US20030034226A1 - Transporting apparatus - Google Patents

Transporting apparatus Download PDF

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Publication number
US20030034226A1
US20030034226A1 US10/185,204 US18520402A US2003034226A1 US 20030034226 A1 US20030034226 A1 US 20030034226A1 US 18520402 A US18520402 A US 18520402A US 2003034226 A1 US2003034226 A1 US 2003034226A1
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US
United States
Prior art keywords
transporting
linear
work table
work
transportation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US10/185,204
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English (en)
Inventor
Heizaburo Kato
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sankyo Manufacturing Co Ltd
Original Assignee
Sankyo Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2001236919A external-priority patent/JP4769387B2/ja
Priority claimed from JP2001236918A external-priority patent/JP2003048617A/ja
Priority claimed from JP2001236917A external-priority patent/JP5010786B2/ja
Application filed by Sankyo Manufacturing Co Ltd filed Critical Sankyo Manufacturing Co Ltd
Assigned to SANKYO MANUFACTURING CO., LTD. reassignment SANKYO MANUFACTURING CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KATO, HEIZABURO
Publication of US20030034226A1 publication Critical patent/US20030034226A1/en
Priority to US11/116,121 priority Critical patent/US7066318B2/en
Abandoned legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/04—Control devices, e.g. for safety, warning or fault-correcting detecting slip between driving element and load-carrier, e.g. for interrupting the drive
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
    • H01L21/67706—Mechanical details, e.g. roller, belt
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
    • B23Q7/1426—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices
    • B23Q7/1463—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices using rotary driving means
    • B23Q7/1473—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices using rotary driving means comprising screw conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
    • B65G35/063—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path the traction element being a rotating bar or tube
    • B65G35/066—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path the traction element being a rotating bar or tube the bar or the tube being provided with a helical or annular channel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0267—Pallets

Definitions

  • the present invention relates to a transporting apparatus including a plurality of mutually independent work tables mounting and holding works moving across individual work stations and intermittently moving respective tables depending upon work timing.
  • FIGS. 27 and 28 transporting apparatus 2 , 2 a employing indexing devices 1 converting constant input rotation into intermittent rotation.
  • a main sprocket 4 is rigidly secured on an output shaft 3 of the indexing device 1 employing a cam.
  • a chain 5 is wrapped around the main sprocket 4 and a sub sprocket 4 a arranged with a given distance to the main sprocket.
  • a plurality of tables 6 are provided with a predetermined pitch.
  • the main sprocket 4 and the sub sprocket 4 a are rotatable about horizontal shafts.
  • the tables 6 are arranged horizontally between both sprockets 4 and 4 a.
  • the transporting apparatus 2 a of FIG. 28 has similar construction to the foregoing transporting apparatus 2 .
  • main sprocket and sub sprocket are rotated about vertical shafts, and tables 6 are arranged vertically.
  • operation timing in stopping and moving the tables 6 is determined uniformly by intermittent rotation as converted by the indexing device 1 since the tables are fixedly mounted on the chain moving following to output rotation of the indexing device 1 . Accordingly, all of tables 6 are driven in uniform timing and uniform motion magnitude with no freedom in determining timing for each individual table.
  • the present invention has been worked out in view of the shortcoming in the prior art set forth above. Therefore, it is an object of the present invention to provide a transporting apparatus which permits to intermittent indexing with freely and independently setting stop position of work tables and stopping period adapting to each individual work station for improving space efficiency and work efficiency and conjunction therewith for improving motion accuracy and/or positioning accuracy of each work table, to easily construct compact transporting paths in various manner with large freedom with arranging large number of work stations in alignment.
  • Another object of the present invention is to provide a transporting apparatus which can significantly improve motion accuracy and positioning accuracy of each work table and permits arranging possible large number of work stations in alignment.
  • a further object of the present invention is to provide a transporting apparatus which can transfer work together with the work table holding the former between a former step and a next step which can use common work table to achieve superior motion accuracy and positioning accuracy to make it difficult to increase error due to secular change by wearing or so forth, and to easily construct compact transporting paths in various manners with large freedom.
  • a transporting apparatus sequentially transporting a work table across a plurality of work stations, comprises:
  • the cylindrical cam having a stopping zone formed corresponding to each position of the work station and having no axial displacement relating to cam rotation angle and a transporting zone formed corresponding to a position between the work station and having an axial displacement relative to cam rotation angle.
  • the linear transporting path may be constructed with a support base integrally formed with an apparatus housing and slidably mounting the work table and a guide member provided on the support base in linear shape, and the work table may be provided with a slider engaging with the guide member and permitting linear movement of the work table with restricting pivotal motion thereof.
  • a transporting apparatus sequentially transporting a work table across a plurality of work stations, comprising:
  • a linear transporting mechanism including
  • a linear transporting path linearly extending across the plurality of work stations and having guide means for linearly transporting the work table
  • transfer means provided between the cylindrical cams and engaging with engaging means provided in the work table for transferring the work table reaching a transportation termination end of one cylindrical cam arranged upstream side in transporting direction to a transportation starting end of the other cylindrical cam arranged downstream side in transporting direction;
  • synchronous actuation device provided between both cylindrical cams for synchronously transmitting rotary torque to the transferring means and the cylindrical cam.
  • the transporting apparatus may further comprise pivotal transporting mechanism, in which at least one of the transportation starting end and the transportation terminating end of the linear transporting mechanism is provided with a pivotal arm mounted on an output shaft performing extracting and retracting operation in axial direction and rotational motion about an axis, the pivotal arm engages with the work table by extracting motion of the output shaft and pivotally transporting the work table engaging with the pivotal arm by operational motion of the output shaft, the pivotal transporting mechanism is synchronously operated with the cylindrical cam of the linear transporting mechanism for transferring the work table between the pivotal transporting mechanism and the linear transporting mechanism.
  • pivotal transporting mechanism in which at least one of the transportation starting end and the transportation terminating end of the linear transporting mechanism is provided with a pivotal arm mounted on an output shaft performing extracting and retracting operation in axial direction and rotational motion about an axis, the pivotal arm engages with the work table by extracting motion of the output shaft and pivotally transporting the work table engaging with the pivotal arm by operational motion of the output shaft, the
  • a transporting apparatus sequentially transporting work table across a plurality of work stations, comprises:
  • a linear transporting path extending linearly across a plurality of work stations and having guide means releasably engaging with a work table for guiding the latter for linear motion;
  • transfer means provided between the cylindrical cams and engaging with engaging means provided in the work table for transferring the work table reaching a transportation termination end of one cylindrical cam arranged upstream side in transporting direction to a transportation starting end of the other cylindrical cam arranged downstream side in transporting direction;
  • each of the linear transporting mechanisms having transportation terminating end and transportation starting end, the linear transporting mechanisms being sequentially arranged with placing the transportation terminating end of one linear transporting mechanism in close proximity with the transportation starting end of the other linear transporting mechanism with a predetermined angle;
  • a pivotal transporting mechanism each located between the adjacent transportation terminating end of one linear transporting mechanism and transportation starting end of the other linear transporting mechanism having an output shaft located with equal distance to the adjacent transportation terminating end and transportation starting end, having a pivotal arm mounted on the output shaft for engaging with the work table stopped at the transportation terminating end of one linear transporting mechanism by extracting motion of the output shaft in axial direction and transferring the work table to the transportation starting end of the other linear transporting mechanism by rotational motion of the output shaft, and disengaging from the work table by retracting motion of the output shaft,
  • the cylindrical cam may define stopping zones corresponding to a transportation terminating end, a transportation starting end and each work station and having no axial displacement relative to cam rotational angle and transporting zones located at positions between the work stations and having axial displacement relative to cam rotational angle.
  • the engaging member may be formed with a pin extended from the work table, and the transferring means may be formed with a sprocket.
  • a transporting apparatus comprises:
  • a linear transporting mechanism driving a work table engaging with guide means of a transporting path formed into linear shape along the guide means by means of a cylindrical cam;
  • a pivotal transporting mechanism having a pivotal arm mounted on an output shaft which performs extracting and retracting motion in axial direction and rotating motion about an axis, the pivotal arm being engaged and disengaged to and from the work table according to extracting and retracting motion of the output shaft, and pivotally transporting the work table engaging with the pivotal arm according to rotating motion of the output shaft,
  • the pivotal transporting mechanism being provided at a transportation terminating end or a transportation starting end of the linear transporting mechanism and being actuated in synchronism with the cylindrical cam of the linear transporting mechanism for transferring the work table between the pivotal transporting mechanism and the linear transporting mechanism.
  • a transporting apparatus comprises:
  • a linear transporting path extending linearly across a plurality of work stations and having guide means releasably engaging with a work table for guiding the latter for linear motion;
  • a cylindrical cam provided along the linear transporting path and releasably engaging with a contactor extended from the work station in the same direction as engaging and disengaging direction of the guide means for driving the work table to move linearly, the cylindrical cam defining stopping zones corresponding to a transportation terminating end, a transportation starting end and each work station and having no axial displacement relative to cam rotational angle and transporting zones located at positions between the work stations and having axial displacement relative to cam rotational angle;
  • each of the linear transporting mechanisms having transportation terminating end and transportation starting end, the linear transporting mechanisms being sequentially arranged with placing the transportation terminating end of one linear transporting mechanism in close proximity with the transportation starting end of the other linear transporting mechanism with a predetermined angle;
  • a pivotal transporting mechanism each located between the adjacent transportation terminating end of one linear transporting mechanism and transportation starting end of the other linear transporting mechanism having an output shaft located with equal distance to the adjacent transportation terminating end and transportation starting end, having a pivotal arm mounted on the output shaft for engaging with the work table stopped at the transportation terminating end of one linear transporting mechanism by extracting motion of the output shaft in axial direction and transferring the work table to the transportation starting end of the other linear transporting mechanism by rotational motion of the output shaft, and disengaging from the work table by retracting motion of the output shaft,
  • the linear transporting path may be constructed with a support base integrally formed with an apparatus housing and slidably mounting the work table and a guide member provided on the support base in linear shape, and the work table may be provided with a slider engaging with the guide member and permitting linear movement of the work table with restricting pivotal motion thereof.
  • At least two linear transporting mechanisms and corresponding number of pivotal transporting mechanisms may be provided for forming an endless circulating transporting path.
  • FIG. 1 is an external plan view showing overall construction of one embodiment of a transporting apparatus according to the present invention
  • FIG. 2 is an external front elevation of the overall transporting apparatus of FIG. 1;
  • FIG. 3 is an external side view of the transporting apparatus of FIG. 1;
  • FIG. 4 is a sectional plan view showing a transporting mechanism portion within the transporting apparatus of FIG. 1;
  • FIG. 5 is an enlarged plan view of the major part of the linear transporting mechanism portion shown in FIG. 4;
  • FIG. 6 is a section taken along line VI-VI of FIG. 5;
  • FIG. 7 is a development of cylindrical cams to be employed in the linear transporting mechanism
  • FIG. 8 is a plan view of pivotal transporting mechanism portion shown in FIG. 4;
  • FIG. 9 is a section taken along line IX-IX of FIG. 8;
  • FIG. 10 is a front elevation of a synchronization mechanism portion for synchronizing the linear transporting mechanism portion and pivotal transporting mechanism in one embodiment
  • FIG. 11 is a timing chart showing an operation timing of the pivotal transporting mechanism portion
  • FIG. 12 is an illustration showing operational steps of the pivotal transporting mechanism in order
  • FIG. 13 is a plan view showing the linear transporting mechanism portion in another embodiment of the transporting apparatus according to the present invention.
  • FIG. 14 is a section taken along line XIV-XIV in FIG. 13;
  • FIG. 15 is an enlarged plan view of a linear transporting mechanism portion of FIG. 13;
  • FIG. 16 is a longitudinal section of a synchronous actuation device
  • FIG. 17 is a longitudinal section of a modification incorporating a planetary gear mechanism in the synchronous actuation device
  • FIG. 18 is a longitudinal section of the planetary gear mechanism of FIG. 17;
  • FIG. 19 is a sectional plan view of the planetary gear mechanism of FIG. 17;
  • FIG. 20 is a front elevation of a synchronization mechanism portion corresponding to FIG. 10 in another embodiment of the transporting apparatus
  • FIG. 21 is an illustration corresponding to FIG. 14 and showing one example of an embodiment of the transporting apparatus performing only linear transportation in one direction;
  • FIG. 22 is an illustration corresponding to FIG. 15 and showing one example of an embodiment of the transporting apparatus performing only linear transportation in one direction;
  • FIGS. 23A to 23 D are general illustration showing an embodiment of a transporting path established by combination of a linear transporting mechanism and a pivotal transporting mechanism;
  • FIG. 24 is an explanatory illustration of the embodiment of the pivotal transporting mechanism to be used in the case where an intermediate stop point is provided in a curved transporting path as shown in FIG. 23D;
  • FIG. 25 is a general perspective view showing a further embodiment of the transporting apparatus according to the present invention.
  • FIG. 26 is an illustration showing operation steps of pivotal transporting mechanism of the transporting apparatus shown in FIG. 26;
  • FIG. 27 is an overall perspective view showing one example of the conventional transporting apparatus.
  • FIG. 28 is an overall perspective view showing another example of the conventional transporting apparatus.
  • one embodiment of a transporting apparatus 10 defines an oval shape outer circumference of a main body 11 in plan view with an upper end opened hollow rectangular parallelepiped shape housing 12 and semi-circular cover plates 13 covering both longitudinal end portions of the housing 12 .
  • an oval track form endless circulating transportation path 16 consisted of two linear transporting paths 14 A and 14 B which will be generally identified by reference numeral 14 and two curved transporting paths 15 A and 15 B which will be generally identified by reference numeral 15 .
  • a plurality of work tables 17 are arranged on the circulating transportation path 16 . The work tables 17 are designed to circulate on the transportation path 16 with repeating movement and stopping at respective desired positions.
  • Each stopping position where the work table 17 is stopped temporarily is set as work station for performing necessary processing operation for a work on the work table.
  • various operations such as working, assembling or inspection for the work or a product are performed by various working machine unit, such as an operation robot mounted on a mounting base 18 provided at a center position of the upper surface of the housing 12 .
  • support bases 19 On upper end portions of two longer wall portions 12 a arranged in opposition along a longitudinal direction of the housing, support bases 19 having flat upper surface projected inwardly over entire length, are formed integrally. A plurality of work tables 17 are supported on the support bases 19 for linear sliding movement in the longitudinal direction. On the support bases 19 , guide grooves 20 serving as guide members of guide means for guiding linear movement of the work tables 17 , are formed. With the support bases 19 and the guide grooves 20 , linear transporting paths 14 ( 14 A and 14 B) for linearly moving the work tables 17 , are formed. Thus, two linear transporting paths 14 A and 14 B are defined on both sides of the common housing 12 of rectangular parallelepiped shape, adjacent with each other in parallel relationship.
  • cylindrical cams 22 A and 22 B are provided and serve as linear transporting mechanisms 21 A and 21 B which generally identified by reference numeral 21 , for driving the work tables 17 to move along two linear transporting paths 14 A and 14 B.
  • Respective cylindrical cams 22 A and 22 B have axes extending in parallel to the guide grooves of the linear transporting paths 14 A and 14 B. Both ends of the cylindrical cams 22 A and 22 B are rotatably supported on shorter wall portions 12 b via bearings 23 .
  • the cylindrical cams 22 A and 22 B are located along lower portions of the linear transporting paths 14 A and 14 B. Namely, with the linear transporting paths 14 ( 14 A and 14 B) and the cylindrical cams 22 ( 22 A and 22 B), the linear transporting mechanism 21 A and 21 B which are generally identified by reference numeral 21 is formed.
  • the work table 17 is generally rectangular flat plate shape.
  • a slider 24 is provided to serve as guide means for slidably engaging with the guide groove 20 for restricting horizontal pivot motion and offset in lateral to the transporting direction and for guiding linear motion.
  • the slider 24 is constructed with a pair of engaging pins 24 a provided in spaced apart relationship in transporting or longitudinal direction.
  • cam follower 26 is downwardly projected at a position inside of the linear transporting paths 14 A and 14 B and located on the axis of the cylindrical cam 22 so as to serve as contact with a cam groove 25 formed as cam portion in the cylindrical cam.
  • Each of the cylindrical cams 22 A and 22 B has one cam groove 25 extending in spiral fashion on the outer peripheral surface.
  • the cam profile is consisted of stopping zones 25 a set at positions corresponding to position of respective work stations and not provided displacement in axial direction over respectively predetermined cam angular displacement range, and transporting zones 25 b set at positions corresponding to zones between the work stations and provided displacement in axial direction corresponding to cam angular displacement range.
  • the cylindrical cams 22 A and 22 B is exemplified in the construction where cam groove 25 is formed as cam portion.
  • cam portion it is also possible to form the cam portion with a cam ridge, such as a tapered rib, projecting in spiral fashion.
  • a contactor such as cam follower
  • the guide members of the linear transporting paths 14 A and 14 B may also be guide ribs in place of the guide grooves 20 to slidably engage with the slider on the lower surface of the work table 17 .
  • both axial ends of the cylindrical cam 22 A illustrated on upper side is projected from outer side surfaces of the shorter wall portion 12 b of the housing 13 .
  • One timing pulley 27 f is fixed on the extended portion of the cylindrical cam 22 B.
  • the timing pulley 27 f of the lower cylindrical cam 22 B and the timing pulley 27 e of the upper cylindrical cam 22 A are linked by a timing belt 28 a .
  • the timing pulley 27 a located at the left side end is linked with a rotary drive shaft 29 of the motor as driving source via a timing belt 28 b .
  • a rotary driving force of the driving source is transmitted to both cylindrical cams 22 A and 22 B for continuous synchronous rotation at equal speed
  • the spiral cam grooves 25 respectively formed on two cylindrical cams 22 A and 22 B have mutually opposite spiral directions.
  • Both cylindrical cams 22 A and 22 B are rotated in the same direction in a condition where respective cam grooves 25 are engaged with the work tables 17 for transporting the work tables 17 in opposite directions, i.e. left and right in the drawing.
  • the work tables 17 are transported toward left in the upper linear transporting path 14 A and the work tables 17 are transported toward right in the lower linear transporting path 14 B.
  • two linear transporting paths 14 A and 14 B are arranged with an angle of 180° in the transporting direction, and transportation terminating end of one linear transporting path and transportation starting end of the other linear transporting path are continuously adjacent in proximity with each other.
  • pivotal transporting mechanisms 30 are provided respectively for connecting two linear transporting paths 14 A and 14 B and defining the curved transporting paths 15 ( 15 A and 15 B) for transferring the work table 17 reaching the transportation terminating end of one of the linear transporting path 14 A or 14 B to the transportation starting end of the other linear transporting path 14 B or 14 A.
  • FIG. 8 shows the pivotal transporting mechanism 30 located on left side in FIG. 4. It should be noted that the pivotal transporting mechanism 30 located on right side in FIG. 4 has the identical construction.
  • the pivotal transporting mechanism 30 is constructed by integrally mounting a plate form pivotal arm 34 extending in radial direction on an output shaft 32 of a cam arrangement 33 which transmits rotation of an input shaft 31 with conversion into a lifting motion in the axial direction and reciprocal rotating motion of the output shaft 32 .
  • the output shaft 32 is directed upwardly (namely, toward a direction in which the cam follower 26 and the slider 24 of the work table 17 are engageable to the counterpart cam groove 25 and guide groove 20 ).
  • a pair of engaging pins 35 are provided extending upwardly.
  • a pair of engaging holes 36 are formed correspondingly to engage with the engaging pins 35 .
  • the cam arrangement 33 may be constructed with a globoidal cam fixed on the input shaft 31 , a turret having a cam follower on the outer periphery thereof for contacting and engaging with both side surfaces of a tapered rib of the globoidal cam for rocking motion about an axis perpendicularly intersecting with the input shaft depending upon displacement of the tapered rib, an output shaft engaged with the shaft of the turret in spline-engagement for sliding movement in axial direction, and a pivotal arm having a power point portion engaging with a grooved cam formed on an end face of the globoidal cam, a supporting point pivotably secured on a casing and an action point engaging with an axial end of the output shaft with permitting rotation of the output shaft, for transmitting continuous rotation of the input shaft 31 with separating into rocking rotation of the output shaft 32 and lifting motion in the axial direction.
  • FIG. 10 shows a synchronizing mechanism portion for synchronously driving the linear transporting mechanism portion and the pivotal transporting mechanism portion.
  • two cam arrangements are respectively fixed on inside of shorter wall portions 12 b opposing at both ends in longitudinal direction of the housing 12 .
  • Each input shaft 31 extends outwardly through the shorter wall portion 12 b .
  • timing pulleys 27 h and 27 i are provided on respective of extended ends 31 a .
  • the timing pulleys 27 h and 27 i are drivingly linked with the timing pulleys 27 c and 27 d via timing belts 28 c and 28 d so that rotational torque of the cylindrical cam 22 A is transmitted to both cam arrangement 33 in synchronism with each other.
  • the output shaft 32 is provided orienting upwardly.
  • a position of axes of the output shafts 32 correspond to center between axes of two cylindrical cams 22 A and 22 B and match with positions where stopping zones 25 a having no displacement in axial direction are set respectively as transportation terminating end and transportation starting end of the cylindrical cams 22 A and 22 B with respect to transporting direction of the cylindrical cams 22 A and 22 B.
  • the transportation termination end position of one of the cylindrical cam 22 ( 22 A or 22 B), the transportation starting end of the other cylindrical cam 22 ( 22 B or 22 A) and the position of the output shaft 32 of the pivotal transporting mechanism are matched in the longitudinal direction of the housing 12 .
  • the output shafts 32 are located at a position equally distanced to adjacent transportation terminating end and the transportation starting end of the linear transporting paths 14 A and 14 B.
  • a driving force transmission shaft 37 for supplying rotational driving force to respective kinds of work implementing units, such as working robots or the like mounted on the mounting bases 18 which are supported rotatably on the shorter wall portions 12 b .
  • Rotational torque of the cylindrical cam 22 A is transmitted to the driving force transmission shaft 37 in synchronism via the timing pulleys 27 b 27 j and timing belt 28 e .
  • a rotational torque is supplied from a power taking out timing pulley 27 k provided at an appropriate position on the rotational driving force transmission shaft 37 in synchronism.
  • FIG. 11 is a timing chart of the cam arrangement 33 of the pivotal transporting mechanism 30 .
  • the cam arrangement 33 lifts the output shafts 32 up to the upper end within an angular range 0° to 45° ((a) to (c)) of the input shaft 31 , is rotated over 180° in forward direction with maintaining the output shaft 32 in a condition lifted up to the upper end in the following angular range of 45° to 180° ((c) to (d)), is stopped rotation within the following angular range of 180° to 225° to lift down the output shaft 32 to the lower end position, and then is rotated in reverse direction with maintaining the output shaft 32 at the lower end position within the angular range of 225° to 360° ((f) to (a)). Subsequently, the foregoing actions are repeated.
  • FIGS. 12A to 12 F show conditions at respective timings of (a) to (f) of FIG. 11. As shown, at first, in the condition shown in FIGS.
  • the work table 17 is lowered associating with lifting down of the output shaft 32 to engage the slider 24 with the guide groove 20 of the linear transporting path 14 B and to engage the cam follower 26 with the cam groove 25 to mount the work table 17 on the support base 19 .
  • the pivot arm 34 is lowered to release the engaging pins 35 at tip end thereof from the engaging holes 36 on the lower surface of the work table 17 .
  • the output shafts 32 are rotated in reverse direction to return to the initial condition.
  • the cam follower 26 is engaged with the cam groove 25 of the cylindrical cam 22 ( 22 A and 22 B).
  • the work table 17 having the slider 24 engaging with the guide groove 20 of the support base 19 of the linear transporting path 14 ( 14 A and 14 B) is moved linearly on the linear transporting path 14 ( 14 A and 14 B) with temporary stop in the stopping zones 25 a of the cam groove 25 associating with rotation of the cylindrical cam 22 ( 22 A and 22 B).
  • the work tables 17 are circulated in counterclockwise direction in FIG. 1 along oval track form transporting path 16 formed by the linear transporting paths 14 and the curved transporting paths 15 . Then, in each work stations where the work tables are temporarily stopped, for the works held on the work tables 17 , processing, assembling, inspection and other predetermined operation is performed by various work implementing unit.
  • operation timing in stopping and moving of the work tables 17 on the linear transportation path 14 ( 14 A and 14 B) depends on spiral shape (cam profile) of the cam groove 25 formed on the peripheral surface of the cylindrical cam 22 ( 22 A and 22 B).
  • the spiral shape cam be easily designed by arbitrarily setting the position and length of the stopping zones 2 a and gradient (magnitude of displacement in axial direction) in the transporting zone 25 b adapting to requirement in operation.
  • the position of the work station and stopping period can be appropriately set in each individual work station to provide large freedom.
  • interval between the work stations can be set appropriately to improve space efficiency. Also, adapting long and short of the operation period in each work station, the stopping period in each work station can be set easily to prevent wasteful waiting period in the work station where the operation can be completed in short period. Thus, the transporting apparatus 10 can be easily adapted for large number of kinds of works or products to improve general applicability and work efficiency.
  • the guide means for guiding the work table 17 for linear motion by the slider 24 engaging with the guide groove 20 of the linear transporting path 14 , by mounting the cam follower on the lower surface of the work table 17 for releasably engaging with the cylindrical cam 22 driving the work table 17 to move linearly along the linear transporting path 14 , by matching the engaging and releasing direction of the guide means for guiding linear motion of the work table 17 and the engaging and releasing direction of the cam follower 26 of the work table 17 and guide groove 25 , the work table 17 can be easily engaged and released to and from the linear transporting mechanism 21 by vertically lifting the work table up and down in synchronism with the stopping zone of the cam groove 25 of the cylindrical cam 22 formed at the transportation terminating end and the transportation starting end of the linear transporting mechanism 21 .
  • the pivotal transporting mechanism 30 compact in size, which can transfer the work table 17 from the transportation terminating end of one of the linear transporting mechanism 21 A or 21 B to the transportation starting end of the other linear transporting mechanism 21 B or 21 A by pivotal motion only by providing the output shafts 32 at a position equally distanced to the transportation termination end and the transportation starting end of two linear transporting mechanisms 21 ( 21 A and 21 B) arranged adjacent in proximity and mounting the pivotal arms 34 releasably engageable with work tables 17 on the output shaft 32 .
  • both of the linear transporting mechanisms 21 and the pivotal transporting mechanism 30 are constructed with cam mechanisms and not employ a chain to reduce lowering of dimensional accuracy due to accumulation of machining tolerance in comparison with conventional transporting apparatus employing the chain to improve motion accuracy and positioning accuracy of the work table 17 . Furthermore, in comparison with the combination of chain and sprocket, wearing can be reduced to restrict increasing of error due to secular change resulting from wearing. Even in this point, degradation of motion accuracy and positioning accuracy can be suppressed.
  • FIGS. 13 to 16 Another embodiment of the transporting apparatus according to the present invention will be discussed with reference to FIGS. 13 to 16 . It should be noted that, in the following description, like components to the former embodiment will be identified by like reference numerals and detailed description therefore will be eliminated in order to avoid redundant discussion and to keep the disclosure simple enough facilitate clear understanding of the present invention.
  • respective cylindrical cams 22 A and 22 B are divided into two fractions at the center in the longitudinal direction with maintaining rotary shaft portions at respective centers in common to separately form cylindrical cam fractions 22 Aa and 22 Ba located upstream side in the transporting direction and cylindrical cam fractions 22 Ab and 22 Bb located down stream sides in the transporting direction.
  • the upstream side cylindrical cam fraction 22 Aa and the downstream side cylindrical cam fraction 22 Ab are placed in alignment in coaxial fashion.
  • the upstream side cylindrical cam fraction 22 Ba and the downstream side cylindrical cam fraction 22 Bb are placed in alignment in coaxial fashion.
  • a given length of clearances are defined between the upstream side cylindrical cam fraction 22 Aa and the downstream side cylindrical cam fraction 22 Ab and between the upstream side cylindrical cam fraction 22 Ba and the downstream side cylindrical cam fraction 22 Bb.
  • sprockets 38 for transferring the work tables 17 reaching the transportation terminating ends of the upstream side cylindrical cam fractions 22 Aa and 22 Ba to the downstream side cylindrical cam fractions 22 Ab and 22 Bb with engaging a pair of engaging pins 35 provided in alignment in the transporting direction, and a synchronous actuation device 40 transmitting rotational torque to the sprocket and both cylindrical cams 22 A ( 22 Aa, 22 Ab) and 22 B ( 22 Ba, 22 Bb) are provided.
  • the engaging pins 35 are adapted to engage with the engaging holes 36 provided in the pivotal arms 34 for pivoting the work tables 17 .
  • the synchronous actuation device 40 is constructed with an input shaft 42 vertically journaled on a casing 41 for rotation and projected upper and lower ends from the casing, globoidal cam 43 fixed to the center portion of the input shaft 42 , two turrets 46 A and 46 B provided with a plurality of cam followers engaging with a taper rib 44 of the globoidal cam 43 and located at positions on both sides of the globoidal cam 43 with equal distance from the input shaft 42 , and two output shafts 47 A and 47 B integrally provided with shaft portions of the turrets 46 A and 46 B and horizontally journalled on the casing 41 .
  • the sprocket 38 is rigidly secured.
  • a reduction gear unit 49 is provided, which is, in turn, drivingly connected to a motor 51 provided on the bottom portion of the housing 12 via a timing belt 50 for inputting a rotary driving force.
  • Two output shafts 47 A and 47 B are respectively projected from the casing 41 at both axial ends.
  • the cylindrical cam fractions 22 Aa, 22 Ab, 22 Ba and 22 Bb are integrally secured.
  • cam groove 25 satisfactorily adapting to high transporting speed by the sprocket 38 fixed to the input shaft 42 .
  • a sun gear 53 is formed in the upper portion of the input shaft 42 . Then, a plurality of planet gears are provided meshing with the sun gear 53 .
  • a boss portion 38 a of the sprocket 38 is formed with a planet frame 56 holding support shafts 55 of the planet gears.
  • the sprocket 38 is rotatably supported on the upper end portion of the input shaft 42 via a bearing 57 .
  • an internal gear 58 is fixed on the housing 12 .
  • the sprocket 38 is arranged coaxially with the input shaft 42 and a compact reduction gear mechanism can be interposed therebetween for reducing speed with synchronous rotation of the sprocket 38 to permit setting the transporting speed adapting to the transporting speed at the transportation terminating ends of the upstream side cylindrical cam fractions 22 Aa and 22 Ba and the transportation starting end of the downstream side cylindrical cam fractions 22 Ab and 22 Bb.
  • the spiral cam grooves 25 respectively formed on the cylindrical cam 22 A ( 22 Aa, 22 Ab) of one linear transporting mechanism 21 A and the cylindrical cam 22 B of the other linear transporting mechanism 21 B have mutually same spiral direction.
  • the cylindrical cam 22 A ( 22 Aa and 22 Ab) and the cylindrical cam 22 B ( 22 Ba and 22 Bb) are rotated in mutually opposite directions for transporting the work tables 17 engaging with respective cam grooves 25 in mutually opposite directions, i.e. left and right in the drawing.
  • the work tables 17 on the linear transporting path 14 A located left side in FIG. 13 is transported in downward direction and the work tables 17 on the linear transporting path 14 B located right side in FIG. 13 is transported in upward direction.
  • the two linear transporting mechanisms 14 A and 14 B arranged in parallel in the common housing 12 with differentiating transporting direction over 180 °, and the transportation termination end and the transportation starting end are located adjacent with each other in proximity.
  • the pivotal transporting mechanisms 30 are provided respectively for connecting two linear transporting paths 14 A and 14 B and transferring the work table 17 reaching respective transportation terminating ends of the linear transporting paths 14 A and 14 B to the transportation starting ends of the other linear transporting paths 14 B and 14 A.
  • the curved transporting path 15 15 A and 15 B
  • the pivotal transporting mechanism 30 one discussed in connection with and illustrated in FIG. 9B may be employed.
  • FIG. 20 shows a synchronizing mechanism portion for synchronously driving the linear transporting mechanism portion and the pivotal transporting mechanism portion in the present embodiment.
  • a cam arrangement 33 of the pivotal transporting mechanism 30 are respectively secured inside of the short wall portions 12 b opposing at both longitudinal ends of the housing 12 .
  • the input shaft 31 is extended outwardly through the short wall portion 12 b .
  • a timing pulley 27 a is provided on a projected end 31 a .
  • the timing pulley 27 a is linked to a timing pulley 27 b respectively provided on axial ends of the terminating end side in the transporting direction (may also be starting end) of the cylindrical cam 22 A (or 22 B) of the linear transporting mechanism 21 , by a timing belt 28 for synchronously transmitting rotational torque of the cylindrical cam 22 A (or 22 B) to two cam arrangements 33 .
  • a timing belt 28 for synchronously transmitting rotational torque of the cylindrical cam 22 A (or 22 B) to two cam arrangements 33 .
  • positions of the center axes of the output shafts 32 are located at the center between center axes of two cylindrical cams 22 A ( 22 Ab) and 22 B ( 22 Ba) in the linear transporting mechanisms 21 in plan view, and with respect to transporting direction of the cylindrical cams 22 A ( 22 Ab) and 22 B ( 22 Ba), are matched with position of stopping zone 25 a where displacement in axial direction are respectively set as transportation terminating end and transportation starting end of the cylindrical cams 22 A ( 22 Ab) and 22 B ( 22 Ba).
  • the cylindrical cams 22 A and 22 B of respective linear transporting mechanisms 21 A and 21 B are divided at the center in the longitudinal direction (axial direction) to separately form the upstream side cylindrical cam fractions 22 Aa and 22 Ba and the downstream side cylindrical cam fractions 22 Ab and 22 Bb arranged in alignment in coaxial relationship.
  • Transfer of the work table 17 between a clearance between the upstream side cylindrical cam fractions 22 Aa and 22 Ba and the downstream side cylindrical cam fractions 22 Ab and 22 Bb is performed by the sprocket.
  • the sprocket 38 and upstream and downstream side cylindrical cam fractions 22 Aa, 22 Ab and 22 Ba, 22 Bb are driven for synchronous rotation by the synchronous actuation mechanism 40 at the center in the axial direction.
  • the globoidal cam type mechanism is employed in synchronous actuation mechanism 40 in the shown embodiment.
  • the present invention should not be limited to the globoidal cam type mechanism but can be any mechanism which can transmit continuous rotation.
  • FIGS. 21 and 22 show an embodiment of a transporting apparatus which transports the work tables 17 linearly in one direction.
  • FIG. 21 corresponds to FIG. 14 in the former embodiment
  • FIG. 22 corresponds to FIG. 15.
  • a difference therebetween is that while two cylindrical cam grooves 22 A and 22 B and the linear transporting paths 14 A and 14 B are transported in mutually opposite direction in the former embodiment, the shown embodiment is constructed with one cylindrical cam 22 consisted of the upstream side cylindrical cam 22 a and the downstream side cylindrical cam 22 b and one linear transporting path 14 .
  • the transporting path for transporting the work tables is consisted of two linear transporting paths 14 ( 14 A, 14 B) and two curved transporting paths 15 ( 15 A, 15 B) formed by two pivotal transporting mechanisms and connecting the transportation terminating ends and the transportation starting ends of the linear transporting paths and is formed into oval track shape.
  • transporting paths are formed by three or more linear transporting paths sequentially arranged with predetermined angles, and by connecting respective transportation terminating ends and transportation starting ends by corresponding number of curved transporting paths formed by pivotal transporting mechanisms performing pivotal transfer of the work table over corresponding angle.
  • arbitrary polygonal circulating transporting path 16 can be formed easily.
  • FIG. 23B shows an example of substantially rectangular circulating transporting path 16 by combination of respective two longer and shorter linear transporting paths and four curved transporting paths 15 respectively performing pivotal transfer over 90°.
  • FIG. 23C shows an example of substantially regular triangular circulating transporting path 15 by connecting three linear transporting paths 14 by three curved transporting paths pivotably transporting over 120°.
  • an L-shaped arm 34 having two arm portions 34 a and 34 b having equal length and orthogonally intersecting with each other is mounted on the output shaft 32 for pivotal motion over 90°.
  • the work table 17 is pivotally transported over 180 by two actions of pivotal motion to provide an intermediate stop position in the mid portion of the curved transporting path 15 as shown in FIG. 23D. This point can be used as a work station.
  • the transporting path is not always required to be annular circulating path but can be any arbitrary forms.
  • pivotal transporting mechanisms having opposite rotating directions may be provided to connect a plurality linear transporting mechanisms arranged in parallel relationship with each other, in meandering manner. Namely, by placing the transportation terminating ends and the transportation starting ends of the linear transporting paths of the linear transporting mechanisms are adjacent with each other in proximity with predetermined angle, and connecting adjacent the transportation terminating ends and the transportation starting ends of the linear transporting paths by the curved transporting paths of the pivotal transporting mechanism for pivotal transportation over the predetermined angle.
  • various configurations of transporting paths can be formed. Namely, with taking one linear transporting path of the linear transporting mechanism and one curved transporting path of the pivotal transporting mechanism, as minimum unit, and by combining one or more minimum units, various configurations of transporting paths can be formed.
  • the transporting apparatus 10 is exemplarily illustrated and discussed by connecting two linear transporting paths 14 A and 14 B linearly transporting the work tables 17 in opposite direction and arranged in parallel in horizontal direction by two curved transporting paths 15 A and 15 B pivoting in horizontal direction.
  • two linear transporting paths 14 A and 14 B are arranged in vertically spaced parallel relationship, and the work tables 17 are reversed up-and-down in vertical direction to circulate in crawler form.
  • FIGS. 26A to 26 C the upper side linear transporting path 14 A and its linear transporting mechanism 21 A are illustrated and lower side linear transporting path and the linear transporting mechanism are eliminated.
  • FIGS. 26D to 26 F the lower side linear transporting path 14 B and its linear transporting mechanism 21 B are illustrated and the upper side linear transporting path and the linear transporting mechanism are eliminated.
  • the quadrangular parallelpiped housing 12 arranged laterally orienting the opening side for transporting the work tables 17 along respective upper surface and lower surface of longer wall portions 12 a located in vertical opposition with each other.
  • flat supporting piece 19 a having outer surface projecting inwardly is formed integrally.
  • guide groove 20 for the work table 17 is formed in the supporting piece 19 a .
  • the work table 17 is formed into L-shaped configuration consisted of a horizontal strip portion 17 a and a vertical strip portion 17 b .
  • a slider 24 (a pair of engaging pins 24 a ) engaging with the guide groove 20 and a cam follower 26 engaging with the cam groove 25 of the cylindrical cam 22 ( 22 A, 22 B) of the linear transporting mechanism 21 ( 21 A, 21 B) are projected.
  • the can arrangement 33 of the pivotal transporting mechanism 30 are arranged with orienting the output shaft 32 in horizontal direction so that a pivotal arm 34 is pivoted on a vertical plane.
  • Engaging holes 36 engaging with a pair of engaging pins 35 provided on an extended end of the pivotal arm 34 are formed on the back surface of the vertical strip portion 17 b of the work table 17 .
  • the output shaft 32 is contracted toward inside of the housing 12 for establishing engagement between the slider 24 and cam follower 26 on the back surface of the vertical strip portion 17 b with the guide groove 20 and the cam groove 25 .
  • the work table 17 is transferred to the other linear transporting path 14 B.
  • Operation timings in stopping and moving of the work table on the linear transporting path depends on spiral shape (cam profile) provided on the peripheral surface of the cylindrical cam, and the spiral shape may be easily formed by arbitrarily setting the position and length of the stopping zones and gradients in the transporting zones adapting to the requirement of the operation to be performed in each work station. Accordingly, position or stopping period of the work station can be set appropriately per work station to achieve large freedom in setting.
  • the pivotal transporting mechanism For the linear transporting mechanism linearly transporting the work table engaged with the guide means of the transporting path formed in linear shape along the guide means by the cylindrical cam, the pivotal transporting mechanism having the pivotal arm mounted on the output shaft performing expanding and contracting operation in axial direction and rotating operation about the axis for engaging and disengaging the pivotal arm with and from the work table and turning the work table engaging with the pivotal arm, is arranged for transferring the table between the pivotal transporting mechanism and the linear transporting mechanism by synchronously operating the pivotal transporting mechanism and the cylindrical cam of the linear transporting mechanism. Therefore, the work can be transferred together with the work table between one step and the next step which can use the common work table with one step to permit construction of the compact pivotal transporting mechanism.
  • both of the linear transporting mechanisms and the pivotal transporting mechanism are constructed with cam mechanisms and not employ a chain to reduce lowering of dimensional accuracy due to accumulation of machining tolerance in comparison with conventional transporting apparatus employing the chain to improve motion accuracy and positioning accuracy of the work table. Furthermore,in comparison with the combination of chain and sprocket, wearing can be reduced to restrict increasing of error due to secular change resulting from wearing. Even in this point, degradation of motion accuracy and positioning accuracy can be suppressed.
  • the cylindrical cam of the linear transporting mechanism for linearly transporting the work table along the linear transporting path is divided into the upstream side cylindrical cam fraction and the downstream side cylindrical cam fraction arranged in alignment with each other. Transfer of the work table between the upstream side cylindrical cam fraction and the downstream side cylindrical cam fraction is performed by means of transferring means, such as sprocket.
  • the transferring means and upstream and downstream side cylindrical cam fractions are driven for synchronous rotation at the center in the axial direction by the rotational torque transmitting mechanism. Therefore, in comparison with the case where single cylindrical cam is provided over the entire lengths of the linear transporting paths to rotating drive the same at the axial end, the lengths of respective of upstream and downstream side cylindrical cam fractions becomes substantially half.
  • the circulating transporting path for circulating the work table can be formed into any desired polygonal shape. Furthermore, by placing a plurality of linear transporting paths with placing the transportation terminating end and the transportation starting end in close proximity with each other with a predetermined angle and by connecting adjacent the transportation terminating end and the transportation starting end by the pivotal transporting mechanism, various configuration, such as meandering shape, can be easily formed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Computer Hardware Design (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Power Engineering (AREA)
  • Specific Conveyance Elements (AREA)
  • Multi-Process Working Machines And Systems (AREA)
  • Transmission Devices (AREA)
  • Reciprocating Conveyors (AREA)
  • Attitude Control For Articles On Conveyors (AREA)
US10/185,204 2001-08-03 2002-06-28 Transporting apparatus Abandoned US20030034226A1 (en)

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JP2001-236,918 2001-08-03
JP2001236919A JP4769387B2 (ja) 2001-08-03 2001-08-03 搬送装置
JP2001236918A JP2003048617A (ja) 2001-08-03 2001-08-03 搬送装置
JP2001-236,919 2001-08-03
JP2001-236,917 2001-08-03
JP2001236917A JP5010786B2 (ja) 2001-08-03 2001-08-03 搬送装置

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US20020092371A1 (en) * 2000-10-27 2002-07-18 Masaki Nakakado Cam device
CN102179624A (zh) * 2011-05-16 2011-09-14 江苏扬力数控机床有限公司 一种复合驱动技术的数控激光切割机
CN110817320A (zh) * 2019-12-18 2020-02-21 东莞市钜升智能机械有限公司 轨道式输送装置
CN110884719A (zh) * 2019-12-13 2020-03-17 苏州拓洁环保工程有限公司 一种油漆涂料生产用灌装机构及其使用方法
CN113581539A (zh) * 2021-08-30 2021-11-02 红云红河烟草(集团)有限责任公司 一种烟包异位输送的凸轮式传递装置
CN114516510A (zh) * 2022-03-10 2022-05-20 哈尔滨工业大学 一种立体循环输送线式密集货箱系统
CN116331797A (zh) * 2023-05-25 2023-06-27 山东恒信基塑业股份有限公司 一种载物塑料托盘上下翻转机构

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GB201020067D0 (en) * 2010-11-26 2011-01-12 Meadwestvaco Packaging Systems Apparatus, methods of operation of same and tools for use with apparatus
EP2691319B1 (en) 2011-03-31 2022-05-25 ATS Automation Tooling Systems Inc. Pallet-based position adjustment system
US8484892B2 (en) 2011-05-19 2013-07-16 Wabtec Holding Corp. Electric door operator
JP5931389B2 (ja) 2011-09-29 2016-06-08 川崎重工業株式会社 搬送システム
CN104495260B (zh) * 2014-12-05 2017-10-03 黄永军 一种带局部间隙运行功能的连续式输送机
KR101532357B1 (ko) * 2014-12-23 2015-06-29 (주)소닉스 백라이트유닛 조립장치
ITUA20161731A1 (it) * 2016-03-16 2017-09-16 Consolandi Gianluigi Ditta Individuale Dispositivo per la movimentazione di articoli
CN106736527A (zh) * 2016-12-30 2017-05-31 湖南先步信息股份有限公司 全自动标准装配系统
CN108296766A (zh) * 2018-02-27 2018-07-20 温州市科泓机器人科技有限公司 接触器部件的柔性生产设备
CN108381164B (zh) * 2018-02-27 2021-02-26 余晓娜 电气组件的智能制造生产系统
CN108372397A (zh) * 2018-02-27 2018-08-07 温州市科泓机器人科技有限公司 接触器组件的自动化生产装备
CN108406403A (zh) * 2018-03-11 2018-08-17 胡君分 一种轴承盖多孔钻设备自动上下料装置
DE102018007909B4 (de) * 2018-08-08 2020-06-25 Global Systems Solutions GmbH Transportsystem zum Transportieren und/oder Positionieren von Objekten entlang einer Transportstrecke sowie Transportkörper für ein solches Transportsystem
CN108942365B (zh) * 2018-09-04 2020-12-08 江苏大中电机股份有限公司 一种电机端盖多孔钻床设备的自动上下料装置
CN114799799B (zh) * 2022-05-17 2023-05-09 象山港高级技工学校 一种全自动组装设备

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US20020092371A1 (en) * 2000-10-27 2002-07-18 Masaki Nakakado Cam device
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CN102179624A (zh) * 2011-05-16 2011-09-14 江苏扬力数控机床有限公司 一种复合驱动技术的数控激光切割机
CN110884719A (zh) * 2019-12-13 2020-03-17 苏州拓洁环保工程有限公司 一种油漆涂料生产用灌装机构及其使用方法
CN110817320A (zh) * 2019-12-18 2020-02-21 东莞市钜升智能机械有限公司 轨道式输送装置
CN113581539A (zh) * 2021-08-30 2021-11-02 红云红河烟草(集团)有限责任公司 一种烟包异位输送的凸轮式传递装置
CN114516510A (zh) * 2022-03-10 2022-05-20 哈尔滨工业大学 一种立体循环输送线式密集货箱系统
CN116331797A (zh) * 2023-05-25 2023-06-27 山东恒信基塑业股份有限公司 一种载物塑料托盘上下翻转机构

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EP1882545A3 (en) 2008-02-27
KR20030011535A (ko) 2003-02-11
US7066318B2 (en) 2006-06-27
EP1882545B1 (en) 2010-05-12
US20060021853A1 (en) 2006-02-02
EP1882545A2 (en) 2008-01-30
DE60227887D1 (de) 2008-09-11
EP1282156A2 (en) 2003-02-05
EP1282156B1 (en) 2008-07-30
DE60236382D1 (de) 2010-06-24
KR100537038B1 (ko) 2005-12-16
TW548699B (en) 2003-08-21
EP1282156A3 (en) 2005-02-02

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