KR101149952B1 - Transfer robot - Google Patents

Abstract

Transfer robot A1 is equipped with the hands 4A and 4B which hold | maintain a plate-shaped workpiece horizontally. The hands 4A and 4B are driven by the linear movement mechanisms 3A and 3B to move forward or backward along the predetermined horizontal linear movement path. Each hand 4A, 4B is provided with the some roller 42 which abuts on the lower surface of a workpiece | work. The plurality of rollers 42 are rotatable to move the workpiece in the direction along the horizontal linear movement path. The hands 4A and 4B are provided with a plurality of side arms 43 for clamping the work from both sides to adjust the posture of the work.

Description

Transfer Robot {TRANSFER ROBOT}

1 is a perspective view showing a transfer robot according to a first embodiment of the present invention.

Fig. 2 is a side view showing the transfer robot of the first embodiment.

3 is a front sectional view showing the transfer robot of the first embodiment.

4 is a side cross-sectional view illustrating a hand in the transfer robot of the first embodiment.

5 is a cross-sectional top view illustrating a hand in the transfer robot of the first embodiment.

6 is a front sectional view illustrating a hand in the transfer robot of the first embodiment.

7 is a diagram for explaining the operation of the transfer robot of the first embodiment.

8 is a diagram for explaining the operation of the transfer robot of the first embodiment.

9A and 9B are diagrams for explaining the operation of the transfer robot of the first embodiment.

10 is a perspective view showing a transfer robot according to a second embodiment of the present invention.

Fig. 11 is a top view showing the transfer robot of the second embodiment.

12 is a front view of the transfer robot of the second embodiment.

Fig. 13 is a sectional front view showing the main part of the transfer robot of the second embodiment.

It is a figure explaining the conventional transfer robot.

It is a figure explaining the conventional transfer robot.

This invention relates to the transfer robot for conveying, for example, keeping a plate-shaped workpiece | work like a glass substrate for liquid crystal panels horizontally.

As a transfer robot of this kind, for example, there is one disclosed in the JP-A-200-3-25500 publication. As shown in FIGS. 14 and 15 of the present application, a transfer robot disclosed in this publication includes a hand 400 for holding a plate-shaped work W horizontally, and a predetermined horizontal linear movement path for the hand 400. A linear movement mechanism 300 for advancing and retracting along S and a lifting mechanism 200 for raising and lowering the support base 310 included in the linear movement mechanism 300 in the vertical direction are provided. The linear movement mechanism 300 includes the first horizontal link arm 320 and the second horizontal link arm 330 in addition to the support base 310. The base end of the first horizontal link arm 320 is connected to the support base 310. The proximal end of the second horizontal link arm 330 is connected to the distal end of the first horizontal link arm 320, and the distal end of the same arm 330 supports the hand 400 in a state rotatable about a vertical axis. It is made to structure. The lifting mechanism 200 includes a first link arm 210 and a second link arm 220. The proximal end of the first link arm 210 is connected to the fixed base 100. The proximal end of the second link arm 220 is connected to the distal end of the first link arm 210, and the distal end of the arm 220 supports the support base 310 in a state rotatable about a horizontal axis. It becomes the structure to say. The support base 310 is moved up and down in the vertical direction while maintaining a posture by rotating the first and second link arms 210 and 220 around the horizontal axis. The hand 400 moves forward and backward along the horizontal linear movement path S while maintaining the posture by rotating the first and second horizontal link arms 320 and 330 around the vertical axis. The support base 310 is provided with a rotating member 311 that rotates around the vertical axis. The support base 310 and the 1st horizontal link arm 320 are connected through this rotating member 311.

As shown in FIG. 14, the said transfer robot X is provided in the robot part R adjacent to the buffer part B. As shown in FIG. The transfer robot X can receive one workpiece | work W through the buffer part B from the cassette part C which accommodated several workpiece | work W. In the cassette part C, the some workpiece | work W is hold | maintained in the lifting frame C1 in the state which fixed space | interval was carried out in the perpendicular direction. When the lifting frame C1 moves downward, the work W held at the bottom end is placed on the roller conveyor C2 of the cassette part C. As shown in FIG.

Then, the workpiece | work W is conveyed on the roller conveyor B1 of the buffer part B from the roller conveyor C2. As shown in FIG. 15, the space | interval part B2 which can insert the hand 400 of the transfer robot X is provided in the roller conveyor B1. The transfer robot X operates the elevating mechanism 200 and the linear movement mechanism 300 to make the hand 400 inserted into the gap portion B2 of the roller conveyor B1, and also the hand 400. ) Is lifted above the roller conveyor B1. Thereby, the workpiece | work W which was on the roller conveyor B1 of the buffer part B is carried on the hand 400. As shown in FIG. Thereafter, the transfer robot X retreats the hand 400 to a predetermined position of the robot portion R, rotates the rotation member 311 by, for example, 180 degrees or 90 degrees, and works the hand 400. The attitude toward the workpiece processing part (not shown) used as the transfer destination of (W) is taken. By operating the linear movement mechanism 300 in this state, the workpiece | work W is conveyed to a workpiece processing part.

However, in the conventional transfer robot X, the work W is to be lifted from below the roller conveyor B1 and loaded on the hand 400. Therefore, the buffer part B for exchanging the workpiece | work W between the robot part R and the cassette part C must be provided. As a result, the workpiece conveyance system containing a transfer robot becomes large scale.

In addition, as shown in FIG. 14, the roller conveyors B1 and C2 must convey the workpiece | work W with distance L0 from the cassette part C to the buffer part B. FIG. On the other hand, the transfer robot X must move the hand 400 forward and backward with the distance L1 between the robot part R and the buffer part B. FIG. In either case, a relatively long distance must be moved with respect to the work or hand. In particular, the longer the distance L1 for moving the hand becomes, the larger the transfer robot X becomes in terms of ensuring stable operation.

The present invention is devised under the above circumstances. Then, this invention makes it the subject to provide the transfer robot which can aim at scale-down of a workpiece conveyance system, and can shorten the movement distance of a hand as much as possible, and can be miniaturized. In order to solve this problem, the present invention takes the following technical means.

The transfer robot provided by this invention is equipped with the workpiece support means which keeps a plate-shaped workpiece horizontally, the linear movement mechanism which moves this workpiece support means along a horizontal linear movement path, and is provided. The said workpiece support means is provided with the some roller for supporting the lower surface of the said workpiece | work, and moving the said workpiece | work in a predetermined direction.

Preferably, the plurality of rollers are arranged to move the workpiece in a direction along the horizontal linear movement path.

Preferably, the work support means is provided with a rotation drive mechanism for rotating the plurality of rollers.

Preferably, the rotation drive mechanism includes a roller rotation motor and a transmission belt that transmits power of the roller rotation motor to the plurality of rollers.

According to such a structure, when a transfer robot receives the workpiece conveyed by the roller conveyor, for example, a transfer robot carries a workpiece support means to the front end of a roller conveyor sideways. At this time, if the horizontal linear movement path of the workpiece support means follows the conveyance direction of the roller conveyor, the transfer robot moves the workpiece support means along the horizontal linear movement path. Thereafter, when the roller conveyor starts to convey the workpiece, the workpiece moves over the front end of the roller conveyor onto the work support means. On the work support means, by rotating a plurality of rollers, for example, the work is sent horizontally in the same direction as the conveyance direction of the roller conveyor, and finally the work is held in the work support means. When a plurality of rollers in the work support means are rotated by the rotation drive mechanism, when a part of the work moves to the work support means side to some extent and comes into contact with the rollers, the work may be stopped even if the conveyance operation of the roller conveyor is stopped at that time. The workpiece is moved to a predetermined position on the supporting means. As a result, the workpiece is exchanged between the roller conveyor and the transfer robot. Therefore, according to the transfer robot concerning this invention, since a workpiece can be received in the state which attached the workpiece support means to the roller conveyor sideways, the facility and installation space like the conventional buffer part become unnecessary, and the workpiece conveyance system Can be scaled down. In addition, since the transfer robot can be installed at a position relatively close to the roller conveyor, the transfer distance of the work support means can be shortened as much as possible.

Preferably, the said workpiece support means is provided with the some side arm for clamping the said workpiece | work, and performing the position adjustment of this workpiece | work.

According to such a structure, the attitude | position of the workpiece | work moved from the roller conveyor onto the workpiece support means can be correct | amended by a side arm.

Preferably, the linear movement mechanism includes a support base, a first horizontal link arm, and a second horizontal link arm. The proximal end of the first horizontal link arm is connected to the support base via a first rotary joint around the vertical axis. The proximal end of the second horizontal link arm is connected to the distal end of the first horizontal link arm via a second rotary joint around the vertical axis. The distal end portion of the second horizontal link arm is configured to support the workpiece supporting means via a third rotary joint around the vertical axis.

Preferably, the linear movement mechanism includes a first link mechanism and a second link mechanism, and the work support means includes a first hand and a second hand. The first link mechanism and the second link mechanism are disposed to be spaced apart from each other with the symmetry axis of the movement path. The first hand is located below the second hand and is moved along the movement path by the first link mechanism. The second hand is moved along the movement path by the second link mechanism.

According to such a structure, a so-called link mechanism can smoothly move forward and backward along the horizontal linear movement path while keeping the hand in a constant posture. According to the structure in which such a link mechanism is provided on both sides with the horizontal linear movement path as a symmetry axis, and the two link mechanisms advance and retreat from the lower end of a vertical direction and the upper end of a vertical direction by these link mechanisms, The conveyor and work can be exchanged more efficiently.

Preferably, the linear movement mechanism includes a support base, a pair of guide rails, and a pair of slide rails. The guide rail extends in the direction along the movement path and is fixed to the support base. The slide rail is slidably supported by the guide rail and slidably supports the workpiece support means along the movement path.

The linear movement mechanism includes a first slide mechanism and a second slide mechanism, and the work support means includes a first hand and a second hand. The said 1st slide mechanism and the said 2nd slide mechanism are mutually arrange | positioned mutually, making the said movement path the symmetry axis. The first hand is located below the second hand and is moved along the movement path by the first slide mechanism. The second hand is moved along the movement path by the second slide mechanism.

According to such a structure, a slide mechanism can move forward and backward smoothly along a horizontal linear movement path, holding a hand in a fixed posture. Two sets of such slide mechanisms are provided, and the two sets of slide mechanisms allow the two hands to move forward and backward on the lower end in the vertical direction and the upper end in the vertical direction. I can do it well.

Preferably, the transfer robot of the present invention further includes an elevating mechanism for elevating the supporting base in the vertical direction.

According to such a structure, two hands divided | segmented to the lower side and the upper direction of the vertical direction can be alternately brought to the side with respect to the front end of the roller conveyor in a fixed position, for example.

Other features and advantages of the present invention will become more apparent from the detailed description given hereinafter with reference to the accompanying drawings.

<Examples>

EMBODIMENT OF THE INVENTION Hereinafter, the preferred embodiment of this invention is described concretely with reference to drawings. 1 to 9 show a transfer robot according to the first embodiment of the present invention.

As shown in FIGS. 1-3, the transfer robot A1 of 1st Example has the fixed base 1, the lifting mechanism 2, the 1st linear movement mechanism 3A, and the 2nd linear movement mechanism 3B. And the lower hand 4A and the lower hand 4B. The fixed base 1 is fixed to the floor, for example. The lifting mechanism 2 has the fixed base 1 as a base. The linear moving mechanisms 3A and 3B are moved up and down in the vertical direction by the elevating mechanism 2. The hands 4A and 4B are moved forward and backward along the horizontal linear movement path S (see Fig. 2) by the linear movement mechanisms 3A and 3B, respectively. In the following description, the y-axis direction is a direction parallel to the horizontal linear movement path S, the y-axis direction is a horizontal direction orthogonal to the y-axis direction, and the z-axis direction is a vertical direction. The z-axis direction is orthogonal to both the y-axis direction and the y-axis direction.

The lifting mechanism 2 includes a first lifting motor M1, a first link arm 20, a second lifting motor M2, a second link arm 21, a first auxiliary arm 22, and a first auxiliary arm 22. It is comprised including the 2 auxiliary arm 23. As shown in FIG. The first lifting motor M1 is provided at a predetermined portion of the fixed base 1. As for the 1st link arm 20, the base end part 20a is rotatably connected about the x-axis with respect to the fixed base 1. As shown in FIG. The second lifting motor M2 is incorporated in the tip portion 20b of the first link arm 20. The base end portion 21a of the second link arm 21 is connected to the tip portion 20b of the first link arm 20, and the tip portion 21b of the second link arm 21 is connected to the supporting base 30 described later. . The support base 30 is rotatable around the x-axis. The first auxiliary arm 22 is interlocked with the first link arm 20, and the second auxiliary arm 23 is interlocked with the second link arm 21.

The base end portion 20a of the first link arm 20 rotates around the y-axis by transmitting rotational force from the first elevating motor M1 via a reduction mechanism (not shown). The base end portion 21a of the second link arm 21 transmits a rotational force from the second elevating motor M2 via a reduction mechanism (not shown), thereby closing the tip portion 20b of the first link arm 20. It rotates around the x-axis as a point. The first and second link arms 20, 21 are configured to rotate in opposite directions with the same angle. The first and second auxiliary arms 22 and 23 are rotatably supported around the y-axis between the distal end portion 20b of the first link arm 20 and the proximal end portion 21a of the second link arm 21. The intermediate member 24 is connected to each other. These first and second auxiliary arms 22, 23 are paired with the first and second link arms 20, 21 so that their respective ends are fixed base 1 and support base 30 so that they always form a parallelogram. Is rotatably connected. As a result, when the proximal ends 20a and 21a of the first and second link arms 20 and 21 rotate in a predetermined direction around the y-axis, the distal end portion 21b of the second link arm 21 is approximately z-axis. Displaced along the direction, and with this, the support base 30 moves up and down in the z-axis direction, maintaining a constant attitude on the substantially fixed position of the horizontal linear movement path S. FIG.

The linear movement mechanism 3A, 3B is the support base 30 which consists of these common members, the rotation member 31 which rotates on the support base 30, and the rotation member 31 on the support base 30. The proximal end is connected to the distal end of the first horizontal link arm 32 and the first horizontal link arm 32 connected to the proximal end thereof, and the hands 4A and 4B are rotatable around the z-axis so that the proximal end is connected to the proximal end. It is comprised with the 2nd horizontal link arm 33 supporting. The link mechanism composed of the first and second horizontal link arms 32 and 33 is provided in pairs on both sides thereof with the horizontal linear movement path S as the symmetry axis.

The support base 30 incorporates a motor or a deceleration mechanism for rotating the rotation member 31 around the z axis (not shown). The rotating member 31 incorporates a motor or a deceleration mechanism for rotating the first and second horizontal link arms 32 and 33 and the hands 4A and 4B around the z axis (not shown). The proximal end of the first horizontal link arm 32 is connected to the rotating member 31 via a first rotary joint 34a that rotates around the z axis. The proximal end of the second horizontal link arm 33 is connected to the distal end of the first horizontal link arm 32 via a second rotary joint 34b that rotates around the z axis. The hands 4A, 4B are supported at the distal end of the second horizontal link arm 33 via a third rotary joint 34c that rotates around the z axis. These first and second horizontal link arms 32, 33 have a transmission belt for transmitting rotational force from the motor in the rotating member 31 to the first to third rotary joints 34a to 34c via a reduction mechanism. Pulley gears are built in (not shown). The first rotary joint 34a is rotated in a predetermined direction by a motor or a deceleration mechanism in the rotary member 31, and the proximal end of the first horizontal link arm 32 is z-axis via the first rotary joint 34a. When it rotates around, the base end part of the 2nd horizontal link arm 33 rotates through the 2nd rotary joint 34b at the same angle in the direction of the reverse periphery. As a result, the first and second horizontal link arms 32 and 33 perform the link operation so as to always form an isosceles triangle. The hands 4A and 4B move forward and backward along the horizontal linear movement path S by the first and second horizontal link arms 32 and 33 performing a link operation. At this time, the hands 4A and 4B rotate in a predetermined direction around the z-axis via the third rotary joint 34c so that the second horizontal link arm 33 has a constant posture while changing the posture. . That is, the hands 4A and 4B move forward and backward along the horizontal linear movement path S while maintaining a constant posture. The two second rotary joints 34b located on both sides of the horizontal linear movement path S move along the horizontal linear movement path S without interfering with the lower hand 4A and the upper hand 4B. The lengths are different on both sides.

The hands 4A and 4B extend in the axial direction on both sides of the base 40 and the base 40 supported by the distal end of the second horizontal link arm 33 to hold the plate-shaped workpiece W horizontally. A plurality of rollers 42 provided on the fork portion 41 and the workpiece W so as to support the fork portion 41 and the lower surface of the work W to move the work W in the axial direction. It is comprised with the some side arm 43 provided in the fork part 41 so that the workpiece may be clamped from the direction. As shown in FIG. 2, the lower hand 4A is supported above the corresponding second horizontal link arm 33, while the upper hand 4B interferes with the lower hand 4A. In the state which prevented this, it is supported below the 2nd horizontal link arm 33. As shown in FIG.

As shown in FIG.4 and FIG.5, the roller rotation motor 44 and the transmission shaft 45 for rotating the some roller 42 simultaneously are provided in the predetermined part of the fork part 41. FIG. In the fork part 41, the transmission belt 46, the pulley gear 47, and the rotating shaft for transmitting rotational force to the plurality of rollers 42 from the roller rotation motor 44 via the transmission shaft 45 are provided. (48) is built in. The rollers 42 are provided on both sides of the fork portion 41 in a state fixed to both ends of the rotating shaft 48, and in each fork portion 41, the plurality of rollers 42 are arranged in the axial direction (horizontal). The linear movement path S is arranged at regular intervals. In addition, as shown in FIG. 4 and FIG. 6, the contact portion of each roller 42 comes out slightly above the upper surface of the fork portion 41 so as to contact the lower surface of the work W. As shown in FIG. The rotational force from the roller rotation motor 44 is transmitted to the transmission shaft 45 via the transmission belt 46 and the pulley gear 47, and the transmission shaft 45 rotates by this. In each fork part 41, the rotational force is further transmitted from the transmission shaft 45 to the rotating shaft 48 of each roller 42 via the transmission belt 46 and the pulley gear 47, and by this it The roller 42 rotates at the same time. That is, as the rotation drive mechanism for rotating the plurality of rollers 42, the roller rotation motor 44, the transmission shaft 45, the transmission belt 46, the pulley gear 47, and the rotation shaft 48 It is realized.

As shown in FIG. 1, the side arm 43 is each fork part 41 so that the side arm 43 may abut on four sides of the workpiece | work W (not shown in FIG. 1) hold | maintained by the fork part 41. As shown in FIG. It is installed at the front end side and the rear end side of. As shown in FIG. 6, the side arm 43 as described above has a bracket at the distal end of the horizontal rod 43a and the horizontal rod 43a extending outward from the outer side of the fork portion 41 along the y-axis direction. It is comprised with the guide roller 43c supported so that rotation can be carried out around the z-axis via 43b. 5 and 6, an actuator 49 is provided inside the fork part 41 for moving the horizontal rod 43a of the side arm 43 in the y-axis direction. The guide roller 43c is located outside the side part of the workpiece | work W, when the workpiece | work W is not supported by the fork part 41. On the other hand, when the workpiece | work W is supported and stopped in the fork part 41, the horizontal rod 43a is guided in the fork part 41 by the actuator 49 to some extent, and the guide roller 43c will be made. It will be in the state which abuts on the side part of the workpiece | work W.

Next, the operation of the transfer robot A1 will be described.

As shown in FIG. 7, the transfer robot A1 suitably transfers the workpiece | work W like the glass substrate for liquid crystal panels, for example from the cassette part C to the workpiece | work processing part of the offshore. Is used. Such a transfer robot A1 is provided in the robot part R adjacent to the cassette part C as a main facility which comprises a workpiece conveyance system. In addition, the cassette part C has the same equipment as the conventional one shown in FIG. 14, for example, the same facilities as the lifting frame C1, the roller conveyor C2, etc., and the operation | movement is the same as the conventional one.

In the roller conveyor C2 of the cassette part C, the front end is located in the vicinity of the work receiving port T provided between the cassette part C and the robot part R, and the workpiece | work W is It is conveyed by the roller conveyor C2 until it exceeds the front end. That is, the distance by which the workpiece | work W is conveyed by the roller conveyor C2 becomes the distance L0 'shown in FIG.

Prior to conveyance of the workpiece W by the roller conveyor C2, the transfer robot A1 operates as follows. That is, as shown in FIG. 7 and FIG. 8, the front end of the upper hand 4B (the front end of the fork part 41) is placed on the front end of the roller conveyor C2, for example. Specifically, the hand 4B is moved along the vertical direction and the horizontal linear movement path S by the elevating mechanism 2 and the linear movement mechanism 3B. As a result, the hand 4B moves from the home position shown by the solid line in FIG. 7 to the stop position shown by the virtual line. At this time, the distance that the hand 4B moves along the horizontal straight line movement path S becomes about the distance L1 'shown in FIG. And when the roller conveyor C2 is in the state which starts conveyance of the workpiece | work W, the transfer robot A1 will move the roller 42 of the hand 4B in the same direction as the rotation direction of the roller conveyor C2. Rotate

After exceeding the front end of the roller conveyor C2, the workpiece | work W becomes the state supported by the some roller 42 which rotates, and the workpiece | work W is the fork part 41 by these rollers 42. As shown in FIG. ) Is moved to the rear end side. The rotation of the roller 42 is stopped after a predetermined time elapses, for example, after the roller conveyor C2 starts conveying the workpiece | work W. For example, as shown in FIG. In this manner, the work W is loaded onto the hand 4B from the roller conveyor C2. In the present invention, in order to reliably stop the work W, a stopper engaged with the work W may be provided at the rear end of the fork portion. When providing such a stopper, you may comprise so that rotation of the roller 42 may be stopped after predetermined time passes after the workpiece | work W engages with a stopper. Or you may provide the sensor which detects the workpiece | work W in the rear end of a fork part. In this case, for example, the rotation of the roller is stopped when the workpiece is detected by the sensor.

The workpiece | work W put on the hand 4B may be a posture inclined with respect to the horizontal linear movement path S, as shown to FIG. 9 (a). For such a case, the transfer robot A1 introduces the side arm 43 into the fork part 41 to some extent as shown in FIG. 9 (b). Thereby, the workpiece | work W on the hand 4B becomes the state clamped by the side arm 43 in four parts (two front and back of each side edge), and it is suitable according to the horizontal linear movement path S. Corrected by posture. Thereafter, the hand 4B on which the work W is loaded is retracted along the horizontal linear movement path S. FIG.

By the method similar to the above, the workpiece | work W can be moved and mounted on the lower hand 4A from the roller conveyor C2. In addition, the posture of the workpiece | work W on 4 A of hands can also be corrected similarly to the above. Of course, you may move and place the workpiece | work W to the lower hand 4A before the upper hand 4B.

After retracting the hands 4A and 4B carrying the work W along the horizontal linear movement path S, the rotating member 31 of the transfer robot A1 is, for example, 90 degrees (or 90 degrees). ) Rotate. Thereby, each hand 4A, 4B which loaded the workpiece | work W is made into the attitude | position toward a desired workpiece processing part. Moreover, the hands 4A and 4B are moved to a predetermined work processing part by operating the lifting mechanism 2 and the linear movement mechanisms 3A and 3B. By performing the above series of operations, the transfer robot A1 can collect two workpieces W from the cassette part C to the workpiece processing part serving as a transfer destination and transfer them efficiently. When the work W loaded on the hands 4A and 4B is moved to the work processing portion, the roller 42 in the hands 4A and 4B receives the work W from the predetermined direction (the cassette part C). In the reverse direction of the rotation direction). Thereby, the workpiece | work W on the hands 4A and 4B is sent out to the front side along the horizontal linear movement path S, and is moved to the predetermined part of a workpiece processing part.

According to the said transfer robot A1, the workpiece | work W can be directly received from the cassette part C in the state which attached the hand 4A or 4B to the roller conveyor C2 to the side. For this reason, the buffer part and the installation space for that which were required in the conventional workpiece conveyance system become unnecessary, and this can scale down a workpiece conveyance system.

Moreover, according to the said transfer robot A1, the transfer robot A1 can be provided in the position as close as possible with respect to the roller conveyor C1, and the distance L1 'which moves the hands 4A and 4B is conventionally known. It can be made considerably short compared with the distance L1 (refer FIG. 14). Therefore, at the time of operation, the hands 4A and 4B can be moved in a more stable posture along the vertical direction or the horizontal linear movement path S. FIG. In addition, as the lifting mechanism 2 and the linear movement mechanisms 3A and 3B, since the operation range ends smaller than before, a small one can be adopted as much as possible, thereby miniaturizing the entire robot. have.

Next, another embodiment of the present invention will be described.

10-13 show the transfer robot based on the 2nd Example of this invention. 10 to 13, the same or similar elements as those of the first embodiment described above are denoted by the same reference numerals.

As shown in Figs. 10 to 13, the transfer robot A2 of the second embodiment includes the fixed base 1, the lifting mechanism 5, the first linear movement mechanism 6A, and the second linear movement mechanism 6B. And the lower hand 4A and the upper hand 4B. The lifting mechanism 5 is rotatably mounted about the vertical axis with respect to the fixed base 1, and raises and lowers the linear movement mechanisms 6A and 6B in the vertical direction. The lower hand 4A and the upper hand 4B advance and retreat along the horizontal linear movement path S (see FIG. 11) by the linear movement mechanisms 6A and 6B, respectively.

As shown in FIG. 12, the lifting mechanism 5 includes a frame member 50, a pair of rack gears 51, and a lifting motor M3. The frame member 50 is rotatably mounted about the z-axis with respect to the said fixed base 1. The rack gear 51 is provided in both sides of the frame member 50 along the # z-axis direction. The lifting motor M3 is provided on the support base 60 (to be described later), and is connected to the rack gear 51 via a pinion gear or a reduction gear (not shown).

A suitable portion of the fixed base 1 is provided with a motor and a deceleration mechanism (not shown) for rotating the frame member 50 around the y-axis. The pinion gear (not shown) is provided in the support base 60 so that the rack gear 51 may mesh with each other normally. The support base 60 is supported by the rack gear 51 while maintaining a horizontal posture. When the pinion gear rotates by the driving of the lifting motor M3, the support base 60 moves up and down in the z-axis direction while maintaining a horizontal posture with the linear movement of the pinion gear with respect to the rack gear 51. do.

As shown to FIG. 10 and FIG. 13, the linear movement mechanism 6A, 6B is equipped with the support base 60 which consists of these common members. In addition, the linear movement mechanisms 6A and 6B are provided with guide rails 61A and 61B and slide rails 62A and 62B, respectively. The guide rails 61A and 61B are being fixed to the support base 60, and extend long in the axial direction. The slide rails 62A and 62B are slidably supported by the guide rails 61A and 61B, respectively, and the hands 4A and 4B are slidably supported along the X-axis direction. The guide rails 61A and 61B and the slide rails 62A and 62B constitute a slide mechanism. The pair ("Article 1") of the guide rail 61A and the slide rail 62A is arrange | positioned at both sides of the said path | route S, making horizontal linear movement path S a symmetry axis. Similarly, the tank ("Article 2") of the guide rail 61B and the slide rail 62B is also arrange | positioned at the both sides of the said path | route S with the horizontal linear movement path S as the symmetry axis. However, the said 1st tank is arrange | positioned near the horizontal linear movement path S than the said 2nd tank.

As shown in FIG. 13, the rack gears 61a and 61b are being fixed to the side part of guide rail 61A, 61B. Further, the first slide motors 63A and 63B connected to the rack gears 61a and 61b via the pinion gears 63a and 63b and the reduction mechanism (not shown) are fixed to the slide rails 62A and 62B. It is. The rack gears 62a and 62b are fixed to the side parts of the slide rails 62A and 62B. In addition, a second slide motor (not shown) is connected to the base gears 40A and 40B of the hands 4A and 4B via the pinion gears 64a and 64b and the reduction mechanism (not shown). 64A, 64B) are fixed. In such linear movement mechanisms 6A and 6B, for example, when the pinion gear 63a rotates in a predetermined direction by the driving of the first slide motor 63A, the pinion gear 63a is a rack gear ( By performing linear motion with respect to 61a), a pair of slide rail 62A slides along the guide rail 61A in the y-axis direction. When the pinion gear 64a is rotated in a predetermined direction by the drive of the second slide motor 64A, the lower hand 4A performs a linear motion with respect to the rack gear 62a. Moves forward or backward while sliding along the slide rail 62A in the y-axis direction. Similarly, when the pinion gear 63b rotates in the predetermined direction by the driving of the first slide motor 63B, the pair of slide rails 62B slides along the guide rail 61B in the y-axis direction. In addition, when the pinion gear 64b is rotated in the predetermined direction by the driving of the second slide motor 64B, the upper hand 4B moves forward or backward while sliding in the y-axis direction along the slide rail 62B. .

The hands 4A and 4B have substantially the same configuration as those of the first embodiment described above except that the shapes of the bases 40A and 40B and the number of the forks 41 (four in this embodiment) are different. And the roller 42, the side arm 43, etc. are comprised. The base 40A of the lower hand 4A is formed in a plate shape as a whole, and its lower surface portion is supported by a pair of slide rails 62A located near both sides of the horizontal linear movement path S. At the same time, the rear end of the fork portion 41 is fixed to the upper surface portion thereof. On the other hand, the base 40B of the upper hand 4B has a cross-sectional shape bypassing both sides of the hand 4A so as not to interfere with the lower hand 4A. The base 40B of the upper hand 4B as described above has a pair of slide rails in which the lower end portions 40b that are returned to both the lower sides of the lower hand 4A are located at both remote portions of the horizontal linear movement path S. 62B), and the rear end of the fork portion 41 is fixed to the upper surface portion 40c.

The above-mentioned transfer robot A2 can also be provided in the robot part R adjacent to the cassette part C as shown in FIG. By operating the lifting mechanism 5 and the linear movement mechanisms 6A, 6B, the transfer robot A2 can bring the lower and upper hands 4A, 4B to the front side of the roller conveyor C2 sideways. The operation | movement at the time of receiving the workpiece | work W from the roller conveyor C2, and the operation | movement which performs the position adjustment of the workpiece | work W on the hands 4A and 4B are the same as the case of 1st Example.

When the workpiece W is loaded on the hands 4A and 4B, the transfer robot A2 rotates the frame member 50 by, for example, 180 degrees or 90 degrees, and the two hands on which the workpiece W is loaded ( 4A, 4B) is set to the desired work processing unit. In addition, the transfer robot A2 moves the hands 4A and 4B to the work processing unit by activating the lifting mechanism 5 and the linear movement mechanisms 6A and 6B again. In this manner, even in the transfer robot A2, two workpieces W can be collected and transferred from the cassette portion C to the workpiece processing portion.

Therefore, also by transfer robot A2, the effect of scale down of a workpiece conveyance system, and size reduction of the whole robot can be acquired.

In addition, this invention is not limited to the Example mentioned above. For example, the transfer robot of the present invention may be provided with one hand. In addition, when the height of the hand at the time of receiving the work and the height of the part to which the hand is exchanged are the same, there may be no lifting mechanism for changing the height of the hand.

According to the transfer robot of the present invention, since the workpiece can be received while the workpiece supporting means is placed sideways on the roller conveyor, the same equipment as that of the conventional buffer unit and its installation space are unnecessary, and the scale of the workpiece conveying system is reduced. I can aim down.

In addition, since the transfer robot can be installed at a position relatively close to the roller conveyor, the transfer distance of the work support means can be shortened as much as possible.

Claims (10)

A transfer robot comprising: a work support means for holding a plate-shaped work horizontally; and a linear movement mechanism for moving the work support means along a horizontal linear movement path. The work support means is provided with a plurality of rollers for supporting the lower surface of the work and moving the work in a predetermined direction at intervals along the horizontal linear movement path while being out from the upper surface of the work support means. And a rotation drive mechanism for rotating the plurality of rollers is provided. delete delete The method of claim 1, The rotation driving mechanism includes a roller rotating motor and a transmission belt that transmits power of the roller rotating motor to the plurality of rollers. The method of claim 1, The transfer robot which is provided with the said workpiece | work support means by the some side arm for clamping the said workpiece | work, and adjusting the position of this workpiece | work. The method of claim 1, The linear movement mechanism includes a support base, a first horizontal link arm, and a second horizontal link arm, and a proximal end of the first horizontal link arm is disposed on the support base via a first rotary joint around a vertical axis. A proximal end of the second horizontal link arm is connected to a distal end of the first horizontal link arm via a second rotary joint around the vertical axis, and the distal end of the second horizontal link arm is connected around the vertical axis. A transfer robot configured to support the work support means via a third rotary joint of the apparatus. The method of claim 1, The linear movement mechanism includes a first link mechanism and a second link mechanism, and the work support means includes a first hand and a second hand. The first link mechanism and the second link mechanism. Are arranged to be spaced apart from each other with the axis of symmetry, and the first hand is located below the second hand, and is configured to move along the movement path by the first link mechanism, And the second hand is configured to move along the movement path by the second link mechanism. The method of claim 1, The linear movement mechanism includes a support base, a pair of guide rails, and a pair of slide rails, and the guide rail extends in a direction along the movement path and is fixed to the support base. And the slide rail is slidably supported by the guide rail and is configured to slidably support the work support means along the movement path. The method of claim 1, The linear movement mechanism includes a first slide mechanism and a second slide mechanism, and the work support means includes a first hand and a second hand. The first slide mechanism and the second slide mechanism. Are arranged to be spaced apart from each other with the axis of symmetry, and the first hand is located below the second hand and is moved along the movement path by the first slide mechanism, And the second hand is configured to move along the movement path by the second slide mechanism. The method of claim 6 or 8, And a lifting mechanism for elevating the support base in the vertical direction.

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