JPH0369807B2 - - Google Patents

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention relates to a conveying device that can be used as a means for intermittent conveying workpieces, pallets, etc. between stations in a processing or assembly line, etc. The beam equipped with the beam is repeatedly raised, moved forward, lowered, and retreated in this order, and the object to be conveyed on the fixed support is lifted and conveyed by the beam-side support, and then transferred to the fixed support at the front position. The present invention relates to a conveyance device that repeatedly performs a conveyance operation for loading and unloading.

(Prior Art and its Problems) The above-mentioned conveyance device includes a forward and backward drive means that gives a longitudinal movement back and forth to a beam provided with an object support part, and an elevating device that gives an up and down movement to the beam. In conventional conveying devices, the forward and backward drive means is one in which the linear reciprocating motion of a fluid pressure cylinder is transmitted directly or at increased speed by a rack and pinion gear to the beam to cause reciprocating motion; A device in which the turning motion of a crank arm driven by fluid pressure or an electric motor is converted into a linear reciprocating motion by a link and transmitted to the beam, a ball screw or a rack arm.
A device that causes the beam to reciprocate in a straight line by rotationally driving a pinion gear with a servo motor or the like is used.

The reciprocating drive means has problems with high-speed conveyance and stroke end shocks, and although the reciprocating drive means is good in high-speed conveyance and stroke end shocks, the mechanism becomes very large when the conveyance pitch is long, and the device Problems arise when incorporating the software into the system. In addition, the reciprocating drive means is not only expensive but also unsuitable for heavy loads.

(Means for Solving the Problems) In recent years, there has been a demand for high-speed conveyance for this type of conveyance device, and the present invention provides a reciprocating drive means suitable for high-speed conveyance, that is, a reciprocating drive means driven by a motor or a rotary actuator. This system is designed to solve the problems of the conventional reciprocating drive means using a crank arm and a link. A movable table that is capable of reciprocating in the beam length direction and supports the beam so that it can only be raised and lowered, an arm that is rotatable in the beam length direction around a position-fixed support shaft; a link connecting the free end of the arm and the movable table; and an output shaft fixed to one of the arm and the link, and an output shaft fixed to the other of the arm and the link so as to serve as a pivot shaft between the two. It consists of a motor.

(Function) In the device of the present invention as described above, the motor is operated from a state where the arm and the link are in a straight line and the movable base is at the farthest stroke end with respect to the position fixed support shaft. When the output shaft is rotated, a torque in the forward direction acts on a link or arm connected to the output shaft, and at the same time, a torque in the opposite direction acts as a reaction force on the arm or link to which the motor is fixed. Therefore, at the same time as the arm rotates around the position-fixed support shaft, the link rotates in the opposite direction with respect to the arm, and the arm and link move from a straight line state to bend around the motor output shaft and move the movable base. Pull it to the position of the position fixed support shaft. After overlapping each other, the arm and link open with their positions reversed, pushing the movable base in the direction beyond the position fixed support shaft to the opposite side, and the arm and link are aligned in a straight line. When the movable base reaches the other stroke end.

When moving the movable base in the opposite direction, either rotate the output shaft of the motor in the opposite direction, or, if there is space in the vertical direction to allow the arm to rotate once, rotate the motor output shaft in the same direction. By rotating, the arm and the link swing relative to each other in the same manner as described above, and the movable base is moved to the original stroke end.

As the movable base moves back and forth and back and forth, the beam moves back and forth in its length direction, so the beam is raised by the lifting drive means at one stroke end and lowered at the other stroke end. By doing so, it is possible to cause the conveyed object supporting portion of the beam to carry out the intended conveyance movement.

(Example) First, the basic structure and operation of the intermittent conveyance device according to the present invention will be explained based on FIGS. It is a beam, and a pair of left and right work support parts 2 are protruded from the upper part thereof at equal intervals in the length direction. Reference numeral 3 denotes fixed beams that are arranged in parallel on both left and right sides of the horizontal reciprocating path of the beam, and are provided with workpiece support parts 4 provided at the same spacing as the workpiece support parts 2 on the movable beam 1 side.

In the above configuration, the movable beam 1
, the workpiece support section 2 is raised to scoop up the workpiece 5 supported on the fixed workpiece support section 4, and then moved horizontally forward by a predetermined conveyance pitch (in the figure, two pitches of the workpiece support section). Then, the workpiece 5 on the workpiece support part 2 is moved to the fixed workpiece support part 4.
By lowering the beam 1 to the position where it is to be transferred and then moving it horizontally backward to the original position, the workpieces 5 on each fixed workpiece support 4 are intermittently fed two pitches at a time. Become.

That is, in the intermittent conveyance device as described above,
A horizontal reciprocating drive means for imparting horizontal reciprocating motion to the movable beam 1 in its length direction and an elevating drive means for imparting an ascending and descending motion to the beam 1 are required.

Embodiments of the present invention regarding these two driving means will be explained below based on FIGS. 3 to 6.
Reference numeral 0 denotes an elevating drive means, which includes links 15 and 16 which are pivotally mounted on the supports 11 and 12 by horizontal support shafts 13 and 14 so as to be able to swing back and forth at their intermediate portions, and which has links 15 and 16 at their lower ends connected to both ends of an interlocking rod 17. The piston rod 21a of the cylinder unit 21, which is pivotally connected to the support base 11 by the horizontal support shaft 20, is connected to one end of the interlocking rod 17 in a parallel state. They are connected using the pivot pin 18, and the upper ends of both the links 15 and 16 are attached to the movable beam support means 2.
Both front and rear ends of the movable beam 1 are supported via 2 and 23.

At both the front and rear ends of the movable beam 1, there are rails 2 that are longer than the horizontal horizontal movement stroke of the beam 1.
4 and 25 are attached, and the movable beam support means 2
2 and 23 are provided with a support roller 26 that receives the right and left protruding portions of the rails 24 and 25 from below, and a press roller 27 that presses them from above, and supports the movable beam 1 so as to be movable only in its length direction. There is. Moreover, both of these movable beam support means 2
The upper ends of the links 15 and 16 are pivotally connected to the links 3 and 24 by pivot pins 28 and 29, respectively.

According to the elevating drive means 10 configured in this way, the piston rod 2 of the cylinder unit 21
By driving 1a in and out, both links 1
5 and 16 are connected to the horizontal support shafts 13 and 14 in the same direction while maintaining a parallel state to each other via the interlocking rod 17.
It will oscillate around. Of the circular arc motion at the upper ends of the links 15 and 16, the vertical component is transmitted to the movable beam 1 via the movable beam support means 22 and 23, and the movable beam 1 moves vertically by a predetermined stroke H. However, among the arcuate movements at the upper ends of the links 15 and 16,
The longitudinal movement component of the beam 1 is not transmitted to the movable beam 1 due to the relative movement between the movable beam support means 22, 23 and the movable beam 1.

Reference numeral 30 is a forward and backward drive means, which includes a movable base 31,
It includes an arm 32, a link 33, and a motor 34 with a speed reducer. The movable base 31 is supported by a guide rail 35 laid parallel to the movable beam 1 so as to be able to move forward and backward, and the arm 32 is connected to a support base 36 at one end via a horizontal support shaft 37. The motor 34 with a speed reducer is mounted on one side of the other end so that the output shaft 34a is oriented horizontally. The link 33 is connected to the motor output shaft 34 at one end thereof.
It is pivotally connected to the arm 32 by being fixed to a, and the other end is connected to the movable base 31 via a horizontal support shaft 38.

The distance between the horizontal support shaft 37 of the arm 32 and the motor output shaft 34a is equal to the distance between the horizontal support shaft 38 of the link 33 and the motor output shaft 34a. It is received by stoppers 39 and 40 in a horizontal position in the front and rear. The stoppers 39 and 40 are comprised of bolts that are vertically set up on support stands 41 and 42 so that their height can be adjusted.

The movable base 31 is equipped with a roller 45 that fits between a pair of vertical guide rails 44 of a coupling means 43 attached to the side of the movable beam 1, and the forward and backward movement of the movable base 31 is controlled by this roller 45. transmitted to the movable beam 1 via rollers 45;
The vertical movement of the movable beam 1 is configured not to be transmitted to the movable table 31.

In the forward and backward drive means 30 configured as described above, when the arm 32 is in a horizontal position supported by one stopper 39 as shown by the solid line in FIG. In the posture, the arm 32 and the link 33 are in a straight line, and the movable base 31 is at the stroke end on one side of the fixed horizontal support shaft 37.
Located at _E1 . From this state, the motor 34
When the output shaft 34a is rotated counterclockwise in FIG. 4, counterclockwise torque acts on the link 33 fixed to the output shaft 34a, fixing the motor 34. A clockwise torque acts on the arm 32 due to a reaction force. Therefore, the arm 32 and the link 33 are relatively moved closed and bent so that the position of the motor output shaft 34a rises, and the movable base 31 is moved to the side of the fixed horizontal support shaft 37 via the horizontal support shaft 38. be drawn to.

When the arm 32 stands vertically with respect to the position-fixed horizontal support shaft 37, the link 33 overlaps with the arm 32, and the movable base 31
The side horizontal support shaft 38 reaches a position concentric with the fixed horizontal support shaft 37. In other words, the movable base 31 is drawn to a position directly beside the position-fixed horizontal support shaft 37. When the motor output shaft 34a further rotates, the arm 32 rotates clockwise from the vertically standing position toward the stopper 40, and the link 33 moves toward the stopper 40.
2, the overlapping arm 32 and link 33 open with their front-to-back positional relationship reversed, and move the movable base 31 to the other side via the horizontal support shaft 38. Stroke end of E ₂
It will push it towards the end. By stopping the operation of the motor 34 when the arm 32 contacts the other stopper 40 in an inverted state,
The arm 32 and the link 33 are in a horizontal straight line on the stroke end E ₂ side with respect to the fixed horizontal support shaft 37 as shown by the imaginary line in FIG. 4, and the movable base 3
1 is located at the stroke end E ₂ which is the maximum distance away from the position-fixed horizontal support shaft 37 on the opposite side.

The forward movement of the movable base 31 from the above stroke ends E ₁ to E ₂ is transmitted to the movable beam 1 via the rollers 45 . It is obvious that when moving the movable base 31 backward in order to move the movable beam 1 backward, the motor output shaft 34a should be rotated in the opposite direction.

As described above, the movable beam 1 is moved by the elevating drive means 10
can be moved up and down by a predetermined stroke H, and can be moved forward and backward by a predetermined stroke L between both stroke ends E ₁ and E ₂ by the forward and backward drive means 30. By operating the movable beam 1 with good timing, it is possible to cause the movable beam 1 to perform the intermittent conveyance operation as explained based on FIGS. 1 and 2.

In addition to the electric motor, a hydraulic or pneumatic motor may also be used as the motor 34. In addition, although the motor 34 is fixed to the arm 32 whose one end is pivotally supported by the position-fixing horizontal support shaft 37, the motor 34 is attached to the link 3.
Alternatively, the output shaft 34a can be fixed to the arm 32. Furthermore, if there is space in the vertical direction, the arm 32 can be rotated 360 degrees around the position-fixed horizontal support shaft 37. In this case, the movable base 31 can be moved forward and backward without controlling the motor 34 to rotate in reverse, but when the movable base 31 is at the end of its stroke, the pivot point between the arm 32 and the link 33 will naturally move due to gravity. In order to prevent downward bending movement, the motor output shaft 3
It is desirable to use control means for 4a in combination.

(Effects of the Invention) As described above, the conveying device of the present invention is, in principle, a type in which a crank arm and a movable table are interlocked and connected by a link, so it is suitable for high-speed conveyance, and is suitable for high-speed conveyance. There are no problems with the shock, and it can be used as an intermittent conveyance device in various conveyance lines. Moreover, the rotation radius of the arm that rotates around the position-fixed support shaft can be half of that of the conventional one if the conveyance pitch is the same, and therefore, even if the conveyance pitch is long, the forward and backward drive means can be made compact. There is no problem in incorporating it into equipment. Moreover, it can be implemented at low cost.

[Brief explanation of drawings]

Fig. 1 is a side view for explaining the structure and operation of the intermittent conveyance device in principle, Fig. 2 is a front view of the same, Fig. 3 is a partially vertical side view of an embodiment of the present invention, and Fig. 4 is a main part of the device. FIG. 5 is a side view, FIG. 5 is a plan view, and FIG. 6 is a front view. 1...Movable beam, 2, 4...Work support part,
3... Fixed beam, 5... Workpiece, 10... Lifting drive means, 15, 16... Parallel link, 17...
Interlocking rod, 21... Cylinder unit, 2
2, 23...Movable beam support means, 24, 25...
...Rail, 26... Support roller, 27... Press roller, 30... Forward and backward drive means, 31...
...Movable base, 32...Arm, 33...Link, 3
4...Motor with reducer, 35...Movable base guide rail, 37...Position fixed horizontal support shaft, 39,4
0...stopper, 43...coupling means, 44...
Guide rail, 45...Roller.

Claims (1)

[Claims] 1.Equipped with a forward and backward movement drive means that gives a longitudinal movement back and forth to a beam provided with a conveyed object support part, and an elevation drive means that gives an elevating movement to the beam, and these two drive means cause the beam to ascend and move forward. , lowering, and retreating are repeated in this order, and the conveyance operation of lifting and conveying the object on the fixed support part by the beam-side support part and transferring it onto the fixed support part at the front position is repeatedly performed. The reciprocating drive means includes a movable table that is capable of reciprocating in the beam length direction and that supports the beam so that it can only be raised and lowered, and a movable table that is rotatable in the beam length direction around a position-fixed support shaft. an arm, a link connecting the free end of the arm and the movable base, and an output shaft fixed to one of the arm and the link, and an output shaft serving as the pivot shaft between the two, and the other of the arm and the link. A conveyor device consisting of a motor that is fixed in position.