WO2013128942A1 - 搬送装置 - Google Patents
搬送装置 Download PDFInfo
- Publication number
- WO2013128942A1 WO2013128942A1 PCT/JP2013/001269 JP2013001269W WO2013128942A1 WO 2013128942 A1 WO2013128942 A1 WO 2013128942A1 JP 2013001269 W JP2013001269 W JP 2013001269W WO 2013128942 A1 WO2013128942 A1 WO 2013128942A1
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- WO
- WIPO (PCT)
- Prior art keywords
- frame
- feed
- speed
- shift
- movable frame
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/003—Cyclically moving conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G25/00—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement
- B65G25/04—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
- B65G25/06—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors having carriers, e.g. belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
Definitions
- the present invention relates to a transport apparatus, and more particularly, to a transport apparatus that has a high operating speed and can narrow an interference area with a press apparatus as much as possible.
- a conveying device that slides a feed frame is generally used as a device for feeding a workpiece.
- a transport apparatus includes a three-dimensional transfer system and a loader / unloader system.
- a feed bar is movable in the vertical and horizontal directions, and includes a feed carrier that is connected so that movement in the front-rear direction is restricted, and a feed unit that moves the feed carrier back and forth.
- a transfer feeder device is known (see, for example, Patent Document 1).
- a support base that supports and feeds the feed bar through the linear guide in a work feed direction is provided.
- a linear motor is arranged between the feed bar and the support base, and the feed bar is driven by the linear motor.
- a transfer press drive bar driving device is known (see, for example, Patent Document 2).
- the loader / unloader method is set at the inlet of the inline device, and is automatically set at the top of the line, and automatically set at the outlet of the inline device to automatically discharge the workpiece to the next process.
- What consists of a conveying apparatus is generally known.
- Patent Documents 1 and 2 have the disadvantages that the feed stroke is short and the operation speed is slow. Further, the loader / unloader method has a disadvantage that the area of interference (area that may collide) with the mold or the like of the press apparatus becomes wide because the apparatus main body enters the area in the press apparatus. Therefore, the required cycle time cannot be realized.
- the present invention has been made in view of the above circumstances, and an object of the present invention is to provide a transport device that has a high operating speed and can narrow an interference area with a press device as much as possible.
- the present inventor has intensively studied to solve the above problems, and found that the above problems can be solved by attaching a double speed mechanism to each of the feed frames based on a three-dimensional transfer system with a narrow interference region. It came to complete.
- the present invention includes (1) a pair of shift frames arranged to be orthogonal to the moving direction of the workpiece, a pair of feed frames arranged to be orthogonal to the shift frame, and attached to each of the feed frames.
- the present invention includes (2) a low speed movable frame in which the double speed mechanism is slidable with respect to the feed frame, pulleys attached to both ends of the low speed movable frame, and both pulleys, both ends of which feed.
- the conveyance according to the above (1) comprising a belt fixed to the frame, a high-speed movable frame attached to the belt, and a driving means for sliding the low-speed movable frame, and the gripping means is provided on the high-speed movable frame.
- the present invention resides in (3) the transfer device according to (2), wherein the driving means is a rack and pinion device.
- the present invention resides in (4) the transfer device according to any one of (1) to (3), wherein the shift frame is slidable in the vertical direction.
- the present invention resides in (5) the transfer device according to (4), wherein the feed frame, the shift frame, and the slide of the double speed mechanism are driven by a servo motor.
- the workpiece heated by the heating unit is conveyed to a pressing device disposed between the heating unit and the cooling unit, and the workpiece pressed by the pressing unit is conveyed to the cooling unit (1) ) To (5).
- the present invention resides in (7) the transfer device according to (6), wherein the workpiece is pressed inside the feed frame and the shift frame.
- the conveying device of the present invention includes a pair of shift frames arranged so as to be orthogonal to the moving direction of the work, and a pair of feed frames arranged so as to be orthogonal to the shift frame.
- the interference area with the press device or the like can be made as narrow as possible, and a compact facility can be obtained.
- a double speed mechanism is further attached to each of the feed frames, and the double speed mechanism slides with respect to the feed frame, so that the operation speed can be increased.
- a double speed mechanism includes a low-speed movable frame, pulleys attached to both ends of the low-speed movable frame, a belt connected to both pulleys, and both ends fixed to a feed frame, and a high-speed movable attached to the belt.
- the high-speed movable frame can be slid at twice the speed of the low-speed movable frame by sliding the low-speed movable frame.
- the driving means is preferably a rack and pinion device. In this case, arrangement is possible even in a narrow space.
- the transfer device of the present invention when the shift frame is movable up and down, the workpiece can be lifted.
- the conveying device can be moved up and down according to the shape of the mold.
- the slide of the feed frame, the shift frame, and the double speed mechanism is driven by a servo motor, it is possible to precisely set the slide speed and the slide distance. Also, synchronous operation, single operation, free motion setting, etc. are possible.
- the transport device of the present invention transports a workpiece heated by the heating device to a press device disposed between the heating device and the cooling device, and transports the workpiece pressed by the press device to the cooling device. It is preferably used in some cases.
- FIG. 1 is a top view showing a workpiece pressing mechanism including a transfer device according to the present embodiment.
- FIG. 2 is a perspective view showing the transport apparatus according to the present embodiment.
- FIG. 3 is a schematic diagram for explaining the driving principle of the double speed mechanism of the transport apparatus according to the present embodiment.
- FIG. 4 is a front view showing a double speed mechanism of the transport device according to the present embodiment.
- FIG. 5 is an enlarged view of a portion P in FIG.
- FIG. 1 is a top view showing a workpiece pressing mechanism including a transfer device according to the present embodiment.
- the workpiece W pressing mechanism 100 is attached so that the conveying device 10 according to the present embodiment surrounds a pressing device 51 disposed between a heating furnace 50 and a cooling device 52. That is, the conveying device 10 is attached so as to surround the press device 51 disposed on the downstream side of the heating furnace 50 and the upstream side of the cooling device 52.
- the transport device 10 is a device that transports the workpiece W from the heating furnace 50 to the press device 51, and transports the workpiece W from the press device 51 to the cooling device 52 after pressing. Details will be described later.
- FIG. 2 is a perspective view showing the transport apparatus according to the present embodiment.
- the transport apparatus 10 according to the present embodiment has a lattice shape as a whole, and a press apparatus (not shown) is arranged at the center. That is, the workpiece is pressed inside the pair of shift frames 1 arranged in parallel to each other and the pair of feed frames 2 arranged in parallel to each other.
- the transfer device 10 includes a pair of front and rear shift frames 1 arranged so as to traverse the workpiece traveling direction A (that is, perpendicular to each other), and the shift frame 1 below the shift frame 1.
- a pair of left and right feed frames 2 arranged so as to be orthogonal (that is, in the moving direction of the workpiece), a double speed mechanism 20 attached to each of the feed frames 2, and a gripping means 21 provided in each of the double speed mechanisms 20 And comprising.
- pillar 4 (upright) is arrange
- Each column 4 is fixed to the press device.
- the support column 4 is provided with a first rail 1b for sliding the shift frame 1 on the inner side (press device side).
- shift frames 1 are arranged at a predetermined interval so as to be orthogonal to the moving direction of the workpiece.
- a press unit of a pressing device (not shown) is arranged between the shift frames 1.
- Each shift frame 1 is provided with a first guide 1a that is slidable by being attached to the first rail 1b of the above-mentioned support column 4 at both ends, and for sliding the feed frame 2 inside (press device side).
- the second rail 2b is provided.
- Each shift frame 1 is slidable in the vertical direction with respect to the column 4 by attaching the first guide 1 a to the first rail 1 b of the column 4. At this time, the pair of front and rear shift frames 1 are controlled by a servo motor (not shown), and slide in the vertical direction in synchronization.
- the shift frame 1 can be moved in the vertical direction, so that the workpiece can be lifted upward. Moreover, the position of the conveying apparatus 10 can be adjusted up and down in accordance with the shape of the die whose lot has been changed in the press apparatus.
- Two feed frames 2 are arranged at a predetermined interval so as to be parallel to the moving direction of the workpiece.
- the press part of a press apparatus is arrange
- Each feed frame 2 is provided with a second guide 2a that can be attached to the second rail 2b of the shift frame 1 described above at both ends, and a double speed mechanism 20 is attached to the inside (press device side). Yes.
- each feed frame 2 can be slid along the shift frame 1 by being attached to the shift frame 1 via the second guide 2a and the second rail 2b.
- the pair of feed frames 2 are controlled by a servo motor (not shown), and slide in opposite directions in synchronization with each other. That is, when one shift frame 1 slides to the press device side, the other shift frame 1 also slides to the press device side synchronously, the interval between both shift frames is narrowed, and when one shift frame 1 slides outward, In synchronism, the other shift frame 1 is also slid outward, so that the distance between both shift frames 1 is increased.
- the transport device 10 includes the pair of shift frames 1 and the pair of feed frames 2, and the feed frame 2 slides with respect to the shift frame 1.
- the interference area with the press device or the like can be made as narrow as possible, and a compact facility can be obtained.
- the double speed mechanism 20 provided in the transport apparatus 10 will be described.
- the double speed mechanism 20 is attached to each feed frame 2. That is, each double speed mechanism 20 is attached to the pair of feed frames 2 so as to slide oppositely.
- the double speed mechanism 20 itself is configured to slide relative to the feed frame 2. For this reason, in the conveyance apparatus 10, since the double speed mechanism 20 slides in addition to the slide of the feed frame 2, even if it is a three-dimensional transfer system, operation speed can be made as fast as possible.
- FIG. 3 is a schematic diagram for explaining the driving principle of the double speed mechanism of the transport apparatus according to the present embodiment. It does not necessarily correspond to FIG. 4 described later.
- the double speed mechanism 20 includes a low speed movable frame 22 that slides relative to the feed frame 2, pulleys 22 a attached to both ends of the low speed movable frame 22, and tensioning between both pulleys 22 a.
- a belt 23 having both ends fixed to the feed frame 2, a high-speed movable frame 24 attached to the belt 23 and sliding integrally with the belt 23, a driving means 25 for sliding the low-speed movable frame 22,
- the servo motor 26 that drives the driving means 25 is included.
- FIG. 4 is a top view showing a double speed mechanism of the transport apparatus according to the present embodiment
- FIG. 5 is an enlarged view of a portion P in FIG. Note that FIG. 5 uses cross-sectional symbols for convenience in order to clearly understand the operation relationship.
- the low-speed movable frame 22 has a flat plate shape, and the upper surface (the surface of the low-speed movable frame 22 on the feed frame 2 side) Three guides 3a are provided.
- a third rail 3b is provided on the lower surface of the feed frame 2 (the surface of the feed frame 2 on the low-speed movable frame 22 side).
- the low-speed movable frame 22 can slide in the left-right direction with respect to the feed frame 2 by attaching the third guide 3a to the third rail 3b of the feed frame 2 so as to be slidable.
- the low-speed movable frame 22 has pulleys 22a attached to both ends, and a belt 23 is stretched between the pulleys 22a at both ends. Both ends of the belt 23 are fixed to the feed frame 2, and a fourth guide 4 a is provided on the upper surface (the surface of the belt 23 on the low-speed movable frame 22 side). Further, the low-speed movable frame 22 described above is provided with a fourth rail 4b on the lower surface (the surface of the low-speed movable frame 22 on the belt 23 side).
- the belt 23 can be slid in the left-right direction with respect to the low-speed movable frame 22 by attaching the fourth guide 4 a to the fourth rail 4 b of the low-speed movable frame 22 so as to be slidable.
- the belt 23 has two high-speed movable frames 24 fixed to the inner surface.
- the low speed movable frame 22 is driven by the driving means 25.
- the driving means 25 a rack and pinion device is preferably used. For this reason, arrangement is possible even in a narrow space.
- the driving means 25 is controlled by a servo motor 26.
- the slide of the low-speed movable frame 22 and the slide of the high-speed movable frame 24 move in mechanical synchronization. Further, as described above, since the slides of the feed frame 2, the shift frame 1, and the double speed mechanism 20 are all driven by a servo motor, it is possible to precisely set the slide speed and the slide distance.
- each high speed mechanism 20 is provided with two high-speed movable frames 24, and each high-speed movable frame 24 is provided with a gripping means 21 that can grip a workpiece.
- the transport apparatus 10 since a pair of the double speed mechanisms 20 is provided, the transport apparatus 10 includes two pairs of gripping means, that is, four gripping means 21.
- the double speed mechanism 20 includes two pairs of gripping means, so that the work W is transported from the heating furnace 50 to the press device 51 and the work W is transported from the press device 51 to the cooling means 52. Can be performed in a fast and stable state.
- work W using the conveying apparatus 10 is demonstrated.
- the workpiece heated by the heating device is transported to a press device disposed between the heating device and the cooling device, and the workpiece pressed by the press device is cooled. Can be transported to the means.
- the workpiece W heated in the heating furnace 50 is transported to the take-out position P1 by a heating furnace conveyor 50a attached to the heating furnace 50.
- the workpiece W set in the press device 51 is pressed.
- the feed frame 2 slides inward, the upstream gripping means 21 grips the workpiece W at the take-out position P1, and the downstream gripping means 21
- the workpieces W pressed by the pressing device 51 are gripped, and then the shift frame 1 slides upward, whereby both the workpieces W are lifted by the gripping means 21.
- the transport device 10 slides the low-speed movable frame 22 and the high-speed movable frame 24 of the double speed mechanism 20 at a high speed downstream.
- the slide of the low-speed movable frame 22 and the slide of the high-speed movable frame 24 move in mechanical synchronization.
- the absolute speed of the high-speed movable frame 24 slides at twice the speed of the low-speed movable frame 22.
- the shift frame 1 slides downward, the upstream gripping means 21 releases the work W at the press portion of the press device, and the downstream gripping means 21 moves at the take-in position P2 of the cooling device 52.
- the workpiece W is placed on the pressing portion of the pressing device 51 and the take-in position P2.
- the transport device 10 slides the low-speed movable frame 22 and the high-speed movable frame 24 of the double speed mechanism 20 to the upstream side at high speed.
- the high-speed movable frame 24 slides relative to the low-speed movable frame 22, so that the absolute speed of the high-speed movable frame 24 slides at twice the speed of the low-speed movable frame 22.
- the workpiece W placed on the press section of the press device is pressed by the press section, and the workpiece W placed at the take-in position P2 is cooled by a cooling device conveyor 52a attached to the cooling device 52. It is conveyed to the cooling device 52.
- the transport from the heating furnace 50 to the press device 51 and the transport from the press device 51 to the cooling means 52 can be performed efficiently.
- the transport device 10 transports the work W from the heating furnace 50 to the press device 51 and transports the work W from the press device 51 to the cooling means 52, but the upstream side is not necessarily a heating furnace. It does not have to be, and the downstream side is not necessarily a cooling device. That is, the said conveying apparatus 10 can be applied also to another mechanism as an apparatus which can convey a workpiece
- a rack and pinion device is used as the driving unit 25, but the invention is not limited thereto, and a ball screw, a linear motor, or the like may be used.
- the slide of the low-speed movable frame 22 and the slide of the high-speed movable frame 24 move in mechanical synchronization, but they may not be synchronized.
- the pair of high-speed movable frames 24 is provided in the double speed mechanism 20, but may be one, or may be three or more.
- the conveyance device of the present invention is suitably used as a device capable of conveying a workpiece at high speed in the field of press working. According to the transport apparatus of the present invention, the operation speed is high, and the interference area with the press apparatus can be made as narrow as possible.
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Abstract
Description
かかる搬送装置には、3次元トランスファ方式と、ローダー・アンローダー方式とがある。
また、ローダー・アンローダー方式では、装置本体がプレス装置内の領域に進入するため、プレス装置の金型等との干渉領域(衝突する可能性のある領域)が広くなる欠点がある。
そのため、求められるサイクルタイムが実現できない。
これに加え、上記搬送装置においては、フィードフレームのそれぞれに倍速機構を更に取り付け、倍速機構が、フィードフレームに対してスライドするようになっているので、動作速度を速くすることができる。
これらのことにより、上記搬送装置によれば、干渉領域を極力狭くし、且つ所望のサイクルタイムを実現することが可能となる。
この場合、狭いスペースであっても配置が可能となる。
また、金型の形状に応じて、搬送装置を上下移動させることも可能となる。
これらのことにより、ワークを傷つけずに、効率良く搬送することが可能となる。
また、同期運転、単独運転、自由なモーション設定等も可能となる。
なお、図面中、同一要素には同一符号を付すこととし、重複する説明は省略する。
また、上下左右等の位置関係は、特に断らない限り、図面に示す位置関係に基づくものとする。
更に、図面の寸法比率は図示の比率に限られるものではない。
図1に示すように、ワークWのプレス機構100は、本実施形態に係る搬送装置10が、加熱炉50と冷却装置52との間に配置されたプレス装置51を囲むようにして取り付けられる。
すなわち、搬送装置10は、加熱炉50の下流側、冷却装置52の上流側に配置されたプレス装置51を囲むようにして取り付けられる。
なお、詳細については、後述する。
図2に示すように、本実施形態に係る搬送装置10は、全体的に格子状となっており、中央部には図示しないプレス装置が配置されることになる。
すなわち、互いに平行に配列された一対のシフトフレーム1及び同様に互いに平行に配列された一対のフィードフレーム2の内側でワークがプレスされることになる。
なお、各支柱4は、いずれもプレス装置と固定されている。
かかる支柱4は、その内側(プレス装置側)にシフトフレーム1をスライドさせるための第1レール1bが設けられている。
なお、両シフトフレーム1の間には図示しないプレス装置のプレス部が配置されることになる。
各シフトフレーム1は、両端部に、上述した支柱4の第1レール1bに取り付けてスライド可能な第1ガイド1aが設けられており、内側(プレス装置側)に、フィードフレーム2をスライドさせるための第2レール2bが設けられている。
このとき、前後一対のシフトフレーム1は、図示しないサーボモータにより制御されており、同期して上下方向にスライドするようになっている。
また、プレス装置におけるロット換えした金型の形状に応じて、搬送装置10の位置を上下に調整することができる。
なお、両フィードフレーム2の間にはプレス装置のプレス部が配置されることになる。
各フィードフレーム2は、その両端に、上述したシフトフレーム1の第2レール2bに取り付け可能な第2ガイド2aが設けられており、内側(プレス装置側)には、倍速機構20が取り付けられている。
このとき、一対のフィードフレーム2は、図示しないサーボモータにより制御されており、同期して互いに逆方向にスライドするようになっている。
すなわち、一方のシフトフレーム1がプレス装置側にスライドすると、同期して他方のシフトフレーム1もプレス装置側にスライドし、両シフトフレームの間隔が狭まり、一方のシフトフレーム1が外側にスライドすると、同期して他方のシフトフレーム1も外側にスライドし、両シフトフレーム1の間隔が広がるようになっている。
倍速機構20は、各フィードフレーム2に取り付けられている。
すなわち、一対のフィードフレーム2に対して、各々の倍速機構20が対向してスライドするように取り付けられている。
そして、倍速機構20は、それ自体がフィードフレーム2に対してスライドする構造になっている。
このため、搬送装置10においては、フィードフレーム2のスライドに加え、倍速機構20もスライドするので、3次元トランスファ方式であっても、動作速度を極力速くすることができる。
なお、後述する図4とは必ずしも対応していない。
図3に示すように、倍速機構20は、フィードフレーム2に対して相対的にスライドする低速可動フレーム22と、該低速可動フレーム22の両端に取り付けられたプーリー22aと、両プーリー22aに張設され、両端がフィードフレーム2に固定されたベルト23と、該ベルト23に取り付けられ該ベルト23と一体となってスライドする高速可動フレーム24と、低速可動フレーム22をスライドさせる駆動手段25と、該駆動手段25を駆動させるサーボモータ26とからなる。
そして、このように高速可動フレーム24は、低速可動フレーム22に対して相対的にスライドするので、高速可動フレーム24の絶対速度は、低速可動フレーム22の2倍の速さでスライドすることになる。
なお、図5は、作動関係を明確に理解するために便宜的に断面記号を用いて示した。
図4及び図5に示すように、倍速機構20においては、低速可動フレーム22が、平板状となっており、その上側の面(低速可動フレーム22のフィードフレーム2側の面)には、第3ガイド3aが設けられている。
また、フィードフレーム2の下側の面(フィードフレーム2の低速可動フレーム22側の面)には、第3レール3bが設けられている。
そして、低速可動フレーム22は、第3ガイド3aを、フィードフレーム2の第3レール3bにスライド可能に取り付けることにより、フィードフレーム2に対して左右方向にスライドすることができる。
かかるベルト23は、両端がフィードフレーム2に固定され、上側の面(ベルト23の低速可動フレーム22側の面)には、第4ガイド4aが設けられている。
また、上述した低速可動フレーム22は、その下側の面(低速可動フレーム22のベルト23側の面)に、第4レール4bが設けられている。
そして、ベルト23は、第4ガイド4aを、低速可動フレーム22の第4レール4bにスライド可能に取り付けることにより、低速可動フレーム22に対して左右方向にスライドすることができる。
なお、ベルト23は、内側の面に、2基の高速可動フレーム24が固定されている。
かかる駆動手段25としては、ラックピニオン装置が好ましく用いられる。
このため、狭いスペースであっても配置が可能となる。
また、駆動手段25は、サーボモータ26により制御される。
また、上述したように、フィードフレーム2、シフトフレーム1及び倍速機構20のスライドがいずれもサーボモータ駆動であるため、スライドの速度やスライドする距離を精密に設定することが可能である。
また、上記倍速機構20は、一対設けられているので、搬送装置10は、一対の把持手段を2基、すなわち、把持手段21を4基備えることになる。
搬送装置10を用いたワークWの搬送方法においては、加熱手段と冷却手段との間に配置されたプレス装置に、加熱手段により加熱されたワークを搬送し、プレス装置でプレスされたワークを冷却手段に搬送することができる。
一方、プレス装置51にセットされているワークWがプレスされる。
このとき、低速可動フレーム22のスライドと高速可動フレーム24のスライドとは、機械的に同期して動くようになっている。
このとき、高速可動フレーム24は、低速可動フレーム22に対して相対的にスライドするので、高速可動フレーム24の絶対速度は、低速可動フレーム22の2倍の速さでスライドすることになる。
そして、搬送装置10は、倍速機構20の低速可動フレーム22及び高速可動フレーム24を上流側に高速スライドさせる。
このときも同様に、高速可動フレーム24は、低速可動フレーム22に対して相対的にスライドするので、高速可動フレーム24の絶対速度は、低速可動フレーム22の2倍の速さでスライドすることになる。
すなわち、上記搬送装置10は、高速でワークを搬送可能な装置として、他の機構にも適用することができる。
本発明の搬送装置によれば、動作速度が速く、プレス装置との干渉領域を極力狭くすることができる。
1a・・・第1ガイド
1b・・・第1レール
2・・・フィードフレーム
2a・・・第2ガイド
2b・・・第2レール
3a・・・第3ガイド
3b・・・第3レール
4・・・支柱
4a・・・第4ガイド
4b・・・第4レール
10・・・搬送装置
20・・・倍速機構
21・・・把持手段
22・・・低速可動フレーム
22a・・・プーリー
23・・・ベルト
24・・・高速可動フレーム
25・・・駆動手段
26・・・サーボモータ
50・・・加熱炉
50a・・・加熱炉用コンベア
51・・・プレス装置
52・・・冷却装置
52a・・・冷却装置用コンベア
100・・・プレス機構
A・・・ワークの進行方向
P1・・・取出位置
P2・・・取入位置
W・・・ワーク
Claims (7)
- ワークの進行方向に対して直交するように配置された一対のシフトフレームと、
該シフトフレームに直交するように配置された一対のフィードフレームと、
該フィードフレームそれぞれに取り付けられた倍速機構と、
該倍速機構それぞれに設けられた把持手段と、
を備え、
前記フィードフレームが、前記シフトフレームに対してスライド可能となっており、
前記倍速機構が、前記フィードフレームに対してスライド可能となっている搬送装置。 - 前記倍速機構が、
前記フィードフレームに対してスライド可能となっている低速可動フレームと、
該低速可動フレームの両端に取り付けられたプーリーと、
両プーリーに連架され、両端が前記フィードフレームに固定されたベルトと、
該ベルトに取り付けられた高速可動フレームと、
前記低速可動フレームをスライドさせる駆動手段と、
からなり、
前記把持手段が前記高速可動フレームに設けられている請求項1記載の搬送装置。 - 前記駆動手段が、ラックピニオン装置である請求項2記載の搬送装置。
- 前記シフトフレームが上下方向にスライド可能となっている請求項1~3のいずれか1項に記載の搬送装置。
- 前記フィードフレーム、前記シフトフレーム及び前記倍速機構のスライドがサーボモータ駆動となっている請求項4記載の搬送装置。
- 加熱手段と冷却手段との間に配置されたプレス装置に、前記加熱手段により加熱されたワークを搬送し、
前記プレス装置でプレスされた前記ワークを前記冷却手段に搬送する請求項1~5のいずれか1項に記載の搬送装置。 - 前記フィードフレーム及び前記シフトフレームの内側に前記ワークがプレスされている請求項6記載の搬送装置。
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MX2014010483A MX353175B (es) | 2012-03-02 | 2013-03-01 | Aparato de transporte. |
US14/382,283 US9616537B2 (en) | 2012-03-02 | 2013-03-01 | Conveying apparatus with double-speed mechanisms |
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KR101468868B1 (ko) * | 2012-12-21 | 2014-12-05 | (주)지엔에스쏠리텍 | 다공정 프레스 시스템 |
CN106347972B (zh) * | 2015-07-14 | 2020-01-17 | 汉达精密电子(昆山)有限公司 | 分流输送装置及方法 |
DE102016119894B4 (de) * | 2016-10-19 | 2020-10-22 | Beckhoff Automation Gmbh | Robotische Transportvorrichtung zum Transportieren von Kleinteilen und mit der robotischen Vorrichtung durchführbares Verfahren |
CN107458868A (zh) * | 2017-07-31 | 2017-12-12 | 无为县鑫品石业有限公司 | 一种大理石用的储藏移动装置 |
CN107618874A (zh) * | 2017-09-01 | 2018-01-23 | 广州市科腾智能装备股份有限公司 | 一种用于输送汽车内饰件表皮的输送装置 |
WO2019047207A1 (zh) * | 2017-09-11 | 2019-03-14 | 深圳市灿弘自动化科技有限公司 | 一种下摆机全自动上下料装置及上下料方法 |
CN108098803B (zh) * | 2017-12-25 | 2021-07-06 | 芜湖市鸿坤汽车零部件有限公司 | 一种多规格夹持装置 |
CN108033249B (zh) * | 2018-01-15 | 2024-02-13 | 苏州精濑光电有限公司 | 一种搬运机构 |
KR102424659B1 (ko) * | 2018-03-01 | 2022-07-22 | 귀델 아게 | 2차원 작업물을 픽업하기 위한 도구 |
CN113595323B (zh) * | 2020-04-30 | 2022-12-20 | 广东博智林机器人有限公司 | 驱动装置和具有其的喷涂机器人 |
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JP5869660B2 (ja) | 2016-02-24 |
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