JPS63251180A - Conveyor - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a conveying device that is installed between successive processes and conveys objects from a previous process to a next process.

<Prior art> For example, in a press line where a tandem press is placed in each process and multiple such processes are arranged sequentially, it is necessary to A series of functions such as taking out a workpiece from a process, transporting it to the next process, and setting the workpiece to the next process, and positioning accuracy when setting the workpiece to the next process are required.

A known conveying device for this purpose is one using a parallel link type bending arm, and this conventional example will be schematically explained with reference to FIG. 5. A head 3 is provided at the tip of the parallel link type bending arm 2, and an extension arm 4 is attached thereto, and a vacuum cup 6 for holding a workpiece 5 is attached to the tip of the extension arm 4. ing.

To take out the workpiece 5 on the press mold, first the drive shaft 1 rotates, the parallel link type bending arm 2 extends, and the vacuum cup 6 is moved to a predetermined position on the workpiece 5. Next, after vacuum suctioning the workpiece 5, the parallel link type bending arm 2 is bent by the rotation of the drive shaft 1 again, and the workpiece 5 is taken out.

<Problems to be Solved by the Invention> However, although the conventional parallel link type bending arm has the advantage that the posture of the workpiece remains unchanged throughout even if the arm is bent, the parallel link type does not Therefore, even when the arm is fully extended, it is forced to be slightly bent.As a result, the arm itself cannot fit into the narrow gap between the upper and lower molds of the press mold, and the force There was the inconvenience of having to adopt an extension arm like this.

The present invention has been made by focusing on such disadvantages of the conventional technology, and it is possible to maintain the workpiece's posture from beginning to end even when the arm is bent, and at the same time, the extension arm can be extended. It is an object of the present invention to provide a conveyance device in which the arm itself can enter the narrow space between the upper and lower molds of a press mold without using a press mold.

<Means for Solving the Problems> The configuration of the present invention for achieving the above object will be explained based on FIG. 1 corresponding to an embodiment.

The bendable and extensible arm 8 of the conveyance device 7 is at least a first arm whose base end is fixed to a drive shaft IO that rotatably passes through a base frame 9 and whose distal end holds a first rotating shaft 11 in a penetrating state. 12, and the base end is the first rotating shaft 11
a second arm 14 fixed to the base frame 9 and having the second rotating shaft 13 penetrated at its tip; a first gear 15 fixed to the base frame 9 and having its center rotatably penetrated by the drive shaft 10; First rotation axis 1
1, a third gear 17 that is fixed to the first arm 12 and whose center is rotatably penetrated by the first rotating shaft 11; and a third gear 17 that is fixed to the second rotating shaft 13. 4th
a second gear 16 which is fixed to the second rotating shaft 13 and has a head 19 attached with a holder for holding the conveyed object, each gear ratio being 1/2 of that of the first gear 15; Third
The fourth gear 18 is twice as large as the gear 17, and there is a gap between the first gear 15, the second gear 16, and the third gear 1.
7. The conveying device 7 is connected between both gears of the fourth gear 18 by connecting bodies 20 and 21, respectively.

<Operation> Next, the operating situation will be explained with reference to FIG. 2, which shows the operating concept.

In the following description, for the sake of clarity, the first arm 1
The position where 2 and the second arm 14 overlap (dotted chain line A in FIG. 2) is defined as the reference position A of the rotation angle of the first arm 12.

First, the first arm 12 will be explained.

The drive shaft lO rotates by an angle θ, and the first
When the arm 12 rotates by an angle θ with respect to the reference position,
Accordingly, the second gear 16 revolves around the drive shaft 10 and rotates around the first rotating shaft 11. The direction of this rotation is opposite to the drive shaft 10 because the rotating second gear 16 and the fixed first gear 15 are connected via the coupling body 20, and the angle of rotation is the same as the gear ratio. Since it is 1/2 of the first gear 15, it is inversely proportional, and the rotation angle is twice that of the first arm 12, that is, 2θ. Therefore, the first rotating shaft 1 is in a fixed relationship with the second gear 16.
1 also rotates, the direction of rotation is opposite to the drive shaft 10, and the angle of rotation is 2θ.

Next, the second arm 14 will be explained.

When the first rotating shaft 11 rotates as described above, the first rotating shaft 1
The second arm 14, which is in a fixed relationship with the drive shaft 10, also rotates by an angle 2θ in the opposite direction to the drive shaft 10, and accordingly
revolves around the first rotating shaft 11, so to speak, while the second
It rotates around the rotating shaft 13, so to speak. The direction of this rotation is determined by the rotating fourth gear 8 and the fixed third gear 17.
are connected via the connecting body 21, so that the rotation direction of the first rotating shaft 11 is opposite to that of the drive shaft 10, that is, the rotation angle is the same as that of the fourth gear 18. Since the ratio is twice that of the third gear 17, it is inversely proportional to the second gear.
The rotation angle is 1/2 of the arm 14, that is, θ. Therefore,
The second rotating shaft 13, which is in a fixed relationship with the fourth gear 18, also rotates, and the direction of rotation returns to the same direction as the drive shaft lO.
Further, since the angle of rotation is θ, the direction of rotation of the head 19 attached to the second rotating shaft 13 will also return to the same direction as the drive shaft 10, and the angle of rotation will be θ.

As a result, when the first arm 12 rotates by an angle θ with respect to the rotation angle reference position A, the angle formed by the first arm 12 and the second arm 14 becomes 2θ, and the direction of the head 19 is Regardless of rotation, the direction to the reference position is always constant.

<Embodiment> Hereinafter, a preferred embodiment of the present invention will be described based on FIGS. 1 to 4.

FIG. 1 shows that a transport device 7 according to the present invention is connected to a mobile traveling device 22.
It is shown installed on the rail 23 via.

The conveyance device 7 includes a drive motor 24 and a bendable arm 8.
and a vacuum suction device 26 that suctions and holds the workpiece 25.
It is made up of.

The drive motor 24 has its drive shaft IO connected to the base frame 9.
It is attached to the base frame 9 in a state where it passes through the base frame 9 so as to be rotatable.

The bendable and extensible arm 8 has a base end fixed to the drive shaft 10 and a first arm 1 which is held at its distal end with the first rotating shaft 11 penetrating therethrough. and a second arm 14 whose base end is fixed to the first rotating shaft 11 and whose distal end holds the second rotating shaft 13 in a penetrating state, and a second gear 16 is attached to the first rotating shaft 11. , a fourth gear 18 is fixed to the second rotating shaft 13, respectively. The distance between the axes of the drive shaft 10 and the first rotating shaft 11 of the first arm 12 is equal to the distance between the axes of the first rotating shaft 11 and the second rotating shaft 13 of the second arm 14. has been done.

The first gear 15 is fixed to the base frame 9, and its center is rotatably penetrated by the drive shaft 10, and the third gear 17 is fixed to the first arm 12, and its center is passed through the first rotation shaft 11. It is rotatably penetrated by.

The first gear 15 and the second gear 16 and the third gear 17 and the fourth gear 18 are connected without slipping by the belt 20 and the second belt 2I, respectively. The ratio of the second gear 16 to the first gear 15 is 1/2.
, and the fourth gear 18 is twice as large as the third gear 17.

The head 19 fixed to the second rotating shaft 13 has
A vacuum suction device 26 is attached that includes a vacuum cup 27 that is connected to a vacuum generator (not shown) and that sucks and holds the workpiece 25 .

Note that 28 is a moving motor for moving the base frame 9 in the vertical direction.

For example, when the first arm 12 is at the reference position A mentioned above,
When the second arm 14 rotates by an angle of 90'' relative to the first arm 12, the second arm 14 rotates by an angle of 1800'' in the opposite direction to the first arm 12, so the first arm 12 and the second arm 14 are in a straight line state (second
(indicated by the dashed-dotted line B in the figure). In this state, the vacuum suction device 26 is installed at an angle, that is, the head I9 is installed at an angle so that the vacuum cup 27 can adsorb the workpiece 25 at a desired position, and a moving device and a moving motor 28 (not shown) are installed. to move and position the base frame 9. As a result, the arm lengths of the first arm 12 and the second arm 14 are utilized to the maximum, and the first arm 12 is directly connected to the narrow space 3 between the upper die 29 and the lower die 30 of the press mold.
1 and the desired position of the workpiece 25 can be attracted.

After attracting the work 25 in this manner, when the first arm 12 is rotated by the drive shaft 10 in a direction to return it to the reference position, the work 25 is taken out while passing through the narrow space 31 between the upper die 29 and the lower die 30.

Further, when the first arm 12 continues to rotate past the reference position, the workpiece 25 is conveyed along a straight line (dotted chain line C in FIG. 2) while maintaining the posture at which it was taken out.

Then, the first arm 12 continues to be rotated by the drive shaft 10, and the rotation of the drive shaft 10 is stopped again at a position where the first arm 12 forms an angle 906 with respect to the reference position A. As a result, the workpiece 25 maintains the same posture as when it was taken out, and is located 1806 points opposite to the drive shaft 10 from when it was taken out, and the first arm 12 and the second arm 14 are in a straight line as they were when taken out. becomes. In this state, the base frame 9 is moved and positioned by a moving device (not shown) and a moving motor 28 so that the workpiece 25 is installed at a desired position for the next process. In this way, the arm lengths of the first arm 12 and the second arm 14 are utilized to the maximum, and the first arm 12 is directly connected to the narrow space 31 between the upper die 29 and the lower die 30 of the press mold.
This means that the work 25 can be inserted into a desired position, and the work 25 can be placed in the desired position with the same attitude as when it was taken out.

In this embodiment, the drive shaft 10 of the first arm 12 and the first
The distance between the axes of the rotating shaft 11 and the first axis of the second arm 14 is
Although it is set to be equal to the distance between the axes of the rotating shaft 11 and the second rotating shaft 13, the distance between the axes of the first gear 15 and the second gear 16 is not limited to this. , and the connection between both the third gear 17 and the fourth gear 18,
Although the first belt 20 and the second belt 21 are used, as long as the rotational speed ratio and direction of rotation of the second gear 16 to the first gear 15 and the fourth gear 18 to the third gear 17 are maintained, this is possible. It is not limited.

Furthermore, in this embodiment, only one set of the first arm and one second arm is used, but the invention is not limited to this, and it is also possible to use multiple sets. As the holding body, any holding means such as a vacuum suction device, an electromagnet, a clamping claw, etc. can be used.

Installation is not limited to unpaid work or press lines.

Effects> Since the conveying device according to the present invention has the content as explained above, it can convey the conveyed object installed in the previous process to the next process without changing the attitude, so the positioning accuracy in the next process can be improved. Furthermore, since the two connected arms extend completely in a straight line, the length of each arm can be utilized to the maximum, and even when removing or setting up conveyed items by inserting them into narrow spaces, This has the excellent effect of allowing the arm to be inserted directly without the need for separate parts such as an extension arm, and also has the additional effect of shortening the transfer time because the conveyance path of the conveyed object becomes a straight line. be.

[Brief explanation of the drawing]

FIG. 1 is a partial side sectional view of the conveyance device according to the present invention. FIG. 2 is a conceptual diagram showing the operating status of the conveyance device according to the present invention. FIG. 3 is a perspective view of the conveyance device according to the present invention. FIG. 4 is a side view showing the operating state of the conveying device according to the present invention, and FIG. 5 is a side view corresponding to FIG. 4 showing the operating state of the conventional example. 7 - Transport device 8 - Flexible arm 9 - Base frame 10 ... Drive shaft 11 - First rotating shaft 12 - First arm 13 - Second rotating shaft 14 - Second Arm 15 - 1st gear 16 - 2nd gear 17 - 3rd gear 18 - 4th gear 19 - Head 20 - 1st belt (connection body) 21 -, 2nd belt (connection body) 25 - Workpiece (carried object) 26-- Vacuum suction device (holding body) 27- Vacuum cup 3 holder 15 27 Vacuum cup 7m Ll-Figure 5

Claims (2)

[Claims] (1) A conveying device that holds an object with a holder attached to a head provided at the tip of a bendable arm, and uses the bending and stretching motion of the arm to convey the object from the previous process to the next process. The bendable and extensible arm includes at least a first arm whose base end is fixed to a drive shaft that rotatably passes through the base frame, and whose distal end holds the first rotating shaft in a penetrating state; a second arm which is fixed to the first rotating shaft and whose tip extends through the second rotating shaft; a first gear which is fixed to the base frame and whose center is rotatably penetrated by the drive shaft; , a second gear fixed to the first rotating shaft; a third gear fixed to the first arm and having its center rotatably penetrated by the first rotating shaft; and a third gear fixed to the second rotating shaft. and a fourth gear, and the head fixed to the second rotating shaft, and each gear ratio is a second gear that is 1/2 that of the first gear, and a fourth gear that is twice that of the third gear. , between the first and second gears, and between the third gear
, a conveying device characterized in that both fourth gears are connected by a connecting body. (2) A patent claim in which the distance between the axes of the drive shaft and the first rotating shaft in the first arm is equal to the distance between the axes of the first rotating shaft and the second rotating shaft in the second arm. The conveying device according to item 1.