WO2010086980A1

WO2010086980A1 - Work holding and transfer device

Info

Publication number: WO2010086980A1
Application number: PCT/JP2009/051445
Authority: WO
Inventors: 文吾松本
Original assignee: 平田機工株式会社
Priority date: 2009-01-29
Filing date: 2009-01-29
Publication date: 2010-08-05
Also published as: KR20110099290A; CN102300790A; CN102300790B; KR101307993B1; JPWO2010086980A1; JP5385922B2

Abstract

A work holding and transfer device has a base (10) placed below a first conveyance line so that the base (10) can transfer work between the first conveyance line and a second conveyance line and can lift up and hold the work in order to apply predetermined processing to the work; a holding unit (20) vertically movably placed on the base and capable of holding the work; a transfer unit (30) vertically movably placed on the base and capable of transferring the work; and a vertical movement drive unit (40) placed on the base and vertically moving each of the holding unit and the transfer unit such that the unit extends and retracts at a predetermined timing relative to the first conveyance line. The construction enables a processing area and a common transfer area to be arranged in one area. In the processing area, predetermined processing is applied to the work, and in the common transfer area, the work is transferred from the first conveyance line to the second conveyance line and vice versa. The construction simplifies a facility, reduces the space for installing the work holding and transfer device, and improves productivity.

Description

Work holding and transfer device

In a production line for machine parts and electronic equipment, the present invention performs a predetermined process by holding a work conveyed by a main conveyance line at a processing station, and in the case of a defective product, a repair line and a main conveyance line. The present invention relates to a workpiece holding / transferring apparatus that transfers workpieces between the two.

In conventional production lines for machine parts and electronic devices, as shown in FIG. 1, a work W transported by a main transport line ML is stopped at a processing station WS and subjected to predetermined processing. When the workpiece W is a non-defective product (OK product), the workpiece W is transported to the next downstream process by the main transport line ML. On the other hand, when the workpiece W is a defective product (NG product), The workpiece W is transferred by the transfer device TM1 to the sub-line SL at a position higher than the transfer surface of the main transfer line ML, transferred to the repair station RS, and subjected to a predetermined reworking operation, and then transferred by the transfer device TM2. A technique is adopted in which the flow is returned to the main transfer line ML again and transferred to the next process on the downstream side.

Here, as the conventional transfer devices TM1 and TM2, a base, a lift frame supported so as to be movable up and down with respect to the base, a transfer unit provided on the lift frame, a drive motor, a one-way clutch, a cam mechanism, and the like are provided. In addition, a conveyor branching device is known in which the cam mechanism is operated by the forward rotation of the drive motor to lift the workpiece W, and the transfer unit is operated by the reverse rotation of the drive motor to carry out the workpiece W. (For example, patent document 1).
In addition, as other transfer devices TM1 and TM2, one drive motor, an endless chain that can hold the workpiece W, two sprockets that are driven to rotate by stretching the endless chain, and the sprocket are rotated eccentrically. When the drive motor is rotated forward, the eccentric bearing and the sprocket rotate eccentrically, the endless chain rises and holds the workpiece W and carries it out. On the other hand, when the drive motor reverses, A conveyor transfer device is known in which a bearing and a sprocket are eccentrically rotated in the opposite direction, and an endless chain moves down while transferring a workpiece W (for example, Patent Document 2).

By the way, in the conventional production line as described above, only a predetermined process is performed at the processing station WS, and a dedicated transfer device is provided for transferring the defective workpiece W to the subline SL and receiving the corrected workpiece W. TM1 and TM2 are installed, and the subline SL is connected from the transfer device TM1 to the transfer device TM2 located on the upstream side of the processing station WS via the repair station RS. Therefore, the equipment is complicated, the installation area of the equipment is widened, and the time required for carrying the work W, which has been reworked from the delivery of the work W to the repair station RS, into the main transport line ML is increased. It was difficult to increase productivity.

JP 07-315562 A Utility Model Registration No. 3022763

The present invention has been made in view of the above points, and its object is to simplify the equipment, simplify the structure, save space, etc., especially for transport for repair work. An object of the present invention is to provide a workpiece holding and transferring device capable of shortening the time required and improving productivity.

The workpiece holding and transferring device of the present invention that achieves the above object can transfer a workpiece between a first transfer line and a second transfer line adjacent so as to intersect the first transfer line and perform a predetermined process. A workpiece holding and transferring device capable of lifting and holding a workpiece from a first conveying line to be applied, and a base installed below the first conveying line and being movable up and down on the base to hold the workpiece A holding unit, a transfer unit that can be moved up and down on the base and can transfer a workpiece, and a holding unit and a transfer unit that are provided on the base are moved in and out of the first transfer line at predetermined timings. And an elevating drive unit that freely elevates.
According to this configuration, when the workpiece conveyed by the first conveyance line reaches above the base of the apparatus, it is lifted and held by the holding unit, and is subjected to predetermined processing by the operator. Then, the processed non-defective product (OK product) is returned to the first transport line by the lowering of the holding unit and transported downstream. On the other hand, the defective product (NG product) is transferred to the transfer unit when the holding unit is lowered, and is transferred to the second transfer line. And the workpiece | work which completed the predetermined reworking work is carried in by a 2nd conveyance line, is transferred to a 1st conveyance line by a transfer unit, and is conveyed downstream.
Thus, by providing only one workpiece holding and transferring device, a processing area for performing a predetermined process on the workpiece can be secured, and transfer from the first transfer line to the second transfer line and the second transfer line can be secured. A common transfer area for transferring from the first to the first transfer line can be secured. As a result, simplification of equipment, space saving of the installation area, improvement of productivity, and the like can be achieved.

In the above configuration, the holding unit includes a holding table that is driven up and down by the lifting drive unit and holds the workpiece, and the transfer unit is arranged on both outer sides sandwiching the holding table and is driven up and down by the lifting drive unit. A configuration including a pair of transfer movable bodies for transferring a workpiece can be employed.
According to this configuration, since the holding table of the holding unit and the pair of transfer movable bodies of the transfer unit can be arranged in a nested manner and can be driven up and down relatively, compared to a case where an occupied space is ensured for each. Thus, the space can be reduced and the apparatus can be downsized.

In the above configuration, the holding unit includes a holding table that holds the workpiece, a leg portion that extends downward from the holding table and that is guided to be raised and lowered to the base, and a member that engages with the lifting drive unit and receives the lifting drive force. The transfer unit includes a pair of transfer movable bodies arranged on both outer sides of the holding table, a drive mechanism that drives the pair of transfer movable bodies or drives the workpiece, and a pair of A configuration including a holding frame that holds the transfer movable body and the driving mechanism, and an engaging portion that is provided on the holding frame and engages with the lifting drive unit and receives the lifting drive force can be employed.
According to this configuration, in the holding unit, when the elevating driving force is exerted by the elevating drive unit via the engaging portion, the holding table is raised to hold the workpiece while the leg portion is guided to be raised and lowered by the base. On the other hand, the holding table is lowered and detached from the workpiece.
Further, in the transfer unit, when a lifting drive force is exerted by the lifting drive unit via the engaging portion, the pair of transfer movable bodies rise to hold the workpiece, and the workpiece is transferred by driving the drive mechanism. Operation is performed. Here, as a pair of transfer movable bodies, a pair of roller rows or a pair of endless belts can be applied, and as a drive mechanism, a mechanism for rotationally driving a pair of roller rows or a pair of endless belts, or A mechanism that presses the workpiece can be applied when the pair of roller rows is an idle roller that simply rolls.
Thus, since the holding unit is configured by the holding table, the leg portion, and the engaging portion, and the transfer unit is configured by the pair of transfer movable bodies, the drive mechanism, and the holding frame, the structure is simple. In addition, since the holding table is disposed so as to be movable up and down inside the pair of transferable movable bodies, it is possible to reduce the size of the apparatus by integrating the parts.

In the above configuration, the transfer unit includes a through-hole portion that is provided in the holding frame and penetrates the leg portion, and the through-hole portion defines a guided portion that is guided by the leg portion so that the holding frame can be moved up and down. The structure currently formed can be employ | adopted.
According to this configuration, the through-hole portion is guided by the leg portion as a guided portion so that it can be raised and lowered, so that there is no need for a dedicated guide mechanism for guiding the transfer unit to be raised and lowered, and the structure is reduced by reducing the number of parts. Simplification can be achieved.

In the above configuration, the pair of transfer movable bodies includes a pair of roller rows arranged on the holding frame, and the drive mechanism is fixed to the holding frame and a driving force transmission unit that transmits a rotational driving force to the pair of roller rows. Thus, it is possible to adopt a configuration including a drive source that exerts a rotational drive force on the drive force transmission unit.
According to this configuration, the pair of roller rows, the driving force transmission unit, and the driving source are lifted and lowered together by the holding frame, and the driving force of the driving source is transferred to the driving force transmission unit (for example, a gear train, an endless chain, or A pair of roller rows are rotationally driven via an endless belt, a connecting shaft for connecting rollers on both sides, and the like, so that a workpiece can be transferred.

In the above-described configuration, the elevating drive unit includes a rotating shaft that is rotatably supported by the base, a holding cam that rotates integrally with the rotating shaft and exerts a cam action on the engaging portion of the holding unit, and the rotating shaft. It is possible to adopt a configuration including a transfer cam that rotates in a rotating manner and exerts a cam action on the engaging portion of the transfer unit, and a drive motor that rotationally drives the rotary shaft.
According to this configuration, by appropriately rotating the rotating shaft with the drive motor, the holding table can be raised and lowered by the cam action of the holding cam at each desired timing, and the pair of transfer by the cam action of the transfer cam. The mounting movable body can be raised and lowered.
Here, the holding cam and the transfer cam may be formed on dedicated cam members, respectively, or may be formed adjacent to one cam member.
As described above, since the elevating drive unit is constituted by the cam mechanism, the holding unit (holding table) and the transfer unit (a pair of transfer movable bodies) are respectively set to predetermined predetermined amounts only by controlling the rotation of the drive motor. It can be moved up and down at the timing.

In the above-described configuration, the transfer cam is positioned above the first transfer line from the non-transfer stop position where the pair of transfer movable bodies are not transferred below the first transfer line due to normal rotation of the rotation shaft. A profile is defined that raises to a transfer stop position at which a workpiece can be held and transferred, and lowers the pair of transfer movable bodies from the transfer stop position to the non-transfer stop position by reversing the rotation axis. The holding cam is moved from a non-holding stop position where the holding table is not held below the first transfer line to an intermediate stop position below the transfer stop position by forward rotation of the rotating shaft. A profile that raises the holding table above the transfer stop position to the holding stop position and lowers the holding table from the holding stop position to the non-holding stop position by the reverse rotation of the rotating shaft. Is formed to a constant, it is possible to adopt a configuration.
According to this configuration, when the rotation shaft rotates forward by a predetermined angle, the pair of transfer movable bodies rises from the non-transfer stop position to the transfer stop position and holds the work so that the work can be transferred. When the axis of rotation rises from the non-holding stop position to the intermediate stop position, and the rotation shaft further rotates forward by a predetermined angle, the holding table rises to the holding stop position with the pair of transfer movable bodies stopped at the transfer stop position. Hold the workpiece. On the other hand, when the rotation axis is reversed by a predetermined angle from the state at the holding stop position, the holding table is lowered to deliver the workpiece to the pair of transfer movable bodies at the transfer stop position, and the rotation shaft is further rotated by the predetermined angle. Then, the pair of transfer movable bodies are lowered to the non-transfer stop position, deliver the workpiece to the first transfer line, and the holding table is lowered to the non-hold stop position. Thus, the pair of transfer movable bodies and the holding table can be moved up and down at predetermined timings only by forward and reverse rotation of the rotation shaft.

In the above configuration, the holding cam holds the workpiece above the first conveyance line from the non-holding stop position where the holding table does not hold the workpiece below the first conveyance line due to normal rotation of the rotation shaft. The transfer cam is formed so as to define a profile for lowering the holding table from the holding stop position to the non-holding stop position by reversing the rotation shaft and rotating the rotation shaft. A pair of transfer is performed after the mounting movable body is stopped at the non-transfer stop position where the workpiece is not transferred below the first transfer line, and the holding table is lowered to the non-hold stop position by the reverse rotation of the rotation shaft. It is possible to adopt a configuration in which the movable body is formed so as to define a profile for raising the movable body to a transfer stop position where the work can be held and transferred above the first transfer line. .
According to this configuration, when the rotating shaft rotates forward, the holding table rises from the non-holding stop position to the holding stop position and holds the workpiece while the pair of transfer movable bodies are stopped at the non-transfer stop position. . On the other hand, when the rotating shaft reverses by a predetermined angle from the holding stop position, the holding table descends to deliver the work to the first transfer line, and when the rotating shaft further reverses by the predetermined angle, the holding table stops non-holding. After descending to the position, the pair of transfer movable bodies rises from the non-transfer stop position to the transfer stop position and holds the work so that it can be transferred. Thus, the pair of transfer movable bodies and the holding table can be moved up and down at predetermined timings only by forward and reverse rotation of the rotation shaft.

In the above configuration, the lifting drive unit is fixed to the base and has a holding actuator that applies a lifting drive force to the engaging portion of the holding unit, and a transfer actuator that is fixed to the base and applies the lifting drive force to the engaging portion of the transfer unit. A configuration including a mounting actuator and a control unit that drives and controls the holding actuator and the transfer actuator can be employed.
According to this configuration, the holding table can be raised and lowered by the raising and lowering drive of the holding actuator, and the pair of transfer movable bodies can be raised and lowered by the raising and lowering drive of the transfer actuator.
In this way, since the elevating drive unit is constituted by the actuator mechanism, the holding unit (holding table) and the transfer unit (a pair of transfer movable bodies) can be respectively changed by simply controlling the drive of the actuator by the control means. It can be moved up and down at a predetermined timing. For example, the control means drives the holding actuator to position the holding table at the non-holding stop position where the workpiece is not held below the first transfer line and the holding stop position where the workpiece is held above the first transfer line. A non-transfer stop position where the transfer movable body is controlled and the workpiece is not transferred below the first transfer line, and a transfer stop position where the workpiece is held and transferred above the first transfer line. If the workpiece is held by the holding table by controlling the drive of the transfer actuator to position the workpiece, the holding table is raised from the non-holding stop position to the holding stop position by raising the holding actuator. On the other hand, when transferring the workpiece, the pair of transfer movable bodies are stopped from the non-transfer stop position by the ascending drive of the transfer actuator. It can be controlled to be increased to location for holding a transfer capable workpiece.
In this way, the pair of transfer movable bodies and the holding table can be moved up and down at predetermined timings only by driving and controlling the holding actuator and the transfer actuator by the control means.

According to the workpiece holding / transferring device having the above-described configuration, the processing area for performing predetermined processing on the workpiece and the transfer area can be made common, simplifying the equipment, simplifying the structure, and saving space. In particular, the time required for transport for repair work can be shortened, and productivity can be improved.

It is a top view which shows the conventional production line. It is a top view which shows the production line which installed the workpiece holding transfer apparatus which concerns on this invention. In the production line shown in FIG. 2, it is sectional drawing which cut | disconnected the main conveyance line in the area | region in which the workpiece holding | transfer apparatus was installed. 1 is a perspective view showing an embodiment of a workpiece holding / transferring apparatus according to the present invention. It is a side view which shows one Embodiment of the workpiece | work holding transfer apparatus which concerns on this invention. It is a fragmentary sectional view which shows one Embodiment of the workpiece | work holding | transfer transfer apparatus which concerns on this invention. It is a fragmentary perspective view which shows one Embodiment of the workpiece | work holding transfer apparatus which concerns on this invention. It is a side view which shows operation | movement of the holding cam and the transfer cam which are contained in the workpiece | work holding | transfer apparatus of this invention. It is a figure which shows the profile of the holding cam and transfer cam which make a part of raising / lowering drive unit contained in the workpiece | work holding | transfer apparatus of this invention. It is an operation | movement figure explaining operation | movement of the workpiece holding transfer apparatus which concerns on this invention. It is an operation | movement figure explaining operation | movement of the workpiece holding transfer apparatus which concerns on this invention. It is an operation | movement figure explaining operation | movement of the workpiece holding transfer apparatus which concerns on this invention. It is an operation | movement figure explaining operation | movement of the workpiece holding transfer apparatus which concerns on this invention. It is an operation | movement figure explaining operation | movement of the workpiece holding transfer apparatus which concerns on this invention. It is an operation | movement figure explaining operation | movement of the workpiece holding transfer apparatus which concerns on this invention. It is an operation | movement figure explaining operation | movement of the workpiece holding transfer apparatus which concerns on this invention. It is an operation | movement figure explaining operation | movement of the workpiece holding transfer apparatus which concerns on this invention. It is an operation | movement figure explaining operation | movement of the workpiece holding transfer apparatus which concerns on this invention. It is a side view which shows the operation | movement of the holding cam and transfer cam in other embodiment of the workpiece | work holding | transfer apparatus which concerns on this invention. It is an operation | movement figure explaining operation | movement of the workpiece | work holding | transfer apparatus to which the holding cam and transfer cam shown in FIG. 13 are applied. It is an operation | movement figure explaining operation | movement of the workpiece | work holding | transfer apparatus to which the holding cam and transfer cam shown in FIG. 13 are applied. It is an operation | movement figure explaining operation | movement of the workpiece | work holding | transfer apparatus to which the holding cam and transfer cam shown in FIG. 13 are applied. It is an operation | movement figure explaining operation | movement of the workpiece | work holding | transfer apparatus to which the holding cam and transfer cam shown in FIG. 13 are applied. It is an operation | movement figure explaining operation | movement of the workpiece | work holding | transfer apparatus to which the holding cam and transfer cam shown in FIG. 13 are applied. It is an operation | movement figure explaining operation | movement of the workpiece | work holding | transfer apparatus to which the holding cam and transfer cam shown in FIG. 13 are applied. It is a side view which shows other embodiment of the workpiece | work holding | transferring apparatus which concerns on this invention. It is a top view which shows other embodiment of the production line to which the workpiece transfer apparatus which concerns on this invention is applied. It is a top view which shows other embodiment of the production line to which the workpiece transfer apparatus which concerns on this invention is applied. It is an operation | movement figure explaining operation | movement of the workpiece holding transfer apparatus and the main conveyance line in the production line shown in FIG. It is an operation | movement figure explaining operation | movement of the workpiece holding transfer apparatus and the main conveyance line in the production line shown in FIG. It is an operation | movement figure explaining operation | movement of the workpiece holding transfer apparatus and the main conveyance line in the production line shown in FIG. It is an operation | movement figure explaining operation | movement of the workpiece holding transfer apparatus and the main conveyance line in the production line shown in FIG. It is an operation | movement figure explaining operation | movement of the workpiece holding transfer apparatus and the main conveyance line in the production line shown in FIG. It is an operation | movement figure explaining operation | movement of the workpiece holding transfer apparatus and the main conveyance line in the production line shown in FIG.

Explanation of symbols

ML main transfer line (first transfer line)
ML 'division conveyance line ML1 base ML2 leg ML3 frame ML4 roller array Sm conveyance surface SL subline (second conveyance line)
SL1 Base SL2 Leg SL3 Frame SL4 Roller row Ss Transport surface RS, RS ′ Repair station W Work M Work holding / transferring device T1 Main transport line transport direction L Axis V Vertical direction T2 Subline transport direction Po Main transport line transport Surface height position P1 Non-holding stop position Pm Intermediate stop position P2 Holding stop position P3 Non-transfer stop position P4 Transfer stop position 10, 10 'Base 11 Base 12 Side wall 12a Positioning hole 13 Upper wall 13a Circular opening 13b Through hole 14 Guide cylinder 14a Cover part 14b Cylindrical guide part 20, 20 'Holding unit 21, 21' Holding table 21a Positioning part 22 Leg part 23 Hanging part 24 Follower (engaging part)
24 'engaging part 25 elongate member

25a positioning hole

25b rod stopper 30, 30' transfer unit 31 a pair of roller rows (a pair of transfer movable bodies)
31a Connection shaft 32 Drive mechanism

32a Drive motor

32b Transmission parts 33, 33 'Holding frame 33a Through hole 33b Opening part 34 Through hole part (guided part)
35 Suspension 36 Follower (engaging part)
36 'engaging portion 37 elongate member 37a positioning hole 40 elevating drive unit 41 rotating shaft 41a detecting piece 42, 42' holding

cam member

42a, 42a 'holding cam A1, A2, A3, A4 cam region 42b regulating member 43 , 43 '

Transfer cam members

43a, 43a' Transfer cams B1, B2, B3 Cam area 44

Drive motors

45, 46, 47, 48 Position sensor 50 Stopper mechanism 51 Stopper 52 Drive actuator 140 Lift drive unit 142 For holding Actuator 143 Transfer actuator

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
As shown in FIGS. 2 and 3, the workpiece holding / transferring device M is adjacent to the main conveyance line ML as a first conveyance line that conveys the workpiece W in the conveyance direction T 1 and intersects the main conveyance line ML. In the production line including the repair station RS, RS ′, etc. disposed in the end area of the subline SL and the subline SL that is disposed in the transport direction T2, the subline SL is adjacent to the main transport line ML. Is arranged.
Here, as shown in FIG. 3, the main transport line ML includes a base ML1 extending in the transport direction T1, a leg ML2 standing upright on the base ML1, a frame ML3 supported by the leg ML2 and extending in the transport direction T1, and a frame. A roller array ML4 and the like that are supported by ML3 and demarcate the conveying surface Sm are provided.
Further, as shown in FIG. 3, the subline SL is supported by a base SL1 extending in the transport direction T2, a leg SL2 standing upright on the base SL1, a frame SL3 supported by the leg SL2 and extending in the transport direction T2, and a frame SL3. In addition, a roller row SL4 and the like that define a transport surface Ss that is higher than the transport surface Sm of the main transport line ML are provided.
In addition, as the workpiece | work W, it is conveyed by the main conveyance line ML in the state mounted in the components, or components, such as a machine or an electronic device which are conveyed directly by the main conveyance line ML, and a predetermined process is performed. It is a concept including parts such as a machine or an electronic device to be processed.

As shown in FIGS. 3 to 7, the workpiece holding / transferring apparatus M includes a base 10 installed below the main transfer line ML and a holding unit 20 that can be moved up and down on the base 10 and can hold the workpiece W. The transfer unit 30 that can be moved up and down on the base 10 and can transfer the workpiece W, and the holding unit 20 and the transfer unit 30 that are provided on the base 10 are respectively transferred to the main transport line ML An elevating drive unit 40 that moves up and down freely with respect to the conveying surface Sm), a stopper mechanism 50 that stops the workpiece W, and the like are provided.

As shown in FIGS. 3 to 7, the base 10 includes a base 11, two side walls 12, an upper wall 13, four guide cylinders 14, and the like.
The base 11 is formed in a substantially rectangular flat plate shape as shown in FIG. 7, and is placed and fixed on the base ML1 of the main transport line ML as shown in FIG. . Thereby, it is not necessary to provide a dedicated installation tool on the floor surface, and the apparatus M can be easily positioned with respect to the main transport line ML.
As shown in FIGS. 6 and 7, the two side walls 12 are erected on the base 11 at a predetermined interval so as to face each other in the direction of the axis L, and a positioning hole through which a rod stopper 25 b described later passes. 12a, and is formed so as to rotatably support the rotating shaft 41 of the elevating drive unit 40.
As shown in FIG. 5, the one side wall 12 is formed so as to fix a plurality of (here, four)

position sensors

45, 46, 47, 48 that detect the rotation angle position of the rotation shaft 41. .
As shown in FIG. 7, the upper wall 13 is formed in a flat plate shape whose outer contour is substantially rectangular, and is coupled to the upper surfaces of the two side walls 12. The upper wall 13 includes a circular opening 13a formed at a position facing the four guide cylinders 14 and rectangular through holes 13b formed at two positions on a substantially diagonal line.
As shown in FIG. 5, the four guide cylinders 14 are disposed inside the cover portion 14 a, a substantially rectangular cover portion 14 a provided between the base 11 and the upper wall 13, and a circular opening in the upper wall 13. It is constituted by a cylindrical guide portion 14b that defines a cylindrical guide passage that is fitted to 13a and extends in the vertical direction V. The four guide cylinders 14 are configured to receive and guide the leg portion 22 of the holding unit 20 by a cylindrical guide portion 14b.
As described above, the four cylindrical guide portions 14b are respectively fitted and fixed to the circular openings 13a of the upper wall 13, whereby the uprightness (parallelism) can be adjusted with high accuracy.

The holding unit 20 lifts and holds the workpiece W in order to perform a predetermined process on the workpiece W. As shown in FIGS. 4 to 7, the holding table 21 and the holding table 21 have a substantially rectangular flat plate shape. The four leg portions 22 that extend downward from the guide tube 14 and are guided so as to be raised and lowered by the guide cylinder 14, are formed to hang down from the vicinity of both ends in the axis L direction of the holding table 21 (with a predetermined interval in the axis L direction). Two followers 24 as two engaging parts provided rotatably around a horizontal axis parallel to the axis L in the lower end region of the two hanging parts 23 and the lower part 23, and from two corners of the holding table 21. Are provided with two elongated members 25 and the like.

The holding table 21 has four positioning portions 21a that enter the work W (positioning holes for parts or positioning holes such as pallets) and position the work W in the horizontal direction.
The leg portion 22 is formed in a rod shape having a circular cross section, and is slidably inserted into the guide tube 14 and guided so as to move up and down.
As shown in FIG. 3, the hanging portion 23 extends downward from the lower surface of the holding table 21 by a predetermined length and is formed so as to hold the follower 24 in the lower end region thereof.
As shown in FIG. 7, the follower 24 is rotatably contacted with a holding cam (cam surface) 42 a of a holding cam member 42 included in the lifting drive unit 40 and has a cam action that is raised and lowered in the vertical direction V. It is formed to receive.
The long member 25 has a substantially rectangular cross section and is formed so as to penetrate the holding frame 33 (the through hole 33a thereof) of the transfer unit 30 and the through hole 13b of the upper wall 13. Further, as shown in FIGS. 5 and 6, the long member 25 has three positioning holes separated by a predetermined distance in the vertical direction V so as to pass the rod stopper 25 b passed through the positioning hole 12 a of the side wall 12. 25a is formed.
When the rod stopper 25b is passed through the upper positioning hole 25a among the three positioning holes 25a, the holding table 21 is positioned at a non-holding stop position below the transport surface Sm of the main transport line ML. When the rod stopper 25b is passed through the positioning hole 25a, the holding table 21 is positioned at an intermediate stop position below the transfer surface Sm of the main transfer line ML and above the non-hold stop position, and the lower positioning hole 25a. When the rod stopper 25b is passed through the holding table 21, the holding table 21 is positioned at a holding stop position above the conveying surface Sm.

In the holding unit 20 described above, when an elevating driving force is exerted by the elevating drive unit 40 via the follower 24, the leg portion 22 is guided to the base 10 (the guide cylinder 14) so as to be raised and lowered, and the holding table 21 is moved. The workpiece W is raised and held, while the holding table 21 is lowered and separated from the workpiece W.
As described above, since the holding unit 20 includes the holding table 21, the leg portion 22, the follower (engagement portion) 24, and the like, the structure can be simplified and the device M can be reduced in size. The holding table 21 may be provided with a tilt mechanism that can be tilted in order to easily perform a predetermined process (work) on the workpiece W.

As shown in FIGS. 4 to 7, the transfer unit 30 rotates and drives a pair of roller rows 31 and a pair of roller rows 31 as a pair of transfer movable bodies arranged on both outer sides sandwiching the holding table 21. A drive frame 32, a pair of roller rows 31 and a substantially rectangular flat plate-shaped holding frame 33 for holding the drive mechanism 32, and four through-holes as guide portions provided on the holding frame 33 and slidably passing through the leg portion 22 Two hanging portions 35 that are suspended from the portion 34 and the holding frame 33 and are formed at predetermined intervals in the direction of the axis L, and two followers 36 that are rotatably provided in the lower end region of the hanging portion 35. The two long members 37 and the like extending downward from the two corners of the holding frame 33 are provided.

The roller row 31 is provided with four rollers in which an endless chain is wound around sprockets formed integrally with each other to transmit the rotational drive, and the rotational drive force is transmitted to the roller row 31 on one side. Then, the rotational driving force is transmitted to the other roller row 31 via the connecting shaft 31a.
The drive mechanism 32 includes a drive motor 32a disposed adjacent to the roller row 31 on one side, a transmission portion 32b to which the rotational drive force is transmitted by the drive motor 32a, and the like.
As shown in FIG. 4, the holding frame 33 has two through holes 33 a through which the long member 25 can be moved up and down, two followers 24 and two openings 33 b through which the hanging portion 23 can be moved up and down.
As shown in FIGS. 4 and 5, the through hole portion 34 is formed as a fitting hole that slidably receives the leg portion 22 in the vertical direction V, and the transfer unit 30 is relative to the holding unit 20. It functions as a guided portion that is guided so as to move up and down.
As shown in FIGS. 4 and 7, the hanging portion 35 hangs from the vicinity of both ends in the direction of the axis L of the holding frame 33 and extends by a predetermined length, and around the horizontal axis parallel to the axis L in the lower end region. The follower 36 is formed to be rotatable.
As shown in FIG. 8, the follower 36 is a cam that can be moved up and down in the vertical direction V by rotatingly contacting a transfer cam (cam surface) 43 a of a transfer cam member 43 included in the lift drive unit 40. It is formed to receive the action.
The long member 37 has a substantially rectangular cross section and is formed adjacent to the long member 25 of the holding unit 20 so as to penetrate the through hole 13 b of the upper wall 13. Further, as shown in FIGS. 5 and 6, the long member 37 has two positioning holes separated by a predetermined distance in the vertical direction V so as to pass the rod stopper 25b passed through the positioning hole 12a of the side wall 12. 37a is formed.
When the rod stopper 25b is passed through the upper positioning hole 37a of the two positioning holes 37a, the roller row 31 is positioned at a non-transfer stop position below the transport surface Sm of the main transport line ML. When the rod stopper 25b is passed through the lower positioning hole 37a, the roller row 31 is positioned at the transfer stop position above the transport surface Sm.

In the transfer unit 30 described above, when an elevating driving force is exerted by the elevating drive unit 40 via the follower 36, the pair of roller rows 31 ascend to hold the work W, and the drive mechanism 32 rotates to drive the work. The transfer operation of W is performed.
As described above, since the transfer unit 30 includes the pair of roller rows 31, the drive mechanism 32, the holding frame 33 having the through-hole portion 34, etc., the structure can be simplified, and the pair of roller rows can be achieved. Since the holding table 21 is arranged in a nested manner so that the holding table 21 can freely move up and down, the apparatus can be reduced in size by consolidating components.
In addition, although a pair of roller row | line | column 31 was employ | adopted as a pair of transfer movable body here, it replaces with a pair of roller row | line | column 31, and may apply a pair of endless belt. In addition, as a driving mechanism, in the case of a free-rolling roller in which a pair of roller rows simply rolls, a mechanism (such as a pressing mechanism) that drives and pushes the workpiece W in the transport direction T2 may be applied. .

In the configuration including the holding unit 20 and the transfer unit 30, the positioning using the rod stopper 25 b is not performed during normal work but when performing specific work such as maintenance work and the transfer table 21 and the transfer unit 30. This is because the roller row 31 of the loading unit 30 is held at a specific position in the vertical direction V.

As shown in FIGS. 4, 5, and 7, the elevating drive unit 40 has a rotating shaft 41, two holding cam members 42 that rotate integrally with the rotating shaft 41, and 2 that rotates integrally with the rotating shaft 41. One transfer cam member 43, a drive motor 44 for rotationally driving the rotary shaft 41, four

position sensors

45, 46, 47, and 48 for detecting the rotational angle position of the rotary shaft 41, and a control means for controlling various drive controls ( (Not shown).
As shown in FIGS. 4 and 7, the rotating shaft 41 is formed to have an axis L that extends in the horizontal direction, and is rotatably supported by the two side walls 12 of the base 10. Further, as shown in FIG. 5, the rotating shaft 41 includes a detection piece 41a that rotates integrally at one end thereof and can face each of the four position sensors 45 to 48 in close proximity.

The two holding cam members 42 are disposed at a predetermined interval in the direction of the axis L and are fixed to the rotating shaft 41. Each of the holding cam members 42a contacts with the follower 24 of the holding unit 20 and exerts a cam action. It has a regulating member 42b that regulates the holding unit 20 from descending below a predetermined height.
As shown in FIGS. 8 and 9, the holding cam 42 a moves the holding table 21 below the main transport line ML by forward rotation of the rotating shaft 41 (counterclockwise in FIG. 5 and clockwise in FIG. 8). A holding stop that holds the workpiece W above the transfer stop position P4 from the non-holding stop position P1 that does not hold the workpiece W through an intermediate stop position Pm that is lower than the transfer stop position P4 by the transfer cam 43a described later. The holding table 21 is moved from the holding stop position P2 to the non-holding stop position P1 through the intermediate stop position Pm by raising the position P2 and rotating the rotating shaft 41 in the reverse direction (clockwise in FIG. 5 and counterclockwise in FIG. 8). It is formed to define a profile to be lowered.
As shown in FIG. 9, the profile of the holding cam 42a is composed of (10 places) cam regions A1 to A10 described below. That is, each of the cam areas A1 to A10 is
A1: A cam region that is formed at a substantially constant cam height over a predetermined angle range at a portion corresponding to a region near the non-holding stop position P1, and has a gentle slope.
A3: a cam region having a gentle slope with a substantially constant cam height over a predetermined angle range in a portion corresponding to a region near the transport surface height position Po of the main transport line ML.
A5: a cam region having a gentle slope formed at a substantially constant cam height over a predetermined angle range in a portion corresponding to a region near the intermediate stop position Pm.
A7: A cam region having a gentle slope formed at a substantially constant cam height over a predetermined angular range in a portion corresponding to a region near the transfer stop position P2.
A9: a cam region where the slope is gentle in a portion corresponding to a region near the holding stop position P2 and formed at a substantially constant cam height over a predetermined angle range;
A2: a cam region that is located between the cam region A1 and the cam region A3, is formed continuously with the cam region A1 and the cam region A3, and has a steep slope;
A4: a cam region that is located between the cam region A3 and the cam region A5, is formed continuously with the cam region A3 and the cam region A5, and has a steep slope;
A6: a cam region that is located between the cam region A5 and the cam region A7, is formed continuously with the cam region A5 and the cam region A7, and has a steep slope;
A8: a cam region that is located between the cam region A7 and the cam region A9, is formed continuously with the cam region A7 and the cam region A9, and has a steep slope;
A10: a cam region that is continuous to the cam region A9 and formed at a constant cam height over a predetermined angle range.
The holding unit 20 is gradually decelerated and raised (or lowered) in the cam areas A1, A3, A5, A7, and A9, stopped at the positions P1, Po, Pm, P4, and P2, and positioned. In the cam areas A1, A3, A5, A7, A9, the speed is gradually increased and the ascending (or descending) operation is started.
When the holding cam member 42 reverses and the holding unit 20 approaches the non-holding stop position P1 from the holding stop position P2, the restricting member 42b is held as shown by the angular positions (P1, P3) in FIG. Abutting on the lower surface of the frame 33, the holding frame 33 is prevented from further descending.

The two transfer cam members 43 are arranged outside the two holding cam members 42 at a predetermined interval in the direction of the axis L, and are fixed to the rotary shaft 41, respectively, and the follower 36 of the transfer unit 30. It has a transfer cam 43a that comes into contact with and exerts a cam action.
As shown in FIGS. 8 and 9, the transfer cam 43a moves the pair of roller rows 31 from the main transport line ML by the forward rotation of the rotating shaft 41 (counterclockwise in FIG. 5 and clockwise in FIG. 8). Also, the workpiece W is raised from the non-transfer stop position P3 where the W workpiece is not transferred below to the transfer stop position P4 where the workpiece W can be held and transferred above the main transfer line ML, and the rotation shaft 41 is reversed. (A clockwise rotation in FIG. 5 and a counterclockwise rotation in FIG. 8) are formed so as to define a profile for lowering the pair of roller rows 31 from the transfer stop position P4 to the non-transfer stop position P3.
As shown in FIG. 9, the profile of the transfer cam 43a is composed of cam regions B1 to B6 described below (six locations). That is, each of the cam areas B1 to B6 is
B1: A cam region that is formed at a substantially constant cam height over a predetermined angular range and has a gentle slope in a portion corresponding to a region near the non-transfer stop position P3.
B3: a cam region having a gentle slope formed at a constant cam height over a predetermined angular range in a portion corresponding to a region near the transport surface height position Po of the main transport line ML.
B5: A cam region where the slope is gentle in a portion corresponding to the region near the transfer stop position P4 and formed at a substantially constant cam height over a predetermined angle range;
B2: a cam region that is located between the cam region B1 and the cam region B3, is formed continuously with the cam region B1 and the cam region B3, and has a steep slope;
B4: a cam region that is located between the cam region B3 and the cam region B5, is formed continuously with the cam region B3 and the cam region B5, and has a steep slope;
B6: a cam region that is continuous to the cam region B5 and formed at a constant cam height over a predetermined angle range.
The transfer unit 30 is gradually decelerated and raised (or lowered) in the cam areas B1, B3, and B5, stopped and positioned at the positions P1, Po, and P4, and the cam areas B1, B3, and B5. The speed is gradually increased and the ascending (or descending) operation is started.
As shown in FIG. 9, in the relationship between the cam surface heights of the holding cam 42a and the transfer cam 43a, in the angle region from the position of the position sensor 45 to the position of the position sensor 47, the holding cam 42a is positioned below the cam surface height of the transfer cam 43a, and in the angle region from the position of the position sensor 47 to the position of the position sensor 48, the holding cam 42a is the cam surface of the transfer cam 43a. The cam surface height of the holding cam 42a and the transfer cam 43a is the same (height P4) at the position of the position sensor 47, which is located above the height.

As shown in FIGS. 4, 5, and 7, the drive motor 44 is fixed to the base 10 (base 1), and exerts a rotational driving force on the rotary shaft 41 via a speed reduction mechanism (not shown). It has become.
As shown in FIG. 5, the

position sensors

45, 46, 47, and 48 are opposed to the side wall 12 of the base 10 at a predetermined interval in the circumferential direction and close to the detection piece 41 a of the rotating shaft 41. It is fixed so that you can.
The position sensor 45 detects that the rotary shaft 41 is at the initial position, that is, the holding unit 20 is located at the non-holding stop position P1 and the transfer unit 30 is located at the non-transfer stop position P3. .
The position sensor 46 detects an angular position where the rotary shaft 41 is rotated by a predetermined angle, that is, the holding unit 20 is positioned at the intermediate stop position Pm and the transfer unit 30 is positioned at the transfer stop position P4. It has become.
The position sensor 47 detects an angular position where the rotating shaft 41 is further rotated by a predetermined angle, that is, that the holding unit 20 is located at the same height position as the transfer stop position P4 of the transfer unit 30. ing.
The position sensor 48 detects that the rotation unit 41 is further rotated by a predetermined angle, that is, the holding unit 20 is located at the holding stop position P2 while the transfer unit 30 is stopped at the transfer stop position P4. It is supposed to be.

As described above, by appropriately rotating the rotary shaft 41 by the drive motor 44, the holding unit 20 (holding table 21) is raised and lowered by the cam action of the holding cam 42a at each desired timing, and for transfer. The transfer unit 30 (the pair of roller rows 31) can be moved up and down by the cam action of the cam 43a.
Here, the holding cam 42a and the transfer cam 43 are respectively formed by dedicated cam members (the holding cam member 42 and the transfer cam member 43), but are adjacent to one cam member. May be formed.
As described above, since the elevating drive unit 40 is constituted by the cam mechanism, the holding unit 20 (holding table 21) and the transfer unit 30 (a pair of pairs) can be simply controlled by controlling the rotation (forward rotation, reverse rotation) of the drive motor 44. The roller train 31) can be moved up and down at a predetermined timing.

As shown in FIG. 7, the stopper mechanism 50 is provided on the upper wall 13 of the base 10. The stopper mechanism 50 can be moved up and down in the vertical direction V with respect to the transport surface Sm of the main transport line ML, and the stopper 51 is driven up and down. And a position sensor (not shown) for detecting that the workpiece W conveyed by the main conveyance line ML is at a position immediately above the workpiece holding transfer device M (base 10).
In the stopper mechanism 50, when the workpiece W is detected by the position sensor, the drive actuator 52 is operated, and the stopper 51 protrudes upward from the conveyance surface Sm of the main conveyance line ML to stop the workpiece W. On the other hand, when the drive actuator 52 immerses the stopper 51 downward from the conveyance surface Sm of the main conveyance line ML by a predetermined command signal, the conveyance of the workpiece W to the downstream side is permitted.

Next, the operation of the workpiece holding / transferring apparatus M will be described with reference to FIGS. 10A to 12C. In the production system in which the workpiece holding / transferring apparatus M is installed, the transport surface Ss of the sub-line SL is set to a position higher than the transport surface Sm of the main transport line ML as shown in FIG.
First, as shown in FIG. 10A, the holding unit 20 (holding table 21) stops at a non-holding stop position P1 below the transport surface height position Po, and the transfer unit 30 moves from the transport surface height position Po. It stops at the lower non-transfer stop position P3. In this standby state, when the workpiece W is conveyed by the main conveyance line ML and reaches directly above the apparatus M, the workpiece W is stopped by the stop operation of the stopper mechanism 50.

Subsequently, as shown in FIG. 10B, the transfer unit 30 (the pair of roller rows 31) is raised to the transfer stop position P 4 above the conveyance surface height position Po by the upward drive of the lift drive unit 40. The workpiece W is lifted from the main transfer line ML and held so as to be able to be transferred, and the intermediate stop position where the holding unit 20 (holding table 21) is above the transfer surface height position Po and below the transfer stop position P4. Ascend to Pm and stop.

Subsequently, as shown in FIG. 10C, the holding unit 20 (holding table 21) in a state where the transfer unit 30 (the pair of roller rows 31) is stopped at the transfer stop position P 4 by the ascending drive of the lifting drive unit 40. Moves up to the holding stop position P2 above the transfer stop position P4 and receives the work W from the transfer unit 30 (the pair of roller rows 31) and holds it.
In this state, a predetermined process is performed on the workpiece W. When the holding table 21 includes a tilt mechanism, the holding table 21 can be appropriately tilted to perform a predetermined process.

Subsequently, as shown in FIG. 11A, the holding unit 20 (holding table 21) is lowered from the holding stop position P 2 to the intermediate stop position Pm below the transfer stop position P 4 by the lowering drive of the lifting drive unit 40. Then, the workpiece W is transferred to the transfer unit 30 (the pair of roller rows 31) stopped at the transfer stop position P4.
Here, when the workpiece W is a non-defective product (OK product), as shown in FIG. 11B, the transfer unit 30 (the pair of roller rows 31) is moved from the transfer stop position P4 by the downward drive of the lift drive unit 40. The workpiece W is lowered to the non-transfer stop position P3 below the transfer surface height position Po and delivered to the main transfer line ML, and the holding unit 20 (holding table 21) is moved from the intermediate stop position Pm to the transfer surface height. The position is lowered to the non-holding stop position P1 below the position Po. Then, by the releasing operation of the stopper mechanism 50, the workpiece W is transported downstream along the main transport line ML.

On the other hand, when the workpiece W is a defective product (NG product), as shown in FIG. 11A, the transfer unit 30 (the pair of roller rows 31) that has received the workpiece W at the transfer stop position P4 is shown in FIG. 11C. As shown, the workpiece W is unloaded toward the subline SL.
Thereafter, as shown in FIG. 11C, the transfer unit 30 (the pair of roller rows 31) is moved from the transfer stop position P 4 to the non-transfer stop below the transport surface height position Po by the downward drive of the lift drive unit 40. The holding unit 20 (holding table 21) is lowered from the intermediate stop position Pm to the non-holding stop position P1 below the transport surface height position Po.

Subsequently, as shown in FIG. 12A, when the work W that has been reworked at the repair station RS is loaded again by the subline SL, as shown in FIG. The transfer unit 30 (the pair of roller rows 31) rises to the transfer stop position P4 above the transport surface height position Po, and receives and holds the workpiece W from the subline SL, and the holding unit 20 (holding table). 21) rises to the intermediate stop position Pm above the transfer surface height position Po and below the transfer stop position P4 and stops.

Subsequently, as illustrated in FIG. 12C, the transfer unit 30 (the pair of roller rows 31) is non-transferred below the transfer surface height position Po from the transfer stop position P 4 by the downward drive of the lift drive unit 40. While descending to the stop position P3 and delivering the workpiece W to the main transport line ML, the holding unit 20 (holding table 21) descends from the intermediate stop position Pm to the non-holding stop position P1 below the transport surface height position Po. To do. Then, by the releasing operation of the stopper mechanism 50, the workpiece W is transported downstream along the main transport line ML.
As another operation sequence, as shown in FIG. 12A, when manual work or the like is performed after the work W that has been reworked at the repair station RS is loaded again by the subline SL, it is shown in FIG. 10C. As described above, the holding unit 20 (holding table 21) is moved from the transfer stop position P4 in a state where the transfer unit 30 (the pair of roller rows 31) is stopped at the transfer stop position P4 by the ascending drive of the lifting drive unit 40. Also, the workpiece W is raised to the upper holding stop position P2 to receive and hold the workpiece W from the transfer unit 30 (the pair of roller rows 31). Then, a predetermined process is performed on the workpiece W.
Thereafter, through the operations of FIG. 12B to FIG. 12C, the work W on which the manual work has been performed is transported downstream along the main transport line ML.

In this way, by providing only one workpiece holding / transferring device M, it is possible to secure a processing area for performing predetermined processing on the workpiece W, transfer from the main transfer line ML to the subline SL, and transfer from the subline SL to the main. A common transfer area for transferring to the transfer line ML can be ensured, and simplification of equipment, space saving of the installation area, improvement of productivity, and the like can be achieved.

FIGS. 13 to 15C show another embodiment of the work holding / transferring device according to the present invention, in which the holding cam member (holding cam) and the transfer cam member (transfer cam) are changed. Since it is the same as that of above-mentioned embodiment except having performed, the same code | symbol is attached | subjected about the same structure and description is abbreviate | omitted.
The work holding / transferring apparatus M includes a holding cam member 42 ′ and a transfer cam member 43 ′ in place of the holding cam member 42 and the transfer cam member 43 described above.
The holding cam member 42 ′ has a holding cam 42 a ′ that exerts a cam action that contacts the follower 24 of the holding unit 20 and moves up and down in the vertical direction V.
The transfer cam member 43 ′ has a transfer cam 43 a ′ that contacts the follower 36 of the transfer unit 30 and exerts a cam action for raising and lowering in the vertical direction V.

Holding cam 42a' as shown in FIG. 13, the normal rotation of the rotating shaft 41 (rotation from the origin theta ₀ counterclockwise in FIG. 13 to theta ₂ via theta _1), the holding table 21 main transfer From the non-holding stop position P1 that does not hold the workpiece W below the line ML to the holding stop position P2 that holds the workpiece W above the main transport line ML, the rotation of the rotating shaft 41 is reversed (clockwise in FIG. 13). and a profile for lowering the holding table 21 from the holding stop position P2 to the non-holding stop position P1 by rotation from θ ₂ to θ ₁ and the starting point θ ₀ to θ ₃ ).
That is, as shown in FIG. 13, the profile of the holding cam 42a ′ is such that the cam region C1 and the main transport line ML have a constant cam height over a predetermined angular range so as to set the non-holding stop position P1. A cam region C2 that forms a gentle curve with a gentle slope in a region in the vicinity of the conveyance surface height position Po, and a cam region C3 that forms a constant cam height over a predetermined angle range in order to set the holding stop position P2. It is formed as follows.

Transfer cam 43a', due forward of the rotating shaft 41 (rotation from the origin theta ₀ counterclockwise in FIG. 13 to theta ₂ via theta _1), than the main conveyor line ML a pair of roller train 31 non transfer is stopping at the stop position P3 without transferring the workpiece W in the lower, and, by the reverse rotation of the rotating shaft 41 (rotation in FIG. 13 from the theta ₂ clockwise until theta ₃ through theta ₁ and origin theta ₀₎ After the holding table 21 is lowered to the non-holding stop position P1, a profile is defined for raising the pair of roller rows 31 to the transfer stop position P4 where the workpiece W can be held and transferred above the main transport line ML. It is formed to do.
That is, as shown in FIG. 13, the profile of the transfer cam 43a ′ includes a cam region D1 having a constant cam height over a predetermined angle range so as to set the non-transfer stop position P3. In order to set the position P4, a cam region D2 having a constant cam height over a predetermined angle range, and a cam region that is inclined between the cam region D1 and the cam region D2 are defined.

That is, as shown in FIG. 13, when the rotating shaft 41 rotates in the forward direction (rotates counterclockwise in FIG. 13 from the starting point θ ₀ to θ ₂ through θ ₁ ), the pair of roller rows 31 are moved to the non-transfer stop position P3. The holding table 21 (follower 24) rises from the non-holding stop position P1 to the holding stop position P2 and holds the workpiece W while the rotating shaft 41 is in a predetermined state from the state of being in the holding stop position P2. When the rotation is reversed by the angle, the holding table 21 is lowered to deliver the workpiece W to the main transfer line ML, and the rotation shaft 41 is further reversed by a predetermined angle (in FIG. 13, clockwise from θ ₂ to θ ₁ and the starting point θ ₀ to θ up to _three rotational) then, after the holding table 21 is lowered to the non-retaining stop position P1, moves the workpiece W pair of roller train 31 is raised from the stop position P3 non transfer to transfer the stop position P4 It has to be able to adapted to hold.

Next, the operation of the workpiece holding / transferring apparatus M will be described with reference to FIGS. 14A to 15C.
First, as shown in FIG. 14A, the holding unit 20 (holding table 21) stops at a non-holding stop position P1 below the transport surface height position Po, and the transfer unit 30 moves from the transport surface height position Po. It stops at the lower non-transfer stop position P3. In this standby state, when the workpiece W is conveyed by the main conveyance line ML and reaches directly above the apparatus M, the workpiece W is stopped by the stop operation of the stopper mechanism 50.

Subsequently, as shown in FIG. 14B, the raising and lowering drive unit 40 raises the holding unit 20 (holding table 21) to the holding stop position P 2 above the conveying surface height position Po, and moves the workpiece W to the main position. Receive from the transfer line ML and hold. The transfer unit 30 (the pair of roller rows 31) is in a state of being stopped at the non-transfer stop position P3 below the transport surface height position Po.
In this state, a predetermined process is performed on the workpiece W. When the holding table 21 includes a tilt mechanism, the holding table 21 can be appropriately tilted to perform a predetermined process.

Subsequently, as shown in FIG. 14C, the holding unit 20 (holding table 21) is lowered from the holding stop position P2 to the non-holding stop position P1 below the transport surface height position Po by the lowering drive of the lifting drive unit 40. Then, the workpiece W is delivered to the main transfer line ML.
Here, when the work W is a non-defective product (OK product), the work W is transported downstream along the main transport line ML by the releasing operation of the stopper mechanism 50 as shown in FIG. 14C.

On the other hand, when the workpiece W is a defective product (NG product), as shown in FIG. 14C, the holding unit 20 (holding table 21) is lowered to the non-holding stop position P1 below the transport surface height position Po. As shown in FIG. 15A, the transfer unit 30 (the pair of roller rows 31) is not moved by the ascending (reversing) driving of the elevating drive unit 40 from the state where the workpiece W is placed on the main transfer line ML. Ascending from the transfer stop position P3 to the transfer stop position P4 above the transfer surface height position Po, the work W is received from the main transfer line ML and held so as to be transferable.

Then, as shown in FIG. 15B, when the work W that has been reworked at the repair station RS is loaded again by the subline SL, the work W was stopped at the transfer stop position P4 or the lift drive unit 40 The transfer unit 30 (a pair of roller rows 31) positioned at the transfer stop position P4 by the ascending (reverse rotation) drive receives the workpiece W from the subline SL and holds it.

Subsequently, as illustrated in FIG. 15C, the transfer unit 30 (the pair of roller rows 31) is non-transferred below the transfer surface height position Po from the transfer stop position P 4 by the downward drive of the lift drive unit 40. It descends to the stop position P3 and transfers the workpiece W to the main transfer line ML. Then, by the releasing operation of the stopper mechanism 50, the workpiece W is transported downstream along the main transport line ML.
Further, as another operation sequence, as shown in FIG. 15B, when the work W that has been subjected to the repair work at the repair station RS is carried again by the subline SL, the manual work is performed as shown in FIG. 14B. As described above, the holding unit 20 (holding table 21) is moved from the transfer stop position P4 in a state where the transfer unit 30 (the pair of roller rows 31) is stopped at the transfer stop position P4 by the ascending drive of the lifting drive unit 40. Also, the workpiece W is raised to the upper holding stop position P2 to receive and hold the workpiece W from the transfer unit 30 (the pair of roller rows 31). Then, a predetermined process is performed on the workpiece W.
Thereafter, through the operation of FIG. 14C, the work W on which the manual work has been performed is transported downstream along the main transport line ML.

FIG. 16 is a schematic side view showing still another embodiment of the workpiece holding / transferring apparatus according to the present invention, and is the same as the above-described embodiment except that the lifting drive unit is changed. Are denoted by the same reference numerals and description thereof is omitted.
That is, the workpiece holding / transferring apparatus M in this embodiment includes a holding unit 20 ′ including a base 10 ′, a holding table 21, and an engaging portion 24 ′, a pair of roller rows 31, a driving mechanism 32, and an engaging portion 36 ′. A transfer unit 30 ′ including the transfer unit 30 ′ and a lifting unit 140 that drives the transfer unit 30 ′ to move up and down are provided.
The elevating drive unit 140 is fixed to the base 10 'and exerts an elevating drive force on the engaging portion 24' of the holding unit 20 ', and is fixed to the base 10' and the engaging portion of the transfer unit 30 '. 36 'includes a transfer actuator 143 that exerts a lifting drive force, a holding actuator 142, a control means (not shown) that controls the drive of the transfer actuator 143, and the like.

The holding actuator 142 raises and lowers the holding unit 20 ′ (holding table 21) by driving up and down.
The transfer actuator 143 moves the transfer unit 30 ′ (a pair of roller rows 31) up and down by the lift drive.
Here, as the holding actuator 142 and the transfer actuator 143, an actuator using air pressure, hydraulic pressure, electromagnetic driving force, or the like can be applied.
Specifically, the control means causes the holding table 21 to be held at a non-holding stop position P1 where the work W is not held below the main transfer line ML and a holding stop position P2 where the work W is held above the main transfer line ML. The holding actuator 142 is driven and controlled so that the pair of roller rows 31 are positioned below the main transfer line ML and the non-transfer stop position P3 where the workpiece W is not transferred and the main transfer line ML. The transfer actuator 143 is driven and controlled so as to be positioned at the transfer stop position P4 where the workpiece W can be transferred while being held upward.
As described above, since the elevating drive unit 140 is configured by an actuator mechanism, the pair of roller rows 31 and the holding table 21 are respectively set to predetermined values only by controlling the holding actuator 142 and the transfer actuator 143 by the control means. Can be moved up and down at the timing.

FIG. 17 shows another production system to which the workpiece holding / transferring apparatus M according to the present invention is applied. In this production system, as shown in FIG. 17, a main transport line ML, two sublines SL and a repair station RS arranged adjacent to each other so as to cross the main transport line ML, a workpiece holding transfer, In the area where the mounting apparatus M is arranged, an automatic processor AM and the like arranged to automatically perform a predetermined work are provided.
In this production system, when the work W is transported directly above the apparatus M by the main transport line ML, the holding unit 20 is operated and the work W is held in the same manner as described above. In the case of an OK product, the workpiece W is returned again to the main transport line ML and transported downstream, whereas in the case of an NG product, the transfer unit 30 operates as described above. Then, a transfer operation for transferring the workpiece W to the subline SL is performed, and then a predetermined reworking operation is performed, and then the workpiece W is transferred again from the subline SL to the main transfer line ML and transferred downstream. It has become so.
Also in this embodiment, the processing area for performing a predetermined process on the workpiece W and the transfer area can be made common, while achieving simplification of equipment, simplification of structure, space saving, etc. In particular, the time required for transport for repair work can be shortened, and productivity can be improved.

FIG. 18 shows still another production system to which the workpiece holding / transferring apparatus M according to the present invention is applied. In this production system, as shown in FIG. 18, the main transport line ML including the divided transport line ML ′ formed so as to be movable up and down intersects the main transport line ML (the divided transport line ML ′). And a repair station RS arranged in the tip region of the subline SL.
Here, the workpiece holding / transferring device M is disposed below the divided conveyance line ML ′, and the divided conveyance line ML ′ can be moved up and down by a predetermined lifting drive mechanism.

The operation of this production system will be described with reference to FIGS. 19A to 20C.
First, as shown in FIG. 19A, the holding unit 20 (holding table 21) stops at a stop position below the transport surface height position Po, and the transfer unit 30 stops below the transport surface height position Po. Stop in position. In this standby state, when the workpiece W is conveyed by the main conveyance line ML and reaches the division conveyance line ML ′, the workpiece W is stopped by the stop operation of the stopper mechanism provided in the division conveyance line ML ′. In this state, the holding unit 20 (holding table 21) is stopped at a position higher than the transfer unit 30 (the pair of roller rows 31).

Subsequently, as shown in FIG. 19B, when the divided conveyance line ML ′ is lowered, the workpiece W is transferred and held by the holding unit 20 (holding table 21). Then, a predetermined process is performed on the workpiece W. When the holding table 21 includes a tilt mechanism, the holding table 21 can be appropriately tilted to perform a predetermined process.
When the workpiece W is a non-defective product (OK product), as shown in FIG. 19C, the divided transport line ML ′ rises to the initial height position (the transport height position of the main transport line ML), and the work W is picked up from the holding unit 20 and received. Thereafter, the workpiece W is transported downstream along the main transport line ML by the releasing operation of the stopper mechanism 50.

On the other hand, when the workpiece W is a defective product (NG product), as shown in FIG. 20A, the transfer unit 30 is lifted from the state shown in FIG. 19B to receive the workpiece W from the holding unit 20 and the sub-line SL. Lift up to the transport surface height position and transfer to sub-line SL.
When the repair work is performed at the repair station RS, the workpiece W is again held by the transfer unit 30 by the subline SL, and the transfer unit 30 is lowered to a predetermined height position as shown in FIG. 20B. At the same time, the divided conveyance line ML ′ rises to receive the workpiece W.

Thereafter, as shown in FIG. 20C, the divided transport line ML ′ rises to the initial height position (the transport height position of the main transport line ML), and lifts and receives the workpiece W from the holding unit 20. Thereafter, the workpiece W is transported downstream along the main transport line ML by the releasing operation of the stopper mechanism 50.
On the other hand, as shown in FIG. 20C, the holding unit 20 and the transfer unit 30 are lowered to the initial height position and stopped.

Also in this case, as described above, by providing only one workpiece holding / transferring device M, a processing area for performing a predetermined process on the workpiece W can be secured, and the main transfer line ML (the divided transfer line ML ′) can be secured. A common transfer area for transferring from the sub-line SL to the sub-line SL and transferring from the sub-line SL to the main transfer line ML (the divided transfer line ML ′) can be secured, simplifying the equipment and saving the installation area. Space and productivity can be improved.

As described above, in the above embodiment, the main transport line ML is shown as the first transport line, and the subline SL is shown as the second transport line. However, the present invention is not limited to this. Another main transport line may be applied, and the main transport line or another subline may be applied as the second transport line.
In the above embodiment, the

rotatable followers

24 and 36 are shown as the engaging portions included in the elevating drive unit 40. However, the present invention is not limited to this, and the holding

cams

42a and 42a 'and the transfer portions are not limited thereto. You may employ | adopt the pin member or other protrusion member etc. which each slide-contact to mounting

cam

43a, 43a '.

As described above, the workpiece holding / transferring device of the present invention can share the processing rear and the transfer area for performing predetermined processing on the workpiece, simplifying the equipment, simplifying the structure, Of course, it can be applied to production lines for machine parts or electrical parts because it can save space and reduce the time required for transport for repair work and improve productivity. It is also useful for production lines in other fields.

Claims

A workpiece can be transferred between the first conveyance line and the second conveyance line adjacent so as to intersect the first conveyance line, and the workpiece is lifted and held from the first conveyance line to perform a predetermined process. A workpiece holding / transferring device,
A base installed below the first transfer line;
A holding unit that can be moved up and down on the base and can hold a workpiece;
A transfer unit that can be moved up and down on the base and can transfer a workpiece;
An elevating drive unit provided on the base for elevating and lowering the holding unit and the transfer unit with respect to the first transport line at predetermined timings;
Including a workpiece holding and transferring device.
The holding unit includes a holding table that is driven up and down by the up-and-down driving unit and holds a workpiece,
The transfer unit includes a pair of transfer movable bodies that are arranged on both outer sides of the holding table and are driven up and down by the up and down drive unit and transfer a workpiece.
The workpiece holding / transferring device according to claim 1, wherein the workpiece holding / transferring device is provided.
The holding unit includes a holding table that holds a workpiece, a leg portion that extends downward from the holding table and is guided so as to freely move up and down on the base, and a member that engages with the elevating drive unit and receives elevating driving force. Including
The transfer unit includes a pair of transfer movable bodies that are arranged on both outer sides of the holding table to transfer a workpiece, a drive mechanism that drives the pair of transfer movable bodies or presses the workpiece, A holding frame that holds a pair of transfer movable bodies and a driving mechanism; and an engaging portion that is provided on the holding frame and engages with the lifting drive unit to receive the lifting drive force.
The workpiece holding / transferring device according to claim 1, wherein the workpiece holding / transferring device is provided.
The transfer unit includes a through-hole portion provided in the holding frame and penetrating the leg portion,
The through-hole portion is formed so as to delimit a guided portion by which the holding frame is guided to be raised and lowered by the leg portion.
The workpiece holding / transferring device according to claim 3, wherein the workpiece holding / transferring device is provided.
The pair of transfer movable bodies includes a pair of roller rows arranged on the holding frame,
The driving mechanism includes a driving force transmission unit that transmits a rotational driving force to the pair of roller rows, and a driving source that is fixed to the holding frame and exerts the rotational driving force on the driving force transmission unit.
The workpiece holding / transferring device according to claim 3, wherein the workpiece holding / transferring device is provided.
The elevating drive unit includes a rotating shaft rotatably supported by the base, a holding cam that rotates integrally with the rotating shaft and exerts a cam action on an engaging portion of the holding unit, and the rotating shaft A transfer cam that rotates integrally and exerts a cam action on the engaging portion of the transfer unit; and a drive motor provided on the base to rotationally drive the rotary shaft;
The workpiece holding / transferring device according to claim 3, wherein the workpiece holding / transferring device is provided.
The transfer cam moves the pair of transfer movable bodies from a non-transfer stop position where the workpiece is not transferred below the first transfer line to the first transfer line by forward rotation of the rotation shaft. The pair of transfer movable bodies are moved down from the transfer stop position to the non-transfer stop position by reversing the rotation shaft and moving up to a transfer stop position where the workpiece can be transferred while holding the workpiece upward. Formed to define a profile to be
The holding cam passes through an intermediate stop position below the transfer stop position from a non-hold stop position at which the holding table is not held below the first transfer line by a normal rotation of the rotating shaft. The holding table is moved up from the holding stop position to the non-holding stop position through the intermediate stop position by raising the holding shaft to a holding stop position above the transfer stop position and reversing the rotating shaft. Formed to define a profile to be lowered,
The workpiece holding / transferring apparatus according to claim 6, wherein the workpiece holding / transferring device is provided.
The holding cam holds the work above the first transport line from a non-holding stop position where the work table is not held below the first transport line by the normal rotation of the rotating shaft. It is formed so as to define a profile for raising the holding table to the stop position and lowering the holding table from the holding stop position to the non-holding stop position by reversing the rotating shaft,
The transfer cam stops the pair of transfer movable bodies at a non-transfer stop position where the workpiece is not transferred below the first transfer line by the normal rotation of the rotation shaft, and the rotation After the holding table descends to the non-holding stop position due to the reverse rotation of the shaft, the pair of transfer movable bodies are moved to the transfer stop position where the workpiece can be transferred while holding the workpiece above the first transfer line. Formed to define a rising profile,
The workpiece holding / transferring device according to claim 6, wherein the workpiece holding / transferring device is provided.
The elevating drive unit is fixed to the base and has a holding actuator that applies an elevating drive force to the engaging portion of the holding unit, and is fixed to the base and applies an elevating drive force to the engaging portion of the transfer unit. A transfer actuator; and a control means for driving and controlling the holding actuator and the transfer actuator.
The workpiece holding / transferring device according to claim 3, wherein the workpiece holding / transferring device is provided.