JP4766221B2 - Panel conveyor - Google Patents

Description

  The present invention relates to a panel transport device that transports a panel formed by a press or the like.

  For example, an automobile panel has a complicated shape, and therefore, the molding process is divided into several stages, and is molded by molds arranged in a straight line. In a transfer press or a tandem press using such a plurality of presses, a panel transport device is provided to sequentially transport members (panels) formed by a certain press to the next press.

    As a panel transfer device for transfer press, a crossbar type transfer device disclosed in Patent Document 1 below has been widely used. This device is provided with a lift beam extending in the line direction so as to be movable up and down in the entire press station. A carrier is suspended on the lift beam so as to be able to reciprocate between stations in the line direction. , A work gripper is attached to the crossbar, and the work material at each station is conveyed simultaneously and intermittently.

Such a crossbar type conveying apparatus has the following features.
(1) A feed motion between mold stations of a forming panel is generated by cam control or motion control by an AC servo motor.
(2) The panel is transported by a combined motion in the feed direction (horizontal direction) and the lift direction (vertical direction), and a vacuum cup attached to a transport tool called a crossbar sucks and transports the panel.
(3) The cross bar between each mold station is connected in both the feed direction and the lift direction, and each cross bar is interlocked to perform exactly the same motion.
(4) The feed arm that generates the feed motion between stations is usually on the front side or the rear side of a series of feed devices consisting of a carriage connected to a crossbar and its coupling mechanism. Generate.

  In addition to the above-described crossbar type transfer device, panel transfer devices described in the following Patent Documents 2 to 4 have been proposed.

  The "transfer feeder" described in Patent Document 2 is provided with a plurality of carriers that are independently driven by a linear motor on a pair of lift beams that are moved up and down by a lifter. Is made possible.

  The “transfer press conveying device” described in Patent Document 3 is provided with a plurality of carriers in a lift beam, and enables the workpiece (panel) to be conveyed at high speed by using the carriers as a drive source.

  The “TRANSPORT AND POSITIONING SYSTEM” described in Patent Document 4 includes a drive device 40 having a lever mechanism 33 having an output unit 35 for driving and positioning the crossbar 32 as shown in FIG. The lever mechanism 33 has a swing arm 34 that forms an output portion 35 at one end, and the output portion 35 is connected to the crossbar 32. The swing arm 34 is connected at two points, a support point 38 and a drive point 43 that are spaced apart from each other. The distance between the support point 38 and the drive point 43 is shorter than the distance between the output unit and the support point. In this figure, 31 is a work gripper attached to the cross bar 32, 42 is a guide rod for connecting the slide block 47 and the drive point 43, 51 is a swing motor for swinging the guide rod 42, and 55 is a slide block. 47 is a linear motion device that moves up and down 47.

  With this configuration, the slide block 47 is moved up and down by the linear motion device 55, and the guide rod 42 is swung by the swing motor 51 to drive and position the tip (drive point 43) of the guide rod 42, and the movement is controlled. The crossbar 32 to which the workpiece gripper 31 is attached is driven and positioned by enlarging the lever ratio.

  However, in the panel transport apparatus described in Patent Documents 1 and 3 described above, (1) each crossbar cannot have a different motion, and (2) the crossbars for all the stations are moved simultaneously, so the servo motor (3) Since the motion curves for each press station are the same, it is necessary to devise the mold shape to avoid interference, and to cope with diversification of plate forming There was a problem that it was difficult. In addition, the linear motor system of Patent Document 2 can increase the feed (feed) speed with a linear motor, but requires a separate lift mechanism, and there is a problem that the entire structure becomes complicated and large. The AC servo system has a problem that high rigidity cannot be obtained due to the serial link.

  Further, in the swing arm method of Patent Document 4, since the panel is transported by the swing arm, it is necessary to increase the length of the arm as the transport distance is longer, and the bending of the arm causes vibration. Moreover, since the panel conveying apparatus of patent document 4 is provided with the slide mechanism driven to a perpendicular direction between press stations, it cannot apply to the multi-slide type transfer press without an upright which installs this. Furthermore, in order to support complicated press molding, in order to swing the workpiece gripper (tilting), it is necessary to separately provide a tilting device on the crossbar, the structure becomes complicated, and the movable part There is a problem in that the weight increases and speeding up becomes more difficult.

  Therefore, in order to solve such problems, the present applicant has applied for a “panel conveying device” in Japanese Patent Application No. 2003-142399. FIG. 12 is a perspective view of the panel transport device. As shown in FIG. 12, the panel transport device 60 is installed between the press stations 59 and 59, and includes a panel gripping portion 62 for gripping the panel, Link mechanism 63 connected to section 62, and connected to a part of link mechanism 63, and incline with respect to the horizontal plane so that the drive region has a high position on the upstream side of the transport line and a low position on the downstream side of the transport line. The first slide 64 that is linearly driven in the direction to be connected, and a part of the link mechanism 63, with respect to the horizontal plane so that the drive region is low on the upstream side of the transport line and high on the downstream side of the transport line Second slide 65 that is linearly driven in a tilting direction, and first slide drive means 66 and second slide drive that drive first slide 64 and second slide 65, respectively. And it means 67, the first slide 64 second slide 65 is configured to move the panel grasp portion 62 by a position change in the panel transportation direction by being driven. Reference numeral 68 denotes a crossbar, and reference numeral 69 denotes a vacuum cup.

  FIG. 13 is a schematic diagram of the panel conveyance device 60 of FIG. As shown in this figure, the link mechanism 63 includes an output member 72 connected to both sides of the work gripping portion 62 (crossbar 68), and a first link 70 and a second link 71 pivotally attached to the output member 72. It has. The first link 70 includes two arms 70a and 70b having the same length, and one end of each of the two arms 70a and 70b is pivotally attached to the output member 72 so as to be rotatable about a horizontal axis. The other end is pivotally attached to the first slide 64 so as to be rotatable about a horizontal axis. The second link 71 is composed of an arm having the same length as the two arms 70a and 70b of the first link 70. One end is pivotally attached to the output member 72 so as to be rotatable around a horizontal axis, and the other end is attached. The second slide 65 is pivotally mounted so as to be rotatable about a horizontal axis.

  According to the panel transport device 60, the entire link mechanism 63 is turned by a combination of the operations of the first slide 64 and the second slide 65, and the panel gripping portion 62 connected to the link mechanism 63 is moved in the panel transport direction. By moving, the panel gripped by the panel gripping portion 62 can be transported from the panel gripping position P to the panel placement position Q in the panel transporting direction X. Moreover, this panel conveyance apparatus 60 can be provided for every press station, and can give a different motion for every press station. Hereinafter, this panel transport device is referred to as a “V-type panel transport device”.

Japanese Patent Laid-Open No. 10-328766 Japanese Patent Publication No.7-73756 Japanese Patent Laid-Open No. 10-328766 US Pat. No. 6,382,400

  By the way, in the V-type panel transport device of the above-mentioned prior application, as schematically shown in FIG. 13, when the cross bar 68 is moved to the vicinity of the panel placement position Q, the first slide 64 and the output member 72 are The two arms 70a and 70b may be close to each other so as to overlap each other when viewed from the conveyance line width direction, or may overlap on the same straight line. In this case, since the link mechanism approaches or enters a mechanical dead center, it may be difficult to control the link mechanism. Further, the two arms may cross over the mechanical dead point, and the link mechanism may be uncontrollable. Contrary to the V-type panel transport apparatus of FIG. 12, when the second link 71 is constituted by two arms, the same phenomenon can occur near the panel gripping position P.

  The present invention has been made to solve such problems. In other words, an object of the present invention is to provide a panel transport device that improves the controllability so that there is no mechanical dead point of the link mechanism at any position of the panel transport operation.

In order to achieve the above object, a panel transport device of the present invention includes a panel gripping part for gripping a panel,
A link mechanism for moving the panel gripping portion in the panel transport direction;
A slide mechanism that operates the link mechanism so as to move the panel gripping part in the panel transport direction;
The slide mechanism includes a first slide mechanism,
A second slide mechanism disposed downstream of the first slide mechanism on the transport line;
The first slide mechanism has a first slide block connected to the link mechanism,
The first slide block is configured to linearly drive in a direction inclined with respect to a horizontal plane so that the first slide block is in a high position on the upstream side of the transport line and in a low position on the downstream side of the transport line,
The second slide mechanism has a second slide block connected to the link mechanism,
The second slide block is configured to linearly drive in a direction inclined with respect to a horizontal plane so that the second slide block is at a low position on the upstream side of the transport line and at a high position on the downstream side of the transport line,
The first slide mechanism and the second slide mechanism intersect on the downward extension lines in the respective slide directions,
The link mechanism includes an output member connected to the panel grip portion;
A first link having two arms, one end pivotally attached to the output member and the other end pivotally attached to the first slide block;
A second link having one end pivotally attached to the output member and the other end pivotally attached to the second slide block;
The first slide block and the second slide block are each linearly driven to move the panel gripping portion in the panel transport direction,
Straight lines passing through the pivot points of the two arms and the first slide block and / or straight lines passing through the pivot points of the two arms and the output member are inclined with respect to a horizontal plane. And
The first slide block consists of two slide blocks,
The first slide mechanism includes two drive means for individually driving the two slide blocks,
The other ends of the two arms are pivotally attached to the two slide blocks, respectively, and the relative position of the two slide blocks is changed to tilt the panel gripping portion connected to the output member. It is characterized (claim 1).

According to the present invention, the first grip block and the second slide block that move in the V-shaped drive region are linearly driven to move the panel gripping portion connected thereto via the link mechanism in the panel transport direction. be able to. Thereby, the panel hold | gripped by the panel holding part can be conveyed in a predetermined | prescribed conveyance direction.
Moreover, the panel conveyance apparatus of this invention can be provided for every press station, and can give a different motion for every press station.
Further, a straight line passing through each pivot point between the two arms and the first slide block and / or a straight line passing through each pivot point between the two arms and the output member is 2 in the form from the conveyance line width direction. Since the two arms are inclined with respect to the horizontal plane so that they can always maintain a state in which they do not interfere with each other, the first link always constitutes a quadrilateral link, and the link mechanism of any position in the panel transport operation The mechanical dead center can be eliminated. Thereby, the effect that controllability can be improved significantly is acquired.

Further, the panel transport device of the present invention includes a panel gripping part for gripping a panel,
A link mechanism for moving the panel gripping portion in the panel transport direction;
A slide mechanism that operates the link mechanism so as to move the panel gripping part in the panel transport direction;
The slide mechanism includes a first slide mechanism,
A second slide mechanism disposed downstream of the first slide mechanism on the transport line;
The first slide mechanism has a first slide block connected to the link mechanism,
The first slide block is configured to linearly drive in a direction inclined with respect to a horizontal plane so that the first slide block is in a high position on the upstream side of the transport line and in a low position on the downstream side of the transport line,
The second slide mechanism has a second slide block connected to the link mechanism,
The second slide block is configured to linearly drive in a direction inclined with respect to a horizontal plane so that the second slide block is at a low position on the upstream side of the transport line and at a high position on the downstream side of the transport line,
The first slide mechanism and the second slide mechanism intersect on the downward extension lines in the respective slide directions,
The link mechanism includes an output member connected to the panel grip portion;
A first link having one end pivotally attached to the output member and the other end pivotally attached to the first slide block;
A second link having two arms, one end pivotally attached to the output member and the other end pivotally attached to the second slide block;
The first slide block and the second slide block are each linearly driven to move the panel gripping portion in the panel transport direction,
Straight lines passing through the pivot points of the two arms and the second slide block and / or straight lines passing through the pivot points of the two arms and the output member are inclined with respect to a horizontal plane. And
The second slide block comprises two slide blocks,
The second slide mechanism includes two drive means for individually driving the two slide blocks,
The other ends of the two arms are pivotally attached to the two slide blocks, respectively, and the relative position of the two slide blocks is changed to tilt the panel gripping portion connected to the output member. It is characterized (claim 2).

According to the present invention, the first grip block and the second slide block that move in the V-shaped drive region are linearly driven to move the panel gripping portion connected thereto via the link mechanism in the panel transport direction. be able to. Thereby, the panel hold | gripped by the panel holding part can be conveyed in a predetermined | prescribed conveyance direction.
Moreover, the panel conveyance apparatus of this invention can be provided for every press station, and can give a different motion for every press station.
In addition, a straight line passing through each pivot point between the two arms and the second slide block and / or a straight line passing through each pivot point between the two arms and the output member is 2 in the form from the conveyance line width direction. Since the two arms are inclined with respect to the horizontal plane so that they can always maintain a state in which they do not interfere with each other, the second link always forms a quadrilateral link, so that the link mechanism The mechanical dead center can be eliminated. Thereby, the effect that controllability can be improved significantly is acquired.

Moreover, in the said panel conveying apparatus, it is preferable that a pair of said link mechanism and a slide mechanism are provided symmetrically with respect to both sides of the said panel holding part (Claim 3) .
With this configuration, the panel can be transported stably.

  As described above, according to the present invention, the mechanical dead center of the link mechanism can be eliminated and the controllability can be improved at any position of the panel transport operation.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail based on the accompanying drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

    1 and 2 are diagrams showing a panel transport apparatus according to a first embodiment of the present invention. FIG. 1 is a perspective view of a panel transport apparatus 10. FIG. 2 is a panel transport apparatus 10 of FIG. It is a block diagram which shows the form from the conveyance line width direction inner side. In this figure, for convenience of explanation, two upstream and downstream press stations 14 and the panel conveying apparatus 10 of the present invention provided between them are shown. In an actual machine, usually, about 2 to 5 press stations are provided. In this specification, “upstream side” and “downstream side” mean the upstream side and the downstream side of the transport line, respectively.

  As shown in FIGS. 1 and 2, the panel transport device 10 receives the formed material (panel) from the upstream press station 14 and transports the material (panel) to the downstream press station 14. It is installed between. Moreover, the panel conveying apparatus 10 attaches the both ends to the arm provided in the upstream and downstream press station 14 or the press stand which is not shown in figure, or it is made to hang from a ceiling, between press stations 14 and 14. Installed.

  The panel transport device 10 includes a panel grip 15, a pair of link mechanisms 6 that are symmetrically connected to both sides of the panel grip 15, and a slide mechanism 13 that gives the link mechanism 6 a predetermined operation, These operate symmetrically to move the panel gripping portion 15 in the feed direction and the up-down direction, and sequentially convey the panel 1 to the next press station.

  The panel gripping portion 15 includes a work gripping tool 2 such as a vacuum cup that sucks the panel (work 1), and a cross bar 3 to which the work gripping tool 2 is attached and extends in a direction perpendicular to the transport line. Link mechanisms 6 are connected to both ends of the bar 3.

  The slide mechanism 13 includes a first slide mechanism 11 having a first slide block 4 and a second slide mechanism 12 having a second slide block 5. The first slide mechanism 11 and the second slide mechanism 12 are attached to a V-shaped base member 16. The two slide mechanisms 11 and 12 are each provided with a linear actuator having the same length, and by driving the linear actuator, the first slide block 4 and the second slide block 5 are linearly driven, In addition, accurate positioning can be achieved by numerical control or the like. Reference numeral 17 denotes a drive motor for a linear actuator. In the present embodiment, the linear actuator is a ball screw and a ball nut, but the present invention is not limited to this, and may be a timing belt, a hydraulic cylinder, a rack and pinion, a linear motor, or the like.

  The first slide mechanism 11 linearly drives the first slide block 4 in a direction inclined with respect to the horizontal plane so that the first slide block 4 is located at a high position on the upstream side of the conveyance line and a low position on the downstream side of the conveyance line. It has become. Further, the second slide mechanism 12 linearly drives the second slide block 5 in a direction inclined with respect to the horizontal plane so that the second slide block 5 is in a low position on the upstream side of the conveyance line and in a high position on the downstream side in the drive region. It has become. The second slide mechanism 12 is disposed downstream of the first slide mechanism 11 on the transport line, and is provided symmetrically about the axis Y perpendicular to the horizontal plane with respect to the first slide mechanism 11.

  The two slide mechanisms 11 and 12 intersect with each other in a downward extension line in the slide direction, and an angle θ formed between them is set to 60 °. Note that the angle θ formed is determined individually for each press device according to the interval between the press stations 14, that is, the transport distance of the panel 1, and is not limited to the above angle.

  FIG. 3 is a schematic diagram of the panel transport apparatus 10 of FIGS. 1 and 2. As shown in this figure, the link mechanism 6 includes an output member 19 connected to both sides of the work gripping portion 15 (crossbar 3), and a first link 7 and a second link 8 pivotally attached to the output member 19. It has.

  The first link 7 includes two arms 7a and 7b having the same length, and one end of each of the two arms 7a and 7b is pivotally attached to the output member 19 so as to be rotatable about a horizontal axis ( The pivot points are a1 and a2 from the left, respectively, and the other ends are pivotally mounted on the first slide block 4 so as to be rotatable about the horizontal axis (the pivot points are a3 and a4 respectively from the left). And). The second link 8 is composed of arms having the same length as the two arms 7a and 7b of the first link 7, and one end of the second link 8 is pivotally attached to the output member 19 so as to be rotatable about a horizontal axis (this pivot point is defined as b1), and the other end is pivotally attached to the second slide block 5 so as to be rotatable about a horizontal axis (this pivot point is designated b2). In addition, in this figure, although the pivot point a2 and the pivot point b1 are arrange | positioned coaxially, it does not necessarily need to be coaxial.

  A straight line passing through the pivot points a1 and a2 and a straight line passing through the pivot points a3 and a4 are inclined with respect to the horizontal plane. This inclination angle α is set to such an angle that the two arms 7a and 7b can always maintain a state in which they do not interfere with each other when viewed from the panel transport direction. This “non-interference state” refers to a state in which the two arms 7a and 7b do not overlap or intersect with each other. In the present embodiment, the angle α is set to 25 degrees, but is not limited to this angle, and is set individually depending on the length of the arm of the link mechanism 6. As a result, as shown in FIG. 4, even when the output member 19 is approximately the same height as the first slide block 4 near the panel placement position, the first link always forms a quadrilateral link. . Therefore, since the mechanical dead center of the link mechanism 6 can be eliminated at any position of the panel transport operation, the controllability can be greatly improved.

  The distance L1 between the pivot points a1 and a2 is the same length as the distance L2 between the pivot points a3 and a4. With this configuration, since the two arms 7a and 7b are maintained in parallel, the output member 19 can always be held at a predetermined angle with respect to the horizontal plane. On the other hand, the workpiece gripping portion 15 is attached to the output member 19 so as to be able to grip the panel 1 horizontally. As a result, the parallel links a1, a2, a4, a3 are configured, and even when the position of the output member 19 changes, it can be positioned horizontally, and the workpiece gripping portion 15 (crossbar 3 attached thereto) ) Can be held horizontally without tilting.

  5 and 6 are explanatory views of the panel transport operation of the panel transport apparatus according to the first embodiment of the present invention. In this figure, P is the panel gripping position of the upstream press station, and Q is the downstream panel mounting position.

  FIG. 5A shows a position where the panel of the upstream press station is gripped. From this position, the first slide block 4 and the second slide block 5 are linearly driven obliquely upward at a predetermined speed, and the position of the output member 19 is raised to the position shown in FIG.

  From the position of FIG. 5B, the first slide block 4 and the second slide block 5 are linearly driven obliquely upward at a predetermined speed, respectively, so that the entire link mechanism 6 is moved in the panel transport direction while turning. The output member 19 attached to the tip of the link mechanism 6 is set to the position of FIG. At this time, the slide blocks 4 and 5 are controlled so that the output member 19 moves in a substantially straight line from the position of FIG. After that, when the first slide block 4 is driven slightly diagonally downward and the second slide block 5 is driven diagonally upward, the link mechanism 6 further moves in the panel transport direction while turning further, as shown in FIG. In addition, the output member 19 moves near the lowest point of the first slide mechanism 11 and the second slide mechanism 12.

  Further, the first slide block 4 is driven obliquely downward and the second slide block 5 is driven obliquely upward, whereby the output member 19 is linearly moved in the panel transport direction to the position shown in FIG. . Thereafter, the first slide block 4 and the second slide block 5 are each driven obliquely downward at a predetermined speed to the position shown in FIG. 6 (F), from which the slide blocks 4, 5 are further driven obliquely downward, The panel placement position in FIG.

  FIG. 7 is a diagram illustrating a motion curve of the panel conveyance device 10 of FIG. As shown in this figure, the material (panel) molded in the upstream press station is gripped by the work gripping tool (not shown) attached to the output member 19 and lifted by the above-described operations of FIGS. The sheet can be conveyed in the feeding direction and lowered at the downstream press station to position the panel at the molding position on the mold. Thereafter, the panel is left in the downstream press station, the output member is returned to a predetermined standby position, and molding is performed at each press station.

  According to the first embodiment of the present invention, the first slide block 4 and the second slide block 5 are linearly driven in a predetermined direction at a predetermined speed, respectively. The link mechanism 6 can be turned, and the workpiece gripping part 15 attached to the output member 19 connected to the tip of the link mechanism 6 can be moved in the panel transport direction. Therefore, there is no need to provide a driving device in the movable part, the movable part can be reduced in size and weight, the rigidity of the movable part can be increased, and bending and vibration can be suppressed. Moreover, this panel conveyance apparatus can be provided for every press station, and can give a different motion for every press station. Further, the first link always forms a quadrilateral link, and the mechanical dead center of the link mechanism can be eliminated at any position of the panel transport operation. Thereby, the effect that controllability can be improved significantly is acquired.

  In the first embodiment, the case where the first link 7 forms a parallel link has been described. However, the present invention is not limited to this, and the second link 8 forms a parallel link so that the workpiece gripping portion 15 is horizontally disposed. You may make it hold | maintain. Further, depending on the shape of the output member 19 and how the crossbar 3 is attached, it is not always necessary to form a parallel link. In this case, a straight line passing through the pivot points a1 and a2 and a straight line passing through the pivot points a3 and a4. Any one of them may be inclined with respect to the horizontal plane at such an angle that the two arms 7a and 7b can maintain a state in which they do not interfere with each other when viewed from the panel transport direction.

  Next, a panel transport apparatus according to a second embodiment of the present invention will be described. FIG. 8 is a configuration diagram of a panel transport apparatus according to the second embodiment of the present invention. In the present embodiment, the first slide block 4 is composed of two independent slide blocks 4a and 4b. One end of each of the two arms 7a and 7b is the output member 19, and the other end of one arm 7a is one. The other end of the other arm 7b is pivotally attached to the other (right side in the figure) slide block 4b so as to be rotatable about a horizontal axis.

  The first slide mechanism 11 includes two independent slide mechanisms 11a and 11b that individually drive the two slide blocks 4a and 4b. The two slide mechanisms 11a and 11b are the same as the first slide mechanism 11 in the first embodiment, but are arranged in parallel while being shifted in parallel with the conveyance line direction.

  FIG. 9 is a schematic diagram of the panel transport device of FIG. The two slide mechanisms 11a and 11b are arranged such that the distance L2 between the pivot points a3 and a4 is the same as the distance L1 between the pivot points a1 and a2, and the pivot points a1, a2, a4, A parallel link is constituted by a3.

  The two slide mechanisms 11a and 11b are arranged so that a straight line passing through the pivot points a1 and a2 and a straight line passing through the pivot points a3 and a4 are inclined at a predetermined angle with respect to the horizontal plane during normal conveyance without tilting operation. Position control of the two slide blocks 4a and 4b is performed. At this time, control is performed so that the angle α is such that the two arms 7a and 7b can maintain a state in which they do not interfere with each other when viewed from the panel transport direction. As a result, as in the first embodiment, even when the output member 19 is in the vicinity of the panel gripping position, the first link always constitutes a quadrilateral link. Therefore, since the mechanical dead center of the link mechanism 6 can be eliminated at any position of the panel transport operation, the controllability can be greatly improved. Other configurations are the same as those of the first embodiment.

  As in the first embodiment, the first link 4 does not necessarily have to be a parallel link depending on the shape of the output member 19 and how the crossbar 3 is attached. In the present embodiment, the case where the first slide block 4 is composed of two slides has been described. On the contrary, the second slide 5 may be composed of two slides. In this case, FIG. What is necessary is just to comprise the structure shown about the axis | shaft Y symmetrically.

  FIG. 10 is an explanatory view of the tilt operation of the panel transport device of FIG. In this figure, FIG. 10B shows a normal position when the tilting operation is not performed, and an angle α is defined between a straight line passing through the pivot points a1 and a2 and a straight line passing through the pivot points a3 and a4 with respect to the horizontal plane. In order to incline, the two slide blocks 4a and 4b are driven so that the pivot point a3 is lower than the pivot point a4. FIG. 10A shows a case where the two slide blocks 4a and 4b are driven so that the pivot point a3 is relatively low and the pivot point a4 is relatively high compared to FIG. 10B. Yes, the output member 19 is tilted via the two arms 7a and 7b by the change in the relative position of the two pivot points a3 and a4. 10C, the two slide blocks 4a and 4b are driven so that the pivot point a3 is relatively high and the pivot point a4 is relatively low compared to FIG. 10B. In this case, the output member is tilted in the direction opposite to that shown in FIG. Note that the relative positions of the pivot points a3 and a4 between the two slide blocks 4a and 4b and the two arms 7a and 7b pivoted to the slide blocks 4a and 4b are normally maintained in the state shown in FIG. Therefore, the panel transport operation is substantially the same as that described in the first embodiment except when the tilt operation described above is performed.

  According to the second embodiment of the present invention, in addition to the effects of the first embodiment, the first slide block 4 is composed of two independent slide books 4a and 4b, and the two slide blocks 4a. 4b is driven by different slide mechanisms 11a and 11b at different heights (relative positions are changed), thereby tilting the output member 19 and tilting the workpiece gripping portion 15 attached thereto ( The effect of being capable of being tilted) is obtained. As a result, the panel can be held / placed at an optimum angle as necessary.

  In addition, this invention is not limited to embodiment mentioned above, Of course, it can change variously in the range which does not deviate from the summary of this invention.

It is a perspective view which shows the 1st Embodiment of this invention. It is a block diagram which shows the 1st Embodiment of this invention. It is a schematic diagram which shows the 1st Embodiment of this invention. It is another schematic diagram which shows the 1st Embodiment of this invention. It is panel transport operation explanatory drawing of the panel transport apparatus by the 1st Embodiment of this invention. It is panel transport operation explanatory drawing of the panel transport apparatus by the 1st Embodiment of this invention. It is a figure which shows the motion curve of the panel conveying apparatus which concerns on this invention. It is a block diagram which shows the 2nd Embodiment of this invention. It is a schematic diagram which shows the 2nd Embodiment of this invention. It is a tilt operation explanatory view of the panel transport device according to the present invention. It is a perspective view of the conventional panel conveying apparatus. It is a block diagram of a V-type panel conveying apparatus. It is a schematic diagram of a V-type panel conveying apparatus. It is another schematic diagram of a V-type panel conveying apparatus.

Explanation of symbols

1 Workpiece (panel)
2 Work gripping tool (vacuum cup)
3 Crossbar 4 First slide block 5 Second slide block 6 Link mechanism 7 First link 8 Second link 10 Panel transport device 11 First slide mechanism 12 Second slide mechanism 13 Slide mechanism 14 Press station 15 Work gripping portion 16 Base Member 17 Drive motor for linear actuator

Claims (3)

A panel gripping part for gripping the panel;
A link mechanism for moving the panel gripping portion in the panel transport direction;
A slide mechanism that operates the link mechanism so as to move the panel gripping part in the panel transport direction;
The slide mechanism includes a first slide mechanism,
A second slide mechanism disposed downstream of the first slide mechanism on the transport line;
The first slide mechanism has a first slide block connected to the link mechanism,
The first slide block is configured to linearly drive in a direction inclined with respect to a horizontal plane so that the first slide block is in a high position on the upstream side of the transport line and in a low position on the downstream side of the transport line,
The second slide mechanism has a second slide block connected to the link mechanism,
The second slide block is configured to linearly drive in a direction inclined with respect to a horizontal plane so that the second slide block is at a low position on the upstream side of the transport line and at a high position on the downstream side of the transport line,
The first slide mechanism and the second slide mechanism intersect on the downward extension lines in the respective slide directions,
The link mechanism includes an output member connected to the panel grip portion;
A first link having two arms, one end pivotally attached to the output member and the other end pivotally attached to the first slide block;
A second link having one end pivotally attached to the output member and the other end pivotally attached to the second slide block;
The first slide block and the second slide block are each linearly driven to move the panel gripping portion in the panel transport direction,
Straight lines passing through the pivot points of the two arms and the first slide block and / or straight lines passing through the pivot points of the two arms and the output member are inclined with respect to a horizontal plane. And
The first slide block consists of two slide blocks,
The first slide mechanism includes two drive means for individually driving the two slide blocks,
The other ends of the two arms are pivotally attached to the two slide blocks, respectively, and the relative position of the two slide blocks is changed to tilt the panel gripping portion connected to the output member. Characteristic panel transport device. A panel gripping part for gripping the panel;
A link mechanism for moving the panel gripping portion in the panel transport direction;
A slide mechanism that operates the link mechanism so as to move the panel gripping part in the panel transport direction;
The slide mechanism includes a first slide mechanism,
A second slide mechanism disposed downstream of the first slide mechanism on the transport line;
The first slide mechanism has a first slide block connected to the link mechanism,
The first slide block is configured to linearly drive in a direction inclined with respect to a horizontal plane so that the first slide block is in a high position on the upstream side of the transport line and in a low position on the downstream side of the transport line,
The second slide mechanism has a second slide block connected to the link mechanism,
The second slide block is configured to linearly drive in a direction inclined with respect to a horizontal plane so that the second slide block is at a low position on the upstream side of the transport line and at a high position on the downstream side of the transport line,
The first slide mechanism and the second slide mechanism intersect on the downward extension lines in the respective slide directions,
The link mechanism includes an output member connected to the panel grip portion;
A first link having one end pivotally attached to the output member and the other end pivotally attached to the first slide block;
A second link having two arms, one end pivotally attached to the output member and the other end pivotally attached to the second slide block;
The first slide block and the second slide block are each linearly driven to move the panel gripping portion in the panel transport direction,
Straight lines passing through the pivot points of the two arms and the second slide block and / or straight lines passing through the pivot points of the two arms and the output member are inclined with respect to a horizontal plane. And
The second slide block comprises two slide blocks,
The second slide mechanism includes two drive means for individually driving the two slide blocks,
The other ends of the two arms are pivotally attached to the two slide blocks, respectively, and the relative position of the two slide blocks is changed to tilt the panel gripping portion connected to the output member. Characteristic panel transport device. 3. The panel transport device according to claim 1 , wherein a pair of the link mechanism and the slide mechanism are provided symmetrically with each other on both sides of the panel grip portion.

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