JPH0630851B2 - Transfer device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer device for transferring an article from one place to another along an arc, and more particularly, an article transfer arm is moved to transfer the article. Transfer device.

[Prior Art] A transfer device for transferring an article by an arm provided with a detaching means such as a vacuum chuck, a magnet chuck, and a mechanical chuck at its tip has a drive mechanism attached to a frame with the arm centering around the base end side. It is adapted to be rotated in a fan shape so as to transfer the article along an arc path.

[Problems to be Solved by the Invention] However, in this type of transfer device, since the transfer path of the article is an arc, the rotation angle of the arm is 180 degrees.
Even if the degree is set, the arm is displaced in the direction orthogonal to the attaching / detaching direction when the article is attached / detached, and the article cannot be supplied / discharged accurately.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a transfer device capable of accurately supplying and discharging an article even though it is an apparatus for transferring an article in an arc shape.

[Means for Solving Problems] According to the present invention, a drive mechanism for moving an arm provided with an article attaching / detaching means at its tip to a state in which the article attaching / detaching means draws an arcuate locus is attached to the movable arm. Is attached to the fixed frame so as to be movable in the Y direction orthogonal to the attachment / detachment direction of the article, and the movable frame is moved with respect to the fixed frame so as to cancel the displacement of the arm of the article with respect to the movable frame in the Y direction when the article is attached / detached. It is provided with a correction mechanism.

[Operation] According to the present invention, when the article is attached or detached, the movement of the arm with respect to the movable frame in the Y direction orthogonal to the article attachment / detachment direction is offset by the movement of the movable frame with respect to the fixed frame due to the operation of the correction mechanism. The article attaching / detaching means can be displaced only in the article attaching / detaching direction, and the article can be accurately supplied and discharged without applying a force in the Y direction to the article.

[Examples] Hereinafter, the present invention will be described in more detail based on the examples shown in the drawings.

In the transfer device shown in FIGS. 1 and 2, pins 2 projecting forward are provided at four positions on the front surface of the fixed frame 1, and long holes 4 elongated in the left-right direction are provided at four positions on the movable frame 3.
Are formed respectively, and the pins 2 are individually passed through the long holes 4, whereby the movable frame 3 is attached to the front surface side of the fixed frame 1 so as to be movable in the left-right direction.

A drive source including a motor 5 and a speed reducer 6 is attached to the movable frame 3 on the rear surface rule, that is, on the fixed frame 1 side, and bosses 7 and 8 are provided on both left and right sides of the drive source.
Is attached in a penetrating state. The output shaft of the drive source penetrates the movable frame 3 and projects forward, and pulleys 9 and 10 having the same diameter are fixed to the projecting portion. The driven shafts 11 and 12 rotatably pass through the bosses 7 and 8, and pulleys 13 and 14 having the same diameter are fixed to the front portions of the driven shafts 11 and 12, respectively. Belts 15 and 16 are wound around the pulleys 9 and 13 and the pulleys 10 and 14, respectively.

Auxiliary arms 17 and 18 are attached to the tips of the driven shafts 11 and 12, respectively.
Of the auxiliary arms 17 and 18 are pivotally attached to the main arm 21 by pins 19 and 20 to form parallel links. Attaching / detaching means 22 such as a vacuum chuck, a magnet chuck, or a mechanical chuck is attached to an extension line of the pins 19 and 20 at the tip of the main arm 21. The driven shafts 11 and 12 are rotated by the forward and reverse rotations of the motor 5, and the auxiliary arms 17 and 18 are rotated.
The pins 19 and 20 are rotated so that the portions of the pins 19 and 20 follow the arcs indicated by reference numerals 23 and 24 in FIG.
1, the attachment point 26 of the attachment / detachment means 22 is moved to a state along an arc indicated by reference numeral 27 in FIG. The article 25 is transferred from the mounting table 28 on the left side to the mounting table 29 on the right side. Since the center 26a of gripping the article 25 by the attaching / detaching means 22 is displaced downward by the distance L from the attachment point 26, the locus drawn by the center 26a of grasping is an arc deviated downward by a distance L from the arc 27. Become.

As described above, the attachment / detachment means 22 is fixed to the main arm 21 on an extension line of the pivot center line 50 connecting the pivot points of the auxiliary arms 17 and 18 and the main arm 21 by the pins 19 and 20. Further, the pivotal center line 50 of the main arm 21 under the condition that the attaching / detaching means 22 attaches / detaches the article 25,
It is set below the extension line connecting the driven shafts 11 and 12, and therefore, the rotation angle of the auxiliary arms 17 and 18 once is slightly larger than 180 degrees.

A position detection mechanism 30 for detecting the position of the attachment / detachment means 22 is provided on the rear end side of the one driven shaft 11. This position detecting mechanism 30 has three cams 32, 33, 34 attached to a shaft 31 of a taper which is integrally formed with the driven shaft 11, and has limit switches 35A, 3A on the outer periphery of the cams 32, 33, 34.
The actuators 5B and 35C are constantly in pressure contact with each other, and the limit switches 35A, 35B and 35C are attached to the support base 36 fixed to the boss 7. The cam 32 and the limit switch 35A are for detecting that the attachment / detachment means 22 is at the transfer start point of the article 25, and when the attachment / detachment means 22 is at the transfer start point, the limit switch 35A is closed. The cam 33 and the limit switch 35B are for detecting that the attachment / detachment means 22 is at the transfer end point of the article 25, and when the attachment / detachment means 22 is at the transfer end point, the limit switch 35B is closed. The cam 34 can stop the attachment point 26 of the main arm 21 at the origin position P1 shown in FIG. 1 by closing the limit switch 35C. Main arm 21 mounting point 2
While 6 is temporarily stopped at the origin position P1, an article loading device (not shown) allows a new article 25 to be loaded on the mounting table 28. Limit switches 35A, 35B, 35C
Is connected to the control circuit of the motor 5 and the attaching / detaching means 22.

On the rear end side of the other driven shaft 12, the movable frame 3 is moved left and right with respect to the fixed frame 1 in the vicinity of the transfer start point and the transfer end point of the article 25 by the attachment / detachment means 22, thereby attaching / detaching means 22. A correction mechanism 40 for correcting the movement locus of the attachment / detachment means 22 is provided so that the attachment point 26 of FIG.

The correction mechanism 40 includes a correction cam 41 fixed to the driven shaft 12 and correction rollers 42 and 43 that come into contact with the outer peripheral surface of the correction cam 41. As shown in FIG. 3, the correction cam 41 has a substantially circular shape, but one of the two facing portions has a protrusion 44, while the other has a recess 45. The correction rollers 42 and 43 are rotatably attached to the fixed frame 1 by support pins 46 and 47, and are provided in a state of abutting on the facing portions of the correction cam 41.

The protrusion amount l1 of the protrusion 44 of the correction cam 41 and the recess amount l2 of the recess 45 are the same as the correction amount l ₀ for vertically moving the attachment point 26 and thus the attachment / detachment means 22. Also, the protrusion 4
4 and the half widths L1 and L2 of the recess 45 correspond to the correction range L ₀ for vertically moving the attachment point 26 and thus the attachment / detachment means 22.

That is, as shown representatively in the vicinity of the transfer end point in FIG. 4, the attachment point 26 has a circular arc 2 in the vicinity of the transfer end point.
Move along 7. In this way, the mounting point 26 is the arc 2
When moving along 7, the attaching / detaching means 22 moves along the same kind of arc, so that the attaching / detaching means 22 moves in the Y direction (horizontal direction) orthogonal to the attaching / detaching direction of the article 25 when the article 25 is attached / detached by the attaching / detaching means 22. To do. In order to remove such a movement component in the Y direction, the locus of the attachment point 26, and thus the locus of the gripping center 26a by the attaching / detaching means 22, is set in the Y direction from point A to point B on the arc 27, that is, In the embodiment, the correction is made along the vertical line 52 perpendicular to the horizontal line 51, and the protrusion amount l1 and the depression amount l2 are the same as the correction amount l _{0 in} FIG. 4, and the half width L
1 and L2 correspond to the correction range L ₀ in FIG.

In FIG. 4, point A is the correction start point by the correction mechanism 40, and point B is the correction end point. Therefore, the main arm 21
Is stopped from moving in the Y direction under the condition that the attachment point 26 moves between the points A and B in FIG.
The article 25 is attached and detached by the item 2.

In the embodiment shown in FIGS. 1 and 2, the horizontal line 51 in FIG. 4 is a line passing through the center 53 of the arc 27, and the point A,
Auxiliary arm 1 so that B is equidistant from the horizontal line 51
The rotation range of 7, 18 and the movement range of the main arm 21 are set. In this way, the auxiliary arm 1 is adjusted so that the intersection C between the arc 27 and the horizontal line 51 is within the correction range L ₀ .
Setting the rotation angles of 7 and 18 is preferable because the correction range L ₀ is wide even though the correction amount l ₀ is small. However, in the present invention, it is not always necessary to set the intersection point C so as to be within the correction range.

In the correction cam 41, when the attaching / detaching means 22 is at the transfer end point (in the state shown by the solid line in FIG. 1), the projection 44 is on the right side and the concave portion 45 is on the left side, and the attaching / detaching means 22 is When it is at the transfer start point (when it is in the state shown by the chain double-dashed line in FIG. 1), the protrusion 44 is leftward and is recessed 45.
Is located on the right side.

Further, one of the auxiliary rollers 42 and 43 is not always necessary. For example, the correction roller 43 is removed, and instead, the correction cam 4 is replaced by a spring 48 shown by a broken line in FIG.
1 may be pressed against the correction roller 42.

In this transfer device, when the attaching / detaching means 22 is on the mounting table 29 side, the auxiliary arms 17, 18 and the main arm 2
1 is moved to the right, and in the movable frame 3, the projection 44 of the correction cam 41 is in contact with the correction roller 42,
Since the correction roller 43 is in contact with the fixed frame 5,
Is displaced to the left. Then, the attaching / detaching means 22 releases the article 25.

When the motor 5 reversely rotates in this state, the driven shafts 11 and 12 reversely rotate to rotate the auxiliary arms 17 and 18 counterclockwise in FIG. 1 and the pins 19 and 20 to the circular arc 2.
3, 24, whereby the main arm 21 pivotally moves counterclockwise in FIG. 1, so that the mounting point 26 is moved along the arc 27 with respect to the movable frame 3 along the Y axis.
It moves to the left in the direction, and the attaching / detaching means 22 moves to the mounting table 28 side.

At this time, when the motor 5 starts reverse rotation, the correction cam 41 is rotated by the driven shaft 12 in the counterclockwise direction in FIG.

Therefore, the correction roller 42 first causes the projection 4 of the correction cam 41 to move.
4, while the correction roller 43 is in contact with the concave portion 45, the correction cam 41 is gradually moved to the right while being sandwiched between the auxiliary rollers 42 and 43. This allows the main arm 2
Since the movable frame 3 moves to the right with respect to the fixed frame 1 so as to cancel the displacement of the movable frame 3 toward the left in the Y direction, the mounting point 26 vertically rises to the point A, and the attachment / detachment is performed. The means 22 also rises vertically and the mounting table 29
25, which is separated from the article 25 transferred to the
Can be discharged stably.

Next, the correction rollers 42 and 43 are connected to the protrusion 44 of the correction cam 41.
When the correction cam 41 moves away from the concave portion 45,
Although it continues to rotate in the same direction in a state of being sandwiched between the two and 43, it does not move in the left-right direction with respect to the correction rollers 42 and 43, so that the movable frame 3 also does not move with respect to the fixed frame 1, and therefore the mounting point 26 Moves along arc 27.

Then, when the attachment point 26 reaches the transfer start point side corresponding to the point A, that is, the point A ′ on the mounting table 28 side, the correction cam 41 rotates about 180 degrees and the correction roller 4 is formed in the recess 45.
Since the correction roller 43 contacts the projection roller 44, the correction cam 41 moves to the right of the correction rollers 42 and 43. As a result, the movable frame 3 of the main arm 21
Since the movable frame 3 moves to the right with respect to the fixed frame 1 so as to cancel the displacement toward the left with respect to, the mounting point 26 vertically descends, and the attaching / detaching means 22 also vertically descend. Therefore, the attachment / detachment means 22 is used for the article 25 on the mounting table 28.
The adsorption article 25 can be stably gripped from above in the vertical direction.

When the attachment / detachment means 22 returns to the transfer start point, the limit switch 34 is closed, so that the reverse rotation of the motor 5 is stopped first and the rotation of the auxiliary arms 17 and 18 is stopped.
Next, the attachment / detachment means 22 adsorbs the article 25 on the mounting table 28, and then the motor 5 starts to rotate in the normal direction. When the attaching / detaching means 22 adsorbs the article 25 on the mounting table 28, since the positions of the attaching / detaching means 22 and the article 25 remain correct, the attaching / detaching means 22 surely adsorbs the article 25 in a stable state.

When the motor 5 rotates in the normal direction, the correction cam 41 rotates in the opposite direction to that described above, so that the correction cam 41 moves leftward with respect to the correction rollers 42 and 43 until the attachment point 26 reaches the point A '. Therefore, the movable frame 3 moves leftward with respect to the fixed frame 1 so as to cancel the displacement of the main arm 21 to the right with respect to the movable frame 3, and the mounting point 26 and the attaching / detaching means 22 rise vertically. Further, until the mounting point 26 reaches from the point A ′ to the point A, the correction cam 41 moves the correction roller 42,
Since it does not move with respect to 43, the attachment point 26 moves along the arc 27. Then, after the attachment point 26 reaches the point A, the correction cam 41 moves leftward with respect to the correction rollers 42 and 43.

As a result, the movable frame 3 moves leftward with respect to the fixed frame 1 so as to offset the displacement of the main arm 21 to the right with respect to the movable frame 3, so that the attachment point 26 and the attaching / detaching means 22 descend vertically. . Therefore, the article 25 transferred to the placing table 28 side by the attaching / detaching means 22 is placed on the placing table 28 in the vertical direction, and the article is stably transferred.

When the attaching / detaching means 22 reaches the transfer end point, the limit switch 35 is closed to stop the normal rotation of the motor 5 first, and then the grasping of the article 25 by the attaching / detaching means 22 is released, and then the motor 5 is rotated again in the reverse direction. To do. Correction cam 41 and correction rollers 42, 43 when the normal rotation of the motor 5 is stopped
The positional relationship is as shown in FIG.

In the above embodiment, the correction cam 41 and the correction rollers 42 and 43 are used as the correction mechanism 40, but the movable frame 3 is moved to the fixed frame 1 from the movable frame 3 by using a cylinder mechanism such as an air cylinder. It may be moved in the vicinity and near the transfer end point. The present invention can also be applied to a transfer device in which the auxiliary arms 17 and 18 are removed and the main arm 21 is rotated in a fan shape.

As described above, in the transfer device according to the present invention, the drive mechanism for moving the arm having the article attaching / detaching means at the tip to the state in which the article attaching / detaching means draws an arcuate locus is attached to the movable frame. The movable frame is attached to the fixed frame so as to be movable in the Y direction orthogonal to the article attachment / detachment direction, and the movable frame is moved with respect to the fixed frame so as to cancel the displacement of the arm with respect to the movable frame in the Y direction when the article is attached / detached. The correction mechanism is provided.

Therefore, it is possible to supply and discharge the article with high accuracy, even though the apparatus transfers the article in an arc shape.

[Brief description of drawings]

1 is a front view showing an embodiment of a transfer device according to the present invention, FIG. 2 is a sectional view taken along line II-II of FIG. 1, FIG. 3 is a sectional view taken along line III-III of FIG. FIG. 4 is an explanatory diagram of the correction operation. 1 ... Fixed frame, 3 ... Movable frame, 5 ... Motor, 6
... reducer, 17, 18 ... auxiliary arm, 21 ... main arm,
22 ... Attachment / detachment means, 25 ... Article, 27 ... Arc, 40 ... Correction mechanism.

Claims (1)

[Claims] 1. A drive mechanism is attached to a movable frame for moving an arm having an article attaching / detaching means at a tip thereof in a state where the article attaching / detaching means draws an arcuate locus, and the movable frame is in a Y direction orthogonal to an attaching / detaching direction of the article. A transfer device provided with a correction mechanism that is movably attached to the fixed frame and that moves the movable frame with respect to the fixed frame so as to cancel the displacement of the arm in the Y direction with respect to the movable frame when the article is attached and detached.