200924867 '六、發明說明： 【發明所屬之技術領域】 本發明係有關一種具有升降功能與進給功能之升降進 給機構及具備該升降進給機構之工件搬運裝置、以及具備 從動機構之直線運動裝置。 【先前技術】 ❹ Ο 例如由於汽車用儀表板形狀極為複雜，故成形步驟需 分為多段並在排成直線狀之衝床進行成形。在使用此等多 數衝床之連續自動衝床（transfer press)或串聯連續衝床 (tandem press)，需藉由工件搬運裝置將在某一衝床成形 之工件（被加工件）按序搬運至下一衝床。 的敕=等:件搬運裝置而言，係有延伸至多數個衝床站 、正 而在各衝床站間以同一動作搬運工件者、及在夂 衝床站間配置搬運裝置分別單獨搬運工之 $ 件搬運震置有:由通用多關節機械人所構ΐ者t 專用設計之多關節臂機械人所構成者;由由 者。田運杯機構所構成 . · ...... . - . ' ' . · · 少通用多關節機械人所觀之工箱運 即機械人之前端安裝吸盤單元(真空杯:置’為夺多關 附工件而搬運者。作:是夕.^ ’藉此吸盤單元吸 1一 乂如此多關却機插又 且難於呈現各輪之角度時間函數，因此控制軸數多， 度同步。同時剛性低，卫件振動亦大。^無法和衝壓角 多關節機械人難於高速化。因如上理由，通用 由專岐収乡_臂賴叙1 件趣運裝置，為在 320548 200924867 « ，夕關節#之别端安裝吸盤單元，並由吸盤單元吸附工件搬 運者（參照彳壯下述專利資料丨）。但是在繞水平動 旋轉角需要甚大轉矩而 别< 得矩而茜大容量馬達，以致有成本變高之 問題。又因工件位詈r上/ 见复（卡爪位置）與各軸位置、角度之間之 座標變換複雜，控制t、fe ^制亦複雜，因此也有成本變高之問題。 再者’臂通過之空R_l_ 间大而難以決定與衝床干擾之部位，以 致難於作㈣師之最適當化，高雜雜。 自連#機構’成之卫件搬運裝置，為在專用設計的 連桿機構前端安裝吸盤單元，而利甩吸盤單元來吸附工件 以進行搬運者。（參照例如下述專利資料2)。但是對於属 於要被抵消之内力部分，亦需產生驅動力，而需大容量.馬 達’亦有高成本之問題。另，旋轉運動之連桿，其通過空 間大’與衝=之間的干擾限制大，亦有難於高速化之問題。 另，裝°又在衝床間之工件搬運裝置，尚有其他先前技 術揭示於下述專利資料3者。 〇 第1A圖及第m圖為專利資料3所揭示之工件搬運裝 置之構成圖’第1A圖為正面圖，第iB圖為第1A圖之右铡 面圖。此工件搬運裝置係具備：至少一對升降樑51 ’設成- ........ . - . ’ . . - 與工件搬運方向平行且可上下移動自如；至少一件載體 - ； · ... (carrier)52,設在各俩之升降樑51且可沿該升降樑51之 長度方向移動；副載體54，設在沿上述載體52所設之導 件而可向載體52移動方向移動；動力傳輸裝置（從動機 構），利用上述載體52移動時之動作將載體驅動動力傳輸 至上述副载體54 ;及横桿（cross bar.)57，横架於互相相 320548 200924867 , • 對之上述一對副載體54間，並設有可保持工件之工件保持 裝置。 上述動力傳輸裝置，係具備：第1齒桿（rack)55，設 在升降樑51之沿其長度方向；第1小齒輪（pinion)56，與 第1齒桿55嚙合而由載體52支撑成旋轉自如；第2齒桿 53，沿升降樑51的長度方向設在副載體54 ;第2小齒輪 58，與第2齒桿53嚙合，由載體52支撑成旋轉自如；及 旋轉力傳輸裝置（旋轉轴）59,將第1小齒輪56之旋轉力傳 ❹ 輸至第2小齒輪58。 第2圖為專利資料3所揭示之工件搬運裝置之另一動 力傳輸裝置（從動機構）構成圖。 動力傳輸裝置係具備：齒桿62，設在升降樑51之沿 其長度方向；小齒輪64，與齒桿62嚙合，由載體52支撑 成旋轉自如；第1滑輪65，同轴固定在小齒輪64 ;第2滑 輪67、67，支撑在載體52之升降樑51長度方向之大致兩 @ 端部位成旋轉自如；及環狀皮帶68，捲設於第1滑輪65 與第2滑輪67、67，其中，在第2滑輪67、67間副載體 54連結於環狀皮帶68。 上述專利資料3之動力傳輸裝置（從動機構），均需要 . .· - - . . · · . ^有長齒桿55、62，零件數多且構造複雜，以致總重量大。 > ' , ’ 又，齒桿55、62需設在支撑載體52侧（升降樑51侧），以 致升降樑51成為長構造物，而使設計自由度受限。 (專利資料1)日本特開2005-161406號公報 (專利資料2)日本特開2006-346699號公報 6 320548 200924867 (專利資料3)日本特開2003-136163號公報 【發明内容】 本發明為鑑於上述問題而研創者，其目的在提供一種 升降進給機構及具備該升降進給機構之工件搬運裝置、以 .及具備簡單構成之從動機構之直線運動裝置。該昇降進給 機構可削減驅動源（馬達等）容量，緩和與衝床之干擾，簡 化控制，並簡化從動機構之構成。 為解決上述問題，本發明之升降進給機構及具備該升 ® 降進給機構之工件搬運裝置、以及直線運動機構，係採用 下述裝置。 (1)本發明之升降進給機構，係具備：升降框架，藉由 直線運動升降機構相對於基架升降；載體，藉由直線運動 進給機構相對於該升降框架向預定進給方向作水平直線移 動；副載體，相對於該載體向上述進給方向作水平直線移 動；及從動機構，與上述載體之移動連動而使上述副載體 0 作水平移動，其中，該從動機構具備：一對旋轉體，於上 述進給方向之前後隔以間隔支撑在上述載體成旋轉自如； 及環狀索體，繞掛在該一對旋轉體，而該環狀索體之一部 分係連結固定於上述升降框架，且上述環狀索體之中，以 、與上述升降框架之連結位置作為基點，在一旦通過上述旋 轉體之位置處連結有上述副載體。 依據上述構成，因升降框架之升降與載體之水平移動 均為直線運動，故不同於多關節臂，在繞水平軸芯之旋轉 角無需大轉矩。而且，不同於連桿機構，無内力之相抵消。 7 320548 200924867 因此驅動源（馬達等）容量可較小。 又，不同於多關節臂’因4錯直方向與水平方向之正 交座標系，因此卡爪位置（副載體之位置）與各轴之位置間 之座標變換容易，控制簡單。 又，不同於作旋轉運動之連桿機構，向水平方向作直 線前進運動之載體與副載體，因所通過之空間小，與配置 在進給方向前後之干擾物間之干擾可得以緩和。 又，藉由上述從動機構，可構成载體較副載體移動2 倍距離之倍速機構。又，此從動機構為由一對旋轉體與環 狀索體所構成，無需齒桿，相較於專利資料3之從動機構， 零件數少而構成簡單’可達成輕量化。又，以從動機構之 構成構件而言，無需在升降框架設置齒桿，不一定必需加 長升降框架，因而設計之自由度高。 (2)於上述（1)之升降進給機構中，上述載體具有向上 第 1部分之長度方向相對地移動之構造 述進給方向延伸之導軌，上述升降框架係將上述導軌向上 ❹述進給方向支撑成滑動自如，.且具有較上述導軌為短之導 規構件，_上述.直線運動進給機構具有：裝設於上述載.鐘之 長尺寸第1部分、及裝設於上述升降框架且較上述第1部 分為短尺寸之第2部分、而構成為籍由驅動上述第:丨部八 及/或第2部分使上述第1部分相對於上述第2部八在該刀 依據上述構成.，在載體側設置長尺寸之導轨專 置翅尺寸 動進給機構之長尺寸第1部分，在升降框架倒， 之導規構件與直線運動進給機構之短尺寸第 線運_ 部分 因此 200924867 雖採用從動機構，亦可使導規側之升降框架之進給方向尺 寸縮知，藉由直線運動升降機構升降驅動之可動重量可滅 =，由此可減少直線運動升降機構之驅動源（馬達等）容 量再者，於專利資料3之從動機構（參照第1A圖、第1β 圖及第2圖）中’在升降框架51侧需裝設長逾桿55、62， 因此無法縮短升降框架51。. ❹ 如(3)又，本發明之升降進給機構，係具備：升降框架， 藉由直線運動升降機構相對於基架升降；第1載體，藉由 第1直線運動進給機構相對於該升降框架向預定方向作水 平直線移動；第2載體，藉由第2直線運動進給機構相對 於該第1載體向上述進給方向作水平直線移動；副載體， 相對於該第2載體向上述進給方向作水平直線運動移動； ❹ 構’與上1第2载體之移動連動而使上述副载體 7、’線移動，其中，該從動機構具有：-對旋轉體， 於上切給方向之前後隔間隔支撑在上述第2载體成旋 ，自^及環狀索體，繞掛在該―對旋轉體，而該環狀索 體之-部分係連結固定於上料】龍，且上述狀二 中，以和上述第」載體之連結位置作為基點，在一曰^ : 上述旋轉體之位置處連結有上述副載體。 >依據上述構成，如同上述（1)之升降進給機構，可減少 馬達容量’難控制，緩和與配置在進給方向前後之干擾 物之干擾，簡化從動機構之構成，可獲致輕量化。又，以 從動機構之構成構件而言，無需在第1载體設置齒桿，不 一定必要加長第1框架。因此設計之自由度高。 320548 9 200924867 又，相對於升降框架作水平移動之 第 Ο 體與第2載體所構成，因此即使配置在升降框 擾物間之_狹窄’而無法充分取得升降框架 亦可藉由第1載體與第2載體確飼麵之移動範圍。、 ⑷又’於上述⑶之升降進給機構中，上述第1載體 具有向上述進給方向延伸之導執，上述升降框架係為將上 述導執向上料給方向支撑成祕自如者，並具有較上述 導執為短尺寸之導規構件，上述第！直線運動進給機構具 有：裝設在上述第1載體之長尺寸之第i部分、及裝設在 上述升降框架且較上述第丨部分為短尺寸之第2部分，且 構成為藉由驅動上述第1部分及/或第2部分而使上述第 1部分對上述第2部分向該第1部分之長度方向相對地移 動之機構。. 依據上述構成，在第1載體侧設置長尺寸之導軌與第 1直線運動進給機構之長尺寸第1部分，在升降框架侧設 ❹置短尺寸之導規構件與第1直線運動進給機構之短尺寸第 2部分，因此可使導規侧之升降框架之進給方向尺寸縮短。 .... - 因此，由直線運動升降裝置升降驅動之可動重量可滅輕， ' ..... ...' 因而能減少直錶運動升降機構之驅動源（馬達等)容董。 - · (5)於上述（3)之升降進給機構，上述第2載體具有向 • .· - 上述進給方向延伸之導執，上述第1載體為將上述導軌向 上述進給方向支撑成滑動自如者，且具有較上述導執為短 尺寸之導規構件，上述第2直線運動進給機構具有：裝設 在上述第2載體之長尺寸之第1部分、及裝設在上述第1 10 320548 200924867 載體且較上述第丨部分為短尺寸之第2部分，且構成為藉 由驅動上述弟1部分及/或第2部分使上述第丨部分相對 於上述第2部分向該第丨部分之長度方向相對地移動之機 構。 依據上述構成，在第2載體侧裝設長尺寸之導軌與第 2哀線運動進給機構之長尺寸第i部分，在第i載體側裝 設短尺寸之導規構件與第2直線運動進給機構之短尺寸第 ❹ 2部分，因此雖採用從動機構，仍可使導執側之第i載體 之進給方向尺寸縮短。因此，可減輟藉由直線運動升降裝 置升降驅動之可動重量及藉由第i直線運動進給機構直進 驅動之可動重量’因而能減少直線運動升降機構及第q直 線運動進給機構之驅動源（馬達等）容量。 (6)又’本發明之工件搬運裝置，係具備〈在上述⑴ 至（5) t之任一俯升降進給機構，其係配置成進給方向與衝 壓生產線一致；及工件夾持機構，安裝在該升降進給機構 〇 之上述.副截體’甩以夾持工件。 依據上述工件搬運裝置，因具有上述（1)至（5)中之任 一個升降進給機構，因此可減少驅動源（馬達等）容量，緩 和與衝床之干擾’並簡化控制。：： // (Ό又，於上述（6)之工件搬運裝置中，多數上述升降 進給機構係配置在衝壓生產線左右方向，且在各個升降進 給機構之上述副載體安裝有上述工件夾持機構。 依據上述構成，藉使配置在左右之多數工 同步動作，可敎搬運重量件。 運裝置 320548 11 200924867 ' (8)又，於本發明之工件搬運裝置中，係將上述（1)至 (5)中之任一個升降進給機構配置成使上述進給方向與衝 壓生產線一致，並在衝壓生產線之左右方向具備一對，同 時具備：横臂，横架於一對上述升降進給機構之上述副載 體間；及工件夾持機構，安裝於該横臂，用以夾持工件。 依據上述工件搬運裝置，因具有上述（1)至（5)中之任 一個升降進給機構，因此可削減驅動源（馬達等）容量，緩 和與衝床之干擾，簡化控制。 D 又，在横臂安裝有工件夾持機構，因此可在最適當位 置夾持工件，而可穩定搬運工件。 (9) 於上述（8)之工件搬運裝置中，上述横臂為一種水 平棒狀構件，其係設定成具有用以安裝上述工件夾持機構 所需之長度，在上述各副載體連結有用以夾持横臂之横臂 夾持部，該横臂’夾持部係位於上述横臂之最大撓曲成為最 小之支撑點附近。 g.依據上述構成’横臂為—種水平棒狀構件’、其係設定· - 成安裝工件夾持部所需之長度，因此横臂可輕量化。又， 横臂夹持部係位於横臂之最大撓曲成為最小之支撑點附 • - 近，因此與支樓横臂之兩端或其他部位之情形比較，可減 少横臂尤撓曲。所以，不增加包含横臂與横替夾持部之整 體高度，亦可抑制撓曲。 (10) 又，本發明之直線運動裝置，係具備：第1移動 體，藉由直線運動機構相對於基體向預定方向作直線驅 動；第2移動體，藉由從動機構向相對於該第1移動體上 12 320548 200924867 驅動;及從動機構，與上述第1 動，其中， 边第2移動體向上述預定方向作直線移 方向前德隐上述從動機構具有：一對旋轉體，於上述預定 環狀fir隔裝設在上述第1移動體成旋轉自如；及 係在該'對旋㈣’而麵狀索體之一部分 之連社你返基體’上述環狀索體中，以與上述基體 有上i第9為基點，在一旦通過上述旋轉體之位置處連結 基準=十體:而上述基體為靜止於上述預定方向之 定方向作述預^向之基準體向上述預 门作直線驅動之移動體。 體盘ΐΐ:成之直線運動裝置，其從動機構為由-對旋轉 此’相較於— 〇 動機構之構纽m ^ ：：衝床之干擾，簡化控制，從 化從動機構。9早。又 之直線運動裝置，可簡 【實施方式】 ？ ' \ : 在各::汶=圖詳細說明本發明之較佳實施形態。惟 圖中共通部分則使用同一符號而省略重複說明。 生產L3r為備有本發明之板件搬運袭置之串聯連續衝壓 數體概略構成圖。此串聯衝壓生產線係具備:多 置1G、多數台衝床裝置5、及控制裝置8。 4台衝床裝置5係以將工件(被加工件，例如 320548 13 200924867 ·=薄板)依序衝*加工之方式而串聯配置於_生產 位置、及位於最下游之衝床裝置 置，均配置有工件搬運裝置1 〇 之 於第3圖所示的串聯連續衝壓生產線 置5之間、，於最上游之衝床裝置5之鄰接於二= 鄰接於下游侧之位 ο 最上游之工件搬運裝置10係將工件掭 置之衝床裝置5 ’最下游之工件搬運裝置1八至在上游位 下游位置之衝床裝置5搬出。其他在中間〇係將工件自最 10係自上游侧之衝床裴置5搬出工件，件搬運裝置 側之衝床裝置5。再者，在相鄰接之2台衡八工件至下游 亦可設停機站（idle station)，並在其前後^置5之間， 運裝置10。 咬2台工件搬 〔第1實施形態〕 〇 第4圖為本發明第1實施形態之工件椒運 視圖。第5圖為於工件搬運裝置10之載體^较置10之斜 30之構造斜視圖。 … 8輿從動機構 如第4圖與箄5圖所示，工件搬運展置1〇 给機構12與工件夾持機構44。 二二具有升降進 升降進給機構12具備：升降框架16，雜 升降機構祖對於基架14進行升降；载體θ由直線運動 動進給機構相對於升降框架.16朝預定之進终轉由直線運 之方向）作水平移動；副載體20，相對於戴^方向（箭頭八 向作水平直線移動；及從動機構30，與戴懸18朝進給方 ._ 之移動連 320548 14 200924867 動而使副載體20作水平移動。 上述基架14，於第4圖所示之構成例中，為配置成水 平且互相平行之2支Η型鋼，固定在工件搬運裝置10周圍 之適當部位（天花板等）。 升降框架16具有框架本體21與自框架本體21向上方 延伸之升降樑22。於第4圖所示構成例中，升降樑22設 有4支，分別藉由竪立於基架14之升降導規15以升降自 如方式支撑且引導。因此，升降框架16可相對於基架14 ^ 穩定且順暢地升降動作。 又，於各升降樑22形成有向上下方向延伸之齒桿部 22a，各齒桿部22a與分別對應設置之小齒輪25嚙合。又， 於基架14裝載有升降驅動馬達26，作為升降驅動升降框 架16用之驅動源，升降驅動馬達26之驅動力係經由動力 傳輸機構傳輪至上述小齒輪25”藉由小齒輪25之旋轉而 使升降樑22升降。即，升降框架16能以直線運動方式升 0 降。此升降驅動係由上述控制裝置8所控制。 再者，於第4圖所示構成例中，係由：上述升降驅動 馬達26、動力傳輸機構、小齒輪25:及齒桿部22&構成上 述直線運動升降機構 - 此直線運動升降機構並不受限於上述構成，例如皮帶 機構或鏈條機構與驅動馬達之組合；或線性馬達、液壓缸 裝置、氣壓缸裝置等亦可。 在升降框架16下部連結有載體18，如第5圖所示， 載體18為向進给方向延伸之長尺寸構件，於此構成例中， 15 320548 200924867 又在升降框架16之導軌16a支撑且引導設在載體18之 導規構件18b。因此載體18對升降框架16可向進給方向 穩定且順暢滑動。 在升降框^ 16裝載有驅動馬達23(參照第7圖），以 =使载體18向進給方向作直線驅動用之驅動源。此驅動 骑、 、|β動力係經由未圖示之動力傳輸機構傳輸至载 ο - 使載體丨8往進給方向直線驅動。此直線 上述控制裝置8所控制。 冑此直線㈣係由 輸機::=:目+關連而說明之上述驅動馬達23與動力傳 霉糸構成上述直線運動進給機構。 紛盖Hi直線運動進給機構也可為歯桿與小齒輪、皮帶 機構或鏈條機構耸命私民、杳+〜人 拘皮π m 〃 4與祕馬達之組合；或雜馬達、液厭 缸裝置、氣壓虹裝置等亦可。 -1運液壓 如第5圖所示，從動機構3〇具有 “ 在載體18夕;隹从 對疑轉體31， 0 8之進给方向前後隔以間隔支撑 鏟自上 狀索體33，繞掛左料你絲辨Q1 L 战疋轉自如；及環 、 現掛在一對旋轉體31上.，環狀索體3 衣 一部連結固定於升降框架16 ,且環狀索體33 '、在其 與升降樑22之連結位置為基點，在旋轉體3l j中’係以 位置連結有副载體20 旦通過之 • . . - . . …上述旋轉體31與環狀索體33，例如為鏈輪鱼I 或滑輪與皮帶。於第5圖之構成例，旋轉體31八”鏈條、 體18之約前端部與約後端部之位置。又，於第抝^在載 例，旋轉體31之旋轉軸芯，雖對進給方向成直圖之構成 方向-致，但只要是對進給方向垂直，則即使為 ^20548 16 200924867 平、行^水平面傾斜之方向。但是—對旋轉軸魏佳為互相 副載體2 D #、 體18向進給方向2設在載體18之導軌18a可相對於载 圖。第6圖為載體18、副載體2〇、及從動機構3。之示意 ο 中心Ϊ位St為顯示載體18之中心與上述升降框架Π之 點鏈線表示狀態者。此升降框架16之中心線以一 幻位置處連站固二哀狀索體33係設成在中心線c上之點 上之位詈且Γ疋於升降框架16，並在其相對邊之中心線 上之位置具有副載體20。 線 點：狀索體33之中，以固定點為基 :定點Μ為基％^31 ^於副載體2〇部分、與以固 ο 部分之長度以Γ 旋轉體31連結於副載體20 載r 2(V^V目同為佳。藉此構成，即使載體18移動，副 30上之對角怪常地相對於固定點al保持在從動機構 ... ' ' 其，說明副载體20.因上述從動機構3〇所導致之移動。 μ自萆6圖（A)之狀態使載體18如第6圖（B)所示地在圖 ^向右方向水平移動距離11時’則由於固定點al之位置不 ^因此固定點al與一邊（左側）之旋轉體31之距離縮短 為h’與另一邊（右側）之旋轉體31之距離加長為h，因此 ，固定點al與位於相對邊之副缝2()，與—邊之旋轉體 1之距離加長為h，與另一邊之旋轉體31之距離縮短為 320548 17 200924867 副載 h。因此副載體20之移動距離L為 體20之移動距離為載體18之移動距離之^倍!。。即 於第4圖，工件央持機構44藉著横臂心㈣ 體2〇、工件夾持機構44例如為吸附或放開^於副載 於第4圖所示構成例中，係向衝壓 真空杯， 臂42上安裝有多數個該工件夾持機構^之左右方向在橫 Ο Ο 其次，參照第7圖之示意周說明述 運裝置—於第7W，左料衝：^^之工件搬 給方向），而左侧為上_，右侧為下_。符號=: 上述之環狀索體33與升降框架16之固定點: 狀索體33與副載體20之固定點。又，為易 為裱 中之升降框架16與載體18上，符號i“分別為導於執圖 導軌16a、18a之外之部分則身有陰影線。再者，於、 係省略横臂42與工件夾持機構Μ之圖示。、弟「圖 依圖式當肩f 7圖«)之狀態向上游側之衝床置水 平移動載體18時，與載體18之移動連動地使副载體20 ^ 與載體㈣-額㈣·1δ之賴轉之2=朝 如第7剛所示，使副載體I移動至工件夾持位， 藉由直線升降機構使升降框架16下降而由工件失持構 44夹持工件。夾持工件之後，* 4 ^持機構 卜，蚀哉辨藉直線升降機構使升降框 上#’使細18向下游贱縣錄5水平移動。 疋’與:載體18之移動連動，使副載體2〇向與载體μ同 一方向移動載體18之移動距離之2倍距離。如第7圖⑹ 所不，副載體2G移動至卫件放開位置時，藉由直線運動升 320548 18 200924867 降機構使升降框架16下降，藉由工件夾持機構44放開工 件。放開工件之後，在下游側之衝床裝置5之滑件6下降 之前，向上游側移動載體18而退回中線位置。 依據本實施形態之工件搬運裝置10，升降樑22的升 降與載體18之水平移動均為直線運動，故不同於多關節 臂，繞水平軸芯之旋轉角無需大轉矩。又，不同於連桿機 構，無内力之相抵消。因此可減少驅動源（馬達等）容量。 又，不同於多關節臂，因為係鉛直方向與水平方向之 ^ 正交座標系，而卡爪位置（副載體20之位置）與各軸之位置 之間之座標變換容易，控制簡單。 又，不同於作旋轉運動之連桿機構，向水平方向作直 線運動之載體18與副載體20，其通過空間小，可缓和與 配置在進給方向前後之滑件6等干擾物之干擾。 又，上述從動機構30係由一對旋轉體31與環狀、索體 33所構成，無需齒桿，較專利資料3之從動機構，零件數 ❹少而構成簡單，可達到輕量化。又，從動機構30之構成構 . - .. . _ · 件，無需在升降框架16設齒桿，故不一定需要加長升降框 • . .... , . . .' , . . · ' 架16，因此設計自由度高。 - . · , . 再者，於第4圖之構成例為示有單一載體18之情形， 亦可在衝壓生產線左右方向對升降框架16安裝多支截體 18，在各載體18安裝副載體20，用多數副載體20支撑横 臂42 〇 又，在衝壓生產線左右配置多數升降進給機構12，在 各副載體20安裝工件夹持機構44，使多數工件搬運裝置 19 320548 200924867 « ίο同步動作亦玎。由此構成，可穩定搬運重量物。 又，使進給方向與衝廢生產線一致地裝設一對升降進 給機構12，在各副載體20間横架横臂42 ’在横臂42安裝_ 工件夾持機構44，用以構成工件搬運裝置10亦可。由此 構成，因在横臂42安裝工件夾持機構44，可在最佳位置 夾持工件，穩定搬運工件。 再者，在一對副載癥20間横架横臂42時，藉由上述 横臂42與夾持横臂42而連結副載體20之未圖示之一對横 ® 臂支持部41，f構成後述之横臂支撑裝置40(參照第13B 圖）。 . 於上述實施形態之從動機構30，係說明為工件搬運裝 置10之一構成構件’但是此從動機構亦可適用於工件搬運 裝置10以外之裝置作為直線運動裝置。 即’於一種直線運動裝置中具備：第.1移動體，藉由 直線運動機構相對於基體向預定方向作直線驅動；第2移 ❹動體’藉由從動機構30相對於第1移動體向上述預定方向 作直線驅動；及從動機構30，與第1移動體連動而使第2 :移動體向上述預定方向作直線移動其中，從動機構3〇具 有：一對旋轉體31，在第1移動體之預定方向前後隔以.間 隔設成旋轉自如；及環狀索體犯’繞掛在一對旋轉體， • - 此環狀索體33.之一部分為連結固定於基體，環狀索體33 之中，以與基體之連結位置作為基點，在一旦通過旋轉體 31之位置連結有第2移動體亦可。再者，第1移動體與第 2移動醴係分別對應於第1實施形態之载體18與副载體 320548 20 200924867 « 20，或對應於後述之第2實施形態之第2載體37與 20°即’上述基體為靜止在上述預定方向之基準體（對 第1實施形態之升降框架16)，或相對於靜止在上述預走 方向之基準體而向上述預定方向作直線驅動之移動體 應於第2實施形態之第1載體35)。 ' 第8圖為第1實施形態之另一構成例之示意圖。 於此構成例，載體18具有向進給方向^伸之導軌 〇 18C，而井降框架16具有導規構件l6b肖以將導執i8c向 進給方向支撑成滑動自如。導規構件l6b之尺寸較導軌Uc 為短。 又，於此構成例，使载體18對升降框架16作水平直 線移狀纽魏祕機構（未㈣），係时裝設在載體 18之長尺寸之第1部分、與裝設在升降框架16且較第1 部分為短尺寸之第2部分’並構成為藉由驅動第丄部分及/200924867 '6. Description of the Invention: [Technical Field] The present invention relates to a lifting and feeding mechanism having a lifting function and a feeding function, a workpiece conveying device having the lifting and feeding mechanism, and a straight line having a driven mechanism Exercise device. [Prior Art] ❹ Ο For example, since the shape of the instrument panel for automobiles is extremely complicated, the forming step needs to be divided into a plurality of stages and formed into a linear punch. In a continuous press press or a tandem press using such a plurality of punches, a workpiece formed by a punch (processed workpiece) is sequentially transported to the next punch by a workpiece handling device.敕=etc.: The material handling device is a piece that is extended to a plurality of punching stations, and the workpiece is transported by the same operation between the punching stations The handling shock is: a multi-joint arm robot designed by a general-purpose multi-joint robot. The composition of the Tianyun Cup organization. · . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . More than the workpiece attached to the carrier. Work: Yes eve. ^ 'The suction cup unit sucks 1 乂 so many but the machine is inserted and it is difficult to present the angular time function of each round, so the number of control axes is large, the degree is synchronized. The rigidity is low, and the vibration of the guard is also large. ^ It is difficult to speed up the multi-joint robot with the stamping angle. For the above reasons, the general purpose is to collect the _ arm Lai Xu 1 piece of fun equipment, at 320548 200924867 « , the joint The suction cup unit is installed at the end of the #, and the workpiece carrier is sucked by the suction cup unit (refer to the following patent data). However, it requires a large torque in the horizontal rotation angle and does not have a large capacity motor. As a result, there is a problem that the cost becomes high. Moreover, since the coordinate transformation between the position of the workpiece 詈r/seeing (the position of the claw) and the position and angle of each axis is complicated, the control t, fe ^ system is also complicated, and thus the cost is also high. The problem. In addition, the 'arm through the air R_l_ is big and difficult Determining the part of the interference with the punching machine, so that it is difficult to make the most appropriate and high-mixing of the division. The self-connecting mechanism is a safety device for the installation of the suction cup unit at the front end of the specially designed linkage mechanism, and the suction cup is used. The unit sucks the workpiece for the carrier (see, for example, the following Patent Document 2). However, for the internal force portion to be offset, the driving force is also generated, and the large capacity is required. The motor 'has also has a high cost problem. The rotating motion link has a large interference limit between the space and the punching, and there is also a problem that it is difficult to speed up. In addition, the workpiece handling device between the punching machine and the punching machine has other prior art disclosed in The following Patent Document 3: 〇 1A and m are diagrams of the workpiece handling device disclosed in Patent Document 3, FIG. 1A is a front view, and FIG. 1B is a right side view of FIG. 1A. The workpiece handling device is provided with: at least one pair of lifting beams 51' is set to - . . . . . . . . . . . . - parallel to the workpiece conveying direction and movable up and down; at least one carrier - ; .. (carrier)52, set in each of the two The beam 51 is movable along the length direction of the lifting beam 51; the sub-carrier 54 is disposed in the moving direction of the carrier 52 along the guide provided on the carrier 52; the power transmission device (slave mechanism) uses the carrier The action of moving 52 transmits the carrier driving power to the sub-carrier 54; and a cross bar 57, which is transversely arranged to the mutual phase 320548 200924867, and is provided between the pair of sub-carriers 54 The workpiece holding device of the workpiece is provided. The power transmission device includes a first rack 55 disposed along a longitudinal direction of the lifting beam 51, a first pinion 56, and a first rack 55. Engaged by the carrier 52 so as to be rotatable; the second rack 53 is disposed on the sub-carrier 54 along the longitudinal direction of the elevating beam 51; the second pinion 58 meshes with the second rack 53 and is rotatably supported by the carrier 52 And a rotational force transmitting device (rotating shaft) 59 that transmits the rotational force of the first pinion gear 56 to the second pinion gear 58. Fig. 2 is a view showing the configuration of another power transmission device (slave mechanism) of the workpiece handling device disclosed in Patent Document 3. The power transmission device is provided with a toothed rod 62 disposed along the longitudinal direction of the lifting beam 51, a pinion gear 64 meshing with the toothed rod 62, and being rotatably supported by the carrier 52; the first pulley 65 is coaxially fixed to the pinion gear 64; the second pulleys 67, 67 are rotatably supported at substantially two @ end portions in the longitudinal direction of the elevating beam 51 of the carrier 52; and the endless belt 68 is wound around the first pulley 65 and the second pulleys 67, 67, Among them, the sub-carrier 54 is coupled to the endless belt 68 between the second pulleys 67 and 67. The power transmission device (slave mechanism) of the above Patent Document 3 is required to have a long toothed rod 55, 62, and has a large number of parts and a complicated structure, so that the total weight is large. > ' , ' Further, the racks 55 and 62 are provided on the side of the support carrier 52 (on the side of the elevating beam 51), so that the elevating beam 51 becomes a long structure, and the degree of freedom in design is limited. (Patent Document 1) Japanese Laid-Open Patent Publication No. 2005-161406 (Patent Document 2) Japanese Laid-Open Patent Publication No. Hei. No. 2006-346699 No. JP-A-2003-136163 (Patent Document 3) Japanese Laid-Open Patent Publication No. 2003-136163 The inventors of the present invention have an object of providing a lifting and lowering mechanism, a workpiece conveying device including the lifting and lowering mechanism, and a linear motion device having a simple follower mechanism. The elevating feed mechanism can reduce the capacity of the drive source (motor, etc.), moderate interference with the press, simplify control, and simplify the configuration of the follower mechanism. In order to solve the above problems, the above-described lifting and lowering mechanism and the workpiece conveying device and the linear motion mechanism including the raising and lowering feeding mechanism of the present invention employ the following means. (1) The elevating and feeding mechanism of the present invention comprises: a lifting frame that is lifted and lowered relative to the base frame by a linear motion lifting mechanism; and a carrier that is horizontally moved in a predetermined feeding direction with respect to the lifting frame by the linear motion feeding mechanism a linear movement; the sub-carrier moves horizontally with respect to the carrier in the feeding direction; and the follower mechanism moves the sub-carrier 0 horizontally in conjunction with the movement of the carrier, wherein the slave mechanism has: The rotating body is rotatably supported by the carrier at intervals after the feeding direction; and the annular cable body is wound around the pair of rotating bodies, and one of the annular cable bodies is fixedly connected to the above In the lift frame, the sub-carrier is connected to the position of the rotating body by the connection position with the lifting frame as a base point. According to the above configuration, since the lifting of the lifting frame and the horizontal movement of the carrier are linear motions, unlike the multi-joint arm, no large torque is required at the rotation angle around the horizontal axis. Moreover, unlike the linkage mechanism, no internal force is offset. 7 320548 200924867 Therefore, the drive source (motor, etc.) can be small in capacity. Further, unlike the multi-joint arm' because of the orthogonal coordinate system in the four-right direction and the horizontal direction, the coordinate conversion between the position of the claw (the position of the sub-carrier) and the position of each axis is easy, and the control is simple. Further, unlike the link mechanism for the rotary motion, the carrier and the sub-carrier which perform the linear forward motion in the horizontal direction can be alleviated by the interference between the interference objects disposed before and after the feed direction due to the small space that is passed. Further, the above-described follower mechanism can constitute a double speed mechanism in which the carrier moves by a distance of 2 times from the subcarrier. Further, the follower mechanism is composed of a pair of rotating bodies and a ring-shaped cable body, and does not require a rack. Compared with the follower mechanism of Patent Document 3, the number of parts is small and the configuration is simple. Further, in the constituent members of the follower mechanism, it is not necessary to provide the rack bar in the elevating frame, and it is not always necessary to lengthen the elevating frame, so that the degree of freedom in design is high. (2) The elevating feed mechanism according to (1), wherein the carrier has a guide rail extending in a direction in which the longitudinal direction of the first portion is relatively moved, and the elevating frame is configured to feed the guide rail upward. The directional support is slidable, and has a guide member that is shorter than the guide rail. The linear motion feed mechanism has a long dimension first portion mounted on the carrier clock and is mounted on the lift frame. And the first part is a second part having a short size, and is configured to drive the first part 八8 and/or the second part to make the first part relative to the second part 八 according to the above configuration. The long dimension of the long-sized guide rail-sized moving feed mechanism is provided on the carrier side, and the first part of the long-sized moving feed mechanism is inverted, and the guide member and the linear motion feed mechanism are short-sized. 200924867 Although the follower mechanism is adopted, the feeding direction of the lifting frame on the guide side can be shortened, and the movable weight of the lifting and lowering driving by the linear motion lifting mechanism can be extinguished, thereby reducing the linear motion lifting mechanism. In addition to the source (motor, etc.) capacity, in the follower mechanism of Patent Document 3 (see Fig. 1A, Fig. 1 and Fig. 2), it is necessary to install the long rods 55 and 62 on the side of the lifting frame 51. The lifting frame 51 cannot be shortened. (3) The lifting and lowering mechanism of the present invention further comprises: a lifting frame that is raised and lowered with respect to the base frame by a linear motion lifting mechanism; and the first carrier is moved by the first linear motion feeding mechanism The lifting frame moves horizontally in a predetermined direction; the second carrier is horizontally moved linearly with respect to the first carrier by the second linear motion feeding mechanism; and the subcarrier is oriented to the second carrier The feed direction is moved by a horizontal linear motion; the structure is moved in conjunction with the movement of the first carrier 2 to move the sub-carrier 7, 'line, wherein the slave mechanism has: - a pair of rotating bodies, on the upper cut Supporting the second carrier in the direction of the back interval, the ring and the ring body are wound around the pair of rotating bodies, and the portion of the ring body is connected and fixed to the material. Further, in the second aspect, the sub-carrier is connected to the position of the rotating body at a position where the connection position with the first carrier is used as a base point. > According to the above configuration, as in the above-described (1) elevating feed mechanism, the motor capacity can be reduced to be difficult to control, the interference with the interference object disposed before and after the feed direction can be alleviated, and the configuration of the follower mechanism can be simplified, and the weight reduction can be achieved. . Further, in the constituent members of the driven mechanism, it is not necessary to provide the rack in the first carrier, and it is not necessary to lengthen the first frame. Therefore, the degree of freedom of design is high. 320548 9 200924867 In addition, since the first body and the second carrier are horizontally moved with respect to the lifting frame, even if the lifting frame is not narrowed between the lifting frame and the lifting frame, the first carrier and the first carrier can be used. The second carrier determines the range of movement of the feeding surface. (4) In the above-described (3) elevating and feeding mechanism, the first carrier has a guide extending in the feeding direction, and the elevating frame is configured to support the direction of the guide and to support the direction, and has The guide member that is shorter than the above guide, the above! The linear motion feed mechanism includes: an i-th portion mounted on a long dimension of the first carrier; and a second portion mounted on the lift frame and having a shorter dimension than the second turn portion, and configured to drive the In the first portion and/or the second portion, the first portion moves the second portion relatively to the longitudinal direction of the first portion. According to the above configuration, the long guide rail and the first long linear motion feed mechanism are provided on the first carrier side, and the short guide member and the first linear motion feed are provided on the lift frame side. The second part of the short size of the mechanism can shorten the feed direction of the lifting frame on the guide side. .... - Therefore, the movable weight that is lifted and driven by the linear motion lifting device can be lightened, and ........ can reduce the driving source (motor, etc.) of the straight-moving lifting mechanism. (5) The elevating feed mechanism according to (3) above, wherein the second carrier has a guide extending in the feeding direction, and the first carrier supports the rail in the feeding direction a guide member having a shorter size than the guide, the second linear motion feed mechanism having a first portion mounted on a long dimension of the second carrier and mounted on the first 10 320548 200924867 The carrier is a second portion having a shorter dimension than the third portion, and is configured to drive the third portion to the third portion relative to the second portion by driving the first portion and/or the second portion A mechanism that moves relative to the length direction. According to the above configuration, the long guide rail and the long i-th portion of the second whirling motion feed mechanism are mounted on the second carrier side, and the short guide member and the second linear motion are mounted on the i-carrier side. The second dimension of the short dimension of the mechanism is such that, although the follower mechanism is employed, the feed direction dimension of the i-th carrier on the guide side can be shortened. Therefore, the movable weight of the lifting and lowering driving by the linear motion lifting device and the movable weight of the direct driving by the i-th linear motion feeding mechanism can be reduced, thereby reducing the driving force of the linear motion lifting mechanism and the q-th linear motion feeding mechanism (motor, etc.) capacity. (6) The workpiece conveying device according to the present invention is characterized in that: in any one of (1) to (5) t, the pitching and feeding mechanism is configured such that the feeding direction is coincident with the pressing line; and the workpiece holding mechanism is The above-mentioned sub-segment '甩 is mounted on the lifting and lowering mechanism 甩 to clamp the workpiece. According to the above-described workpiece conveying device, since the lifting and lowering mechanism of any one of the above (1) to (5) is provided, the capacity of the driving source (motor or the like) can be reduced, the interference with the punching machine can be alleviated, and the control can be simplified. :: (In addition, in the workpiece handling device of the above (6), most of the above-described lifting and feeding mechanisms are disposed in the left-right direction of the press line, and the above-described sub-carriers of the respective elevating feed mechanisms are mounted with the above-mentioned workpiece holding According to the above configuration, the weights can be transported by a plurality of workers arranged in the right and left. The transport device 320548 11 200924867 ' (8) Further, in the workpiece transport device of the present invention, the above (1) is (5) any one of the elevating feed mechanisms is configured such that the feed direction is identical to the press line, and has a pair in the left and right direction of the press line, and has a cross arm that is transversely mounted on the pair of elevating feed mechanisms And the workpiece holding mechanism is attached to the cross arm for holding the workpiece. According to the workpiece conveying device, since the lifting and feeding mechanism of any one of the above (1) to (5) is provided, The capacity of the drive source (motor, etc.) can be reduced, the interference with the punch can be alleviated, and the control can be simplified. D Further, since the workpiece holding mechanism is attached to the cross arm, the workpiece can be held at the most appropriate position. (9) The workpiece conveying device according to (8) above, wherein the cross arm is a horizontal rod member which is set to have a length required for mounting the workpiece holding mechanism, and each of the pair The carrier is coupled to grip the cross arm clamping portion of the cross arm, and the cross arm 'clamping portion is located near the support point where the maximum deflection of the cross arm is the smallest. g. According to the above configuration, the cross arm is a level The rod-shaped member's system is set to - the length required to mount the workpiece holding portion, so that the cross arm can be lightened. Further, the cross arm holding portion is located at the support point where the maximum deflection of the cross arm is the smallest. - In the near case, the cross arm can be reduced in comparison with the other ends of the cross arm of the branch building, and the deflection of the cross arm can be reduced. Therefore, the entire height including the cross arm and the cross clamping portion can be increased, and the deflection can be suppressed. (10) Further, the linear motion device of the present invention includes: a first moving body that is linearly driven in a predetermined direction with respect to the base by a linear motion mechanism; and a second moving body that is opposed to the second moving body by the follower mechanism 1 moving body on 12 320548 20092486 And a driving mechanism, wherein the second moving body is linearly moved toward the predetermined direction, and the driven mechanism has a pair of rotating bodies at the predetermined annular fri The first moving body is rotatably mounted; and the part of the planar cable body is in the 'spinning (four)' and the base body is returned to the base body, and the base body has the first 9 is a base point, and a reference body is connected to the position of the rotating body, and the base body is a moving body that linearly drives the reference body in a predetermined direction in a predetermined direction. Body disk ΐΐ: The linear motion device, the follower mechanism is the interference of the rotation of the 'comparison' with the turbulence mechanism of the turbulence mechanism, simplified control, and the slave mechanism. 9 early. Further, the linear motion device can be simplified. [Embodiment] ' \ : In each::: Figure 2 illustrates in detail a preferred embodiment of the invention. However, the same reference numerals are used in the common parts of the drawings, and the repeated description is omitted. The production of L3r is a schematic configuration diagram of a series continuous press number in which the sheet handling of the present invention is carried out. This tandem press line includes a multi-unit 1G, a plurality of punching machines 5, and a control unit 8. The four punching machines 5 are arranged in series at the _ production position and the punching device located at the most downstream, in order to sequentially process the workpiece (the workpiece, for example, 320548 13 200924867 ·=thin plate), and are equipped with workpieces. The conveying device 1 is disposed between the series continuous press line 5 shown in Fig. 3, and the workpiece handling device 10 adjacent to the most upstream punching device 5 is adjacent to the downstream side. The punching device 5 of the workpiece set is placed at the most downstream workpiece transporting device 1 to the punching device 5 at the downstream position of the upstream position. In the middle, the workpiece is carried out from the punching device 5 of the upstream side from the most 10 series, and the punching device 5 on the conveying device side. Furthermore, an idle station can be set up between two adjacent eight-eighth workpieces to the downstream, and the device 10 is transported between the front and rear. The second workpiece is moved. [First Embodiment] Fig. 4 is a view showing the workpiece in the first embodiment of the present invention. Fig. 5 is a perspective view showing the structure of the carrier 10 of the workpiece handling device 10 which is inclined 30. 8舆 Follower mechanism As shown in Figs. 4 and 5, the workpiece handling is carried out 1 to the mechanism 12 and the workpiece holding mechanism 44. The second and second lifting and lowering feeding mechanism 12 is provided with: a lifting frame 16 for lifting and lowering the base frame 14; the carrier θ is moved by the linear motion moving feeding mechanism relative to the lifting frame. The direction of the straight line is horizontally moved; the sub-carrier 20 is horizontally moved with respect to the wearing direction (the arrow eight directions are horizontally moved; and the driven mechanism 30 is moved with the suspension 18 toward the feed side. _ 320580 14 200924867 In the configuration example shown in Fig. 4, the base frame 14 is a two-section steel which is arranged horizontally and parallel to each other and is fixed to an appropriate portion around the workpiece conveying device 10 (ceiling). The lifting frame 16 has a frame body 21 and a lifting beam 22 extending upward from the frame body 21. In the configuration example shown in Fig. 4, the lifting beam 22 is provided with four arms, respectively, by standing on the base frame 14 The lifting guide 15 is supported and guided in a freely movable manner. Therefore, the lifting frame 16 can be stably and smoothly moved up and down with respect to the base frame 14. Further, the lifting beam 22 is formed with the rack portion 22a extending in the up-down direction. , each tooth The portion 22a is meshed with the correspondingly provided pinion gears 25. Further, the base frame 14 is loaded with the lift drive motor 26 as a drive source for the lift drive lifting frame 16, and the driving force of the lift drive motor 26 is transmitted via the power transmission mechanism. The lifting gear 22 is raised and lowered by the rotation of the pinion 25 to the pinion 25". That is, the lifting frame 16 can be raised and lowered in a linear motion. The lifting drive is controlled by the control device 8. In the configuration example shown in Fig. 4, the lift drive motor 26, the power transmission mechanism, the pinion 25, and the rack portion 22 & constitute the linear motion lifting mechanism - the linear motion lifting mechanism is not limited to the above The configuration may be, for example, a combination of a belt mechanism or a chain mechanism and a drive motor; or a linear motor, a hydraulic cylinder device, a pneumatic cylinder device, etc. A carrier 18 is coupled to a lower portion of the lifting frame 16, as shown in Fig. 5, the carrier 18 is oriented The long dimension member extending in the feed direction, in this configuration example, 15 320548 200924867 is further supported on the guide rail 16a of the lifting frame 16 and guided on the guide member 18b of the carrier 18. The carrier 18 can stably and smoothly slide the lifting frame 16 in the feeding direction. The driving motor 23 is mounted on the lifting frame 16 (refer to Fig. 7), and the carrier 18 is driven for linear driving in the feeding direction. The drive, the ride, and the beta power are transmitted to the load via a power transmission mechanism (not shown). - The carrier 丨 8 is linearly driven in the feed direction. This line is controlled by the control device 8. The straight line (4) is The above-mentioned drive motor 23 and the power transmission mold are described above to constitute the linear motion feed mechanism. The Hi linear motion feed mechanism can also be a mast and a pinion, a belt mechanism or a chain. The organization is arrogant, private, 杳+~ people are π m 〃 4 and the combination of the secret motor; or miscellaneous motor, liquid tank device, pneumatic rainbow device, etc. -1 transport hydraulic pressure as shown in Fig. 5, the follower mechanism 3〇 has "on the carrier 18; 隹 from the feed direction of the suspected swivel 31, 0 8 is spaced apart from the upper cable body 33 at intervals, Wrap the left material, you can tell the Q1 L, and the ring is now hung on a pair of rotating bodies 31. The ring body 3 is attached to the lifting frame 16 and the ring body 33' The position of the connection with the lifting beam 22 is a base point, and the rotating body 31 is connected to the sub-carrier 20 at a position. The rotating body 31 and the annular cable body 33 are For example, it is a sprocket I or a pulley and a belt. In the configuration example of Fig. 5, the rotating body 31 is a chain of "eight", the front end portion of the body 18 and the rear end portion. Further, in the case of the first example, the rotating shaft core of the rotating body 31 has a straight line in the direction of the feed direction, but as long as it is perpendicular to the feeding direction, even if it is ^20548 16 200924867, Line ^ The direction in which the water level is tilted. However, the guide rail 18a provided on the carrier 18 with respect to the rotation axis Wei Jia is the mutual subcarrier 2 D #, and the body 18 is oriented in the feed direction 2 with respect to the carrier. Figure 6 shows the carrier 18, the secondary carrier 2〇, and the follower mechanism 3. The indication ο is the center of the display carrier 18 and the point chain line of the above-mentioned lifting frame 表示 indicates the state. The center line of the lifting frame 16 is connected at a point of phantom position to the point on the center line c and is located at the center of the center line c and is at the center of the opposite side. The position on the line has a sub-carrier 20. Line point: Among the cable body 33, the fixed point is based on: the fixed point Μ is based on the base member 2〇, and the length of the fixed portion is connected to the sub-carrier 20 by the 旋转 rotating body 31. 2 (V^V is the same as the goal. By this configuration, even if the carrier 18 moves, the diagonal horn on the sub- 30 is constantly held in the follower mechanism with respect to the fixed point a1'', which explains the sub-carrier 20 The movement caused by the above-mentioned driven mechanism 3〇. The state of the self-萆6 diagram (A) causes the carrier 18 to move horizontally by a distance 11 in the right direction as shown in Fig. 6(B). The position of the fixed point a1 is not so that the distance between the fixed point a1 and the one side (left side) of the rotating body 31 is shortened to h' and the distance of the other side (right side) of the rotating body 31 is lengthened to h, and therefore, the fixed point a1 is located opposite to The side slit 2 (), the distance from the side rotating body 1 is lengthened by h, and the distance from the other side rotating body 31 is shortened to 320548 17 200924867 sub-load h. Therefore, the moving distance L of the sub-carrier 20 is the body 20 The moving distance is twice the moving distance of the carrier 18. That is, in the fourth figure, the workpiece holding mechanism 44 is held by the cross arm (four) body 2 工件, workpiece clamping The mechanism 44 is, for example, adsorbed or released in the configuration example shown in Fig. 4, and is attached to the vacuum cup, and a plurality of the workpiece holding mechanisms are mounted on the arm 42 in the left-right direction. Referring to the schematic week of Fig. 7, the description of the transport device - at 7W, the left feed: the workpiece is moved to the direction), while the left side is the upper _ and the right side is the lower _. Symbol =: The fixed point of the above-mentioned annular cable body 33 and the lifting frame 16: a fixed point of the cable body 33 and the sub-carrier 20. Moreover, in the case of the elevating frame 16 and the carrier 18 which are easy to be in the middle, the symbols i" are respectively hatched outside the guide rails 16a, 18a. Further, the cross arm 42 is omitted. The workpiece holding mechanism Μ is shown in the figure. When the state of the image is shifted to the upstream side of the punching machine, the sub-carrier 20 ^ is moved in conjunction with the movement of the carrier 18 2 with the carrier (four)-front (four)·1δ, as shown in the seventh, the sub-carrier I is moved to the workpiece clamping position, and the lifting frame 16 is lowered by the linear lifting mechanism to be lost by the workpiece. After clamping the workpiece, after clamping the workpiece, the 4* holding mechanism, the eclipse is determined by the linear lifting mechanism, so that the lifting frame ## makes the fine 18 move to the lower level of the county to move 5 horizontally. 疋' and: the movement of the carrier 18 , the subcarrier 2 is moved by twice the distance of the movement of the carrier 18 in the same direction as the carrier μ. As shown in Fig. 7 (6), when the subcarrier 2G moves to the guard release position, the linear motion rises 320548. 18 200924867 The lowering mechanism lowers the lifting frame 16 and releases the workpiece by the workpiece clamping mechanism 44. Release the workpiece Before the slider 6 of the downstream punching device 5 descends, the carrier 18 is moved to the upstream side and returned to the center line position. According to the workpiece transporting device 10 of the present embodiment, the lifting and lowering of the lifting beam 22 and the horizontal movement of the carrier 18 are both The linear motion is different from the multi-joint arm, and the rotation angle around the horizontal axis core does not require a large torque. Moreover, unlike the link mechanism, no internal force is canceled, thereby reducing the capacity of the drive source (motor, etc.). In the multi-joint arm, because of the orthogonal coordinate system in the vertical direction and the horizontal direction, the coordinate change between the position of the claw (the position of the sub-carrier 20) and the position of each axis is easy, and the control is simple. The link mechanism of the rotary motion, the carrier 18 and the sub-carrier 20 which move linearly in the horizontal direction, have a small passage space, and can alleviate interference with interferences such as the slider 6 disposed before and after the feed direction. The mechanism 30 is composed of a pair of rotating bodies 31 and a ring-shaped and cable body 33, and does not require a rack. Compared with the driven mechanism of Patent Document 3, the number of parts is small and the configuration is simple, and the weight can be reduced. The structure of the structure 30. - .. . _ · The piece does not need to be provided with the racking rod in the lifting frame 16, so it is not necessary to lengthen the lifting frame. . . . , . . . . , . . . Further, the degree of freedom of design is high. Further, in the case where the configuration example of Fig. 4 is a single carrier 18, a plurality of segments 18 may be attached to the lifting frame 16 in the left-right direction of the press line, in each carrier. 18, the sub-carrier 20 is mounted, the cross arm 42 is supported by a plurality of sub-carriers 20, and a plurality of elevating feed mechanisms 12 are disposed on the left and right sides of the press line, and the workpiece holding mechanism 44 is attached to each sub-carrier 20 to make a plurality of workpiece carrying devices 19 320548 200924867 « ίο Synchronized action is also awkward. According to this configuration, the weight can be stably carried. Further, a pair of elevating feed mechanisms 12 are provided in the feed direction in line with the scrapping line, and a cross arm 42' is disposed between the sub-carriers 20 at the cross arm 42 to form a workpiece holding mechanism 44 for forming a workpiece. The conveying device 10 is also possible. According to this configuration, since the workpiece holding mechanism 44 is attached to the cross arm 42, the workpiece can be held at an optimum position, and the workpiece can be stably conveyed. Further, when a pair of sub-loads 20 cross-arms 42 are crossed, the cross arm 42 and the grip arm 42 are coupled to the pair of cross-arm support portions 41, f (not shown). The cross arm supporting device 40 which will be described later is formed (refer to FIG. 13B). The follower mechanism 30 of the above embodiment is described as a component of the workpiece transporting device 10, but this follower mechanism can also be applied to a device other than the workpiece transporting device 10 as a linear motion device. That is, in a linear motion device, the first moving body is linearly driven in a predetermined direction with respect to the base by the linear motion mechanism, and the second moving body is moved relative to the first moving body by the driven mechanism 30. The driven mechanism 30 linearly moves the second movable body in the predetermined direction in conjunction with the first movable body, and the driven mechanism 3 includes a pair of rotating bodies 31. The predetermined direction of the first moving body is rotatably spaced apart from each other by an interval; and the ring-shaped cable body is wound around a pair of rotating bodies, and - one part of the annular cable body 33 is connected and fixed to the base body, and the ring Among the cable bodies 33, a second moving body may be connected to the position where the rotating body 31 is connected by using a position to be connected to the base. Further, the first mobile body and the second mobile phone system correspond to the carrier 18 and the sub-carrier 320548 20 200924867 « 20 of the first embodiment, respectively, or the second carriers 37 and 20 corresponding to the second embodiment to be described later. That is, the base body is a reference body that is stationary in the predetermined direction (for the elevating frame 16 of the first embodiment), or a moving body that is linearly driven in the predetermined direction with respect to the reference body that is stationary in the pre-escape direction. The first carrier 35) of the second embodiment. Fig. 8 is a schematic view showing another configuration example of the first embodiment. In this configuration, the carrier 18 has a guide rail 〇 18C extending in the feeding direction, and the down frame 16 has a guide member 16b to support the guide i8c in the feeding direction so as to be slidable. The guide member member 16b is shorter in size than the guide rail Uc. Moreover, in this configuration example, the carrier 18 is horizontally moved to the lifting frame 16 (No (4)), and the fashion is provided in the first part of the long dimension of the carrier 18, and is mounted on the lifting frame. 16 and the first part of the short part is 'the second part' and is constructed by driving the third part and/or
或第2部分，使第1部分對第2部分向第2部分之長度方 ❹ 向相對移動之機構。 ^ /V # ^ i ^^ ^ ^# ^ # # # ^ ^ ^ 構:滚珠螺桿機構、線性馬達等。在齒桿與小齒輪機構之 情料’長尺寸之齒桿屬上述之第」部分，短尺寸之小齒 輪屬上述第2部分。在滚珠螺桿機構之情形中，長尺寸之 螺旋(螺桿）屬上述第1部分，短尺寸之螺帽屬上述第2部 分。在線性馬達之情形中，串聯狀排列有推動線圈者（線性 軌道）屬上述第1 4分’短尺寸之永久磁鐵或電磁鐵屬上述 第2部分。惟上述驅動係指機械式或磁性式驅動。 320548 21 200924867 依據上述構成，在載體18側裝設長尺寸之導軌18c與 直線運動進給機構之長尺寸第1部分，在升降框架16側設 置短尺寸之導規構件16b與直線運動進給機構之短尺寸第 2部分，因此雖採用從動機構30，亦可將導規側升降框架 16之進給方向尺寸縮短，故可縮小藉由直線運動升降機構 升降驅動之可動重量，由此可減少直線運動升降機構之驅 動源（馬達等）容量。再者，於專利資料3之從動機構（參照 第1A圖、第1B圖、第2圖）中，因需在升降樑51側裝設 〇 長尺寸齒桿55、62，因此無法縮短升降樑51。 〔第2實施形態〕 第9圖為本發明第2實施形態之工件搬運裝置10之斜 視圖。第10圖為第9圖之工件搬運裝置10之示意圖。 如第9圖與第10圖所示，本實施形態之工件搬運裝置 • 10係具有升降進給機構12與工件夾持機構44。升降進給 機構12具備：升降框架16，藉由直線運動升降機構相對 © 於基架14進行升降;第1載體35，藉由第1直線運動進 給機構相對於升降框架16向進給方向作水平移動；第2載 體37，藉由第2直線運動進給機構相對於第1載體35向 . . · . ； . · 進給方向作水平直線移動；副載體20，藉由從動機構30 相對於第2載體37向進給方向作水平移動；及從動機構 30，與第2載體37連動而使副載體20:作水平移動。 基架14、升降框架16及直線運動升降機構，其構成 均與上述第1實施形態相同。 在升降框架16下部連結有第1載體35。於此構成例， 22 320548 200924867 在升降框架16下部在衝壓生產線之左右方向設有一對長 尺寸之導軌伽，而設在第1 _ 35之-對短尺寸之^ 構件·由導軌16a所支撑及引導。因此，第i载體犯對 升降框架16可向進給方向穩定且順暢滑動。 在第1雜351财料縣狀帛丨驅動馬達 23A ’可使第1載體35向進給方㈣直線驅動，此第i驅 動馬達23A之驅動力透過未圖示之動力傳輸機構，傳輸至 〇第1載體35’使第1載體35向進給方向作直線驅動。此 直線驅動係由上述控制襄置8所控制。再者，第i驅動馬 達23A亦可裝載於升降框架16。 在第1載體35下部連結有第2載體37。如第9圖所 示，於此構誠巾，第2賴37係在_生錄之左右方 向隔以間隔平行地設有一對，在第丨載體35下部沿各第2 載體3 7之兩侧延伸之一對.長尺寸導軌35a係設在衝壓生產 線左右方向’在第2載體37所設之一對導規構件37b(參 ❹照第10圖）由導軌35a所支撑並引導^因此第2載體37可 相對於第1載體35在進給方向穩定且順暢滑動。 • · 又，第1载體35裝載第2驅動馬達23B，為使第2載 體37向進給方向作直線驅動之驅動源，此第2驅動馬達 23B之驅動力乃遴過未圖示之傳輸機構傳輸至第2裁體 37 ’使第2載體37向進給方向作直線驅動。此直線驅動係 由上述控制裝置8所控制。. 如第9圖所示，工件夾持機構44經由横臂42安裝於 田II載體20。於第9圖之構成例中，横臂42係横架於一對 23 320548 200924867 副載體20，並在衝壓生產線之左右方 數工件夾持機構44。再者，藉 ^對横臂42安裝多 42且連結在副载體2Q之来圖與支持横臂 成後=横臂支撑裝置刪參㈣13ΒζΥ。支持部41，構 10圖所示，於從動機構3〇 分係_定點al連結固定於第丨載體3;狀索體33之-部 30之其他構成如同第1實施形態。 Ο 態，可減少馬達容量，如同弟1實施形 向前後之滑件6 ，可緩和與配置在進給方 等干擾物之干擾，並能簡化從動機構30之 構成。 ^依據本實施形態之工件搬運裝置10，相對於升降 〃、作水平移動之載體18係由第1載體35與第2載體 所成因此即使在與配置在升降框架16前後之干擾物 ]1隔狹窄(非干擾區域），而升降框架16無法取得充分 ®長度之情形下，亦可由第1載體35與第2載體37確保副 載體20之移動範圍。 ....·· · 再者’亦可在衝壓生產線之左右方向配置多數上述工 件搬運裝置10，使多數工件搬運裝置10同步動作。由此 .· . - 構成可穩定搬達重量物。、 又’使進給方向與衝壓生產線一致而裝設一對升降進 給機構12,在各副載體20間横架横臂42 ,在横臂42安裝 工件夹持機構44，構成工件搬運裝置1〇亦可。由此構成， 因在横臂42安裝工件夹持機構44，故可在最適當位置夾 24 320548 200924867 持工件，同時能由一對升降進給機構12增大可搬運之重量 而穩定搬運重量物。 第11圖為第2實施形態之另一構成例之示意圖。 於第11圖所示構成例中，第1載體35具有向進給方 向延伸之導軌35c，升降框架16具有導規構件16b將導軌 35c向進給方向支撑成滑動自如。導規構件16b較導執35c 為短尺寸。 又，於此構成例中’使弟1載體35相對於升降框架 16作水平直線移動之第1直線運動機構（未圖示），具有襄 設在第1載體35之長尺寸之第1部分、與裝設在升降框架 16之較第1部分為短尺寸之第2部分，並構成為藉由第1 部分及/或第2部部分之驅動，使第1部分對第2部分向第 1部分之長度方向相對移動之機構。如此第_ 1直線運動進 給機構之具體例，如同於上述第1實施形態之另一構成例 之直線W動進給機構，而省略其說明。 依據上述構成’在第1载體35侧裝設長尺寸之導軌 35c與第1直線運動進給機構之長尺寸第1部分，在升降： 框架16侧裝設短尺寸之導規構件16b與第1直線運動進給 機構之短尺寸第2部分，由此可縮短導蜣侧之升降樞架16 之進給方向尺寸。因此’可減少由直線運動升降機構升降· 驅動之可動重量，而可減少直線運動升降機構之驅動源（馬 達等）容量。 第12圖，為第2貫施形態之再另一構成例之示意圖。 於第12圖所示構成例，第2載體37具有向進給方向 320548 25 200924867 延伸之導執37c，第1载體 支撑成滑動自如之導規^ 、將導軌37c向進給方向 為短尺寸。導規構件咖。導規構件35d較導軌37〇 n㈣㈣37相對 作水平直線移動之第2#、ϋ 、第1載體35 裝設在第2载體37之長t 給機構（未圖示），具有 體35之較第！部分从=1部分、與裝财第1载 |刀两姐尺寸之第2部分，廿 ο 1部分及/或第2部部分之驅動，使第;;由第 部分之長度方向相對移動之機構。二 =構之具體例，如同於上述第」 ::： 例之直線運動進給機構，而省略其說明。 另構成 37 Γί上述構成，在第2載體37側裝設長尺寸之導軌 第2直線運動進給機構之長尺寸第2部分，1 f 35側裝設短尺寸之導規構件腕與 線 ❹ ，短尺寸第2部分，因此雖採用從動』 ^規侧之第1载體35之進給方向尺寸。因此，可減少由 备動進給機制直m可動重量，而可減少 开降機構及第1直線運動進給機構之驅動源(馬 ^*·1 . . _ 〔横臂支撑裝置之實施:形態〕 第13A®及第13B圖為上述工件搬運裝置1〇中护 ，裝置40之第i構成例之圖’第…圖為習知/第 13β圖為本發明。 320548 26 200924867 > 圖中，横臂42具有在軸方向大致相同之分荷重 與幫曲剛柄：，# e At 桜摩支持邛41，係以支撑點A、Β為中心以 可此發生細肖之方式單純地支撑横臂42之2點支撑。 严臂所謂支撑成可能發生撓㈣，係為將長尺寸之 ^位詈材料力學中所稱之樑理論之f曲樑時，以在支 ο 之狀能。^㈣會被㈣為粒單純域條件予以支撐 =意謂單純支撑，係在材料力學中之弯曲樑之單純 横臂支撐裝置4〇係由：横臂42， 構“並與搬運路線成直角方向延伸.;===機 41，將横臂42在繞横臂軸之旋轉方 料臂支持部 連結於副载體20，所構成。 f成可傾斜狀，並 於此例之横臂42,為設定成要安 所需之長度L之水平棒狀構件。 、件夾持機構44 又，於第13B圖，横臂支持部41 # ❹ 大撓曲成為最小之支撑點。 ;恭位於横臂42之最 於以下之說明，設横臂42之全長為 數（m〇dulus oi direct elasticity)為^^ 横臂42自重之等分布荷重為q。: 4面二次矩為I， 第13A圖之習知例為横臂42:之兩“ 支撑之兩端支撐樑之情形： 由松臂支持部41 此時，根據材料力學之樑理論，横臂 = 在距A點之距離χ為丄/2之位置，可由 之最大撓曲為 [數式1] 工1之（1)表示之。 320548 27 200924867 • · ·⑴ 5qL4 α> ,=— χ=ΐ72 384ΕΙ 另一方面，於第13Β圖之本發明，横臂支持部41係位 於距横臂42之兩端於預定距離a。 此時，由材料力學之樑理論，横臂42之最大撓曲為在 距A點之距離X為〇或L/2之位置，可由數式2之（2)及（3) 表示之。 [數式2] Ο _ qa4 24EI qa4Or the second part, the mechanism that moves the first part to the relative length of the second part to the second part. ^ /V # ^ i ^^ ^ ^# ^ # # # ^ ^ ^ Structure: Ball screw mechanism, linear motor, etc. In the case of the rack and pinion mechanism, the 'long-sized rack is the first part', the short-sized pinion is the second part. In the case of the ball screw mechanism, the long-sized spiral (screw) belongs to the first portion described above, and the short-sized nut belongs to the second portion. In the case of a linear motor, a permanent magnet or an electromagnet in which the push coil (linear track) is in the above-mentioned first quarter minute short size is in the above-mentioned second portion. However, the above drive means mechanical or magnetic drive. 320548 21 200924867 According to the above configuration, the long guide rail 18c and the long-length first portion of the linear motion feed mechanism are mounted on the carrier 18 side, and the short guide member 16b and the linear motion feed mechanism are provided on the lift frame 16 side. Since the second portion of the short dimension is used, the driven mechanism 30 can be used to shorten the feeding direction of the guide side lifting frame 16, so that the movable weight that is driven by the linear motion lifting mechanism can be reduced, thereby reducing the movable weight. The capacity of the drive source (motor, etc.) of the linear motion lifting mechanism. Further, in the follower mechanism of Patent Document 3 (see FIG. 1A, FIG. 1B, and FIG. 2), since the long-length toothed rods 55 and 62 are required to be attached to the side of the lifting beam 51, the lifting beam cannot be shortened. 51. [Second Embodiment] Fig. 9 is a perspective view showing a workpiece conveying device 10 according to a second embodiment of the present invention. Figure 10 is a schematic view of the workpiece handling device 10 of Figure 9. As shown in Figs. 9 and 10, the workpiece transfer device 10 of the present embodiment has a lift feed mechanism 12 and a workpiece chucking mechanism 44. The lifting and lowering mechanism 12 includes a lifting frame 16 that is lifted and lowered relative to the base frame 14 by a linear motion lifting mechanism. The first carrier 35 is moved in the feeding direction by the first linear motion feeding mechanism with respect to the lifting frame 16. Moving horizontally; the second carrier 37 is horizontally linearly moved by the second linear motion feeding mechanism with respect to the first carrier 35; the secondary carrier 20 is relatively opposed by the driven mechanism 30 The second carrier 37 is horizontally moved in the feeding direction; and the follower mechanism 30 is interlocked with the second carrier 37 to move the sub-carrier 20 horizontally. The base frame 14, the lifting frame 16, and the linear motion lifting mechanism are the same as those of the first embodiment. The first carrier 35 is coupled to the lower portion of the lifting frame 16. In this configuration example, 22 320548 200924867 is provided with a pair of long-sized guide rails in the left and right directions of the press line in the lower portion of the lift frame 16, and is provided by the guide member 16a in the first to third pairs of short-sized members. guide. Therefore, the i-th carrier can stably and smoothly slide the lifting frame 16 toward the feeding direction. In the first hybrid 351, the county-shaped driving motor 23A' can linearly drive the first carrier 35 to the feeding side (four), and the driving force of the ith driving motor 23A is transmitted to the 〇 through the power transmission mechanism (not shown). The first carrier 35' linearly drives the first carrier 35 in the feeding direction. This linear drive is controlled by the above-described control unit 8. Further, the i-th drive motor 23A may be mounted on the elevating frame 16. The second carrier 37 is connected to the lower portion of the first carrier 35. As shown in Fig. 9, the second sacred 37 is provided in parallel with each other at intervals in the left-right direction of the _sheng, and is located on the lower side of the second carrier 37 at the lower portion of the second carrier 35. One of the extensions. The long guide rail 35a is provided in the left-right direction of the press line "One of the guide members 37b provided in the second carrier 37 (refer to Fig. 10) is supported by the guide rail 35a and is guided. The carrier 37 can be stably and smoothly slid in the feeding direction with respect to the first carrier 35. In addition, the first carrier 35 is mounted with the second drive motor 23B, and the driving force for driving the second carrier 37 in the feed direction is linearly driven. The driving force of the second drive motor 23B is transmitted via a transmission (not shown). The mechanism transmits to the second cutting body 37' to linearly drive the second carrier 37 in the feeding direction. This linear drive is controlled by the above-described control unit 8. As shown in Fig. 9, the workpiece holding mechanism 44 is attached to the field II carrier 20 via the cross arm 42. In the configuration example of Fig. 9, the cross arm 42 is transversely mounted on a pair of 23 320548 200924867 sub-carriers 20, and the workpiece holding mechanism 44 is counted on the left and right sides of the press line. Furthermore, by attaching a plurality of 42 to the cross arm 42 and connecting it to the sub-carrier 2Q and supporting the cross arm, the cross arm supporting device is deleted (four) 13 ΒζΥ. The support portion 41, as shown in Fig. 10, is fixed to the second carrier 3 at the follower mechanism a 〇 _ a fixed point a link; the other configuration of the portion 30 of the cable body 33 is as in the first embodiment. In the 态 state, the motor capacity can be reduced, and the slider 1 is formed in the front and rear direction of the body 1 to alleviate interference with interferences such as those placed on the feeder side, and the configuration of the follower mechanism 30 can be simplified. According to the workpiece transfer device 10 of the present embodiment, the carrier 18 that is horizontally moved with respect to the lift raft is formed by the first carrier 35 and the second carrier, so that even if it interferes with the interference object 1 disposed before and after the lift frame 16 In the case of a narrow (non-interference area) and the lifting frame 16 cannot obtain a sufficient length of the length, the first carrier 35 and the second carrier 37 can ensure the range of movement of the sub-carrier 20. In addition, a plurality of the workpiece conveying devices 10 may be disposed in the right and left direction of the press line, and a plurality of the workpiece conveying devices 10 may be operated in synchronization. Therefore, the composition can stably carry the weight. Further, a pair of elevating feed mechanisms 12 are disposed in line with the press line, a cross arm 42 is traversed between the sub-carriers 20, and a workpiece holding mechanism 44 is attached to the cross arm 42 to constitute a workpiece transport device 1. Oh, too. With this configuration, since the workpiece holding mechanism 44 is attached to the cross arm 42, the workpiece can be held at the most appropriate position 24 320548 200924867, and the weight that can be carried can be increased by the pair of lifting and feeding mechanisms 12 to stably carry the weight. . Fig. 11 is a schematic view showing another configuration example of the second embodiment. In the configuration example shown in Fig. 11, the first carrier 35 has a guide rail 35c extending in the feed direction, and the lift frame 16 has a guide member 16b for slidably supporting the guide rail 35c in the feed direction. The guide member 16b is shorter than the guide 35c. In the configuration example, the first linear motion mechanism (not shown) that moves the carrier 1 carrier 35 horizontally with respect to the lifting frame 16 has a first portion that is disposed on the long dimension of the first carrier 35, And a second portion that is shorter than the first portion of the lifting frame 16 and configured to drive the first portion to the second portion to the first portion by driving the first portion and/or the second portion. A mechanism that moves relative to the length direction. The specific example of the linear motion feed mechanism of the first embodiment is the same as the linear motion feed mechanism of the other configuration example of the first embodiment, and the description thereof is omitted. According to the above configuration, the long guide rail 35c and the first linear motion feed mechanism are mounted on the first carrier 35 side, and the short guide member 16b and the first frame are attached to the frame 16 side. 1 The second portion of the short dimension of the linear motion feed mechanism, whereby the feed direction dimension of the lift pivot 16 on the guide side can be shortened. Therefore, the movable weight that is lifted and driven by the linear motion lifting mechanism can be reduced, and the capacity of the driving source (Mada, etc.) of the linear motion lifting mechanism can be reduced. Fig. 12 is a schematic view showing still another configuration example of the second embodiment. In the configuration example shown in Fig. 12, the second carrier 37 has a guide 37c extending in the feeding direction 320548 25 200924867, the first carrier is supported as a guide rail that can slide freely, and the guide rail 37c is fed in a short direction. . Guide member widget. The second guide member 35d is horizontally moved relative to the guide rails 37〇n(4)(4)37, and the second carrier 35 is mounted on the second carrier 37 by a length t to a mechanism (not shown), and has a body 35. ! Partially from the =1 part, with the first part of the loading, the second part of the size of the two sisters, the 廿ο 1 part and/or the second part of the drive, so that; the mechanism that moves relative to the length of the first part . The specific example of the second configuration is the same as the linear motion feeding mechanism of the above-mentioned ":::", and the description thereof is omitted. Further, in the above configuration, the long guide second portion of the second linear motion feed mechanism of the long guide rail is mounted on the second carrier 37 side, and the short guide member wrist and the loop are mounted on the 1 f 35 side. Since the second part of the short size is used, the feed direction dimension of the first carrier 35 on the slave side is used. Therefore, the movable weight of the moving feed mechanism can be reduced, and the driving source of the opening and lowering mechanism and the first linear motion feed mechanism can be reduced (Ma ^*·1 . . _ [Implementation of the cross arm support device: form 13A® and 13B are diagrams of the above-described ith configuration example of the apparatus 40, and the first embodiment of the apparatus 40 is a conventional/13th diagram of the present invention. 320548 26 200924867 > The cross arm 42 has a sub-load and a bending shank that are substantially the same in the axial direction. The # e At 邛 邛 , 41 supports the traverse arm with the support point A and Β as the center. The support of the 2nd point of 42. The so-called support of the sturdy arm may be scratched (4), which is the shape of the long-sized 詈 詈 詈 詈 詈 詈 詈 詈 詈 詈 詈 詈 詈 詈 詈 詈 詈 詈 ^ ^ ^ ^ ^ ^ ^ Supported by (4) for the particle-only domain condition = meaning simple support, the simple cross-arm support device of the curved beam in the material mechanics is: the cross arm 42, which is "and extends at right angles to the transport path. === machine 41, the cross arm 42 is coupled to the sub-carrier 20 at a rotating arm support portion around the arm axis. f is inclined, and the cross arm 42 of this example is a horizontal rod-shaped member set to a length L required for safety. The piece clamping mechanism 44, in Fig. 13B, the cross arm support portion 41 # ❹ Large deflection becomes the minimum support point. The following is the most detailed description of the cross arm 42. The total length of the cross arm 42 is m〇dulus oi direct elasticity is ^^ The distribution of the weight of the cross arm 42 The load is q.: The fourth moment of the 4 faces is I, and the conventional example of Fig. 13A is the cross arm 42: the two cases of the support beam at both ends of the support: by the loose arm support portion 41, at this time, according to the material mechanics Beam theory, cross arm = position χ 丄/2 at a distance from point A, which can be expressed by the maximum deflection [1] in the equation 1 (1). 320548 27 200924867 • · · (1) 5qL4 α> ,=— χ=ΐ72 384ΕΙ On the other hand, in the invention of Fig. 13, the cross arm support portion 41 is located at a predetermined distance a from both ends of the cross arm 42. At this time, the beam theory by the material mechanics, the cross arm The maximum deflection of 42 is the position where the distance X from the point A is 〇 or L/2, which can be expressed by the formula 2 (2) and (3). [Expression 2] Ο _ qa4 24EI q A4
X=L/2 384EI {3+6 (^--2) -(--2)3 } a a Φ--2)2 { 5 (i--2)2 -24 } a a ⑵ ⑶ 於第13B圖，式（2)及（3)之最大撓曲相等時，横臂42 之最大撓曲成為最小。 ❹ 因此，自式（2)及（3)，於橫臂支持部41位於自兩端至 橫臂42全長L之〇. 22倍至〇.23倍之間（正確為〇 2231 時’由材料力學之襟 42之自重所導致之最大撓曲為最小。 ϋ 圖為第13A圖與第13B圖之最大撓曲之比較圖 於弟14圖，縱袖為认/w，横轴為a/^ 撓曲，a之早純支撑時之樑端部或中央部之最大 =為，單純支撑時之樑中央部之最大撓2 支擇位置，L為樑長产，營 a4 樑中央部之終&心又，為於位置，之單純支撐時之 〜、在端部單純支撑時之樑中央部之 32〇548 28 200924867 比，虚線為於位置a之單絀± 部單純支撐時之梯中'，支撐時之樑端部之撓曲與於端 在㈣„央部的最大撓曲之比。 為1/5以下之位置支撐。、=大撓曲（式（1))之比成成 將成為如下。時’由上述曲線，支撑位置a 0.15^ 0. 29 ❹ ~横#支持°M1右在自兩端至横臂42全長L之〇. 15 倍至〇. 29倍之間(兩箭頭之範圍），則横臂42之最大撓曲 能使其成為習知之兩端支撐時之1/5以下。 於式⑶則（L/a_1)=2.泌，a/a—1)2= 6.477,因此式⑴之撓曲： <⑵之撓曲為5: 〇·224χ6 477 χ(5χ6. 477-24) 5 . 0. 127 ’由此可知本發明之横臂犯之最 .大撓曲為習知之兩端支撑時之约1/4〇。 因此可大幅減少因横臂42自重所導致之最大撓曲，在 〇干擾條件之限制範圍内，可使横臂42比過去大型化，由此; 可提高横臂42之剛性並抑制振動。 於第13Α ®及第13Β圖之例，財慮横臂42 .因自重所 導致之等分淖荷重q ’但是即使在乒件夾持機構44均匀配 置在横臂42棘上方向時等，將横臂42之自、重與工件夾持 機構44之禕重所合併之荷重視為大致相同分布荷重在軸 Μ #，一適用本發明。 第15 ®為横臂支撑裝置40之第2構成例，有別於因 横臂42之自 導致之等分布荷重’而考慮工件失持機構 320548 29 200924867 44之荷重之例。 此荷重在支撑點之中央點為ρί、在兩端為p2時，依 材料力學之樑理論，横臂42之最大撓曲為在距A點之距離 X為0或L/2之位置，將如數式3之式（4)及（5)所表示。 再者，第13B圖之分布荷重也考慮時，可將此式加算 於式（2)及（3)表示之。 [數式3] ω χ=0 = Ρ2 a3 Pi a3 3EI 16EI (—-2)2 a • ••⑷ %^/2 Pla3 L 3 48EX a -誓（1_2)2 8EI 、a • ••⑸ 於式（4)及（5)，可知第1項與第2項之符號不同。因 此设疋横臂支持部41之位置a為最適當時，可使工件夾持 機構44安裝在横臂42之狀態下之横臂42之最大撓曲為最 小。 : 又’為減低因位於横臂支持部41間之工件夾持機構 44之荷重？1所導致之横臂.42之撓曲，在支撑點外側附加 猗重P2 ’籍此則在第13B圖之情形下，寸減低或相抵消因 工件失持機構44所導致之影響。 ,又’為減低因位於横臂支持部41外之工件夾持機構 44之荷重p2所導致之横臂42之撓曲，在支撑點之間附加 蒋重P1 ’藉此同樣在第13B圖之情形下，可減低或相抵消 因工件夾持機構44所導致之影響。 再者’荷重之位置並不受限於此例’於任意位置，可 30 320548 200924867 依材料力學之樑理論，求得同樣之關係式。 第16A圖為横臂支撑裝置40之第3構成例。 此例係假設横f 42在横臂支持部41之中間與其外側 具有不同剖面形狀與不同彎曲剛性之情形。 於第13A圖及第13B圖之例，僅考慮因横臂42之自重 所導致之等分布荷重q’但是在實際使用時會有工件夾持 機構44之荷重之作用。第16A圖係顯示此荷重位在横臂支 • · 持部41間之中央點P1，且横臂支持部41外側之剖面形狀 ® 有大幅追加之等分布荷重q之情形。此時，依材料力學之 樑理論，横臂42之最大撓曲為在距a點之距離1為〇或 L/2之位置，依數式4之式（6)及（7)所表示。 再者，於亦考慮第13B圖之分布荷重時，將此式加算 在式（2)及（3)表示之。 ❹ [數式4] =Qaaf x==0X=L/2 384EI {3+6 (^--2) -(--2)3 } aa Φ--2)2 { 5 (i--2)2 -24 } aa (2) (3) Figure 13B When the maximum deflections of equations (2) and (3) are equal, the maximum deflection of the cross arm 42 is minimized. ❹ Therefore, from the equations (2) and (3), the cross arm support portion 41 is located between the two ends to the full length L of the cross arm 42. 22 times to 〇.23 times (when correctly 〇 2231) The maximum deflection caused by the self-weight of the 襟42 is the smallest. ϋ The figure is the comparison of the maximum deflection of the 13A and 13B diagrams. Figure 14 shows the vertical sleeve is recognized as /w, and the horizontal axis is a/^ Flexure, the maximum of the beam end or the central part of the early pure support of a is = the maximum deflection of the central part of the beam during simple support, L is the length of the beam, and the end of the central part of the a4 beam ; heart, for the position, the simple support of ~, at the end of the simple support of the beam at the center of the 32 〇 548 28 200924867 ratio, the dotted line is in the position of the single 绌 ± simple support in the ladder ', the deflection of the end of the beam at the time of support and the ratio of the maximum deflection at the end of the (four) „. The position is supported at a position below 1/5. The ratio of the large deflection (formula (1)) is It will become as follows. When the above curve, the support position a 0.15^ 0. 29 ❹ ~ horizontal # support °M1 right from the two ends to the full length of the cross arm 42 L. 15 times to 〇. 29 times between (two Range of arrows The maximum deflection of the cross arm 42 is such that it is less than 1/5 of the conventional support of both ends. In the equation (3), (L/a_1) = 2. secretion, a/a-1) 2 = 6.477, therefore The deflection of the formula (1): <(2) The deflection is 5: 〇·224χ6 477 χ(5χ6. 477-24) 5 . 0. 127 ' It is thus known that the cross arm of the present invention is the most violent It is known that the two ends are supported by about 1/4 inch. Therefore, the maximum deflection caused by the weight of the cross arm 42 can be greatly reduced, and the cross arm 42 can be made larger than in the past within the limitation of the interference condition. The rigidity of the cross arm 42 can be increased and the vibration can be suppressed. In the example of the 13th and 13th drawings, the cross arm 42 is equally divided by the dead weight q' but evenly arranged in the table clamp mechanism 44 When the cross arm 42 is in the ratchet direction, the load of the cross arm 42 and the weight of the workpiece holding mechanism 44 are combined to focus on the same distribution load on the axis #1, which is applicable to the present invention. The second configuration example of the cross arm support device 40 is different from the load of the workpiece drop mechanism 320548 29 200924867 44 due to the self-induced distributed load of the cross arm 42. The load is ρί at the center point of the support point and p2 at both ends. According to the beam theory of material mechanics, the maximum deflection of the cross arm 42 is at a distance X from the point A, X is 0 or L/2. It is expressed by equations (4) and (5) of Equation 3. In addition, when the distribution load of Fig. 13B is also considered, this equation can be added to equations (2) and (3). [Expression 3] ω χ=0 = Ρ2 a3 Pi a3 3EI 16EI (—-2) 2 a • ••(4) %^/2 Pla3 L 3 48EX a - oath (1_2) 2 8EI , a • ••(5) in equation (4) (5) It can be seen that the symbols of the first item and the second item are different. Therefore, when the position a of the cross arm supporting portion 41 is set to be optimum, the maximum deflection of the cross arm 42 in the state in which the workpiece holding mechanism 44 is attached to the cross arm 42 can be minimized. : Also, to reduce the load due to the workpiece holding mechanism 44 located between the cross arm support portions 41? The deflection of the cross arm .42 caused by 1 adds a weight P2 to the outside of the support point. Thus, in the case of Fig. 13B, the inch is reduced or offset by the effect of the workpiece holding mechanism 44. In order to reduce the deflection of the cross arm 42 caused by the load p2 of the workpiece holding mechanism 44 located outside the cross arm support portion 41, the weight P1 is added between the support points, thereby also being in the 13B chart. In this case, the effect caused by the workpiece holding mechanism 44 can be reduced or offset. Furthermore, the position of the load is not limited to this example. At any position, 30 320548 200924867 can be used to obtain the same relationship according to the beam theory of material mechanics. Fig. 16A is a third configuration example of the cross arm supporting device 40. In this example, it is assumed that the lateral direction f 42 has a different sectional shape and a different bending rigidity in the middle of the lateral arm supporting portion 41 and the outer side thereof. In the examples of Figs. 13A and 13B, only the distributed load q' due to the self-weight of the cross arm 42 is considered, but the load of the workpiece holding mechanism 44 is exerted in actual use. Fig. 16A shows a case where the load position is at the center point P1 between the cross arm support portions 41 and the cross-sectional shape of the outer side of the cross arm support portion ® has a substantially added equal distributed load q. At this time, according to the beam theory of material mechanics, the maximum deflection of the cross arm 42 is at a position where the distance 1 from the point a is 〇 or L/2, expressed by equations (6) and (7) of Equation 4. Furthermore, when the distribution load of Fig. 13B is also considered, this equation is added to the equations (2) and (3). ❹ [Expression 4] = Qaaf x==0
8EI8EI
Pi a3ΙϋΓ ⑹ x=L/2Pi a3ΙϋΓ (6) x=L/2
Pi a3l8EfPi a3l8Ef
16EI ••⑺ 以Ϊί(6)及⑺，可知第1項與第2項之符號不同< 為減^位於支撑點間之工件失持機構44之荷重打戶 成42之撓曲’可藉由附加外侧之等分布荷重 可減低或抵消在第^ 叩仃蕙q 成之影響。 圖之情形下因工件夾持機構44片 替代外侧之等分布荷重q2 ’亦可另設工件失去 320548 31 200924867 構44來減低横臂犯之撓曲。 再，杯 態樣（第4何重之位置並不受限於此例，例如第16Β圖之 樣之關係式構成例）時，依材料力學之樑理論，亦可求得同 發生^t臂Α持部41構成為以支撑點為中心而不會 々方式來固定支撑横臂42亦可。 it匕 9 冷上田 ο 横臂42視為^支撑 =會發生挽曲角，為指將長尺寸之 位置處挽曲^ 所稱之彎曲樑時，以在支撑 所謂固定支t制為零之固定支撑條件予以支撐之狀態。 由m，為在材料力學巾料樑之蚊支撑之意。 固定摔，更可將横臂支持部41之支撑點之間視為兩端 之限:二:減低横臂42之最大繞曲，可在干擾條件 性，抑制振動横臂42大型化’並能提高横臂42之剛: φ 以支=工S所示广實施形態中，横臂支持部41係 二撑時，亦同様可依材料力學之樑理論求得能使横臂 之最大撓曲為最小之支撑位置。^ 同第17: ®為gj定支撑時之最大撓曲之比較圖口. 圖’縱轴“/W，横軸為a/L。 : 於第竹 ^又，ω為於位置a固定支撑時之樑端部或中央部之最 :’ U在端·定支撐時之樑中央部之最大撓曲，& ^擇位置，1為樑長度’實線為在位置a固定支撑時之 樑令央部之撓曲、與於端部固定支撑時之襟中央部之捷曲 320548 32 200924867 之比，虚線為於位置a固定 端部固定支料之樑巾央部 時之樑端部之撓曲、與於 .,.^ 、口〈錢曲之比。 挽曲，數式5^式時之中央部之 曲，數式5之式⑽為在位置3固^支撑時之樑端部之撓 撓曲。 a固疋支撐時之樑中央部之 [數式5] ω = x=L/2 qL4 384ΕΙ • ·.⑻ ω Λ = χ=0 q 8EI ...(9) ω = X=L/2 —5— (L-2a)4 384EI ； • _ _(1〇) 〇 ❹ 使在位置a固定支撑時之儿立 在端部蚊支科之樑巾撓曲U(9)及⑽）、罗 為」/^下之位置支撑。此:攻大撓曲（式⑻）之比能启 將成為如下。寺，由上述曲線’支撑位置： 0. 17^a^〇. 25 即’此時横臂支持部^ + 全長^心^^^^横物之兩端之其 臂42之最大撓㈣習知之41 兩^巧）時’可使損 依據如上構成之㈣^1/5以下。 為安裝工件夾持機構44所需善^ 轶臂42係設定成 臂42可輕量化。 長度之水平棒狀構件，因此横 320548 33 200924867 又，横臂支持部41係 最小之支撑點附近，較之切在横^ 42之最大撓曲能成為 時，能減少横臂42之撓曲。…2之兩端或其他處 因此可適用於上述 損 臂42與横臂支持部4 裝置，無需增加包 尤其是，横臂42具有==’而能抑制燒曲。 弯曲剛性，横臂支持部41固定支向擇大致同^分布荷旬16EI ••(7) With Ϊί(6) and (7), it can be seen that the symbols of the first item and the second item are different < to reduce the load of the workpiece-loss mechanism 44 located between the support points. The equal distribution load from the outer side can be reduced or offset by the influence of the ^^q. In the case of the figure, the workpiece clamping mechanism 44 can replace the outer equal-distributed load q2 ′ and the workpiece can be lost 320548 31 200924867 to reduce the deflection of the cross arm. Furthermore, the cup pattern (the position of the fourth weight is not limited to this example, for example, the relationship configuration example of the 16th drawing), according to the beam theory of material mechanics, the same occurrence of the ^t arm can also be obtained. The grip portion 41 may be configured to fix the support arm 42 without being squatted around the support point. It匕9 cold upper field ο cross arm 42 is regarded as ^ support = will occur the bending angle, refers to the position of the long dimension at the position of the bending of the so-called bending beam, in order to support the so-called fixed branch t to zero fixed The state in which support conditions are supported. From m, is the meaning of mosquito support in the material mechanics. Fixedly, the support point of the cross arm support portion 41 can be regarded as the limit of both ends: two: reduce the maximum winding of the cross arm 42, can interfere with the condition, suppress the vibration of the cross arm 42 large and can Increasing the width of the cross arm 42: φ In the embodiment shown by the branch = the work S, when the cross arm support portion 41 is two-folded, the maximum deflection of the cross arm can be obtained by the beam theory of the material mechanics. The smallest support position. ^ Same as the comparison of the maximum deflection when the 17th:g is the support of gj. The vertical axis is /W, and the horizontal axis is a/L. : In the second bamboo, ω is fixed at position a. The end of the beam or the center of the beam: 'U at the end of the beam, the maximum deflection in the center of the beam, & ^ select the position, 1 is the beam length 'solid line is the beam when the position a fixed support The deflection of the central part and the extension of the central part of the fixed part of the support at the end of the fixed section 320548 32 200924867, the dotted line is the end of the beam end when the fixed end of the beam is fixed at the fixed end of the beam The ratio of the song, to the ., .^, and the mouth of the money. The curve of the central part of the formula 5^, the formula of the formula 5 (10) is the end of the beam at the position 3 Flexing a. The central part of the beam at the time of solid support [Equation 5] ω = x=L/2 qL4 384ΕΙ • ·.(8) ω Λ = χ=0 q 8EI ...(9) ω = X= L/2 —5—(L-2a)4 384EI ; • _ _(1〇) 〇❹ When the position a is fixed, the child stands in the end of the mosquito branch deflection U(9) and (10) ), Luo is "/^ under the position support. This: The ratio of the attack and the deflection (Eq. (8)) will become as follows. Temple, by the above curve 'support position: 0. 17^a^〇. 25 ie' at this time the cross arm support ^ + full length ^ heart ^ ^ ^ ^ the maximum deflection of the arms 42 at both ends of the cross (four) conventional 41 When two (complex), the damage can be based on the above (four) ^ 1/5 or less. In order to mount the workpiece holding mechanism 44, the arm 42 is set so that the arm 42 can be lightweight. The horizontal rod-shaped member of the length is thus horizontally 320548 33 200924867. Further, the cross arm supporting portion 41 is the vicinity of the smallest supporting point, and the deflection of the cross arm 42 can be reduced as compared with the maximum bending energy of the cutting edge 42. Both ends of the ... 2 or other places can be applied to the above-described means for the damage arm 42 and the cross arm support portion 4, and it is not necessary to add a bag. In particular, the cross arm 42 has ==' and can suppress burnout. Bending rigidity, the cross arm support portion 41 is fixed to the same direction
G r〇 42"叙在‘2之全二會s 42自重所致之最大繞:。；' 力學之襟理論’可減低因横j 因此在干擾條件之限制範圍内 π 能提高财42之聰、且抑健動。横#42，J 再者，於上述横臂支#裝置4Q」 助使嶋__為最小= =上就本發明之實施形態作說明，但是上述揭示之本 發^實&形fe僅屬例明（範目並* *該等發明 之只施#態所限制。本發明之範圍，係如申請專利範圍所 不，更包含與申請專利範圍之記載具均等意義及範圍內之 所有變更。 . . . , -. . 【圖式簡單說明】 第1A圖係表示習知技術之正面圖。/ 第1B圖係表示習知技術之侧面圖。 第2圖係表示另一習知技術之圖。 34 320548 200924867 第3圖係備有本發明之工件搬運裝置之串聯連續衝壓 線之整體概略構成圖。 第4圖係本發明第1實施形態之工件搬運裝置之斜視 圖。 第5圖係本發明第1實施形態之工件搬運裝置之載體 及從動機構之構造斜視圖。 第6圖（A)及（B)係藉由從動機構移動副載體之說明 圖。 ® 第7圖（A)至（C)係說明本發明第1實施形態之工件搬 運裝置之動作之示意圖。 第8圖係本發明第1實施形態之工件搬運裝置之另一 構成例之示意圖。 第9圖係本發明第2實施形態之工件搬運裝置之斜視 圓。 . ，^ ^ ， 第10圖係本發明第2實施形態之工件搬運裝置之示意 ❿屬。 . 第11圖係本發明第2實施形態之工件搬運裝置之另一 構成例示意圖。 第12圖係本發明第2實施形態之工件搬運裝置之再一 、， ... .... 構成例之示意圖。 .... ' -第13A圖係習知之横臂支撑裝置之示意圖。 第13B圖係於本發明之工件搬運裝置之横臂支撑裝置 之第1構成例示意圖。 第14圖係第13A圖與第13B圖之最大撓曲之比較圖。 35 320548 200924867 第15圖係於本發明之工件搬運裝置之横臂支撑裝置 之第2構成例示意圖。 第16A圖係於本發明之工件搬運裝置之横臂支撑裝置 之第3構成例示意圖。 第16B圖係於本發明之工件搬運裝置之横臂支撑裝置 之第4構成例示意圖。 第17圖係固定支撑之情況下之最大撓曲比較圖。 【主要元件符號說明】 5 衝床裝置 6 滑件 8 控制裝置 10 工件搬運裝置 12 升降進給機構 14 基架 15 升降導規 16 升降框架 16a 導軌 16b、 18b導規構件 18 載體. 18a、 18c導軌 20 副載體 21 框架本體 22 升降樑 22a 齒桿部. 23 驅動馬達 23A 第1驅動馬達 23B 第2驅動馬達： 25 小齒輪 26 升降驅動馬達 30 從動機構 31 旋轉體 33 '環狀索體、 35 第1載體 35a、 35c、37c 導軌 35b、35d、37b導規構件 37 第2載體 40 橫臂支撐裝置 41 横臂支持部 42 橫臂 44 工作夾持機構 36 320548 200924867 51 升降樑 55、62 齒桿 A、Β 支撐點 al 基點 C 中心線 Ο ❹ 37 320548G r〇 42 " in the ‘2 of the second two s 42 s 42 caused by the maximum weight: ; 'The theory of mechanics' can reduce the cause of cross-j, so within the limits of interference conditions, π can improve the intelligence of the 42 and the health.横#42,J Furthermore, the embodiment of the present invention is described in the above-mentioned cross arm branch device 4Q" to help 嶋__ be the minimum ==, but the above-mentioned disclosed hair & It is to be understood that the scope of the invention is limited by the scope of the invention, and the scope of the invention is to be construed as being limited by the scope of the claims. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1A is a front view showing a conventional technique. Fig. 1B is a side view showing a conventional technique. Fig. 2 is a view showing another conventional technique. 34 320548 200924867 Fig. 3 is a schematic view showing the overall configuration of a tandem continuous press line of a workpiece transport device according to the present invention. Fig. 4 is a perspective view showing a workpiece transport device according to a first embodiment of the present invention. Fig. 6(A) and (B) are explanatory views showing the structure of the carrier and the follower mechanism of the workpiece transfer device according to the first embodiment of the invention. Fig. 6(A) and (B) are explanatory views of the subcarrier being moved by the follower mechanism. (C) is a description of the operation of the workpiece transport device according to the first embodiment of the present invention. Fig. 8 is a schematic view showing another configuration example of the workpiece conveying device according to the first embodiment of the present invention. Fig. 9 is a perspective circle of the workpiece conveying device according to the second embodiment of the present invention. . , ^ ^ , Fig. 10 Fig. 11 is a schematic view showing another configuration example of the workpiece conveying device according to the second embodiment of the present invention. Fig. 12 is a view showing a workpiece according to a second embodiment of the present invention. A schematic diagram of a configuration example of the conveying device. .... - Figure 13A is a schematic view of a conventional cross arm supporting device. Fig. 13B is a view of the workpiece handling device of the present invention. A schematic view of a first configuration example of the cross arm supporting device. Fig. 14 is a comparison view of the maximum deflection of Figs. 13A and 13B. 35 320548 200924867 Fig. 15 is a cross arm supporting device of the workpiece handling device of the present invention. Fig. 16A is a view showing a third configuration example of the cross arm supporting device of the workpiece conveying device of the present invention. Fig. 16B is a fourth configuration example of the cross arm supporting device of the workpiece conveying device of the present invention. Schematic. The maximum deflection comparison diagram in the case of fixed support. [Main component symbol description] 5 Punch device 6 Slider 8 Control device 10 Workpiece handling device 12 Lifting feed mechanism 14 Base frame 15 Lifting guide 16 Lifting frame 16a Guide rail 16b 18b guide member 18 carrier. 18a, 18c guide rail 20 sub-carrier 21 frame body 22 lifting beam 22a toothed portion. 23 drive motor 23A first drive motor 23B second drive motor: 25 pinion 26 lift drive motor 30 slave Mechanism 31 Rotating body 33 'annular cable body, 35 First carrier 35a, 35c, 37c Guide rail 35b, 35d, 37b Guide member 37 Second carrier 40 Cross arm support device 41 Cross arm support portion 42 Cross arm 44 Working clamping Mechanism 36 320548 200924867 51 Lifting beams 55, 62 Rod A, 支撑 Support point a Base point C Center line Ο 37 320548