the enlarged diameter portion 632 by the flow of air flowing within the enlarged diameter portion 632 . As a result, the inside of the suction space Vs becomes negative pressure.

By creating a negative pressure in the suction space Vs, external air is sucked into the suction space Vs through the suction hole 6H communicating with the suction space Vs. As a result, the workpiece W facing the lower surface of the suction section 6 is suctioned. Note that the air flowing out of the ejector tube 63 is exhausted to the outside through the exhaust space Ve and the exhaust hole 65B.

In the above state, the wire mechanism 3 is moved forward and backward by driving the drive section 2. For example, when the wire mechanism 3 is wound up by the drive section 2, the branch wires 32 branching from the main wire 31 are wound up all at once, and the rail 5, suction section 6, and workpiece W move upward. On the other hand, when the wire mechanism 3 is unwound, the branch wires 32 are unwound all at once, and the rail 5, suction section 6, and work W move downward. By operating the horizontal moving unit 7 while holding the work W in this manner, it is possible to horizontally move the work lifting device 90 including the work W.

As explained above, according to the above configuration, the workpiece W can be stably held by the plurality of suction parts 6 provided on the rail 5. Further, by moving the main wire 31 forward and backward by the drive unit 2, the branch wires 32 move forward and backward all at once. In other words, the forward and backward movement of all the branch wires 32 can be synchronized without using any other device that synchronizes the operation of each branch wire 32. Thereby, the possibility that the rail 5 will be tilted or deformed can be reduced. As a result, the workpiece W can be handled more stably. Moreover, the permissible value of rigidity for maintaining the shape of the rail 5 can be kept small. Thereby, it is also possible to reduce the manufacturing cost and maintenance cost of the device.

According to the above configuration, as the compressed air supplied from the air supply section 64 flows through the ejector tube 63, air in the suction space Vs is sucked into the ejector tube 63 through the communication hole 63B. As a result, the inside of the suction space Vs becomes in a negative pressure state. As a result, the surface of the workpiece W is attracted to the bottom surface portion 61 through the plurality of suction holes 6H. Therefore, the workpiece W can be attracted more stably.

According to the above configuration, the porous mat 9 made of a porous material is provided between the adsorption section 6 and the workpiece W. Thereby, the suction force generated by the suction part 6 is applied to the workpiece W in a state where it is dispersed by the many fine pores formed in the porous mat 9. Therefore, compared to, for example, the case where the suction unit 6 directly suctions the workpiece W, it is possible to suppress the occurrence of scratches or dents on the surface of the workpiece W due to suction. As a result, the quality of the workpiece W can be maintained.

According to the above configuration, while the workpiece W is lifted by the workpiece lifting device 90, the workpiece W can also be moved in the horizontal direction by the horizontal moving section 7. Thereby, the degree of freedom when moving the workpiece W can be improved.

(Other embodiments)
Although the embodiment of the present disclosure has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and may include design changes within the scope of the gist of the present disclosure.
For example, in the above embodiment, prepreg is used as an example of the workpiece W, but the workpiece W is not limited to prepreg, but can be any long member that needs to be prevented from deforming during transportation. It is also possible to apply this as the workpiece W.

<Additional notes>
The work lifting device 90 and the work moving device 100 described in the above embodiments can be understood, for example, as follows.

(1) The workpiece lifting device 90 according to the first aspect includes a base 1 , a drive section 2 provided on the base 1 , a main wire 31 that can be moved forward and backward by the drive section 2 , and a a wire mechanism 3 having a plurality of branch wires 32 branching and extending from respective locations at intervals in the extending direction; A plurality of pulleys 4 are provided, each guiding the branch wire 32 downward, a rail 5 extending in the horizontal direction and suspended by the lower end of each branch wire 32, and a rail 5 extending in the direction in which the rail 5 extends. A plurality of suction parts 6 are provided at intervals, and each suction part 6 has a suction hole 6H formed in its lower surface.

According to the above configuration, the workpiece W can be stably held by the plurality of suction parts 6 provided on the rail 5. Further, by moving the main wire 31 forward and backward by the drive unit 2, the branch wires 32 move forward and backward all at once. In other words, the forward and backward movement of all the branch wires 32 can be synchronized without using any other device that synchronizes the operation of each branch wire 32. Thereby, the possibility that the rail 5 will be tilted or deformed can be reduced. As a result, the workpiece W can be handled more stably. Moreover, the permissible value of rigidity for maintaining the shape of the rail 5 can be kept small. Thereby, it is also possible to reduce the manufacturing cost and maintenance cost of the device.

(2) In the workpiece lifting device 90 according to the second aspect, the suction part 6 includes a bottom part 61 in which the suction hole 6H is formed, and a suction space Vs inside by covering the bottom part 61 from above. A casing 62 to be formed, a narrowed part 63A that is inserted into the suction space Vs and whose diameter is smaller than other parts, and a communication hole 63B that communicates with the suction space Vs on the downstream side of the narrowed part 63A. The ejector tube 63 includes an ejector tube 63 and an air supply section 64 that supplies compressed air into the ejector tube 63.

According to the above configuration, as the compressed air supplied from the air supply section 64 flows through the ejector tube 63, air in the suction space Vs is sucked into the ejector tube 63 through the communication hole 63B. As a result, the inside of the suction space Vs becomes in a negative pressure state. As a result, the surface of the workpiece W is attracted to the bottom surface portion 61 through the plurality of suction holes 6H. Therefore, the workpiece W can be attracted more stably.

(3) The workpiece lifting device 90 according to the third aspect further includes a porous mat 9 that is provided between the adsorption section 6 and the workpiece W and is made of a porous material.

According to the above configuration, the porous mat 9 made of a porous material is provided between the adsorption section 6 and the workpiece W. Thereby, the suction force generated by the suction part 6 is applied to the workpiece W in a state where it is dispersed by the many fine pores formed in the porous mat 9. Therefore, compared to, for example, the case where the suction unit 6 directly suctions the workpiece W, it is possible to suppress the occurrence of scratches or dents on the surface of the workpiece W due to suction. As a result, the quality of the workpiece W can be maintained.

(4) The workpiece moving device 100 according to the fourth aspect includes the workpiece lifting device 90 according to any one of the above aspects, and the horizontal moving section 7 that moves the workpiece lifting device 90 along the base 1. Be prepared.

According to the above configuration, while the workpiece W is lifted by the workpiece lifting device 90, the workpiece W can also be moved in the horizontal direction by the horizontal moving section 7. Thereby, the degree of freedom when moving the workpiece W can be improved.

According to the workpiece lifting device 90 and the workpiece moving device 100 described above, it becomes possible to handle the workpiece W more stably with a simpler configuration.

100 Work moving device 90 Work lifting device 1 Base 2 Drive section 3 Wire mechanism 4 Pulley 5 Rail 6 Adsorption section 7 Horizontal moving section 8 Cushion 9 Porous mat 31 Main wire 32 Branch wire 61 Bottom section 62 Casing 62A Upstream wall 62B Downstream wall 63 Ejector tube 631 Reduced diameter part 632 Expanded diameter part 63A Narrowed part 63B Communication hole 64 Air supply part 65A Introduction hole 65B Discharge hole 66 First partition part 66H Relay hole 67 Second partition part Ve Discharge space Vs Suction space W Work

Claims (3)

base and
a drive section provided on the base;
A wire mechanism having a main wire that can be moved back and forth by the drive unit, and a plurality of branch wires that branch and extend from respective locations spaced apart in the extending direction of the main wire;
a plurality of pulleys are provided at intervals in the horizontal direction corresponding to each of the branch wires on the base, and each pulley guides the branch wire downward;
a rail extending horizontally and suspended by a lower end of each branch wire;
a plurality of suction parts provided at intervals in the extending direction of the rail and having suction holes formed on the lower surface;
Equipped with
The suction part is
a plate-shaped bottom portion in which the suction hole is formed;
a plate-shaped cushion attached to the lower surface of the bottom portion and having a cushion hole communicating with the suction hole formed at a position corresponding to the suction hole;
a porous mat formed of a porous material, attached to the lower surface of the cushion, disposed between the suction part and the workpiece;
has
The workpiece is a member made of fiber reinforced resin.
Workpiece lifting device. The suction part is
a casing that forms a suction space inside by covering the bottom portion from above ;
an ejector tube that is inserted into the suction space and has a narrowed part whose diameter is smaller than other parts, and a communication hole that communicates with the suction space downstream of the narrowed part;
an air supply unit that supplies compressed air into the ejector tube;
The workpiece lifting device according to claim 1, further comprising: A workpiece lifting device according to claim 1 or 2 ,
a horizontal moving unit that moves the workpiece lifting device in the direction in which the base extends ;
A workpiece moving device equipped with.

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