JPH0572345U - Work transfer device - Google Patents

Abstract

(57) [Abstract] [Object] The present invention provides a work transfer device capable of adjusting an arm stop position with high accuracy and setting an arm rotation range suitable for a work environment of a transfer work. The purpose is to [Structure] One arm member 35 is provided with a movable stopper member 51 projecting from the one toward the other and a restricting means 50 for restricting the movement of the stopper member within a predetermined movement range, and the other arm member. When the first arm member 25 turns to one end or the other end of the predetermined turning range, the stopper member 51
When the stopper member 51 contacts the contact member by the relative rotation of both arm members 25 and 35 and the movement of the stopper member 51 is restricted by the restricting means 50, the stopper member 51 and The relative rotation of both arm members 25, 35 is restricted via the contact member 61. The regulating means 50 can be provided with an adjusting mechanism 56 for adjusting the moving range of the stopper member 51.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a work transfer device, and more particularly to a work transfer device for linearly transferring a work.

[0002]

[Prior Art]

 Conventionally, as a transfer device for linearly transferring various works, a device using a direct-acting fluid cylinder or the like has been widely used. However, in such a device, when the transfer distance becomes large, the fluid cylinder becomes a machine base. There was a problem in that it significantly protruded to the side, which caused an increase in installation space and was not preferable in terms of work safety.

Therefore, recently, as a transfer device without protrusions from the machine base, for example, a device described in Japanese Patent Laid-Open No. 2-307717 has been proposed. This device has the characteristic of a cardan circle (when a second circle whose diameter is the radius of the first circle is inscribed in the first circle and rotates, any point on the second circle becomes A swing arm mechanism that applies the characteristic of moving on the diameter line of a circle) is provided, and the work gripping means attached to the tip of the mechanism is moved linearly, and is fixed on a support plate. A large pulley, a first rotating shaft that is rotatable on a support plate and is coaxially supported by the large pulley, and a proximal end side that is connected to the first rotating shaft and that is parallel to the first rotating shaft at the distal end side. An arm that rotatably supports the second rotating shaft, a small pulley that is formed with a pitch circle diameter corresponding to the pitch circle radius of the large pulley 2 and that is integrally supported by the second rotating shaft in the rotation direction, and a large and small pulley. It was connected to the belt wrapped around and the second rotating shaft at the base end side. When provided with a hand that both fitted with a finger for work holding the tip side. In addition, a stopper (not shown) is provided on the machine base so as to stop the rotation of the arm at both the work gripping position and the work releasing position by the transfer device.

[0004]

[Problems to be solved by the device]

 However, even in such a conventional work transfer device, when the belt is stretched, the hand rotation angle error is caused by the pulley ratio of the large and small pulleys even if the arm rotation angle error is in a small range. Was doubled, so it was not easy to secure the stop position accuracy.

Further, it is not easy to change the relative rotation range of the arm and the hand to adjust the stop position. Furthermore, it was not possible to select the arm turning direction to be opposite during transfer and return. That is, in order to determine the range of relative rotation between the arm and the hand, it is possible to provide a stopper on either the arm or the hand and make this stopper strike against the other. Due to the configuration of the mating parts, it was not possible to change the relative rotation range of the arm and hand (stopper stop position of the arm) or the arm turning direction during transfer.Therefore, fine adjustment of the stop position at the transfer destination, It was not possible to set the arm rotation range suitable for the environment in which the transfer work was performed.

Therefore, an object of the present invention is to provide a work transfer device capable of adjusting an arm stop position and setting an arm turning range suitable for a work environment of a transfer work.

[0007]

[Means for Solving the Problems]

 In order to achieve the above object, a device according to claim 1 includes a first pulley which is non-rotatably supported by a support, and a first rotating shaft which is rotatable with respect to the support and is coaxial with the first pulley. , A first arm member that rotatably supports a second rotary shaft that is connected to the first rotary shaft at the proximal end side and that is parallel to the first rotary shaft at the distal end side, and corresponds to the pitch circle radius of the first pulley A second pulley that is formed to have a pitch circle diameter and that is integrally supported by the second rotating shaft in the rotational direction, a belt that is wound around the first pulley and the second pulley, and is connected to the second rotating shaft at the base end side. And a second arm member having a work holding means mounted on the tip side thereof, wherein one of the first arm member and the second arm member and the other one of the first arm member and the second arm member Projected toward the specified movement range Is provided with a stopper member that is movable with a stopper, and a restricting unit that restricts movement of the stopper member out of a predetermined movement range, and at least one of the first arm member and the second arm member is provided with a first arm member. An abutting member that comes into contact with the stopper member when turning is provided at one end or the other end of the predetermined turning range, and the stopper member comes into contact with the abutting member by the relative rotation of the first arm member and the second arm member and the stopper is provided. 3. The invention according to claim 2, wherein when the movement of the members is regulated by the regulating means, the relative rotation of both arm members is regulated via the stopper member and the contact member. Is characterized in that the regulating means has an adjusting mechanism for adjusting a predetermined movement range of the stopper member. The invention according to claim 3, wherein the stopper member is It is characterized in that the kicked set on the distal end side of the serial second arm member.

[0008]

[Action]

 In the invention according to claim 1, when the first arm member and the second arm member rotate relative to each other and the stopper member and the contact member come into contact with each other, the stopper member moves, but this movement is within a predetermined range by the restricting means. Regulated. Then, the relative rotation of both arm members is regulated via the stopper member and the contact member whose movement is regulated, and the stop position of the arm member is regulated. Therefore, a desired stop position can be set by appropriately setting the moving range of the stopper member. Further, the turning direction can be changed such that the positional relationship between the stopper and the contact member is reversed and the turning directions at the time of transferring the first and second arm members are reversed.

According to the second aspect of the invention, the predetermined moving range of the stopper member can be adjusted by the adjusting mechanism of the restricting means, and the fine adjustment of the stop position can be performed very easily. According to the third aspect of the present invention, since the stopper member is provided on the tip end side of the second arm member, it is possible to realize a stopper structure with high stop position accuracy and advantageous strength.

[0010]

The present invention will be described below with reference to the drawings. 1 and 2 are views showing an embodiment of a work transfer device according to the present invention. First, the configuration will be described. In FIG. 1 and FIG. 2, 10 is a stand having a column portion 11, and a fixing plate 12 (support) is fastened to the column portion 11 of the stand 10 with bolts 13. The stand 10 is fixed to a machine base (not shown), for example, a machine frame of a vertical injection molding machine, by a plurality of bolts 14, and a fixing plate 12 is supported above the machine frame. A vertical drive air cylinder 15 is attached to the fixed plate 12, and its downwardly projecting piston portion 15a is connected to a movable plate 18 via a connecting block 16 and a swiveling air cylinder 17. The moving plate 18 is guided by a plurality of slide rods 19 so as not to be rotatable and movable up and down with respect to the fixed plate 12, and the moving plate 18 is moved up and down by the expansion and contraction operation of the air cylinder 15. ..

A pulley holder 21 is integrally formed on the moving plate 18, a first pulley 22 is fixed through the pulley holder 21, and a bearing 23 is attached to the center of the first pulley 22. There is. A first rotating shaft 24, which is rotatable with respect to the fixed plate 12 and is coaxial with the first pulley 22, is supported by the bearing 23. The first rotating shaft 24 is connected to the swirling air cylinder 17. Has been done. The first rotating shaft 24 is connected to the base end side of the first arm member 25, and is configured to rotate the first arm member 25 when the air cylinder 17 is operated.

A second rotary shaft 26, which is parallel to the first rotary shaft 24, is rotatably supported via a bearing 27 on the tip end side of the first arm member 25. The pulley 28 is attached integrally in the rotational direction. The second pulley 28 is formed with a pitch circle diameter corresponding to the half pitch diameter of the first pulley 22 (the pitch circle diameter of the second pulley 28 is half the pitch circle diameter of the first pulley 22). A timing belt 29 is wound around the second pulley 28 and the first pulley 22. The second rotary shaft 26 is prevented from coming off from the bearing 27 by the ring 31 and the nut 32, and the bearing 27 is positioned on the first arm member 25 by the bearing retainer 33.

Reference numeral 35 is a second arm member connected to the second rotating shaft 26 by a plurality of bolts 34 at one end side thereof, and the work holding means 40 is attached to the tip end side of the second arm member 35. ing. The work holding means 40 includes, for example, well-known air suction type suction means 41 and 42, and both suction means 41 and 42 are work pieces (not shown), for example, strip materials for inserts used in the molding operation of the injection molding machine. Adsorb.

On the other hand, one of the first arm member 25 and the second arm member 35, for example, the second arm member 35, has a stopper member having an inverted T-shaped cross section that projects toward the first arm member 25. 51 is provided. The stopper member 51 is inserted into the groove 25a formed on the distal end side (from the center in the longitudinal direction to the distal end side) of the second arm member 25, and extends in the direction (width direction) orthogonal to the longitudinal direction of the second arm member 35. Can be moved. Further, the stopper member 51 has stopper surfaces 51a and 51b which are parallel to each other on both sides in the moving direction, and hits the stop bolts 52A and 52B on the lower side of these stopper surfaces 51a and 51b. The stop bolts 52A, 52B are screwed to the plates 53A, 53B and are prevented from loosening by nuts 54A, 54B, and the plates 53A, 53B are fastened to the second arm member 35 by a plurality of fixing bolts 55. The stop bolts 52A and 52B, the plates 53A and 53B, the nuts 54A and 54B, and the plurality of fixed bolts 55 constitute a regulation means 50 that regulates the movement of the stopper member 51 within a predetermined movement range. The 52A, 52B and the plates 53A, 53B form an adjusting mechanism 56 for adjusting the predetermined movement range of the stopper member 51.

Either the first arm member 25 or the second arm member 35, in this case, the first arm member 25, the first arm member 25 has a predetermined turning range (approximately 180 degrees as shown in FIG. 2). The contact member 61 that comes into contact with the stopper member 51 when swiveled to one end or the other end of the swivel range) is integrally provided, and the first arm is formed by the pulley ratio of the first and second pulleys 22 and 28. When the member 25 and the second arm member 35 rotate relative to each other, the contact member 61 contacts the upper side of the stopper surfaces 51a and 51b of the stopper member 51. Then, when the first arm member 25 and the second arm member 35 rotate further relative to each other, when the stopper member 51 hits the stop bolts 52A and 52B, the movement of the stopper member 51 is restricted by the restricting means 50. At this time, the relative rotation of both arm members 25, 35 is restricted via the stopper member 51 and the abutting member 61 so as to stop.

Further, the predetermined movement range of the stopper member 51 is set to a distance range including a distance twice the thickness of the stopper member 51 and the thickness of the contact member 61 in the thickness direction. The first arm member 25 and the second arm member 35 are stopped at a position rotated 180 degrees from the arm rotation position shown by the solid line in FIG. That is, the predetermined turning range of the first arm member 25 is 180 degrees, and the predetermined turning range is expanded by adjusting the predetermined moving range of the stopper member 51 by adjusting the stop bolts 52A and 52B. Or it can be reduced.

In FIGS. 1 and 2, 71 and 72 are stop bolts screwed to the vertical plate portion 12a of the fixed plate 12, and the stop bolt 71 or 72 has the first arm member 25 shown in FIG. The first arm member 25 is configured to stop when it moves to a turning position shown by a solid line or a position where it turns 180 degrees (by a set value of the turning range). Further, 73 is a roller for applying tension to the timing belt 29 to adjust the adjustment, and the roller 73 is rotatably supported by a bracket 74 fixed to the first arm member 25 by a bolt. Further, although not shown in the drawing, below the work holding means 40 at the turning position shown by the solid line in FIG. A lower die of the injection molding die is arranged below the work holding means 40 at the turning position shown by an imaginary line in FIG. The latter turning position is a position where the work holding state by the work holding means 40 is released and the work is placed on the lower die.

Next, the operation will be described. First, in a state in which one stopper surface 51b of the stopper member 51 and the abutting member 61 are in contact, that is, in a state in which the first and second arm members 25 and 35 are stopped at the positions indicated by the solid lines in FIG. The air cylinder 15 operates and both arm members 25 and 35 descend by a predetermined amount. Then, when the suction means 41, 42 are operated, the work placed on the work supply device is held by the work holding means 40. Next, after the vertical driving air cylinder 15 is actuated and both arm members 25, 35 are raised by a predetermined amount, the swiveling air cylinder 17 is actuated and the first arm member 25 moves in the direction of arrow R1 in FIG. Turn clockwise). At this time, since the second rotating shaft 26 rotatably supported by the first arm member 25 is connected to the fixed first pulley 22 via the second pulley 29 and the timing belt 29, Corresponding to the turning angle of the arm member 25, it is turned by a double angle (this angle is the turning angle with respect to the first arm member 25) in the opposite direction (arrow R2 direction), and as a result, the turning of the first arm member 25 is performed. At the same time, the second arm member 35 turns in the opposite direction at a constant speed.

When the first arm member 25 swivels up to around a set swivel angle of 180 degrees, the first arm member 25 and the second arm member 35 relatively rotate near 360 degrees, and at this time, the other side of the stopper member 51. The stopper surface 51a and the contact member 61 contact each other. When the first arm member 25 further swivels, the stopper member 51 moves upward relative to the first arm member 25 in FIG. 2, but this movement causes the stopper surface 51b of the stopper member 51 to abut against the stop bolt 52B. Stop at the position you want. That is, the movement of the stopper member 51 is restricted by the restricting means 50 within the predetermined range. The relative rotation of both arm members 25, 35 is restricted through the stopper member 51 and the contact member 61 whose movement is restricted, and at this time, the first arm member 25 is stopped by the stop bolt 72 at the same time. This defines the stop positions of both arm members 25, 35.

In this state, when the vertical drive air cylinder 15 operates and both arm members 25 and 35 descend by a predetermined amount, the suction of the work by the suction means 41 and 42 is stopped, and the work holding means 40 holds the work. The work is placed on the lower die. Then, the vertical driving air cylinder 15 is operated, and both arm members 25, 35 are raised by a predetermined amount, and then the turning air cylinder 17 is operated, so that the first arm member 25 is opposite to the arrow R1 direction in FIG. And the second arm member 35 turns in the opposite direction at a constant speed.

When the first arm member 25 pivots to near the initial position, the other stopper surface 51b of the stopper member 51 and the contact member 61 contact, as in the case of the above-described transfer. Then, when the first arm member 25 further turns, the stopper member 51 moves upward relative to the first arm member 25 in FIG. 2, but this movement causes the stopper surface 51a of the stopper member 51 to abut the stop bolt 52A. Stop at position. That is, the movement of the stopper member 51 is regulated within the predetermined range by the regulation means 50. Then, the relative rotation of both arm members 25, 35 is restricted via the movement-controlled stopper member 51 and the contact member 61, and at the same time, the first arm member 25 is stopped by the stop bolt 71. As a result, the stop positions of both arm members 25, 35 are defined.

As described above, in this embodiment, the stop positions of the first and second arm members 25 and 35 can be appropriately defined by appropriately setting the movement range of the stopper member 51, and the stop bolt 52A can be defined. , 52B can be rotated to finely adjust the predetermined movement amount of the stopper member 51, and the stop position of the second arm member 35 with respect to the first arm member 25 can be adjusted. Therefore, the work holding means 40 can be accurately stopped at a desired stop position (the position where the work of the lower die is to be placed), and the adjustment thereof is extremely easy.

Further, for example, when the mounting direction of the fixing plate 12 to the stand 10 is changed and the turning directions of the first and second arm members are reversed when used, the stopper at the time of stop is stopped. Only the positional relationship between the member 51 and the abutting member 61 is reversed, and the turning directions of the first and second arm members 25 and 35 can be easily changed. Furthermore, since the stopper member 51 is provided on the tip end side of the second arm member 35, it is possible to realize a stopper structure with high stop position accuracy and advantageous strength.

Although the stopper member is provided on the second arm member and the abutting member is provided on the first arm member in the above-described embodiment, the other members shown in FIGS. As in the embodiment, the stopper member and the contact member can be provided on the arm member on the opposite side to the above-mentioned example. In the figure, 125 is a first arm member, 135 is a second arm member connected to the second rotary shaft 26 by a plurality of bolts 34 on one end side of the first arm member 125, and the second arm member 135 A work holding means 40 is attached to the tip side of the. One of the first arm member 125 and the second arm member 135, for example, the first arm member 125, is provided with a stopper member 151 having a T-shaped cross section that projects toward the second arm member 135. The stopper member 151 abuts either of the stop bolts 52A and 52B on the upper side thereof. The other of the first arm member 125 and the second arm member 135, in this case the second arm member 135, contacts the stopper member 151 when the first arm member 125 pivots to one end or the other end of the predetermined pivot range. An abutting member 161 that comes into contact is integrally provided. Then, when the first arm member 125 and the second arm member 135 relatively rotate due to the pulley ratio of the first and second pulleys 22 and 28, the contact member 161 contacts the lower side of the stopper member 151, When the stopper member 151 hits the stop bolt 52A or 52B by the further relative rotation of the arm member 125 and the second arm member 135, the movement of the stopper member 151 is restricted by the restricting means 50, and both arm members 125, 135 are stopped. Relative rotation is restricted.

Also in this embodiment, the stop positions of the first and second arm members 25 and 35 can be appropriately defined by appropriately setting the moving range of the stopper member 151, and the stop bolts 52A and 52B can be defined. Thus, the stop position of the second arm member 35 with respect to the first arm member 25 can be adjusted by finely adjusting the movement amount of the stopper member 51. Therefore, the work holding means 40 can be accurately stopped at a desired stop position.

[0026]

[Effect of the device]

 According to the first aspect of the present invention, when the first and second arm members are swung to the predetermined position, the stopper member and the contact member are brought into contact with each other, and the movement of the stopper member is regulated within a predetermined range. Since it is regulated, the relative rotation of both arm members can be regulated through the stopper member and the contact member whose movement is regulated to regulate the stop position of the arm member, and the movement range of the stopper member can be controlled. A desired stop position can be set by appropriately setting.

According to the second aspect of the invention, it is possible to adjust the predetermined moving range of the stopper member by the adjusting mechanism of the restricting means, and it is possible to perform the fine adjustment of the stop position very easily. According to the third aspect of the present invention, since the stopper member is provided on the tip end side of the second arm member, it is possible to realize a stopper structure with high stop position accuracy and advantageous strength.

[Brief description of drawings]

FIG. 1 is a front sectional view showing an overall configuration diagram of an embodiment of a work transfer device according to the present invention.

FIG. 2 is a top view of the embodiment.

FIG. 3 is a schematic view of a main part of another embodiment of the work transfer device according to the present invention.

[Explanation of symbols]

 12 Fixed plate (support) 17 Air cylinder for turning 22 First pulley 24 First rotating shaft 25 First arm member 26 Second rotating shaft 28 Second pulley 29 Timing belt (belt) 35 Second arm member 40 Work holding means 50 Restriction means 51 Stopper members 51a, 51b Stopper surfaces 52A, 52B Stop bolt 56 Adjustment mechanism 61 Abutment member

Claims (3)

[Scope of utility model registration request] 1. A first pulley which is non-rotatably supported by a support, a first rotary shaft which is rotatable with respect to the support and is coaxial with the first pulley, and a first rotary shaft at a base end side. A first rotary shaft rotatably supporting a second rotary shaft parallel to the first rotary shaft on the tip side.
The arm member and the second pulley formed to have a pitch circle diameter corresponding to the radius of the pitch circle of the first pulley and supported integrally with the second rotation shaft in the rotation direction.
A pulley, a belt wound around the first pulley and the second pulley, and a second arm member having a base end side connected to the second rotary shaft and having a work holding means mounted on the front end side. In the work transfer device, a movable stopper member projecting from one of the first arm member and the second arm member toward the other and movement of the stopper member within a predetermined movement range. A restricting means for restricting is provided, and the other one of the first arm member and the second arm member comes into contact with the stopper member when the first arm member turns to one end or the other end of a predetermined turning range. A member is provided, the stopper member contacts the contact member by the relative rotation of the first arm member and the second arm member, and the movement of the stopper member is restricted by the restricting means. When in the transport device of a work, characterized in that the relative rotation of the two arm members through the stopper member and the abutting member is to be regulated. 2. The work transfer device according to claim 1, wherein the regulating means has an adjusting mechanism for adjusting a predetermined moving range of the stopper member. 3. The work transfer device according to claim 1, wherein the stopper member is provided on a tip end side of the second arm member.