JP6690516B2

JP6690516B2 - Transfer device

Info

Publication number: JP6690516B2
Application number: JP2016240972A
Authority: JP
Inventors: 平瀬　清; 清平瀬
Original assignee: Denso Corp
Current assignee: Denso Corp
Priority date: 2016-12-13
Filing date: 2016-12-13
Publication date: 2020-04-28
Anticipated expiration: 2036-12-13
Also published as: JP2018094672A

Description

本発明は、移送装置に関する。 The present invention relates to a transfer device.

従来、特許文献１に記載されるように、Ｘ軸またはＹ軸の２軸方向にワークを移送する機構が知られている。 Conventionally, as described in Patent Document 1, a mechanism for moving a work in two axial directions of an X axis or a Y axis is known.

特許第３２９４８１３号公報Japanese Patent No. 3294813

一般的に、ワークを移送するローダは、Ｙ軸のローダをＸ軸のローダの上に載せる構造である。Ｙ軸のローダとともに移動するため、Ｙ軸のローダを動かすモータには、大きなケーブルが設けられ、設備が大型化している。また、Ｘ軸のワークの移送距離を延長する場合、ボールねじまたはハウジングを取り替える必要があり、多大なコストおよび工数が必要である。 Generally, a loader for transferring a work has a structure in which a Y-axis loader is placed on an X-axis loader. Since the motor moves along with the Y-axis loader, a large cable is provided in the motor that drives the Y-axis loader, and the equipment is large. Further, when extending the transfer distance of the work on the X-axis, it is necessary to replace the ball screw or the housing, which requires a great deal of cost and man-hours.

本発明は、このような点に鑑みて創作されたものであり、その目的は、設備を小型化可能で、ワークの移送距離を容易に延長可能な移送装置を提供することにある。 The present invention has been made in view of the above circumstances, and an object thereof is to provide a transfer device capable of downsizing equipment and easily extending a transfer distance of a work.

本発明の移送装置（１）は、水平方向の第１軸（Ｘ、Ｙ）および第１軸に直交する鉛直方向の第２軸（Ｚ）に沿う方向に板状のワーク（２）を移送する。
移送装置は、第１モータ（１０１）、第２モータ（１０２）、第１回転体（１２１）、第２回転体（１２２）、第３回転体（１２３）、第４回転体（１２４）、第１ベルト（１１１）、第２ベルト（１１２）を備える。
また、移送装置は、第１板状部材（１３１）、第２板状部材（１３２）、第１棒状部材（１６１）、第２棒状部材（１６２）および支持板（１７０）を備える。 A transfer device (1) of the present invention transfers a plate-like work (2) in a direction along a horizontal first axis (X 1 , Y 2 ) and a vertical second axis ( Z 2) orthogonal to the first axis. To do.
The transfer device includes a first motor (101), a second motor (102), a first rotating body (121), a second rotating body (122), a third rotating body (123), a fourth rotating body (124), A first belt (111) and a second belt (112) are provided.
The transfer device also includes a first plate-shaped member (131), a second plate-shaped member (132), a first rod-shaped member (161), a second rod-shaped member (162), and a support plate (170).

第１モータおよび第２モータは、通電により回転可能である。
第１回転体は、第１モータに接続され、第１モータとともに回転可能である。
第１ベルトは、第１軸に沿う方向に延びて、第１回転体に掛けられており、第１モータおよび第１回転体とともに回転可能である。
第２回転体は、第１回転体とは反対側で第１ベルトが掛かっており、第１ベルトとともに回転可能である。 The first motor and the second motor can rotate when energized.
The first rotating body is connected to the first motor and is rotatable with the first motor.
The first belt extends in the direction along the first axis, is hung on the first rotating body, and is rotatable with the first motor and the first rotating body.
The second rotating body is hung on the first belt on the side opposite to the first rotating body, and is rotatable with the first belt.

第３回転体は、第２モータに接続され、第２モータとともに回転可能である。
第２ベルトは、第１軸に沿う方向に延びて、第３回転体に掛けられており、第２モータおよび第３回転体とともに回転可能である。
第４回転体は、第３回転体とは反対側で第２ベルトが掛かっており、第２ベルトとともに回転可能である。 The third rotating body is connected to the second motor and can rotate together with the second motor.
The second belt extends in the direction along the first axis, is hung on the third rotating body, and is rotatable with the second motor and the third rotating body.
The fourth rotating body is provided with the second belt on the side opposite to the third rotating body, and is rotatable with the second belt.

第１板状部材は、第１ベルトに係合されており、第１モータが回転し、第１ベルトが回転したとき、第１軸に沿う方向に移動する。
第２板状部材は、第２ベルトに係合されており、第２モータが回転し、第２ベルトが回転したとき、第１軸に沿う方向に移動する。 The first plate member is engaged with the first belt, and moves in the direction along the first axis when the first motor rotates and the first belt rotates.
The second plate-shaped member is engaged with the second belt, and moves in the direction along the first axis when the second motor rotates and the second belt rotates.

第１棒状部材は、第１板状部材に設けられ、第１軸および第２軸に交差する方向に延びており、第１板状部材とともに移動可能である。
第２棒状部材は、第２板状部材に設けられ、第２軸に沿う方向に延びており、第２板状部材とともに移動可能である。
支持板は、鉛直面に沿って第１棒状部材および第２棒状部材に固定され、ワークを真空吸着して支持可能で、第１板状部材または第２板状部材とともに移動し、ワークを移送する。
第１軸における第１板状部材から第２板状部材までの距離である板状部材間距離（Ｌｂ）が変化したとき、第１棒状部材が第１軸および第２軸に交差する方向に移動し、第２棒状部材が第２軸に沿う方向に移動し、支持板が第２軸に沿う方向に移動する。 The first rod-shaped member is provided on the first plate-shaped member, extends in the direction intersecting the first axis and the second axis, and is movable together with the first plate-shaped member.
The second rod-shaped member is provided on the second plate-shaped member, extends in the direction along the second axis, and is movable together with the second plate-shaped member.
The support plate is fixed to the first rod-shaped member and the second rod-shaped member along the vertical plane, can support the workpiece by vacuum suction , moves with the first plate-shaped member or the second plate-shaped member, and transfers the workpiece. To do.
When the distance (Lb) between the plate-shaped members, which is the distance from the first plate-shaped member to the second plate-shaped member on the first axis, changes, the first rod-shaped member crosses the first axis and the second axis. The second rod member moves in the direction along the second axis, and the support plate moves in the direction along the second axis.

板状部材間距離Ｌｂが変化したとき、支持板が第１棒状部材および第２棒状部材を固定する力を用いて、ワークがＺ軸へ移送される。第１モータおよび第２モータが移動をする必要がなく、第１モータおよび第２モータが回転するのみで、２軸方向にワークが移送される。このため、比較的大きなケーブルを設ける必要がなく、移送装置は小型化可能である。また、第１ベルトおよび第２ベルトが用いられている。第１ベルトおよび第２ベルトの長さを変更するのみで、第１軸の移送距離を容易に変更し、延長可能である。 When the distance Lb between the plate members changes, the work is transferred to the Z axis by using the force of the support plate fixing the first rod member and the second rod member. It is not necessary for the first motor and the second motor to move, and the work is transferred in the biaxial directions simply by rotating the first motor and the second motor. Therefore, it is not necessary to provide a relatively large cable, and the transfer device can be downsized. Further, the first belt and the second belt are used. The transfer distance of the first shaft can be easily changed and extended only by changing the lengths of the first belt and the second belt.

本発明の一実施形態による移送装置を示す斜視図。1 is a perspective view showing a transfer device according to an embodiment of the present invention. 図１のＩＩから見た移送装置の第１板状部材および第２板状部材の矢視図。1. The arrow view of the 1st plate-shaped member and the 2nd plate-shaped member of the transfer apparatus seen from II of FIG. 本発明の一実施形態による移送装置の第１板状部材、第２板状部材、第１棒状部材、第２棒状部材および支持板の斜視図。FIG. 3 is a perspective view of a first plate-shaped member, a second plate-shaped member, a first rod-shaped member, a second rod-shaped member, and a support plate of the transfer device according to the embodiment of the present invention. 本発明の一実施形態による移送装置が第１軸に沿ってワークを移送するときの説明図。FIG. 6 is an explanatory diagram when the transfer device according to the embodiment of the present invention transfers a work along a first axis. 本発明の一実施形態による移送装置が第２軸に沿ってワークを移送するときの説明図。FIG. 6 is an explanatory diagram when the transfer device according to the embodiment of the present invention transfers a work along a second axis. 本発明の一実施形態による移送装置が第２軸に沿ってワークを移送するときの説明図。FIG. 6 is an explanatory diagram when the transfer device according to the embodiment of the present invention transfers a work along a second axis. 本発明の一実施形態による移送装置が第１軸および第２軸に沿ってワークを移送するときの説明図。FIG. 6 is an explanatory diagram when the transfer device according to the embodiment of the present invention transfers a work along a first axis and a second axis. 比較例の移送装置を示す斜視図。The perspective view which shows the transfer apparatus of a comparative example.

（一実施形態）
以下、本発明の実施形態による移送装置１を図面に基づいて説明する。
図１に示すように、移送装置１は、第１軸および第２軸に沿う方向にワーク２を移送する。図１において、ワーク２を白抜きの一点鎖線で示す。 (One embodiment)
Hereinafter, a transfer device 1 according to an embodiment of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the transfer device 1 transfers the work 2 in a direction along the first axis and the second axis. In FIG. 1, the work 2 is shown by a white dashed line.

ワーク２は、板状であり、移送装置１の支持板１７０に固定されている。
第２軸は、第１軸に直交する。
第１軸を直交座標系のＸＹＺ座標におけるＸ軸とし、第２軸を直交座標系のＸＹＺ座標におけるＺ軸とする。 The work 2 has a plate shape and is fixed to the support plate 170 of the transfer device 1.
The second axis is orthogonal to the first axis.
The first axis is the X axis in the XYZ coordinates of the Cartesian coordinate system, and the second axis is the Z axis in the XYZ coordinates of the Cartesian coordinate system.

移送装置１は、第１モータ１０１、第２モータ１０２、第１ベルト１１１、第２ベルト１１２、第１回転体１２１、第２回転体１２２、第３回転体１２３および第４回転体１２４を備える。
また、移送装置１は、第１板状部材１３１、第２板状部材１３２、第１案内部材１４１、第２案内部材１４２、第１係合部材１５１、第２係合部材１５２、第１棒状部材１６１、第２棒状部材１６２および支持板１７０を備える。図１において、第１モータ１０１または第１回転体１２１から第２回転体１２２に向かう方向をＸ軸の正方向とする。また、図１において、紙面に対して上から下に向かう方向をＺ軸の正方向とする。 The transfer device 1 includes a first motor 101, a second motor 102, a first belt 111, a second belt 112, a first rotating body 121, a second rotating body 122, a third rotating body 123, and a fourth rotating body 124. .
Further, the transfer device 1 includes the first plate-shaped member 131, the second plate-shaped member 132, the first guide member 141, the second guide member 142, the first engaging member 151, the second engaging member 152, and the first rod-shaped member. A member 161, a second rod-shaped member 162, and a support plate 170 are provided. In FIG. 1, the direction from the first motor 101 or the first rotating body 121 toward the second rotating body 122 is the positive direction of the X axis. Further, in FIG. 1, the direction from the top to the bottom with respect to the paper surface is the positive direction of the Z axis.

第１モータ１０１および第２モータ１０２は、通電されることにより、回転可能な直流モータまたは交流モータである。
第１モータ１０１に第１回転体１２１が接続されている。
第２モータ１０２に第３回転体１２３が接続されている。
第１ベルト１１１および第２ベルト１１２は、帯状または紐状で、第１モータ１０１および第２モータ１０２の動力を伝達可能で、運搬に用いられる機械用ベルトである。
また、第１ベルト１１１および第２ベルト１１２は、Ｘ軸に沿う方向に延びている。 The first motor 101 and the second motor 102 are direct-current motors or alternating-current motors that are rotatable when energized.
The first rotating body 121 is connected to the first motor 101.
The third rotating body 123 is connected to the second motor 102.
The first belt 111 and the second belt 112 are belt-shaped or string-shaped and are mechanical belts that can transmit the power of the first motor 101 and the second motor 102 and are used for transportation.
The first belt 111 and the second belt 112 extend in the direction along the X axis.

第１ベルト１１１は、第１回転体１２１および第２回転体１２２に掛けられており、第１モータ１０１とともに回転可能である。
第１ベルト１１１の一端から他端までの距離を第１ベルト距離Ｌ１とする。
第２ベルト１１２は、第３回転体１２３および第４回転体１２４に掛けられており、第２モータ１０２とともに回転可能である。
第２ベルト１１２の一端から他端までの距離を第２ベルト距離Ｌ２とする。 The first belt 111 is stretched around the first rotating body 121 and the second rotating body 122 and is rotatable together with the first motor 101.
The distance from one end of the first belt 111 to the other end is the first belt distance L1.
The second belt 112 is stretched around the third rotating body 123 and the fourth rotating body 124 and is rotatable together with the second motor 102.
The distance from one end of the second belt 112 to the other end is the second belt distance L2.

第１−第４回転体１２１−１２４は、円形形状の断面を有する。
第１回転体１２１および第２回転体１２２は、第１ベルト１１１が掛けられる第１ベルト溝１２５を有し、第１ベルト１１１とともに回転可能である。
第２回転体１２２は、第１回転体１２１とは反対側で第１ベルト１１１に掛けられている。 The first to fourth rotating bodies 121-124 have a circular cross section.
The first rotating body 121 and the second rotating body 122 have a first belt groove 125 in which the first belt 111 is hooked, and can rotate together with the first belt 111.
The second rotating body 122 is hung on the first belt 111 on the side opposite to the first rotating body 121.

第３回転体１２３および第４回転体１２４は、第２ベルト１１２が掛けられる第２ベルト溝１２６を有し、第２ベルト１１２とともに回転可能である。
第４回転体１２４は、第３回転体１２３とは反対側で第２ベルト１１２に掛けられている。
第１モータ１０１、第１ベルト１１１、第１回転体１２１および第２回転体１２２の回転方向は、同一である。
第２モータ１０２、第２ベルト１１２、第３回転体１２３および第４回転体１２４の回転方向は、同一である。 The third rotating body 123 and the fourth rotating body 124 have a second belt groove 126 in which the second belt 112 is hooked, and can rotate together with the second belt 112.
The fourth rotating body 124 is hung on the second belt 112 on the side opposite to the third rotating body 123.
The rotation directions of the first motor 101, the first belt 111, the first rotating body 121, and the second rotating body 122 are the same.
The rotation directions of the second motor 102, the second belt 112, the third rotating body 123, and the fourth rotating body 124 are the same.

第１モータ１０１が回転したとき、第１回転体１２１が回転し、第１ベルト１１１に動力が伝達され、第１モータ１０１、第１ベルト１１１、第１回転体１２１および第２回転体１２２が回転する。また、第１ベルト１１１は、Ｘ軸に沿って、回転する。
同様に、第２モータ１０２が回転したとき、第３回転体１２３が回転し、第２ベルト１１２に動力が伝達され、第２モータ１０２、第２ベルト１１２、第３回転体１２３および第４回転体１２４が回転する。また、第２ベルト１１２は、Ｘ軸に沿って、回転する。
第１ベルト１１１がＸ軸に沿って回転する速度を第１ベルト速度Ｖ１とする。第２ベルト１１２がＸ軸に沿って回転する速度を第２ベルト速度Ｖ２とする。 When the first motor 101 rotates, the first rotating body 121 rotates, the power is transmitted to the first belt 111, and the first motor 101, the first belt 111, the first rotating body 121, and the second rotating body 122 Rotate. Further, the first belt 111 rotates along the X axis.
Similarly, when the second motor 102 rotates, the third rotating body 123 rotates, the power is transmitted to the second belt 112, and the second motor 102, the second belt 112, the third rotating body 123, and the fourth rotating body are rotated. The body 124 rotates. The second belt 112 also rotates along the X axis.
The speed at which the first belt 111 rotates along the X axis is referred to as a first belt speed V1. The speed at which the second belt 112 rotates along the X axis is referred to as a second belt speed V2.

第１板状部材１３１は、第１鍔部１３３を有し、第１鍔部１３３を介して第１ベルト１１１に係合されている。
また、第１板状部材１３１は、第１ベルト１１１が回転したとき、Ｘ軸に沿う方向に移動する。
第１板状部材１３１は、複数の第１板状部材穴１３４が形成されている。
さらに、第１板状部材１３１は、ほぼ八角形の断面を有し、板状部材凹部１３５を有する。 The first plate-shaped member 131 has a first flange 133 and is engaged with the first belt 111 via the first flange 133.
Further, the first plate-shaped member 131 moves in the direction along the X axis when the first belt 111 rotates.
The first plate-shaped member 131 has a plurality of first plate-shaped member holes 134 formed therein.
Further, the first plate-shaped member 131 has a substantially octagonal cross section and has a plate-shaped member recess 135.

第２板状部材１３２は、第２鍔部１３６を有し、第２鍔部１３６を介して第２ベルト１１２に係合されている。
また、第２板状部材１３２は、第２ベルト１１２が回転したとき、Ｘ軸に沿う方向に移動する。
第２板状部材１３２は、複数の第２板状部材穴１３７が形成されている。
第１板状部材穴１３４および第２板状部材穴１３７は、円形形状に形成されている。
第１板状部材穴１３４および第２板状部材穴１３７によって、第１板状部材１３１および第２板状部材１３２が軽量化され、移送装置１が軽量化される。 The second plate-shaped member 132 has a second flange portion 136, and is engaged with the second belt 112 via the second flange portion 136.
Further, the second plate-shaped member 132 moves in the direction along the X axis when the second belt 112 rotates.
The second plate-shaped member 132 has a plurality of second plate-shaped member holes 137 formed therein.
The first plate-shaped member hole 134 and the second plate-shaped member hole 137 are formed in a circular shape.
The first plate-shaped member hole 134 and the second plate-shaped member hole 137 reduce the weight of the first plate-shaped member 131 and the second plate-shaped member 132, and reduce the weight of the transfer device 1.

図２に示すように、第２板状部材１３２の大きさは、第１板状部材１３１の大きさよりも小さく、板状部材凹部１３５の大きさに対応するように、第２板状部材１３２は形成されている。
第２板状部材１３２は、長方形の断面を有し、板状部材凹部１３５に接触可能である。
Ｘ軸における第１板状部材１３１から第２板状部材１３２までの距離を板状部材間距離Ｌｂとする。 As shown in FIG. 2, the size of the second plate-shaped member 132 is smaller than the size of the first plate-shaped member 131 and corresponds to the size of the plate-shaped member recess 135. Has been formed.
The second plate-shaped member 132 has a rectangular cross section and can contact the plate-shaped member recess 135.
The distance from the first plate-shaped member 131 to the second plate-shaped member 132 on the X axis is defined as the plate-shaped member distance Lb.

第１案内部材１４１は、Ｘ軸に沿う方向に延びており、板状に形成され、第１支柱１４５および第２支柱１４６に接合されている。
第２支柱１４６は、第１支柱１４５よりもＸ軸の正側に設けられている。
第１支柱１４５および第２支柱１４６は、Ｚ軸に沿って延びている。 The first guide member 141 extends in the direction along the X axis, is formed in a plate shape, and is joined to the first support pillar 145 and the second support pillar 146.
The second support 146 is provided on the positive side of the X-axis with respect to the first support 145.
The first support columns 145 and the second support columns 146 extend along the Z axis.

また、第１案内部材１４１は、複数の穴である第１案内部材穴１４３を有する。
複数の第１案内部材穴１４３は、円形形状に形成されている。複数の第１案内部材穴１４３によって、第１案内部材１４１が軽量化され、移送装置１が軽量化される。また、複数の第１案内部材穴１４３が円形形状に形成されていることによって、第１案内部材１４１への応力集中が緩和される。
また、第１案内部材１４１は、第１板状部材１３１に係合されており、第１板状部材１３１を案内する。第１案内部材１４１によって、第１板状部材１３１は、Ｘ軸に沿って移動しやすくなる。 Further, the first guide member 141 has a first guide member hole 143 which is a plurality of holes.
The plurality of first guide member holes 143 are formed in a circular shape. The plurality of first guide member holes 143 reduce the weight of the first guide member 141 and reduce the weight of the transfer device 1. Further, since the plurality of first guide member holes 143 are formed in a circular shape, stress concentration on the first guide member 141 is relieved.
The first guide member 141 is engaged with the first plate-shaped member 131 and guides the first plate-shaped member 131. The first guide member 141 facilitates movement of the first plate member 131 along the X axis.

第２案内部材１４２は、第１案内部材１４１と同様に形成され、第１支柱１４５および第２支柱１４６に接合されている。
第２案内部材１４２は、複数の第２案内部材穴１４４を有する。
また、第２案内部材１４２は、第２板状部材１３２に係合されており、第２板状部材１３２を案内する。第２案内部材１４２によって、第２板状部材１３２は、Ｘ軸に沿って移動しやすくなる。 The second guide member 142 is formed similarly to the first guide member 141, and is joined to the first support pillar 145 and the second support pillar 146.
The second guide member 142 has a plurality of second guide member holes 144.
The second guide member 142 is engaged with the second plate-shaped member 132 and guides the second plate-shaped member 132. The second guide member 142 facilitates the movement of the second plate member 132 along the X axis.

図２および図３に示すように、第１係合部材１５１は、第１板状部材１３１に設けられ、Ｘ軸およびＺ軸に交差する方向に延びており、第１凹部１５３を有する。
第２係合部材１５２は、第２板状部材１３２に設けられ、Ｚ軸に交差する方向に延びており、第２凹部１５４を有する。図３において、第１鍔部１３３および第２鍔部１３６は省略している。 As shown in FIGS. 2 and 3, the first engagement member 151 is provided on the first plate-shaped member 131, extends in a direction intersecting the X axis and the Z axis, and has a first recess 153.
The second engagement member 152 is provided on the second plate-shaped member 132, extends in the direction intersecting the Z axis, and has a second recess 154. In FIG. 3, the first brim portion 133 and the second brim portion 136 are omitted.

第１棒状部材１６１は、第１凹部１５３に係合されており、Ｘ軸およびＺ軸に交差する方向に延びている。なお、第１凹部１５３は、第１棒状部材１６１に対応するように、第１棒状部材１６１に沿って延びている。
また、第１棒状部材１６１は、第１板状部材１３１によって、Ｘ軸に沿って移動可能である。 The first rod-shaped member 161 is engaged with the first recess 153 and extends in a direction intersecting the X axis and the Z axis. The first recess 153 extends along the first rod-shaped member 161 so as to correspond to the first rod-shaped member 161.
Further, the first rod-shaped member 161 can be moved along the X axis by the first plate-shaped member 131.

第２棒状部材１６２は、第２凹部１５４に係合されており、Ｚ軸に沿う方向に延びている。なお、第２凹部１５４は、第２棒状部材１６２に対応するように、第２棒状部材１６２に沿って延びている。
また、第２棒状部材１６２は、第２板状部材１３２によって、Ｘ軸に沿って移動可能である。 The second rod-shaped member 162 is engaged with the second recess 154 and extends in the direction along the Z axis. The second recess 154 extends along the second rod-shaped member 162 so as to correspond to the second rod-shaped member 162.
The second rod-shaped member 162 can be moved along the X axis by the second plate-shaped member 132.

第１棒状部材１６１の長手方向に沿って延びる仮想線を第１仮想線Ｉ１とする。第２棒状部材１６２の長手方向に沿って延びる仮想線を第２仮想線Ｉ２とする。第１仮想線Ｉ１と第２仮想線Ｉ２とでなす角度を棒状部材間角度θ［度］とする。
第１棒状部材１６１および第２棒状部材１６２は、棒状部材間角度θが以下関係式（１）を満たすように、形成されている。
０＜θ＜９０・・・（１） An imaginary line extending along the longitudinal direction of the first rod-shaped member 161 is referred to as a first imaginary line I1. An imaginary line extending along the longitudinal direction of the second rod-shaped member 162 is referred to as a second imaginary line I2. The angle formed by the first imaginary line I1 and the second imaginary line I2 is the inter-rod member angle θ [degree].
The first rod-shaped member 161 and the second rod-shaped member 162 are formed so that the angle θ between the rod-shaped members satisfies the following relational expression (1).
0 <θ <90 (1)

また、Ｘ軸およびＺ軸に交差する方向における第１棒状部材１６１の中点を第１中点Ｏ１とする。Ｚ軸における第２棒状部材１６２の中点を第２中点Ｏ２とする。第１中点Ｏ１から第２中点Ｏ２までの距離を棒状部材間距離Ｌｏとする。
さらに、第１棒状部材１６１は、複数の第１棒状部材穴１６３が形成されている。第２棒状部材１６２は、複数の第２棒状部材穴１６４が形成されている。 Further, the midpoint of the first rod-shaped member 161 in the direction intersecting the X axis and the Z axis is defined as the first midpoint O1. The midpoint of the second rod-shaped member 162 on the Z axis is defined as the second midpoint O2. A distance from the first middle point O1 to the second middle point O2 is defined as a rod-shaped member distance Lo.
Further, the first rod-shaped member 161 has a plurality of first rod-shaped member holes 163 formed therein. The second rod-shaped member 162 has a plurality of second rod-shaped member holes 164.

支持板１７０は、複数の第１棒状部材穴１６３および第２棒状部材穴１６４に対応する支持板穴１７１が等間隔に形成されている。図２−図７において、ワーク２の記載を省略し、支持板１７０を白抜きの２点鎖線で示す。 In the support plate 170, support plate holes 171 corresponding to the plurality of first rod-shaped member holes 163 and the second rod-shaped member holes 164 are formed at equal intervals. 2 to 7, the description of the work 2 is omitted, and the support plate 170 is shown by a white two-dot chain line.

支持板１７０は、支持板穴１７１、複数の第１棒状部材穴１６３および第２棒状部材穴１６４を介して、ボルトやナットを用いて、第１棒状部材１６１および第２棒状部材１６２に固定されている。支持板１７０は、第１棒状部材１６１および第２棒状部材１６２を拘束している。 The support plate 170 is fixed to the first rod-shaped member 161 and the second rod-shaped member 162 with bolts and nuts through the support plate hole 171, the plurality of first rod-shaped member holes 163 and the second rod-shaped member holes 164. ing. The support plate 170 restrains the first rod-shaped member 161 and the second rod-shaped member 162.

支持板１７０は、板状に形成され、角が面取りされた長方形形状の断面を有し、ワーク２を支持可能である。
また、支持板１７０は、吸着穴１７２が形成されている。吸着穴１７２を介してエジェクタ等によって、ワーク２が真空吸着され、支持板１７０はワーク２を支持する。なお、支持板１７０は、重力を用いてワーク２を支持してもよい。
さらに、支持板１７０は、第１板状部材１３１または第２板状部材１３２とともに移動し、ワーク２を移送する。 The support plate 170 is formed in a plate shape, has a rectangular cross section with chamfered corners, and can support the work 2.
Further, the support plate 170 has a suction hole 172 formed therein. The work 2 is vacuum-sucked by an ejector or the like through the suction holes 172, and the support plate 170 supports the work 2. The support plate 170 may support the work 2 by using gravity.
Further, the support plate 170 moves together with the first plate-shaped member 131 or the second plate-shaped member 132 to transfer the work 2.

（作用）
第１実施形態の移送装置１の作用を図４−図７を参照して説明する。
初期状態の移送装置１では、第１板状部材１３１と第２板状部材１３２とが接触しており、支持板１７０にワーク２が支持されている。図４−図７の紙面に対して時計回りを、第１モータ１０１および第２モータ１０２の正方向の回転とする。図４−図７の紙面に対して反時計回りを、第１モータ１０１および第２モータ１０２の逆方向の回転とする。図４−図７の紙面に対して、左から右に向かう方向をＸ軸の正方向とする。図４−図７の紙面に対して、上から下に向かう方向をＺ軸の正方向とする。なお、方向に関して、図２においても、図４−図７と同様である。 (Action)
The operation of the transfer device 1 according to the first embodiment will be described with reference to FIGS.
In the transfer device 1 in the initial state, the first plate-shaped member 131 and the second plate-shaped member 132 are in contact with each other, and the work 2 is supported by the support plate 170. The clockwise rotation with respect to the paper surface of FIGS. 4 to 7 is the forward rotation of the first motor 101 and the second motor 102. The counterclockwise rotation with respect to the paper surface of FIGS. 4 to 7 is the rotation of the first motor 101 and the second motor 102 in the opposite directions. The direction from left to right with respect to the paper surface of FIGS. 4 to 7 is defined as the positive direction of the X axis. The direction from the top to the bottom with respect to the paper surface of FIGS. 4 to 7 is defined as the positive direction of the Z axis. Note that the direction is the same as in FIGS. 4 to 7 in FIG.

図４に示すように、移送装置１がワーク２をＸ軸に沿ってＸ軸の正方向に移送するとき、第１モータ１０１と第２モータ１０２とが同期して正方向に回転する。
第１モータ１０１および第２モータ１０２の回転速度が調整され、第１ベルト速度Ｖ１および第２ベルト速度Ｖ２が同速度になるように、第１ベルト１１１および第２ベルト１１２が回転する。 As shown in FIG. 4, when the transfer device 1 transfers the work 2 along the X axis in the positive direction of the X axis, the first motor 101 and the second motor 102 synchronously rotate in the positive direction.
The rotation speeds of the first motor 101 and the second motor 102 are adjusted, and the first belt 111 and the second belt 112 rotate so that the first belt speed V1 and the second belt speed V2 become the same speed.

第１板状部材１３１および第２板状部材１３２がＸ軸に沿って正方向に移動し、第１板状部材１３１と第２板状部材１３２とが接触したままで、板状部材間距離Ｌｂは、ゼロである。第１板状部材１３１と第２板状部材１３２とともに支持板１７０がＸ軸に沿って、正方向に移動する。支持板１７０とともに、ワーク２がＸ軸に沿って正方向に移送される。第１ベルト距離Ｌ１および第２ベルト距離Ｌ２によって、Ｘ軸のワーク２の移送距離が決定される。 The first plate-shaped member 131 and the second plate-shaped member 132 move in the positive direction along the X axis, and the first plate-shaped member 131 and the second plate-shaped member 132 remain in contact with each other, and the distance between the plate-shaped members is increased. Lb is zero. The support plate 170 moves in the positive direction along the X axis together with the first plate-shaped member 131 and the second plate-shaped member 132. The work 2 is transferred in the positive direction along the X axis together with the support plate 170. The transfer distance of the workpiece 2 on the X axis is determined by the first belt distance L1 and the second belt distance L2.

第１モータ１０１と第２モータ１０２とが同期して逆方向に回転するとき、第１板状部材１３１および第２板状部材１３２がＸ軸に沿って負方向に移動し、第１板状部材１３１と第２板状部材１３２とが接触したままである。第１板状部材１３１と第２板状部材１３２とともに支持板１７０がＸ軸に沿って、負方向に移動する。 When the first motor 101 and the second motor 102 synchronously rotate in opposite directions, the first plate-shaped member 131 and the second plate-shaped member 132 move in the negative direction along the X axis, and the first plate-shaped member 131 moves. The member 131 and the second plate-shaped member 132 remain in contact with each other. The support plate 170 moves in the negative direction along the X-axis together with the first plate-shaped member 131 and the second plate-shaped member 132.

図５および図６に示すように、移送装置１がワーク２をＺ軸に沿ってＺ軸の正方向に移送するとき、第１モータ１０１が正方向に回転し、第２モータ１０２は停止している。第１ベルト速度Ｖ１が第２ベルト速度Ｖ２よりも相対的に大きくし、速度差が生じ、第１ベルト１１１が回転する。第１板状部材１３１がＸ軸に沿って正方向に移動し、第１板状部材１３１と第２板状部材１３２とが離れ、板状部材間距離Ｌｂは、変化して大きくなる。 As shown in FIGS. 5 and 6, when the transfer device 1 transfers the workpiece 2 along the Z axis in the positive direction of the Z axis, the first motor 101 rotates in the positive direction and the second motor 102 stops. ing. The first belt speed V1 is made relatively higher than the second belt speed V2, a speed difference occurs, and the first belt 111 rotates. The first plate-shaped member 131 moves in the positive direction along the X axis, the first plate-shaped member 131 and the second plate-shaped member 132 are separated from each other, and the inter-plate-shaped member distance Lb changes and increases.

第１棒状部材１６１および第２棒状部材１６２は、支持板１７０に固定されており、棒状部材間距離Ｌｏは一定である。このため、板状部材間距離Ｌｂが大きくなったとき、棒状部材間距離Ｌｏが一定となるように維持しようと、第１係合部材１５１から力を受ける。このとき、第１棒状部材１６１は、第１凹部１５３に沿ってＸ軸およびＺ軸に交差する方向に移動し、第２棒状部材１６２は、第２凹部１５４に沿ってＺ軸に移動する。これにより、支持板１７０がＺ軸に沿って移動する。ワーク２がＺ軸に沿って正方向に移送される。また、棒状部材間角度θによっても、Ｚ軸に沿って移動する量は設定される。なお、第１棒状部材１６１は、第１係合部材１５１に設けられず、第１板状部材１３１に直接設けられてもよい。 The first rod-shaped member 161 and the second rod-shaped member 162 are fixed to the support plate 170, and the distance Lo between the rod-shaped members is constant. Therefore, when the distance Lb between the plate-shaped members becomes large, a force is applied from the first engagement member 151 in order to keep the distance Lo between the rod-shaped members constant. At this time, the first rod-shaped member 161 moves in the direction intersecting the X-axis and the Z-axis along the first recess 153, and the second rod-shaped member 162 moves in the Z-axis along the second recess 154. As a result, the support plate 170 moves along the Z axis. The work 2 is transferred in the positive direction along the Z axis. The amount of movement along the Z axis is also set by the angle θ between the rod-shaped members. The first rod-shaped member 161 may be directly provided on the first plate-shaped member 131 instead of being provided on the first engagement member 151.

移送装置１がワーク２をＺ軸に沿ってＺ軸の負方向に移送するとき、第１モータ１０１が逆方向に回転し、第１板状部材１３１がＸ軸に沿って負方向に移動する。第１板状部材１３１と第２板状部材１３２とが近づき、板状部材間距離Ｌｂは、変化して小さくなる。板状部材間距離Ｌｂが小さくなったとき、棒状部材間距離Ｌｏが一定となるように維持しようする。上記と同様に、第１棒状部材１６１および第２棒状部材１６２とともに支持板１７０がＺ軸に沿って負方向に移動する。ワーク２がＺ軸に沿って負方向に移送される。 When the transfer device 1 transfers the work 2 along the Z-axis in the negative direction of the Z-axis, the first motor 101 rotates in the opposite direction, and the first plate member 131 moves in the negative direction along the X-axis. . The first plate-shaped member 131 and the second plate-shaped member 132 approach each other, and the inter-plate-shaped member distance Lb changes and becomes smaller. When the distance Lb between the plate-shaped members becomes small, the distance Lo between the rod-shaped members is kept constant. Similarly to the above, the support plate 170 moves in the negative direction along the Z axis together with the first rod-shaped member 161 and the second rod-shaped member 162. The work 2 is transferred in the negative direction along the Z axis.

図７に示すように、移送装置１がワーク２をＸ軸およびＺ軸に沿って移送するとき、第１モータ１０１と第２モータ１０２とが同期して回転する。第１モータ１０１および第２モータ１０２の回転速度が調整され、第１ベルト速度Ｖ１が第２ベルト速度Ｖ２よりも相対的に大きくする。速度差が生じるように、第１ベルト１１１および第２ベルト１１２が回転する。第１板状部材１３１および第２板状部材１３２がＸ軸に沿って正方向に移動し、支持板１７０がＸ軸に沿って正方向に移動する。ワーク２がＸ軸に沿って正方向に移送される。同時に、第１板状部材１３１と第２板状部材１３２とが離れ、板状部材間距離Ｌｂは、変化して大きくなる。上記と同様に、ワーク２がＺ軸に沿って正方向に移送され、Ｘ軸およびＺ軸に対して斜めにワーク２が移送される。 As shown in FIG. 7, when the transfer device 1 transfers the work 2 along the X axis and the Z axis, the first motor 101 and the second motor 102 rotate in synchronization. The rotation speeds of the first motor 101 and the second motor 102 are adjusted so that the first belt speed V1 is relatively higher than the second belt speed V2. The first belt 111 and the second belt 112 rotate so that a speed difference occurs. The first plate-shaped member 131 and the second plate-shaped member 132 move in the positive direction along the X axis, and the support plate 170 moves in the positive direction along the X axis. The work 2 is transferred in the positive direction along the X axis. At the same time, the first plate-shaped member 131 and the second plate-shaped member 132 separate from each other, and the inter-plate-shaped member distance Lb changes and increases. Similarly to the above, the work 2 is transferred in the positive direction along the Z axis, and the work 2 is transferred obliquely with respect to the X axis and the Z axis.

図８に示すように、比較例の移送装置９０は、ワークを移送するＸ軸のローダ９１およびＹ軸のローダ９２を備える。
従来、移送装置９０は、Ｙ軸のローダ９２をＸ軸のローダ９１の上に載せる構造である。また、Ｙ軸のローダ９２を動かすモータには、Ｙ軸のローダ９２とともに移動するため、大きなケーブル９３が設けられる。このため、移送装置９０は、大型化する。また、Ｘ軸におけるワークの移送距離を延長する場合、ボールねじまたはハウジングを取り替える必要があり、多大なコストと工数を要する。
そこで、本実施形態の移送装置１は、小型化可能で、ワークの移送距離を容易に延長可能にする。 As shown in FIG. 8, the transfer device 90 of the comparative example includes an X-axis loader 91 and a Y-axis loader 92 that transfer a work.
Conventionally, the transfer device 90 has a structure in which the Y-axis loader 92 is placed on the X-axis loader 91. A large cable 93 is provided for the motor that moves the Y-axis loader 92, because the motor moves along with the Y-axis loader 92. Therefore, the transfer device 90 becomes large. Further, when extending the work transfer distance on the X-axis, it is necessary to replace the ball screw or the housing, which requires a great deal of cost and man-hours.
Therefore, the transfer device 1 of the present embodiment can be downsized, and the transfer distance of the work can be easily extended.

（効果）
［１］本実施形態の移送装置１では、第１モータ１０１および第２モータ１０２の回転とともに第１ベルト１１１および第２ベルト１１２が回転することで、ワーク２がＸ軸へ移送される。また、移送装置１では、板状部材間距離Ｌｂが変化したとき、支持板１７０が第１棒状部材１６１および第２棒状部材１６２を固定する力を用いて、ワーク２がＺ軸へ移送される。第１モータ１０１および第２モータ１０２が移動をする必要がなく、第１モータ１０１および第２モータ１０２が回転するのみで、Ｘ軸およびＺ軸の２軸方向にワーク２が移送される。このため、比較的大きなケーブルを設ける必要がなく、移送装置１は小型化可能である。 (effect)
[1] In the transfer device 1 of the present embodiment, the work 2 is transferred to the X-axis by the rotation of the first motor 101 and the second motor 102 and the rotation of the first belt 111 and the second belt 112. Further, in the transfer device 1, when the distance Lb between the plate-shaped members changes, the work 2 is transferred to the Z axis by using the force of the support plate 170 fixing the first rod-shaped member 161 and the second rod-shaped member 162. . It is not necessary for the first motor 101 and the second motor 102 to move, and the work 2 is transferred in the biaxial directions of the X axis and the Z axis only by rotating the first motor 101 and the second motor 102. Therefore, it is not necessary to provide a relatively large cable, and the transfer device 1 can be downsized.

本実施形態の移送装置１では、第１ベルト１１１および第２ベルト１１２を用いている。第１ベルト１１１および第２ベルト１１２の長さを変更するのみで、Ｘ軸のワーク２の移送距離を容易に変更し、延長可能である。 The transfer device 1 of the present embodiment uses the first belt 111 and the second belt 112. Only by changing the lengths of the first belt 111 and the second belt 112, it is possible to easily change and extend the transfer distance of the work 2 on the X axis.

［２］第１案内部材１４１および第２案内部材１４２が設けられることによって、第１板状部材１３１および第２板状部材１３２がＸ軸に沿って移動しやすくなる。
また、第１案内部材１４１は、第１案内部材穴１４３を有し、第２案内部材１４２は、第２案内部材穴１４４を有する。このため、移送装置１が軽量化される。また、複数の第１案内部材穴１４３および第２案内部材穴１４４が円形形状に形成されていることによって、第１案内部材１４１および第２案内部材１４２への応力集中が緩和される。 [2] By providing the first guide member 141 and the second guide member 142, the first plate-shaped member 131 and the second plate-shaped member 132 can easily move along the X axis.
In addition, the first guide member 141 has a first guide member hole 143, and the second guide member 142 has a second guide member hole 144. Therefore, the transfer device 1 is reduced in weight. Moreover, since the plurality of first guide member holes 143 and the plurality of second guide member holes 144 are formed in a circular shape, stress concentration on the first guide member 141 and the second guide member 142 is relieved.

（その他の実施形態）
（ｉ）第１軸を直交座標系のＸＹＺ座標におけるＹ軸とし、第２軸を直交座標系のＸＹＺ座標におけるＺ軸としてもよい。移送装置１では、設置方向の制約を受けにくいため、自由度の高い設置が可能である。
以上、本発明はこのような実施形態に限定されるものではなく、発明の趣旨を逸脱しない範囲において、種々の形態で実施することができる。 (Other embodiments)
(I) The first axis may be the Y axis in the XYZ coordinates of the Cartesian coordinate system, and the second axis may be the Z axis in the XYZ coordinates of the Cartesian coordinate system. In transfer feeder 1, since less susceptible to the installation direction of the constraint, it is possible to highly flexible installation.
As described above, the present invention is not limited to such an embodiment, and can be implemented in various forms without departing from the spirit of the invention.

１・・・移送装置、
２・・・ワーク、
１０１・・・第１モータ、
１０２・・・第２モータ、
１１１・・・第１ベルト、
１１２・・・第２ベルト、
１２１・・・第１回転体、
１２２・・・第２回転体、
１２３・・・第３回転体、
１２４・・・第４回転体、
１３１・・・第１板状部材、
１３２・・・第２板状部材、
１６１・・・第１棒状部材、
１６２・・・第２棒状部材。
１７０・・・支持板。 1 ... Transfer device,
2 ... Work,
101 ... the first motor,
102 ... second motor,
111 ... the first belt,
112 ・・・ Second belt,
121 ... the first rotating body,
122 ... the second rotating body,
123 ... third rotating body,
124 ... Fourth rotating body,
131 ... First plate-shaped member,
132 ... second plate-shaped member,
161 ... A first rod-shaped member,
162 ... A second rod-shaped member.
170 ... Support plate.

Claims

A transfer device (1) for transferring a plate-shaped work (2) in a direction along a horizontal first axis (X 1 , Y 2 ) and a vertical second axis ( Z 2) orthogonal to the first axis. hand,
A first motor (101) rotatable by energization,
A first rotating body (121) connected to the first motor and rotatable with the first motor;
A first belt (111) extending in a direction along the first axis, hung on the first rotating body, and rotatable with the first motor and the first rotating body;
A second rotating body (122), which is hung on the side opposite to the first rotating body and is rotatable with the first belt;
A second motor (102) rotatable by energization,
A third rotating body (123) connected to the second motor and rotatable with the second motor;
A second belt (112) extending in a direction along the first axis, hung on the third rotating body, and rotatable with the second motor and the third rotating body;
A fourth rotating body (124), on which the second belt hangs on the side opposite to the third rotating body, and which is rotatable with the second belt;
A first plate-shaped member (131) that is engaged with the first belt and that moves in a direction along the first axis when the first motor rotates and the first belt rotates;
A second plate-shaped member (132) that is engaged with the second belt, and moves in a direction along the first axis when the second motor rotates and the second belt rotates;
A first rod-shaped member (161) provided on the first plate-shaped member, extending in a direction intersecting the first axis and the second axis, and movable with the first plate-shaped member;
A second rod-shaped member (162) provided on the second plate-shaped member, extending in a direction along the second axis, and movable together with the second plate-shaped member;
The work is fixed to the first rod-shaped member and the second rod-shaped member along a vertical plane, can vacuum- support the work, and can move together with the first plate-shaped member or the second plate-shaped member, A support plate (170) for transferring
Equipped with
When the inter-plate member distance (Lb), which is the distance from the first plate member to the second plate member on the first axis, changes, the first rod-shaped member causes the first shaft and the second member to move. A transfer device that moves in a direction intersecting an axis, the second rod-shaped member moves in a direction along the second axis, and the support plate moves in a direction along the second axis.

A first engagement member (151) provided on the first plate-shaped member, having a first recess (153), and engaging the first rod-shaped member in the first recess;
A second engagement member (152) provided in the second plate-shaped member, having a second recess (154), and engaging the second rod-shaped member in the second recess;
The transfer device according to claim 1, further comprising:

The first recess is formed along the first rod-shaped member,
The transfer device according to claim 2, wherein the second recess is formed along the second rod-shaped member.

When the distance between the plate-shaped member is increased, the transfer device according to any one of claims 1 to 3, wherein the supporting plate is moved downward I along the second axis.

When the plate-like member between the distance becomes smaller, the transfer device according to any one of claims 1 to 3, wherein the supporting plate is moved upward I along the second axis.

A first guide member (141) extending in a direction along the first axis, engaged with the first plate member, and guiding the first plate member;
A second guide member (142) extending in the direction along the first axis, engaged with the second plate-shaped member, and guiding the second plate-shaped member;
Further equipped with,
The first plate-shaped member is movable along the first guide member,
The transfer device according to claim 1, wherein the second plate-shaped member is movable along the second guide member.

The transfer device according to claim 6, wherein the first guide member and the second guide member have a plurality of holes (143, 144).