JPH0132624Y2 - - Google Patents

Description

[Detailed Description of the Invention] This invention relates to an improvement of a work transfer device for robot work.

For example, when performing work such as welding or sealing using a robot, it is necessary to position the workpiece at a specific position with high precision.
Since the work conveyed by the conveyor cannot be accurately positioned at a predetermined position, the free conveyor cannot be used as a work conveyance device for robot work.

For this reason, conventionally, as shown in the plan view in FIG. 1, for example, a shuttle conveyor that transports a workpiece 1 in tact while positioning it with high precision, such as a plain shuttle conveyor 2, is combined with a tow bearer 3, and the installation position of the plain shuttle conveyor 2 is A workpiece conveyance device is constructed by detouring the towbearer 3 in a plane, and a robot 4 that automatically performs a specific work is placed at each stage position of the plain shuttle conveyor 2, so that the robot work can be performed if possible. It was tight.

Here, the tow bearer 3 transports the workpiece 1 placed on the workpiece carrier 5 on the dolly to the front side of the plain shuttle conveyor 2 by pulling the dolly with, for example, a claw of a chain conveyor provided on the floor. After delivering only the workpiece to the plain shuttle conveyor 2, the workpiece transport vehicle 5 is transferred to the plain shuttle conveyor 2.
The plain shuttle conveyor 2 is detoured and moved to the rear of the plain shuttle conveyor 2, and the workpiece 1 that has finished the robot work there is received from the plain shuttle conveyor 2 onto the workpiece carrier 5.

On the other hand, the plain shuttle conveyor 2 receives the workpiece 1 from the workpiece carrier 5 by, for example, an autoloader, and sequentially moves the workpiece 1 to each stage position by the forward movement of the shuttle bar that moves forward and backward in a rack and pinion manner. The workpiece 1 is transported accurately, and the lifter provided at each stage position works to raise the workpiece 1 to a predetermined work position by the robot 4.The workpiece 1, which has been subjected to the required processing at each raised position, is finally transferred to the autoloader. The workpiece is transferred from the plain shuttle conveyor 2 to the workpiece carrier 5 on the towbearer 3.

However, in this conventional technique, there was a problem in that the workpiece carrier 5 detoured around the plain shuttle conveyor 2 during robot work, resulting in a significantly large floor area occupied by the workpiece carrier.

Therefore, in order to solve this problem, the building was built with a two-story structure, and the shuttle conveyor ran on the upper floor, and lifters, robots, etc. were installed.
In addition, a three-dimensional detour of the free conveyor carrying the workpiece conveyor on the lower floor is being considered, but this attempt would not only have the problem of increasing the height of the building, but also There was a problem with equipment that required robots, lifters, etc. to be installed in high positions.

This invention provides a work transfer device for robot work that advantageously solves these problems.

The workpiece conveyance device of this invention has a free conveyor for the workpiece conveyor below the shuttle conveyor that transports the workpieces in tact, and a lifter that moves the workpieces up and down at each stage of the shuttle conveyor is straddled over the free conveyor. By arranging it in a gate shape, it is possible to minimize the modification of the existing conveyor and make it possible to use robots for each work, without increasing the occupied floor space, and without changing the height of the building. This system effectively transports workpieces without requiring robots, lifters, etc. to be installed at high positions.

This invention will be explained below based on the drawings.

Figure 2 is a side view showing an embodiment of this invention;
The figure is a sectional view taken along the - line in FIG. 2.

Reference numeral 11 in the figure (see Fig. 3) indicates a tow bearer as an example of a free conveyor, and this tow bearer 11
The workpiece carrier 12 placed there is placed on the floor 1.
Run in a straight line at almost the same level as 3. Note that this tow bearer 11 is of course used to transport workpieces on a workpiece transport vehicle before and after a shuttle conveyor, which will be described later.

Further, 14 indicates a workpiece conveying cart 12 on the floor surface 13.
A plain shuttle conveyor 14 is shown as an example of a shuttle conveyor provided with a running space of 15, and this plain shuttle conveyor 14 is supported by a plurality of portal frames 16 that secure the above-mentioned running space 15. As shown in FIG. 4, the plain shuttle conveyor 14 here rotates the output shaft 19 in the forward and reverse directions via the reducer 18 by the AC motor 17,
By reciprocating the rack on the shuttle bar side that meshes with the pinion provided at 9, the pinion moves intermittently forward and backward, and the stopping accuracy of these movements is determined by the electromagnetic brake provided in relation to the output shaft 19. Guaranteed by 20.

21 in Figure 2 is plain shuttle conveyor 1
This autoloader 21 includes a tall frame 22 that partially straddles the plain shuttle conveyor 14, a running trolley 23 that runs on this frame, and a running trolley 23 that runs on this frame. The workpiece lifting means 25 is operated by a cylinder 24 provided in the workpiece lifting means 25. The autoloader 21 moves the traveling carriage 23 to the starting end of the frame 22, lifts up the workpiece 26 on the workpiece carrier stopped in front of the plain shuttle conveyor 14, and then moves the traveling carriage 23 to the starting end of the frame 22. The work 26 is moved to the rear end and delivered to the plain shuttle conveyor 14.

In addition, 27 in the same figure indicates an autoloader provided at the rear end of the plain shuttle conveyor 14. This has the same configuration as the autoloader 21 described above, and the workpiece 26 transported by the plain shuttle conveyor 14 is transferred to the plain shuttle conveyor 14. Shuttle conveyor 14
The workpiece is delivered to the workpiece transport vehicle 12 which has passed under the workpiece.

And here, plain shuttle conveyor 1
A lifter 28 that straddles the tow bearer 11, more precisely, the traveling pace 15 of the workpiece carrier 12, is provided at each stage position for each constant forward pitch of 4.
As is clear from FIG. 4, this lifter 28 has lifting arms 29a and 29b that are U-shaped in plan and face each other across the plain shuttle conveyor 14, and as shown in FIG. The cylinders 30a and 30b are connected to cylinder rods 31a and 31b, respectively, to form a gate shape. Pinions 33a, 33b are provided at both ends of the synchronous shaft 32, and these pinions 33a, 33b are connected to the cylinder rod 31 via lifting arms 29a, 29b.
This is achieved by engaging the racks 34a, 34b attached to the ends 34a, 31b.

Therefore, the lifting arms 29a, 29b located above the traveling space 15 are connected to the cylinders 30a, 30b provided across the traveling space 15.
Due to the operation of the workpiece 26 under the action of the synchronizing means,
is raised to the operating position by the robot at the same level on both the left and right sides, and processed again. Note that 35 in Figure 3
35a and 35b indicate upper limit locks. These upper limit locks 35a and 35b are rotatably provided with lock claws 38a and 38b on the cylinder rods of cylinders 37a and 37b, and are locked at the rear end of the cylinder rod 31a at the upper limit of the lifter 28. Claws 38a, 38b
is configured to abut against the workpiece 26 to ensure that the workpiece 26 is maintained in its raised position.

During this operation of the lifter 28, the workpiece carrier 12 passes there.

In the workpiece carrier configured as described above, the workpiece 26, which has been carried along with the workpiece carrier 12 by the towbearer 11 to the front side of the plain shuttle conveyor 14, is brought to a predetermined position by the temporary stop of the towbearer 11. After that, the workpiece transport vehicle 1 is positioned by the autoloader 21.
2 onto the plain conveyor 14, and is tact-fed by the plain shuttle conveyor 14.

On the other hand, the workpiece transport vehicle 12 has transported the workpiece 26 to the front side of the plain shuttle conveyor 14.
is passed under the plain shuttle conveyor 14 by the tow bearer 11 during this tact feeding of the workpiece 26.

Further, the workpiece 26, which has been accurately brought to a predetermined stage position by the tact feeding of the plain shuttle conveyor 14, is moved from the engagement position with the plain shuttle conveyor 14 shown by the solid line in FIG. 3 by the action of the lifter 28. The robot is elevated to the working position shown by the imaginary line in the figure, and there, as shown in the plan view in FIG. 4, required processing such as welding and sealing is performed by robots 36 arranged at respective stage positions.

As is clear from FIG. 3, during this lifting of the workpiece 26, the engagement between the workpiece 26 and the plain shuttle conveyor 14 is released, so the shuttle bar is moved backward by the operation of the AC motor 17, and the subsequent Waiting for the tact feeding of the workpiece 26.

The workpiece 26 that has been processed in a predetermined manner by the robot 36 is then processed by the lifter 28 and reengaged with the plain shuttle conveyor 14 in the retreat position, after which the same tact feeding and processing are sequentially performed. Finally, the autoloader 27 installed at the rear end of the plain shuttle conveyor 14
Then, the workpiece is delivered to the workpiece carrier 12 which has passed under the plain shuttle conveyor 14.

Although this invention has been described above with reference to the illustrated example, it is also possible to use other types of conveyors as the shuttle conveyor and the free conveyor.

Therefore, according to this invention, a free conveyor for the workpiece transport vehicle is provided below the shuttle conveyor that transports the workpieces in tact, and a lifter that moves the workpieces up and down at each stage position of the shuttle conveyor is placed astride the free conveyor. By arranging the robots and lifters in a gate shape, it is possible to remodel existing lines without increasing the occupied floor space, and without having to worry about the equipment costs and strength issues that would arise from placing robots, lifters, etc. on the second floor. A compact workpiece transport device is provided that minimizes the number of workpieces.

[Brief explanation of the drawing]

Fig. 1 is a plan view schematically showing a conventional example, Fig. 2 is a side view showing an embodiment of this invention, and Fig. 3 is a plan view diagrammatically showing a conventional example.
FIG. 4 is a sectional view taken along the - line in the figure, and FIG. 4 is a plan view showing a portion of the device related to this invention together with a robot. 11... Towbear as a free conveyor, 1
2...Work transport vehicle, 13...Floor surface, 14...
Plain shuttle conveyor, 15... Traveling space, 21, 27... Autoloader, 26... Work, 28... Lifter, 29a, 29b... Lifting arm, 30a, 30b... Cylinder, 31a, 31b... Cylinder rod, 36...
...Robot.

Claims (1)

[Scope of utility model registration request] A free conveyor 11 for the workpiece transport vehicle 12 is provided below the shuttle conveyor 14 that transports the workpiece 26 in tact, and a lifter 28 that moves the workpiece 26 up and down at each stage position of the shuttle conveyor 14 is provided astride the free conveyor 11. A workpiece transfer device for robot work arranged in a gate shape.