JPH09254069A - Conveyer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent dropping down of a workpiece from a conveying head even when it is made inoperative in a process conveying the workpiece. SOLUTION: A conveying head, provided in a moving member of robot arm or the like, holds a workpiece W conveyed. A guide part 11 is provided in a conveying pad, a stopper 21 is provided in this guide part 11. The stopper 21, in a head operative condition holding the workpiece W, takes refuge in a slit 17, on the other hand, the stopper, when the workpiece W is held generate a heat inoperative condition, is pushed out under the workpiece W, to wait for the workpiece W from a down side, In this way, eve when the conveying head is made inoperative, dropping down is prevented of the workpiece W from the conveying head.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a carrier device for carrying a plate-shaped work such as a laser disk or a compact disk.

[0002]

2. Description of the Related Art In a manufacturing and assembling line for manufacturing a plate-shaped member such as a laser disk as a work,
A transport device is used to transport each work one by one, and transports the discs that have undergone the prescribed processing one by one into the container, or for the processing after the completion of one processing. Work to convey the work is being performed.

As the transfer device, a device for vacuum-sucking and transferring a work by using a vacuum cup, and a device for holding and transferring the work in a non-contact manner with a transfer head by a venturi action. There is.
As a transfer device for transferring a work in a non-contact manner, for example, there is one described in JP-A-62-105831.

[0004]

SUMMARY OF THE INVENTION In a transfer device in which a transfer head having a vacuum cup sucks a workpiece in a vacuum, the vacuum cup is placed in a vacuum state, that is, a negative pressure state while the workpiece is being transferred. When the vacuum pump for stopping is stopped or the vacuum supply is broken and the supply of the vacuum is stopped, the transfer head becomes inoperable and the work falls from the vacuum cup.

Similarly, when the work is conveyed by the non-contact type conveying head, the compressor for supplying the compressed air to the conveying head fails or the flow path for supplying the compressed air is destroyed. If the supply of air is stopped due to this, the transport head becomes inoperative, and the work falls from the transport head.

[0006] As described above, if the work is dropped during the process of carrying the work, the work cannot be carried and the manufacturing or assembling efficiency is deteriorated.
The dropped work may be damaged.

Japanese Unexamined Patent Publication (Kokai) No. 5-285876 discloses a workpiece drop prevention chuck provided on a non-contact type transport head. In the fall prevention chuck described in this publication, an arm is rotatably attached to a transfer head,
If a drop of the work is detected, the arm is swung to support the work, but since the arm passes outside the work when the arm is swung, it only takes time to support the work. However, the entire device becomes large. Also, if the cylinder operates the pawl to press the outer circumference of the work, it is not easy to adjust the timing to operate the pawl, and malfunction may occur. There is a problem of scratches, and when pressing the outer peripheral surface with a claw, it is necessary to quickly press the outer peripheral surface when it begins to fall, and the spring force must be strengthened. Increasing the size of is inevitable.

An object of the present invention is to prevent the work from falling from the transport head even if the transport head becomes inoperable during the process of transporting the work.

Another object of the present invention is to prevent the work from dropping without damaging the work.

The above and other objects and novel features of the present invention will be apparent from the description of this specification and the accompanying drawings.

[0011]

SUMMARY OF THE INVENTION Among the inventions disclosed in the present application, the outline of a representative one will be briefly described.
It is as follows.

That is, the transfer apparatus of the present invention is provided in a moving member such as a robot arm and has a transfer head having a transfer pad for holding a plate-shaped work, and a transfer head provided in the transfer head and held by the transfer pad. In the operating state of the head, which faces the peripheral surface of the work and regulates the horizontal displacement of the work during conveyance, and the head which is provided below the work in the guide and holds the work by the conveyance pad It is characterized in that it has a stopper that retracts and pushes out below the work when the head is in an inoperative state to support the work on its lower surface.

Since the stopper is provided in the guide portion and is located below the lower surface of the work, when the stopper is operated, the stopper approaches the lower surface of the work in a short time and moves the work. It waits in the lower part, and the fall of the work is surely prevented.

When holding a work having a through hole, the guide portion penetrates the through hole, the guide portion prevents horizontal displacement, and the work head conveys the work. Further, in the case of holding a work having no through hole, the guide portion faces the outer peripheral surface of the work, and the work is conveyed while the work is prevented from shifting in the horizontal direction by the guide portion.

As the transfer pad, a work may be held on the transfer pad in a non-contact manner by a Venturi effect by flowing a gas in a gap between the transfer pad and the work. You can

Further, while the work is held by the carrying head, the stopper may be pushed out below the work so as to support the work immediately when the work is dropped. In that case, the stopper is retracted when the work is held by the transport head.

[0017]

Embodiments of the present invention will be described below in detail with reference to the drawings.

(Embodiment 1) FIGS. 1 to 3 are views showing a carrying device according to an embodiment of the present invention. This carrying device uses a disk-shaped member such as a laser disk or a compact disk as a work. As a result, it is used for non-contact transfer.

The carrying head 1 shown in FIGS. 1 and 2 is attached to a robot arm A as shown in FIG. 2, and the carrying head 1 is carried by the robot arm A as a moving member. The carrying head 1 has a carrying pad 2 having a cup-shaped cross section, the opening 3 side of the carrying pad 2 faces downward, and the bottom wall 4 side faces upward. The lower surface of the flange portion 5 provided outward at the lower end of the transport pad 2 is a divergent portion 6 which is inclined upward as it goes outward.

A supply cylinder portion 7 is provided in the bottom wall portion 4, and a gas such as compressed air is supplied from an air supply port 8 in the supply cylinder portion 7 so that a space between the work W and the flange portion 5 is provided. The work W is sucked toward the transport pad 2 by the Venturi action of the gas flowing outward in the radial direction. At the same time, since the gas flows through the gap between the work W and the flange portion 5, the work W is prevented from coming into contact with the transport pad 2 due to the presence of the gas.

A circular through hole H is formed in the central portion of the illustrated work W, and when the work W is held by the transport head 1, the guide portion 11 that penetrates the through hole H is formed.
Are provided on the transport head 1. The guide portion 11 is fixed to the tip of an air supply pipe 12 that supplies gas such as compressed air, and the guide portion 11 is provided at the upper end of the air supply pipe 12.
Are attached to the transport head 1.

FIG. 3 is a cross-sectional view showing the guide member 11. A cylindrical cylinder chamber 14 is formed in the main body 13 of the guide member 11, that is, the stopper mechanism portion.
A piston 15 is housed therein so as to be slidable in the axial direction. In order to guide the gas supplied by the air supply pipe 12 into the cylinder chamber 14, the main body 13 is provided with an air supply port 16
Are formed.

Two slits 17 are formed in the main body 13, and a stopper 21 is rotatably attached to each of the slits 17 by a pin 18 around the slit 17.
Each stopper 21 is engaged with an engagement portion 22 provided on the piston 15, and as shown in FIG.
When the piston 15 is moved downward by the gas supplied into the cylinder chamber 14, the stopper 21 is retracted into the slit 17.

In order to apply a spring force to the piston 15 in a direction to move the piston 15 upward, between the cap 23 attached to the lower end of the main body 13 and the piston 15,
A compression coil spring 24 is attached. Therefore, when the gas supplied into the cylinder chamber 14 is discharged to the outside, the piston 15 moves upward due to the spring force of the compression coil spring 24, and the engaging portion 22 integrated with the piston 15 moves upward. As a result, the stopper 21 engaged with the engaging portion 22 rotates, and as shown in FIG.
Is in a state of protruding outward from the guide portion 11. The number of stoppers 21 is preferably plural, and may be three or more.

When the work W is transported by the transport head 1, the stopper 21 is retracted into the guide portion 11 as shown in FIG. 3A, and the workpiece W is transported in this manner. Should the transport head 1 become inoperable during the process, for example, from the cylinder supply unit 7 to the air supply port 8
When the gas supplied into the transport pad 2 via the above is stopped, the stopper 21 urges the work W downward and the work W is prevented from falling, as shown in FIG. 3B.

To transfer the work W from one position to another position using the transfer device having such a structure, first,
Gas such as compressed air is supplied from the air supply pipe 12 to move the piston 15 forward against the spring force as shown in FIG.
It is in a state of being retracted in 7. Under this condition, the robot arm A is operated to direct the work head 1 toward the work W.
And the guide portion 11 is inserted into the through hole H of the work W to move the transport pad 2 to the work W.
It is in a state of facing.

When a gas such as compressed air is supplied from the air supply port 8 in this state, the gas flows radially outward through the gap between the work W and the flange portion 5. Due to the Venturi action of the gas flowing through the gap, the static pressure in that portion becomes lower than the pressure on the outer surface of the work W, so that the work W is sucked toward the transport pad 2.
Since the gas flows through the gap between the work W and the flange portion 5, the work W is prevented from coming into contact with the transport pad 2 due to the presence of the gas. In this manner, the work W is moved from the position held by the transport head 1 to another position by moving the transport head 1 while the work W is held in the non-contact state with the transport head 1. Will be transported to.

In the process of transporting the work W while being held by the transport head 1 as described above, even if the work W receives a force that shifts in the horizontal direction, the guide portion 11 is inserted into the through hole H.
, The guide portion 11 contacts the inner peripheral surface of the through hole H of the work W to prevent the work W from shifting.

When the supply of gas from the air supply port 8 is stopped while the work W is being carried while being held by the carrying head 1 with the guide portion 11 penetrating into the through hole H, that is, When the transfer head 1 is inoperative, the work W is separated from the transfer head 1, but the supply of gas from the air supply port 16 into the cylinder chamber 14 is stopped, so that the piston 15 is compressed. The coil spring 24 causes the spring force to move backward.

As a result, the stopper 21 makes the slit 17
Projecting outward in the radial direction, as shown in FIG.
The work W is pushed out below, and the work W is supported by the stopper 21 to prevent the work W from falling. As shown in the figure, in the process of transporting the work W, the stopper 21 is located below the work W and provided inside the guide portion 11. Therefore, when the work W begins to drop and the piston 15 operates, The stopper 21 squeezes out to the lower surface of the work W in time, and the stopper 21 in the state of waiting for the work W on the lower side can reliably prevent the work W from falling. Moreover, since the stopper 21 supports the work W on its lower surface, it is possible to prevent the work W from being damaged.

Gas such as compressed air may be supplied to each of the air supply port 8 and the air supply pipe 12 by branching from the same compressed air source, or supplied from different compressed air sources. It may be done. When supplying gas from separate compressed air sources,
A sensor is provided in the flow path for supplying gas to the air supply port 8,
The gas supply to the air supply pipe 12 may be stopped by operating a valve that opens and closes the flow path when the sensor detects a gas supply stop or a pressure drop. Also,
When the pressures of the gases supplied to the air supply port 8 and the air supply pipe 12 are different from each other, the pressures are branched from the same pressure source and different pressures are set by the pressure adjusting valve. Is also good. In addition, in the case shown in the drawing, the upper end side of the stopper 21 protrudes below the work W, but the stopper 21 is rotatably attached at its upper end by the pin 18, and the lower end of the stopper 21 is the work W. You may make it squeeze out below.

Further, the stopper 21 is retracted while the work W is being carried by the carrying head 1, and when the fall of the work W is detected, the stopper 21 is moved to the work W.
However, the stopper 21 may be constantly pushed out in the process of conveyance. In that case, the stopper 21 is retracted only when the work W is held by the transport head 1, and when the holding is completed, the stopper 21 is pushed out below the work W. With this configuration, it is possible to simultaneously achieve the fall prevention and the stopper function when a large inertial force is applied during the work transfer.

FIG. 4 shows a modification of the guide portion 11. The guide portion 11 is communicated with the tip end portion of the cylinder chamber 14 formed in the guide portion 11, and as shown in FIG. 4B, three slits are radially formed. 25 are formed. At the tip of the cylinder chamber 14, a circular center portion 26a corresponding to this shape and three stoppers 26 radially extending from the center portion 26a.
A leaf spring 26 having b and is incorporated.

The leaf spring 26 is elastically deformed by the piston 15 provided in the cylinder chamber 14, and is supplied from the air supply port 16 formed in the main body 13 of the guide portion 11, that is, the stopper mechanism portion to the cylinder chamber 14. When gas is supplied into the inside, the leaf spring 26 is pressed by the piston 15 and the stopper 26b moves back into the slit 25, as shown in the right half of FIG. On the other hand, when the supply of gas into the cylinder chamber 14 is stopped, the piston 15 moves backward due to the spring force of the leaf spring 26 as shown in the left half of FIG. Will project from the slit 25.

Therefore, it is assumed that the supply of gas from the air supply port 8 is stopped while the work W is being carried while being held by the carrying head 1 with the guide portion 11 penetrating into the through hole H. At that time, the piston 15 also moves backward by the leaf spring 26, and the stopper 26b thereof projects radially outward from the slit 25, so that the work W is prevented from falling. In addition, even if the work W receives a force that shifts in the horizontal direction while the work W is being carried while being held by the carrying head 1, the guide portion 1 is provided in the through hole H.
Since 1 penetrates, the work W contacts the part, and the shift movement of the work W is prevented. The leaf spring 2
The number of stoppers 26b formed in 6 is not limited to three as shown in the figure, but may be two or three or more.

(Embodiment 2) FIGS. 5 and 6 are views showing a carrying device according to another embodiment of the present invention. In this carrying device, the carrying device of the above embodiment has a through hole H. The workpiece W has a through hole H, while the workpiece W is to be transported.
The workpiece W that does not have the target is to be transported.

The transport head 1 has a transport pad 2 similar to that of the above-described embodiment, and three leg portions 31 are attached to the transport pad 2 radially outward from here. Each leg portion 31 has a base portion 32 extending in the horizontal direction, and a guide portion 33 bent downward from each tip.

An enlarged view of one of the three guide portions 33 is as shown in FIG.
3 has a structure similar to that of the guide portion 11 in the above-mentioned embodiment. As shown, a cylinder chamber 14 is formed in the main body 13 of the guide portion 33 in the vertical direction, that is, in the direction perpendicular to the surface of the work W.
A piston 15 is axially slidably provided in the piston 4, and an engaging portion 22 provided at a lower end of the piston 15 is provided.
A stopper 21 is attached to this so as to be swingable around the pin 18. Therefore, when gas is supplied into the cylinder chamber 14 from the air supply port 16, the piston 15 moves forward and the stopper 21 is retracted into the slit 17 as shown in FIG. 7.

In this process, if the supply of gas from the air supply port 8 to the transfer pad 2 is stopped while the work W is being held and transferred to the transfer head 1 in a non-contact state, W will be separated from the transport head 1,
Since the supply of gas from the air supply port 16 is also stopped, the piston 15 moves backward by the spring force of the compression coil spring 24, and the stopper 21 is pushed out of the slit 17 and waits for the workpiece W. To prevent falling. Further, even if the work W receives a force that is displaced in the horizontal direction during the process of transporting the work W by the transport head 1, the three guide portions 33 are provided so as to face the outer peripheral surface of the work W. Guide part 33 on the outer peripheral surface of
Contact with each other to prevent the work W from being displaced. In addition,
In the embodiment shown in FIG. 5 and FIG. 6, the number of guide portions 33 is not limited to three, and if the number is plural,
Any number may be provided.

FIG. 8 shows a modification of the guide portion 33 shown in FIG. 7, in which the cylinder chamber 14 is formed in the horizontal direction, in which the piston 15 is slidable in the horizontal direction. Is built in. A stopper 21 is provided at the tip of the piston 15, and a compression coil spring 24 mounted in the cylinder chamber 14 applies a spring force to the stopper 21 so as to project downwardly of the work W.

In order to retract the piston 15 and retract the stopper 21 into the guide portion 33, the guide portion 3
3, the cylinder chamber 14 is provided in the main body 13 of FIG.
An air supply port 16 for supplying a gas to is formed. When the transport head 1 is deactivated, the gas supply to the air supply port 8 is stopped, and the gas supply to the air supply port 16 is stopped, the piston 15 moves forward by the spring force of the compression coil spring 24. Therefore, the stopper 21 is pushed out below the work W.

In each of the embodiments, when the work W is being conveyed by the conveyance head 1 and the work W is about to drop due to the head not operating, the work W is supported on the lower side. However, the stopper 21 may be pushed out below the work W while the work W is being transported, and in that case, the stopper 21 may be held only when being held by the transport head 1. 21 is retracted, and the stopper is pushed out when the holding is completed.

Although the invention made by the present inventor has been specifically described based on the embodiments, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the invention. Needless to say.

For example, in the illustrated embodiment, the work W is held in non-contact with the transfer pad 2, but the transfer pad 2 is made of an elastic material such as rubber and has a cup-shaped transfer pad. The work W may be vacuum-sucked by supplying a vacuum, that is, a negative pressure to the inside of the work 2. In that case, the negative pressure is supplied from the air supply port 8, and the sensor detects that the supply of the negative pressure from the negative pressure supply path is stopped. When the negative pressure is detected by the sensor, the cylinder chamber 14 It controls so that the supply of the compressed gas into the inside may be stopped.

In the illustrated embodiment, the transfer head 1 is moved by the robot arm A, but the transfer head may be attached to a moving member that moves in the horizontal and vertical directions. good.

[0046]

Advantageous effects obtained by typical ones of the inventions disclosed in the present application will be briefly described.
It is as follows.

(1). In the process of holding the work on the carrying head and carrying the work, when the carrying head is inoperative, the stopper approaches the lower surface of the work and waits for the work. By supporting the work with this stopper, the work W is prevented from falling from the transport head.

(2) Since the stopper is provided below the work in the guide part, it can be pushed out to the lower surface of the work in a short time when the stopper is activated, and the work can be securely dropped. Can be prevented.

(3) When the work is dropped, the lower surface of the work is supported by the stopper, so that the work is soft-landed and supported by the stopper without a heavy load acting on the work. It is possible to prevent the occurrence of scratches.

(4) Since the work is prevented from dropping from the transport head, the production line for laser discs, compact discs, etc. can be prevented from being stopped and the production can be performed efficiently.

(5) Also, since the work is prevented from dropping, the work is prevented from being damaged.

[Brief description of drawings]

FIG. 1 is a cross-sectional view showing a carrying head of a carrying device according to an embodiment of the present invention.

FIG. 2 is a perspective view of the transport head of FIG. 1 viewed from a lower side.

FIG. 3A is an enlarged cross-sectional view showing the guide portion shown in FIGS. 1 and 2 in a head operating state, and FIG.
FIG. 7 is an enlarged cross-sectional view showing a guide portion in a head inoperative state.

FIG. 4A is a sectional view showing a modification of the guide portion shown in FIGS. 1 and 2, and FIG. 4B is a sectional view taken along line bb in FIG. 4A.

FIG. 5 is a perspective view showing a carrying head of a carrying device according to another embodiment of the present invention.

6 is a cross-sectional view of the transport head shown in FIG.

FIG. 7 is an enlarged cross-sectional view showing a guide portion provided at the tip of the leg portion.

FIG. 8 is a cross-sectional view showing a modified example of the guide portion shown in FIG.

[Explanation of symbols]

 1 Transport Head 2 Transport Pad 3 Opening 4 Bottom Wall 5 Flange 6 End Spreading 7 Supply Cylinder 8 Air Supply Port 11 Guide Part 12 Air Supply Pipe 13 Main Body (Stopper Mechanism) 14 Cylinder Chamber 15 Piston 16 Air Supply Port 17 Slit 18 Pin 21 Stopper 22 Engagement Part 23 Cap 24 Compression Coil Spring 25 Slit 26 Leaf Spring 26a Center Part 26b Stopper 31 Leg 32 Base 33 Guide A Robot Arm W Work H Through Hole

Claims (5)

[Claims] 1. A transfer head, which is provided on a moving member such as a robot arm and has a transfer pad for holding a plate-shaped work, and a circumference of the work, which is provided on the transfer head and is held by the transfer pad. A guide part that faces the surface and restricts the horizontal displacement of the work during conveyance; and a head operation that is provided below the work in the guide part and holds the work by the conveyance pad. And a stopper for supporting the work on its lower surface by evacuating the work when the head is inoperative. 2. A transfer head provided on a moving member such as a robot arm and having a transfer pad for holding a plate-shaped work; and a transfer head provided on the transfer head below the work and formed on the work. A guide portion that fits into the through hole and faces the inner peripheral surface of the through hole when the work is held by the transfer pad, and restricts the horizontal displacement of the work during transfer; The head is provided in the guide portion and is retracted when the work is held by the transport pad, and when the head is inactive, the work is pushed downward to support the work on its lower surface. A conveyance device having a stopper. 3. A transfer head provided on a moving member such as a robot arm, the transfer head having a transfer pad for holding a plate-shaped work; and the transfer head provided below the work, the transfer of the work. A guide part that faces the outer peripheral surface of the work when held on a pad and restricts horizontal displacement of the work during transportation, and a guide part provided on the guide part that holds the work by the transport pad. And a stopper for retracting the head when the head is in an operating state and pushing the work downward when the head is in an inactive state to support the work on its lower surface. 4. The transfer device according to claim 1, wherein the gas is supplied into the transfer head and flows through a gap between the transfer head and the work. A transport apparatus, wherein the work is held in a non-contact manner with the transport head by a Venturi action. 5. The transfer device according to claim 1, wherein the work is held in contact with the transfer head by setting a negative pressure inside the transfer head. A transport device characterized by the above.