JP2012040678A - Workpiece conveying apparatus - Google Patents

Abstract

To provide a work transfer device that is a compact device that does not require a large space for installation and that can efficiently carry in and out a work.
A support frame, a first arm that is rotatably supported around a first axis, and a posture that is disposed on the first axis and can be held relative to the support frame. A reference posture holding member, a second arm 5 supported to be rotatable about a second axis J2 parallel to the first axis J1 with respect to the first arm 3, and a second axis parallel to the first axis J1 They are arranged on the third axis J3 and the fourth axis J4, respectively, which are approximately equidistant from the axis, and are supported by the second arm 5 so as to be rotatable around the third axis J3 and the fourth axis J4, respectively. Even if the first arm 3 or the second arm 5 is rotated, the posture of the first and second hands 51, 52 with respect to the support frame 2 is maintained. A workpiece transfer device that is held.
[Selection] Figure 1

Description

  The present invention relates to a workpiece transfer device that loads and unloads a workpiece processed by a machine tool or the like with respect to a processing position.

  For example, as shown in FIG. 11, a combination of an articulated robot and a hand that grips a workpiece is used as a workpiece transfer device that loads an unmachined workpiece into a machining position of a machine tool and unloads a workpiece that has been machined from the machining position. A known workpiece transfer device is known. The workpiece transfer device shown in FIG. 11 enters from the front of the machine tool, grips and removes the processed workpiece by hand, temporarily places the processed workpiece at a predetermined position, grips the unmachined workpiece by hand, It enters from the front of the machine tool and sets the unmachined workpiece at the machining position. There is also a workpiece unloading device that combines a double hand capable of transporting two workpieces together in one operation and an articulated robot in order to improve the efficiency of unloading a completed workpiece and unloading a workpiece. Are known.

  For example, Patent Document 1 discloses a workpiece transfer device that combines an articulated robot and a double hand as a workpiece transfer device for supplying a workpiece to a processing machine.

JP 2002-96236 A

  The workpiece transfer device is equipped with a double hand that can transfer two workpieces to a multi-indirect robot at the same time. Therefore, a robot with a load capacity according to the weight of the workpiece is required. There is a problem that a large space is required so as not to interfere with the apparatus. In addition, there is a problem that the coolant adhering to the workpiece is scattered around the operation path due to a change in the posture of the workpiece when the workpiece is exchanged or conveyed.

  The present invention has been made to solve the above-described problems, and its purpose is a compact body that does not require a large space for installation, and an efficient work loading / unloading operation is possible. Furthermore, it is an object of the present invention to provide a workpiece transfer device that can always maintain the hand posture during transfer and can prevent coolant adhering to the workpiece from being scattered around due to a change in the posture of the workpiece.

  The invention according to claim 1, which is provided to solve the above problem, includes a support frame, a first arm whose base end side is rotatably supported around the first axis with respect to the support frame, A reference posture holding member arranged on the first axis and capable of holding a posture relative to the support frame; and disposed on a distal end side of the first arm, the first axis with respect to the first arm. A second arm rotatably supported about a second axis parallel to the first axis, and a third axis and a fourth axis that are parallel to the first axis and that are substantially equidistant from the second axis. A first hand and a second hand, which are respectively pivotally supported around the third axis and the fourth axis with respect to the second arm, and are arranged on the second axis, Middle that can rotate relative to each of the first arm and the second arm A rolling member, a first arm driving device fixed to the support frame and rotating the first arm relative to the support frame, and a second arm fixed to the first arm and the second arm relative to the first arm. A second arm driving device for rotating, a first transmission mechanism for transmitting the rotation of the reference posture holding member with respect to the first arm to the intermediate rotating member, and the rotation of the intermediate rotating member for the first hand and the A second transmission mechanism for transmitting to the second hand, and even if the first arm or the second arm rotates, the posture of the first hand and the second hand relative to the support frame is The workpiece transfer device is held by the first transmission mechanism and the second transmission mechanism.

  According to the workpiece transfer device, the first arm and the second hand are provided on the second arm. By simultaneously transferring two workpieces, the number of operations during loading / unloading is reduced, and the transfer time is reduced. Can be shortened. In addition, the workpiece transfer device according to the present invention always provides the first transfer mechanism and the second transfer mechanism to the first support frame with respect to the first frame regardless of the locus of the first arm or the second arm during the transfer of the workpiece. The postures of the hand and the second hand are maintained. Therefore, the workpiece transfer apparatus according to the present invention can transfer the workpiece without changing the posture of the workpiece, and there is little possibility that the coolant attached to the workpiece is scattered around. Furthermore, since the workpiece conveyance apparatus of this claim limits the number of axes and all the first to fourth axes are arranged in parallel, the operation range of the first hand and the second hand is limited to one plane, The airframe can be made lightweight and small. Therefore, the workpiece transfer apparatus according to the present invention does not require a large space for installation.

  Invention of Claim 2 is a workpiece conveyance apparatus of Claim 1, Comprising: The said 1st arm has a pair of support part, Between said pair of support parts, said 2nd arm, The first hand and the second hand are arranged, the second arm has a pair of hand support portions, and the first hand and the second hand are supported between the pair of hand support portions. It is the workpiece conveyance apparatus characterized by these.

  In the workpiece transfer device according to the present invention, the first and second hands that hold the workpiece are supported from both sides by a pair of hand support portions constituting the second arm, and the second arm constitutes the first arm. Are further supported from both sides by a pair of supporting portions. Therefore, the workpiece transfer apparatus according to the present invention has a high rigidity of the entire machine body and can stably transfer a workpiece having a large weight.

  Invention of Claim 3 is a workpiece conveyance apparatus of Claim 1, Comprising: The said 1st hand and the said 2nd hand are cantilever-supported by the said 2nd arm, The workpiece conveyance characterized by the above-mentioned. Device.

  In the workpiece transfer apparatus according to this aspect, the first and second hands are cantilevered by the second arm. That is, in the workpiece transfer device of this claim, the portion for moving and supporting the first and second hands may be disposed only on one side of the first and second hands, and the entire body can be designed compactly. is there. Therefore, the workpiece transfer apparatus according to the present invention can cope with a case where the installation space is small or a machine tool with a narrow opening.

  Invention of Claim 4 is a workpiece conveyance apparatus as described in any one of Claims 1-3, Comprising: It fixes to the said support frame so that a rotating shaft may be arrange | positioned coaxially with the said 1st axis | shaft. In addition, the workpiece conveying device includes a hand driving device that rotates the reference posture holding member with respect to a support frame.

  According to the workpiece transfer device of the present invention, the support frame is changed via the first transmission mechanism, the intermediate rotation member, and the second transmission mechanism by changing the posture of the reference posture holding member with respect to the support frame by the hand drive device. The postures of the first and second hands with respect to can be changed. Thereby, even if the workpiece conveyance apparatus of this claim is a case where the attitude | position at the time of workpiece | work attachment / detachment differs for every machine tool and jig | tool, for example, the attitude | position of a 1st and 2nd hand can be adjusted according to the time. It becomes possible and can respond to various machine tools and jigs.

  Invention of Claim 5 is the workpiece conveyance apparatus as described in any one of Claims 1-4, Comprising: The said reference | standard attitude | position holding member is a gear fixed to the rotating shaft of the said hand drive device, The first transmission mechanism includes a gear fixed to a rotation shaft of the hand drive device, a gear fixed to an end portion of the intermediate rotation member in the rotation shaft direction, and a gear or a gear train connecting these gears. The second transmission mechanism includes a gear fixed to an end of the intermediate rotation member in the rotation axis direction, a gear fixed to the rotation shafts of the first and second hands, and a space between these gears. It is a work conveyance device characterized by comprising a gear or a gear train connecting the two.

  The workpiece transfer apparatus according to the present invention can ensure high positioning accuracy by using a gear for the transmission mechanism.

  A sixth aspect of the present invention is the work conveyance device according to any one of the first to fifth aspects, wherein the support frame includes a traveling device.

  The workpiece transfer apparatus according to the present invention can also be used for transferring workpieces between machine tools arranged side by side. By transporting the workpiece by running the workpiece transfer device according to the present invention on the front surface of the machine tool, it is possible to reduce the number of transfer devices for each line and configure a processing line with good transfer efficiency.

  ADVANTAGE OF THE INVENTION According to this invention, the workpiece conveyance apparatus which can perform efficient carrying in / out operation which maintained the hand attitude | position with a compact body can be implement | achieved.

The side view of the external appearance of the workpiece conveyance apparatus which shows the 1st Embodiment of this invention. Sectional drawing of the workpiece conveyance apparatus which shows the 1st Embodiment of this invention. Explanatory drawing which shows the transmission mechanism of the 2nd arm drive of the 1st Embodiment of this invention. Explanatory drawing which shows the 1st transmission mechanism of the 1st Embodiment of this invention. Explanatory drawing which shows the 2nd transmission mechanism of the 1st Embodiment of this invention. Operation | movement explanatory drawing in the case of the 1st arm rotation of the workpiece conveyance apparatus which shows the 1st Embodiment of this invention. Operation | movement explanatory drawing in the case of the 2nd arm rotation of the workpiece conveyance apparatus which shows the 1st Embodiment of this invention. Operation | movement explanatory drawing in the case of 1st, 2nd arm rotation of the workpiece conveyance apparatus which shows the 1st Embodiment of this invention. Operation | movement explanatory drawing in the case of 1st, 2nd hand rotation of the workpiece conveyance apparatus which shows the 1st Embodiment of this invention. Sectional drawing of the workpiece conveyance apparatus which shows the 2nd Embodiment of this invention. The external view which shows the example of the workpiece conveyance apparatus of the structure which combined the conventional articulated robot and the hand which hold | grips a workpiece | work.

[First Embodiment]
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a side view of the appearance of the workpiece transfer apparatus 1 according to the first embodiment of the present invention, and FIG. 2 is a cross-sectional view of the workpiece transfer apparatus 1 of FIG. 3-5 is explanatory drawing of each transmission mechanism. 6-9 is explanatory drawing which shows each operation | movement of the workpiece conveyance apparatus 1. FIG.

  As shown in FIG. 1, in the workpiece transfer device 1 according to the present embodiment, the base end side of the first arm 3 is rotatably attached to the support frame 2 around a horizontal first axis J1. A second arm 5 is attached to the distal end side of the first arm 3 so as to be rotatable around a second axis J2 parallel to the first axis J1 at the center. On both ends of the second arm 5, the first hand 51 and the second axis J3 are parallel to the first axis J1 and on the third axis J3 and the fourth axis J4, which are substantially equidistant from the second axis J2. Two hands 52 are rotatably attached to the second arm 5 around the third axis J3 and the fourth axis J4, respectively.

Hereinafter, details of the structure of the present embodiment will be described.
In the first embodiment, the first arm 3, the second arm 5, the first and second hands 51, 52 are arranged on the support frame 2, and the first and second hands 51, 52 are the second arms. 5 is cantilever supported.

  As shown in FIG. 2, the workpiece transfer device 1 according to the present embodiment includes a support frame 2 that is installed on the floor surface and supports the whole, and a pair of support frames that are erected in parallel to the support frame 2. 2a and 2b are formed. A first arm drive device 9 having a servo motor is attached to one support frame 2 a of the support frame 2, and a speed reducer 10 is attached to a rotation shaft (not shown) of the first arm drive device 9. ing. The output shaft 70 of the speed reducer 10 is disposed so as to be coaxial with the first axis J1.

  The first arm 3 is a highly rigid housing formed in a box shape, and is disposed between a pair of support frames 2 a and 2 b erected on the support frame 2. The first arm 3 has an output shaft 70 of the speed reducer 10 of the first arm drive device 9 fixed to one side surface on the base end side, and is connected to the support frame 2 via the first arm drive device 9. A shaft hole 55 is formed on the other side surface of the first arm 3 at a position facing the position where the output shaft 70 of the speed reducer 10 of the first arm driving device 9 is fixed. A shaft hole 56 is formed at a predetermined position on the distal end side of the first arm 3.

  The second arm 5 is a highly rigid housing formed in a box shape, and a shaft hole 57 is formed in the center of one side surface. Hand support members 41 and 42 are rotatably supported at both ends of the other side surface of the second arm 5. The hand support members 41 and 42 are arranged such that the third axis J3 and the fourth axis J4, which are the respective rotation axes, are equidistant from the center of the shaft hole 57 (second axis J2). The gears 31 and 34 are fixed to the tips of the handle support members 41 and 42 disposed in the second arm 5 so as to rotate coaxially with the handle support members 41 and 42, respectively. The second arm 5 is arranged such that a shaft hole 56 formed on the tip side of the first arm 3 and a shaft hole 57 formed in the center of the second arm 5 are coaxially opposed (second axis J2). Is done. The second arm support member 13 and the intermediate rotation member 25 are inserted into the shaft hole 56 formed on the distal end side of the first arm 3 and the shaft hole 57 formed in the center of the second arm 5. .

  The second arm support member 13 is a bar formed in a substantially cylindrical shape, and is arranged coaxially with the rotation axis of the second arm 5 (second axis J2). A pulley 14 that rotates coaxially with the second arm support member 13 is fixed to a portion of the second arm support member 13 that is disposed in the first arm 3. The second arm support member 13 has an end on the second arm 5 side fixed to the second arm 5, and an end on the first arm 3 side supported rotatably on the first arm 3. .

  The intermediate rotation member 25 has a substantially cylindrical shape, and is formed such that the axial length is shorter than that of the second arm support member 13. Gears 24 and 35 are fixed to the outer peripheral surface of the intermediate rotation member 25, and the second arm support member 13 is disposed on the inner side. The second arm support member 13 is rotatably supported in the intermediate rotation member 25. Similar to the second arm support member 13, the intermediate rotation member 25 is disposed coaxially with the rotation axis of the second arm 5 (second axis J <b> 2). The intermediate rotation member 25 is rotatably supported by bearings 58 and 59 provided in the shaft hole 56 on the distal end side of the first arm 3 and the shaft hole 57 in the center portion of the second arm 5. When the intermediate rotating member 25 is inserted into the shaft hole 56 of the first arm 3 and the shaft hole 57 of the second arm 5, the gear 25 is disposed in the first arm 3, and the gear 35 is disposed in the second arm 5. Placed in.

  The first and second hands 51 and 52 include a U-shaped main body 61 and a work clamp device 64. The main body 61 has a pair of side portions 60 a and 60 b erected in parallel from both ends of the bottom portion 60. The work clamp device 64 is disposed between the pair of side portions 60 a and 60 b and is attached to the bottom portion 60. Further, a support portion 62 is provided on the side portion 60 a of the main body portion 61, and the hand support members 41 and 42 are fixed to the support portion 62. As a result, the first and second hands 51 and 52 are rotatably supported with respect to the second arm 5.

  A second arm driving device 19 having a servo motor is attached to a predetermined position on the side surface of the first arm 3. The rotation shaft 71 of the second arm drive device 19 is inserted through a shaft hole 54 formed in the side surface of the first arm 3, and the pulley 11 is fixed to the tip of the rotation shaft 71. The rotation of the pulley 11 by the second arm driving device 19 is transmitted to the pulley 14 by the transmission mechanism 18 disposed in the first arm 3. A reduction gear 20 is attached to the pulley 14, and a second arm support member 13 is fixed to an output shaft (not shown) of the reduction gear 20.

  A hand driving device 29 having a servo motor is attached to the other support frame 2 b of the support frame 2. The rotation axis (not shown) of the hand drive device 29 is coaxial with the first axis J1, and the speed reducer 30 is attached to the rotation axis of the hand drive device 29. The output shaft 72 of the speed reducer 30 is inserted into the first arm 3 through a shaft hole 55 formed on the proximal end side of the first arm 3, and the gear 21 (reference posture holding member) is provided at the distal end of the output shaft 72. Is fixed. The rotation of the gear 21 by the hand drive device 29 is transmitted to the gear 24 fixed to the intermediate rotation member 25 by the first transmission mechanism 28 disposed in the first arm 3. The rotation of the gear 24 is transmitted to the gear 35 via the intermediate rotation member 25, and the rotation of the gear 35 is transmitted to the gears 31 and 34 by the second transmission mechanism 38 disposed in the second arm 5. .

  As shown in FIGS. 2 and 3, the transmission mechanism 18 is disposed in the first arm 3, and is fixed to the pulley 11 fixed to the rotation shaft 71 of the second arm drive device 19 and the input shaft 73 of the speed reducer 20. A timing belt (winding member) 12 is wound around the pulley 14 that is formed.

  As shown in FIGS. 2 and 4, the first transmission mechanism 28 is disposed in the first arm 3 and fixed to the output shaft 72 of the speed reducer 30 attached to the rotation shaft of the hand drive device 29. A gear train 23 is arranged between the (reference posture holding member) and the gear 24 fixed to the intermediate rotating member 25, and the gear 21 and the gear 24 are mechanically connected. The gear train 23 is configured so that the rotation directions of the gear 21 and the gear 24 are the same and the rotation ratio of the gear 21 and the gear 24 is 1: 1.

  As shown in FIGS. 2 and 5, the second transmission mechanism 38 is disposed in the second arm 5, and the gear 35 fixed to the intermediate rotation member 25 and the gear 31 fixed to the hand support members 41, 42, The gears 32 and 33 are arranged between the gears 34 and 34, and the gears 35, 31, and 34 are mechanically connected. The rotation direction of the gear 35 and the gears 31 and 34 is the same, and the rotation ratio of the gear 35 and the gears 31 and 34 is 1: 1.

  The first arm driving device 9, the second arm driving device 19, and the hand driving device 29 are connected to a control device (not shown) and are driven by a command from the control device.

The operation of the workpiece transfer apparatus 1 configured as described above will be described.
First, a case where the first arm 3 is rotated by θ1 with respect to the support frame 2 as shown in FIG. 6 will be described. When the control device outputs a command to rotate the first arm 3 with respect to the support frame 2 by θ1, the first arm driving device 9 is driven. The rotation of the first arm driving device 9 is decelerated by the speed reducer 10 and rotates the first arm 3 relative to the support frame 2 by θ1 around the first axis J1. At this time, the control device servo-locks the motor of the hand drive device 29 and fixes the posture of the gear 21 with respect to the support frame 2. Here, the gear 21 is disposed coaxially with the rotation axis of the first arm 3 with respect to the support frame 2 (first axis J1). Therefore, when the first arm 3 rotates with respect to the support frame 2, the first transmission mechanism 28 disposed in the first arm 3 rotates around the gear 21 that holds the posture, and the gear 21 The meshed gear train 23 transmits the rotation to the gear 24. In the present embodiment, the gear train 23 is configured such that the rotation of the gear 21 and the gear 24 is the same, and the rotation ratio is 1: 1. Therefore, even when the first arm 3 rotates θ1 relative to the support frame 2, the posture of the gear 24 with respect to the support frame 2 does not change. Further, the gear 24 and the gear 35 are arranged coaxially with the intermediate rotation member 25 (second axis J2), and are both fixed to the intermediate rotation member 25. Therefore, when the posture of the gear 24 with respect to the support frame 2 is maintained, the postures of the intermediate rotation member 25 and the gear 35 with respect to the support frame 2 are also maintained.

  Here, when the first arm 3 is rotated by θ1 with respect to the support frame 2, the second arm 5 is also rotated by θ1 with respect to the support frame 2 around the first axis J1. The second transmission mechanism 38 is configured such that the gears 31 and 34 have the same rotation direction as the gear 35 and the rotation ratio thereof is 1: 1. Therefore, when the second arm 5 rotates, the second transmission mechanism 38 in the second arm 5 rotates so that the postures of the gears 31 and 34 with respect to the support frame 2 are maintained in the same manner as the gear 35. As a result, the postures of the first and second hands 51 and 52 are maintained because the hand support members 41 and 42 to which the gears 31 and 34 are fixed also maintain the posture with respect to the support frame 2.

  Next, the case where the second arm 5 is rotated by θ2 with respect to the first arm 3 as shown in FIG. 7 will be described. When the control device outputs a command to rotate the second arm 5 with respect to the first arm 3 by θ2, the second arm driving device 19 is driven. The rotation of the second arm drive device 19 is transmitted to the pulley 14 by the transmission mechanism 18 as the pulley 11 fixed to the rotation shaft of the second arm drive device 19 rotates. The rotation of the pulley 14 is decelerated by the speed reducer 20 to rotate the second arm support member 13. The second arm 5 is fixed to the tip of the second arm support member 13, and the second arm 5 rotates about the second axis J <b> 2 with respect to the first arm 3 by rotating the second arm support member 13. To turn. At this time, the control device servo-locks the motor of the hand drive device 29 and fixes the posture of the gear 21 with respect to the support frame 2. Here, the first arm 3 does not rotate with respect to the support frame 2, and the gear 21 is mechanically connected to the gear 35 via the first transmission mechanism 28 and the intermediate rotation member 25. Therefore, even if the second arm 5 rotates, the respective postures of the first transmission mechanism 28, the intermediate rotation member 25, and the gear 35 disposed in the first arm 3 with respect to the support frame 2 are maintained.

  As a result, when the second arm 5 rotates, the second transmission mechanism 38 disposed in the second arm 5 rotates about the gear 35 held in the posture, and the gear train meshed with the gear 35. 32 and 33 transmit the rotation to the gears 31 and 34. In the present embodiment, the gear trains 32 and 33 are configured such that the rotation of the gear 35 and the gears 31 and 34 is the same, and the rotation ratio is 1: 1. Therefore, even when the second arm 5 rotates θ2 relative to the first arm 3, the postures of the gears 31 and 34 with respect to the support frame 2 do not change. As a result, the postures of the first and second hands 51 and 52 are maintained because the hand support members 41 and 42 to which the gears 31 and 34 are fixed also maintain the posture with respect to the support frame 2.

  Next, as shown in FIG. 8, the case of simultaneous biaxial control in which the first arm 3 is rotated by θ1 with respect to the support frame 2 and the second arm 5 is simultaneously rotated by θ2 with respect to the first arm 3 will be described. . When a command for rotating the first arm 3 with respect to the support frame 2 by θ1 and a command for rotating the second arm 5 with respect to the first arm 3 by θ2 are output simultaneously by the control device, the first arm driving device 9 and the second arm driving device 19 are driven. The rotation of the first arm driving device 9 rotates the first arm 3 relative to the support frame 2 by θ1 around the first axis J1. At the same time, the rotation of the second arm driving device 19 causes the second arm 5 to rotate about the second axis J <b> 2 with respect to the first arm 3 via the second arm support member 13. At this time, the control device (not shown) servo-locks the motor of the hand drive device 29 and fixes the posture of the gear 21 with respect to the support frame 2. Here, the gear 21 is arranged coaxially with the rotation axis of the first arm 3 (first axis J1). Therefore, when the first arm 3 is rotated, the first transmission mechanism 28 disposed in the first arm is rotated around the gear 21 held in the posture, and the gear train 23 engaged with the gear 21 is rotated. The rotation is transmitted to the gear 24. At the same time, when the second arm 5 rotates, the second transmission mechanism 38 disposed in the second arm rotates about the gear 35, and the gear trains 32 and 33 meshed with the gear 35 rotate the gear. 31 and 34.

  In the present embodiment, the gear 24 and the gear 35 are arranged coaxially with the intermediate rotation member 25 (second axis J2), and are both fixed to the intermediate rotation member 25. The gear train 23 is configured such that the rotation of the gear 21 and the gear 24 is the same, and the rotation ratio is 1: 1. The gear trains 32 and 33 are configured such that the rotation of the gear 35 and the gears 31 and 34 is the same, and the rotation ratio is 1: 1.

  Therefore, when the posture of the gear 21 with respect to the support frame 2 is maintained, the postures of the intermediate rotation member 25, the gear 35, and the gears 31, 34 with respect to the support frame 2 are also maintained. Therefore, even in the case of simultaneous biaxial control in which the first arm 3 is rotated by θ1 with respect to the support frame 2 and the second arm 5 is simultaneously rotated by θ2 with respect to the first arm 3, the gear 31 for the support frame 2 is used. , 34 does not change. As a result, the postures of the first and second hands 51 and 52 are maintained because the hand support members 41 and 42 to which the gears 31 and 34 are fixed also maintain the posture with respect to the support frame 2.

  Next, as shown in FIG. 9, a case where the postures of the first and second hands 51 and 52 are rotated by θ3 will be described. When the control device outputs a command to rotate the postures of the first and second hands 51, 52 by θ3 from the initial state (the state where the opening of the work clamp device 64 faces downward), the hand driving device 29 is output. Is driven. The rotation of the hand drive device 29 is decelerated by the speed reducer 30 and rotates the gear 21 relative to the support frame 2 by θ3 around the first axis J1. When the gear 21 is rotated, the gear train 23 meshed with the gear 21 transmits the rotation to the gear 24 by the first transmission mechanism 28 disposed in the first arm 3. In the present embodiment, the gear train 23 is configured such that the rotation of the gear 21 and the gear 24 is the same, and the rotation ratio is 1: 1. Therefore, when the gear 21 is rotated by θ3 with respect to the support frame 2, the posture of the gear 24 with respect to the support frame 2 is in a state of being rotated by θ3 similarly to the posture of the gear 21. Further, the gear 24 and the gear 35 are arranged coaxially with the intermediate rotation member 25 (second axis J2), and are both fixed to the intermediate rotation member 25. Therefore, when the posture of the gear 24 with respect to the support frame 2 is changed, the postures of the intermediate rotating member 25 and the gear 35 with respect to the support frame 2 are similarly changed.

  Therefore, when the gear 21 rotates, the second transmission mechanism 38 disposed in the second arm rotates about the gear 35 whose posture has been changed, and the gear trains 32 and 33 meshed with the gear 35 are generated. The rotation is transmitted to the gears 31 and 34. In the present embodiment, the gear trains 32 and 33 are configured such that the rotation of the gear 35 and the gears 31 and 34 is the same, and the rotation ratio is 1: 1. Therefore, when the gear 21 rotates θ3 with respect to the support frame 2, the postures of the gears 31 and 34 are changed to a state in which the gears 21 and 34 are rotated by θ3 as in the gear 21. As a result, the postures of the first and second hands 51 and 52 are changed because the postures of the hand support members 41 and 42 to which the gears 31 and 34 are fixed and the support frame 2 are also changed.

  The workpiece transfer device according to the first embodiment configured as described above can change the posture of the gear 21 of the reference posture holding member regardless of how the first arm 3 or the second arm 5 rotates. By holding it, the postures of the first and second hands 51 and 52 are always maintained. Therefore, it is possible to transport the workpiece without changing the posture of the workpiece gripped by the hand, and there is little possibility that the coolant adhering to the workpiece is scattered around.

  Further, after changing the attitude of the gear 21 of the reference attitude holding member, the attitude of the gear 21 of the reference attitude holding member is held, so that the attitudes of the arbitrary first and second hands 51 and 52 are set as the reference attitude. Can do. Thereby, even if the postures when attaching and detaching the workpieces are different for each machine tool and jig, the postures of the first and second hands 51 and 52 can be adjusted according to the occasion, It can correspond to a machine and a jig.

  Furthermore, since the first and second hands 51 and 52 are cantilevered by the second arm 5 in the workpiece transfer device of the first embodiment, the first and second hands 51 and 52 are movably supported. The part only needs to be arranged on one side of the first and second hands 51 and 52, and the entire body can be designed compactly. Therefore, it is possible to cope with a case where the installation space is small or a machine tool with a narrow opening.

[Second Embodiment]
In the second embodiment, the first and second hands 51 and 52 that grip a workpiece are supported from both sides by a pair of hand support members 41, 41 ′, 42, and 42 ′ that constitute the second arm 5. The second arm 5 is further supported from both sides by a pair of support portions constituting the first arm 3.

  As shown in FIG. 10, the workpiece transfer apparatus 101 according to the present embodiment includes a support frame 2 that is installed on the floor surface and supports the whole, and a pair of support frames that are erected in parallel to the support frame 2. 2a and 2b are formed. A first arm drive device 9 having a servo motor is attached to one support frame 2 b of the support frame 2, and a speed reducer 10 is attached to a rotation shaft (not shown) of the first arm drive device 9. ing. The output shaft 70 of the speed reducer 10 is disposed so as to be coaxial with the first axis J1.

  The first arm 3 is formed in a U shape by a pair of arm portions 3a, 3b arranged in parallel and a connecting member 3c for connecting the base end portions of the arm portions 3a, 3b. Each of the arm parts 3a and 3b is a highly rigid housing formed in a box shape. The first arm 3 is disposed between a pair of support frames 2 a and 2 b erected on the support frame 2. The output shaft 70 of the speed reducer 10 of the first arm driving device 9 fixed to the support frame 2 is fixed to the side surface of the base end side of the arm portion 3b constituting the first arm 3, and the first arm 3 and the support frame are fixed. 2 are connected via a first drive unit 9. Shaft holes 56a and 56b are formed on the side surfaces of the first arms 3a and 3b on the tip side. The second arm support member 13a and the intermediate rotation member 25 are inserted into the shaft hole 56a on the distal end side of the first arm 3a, and the output of the speed reducer 20 is inserted into the shaft hole 56b on the distal end side of the first arm 3b. A second arm support member 13b connected to a shaft (not shown) is inserted.

  The second arm 5 is composed of a pair of arm portions 5a and 5b. The arm 5a is a high-rigid housing formed in a box shape, and a shaft hole 57 is formed in the center of one side surface. Hand support members 41 and 42 are rotatably supported at both ends of the other side surface of the second arm 5a. The hand support members 41 and 42 are arranged such that the third axis J3 and the fourth axis J4, which are the respective rotation axes, are equidistant from the center of the shaft hole 57 (second axis J2). Gears 31 and 34 are fixed to the tips of handle support members 41 and 42 disposed in the arm portion 5a so as to rotate coaxially with the handle support members 41 and 42, respectively. The second arm 5 is formed between the pair of arm portions 3 a and 3 b constituting the first arm 3 at the center of the shaft hole 56 a formed on the distal end side of the arm portion 3 a and the arm portion 5 a of the second arm 5. The shaft hole 57 is disposed so as to face the same axis (second axis J2). The second arm support member 13a and the intermediate rotation member 25 are inserted into the shaft hole 56a formed on the distal end side of the arm portion 3a and the shaft hole 57 formed in the center of the arm portion 5a.

  The second arm 5b is formed in a plate shape, and one end of the second arm support member 13b is fixed at the center. At both ends of the arm portion 5b, hand support members 41 'and 42' are supported so as to be rotatable around the third axis J3 and the fourth axis J4.

  The second arm support members 13a and 13b are rods each formed in a substantially cylindrical shape, and are arranged coaxially with the rotation axis of the second arm 5 (second axis J2). The second arm support member 13a is rotatably attached at one end to the arm portion 3a and at the other end to the arm portion 5a. The second arm support member 13a has an intermediate rotation member 25 fixed to the outer periphery. The output shaft of the speed reducer 20, the input shaft 73, and the pulley 14 are fixed to the second arm support member 13b.

  The intermediate rotation member 25 has a substantially cylindrical shape, and is formed such that its axial length is shorter than that of the second arm support member 13a. Gears 24 and 35 are fixed to the outer peripheral surface of the intermediate rotation member 25, and the second arm support member 13a is fixed to the inner periphery. Similarly to the second arm support member 13a, the intermediate rotation member 25 is disposed coaxially with the rotation axis of the second arm 5 (second axis J2), and is connected to the shaft hole 56a on the distal end side of the first arm 3 and the second axis. It is rotatably supported by bearings 58 and 59 installed in shaft holes 57 at the center of the arm 5. When the intermediate rotating member 25 is inserted into the shaft hole 56a of the arm portion 3a and the shaft hole 57 of the arm portion 5a, the gear 25 is disposed in the arm portion 3a, and the gear 35 is disposed in the arm portion 5a. .

  The first and second hands 51 and 52 have substantially the same configuration as that of the first embodiment 1, and a support portion 62b to which the hand support members 41 ′ and 42 ′ are fixed is attached to the side portion 60b of the main body portion 61. It differs in that it is provided. Therefore, the first and second hands 51 and 52 of the present embodiment have the second arms 5a and 5b by fixing the hand support members 41, 41 ′, 42, and 42 ′ to the left and right side portions 60a and 60b. On the other hand, it is rotatably supported from both sides.

  A second arm driving device 19 having a servo motor is attached to a predetermined position on the side surface of the arm portion 3b of the first arm 3. The rotation shaft 71 of the second arm drive device 19 is inserted into the inside through a shaft hole 54 formed in the side surface of the arm portion 3 b, and the pulley 11 is fixed to the tip of the rotation shaft 71. The rotation of the pulley 11 by the second arm driving device 19 is transmitted to the pulley 14 by the transmission mechanism 18 disposed in the arm portion 3b. A reduction gear 20 is attached to the pulley 14, and a second arm support member 13 b is fixed to the output shaft of the reduction gear 20.

  A hand drive device 29 having a servo motor is attached to the support frame 2 a erected on the support frame 2. The rotation axis of the hand drive device 29 is coaxial with the first axis J1, and the speed reducer 30 is attached to the rotation axis of the hand drive device 29. The output shaft 72 of the speed reducer 30 is inserted into the arm portion 3a through a shaft hole 55 formed on the proximal end side of the arm portion 3a, and the gear 21 (reference posture holding member) is fixed to the distal end of the output shaft 72. Has been. The rotation of the gear 21 by the hand drive device 29 is transmitted to the gear 24 fixed to the intermediate rotation member 25 by the first transmission mechanism 28 in the arm portion 3a. The rotation of the gear 24 is transmitted to the gear 35 via the intermediate rotation member 25, and the rotation of the gear 35 is transmitted to the gears 31 and 34 by the second transmission mechanism 38 disposed in the arm portion 5a.

  The transmission mechanism 18, the first transmission mechanism 28, and the second transmission mechanism 38 are configured in the same manner as in the first embodiment. Similarly to the first embodiment, the first arm driving device 9, the second arm driving device 19, and the hand driving device 29 are connected to a control device (not shown) and are driven by a command from the control device. . About operation | movement of the workpiece conveyance apparatus 1 of this embodiment, since it is the same as 1st Embodiment, description is abbreviate | omitted.

  The workpiece transfer apparatus 1 according to the second embodiment configured as described above, similarly to the first embodiment, holds the postures of the first and second hands 51 and 52 during the transfer operation, Since the first and second hands 51 and 52 for gripping the workpiece are supported from both sides, the entire machine body has high rigidity, and even a workpiece having a large weight can be stably conveyed.

The first embodiment and the second embodiment can be modified as follows.
The transmission mechanism 18 for transmitting the rotation of the second arm drive device 19 to the second arm support member 13 is fixed to the gear fixed to the rotation shaft of the second arm drive device 19 and the second arm support members 13 and 13b. It is good also as a structure which consists of a gearwheel and the gear train which connects between these gearwheels.

  Moreover, the workpiece conveyance apparatuses 1 and 101 of the said embodiment are set as the structure which connects the rotating shaft of the 2nd arm drive device 19 to the input shaft of the speed reducer 20 fixed to the 2nd arm support members 13 and 13b, The transmission mechanism 18 may be omitted. Thereby, the effect that the number of parts can be reduced and the cost can be reduced can be obtained.

  In the above embodiment, the reference posture holding member is the gear 21, but this may be a pulley. In this case, the first transmission mechanism 28 includes a pulley fixed to the output shaft 72 of the speed reducer of the hand drive device 29, a pulley fixed to the end of the intermediate rotation member 25 in the rotation axis direction, and a space between these pulleys. It is desirable that these pulleys have the same rotation direction and a rotation ratio of 1: 1. As a result, the number of parts is small and the weight is reduced, and the cost can be reduced.

  Further, the reference posture holding member may be a link support member fixed to the rotation shaft of the hand drive device 29. In this case, the first transmission mechanism 28 includes a link support member fixed to the output shaft 72 of the speed reducer of the hand drive device 29, a link support member fixed to the end portion of the intermediate rotation member 25 in the rotation axis direction, It is preferable that these links are connected to each other, and these links have the same rotation direction and a rotation ratio of 1: 1. By using the link mechanism, it is possible to obtain a work transfer device that is easy to assemble and has a large reduction effect.

  In the above-described embodiment, the gear trains 32 and 33 constituting the second transmission mechanism 38 are constituted by one gear, but the present invention is not limited to such a form. The second transmission mechanism 38 may be configured such that the rotation direction of the gear 35 and the gears 31 and 34 is the same and the rotation ratio of the gear 35 and the gears 31 and 34 is 1: 1, and the gear 35 and the gears 31 and 34 are connected. The gear train to be configured may include a plurality of gears.

  In the above embodiment, the rotation of the intermediate rotation member 25 is transmitted to the second transmission mechanism 38 via the gear 35, but the present invention is not limited to such a configuration. For example, the pulley is fixed to the axial end of the intermediate rotation member 25, the pulley is fixed to each of the first and second hand support members 41, 42, and the pulley is fixed to the intermediate rotation member 25; The second transmission mechanism 38 may be configured by winding a winding member between pulleys fixed to the first and second hand support members 41, 42. The rotation ratio of these pulleys is preferably 1: 1. As a result, the number of parts is small and the weight is reduced, and the cost can be reduced.

  Moreover, although the workpiece conveyance apparatuses 1 and 101 of the said embodiment were the aspects which the support frame 2 was installed in the floor surface etc. and cannot move, this invention is not limited to such an aspect. For example, a traveling device such as a caster may be provided on the support frame 2 so that the front surface of the machine tool can travel. As a result, it is possible to reduce the number of installed workpiece transfer devices for each line and to configure a processing line with good transfer efficiency.

  The workpiece transfer apparatus of the present invention is not limited to the appearance, configuration, operation, and the like described in the present embodiment, and various changes, additions, and deletions can be made without changing the gist of the present invention. Further, the transmission mechanism 18, the first transmission mechanism 28, and the second transmission mechanism 38 are not limited to the configurations and structures described in the present embodiment, and can be realized with various configurations and structures.

1, 101: Work transfer device,
2: Support frame, 2a, 2b: Support frame,
3: 1st arm, 3a, 3b: Arm part, 3c: Connecting member,
5: 2nd arm, 5a, 5b: arm part,
9: 1st arm drive device, 10: Reducer, 11: Pulley, 12: Timing belt,
13, 13a, 13b: second arm support member, 14: pulley, 18: transmission mechanism,
19: Second arm drive device, 20: Reducer, 21: Gear (reference posture holding member),
23: gear train, 24: gear, 25: intermediate rotating member, 28: first transmission mechanism,
29: Hand drive device, 30: Reducer, 31: Gear, 32: Gear
33: Gear, 34: Gear, 35: Gear, 38: Second transmission mechanism,
41, 41 ′: first hand support member, 42, 42 ′: second hand support member,
51: First hand 52: Second hand
54: Shaft hole, 55: Shaft hole, 56, 56a, 56b: Shaft hole, 57: Shaft hole,
58: Bearing, 59: Bearing,
60: bottom part, 60a, 60b: side part, 61: main body part, 62: support part,
64: Work clamping device 70: Output shaft 71: Rotating shaft 72: Output shaft 73: Input shaft 201: Machine tool 202: Articulated robot 203: Jig 204: Temporary table
J1: 1st axis, J2: 2nd axis, J3: 3rd axis, J4: 4th axis, W: Workpiece

Claims (6)

A support frame;
A first arm whose proximal end is rotatably supported about the first axis with respect to the support frame;
A reference posture holding member disposed on the first axis and capable of holding a posture relative to the support frame;
A second arm disposed on a distal end side of the first arm and supported rotatably about a second axis parallel to the first axis with respect to the first arm;
The third axis and the fourth axis are arranged on a third axis and a fourth axis, respectively, which are parallel to the first axis and are substantially equidistant from the second axis, and are arranged with respect to the second arm. A first hand and a second hand, which are each supported rotatably around an axis;
An intermediate rotating member disposed on the second axis and capable of rotating relative to each of the first arm and the second arm;
A first arm driving device fixed to the support frame and rotating the first arm with respect to the support frame;
A second arm driving device fixed to the first arm and rotating the second arm with respect to the first arm;
A first transmission mechanism that transmits the rotation of the reference posture holding member with respect to the first arm to the intermediate rotation member;
A second transmission mechanism for transmitting the rotation of the intermediate rotation member to the first hand and the second hand;
Even when the first arm or the second arm rotates, the postures of the first hand and the second hand with respect to the support frame are held by the first transmission mechanism and the second transmission mechanism. A workpiece transfer device. It is a workpiece conveyance apparatus of Claim 1, Comprising:
The first arm has a pair of support portions,
Between the pair of support parts, the second arm, the first hand, and the second hand are arranged,
The second arm has a pair of hand support portions,
The work conveying apparatus, wherein the first hand and the second hand are supported between the pair of hand support portions. It is a workpiece conveyance apparatus of Claim 1, Comprising:
The work conveying apparatus, wherein the first hand and the second hand are cantilevered by the second arm. It is a workpiece conveyance apparatus as described in any one of Claims 1-3,
A workpiece comprising a hand drive device that is fixed to the support frame so that a rotation shaft is disposed coaxially with the first shaft, and that rotates the reference posture holding member with respect to the support frame. Conveying device. It is a workpiece conveyance apparatus as described in any one of Claims 1-4,
The reference posture holding member is a gear fixed to a rotation shaft of the hand drive device,
The first transmission mechanism includes:
A gear fixed to the rotating shaft of the hand drive device;
A gear fixed to an end of the intermediate rotating member in the rotation axis direction;
It consists of gears or gear trains connecting these gears,
The second transmission mechanism is
A gear fixed to an end of the intermediate rotating member in the rotation axis direction;
Gears fixed to the rotation shafts of the first and second hands;
A work transfer device comprising a gear or a gear train connecting these gears. It is a workpiece conveyance apparatus as described in any one of Claims 1-5,
A workpiece transfer device comprising a travel device on the support frame.

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