JPH0790909B2 - Pick and place device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use]
The present invention relates to a pick-and-place device used for transportation.

[Prior Art and Problems to be Solved by the Invention] A conventional pick-and-place apparatus of this type is to drive a pick-and-place by horizontal movement and ascending / descending between two preset points. Generally, two air cylinders are provided. Therefore, since two air cylinders are provided, it is inevitable that the overall shape becomes large. In addition, not only the structure becomes complicated because the sensor and its associated lead wire are placed between the corresponding areas of each cylinder, but also time is required for checking the sensors between the areas in charge, which impedes high-speed processing. Became. In addition, at the end position of the movement of the pick-and-place, there is a risk of sudden deceleration and impact due to collision. Therefore, in order to suppress the impact, it is necessary to reduce the pick-and-place movement speed, which is an obstacle to improving work efficiency.

In order to solve the above problems, a shock absorber or an air cushion may be provided at the interlocking end position, but in this case, the device becomes more complicated and larger.

On the other hand, a system in which horizontal movement and ascending / descending drive are performed by one air cylinder is proposed in Japanese Utility Model Laid-Open No. 58-106189.

In this device, one cylinder is rotatably supported by a frame, and a substantially inverted U-shaped guide path for guiding a roller attached to the tip of the piston is provided in the frame. The roller at the tip of the roller is guided along the guide path while ascending, horizontally moving, and descending.

However, in this device, although it has become possible to reduce the number of cylinders, the rollers may collide with both ends of the inverted U-shaped guide path at both ends of the movement, and the above-mentioned problem regarding impact is still solved. It has not been.

Further, in this device, the piston is reciprocally moved two times, so that the roller is reciprocated once along the guide path to perform a preset pick operation and place operation between two points. Therefore, there is also a problem that the operation takes time and the work efficiency is extremely poor.

The present invention has been made by paying attention to the problems existing in the prior art as described above, and the purpose thereof is to move the pick and place speed without causing impact only at both ends. In addition, it is possible to decelerate without causing loss time, and it is possible to perform a pick and place operation between two preset points in a short time, which can improve work efficiency, and moreover,
An object of the present invention is to provide a pick-and-place device that has a simple structure for that purpose and that can be downsized.

[Means for Solving the Problems] In order to achieve the above object, in the present invention, a driving body having a driving member movable in a horizontal direction, and a driven member movable in a horizontal direction and a vertical direction, The transmission member provided between the driving member and the driven member and the first connecting portion between the transmission member and the driven member are guided and guided to move the driven member between two preset points. A first guide path for guiding and a second guide path between the transmission member and the drive member.
A second guide path that guides and guides the connecting portion to induce movement of the first connecting portion, and the second guide path is formed to extend in a substantially horizontal direction, while the first guide path is provided in a substantially horizontal direction. In addition, the horizontal guide portion is formed to be shorter than the first guide passage, and the deceleration guide portion extending from both ends of the horizontal guide portion toward the second guide passage side.

[Operation] In the pick-and-place apparatus configured as described above, when the driving member of the driving body is moved in the horizontal direction, the movement is transmitted to the driven member via the transmission member. At this time, the second connecting portion between the transmitting member and the driving member is guided and guided along the second guide path, and the first connecting portion between the transmitting member and the driven member is guided along the first guide path. Since the guide member is moved, the driven member is moved between two preset points while being restricted by the first guide path.

Further, with the movement of the second connecting portion by the driving member, the first connecting portion is horizontally moved along the portion except the both ends of the first guide path, that is, the horizontal guiding portion at substantially the same speed as the driving member. Further, with the movement of the second connecting portion by the driving member, the first connecting portion is moved along both ends of the first guide path, that is, the deceleration guide portion. When the first connecting portion moves along the deceleration guide portion, the moving speed of the driving member is not transmitted to the driven member as it is, but the first connecting portion and the driven member are guided while being decelerated with respect to the moving speed of the driving member. Therefore, even if the driving member is not decelerated at both ends of the moving region, the pick and place speed can be decelerated without causing an impact only at both ends of the moving and without causing a loss time. Become.

[Embodiment] A first embodiment of a pick-and-place apparatus embodying the present invention will be described in detail below with reference to FIGS. 1 to 3.

The frame 1 has a box-shaped casing 2 and the casing 2
And a lid plate 3 that covers the front and rear surfaces of the casing 2, and a mounting plate 4 is vertically provided on the lower surface of the upper wall of the casing 2. An air cylinder 5 as a driving body composed of a loadless cylinder is provided in the lower part of the casing 2, and an actuating body 6 movable in the horizontal direction by switching the supply of air is provided on the outer periphery of the air cylinder 5. The driving member 7 is fixed to the front surface of the operating body 6,
On its upper end-a fork 8 is provided.

The movable plate 9 is supported on the rear surface of the mounting plate 4 so as to be movable in the horizontal direction via a guide member 10, and the guide member 10 is fixed to the rail 11 fixed to the mounting plate 4 side and the movable plate 9 side. It is composed of an engaging body 12 and a large number of steel balls 13 interposed between the rail 11 and the engaging body 12. The driven member 14 is movably supported on the lower front surface of the moving plate 9 via a pair of guide members 15, and the guide member 15 is a driven member.
It is composed of a rail 16 fixed to the 14 side, an engagement body 17 fixed to the moving plate 9, and a large number of steel balls 18 interposed between the rail 16 and the engagement body 17. Then, the tip of the driven member 14 is projected to the outside through the through hole 19 on the side wall of the casing 2, and a chuck (not shown) for attaching / detaching parts and the like is stuck to the tip.

The link-shaped transmission member 20 is interposed between the driving member 7 and the driven member 14, and the movement of the driving member 7 is transmitted to the driven member 14 via the transmission member 20. The first connecting pin 21 as the first connecting portion is rotatably inserted into the upper end of the transmission member 20 via the bearing metal 22, and the rear end thereof is fixed to the driven member 14. A second connecting pin 23 as a second connecting portion is fixed to the lower end of the transmission member 20 by penetrating it, and a roller 24 that engages with the forked portion 8 of the drive member 7 is fitted and supported at the front end thereof.

The cam plate 25 is suspended and fixed to the front surface of the mounting plate 4 by a plurality of bolts 26, and is arranged between the driven member 14 and the transmission member 20. The first cam groove 27 as the first guide path has the cam plate 25.
Has a horizontal cam portion 27a, which is formed in the upper part of the above, as a horizontal guide portion extending in the middle horizontal direction, and vertical cam portions 27b, 27c as deceleration guide portions extending vertically downward from both ends thereof. The first engaging roller 28 is fitted and supported by the first connecting pin 21 so as to be engaged with the first cam groove 27. 1 cam groove
By being guided and guided along 27, as shown in FIG. 1, the movement of the driven member 14 is regulated by ascending, horizontal moving and descending between two preset points P1 and P2.

A second cam groove 29 serving as a second guide path is formed in the lower portion of the cam plate 25, and extends horizontally in the middle of the horizontal cam portion 29a.
And inclined cam portions 29b and 29c which are inclined downward from both ends thereof. The second engagement roller 30 is fitted and supported by the second connecting pin 23 so as to engage with the second cam groove 29, and engages with the second engagement roller 30 when the drive member 7 moves in the horizontal direction. At the same time, the second connecting pin 23 is guided and guided along the second cam groove 29, so that the first cam groove via the transmission member 20.
The movement of the first connecting pin 21 along 27 is induced.

Next, the operation of the pick-and-place apparatus configured as described above will be described.

Now, FIG. 1 shows that the driving member 7 at the front part of the air cylinder 5 is located in the middle of the moving range, and the first and second connecting pins 21 and 23 have the horizontal cam portions of the first and second cam grooves 27 and 29. 27a and 29a are respectively arranged in the middle, and the driven member 14 is arranged in the middle between the two positions P1 and P2. In this state, when the driving member 7 is horizontally moved to one side or the other side via the actuating body 6 by the air supply of the air cylinder 5, the moving force is transmitted to the second connecting pin 23 via the fork portion 8. hand,
The second connecting pin 23 is horizontally guided and moved in the same direction along the horizontal cam portion 29a of the second cam groove 29, and the moving force of the second connecting pin 23 is transmitted via the transmitting member 20 to the first connecting pin. By being transmitted to 21, the first connecting pin 21 is horizontally guided and moved in the same direction along the horizontal cam portion 27a of the first cam groove 27.

Then, after the first and second connecting pins 21 and 23 reach one end of the horizontal cam portions 27a and 29a of the first and second cam grooves 27 and 29, the second connecting pin 23 moves to the second cam groove 29. While being moved obliquely downward along the inclined cam portion 29b or 29c, the horizontal movement of the first connecting pin 21 is blocked, and a downward moving force is induced in the first connecting pin 21 without causing a stop loss time. The first connecting pin 21 is vertically moved downward while being guided and restricted by the vertical cam portion 27b or 27c of the first cam groove 27. Therefore, the driven member 14 fixed to the first connecting pin 21 has two positions P1 and P2.
After being horizontally moved from the intermediate position between them, it immediately descends and reaches the point P1 or P2.

In addition, the second connecting pin 23 has the inclined cam portion 29 of the second cam groove 29.
When the first connecting pin 21 is moved along b or 29c, the horizontal movement of the first connecting pin 21 is blocked by the vertical cam portion 27b or 27c of the first cam groove 27, so that the transmitting member 20 moves the first connecting pin 21. The rotation in the center starts the movement in the fall direction so that the portion of the first connecting pin 21 descends. Therefore, the driven member 14
At the end of the movement, the driven member 14 decelerates and descends at a low speed with respect to the driving member 7, and reaches the point P1 or P2. Therefore, at the moving end portion of the driven member 14, the driven member 14
There is no big impact on.

After the driven member 14 is moved to the point P1 or P2 in this way, after the gripping or releasing operation of the article etc. is performed by the chuck (not shown) attached to the tip of the driven member 14, the air supply switching of the air cylinder 5 is performed. When the drive member 7 is horizontally moved in the opposite direction to the above via the actuation body 6, the second connecting pin 23 is moved upward along the inclined cam portion 29b or 29c of the second cam groove 29. , Upward movement force is induced in the first connecting pin 21. Therefore, the first connecting pin 21 is connected to the first cam groove.
The driven member 14 is vertically moved upward while being guided and regulated by the vertical cam portion 27b or 27c of 27, and the driven member 14 is lifted from the point P1 or P2 at a low speed.

After the first connecting pin 21 reaches the upper end of the vertical cam portion 27b or 27c of the first cam groove 27, the first and second connecting pins 21 and 23 are moved to the first and the second connecting pins 21 and 23 without a stop loss time. The guide member 14 is horizontally guided and moved along the horizontal cam portions 27a and 29a of the two cam grooves 27 and 29, and the driven member 14 is horizontally moved to the left at the same speed as the driving member 7.

As described above, according to the big-and-place apparatus of this embodiment, in the moving intermediate portion of the driven member 14, the first connecting pin 23 is moved in the horizontal direction by the driving member 7,
The connecting pin 21 is horizontally moved at the same speed as the driving member 7 along the horizontal cam portion 27a of the first cam groove 27, the driven member 14 is horizontally moved at a high speed, and both end portions of the moving member 14 are moved. With the horizontal direction of the second connecting pin 23 by the drive member 7, the first connecting pin 21 is decelerated and moved up and down along the vertical cam portions 27b, 27c of the first cam groove 27 without causing stop loss time, The driven member 14 is moved up and down at a low speed. Therefore, no impact is applied to the driven member 14 at both ends of this movement, and the pick and place operations between the preset two points P1 and P2 can be performed in a short time, improving the work efficiency. can do. In addition, shock absorbers, air cushions, etc.
Alternatively, unlike a device provided with two cylinders, sensors, etc., the structure is simple and the entire device can be downsized.

[Another Embodiment] Next, a second embodiment of the present invention will be described with reference to FIGS. 4 and 5.

In this second embodiment, the transmission member 20 as a whole is T
It has a letter shape, and a pair of guide rollers 33 are supported on both upper ends thereof. The guide rail 34 is fixed on the cam plate 25 so as to correspond to the horizontal cam portion 27a of the first cam groove 27, and the lower surface 34a thereof is parallel to the horizontal cam portion 27a. And
When the first engagement roller 28 is on the horizontal cam portion 27a, the guide roller 33 runs on the lower surface 34a of the guide rail 34. Therefore, when the first engagement roller 28 travels on the horizontal cam portion 27a, the transmission member 20 maintains the upright state, and smooth travel can be obtained.

Next, a third embodiment of the present invention will be described with reference to FIGS. 6 and 7.

In the third embodiment, the cam plate 25 is composed of two members 25A and 25B which are divided into left and right parts, and the length of the cam plate 25 is adjusted at the intermediate step-shaped joint 31. And
When attaching both members 25A, 25B to the mounting plate 4 of the casing 2 through the elongated holes 32 by the bolts 26, the both members 25A, 25B are moved and adjusted to the left and right to adjust the lateral length thereof. As a result, the lengths of the horizontal cam portions 27a and 29a of the first and second cam grooves 27 and 29 can be set and changed, and the change in the distance between the two points P1 and P2 performing the pick and place operation can be dealt with. be able to.

It should be noted that the present invention is not limited to the configurations of the above-described embodiments, and for example, the first and second cam grooves 27, 29 as the first and second guide paths are formed directly in a part of the casing 2. Alternatively, a linear motor may be provided as a driving body in place of the air cylinder 5 of the above-described embodiment, or the second cam groove 29 may be one that extends straight without providing inclined cam portions at both ends. The configuration of each part can be arbitrarily changed without departing from the gist of the present invention, such as a mountain shape in which both half halves descend and incline as 29, or an arc shape as the second cam groove 29. It is also possible to materialize.

[Advantages of the Invention] Since the present invention is configured as described above,
It is possible to reduce the moving speed of the driven member only at both ends of the movement, prevent the occurrence of impact at the both ends of the movement, and shorten the preset pick and place operation between two points. Can be done in
There is an excellent effect that the working efficiency can be improved, and the structure for that can be simplified and the device can be downsized.

[Brief description of drawings]

FIG. 1 is a front view showing a pick-and-place device embodying a first embodiment of the present invention with a front cover plate removed.
2 is a longitudinal sectional view of an essential part thereof, FIG. 3 is a lateral sectional view of the same part, and FIG. 4 is a front view showing a device in which a second embodiment of the present invention is embodied with a front cover plate removed. FIG. 5 is a sectional view of a main part thereof, FIG. 6 is a front view of a cam plate showing a third embodiment of the present invention, and FIG. 7 is a transverse sectional view of the cam plate. 1 ... Frame, 2 ... Casing, 5 ... Air cylinder as driving body, 7 ... Driving member, 14 ... Driven member,
20 ... Transmission member, 21 ... First connecting pin as first connecting portion, 23 ... Second connecting pin as second connecting portion, 25 ... Cam plate, 27 ... First as guide path 1 cam groove, 27a ……
Horizontal cams as horizontal guides, 27b, 27c ... Vertical cams as deceleration guides, 29 ... Second as second guideway
Cam groove, P1, P2 ... Two positions.

Claims (1)

[Claims] 1. A driving body (5) provided in a frame (1) and having a driving member (7) movable in the horizontal direction, and supported by the frame (1) so as to be movable in the horizontal and vertical directions. Driven member (14) and a transmission member (20) provided between both members (7, 14) for transmitting the movement of the driving member (7) to the driven member (14).
And two points (P1, P2) preset for the movement of the driven member (14) by guiding and guiding the first connecting portion (21) between the transmission member (20) and the driven member (14). A first guide path (27) provided in the frame (1) so as to regulate the guide between spaces.
And guides and guides the second connecting portion (23) between the transmission member (20) and the drive member (7) to move the drive member (7) to the first position via the transmission member (20). First along the guideway (27)
A second guide path (29) provided in the frame (1) so as to induce movement of the connecting part (21), and the second guide path (29) is formed to extend in a substantially horizontal direction. On the other hand, the first guide path (27) is formed in a substantially horizontal direction and is shorter than the second guide path (29), and the horizontal guide portion (27a) is formed from both ends of the horizontal guide portion (27a). A pick and place device comprising a deceleration guide portion (27b, 27c) extending toward the second guide path (29).