JPH078123Y2 - Variable stroke work transfer device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work transfer device that lifts and transfers a work, and relates to a variable stroke work transfer device that can adjust the transfer stroke.

2. Description of the Related Art In order to send a work between automatic processing machines, machine tools, etc., a work transfer device for lifting and carrying the work from a substantially horizontal receiving position to a delivering position is widely used. Conventionally, such a work transfer device includes a work holding means for supporting and holding a work and holding the work, an elevating means for vertically moving the work holding means at the receiving position and the delivering position, and the work holding means. And a horizontal moving means for moving the position from above the receiving position to above the delivering position substantially horizontally.

On the other hand, such a work transfer device is provided with two driving means, that is, an elevating means and a horizontal moving means. Therefore, there are problems that the apparatus becomes expensive and the control becomes complicated and the cycle time becomes long. there were. For this reason,
An odd number of arms is provided so that the rotating arm having the work holding means at its tip is rotated about one substantially horizontal center line and the work holding means is translated in a predetermined fixed posture. There has been considered a work transfer device in which the work holding means is relatively rotated with respect to the rotating arm by a gear train composed of the above gears, a link, or the like. By doing so, it becomes possible to transfer the work by only one set of driving means for rotating the rotating arm, which is advantageous in that the apparatus becomes inexpensive and the cycle time can be shortened.

Problems to be Solved by the Invention However, in such a work transfer device,
Since the work transfer stroke is fixed by the turning radius of the work holding means with respect to the turning center of the turning arm, it is not possible to adjust the carrying stroke according to the separation distance of the automatic processing machine or the like. There is an inconvenience that the arrangement of processing machines and the like must be changed according to the transfer stroke. That is, in order to change the transfer stroke, the turning radius of the work holding means can be adjusted, but the work holding means is rotated relative to the turning arm by a gear train, a link, or the like. Since the posture is maintained constant, the turning radius of the work holding means with respect to the turning center of the turning arm cannot be easily changed.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a work transfer device capable of transferring a work by one driving means and adjusting a transfer stroke. .

Means for Solving the Problems In order to achieve such an object, the present invention lifts and conveys a work from a substantially horizontal receiving position to a delivering position, and adjusts a distance between the receiving position and the delivering position. A variable stroke work transfer device capable of adjusting a transport stroke by: (a) a support member fixedly arranged near the receiving position and the delivering position; and (b) substantially horizontal to the supporting member. A rotatable member that is rotatable about a first center line and is capable of adjusting the radius of rotation of a predetermined mounting portion; and (c) the mounting portion is horizontally aligned with the first center line. The rotating member is arranged so as to move in a circular arc from the first position to the second position having substantially the same height with the first center line above the first center line. During ~ Drive means for rotating about a core line; (d) a first slide member provided on the support member so as to be movable in a first linear direction parallel to a rotation plane of the rotation member; A second parallel to the rotary plane of the rotary member and intersecting the first linear direction
A second slide member provided on the first slide member so as to be movable in a linear direction, and (f) fixed to the second slide member and having the first center line at the mounting portion of the rotating member. A moving member which is attached so as to be relatively rotatable about a parallel second center line, and which is translated in an arc along with the rotation of the rotating member; and (g) the moving member, which is provided on the moving member. The rotating member is rotated so that the portion is located at the first position, and the workpiece is positioned at the receiving position to receive the work, while the mounting portion is moved to the second position. And a work holding unit which is placed at the delivery position and delivers the work by rotating the rotation member.

In the work transfer device as described above, in the work transfer device, the rotation member is rotated by the drive means so that the attachment portion is located at the first position, so that the work holding means provided on the movement member is It is positioned at the receiving position and holds the work existing at the receiving position. In this state, the rotation member is rotated by the drive means so that the attachment portion moves to the second position, so that the work holding means holding the work moves together with the movement member to the first slide member and the second slide member. By the action, the work is moved upward in a circular arc, and the work is lifted from the receiving position and conveyed to the delivery position. Then, when the work holding state of the work holding means is released at the delivery position, the work is delivered to the delivery position.

Here, the work transfer stroke is determined by the turning radius of the work holding means, that is, the turning radius at the mounting portion of the rotating member to which the moving member is mounted so as to be relatively rotatable. Second position is first
When it is set at two symmetrical positions with respect to the center line, the size of the rotation radius is twice as large as the transfer stroke, but in the present invention, the moving member to which the work holding means is attached is the first slide. It is designed to be translated by the action of the member and the second slide member,
Since the turning radius of the mounting portion of the turning member can be adjusted, the work transfer stroke can be changed according to the distance between the receiving position and the delivering position. Therefore, by adjusting the turning radius of the mounting portion and appropriately determining the arrangement position of the supporting member provided with the turning member and the like, it is possible to transfer the work without changing the arrangement of the automatic processing machine and the like. It can be done well.

Further, in the work transfer device of the present invention, the work is lifted from the receiving position and conveyed to the delivery position only by rotating the rotating member around the first center line by one driving means. In addition to being able to be constructed at a lower cost than the conventional device provided with the elevating means and the horizontal moving means, the control is easy and the cycle time is shortened.

Embodiment Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

1 to 3 are a front view, a partially cutaway plan view, and a right side view of the present embodiment, respectively. In these drawings, 10 is a plate-shaped support member arranged in a substantially vertical posture, and a rotary shaft 14 is attached to the support member 10 via a cylindrical mounting member 12 in the front-rear direction. Horizontal,
That is, it is provided substantially perpendicular to the support member 10.
The rotating shaft 14 is rotatably arranged around its axis l ₁ by a pair of bearings 16 and 18, and has a rear end of a hydraulic motor 20 fixed to the rear end of the mounting member 12. the output shaft 22 is relatively non-rotatably connected, axis while that is as the l is rotationally driven around _1, pivoting arm 24 relative times projecting into the direction perpendicular to the axis l ₁ at the front end It is fixedly immovable.

Pads 26 and 28 are fixedly provided on both sides of the intermediate portion of the rotating arm 24, and the pads 26 and 28 are brought into contact with the stopper bolts 30 and 32, respectively, so that the axis l The rotation range of the rotation arm 24 around ₁ is defined. The stopper bolts 30 and 32 are screwed into a plate-like block 34 fixed to the front surface of the support member 10 substantially horizontally in the left-right direction, and the rotating arm 24 is as shown in FIG. Between the first rotational position that projects substantially horizontally to the right and the second rotational position that projects substantially horizontally to the left through an upper side of the axis l _{1 in} an angular range of approximately 180 °. As described above, the amount of protrusion from the plate-shaped block 34 is adjusted.

A mounting block 36 is fixedly mounted on the tip of the rotating arm 24, and a mounting shaft 40 is mounted on the mounting block 36 via a bearing 38 to rotate around an axis l ₂ parallel to the axis l _1. It is movably arranged. This mounting shaft 40
The rotating arm 24 is moved by the hydraulic motor 20 to the first
By being reciprocally pivoted between the pivot position and the second pivot position, the pivot arm 24 can be moved in a semicircular shape passing above the axis l ₁ , and the pivot arm 24 can be moved to the first position. by being is positioned on the rotational position and a second rotational position, it is positioned respectively in substantially the first position S1 and the second position S2 of the same height as the symmetrical and and axis l ₁ across the axis l ₁ To be

On the other hand, in the mounting block 36, as is clear from FIG. 4 showing the IV-IV cross section in FIG. 2, the projection 37 provided at the rear end faces the axis l ₁ formed on the rotating arm 24. Four bolts that are fitted in the long hole 39 that is long in the direction and that fix the mounting block 36 to the rotating arm 24.
Similarly to the slot 39, the slot 42 is also inserted through the slot that is long in the direction toward the axis l ₁ . Therefore, by the bolt 42 is loosened, the mounting block 36 is allowed to close spaced a predetermined stroke, which is predetermined for the axis l _1, rotation of the mounting shaft 40 in about the axis l ₁ radius Can be adjusted within the range of the constant stroke. Further, the four bolts 42 are tightened while the position of the mounting block 36 is adjusted so that the turning radius of the mounting shaft 40 becomes a predetermined dimension, so that the mounting block 36 becomes immovable on the rotating arm 24. It is fixed and the turning radius of the mounting shaft 40 is fixed.

In the present embodiment, the rotating arm 24, the mounting block 36, and the rotating shaft 14 constitute a rotating member, and the portion of the mounting block 36 where the mounting shaft 40 is disposed corresponds to the mounting portion. Further, the axis l ₁ of the rotating shaft 14 corresponds to the first center line, and the hydraulic motor 20 that rotationally drives the rotating shaft 14 corresponds to the driving means.

A plate block 44 is fixedly provided in parallel with the plate block 34 on the support member 10, and linear guide bearings 46, 48 are arranged on the plate blocks 34, 44, respectively. There is. These linear guide bearings 46, 48 include guide rails 50, 52 fixed to the plate-shaped blocks 34, 44, respectively, and a bearing 54 movably arranged in the guide rails 50, 52 with a built-in bearing. , 56, and a plate 58 is attached to the bearings 54, 56 in the vertical direction. This plate 58
Is equivalent to a first slide member, and the movement of the linear guide bearings 46, 48 in the left-right direction, in other words, the movement in the first linear direction which is parallel to the rotation plane of the rotation arm 24 and substantially horizontal. Permissible.

The plate 58 is further provided with a linear guide bearing 60.
The linear guide bearing 60 is composed of a guide rail 62 fixedly mounted on the plate 58 in the vertical direction, and a pair of bearings 64 and 66 that are movably arranged in the guide rail 62 with a built-in bearing. A moving plate 68 is fixed to the units 64 and 66. The moving plate 68 moves in the vertical direction with respect to the plate 58 by the action of the linear guide bearing 60, in other words, in the second linear direction which is parallel to the rotating plane of the rotating arm 24 and intersects the first linear direction. Is allowed, and in parallel with the movement of the plate 58 in the left-right direction, it is allowed to freely move in parallel within a plane parallel to the turning plane of the turning arm 24. The moving plate 68 corresponds to a moving member, and the bearings 64 and 66 correspond to a second slide member.

The moving plate 68 is also fixed to the mounting shaft 40, and as the rotating arm 24 is rotated around the axis l ₁ , the moving plate 68 together with the mounting shaft 40 has its axis l _2. It can be translated in a semi-circular shape while rotating relative to each other. The shaft center l ₂ of the mounting shaft 40 is the second
Corresponds to the centerline. Further, a gripping device 72 is attached downward to the moving plate 68 via a bracket 70. The gripping device 72 constitutes a work holding means and is provided with a pair of gripping claws 74, and the bar-shaped work 76 is detachably gripped by moving the gripping claws 74 toward and away from each other by a cylinder or the like. .

The work 76 is discharged from an unillustrated automatic processing machine, etc.
The delivery position is supported by a temporary receiving stand or the like at the receiving position shown by the solid line in the figure, and is also separated from the receiving position by a separation dimension D in the substantially horizontal direction as shown by the alternate long and short dash line in the figure. In this, it is designed to be supported by a temporary pedestal of another automatic processing machine. In the gripping device 72, the rotating arm 24 is the first
By rotating the mounting shaft 40 from the rotating position counterclockwise to the second rotating position and moving the mounting shaft 40 in a semicircular shape from the first position S1 to the second position S2, it is indicated by a solid line in FIG. Although it is moved in a semicircular manner from the transport start position indicated by the dashed line to the transport end position indicated by the alternate long and short dash line, the transport stroke, which is the linear distance from the transport start position to the transport end position, is the separation dimension D. Has been adjusted to match. That is, this transfer stroke is twice the turning radius of the gripping device 72, specifically, the axis centers l ₁ and l ₂
And the mounting position of the mounting block 36 with respect to the rotating arm 24 by loosening the bolt 42 so that the dimension between the axes l ₁ and l ₂ is D / 2. Is being adjusted. Further, the support member 10 is arranged in the vicinity of the automatic processing machine or the like so that the transport start position and the transport end position coincide with the receiving position and the delivering position, respectively.

Therefore, in such a work transfer device, first, by holding the rotating arm 24 in the first rotating position, the gripping device 72 is positioned at the transport start position that coincides with the receiving position, and the receiving position thereof is received. The work 76, which is supported by the temporary receiving table or the like at the position, is gripped by the gripping device 72.
Subsequently, when the rotary arm 24 is rotated by the hydraulic motor 20 from the first rotary position to the second rotary position by approximately 180 ° in the counterclockwise direction in FIG. 1, the gripping device 72 is fixed downward. In this posture, the semi-circular shape is drawn upward and the translational movement is performed until the conveyance end position coincides with the delivery position. As a result, the workpiece gripped by the gripping device 72 is
76 is lifted upward from the receiving position and conveyed to a delivery position separated by a distance D. And
When the gripping state of the work 76 by the gripping device 72 is released at the delivery position, the work 76 is placed on the temporary receiving table or the like at the delivery position, and the transfer of the work 76 is completed. Then, the rotating arm 24 moves from the second rotating position to the first position.
It is turned counterclockwise in FIG. 1 to the turning position,
The gripping device 72 is returned to the receiving position.

As described above, the work transfer device according to the present embodiment includes the hydraulic motor.
The workpiece 76 is lifted from the receiving position and conveyed to the delivery position only by rotating the rotating arm 24 from the first rotating position to the second rotating position by the 20. The work transfer device can be constructed at a lower cost than the conventional work transfer device provided with the means, and the control is easy and the cycle time is short.

Further, since the transfer stroke of the work transfer device can be adjusted according to the separation dimension D between the receiving position and the delivering position by changing the mounting position of the mounting block 36 with respect to the rotating arm 24, the automatic processing machine. It is possible to favorably transfer the work 76 without changing the arrangement of the workpieces. FIG. 5 shows the case where the mounting block 36 is mounted so that the separation dimension D ′ is small and the size between the shaft centers l ₁ and l ₂ is small, and FIG. 6 shows that the separation dimension D ″ is large. Axis
Mounting block 36 to increase the dimension between l ₁ and l ₂
Is attached.

Further, in this embodiment, the rotating arm 24 is rotatably provided on the support member 10 via the pair of bearings 16 and 18, and the moving plate 68 is rotated via the linear guide bearings 46, 48 and 60. Since the movable device 24 can be freely moved in a plane parallel to the rotating plane of the moving arm 24, the gripping device 72 can be smoothly moved as the rotating arm 24 rotates, and the gripping device 72 can be prevented from rattling. It never happens.

Although one embodiment of the present invention has been described in detail with reference to the drawings, the present invention can be implemented in other modes.

For example, the rotating arm 24 is caused to substantially 180 ° rotation in the embodiment, symmetrical first mounting shaft 40 relative to the axis l ₁
The first position S1 and the second position S2 are located on the opposite sides of the axis l ₁ in the horizontal direction and at substantially the same height. However, it is not always necessary to set two positions symmetrical with respect to the axis l ₁ . Therefore, the rotating arm 24
The rotation range of is not necessarily limited to 180 °.

Further, in the above embodiment, the rotating arm 24 is reciprocally rotated, but when the work holding means is provided upward to hold the work 76 upward, the transfer condition is Depending on the situation, the rotating arm 24 can be rotated only in one direction.

Further, in the above-described embodiment, the mounting block 36 is movably mounted on the rotating arm 24 so that the rotating radius of the mounting portion can be adjusted. It is also possible to change the mounting position so that the turning radius of the mounting portion can be adjusted.

Further, in the above embodiment, the rotating arm 24 is rotatably provided on the support member 10 via the rotating shaft 14 and the bearings 16 and 18, but the rotating arm 24 is attached to the output shaft 22 of the hydraulic motor 20. It does not matter even if it is fixed. In this case, the support member 10 is rotatably provided via the hydraulic motor 20.

Further, although the hydraulic motor 20 is used as the drive means in the above-mentioned embodiment, it is also possible to employ another drive means such as an electric motor.

Further, in the above embodiment, the gripping device 72 is used as the work holding means.
Although various types of work holding means can be used, such as those that support the work 76 from below or adsorb it by magnetic force or the like.

Further, in the above-described embodiment, the linear guide bearings 46, 48, 60 allow the movable plate 68 to freely move in one plane, but other guide members such as those guided by a guide rod may be used. Is also possible.

Although not illustrated one by one, the present invention can be implemented in various modified and improved modes based on the knowledge of those skilled in the art.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a front view of a variable stroke type work transfer device according to an embodiment of the present invention. FIG. 2 is a plan view in which a part of the apparatus shown in FIG. 1 is cut away. FIG. 3 is a right side view of the apparatus shown in FIG. FIG. 4 is a sectional view taken along line IV-IV in FIG. FIG. 5 is a diagram illustrating a case where the carrying stroke is reduced in the apparatus of FIG. Figure 6 shows the first
It is a figure explaining the case where a conveyance stroke is enlarged in the apparatus of a figure. 10: Support member 14: Rotating shaft (rotating member) 24: Rotating arm (rotating member) 36: Mounting block (rotating member) 20: Hydraulic motor (driving means) 58: Plate (first slide member) 64, 66: Bearing (second slide member) 68: Moving plate (moving member) 72: Gripping device (work holding means) 76: Work S1: First position, S2: Second position D, D ', D ": Separation dimension l ₁ : Shaft center (first center line) l ₂ : Shaft center (second center line)

Claims (1)

[Scope of utility model registration request] 1. A stroke-variable work transfer device capable of lifting and transporting a work from a substantially horizontal receiving position to a delivering position, and adjusting a carrying stroke according to a distance between the receiving position and the delivering position. And a supporting member fixedly disposed near the receiving position and the delivering position, rotatably disposed on the supporting member about a substantially horizontal first center line, and predetermined. And a rotation member capable of adjusting a rotation radius of the attachment portion, the attachment portion being located on opposite sides of the first center line in the horizontal direction from a first position of substantially the same height. Drive means for rotating the rotating member around the first center line so as to move in an arc passing above the first center line to two positions; and parallel to a rotating plane of the rotating member. Na first straight line A first slide member movably provided on the support member, and a first slide member movably in a second linear direction that is parallel to the rotation plane of the rotation member and intersects the first linear direction. A second slide member provided on the member, and fixed to the second slide member and capable of relative rotation around a second center line parallel to the first center line on the mounting portion of the rotating member. A moving member that is attached and is moved in parallel by drawing an arc in accordance with the rotation of the rotating member, and the rotating member that is provided on the moving member and that has the attachment portion located at the first position. The workpiece is rotated to be positioned at the receiving position and receives the work, while the rotating member is rotated to move the mounting portion to the second position so that the workpiece is positioned at the transfer position. Is the work Variable stroke type work transfer apparatus characterized by having a workpiece holding means for passing.