CN1791481A - Panel conveyor - Google Patents

Abstract

The panel conveying device of the invention comprises: the panel conveying device comprises a panel holding part for holding a panel, a link mechanism for moving the panel holding part in the panel conveying direction, and a sliding mechanism for moving the whole link mechanism to move the panel holding part in the panel conveying direction while operating the link mechanism. The slide mechanism includes a first slide mechanism having a first slider, and a second slide mechanism having a second slider. The link mechanism is configured to connect the first slider and the second slider to the panel grip portion, and linearly drive the first slider and the second slider, respectively, to move the panel grip portion in the panel conveying direction.

Description

Panel conveyor

technical field

The present invention relates to a panel conveying device for conveying a panel formed by a press or the like.

Background technique

For example, automobile panels are made into complex shapes, so the molding process is divided into several stages, and the molds are formed in a straight line. In such a transfer press or tandem press using a plurality of presses, a panel conveying device is provided to sequentially convey parts (panels) formed by a certain press to the next press.

As a panel conveying device for transfer presses, a cross-bar conveying device disclosed in Patent Document 1 below has been widely used in the prior art. The device is such a device: in the direction of the line, a lifting beam extending in the entire area of each press station can be arranged up and down, and then a conveyor is suspended on the lifting beam so that it can be moved in each working position in the direction of the line. The reciprocating movement between the positions, a cross bar is assembled on the conveyor, and a workpiece holding member is attached to the cross bar, and the workpiece material of each station is conveyed at the same time and intermittently.

Such a cross-bar conveying device has the following features.

(1) Generation of mold-to-station feed motion for forming panels by motion control by cam-driven or AC servo motors.

(2) The panel is conveyed according to the combined movement of the feeding direction (horizontal direction) and the lifting direction (vertical direction), and the panel is transported by suctioning the panel with a vacuum cup mounted on a conveying tool called a crossbar.

(3) The crossbars between the mold stations are connected in both the feeding direction and the lifting direction, and all the crossbars are linked to perform exactly the same movement.

(4) The feed arm that generates the feed motion between the stations is usually located at the front or rear of a series of feed devices consisting of a trolley connected to a cross bar and its connecting mechanism, and the feed is generated by the swing of the arm. into sports.

Moreover, the panel conveyance apparatus described in following patent documents 2-4 etc. is proposed besides the above-mentioned horizontal bar type conveyance apparatus.

The "transfer feeder" described in Patent Document 2 is provided with a plurality of conveyors independently driven by linear motors on a pair of lifting beams that move up and down by an elevator, and the linear motors can be moved independently. High-speed conveyance of workpieces (panels) as a drive source.

The "multi-station press conveying device" described in Patent Document 3 is provided with a plurality of conveyors on the lifting beam, and the conveyors can convey workpieces (panels) at high speed by using servo motors as driving sources.

The "TRANSPORT AND POSITIONING SYSTEM" described in Patent Document 4, as shown in FIG. Section 35. This lever mechanism 33 has a swing arm 34 having an output portion 35 formed at one end, and the output portion 35 is connected to a cross bar 32 . In addition, the swing arm 34 is connected at two points, a support point 38 and a driving point 43 , which are spaced apart from each other. The distance between the support point 38 and the driving point 43 is shorter than the distance between the output portion and the support point. In this figure, 31 is a workpiece holding member installed on the cross bar 32, 42 is a guide rod connecting the slider 47 and the driving point 43, 51 is a swing motor for swinging and driving the guide rod 42, and 55 is for moving the slider 47 up and down. Motion direct motion device.

According to this configuration, by moving the slider 47 up and down with the linear motion device 55 and swinging the guide rod 42 with the swing motor 51, the tip end (the driving point 43) of the guide rod 42 is driven and positioned, and the movement is amplified by the leverage ratio. On the other hand, the crossbar 32 to which the workpiece gripper 31 is attached is driven and positioned.

Patent Document 1: Japanese Patent Application Laid-Open No. 10-328766

Patent Document 2: Japanese Patent Publication No. 7-73756

Patent Document 3: Japanese Patent Application Laid-Open No. 10-328766

Patent Document 4: US Patent No. 6382400

However, in the panel transfer devices described in the aforementioned Patent Documents 1 and 3, there are the following problems: (1) it is not possible to make the respective cross bars have different movements, and (2) since all the moving cross bars move simultaneously , so the servo motor and the feeding drive device are enlarged. (3) Since the motion curves for each press station are the same, it is necessary to work hard on the shape of the mold in order to avoid interference, and it is difficult to correspond to the diversification of panel molding. In addition, in the linear motor method of Patent Document 2, although the speed of feeding (feeding) can be realized by the linear motor, a separate lifting mechanism is required, and there is a problem that the overall structure is complicated and enlarged. In the AC servo method, there is a problem that high rigidity cannot be obtained due to the tandem rods.

In addition, in the swing arm method of Patent Document 4, since the panel is transported by the swing arm, the longer the transport distance, the longer the length of the arm needs to be set, and the deflection of the arm or the like becomes a cause of vibration. In addition, since the panel transfer device of Patent Document 4 is equipped with a slide mechanism that is driven in the vertical direction between the press stations, it cannot be applied to a multi-station press with a multi-slide method that does not have a column provided with this mechanism. machine. In addition, in order to make the workpiece gripper swing (tilt) in order to cope with complex press molding, it is necessary to separately install a tilting device on the cross bar, which makes the structure more complicated, and the weight of the movable part increases, making it more difficult to achieve high speed. .

Contents of the invention

The present invention is made to solve the above-mentioned problems. That is, the main purpose of the present invention is to provide a press station that can have different motions for each press station, can easily reduce the weight of the movable part, can increase the rigidity of the movable part to suppress deflection or vibration, and can also It is applied to the panel conveying device of the multi-slide transfer press. In addition, another object of the present invention is to provide a panel conveyance device capable of tilting (tilting) a workpiece holding member while reducing the weight of the movable portion without adding another device to the movable portion.

In order to achieve the object of the present invention, according to the first invention, there is provided a panel conveying device, which is characterized in that it includes: a panel gripping part for gripping the panel, a link mechanism for moving the panel gripping part in the panel conveying direction, and A slide mechanism that operates the link mechanism and moves the entire link mechanism to move the panel holding portion in the panel transport direction.

According to the first invention, it is possible to move the panel gripping portion in the panel conveyance direction by operating the link mechanism with the slide mechanism and moving the entire link mechanism. Therefore, the panel grasped by the panel grasping part can be conveyed to a predetermined conveyance direction. In addition, since the panel conveying device of the present invention can be installed corresponding to each press station, it is possible to provide each press station with different movements. In addition, since the device itself can be configured compactly, it can also be applied to a multi-slide type press device.

The second invention is a preferred embodiment of the first invention, wherein a pair of the link mechanism and the slide mechanism are symmetrically provided on both sides of the panel gripping portion.

According to 2nd invention, a panel can be conveyed stably.

The third invention is a preferred embodiment of the first invention, the aforementioned sliding mechanism includes: a first sliding mechanism, and a second sliding mechanism disposed on the downstream side of the conveying line of the first sliding mechanism, and the aforementioned first sliding mechanism is configured as follows: There is a first slider connected to the aforementioned link mechanism, and the first slider is linearly driven in a direction inclined relative to the horizontal plane so that the first slider becomes a high position on the upstream side of the conveying line within its driving range, The downstream side of the conveying line becomes a low position, and the second sliding mechanism is configured to have a second slider connected to the link mechanism, and linearly drive the second slider in a direction inclined relative to the horizontal plane, so that the second The slider has a low position on the upstream side of the conveying line and a high position on the downstream side of the conveying line within the driving range of the slider, and the link mechanism is configured to connect the first slider and the second slider to the panel holding portion, The first slider and the second slider are respectively linearly driven to move the panel holding part in the panel conveyance direction.

According to the third invention, by linearly driving the first slider and the second slider which move within the V-shaped driving range, the panel holding part connected thereto can be moved in the panel transport direction through the link mechanism. Thereby, the panel grasped by the panel grasping part can be conveyed to a predetermined conveyance direction.

The fourth invention is a preferred embodiment of the third invention, wherein the link mechanism includes: an output member connected to the panel holding portion, one end pivotally mounted on the aforementioned output member and the other end pivotally mounted on the aforementioned first slider. The first connecting rod and the second connecting rod, one end of which is pivotally mounted on the output member and the other end of which is pivotally mounted on the aforementioned second slider.

According to the fourth invention, by driving the first slider to move the first link, and by driving the second slider to move the second link, the link mechanism is moved. The panel gripper moves in a predetermined panel conveyance direction.

The fifth invention is a preferred embodiment of the fourth invention, wherein the first link includes two arms, one end of each of the two arms is pivotally mounted to the output member, and the other end is pivotally mounted to the first slider.

According to the fifth invention, the output member can be held in a fixed posture by the two arms, and the workpiece gripping portion attached to the output member can be held in a fixed posture, thereby realizing stable panel conveyance.

The sixth invention is a preferred embodiment of the fifth invention, wherein the first slider includes two sliders, the first sliding mechanism has two drive mechanisms for individually driving the two sliders, and the other two arms of the aforementioned two arms One end is respectively pivotally mounted on the two sliders, so that the relative positions of the two sliders change to tilt the panel holding portion connected to the output component.

According to the sixth invention, since the panel holding part can be tilted, it is possible to hold and place the panel at an optimum angle as necessary.

The seventh invention is a preferred embodiment of the fifth invention, a straight line passing through the pivotal mounting points of the two arms and the first slider and/or passing through the pivotal mounting points of the two arms and the output member The straight line is inclined relative to the horizontal plane, so that the aforementioned two arms can always maintain a non-interfering state when viewed from the width direction of the conveying line.

According to the seventh invention, the straight line passing through the respective pivotal mounting points of the two arms and the first slider and/or the straight line passing through the respective pivotal mounting points of the two arms and the output member is inclined relative to the horizontal plane so that the two arms are The state of mutual non-interference can always be maintained when viewed from the width direction of the conveying line. Therefore, the first connecting rod always forms a quadrilateral connecting rod, which can eliminate the mechanical dead point of the connecting rod mechanism at any position of the panel conveying operation. Thereby, an effect of greatly improving controllability can be obtained.

The eighth invention is a preferred embodiment of the sixth invention, the straight line passing through the pivotal mounting points of the aforementioned two arms and the aforementioned first slider and/or passing through the pivotal mounting points of the aforementioned two arms and the aforementioned output member The straight line is inclined relative to the horizontal plane, so that the aforementioned two arms can always maintain a non-interfering state when viewed from the width direction of the conveying line.

According to the eighth invention, the straight line passing through the pivotal mounting points of the two arms and the first slider and/or the straight line passing through the pivotal mounting points of the two arms and the output member are inclined relative to the horizontal plane so that the two arms are The state of mutual non-interference can always be maintained when viewed from the width direction of the conveying line. Therefore, the first connecting rod always forms a quadrilateral connecting rod, which can eliminate the mechanical dead point of the connecting rod mechanism at any position of the panel conveying operation. Thereby, an effect of greatly improving controllability can be obtained.

The ninth invention is a preferred embodiment of the fourth invention, wherein the second link has two arms, one end of each of the two arms is pivotally mounted to the output member, and the other end is pivotally mounted to the second slider.

According to the ninth invention, the output member can be held in a fixed posture by the two arms, and the workpiece gripping portion attached to the output member can be held in a fixed posture, thereby realizing stable panel conveyance.

The tenth invention is a preferred embodiment of the ninth invention, wherein the second slider includes two sliders, the second sliding mechanism has two drive mechanisms for individually driving the two sliders, and the other two arms of the aforementioned two arms One end is respectively pivotally mounted on the two sliders, so that the relative positions of the two sliders change to tilt the panel holding portion connected to the output component.

According to the tenth invention, since the panel holding part can be tilted, it is possible to hold and place the panel at an optimum angle as necessary.

The eleventh invention is a preferred implementation mode of the ninth invention, the straight line passing through the pivotal mounting points of the aforementioned two arms and the aforementioned second slider and/or the pivotal mounting points passing through the aforementioned two arms and the aforementioned output member The straight line of the point is inclined relative to the horizontal plane, so that the aforementioned two arms can always maintain a state of non-interference with each other when viewed from the width direction of the conveying line.

According to the eleventh invention, the straight line passing through the pivotal mounting points of the two arms and the second slider and/or the straight line passing through the pivotal mounting points of the two arms and the output member is inclined relative to the horizontal plane, so that the two arms The state of mutual non-interference can always be maintained in the posture viewed from the width direction of the conveying line, so the second link always constitutes a quadrangular link, and the mechanical dead point of the link mechanism can be eliminated at any position of the panel conveying operation. Thereby, an effect of greatly improving controllability can be obtained.

The twelfth invention is a preferred embodiment of the tenth invention, the straight line passing through the pivotal mounting points of the aforementioned two arms and the aforementioned second slider and/or the pivotal mounting points passing through the aforementioned two arms and the aforementioned output member The straight line of the point is inclined relative to the horizontal plane, so that the aforementioned two arms can always maintain a state of non-interference with each other when viewed from the width direction of the conveying line.

According to the twelfth invention, the straight line passing through the pivotal mounting points of the two arms and the second slider and/or the straight line passing through the pivotal mounting points of the two arms and the output member are inclined relative to the horizontal plane, so that the two arms The state of mutual non-interference can always be maintained in the posture viewed from the width direction of the conveying line, so the second link always constitutes a quadrangular link, and the mechanical dead point of the link mechanism can be eliminated at any position of the panel conveying operation. Thereby, an effect of greatly improving controllability can be obtained.

The thirteenth invention, which is a preferred embodiment of the third invention, includes a tilting mechanism for tilting the panel grip, and the tilting mechanism includes: a rotary actuator mounted on the first slider or the second slider, and a transmission mechanism for tilting the panel holding portion by transmitting the rotational drive of the rotary actuator.

According to the thirteenth invention, since the panel holding part can be tilted by the tilt mechanism, it is possible to hold and place the panel at an optimum angle as necessary. In addition, since the tilt mechanism includes the rotary actuator mounted on the slider and the transmission mechanism, the mechanism can be easily configured. In addition, since the reclining mechanism and the link mechanism are separated, it is possible to eliminate the mechanical dead point of the link mechanism. As a result, controllability is greatly improved.

The fourteenth invention is a preferred embodiment of the thirteenth invention, wherein the aforementioned transmission mechanism includes: a first arm whose one end is fixed on the drive shaft of the aforementioned rotary actuator, and whose one end is fixed or integrally formed on the aforementioned output member or panel gripping portion The upper second arm, and one end pivotally installed on the other end of the aforementioned first arm and the other end pivotally installed on the other end of the aforementioned second arm, linking the connecting rod of the aforementioned first arm and the second arm.

According to the fourteenth invention, the rotational drive of the rotary actuator is transmitted to the panel gripping portion via the first arm, the connecting rod, and the second arm, so that the panel gripping portion can be tilted. In addition, the length of the first link or the second link is set to be the same length as the length of the connecting bar, and the length of the first arm and the second arm is set to be the same length so that they maintain a parallelogram, so, During normal transportation without tilting, the panel grip can always be kept in a constant position without driving the rotary actuator.

The fifteenth invention is a preferred embodiment of the thirteenth invention, wherein the aforementioned transmission mechanism includes: a first pulley fixed on the drive shaft of the aforementioned rotary actuator, fixed or integrally formed on the aforementioned output member or panel gripping portion a second pulley, and a drive belt that transmits the rotational drive of the first pulley to the second pulley.

According to the fifteenth invention, the rotational drive of the rotary actuator is transmitted to the panel gripping portion via the first pulley, the drive belt, and the second pulley, and the panel gripping portion can be tilted. In addition, by setting the nominal diameter ratio of the first pulley and the second pulley to 1:1, the panel gripping portion can always be kept constant without driving the rotary actuator during normal conveyance without tilting. pose.

The sixteenth invention is a preferred embodiment of the third invention, wherein the first sliding mechanism and the second sliding mechanism include linear actuators that linearly drive the first slider and the second slider, respectively.

According to the sixteenth invention, the movement can be transmitted to the link mechanism by driving the first slider and the second slider with the linear actuator.

The seventeenth invention is a preferred embodiment of the sixteenth invention, the aforementioned linear actuator is a ball screw and ball nut, a synchronous belt, a hydraulic cylinder, a rack and pinion, or a linear motor.

According to the seventeenth invention, by employing these linear motion actuators, it is possible to linearly move each slider at high speed and to accurately position it.

The eighteenth invention is a preferred embodiment of the seventeenth invention, wherein the panel gripping portion includes a cross bar connected to the link mechanism, and a workpiece grip attached to the cross bar.

According to the eighteenth invention, the crossbar can be moved by the link mechanism, and the workpiece grip attached to the crossbar can be moved in desired motion.

Other objects and advantageous features of the present invention will become clear from the following description with reference to the accompanying drawings.

Description of drawings

FIG. 1 is a diagram showing a conventional panel transfer device.

Fig. 2 is a perspective view showing a first embodiment of the present invention.

Fig. 3 is a block diagram showing a first embodiment of the present invention.

Fig. 4 is a schematic diagram showing a first embodiment of the present invention.

FIG. 5A is an explanatory view of the panel conveying operation of the panel conveying device according to the first embodiment of the present invention.

FIG. 5B is an explanatory diagram of the panel conveying operation of the panel conveying device according to the first embodiment of the present invention.

FIG. 5C is an explanatory view of the panel conveying operation of the panel conveying device according to the first embodiment of the present invention.

FIG. 5D is an explanatory diagram of the panel conveying operation of the panel conveying device according to the first embodiment of the present invention.

FIG. 5E is an explanatory diagram of the panel conveying operation of the panel conveying device according to the first embodiment of the present invention.

FIG. 5F is an explanatory diagram of the panel conveying operation of the panel conveying device according to the first embodiment of the present invention.

FIG. 5G is an explanatory diagram of the panel conveying operation of the panel conveying device according to the first embodiment of the present invention.

Fig. 6 is a diagram showing a motion curve of the panel conveying device according to the first embodiment of the present invention.

Fig. 7 is a block diagram showing a second embodiment of the present invention.

Fig. 8 is a schematic diagram showing a second embodiment of the present invention.

Fig. 9A is an explanatory diagram of the tilting operation of the panel conveying device according to the second embodiment of the present invention.

FIG. 9B is an explanatory diagram of the tilting operation of the panel conveying device according to the second embodiment of the present invention.

FIG. 9C is an explanatory diagram of the tilting operation of the panel conveying device according to the second embodiment of the present invention.

FIG. 10A is an explanatory diagram of the panel conveying operation of the panel conveying device according to the second embodiment of the present invention.

FIG. 10B is an explanatory diagram of the panel conveying operation of the panel conveying device according to the second embodiment of the present invention.

FIG. 10C is an explanatory diagram of the panel conveying operation of the panel conveying device according to the second embodiment of the present invention.

Fig. 11 is a block diagram showing a third embodiment of the present invention.

Fig. 12 is a schematic diagram showing a third embodiment of the present invention.

Fig. 13 is a diagram when the cross bar has been moved to a panel placement position in the panel conveyance device according to the first embodiment of the present invention.

Fig. 14 is a diagram when the cross bar has been moved to the panel placement position in the panel conveyance device according to the third embodiment of the present invention.

Fig. 15 is a block diagram showing a fourth embodiment of the present invention.

Fig. 16 is a schematic diagram showing a fourth embodiment of the present invention.

Fig. 17 is a diagram when the cross bar has been moved to the panel placement position in the panel conveyance device according to the second embodiment of the present invention.

Fig. 18 is a block diagram showing a fifth embodiment of the present invention.

Fig. 19 is a schematic diagram showing a fifth embodiment of the present invention.

FIG. 20A is an explanatory diagram of the panel conveying operation of the panel conveying device according to the fifth embodiment of the present invention.

FIG. 20B is an explanatory diagram of the panel conveying operation of the panel conveying device according to the fifth embodiment of the present invention.

FIG. 20C is an explanatory diagram of the panel conveying operation of the panel conveying device according to the fifth embodiment of the present invention.

FIG. 20D is an explanatory diagram of the panel conveying operation of the panel conveying device according to the fifth embodiment of the present invention.

FIG. 20E is an explanatory diagram of the panel conveying operation of the panel conveying device according to the fifth embodiment of the present invention.

FIG. 20F is an explanatory diagram of the panel conveying operation of the panel conveying device according to the fifth embodiment of the present invention.

FIG. 20G is an explanatory diagram of the panel conveying operation of the panel conveying device according to the fifth embodiment of the present invention.

Fig. 21A is an explanatory diagram of the tilting operation of the panel conveying device according to the fifth embodiment of the present invention.

Fig. 21B is an explanatory diagram of the tilting operation of the panel conveying device according to the fifth embodiment of the present invention.

Fig. 21C is an explanatory diagram of the tilting operation of the panel conveying device according to the fifth embodiment of the present invention.

Fig. 22 is a block diagram showing a sixth embodiment of the present invention.

Fig. 23 is a schematic diagram showing a sixth embodiment of the present invention.

Detailed ways

Hereinafter, preferred embodiments of the present invention will be described in detail based on the drawings. The same reference numerals are assigned to common parts in each figure, and repeated explanations will be omitted.

2 and 3 are diagrams showing the panel conveying device according to the first embodiment of the present invention, FIG. 2 is a perspective view of the panel conveying device 10, and FIG. 3 shows the posture of the panel conveying device 10 in FIG. 2 viewed from the inside in the width direction of the conveying line. composition diagram. In this figure, for convenience of description, two press stations 14 on the upstream side and downstream side and the panel conveying device 10 of the present invention provided therebetween are shown. In an actual machine, a plurality of about 2 to 5 press stations are usually provided. In this specification, "upstream side" and "downstream side" mean the upstream side and the downstream side of the transport line, respectively.

As shown in Fig. 2 and Fig. 3, in order to receive the formed material (panel) from the press station 14 on the upstream side and convey it to the press station 14 on the downstream side, a There is a panel conveying device 10 . In addition, the panel conveying device 10 is installed on the press station 14 by attaching both ends thereof to the arms of the press station 14 provided upstream and downstream or on the unshown press stand, or hanging from the ceiling. Between bit 14 and 14.

The panel conveying device 10 is provided with a panel gripping portion 15, a pair of link mechanisms 6 symmetrically connected to both sides of the panel gripping portion 15, and a slide mechanism 13 for imparting a predetermined motion to the link mechanism 6, and they move symmetrically to each other. , the panel gripping part 15 is moved in the feeding direction and the up-down direction, and the panel 1 is sequentially transported to the next press station.

The panel holding part 15 is provided with: a workpiece holding member 2 such as a vacuum suction cup which absorbs the panel (workpiece) 1, and a cross bar 3 which is mounted on the work holding part 2 and extends in a direction perpendicular to the conveying line. Both ends are connected with a link mechanism 6 .

The sliding mechanism 13 includes a first sliding mechanism 11 having a first sliding block 4 and a second sliding mechanism 12 having a second sliding block 5 . The first slide mechanism 11 and the second slide mechanism 12 are attached to a V-shaped base member 16 . In addition, the two sliding mechanisms 11 and 12 are equipped with linear actuators of the same length, respectively, and the first slider 4 and the second slider 5 are linearly driven by the drive of the linear actuators, and Accurate positioning can be performed by numerical control, etc. 17 is a drive motor for a direct-acting actuator. In this embodiment, the linear actuator is a ball screw and a ball nut, but the present invention is not limited thereto, and may also be a synchronous belt, a hydraulic cylinder, a rack and pinion, a linear motor, and the like.

The first sliding mechanism 11 linearly drives the first slide block 4 in a direction inclined relative to the horizontal plane, so that the first slide block 4 becomes a high position on the upstream side of the conveying line and becomes a high position on the downstream side of the conveying line within its driving range. low position. In addition, the second slide mechanism 12 linearly drives the second slider 5 in a direction inclined relative to the horizontal plane, so that the second slider 5 becomes a low position on the upstream side of the conveying line and a low position on the downstream side within its driving range. high position. The second slide mechanism 12 is arranged downstream of the first slide mechanism 11 on the conveyance line, and is arranged axisymmetrically with respect to the first slide mechanism 11 about an axis Y perpendicular to the horizontal plane.

The above two sliding mechanisms 11, 12, the downward extension lines of the respective sliding directions intersect, and the formed angle θ is set to 60°. The formed angle θ is determined individually for each press device according to the distance between the press stations 14, 14, that is, the transport distance of the panel 1, and is not limited to the above angle.

In addition, in this embodiment, the first sliding mechanism 11 and the second sliding mechanism 12 constitute a V-shaped sliding mechanism whose lower extension lines intersect each other, but it is not necessarily limited thereto. For example, the first sliding mechanism may be 11 and the second sliding mechanism 12 are formed in an inverted V-shaped sliding mechanism in such a way that the upper extension lines of each other intersect each other, or the first sliding mechanism 11 and the second sliding mechanism 12 are staggered in the width direction of the conveying line to make the driving range Cross X-shaped sliding mechanism.

FIG. 4 is a schematic diagram of the panel conveying device 10 shown in FIG. 2 and FIG. 3 . As shown in this figure, the link mechanism 6 includes an output member 19 connected to both sides of the workpiece gripping portion 15 (cross bar 3 ), and a first link 7 and a second link 7 pivotally mounted on the output member 19 . Connecting rod 8.

The first link 7 has two arms 7a, 7b of equal length to each other, and one end of each of the two arms 7a, 7b is pivotally attached to the output member 19 so as to be rotatable about a horizontal axis (the The pivot mounting points are respectively a1 and a2 from the left), and the other end is pivotally mounted on the first slider 4 in a manner capable of rotating around the horizontal axis (the pivot mounting points are respectively a3 and a2 from the left). a4). The second link 8 is composed of an arm having the same length as the two arms 7a, 7b of the first link 7, and one end is pivotally mounted on the output member 19 in a manner capable of rotating about a horizontal axis (the pivot The installation point is b1), and the other end is pivotally installed on the second slider 5 in a manner capable of rotating around the horizontal axis (the pivot installation point is b2). In this figure, the pivot attachment point a2 and the pivot attachment point b1 are arranged on the same axis, but they do not necessarily have to be arranged on the same axis.

The interval L1 between the pivot attachment points a1 and a2 is set to have the same length as the interval L2 between the pivot attachment points a3 and a4. With this structure, since the two arms 7a and 7b can be kept parallel, the output member 19 can always be kept at a predetermined angle with respect to the horizontal plane. That is, the parallel links a1, a2, a4, and a3 are configured so that even when the position of the output member 19 changes, it can be positioned horizontally, and the workpiece gripping portion 15 (horizontal) mounted thereon can be kept from moving. The rod 3) is held horizontally while tilting.

5A to 5G are explanatory views of the panel conveyance operation of the panel conveyance device according to the first embodiment of the present invention. In the figure, P is the panel holding position of the press station on the upstream side, and Q is the panel loading position on the downstream side.

The position of the panel holding the press station on the upstream side is shown in FIG. 5A . From this position, the first slider 4 and the second slider 5 are linearly driven obliquely upward at a predetermined speed until the position of the output member 19 is raised to the position shown in FIG. 5B .

From the position in FIG. 5B, the first slider 4 and the second slider 5 are linearly driven obliquely upward at a predetermined speed, so that the link mechanism 6 as a whole moves in the direction of panel conveyance while rotating, and the The output member 19 at the front end of the link mechanism 6 is in the position shown in FIG. 5C . At this time, the sliders 4 and 5 are controlled so that the output member 19 moves substantially linearly from the position in FIG. 5B in the panel conveyance direction. Afterwards, when the first slider 4 is driven obliquely downward and the second slider 5 is driven obliquely upward, the link mechanism 6 further rotates and moves in the panel transport direction, and the output member 19 moves as shown in FIG. 5D . To the vicinity of the lowest point of the first sliding mechanism 11 and the second sliding mechanism 12 .

Furthermore, by driving the first slider 4 obliquely downward and the second slider 5 obliquely upward, the output member 19 is linearly moved in the panel conveyance direction to the position shown in FIG. 5E . After that, the first slider 4 and the second slider 5 are driven obliquely downward at a predetermined speed, respectively, to the position shown in FIG. .

FIG. 6 is a graph showing a motion curve of the panel transfer device 10 of FIG. 2 . As shown in this figure, through the above-mentioned actions in FIGS. 5A to 5G , the workpiece gripper (not shown) mounted on the output member 19 can grip the material (panel) molded in the upstream press station. ) to raise it, transport it in the feeding direction, and lower it in the press station on the downstream side to position the panel in the molding position on the mold. After that, leave the panel at the press station on the downstream side, return the output member to the predetermined standby position, and perform molding at each press station.

According to the first embodiment of the present invention, by linearly driving the first slider 4 and the second slider 5 in a prescribed direction at a prescribed speed, the link including the first link 7 and the second link 8 can be The mechanism 6 rotates to move the workpiece gripping part 15 attached to the output member 19 connected to the front end of the link mechanism 6 in the panel conveyance direction. Therefore, it is not necessary to provide a drive device in the movable part, and the size and weight of the movable part can be reduced, and the rigidity of the movable part can be increased to suppress deflection and vibration. In addition, the panel conveying device can be installed corresponding to each press station, and can make each press station have different movements.

In the first embodiment, the case where the first connecting rod 7 constitutes a parallel connecting rod has been described, but it is not limited thereto. The workpiece gripping portion 15 is held. In addition, depending on the shape of the output member 19 or the mounting method of the cross bar 3, it is not necessary to constitute a parallel link.

Next, a panel transfer device according to a second embodiment of the present invention will be described. Fig. 7 is a configuration diagram of a panel conveyance device according to a second embodiment.

In the second embodiment, the first slider 4 includes two independent sliders 4a, 4b, and two arms 7a, 7b, one end of which is pivotally mounted on the output member in a manner capable of rotating about a horizontal axis. 19, the other end of one arm 7a is pivotally mounted on a (left side in the figure) slider 4a in a manner capable of rotating around the horizontal axis, and the other end of the other arm 7b is pivotally mounted on the horizontal axis as the center. The way that the center rotates is pivotally mounted on the other (right side in the figure) slider 4b.

The first sliding mechanism 11 includes two independent sliding mechanisms 11a, 11b that respectively drive the two sliders 4a, 4b. The two slide mechanisms 11a and 11b are arranged side by side so that the same members as the first slide mechanism 11 of the first embodiment are shifted in parallel in the conveying line direction.

FIG. 8 is a schematic diagram of the panel conveying device in FIG. 7 . The two sliding mechanisms 11a, 11b are configured such that the interval L2 between the pivotal mounting points a3, a4 is equal to the interval L1 between the pivotal mounting points a1, a2, and the pivotal mounting points a1, a2, a4, a3 form parallel linkages .

9A to 9C are explanatory views of the tilting operation of the panel conveyance device of FIG. 7 . FIG. 9A shows the situation where the two sliders 4a, 4b are driven at the position where the pivotal installation point a3 and the pivotal installation point a4 maintain the same height. Fig. 9B is the case where the two sliders 4a, 4b are driven at a position where the pivotal mounting point a3 is lower than the pivotal mounting point a4, through the two arms 7a according to the relative position changes of the two pivotal mounting points , 7b makes the output member 19 tilt. Fig. 9C is the case where the two sliders 4a, 4b are driven at the position where the pivotal mounting point a3 is higher than the pivotal mounting point a4, at this time, the output member is tilted in the direction opposite to that of Fig. 9B. In this way, the first slider 4 is configured to include two independent sliders 4a, 4b, and the two sliders 4a are driven by the individual slide mechanisms 11a, 11b at different heights (relative positions are changed). , 4b, the output member 19 can be tilted, so that the workpiece gripping part 15 installed thereon can be tilted (tilting). Thereby, the panel can be grasped and placed at an optimum angle as necessary.

The relative positions of the pivotal mounting points a3, a4 between the two sliders 4a, 4b and the two arms 7a, 7b pivotally mounted thereon are generally controlled to maintain the state of Fig. 9A, so, as shown in Fig. 10A ˜ FIG. 10C simply shows that the panel conveyance operation is substantially the same as that of the first embodiment except for the above-mentioned tilting operation.

According to the second embodiment of the present invention, on the basis of the effect of the first embodiment, the following effects can be obtained: the first slider 4 is set to include two independent sliders 4a, 4b, and the individual The sliding mechanisms 11a, 11b of the two sliders 4a, 4b are driven to have different heights (change the relative position), so that the output member 19 can be tilted, and the workpiece gripping part 15 mounted thereon can be tilted (tilting). Thereby, the panel can be grasped and placed at an optimum angle as needed.

Similar to the first embodiment, depending on the shape of the output member 19 or the installation method of the crossbar 3, the first link 4 does not necessarily constitute a parallel link. In addition, in the third embodiment, the case where the first slider 4 is composed of two sliders has been described, but on the contrary, as another embodiment, the second slider 5 is made of two sliders. In this case, the configuration shown in FIG. 8 may be axisymmetric about the axis Y.

Next, a panel transfer device according to a third embodiment of the present invention will be described. FIG. 11 is a structural diagram of the panel conveying device of the second embodiment, and FIG. 12 is a schematic diagram thereof.

In the above-mentioned panel conveyance apparatus of the first embodiment, as schematically shown in FIG. The slider 4 and the delivery member 19 have substantially the same height, and the two arms 7a, 7b are nearly overlapped or completely overlapped on the same straight line when viewed from the conveying line width direction. At this time, the link mechanism approaches or reaches the dead point of the mechanism, so it can be inferred that there is a situation where the link mechanism is difficult to control. In addition, it is also possible to exceed the mechanical dead center, the two arms cross, and the linkage mechanism becomes uncontrollable. Contrary to the panel conveyance device in FIG. 2 , when the second link 8 is constituted by two arms, it can be inferred that the same phenomenon may occur near the panel gripping position P.

Therefore, it is preferable that there is no structural dead point of the link mechanism at any position of the panel conveyance operation, and controllability can be improved.

Thus, in the panel conveyance apparatus according to the third embodiment of the present invention, as shown in FIG. 12 , the straight line passing through the pivotal attachment points a1 and a2 and the straight line passing through the pivotal attachment points a3 and a4 are inclined relative to the horizontal plane. This inclination angle α is set to an angle such that the two arms 7a, 7b can always maintain a state of non-interference with each other in a posture viewed from the panel conveyance direction. The "non-interfering state" refers to a state in which the two arms 7a, 7b do not overlap each other on a straight line and do not cross each other. In this embodiment, the angle α is set to 25 degrees, but this angle is not limited, and can be set individually according to the length of the arm of the link mechanism 6 . Thus, as shown in FIG. 14 , even when the output member 19 is at substantially the same height as the first slider 4 in the vicinity of the panel mounting position, the first link always constitutes a quadrangular link. Therefore, since the mechanical dead point of the link mechanism 6 can be eliminated at any position of the panel conveyance operation, the controllability can be greatly improved.

The interval L1 between the pivot attachment points a1 and a2 has the same length as the interval L2 between the pivot attachment points a3 and a4. With this configuration, the two arms 7a, 7b can be maintained in parallel, so the output member 19 can always be maintained at a predetermined angle with respect to the horizontal plane. On the other hand, the workpiece gripping part 15 is installed obliquely with respect to the output member 19 so that the panel 1 can be gripped horizontally. Thus, the parallel links a1, a2, a4, a3 are constituted, and even if the position of the output member 19 changes, it can be positioned horizontally, and the workpiece gripping part 15 (horizontal The rod 3) remains tilted horizontally. Other configurations are the same as those of the first embodiment. In addition, the panel conveyance operation is also the same as that of the first embodiment.

According to the third embodiment of the present invention, since the first link always constitutes a quadrangular link, the mechanical dead point of the link mechanism can be eliminated at any position of the panel transport operation. Thereby, the effect of being able to significantly improve controllability can be acquired. Of course, the same effect as that of the first embodiment described above can also be obtained in the third embodiment.

In addition, in the third embodiment, the case where the first link 7 is configured as a parallel link has been described, but it is not limited thereto. As another embodiment, the second link 8 may be configured as a parallel link. The workpiece gripping portion 15 is held horizontally. In addition, according to the shape of the output member 19 or the installation method of the crossbar 3, it is not necessary to form a parallel link. Any one of the straight lines a and a4 may be inclined relative to the horizontal plane, and the angle is such that the two arms 7a, 7b can maintain a non-interfering state in a posture viewed from the panel conveyance direction.

Next, a panel transfer device according to a fourth embodiment of the present invention will be described. FIG. 15 is a structural diagram of a panel conveying device according to a fourth embodiment, and FIG. 16 is a schematic diagram thereof.

In the above-mentioned panel transfer device of the second embodiment, as schematically shown in FIG. The first slider 4 and the output member 19 have substantially the same height, and the two arms 7a, 7b are nearly overlapped or completely overlapped on the same straight line when viewed from the conveying line width direction.

Therefore, in the fourth embodiment, as a preferred mode of the panel conveyance device of the second embodiment, as shown in FIG. In normal conveyance without tilting, the straight line passing through the pivot mounting points a1 and a2 and the straight line passing through the pivot mounting points a3 and a4 are inclined at a predetermined angle relative to the horizontal plane. At this time, the angle α is controlled so that the two arms 7a and 7b can always maintain a state in which they do not interfere with each other in a posture viewed from the panel conveyance direction. Thereby, like the third embodiment, even when the output member 19 is located near the panel holding position, the first link always constitutes a quadrangular link. Therefore, since the mechanical dead point of the link mechanism 6 can be eliminated at any position of the panel conveyance operation, the controllability can be greatly improved. Other configurations are the same as those of the second embodiment. In addition, the panel conveyance operation is also the same as that of the second embodiment.

In addition, as another embodiment, the second slider 5 may be constituted by two sliders. In this case, the configuration shown in FIG. 15 may be configured axisymmetrically with the axis Y as the center.

Next, a panel transfer device according to a fifth embodiment of the present invention will be described. Fig. 18 is a configuration diagram of a panel conveyance device according to a fifth embodiment.

In the above-mentioned panel conveying apparatuses of the second and fourth embodiments, the tilting mechanism for tilting the panel holding part 15 constitutes a part of the link mechanism 6, so when the link mechanism 6 is formed, the panel holding part 15 needs to be adjusted. The positioning of the same components as the slider, sliding mechanism and arm and other structural components. Therefore, the overall structure of the device becomes complicated.

In addition, in the panel transfer devices of the first and second embodiments, as illustrated in FIGS. 13 and 17 , since the link mechanism approaches or reaches the structural dead point, there is a possibility that the link mechanism becomes uncontrollable.

Therefore, it is preferable to improve the controllability so that the whole device can be simplified even if the tilting mechanism is provided, and there is no structural dead point of the link mechanism at any position of the panel conveyance operation.

In this way, the panel transfer device of the fifth embodiment includes, as shown in FIG. 19 , a tilt mechanism 18 in addition to the panel gripping portion 15 , the link mechanism 6 , and the slide mechanism 13 .

The panel gripping part 15 and the slide mechanism 13 are the same as those of the panel conveyance devices of the first to fourth embodiments.

FIG. 19 is a schematic diagram of the panel conveying device 10 of FIG. 18 . As shown in the figure, the link mechanism 6 includes an output member 19 connected to both sides of the workpiece gripping portion 15 (cross bar 3 ), and a first link 7 and a second link pivotally mounted on the output member 19 . pole 8.

One end of the first link 7 is pivotally mounted on the output member 19 in a manner capable of rotating around a horizontal axis (assuming that the pivot mounting point is a1), and the other end thereof is capable of rotating around a horizontal axis. The pivot is installed on the first slide block 4 (assuming that the pivot installation point is a2). The second link 8 is constituted by an arm having the same length as the first link 7, and one end thereof is pivotally mounted on the output member 19 in a manner capable of rotating around a horizontal axis (the pivot point is designated as b1), Its other end is pivotally mounted on the second slider 5 in a manner capable of rotating around the horizontal axis (set the pivot point as b2). In this figure, the pivot attachment point a1 and the pivot attachment point b1 are arranged on the same axis, but they do not necessarily have to be arranged on the same axis.

The tilt mechanism 18 includes a rotary actuator 21 mounted on the first slider 4 , a first arm 22 , a second arm 23 , and a connecting rod 24 . One end of the first arm 22 is fixed to the drive shaft of the rotary actuator 21 , and one end of the second arm 23 is fixed to the output member 19 . The connecting rod 24 connects the first arm 22 and the second arm 23, and one end is pivotally mounted on the other end of the first arm 22 in a manner capable of rotating around a horizontal axis (assuming that the pivot point is c1), and the other end It is pivotally mounted on the other end of the second arm 23 so as to be rotatable about a horizontal axis (this pivot point is referred to as c2). With this configuration, the rotary actuator 21 is driven, and the rotary drive is transmitted through the first arm 22 , the connecting rod 24 , and the second arm 23 , whereby the panel grip 15 is tilted. In the panel transfer device 10 shown in FIG. 18 , the tilting mechanisms 18 are symmetrically provided on both sides of the panel holding portion 15 , but they may be provided only on one side. In addition, in this embodiment, the first arm 22, the second arm 23, and the connecting rod 24 constitute the transmission mechanism in the present invention.

The interval L1 between the pivot attachment points c1 and a1 is the same length as the interval L2 between the pivot attachment points c2 and a2, and the connecting rod 24 and the first link 7 have the same length. Thus, a parallelogram passing through the pivot mounting points c1, c2, a2, and a1 in sequence is formed. With this structure, the rotary actuator 21 is mounted and fixed on the first slide block 4, so it can be transported normally without tilting. At this time, without driving the rotary actuator 21, the panel holding part 15 can always be kept in a fixed posture. That is, as long as the panel gripping portion 15 is positioned horizontally in advance, even if the position of the output member 19 changes, the workpiece gripping portion 15 (cross bar 3 ) can be held in a fixed position without driving the rotary actuator 21 . level.

20A to 20G are explanatory views of the panel conveying operation of the panel conveying device according to the fifth embodiment of the present invention. In the figure, P is the panel holding position of the press station on the upstream side, and Q is the panel loading position on the downstream side.

Figure 20A shows the position of the panel holding the press station on the upstream side. From this position, the first slider 4 and the second slider 5 are linearly driven obliquely upward at a predetermined speed, and the position of the output member 19 is raised to the position shown in FIG. 20B .

From the position in FIG. 20B, the first slider 4 and the second slider 5 are linearly driven obliquely upward at a predetermined speed, so that the link member 6 as a whole is rotated while moving in the direction of panel conveyance, so that the The output member 19 at the front end of the link mechanism 6 is in the position shown in FIG. 20C . At this time, the respective sliders 4 and 5 are controlled so that the output member 19 moves substantially linearly from the position in FIG. 20B in the panel conveyance direction. Afterwards, when the first slider 4 is driven obliquely downward and the second slider 5 is driven obliquely upward, the link mechanism 6 further rotates and moves in the panel transport direction, and the output member 19 moves as shown in FIG. 20D . To the vicinity of the lowest point of the first sliding mechanism 11 and the second sliding mechanism 12 .

Furthermore, by driving the first slider 4 obliquely downward and the second slider 5 obliquely upward, the output member 19 is linearly moved in the panel conveyance direction to the position shown in FIG. 20E . Afterwards, the first slider 4 and the second slider 5 are driven obliquely downward at a predetermined speed, respectively, to the position shown in FIG. 20F , and thereafter, the sliders 4 and 5 are further driven obliquely downward to reach the panel mounting position shown in FIG. 20G . .

21A to 21C are explanatory views of the tilting operation of the panel conveying device according to the fifth embodiment. In this figure, FIG. 21A shows the normal position when no tilting action is performed. When the panel grip 15 is tilted, the rotary actuator 21 is driven in the direction of the arrow in the figure to operate as shown in FIG. 21B . On the other hand, when the panel grip 15 is tilted in the direction opposite to FIG. 21B , the rotary actuator 21 is driven in the direction opposite to FIG. 21B to operate as shown in FIG. 21C . Thereby, the panel can be grasped and placed at an optimum angle as needed.

According to the fifth embodiment of the present invention, the tilting mechanism 18 includes a rotary actuator 21 and a transmission mechanism (the first arm 22, the second arm 23 and the connecting rod 24) mounted on the first slider 4. Compared with the third or fourth embodiment, the tilting mechanism can be configured with a simpler structure.

In addition, since the reclining mechanism 18 is configured separately from the link mechanism 6 , the mechanical dead point of the link mechanism 6 can be eliminated. As a result, controllability is greatly improved.

In the fifth embodiment, the rotary actuator 21 of the tilting mechanism 18 is mounted on the first slider 4, but it may be mounted on the second slider 5 instead, and the first arm 22, the second arm 23 and the link are also used. The lever 24 tilts the panel grip. In addition, the second arm 23 of the tilting mechanism 18 is fixed to the output member 19, but instead, the panel holding part 15 may be tilted by being directly fixed to the panel holding part 15 (cross bar 3). In addition, the second arm 23 may be formed integrally with the output member 19 or the panel grip. In addition, depending on the shape of the output member 19 or the installation method of the cross bar 3, the quadrilateral passing through the pivot installation points c1, c2, a2, a1 in sequence does not necessarily have to be a parallelogram.

Next, a panel transfer device according to a sixth embodiment of the present invention will be described. Fig. 22 is a configuration diagram of a panel conveyance device according to a sixth embodiment. In the sixth embodiment, the tilting mechanism of the panel conveyance device in the fifth embodiment is configured differently.

As shown in FIG. 22, in the sixth embodiment, the tilt mechanism 18 includes a rotary actuator 21 mounted on the first slider 4, a first pulley 26 fixed to the drive shaft of the rotary actuator, and a fixed The second pulley 27 of the output member 19 and the driving belt 28 transmit the rotational drive of the first pulley 26 to the second pulley 27 . The ratio of the nominal diameters of the first pulley 26 to the second pulley 27 is 1:1. In this embodiment, the first pulley 26 , the second pulley 27 and the drive belt 28 constitute the transmission mechanism in the present invention. That is, a belt drive mechanism is adopted as the transmission mechanism of the tilt mechanism 18 in this embodiment. With this configuration, the rotary actuator 21 is driven, and the rotary drive is transmitted through the first pulley 26 , the drive belt 28 , and the second pulley 27 , whereby the panel grip 15 is tilted. The rest of the configuration is the same as that of the fifth embodiment.

Fig. 23 simply shows the panel conveying operation of the panel conveying device according to the sixth embodiment of the present invention. This figure shows the panel transport operation during normal transport without tilting operation. As shown in this figure, the panel holding part 15 can be moved at any position without driving the rotary actuator 21 through the action of the belt drive mechanism. Always maintain a certain posture. That is, since the nominal diameter ratio of the first pulley 26 and the second pulley 27 is 1:1, so even if the position of the panel holding portion 19 changes, as long as the first pulley 26 is not rotated, the second pulley 27 will There is no rotation with respect to the horizontal plane, and as a result, the panel holding portion 19 can also be held at a constant angle with respect to the horizontal plane.

In the panel conveyance apparatus 10 of this embodiment, when performing the tilting operation, it is only necessary to drive the rotary actuator 21 in the same direction as the direction in which the panel gripping portion 15 is to be tilted. The panel conveying operation of the panel conveying device of the sixth embodiment is substantially the same as that of the fifth embodiment, so the description thereof is omitted.

Also according to the sixth embodiment of the present invention, the same effect as that of the fifth embodiment can be obtained.

The rotary actuator 21 of the tilting mechanism 18 is mounted on the first slider 4, but it may be replaced by the second slider 5, and the panel is held by the first pulley 26, the second pulley 27, and the drive belt 28. Part 15 tilts. In addition, the second pulley 27 is fixed to the output member 19, but instead, the panel holding part 15 may be tilted by being directly fixed to the panel holding part 15 (horizontal bar 3). In addition, the second pulley 27 may be integrally formed with the output member 19 or the panel grip.

Although the panel conveying device of the present invention has been described through several preferred embodiments, it should be understood that the scope of rights included in the present invention is not limited to these embodiments. On the contrary, the scope of rights of the present invention includes all improvements, changes and equivalents included in the appended claims.

Claims (18)

1. panel carrying device, it is characterized in that possessing: the panel handle part that counter plate is controlled, make the linkage that this panel handle part moves to the panel throughput direction and make the aforementioned linkage action and make that linkage is whole to be moved so that the slide mechanism that aforementioned panel handle part moves to the panel throughput direction.

2. panel carrying device as claimed in claim 1 is characterized in that, is provided with a pair of aforementioned linkage, slide mechanism symmetrically in the both sides of aforementioned panel handle part.

3. panel carrying device as claimed in claim 1 is characterized in that, aforementioned slide mechanism comprises: first slide mechanism and be configured in second slide mechanism in the conveying circuit downstream of this first slide mechanism,

Aforementioned first slide mechanism constitutes, has first slide block that is connected with aforementioned linkage, on the direction that horizontal plane tilts relatively, this first slide block is carried out linear drives, make the slide block of winning among its driving scope, become the high position, become lower position in the conveying circuit downstream at the conveying circuit upstream side

Aforementioned second slide mechanism constitutes, has second slide block that is connected with aforementioned linkage, on the direction that horizontal plane tilts relatively, this second slide block is carried out linear drives, make second slide block among its driving scope, become lower position, become the high position in the conveying circuit downstream at the conveying circuit upstream side

Aforementioned linkage constitutes, and connects aforementioned first slide block and second slide block and aforementioned panel handle part, and this first slide block and second slide block be respectively by linear drives, thereby the panel handle part is moved to the panel throughput direction.

4. panel carrying device as claimed in claim 3, it is characterized in that aforementioned linkage possesses: output block, an end pivoting that is connected with aforementioned panel handle part be installed on aforementioned output block and other end pivotal mounting in the first connecting rod of aforementioned first slide block and an end pivoting be installed on output block and other end pivotal mounting in the second connecting rod of aforementioned second slide block.

5. panel carrying device as claimed in claim 4 is characterized in that, aforementioned first connecting rod possesses two arms, and these two arms end pivoting separately is installed on aforementioned output block, and other end pivotal mounting is in aforementioned first slide block.

6. panel carrying device as claimed in claim 5, it is characterized in that, aforementioned first slide block comprises two slide blocks, aforementioned first slide mechanism possesses two driving mechanisms that individually drive these two slide blocks, the other end of aforementioned two arms pivotal mounting respectively makes the relative position variation of these two slide blocks and the aforementioned panel handle part that is connected with aforementioned output block is fascinated in aforementioned two slide blocks.

7. panel carrying device as claimed in claim 5, it is characterized in that, the relative horizontal plane of straight line of straight line by aforementioned two arms and each pivotal mounting point of aforementioned first slide block and/or each the pivotal mounting point by aforementioned two arms and aforementioned output block tilts, so that aforementioned two arms can remain the state of mutually noninterfere under the attitude of observing from the conveying circuit width.

8. panel carrying device as claimed in claim 6, it is characterized in that, the relative horizontal plane of straight line of straight line by aforementioned two arms and each pivotal mounting point of aforementioned first slide block and/or each the pivotal mounting point by aforementioned two arms and aforementioned output block tilts, so that aforementioned two arms can remain the state of mutually noninterfere under the attitude of observing from the conveying circuit width.

9. panel carrying device as claimed in claim 4 is characterized in that, aforementioned second connecting rod possesses two arms, and these two arms end pivoting separately is installed on aforementioned output block, and other end pivotal mounting is in aforementioned second slide block.

10. panel carrying device as claimed in claim 9, it is characterized in that, aforementioned second slide block comprises two slide blocks, aforementioned second slide mechanism possesses two driving mechanisms that individually drive these two slide blocks, the other end of aforementioned two arms pivotal mounting respectively makes the relative position variation of these two slide blocks and the aforementioned panel handle part that is connected with aforementioned output block is fascinated in aforementioned two slide blocks.

11. panel carrying device as claimed in claim 9, it is characterized in that, the relative horizontal plane of straight line of straight line by aforementioned two arms and each pivotal mounting point of aforementioned second slide block and/or each the pivotal mounting point by aforementioned two arms and aforementioned output block tilts, so that aforementioned two arms can remain the state of mutually noninterfere under the attitude of observing from the conveying circuit width.

12. panel carrying device as claimed in claim 10, it is characterized in that, the relative horizontal plane of straight line of straight line by aforementioned two arms and each pivotal mounting point of aforementioned second slide block and/or each the pivotal mounting point by aforementioned two arms and aforementioned output block tilts, so that aforementioned two arms can remain the state of mutually noninterfere under the attitude of observing from the conveying circuit width.

13. panel carrying device as claimed in claim 3, it is characterized in that, possess the leaning device that aforementioned panel handle part is fascinated, this leaning device possesses: the transmission mechanism that carries the revolving actuator on aforementioned first slide block or aforementioned second slide block and by the rotation driving of transmitting this revolving actuator aforementioned panel handle part is fascinated.

14. panel carrying device as claimed in claim 13, it is characterized in that, aforementioned transmission mechanism possesses: an end is fixed on the first arm on the driving shaft of aforementioned revolving actuator, one end is fixed or is integrally formed on the other end that second arm on aforementioned output block or the panel handle part and an end pivoting be installed in aforementioned the first arm and the other end is pivotally mounted on the other end of aforementioned second arm, links the connecting rod of the aforementioned the first arm and second arm.

15. panel carrying device as claimed in claim 13, it is characterized in that aforementioned transmission mechanism possesses: be fixed on first belt wheel on the driving shaft of aforementioned revolving actuator, fixing or be integrally formed in second belt wheel on aforementioned output block or the panel handle part and the rotation of first belt wheel driven the rotating band that is delivered on second belt wheel.

16. panel carrying device as claimed in claim 3 is characterized in that, aforementioned first slide mechanism and aforementioned second slide mechanism possess the straight moving actuator of difference aforementioned first slide block of linear drives and aforementioned second slide block.

17. panel carrying device as claimed in claim 16 is characterized in that, aforementioned straight moving actuator is ball-screw and ball nut, synchronous band, hydraulic cylinder, rack-and-pinion or linear motor.

18. panel carrying device as claimed in claim 17 is characterized in that, aforementioned panel handle part possesses: the cross bar that is connected with aforementioned linkage and be installed on the workpiece grips of this cross bar.

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