JPS6310187Y2 - - Google Patents

Description

[Detailed Description of the Invention] This invention relates to a loader device that automatically supplies materials (sheets) and processed products (workpieces) to a press machine in press processing or the like.

Conventionally, various loader devices have been provided, but
In both cases, the entire device is large, complex, and expensive.
Consider, for example, a simple loader that carries a workpiece from a workpiece mounting table onto a processing machine by attaching a workpiece attachment/detachment means to the tip of an arm that pivots horizontally at a predetermined angle around one point.
It is necessary to move the workpiece attachment/detachment means at the end of the arm up and down on the workpiece mounting table and processing machine.
When the tip of the arm is moved up and down using the base of the arm as a fulcrum, the angle of the workpiece changes in the vertical direction, making it impossible to move the workpiece up and down horizontally, and the workpiece being transported is also not level. be.

This invention is intended to solve the above-mentioned drawbacks, and an embodiment of the structure of this invention shown in the drawings will be described below.

In FIG. 1, 1 is a fixed case, 2 is a rotary shaft rotatably supported on the fixed case 1, and 3 is a rotating shaft rotatably supported on the fixed case 1.
4 is a rotating base fixed to the upper end of the rotating shaft 2;
5 is a slide base mounted on the rotating base 3 so as to be slidable in a direction perpendicular to the rotary shaft 2, and 5 is a base mounted on the slide base 4, and extends from this base along the sliding direction of the slide base 4. 6 is a means for attaching and detaching the workpiece W installed at the tip of the arm 5; 7 is a rotary shaft 2 on the swivel table 3;
8 and 9 are disks and pinions fixed on the shaft 7, 10 is a fixed gear fixed concentrically with the rotating shaft 2 around the fixed case 1, and 11 is a disk. A connecting rod 12 connects 8 and the slide table 4, and 12 is a drive means for giving forward and reverse rotation to the rotary shaft 2.

The driving means 12 is, for example, a DC motor,
The rotary shaft 2 is driven to rotate in forward and reverse directions via a worm reducer 13.

2 and 3 show a side view and a front view showing FIG. 1 in more detail, and as shown in FIG. It is rotatably supported through the shaft.

As shown in FIGS. 2 and 3, the swivel base 3 is fixed to the upper end of the rotary shaft 2, and the shaft 7 of the eccentric disk 8 is supported on the swivel base 3.

A pinion 9 is fixed to the shaft 7, as shown in FIG. 2, and this pinion 9 is constantly meshed with a fixed gear 10 fixed to the outer periphery of the fixed case 1.

A guide roller 16 is rotatably attached to the lower end of the shaft 7, and the guide roller 16 is guided between the outer periphery of the fixed case 1 and a guideway 17 fixed to the fixed case 1. It is made to move.

A disk 8 is fixed to the upper end of the shaft 7, and a connecting rod 11 is connected to the eccentric position of the disk 8 via a pin 18.
One end of is connected.

On the swivel base 3, a slide base 4 is connected to the rotating shaft 2.
Although it is possible to connect the other end of the connecting rod 11 directly to the slide table 4, in the embodiment shown in FIGS. 2 and 3, It has the following structure.

That is, as shown in FIG. 3, slide guides 19 and 20 are fixed on the left and right sides of the swivel base 3, and the slide base 4 is attached to horizontal guide portions 19a and 20a formed on the sides of the slide guides 19 and 20. The upper and lower rollers 21, 21', 22, 22' are slidably guided, and the left and right rollers 23, 23', 24, 24' are slid on the left and right guide portions 19b, 20b formed at the top of the slide guides 19, 20. It is designed to be guided by motion.

A lower rack 2 that slides along the sliding direction is provided between the slide guides 19 and 20.
5, and a corresponding pinion 26 is rotatably supported on a bracket 27 fixed on the swivel base 3 via a shaft 28.

An upper rack 29 fixed to the slide base 4 is engaged with the pinion 26.

The other end of the aforementioned connecting rod 11 is connected to a portion of the lower rack 25 via a pin 30.

Therefore, by the rotation of the disk 8, the lower rack 2
5 is moved by the amount of eccentricity of the pin 18 with respect to the center of the disk 8, and the upper rack 29 is moved by the same amount in the opposite direction via the pinion 26. Incidentally, this portion can be constructed as a rack and pinion type double stroke mechanism if necessary.

There are brackets 31, 31 on the slide table 4.
An arm base shaft 32 is rotatably supported on the brackets 31, 31.

The arm 5 has a bifurcated base and is pivoted to the arm base shaft 32. An L-shaped lever 33 for vertical angle adjustment is mounted on the arm base shaft 32 between the two forked portions, and a cylinder 34 for vertical movement of the arm is provided between one end of this lever 33 and the bifurcated portion of the arm 5. installed. Further, the other end of the lever 33 is connected to an adjustment nut 35 on the slide base 4 via a link 36. This adjustment nut 35 is screwed onto an adjustment screw shaft 37 that is rotatably supported on the slide base 4, and this adjustment screw shaft 37 is connected to an operating shaft with a handle 38 that is rotatably supported on the slide base 4. 38' via worm gears 39 and 40.

The tip of the arm 5 has a double swing structure as shown in FIG. That is, a vertically movable arm 5a is pivotally connected to the tip of the arm 5 via a shaft 41 so as to be vertically movable, and a pivoting arm 5b is further pivoted horizontally via a shaft 42 to the tip of the vertically movable arm 5a. It is pivoted as possible. A means 6 for attaching and detaching the workpiece W is attached to the pivoting arm 5b via a support bar 43. The attachment/detachment means 6 uses a vacuum cup in the embodiment shown in the drawings, but
For this purpose, an electromagnetic magnetic chuck or various known attachment/detachment mechanisms can be used.

A link 44 parallel to the arm 5 is provided between the above-mentioned vertically movable arm 5a and the bracket 31 at the base of the arm 5, and both ends of this link 44 are connected to a part 5a' of the vertically movable arm 5a and the bracket 31. A universal joint 45 such as a ball joint in part 31',
46, and a parallel link mechanism is configured such that the vertically movable arm 5a and, in turn, the attachment/detachment means 6 for the work W always move in parallel in the vertical direction by vertical movement of the arm 5 about the arm base shaft 32.

Further, a link 47 parallel to the arm 5 is also provided between the pivoting arm 5b and the fixed case 1.
That is, the link 47 is attached to a portion 5b' of the pivoting arm 5b.
One end of the link 47 is connected via a universal joint 48 such as a ball joint, and the other end of the link 47 is attached to the fixed case 1 in the following configuration.

First, as shown in FIG. 3, guide rails 49 and 50 are provided on both sides of the fixed case 1, slides 51 and 52 are attached to these guide rails 49 and 50, and columns 53 and 52 are attached to these slides 51 and 52, respectively. 5
4 is fixedly installed, and the upper parts of these columns 53 and 54 are connected by a horizontal bar 55 to form a frame, and the other end of the link 47 is connected to the upper end of one column 53 via a universal joint 56 such as a ball joint. It is connected.

The slides 51 and 52 are slidable relative to the fixed case 1 in the sliding direction of the slide base 4 when the arm 5 is approximately at the center of its rotation range.

As shown in FIG. 2, a connecting member 58 is rotatably attached to the slide base 4 via a shaft 57, and this connecting member 58 connects to the horizontal beam 58 described above.
5 through a slightly larger diameter hole 57.

The link 47 and the arm 5 constitute a parallel link mechanism for moving the attachment/detachment means 6 for the workpiece W at the tip of the arm 5 in parallel when the arm 5 rotates.

Moreover, when the arm 5 slides with respect to the swivel base 3, the horizontal bar 55 and the link 47 follow and slide, and when the arm 5 pivots, the horizontal bar 55 does not rotate and the link 47 is a universal joint. The means 6 for attaching and detaching the workpiece W rotates around the fulcrum 56.
It is constructed so that it can be moved almost in parallel.

That is, the base end side of the link 47 is connected to the guide rails 49 and 50 and the slide 51 with respect to the fixed case 1.
52, and in order to be able to slide in the above sliding direction and to follow the sliding of the arm 5, a connecting member 58 is provided on the slide base 4, and this is connected to the horizontal bar 55. It is something. Note that the sliding direction of the arm 5 is constant with respect to the swivel base 3, whereas the sliding direction of the slides 51 and 52 is constant with respect to the fixed case, so the arm 5 slides on the swivel base while rotating. When doing so, the horizontal bar 55 and the connecting member 5
Since the relative position of the connecting member 58 is misaligned, the connecting member 58
are connected to the horizontal crosspiece 55 through a slightly larger diameter hole 59,
Moreover, the connecting member 58 itself is rotatably attached to the slide base 4 by a shaft 57. Note that since this deviation is very small, the link 47 and the arm 5 can always be considered to form a parallel link.

Next, the overall operation will be explained.

First, when the rotating shaft 2 is rotated in the positive direction by a predetermined angle by the driving means 12, the swivel base 3 is rotated by a predetermined angle, and the arm 5 is also rotated by a predetermined angle. At this time, due to the rotation of the swivel table 3, the disk 8
The shaft 7 is also rotated around the fixed case 1,
As a result, the pinion 9 rolls on the fixed gear 10, imparting rotation to the disc 8. In this case, the gear ratio between the pinion 9 and the fixed gear 10 is set so that the disk 8 rotates exactly one rotation (half a rotation is also possible) with respect to the set rotation angle of the arm 5. Then, the slide base 4 can be slid back and forth by twice the amount of eccentricity of the pin 18. In other words, if the rotation start position of the arm 5 is related to the position where the slide base 4 is most advanced in the distal direction, the disc 8 And slide base 4 by connecting rod 11
is gradually moved back, reaching the most retreated state at half of the set angle, and during the remaining half of the process, it is gradually moved forward and returned to its original state. It is clear that the same holds true when rotating the rotary shaft 2 in the opposite direction.

Although the above explanation is based on the case where the turning stroke of the arm 5 corresponds to one rotation of the disk 8, it is clear that it can be similarly realized by making it correspond to a half rotation of the disk 8.

By the way, if a rack-and-pinion type double stroke mechanism is used between the disc 8 and the slide base 4 as necessary, the forward and backward stroke of the slide base 4 will be doubled compared to the case described above. That will happen.

By appropriately setting the forward and backward strokes of the slide table 4, the pivoting motion of the arm 5 can be corrected from an arcuate motion to a substantially linear motion at the workpiece attachment/detachment means 6 at its tip.

In addition, when the workpiece attachment/detachment means 6 is moved up and down by the vertical movement cylinder 34 in order to transfer the workpiece W at the end of the swinging motion of the arm 5, the workpiece W is always kept horizontally and moved in parallel by the vertical movement parallel link mechanism. can be done. That is, since the link 44 and the arm 5 constitute a parallel link mechanism for the vertical movement of the arm 5 as described above, the vertical movement cylinder 34 operates, and for example, as shown in FIG. When the held arm 5 rotates downward about the arm base shaft 32, the link 44 rotates downward about the universal joint 46, and due to the rotation of the arm 5 and the link 44, the arm 5 and the link 44 A vertically movable arm 5a connecting the tips of the vertically movable arm 5a moves downward in parallel. Due to this parallel movement of the vertically movable arm 5a, the workpiece W, which is suctioned and held by the workpiece suction means 6 provided at the tip of the vertically movable arm 5a, is moved downward in parallel while maintaining a horizontal posture. When the workpiece W is moved in parallel by the parallel link mechanism for vertical movement in this manner, it is further possible to move the workpiece W in parallel with substantially the same direction by the parallel linkage mechanism for rotational movement.

As explained above, this invention consists of a slide base that is slidably provided on the swivel base, an arm that is pivotally connected to the slide base so that it can move up and down, and an arm that is pivoted to the tip of the arm so that it can move up and down, and , consists of a vertically movable arm equipped with a work suction means at the tip, and a link whose tip is rotatably connected to a part of the vertically movable arm and whose base end is rotatably connected to a slide table, respectively, and the link and arm are connected to each other. Since we configured a parallel link mechanism for the vertical movement of the arm, when the rotating arm is used to transport a workpiece between two points, such as between the workpiece mounting table and the processing machine, the arm can be moved vertically at the two points mentioned above. However, since the workpiece attachment/removal means at the tip can be moved in parallel, the workpiece will not tilt, and the workpiece can be accurately positioned and transferred in a stable state.The structure is extremely simple, and the arm By combining the function of turning and sliding the center of rotation of the arm, the conveyance path of the workpiece can be made straight, and it can be installed without any hindrance even in a narrow space, and it is possible to provide a small, simple, and inexpensive loader device. It is something.

[Brief explanation of the drawing]

Fig. 1 is a schematic perspective view of the entire device of the present invention, Fig. 2 is a longitudinal sectional side view showing an example of the device of the present invention, Fig. 3 is a front view partially cut away, and Fig. 4 is a diagram showing vertical movement of the arm. FIG. 3 is an explanatory diagram showing the operating state of the parallel link mechanism. 3...Swivel base, 4...Slide base, 5...Arm, 6...Work attachment/detachment means, W...Work, 44
...parallel link.

Claims (1)

[Scope of utility model registration request] A slide base that is slidable on the swivel base,
An arm pivoted to the slide table so that it can move up and down,
Pivotally attached to the tip of the arm so that it can move up and down, and
It consists of a vertically movable arm equipped with a workpiece suction means at its tip, and a link whose tip is rotatably connected to a part of the vertically movable arm and whose base end is rotatably connected to a slide table. A loader device comprising a parallel link mechanism for vertical movement of the loader.