JPH08282840A - Conveying device - Google Patents

Abstract

PURPOSE: To achieve a series of operations such as grip, feed, and release which are required for conveying a work in the linear direction by a single drive source. CONSTITUTION: An oscillating arm 26 of a first oscillating mechanism 18 is connected to a first feed bar 12 through a connecting rod 30, and an oscillating arm 28 of a second oscillating mechanism 20 is connected to a second feed bar 14 through a connecting rod. Also first slide mechanisms 34 and 36 which support the first and second feed bars slidably in the direction of conveyance are supported through second slide mechanisms 50 and 52 movably in the vertical direction. Then the oscillating amts 54b and 56b of the first and second vertically moving mechanisms 54 and 56 are connected to the sliders 50c and 52c of the first slide mechanisms 34 and 36. In addition, a pair of grip pawls to grip a work are mounted on the first and second feed bars 12 and 14. First and second oscillating mechanisms 18 and 20, and first and second vertically moving mechanisms 54 and 56 are driven by a motor 42.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer device for automatically transferring a work in a linear direction.

[0002]

2. Description of the Related Art In recent years, in order to achieve automation, a transfer device which automatically transfers a work is used. This transfer device grabs and feeds the work,
A series of operations of releasing to the target position is performed, but in performing these series of operations, conventionally, a clamp unit for clamping a work and a transport unit for transporting the work are individually present, For example, there is one in which a clamp unit is mounted on a feed bar provided on a transport unit so as to create a series of gripping, feeding, and releasing operations.

[0003]

However, in such a conventional conveying apparatus, when a series of operations is achieved by the movement of a plurality of independent units as described above,
Each unit causes an increase in the size of the entire device, and maintenance of each unit becomes complicated. Further, when an air chuck is used as the clamp unit, it becomes difficult to keep the timing with the transport unit, so that there is a problem that it is extremely difficult to speed up the transport operation.

In view of the above-mentioned conventional problems, the present invention is intended to achieve a series of operations of gripping, sending, and releasing a work in a linear direction by a single drive source. The purpose is to provide.

[0005]

In order to achieve the above object, the present invention provides a first and a second feed bar which are arranged in parallel with each other along a carrying direction, and conveys the first and the second feed bar respectively. A first slide mechanism that slidably supports the first direction, first and second swing mechanisms that individually convert input rotations from a common drive source into predetermined swing rotary motions, and these first and second swing mechanisms. One output part of the second swing mechanism is connected to one of the first and second feed bars, and the other output part is connected to the first and second feed bars.
A coupling mechanism that is respectively coupled to the other of the second feed bars, a second slide mechanism that supports the first slide mechanism slidably in the vertical direction, and input rotation from the drive source is converted into vertical movement at a predetermined timing. And a grip for gripping a workpiece between the vertical movement mechanism that transmits to the first slide mechanism side that is the movable side of the second slide mechanism and the first and second feed bars, respectively. And a nail.

Further, it is desirable that a plurality of sets of the grip claws are provided in the longitudinal direction of the first and second feed bars.

[0007]

In the carrying apparatus of the present invention having the above structure, the first and second feed bars arranged in parallel are slidably supported in the carrying direction by the first slide mechanism, and via the connecting mechanism. Since they are connected to the output parts of the first and second swinging mechanisms, these first and second feed bars are
The reciprocating motion is performed along with the swinging rotation of the second swinging mechanism. At this time, the relative movement of the first and second feed bars can be controlled by the relative swinging rotational movement of the first and second swing mechanisms. Movement to move the grip claws toward or away from each other,
Also, the reciprocating motion can be performed while the relative positions of the grip claws are held. Therefore, the work is gripped by bringing the grip claws close to each other, the work is fed by moving the first and second feed bars in the carrying direction in the gripped state, and the work is moved by separating the grip claws. It can be released and transported. The first and second feed bars are returned after the work has been released, and the next work is grasped.

On the other hand, the first slide mechanism is slidably supported in the vertical direction via the second slide mechanism, and the first slide mechanism can be vertically moved at a predetermined timing via the vertical movement mechanism. Since the vertical movement timing is such that the first slide mechanism is moved upward at the work transfer end point and moved downward at the work transfer start point, the grip claw is lowered while gripping the work and the grip claw is raised. Since the work can be released while moving, the work can be smoothly gripped and released.

By the way, the first and second oscillating mechanisms convert the input rotation from the common drive source into the oscillating rotary motion, and the vertical movement mechanism converts the input rotation from the drive source into the vertical movement. Since it is designed to grasp, feed,
A series of movements of the release and the vertical movement of the grip claw can be synchronously performed by one drive source. For this reason, it is possible to achieve a significant increase in the speed of the transfer operation by such a series of movements.

By providing a plurality of sets of the grip claws in the lengthwise direction of the first and second feed bars, it is possible to convey a plurality of works by one feeding operation.

[0011]

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. 1 to 19 show an embodiment of a carrying device of the present invention. FIG. 1 is a front view of the carrying device, FIG. 2 is a plan view of the carrying device, and FIG. 3 is an enlarged vertical section of a swinging mechanism used in the carrying device. 3, FIG. 4 is a sectional view taken along the line AA in FIG. 3, FIG. 5 is a configuration diagram of a main part of a swinging mechanism, and FIG. 6 is an enlarged front view of a connecting portion on one end side of a connecting rod used in a conveying device. 7
Is an enlarged front view of the connecting portion on the other end side of the connecting rod,
8 is an enlarged front view of an essential part of a vertical movement mechanism used in a conveyor, FIG. 9 is a sectional view taken along line BB in FIG. 8, FIG. 10 is an enlarged plan view of an essential part of the vertical movement mechanism, and FIG. 11 is a swing mechanism. 12 is a timing chart showing the rotation angle, opening / closing of the grip claw, and movement of the feed lever, FIG. 12 is a schematic explanatory view showing a series of movements of the transport device in order, and FIG. 13 is a plan view showing the initial state of the transport device. 14 is a plan view showing a gripped state of the transport device, FIG.
5 is a plan view showing the feeding state of the conveying device, FIG. 16 is a side view showing the ascending state of the vertically moving mechanism, FIG. 17 is a front view showing the ascending state of the vertically moving mechanism, and FIG. 18 is an inclined state of the connecting rod. FIG. 19 is an enlarged front view of the one end side connecting portion, and FIG. 19 is an enlarged front view of the other end side connecting portion showing a tilted state of the connecting rod. That is, the carrying device 10 of the present embodiment has the first and second transfer devices arranged in parallel with each other as shown in FIGS.
The feed bars 12 and 14 are provided, and the work 16 can be conveyed in a direction along the extending direction of the feed bars 12 and 14 by the reciprocating movement of the first and second feed bars 12 and 14. The first and second feed bars 12, 14
The movement of the workpiece 16 is controlled by the first and second swinging mechanisms 18 and 20, and a series of movements of gripping, feeding and releasing the workpiece 16 are performed by this movement control.

The first and second swinging mechanisms 18 and 20 are shown in FIG.
5, the cam follower 24a of the turret 24 provided on the output shafts 18b and 20b is slidably contacted with the outer circumference of the swinging rotary cam 22 provided on the input shafts 18a and 20a. As shown in FIG. 5, the oscillating rotary cam 22 has a trapezoidal cross-sectionally shaped cam lobe 22b protruding from the outer periphery of the drum 22a with a preset meandering shape, while the cam follower 24a is provided on both sides of the cam lobe 22b. A pair is provided so as to be sandwiched. Then, the cam follower 24a slides on both sides of the cam crest 22b to rotate the drum 22a, so that the turret 24 swings and rotates along the meandering shape of the cam crest 22b. Therefore, the rotation input to the input shafts 18a and 20a is converted into the swinging rotary motion of the turret 24, and this swinging rotary motion is taken out from the output shafts 18b and 20b.

As shown in FIGS. 1 and 2, swing arms 26 and 28 are attached to the output shafts 18b and 20b of the first and second swing mechanisms 18 and 20, respectively. The swing arm 26 of the first swing mechanism 18 is connected to the first feed bar 12 via a connecting rod 30 as a connecting mechanism, and the swing arm 28 of the second swing mechanism 20 is a connecting mechanism. It is connected to the second feed bar 14 via the connecting rod 32. The connecting rods 30 and 32 are arranged so as to extend in the directions facing each other.

6 and 7 show one end of the connecting rods 30 and 32 connected to the first and second feed bars 12 and 14, and the other end connected to the swing arms 26 and 28. As shown, ball joints 30a, 32a
And 30b, 32b are provided, and via the ball joints 30a, 32a and 30b, 32b, the connecting rods 30, 32 can freely rotate in horizontal and vertical directions, and the first and second feed bars 12,
14 and swing arms 26, 28.

The first and second feed bars 12 and 14 are slidably supported in the conveying direction (left and right directions in FIGS. 1 and 2) via first slide mechanisms 34 and 36. ing. The first slide mechanism 34, 36
Is composed of slide guides 34a, 36a having a U-shaped cross section and sliders 34b, 36b fixed to the lower surfaces of the first and second feed bars 12, 14 along the extending direction of the feed bars 12, 14. This slider 34b,
36b is slidably fitted and supported in the slide guides 34a and 36a.

The first and second feed bars 12 and 14 are provided with
The grip claws 38 and 40 are attached so as to form a pair from the first and second feed bars 12 and 14, respectively. The tip ends of the grip claws 38 and 40 are projected to the front side in FIG. 2, and recessed portions 38a and 40a are formed along the outer shape of the work 16 at the opposing portions of the projected tip parts. Further, two sets of the grip claws 38 and 40 are provided at predetermined intervals at the left end portions of the first and second feed bars 12 and 14 in FIG. 2 as shown by solid lines. The first and second feed bars 12 and 14 may be provided with three or more sets of grip claws 38 and 40 at predetermined intervals as shown by the chain double-dashed line in the figure.

On the other hand, the first and second swinging mechanisms 18, 20
Input shafts 18a and 20a are coaxially arranged so as to face each other, and both ends of the input shafts 18a and 20a are connected to them via shaft couplings 48 and 48a.
The rotary shaft 46 is configured so that the rotational force is transmitted from the output shaft of the motor 42, which is a drive source, via the driven pulley 44. Therefore, the rotational force is input to the input shafts 18a, 20a of the first and second swinging mechanisms 18, 20 by using one motor 42 as the same drive source. Therefore, the first and second swinging mechanisms 18, 2
The rotational force is input to the 0 input shafts 18a and 20a by using one motor 42 as the same drive source.

Further, the first slide mechanism 34, 36
Is the second slide mechanism 50, 5 as shown in FIGS.
It is supported so as to be slidable in the up and down direction via the unit 2. The second slide mechanisms 50 and 52 include slide guides 50a and 52a attached to the casings of the first and second swing mechanisms 18 and 20, and the first slide mechanisms 34 and 36.
Slide guides 34a, 46a of the upper and lower movable plate 50b,
It is composed of sliders 50c and 52c having an inverted U-shaped cross section, which are attached via 52b.

Further, the first and second swinging mechanisms 18, 20
Input shafts 18a and 20a of the first and second swinging mechanisms 18 and 20 penetrate the casings and are projected to the opposite side.
First and second vertical movement mechanisms 54 and 56 are provided on the shaft projecting portions 18c and 20c. The first and second vertical movement mechanisms 54,
Reference numeral 56 denotes a cam structure, and as shown in FIGS. 6 to 8, plate cams 54a and 56a provided integrally rotatable with the shaft projecting portions 18c and 20c, and the vertically movable plate 50.
cam followers 54 that are rotatably pivotally attached to b and 52b.
b and 56b. The cam followers 54b, 56
b rolls along the outer periphery of the plate cams 54a and 56a,
The vertically movable plates 50b and 52b are moved up and down every half rotation in accordance with the outer peripheral shapes of the plate cams 54a and 56a.
The first and second vertical movement mechanisms 54 and 56 are vertically moved in synchronization with each other, and the vertical movements cause the first and second feed bars 12,
14 is raised and lowered while maintaining the parallel state.

Here, when the rotation of the motor 42 is converted into the swinging rotary motion by the first and second swinging mechanisms 18 and 20 and the first and second vertical moving mechanisms 54 and 56, the present embodiment is performed. Then, at the timings shown in FIG. 9, the rotation angles of the output shafts 18b, 20b of the first and second swinging mechanisms 18, 20 and the raising and lowering by the first and second vertical movement mechanisms 54, 56 are controlled.

That is, in the first swing mechanism 18, the timing of the feed direction and the return direction of the first feed bar 12 is set by the rotation angle control shown in the characteristic A. On the other hand, the second swing mechanism 2
When 0, the second feed bar 1 is controlled by the rotation angle control shown in the characteristic B.
The timings of the feed direction and the return direction of 4 are set. Thus, the timings of the feed direction and the return direction of the first and second feed bars 12 and 14 are independently controlled,
By the cooperation of the first and second feed bars 12 and 14, the opening and closing operations (grasping and releasing) of the grip claws 38 and 40 as shown in the characteristic C, and the linear feeding operation of the work 16 as shown in the characteristic D. (Transportation, return) is performed. on the other hand,
In the first and second vertical movement mechanisms 54 and 56, the timings for raising and lowering the first and second feed bars 12 and 14 are controlled as indicated by the characteristic E.

FIGS. 12A to 12F show the conveying device 10 by controlling the rotation angles of the first and second swinging mechanisms 18 and 20 and the longitudinal swinging control of the first and second vertical moving mechanisms 54 and 56. The sequence of movements of is shown in order. First, (A) in the figure is an initial state (see FIG. 13) corresponding to the position a in FIG. 11, and from this initial state, the first swing mechanism 18 is in the return direction and the second swing mechanism 20 is in the feed direction. By operating (ab in FIG. 11), the work 16 is gripped as shown in FIG.
reference). Next, the first and second swinging mechanisms 18 and 20 are operated in the feeding direction while the work 16 is gripped (c to d in FIG. 11).
By doing so, the work 16 is conveyed in the linear direction as shown in (c) (see FIG. 15), and after this conveyance is completed, the first swing mechanism 18 is fed and the second swing mechanism 20 is returned. By operating (e to f in FIG. 11),
The work 16 is released as shown in FIG. Next, the second swinging mechanisms 18 and 20 are operated in the return direction (g to h in FIG. 11) to move the first and second feed bars 12 and 14 in the return direction as shown in (e). To do.

By the way, the transfer device 10 is used for the work 16.
While performing a series of movements of grasping, feeding, and releasing
After gripping the work 16, the first and second vertical movement mechanisms 54, 5
When the plate cams 54a and 56a of No. 6 are rotated 90 degrees from the position shown in FIG. 9 to the position shown in FIG. 16, the first and second feed bars 12 and 14 are moved from the lowered position shown in FIG. 8 to the raised position shown in FIG. 11 (b to c in FIG. 11) and the work 1
After the conveyance of 6 is completed, the plate cams 54a and 56a are further rotated 90 degrees from the positions shown in FIG. 16, so that the first and second feed bars 12 and 14 are lowered (d to e in FIG. 11).
To do. Also, after the work 16 is released, the plate cams 54a, 5
When 6a is further rotated 90 degrees, the first and second feed bars 12 and 14 are raised (f to g in FIG. 11), and
After returning the first and second feed bars 12 and 14, the plate cam 54
a and 56a are further rotated 90 degrees (return to the position of FIG. 9)
As a result, the first and second feed bars 12 and 14 are lowered again (h to i in FIG. 11).

Incidentally, the first and second vertical movement mechanisms 54, 56.
When the first and second feed bars 12 and 14 are moved up and down by means of the cam, in order to maintain the relative positions of the first and second feed bars 12 and 14, the first and second swinging mechanisms 18 have a cam shape. The oscillating rotation of 20 is corrected. In addition, when the first and second feed bars 12 and 14 are raised and lowered, the both ends of the connecting rods 30 and 32 are arranged as shown in FIG.
8, ball joints 30a, 32 as shown in FIG.
It is designed to be inclined via a.

The carrying device 10 of this embodiment having such a structure.
In that case, the first and second feed bars 12 arranged in parallel,
By transmitting the oscillating rotary motion of the first and second oscillating mechanisms 18, 20 to 14, the feed bars 12, 14 are moved in the longitudinal direction, and the movement of the feed bars 12, 14 causes the grip claws 38 to move. , 40, the work 16 is grasped, conveyed, and then released. Further, by the vertical movement of the first and second vertical movement mechanisms 54 and 56, the first and second movements are performed after the work 16 is gripped and released.
The second feed bars 12 and 14 are raised.

At this time, the first and second swing mechanisms 18,
20 and the first and second vertical movement mechanisms 54 and 56 receive a rotational force with one motor 42 as a common drive source, and from this rotation, a series of operations of gripping, feeding, and releasing the work 16, Can perform the ascending and descending movements of the first and second feed bars 12 and 14 in synchronization. For this reason, it is possible to speed up the series of movements of the transfer work, it is possible to significantly improve the transfer work, and it is possible to drive the entire process of the transfer work by the single motor 42. Therefore, it is possible to achieve downsizing of the transfer device 10 and greatly simplify the maintenance thereof.

Further, in this embodiment, the grip claws 38,
Since a plurality of sets of 40 are provided in the longitudinal direction of the first and second feed bars 12 and 14, these first and second feed bars 12 and 14 are provided.
It is possible to convey a plurality of works corresponding to the number of sets of the grip claws 38 and 40 by one feeding operation, and it is possible to significantly improve the conveying work.

[0028]

As described above, in the carrying device according to the first aspect of the present invention, the first and second feed bars slidably arranged in parallel in the carrying direction via the first slide mechanism. , A series of movements in which the work is grasped by the grip claws provided in pairs on the respective feed bars by transmitting the oscillating rotary motions of the first and second oscillating mechanisms, and is then released in the conveying direction. And the second slide mechanism supports the first slide mechanism slidably in the vertical direction, and the movable first slide mechanism side supported by the second slide mechanism is moved by the vertical movement mechanism at a predetermined timing. By moving up and down, the first and second feed bars are raised and lowered, and the driving of the first and second swing mechanisms and the vertical movement mechanism is performed in synchronization with one drive source. Therefore, it is possible to achieve not only the grasping, feeding, and releasing of the work, but also the speeding up of a series of carrying operations such as raising and lowering the first and second feed bars, and at the same time, with only one drive source. As a result, the structure of the transport device can be simplified and maintenance can be facilitated.

According to the second aspect of the present invention, since a plurality of sets of the grip claws are provided in the lengthwise direction of the first and second feed bars, a plurality of works can be conveyed by one feeding operation. It is possible to achieve various excellent effects that the transport work can be significantly improved.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of a carrying device of the present invention.

FIG. 2 is a plan view showing an embodiment of a carrying device of the present invention.

FIG. 3 is an enlarged vertical sectional view showing an embodiment of a swing mechanism used in the carrying device of the present invention.

FIG. 4 is a sectional view taken along line AA in FIG.

FIG. 5 is a main part configuration diagram showing an embodiment of a swinging mechanism used in the carrying device of the present invention.

FIG. 6 is an enlarged front view of a connecting portion on one end side of a connecting rod used in the carrying device according to the embodiment of the present invention.

FIG. 7 is an enlarged front view of the other end side connecting portion of the connecting rod used in the carrying device showing the embodiment of the present invention.

FIG. 8 is an enlarged front view of an essential part showing an embodiment of a vertical movement mechanism used in the carrying device of the present invention.

9 is a sectional view taken along line BB in FIG.

FIG. 10 is an enlarged plan view of an essential part showing an embodiment of a vertical movement mechanism used in the carrying device of the present invention.

FIG. 11 is a timing chart showing the rotation angle of the swinging mechanism, the opening / closing of the grip claw, and the movement of the feed lever of the transporting device according to the embodiment of the present invention.

FIG. 12 is a schematic explanatory view showing a series of movements in sequence in the transport device according to the embodiment of the present invention.

FIG. 13 is a plan view of an initial state of the carrying device according to the embodiment of the present invention.

FIG. 14 is a plan view of a carrying device according to an embodiment of the present invention in a grasped state.

FIG. 15 is a plan view showing a feeding state of the carrying device according to the embodiment of the present invention.

FIG. 16 is a side view of the up-and-down moving mechanism in a raised state, showing an embodiment of the present invention.

FIG. 17 is a front view of the up-and-down moving mechanism in the raised state according to the embodiment of the present invention.

FIG. 18 is an enlarged front view of the one end side connecting portion showing an inclined state of the connecting rod used in the embodiment of the present invention.

FIG. 19 is an enlarged front view of the other end side connecting portion showing an inclined state of the connecting rod used in the embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 Conveyor device 12 1st feed bar 14 2nd feed bar 16 Work 18 1st rocking mechanism 20 2nd rocking mechanism 22 Rocking rotary cam 26, 28 Rocking arm 30, 32 Connecting rod (connecting mechanism) 34, 36 First slide mechanism 38,40 Grip claw 42 Motor (driving source) 50,52 Second slide mechanism 54,56 Vertical movement mechanism

Claims (2)

[Claims] 1. A first and a second feed bar which are arranged in parallel to each other along the carrying direction, and a first slide mechanism which slidably supports these first and second feed bars in the carrying direction, respectively. First and second oscillating mechanisms that individually convert the input rotations from the drive source into oscillating rotary motions that are individually determined, and one of the output units of the first and second oscillating mechanisms is connected to the first and second oscillating mechanisms.
A coupling mechanism that couples the other output part to the other of the first and second feed bars to one of the second feed bars, and a second slide mechanism that supports the first slide mechanism slidably in the vertical direction, A vertical movement mechanism that converts the input rotation from the drive source into vertical movement at a predetermined timing and transmits it to the first slide mechanism side that is the movable side for the second slide mechanism, and the first and second feed bars. A transfer device, comprising: grip claws, which are provided so as to form a pair and grip a work between the two, respectively. 2. The transfer device according to claim 1, wherein a plurality of sets of the grip claws are provided in a length direction of the first and second feed bars.