JPH10265041A - Transferring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transferring device which is capable of attaining reduction in number of parts and weight and highly precise transfer in both directions with a simple structure. SOLUTION: This transferring device is provided with a base 7 fitted on its mount 6 so as to turn, a fork base 1 supported on the base 7 so as to lift up and down, forks 2, 3 fitted on the fork base 1 so as to expand and contract in one way, a turning mechanism which turns the base 7, and a lifting mechanism which lifts up and down the fork base 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to a transfer device,
Particularly suitable for use in a clean room where low dust generation and light weight are required, with a simple mechanism that enables selective transfer in both directions of the transfer device, and a transfer device that can be controlled with high precision. Things.

[0002]

2. Description of the Related Art Conventionally, in the case of a transfer apparatus for transferring articles in a clean room, a fork which can be selectively expanded and contracted in both directions is provided on a table having a swing mechanism for fine angle adjustment. A turntable is provided. When the work is moved in one direction and transferred, the fork is extended to one side. When the work is moved in the opposite direction and transferred, the fork is moved to the other side. The fork is driven to extend.

[0003]

The above-mentioned conventional transfer apparatus is used for selectively extending a fork in both directions, in addition to a table having a swing mechanism for fine angle adjustment for correcting the angle to the ground equipment. Drive mechanism, further, a turntable for rotating the work by 180 degrees and its drive mechanism are required, since the functions of both tables overlap each other and the structure of the drive mechanism of the fork becomes complicated,
There are problems in that the number of parts is large, the cost increases, and the weight increases. The present invention solves the problems of the above-described conventional transfer device, reduces the number of parts, reduces the weight, and realizes a transfer device capable of performing transfer in both directions with high accuracy with a simple structure. The purpose is to provide.

[0004]

To achieve the above object, a transfer device according to the present invention comprises a base pivotally mounted on a mounting base of the transfer apparatus, and a fork supported on the base so as to be able to move up and down. It is characterized by comprising a base, a fork provided on the fork base so as to be able to expand and contract in one direction, a turning mechanism for turning the base, and a lifting mechanism for lifting and lowering the fork base.

This transfer device is constructed so that the fork can be extended and contracted in one direction, and the whole fork is rotated by turning the fork base. Actually, the fork can be configured to selectively expand and contract in both directions, and high-precision control can be performed without using a turntable.

In this case, the turning mechanism of the base can be configured such that a power transmission mechanism is mounted on the outer periphery of the base supported on the mounting base via a bearing and driven by a power source.

As described above, since the base provided with the fork is pivotably supported, the direction of extension and contraction of the fork can be freely selected by turning the base, and the fork can be freely moved in both directions without using a turntable. The transfer operation can be performed, and the turning drive can be performed simply, reliably and accurately.

The lifting mechanism of the fork base supports an elevating body vertically suspended at the center of the lower surface of the fork base so as to be able to move up and down on the base, and abuts a roller driven up and down on the lower surface of the fork base. Can be configured.

As described above, by disposing the elevating body at the center of the fork base, it is possible to support the moment load due to the load of the work, smoothly transmit the rotational driving force, and at the same time, the gravity of the fork base. By supporting the load supporting point by using a roller and moving the roller up and down, the entire fork is raised and lowered, and the roller can be rotatably supported even if the fork is turned every base.

Further, the outer peripheral surface of the roller is tapered, and the ratio of the large diameter portion to the small diameter portion of the roller can be made equal to the ratio of the outer diameter to the inner diameter of the contact portion of the fork base.

As described above, since the outer peripheral surface of the roller is a tapered surface, and the ratio of the large diameter portion to the small diameter portion of the taper is made equal to the ratio of the outer diameter to the inner diameter of the contact portion of the fork base. Slip on the contact surface with the roller can be prevented, and dust generation due to the roller friction surface can be suppressed.

In addition, the fork is constituted by a fork arranged in two upper and lower stages, and two ropes are stretched between the fork base and the upper fork via a sheave arranged in the lower fork. By driving the lower fork by the power source, the upper fork can be driven.

As described above, two ropes are stretched between the fork base and the upper fork via the sheave arranged on the lower fork, and the lower fork is driven by the power source. By following the upper fork,
The drive mechanism of the fork can be simply configured.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a transfer device according to the present invention will be described below with reference to the drawings. In the figure, reference numeral 1 denotes a fork base, on which a lower fork 2 is mounted,
Also, by disposing the upper fork 3 for transferring the work G to the lower fork 2 slidably,
The two forks 2 and 3 are configured to be extendable and retractable with respect to the fork base 1.

The fork base 1 has an elevating body 4
The lifting body 4 is supported rotatably together with the base 7 via a ball spline mechanism 7A so as to be able to move up and down with respect to the base 7, and the lower part of the base 7 is supported via a bearing 5. To be rotatably mounted on the mounting base 6. By arranging the elevating body 4 in the center of the fork base 1 in this way, it is possible to support the moment load due to the load of the work G and to smoothly transmit the rotational driving force. Then, on the outer periphery of the base 7, as a power transmission mechanism, for example,
The pulley 8 is attached, and the belt 10 is directly stretched between the pulley 9 and the pulley 8 provided on the turning motor 11 installed on the mounting base 6 or the like, or is disposed between the pulleys 8 and 9 as shown in FIG. It is stretched via the idler 8A. Thus, the pulley 9 and the belt 1 are driven by the driving of the turning motor 11.
The base 7 can be rotated by a predetermined angle via the pulley 8 and the pulley 8. In this case, in order to maintain the accuracy of the turning angle of the base 7 by the turning motor 11, it is also possible to use a timing belt instead of a simple V-belt, or to use a chain sprocket system. .

A roller 12 is brought into contact with the lower surface of the fork base 1 to rotatably support the fork base 1. The roller 7 is configured to abut and support the gravitational load support point of the fork base 1 and the position of the support point is determined by the transfer device shown in FIG.
It is arranged on the central axis in the left-right direction shown in FIG. Thereby, the influence of the moment load can be reduced even when the forks 2 and 3 are extended. The outer peripheral surface of the roller 12 has a tapered surface, and the taper angle uniformly contacts the lower surface of the base 7 from the inner peripheral side to the outer peripheral side of the outer peripheral surface of the roller 12 so that when the base 7 rotates. , So that the roller 12 does not slip. That is, by forming the ratio of the outer diameter to the inner diameter of the roller 12 equal to the ratio of the outer diameter to the inner diameter of the contact portion of the fork base 1, slippage of the roller 12 on the contact surface is prevented, and dust generation is suppressed. be able to. Then, as shown in FIGS. 2 and 3, the roller is rotatably mounted on the lift 13. The elevating platform 13 is provided with a guide rail 14A provided along a guide rail support 14 vertically established on the mounting table 6 via a guide member 13A.
The nut-shaped screw 15 protruding from the elevating table 13 is screwed to a screw rod 16 juxtaposed to the guide rail support 14.

A pulley 17 is attached to the screw rod 16, a belt 19 is stretched between the pulley 17 and a pulley 18 provided on a lifting / lowering motor 18M, and the lifting / lowering motor 18M is rotated forward or backward. The screw rod 16 is driven to rotate, and the roller 12 is
Is moved up and down to move the fork base 1 up and down. As a result, the fork base 1 supported by the rollers 12 is moved up and down.

The expansion and contraction of the forks 2 and 3 is performed by a pinion 21 meshed with a rack 22 disposed on the side surface of the lower fork 2.
Is driven by rotation. That is, the pinion 21 is attached to the fork extension / retraction motor 20 attached to the fork base 1, the pinion 21 is engaged with the rack 22, and the sheaves 23, 24 provided on the lower fork 2 as shown in FIG. Through two ropes 25a, 2
5b, and one end of each of the cords 25a, 25b is engaged with the fork base 1, and the other end is engaged with the upper fork 3, respectively. Then, the pinion 21 is rotationally driven by the fork extension / retraction motor 20, and the lower fork 2 expands and contracts via the rack 22, so that the upper fork 3 expands and contracts at the same time. With such a configuration, when the lower fork 2 is extended, the cable 25a is connected to the upper fork 3 via the sheave 24 when the lower fork 2 is extended.
Acts to extend a distance twice as long as the lower fork 2 extends. On the other hand, when the lower fork 2 contracts, the cable 25b moves the upper fork 3 through the sheave 23, The lower fork 2 acts so as to contract twice as far as the contracting distance.

Further, the mounting base 6 has a vibration isolating guide 30 provided with a guide piece 31 so as to support the workpiece G to be transferred.
Is disposed so as to surround the transfer device.

In this transfer device, when the screw rod 16 is rotated by rotating the lifting motor 18M via the belt 19, the nut-shaped screw body 15 whose rotation is restricted is moved up and down by the rotation of the screw rod 16. do. The fork base 1 can be moved up and down to a predetermined position by a roller 12 having a tapered outer peripheral surface provided on an elevating table 13 provided integrally with the screw body 15. Further, since the lifting body 4 is attached to the center of the lower surface of the fork base 1, the fork base 1 can be smoothly slid up and down via the base 7. .

The rotation of the turning motor 11 is controlled by the belt 1.
At 0, the signal is transmitted to the pulley 8, and the base 7 supported by the mounting base 6 via the bearing 5 is rotated. As a result, the elevating body 4 supported by the base 7 rotates, and the fork base 1 integrally formed with the elevating body 4 rotates, so that the forks 2
3, the extension direction, that is, the transfer direction of the work G is determined.

A fork extension / retraction motor 20 attached to the fork base 1 is driven to extend / contract a lower fork 2 provided with a rack 22 which meshes with the pinion 21 via a pinion 21, and in accordance with this, At the same time, the upper fork 3 is expanded and contracted. That is, by extending the lower fork 2, the cable 25 a and the sheave 2 are extended.
4, the upper fork 3 is extended by a distance twice as long as the lower fork 2 is extended, while the lower fork 2 is contracted, so that the rope 25b and the sheave 2 are extended.
3, the upper fork 3 is contracted by a distance twice as long as the lower fork 2 contracts.

In this way, the forks 2 and 3 can be extended and contracted in a state where the forks 2 and 3 are set to an arbitrary height and an arbitrary turning angle.

[0024]

According to the transfer apparatus of the first aspect, the fork can be expanded and contracted in one direction, and the entire fork is rotated by turning the fork base. Therefore, the fork can actually be selectively expanded and contracted in both directions by the rotation of the fork base, and high-precision control can be performed without using a turntable. In addition, the number of components can be reduced, the weight can be reduced, and the structure can be simplified as compared with the conventional transfer device, and the manufacturing cost of the transfer device can be reduced. be able to.

According to the transfer device of the second aspect,
Since the base with the fork is pivotally supported, the direction of expansion and contraction of the fork can be freely selected by turning the base, and transfer work can be performed in both directions without using a turntable, The turning drive can be performed easily, reliably and accurately.

According to the transfer device of the third aspect,
By placing the lifting body in the center of the fork base, it can support the moment load due to the load of the work, smoothly transmit the rotational driving force, and use the roller for the gravity load support point of the fork base. When the roller is moved up and down, the entire fork is raised and lowered, and the roller can be rotatably supported even if the fork is turned along with the base.

According to the transfer device of the fourth aspect,
Since the outer peripheral surface of the roller is a tapered surface and the ratio of the large diameter portion to the small diameter portion is equal to the ratio of the outer diameter to the inner diameter of the contact portion of the fork base, slip at the contact surface with the roller is reduced. Thus, dust generation due to the roller friction surface can be suppressed.

According to the transfer device of the fifth aspect,
Following two sheaves between the fork base and the upper fork via sheaves arranged on the lower fork, and driving the lower fork with a power source to follow the upper fork. Thereby, the drive mechanism of the fork can be simply configured.

[Brief description of the drawings]

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

FIG. 2 is a plan view of the same.

FIG. 3 is a side view of the same.

FIG. 4 is a schematic view showing a stretched structure of a cable;

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 fork base 2 lower fork 3 upper fork 4 elevating body 5 bearing 6 mounting base 7 base 8 pulley 9 pulley 10 belt 11 turning motor 12 roller 13 elevating base 14 guide rail support 14A guide rail 15 screwed body 16 Screw rod 17 Pulley 18M Lifting motor 18 Pulley 19 Belt 20 Fork expansion / contraction motor 21 Pinion 22 Rack 23 Sheave 24 Sheave 25a Cable 25b Cable 30 Vibration prevention guide 31 Guide piece

Claims (5)

[Claims] 1. A base (7) rotatably mounted on a mounting table (6) of a transfer device, a fork base (1) supported on the base (7) so as to be able to move up and down, and a fork base. The fork (2, 3) provided in (1) to be able to expand and contract in one direction, a turning mechanism for turning the base (7), and an elevating mechanism (12) for raising and lowering the fork base (1). A transfer device, characterized in that: 2. The turning mechanism of the base (7) includes a mounting table (6).
A power transmission mechanism (8) is mounted on an outer periphery of a base (7) supported through bearings (5), and is configured to be driven by a power source (11). Loading device. 3. A lifting mechanism of a fork base (1) supports a lifting body (4) vertically suspended at the center of the lower surface of the fork base (1) on the base (7) so as to be able to move up and down. 3. The transfer device according to claim 1, wherein a roller (12) driven up and down is brought into contact with a lower surface of the table (1). 4. An outer peripheral surface of the roller (12) is tapered, and a ratio of a large diameter portion to a small diameter portion of the roller (12) is made equal to a ratio of an outer diameter and an inner diameter of a contact portion of the fork base. The transfer device according to claim 3, wherein 5. A fork comprising a fork (2, 3) arranged in two upper and lower stages and a fork base (1) via sheaves (23, 24) arranged in a lower fork (2). ) And the upper fork (3), two ropes (25a, 25b) are stretched, and the lower fork (2) is driven by the power source (20), thereby connecting the upper fork (3). 5. The transfer device according to claim 1, wherein the transfer device is driven.