WO2006064827A1 - ワーク移載装置及びワーク移載方法 - Google Patents
ワーク移載装置及びワーク移載方法 Download PDFInfo
- Publication number
- WO2006064827A1 WO2006064827A1 PCT/JP2005/022924 JP2005022924W WO2006064827A1 WO 2006064827 A1 WO2006064827 A1 WO 2006064827A1 JP 2005022924 W JP2005022924 W JP 2005022924W WO 2006064827 A1 WO2006064827 A1 WO 2006064827A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- workpiece
- arm
- work
- bracket
- support arm
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/12—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being suspensions, brakes or wheel units
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S212/00—Traversing hoists
- Y10S212/901—Dolley-type cranes
Definitions
- the present invention relates to a workpiece transfer apparatus and a workpiece transfer method capable of giving a tilt and inversion posture change to a workpiece when the workpiece is transferred to a predetermined place.
- the present invention has been made in view of the situation of force A, and a workpiece transfer apparatus and a workpiece transfer method in which a single operator can easily give a workpiece a tilt and inversion posture change.
- the purpose is to provide.
- a workpiece transfer device includes a bracket rotatably supported on a support portion, and a rotation driving means provided on the support portion for rotating the bracket.
- a work support arm pivotally supported by the bracket, a swing drive means provided on the bracket for swinging the work support arm, and a tip of the work support arm.
- a workpiece holding means for holding the workpiece to be transferred.
- the present invention provides the support unit with the support and a first arm that is supported by the support so as to be movable up and down, extends in the horizontal direction, and is rotatable about the axis of the support. And this The second feature is that the second arm extends in the horizontal direction and is rotatably connected to the tip of the first arm.
- the present invention provides a first brake that prevents the first arm from rotating around the axis of the column, and a first brake that prevents relative rotation of the first and second arms.
- a third feature is that it comprises a two-brake and a third brake that prevents the bracket from rotating.
- the present invention has a fourth feature that the third brake is built in the rotation driving means.
- the present invention has a fifth feature that is provided with guide means for supporting the column so as to be movable in the horizontal direction.
- the present invention further includes, in addition to any of the first to fifth features, a restricting means for restricting the swing angle of the workpiece support arm by the operation of the swing drive means. Is the sixth feature.
- the work support arm corresponds to a third arm 33 in an embodiment to be described later of the present invention
- the lifting drive means is the first air cylinder 20
- the rotation drive means is the electric motor 30.
- the swing drive means corresponds to the second air cylinder 35
- the work holding means corresponds to the clamp 40
- the guide means corresponds to the guide rail 11
- the restricting means corresponds to the stopper 36, respectively.
- the workpiece transfer method of the present invention holds the workpiece to be transferred by the tip of the workpiece support arm that is pivotally supported by the bracket that is rotatably supported by the support portion around the horizontal axis.
- One step after this first step, a second step in which the work support arm is rotated around the horizontal axis to invert the work, and after this second step, the bracket is moved to move the work to a predetermined position. And moving the workpiece support arm up and down before reversing the workpiece by rotating the workpiece support arm around the horizontal axis.
- a seventh characteristic is that the center of gravity of the workpiece is set at or near the horizontal axis by swinging in the direction.
- the present invention has an eighth feature in which, in the second step, the work support arm is rotated manually around the horizontal axis.
- the present invention provides a workpiece support arm in the second step.
- a ninth feature is that the rotation around the horizontal axis is performed by an actuator. The invention's effect
- the work can be tilted by the operation of the swing drive means and the work can be reversed by the operation of the rotation drive means, even one operator can tilt the work. And a change in posture of reversal can be easily provided.
- the rotary drive means when the rotary drive means is operated, the workpiece is tilted prior to the operation of the swing drive means so that the center of gravity of the workpiece is positioned in the vicinity of the rotation axis of the rotary drive means.
- the rotational load can be reduced, and as a result, the rotational drive means need only be relatively small with a relatively small output, and the weight of the device can be reduced and the manufacturing cost can be reduced.
- the first arm is raised and lowered, the first arm is rotated around the axis, the first and second arms are rotated relative to each other, the bracket is rotated, and the workpiece is supported.
- the workpiece held by the workpiece holding means can be easily moved up and down, horizontally moved, tilted, inverted, etc., so that even a single worker or a small place can The workpiece can be easily transferred to the desired location, greatly reducing the burden on the operator.
- the rotation of the first arm around the axis of the column is restricted by the operation of the first brake, or the first and second arms are relatively moved by the operation of the second brake.
- the rotation of the bracket can be regulated by the operation of the third brake, and the rotation of the bracket can be regulated, so that the work posture can be stabilized and the transfer operation can be performed more easily and accurately.
- the rotation of the bracket can be restricted simultaneously with the stop of the operation of the rotation driving means, the inverted posture of the workpiece is stabilized, and the transfer operation is further performed. It can be done easily and accurately.
- the horizontal movement direction of the column is matched with the movement direction of the object.
- the workpiece can be easily transferred to the object.
- the swing angle of the work support arm can be automatically and constantly restricted by the restricting means.
- the center of gravity can be accurately positioned in the vicinity of the rotation axis of the rotation driving means. Therefore, the rotational load of the rotational drive means is surely reduced.
- the seventh feature of the present invention even one worker can easily give the workpiece a change in the posture of tilting and reversing.
- the workpiece can be reversed easily by swinging the workpiece support arm up and down in advance and setting the center of gravity of the workpiece at or near the horizontal axis.
- the work support arm when the work is reversed, the work support arm is swung in the vertical direction in advance to set the center of gravity of the work at or near the horizontal axis. Inversion can be performed lightly by human power.
- the workpiece support arm is swung in the vertical direction in advance to set the center of gravity of the workpiece at or near the horizontal axis.
- the work can be reversed by a small capacity actuator.
- FIG. 1 is a plan view of an essential part of an automobile assembly line equipped with a workpiece transfer device according to the present invention. (First example)
- FIG. 2 is a similar plane showing the workpiece transfer device in a different state. (First example)
- FIG. 3 is a view taken in the direction of arrow 3 in FIG. (First example)
- FIG. 4 is an enlarged sectional view taken along line 4-4 of FIG. (First example)
- FIG. 5 is a view taken in the direction of arrow 5 in FIG. (First example)
- FIG. 6 is a sectional view taken along line 6 — 6 in FIG. (First example)
- Fig. 7 is an enlarged cross-sectional view taken along line 7-7 in Fig. 1, showing the state immediately before holding the workpiece. (First example)
- FIG. 8 is a diagram corresponding to FIG. (First example)
- FIG. 9 is a diagram corresponding to FIG. 7, showing a state in which the held work is rotated. (First Example)
- FIG. 10 is a diagram corresponding to FIG. 7 showing a state in which the workpiece is inclined.
- FIG. 11 corresponds to FIG. 7, which shows a state in which the workpiece in an inclined posture is turned upside down.
- an overhead conveyor for supporting a number of vehicle bodies B, B... 1 and the moving floor 3 that travels in synchronization with the movement of the hangers 2, 2, the spare wheel supply conveyor 4 installed on the floor on one side of the moving floor 3, and the discharge section of the spare wheel supply conveyor 4
- a workpiece transfer device 5 of the present invention is provided for transferring the spare wheel W arriving at 4a to the spare wheel holding tray Ba at the lower part of each vehicle body B that is being conveyed.
- the spare wheel supply conveyor 4 has a spare wheel W in a horizontal state with its outer surface facing upward.
- the stopper wall 6 that stops the movement of the spare wheel W and the work transfer device 5 of the spare wheel W that has arrived at the discharge part 4a are installed in the discharge part 4a.
- a notch 7 is provided to enable scooping by the first arm 22 described below.
- the spare wheel supply conveyor 4 transports the spare wheel W with its outer surface facing upward in order to prevent the outer surface of the wheel portion of the spare wheel W from being damaged by sliding contact with the conveyor 4. is there.
- a pair of guide rails 11 are installed on one side of the overhead conveyor 1 in parallel therewith.
- a hollow column 13 extending vertically downward is attached to a carriage 12 moving on the guide rails 11 and 11 via a bearing 14 so as to be rotatable.
- a first brake 15 that can restrict the rotation of the support 13 is provided between the support 13 and the carriage 12.
- the first brake 15 includes an electromagnetic caliper 16 attached to the carriage 12 and a brake disc 17 that is fixed to the upper end of the column 13 and is braked by the operation of the caliper 16.
- the hollow portion of the support column 13 accommodates an elevating body 19 having a large number of guide wheels 18 that can roll up and down on the inner peripheral surface thereof.
- the first air cylinder 20 is attached between the lifting body 19 and the upper end of the support column 13, and the lifting body 19 can be lifted and lowered by the expansion and contraction action of the first air cylinder 20. .
- a guide slit 21 extending in the longitudinal direction is provided on one side wall of the support column 13, and the first arm 22 is integrally connected to the elevating body 19 through the guide slit 21.
- the first arm 22 is disposed horizontally, and an upper end portion of a support shaft 23 parallel to the support column 13 is rotatably connected to a tip portion thereof via a bearing 28.
- the support shaft 23 is formed with a second arm 24 extending horizontally from the lower end thereof, and the second arm 24 rotates together with the support shaft 23 with respect to the first arm 22. I'm getting.
- the second brake 25 comprises an electromagnetic caliper 26 attached to the first arm 22 and a brake disc 27 fixed to the upper end of the support shaft 23 and braked by the operation of the caliper 26.
- the stator of the electric motor 30 is fixed to the tip of the second arm 24.
- the electric motor 30 has an output shaft 30a disposed horizontally at a right angle to the second arm 24, and a bracket 31 is integrally connected to the output shaft 30a.
- a third arm 33 is attached to the bracket 31 via a horizontal pivot 32 perpendicular to the output shaft 30a so as to be swingable up and down. Therefore, the electric motor 30 can freely rotate the bracket 31 from the output shaft 30a by its operation.
- the electric motor 30 incorporates a third brake 34 that automatically prevents the rotation of the output shaft 30a when the electric motor 30 is not operating.
- a second air cylinder 35 is mounted between the third arm 33 and the bracket 31.
- the second air cylinder 35 is contracted (see Fig. 9)
- the third arm 33 is held in a substantially horizontal state.
- the second arm 24 is held in a predetermined inclined state in which the second arm 24 comes into contact with the stopper 36 provided on the bracket 31.
- the center of gravity G of the spare wheel W held by the third arm 33 comes close to the axis X of the output shaft 30a of the electric motor 30, and the rotational load of the electric motor 30 is reduced.
- the clamp 40 includes an air clamp cylinder 41 to which the cylinder body 41a is fixed to the upper surface of the tip end of the third arm 33, and a clamp core shaft 42 which is fixed to the upper end surface of the cylinder body 41a and whose upper end portion is conical. And a plurality of clamp claws 44, 44 that are pivotally supported in the slit 43 of the clamp core shaft 42 and project the upper and lower claw portions from the slit 43, and urge the clamp claws 44, 44 inward to the slit 43.
- the extension member 41b at the end of the piston rod of the air clamp cylinder 41 is opposed to the inner surface of the clamp claws 44, 44 so that it can be rotated in the protruding direction.
- the switch group 47 includes a switch for extending and retracting the first and second air cylinders 20 and 35, a switch for operating the electromagnetic calipers 16 and 26 of the first and second brakes 15 and 25, and an electric motor 30.
- the switch etc. which control the forward / reverse rotation of are included.
- symbol M indicates an operator
- the spare wheel W is held by the clamp 40, the spare wheel W is scooped up from the discharge part 4a by slightly contracting the first or second air cylinder 35.
- the worker M rotates the arms 22, 24, and 33 groups around the support column 13 by himself / herself, and the spare wheel W is placed on the opposite side of the spare wheel supply conveyor 4 as shown in FIG.
- the second air cylinder 35 is extended to tilt the spare wheel W together with the third arm 33 forward and downward by a predetermined angle.
- This inclination angle is always regulated to be constant by the second arm 24 coming into contact with the stopper 36 of the bracket 31. According to this constant angle of inclination, the center of gravity G of the spare wheel W held by the clamp 40 comes near the axis X of the output shaft 30a of the electric motor 30 as described above, and the rotational load of the electric motor 30 is reduced. Therefore, as shown in Fig.
- the electric motor 30 may be a small one with a relatively small output, and the work transfer device 5 can be reduced in weight and manufacturing cost.
- the electric motor 30 has a built-in third brake 34 that automatically blocks the rotation of the output shaft 30a when it is not in operation. can do.
- the spare wheel W reversed as shown in Fig. 11 takes a forward tilting posture opposite to the previous time, and this tilting posture is the spare wheel prepared at the rear of each vehicle body B being transported.
- Wheel holding tray Corresponds to the receiving posture with the rear end of Ba open.
- the operator M opens the first and second arms 22 and 24 and moves the spare wheel W directly behind the spare wheel holding tray Ba. After getting on the moving bed 3 and moving the spare wheel W directly above the spare wheel holding tray Ba, the clamp 40 is unclamped and the spare wheel W is disconnected from the clamp 40.
- the spare wheel W is transferred to the spare wheel holding tray Ba of the vehicle body B being transported, but the vehicle body B continues to be transported by the overhead conveyor 1 during this transfer operation.
- the support column 13 is pulled from the worker M side on the moving floor 3 and moves on the rails 11 and 11, so that the transfer work is not hindered.
- the operator M operates the first and second brakes 15 and 25 as necessary to rotate the strut 13, the first arm 22 and the second arm 24 relative to each other. Can be stopped freely.
- both brakes 15, 25 are activated, and the three pillars 13, the first arm 22 and the second arm 24 are operated. If the relative rotation of the person is prevented, the left and right movements of the spare wheel W are eliminated, so that the spare wheel W can be easily moved directly above the spare wheel holding tray Ba.
- the spare wheel W on the spare wheel supply conveyor 4 can be transferred to the spare wheel holding tray Ba of the vehicle body B to be sequentially conveyed.
- the present invention is not limited to the above-described embodiments, and various design changes can be made without departing from the gist thereof.
- the present invention is not limited to the transfer of the spare wheel W but can be applied to transfer of various workpieces.
- the work W can be reversed by connecting a manual handle to the output shaft 30a and rotating the manual handle.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Automatic Assembly (AREA)
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/666,809 US7762757B2 (en) | 2004-12-16 | 2005-12-14 | Workpiece transfer system and workpiece transfer method |
CN2005800433990A CN101132887B (zh) | 2004-12-16 | 2005-12-14 | 工件移载装置及工件移载方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004364359A JP2006168551A (ja) | 2004-12-16 | 2004-12-16 | ワーク移載装置 |
JP2004-364359 | 2004-12-16 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006064827A1 true WO2006064827A1 (ja) | 2006-06-22 |
Family
ID=36587883
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/022924 WO2006064827A1 (ja) | 2004-12-16 | 2005-12-14 | ワーク移載装置及びワーク移載方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7762757B2 (ja) |
JP (1) | JP2006168551A (ja) |
CN (1) | CN101132887B (ja) |
WO (1) | WO2006064827A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108964373A (zh) * | 2018-08-30 | 2018-12-07 | 安徽威能电机有限公司 | 定子转位装置 |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100969122B1 (ko) | 2007-12-14 | 2010-07-09 | 현대자동차주식회사 | 트래버서를 이용한 타이어 자동 공급 장치 |
EP2380346B1 (en) | 2009-01-07 | 2015-05-06 | Milestone AV Technologies LLC | Display mount with adjustable position tilt axis |
DE202010008424U1 (de) * | 2010-09-01 | 2011-12-06 | Zasche Sitec Handling Gmbh | Handhabungsgerät |
CN102211710B (zh) * | 2011-05-12 | 2013-04-17 | 西安理工大学 | 汽车轮胎装配系统 |
US9085308B2 (en) * | 2011-11-04 | 2015-07-21 | GM Global Technology Operations LLC | Passively actuated braking system |
CN102581846B (zh) * | 2012-03-19 | 2014-03-12 | 梁首强 | 一种机械手的制备方法、该机械手及该机械手的使用方法 |
CN106271508B (zh) * | 2016-08-31 | 2018-05-18 | 滦县永恒粘合剂有限公司 | 电磁阀组装设备的标牌翻转装置 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07276284A (ja) * | 1994-04-07 | 1995-10-24 | Bridgestone Corp | チャック装置 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3491427A (en) * | 1967-05-01 | 1970-01-27 | Zimmerman D W Mfg | Apparatus for handling and assembling objects |
US4676713A (en) * | 1985-12-06 | 1987-06-30 | Voelpel Charles E | Material handling machine |
JP2604961B2 (ja) | 1993-06-11 | 1997-04-30 | トライエンジニアリング株式会社 | ツールまたはワークの支持装置 |
-
2004
- 2004-12-16 JP JP2004364359A patent/JP2006168551A/ja active Pending
-
2005
- 2005-12-14 CN CN2005800433990A patent/CN101132887B/zh not_active Expired - Fee Related
- 2005-12-14 WO PCT/JP2005/022924 patent/WO2006064827A1/ja not_active Application Discontinuation
- 2005-12-14 US US11/666,809 patent/US7762757B2/en not_active Expired - Fee Related
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07276284A (ja) * | 1994-04-07 | 1995-10-24 | Bridgestone Corp | チャック装置 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108964373A (zh) * | 2018-08-30 | 2018-12-07 | 安徽威能电机有限公司 | 定子转位装置 |
Also Published As
Publication number | Publication date |
---|---|
US20070267878A1 (en) | 2007-11-22 |
US7762757B2 (en) | 2010-07-27 |
JP2006168551A (ja) | 2006-06-29 |
CN101132887A (zh) | 2008-02-27 |
CN101132887B (zh) | 2010-10-06 |
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