JPH0618755Y2 - Work transfer device for automatic work machines - Google Patents

Description

[Detailed Description of Device] a. Purpose of the Invention (Industrial Application Field) The present invention relates to an apparatus for conveying and supplying a work to be worked to an automatic working machine such as a painting robot, a welding robot, and the like.

(Prior Art) As a work transfer device for supplying a work to an automatic work machine such as a painting robot or a welding robot and taking out a hawk whose work is completed, a work transfer device is conventionally a fourth work transfer device.
Some are shown in the figure. When the coating robot 50 is used as an automatic work machine, the transfer devices 55 and 56 are arranged in a V shape on both sides of the coating robot 50. The coating robot 50 has a coating nozzle 52 at the front of an arm 52 attached to a pedestal 51. The transfer devices 55 and 56 are provided with work support bases 57 and 58 movably mounted on linear guide rails.
The work support bases 57, 58 are provided with air cylinders 59, 6
By 0, the work is moved between the work supply / removal positions located on the rear parts 55b and 56b and the work positions located on the front parts 55a and 55b. A partition plate 54 for preventing the paint spray from scattering is arranged as shown in the drawing.

Therefore, when the work is sent to the work position by one of the transfer devices 55, the work support base 58 on which the coated work is placed is transferred to the work supply / removal position by the other transfer device 56, and the coated work is completed. And the next work for painting is placed on the hawk support 56. In this way, the work is transferred to both transport devices 55, 56.
Therefore, they are alternately conveyed without waste.

(Problems to be Solved by the Invention) When using the above-described conventional carrier device, the front portion 5 of the carrier device is used.
The distance A between 5a and 56a is preferably as small as possible in order to reduce the work range of the coating robot 50 to facilitate control and to downsize the robot. However, since both of the transfer devices 55 and 56 are arranged on both sides of the robot (automatic working machine) 50, if the distance A is reduced, the rear parts 55b and 56 of the transfer devices will be.
There is a problem that the interval B of b becomes large. This interval B
Becomes larger, the work efficiency decreases when the work is supplied to or removed from the work support table at the work supply / removal position, and when this supply / removal is automated. In addition, there is a problem that the automatic supply / delivery device becomes large in size, and further, there is a problem that the installation space of the transfer device becomes large.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a carrier device capable of reducing both the intervals A and B between the front part and the rear part of the carrier device.

B. Configuration of the Invention (Means for Solving the Problem) As a means for achieving this object, the transporting apparatus of the present invention circumvents the automatic working machine by sandwiching it from both left and right sides, and from the work supply / unloading position to the working position. It has a pair of left and right conveying paths that extend, and a work support table is mounted on each of these conveying paths so that it can reciprocate along the conveying path. There are respectively provided transfer means for reciprocating between the work supply / removal position and the work position. Also,
The pair of left and right transport paths are such that the rear parts are close to each other at the work supply / removal position and the front parts are close to each other at the work position.

(Operation) In the transfer device having the above-described configuration, the transfer path is formed, for example, so as to bypass the automatic work machine and be sandwiched between the left and right sides in a () shape, and extends from the work supply / removal position to the work position. For this reason, work supply and
It is possible to reduce both the distance at the take-out position (the distance B in FIG. 4) and the distance at the working position (the distance A in FIG. 4).

(Embodiment) Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a plan view of a work transfer device for an automatic work machine according to the present invention. The work transfer devices 10 and 10 are arranged on both left and right sides of a coating robot 1 as an automatic work machine. Since the pair of left and right work transfer devices 10, 10 are symmetrical, the same functional parts will be denoted by the same reference numerals. The painting robot 1 shown here is one example of an automatic work machine, and there are various other types of automatic work machines such as a welding robot.

The coating robot 1 includes a pedestal 2 fixedly installed, a movable arm 3 attached to the pedestal 2, and a coating nozzle 4 attached to the tip of the movable dome 3. It is designed to be moved within the range to paint the work.

It is the work transfer devices 10, 10 that transfer the work within a range (working range) in which the coating nozzle 4 of the coating robot 1 can move to perform coating, and at the rear part of the coating robot 1. From the position where the unpainted work is supplied and the finished work is taken out (work supply / take-out position) to the position within the above working range (working position)
The coating robot 1 has a conveyance path that extends from the left and right and extends in a () shape. Specifically, the transport path is composed of a pair of rails 11 and 12 fixedly mounted on the base frame 15. Therefore, the rails 11 and 12 are provided around the work supply / removal position and the work position. At (11a,
12a, 11b, 12b), curved inward.

A work supporting table 20 having wheels and movable on the transport path including the pair of rails 11 and 12 is provided.
Is placed one each. The work support table 20 has a table on which a work to be coated is placed, and this table is rotatable so that the work can be rotated during coating so that the entire surface can be coated. Not only can it be moved up and down, it is easy to press the work against the masking member at the time of painting and to automatically supply and remove the work.

In addition, the rail 1 on the upper surface of the base frame 15
An opening 13 that extends linearly in the front-rear direction is formed in the conveyance path sandwiched by 1 and 12.

Further, the work space including the painting robot 1 and the space for supplying and taking out the work are separated from each other, and the partition plate 8 is provided.
Is arranged so that the paint spray in the working space does not leak outside. However, the partition plate 8 is formed with an opening that allows the work support table 20 transported on the rails 11 and 12 forming the transport path to pass through.

The work support table 20 is conveyed on the rails 11 and 12. A cross-sectional view of the rail support table 20 and a transfer means for moving the rail support table 20 along the arrow II-II (see FIG. 2). ) And a cross-sectional view (FIG. 3) taken along the line III-III in FIG.

The work support table 20 has a box-shaped main body frame 21, and the rails 11,
A plurality of wheels 23 that roll on 12 are mounted, and the rolling of the wheels 23 allows the work support table 20 to move along the rails 11 and 12, that is, along the transport path. Further, on the lower surface of the main body frame 21, two parallel guide plates 22a and 22b which are parallel to each other and are spaced apart from each other at a predetermined interval are fixedly provided.

On the other hand, a space extending in the front-rear direction is formed in the base frame 15, and in this space, the base frame 15
The opening 13 formed in the upper surface of the
A guide rail 31 linearly extending forward and backward along the opening 13 is fixedly provided below the. A transfer body 32, which is movable back and forth on the guide rail 31 via a bearing 33, is attached to the guide rail 31. Further, inside the guide rail 31, there is arranged a chain 36 which is bridged between sprockets 37 and 38 at both ends, and the end portion of the chain 36 is connected to the front projection 32a and the rear projection 32b of the transfer body 32. It is guided by the guide rail 39 to form a loop. Therefore, if one of the sprockets 37 is rotationally driven by a motor or the like, the transfer body 3 is moved through the chain 36.
2 can be moved back and forth along the guide rail 31.

The upper surface of the transfer body 32 has a rod 34 protruding upward.
Is fixedly mounted, and a guide cylinder 35 is rotatably attached to the rod 34. The rod 34 projects into the conveyance path through the opening 13 formed in the conveyance path extending in the front-rear direction, and the guide cylinder 35 is provided on the lower surface of the work support table 20 placed on the conveyance path to the left and right. It projects between the two guide plates 22a and 22b that are extended and fixed, and is sandwiched between the guide plates 22a and 22b that are parallel to each other and that extend in the lateral direction. Therefore, the work support table 20 is movable left and right relative to the guide cylinder 35. As described above, the guide rail 31, the transfer body 32, the rod 34, the guide cylinder 35, the chain 36, and the sprockets 37, 37 constitute a transfer unit.

In the transport device configured as described above, when the drive sprocket 37 is rotationally driven to move the transfer body 32 back and forth along the guide rail 31 via the chain 36, the transfer body 32 is fixed to the body 32. The rod 34 also moves back and forth, and is pushed by the guide cylinder 35 sandwiched by the guide plates 22a and 22b, so that the work support table 20 is
It moves back and forth on the rails 11 and 12 that form the transport path. In this case, since the rails 11 and 12 are curved inward at the front and rear portions thereof as shown in FIG. 1, the work support base 20 tends to move along this curve. On the other hand, the transfer body 32 moves linearly along the guide rail 31, so that the guide rail 3
1, the work support table 20 has to move relative to the left-right direction, and this relative movement in the left-right direction enables the guide cylinder 35 to move left-right relative between the two guide plates 22a and 22b. It is realized by becoming.

As described above, by rotating the drive sprocket 37 to move the transfer body 32 back and forth, the work support base 20 is moved back and forth along the rails 11 and 12, and the work supply / removal position and the work position are set. You can move between.

A work for coating a work by using the transport device having the above configuration will be briefly described. First, for example, the work support base 20 of the right-side transfer device 10 is moved to the work supply / removal position, an unpainted work is placed on the work support base 20, and then the work support base 20 is moved to the work position. The work on the support table 20 is moved to a position, and the work is coated by the coating robot 1 at this position. During this painting operation, the work support base 20 of the left-side transfer device 10 is positioned at the work supply / removal position, and the next unpainted work is placed on this support base 20. After this, when the above-mentioned painting is completed, the right transport device 1
The support table 20 of 0 is moved to the work supply / removal position, and at this position, the coating-completed work on the support table 20 is taken out and a new unpainted work is placed. At this time, at the same time, the work support base 20 of the left transfer device 10 is moved to the work position, and the coating robot 1 causes the work on the support base 20 to be coated. Hereinafter, by repeating this operation, the left and right transfer devices 10, 10 are alternately moved back and forth, and the work can be efficiently transferred.

C. As described above, according to the present invention, the automatic working machine is circumvented by sandwiching it from both left and right sides, and a pair of left and right conveyance paths extending from the work supply / takeout position to the work position are provided. On the road, there are a work support placed on the transport path so as to be reciprocally movable, and a transfer means for moving the work support back and forth along the transport path between a work supply / removal position and a work position. Since the rear parts of the pair of transport paths are close to each other at the work supply / unload position and the front parts are close to each other at the work position, the work supply / removal of the pair of left and right transport paths is performed.
Both the space at the take-out position (the space B in FIG. 4) and the space at the working position (the space A in FIG. 4) can be reduced. For this reason, it is easy to perform the work supply / removal work at the work supply / removal position, and it is possible to reduce the required installation space of the transfer device.

[Brief description of drawings]

FIG. 1 is a plan view showing an example of a work transfer device according to the present invention, FIGS. 2 and 3 are sectional views taken along arrows II-II and III-III, and FIG. 4 is a conventional transfer device. It is a top view which shows an example. 1 ... Painting robot, 4 ... Painting nozzle 10 ... Transport device, 11, 12 ... Rail 20 ... Work support base, 31 ... Guide rail 32 ... Transfer body, 36 ... Chain

Claims (2)

[Scope of utility model registration request] 1. An automatic working machine fixedly installed with a movable working means at a front portion thereof, wherein a work supply / removal position located at a rear portion of the automatic working machine and a work position located at a front portion of the automatic working machine. A device for performing reciprocating conveyance of a work between and, while detouring while sandwiching the automatic work machine from both left and right sides, a pair of left and right conveyance paths extending from the work supply / removal position to the work position. On each of these transfer paths, a work support placed on the transfer path so as to be capable of reciprocating, and along the transfer path, the work supply / eject position and the work position. And a transfer means for reciprocating between the pair of transfer paths, and the rear parts of the pair of transfer paths are close to each other at the work supply / removal position, and the front parts of the pair of transfer paths are the same as each other. Automatic working machine work conveying apparatus characterized by being in close proximity in the work position. 2. The pair of left and right transport paths extend from the work supply / removal position to the work position so as to sandwich the automatic working machine in a detour () shape, and the transfer means transfers the transport A moving member that moves linearly back and forth along a road, and connects the work support table to the moving member so that the workpiece support can be moved left and right relative to the moving member; The work transfer device for an automatic work machine according to claim 1, wherein the work support table is transferred along the transfer path.