JPH0620746Y2 - Transfer device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a device for transferring a work or a pallet for transferring a work and other objects to be transferred.

(Prior Art) As such a conventional transfer device, for example, there is one shown in FIGS. 6 and 7.

This apparatus has a ball spline shaft 1 extending along a work transfer guide (not shown).

This ball spline shaft 1 has brackets 2 at both ends.
It is rotatably supported by 3, and one end is
A piston rod 4a of a rotating cylinder 4 fixed to the bracket 2 is connected via a slider crank mechanism 5.

A ball circulation type slider 6 is fitted on the ball spline shaft 1. The slider 6 is engageable with the workpiece transferred along the workpiece transfer guide and is separated from the workpiece transfer distance. The two engaging arms 7, 7 that are interposed are fixed via a bracket 8.

A bracket 9 is rotatably fitted around the slider 6 via a bearing, and a guide roller 10 is provided on the bracket 9. The guide roller 10 is provided on both ends of the brackets 2 and 3. A channel-shaped frame 11 having a fixed portion is fitted in a guide 11a extending parallel to the ball spline shaft 1 so as to be movable in the extending direction.

Further, a reciprocating cylinder 12 is fixed to the bracket 2, and the tip of the piston rod 12a is
It is connected to the bracket 9.

In the conventional apparatus thus configured, the rotation cylinder 4 rotates the ball spline shaft 1 via the slider crank mechanism 5 by the forward / backward movement of the piston rod 4a to move the engagement arm 7 to the work. The transfer guide is rocked between an engaging position and a non-engaging position with respect to the work, and the reciprocating cylinder 12 moves forward and backward by the piston rod 12a.
The slider 6, and thus the engagement arm 7, is moved to a predetermined forward position under the engagement with the work, and then returned to the original position under the non-engagement with the work.

Therefore, according to this device, the work carried in to the position corresponding to the original position of the engagement arm 7 on the work transfer guide can be transferred to the forward position along the work transfer guide, and here, Since the distance between the two engaging arms 7 and 7 is equal to the work transfer distance, the original position of one engaging arm 7 is the forward position of the other engaging arm 7, so that two works can be transferred simultaneously. In addition, the work can be tact-transferred up to a distance twice as large as the distance between the original position and the forward position by the two reciprocations of the engaging arms 7 and 7.

(Problems to be Solved by the Invention) However, in the above-described conventional device, since the reciprocating cylinder 12 is fixed to the bracket 2, the bracket 9 for reciprocating the engaging arm 7 is provided. To hold the cylinder in axial alignment with the cylinder 12.
11a, a frame 11 for providing it, and a bearing for allowing the engaging arm 7 to swing with respect to the bracket 9 are required, which results in a large number of movable parts and a complicated structure. There was a problem.

Further, in the above-mentioned conventional device, there is also a problem that the cylinder 12 having a length corresponding to the transfer distance projects from the bracket 2 in the extending direction of the ball spline shaft 1 and the entire device becomes large.

In order to solve the above-described complication problem, it is conceivable to fix the reciprocating cylinder 12 to the ball spline shaft 1 and swing it together with the engaging arm 7, but the cylinder 12 is simply The problem of increasing the size of the device described later cannot be solved simply by fixing the ball spline shaft 1 to
Further, there is a possibility that a new problem arises that the supporting rigidity of the cylinder 12 is insufficient and heavy objects cannot be transferred.

The present invention provides a device that advantageously solves this problem.

(Means for Solving Problems) A transfer device according to the present invention includes a guide member extending along a transfer path of an object to be transferred, and a guide member fixed to a base part of the guide member. Two supporting members that are rotatably supported, a moving member to which an engaging member that can engage with the transferred object is fixed, and two guide members that can move along the guide member Two slide members that are fitted to an intermediate portion located between the support members and are fixed to the moving member while being separated from each other, and the guide members that are separated from each other in a staggered arrangement with respect to the two slide members. Two swing members fixed to an intermediate portion, a main body, and a drive rod that moves forward and backward with respect to the main body are disposed, and the main body is arranged in a direction that spatially intersects with the guide member and is supported by the base portion. On the other hand, a tip end of the drive rod has a swing drive actuator connected to at least one of the two swing members, a main body and a drive rod that moves back and forth relative to the main body, and the main body has the two swings. A reciprocating drive actuator that is disposed between the members and is supported by the swinging members while the tip of the drive rod is coupled to the moving member.

(Operation) In such a device, the rocking drive actuator moves the rocking drive rod forward and backward to drive the rocking member fixed to the intermediate portion of the guide member. A guide member whose both end portions are rotatably supported by a support member and two slide members fitted to the guide member swing, whereby an engaging member fixed to these slide members via a moving member. Swings.

Further, here, the reciprocating drive actuator moves the reciprocating drive rod forward and backward to drive the moving member to which the two slide members are fixed, so that the moving member, and thus the engaging member fixed thereto, becomes the guide member. It reciprocates along the transfer route of the transferred object under the guidance.

Therefore, according to the device of the present invention, by swinging the engaging member to engage the transferred object, and then moving the engaging member forward, the transferred object engaged with the engaging member is transferred through the transfer path. Can be carried along, and then the engaging member is oscillated in the opposite direction to separate from the transferred object, and then the engaging member is moved backward to return the engaging member to the original position. Then, the next transfer can be awaited.

On the other hand, in this device, the reciprocating drive actuator, which has its reciprocating drive actuator main body supported between the two oscillating members, also oscillates together with the guide member and the two slide members fitted thereto, so that the reciprocating drive actuator reciprocates. An integral connection between the drive rod and the moving member is sufficient.

Therefore, according to the device of the present invention, it is possible to eliminate the need for providing a movable part or a guide structure therefor for coupling between the reciprocating drive rod and the moving member, and it is possible to reduce the number of movable parts. The structure can be simplified.

In addition, in this device, the actuator main body of the reciprocating drive actuator is disposed between the two rocking members and supported by the rocking members, and the rocking motion of the rocking drive actuator main body supported by the base portion. Since the drive actuator directly drives at least one of the rocking members, a reciprocating drive actuator having a length corresponding to the transfer distance and a weight corresponding to the reciprocating driving force is provided between the both ends of the guide member. It fits within the range, is supported with sufficient support rigidity, and is swingably driven with sufficient strength.

Further, here, two slide members that are fitted to the intermediate portion of the guide member and guide the reciprocating movement of the moving member are separated from each other and fixed to the moving member, and the engaging member is fixed to the moving member. The supporting rigidity of the engaging member is sufficiently ensured, and the two rocking members fixed to the guide member whose both ends are supported are separated from each other in a staggered arrangement with respect to the two sliding members. Even if the guide member is not extended excessively, interference between the slide member and the swinging member is avoided and a sufficient movement distance is secured. Therefore, the length of the guide member can be minimized. However, the support rigidity of the reciprocating drive actuator is increased.

Therefore, according to the device of the present invention, it is possible to avoid an increase in the size of the device, and it is possible to sufficiently secure the support rigidity of the reciprocating drive actuator and easily cope with the transfer of heavy objects.

(Embodiment) An embodiment of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a plan view showing an embodiment of the transfer device of the present invention,
Further, FIG. 2 is a front view of the apparatus shown in FIG. 1, and 20 in the drawing shows a tact-transferred work transfer pallet as a transferred object in this example.

The pallet 20 here is guided to move to the left in the figure by a plurality of sets of guides 21 that extend in the left-right direction in FIG. It has a base 22 as a square pipe-shaped base as shown in FIG. 3, which is arranged along the guides 21.

Here, two brackets 23 and 24 as support members are erected on the base 22, and a ball spline shaft 25 as a guide member is arranged in parallel with the guide 21. Both ends of 25 are rotatably supported by the brackets 23 and 24 via bearings. Then, the ball spline shaft 25 is fitted with two ball circulation sliders 26, 27 as slide members.

These sliders 26, 27 are movable in the axial direction of the ball spline shaft 25, and their rotation with respect to the ball spline shaft 25 is restricted by the spline groove of the spline shaft 25. As shown in FIG. 2, when one slider 27 is positioned at the end of the ball spline shaft 25, the other slider 26 is positioned at a substantially central portion of the ball spline shaft 25 at a long angle. It is integrally connected to a pipe-shaped moving table 28 as a moving member.

Then, on the moving table 28, two forks 29, 30 as engaging members, which can be engaged with the engaging projection 20a of the pallet 20 which projects laterally from the front end portion on the left side in FIG. The pallet (20) is fixed to one engaging arm (31) which is also engageable with an engaging protrusion (20b) protruding laterally from the rear end of the pallet (20).

Also here, the bracket 23 of the ball spline shaft 25
As shown in FIG. 3, a substantially T-shaped crank 32 as an oscillating member is fixed to the end on the side, and a bracket 33 is provided on a side surface of the base 22 to act as an oscillating drive actuator. The main body of the dynamic cylinder 34 is pivotally supported,
The tip end of the piston rod 34a as a drive rod is connected to the arm 32a of the crank 32 extending downward in the drawing through a ball joint 35. Thereby, here, the ball spline shaft 25 can be rotated based on the forward / backward movement of the rotating cylinder 34, and by extension, the fork 2
Guides 21, 9, 30 and push arm 31, shown in solid lines in FIG.
The upper pallet 20 can be swung between the engagement position with the engagement protrusions 20a and 20b and the non-engagement position shown by an imaginary line in FIG.

The engagement position and the non-engagement position of the forks 29, 30 and the push arm 31 are set by the cam 36 fixed to the end of the ball spline shaft 25 on the bracket 24 side and the two fixed on the base 22. This is appropriately performed by adjusting the relative position with the limit switches 37, 37.

Here, further, in the substantially central portion of the ball spline shaft 25,
At a position between the sliders 26 and 27, a bracket 38 also serving as a swing member is fixed, and the bracket 38 is fixed.
, And the arm 32b extending horizontally in the drawing of the crank 32, a reciprocating cylinder 39 as a reciprocating drive actuator is arranged in parallel with the ball spline shaft 25, and both ends of the main body of the cylinder 39 are arranged. While being fixed to the bracket 38 and the arm 32b, the tip of the piston rod 39a as a drive rod of the cylinder 39 is fixed to the bracket 40.
To the moving table 28 via. As a result, here, based on the forward / backward movement of the cinder 39, the movable table 28 is guided under the guidance of the ball spline shaft 25 and the original position shown by the solid line in FIG. It is possible to reciprocate between the forward position shown by the phantom line in FIG. 2 which has advanced to the left, and thus the forks 29, 30 and the push arm 31 between their original position and the forward position. It is possible to reciprocate by one pitch.

As shown in FIGS. 4 and 5, the original position and the forward position of the movable table 28 are set by the two cams 41, 41 fixed to the movable table 28 by projecting to the side and the bracket 38. This is appropriately performed by adjusting the relative position between the two limit switches 42 and 42 fixed to.

The forks 29, 30 and the push arm 31 are arranged as follows.
The fork 29 and the fork 30 are separated from each other at an interval equal to the above 1 pitch, and the fork 30 and the pushing arm 31 are pushed in the original position to the rear end surface of the engaging projection 20b of the pallet 20 transferred by the fork 30 for one pitch. The arms 31 are arranged so that the front end faces of the arms 31 are in contact with each other.

According to the transfer device configured as described above, first, the piston rod 34a of the rotating cylinder 34 is advanced, whereby the ball spline shaft 25 is rotated counterclockwise in FIG. 30 and the push arm 31 as the above-mentioned engaging position, and these are engaged with the engaging protrusions 20a, 20b of the pallet 20 on the guide 21, and then the piston rod 39a of the reciprocating cylinder 39 is retracted from the illustrated advanced position. By moving the moving table 28 from the above-mentioned original position to the forward position, the pallets 20 engaged with the forks 29, 30 and the pushing arms 31 can be transferred by one pitch.

Then, after that, the piston rod of the rotating cylinder 34
34a is retracted and the piston rod 39a of the reciprocating cylinder 39 is further advanced to separate each fork 29, 30 and push arm 31 from each pallet 20 and return the movable table 28 to its original position. Can be postponed.

Therefore, according to the apparatus of this example, the pallet 20 can be sequentially tact-transferred from the right end position to the second right position, the third right position, and the left end position in FIG. , Three pallets 20 can be simultaneously transferred.

Further, according to this device, since the reciprocating cylinder 39 swings together with the ball spline shaft 25, the cylinder rod
39a can be integrally connected to the moving base 28, and therefore the bearings between the bracket 9 and the slider 6 and the movable parts such as the guide rollers 10 and the guides such as the guide 11a and the frame 11 of the conventional device can be integrated. The structure can be unnecessary, the number of moving parts can be reduced, and the structure can be simplified.

In addition, in the device of this example, the main body of the reciprocating cylinder 39 is disposed between and supported by the crank 32 and the bracket 38, and the rotating cylinder 34 whose main body is supported by the base 22 is the crank 32. Since it is driven directly, the reciprocating cylinder 39 having a length according to the transfer distance and a weight according to the reciprocating driving force thereof is within the range between both ends of the ball spline shaft 25 and is sufficient. It is supported by supporting rigidity, and is rockingly driven with sufficient strength.

Further, here, two sliders that are fitted to the intermediate portion of the ball spline shaft 25 and guide the reciprocating movement of the moving base 28 are provided.
26 and 27 are separated from each other and fixed to the moving base 28, and the forks 29 and 30 and the pushing arm 31 are fixed to the moving base 28, so that the supporting rigidity of the forks 29 and 30 and the pushing arm 31 is sufficient. A crank 32 and a bracket that are secured and fixed to the ball spline shaft 25 supported at both ends, respectively.
38 and 38 are spaced from each other in a staggered arrangement with respect to the two sliders 26, 27, so that the ball spline shaft
Even if 25 is not extended, sliders 26 and 27 and crank 32
The interference with the bracket 38 and the bracket 38 is avoided, and a sufficient movement distance is secured. Therefore, the length of the ball spline shaft 25 can be set to the necessary minimum, and the support rigidity of the reciprocating cylinder 39 can be increased in this respect as well.

Therefore, according to the device of this example, it is possible to avoid an increase in size of the device, sufficiently secure the support rigidity of the reciprocating drive actuator, and easily cope with the transfer of heavy objects. It is also possible to improve the accuracy of the stop position.

Although the invention has been described above based on the illustrated example, the invention is not limited to this. For example, the engaging member may be a magnet or a vacuum cup whose operation / non-operation can be switched depending on the swing position and the forward and backward paths. Any other type can be used as long as it can engage with the transferred object and move it.

Further, it goes without saying that the work itself may be used as the transferred object.

(Effect of the Invention) Thus, according to the device of the present invention, it is possible to eliminate the need to provide a movable part or a guide structure therefor for coupling between the reciprocating drive rod of the reciprocating drive actuator and the moving member, and to eliminate the moving part. The number can be reduced and the structure can be simplified.

In addition, according to the device of the present invention, the reciprocating drive actuator having the length according to the transfer distance and the weight according to the reciprocating driving force is within the range between the both ends of the guide member and has sufficient supporting rigidity. Is supported by the rocking member and is driven to swing sufficiently strongly, and the supporting rigidity of the engaging member is sufficiently secured, and further, the interference between the slide member and the swinging member can be avoided without extending the guide member. Since a sufficient movement distance can be secured and the length of the guide member can be minimized, it is possible to avoid increasing the size of the device and also to secure sufficient supporting rigidity of the reciprocating drive actuator to support heavy objects. It is possible to easily cope with the transfer.

[Brief description of drawings]

1 is a plan view showing an embodiment of the transfer device of the present invention, FIG. 2 is a front view of the device shown in FIG. 1, FIG. 3 is a left side view of the device shown in FIG. 1, and FIG. 2 is a view taken along the line IV-IV in FIG. 2, FIG. 5 is a view taken along the line VV in FIG. 2, and FIGS. 6 and 7 are plan and front views of the conventional device. is there. 20 …… Pallet, 23,24 …… Bracket 25 …… Ball spline shaft 29,30 …… Fork, 31 …… Push arm 34 …… Rotating cylinder 39 …… Reciprocating cylinder

Claims (1)

[Scope of utility model registration request] 1. A guide member (25) extending along a transfer path of an object (20) to be transferred, and a base (22) fixed to the guide member so that both ends of the guide member in the extending direction can be rotated. Two support members (23, 2
4), a moving member (28) to which an engaging member (29, 30, 31) capable of engaging with the transferred object is fixed, and a movable member (28) that can move along the guide member and rotates with respect to the guide member. So that the guide member is regulated, two slide members (26, 27) fixed to the moving member while being fitted to an intermediate portion positioned between the two support members, and Two rocking members (32, 38) fixed to the middle part of the guide member in a staggered arrangement with respect to the two slide members, and a rocking drive actuator body and a rocking motion that moves back and forth relative to the rocking drive actuator body. A swing drive rod (34a), the swing drive actuator main body is arranged in a direction that spatially intersects the guide member and is supported by the base portion, while the tip end portion of the swing drive rod is the two At least one of the two rocking members A reciprocating drive actuator (34), a reciprocating drive actuator body, and a reciprocating drive rod (39a) that moves back and forth relative to the reciprocating drive actuator body.The reciprocating drive actuator body is disposed between the two oscillating members. A reciprocating drive actuator in which the tip end of the reciprocating drive rod is supported by the swing members and is coupled to the moving member.
(39) A transfer device comprising: