JPH052843U - Work transfer device - Google Patents

Abstract

(57) [Abstract] [Purpose] To improve the positioning accuracy while maintaining the synchronization when moving two workpieces. [Structure] Two clamping means (3, 3) for clamping each work (11, 11) and two rotary actuators (6, 6) respectively connected to the clamping means (3, 3) and rotating each work (11, 11) are provided. Has been. Each of the sandwiching means 3 and 3 is composed of a rotatable rotary shaft 31 and an air chuck 4 which is connected to one end of the rotary shaft 31 and sandwiches the workpieces 11, 11. The rotary shaft 31 and the air chuck 4 are set so that the turning radii of the works 11, 11 are equal to each other, and the straight line connecting the center of the turning shaft and the center of the work is in different directions in the sandwiching means 3, 3. Is set. On the other hand, each of the rotary actuators 6 and 6 is connected to the other end of each of the rotary shafts 31 and also has a low tension timing belt 72 via pulleys 71 and 71 so that both works 11 and 11 rotate in synchronization. Are connected by.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

  The present invention relates to a work transfer device for transferring a work placed on a pallet, In particular, it relates to synchronization and positioning of two works.

[0002]

[Prior art]

  Generally, in an automatic assembly line, one is required to reduce the takt time. There are cases where two works are placed on the pallet and the work is performed. For example, this one In the dynamic assembly line, changing the relative position of two workpieces from one pallet A work transfer device for transferring to another pallet is provided.

[0003]   This work transfer device has a displacement actuator that changes the work interval and It has a rotary actuator that rotates each work, and Rotate each work by a predetermined angle while changing the work interval with the data There is something that

[0004]   In addition, another work transfer device is provided with one actuator, The actuator and the other work clamping means are connected by a power transmission mechanism to form a single actuator. The interval between the two workpieces and the rotation angle are synchronized and changed with the data. There is

[0005]

[Problems to be solved by the device]

  However, the above-described displacement actuator and rotation actuator are provided. In the former work transfer device, it is possible to accurately control the stop positions of both ends of each work. However, the displacement actuator and the rotary actuator must not be controlled together. Both workpieces may interfere when rotating both workpieces, There was a problem that it was difficult to synchronize.

[0006]   In the latter work transfer device equipped with one actuator and a transmission mechanism, In addition, although the rotation of each work and the change of the interval can be performed synchronously, both There was a problem with the end stop positioning accuracy. In other words, the work directly connected to the actuator The workpieces on the side connected by the transmission mechanism are There was a problem that the positioning accuracy deteriorates due to play or the like.

[0007]   The present invention has been made in view of such a point, and can be used when moving two workpieces. The purpose is to improve positioning accuracy while maintaining synchronization.

[0008]

[Means for Solving the Problems]

  In order to achieve the above-mentioned object, the means taken by the present invention are clamped corresponding to each work. A holding means and a rotation means are provided, and the rotation means is connected by a wrapping member. It is a thing.

[0009]   Specifically, the means taken by the device according to claim 1 is such that the center lines are parallel to each other on the pallet. Also, a work transfer device for moving and mounting two works placed at a predetermined interval. It is premised on Oki. And two clamping means for clamping each of the above-mentioned works respectively. And two rotating means for rotating the work respectively connected to the respective holding means. It has been burned. Further, each of the holding means includes a rotatable rotary shaft and one end of the rotary shaft. And a chuck member that holds the work by being connected to The rotation shaft of the clamping means and the chuck member are installed so that the workpieces have the same rotation radius. And the straight line connecting the center of the rotation axis and the center of the workpiece is different in both clamping means. It is set to be in the direction. On the other hand, each of the rotating means has It is connected to the other end of the rotating shaft, and both rotating means rotate the both works in synchronization. As described above, the winding members are connected to each other.

[0010]   Also, the means taken by the device according to claim 2 is the device according to claim 1, The hanging member is wound around the pulley connected to the drive shaft of the rotating means with low tension. It is configured to be a long belt.

[0011]

[Action]

  With the above structure, in the device according to the first aspect, the chuck members of the sandwiching means are both Each work is clamped in parallel with the work center line and at a predetermined interval. And each time When the rolling means is driven, both the rotating means rotate in synchronization with the wrapping member, and specifically, In the invention according to claim 2, the timing belt is wound around the pulley. , The rotation axis of the clamping means is synchronized, and both workpieces are synchronized while keeping the workpiece center lines parallel to each other. And will rotate.

[0012]   Moreover, since the two workpieces have the same radius of gyration, they rotate equally in the same direction. At the same time, the straight line connecting the center of the work and the center of the rotation axis is in a different direction between the two clamping means. Therefore, as the above work rotates, the distance between both works will change. . As a result, both workpieces can be moved and placed at different intervals while changing the angle. Becomes

[0013]

[Effect of device]

  Therefore, according to the invention of claim 1, it corresponds to the clamping means for clamping each work. And a rotating means is provided, and both rotating means are connected by a wrapping member. Therefore, it is possible to rotate each work synchronously and with the work center lines parallel. Therefore, it is possible to transfer the work accurately without the both works interfering with each other.

[0014]   In addition, since a rotating means is provided for each work, both ends of the work can be accurately positioned and stopped. Since it is possible to improve the degree of accuracy, it is possible to perform various tasks with high accuracy. It

[0015]   According to the second aspect of the present invention, the timing belt is attached to the pulley connected to the rotating means. Since the belt is wound with low tension, both workpieces can be reliably synchronized in rotation. Therefore, it is possible to reliably prevent the interference of both works.

[0016]

【Example】

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0017]   As shown in FIGS. 1 to 5, 1 is a work transfer device, which is an automatic assembly line. In, two workpieces (jigs) 11 and 11 are pallets on one conveyor 12 13 to another pallet 13 on the conveyor 12 while keeping the work center line parallel. Note that the distance between both workpieces 11 and 11 is changed and the angle is changed, and the workpieces are moved and placed again. Is.

[0018]   The work transfer device 1 includes two clamping means 3 and 3 supported by a controlled body 2, Two rotary actuators 6 which are rotating means connected to the respective sandwiching means 3 and 3. , 6 and. Further, the holding means 3 and 3 hold the rotary shaft 31. And the XY floating mechanism 5 connected to the rotary shaft 31 and the XY flow mechanism. And an air chuck 4 which is a chuck member connected to the operating mechanism 5. Is made.

[0019]   As shown in FIG. 3, the controlled body 2 includes support columns 21 and 22 on the upper and lower sides, which have four corners. 23, 23, ... and a pair of stoppers between the support plates 21 and 22. Two sets of 24 and 24 are attached via dampers 25 and 25. That Then, the controlled body 2 faces the Z direction in the vertical direction in FIG. 1 and the paper surface in FIG. And is controlled to move in the vertical X direction, while being placed between the support plates 21 and 22. A protrusion 27 is attached to the rotary shaft 31 of the sandwiching means 3 via a ring body 26, The protrusion 27 abuts the stoppers 24, 24 so that the rotation shaft 31, that is, the work 1 The rotation angle θ of 1 is mechanically restricted. Also, the rotation angle of the workpieces 11, 11. The degree θ can be finely adjusted by changing the mounting position of the dampers 25, 25 to the support plate 21. Is going. Reference numeral 28 denotes a bearing member of the rotary shaft 31, which is fixed to the lower support plate 22. ing.

[0020]   The air chuck 4 has a pair of holding claws 42, 42 at the lower end of the chuck body 41. The workpieces 11 are sandwiched by the pair of holding claws 42, 42, which are connected to each other so as to be able to come into contact with each other. Is configured to have.

[0021]   In addition, the XY floating mechanism 5 is provided when sandwiching both works 11 and 11, Positioning error of the controlled object 2 and stop position error of the workpiece 11 with respect to the conveyor 12 And includes an upper substrate 51, an intermediate substrate 52, and a lower substrate 53. A rail 54 and a slider 55 of the rail 54 are provided between the substrates 51 to 53. The substrates 51 to 53 are connected so as to be movable in the directions orthogonal to each other. That is , The XY floating mechanism 5 is arranged in the X direction perpendicular to the plane of FIG. 2, the lower substrate 53 and the upper substrate 51 are arranged in the Y direction perpendicular to the paper surface of FIG. The air chucks 4 and 4 are configured to be movable relative to the X direction and the Y direction. It is possible to move freely about 1 mm, and external forces in the X and Y directions act on the air chucks 4 and 4. I am considering running away when I do. The rotary shaft 31 is located below the upper substrate 51. While being connected at the ends, the chuck body 41 of the air chuck 4 is attached to the lower substrate 53. It is connected at the top.

[0022]   Both the rotary actuators 6 and 6 are mounted on the controlled body 2 together. Is connected to the rotating shaft 31 so that the rotating shaft 31 can be rotated in the same direction. ing. Further, a synchronization means 7 is provided between the rotary actuators 6 and 6. The synchronizing means 7 is attached to the drive shaft of the rotary actuators 6 and 6. 71, 71 and a timing member that is a winding member wound around the pulleys 71, 71. And a belt 72. Then, the timing belt 72 is The rotary actuators 6 and 6 are synchronized with each other in rotation and have a slight slack. It is wound around the pulleys 71, 71 by force.

[0023]   Further, the rotary shaft 31 and the air chuck 4 in the holding means 3 are shown in FIG. As shown in FIG. 7, the turning radii R of the works 11, 11 are set to be equal. At the same time, straight lines L1 and L2 connecting the rotation axis centers P1 and P2 and the work centers O1 and O2 Are set so as to be in different directions in both clamping means 3, 3. That is, FIG. As shown in Fig. 3, the work axes held by the air chucks 4 and 4 and the rotation axis centers P1 and P2 are held. The distance from the center O1, O2, that is, the radius of gyration R, is set to be equal in both clamping means 3, 3. The straight line L1 connecting the rotation axis centers P1 and P2 and the work centers O1 and O2 , L2 are set to intersect at a predetermined angle θ.

[0024]   Next, a mounting operation of the work transfer device will be described.

[0025]   First, as shown in FIGS. 4 and 6, the two works 11 and 11 are on one conveyor. Place the work center lines N1 and N2 in parallel with each other at a predetermined distance M1. The air chuck 4 is moved above the workpieces 11 and 11, The work 4 is lowered and the work pieces 11, 11 are held by the holding claws 42, 42. that time, The straight lines L1 and L2 connecting the work centers O1 and O2 and the rotation axis centers P1 and P2 are sandwiched between the two. The holding means 3 and 3 intersect at a predetermined angle θ.

[0026]   Then, the controlled body 2 is lifted to move the works 11 and 11 to the other conveyors 12. While moving upward, the rotary actuators 6 and 6 are driven. This rotor When the re-actuators 6 and 6 are driven, as shown in FIG. 5 and FIG. , 31 rotate, and the respective works 11, 11 rotate about the rotation axis centers P1, P2. . Then, the projection 27 comes into contact with the stopper 24 and the respective works 11, 11 stop. In other words, one rotary actuator 6 and the timing belt 72, etc. When the gears 11 and 11 are rotated, one of the work wheels is driven by the play of the timing belt 72 or the like. Since the gear 11 does not always stop at a predetermined position, the two rotary Both works 11, 11 are rotated by the users 6, 6.

[0027]   At that time, the distance between the work centers O1 and O2 and the rotation axis centers P1 and P2, that is, the rotation Since the turning radii R are the same, the two works 11 and 11 should be parallel to the work center lines N1 and N2. While maintaining the same rotation in the same direction, both rotary actuators 6, 6 Since they are connected by the timing belt 72, they rotate in synchronization. Shi Also, straight lines L1 and L2 connecting the work centers O1 and O2 and the rotation axis centers P1 and P2 are Since the two clamping means 3 and 3 intersect each other at a predetermined angle θ, The distance M2 between 11, 11 is larger than the distance M1 before the rotation.

[0028]   That is, the radius gyration R becomes as shown in the following equation.

[0029]     R = (M1-M2) / 2sinθ (1)   Therefore, the rotors corresponding to the sandwiching means 3 and 3 for sandwiching the respective works 11, 11 are Re-actuators 6 and 6 are provided, and both rotary actuators 6 and 6 are Since the work pieces are connected by the timing belt 72, the respective works 11 and 11 are synchronized. Since the work centers O1 and O2 can be rotated in parallel with each other, The workpieces 11 and 11 can be transferred accurately without interference.

[0030]   In addition, the rotary actuators 6 are provided for each of the works 11, 11. Then, is it possible to improve the positioning accuracy for stopping both ends of the workpieces 11? Therefore, various operations can be performed with high accuracy.

[0031]   Further, the rotary actuators 6 and 6 are connected via pulleys 71 and 71 to Since the winding belt 72 is wound with a low tension, it is possible to ensure the rotation synchronization of both works 11, 11. Since it can be taken really, it is possible to surely prevent the interference between the two works 11, 11. You can

[0032]   Although the XY floating mechanism 5 is provided in this embodiment, the XY float The swing mechanism 5 may be provided only when the air chuck 4 needs to escape, and is not always required. There is no need to provide it.

[0033]   Further, in the device according to claim 1, the wrapping member is not limited to the timing belt 72. Not something.

[Brief description of drawings]

FIG. 1 is a front view of a work transfer device.

FIG. 2 is a side view of a work transfer device.

3 is a cross-sectional view taken along the line AA in FIG.

FIG. 4 is a cross-sectional view taken along line BB in FIG. 2 showing a state before transfer.

5 is a cross-sectional view taken along line BB in FIG. 2 after transfer.

FIG. 6 is a principle diagram showing a work state before transfer.

FIG. 7 is a principle view showing a work state after transfer.

[Explanation of symbols]

1 Work transfer device 2 controlled object 3 clamping means 4 Air chuck 5 XY floating mechanism 6 Rotary actuator (rotating means) 11 work 12 conveyor 13 pallets 31 rotation axis 71 pulley 72 Timing belt

Claims (2)

[Scope of utility model registration request] 1. A work transfer device for moving and mounting two works mounted on a pallet, the center lines of which are parallel to each other and which are spaced apart from each other by a predetermined distance. One holding means and two rotating means which are respectively connected to the respective holding means and rotate the respective works are provided, and the respective holding means are connected to a rotatable rotary shaft and one end of the rotary shaft. The chuck member for sandwiching the work is set, and the rotary shafts of the sandwiching means and the chuck member are set so that the turning radii of the works are equal, and a straight line connecting the center of the rotary shaft and the center of the work is formed. While the two clamping means are set to have different directions, each rotating means is connected to the other end of the rotating shaft of each clamping means, and both rotating means rotate the both works in synchronization. Wrapped around Workpiece transfer apparatus, characterized in that it is attached in member. 2. The work transfer device according to claim 1, wherein the winding member is a timing belt wound with a low tension on a pulley connected to the drive shaft of the rotating means. Mounting device.