JPH0357408Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is a conveyance device consisting of a transfer device for intermittent conveyance of objects to be conveyed, and a conveyor for receiving and receiving the objects from this transfer device. In particular, the present invention relates to a compact transfer device in which a transverver drive device of a transfer device and a transfer conveyor for transferring objects are installed in the same space.

[Prior Art] In a transfer machine that processes an object through a plurality of processes while intermittently conveying the object in predetermined pitches, a transfer device is used to intermittently transfer the object in predetermined pitches. is provided.

The transverver drive device of this transfer device is arranged at the exit of this transfer machine due to the space inside the transfer machine, and at this exit there is also a transfer conveyor for receiving and receiving the transferred objects. is set up.

Conventionally, as shown in FIGS. 8 and 9, the transber drive device of this transfer device has been known to reduce the rotation of a DC motor 51, which is a transfer motor, at a low speed by a reducer 52 consisting of a worm gear and a worm wheel.・The rotation is decelerated to high torque, and the sliding base 55, which rotatably supports one end of the connecting rod 54, is moved in the front and back direction (left and right in the drawing) by the crank arm 53 and connecting rod 54. Let this sliding base 5
A device that moves the transverver 56 engaged with the transverse bar 56 in the front-back direction (left-right direction in the drawing) is generally used.

This type of transfer device is disclosed, for example, in Japanese Utility Model Application Publication No. 55-2554 and Japanese Utility Model Application Publication No. 59-132748.

As shown in FIGS. 8 and 9, as a conveyor for transferring objects, a pair of belts 61 and 62 are disposed on the left and right sides of the transverver 56, and This set of belts 6
1 and 62 are driven by a conveyor motor 64 installed on a surface plate 63 via a chain 65, and the objects transported by the transfer device are transferred to another transport device, such as an automatic guided vehicle or , forklifts, etc., are generally used to transport the items to a delivery position.

[Problem that the invention attempts to solve]

However, the conventional transfer device has a reduction gear 5 consisting of a worm gear and a worm wheel.
2 to obtain low rotation and high torque, or the use of the crank arm 53 to convert rotational motion into linear motion, the structure of the transver drive device of the transfer device is complicated. However, due to the large size, the area occupied by the device becomes large, and the number of maintenance points increases.

In addition, the conveyor for transferring the conveyed object has a conveyor motor 64 that drives a pair of belts 61 and 62 for conveying the workpiece, which is installed on the surface plate 63. In addition to the narrow space and the large area occupied by the transverver drive device of the transfer device, the transverver drive device of the transfer device must be installed significantly offset from the conveyance trajectory. There was a problem in that the installation space for these conveying devices near the exit of the transfer machine became very large.

Therefore, the purpose of the present invention is to miniaturize and simplify the transerver drive device that converts the rotational motion of the transport motor into the linear motion of the transerver, and also to miniaturize the transport conveyor for transferring the transported objects. The purpose of this invention is to install a transferer drive device and a transfer conveyor for transferring objects in the same space, thereby reducing the installation space for this transfer device near the exit of a transfer machine.

[Means for solving problems]

Therefore, the present invention uses a low-speed, high-torque conveyance motor as a transverver drive device of a transfer device, and uses a belt driven by the conveyance motor to convert the rotational motion of the conveyance motor into linear motion. The present invention is characterized in that a conveyor motor of a conveyor for receiving and receiving objects to be conveyed is vertically attached to the upper part of this conveyor, and this conveyor is installed on top of the transverver driving device of the transfer device. do.

Specifically, it consists of a transerver on which objects to be transported are placed, a transerver lifting support device that supports the transerver so that it can slide horizontally and move it up and down, and a timing pulley that is directly connected and fixed to the rotating shaft. a low-speed, high-torque conveyance motor, a timing belt hooked around the timing pulley, a slider attached to the timing belt and driven in the horizontal direction, and a position of the slider and transver in the longitudinal direction. an engaging member that regulates the movement of the transerver and slidably engages in the vertical direction, and a cover for the transfer conveyor installed on both the left and right sides of the transerver on the upper part of the transerver drive device main body to which the transfer motor is fixed. It is characterized by comprising a conveyed object moving member and a conveyor motor having a rotating shaft installed vertically above the conveyor and driving the conveyed object moving member via a bevel gear.

[Effect]

According to the configuration of the present invention, a low-speed, high-torque transport motor is used as the transerver drive device, and the timing belt converts the rotational motion of the transport motor into linear motion of the transerver. In addition to making this transerver drive device extremely small and simple, the conveyor is also made compact by using a conveyor with a conveyor motor mounted vertically on the top to drive the conveyed object moving member that moves the conveyed object. At the same time, since the lower part thereof is clear, this transfer conveyor can be installed on top of the transerver drive device, and the installation space for the transerver drive device and the transfer conveyor becomes extremely small.

〔Example〕

Next, a conveying device according to an embodiment of the present invention,
This will be explained with reference to FIGS. 1 to 7.

1 is a side view of a conveying device according to an embodiment of the present invention, FIG. 2 is a plan view of the conveying device of FIG. 1, FIG. 3 is a side view of the conveying device of FIG. 1, and FIG. 4 is a side view of the conveying device of FIG. 1st
5 is a cross-sectional view of FIG. 4, FIG. 6 is a cross-sectional view of the conveying device of FIG. 2, and FIG. 7 is a cross-sectional view of the transport device of FIG. 1. It is a -T diagram which shows the time change of the conveyance speed of the transver of a conveyance apparatus.

As shown in FIG. 1, the transport device according to this embodiment is roughly divided into a transverver 2 on which an object to be transported 1 is placed, a transverver 2 that supports the transerver 2 so as to be slidable in the front and rear directions, and supports the transverver 2 vertically and vertically. a transerver lifting support device 3 for moving the transerver in the direction; a transerver drive device 4 for reciprocating the transerver 2 supported by the transerver elevating support device 3 in the front-rear direction;
The transport conveyor 5 is installed on top of the transport conveyor 5 for transferring the transported objects 1.

A positioning block 6 for fixing the transported object 1 is attached to the upper surface of the transverver 2.

A plate-shaped towing hook 7 for being towed, which is an engaging member, is fixed to the lower surface of the transverver 2.
This towing hook 7 is provided with a long hole 7a for engagement in the vertical direction.

This transverver 2 is supported in the front-rear direction (in the left-right direction in the drawing) by a support roller 8 shown in the figure and a support roller (not shown) that is located at the same vertical position as the support roller 8 and on the right side in the drawing. )
It is supported so as to be able to slide freely, and its movement in a direction perpendicular to the fore-aft direction is regulated.

The support roller 8 and the other support roller (not shown) have intermediate portions rotatably supported by a transfer device main body (not shown).
The crank arm 9 is rotatably supported by the upper end of a crank arm 9 and another crank arm (not shown) having the same shape as the crank arm 9.

The lower end of this crank arm 9 and the other crank arm (not shown) are connected to a connecting bar 1.
0, and one end of this connecting bar 10 is connected to a lifting cylinder 11 for swinging these crank arms.

The cylinder body of this elevating cylinder 11 is pivotally fixed to the floor so as to be rotatable in the left and right directions in the drawing, and the operation of the elevating cylinder 11 moves the connecting bar 10 left and right in the drawing. This movement of the connecting bar 10 in the left-right direction causes the pair of crank arms to swing in the left-right direction in the drawing.

The swinging of this pair of crank arms causes the support roller 8, which is pivotally supported at the upper end thereof, and the transverver 2, which is supported by the other support roller (not shown), to change their positions in the vertical direction.

The support roller 8, the other support roller (not shown), the crank arm 9, the other crank arm (not shown), the connecting bar 10,
The elevating cylinder 11 constitutes a transserver elevating support device 3.

Reference numeral 12 denotes a main body of the transerver drive device configuring the transerver drive device 4, which is installed on a pedestal 13 having an H-shaped cross section.

And this transerver drive device main body 12
As shown in FIG. 3, a DD motor (Direct Drive motor) 14, which is a low-speed, high-torque transport motor, is fixed.

Although not shown, this DD motor 14 has a structure in which a thin ring-shaped rotor is disposed between two inner and outer stators, and a continuously magnetized stator protrusion and a thin ring-shaped rotor are arranged between two inner and outer stators. High torque is generated by the action of the magnetic field between the ring-shaped rotor and the salient poles.

In particular, this DD motor 14 has a short magnetic flux path within the rotor, so it has low magnetic resistance and generates high torque.

Note that this DD motor 14 is a type of synchronous DC brushless servo motor in which the rectification action is electronically controlled.

As shown in FIG. 3, a timing pulley 15 is fixed to the rotating shaft 14A of the DD motor 14. The timing pulley 15 has a plurality of axial pulley tooth grooves 14a shown in FIG. 1 formed on its outer periphery.

As shown in FIG.
The timing at which belt tooth grooves 17a shown in FIG. 4, which have the same pitch as the plurality of pulley tooth grooves 15a of the timing pulley 15, are formed in the width direction on another idler pulley 16 which is rotatably supported by A belt 17 is hung.

Furthermore, as shown in FIG. 3, a mechanical brake 18, which is a mechanical braking device, is provided on the outer periphery of the rotating shaft 14A of this DD motor 14, and this mechanical brake 18 is not normally shown. A braking member, also not shown, is pressed against the outer periphery of the rotating shaft 14A of the DD motor 14 by a spring, and pressurized air from the outside causes the braking member, not shown, to be pressed against the outer periphery of the rotating shaft 14A. The pressure is starting to be released.

Returning to FIG. 1, reference numeral 19 denotes a linear guide fixed to the lower surface of the guide base 20 of the transverver drive unit main body 12, as shown in FIGS. 4 and 5. A slider 21 having an engagement groove 21a that becomes narrower from the bottom toward the opening is fitted into the lower skirt portion 19a and is slidably supported.

The timing belt 1 is attached to the slider 21.
7 is fixed, and the slider 21 and the timing belt 17 are fixed by a belt tooth groove of the timing belt 17 formed in the width direction in a belt engaging groove 22a formed on the upper surface of the holding plate 22 in the figure. This is achieved by engaging the plate tooth groove 22b of the same pitch as 17a with the belt tooth groove 17a of the timing belt 17, and fixing this pressing plate 22 to the slider 21 with bolts 23.

The timing belt 17 driven by the DD motor 14 causes the slider 21 to slide in the left-right direction in FIG.

As shown in FIG. 5, the presser plate 22 includes:
A traction roller 24 constituting an engaging member is rotatably supported by a stay 22C extending on the right side in the figure, and this traction roller 24 is fixed to the lower surface of the transverver 2. The transverver 2 engages with the elongated hole 7a of the towing hook 7 for the towed object, and moves the transverver 2 in the front-rear direction ( (left and right in the drawing).

An abutting protrusion 22D is fixed to the left side surface of the holding plate 22 in FIG. 4, and a dog 22E is fixed to the upper part of the abutting protrusion 22D.

Returning to FIG. 1, stoppers 25 and 26 for positioning the forward and backward ends of the transerver 2 are fixed to the holding plate 22 on the lower surface of the guide base 20 of the transerver drive device main body 12 in the figure. The stopper 25, 26 for positioning the forward end and the backward end is fixed at a predetermined position on the extension line of the movement locus of the abutment protrusion 22D. for,
Hydraulic dampers 27 and 28 are provided respectively, and a piston rod (not shown) of the damper 27 protrudes from the surface of the stopper 25.

Similarly, in the other damper 28, a piston rod (not shown) protrudes from the surface of the stopper 26.

Further, on the lower surface in the figure of the guide base 20 fixed to the transerver drive device main body 12, there is a position detector for detecting the retreating end of the transerver 2, the deceleration start point at the time of retreating/advancing, and the forward end. The limit switch 29 shown in FIG. 5, which is a switch, is installed at the positions A, B, C, D, and E in FIG. , the dog 22 fixed to the pressing plate 22 of the moving slider 21 hits and detects the backward end of the slider 21, that is, the transverver 2, the deceleration start point during backward/forward movement, and the forward end. and outputs a detection signal.

Reference numeral 30 in FIG. 1 indicates activation of the DD motor 14 based on a detection signal from the limit switch 29 indicating the backward end of the transverver 2, the deceleration start point during backward/forward movement, and the forward end. This is a transport motor control device that controls low-speed rotation, deceleration, and braking using a mechanical brake 18.

Reference numeral 31 denotes an air switching valve that switches the supply of pressurized air to the mechanical brake 18 based on a command signal from the transport motor control device 30.

These transerver drive device main body 12, pedestal 13, DD motor 14, timing pulley 15,
Idler pulley 16, timing belt 17,
The linear guide 19, the guide base 20, the slider 21, etc. constitute the transber drive device 4.

As shown in FIG. 3, a column 32 for supporting the conveyor 5 is erected on the pedestal 13, and a plate-shaped support base 33, which is the same as the guide base 20, is mounted on this column 32. It is extended parallel to the guide base 20 at a height position with the transverver 2 in between.

As shown in FIG. 2, these guide bases 20
and on the support base 33, a roller bearing member 34,
35 are installed at predetermined intervals, facing each other with the transverver 2 in between.

Between these roller bearing members 34 and 35, conveyance rollers 36 and 37 are arranged facing each other with the transverver 2 in between,
Each of them is rotatably supported by the roller bearing members 34 and 35, respectively.

Sprockets 38 and 39 are attached to the rotating shafts of the conveyance rollers 36 and 37, respectively.
The plurality of sprockets 38 on one side and the plurality of sprockets 39 on the other side are connected to chains 40 and 41, respectively, so that they are driven simultaneously.

Of the conveyance rollers 36 and 37, the conveyance rollers 36a and 37a in the front row (the left end in the figure) are directly connected by one rotation shaft 42, and as shown in FIG.
A bevel gear 42A is attached to the end of the rotating shaft 42 on the guide base 20 side.

As shown in FIG. 6, the conveyor rollers 36, 3 are mounted on the upper part of the gearbox 43 which accommodates the bevel gear 42A and is fixed on the guide base 20.
A conveyor motor 44 for driving No. 7 is attached, and a bevel gear 44B is attached to a motor rotation shaft 44A protruding into this gear box 43, and a bevel gear 42A is attached to the rotation shaft 41 of the conveyance rollers 36a and 37a in the front row. They are attached so that they interlock.

The conveyor motor 44 drives a plurality of conveyance rollers 36 and 37 via the single rotating shaft 42 and chains 40 and 41.

Next, the operation of this embodiment will be explained with reference to FIGS. 1 and 7.

During processing, the transverver 2 and the transferred object 1 are in the original position shown by the solid line in FIG. 1, and at this time, the transferred object 1 is fixed by a jig of the transfer machine (not shown). is maintained and is separated from the transserver 2.

In this way, when the transverver 2 is in its original position, that is, in the position A in the figure, which is the backward end, the air switching valve 31 is turned OFF by a command from the transport motor control device 30, and the mechanical brake is turned off. 1
8 is in an operating state, in which rotation of the DD motor 14 is prevented.

When the processing of the object 1 to be transported is completed, based on a command from the control device of the transport transfer machine (not shown), the lifting cylinder 11 is first activated to drive the connecting bar 10 in the right direction in the diagram. The crank arm 9 and the other crank arm (not shown) are rotated clockwise, and the transverver 2 is supported by the support roller 8 at the tip thereof and the other support roller (not shown). It is raised to the position 2A shown by the dashed line in the figure.

During this upward movement, the transverver 2 receives the transferred object 1 from a transfer machine (not shown) and fixes it at the position of the positioning block 6.

The trans server 2 is 2A indicated by the dashed line in the figure.
When the transfer motor control device 30 reaches the position , the transfer motor control device 30 turns on the air switching valve 31 based on a forward movement command from a control device of the transfer machine (not shown), and supplies air from a pressurized air source (not shown). Pressurized air is supplied to the mechanical brake 18, and this pressurized air releases the braking of the DD motor 14 by the mechanical brake 18, and also starts the DD motor 14 counterclockwise in the figure to increase the drive current. Controlling the trans server 2 as shown in FIG.
As shown from time A to time C in the T diagram, the vehicle gradually accelerates from zero and moves at a constant forward speed vf.
In the figure, the transverver 2 moves forward toward the position 2B indicated by the dashed line, and the transverver 2 moves forward.
When the first deceleration start point C during forward movement is reached, this is based on the detection signal of the limit switch 29 at point C, and when the second deceleration start point D is reached, this is based on the detection signal of the limit switch 29 at point D. The transport speed of the transverver 2 is decelerated from the constant forward speed vf to zero in two steps as shown from point C to point D and from point D to point E in the -T diagram in FIG. and stop it.

When this transverver 2 reaches the forward end E, that is, the position 2B shown by the dashed line in the figure, at a speed of almost zero, the abutting protrusion of the presser plate 22 fixed to the slider 21 that pulls this transerver 2 22D is the transserver drive unit 1
The guide base 20 on the guide base 2 is stopped at the forward end position by coming into contact with a forward end stopper 25 fixed to the lower surface in the figure.

At this time, the slider 21 is reliably decelerated by the damper 27 provided on the stopper 25 for the forward end, and the transverver 2 stops with almost no shock.

When the stoppage of the transber 2 at the forward end position is detected by the limit switch 29 at the forward end position, that is, point E, the transport motor control device 30 turns off the air switching valve 31, Activate mechanical brake 18 and DD
The rotation of the motor 14 is prevented.

Transserver 2 is connected to 1B indicated by the dashed line in the figure.
When the transfer machine advances to the position and stops, based on the detection signal from the limit switch 29 at the point E, the control device of the transfer machine (not shown) operates the lifting cylinder 8 in the opposite direction to the previous direction to move the crank. The arm 9 and the other crank arm (not shown) are rotated counterclockwise to lower the transverver 1.

During this descent, the transverver 2
is passed over the conveyance rollers 36 and 37 of the conveyor 5 and separated from the conveyed object 1.

When the transber 2 is lowered from the front and rear positions to the position 1B shown by the dashed line in the figure and the upper and lower positions to the original position shown by the solid line in the figure, a retreat command is issued from the control device of the transfer machine (not shown). Based on the above, the transport motor control device 30
starts the DD motor 14 clockwise, contrary to the forward movement.

At this time, the conveyor motor 44 of the conveyor 5
The conveyor motor 44 rotates the conveyor rollers 36 and 37 of the conveyor 5, and conveys the conveyed object 1 placed thereon from the transerver 2 to the forward end. do.

On the other hand, the transport motor control device 30 controls the drive current of the DD motor 14 to move the transverver 2 from zero to time B as shown from point E to point B on the -T diagram in FIG. The motor is gradually accelerated and moved backward toward the original position shown by the solid line in the figure, ie, the position A, at a constant backward speed vb that is slower than the forward speed vf, making the shock at startup as small as possible.

When the transverver 2 moves backward and reaches the deceleration start point B during backward movement, the transport motor control device 30 controls the drive current of the DD motor 14 based on the detection signal from the limit switch 29 at the point B. The transverver 2 is gradually decelerated from the constant backward speed vb to zero and then stopped, as shown from time B to time A on the -T diagram in FIG.

When this transverver 2 reaches the backward end A at a speed of almost zero, that is, the original position shown by the solid line in FIG. 22D comes into contact with a rearward end stopper 26 fixed to the lower surface of the guide base 20 of the transverver drive device main body 12 in the figure, and stops at the original position, which is the rearward end.

At this time, the transverver 1 is reliably decelerated by the action of the damper 28 provided on the rear end stopper 26, and the transverver 1 comes to a stop with almost no shock.

When the stoppage of the transber 2 at the rearward end is detected by the limit switch 29 at the rearward end position, that is, at point A, the transport motor control device 30 turns off the air switching valve 31, and the mechanical brake 18 is activated, and the DD motor 1
The rotation of 4 is prevented.

In the case of this embodiment, the engaging member that engages the slider 21 and the transverver 1 is composed of the traction roller 22 on the side surface of the slider 21 and the traction hook 7 on the lower side of the transerver 2, so the structure teeth,
It is extremely simple and has few failures.

Further, in the case of this embodiment, since the slider 21 is slidably supported by the linear guide 19, the vertical force acting on the slider 21 is received by the linear guide 19, and is transferred to the timing belt 17. does not work, this timing belt 1
7. The durability of the timing pulley 15 and idler pulley 16 is improved.

Furthermore, in the case of this embodiment, the DD motor 1, which is a low-speed, high-torque conveyance motor, does not use a reducer.
4 semi-directly drives the transerver 2, the transerver drive device 4 is extremely simple, the space occupied by the device is reduced (approximately 40% compared to the conventional method), and there are fewer failures. This has resulted in maintenance-free operation and energy savings in transport power (approximately half that of conventional systems).

In addition, the mass of moving parts has been significantly reduced, so
It is now possible to transport the Transber 2 at high speed, and the transport speed can be approximately doubled compared to the conventional system.

In addition, since there is no reduction gear, the impact force from the transverver 2 is directly transmitted to the DD motor 14, and the impact force is absorbed by the DD motor 14. The device no longer gets damaged.

In addition, since there is no reduction gear, it is possible to mechanically stop the transber 2, and the stopper 25 and 26 are used to stop the transverver 2, and
The accuracy of the stopping position has been greatly improved by the combination of deceleration control of the DD motor 14 and deceleration method using dampers 27 and 28 at the forward and backward ends.

Furthermore, the deceleration control of the DD motor 14, the forward end and
The combined use of deceleration by the dampers 27 and 28 at the retreating end provides an excellent effect in that the object 1 can be transported smoothly without causing a shock when starting and stopping the transverver 2.

In addition, the conveyor motor 44 of the conveyor 5
is vertically attached to the upper part of the conveyor 5, and the conveyor roller 3 is attached via the bevel gears 42A, 44B.
6 and 37, this transfer conveyor 5 can be installed on top of the transverver drive device 4 of the transfer device, and in addition to downsizing the transverver drive device 4 of the transfer device, The transverver drive device 4 and the transfer conveyor 5 can be compactly housed in the same space, and the installation space can be significantly reduced, which is an excellent effect.

[Effect of idea]

As mentioned above, according to the present invention,
By using a low-speed, high-torque transport motor, timing pulley, and timing belt, the rotational motion of the transport motor is converted into the linear motion of the transerver, making the structure of the transerver drive device extremely simple. This has excellent effects such as saving space in the area occupied by the device, making the device maintenance-free, and saving energy in transport power.

In addition, in a conveyor for transferring objects, a conveyor motor is mounted on the upper part of the conveyor perpendicular to the conveying direction of the objects.
Since the conveyor rollers are driven via bevel gears, the conveyor becomes very compact, and the lower part is very neat, making it possible to fit it in the same space above the transverver drive device of the transfer device. It has the excellent effect of being able to be installed, and the installation space can be significantly reduced.

Furthermore, since the transport conveyor is very compact and is installed above the conveyor motor, there is an excellent effect that maintenance of the transport conveyor is greatly facilitated.

[Brief explanation of drawings]

1 to 7 are drawings showing a conveyance device according to an embodiment of the present invention, and FIGS. 8 and 9 are drawings showing a conventional conveyance device. 1 is a side view of a conveying device according to an embodiment of the present invention, FIG. 2 is a plan view of the conveying device of FIG. 1, FIG. 3 is a side view of the conveying device of FIG. 1, and FIG. 4 is a side view of the conveying device of FIG. FIG. 5 is an enlarged partial sectional view of the area around the traction hook of the conveying device in FIG. 1, FIG. 5 is a cross-sectional view of FIG. It is a -T diagram which shows the time change of the conveyance speed of the transver of the conveyance apparatus of a figure.
Fig. 8 is a plan view of a conventional conveying device, and Fig. 9 is a plan view of a conventional conveying device.
1 is a front view of the conventional conveying device shown in FIG. 1...Object to be transported, 2...Transporter, 3...
...Transver lift support device, 4...Transverver drive device, 5...Transfer conveyor, 7...Hook (engaging member), 14...DD motor (conveyance motor), 15...Timing pulley, 17... Timing belt, 21...Slider, 36, 37
...Conveyance roller (transferred object moving member), 44...
conveyor motor.

Claims (1)

[Scope of utility model registration request] A transerver on which an object to be transported is placed, a transerver lifting support device that supports the transerver so that it can slide horizontally and move it up and down, and a low-speed/high-speed motor with a timing pulley directly connected and fixed to the rotating shaft. A torque type conveyance motor, a timing belt stretched over the timing pulley, a slider attached to the timing belt and driven in the horizontal direction, and regulating the longitudinal position of the slider and the transverver, as well as vertically controlling the slider and the transverse bar. an engaging member slidably engaged in the direction; and an object moving member of a conveyor installed on both left and right sides of the transerver at the upper part of the transerver drive device main body to which the transfer motor is fixed. ,
A conveyance device comprising: a conveyor motor having a rotating shaft installed vertically above the conveyor and driving the conveyed object moving member via a bevel gear.