JP2018083684A - Article transferring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an article transferring device capable of transferring an article while easily and surely expanding and contracting an interval between the articles.SOLUTION: The article transferring device comprises: a drum cam 51 which is fixed to one end part 21b of an arm part 2 and has a cam groove 51a of a predetermined cam curve formed on a peripheral surface; and a connection member 52 whose one end part is provided with a cam follower 52a engaging with the cam groove 51a of the drum cam 51, and the other end part is connected to a first holding part 31a. When the arm part 2 is rotated forward or backward in a transfer direction, the cam follower 52a of the connection member 52 is guided along the cam groove 51a of the drum cam 51 with the change of a relative position between the cam groove 51a of the drum cam 51 and the cam follower 52a of the connection member 52, thereby the connection member 52 moves in a width direction crossing the transfer direction, and adjacent holding parts 31 and 32 expand and contract an interval.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an article transfer device for transferring from a first location to a second location while increasing or reducing the interval between a plurality of articles.

  Conventionally, a uniaxial article transfer device for transferring a plurality of articles simultaneously from a first location to a second location is known. For example, Patent Literature 1 includes an arm portion that swings forward and backward in the transfer direction around one end portion, and a plurality of holding portions that hold the article, and the holding portion holds the article at a first location. An apparatus is disclosed in which, after holding, the arm part swings forward or backward in the transfer direction to transfer the article, and the holding part releases and holds the article at a second location.

  As described above, when transferring a plurality of articles from the first place to the second place at the same time, the intervals between the adjacent articles are reduced in order to accommodate the articles in the packaging box, or adjacent for some purpose. In some cases, the interval between articles is increased. In order to expand and contract such an article interval, an expansion / contraction mechanism is required. However, the conventional expansion / contraction mechanism is operated by a drive motor different from the swing of the arm portion.

JP 2004-26642 A

However, if the expansion / contraction mechanism is operated by a drive motor different from the swinging of the arm portion as described above, an extra expansion / contraction actuator or the like is required, and the mechanism of the apparatus becomes complicated. In addition, the drive motor increases the size and weight of the device, which increases the manufacturing cost.
In particular, when an expansion / contraction actuator is provided around the holding portion that holds the article, it is necessary to attach an encoder cable and a position detection switch in order to connect a power source and an air source to the actuator. For this reason, many wires and pipes are required for the movable part of the apparatus, and there is a problem that a large load is applied to the drive motor due to an increase in torque due to the wires and pipes, and troubles such as disconnection and breakage of the wires and pipes occur.
Furthermore, when transferring a plurality of articles from the first location to the second location at a high speed, the intervals between the articles need to be enlarged and reduced at a predetermined timing accordingly. There was a problem that it became difficult to control.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide an article transfer device that can transfer articles while easily and reliably expanding and reducing the interval between articles.

  In order to achieve the above object, the present invention is an article transfer device for transferring an article from a first location to a second location, and alternately forward and backward in the transfer direction with one end as a center. An arm portion that rotates and swings, a plurality of holding portions that hold articles, a support mechanism that is provided on the arm portion and supports the holding portion, and an expansion / contraction mechanism that expands / contracts an interval between the adjacent holding portions Is provided. After the holding part holds the article at the first location, the arm part rotates forward in the transfer direction while the expansion / contraction mechanism enlarges or reduces the interval between the holding parts adjacent to each other. While the holding unit releases and holds the article at the second location, the arm unit moves rearward in the transfer direction while the expansion / contraction mechanism reduces or enlarges the interval between the holding units adjacent to each other. Rotate to. The expansion / contraction mechanism includes a drum cam fixed to the other end portion of the arm portion and having a cam groove having a predetermined cam curve formed on a peripheral surface thereof, and a cam follower engaged with the cam groove of the drum cam at one end portion. And a connection member having the other end connected to at least one of the holding portions. When the arm portion rotates forward or backward in the transfer direction, the cam follower of the connecting member changes as the relative position between the cam groove of the drum cam and the cam follower of the connecting member changes. By being guided along, the connecting member moves in the width direction intersecting the transfer direction, and the adjacent holding portions expand or contract the interval.

  According to this, when the article is transferred from the first location to the second location, the arm portion is moved forward and backward in the transfer direction by the expansion / contraction mechanism provided between the arm portion and the holding portion. Since the interval between the holding portions expands / contracts in conjunction with the movement, the article can be transferred while the interval between the articles is easily and reliably enlarged / reduced.

  Further, the support mechanism may be provided with one or a plurality of support shafts extending in the width direction, and the support shafts may support at least the holding portion connected to the connection member so as to be movable in the width direction. According to this, the interval between the holding portions can be easily enlarged or reduced in conjunction with the forward and backward swinging of the arm portion in the transfer direction.

  The support mechanism may be provided with a pantograph that can be expanded and contracted in the width direction, and the pantograph may support the plurality of holding portions along the width direction. According to this, since the pantograph expands / contracts in the width direction in conjunction with the forward / backward swing of the arm portion in the transfer direction, the interval between the many holding portions can be easily and reliably expanded / contracted.

  The support mechanism includes a first pulley provided in a fixed state on one end side of the arm portion, a second pulley provided rotatably on the other end side of the arm portion, and a first pulley. A belt member wound endlessly between the first pulley and the second pulley; a shaft having one end connected to the second pulley and rotatably provided within the drum cam; and the other end of the shaft And a support member that supports the holding portion. According to this, when the arm portion swings forward and backward in the transfer direction, the posture of the holding portion can be maintained in the same direction.

  The cam groove may be formed in a cam curve extending in the circumferential direction while changing the axial position of the drum cam on the circumferential surface of the drum cam. According to this, the space | interval of a holding | maintenance part can be expanded / contracted reliably in response to the rocking | fluctuation of the front and back of the transfer direction of an arm part.

  The cam groove may be formed in a cam curve having a start end portion and / or a terminal end portion extending in parallel with the circumferential direction of the drum cam. According to this, when the holding unit holds and / or releases the article, the interval between the holding parts becomes constant, so that it interferes with a bucket or the like on which the article is placed in the first place or the second place. Articles can be transferred without any problems.

  According to the present invention, when the article is transferred from the first location to the second location, the arm portion is provided with an expansion / contraction mechanism provided between the arm portion and the holding portion so that the arm portion is moved forward and backward in the transfer direction. Since the interval between the holding portions expands and contracts in conjunction with the movement, the article can be transferred while easily and reliably expanding and reducing the interval between the articles.

  Thus, unlike the conventional expansion / contraction mechanism, it is not necessary to provide a drive motor separately from the swinging of the arm portion. Therefore, the mechanism is simplified, the apparatus is reduced in size and weight, and the manufacturing cost is reduced. It becomes possible.

  In addition, when the article is transferred from the first place to the second place at a high speed, the interval between the articles is also enlarged and reduced at a predetermined timing. Becomes easy.

1 is an overall configuration diagram of an article transfer device according to a first embodiment. It is an enlarged block diagram of the article transfer apparatus of FIG. It is a side view of an arm part. It is a perspective view of a drum cam. It is an expanded view of a drum cam. It is a side view which shows the process of the rocking | fluctuation of an arm part. It is a front view which shows the process of expansion / contraction of a holding | maintenance part. It is a side view which shows the 1st pulley of a support mechanism, a 2nd pulley, and a belt member. It is an enlarged block diagram of the article transfer apparatus which concerns on 2nd Embodiment.

<First Embodiment>
Next, a first embodiment of an article W transfer device (hereinafter referred to as this device) according to the present invention will be described with reference to FIGS. In the present embodiment, the front direction in FIG. 1 will be described as the transfer direction of the article W, and the left-right direction in FIG. 1 orthogonal to the transfer direction will be described as the width direction.

  This apparatus is an apparatus for transferring an article W from a first location (X) to a second location (Y), and can be swung on the base 1 installed at a predetermined location. Provided with the arm portion 2, the holding portion 3 that holds the article W, the support mechanism 4 that supports the holding portion 3, and the expansion / contraction mechanism 5 that expands / contracts the interval between the adjacent holding portions 3.

  The base 1 is erected at a predetermined location such as a factory, and a drive motor 11 and a speed reducer 12 for swinging the arm portion 2 are provided inside.

  The arm part 2 is provided with an arm part main body 21 in a metal cover 22, and one end 21 a of the arm part main body 21 is connected to a drive motor 11 and a speed reducer 12 provided in the base 1. The other end 21b is formed in a cylindrical shape extending to the opposite side of the base 1.

  Further, the arm portion swings while drawing an arc of 210 degrees around the one end portion 21a by the drive motor 11. Specifically, when the arm unit 2 holds and transports the article W, as shown in FIG. 3, the arm unit 2 rotates in the rearward direction in the transfer direction with respect to the vertical direction by 105 degrees in the first tilted state. Between the second posture in the upright state along the vertical direction and the third posture in the forward-turned state rotated 105 degrees forward in the transfer direction with respect to the vertical direction, It rotates 105 degrees forward and shifts to the second attitude, and further rotates 105 degrees forward in the transfer direction and shifts to the third attitude. Further, when the arm unit 2 releases the holding of the article W and returns, as shown in FIG. 3, as shown in FIG. 3, the arm unit 2 rotates 105 degrees rearward in the transfer direction and shifts to the second posture. Rotate 105 degrees rearward in the transfer direction to return to the first posture.

  As shown in FIG. 2, the holding unit 3 includes a holding shaft 3a extending in the vertical direction and a holding head 3b provided at the lower end of the holding shaft 3a. The holding head 3b adsorbs the article W. It is supposed to be held. Further, in the present embodiment, the holding unit 3 includes a first holding unit 31 and a second holding unit 32 and is arranged side by side in the width direction with a predetermined interval therebetween.

  The support mechanism 4 includes a support member 45 on the other end 21 b side of the arm portion 2, and two support shafts 46 that support the holding portion 3 are provided on the support member 45. These support shafts 46 are formed in a form extending in the width direction in the support member 45 of the support mechanism 4 and are arranged with a predetermined distance from each other in the vertical direction. Further, these support shafts 46 support the first holding portion 31 in a state in which the first holding portion 31 can move in the width direction, and support the second holding portion 32 in a fixed state. For this reason, as described later, the distance between the first holding unit 31 and the second holding unit 32 can be increased or decreased by moving the first holding unit 31 in the width direction.

  The support mechanism 4 includes a first pulley 41 fixed to the base 1 on one end side of the arm portion 2 and a second pulley rotatably provided on the other end side of the arm portion 2. Pulley 42, a belt member 43 wound in an endless manner between the first pulley 41 and the second pulley 42, and one end connected to the second pulley 42, and inside a drum cam 51 to be described later A shaft 44 provided so as to be rotatable about the shaft and a support member 45 connected to the other end of the shaft 44 and supporting the holding portion 3 are provided.

  Thus, when the arm portion 2 rotates forward or backward in the transfer direction around the one end portion 21a, the first pulley 41 is provided in a fixed state on the base 1 as shown in FIG. As the absolute direction is maintained, the belt member 43 rotates in a predetermined direction, and the second pulley 42 rotates relative to the other end portion 21b of the arm portion 2 to The right direction. For this reason, even if the arm portion 2 rotates forward or backward in the transfer direction around the one end portion 21a, the shaft 44 rotates axially relative to the arm portion 2 inside the drum cam 51, so that the holding portion 3 is The vertical posture is maintained through the support member 45. Further, when the holding unit 3 maintains the vertical posture, the connecting member 52 connected to the holding unit 3 also maintains the position below the drum cam 51. Note that the triangular marks in FIG. 8 are shown to show the absolute directions of the first pulley 41 and the second pulley 42 for convenience of explanation.

  The expansion / contraction mechanism 5 includes a cylindrical drum cam 51 fixed to the outer peripheral surface of the other end portion 21 b of the arm portion 2, and a connection member 52 provided in a manner extending in the width direction between the drum cam 51 and the holding portion 3. Is provided.

  The drum cam 51 is formed with a cam groove 51a having a predetermined cam curve on the circumferential surface. As shown in FIGS. 4 and 5, the cam groove 51 a is formed on the circumferential surface of the drum cam 51 as a cam curve extending in the circumferential direction while changing the axial position of the drum cam 51.

  The connection member 52 is provided with a cam follower 52 a that engages with the cam groove 51 a of the drum cam 51 at one end, and the other end is connected to the first holding portion 31.

  Thus, as shown in FIG. 3, when the arm portion 2 rotates forward or backward in the transfer direction, the drum cam 51 fixed to the other end portion 21b of the arm portion 2 rotates 210 degrees, thereby While the direction of the cam groove 51 a changes, the cam follower 52 a of the connection member 52 connected to the holding portion 3 maintains the lower position of the drum cam 51. Therefore, as shown in FIGS. 6 and 7, the cam follower 52a of the connecting member 52 becomes a cam of the drum cam 51 as the relative position between the cam groove 51a of the drum cam 51 and the cam follower 52a of the connecting member 52 changes. By being guided along the groove 51a, the first holding part 31 moves in the width direction via the connecting member 52, and the first holding part 31 and the second holding part 32 expand or contract the interval. .

  In the present embodiment, the cam groove 51 a is formed such that the start end portion and the end end portion extend in parallel to the circumferential direction of the drum cam 51. For this reason, when the holding unit 3 holds and releases the article W, the interval between the first holding unit 31 and the second holding unit 32 is constant, so the first location (X) or the second location In (Y), the article W can be transferred without interfering with the bucket or the like on which the article W is placed.

  Next, the operation of this apparatus will be described with reference to FIGS.

  First, the operation of the apparatus when the arm unit 2 rotates forward in the transfer direction in order to transfer the article W from the first location (X) to the second location (Y) will be described.

  As shown in FIG. 6A, when the arm portion 2 is in the first posture in the backward state in which the arm portion 2 is rotated 105 degrees rearward in the transfer direction with respect to the vertical direction, the cam follower 52 a of the connecting member 52 is the drum cam 51. Is located at the start end (A) of the cam groove 51a. At this time, as shown in FIG. 7A, since the cam follower 52 a of the connection member 52 is located at the peripheral edge of the drum cam 51 on the base 1 side, the first holding portion 31 is also interposed via the connection member 52. It is located at the end of the support member 45 on the base 1 side. For this reason, the 1st holding | maintenance part 31 and the 2nd holding | maintenance part 32 are in the state which expanded the space | interval, and hold | maintain the articles | goods W conveyed by the 1st location (X).

  Further, as shown in FIG. 6B, when the arm portion 2 rotates 105 degrees forward in the transfer direction and shifts to the second posture in the upright state along the vertical direction, the cam follower of the connecting member 52 52a is guided along the cam groove 51a of the drum cam 51, and is located at the center (B) in the circumferential direction of the cam groove 51a. At this time, as shown in FIG. 7B, the cam follower 52 a of the connecting member 52 is located at the center (B) in the axial direction of the drum cam 51, so the first holding portion 31 is also interposed via the connecting member 52. The support member 45 is located at the center in the width direction. For this reason, the 1st holding | maintenance part 31 and the 2nd holding | maintenance part 32 convey the articles | goods W in the diagonally upward direction ahead, reducing a space | interval.

  Further, as shown in FIG. 6C, when the arm portion 2 shifts to the third posture in the forward-turned state in which the arm portion 2 is rotated 105 degrees forward in the transfer direction with respect to the vertical direction, the cam follower 52a of the connecting member 52 is provided. Is guided along the cam groove 51a of the drum cam 51, and is positioned at the end portion (C) of the cam groove 51a. At this time, as shown in FIG. 7C, since the cam follower 52a of the connecting member 52 is located on the peripheral edge of the drum cam 51 on the side opposite to the base 1, the first holding portion 31 also connects the connecting member 52. It is located in the edge part on the opposite side to the base 1 of the supporting member 45 via. For this reason, the first holding unit 31 and the second holding unit 32 further transfer the article W in the diagonally downward direction while further reducing the interval, and hold the article W at the second location (Y). Is released and placed.

  Next, the operation of this apparatus when the arm part 2 rotates rearward in the transfer direction to complete the transfer of the article W and return from the second location (Y) to the first location (X) will be described. To do.

  As shown in FIG. 6C, when the arm portion 2 is in the third posture in the forward-turned state rotated 105 degrees forward in the transfer direction with respect to the vertical direction, the cam follower 52 a of the connecting member 52 is the drum cam 51. The cam groove 51a is located at the terminal end (C). At this time, as shown in FIG. 7C, since the cam follower 52a of the connecting member 52 is located on the peripheral edge of the drum cam 51 on the side opposite to the base 1, the first holding portion 31 also connects the connecting member 52. It is located in the edge part on the opposite side to the base 1 of the supporting member 45 via. For this reason, the 1st holding | maintenance part 31 and the 2nd holding | maintenance part 32 are the states which reduced the space | interval.

  Further, as shown in FIG. 6B, when the arm portion 2 rotates 105 degrees rearward in the transfer direction and shifts to the second posture in the upright state along the vertical direction, the cam follower of the connecting member 52 52a is guided along the cam groove 51a of the drum cam 51, and is located at the circumferential central portion (B) of the cam groove 51a. At this time, as shown in FIG. 7B, the cam follower 52 a of the connecting member 52 is located at the center (B) in the axial direction of the drum cam 51, so the first holding portion 31 is also interposed via the connecting member 52. The support member 45 is located at the center in the width direction. For this reason, the 1st holding | maintenance part 31 and the 2nd holding | maintenance part 32 are the states which expanded the space | interval. Note that the first holding unit 31 and the second holding unit 32 at this time do not hold the article W because the holding of the article W is released.

  Further, as shown in FIG. 6A, when the arm portion 2 shifts to the first posture in the rearward state after rotating 105 degrees rearward in the transfer direction with respect to the vertical direction, the cam follower 52a of the connecting member 52 is provided. Is guided along the cam groove 51a of the drum cam 51 and is located at the start end (A) of the cam groove 51a. At this time, as shown in FIG. 7A, since the cam follower 52 a of the connection member 52 is located at the peripheral edge of the drum cam 51 on the base 1 side, the first holding portion 31 is also interposed via the connection member 52. It is located at the end of the support member 45 on the base 1 side. For this reason, the 1st holding | maintenance part 31 and the 2nd holding | maintenance part 32 are the states which expanded the space | interval further, and hold | maintain the articles | goods W conveyed to the 1st location (X).

  When the arm portion 2 rotates and swings alternately forward and backward in the transfer direction as described above, the first holding portion 31 and the second holding portion 4 are operated by the operation of the support mechanism 4 as shown in FIG. The holding part 32 always maintains a downward orientation.

<Second Embodiment>
Next, a second embodiment of the present apparatus will be described with reference to FIG. In the following, only the configuration different from the above embodiment will be described, and the description of the same configuration will be omitted and the same reference numeral will be given.

  In the present embodiment, the support mechanism 4 is provided with a pantograph 49 that can be expanded and contracted in the width direction via support members 47 and 48. The pantograph 49 supports the plurality of holding portions 3 along the width direction, and the holding portion 3A at the end opposite to the base 1 is fixed to the support member 48, and from the base 1 side. The third holding portion 3 </ b> B is connected to the other end portion of the connection member 52. Note that the holding unit 3 of the present embodiment is configured such that the holding head 3b holds the article W while sandwiching it.

  Thus, as the relative position of the cam groove 51a of the drum cam 51 and the cam follower 52a of the connecting member 52 changes, the cam follower 52a of the connecting member 52 is guided along the cam groove 51a of the drum cam 51. When the third holding part 3B from the base 1 side moves in the width direction via the connecting member 52, the pantograph 54 expands and contracts in the width direction, so that each holding part 3 starts from the holding part 3A at the end. As the interval is expanded or reduced.

  In the above embodiment, the support mechanism 4 includes the first pulley 41, the second pulley 42, the belt member 43, the shaft 44, the support member 45 (or the support members 46 and 47), and the support shaft 46 (or the pantograph 49). However, other support mechanisms 4 may be used.

  The cam groove 51a is formed on the circumferential surface of the drum cam 51 as a cam curve extending in the circumferential direction while changing the axial position of the drum cam 51, but may be another cam curve.

  Moreover, although the connection member 52 shall be directly connected to the holding | maintenance part 3, you may connect indirectly through another member.

  Moreover, although the arm part 2 shall rock | fluctuate symmetrically back and forth by the angle of 105 degree | times to the front and back, you may rock | fluctuate by another angle and may rock | fluctuate asymmetrically back and forth.

  As mentioned above, although embodiment of this invention was described with reference to drawings, this invention is not limited to the thing of embodiment shown in figure. Various modifications and variations can be made to the illustrated embodiment within the same range or equivalent range as the present invention.

DESCRIPTION OF SYMBOLS 1 ... Base 11 ... Drive motor 12 ... Reduction gear 2 ... Arm part 21 ... Arm part main body 22 ... Cover 3 ... Holding part 3a ... Holding shaft 3b ... Holding head 31 ... 1st holding part 32 ... 2nd holding part DESCRIPTION OF SYMBOLS 4 ... Support mechanism 41 ... 1st pulley 42 ... 2nd pulley 43 ... Belt member 44 ... Shaft 45 ... Support member 46 ... Support shaft 5 ... Expansion / contraction mechanism 51 ... Drum cam 51a ... Cam groove 52 ... Connection member 52a ... Cam follower

Claims (6)

An article transfer device for transferring an article from a first location to a second location,
An arm part that alternately rotates and swings forward and backward in the transfer direction around one end part;
A plurality of holding units for holding articles;
A support mechanism provided on the arm portion and supporting the holding portion;
An expansion / contraction mechanism that expands / contracts an interval between the holding portions adjacent to each other,
After the holding part holds the article at the first location, the arm part rotates forward in the transfer direction while the expansion / contraction mechanism enlarges or reduces the interval between the holding parts adjacent to each other. While the holding unit releases and holds the article at the second location, the arm unit moves rearward in the transfer direction while the expansion / contraction mechanism reduces or enlarges the interval between the holding units adjacent to each other. It is supposed to rotate to
The expansion / contraction mechanism is
A drum cam fixed to the other end of the arm portion and having a cam groove formed on the peripheral surface thereof with a predetermined cam curve;
A cam follower that is engaged with the cam groove of the drum cam at one end, and a connecting member that is connected to at least one of the holding portions at the other end;
When the arm portion rotates forward or backward in the transfer direction, the cam follower of the connecting member changes as the relative position between the cam groove of the drum cam and the cam follower of the connecting member changes. , The connecting member moves in the width direction intersecting the transfer direction, and the adjacent holding portions expand or contract the interval. The support mechanism is provided with one or more support shafts extending in the width direction,
The article transfer device according to claim 1, wherein the support shaft supports at least the holding portion connected to the connection member so as to be movable in a width direction. The support mechanism is provided with a pantograph that can be expanded and contracted in the width direction,
The article transfer apparatus according to claim 1, wherein the pantograph supports a plurality of the holding units along a width direction.   The support mechanism includes a first pulley fixedly provided on one end side of the arm portion, a second pulley rotatably provided on the other end side of the arm portion, a first pulley, A belt member wound endlessly between the two pulleys, a shaft having one end connected to the second pulley and rotatably provided inside the drum cam, and the other end of the shaft. The article transfer device according to any one of claims 1 to 3, further comprising a support member connected and supporting the holding portion.   5. The article transfer device according to claim 1, wherein the cam groove is formed in a cam curve extending in a circumferential direction while changing an axial position of the drum cam on a circumferential surface of the drum cam. The article transfer device according to claim 5, wherein the cam groove is formed in a cam curve having a starting end portion and / or a terminal end portion extending in parallel with a circumferential direction of the drum cam.