JPH0537765U - Work transfer device - Google Patents

Abstract

(57) [Abstract] [Purpose] The holder member on which the workpiece suction member is placed
The present invention proposes a work transfer device that is configured by a plurality of arms that are pivotally connected to each other so that work can be loaded and unloaded in a car without any trouble. [Structure] A plurality of arms 17 and 19 connected to each other by a joint pin 21 so that the joints are rotatable, and the arm 1.
Pivot pins 15, 31 pivotally supported on non-joint parts of 7, 19
The arm 17 approaches the joint pin 21, the work suction members 39, 41 appropriately provided on the pivot pins 15, 31, and the device frame 9 fixed to one pivot pin 15,
An arm rotation mechanism 43 for rotating the arms away from each other and an annular belt-like body interposed between the joint pin 21 and the pivot pins 15 and 31 in order to always maintain the workpiece suction members 39 and 41 in the suction posture. Prepare

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a work transfer device for adsorbing a work such as a material or a product by a work adsorbing member to convey the work.

[0002]

[Prior Art]

 Although not shown in the drawings, a conventional work transfer device that transfers a work by sucking the work with a work suction member is provided with a plurality of suction pads on a long horizontal pad holder, and the pad holder is used as a horizontal beam. It is general that, for example, a plurality of beams are provided so as to be horizontally movable, respectively, and the beam is provided so as to be able to move up and down to an upright post. As a result, the beam is moved up and down, the pad holder is moved horizontally with respect to the beam, and the workpiece sucked by the suction pad is conveyed to a predetermined position.

[0003]

[Problems to be solved by the device]

 In such a work transfer device, for example, when a work is taken out from a deep car, or when a work is stored in this car, a horizontal pad holder is loaded on the side wall of the car or in the car. There is a risk of contact with the next work. In addition, when stacking multiple small workpieces side by side in the car, the pad holder may come into contact with the adjacent workpieces that have already been stacked. Cannot be fully packed and loaded. As described above, in the conventional work transfer device, there are many problems in storing the work in the car.

An object of the present invention is proposed in view of such a problem, and a holder member in which a work suction member is arranged is configured by a plurality of arms that are jointly rotatable. We propose a work transfer device that is designed so that the work can be loaded and unloaded in the car without any problems.

[0005]

Means for Solving the Problems In order to solve the above-mentioned problems, the present invention has a plurality of arms connected to each other by articulation pins so as to rotate jointly and a non-joint portion of the arms. A pivot pin, a joint pin, a work suction member appropriately provided on the pivot pin, and an arm rotation mechanism for rotating the arm toward and away from the device frame fixed to one pivot pin. In order to maintain the workpiece suction member in the suction posture at all times, the workpiece transfer device is provided with an annular strip interposed between the pivot pin and the joint pin.

[0006]

[Action]

 When the arm rotation mechanism is operated, the arm rotates toward or away from the device frame. Since the pivot pins and joint pins provided on the arms are interposed by an annular band, the arms rotate toward or away from each other to reduce the overall length of the arm or to extend it. To be done. The workpiece suction member, which is appropriately provided on the joint pin and the pivot pin, is always held in the suction posture by the annular strip interposed between the pivot pin and the joint pin. The adsorption and transfer of the sliver are performed regardless of whether the length of the entire arm is reduced or extended.

[0007]

【Example】

 Next, an embodiment of this invention will be described with reference to the drawings. FIG. 1 is a front view of an example of the work transfer device, and FIG. 2 is a plan view of a main part with a part cut away. In FIGS. 1 and 2, a beam 5 is horizontally provided at a right angle on a horizontal beam portion 3 of an upright vertical column 1. The beam 5 is horizontally moved along the horizontal beam portion 3 by an operation of a beam moving mechanism 7. Can be moved. A post 9 (apparatus frame) is provided on the beam 5 so as to be lifted and lowered by a post lifting mechanism 11.

An arm attachment member 13 is fixed to the post 9, one end of a first arm 17 is pivotally supported by a pivot pin 15 integrally provided on the arm attachment member 13, and one end of a second arm 19 is attached. The other end of the first arm 17 is pivotally supported by a joint pin 21 provided on the.

The pivot pin 15 (the pin 23 coaxial with the pivot pin 15 in the illustrated example) is integrally provided with a first pulley 25, and the joint pin 21 also corresponds to the first pulley 25. The second pulley 27 and the third pulley 29 are integrally provided, and the fourth pulley 33 is integrally provided on the pivot pin 31 pivotally supported at the other end of the second arm 19, A belt 35, which is an annular belt, is wound around the pulley 25 and the second pulley 27, and a belt 37, which is an annular belt, is wound around the third pulley 29 and the fourth pulley 33. The pulley 25, the pulley 27, the pulley 29, and the pulley 33 are all formed to have the same diameter.

Suction pads 39 and 41 as work suction members are attached to the pivot pins 23 and 31 in a suction posture in which the suction surface is horizontal.

The first arm 17 is configured to rotate around the pivot pin 15 by an arm rotation mechanism 43 mounted on the post 9 so that the first arm 17 can move toward and away from the post 9.

The arm rotating mechanism 43 illustrated in FIG. 1 includes a link 45 pivotally connected to the first arm 17 at one end, a nut member 47 pivotally connected to the other end of the link 45, and a nut member 47. It is composed of a feed screw 49 screwed to the member 47 and elongated in the up-down direction, and an arm motor 51 for rotating the feed screw 49. Further, the illustrated beam moving mechanism 7 rotates the nut member 53 attached to the beam 5, the feed screw 55 screwed to the nut member 53 and extended in the left-right direction, and the feed screw 55. And a beam motor 57. Further, the post elevating mechanism 11 shown in the example comprises a rack 59 formed on the post 9, a pinion 61 axially supported by the beam 5 so as to mesh with the rack 59, and a post motor 63 for rotating the pinion 61. There is.

Next, the operation will be described. When the feed screw 49 is rotated by the arm motor 51 of the arm rotation mechanism 43, the link 45 moves together with the nut member 47, and the first arm 17 rotates up and down around the pivot pin 15. When the nut member 47 and the link 45 are moved upward from the position shown in FIG. 1, the first arm 17 rotates upward around the pivot pin 15. At this time, the second pulley 27 and the third pulley 29 also rotate upward (revolving counterclockwise) about the pivot pin 15, but are integrated with the arm attaching member 13 and the pivot pin 15. Cannot rotate with the first pulley 25. Therefore, the belt 35, one end of which is in contact with the first pulley 25, rotates the second pulley 27 and the third pulley 29 clockwise (rotates clockwise). The second arm 19 which is integral with the second pulley 27 and the third pulley 29 also rotates clockwise about the joint pin 21 (clockwise rotation). As a result of these combined rotations, the pulley 33 on the right side, the pivot pin 31, and the suction pad 41 move laterally while maintaining the posture of the arm rotating mechanism 43 before the above-mentioned operation, and the pulley 25 on the left side and the pivot pin 15 , The suction pad 39 is approached.

The state after this approach is shown in a front view in FIG. When accommodating the small of the work W ₁ into the basket 61 as shown in FIG. 3, or, in the case of taking out the word over click W ₁ of the compact is loaded into the cage 61 to the outside, the left and right arms 17 and 19 The gap between the suction pads 39 and 41 is narrowed by narrowing as shown in FIG.

As a result, the length of the arms 17, 19 as a whole is reduced, and even when the work W ₁ is stored in the deep car 61, or when the work W ₁ is taken out from the car 61, it is sufficient. left and right arms 17 and 19 which are Tsubome, the side wall and the car 61 is not risk of contact with a work W ₁ of the next being loaded into the basket 61, accommodating the workpiece W _1, the eject operation Can be done safely. When the plurality of works W ₁ are stacked side by side in the car 61, there is no fear that the left and right arms 17 and 19 will come into contact with the already stacked next works W _{1 and the} like. It is possible to stack a plurality of W ₁ with a sufficient gap between them.

Contrary to the above, when the nut member 47 and the link 45 are moved downward from the position shown in FIG. 1, the first arm 35 rotates downward around the pivot pin 15. The belt 35, one end of which is in contact with the first pulley 25, rotates the second pulley 27 and the third pulley 29 counterclockwise (rotates counterclockwise). The second arm 19 integrated with the pulley 27 and the third pulley 29 also rotates counterclockwise about the joint pin 21 (counterclockwise rotation). As a result of these combined rotations, the pulley 33 on the right side, the pivot pin 31, and the suction pad 41 move laterally while maintaining the posture of the arm rotation mechanism 43 before the above-mentioned operation, and move to the left pulley 25 and the pivot pin. 15, further away from the suction pad 39.

The state after the separation is shown in a front view in FIG. When accommodating the large work W ₂ into the cage 61 as shown in FIG. 4, or, in the case of taking out the word over click W ₂ large, which is loaded into the cage 61 to the outside, the left and right as shown in FIG. 4 The arms 17 and 19 are opened to widen the distance between the suction pads 39 and 41.

As a result, in the case of a large work W ₂ , the distance between the left and right suction pads 39, 41 can be made sufficiently long, and the left and right parts of the large work W ₂ can be moved to the suction pads 39, 41. It can be sucked up and stably lifted.

In the above embodiment, the entire arm is composed of the two arms 17 and 19, and the suction pads 39 and 41 are only the minimum required number of two. The number of arms and the number of suction pads can be increased depending on the situation.

FIG. 5 is a plan view showing a second embodiment of the work transfer device in which the left and right arms 17 and 19 are provided on the two posts 9, respectively.

In the third embodiment, the main part of which is shown in the front view in FIG. 6, four intermediate arms 65 are connected between the arms 17 and 19, and the joint pin 21 formed on the intermediate arm 65 has , The pulleys 27 and 29 are integrally provided, and the belt 67 is wound around the adjacent pulleys 27 and 29. When the feed screw 49 is rotated by the arm motor 51 of the arm rotating mechanism 43, the respective intermediate arms 65 and the right arm 19 are moved to the left pivot pin 15 according to the rotation direction of the feed screw 49. Similar to the case of the first embodiment, they rotate close to each other or rotate away from each other, and the suction pad 41 on the right approaches or separates from the suction pad 39 on the left. According to the third embodiment, the distance between the left and right suction pads 39, 41 is sufficiently long, and the left and right parts of the large work W ₂ can be stably lifted.

In the fourth embodiment, the main part of which is shown in a front view in FIG. 7, two intermediate arms 65 are connected between the arms 17 and 19, and the three joint pins 21 are located in the middle of the left and right. A suction pad 69 is provided on the rear side, so that the left and right suction pads 39 and 41 and the middle suction pad 69 can suck, for example, the left and right portions and the middle portion of a large work W _2. Is.

For the beam moving mechanism 7, the post elevating mechanism 11, and the arm rotating mechanism 43, various publicly known mechanisms are used in addition to the above-described example according to the work transfer device and the size of the work to be transferred. can do.

In the fifth embodiment, the main part of which is shown in a plan view in FIG. 8, the horizontal beam portion 3 is used as the beam moving mechanism 71 of the beam 5 configured to be horizontally movable along the horizontal beam portion 3 of the vertical column 1. The sprocket 73 with a clutch and the sprocket 75 are pivotally supported at the right and left ends of the sprocket 73 corresponding to the number of the beams 5, and the sprocket with a clutch 73 and the sprocket 75 are wound with an annular band 77 such as a chain, and the annular band 77 is attached. The beam 5 is connected to the connecting portion 79 by the connecting portion 79, and the sprocket 73 with a clutch is rotated by the beam motor 81. When the beam motor 81 is driven to rotate the desired clutch-equipped sprocket 73 and rotate the annular belt 77, the desired beam 5 is moved to a predetermined position of the lateral beam portion 3.

In the sixth embodiment, the main part of which is shown in the front view in FIG. 9, a rack 83 is provided on the post 9 that is provided so as to be able to move up and down to the beam 5, and this rack is provided according to the number of posts 9. A pinion 85 meshing with 83 is pivotally supported on the beam 5, a spline shaft 87 pivotally supported on the beam 5 is spline-fitted to the pinion 85, and the spline shaft 87 is rotated by a post motor 89. When the post motor 89 is driven to rotate the spline shaft 87, the pinion 85 rotates and the rack 9 and the post 9 are vertically moved.

The present invention is not limited to the above-described embodiments, but can be implemented in other modes by making appropriate changes. The arms 17 and 19 may be driven by a gear such as a bevel gear instead of the ball screw.

[0027]

[Effect of the device]

 As described above, according to the present invention, when the arm rotating mechanism is operated, the arms are rotated toward each other or separated from each other to reduce or extend the entire length of the arm, thereby adsorbing the left and right workpieces. The members approach each other or move away from each other by the annular strip interposed between the pivot pin and the joint pin, while the posture is always maintained in the suction posture. This allows the left and right workpiece suction members to be set at suitable positions according to the lateral length of the workpiece.For example, the workpiece can be stored in a deep car, or the workpiece can be removed from this car. Even when taking out, the arm whose length is sufficiently shortened does not come into contact with the side wall of the car or the next work loaded in the car. Can be performed safely, or the distance between the left and right workpiece suction members can be made sufficiently long to stably suck and support long workpieces.

[Brief description of drawings]

FIG. 1 is a front view of essential parts showing a first embodiment of a work transfer device of the present invention.

FIG. 2 is a partial plan view of a part of the embodiment shown in FIG.

FIG. 3 is a front view showing a state in which the arm is closed in the embodiment of FIG.

FIG. 4 is a front view showing a state in which an arm is opened in the embodiment of FIG.

FIG. 5 is a plan view of essential parts showing a second embodiment of the work transfer device of the present invention.

FIG. 6 is a front view of essential parts showing a third embodiment of the work transfer device of the present invention.

FIG. 7 is a front view of essential parts showing a fourth embodiment of the work transfer device of the present invention.

FIG. 8 is a front view of essential parts showing a fifth embodiment of the work transfer device of the present invention.

FIG. 9 is a front view of essential parts showing a sixth embodiment of the work transfer device of the present invention.

[Explanation of symbols]

 9 post (apparatus frame) 15,31 pivot pin 17,19,65 arm 31 joint pin 35,37,67 belt (annular belt) 39,41,69 suction pad (work suction member) 43 arm rotation mechanism

Claims (1)

[Scope of utility model registration request] 1. A plurality of arms rotatably connected to each other by joint pins, a pivot pin pivotally supported by a non-joint portion of the arms, and a joint pin, and a work suction member appropriately provided on the pivot pin. A member and a device frame fixed to one pivot pin, an arm rotation mechanism for moving the arm toward and away from the device frame, and a pivot pin and a joint for always maintaining the workpiece suction member in the suction posture. And a ring-shaped body interposed between the pins.