JPH06238577A - Work transferring device - Google Patents

Abstract

PURPOSE:To spread the space of the working objective region by installing an elevator mechanism on a supporting which is axially supported on a traveling board which travels horizontally, installing a hand oscillating mechanism on a rod which is supported in free elevation by the elevator mechanism, and installing a plurality of hands for holding the work on the hand holding oscillating mechanism, in a swingable manner. CONSTITUTION:In the state where one hand 28a in a blank state at a work receiving/delivery position A is directed downward, and a hand 28b holding a not-yet-worked workpiece 30 is positioned at an slantly upper position for preventing interference, a motor 18a is started, and a work transport device 15 is shifted horizontally directly over a machine tool by a traveling board 16. Then, a swing mechanism 32 is operation to swing an elevator rod 22, and the center position of the hand 28a is allowed to coincide with the holding mechanism of the machine tool or the placing position. Then, an elevator mechanism 20 is operated to lower the elevator rod 22, and after a hand oscillating mechanism 24 is driven, a workpiece 30 after working is caught by an idle hand 28a, and the not-yet-worked workpiece 30 which is held by the hand 28b at the work receiving/delivering position A is received and delivered.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work transfer device, and more particularly, to a lifting table, a swinging device, etc. by a combination of various mechanisms on a traveling table which horizontally travels along a rail for transferring a machined work such as a machine tool. The present invention relates to a work transfer device in which a plurality of hands are swingably provided at the lowermost end of an elevating rod for performing the above operation.

[0002]

2. Description of the Related Art A conventional work transfer device is shown in FIG.
Work transfer devices as shown in (b) and (b) are known. 15A is an overall front view of the work transfer device, and FIG. 15B is a side view thereof.

That is, a conventional work transfer device 25 as shown in the figure is supported by a guide beam 14 and is horizontally supported by a traveling platform 16 and is supported on the traveling platform 16 via an elevating mechanism 20 so as to be vertically movable. Lifting rod 22 and lifting mechanism 2
A plurality of hands 2 at the lowest end of 0 by the motor 18d
8a and 28b for swinging a hand, a hand support shaft 26 coupled to an output portion of the hand swing mechanism 24, and a plurality of hands 28 attached to the support shaft 26.
a and 28b.

[0004]

However, in such a conventional work transfer apparatus, the work area obtained by the movements of the traveling base 16 and the elevating rod 22 is formed on one plane, and therefore, this work transfer apparatus is used. It is necessary to adjust both the positions of the work transfer device side and the machine tool side in order to align them. Such an adjusting work for aligning both the devices and machines is a complicated work and requires a long working time.

Also, due to the work area of the conventional work transfer device, when the work transfer device or work is slightly interfered with the members of the machine tool or the peripheral device when the elevating rod 22 is moved up and down, the work transfer device side. Since it is difficult to avoid it, there was a problem that the machine tool etc. had to be modified.

Further, since the actuator for the hand swing mechanism that swings the hand that holds the work is configured to project from the side surface, there is a problem that the occupied space during the lifting operation increases.

Furthermore, when used in combination with different types of machine tools, since the machining direction of the work is different from horizontal or vertical depending on the machine tool, the posture of the work to be supplied is also matched to this. It was necessary to prepare a work transfer device equipped with a hand swinging mechanism having a rotating shaft in a different direction each time, which was a factor in setting up work and hindering productivity.

Therefore, a first object of the present invention is to rotatably support a support shaft having a center of rotation parallel to the rail on a traveling platform horizontally traveling along the rail, and to raise and lower the support shaft. A hand swing mechanism is provided at the lowermost end of a rod to which the mechanism is attached and which is supported by the lift mechanism so as to be able to move up and down. Another object of the present invention is to provide a work transfer device capable of expanding the space of the work target area by oscillating the work piece in a pendulum shape.

A second object is to provide a drive source at the upper end of the rod and to transmit the output from the drive source to the hand swing mechanism at the lowermost end of the rod by a power transmission means. It is an object of the present invention to provide a work transfer device capable of avoiding the interference of the machine tool by eliminating the protrusion of the drive source in (1) to reduce the occupied space.

A third object is that the hand swing mechanism is detachably attached to the lowermost end of the elevating rod, the power transmission means is a drive shaft, and the space between the drive shaft and the hand swing mechanism is formed. By providing a detachable rotary power transmission mechanism, it is possible to replace a plurality of swing mechanisms according to the workpiece machining direction of the machine tool, and a single conveyor mechanism for various machine tools. To provide.

[0011]

In order to achieve the above object, in a work transfer device, a supporting shaft having a rotation center parallel to the rail is swingable on a traveling table which is guided and supported by the rail and horizontally travels. In addition to supporting the shaft, an elevating mechanism is attached to this support shaft, and a hand swing mechanism is provided at the lowermost end of an elevating rod supported by the elevating mechanism so that it can swing a plurality of hands gripping a work. It is characterized in that it is movably provided.

In this case, in the hand swing mechanism, the drive source is provided at the upper end of the elevating rod, and the output from the drive source is transmitted to the hand swing mechanism at the lowermost end of the elevating rod via the power transmission means. It is preferable to have such a configuration.

Further, preferably, the hand swing mechanism is
The power transmission means may be configured to be attachable to and detachable from the lowermost end of the elevating rod, and the power transmission means may be configured by a drive shaft, and a detachable rotary power transmission mechanism may be provided between the drive shaft and the hand swing mechanism.

[0014]

According to the work transfer apparatus of the present invention, a supporting shaft having a center of rotation parallel to the rail is swingably supported on a traveling table that horizontally travels along the rail, and the supporting shaft is moved up and down. The mechanism is attached, and a hand swing mechanism is provided at the lowermost end of the lifting rod that is supported by the lifting mechanism so that it can be raised and lowered.
The swing mechanism is provided with a plurality of hands capable of swinging so as to swing, and the lifting mechanism and the lifting rod are configured to swing like a pendulum, so that the space of the work target area can be expanded and A drive source is provided at the upper end of the rod, and the output from the drive source is transmitted to the hand swing mechanism at the lowermost end of the lifting rod by the power transmission means.
By guiding the power of the drive source to the hand swing mechanism at the lower end of the elevating rod, it is possible to eliminate the protrusion of the drive source in the hand swing mechanism, reduce the occupied space, and avoid interference with the machine tool.

Further, the hand swing mechanism is detachably attached to the lowermost end of the elevating rod, the power transmission means is constituted by a drive shaft, and the rotary power which can be separated between the drive shaft and the hand swing mechanism. By providing the transmission mechanism, a plurality of swinging mechanisms can be exchanged in correspondence with the workpiece machining direction of the machine tool, and a single workpiece conveying mechanism can be used for various machine tools.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of a work transfer device according to the present invention will be described in detail below with reference to the accompanying drawings.

For convenience of explanation, the same components as those of the conventional structure shown in FIGS. 15A and 15B are designated by the same reference numerals, and the detailed description thereof will be omitted.

FIG. 1 shows a first embodiment of a work transfer device according to the present invention. In the figure, (a) is an overall front view and (b) is a side view thereof. Reference numeral 10 indicates a column, and a cantilever cross beam 12 projects from the top of each of the pair of columns 10, and both ends of a guide beam 14 that guides and supports the traveling platform 16 are supported at their free ends. 16
Can travel horizontally along the guide beam 14 by the traveling motor 18a.

A swing mechanism 32 is swingably provided on the traveling platform 16 by a rotary shaft (not shown) parallel to the horizontal traveling direction, and a lift rod 22 can be raised and lowered on the swing mechanism 32. An elevating mechanism 20 for supporting the elevating rod 22 is attached, and the elevating rod 22 can be swung together with the elevating mechanism 20 by a motor 18b like a pendulum within a range of a predetermined angle about the rotation axis.

A hand swing mechanism 24 for swinging a pair of hands 28a, 28b by a motor 18d is provided at the lower end of the lifting rod 22.
A pair of hands 28a, 28b arranged at a predetermined angle are swingably attached to the hand support shaft 26 attached to the output portion of the work supporting shaft 26. The hands 28a and 28b are configured to swing and be positioned.

The work transfer device 1 constructed as described above.
The operation of No. 5 will be described with reference to (a) and (b) of FIG.

First, one hand 28a at the work transfer position A faces downward in the empty state, and the other hand 28a.
b is positioned diagonally above in order to avoid interference while holding the unmachined work 30.

When the motor 18a is activated, the work transfer device 15 is horizontally moved and positioned right above the target machine tool by the traveling base 16 and then positioned, and then the motor 18b is operated to cause the swing mechanism 32 to operate. The elevating rod 22 is swung so that the vertical direction of the elevating rod 22 is aligned so that the center position of the hand 28a (work transfer position A) matches the gripping mechanism or the mounting position of the machine tool.

After the vertical axis of the lifting rod 22 is aligned, the lifting mechanism 20 is operated by the motor 18c to extend the lifting rod 22 downward, and the hands 28a and 28b are inserted into the machine tool to move one of the empty spaces. Processed work 30 in the gripping mechanism of the machine tool or the placement device by the hand 28a
After grasping the hand, the lifting rod 22 is reduced and the hand 28
Let a and 28b escape to the outside of the machine tool.

Here, as shown in FIG. 1B, the motor 1
8d swings the hand support shaft 26 of the hand swing mechanism 24 clockwise to retract the hand 28a holding the processed work 30 to an obliquely upper position and at the same time holding the unprocessed work 30 from the beginning. 28b is positioned at the work transfer position A position.

In this state, the lifting mechanism 2 is driven by the motor 18c.
0 is operated to extend the elevating rod 22 again to penetrate the hand 28 into the machine tool, and position the hand 28b holding the unmachined work 30 to the holding mechanism or the work placement device in the machine tool. The delivery work of the unprocessed work 30 is executed.

After that, the lifting mechanism 20 is driven by the motor 18c.
Is applied to the traveling platform 1 with the lifting rod 22 contracted.
By horizontally moving 6, the machined work 30 gripped by the hand 28a is conveyed and supplied to the machine tool of the next process.

As described above, the swinging mechanism 32 swings the raising and lowering rod 22 which is moved up and down by the raising and lowering mechanism 20 of the traveling platform 16 within a predetermined angle range, so that the machine tool or the mount placed on the machine tool is mounted. Since the work can be delivered and received by appropriately swinging the receiving position of the device under the control of the motor 18b and adjusting the swing angle, for example, a machine tool and a work transfer device are combined. Even when used, the centering work between the devices can be omitted.

Next, regarding the modified embodiment of the first embodiment,
A description will be given with reference to FIGS. 2 (a) and 2 (b). 2A is a front view of the work transfer device, and FIG. 2B is a side view thereof.

The configuration of this embodiment is basically the same as the configuration of the first embodiment, but the mounting position of the drive source in the hand swing mechanism and the drive source between this drive source and the hand swing mechanism. The difference is that a power transmission means for transmitting the power of is provided.

That is, in the figure, a motor 18d for swinging the hand 28 via the hand support shaft 26 of the hand swing mechanism 24 is attached to the upper end of the elevating rod 22.

More specifically, as shown in FIG. 3, in order to transmit the power of the motor 18d to the hand swing mechanism 24, a drive shaft 34, which is a rotary power transmission means, is installed inside the hollow elevating rod 22. It is rotatably supported, the output shaft of the motor 18d is connected to the upper end of the drive shaft 34, and the hand swing mechanism 24 is connected to the lower end.

A box frame 35 is integrally fixed to the lower end of the elevating rod 22, and a bevel gear 38a is rotatably supported in the frame 35 via bearings 36a and 36a. The lower end of the drive shaft 34 is connected to the.

The hand 2 is placed in the box frame 35.
8 is integrally formed with the hand support shaft 26 and the bearing 36.
b and 36c are rotatably supported in parallel with the guide beam 14 and are engaged with the bevel gear 38b coaxially fixed to the hand support shaft 26 by the bevel gear 38a, whereby the hand 28 is driven by the power of the motor 18d. The hand supporting shaft 26 can be swung by a predetermined angle.

As described above, by mounting the motor 18d for driving the hand swing mechanism 24 on the upper end of the elevating rod 22, the outer shape of the hand swing mechanism 24 can be downsized, so that the work 30 for the machine tool is moved. It is possible to greatly reduce the interference at the time of supply and expand the work area.

Since the operation of this embodiment is the same as the operation of the first embodiment, its explanation is omitted.

Next, another modification of the first embodiment will be described with reference to FIGS.

That is, FIG. 4 is a sectional view of an essential part showing a state in which a rotary power transmission mechanism is detachably provided between the hand swing mechanism and the lifting rod, and FIG. 5 is a modified example of the detached hand swing mechanism. FIG. 6 is a partial cross-sectional view shown, and FIG. 6 is a partial cross-sectional view showing another modified example of the separated hand swing mechanism.

The configuration of this embodiment is basically the same as the first embodiment.
The configuration is the same as that of the embodiment, but is different in that the hand swing mechanism can be separated from the lifting rod.

Therefore, in the present embodiment, when there are various machines and devices to be supplied, it is necessary to change the attitude of the supplied work in accordance with these. A suitable hand swing mechanism can be applied when the axial directions are different and both are mixed.

That is, FIG. 4 shows a structure in which the hand swing mechanism 24 shown in FIG. 3 can be separated from the lift rod 22, and the lower end of the lift rod 22 and the hand swing mechanism 24 are separated.
An attaching / detaching mechanism 40 is provided between the lifting rod 2 and
2 Drive shaft 3 rotatably inserted and supported inside
At the lower end of 4, there is provided a rotary power transmission mechanism capable of separating the drive shaft 34 and the hand swing mechanism 24.

This rotary power transmission mechanism includes a spline shaft 42a formed at a lower end of the drive shaft 34 and a power input end formed at a shaft end of a bevel gear 38a supported by bearings 36a, 36a in the box frame 35. And the spline hole 42b.

In this case, the attachment / detachment mechanism 40 described above is constituted by a generally known mechanism.

For example, as shown in FIG.
Is at least two clamp pins 44a, 4a each having a ring groove formed on the outer periphery of the base at the upper end of the box frame 35 that is a joint with the lifting rod 22 of the hand swing mechanism 24.
4b is projectingly formed, a flange-like connecting portion is formed at the lower end of the corresponding lifting rod 22, and two clamp holes 46a and 46b for receiving the clamp pins 44a and 44b are provided on the joint surface of the flange 46. ing.

Then, the clamp holes 46a, 46b
For example, although not shown, a sleeve in which a plurality of balls are annularly locked and arranged on the inner circumference is inserted into the hole, and an axial direction in which the balls can be inserted into the outer circumference of the sleeve corresponding to the plurality of balls. The movable sleeve having the escape groove is configured to be slidable in the axial direction by the action of a pneumatic cylinder or the like.

When connecting the attachment / detachment mechanism 40 thus configured, the joint surface of the hand swing mechanism 24 is made to face the joint surface of the elevating rod 34 and the positioning pin (not shown) is used for centering and at the same time the clamp pin 44a. , 44b
Is inserted into the clamp holes 46a, 46b, the moving sleeve is axially moved by the action of a pneumatic cylinder, and the plurality of balls in the escape groove are extruded by the inner peripheral surface of the moving sleeve without the groove. Clamp pin 44a,
The ring groove on the outer periphery of 44b is pressed and locked.

As a result, the hand swing mechanism 24 is connected to the elevating rod 22 via the attachment / detachment mechanism, and at the same time, the spline shaft 42a at the lower end of the drive shaft 34 is formed in the spline hole of the bevel gear 38a in the hand swing mechanism 24. 42b, the rotational power from the motor 28d is transmitted to the hand swing mechanism 24 via the drive shaft 34.

Further, the lifting rod 2 of the hand swing mechanism 24
At the time of disengagement from 2, the operation can be performed in the reverse order of the operation described above.

The rotary power transmission mechanism described above is not limited to a spline, but may be any structure such as a surface gear that can be separated in the axial direction and can transmit rotary power at the time of joining.

Next, FIGS. 5 and 6 show a modified example of the hand swing mechanism itself. FIG. 5 shows a hand support which is a rotary shaft for swinging the hand swing mechanism 24 shown in the above embodiment. The shaft 26 is vertically supported, and FIG.
Is configured so that the hand support shaft 26 is tilted at a predetermined angle (for example, 45 °) with respect to the vertical axis of the elevating rod 22 and is pivotally supported.

As described above, when various hand swinging mechanisms 24 having different support directions of the rotary shaft are prepared in advance, and these are appropriately exchanged for use, when the swinging direction of the work is different depending on the type of the target machine tool and device, Conventionally, a plurality of work transfer devices was used to replace a corresponding hand swing mechanism with a single work transfer device, so that different attachment mechanisms or mounting devices on various target machine tools can be used. The work can be supplied in a suitable state.

Further, if only the wrist portion provided with the claw opening / closing mechanism having the gripping claw of the hand swing mechanism is made replaceable, a dedicated table prepared in advance on the mounting table for each target machine tool to be supplied. If the work is carried while the wrist is attached to and detached from the hand swing mechanism, the carrying target area can be further expanded.

Next, FIGS. 7 to 14 show a second embodiment of the work transfer device according to the present invention. In the figure, (a) of FIG. 7 is an overall front view, (b) is a side view thereof, and (c) is a top view thereof. 8 is a front view of a main part of the work transfer device shown in FIG. 7, FIG. 9 is a side view thereof, and FIG. 10 is a top view thereof.

First, in this embodiment, in the first embodiment (FIG. 1), the lifting rod for vertically swinging the hand device is constructed in a double structure.

That is, to describe in detail below, in the drawing, guide rails 14a for guiding and supporting the traveling platform 16 are attached to the upper and lower surfaces of the guide beam 14, respectively.
On the other hand, the traveling base 16 is provided with a plurality of rolling bearing guides 16a which are engaged with the guide rails 14a and support the traveling base 16 so that the traveling base 16 can freely travel in the horizontal traveling direction.

A traveling mechanism 21 and a motor 18a for traveling drive are attached to the traveling table 16, and the spur gear 19a on the output side of the motor 18a is mounted on the rack 14 on the upper surface of the guide beam 14.
By meshing with b, the traveling platform 16 can travel horizontally along the rail 14a by the rotation of the spur gear 19a.

A supporting member 16b is projected from the traveling table 16, and a swinging mechanism 32 is fixed to the supporting member 16b. The motor 18b is attached to one of the swinging mechanisms 32, and the elevating base 52 is attached to the other output side,
The entire lifting rod section 50 including the motor 18c, the lifting mechanism 20, the double lifting rod, that is, the auxiliary lifting rod 54 and the main lifting rod 56, is a rotation shaft (not shown) of the swinging mechanism 32 parallel to the horizontal traveling direction of the carriage 16. ) Can be swung like a pendulum within a predetermined angle range.

The auxiliary elevating rod 54 has guide ridges 5 formed therein.
By fitting 4a into the groove-shaped guide 52a of the elevating base 52, the elevating base 52 is connected so as to expand and contract with each other. In addition, the main lifting rod 56 has a guide protrusion 56 a on the groove guide 54 b of the auxiliary lifting rod 54.
Are fitted to the auxiliary lifting rod 54 so as to expand and contract with each other. The groove guide 5
A plurality of 2a and 54b are provided separately in the vertical direction.

The lifting base 52 includes an auxiliary lifting rod 54.
The elevating mechanism 20 of the main elevating rod 56 is attached, and the motor 18c is provided at one end thereof and the spur gear 19c is provided at the output side of the other end thereof.

A rack 54c is attached to the auxiliary lifting rod 54, and this rack 54c is used for the spur gear 19.
c, which allows the auxiliary lifting rod 54 to engage the spur gear 1.
It is expanded and contracted by rotating 9c.

Further, a rack 52b is attached to the elevating base 52, and the supporting member 5 for the auxiliary elevating rod 54 is attached.
A spur gear 54d that meshes with the rack 52b is rotatably supported on 4e, and a rack 56b that meshes with the spur gear 54d is attached to the main lifting rod 56.

Therefore, when the auxiliary lifting rod 54 moves relative to the lifting base 52, the auxiliary lifting rod 54
Since the spur gear 54d that moves with the spur gear 54d meshes with the rack 52b on the elevating base 52, the spur gear 54d moves in the extension / contraction direction of the auxiliary elevating rod 54 while rotating. Therefore, the main elevating rod 56 moves relatively to the auxiliary elevating rod 54 because the rack 56b of the main elevating rod 56 meshes with the rotating and moving spur gear 54d. It is set to twice the movement amount of the auxiliary lifting rod 54.

A hand swing mechanism 24 for swinging the pair of hands 28a, 28b by the motor 18d is provided at the lower end of the main lifting rod 56.
A pair of hands 28a, 28b arranged at a predetermined angle are swingably attached to the hand support shaft 26 attached to the output section 4 of the No. 4, respectively, with respect to the work transfer position A on the swing trajectory. The hands 28a, 28b are configured to swing and be positioned.

The operation of this embodiment can be easily understood from that of the first embodiment described above.
The description is omitted.

Next, regarding the modified embodiment of the second embodiment,
This will be described below with reference to FIGS. 11, 12 and 13. Note that FIG. 11 is a front view of a main part of the work transfer device, FIG. 12 is a side view thereof, and FIG. 13 is a top view thereof.

Here, this embodiment corresponds to the first modification (FIG. 2) in the first embodiment. In other words, in this embodiment, in the configuration of the second embodiment, the power transmission means for transmitting the power of the drive source between the mounting position of the drive source in the hand swing mechanism and the hand swing mechanism is provided. It is provided.

That is, although it is duplicated, the explanation will be made again.
A motor 18d for swinging the hands 28a, 28b via the hand support shaft 26 of the hand swing mechanism 24 is attached to the upper end of the main lifting rod 56.

More specifically, as shown in FIG. 11, in order to transmit the power of the motor 18d to the hand swing mechanism 24, a drive shaft 34, which is a rotary power transmission means, is provided inside a hollow main lifting rod 56. Is rotatably supported, and the motor 18d is mounted on the upper end of the drive shaft 34.
Is connected to the output shaft of and the hand swing mechanism 24 is connected to the lower end thereof.

A box frame 35 is integrally fixed to the lower end of the main elevating rod 56, and a bevel gear 38a is rotatably supported in the frame 35 via bearings 36a, 36a. The lower end of the drive shaft 34 is connected to the. A hand swing mechanism 24 is attached to the frame 35, and a hand support shaft 26 integrally formed with a hand 28 is rotatably supported on the output side of the frame 35 in parallel with the rail 14a. By the meshing of the bevel gear 38b fixed coaxially with the bevel gear 38a,
The power of the motor 18d can swing the hand 28 around the hand support shaft 26 by a predetermined angle.

Since the operation and action of this embodiment are the same as those of the above-described embodiment (FIGS. 2 and 3) in the corresponding first embodiment, it is clear that the description thereof is omitted. .

Next, another embodiment of the second embodiment will be described in detail with reference to FIG.

Here, this embodiment corresponds to the second modification (FIG. 4) of the first embodiment. In other words, in this embodiment, in the configuration of the second embodiment, the hand swing mechanism can be separated from the lifting rod.

That is, although overlapping, the explanation will be made again.
In order to separate the hand swing mechanism 24 from the main lifting rod 56, an attachment / detachment mechanism 40 is provided between the lower end of the main lifting rod 56 and the hand swing mechanism 24, and is freely rotatable inside the main lifting rod 56. At the lower end of the drive shaft 34 that is inserted and supported, a rotary power transmission mechanism that can separate the drive shaft 34 and the hand swing mechanism 24 is provided.

This rotary power transmission mechanism is provided with a spline shaft 42a formed at the lower end of the drive shaft 34.
And a spline hole 42b which is a power input end formed at a shaft end of a bevel gear 38a and the like supported by bearings 36a and 36a in the box frame 35. In this case, the attachment / detachment mechanism 40 described above can be configured by a generally known mechanism.

The structure of the hand swing mechanism itself is the first.
As described with reference to FIGS. 5 and 6 in the embodiment, the support shaft 26 of the hand swing mechanism 24 is the main lifting rod 5.
At right angles to the axis of 6 or at a predetermined angle (eg 45 °)
Needless to say, it can be configured to be tilted and axially supported.

Since the operation and action of this embodiment are the same as those of the corresponding embodiment (FIGS. 4 to 6) in the first embodiment, it is clear that
The description is omitted.

The preferred embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiments, and various design changes can be made without departing from the spirit of the present invention. Is.

[0078]

As is apparent from the above-described embodiments, according to the work transfer apparatus of the present invention, the support shaft having the center of rotation parallel to the rail is swayed on the traveling platform which is guided and supported by the rail and travels horizontally. In addition to movably supporting the shaft, an elevating mechanism is attached to this supporting shaft, and a hand swing mechanism is provided at the lowermost end of a rod supported by the elevating mechanism so that the hand swing mechanism holds a plurality of hands. By oscillating, the space of the work target area can be expanded, and further, a drive source is provided at the upper end of the rod and the output from the drive source is transmitted to the hand swing mechanism at the lowermost end of the rod by the power transmission means. With such a configuration, it is possible to reduce the occupied space occupied by the hand swing mechanism at the time of delivering or receiving the work, and avoiding interference with the machine or device to be supplied, In addition, it is configured to be attachable to and detachable from the lowermost end of the rod, the power transmission means is configured by a drive shaft, and a separable rotary power transmission mechanism is provided between the drive shaft and the hand swing mechanism. A single transfer mechanism can be applied to the machine tool, and the work area of the work transfer device can be expanded, which is an excellent effect.

[Brief description of drawings]

FIG. 1 shows a first embodiment of a work transfer device of the present invention, (a) is an overall front view, and (b) is a side view thereof.

2A and 2B show modifications of the work transfer device of the present invention shown in FIG. 1, in which FIG. 2A is an overall front view and FIG. 2B is a side view thereof.

FIG. 3 is an enlarged cross-sectional view of essential parts of the work transfer device of the present invention shown in FIG.

FIG. 4 is a cross-sectional view of essential parts showing another modification of the work transfer apparatus of the present invention shown in FIG. 1, showing a state in which a rotary power transmission mechanism is detachably provided between a hand swing mechanism and a main lifting rod. Is.

5 is a diagram showing the work transfer device of the present invention shown in FIG.
It is a fragmentary sectional view showing a modification of a separated hand swing mechanism.

FIG. 6 is a diagram showing the work transfer device of the present invention shown in FIG.
It is a fragmentary sectional view showing another modification of a separated hand swing mechanism.

FIG. 7 shows a second embodiment of the work transfer device of the present invention,
(A) is an overall front view, (b) is a side view thereof, and (c) is a top view thereof.

8 is an enlarged front view of the work transfer device of the present invention shown in FIG.

9 is an enlarged side view of the work transfer device of the present invention shown in FIG. 7. FIG.

10 is an enlarged top view of the work transfer device of the present invention shown in FIG. 7. FIG.

11 is an enlarged front view showing a modification of the work transfer device of the present invention shown in FIG. 7. FIG.

FIG. 12 is an enlarged side view showing a modification of the work transfer device of the present invention shown in FIG. 7.

13 is an enlarged top view showing a modification of the work transfer device of the present invention shown in FIG.

FIG. 14 is a cross-sectional view of essential parts showing another modification of the work transfer device of the present invention shown in FIG. 7, showing a state in which a rotary power transmission mechanism is detachably provided between the hand swing mechanism and the main lifting rod. Is.

FIG. 15 shows a conventional work transfer device, (a) is an overall front view and (b) is a side view thereof.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 support | pillar 12 horizontal beam 14 guide beam 14a guide rail 14b rack 15, 25 work transfer device 16 traveling stand 16a rolling bearing guide 16b supporting members 18a, 18b, 18c, 18d motors 19a, 19c spur gear 20 elevating mechanism 21 traveling mechanism 22 elevating rod 24 Hand Swing Mechanism 26 Hand Support Shaft 28, 28a, 28b Hand 30 Work 32 Swing Mechanism 34 Drive Shaft 35 Box Frame 36, 36a, 36b, 36c Bearing 38a, 38b Bevel Gear 40 Attachment / Detachment Mechanism 42a Spline Shaft 42b Spline Hole 44a, 44b Clamp pin 46a, 46b Clamp hole 50 Elevating rod part 52 Elevating base 52a Groove guide 52b Rack 54 Auxiliary elevating rod 54a Guide ridge 54b Groove guide 54c Rack 4d spur gear 54e supporting member 56 main lift rod 56a guiding projections 56b Rack

Claims (3)

[Claims] 1. A support shaft having a center of rotation parallel to the rail is swingably supported on a traveling table which is guided and supported by a rail and horizontally travels, and an elevating mechanism is attached to the supporting shaft. A work transfer device, wherein a hand swing mechanism is provided at the lowermost end of a lift rod that is supported so as to be able to move up and down, and a plurality of hands for gripping a work are swingably provided on the hand swing mechanism. 2. The hand swing mechanism is provided with the drive source at the upper end of the elevating rod, and the output from the drive source is transmitted to the hand swing mechanism at the lowermost end of the elevating rod via power transmission means. The work transfer device according to claim 1, which is configured. 3. The hand swing mechanism is configured to be attachable to and detachable from the lowermost end of the elevating rod, the power transmission means is configured by a drive shaft, and the drive shaft and the hand swing mechanism can be separated from each other. 3. The work transfer device according to claim 1, further comprising a rotary power transmission mechanism.