JP2010265063A - Workpiece carrying device and backlash absorbing mechanism of workpiece carrying device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a workpiece carrying device for accurate positioning and elongating a cycle of replacing parts while being manufactured with moderate costs. <P>SOLUTION: The workpiece carrying device includes: a plurality of frames 3-6 sequentially connected to be linearly moved in a carrying direction relative to a base frame 2; an interlocking mechanism 14 for interlocking all of the three frames by respectively interlocking adjacent frames; a motor 8 for moving a drive frame 3 in the carrying direction; a table 9 mounted to a table frame 7 for placing a workpiece W; and an elastic body 10a for applying biasing force to biase the table 9 toward the inside of its movement range while the table 9 is positioned at a starting point or an ending point in the carrying direction X. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention provides a workpiece transfer device for transferring a workpiece between two distant points and a backlash absorbing mechanism of the workpiece transfer device.

  2. Description of the Related Art Conventionally, workpiece transfer devices are arranged between, for example, processing machines on a processing line, and a workpiece (hereinafter referred to as a workpiece) is moved from one processing machine to the other processing machine. FIG. 12 schematically shows the configuration of a workpiece transfer apparatus described in registered utility model No. 3056404 (Patent Document 1). The first slide table 91a, the second slide table 91b, and the support are provided on the lifting base 90. The tables 91c are connected in this order. For example, the workpiece W is transported from the right processing machine 92a to the left processing machine 92b.

  Thus, after the processing of the workpiece W by the processing machine 92a is completed, the workpiece W is mounted on the table of the workpiece transfer device at the start point in the transfer direction, the support table 91c is moved to the end point, and the workpiece is transferred.

  FIG. 13 is a diagram for explaining a configuration in which the tables 91a to 91c are moved in the horizontal direction in the figure. 93a to 93c are chains that transmit power to the tables 91a to 91c and move left and right, and 94a to 94c are chains 93a to 93c. A sprocket 95 for applying 93c is a drive motor for supplying a driving force to them. In driving using a plurality of chains 93a to 93c as shown in FIG. 13, there is a problem that the backlash between the chains 93a to 93c and the sprockets 94a to 94c is large. In addition, since the chains 93a to 93c extend, there are variations 91u and 94u in the positioning accuracy of the stop position, and there is a problem that the tables 91a to 91c are shaken during conveyance.

  When the work W is transported, when the slide table is extended to the left and right, the slide tables 91a to 91c are connected with a large displacement from the lifting base 90, so that the slide tables 91a to 91c bend. Moreover, since it is necessary to use a large linear moving part (hereinafter referred to as LM guide) in order to take the deflection, there is a problem that the apparatus becomes expensive. Furthermore, in order to cope with the extension of the chain, the maintenance that requires maintenance every six months to one year has to be stopped on a holiday because the line needs to be stopped.

  FIG. 14 schematically shows a configuration of a workpiece transfer apparatus described in Japanese Patent Application Laid-Open No. 2004-1990 (Patent Document 2). In particular, in addition to the transfer of the workpiece W by the chain 93c and the sprocket 94c, The structure of the workpiece conveyance apparatus which combined conveyance of the workpiece | work W using the interlocking mechanisms 95a and 95b by a rack and a pinion is shown. With this configuration, the rigidity of the slide table 91c is improved, and the shaking of the support table 91c during conveyance and the bending of the slide tables 91a to 91c, which have occurred in the chain drive, can be eliminated.

  However, the interlocking mechanisms 95a and 95b using the rack and the pinion are provided with play for preventing tooth wear, that is, a gap (backlash), between the gears. There is a problem that positioning is shifted at (start point, end point). In particular, when a plurality of interlocking mechanisms 95a and 95b are combined, the effects of the respective gaps are added, resulting in a large error, which may cause a decrease in positioning control. As a result, the transfer position of the workpiece W with respect to the table 91c is not determined, so that the workpiece W cannot be transferred to or from the processing machines 92a and 92b, the processing machines 92a and 92b stop due to a defective work set, and the line stops. There was a thing.

  Therefore, the rack and pinion gears are manufactured with a high processing accuracy, the teeth are rubbed together, the gears are divided into multiple pieces, and the gears are backlashed together with high accuracy. Can be eliminated. Thereby, each table can stop at the same position every time, and the positioning accuracy of a stop position can be guaranteed.

Registered Utility Model No. 3056404 Japanese Patent Laid-Open No. 2004-1990

  However, there is a problem that the rack and pinion portions are expensive due to the implementation of the above-described conventional high-accuracy processing method, and the manufacturing cost of the work transfer device is increased. In addition, because the friction between the gears increases due to the elimination of backlash, a high-output type motor with a large output is required to move each table to the left and right, which consumes a lot of power. In addition, since the friction between the tooth surfaces increases, there is a problem that the wear of the gears increases, and the parts need to be replaced in a short time.

  The present invention has been made in consideration of the above-mentioned matters, and is a workpiece that can be accurately positioned and can extend the replacement cycle of a part while having a configuration that can be manufactured at low cost. It is an object to provide a transport device.

  The work transfer device according to the first aspect of the present invention interlocks all the frames by interlocking a plurality of frames sequentially connected so as to be linearly movable in the transport direction with respect to the base frame and three adjacent frames. An interlocking mechanism comprising a rack and a pinion and / or a sprocket and a chain to be moved, an actuator for moving one of the plurality of frames as a driving frame in the transport direction, and a position at the most free end of each frame And an elastic body that applies a biasing force that biases the table to the inside of the moving range in a state where the table is positioned at the start point or the end point in the transport direction. A workpiece transfer device (Claim 1) is provided.

  According to the above configuration, since each frame is interlocked by the interlocking mechanism, all the frames can be moved in the transport direction by moving one drive frame using the output of one actuator. The manufacturing cost of the transfer device can be kept low. The actuator is preferably a servo motor capable of controlling the number of rotations and the rotation angle as a driving power source, but a normal motor, an air cylinder, or an oil cylinder may be used.

  In addition, since the plurality of frames are sequentially connected so as to be linearly movable, the movement between adjacent frames can be reduced by the number of connected frames, and the load applied to the connecting portion can be reduced accordingly. Further, since the frames are sequentially attached so as to be linearly movable in the transport direction (usually bi-directional to the horizontal line), the power required for moving the table can be made as small as possible. In addition, it is preferable to use a linear movement part for the connection part between each flame | frame, and this can implement | achieve a highly accurate linear movement.

  In addition, since the table is provided with an elastic body that applies a biasing force that biases the table to the inside of the moving range in a state where the table is positioned at the start point or end point in the transport direction, the biasing force of the elastic body is positioned at the start point or the end point. Only in this state, the play of the rack and the pinion and the chain and the sprocket can be eliminated, and the positioning accuracy (stop position accuracy) can be improved. In addition, since the urging force by the elastic body acts only when the table is located at the start point or end point in the transport direction, there is appropriate play in the rack and pinion and / or sprocket and chain during transport, and the actuator during transport This load can be kept low and the wear of the movable part can be reduced.

  The elastic body is attached to any one of the movable parts from the base frame to the table, but is attached to the table or another frame so as to abut against stoppers provided at both ends of the frame. It is thought that it is. The elastic body may be a bush made of a synthetic resin or rubber having elasticity, but it is desirable to apply a biasing force of a predetermined size using a coil spring.

  If the interlocking mechanism is composed of a rack and a pinion, the play can be reduced as compared with that composed of a chain and a sprocket. Therefore, the interlocking mechanism is preferable for increasing positioning accuracy, and is preferable as an interlocking mechanism between the frames. On the other hand, an interlocking mechanism including a chain and a sprocket is suitable for increasing the movement width in a portion where the position of the table relative to the table frame is interlocked with the movement of the frame, for example. Moreover, you may use combining these.

  According to a second aspect of the present invention, there is provided a base frame, at least one intermediate frame sequentially connected to the base frame, and a table attached to the base frame via the intermediate frame and mounted with a table on which a work is placed. A frame, a linear moving unit that connects each adjacent frame so as to be linearly movable in the conveyance direction, and an actuator that moves any one of the intermediate frames in the conveyance direction using the intermediate frame as a drive frame. With a pinion that connects the adjacent frames so that they move in directions opposite to each other by engaging with racks provided on adjacent frames on both sides, and the table is positioned at the start or end point in the transport direction. Provide an elastic body that applies a biasing force that biases this table to the inside of its moving range. It provides a work conveying apparatus characterized. (Claim 2)

  According to the above configuration, since the frames are interlocked by the combination of the rack and the pinion, it is possible to move all the frames in the transport direction with the movement of one drive frame using the output of one motor. it can. In addition, since the table is provided with an elastic body that applies a biasing force that biases the table to the inside of the moving range in a state where the table is positioned at the start point or end point in the transport direction, the biasing force of the elastic body is positioned at the start point or the end point. Only in such a state, it is possible to increase the positioning accuracy by biasing the rack and pinion so as to eliminate play.

  The frame adjacent to the table frame is provided with a pair of sprockets at both ends in the transport direction. The chain is wound around these sprockets, and both ends of the chain are further connected to the frame on the base frame side. When a table interlocking mechanism in which a portion is connected to the table frame is provided (Claim 3), the position of the table frame relative to the intermediate frame can be moved in conjunction with the movement of the intermediate frame. Since the workpiece can be transported with a margin even when the distance between the start point and the end point in the transport direction is long, the transport distance can be extended. The table interlocking mechanism composed of the sprocket and the chain can move the table frame from one end side to the other end side of the intermediate frame.

  The actuator includes a motor capable of detecting a rotation angle, a drive pinion that is attached to a rotation rack of the motor and fitted to a drive rack provided on the drive frame, and controls the position of the table by the number of rotations and the rotation angle of the motor. (Claim 4), the rotation of the motor can be controlled only by electrical control by the control unit, and the operation of the table can be controlled more easily and accurately.

  According to a third aspect of the present invention, there is provided a plurality of frames sequentially connected so as to be linearly movable in the transport direction with respect to the base frame, an interlocking mechanism for interlocking adjacent frames, and any one of the plurality of frames. An actuator that moves the frame as a drive frame in the transport direction, and a work transport device that has a table that is mounted on a table frame positioned at the most free end of each frame and places a work thereon, and the table is mounted in the transport direction Provided is a backlash absorbing mechanism (claim 5) for a workpiece transfer device, comprising an elastic body that applies a biasing force that biases the table to the inside of the moving range in a state of being located at a start point or an end point.

  As described above, the work transfer device of the present invention includes an elastic body that applies an urging force that urges the elastic body to the inside of the moving range at the start point and the end point in the transfer direction of the table. Even if it can be manufactured at a low cost with play, the positioning accuracy of the table can be increased, the occurrence of malfunction due to the positional deviation of the table can be prevented, and the occurrence of a situation that causes a line stop can be prevented. be able to. In addition, when the table is not at the start point or end point of the transport range, no urging force is applied to the interlocking mechanism, so the frictional resistance of each part is small, and the power required for moving the table can be reduced accordingly. In addition, since the wear of the movable part can be kept to the minimum necessary, the maintenance cycle can be lengthened. Furthermore, since the configuration of the workpiece transfer device is simple and the number of parts thereof is small, the manufacturing cost of the workpiece transfer device can be reduced, and maintenance is facilitated.

It is a figure which shows schematically the structure of the workpiece conveyance apparatus of this invention. It is a figure which shows roughly the operation state of the said workpiece conveyance apparatus. It is a top view which shows the whole structure of the said workpiece conveyance apparatus. It is a side view which shows the whole structure of the said workpiece conveyance apparatus. It is the side view which looked at the whole structure of the said workpiece conveyance apparatus from another angle. It is a side view which expands a part of FIG. 5 and shows a part structure transparently. It is a side view which shows the principal part structure of the said workpiece conveyance apparatus. It is a top view which shows the said principal part structure. It is a side view which shows another principal part structure of the said workpiece conveyance apparatus. It is a top view which shows the said principal part structure. It is a figure explaining operation | movement of the said workpiece conveyance apparatus. It is a figure explaining the structure of the conventional workpiece conveyance apparatus. It is a figure explaining the structure of the conventional workpiece conveyance apparatus. It is a figure explaining the structure of the conventional workpiece conveyance apparatus.

  1 and 2 are diagrams schematically illustrating a configuration of a work transfer device according to an embodiment of the present invention. As shown in FIG. 1, the workpiece transfer device 1 of the present invention includes a plurality of frames 3 to 7 sequentially connected to a base frame 2 so as to be linearly movable in the transfer direction, and the plurality of frames 3 to 3. 7, a motor 8 as an example of an actuator that moves one of the driving frames 3 in the conveying direction X, and a work piece attached to the table frame 7 positioned at the most free end among the frames 3 to 7. And an elastic body 10 that applies a biasing force that biases the table 9 to the inside of its moving range in a state where the table 9 is located at the start point or the end point in the transport direction.

  In the present embodiment, there are four frames 3 to 6 (hereinafter referred to as intermediate frames 3 to 6 to distinguish them from the other frames 2 and 7) between the base frame 2 and the table frame 7. ), The intermediate frames 4 to 7 can be moved from the adjacent intermediate frames 3 to 6 by the moving width H of the intermediate frame 3 closest to the base frame. Even in a state where ˜7 is extended to the maximum, it is possible to keep a state where more than half of the length direction is overlapped with the adjacent frames 3-6. However, it goes without saying that the present invention is not limited to the number of intermediate frames 3 to 6 shown in this embodiment.

  The elastic body 10 includes contact portions 10c and 10d using, for example, a pair of front and rear coil springs 10a and 10b, and is located at a position corresponding to the contact portions 10c and 10d of a frame adjacent to the frame on which the elastic body 10 is provided. Includes stoppers 10e and 10f. That is, each of these members 10a to 10f is the backlash absorbing mechanism A in the present embodiment.

  As shown in FIG. 2, the frames 3 to 7 are interlocking mechanisms that interlock all three frames 3 to 7 by interlocking three adjacent frames 2 to 4, 3 to 5, 4 to 6, and 5 to 7. 11, 12, 13, 14. The interlocking mechanisms 11 to 13 have racks 11a to 13a and 11b to 13b meshed with pinions 11c to 13c, respectively. The interlocking mechanism 14 includes a pair of sprockets 14a and 14b and a chain 14c wound around the sprockets 14a and 14b. Consists of. Accordingly, all the frames 3 to 7 are configured to move in the transport direction in conjunction with each other.

  Reference numeral 15 denotes a control unit that controls the position of the table 9 by rotating the motor 8 to a predetermined rotation speed and rotation angle while monitoring the state of the motor 8. In the present embodiment, an example in which the motor 8 is a servo motor that can control the number of rotations and the rotation angle by the control unit 15 will be described. However, the motor 8 has a stroke corresponding to the movement width H instead of the motor 8. An air cylinder or a hydraulic cylinder may be used.

  Further, in FIG. 1, the backlash absorbing mechanism A is illustrated as being provided on the table frame 7 so that the gist of the present invention can be easily explained. What is necessary is just to provide in any one place among all the frames 3-7 which attached -14. Moreover, you may make it attach the backlash absorption mechanism A of this invention with respect to the existing workpiece conveyance apparatus.

  3 to 5 are plan views specifically showing the overall configuration of the workpiece transfer apparatus, a side view as viewed from a direction perpendicular to the transfer direction X, and a side view as viewed from the transfer direction X. FIG. It is an enlarged view which shows a part transparently.

  As shown in FIGS. 3-5, the workpiece conveyance apparatus 1 of this invention is installed on the bases 1a and 1b, and the base 1a has the raising / lowering function which can move the whole to an up-down direction. Prepare.

  As shown in FIG. 6, the base frame 2 includes a standing leg portion 2 a fixed to the base 1 b and a wall surface portion 2 b connected to the standing leg portion. A guide rail 2c that supports the frame 3 so as to be linearly movable in the transport direction X is provided. A guide rail 2d that guides the first intermediate frame 3 from the side surface and the rack 11a are provided on the standing leg 2a. The base frame 2 is provided with the motor 8, and a drive pinion 8 a is attached to the rotating shaft of the motor 8.

  The first intermediate frame 3 includes a moving body 3b corresponding to the guide rail 2c on the lower surface of a substantially L-shaped body 3a in side view, thereby forming a linear moving portion 20 that can move linearly in the transport direction X. . Similarly, the moving body 3c corresponding to the guide rail 2d is provided on the side surface of the main body 3a on the base frame side, thereby forming the linear moving portion 21. Further, a pair of upper and lower moving bodies 3d and 3e for guiding the second intermediate frame 4 on the free end side is provided on the side surface on the free end side. In addition, a rack 3f that meshes with the drive pinion 8 is provided on the base frame side of the main body 3a, and a pinion 11c that meshes with the rack 11a is rotatably attached. Further, the rack 12a is provided between the moving bodies 3d and 3e.

  The second intermediate frame 4 is provided with guide rails 4b and 4c corresponding to the moving bodies 3d and 3e on the side surface of the base frame of the flat plate-shaped main body 4a. A rack 11b that meshes with the pinion 11c is provided. On the other hand, a free end side surface of the main body 4b is provided with a pair of upper and lower guide rails 4d and 4e for guiding the third intermediate frame 5 on the free end side, and a pinion 12c engaged with the rack 12a is rotatably attached between the guide rails 4d and 4e. The rack 13a is provided in the lower part.

  The third intermediate frame 5 includes a movable body 5b, 5c corresponding to the guide rails 4d, 4e and a rack 12b that meshes with the pinion 12c on the side of the base frame of the main body 5a that is substantially L-shaped in side view, and the members 4d, 5b. 4e and 5c constitute the linear moving parts 24 and 25, respectively. A movable body 5d for guiding the fourth intermediate frame 6 on the free end side is provided on the free end side surface of the main body 5a, and a pinion 13c that meshes with the rack 13a is rotatably attached to the lower portion thereof.

FIG. 7 is a side view showing the configuration of the third intermediate frame 5 in more detail, and FIG. 8 is a plan view.
As shown in FIGS. 6 to 8, the main body 5 a has a bearing 5 e that supports the pinion 12 c so as to be rotatable about a vertical axis at an intermediate portion in the transport direction X, and protrudes from both sides of the pinion 12 c to the elastic portion. Support portions 5f and 5g for supporting the bodies 10a and 10b, and tension adjusting portions 14d and 14e which are connected to the lower portions of the support portions 5f and 5g and project toward the free end side to adjust the tension applied to the chain 14c. And a standing portion 5i provided with sprockets 14d and 14e around which the chain 14c is wound so as to be rotatable.

  FIG. 9 is a side view for explaining the configuration of the fourth intermediate frame 6 in detail, and FIG. 10 is a plan view. As shown in FIGS. 6, 9, and 10, the fourth intermediate frame 6 includes guide rails 6b attached to the side surfaces of the base frame of the flat plate-shaped main body 6a so as to correspond to the moving body 5d. Constitutes the linear moving part 26. Further, at both ends of the side surface of the base frame in the transport direction X of the main body 6a, there are provided angles 6c and 6d for projecting and supporting the stoppers 10e and 10f. Further, the free end side surface of the main body 6a is provided with support portions 6e and 6f that rotatably support the sprockets 14a and 14b at both ends in the conveying direction X, and the table frame 7 is guided on the upper surface of the main body 6a. A guide rail 6g is provided.

  As shown in FIGS. 6, 9, and 10, the table frame 7 includes a mounting base 7a attached to the lower surface of the table 9, and a moving body 7b attached to a position corresponding to the guide rail 6g on the lower surface of the mounting base 7a. The members 6g and 7b constitute the linear moving part 27. Furthermore, the lower surface of the mounting base 7a is provided with a chain connecting portion 7c to which the chain 14c is fixed.

  In the above-described embodiment, the guide rails 2c, 2d, 4b, 4c, 4d, 4e, 6b, 6g and the corresponding moving bodies 3b, 3c, 3d, 3e, 5b, as the linear moving units 21-27, Although the example which consists of 5c, 5d is illustrated, it cannot be overemphasized that this linear moving part 20-27 may use the LM guide (brand name) etc. which perform a linear movement with higher precision.

  In the workpiece conveying device 1 having the above-described configuration, the motor 8 is rotated forward and backward by the control unit 12, so that the pinion 8 a provided on the rotation shaft of the motor 8 transmits power to the rack 3 f (drive rack) to transmit the first intermediate frame 3. Moves in the transport direction X. That is, in the present embodiment, the first intermediate frame 3 provided with the rack 3f is a drive frame.

  As the first intermediate frame 3 moves relative to the base frame 2, the pinion 11c meshing with the rack 11a rotates, and the rack 11b of the second intermediate frame 4 meshing with the pinion 11c is moved accordingly. Move against 3. That is, the adjacent three frames 2 to 4 are interlocked by the interlocking mechanism 11 so that the positional relationship of the adjacent frames 2 and 3 and the frames 3 and 4 in the transport direction X is the same. Similarly, the other two adjacent frames 3 to 5 and 4 to 6 are also interlocked by the interlocking mechanisms 12 and 13.

  Further, both end portions of the chain 14c are fixed to tension adjusting portions 14d, 14e provided on the protruding plate 5h of the third intermediate frame 5, and the sprockets 14a, 14b are connected to both end portions in the transport direction X of the fourth intermediate frame 6. Since the chain 14c is fixed to the chain connecting portion 7c of the table frame 7, the movement widths of the frames 5 to 7 are the same as shown by phantom lines in FIG. These can be linked.

  That is, since the interlocking mechanisms 11 to 14 are provided so that the adjacent three frames 2 to 4, 3 to 5, 4 to 6, and 5 to 7 are interlocked among all the frames 2 to 7. All the frames 3 to 7 can be moved by the same width with respect to the adjacent frames 2 to 6 by moving only one frame 3 among the frames 3 to 6.

  FIG. 11 is an enlarged view showing a state where the rack 12a and the pinion 12c are engaged with each other. FIG. 11A shows a state in which each of the frames 2 to 7 is moving, and FIG. It is a figure which shows the state stopped at the end (start point or end point). As shown in FIG. 11A, since each frame 2 to 7 is moving, a play (backlash) b of about 0.1 mm is formed between the rack 12a and the pinion 12c. And the friction of the meshing part of the pinion 12c can be reduced.

  That is, the rotational torque required for the motor 8 can be reduced accordingly, the apparatus can be downsized, and the wear of the rack 12a and the pinion 12c can be reduced. The same thing occurs in each pinion and rack of the interlocking mechanisms 11-13. Further, even in the interlocking mechanism using the sprockets 14a, 14b and the chain 14c, sufficient play can be ensured during movement and efficient conveyance can be performed. The smaller the friction of each part, the longer the maintenance cycle of the workpiece transfer apparatus 1 can be.

  On the other hand, as shown in FIG. 11B, in the state where the contact portion 10c of the elastic body 10b is in contact with the stopper 10e (see FIG. 9), that is, in the state where the table 9 is located at the end point in the transport direction X1. The urging force F by the elastic body 10a acts on the pinion 12c and the backlash b can be eliminated. This state is the same in the interlocking mechanisms 11 to 13 composed of all racks and pinions, and also in the interlocking mechanism 14 composed of chains and sprockets. That is, the influence of play can be absorbed by the backlash collecting mechanism A anywhere in the interlocking mechanisms 11 to 14, and the positioning of the table 9 of the work transfer device 1 is controlled with high accuracy by the rotation speed and rotation angle of the motor 8. Can do.

DESCRIPTION OF SYMBOLS 1 Work conveying apparatus 2 Base frame 3-6 Intermediate frame 7 Table frame 8 Actuator 8a Drive pinion 3f Drive rack 9 Table 10 Elastic body 11-14 Interlock mechanism 14a, 14b Sprocket 14c Chain 15 Control part 20-27 Linear movement part A Backlash absorption mechanism of work transfer device F Energizing force W Work X Transfer direction

Claims (5)

A plurality of frames sequentially connected so as to be linearly movable in the transport direction with respect to the base frame, and a rack and a pinion and / or sprocket that links all three frames by interlocking with each other. An interlocking mechanism composed of a chain, an actuator that moves any one of the plurality of frames as a driving frame in the transport direction, and a work piece attached to a table frame located at the most free end of each frame. And a table to be mounted, and
An apparatus for conveying a workpiece, comprising: an elastic body that applies an urging force that urges the table to the inside of a moving range in a state where the table is located at a start point or an end point in a conveyance direction. Adjacent to a base frame, at least one intermediate frame sequentially connected to the base frame, and a table frame connected to the base frame via the intermediate frame and to which a table on which a workpiece is placed is attached A linear movement unit that connects each frame so as to be linearly movable in the conveyance direction; and an actuator that moves any one of the intermediate frames in the conveyance direction as a drive frame, the intermediate frame being adjacent to both sides thereof A pinion that connects the adjacent frames so as to move in directions opposite to each other by meshing with the rack provided in
An apparatus for conveying a workpiece, comprising: an elastic body that applies an urging force that urges the table to the inside of a moving range in a state where the table is located at a start point or an end point in a conveyance direction.   The frame adjacent to the table frame is provided with a pair of sprockets at both ends in the transport direction. The chain is wound around these sprockets, and both ends of the chain are further connected to the frame on the base frame side. The workpiece transfer apparatus according to claim 2, further comprising a table interlocking mechanism in which a portion is connected to the table frame.   The actuator has a motor capable of detecting a rotation angle, a drive pinion attached to a drive rack provided on the drive frame attached to the rotation shaft of the motor, and the position of the table controlled by the rotation speed and rotation angle of the motor. The workpiece conveyance apparatus in any one of Claims 1-3 which has a control part to perform. A plurality of frames sequentially connected so as to be linearly movable in the transport direction with respect to the base frame, an interlocking mechanism for interlocking adjacent frames, and any one of the plurality of frames as a drive frame It is attached to a work transfer device having an actuator that moves in the transfer direction and a table that is attached to a table frame located at the most free end of each of the frames and places a work thereon.
A backlash absorbing mechanism for a workpiece transfer apparatus, comprising: an elastic body that applies an urging force for urging the table to the inside of a moving range in a state where the table is positioned at a start point or an end point in a transfer direction.

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