JPH0650740U - Work transfer device - Google Patents

Abstract

(57) [Summary] [Object] An object of the present invention is to provide a work transfer device capable of arbitrarily setting an arm stop position and an arm turning range and increasing the speed. [Structure] A first rotating shaft rotatably supported by a support body 12.
24 and the first fixed to the support 12 coaxially with the first rotary shaft 24.
A pulley 22; a first arm member 25 rotatably supporting a second rotary shaft 26 connected to the first rotary shaft 24 on the base end side and parallel to the first rotary shaft 24 on the front end side; and a first pulley A second pulley 28 which is formed with a pitch circle diameter corresponding to the pitch circle radius of 22 and is integrally supported by the second rotating shaft 26 in the rotation direction;
A belt 29 wound around the first pulley 22 and the second pulley 28, and a second arm member that is connected to the second rotating shaft 26 at the base end side and has a work holding means mounted at the tip end side.
35, and a servomotor 40 supported by the support 12 coaxially with the first rotating shaft 24 and coupled to the first rotating shaft 24 via the reduction mechanism 30.
And are provided.

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 unfavorable 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 Application Laid-Open No. 2-307717 has been proposed. This device is characterized by the characteristics of the Cardan circle (when a second circle whose diameter is the radius of the first circle rotates inscribed in the first circle, 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 mechanism attached to the tip of the mechanism is moved linearly. Large pulley, a first rotating shaft rotatably supported by a supporting plate and coaxially with the large pulley, a turning air cylinder for driving the first rotating shaft, and a proximal end side connected to the first rotating shaft. And an arm that rotatably supports the second rotary shaft that is parallel to the first rotary shaft at the tip side, and a pitch circle diameter that corresponds to the pitch circle radius of the large pulley 2 and is formed in the rotation direction of the second rotary shaft. Wrap it between the small pulley supported integrally and the large and small pulleys. And a belt, and a, a hand wearing the finger for work holding the tip side along with the upcoming coupled to the second rotary shaft in the proximal end side. Further, 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]

However, in such a conventional work transfer device, a swirling air cylinder is used to swivel the arm, and a stopper is provided to ensure stop position accuracy. Since it was provided, the range of relative rotation between the arm and the hand was uniquely determined, and it was not possible to arbitrarily change the stop position of the arm and the hand or the arm turning range during transfer.

Further, since the swiveling error of the swiveling air cylinder and the error of the arm swiveling angle due to the extension of the belt are doubled by the pulley ratio of the large and small pulleys, the swiveling angle error is large and the load on the stopper is also excessive. Therefore, it was not possible to increase the working speed (turning speed). Therefore, an object of the present invention is to provide a work transfer device capable of arbitrarily setting the arm stop position and the arm turning range and increasing the speed.

[0006]

[Means for Solving the Problems]

 To achieve the above object, a work transfer device according to a first aspect of the present invention comprises a first rotating shaft rotatably supported by a support, and a predetermined pitch fixed to the support coaxially with the first rotating shaft. A first pulley having a circular diameter, a first arm member rotatably supporting a second rotary shaft, which is connected to the first rotary shaft on the proximal side and parallel to the first rotary shaft on the distal side, A second pulley that is formed to have a pitch circle diameter corresponding to the pitch circle radius of the pulley and that is integrally supported by a second rotating shaft in the rotational direction; a belt that is wound around the first pulley and the second pulley; Side is connected to the second rotary shaft, and the work holding means is attached to the tip side of the second arm member, and the support is supported coaxially with the first rotary shaft to the first rotary shaft via the reduction mechanism. Characterized by having a coupled servo motor and According to a second aspect of the present invention, one of the first arm member and the second arm member is provided with a stopper member protruding from the one toward the other and the stopper member. A switching means for switching between the presence and absence of the operation of the stopper member by moving the stopper member to a protruding position and a retracted position retracted from the protruding position, and at least one of the first arm member and the second arm member is provided. On the other hand, a contact member that can contact the stopper member at the protruding position when the first arm member pivots to one end or the other end of the predetermined pivot range can be provided.

[0007]

[Action]

 According to the first aspect of the present invention, when the servo motor rotates, the first rotating shaft rotates by a predetermined angle corresponding to the reduction ratio of the reduction mechanism, and the first arm member turns. At this time, the second pulley connected to the first pulley via the belt rotates by an angle that is twice the turning angle of the first arm member, and the second arm member rotates. Therefore, the stop position and the turning range of the first and second arm members at the time of transferring the work can be arbitrarily set by controlling the rotation and stop of the servo motor. In addition, the use of a servo motor improves the accuracy of the stop position, and even if a stopper is provided, an excessive load will not be applied, so that the speed can be increased.

According to the second aspect of the present invention, when the stopper is unnecessary by the switching means (for example, when the origin is adjusted), the stopper is retracted from the projecting position to the retracted position, and is moved to the projecting position only when necessary. It becomes possible to contact the contact member. Therefore, the stopper can be provided at a desired position without limiting the turning range of the arm member, and the load applied to the belt or the like between the first and second pulleys can be reduced while achieving high speed.

[0009]

【Example】

 Hereinafter, the present invention will be described 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 FIGS. 1 and 2, 1 is a stand, 2 is a fixed arm fixed to the upper portion of the stand 1, and a lifting cylinder 10 is attached to the fixed arm 2. The lifting cylinder 10 supports a lifting plate 12 via a bracket 11 so that the lifting plate 12 can be moved up and down. The lift plate 12 is guided only up and down by a pair of left and right guide members 3 and 4 provided at the tip of the fixed arm 2 in the vertical direction. The stand 1 is fixed to a machine base (not shown), such as a machine frame of a vertical injection molding machine, by a plurality of bolts, and supports the lifting plate 12 above the machine base.

A pulley holder 21 is attached to the lift plate 12, and a first pulley 22 is fixed via the pulley holder 21. Bearings 23a and 23b are mounted on the center of the first pulley 22 and the lower end of the pulley holder 21 adjacent to the center of the first pulley 22. The bearings 23a and 23b move up and down a first rotary shaft 24 coaxial with the first pulley 22. It is rotatably supported on the plate 12. The first rotating shaft 24 is drivingly connected to the output shaft 41 of the servomotor 40 via a speed reducing mechanism, for example, a well-known harmonic speed reducing mechanism 30, on the upper end side thereof, and the base of the first arm member 25 on the lower end side thereof. It is connected to the end. The servomotor 40 is connected to a control unit (not shown) and is configured to rotate by an angle according to a control signal from the control unit. The rotation causes the first speed via the reduction mechanism 30 and the first rotary shaft 24. The arm member 25 is rotated by a predetermined angle to stop the first arm member 25 at a preset stop position.

A second rotary shaft 26, which is parallel to the first rotary shaft 24, is rotatably supported on the tip end side of the first arm member 25 via bearings 27a and 27b. A second pulley 28 is integrally attached to the rotation direction 26 in the rotation direction. The second pulley 28 is formed to have a pitch circle diameter corresponding to the pitch circle radius 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 locked to the bearings 27a and 27b by a ring 31 and a nut 32. Reference numeral 35 denotes a second arm member connected to the second rotating shaft 26 by a plurality of bolts 34 at one end side thereof, and a work holding means (not shown) is attached to the tip end side of the second arm member 35. There is. The work holding means is equipped with, for example, a well-known air suction type suction unit, and this suction unit sucks a work (not shown), for example, an individual piece or strip for insert used in the molding operation of the injection molding machine described above. To do.

On the other hand, one of the first arm member 25 and the second arm member 35, for example, the first arm member 25, is provided with a stopper member 51 protruding downward toward the second arm member 35. There is. The stopper member 51 is supported on the tip of the first arm member 25 so as to be vertically rotatable via a support shaft 36, and by a stopper position switching cylinder 39 via a lever 37 fixed to one end of the support shaft 36. It is driven (rotated) and moved to a projecting position where the tip is moved downward or a retracted position where the tip is retracted upward from the projecting position.

In addition, one of the first arm member 25 and the second arm member 35, in this case, the second arm member 35, the first arm member 25 has a predetermined turning range (for example, a turning range of 180 degrees). Is provided with an abutting member 61 that comes into contact with the stopper member 51 at the protruding position when swung to one end or the other end of the first arm member 25 and the first arm member 25 according to the pulley ratio of the first and second pulleys 22 and 28. When the second arm member 35 relatively rotates by a predetermined angle, the contact member 61 comes into contact with the stopper surface 51a or 51b of the stopper member 51. Then, when the stopper member 51 hits the contact member 61, the relative rotation of the two arm members 25, 35 is blocked via the stopper member 51 and the contact member 61. That is, the stopper position switching cylinder 39 serves as a switching unit that moves the stopper member 51 between the protruding position and the retracted position to switch whether the stopper member 51 is in operation or not. The stopper 61 is provided to prevent a decrease in accuracy due to the arm members 25 and 35, the timing belt 29, the speed reduction mechanism 30, etc. It is designed to slide by the thickness of the direction.

1 and 2, 71 and 72 are stop bolts that come into contact with the oil dampers 73a and 73b screwed to the vertical plate portion 12a of the lifting plate 12, and the stop bolt 71 or 72 is the first stop bolt. When the one arm member 25 moves to the swivel position shown by the solid line in FIG. 2 or the position swiveled 180 degrees (by the set value of the swivel range) from it, the oil damper 73a provided on the side surface of the vertical plate 12a or It is designed to stop 73b. Further, 74 is a roller for applying tension to the timing belt 29 to adjust the adjustment, and the roller 74 is rotatably supported by a bracket 75 bolted to the first arm member 25.

Further, although not shown, below the first and second arm members 25 and 35, there are provided a work supply device on which the predetermined work (piece material or strip material) is placed and an injection molding die. A lower die is arranged, and a pipe path for supplying fluid to the lifting cylinder 10, stopper position switching cylinder 39, work holding means, work supply device, etc. responds to a control signal from the control unit. Control valves and actuators are provided. Then, in accordance with a control signal from the control unit, the work supplied by the work supply device is held by the work holding means, and the servo motor 40 drives the first and second arm members 25, 35 to rotate by a predetermined angle. After that, a transfer operation such that the work holding state by the work holding means is released and the work is placed on the lower mold is automatically performed.

Next, the operation will be described. It is assumed that when the transfer operation is started, for example, one stopper surface 51b of the stopper member 51 and the contact member 61 are in contact with each other, and the stopper member 51 is in the protruding position. Here, according to a command (control signal) from the control unit, the lifting cylinder 10 is actuated, both arm members 25, 35 are lowered by a predetermined amount, and then the suction means is actuated, whereby the work supply is performed. The work placed on the apparatus is held by the work holding means. Next, after the lifting cylinder 10 is actuated and both arm members 25, 35 are raised by a predetermined amount, the servomotor 40 is actuated and the first arm member 25 is swung counterclockwise, for example, in FIG. 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 28 and the timing belt 29, the first arm Corresponding to the turning angle of the member 25, it turns in the opposite direction by a double angle (this angle is the turning angle with respect to the first arm member 25), and as a result, the second arm moves at the same time as the turning of the first arm member 25. The member 35 turns in the opposite direction at a constant speed.

When the rotation angle of the servo motor 40 reaches an angle according to the control signal from the control unit, the servo motor 40 stops its rotation. At this time, the first arm member 25 is swung up to a preset turning angle, for example, about 180 degrees, and the first arm member 25 and the second arm member 35 are relatively rotated by about 360 degrees, but due to inertia. I try to continue the rotation. On the other hand, since the servomotor 40 is connected to the first rotary shaft 24 via the speed reduction mechanism 30 and the rotation of the first rotary shaft 24 is effectively restricted, the rotation of the first arm member 25 is effectively decelerated. It At this time, the second arm member 35 is restricted from rotating relative to the first arm member 25 by the contact between the other stopper surface 51a of the stopper member 51 and the contact member 61, and the second pulley 28 and the timing. The turning is restricted via the belt 29. Therefore, the turning of the second arm member 35 is effectively decelerated without applying an excessive load to the timing belt 29.

As described above, the servo motor 40 is connected to the first rotating shaft 24 via the speed reduction mechanism 30, and the first arm member 25 and the first arm member 25 at the stop position are connected via the stopper member 51 and the contact member 61. Since the relative rotation of the two-arm member 35 is restricted, the intermediate portion of the first arm member 25 is stopped by the stop bolt 72 almost simultaneously with the restriction, and the over-rotation of the first arm member 25 is surely prevented. Therefore, the first and second arm members 25, 35 can be accurately stopped at the stop position, and further, the load of the stopper member 51 and the stop bolt 72 can be made small and the speed can be increased. .

In this stopped state, when the lifting cylinder 10 operates and both arm members 25 and 35 descend a certain amount, the holding state of the work by the suction means 41 and 42 is released, and the work holding means holds the work. Another work is placed on the lower mold. Next, the elevating cylinder 10 is actuated, the arm members 25, 35 are raised by a predetermined amount, and then the servo motor 40 is actuated to pivot the first arm member 25 clockwise in FIG. The arm member 35 turns in the opposite direction at a constant speed.

When the first arm member 25 turns to the vicinity of the initial position, the servomotor 40 stops, the other stopper surface 51b of the stopper member 51 comes into contact with the contact member 61, and the relative rotation of both arm members 25, 35. Is regulated, and almost simultaneously with this, the first arm member 25 is abutted against the stop bolt 71 via the damper 73b or 73a, thereby defining the stop position of both arm members 25, 35. Therefore, as in the case described above, both arm members 25, 35 accurately stop at the predetermined stop positions.

By the way, when it is desired to change the work supply position, the direction of the work, or the like in order to improve the efficiency of the molding work of the injection molding machine or improve the working environment, the control unit sends the work to the servomotor 40. The control signal is changed to change the rotation direction and rotation angle of the servo motor 40. In this case, for example, if the stopper 51 is fixed and the work can be performed with the software designed so that the position of the origin at the time of turning is within the work area, if not, the stopper position switching cylinder 39 is operated to operate the stopper member. The 51 is retracted to the retracted position and the origin is adjusted in that state.

As described above, in this embodiment, the stop positions and the turning directions of the first and second arm members 25 and 35 can be arbitrarily set by changing the rotation direction and the angle of the servo motor 40. . Further, by adopting the servo motor 40, it is possible to improve the stop position accuracy by utilizing the superiority of the acceleration / deceleration characteristics of the servo control, and it is possible to reduce the inertial force applied to the stopper member 51. Therefore, it is possible to prevent an excessive load from being applied to the stopper member 51 and increase the turning speed. Furthermore, by making the stopper 51 retractable in combination with the adoption of the servomotor 40, both arm members 25, 35 can be accurately swung by an arbitrary swivel range or swivel angle with simple control software. The desired work transfer operation can be realized at low cost.

Although the stopper member is provided on the side of the first arm member and the contact member is provided on the side of the second arm member in the above-described embodiment, it is possible to reverse the order. Needless to say, the stop bolt 71 is not always necessary, and the stop position can be secured only by the servo motor. Further, a motor control method in which the turning speed of the first arm is made different at the end and the center of the turning range is also conceivable.

[0024]

[Effect of device]

 According to the invention of claim 1, the stop position and the turning range of the first and second arm members can be arbitrarily set by using the servo motor and the speed reducing mechanism together, and the acceleration / deceleration characteristics of the servo control are superior. It is possible to improve the stop position accuracy by utilizing the property, and further, it is possible to significantly speed up.

According to the second aspect of the present invention, the stopper can be retracted together with the adoption of the servo motor, so that the stopper is provided at a desired position when necessary without limiting the turning range of the arm member. Therefore, it is possible to reduce the load applied to the belt or the like between the first and second pulleys while increasing the speed. In addition, the turning accuracy can be secured with simple control software, and the desired work transfer operation can be realized at low cost.

[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.

[Explanation of symbols]

 10 Lifting cylinder 12 Lifting plate (support) 22 First pulley 24 First rotating shaft 25 First arm member 26 Second rotating shaft 28 Second pulley 29 Timing belt (belt) 30 Reduction mechanism 35 Second arm member 39 Stopper Position switching cylinder (switching means) 40 Servo motor 51 Stopper members 51a, 51b Stopper surface 61 Abutment members 71, 72 Stop bolts 73a, 73b Oil damper

Claims (2)

[Scope of utility model registration request] 1. A first rotary shaft (24) rotatably supported by a support (12), and a predetermined pitch circle diameter fixed to the support (12) coaxially with the first rotary shaft (24). The first pulley (22) is connected to the first rotary shaft (24) at the base end side and rotatably supports the second rotary shaft (26) parallel to the first rotary shaft (24) at the distal end side. And a second pulley (28) that is formed to have a pitch circle diameter corresponding to the pitch circle radius of the first pulley (22) and that is integrally supported by the second rotation shaft (26) in the rotation direction. ), A belt (29) wound around the first pulley (22) and the second pulley (28), and is connected to the second rotating shaft (26) at the base end side and has a work holding means on the front end side. The second arm member (35) mounted with and the support (12) are coaxially supported by the first rotating shaft (24), and are coupled to the first rotating shaft (24) through the reduction mechanism (30). Servomotor
(40), and a work transfer device comprising: 2. A stopper member (51) protruding from one of the first arm member (25) and the second arm member (35) toward the other, and the stopper member (51). And a switching means (39) for switching the presence or absence of the operation of the stopper member (51) by moving the stopper member (51) to the protruding position and the retracted position retracted therefrom. An abutting member capable of abutting against the stopper member (51) at the projecting position when the first arm member (25) turns to one of the two arm members (35) and to the other end of the predetermined turning range. (61) is provided, Claim 1 characterized by the above-mentioned.
The work transfer device described.