JPH0680245A - Work transfer device - Google Patents

Abstract

PURPOSE:To provide a work transfer device for simultaneously transferring many works and for generating no scars, etc., on the surfaces of the works even if different work shapes are observed. CONSTITUTION:A spring 15 is provided for mutually pulling chuck claw- mounting plates 10a, 10b, and 11a, 11b for every pair. Two shafts 5a, 5b are provided with stoppers 13, 13, for determining respective opening degree so that the chuck claw-mounting plates 10a, 10b, 11a, 11b may mutually be pushed away for every pair by power axially applied to two shafts 5a, 5b through a shaking lever 8 from one chuck opening and closing actuator 9. The result forms a multiple chuck.

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 for chucking and transferring a thin plate-like work such as an IC card.

[0002]

2. Description of the Related Art FIG. 6 is a perspective view showing a conventional work transfer device, in which 1 is an IC card as a work and 2 is chuck claws 2a and 2b for holding the IC card 1.
Is a chucking mechanism, 3 is a vertical drive mechanism to which the chucking mechanism 2 is attached and moves up and down, 4 is an XY robot to which the vertical drive mechanism 3 is attached and moves in the X direction by 4a and in the Y direction by 4b. .

Next, the operation will be described. First, the XY robot 4 moves to the position where the IC cards 1 are arranged.
At this time, the chuck claws 2a and 2b are in a released state, and when the vertical drive mechanism 3 is lowered, the chuck claws 2a and 2b are closed by the chucking mechanism 2 driven by air pressure, and the IC card 1 is gripped. When the IC card 1 is gripped, the vertical drive mechanism 3 rises to lift the IC card 1 and the XY robot 4 moves to a target transfer position. Then, the vertical drive mechanism 3 descends again, the chucking mechanism 2 opens the chuck claws 2a and 2b, and the IC card 1 is transferred. Then, again, it moves to the position of the IC card 1 to be transferred next.

[0004]

Since the conventional work transfer device is constructed as described above, the chucking mechanism 2 is required for each of the pair of chuck claws 2a and 2b, and this chucking mechanism is also required. No. 2 has a large mechanical size, and it is not possible to attach a large number to the vertical drive mechanism 3 due to the weight limitation, and it is impossible to transfer a large number of IC cards 1 at the same time.

Further, as shown in FIG. 6, when two IC cards 1 are transferred at the same time, the chuck pressures of the chuck claws 2a and 2b change due to the difference in the shapes of the IC cards 1, and the IC
There are problems such as scratches on the surface of the card 1.

The invention of claim 1 has been made in order to solve the above-mentioned problems, and a large number of works can be transferred at the same time, and even if there are differences in the work shapes, the work surface is scratched. It is an object of the present invention to obtain a work transfer device that does not cause such problems.

It is an object of the present invention to provide a work transfer device capable of increasing the positional accuracy after transfer.

According to the third aspect of the present invention, by stably grasping and opening the work, the work surface is not scratched or the like, and the position accuracy after transfer can be improved. The purpose is to obtain a mounting device.

[0009]

According to a first aspect of the present invention, there is provided a work transfer device, wherein a contraction member is provided so that the chuck claw mounting members, to which the chuck claws are mounted, attract each other in pairs. Multiple chains provided with stoppers on two shafts so that the chuck claw mounting members are pushed apart from each other by the power applied in the axial direction of the two shafts from the claw driving member via the first swinging member. A chuck, a multiple chuck moving member to which the multiple chuck is attached and moves the multiple chuck in the axial direction of two shafts, a vertical moving member which vertically moves the multiple chuck moving member, and The vertical movement member includes a multiple chuck movement member and a conveyance member that conveys the vertical movement member in a direction orthogonal to the movement direction of the vertical movement member.

The work transfer device according to the invention of claim 2 is
A second swinging member is connected to the chuck claw mounting member via a pair of bearings, swings in accordance with the movement of the chuck claw mounting member, and has a swing center supported swingably. Be prepared.

A work transfer device according to a third aspect of the present invention is
A groove is provided on the back surface of the bottom of the vertical moving member, and the protrusion has a protrusion that aligns with the groove, and the protrusion is aligned with the groove when the protrusion is moved so that the chuck jaws grip the workpiece. The projection moving member is provided to bring the projection into contact with the back surface of the bottom portion other than the groove when the claw releases the work.

[0012]

The work transfer device according to the invention of claim 1 is
At least one pair of chuck claw mounting members provided on the shaft of the book are simultaneously opened by power applied in the axial direction from one chuck claw driving member, and a contracting member provided for each pair of chuck claw mounting members. At the same time, close with constant pressure. Therefore, the plurality of chuck claws simultaneously releases the work and simultaneously holds it at a constant pressure.

In the work transfer device according to the second aspect of the present invention, the second swing member, which is swingably supported, opens and grips the work around the supporting portion.

In the work transfer device according to the third aspect of the present invention, the position of the chuck claw when the work is opened is made high and the position of the chuck claw when the work is held is made low by the groove and the projection member.

[0015]

【Example】

Example 1. An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing a work transfer device of the present invention,
2 is a perspective view showing a multiple chuck section, FIG. 3 is a side sectional view of FIG. 1, FIG. 4 is an operation explanatory view of a vertical stroke changing mechanism,
FIG. 5 is an operation explanatory view of the multiple chuck portion viewed from the lower surface. 2, 5a and 5b are shafts, 6 is a bearing attached to one end of the shafts 5a and 5b, 7 is a swing shaft supported by the chuck slider 21 in FIG. 3, and 8 is a swing about the swing shaft 7. The shaft 5 is freely supported, and at both ends thereof, the bearing 6 is held together with the shafts 5a and 5b, and the bearing 6 is swung about the swing shaft 7 so that the shaft 5
a rocking lever for moving a and 5b in opposite axial directions. The first lever includes a bearing 6, a rocking shaft 7, and a rocking lever 8.
Of the rocking member.

Reference numeral 9 is a chuck slider 2 as shown in FIG.
A chuck opening / closing actuator (chuck claw driving member) 10a, 10b, which is supported by No. 1 and is coupled to the shaft 5a and drives the shaft 5a, is a chuck claw. 11a,
11b is a chuck claw mounting plate to which the chuck claws 10a and 10b are attached and moves in the axial direction of the shafts 5a and 5b, and 12 is provided on the chuck claw mounting plates 11a and 11b. , 5b, and the chuck claw mounting plates 11a and 11b and the bearing 12 constitute a chuck claw mounting member.

Reference numeral 13 is each chuck claw mounting plate 11a, 11
is provided by being fitted to the shafts 5a and 5b with respect to b,
It is a stopper that pushes open the chuck claw mounting plates 11a, 11b by the movement of the shafts 5a, 5b in the opposite axial directions. 14 is a spring hooking pin attached to each pair of chuck claw mounting plates 11a and 11b, and 15 is a spring hooking pin 14
Attached to the pair of chuck claw mounting plates 11a and 11b
Is a spring that pulls in the direction to close the
And the spring 15 constitutes a contracting member.

Reference numeral 16 denotes chuck claw mounting plates 11a and 11b.
, 17 is a bearing mounted on the arm 16, 18 is a center ring having one end supported by the chuck slider 21 as shown in FIG. 3 and the other end connected to the arm 16 via the bearing 17. Arm 19
Is a swing shaft for swingably supporting the swing center of the chuck. The swing shaft 18 serves to center the chuck claw mounting plates 11a and 11b. The arm 16, the bearing 17, the swing shaft 18, and the centering arm 19 form a second swing member. Reference numeral 20 denotes a housing, which is supported by a chuck slider 21 as shown in FIG. 3 and has a built-in ball slide bearing for guiding and supporting the shafts 5a and 5b.

In FIG. 3, 22a is a rack supported by the chuck slider 21, and 22b is a rack supported by the upper plate 28 of the multiple chucks. 23 is a rack 22
Pinions that engage the a and 22b and slide on the racks 22a and 22b; 24 is a pinion mounting plate that supports the pinion 23; and 25 is a pinion driving unit that moves the pinion mounting plate 24. Further, in FIG. 1, reference numeral 26 is a guide which engages with the bearing 27 and guides the movement of the chuck slider 21, and 29 is a lower constant plate of the multiple chucks. The lower constant plate 29 is provided with a groove portion as shown in FIG. Has been. Thirty
Is a coupling plate for coupling the upper sizing plate 28 and the lower sizing plate 29, and a guide mechanism for moving the chuck slider 21 is built in the bottom surface of the coupling plate 30 (not shown). The chuck slider 21, racks 22a and 22b, pinion 23, pinion mounting plate 2
4, pinion drive unit 25, guide 26, bearing 2
7. The upper constant plate 28 constitutes a multiple chuck moving member that guides and moves the multiple chuck portions in the axial direction of the two shafts 5a and 5b.

Reference numeral 31 is a base plate, 32 is an up-and-down guide attached to the base plate 31 for guiding the lowering plate 29 of the multiple chucks, and 33 is an up-and-down actuator for moving up and down the lower plate 29 of the multiple chucks provided on the base plate 31. Yes, the lower plate 29, the base plate 3
1, the vertical guide 32, the vertical actuator 33,
It constitutes a vertically moving member. Further, in FIG. 4, 34 is a vertical stroke changing mechanism (projection member) having a protrusion that is aligned with a groove provided on the lower plate 29, and 35 is supported by the base plate 31 to move the vertical stroke changing mechanism 34 forward and backward to increase or decrease. It is a stroke changing actuator (projection part moving member) that changes the height of the continuous chuck part when it is lowered. Further, in FIG. 1, 36 is the base plate 31.
Is a conveying unit (conveying member) that is coupled to and conveys in a direction orthogonal to the axial movement of the shafts 5a and 5b of the multiple chuck portion and the vertical movement of the lower sizing plate 29.

Next, the operation will be described. As shown in FIG. 1, first, in order to hold the aligned IC cards (workpieces) 1, the transport unit 36 moves and the vertical actuator 33 moves.
When is lowered, the multiple chuck portions guided by the upper and lower guides 32 are also lowered. At this time, as shown in FIG. 4B, the vertical stroke changing mechanism 34 is in a state in which the protrusion is fitted in the groove of the lower plate 29, and the multiple chuck portions on the lower plate 29 are lowered to the lower limit value.

Further, the chuck claws 10a and 10b are in an open state, and as shown in FIG. 2, when the chuck opening / closing actuator 9 is retracted, the shaft 5a is retracted, and the swing lever attached to the shaft 5a and holding the bearing 6 is held. 8 swings around the swing shaft 7 as a fulcrum, and advances the shaft 5b through the bearing 6 attached to the shaft 5b. Further, the stoppers 13 fitted one by one to the shafts 5a and 5b also move in the same manner with respect to the pair of chuck claw mounting plates 11a and 11b, and the chuck claw mounting which is stopped in the open state by the stoppers 13 is carried out. Boards 11a, 11b
However, the movement of the stopper 13 makes it free. At the same time, as shown in FIG. 5B, the chuck claw mounting plate 1 is moved by the springs 15 mounted so as to attract each other.
1a and 11b move by being guided by shafts 5a and 5b, close chuck claws 10a and 10b, and hold IC card 1.

At this time, by making the movement amount of the stopper 13 larger than the outer dimension of the IC card 1, the spring 15
Force to hold the IC card 1 at a constant pressure to prevent the chuck pressure from changing due to variations in the outer dimensions of the IC card 1.
Prevents the IC card 1 from being scratched. Further, the centering arm 19 provided on the arm 16 of the pair of chuck claw mounting plates 11a and 11b via the bearing 17
The center of the IC card 1 and the center between the chuck claws 10a and 10b are made to coincide with each other to improve the positional accuracy after transfer.

After that, when the vertical actuator 33 is lifted and the IC card 1 is lifted, the carrying section 36 is moved to the transfer position. At this time, as shown in FIG. 4A, the protrusion of the vertical stroke changing mechanism 34 and the groove of the lower plate 29 are separated from each other. At this time, the pinion drive unit 25 moves the pinion 23 via the pinion mounting plate 24, engages with the pinion 23, and is mounted on the upper plate 28 and the rack 22b and the rack mounted on the chuck slider 21 side. 22a is moved twice as much as the pinion 23.

When the vertical actuator 33 is lowered, the multiple chucks are also lowered, but when the pinion 23 is moved,
As shown in FIG. 4C, the vertical stroke changing mechanism 34 is moved forward by the power of the stroke changing actuator 35 so that the projections of the vertical stroke changing mechanism 34 are brought into contact with the bottom surface of the bottom plate 29 other than the groove portion. , IC
Chuck claw 10 at a position higher than when gripping the card 1
a and 10b are stopped, and a slight gap is made between the lower surface of the IC card 1 and the transfer surface to prevent impact on the IC card 1 and damage to the IC card 1 due to rubbing of the chuck claws 10a and 10b during transfer. To prevent. Further, it is not necessary to consider the heights of the IC card 1 and the transfer surface, the transfer surface can have the same height, and the grip allowance of the IC card 1 can be made constant, so that stable gripping and It can be opened.

After that, as shown in FIG. 5A, the chuck claws 10a and 10b holding the IC card 1 advance the shaft 5a when the chuck opening / closing actuator 9 advances, and mount the bearing 6 on the shaft 5a. The held swing lever 8 swings around the swing shaft 7 as a fulcrum, and the shaft 5b is retracted via the bearing 6 attached to the shaft 5b. Further, the stoppers 13 fitted to the shafts 5a and 5b one by one also move in the same manner, and the stoppers 13 move the chuck claw mounting plates 11a and 11 of the spring 15.
Chuck claw mounting plate 11 that overcomes the attractive force between b
The space between a and 11b is opened, and the chuck claws 10a and 10b are opened to open the IC card 1. This completes a series of operations. After that, when the IC card 1 needs to be further transferred, the vertical actuator 33 moves up, and the pinion drive unit 25 and the transport unit 36 move to the next transfer position.

The driving force of each actuator can be obtained by air pressure or the like and controlled by a microcomputer or the like by a signal from a sensor provided at each place.

Further, the vertical stroke changing mechanism 34 may be moved forward by the power of the stroke changing actuator 35 from any time from the start of raising the lower sizing plate 29 after the IC card 1 is gripped to the end of lowering it. The mechanism 34 may be retracted at any time from the start of the ascent of the lower plate 29 after the IC card 1 is opened to the end of the lowering.

[0029]

As described above, according to the first aspect of the present invention, the contracting member is provided so that the chuck claw mounting members attract each other, and at the same time, one chuck claw driving member to the first swinging member. The multiple chucks are provided with stoppers so that the chuck claw mounting members are pushed apart from each other by the power applied in the axial direction of the two shafts, and the multiple chucks are connected to each other in the axial direction of the two shafts. Since it is configured to include a multiple chuck moving member that guides and moves, a vertical moving member that vertically guides the multiple chuck moving member, and a conveying member that conveys the vertical moving member, one or more pairs. The chuck claw mounting members of the above are simultaneously opened by the power from one chuck claw driving member, and are simultaneously closed at a constant pressure by the contracting member. The work transfer device can be opened at the same time and can be gripped at a constant pressure at the same time, and a large number of works can be transferred at the same time, and even if there are differences in the work shapes, scratches etc. do not occur on the work surface. There is an effect obtained.

According to the second aspect of the present invention, each pair of chuck claw mounting members is connected via a bearing, and the chuck claw mounting members swing according to the movement of the chuck claw mounting members, and the swing center thereof is freely swingable. Since the second swinging member supported by the second swinging member is provided, the second swinging member can open and grip the work centering around the supporting portion, and the positional accuracy after transfer can be improved. There is an effect that a work transfer device capable of increasing the height can be obtained.

According to the third aspect of the present invention, a groove is provided on the bottom rear surface of the vertically moving member, and the protrusion has a protrusion aligned with the groove, and when the protrusion is moved and the chuck claw holds the work. Since the protrusion is aligned with the groove, and the chuck claw is provided with a protrusion member moving part that abuts the protrusion on the bottom rear surface other than the groove when the workpiece is opened, the groove and the protrusion member The position of the chuck claw when releasing the work can be raised and the position of the chuck claw when grasping the work can be lowered, and the work can be stably grasped and released, thereby causing scratches on the work surface. There is no effect, and there is an effect that a work transfer device that can improve the position accuracy after transfer is obtained.

[Brief description of drawings]

FIG. 1 is a perspective view showing a work transfer device of the present invention.

FIG. 2 is a perspective view showing a multiple chuck unit.

FIG. 3 is a side sectional view of FIG.

FIG. 4 is an operation explanatory view of a vertical stroke changing mechanism.

FIG. 5 is an operation explanatory view of the multiple chuck section as viewed from below.

FIG. 6 is a perspective view showing a conventional work transfer device.

[Explanation of symbols]

1 IC card (work) 5a, 5b Shaft 6 Bearing (first swing member) 7 Swing shaft (first swing member) 8 Swing lever (first swing member) 9 Chuck opening / closing actuator (chuck) Claw driving member) 10a, 10b Chuck claw 11a, 11b Chuck claw mounting plate (chuck claw mounting member) 12 Bearing (chuck claw mounting member) 13 Stopper 14 Spring hook pin (contracting member) 15 Spring (contracting member) 16 Arm (first) 2 rocking member) 17 bearing (second rocking member) 18 rocking shaft (second rocking member) 19 centering arm (second rocking member) 21 chuck slider (multiple chuck moving member) 22a, 22b Rack (multiple chuck moving member) 23 Pinion (multiple chuck moving member) 24 Pinion mounting plate (multiple chuck Moving member) 25 pinion drive unit (multiple chuck moving member) 26 guide (multiple chuck moving member) 27 bearing (multiple chuck moving member) 28 upper plate (multiple chuck moving member) 29 lower plate (vertical moving member) ) 31 base plate (vertical moving member) 32 vertical guide (vertical moving member) 33 vertical actuator (vertical moving member) 34 vertical stroke changing mechanism (projection member) 35 stroke changing actuator (projection moving member) 36 transport unit (transport member)

Claims (3)

[Claims] 1. A pair of chuck claw mounting members to which chuck claws for gripping a work are mounted, two shafts for guiding the movement of the one or more pairs of chuck claw mounting members, and two shafts thereof. A first swinging member that holds the shaft and moves the two shafts in opposite axial directions;
A contraction member is provided so that the chuck claw mounting members attract each other in pairs, and the chuck claw mounting member is driven by the power applied in the axial direction of the two shafts from the chuck claw driving member via the first swinging member. Multiple chucks provided with stoppers on two shafts so as to push each pair away from each other, and multiple chuck movements in which the multiple chucks are attached and the multiple chucks are moved in the axial direction of the two shafts. A member, an up-and-down moving member that moves the multiple chuck moving member in the up-and-down direction, and a transport member that transports the up-and-down moving member in a direction orthogonal to the moving direction of the multiple chuck moving member and the up-and-down moving member. Work transfer device. 2. A pair of chuck claw mounting members to which chuck claws for holding a work are mounted, two shafts for guiding the movement of the one or more pairs of chuck claw mounting members, and the two shafts. A first swinging member that holds the shaft and moves the two shafts in opposite axial directions;
A second swinging member connected to the chuck claw mounting member via a pair of bearings and swinging in accordance with the movement of the chuck claw mounting member, the swing center of which is swingably supported. A contracting member is provided so that the chuck claw mounting members attract each other, and the chuck claw mounting members are moved by the power applied in the axial direction of the two shafts from the chuck claw driving member via the first swinging member. Multiple chucks provided with stoppers on two shafts so as to push each pair apart from each other, and multiple chuck moving members to which the multiple chucks are attached and which move the multiple chucks in the axial direction of the two shafts. And a vertical moving member that moves the multiple chuck moving member in the vertical direction, and the vertical moving member in a direction orthogonal to the moving direction of the multiple chuck moving member and the vertical moving member. Workpiece transfer apparatus and a conveying member to feed. 3. A groove portion provided on the back surface of the bottom of the vertically moving member, a protrusion member having a protrusion portion aligned with the groove portion, and a groove portion when moving the protrusion member and holding the workpiece by the chuck jaws. 3. A protrusion moving member that aligns the protrusions and causes the protrusions to come into contact with the bottom surface other than the groove when the chuck jaws open the work. Work transfer device.