JPH0395018A - Transfer device - Google Patents

Abstract

PURPOSE:To grip a work positively in a center position even at the time of dislocation being generated in a transfer device between a conveyor and a bench by providing two pairs of mutually orthogonal chucks and providing one pair of chucks with sliding plates slidable in the gripping direction of the other pair of chucks. CONSTITUTION:Sliding plates 21, 21 slidable in the gripping direction of the chuck plates 4a, 4a of chucks A, A are provided at the opposed faces of the chuck plates 4b, 4b of chucks B, B. With this constitution, a work on a intermittently driven conveyor 9 is gripped by the chuck plates 4b, 4b of the chucks B and further by the chuck plates 4a, 4a of the chucks A from the orthogonal direction. At this time, the sliding plates are slided to position the work into the center of the chucks A, A and transfer it onto a bench. The work can be thus gripped positively in the center position even if dislocation is generated.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a transfer device for transferring a workpiece between a conveyor and a workbench.

[Conventional technology]

As a conventional example of a conventional transfer device, a chuck consisting of a pair of chuck plates is provided at one end of a horizontal arm, the other end of the horizontal arm is attached to an elevating means, and the elevating means is turned into a rotating means for rotating around a vertical axis. There is an attached structure. The transfer operation is performed in an operation cycle as described below.

■ The arm located on the conveyor is lowered and the chuck grips the workpiece on the conveyor, then the arm is raised and rotated to the position of the workbench.

■ Lower the arm, release the grip on the chuck plate, place the workpiece on the workbench, raise the arm, and wait for the specified machining to be completed.

(2) After the machining is completed, the arm is lowered again to grip the workpiece, the arm is raised, and the arm is rotated in the opposite direction to the rotation direction.

- The arm is lowered again to release the grip on the workpiece and returned to the conveyor, and then the arm is raised to the operation start position to complete the transfer operation.

In this conventional example, there is only one set of jack and arm, and there are many operations for loading and unloading, and even if you try to increase productivity by increasing the conveyor speed, the lifting, lowering, and rotating operations of the chuck and arm are difficult to achieve. It became impossible to follow the speed of the work being transported, which was an obstacle to improving productivity.

Another conventional example is a structure in which two horizontal arms having chucks at each end are attached to a lifting means in opposite directions, and the lifting means is attached to a rotating means for rotating around a vertical axis. ．． This operation cycle is as follows. ■ During the first lifting and lowering of each arm, each chuck simultaneously grasps the work on the conveyor and lifts the work on the workbench after the processing process. ■ Rotate each arm 180° horizontally to swap the positions of the workpiece and the post-process workpiece. ■ The workpieces that have been rotated and the workpieces that have been processed are released from the grips of each chuck when each arm is raised and lowered for the second time.
In this conventional example, as soon as one transfer operation is completed by transferring the workpiece to the workbench and the processed workpiece onto the conveyor, the arm is
Since the transfer operation is performed by rotating 80 degrees, a large installation space is required for the transfer device, which is larger than the area of a circle whose radius is the length of the arm. It was a hindrance. Therefore, a transfer device has been proposed that can perform a transfer operation while sufficiently following the conveyance speed of a fast conveyor, and does not require a large installation space.

An example of the transfer device will be explained based on Figs. 3 to 5. This transfer device includes a first transfer means P for carrying in, a second transfer means Q for carrying out, and respective transfer means P, Q.
This is controlled by the control means R that controls the Chucks A, A and chuck B of the first transfer means P,
B is provided at the end of the arm 3a, and the other end of the arm 3a is attached to a rotating means 5a vertically disposed in the center of the pedestal 1 via a lifting step 6a. This arm 3
A is a workpiece 7 that is rotated by 90 degrees in the horizontal direction of arrow D by rotating means 5a, vertically raised and lowered by lifting means 6a, and conveyed in the direction of arrow E by a tact conveyor 9 that moves intermittently. is transported to the workbench 8 using chucks A, A and chucks B, B. The chucks A, A have chuck plates 4a, 4a that grip two sides of the work 7 from the width direction of the tact conveyor 9, and the chucks B, B grip the two sides of the work 7 from the front and rear surfaces of the tact conveyor 9 in the conveyance direction. It has chuck plates 4b, 4b for gripping the sides. Similarly, the chucks C and C of the second transfer means Q are provided at the end of the arm 3b, and the other end of this arm 3b is connected to the rotating means 5b above the rotating means 5a via the lifting means 6b. It is attached to. This arm 3b is rotated 90'' in the horizontal direction of arrow D' by the rotation means 5b, and vertically raised and lowered by the elevating means 6b to chuck the workpiece 7' which has completed a predetermined machining process on the workbench 8. The chucks C and C have chuck plates 4c and 4c that grip the workpiece 7' from the direction facing the workpiece 7'. The control panel IO in the control section R on the front performs the braking control II in accordance with the conveyance speed of the tact conveyor 9. Next, referring to Fig. 5, the order of one cycle of the transfer operation of each part will be explained. The workpiece 7 is conveyed by the tact conveyor 9 which is intermittently conveyed in the direction of the arrow 9, and the workpiece is placed below chucks A, A and chucks B, B, which are exclusively for carrying in, at the fixed position (transfer operation start position). 7 stops (Fig. 5 (a)). ■ The arm 3a is lowered by the 1,000-step lift 6a, and the chuck plates 4a and 4a provided on the chucks A and the chuck plates 4b provided on the chucks B and B are lowered. , 4b are lowered and placed near each side of the workpiece 7. At the same time, the arm 3b is lowered by the lifting means 6b, and the chuck plates 4c and 4c provided on the chucks C and C are lowered and placed near each side of the workpiece 7. They are lowered and placed near the side of the workpiece 7' which has completed a predetermined machining process by the device 11 (Fig. 5)). ■ Chuck A, chuck plates 4a, 4a of A and chuck B, chuck plate 4b of B. , 4b grips the workpiece 7, the arm 3a is raised by the elevating means 6a to lift the workpiece 7. At the same time, after gripping the workpiece 7' by the chuck plates 4c, 4c of the chuck C.C.
b is raised and lifted by the elevating means 6b (Fig. 5 (
C)). ■ The raised arm 3a is shown in Figures 3 and 4.
The workpiece 7 is rotated by 90" in the direction of the arrow D shown in the figure by the rotation means 5a. At the same time, the other arm 3b is rotated 90" by the rotation step 5b in the direction of the arrow D' in the opposite direction. '' to rotate and move the workpiece 7'. As a result, the horizontal positions of work 7 and work 7' are swapped (
Figure 5(d)). (2) The workpiece 7 above the workbench 8 is lowered by lowering the arm 3a using the elevating means 6a, and the workpiece 7 is placed on the workbench 8. At the same time, the workpiece 7' above the tact conveyor 9 is lowered by lowering the arm 3b using the elevating means 6b, and the workpiece 7' is placed on the tact conveyor 9 (FIG. 5(e)). ■ Finally, each chuck temporary 4a of each chuck A, B, C,
After releasing the grips of 4b and 4c and placing the workpiece 7 on the workbench 8 and the workpiece 7' on the tact conveyor 9, the arms 3a and 3b are raised and rotated in the aforementioned rotation direction (operation order 90" in the opposite direction to the direction of the arrow), and
Returning to the normal position (transfer operation start position) shown in Figure (a), one cycle of the transfer a operation is completed. [Problem to be solved by the invention] However, in the above structure, the tact conveyor 9
The stop position of the workpiece 7 being conveyed above is not constant, and in the operation of gripping the workpiece 7 with chucks A, A and chucks B, B, which are exclusively used for carrying in, first the chuck B,
When the workpiece 7 is gripped from the front and back sides in the transport direction (direction of arrow E) by the gripper B, even if the workpiece 7 is misaligned, the gripping force of the chuck plates 4b, 4b will cause the workpiece 7 to move over the tact conveyor 9. If it slips and can be gripped at the center of chucks B and B, but when there is a positional deviation in the width direction when gripping the remaining two sides from the width direction of tach conveyor 9 using chucks A and A, the chucks have already been gripped by chucks B and B. Since the position of the workpiece 7 is fixed, the chuck plate 4a,
4a, or the workpiece 7 is carried to the workbench 8 while being gripped at an off-center position.
The problem has been that the loading position of the automatic device 11 is not appropriate, making it impossible for the automatic device 11 to carry out a predetermined process, and the workpiece 7 being carried out to the next process. The purpose of this invention is to securely grip the workpiece at the center of the chuck and transport it to the appropriate position on the workbench, even if the position of the workpiece being conveyed on the tact conveyor deviates from the position directly below the chuck. The objective is to provide a transfer device that can perform this. [Means for Solving the Problems] The transfer device of the present invention has first gripping directions that are orthogonal to each other.
Further, in the transfer device having a second chuck, a slide plate slidable in the gripping direction of the second chuck is provided on each opposing surface of the pair of chuck plates of the first chuck. [Function] In the transfer device of the present invention, since the slide plates provided on the pair of chuck plates of the first chuck of the transfer means exclusively for carrying in can slide in the gripping direction of the second chuck, the position of the workpiece can be adjusted. Even if the chuck is off from the position directly below the chuck, the workpiece can be reliably gripped at the center position of the pair of chucks. [Example] An example of the present invention will be explained based on FIGS. 1 and 2. Note that the same parts as in the proposed example are given the same reference numerals, and the explanation thereof will be omitted.

The first transfer means P shown in FIG.
A chuck B is provided, and a chuck plate 4 of this chuck B,
chuck plate 4a of chuck AA,
Slide plate 21.21 that can slide in the gripping direction of 4a
is provided. This slide plate 21.21 is the second
As shown in the figure, a part of the facing surfaces of the chuck plates 4b, 4b are inserted into the chuck plate attachment part 23 of the slide back 22, and are placed in the center position of the slide pack by the elasticity of the springs 25 and 25 from the left and right sides. , spring guide 2
4.24 supports and fixes the chuck plate mounting part 23
It is possible to slide left and right inside the slide bar/decoder 22. Further, a cushioning material 26 made of flat rubber is provided on the contact surface when gripping the workpiece 7 to prevent the workpiece 7 from shifting or being damaged after being gripped. In such a structure, the chuck A of the arm 3a,
A and chucks B and B are operated as follows to grip and lift the workpiece 7 on the tact conveyor 9. (a) Slide plate 21 facing chuck B,
The side surfaces of the workpiece 7 are gripped at the center position of the chucks B and B from the front and back in the conveying direction of the tact conveyor 9 by the chuck plates 4b and 4b to which the chucks 21 and 21 are attached. ω) Next, the side surfaces of the workpiece 7 are gripped from the width direction of the tact conveyor 9 by the facing chuck plates 4a and 4a of the chucks A and A, and the workpiece 7 is fixed at the center position of the chuck AA by sliding the slide plate 2l2l. After that, raise the arm 3a and lift the workpiece 7. In this way, even if the position of the workpiece 7 conveyed on the tact conveyor 9 by the slide plates 21.21 provided on the chuck dowels 4b, 4b is shifted in the width direction,
In the gripping direction of chuck plates 4a, 4a, slide plate 21.
21 slides to grip the workpiece 7 at the center position of the chucks A, A and chucks B, B, and carry-in can be carried out. Note that in this embodiment, the slide plate 2
Although the spring guide 24.24 and the spring 25.25 are used to press and fix the 12l, other elastic bodies may be used for the press and fix.

〔Effect of the invention〕

In the transfer device of the present invention, even if the position of the workpiece deviates from a predetermined position, the slide plate provided on the chuck plate slides when gripping the workpiece, so that the workpiece can be reliably placed at the center position of the chuck. The machine can be grasped and transported to the workbench accurately, and the processing process after transport can be carried out reliably.

[Brief explanation of drawings]

Fig. 1 is a plan view of a transfer means dedicated to loading of a transfer device according to an embodiment of the present invention, Fig. 2 (a) is a perspective view of its chuck plate, and Fig. 2 (c) is its slide plate. 3 is a perspective view of the proposed transfer device, FIG. 4 is a plan view of the proposed transfer device in its normal position, and FIG. 5 is an explanatory diagram of its transfer operation cycle. Fig. 1 2l...Slide plate, 22...Slide pack, 2
3...Chuck plate attachment part, 24...Spring guide, 25...Spring, 26...Cushion material 2nd Fig. 21 Slide゛ handling z3 chuck 1 for U dego {na young brother 3 Fig. r A, B, C... Jin Mac

Claims (1)

[Claims] In a transfer device having first and second chucks whose gripping directions are orthogonal to each other, a slide slidable in the gripping direction of the second chuck is provided on each opposing surface of a pair of chuck plates of the first chuck. A transfer device characterized by being provided with a plate.