JP2597765B2 - Linear stocker for AGV supply - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a processing apparatus and an AGV (Au
The present invention relates to an AGV supply linear stocker for supplying and stocking a work to and from a tomatic guided vehicle.

[0002]

2. Description of the Related Art FIG. 4 is a perspective view showing a conventional example of a linear stocker for supplying an AGV.

[0003] This linear stocker for AGV supply is configured such that a cylinder 5 is guided while a feed base 51 is guided by a guide 53.
2, the work from the processing device or the AGV is transferred onto the feed base 51, and the carriage 54 is driven by the feed belt 57 and the motor 58 to move on the linear rail 59 to the AGV or the processing device to move the work to the AGV. Alternatively, it is transferred to a processing device.

[0004]

The conventional AGV described above.
The supply linear stocker has the drawback that the feed length of the feed base 51 is limited and the service life is short because the wiring and the pipe of the cylinder 52 are performed through the pipe 56 in the cable carrier 55. Since the guide 52 and the guide 53 take up a considerable space, there is a disadvantage that the entire apparatus becomes large.

An object of the present invention is to provide a small-sized AGV supply linear stocker which has a long service life and has no limit on the length of feed of a feed base.

[0006]

According to the present invention, there is provided a linear stocker for supplying an AGV having a feed base and, at both ends of the feed base in a feed direction, a second link having a longer length, having the same height as the feed base. Two identical Scott-Russell linear motion links mounted so as to rotate in a vertical plane including the feed direction of the feed base, and the length of each of the Scott-Russell linear motion links being shorter. At two ends of the first link different from the link connection point, two first rods connected at right angles to the link, and the two first rods being equidistant from the first link. At and 2
A first link connecting plate connecting the first links in parallel with each other, a linear rail, and the other end of the second link of each of the Scott-Russell linear motion links connected at right angles to the link. And two second rods extending in opposite directions to the first link splice plate, and each of the first and second rods.
Of the linear rail is supported perpendicular to the linear rail,
Four linear bearings movable on the linear rail, a second link joint plate connecting the two second rods at equal distances from the second link,
First and second linear motion mechanisms for linearly moving the second link joint plate in the longitudinal direction thereof, first and second motors, and rotational forces from the first motor in the first and second motors.
To make the first and second link joint plates perform a constant-velocity motion in synchronism with each other, and to transmit the rotational force from the first and second motors to the first and second motors, respectively. A differential unit for transmitting a differential motion between the first and second link connecting plates by transmitting the linear motion mechanism to the linear motion mechanism.

[0007]

When the first link joint plate and the second link joint plate are moving at the same speed in synchronization, the feed base moves only in the horizontal direction and does not move up and down. When moved, the feed base moves up and down by the Scott Russell linear motion link.

As described above, since the feed base is moved up and down by the Scott Russell linear motion link, wiring and piping to the feed base are eliminated, so that there is no limit to the feed length of the feed base and the life of the apparatus is extended. Long and compact.

[0009]

Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a perspective view of an AGV supply linear stocker according to an embodiment of the present invention, FIG. 2 is a view showing Scott Russell linear motion links 4 and 5, and FIG. 3 uses the AGV supply linear stocker of FIG. FIG. 5 is a perspective view showing a state in which a workpiece 45 is supplied from a processing apparatus transfer unit 43 to an AGV 41 in a manner described above.

At both ends of the feed base 1 in the feed direction, brackets 2 and 3 are vertically fixed at the same height. As shown in FIG. 2, the S-link 29 and the L-link
The same-sized Scott Russell linear motion mechanisms 4 and 5 composed of the link 30 are rotatably connected at one end of the L link 30. In the Scott Russell linear motion mechanisms 4 and 5, one end of the L link 30 horizontally moves by ΔX with respect to the S link 29, and the other end of the L link 30 vertically moves by ΔY. S-links 29 of the Scott Russell linear motion links 4 and 5 have rods 6 and 7 of the same length.
Are connected through this, and rods 6 and 7
9 and two S-links 29 equidistant from
Are connected to each other by a link joint plate 8 so as to be parallel to each other. The other ends of the L-links 30 of the Scott Russell linear motion links 4 and 5 have the same length rods 10, 1 respectively.
1 are connected vertically. Rods 6, 7, 10, 11
Is a linear bearing 1 movable on a linear rail 9
2, 13, 14, and 15 are supported so as to be orthogonal to the linear rail 9 respectively. Also, rods 10 and 1
1 are connected to each other by a link joint plate 16. The link splicing plate 8 is connected in parallel to a feed belt 17 stretched between pulleys 18 and 19. The link joint plate 16 is connected to a differential belt 20 stretched between pulleys 21 and 22 in parallel with the feed belt 17.
A pulley 23 is fixed concentrically to the pulley 19,
3, the torque of the motor 26 is transmitted via the pulley 24 and the belt 25. The pulley 22 and the pulley 23 are connected to the input shaft 27a and the output shaft 27b of the differential unit 27 so as to be concentric with each other. The differential unit 27 directly connects the input shaft 27a and the output shaft 27b when performing only the feed of the feed base 1, and separates the input shaft 27a and the output shaft 27b when performing the vertical movement of the feed base 1. The rotational force is transmitted from the motor 28 to the output shaft 27b, and the feed belt 17 and the differential belt 20 are made to differ from each other.

Next, the operation of this embodiment will be described.

First, the motor 28 is started while the motor 26 is stopped. Then, the feed base 1 of the AGV supply linear stocker 40 starts to descend on the spot by the Scott Russell linear motion links 4 and 5. When the feed base 1 is lowered to a certain height, the motor 26 is stopped, and the work 45 is transferred onto the feed base 1 from the processing unit transfer unit 43 using the transfer fork 44. Next, the differential unit 2
7, the input shaft 27a and the output shaft 27b
Start Then, the feed base 1 starts horizontal movement as it is. When the motor 26 is moved to the position of the AGV 41, the motor 26 is stopped and the AGV transfer fork 42
Is opened and the workpiece on the feed base 1 is moved to the AGV 41.

As a mechanism for linearly moving the feed base 1 in the horizontal direction, a combination of a chain and a sprocket wheel may be used.

[0015]

As described above, the present invention has the following effects by vertically moving the feed base using the Scott Russell linear motion link. (1) Since there is no wiring and piping to the feed base, no space is required and the life is long. (2) Since there is no mechanism under the feed base, a sufficient fork insertion space can be secured, the height of the device can be reduced, and the device can be downsized. (3) The limit of the feed distance of the feed base is eliminated.

[Brief description of the drawings]

FIG. 1 is a perspective view of an AGV supply linear stocker according to an embodiment of the present invention.

FIG. 2 is a diagram showing Scott Russell linear motion links 4 and 5;

3 shows a work 45 from a processing unit transfer unit 43 to an AGV 41 using the AGV supply linear stocker shown in FIG.
FIG.

FIG. 4 is a perspective view showing a conventional example of a linear stocker for supplying AGVs.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Feed base 2, 3 Bracket 4, 5 Scott Russell linear motion link 6, 7 Rod 8 Link joint board 9 Linear rail 10, 11 Rod 12, 13, 14, 15 Linear bearing 16 Link joint board 17 Feed belt 18, 19 Pulley Reference Signs List 20 Differential belt 21, 22, 23, 24 Pulley 25 Belt 26 Motor 27 Differential unit 27a Input shaft 27b Output shaft 28 Motor 29 S link 30 L link 40 Linear stocker 41 for AGV supply 41 AGV 42 AGV transfer fork 43 Processing device Transfer unit 44 Transfer fork 45 Work

Claims (1)

(57) [Claims] 1. A feed base and, at both ends in the feed direction of the feed base, a second link having a longer length is provided at the same height as the feed base and in a vertical direction including the feed direction of the feed base. Two identical Scott-Russell linear motion links mounted for rotation in a plane, and at a different end than the link connection point of the first shorter-length Scott-Russell linear motion link Two first rods, which are connected at right angles to the link, and the two first rods are equidistant from the first link and the two first links are parallel to each other. A first link connecting plate, a linear rail, and the other end of the second link of each of the Scott Russell linear motion links connected at right angles to the link; Two second extending in opposite directions And the first and second rods are supported so as to be orthogonal to the linear rail, and four linear bearings movable on the linear rail and two second rods A second link splicing plate connected at an equidistant position from the first and second links;
First and second linear motion mechanisms for linearly moving the link connecting plate in the longitudinal direction thereof, first and second motors, and rotational force from the first motor in the first and second linear motions. The first and second linear motion mechanisms are transmitted equally to each other to cause the first and second link joint plates to perform a constant-velocity motion synchronized with the first and second motors. And a differential unit for transmitting a differential motion between the first and second link joint plates.