JPH05245722A - Workpiece conveyor apparatus - Google Patents

Abstract

PURPOSE:To eliminate the time loss and enhance the working efficiency by enabling holding of a workpiece and release of a mounted condition thereof by a workpiece holding member which makes up-and-down movements by describing a cycloid curve while being moved continuously. CONSTITUTION:A workpiece holding member 11 provided on a rotary head 15 makes its revolving movement while it is being moved by a moving member. During this revolving movement, the cyclic period of from a lowermost lowered position to this lowermost lowered position of the rotary head 15 is controlled by a control section SL, by which holding and release of a workpiece are performed by the workpiece holding member 11 making up-and-down movements by describing a cycloid curve. If, in this case, the rotary head 15 is rotated through an angle of, for example, 90 deg., selection of each workpiece holding member 11 becomes possible. Further, if the work holding member 11 kept holding the workpiece is rotated about its own axis, it becomes possible to correct the workpiece to a proper direction, thereby keeping the workpiece to be at a proper posture.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work transfer device capable of holding and releasing works of various sizes while rotating.

[0002]

2. Description of the Related Art Conventionally, as a device for conveying a held work and releasing the work held at a predetermined position, for example, a device described in Japanese Patent Application Laid-Open No. 62-114290 is known.

That is, a vertically movable suction head arranged on the periphery of a rotatable table is lowered at the position of the suction station after the table is stopped, and workpieces such as chips are sucked and then raised again. Next, the table is rotated by a predetermined amount, the suction head holding the work is conveyed to the mounting station and stopped, and the suction head is lowered again to repeat the mounting movement for mounting on the printed board.

[0004]

As described above, in the conventional means, the table is stopped because the intermittent motion of temporarily stopping the rotation of the table is repeated when the work is sucked by the suction head and when the suction is released. While working, it is not desirable in terms of work efficiency because it leads to loss of time, and there is a problem that the work is limited to the same size.

This problem can be solved by replacing the suction head, but it cannot be dealt with when a large work and a small work are mixed. Further, if the work is adsorbed in the misaligned state, the holding is released in the misaligned state, and there is a problem that the work cannot be placed in the correct direction.

Therefore, it is an object of the present invention to provide a work transfer device capable of quickly responding to various sizes of works and placing the works in the correct orientation.

[0007]

In order to achieve the above object, according to the present invention, a movable member movable along a guide member, and a rotary member attached to the movable member and having its mounting shaft portion as a center. Rotatable head, a plurality of work holding members provided on the rotary head and extending in a radial direction, a rotary head drive mechanism for giving a rotary motion to the head about an axis of the rotary head, and the work holding A work holding member drive mechanism that causes the holding member to rotate about the axis of the member, a rotary head control mechanism that causes the rotary head to perform a turning motion with the work holding member always facing downward, and the rotary head. And a control unit for controlling the cycle of the lowest position of turning and the time of holding and releasing the work by the work holding member at the time of the lowest position.

[0008]

According to such a transporting device, the work holding member provided on the rotary head turns while moving by the moving member. During this turning motion, the work holding member can hold and release the work by controlling the cycle of the rotary head from the lowest position to the lowest position by the control unit. In this case, each work holding member can be selected by rotating the rotary head by 90 degrees, for example. Further, if the work holding member holding the work is rotated, the work can be corrected in the correct direction, and the work can be placed in the correct direction.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings of FIGS.

In FIG. 1, reference numeral 1 denotes a moving member of a carrying device 5 which is controlled to be pulled by a chain 3 and is arranged at a predetermined interval.

The moving member 1 is formed in a plate shape and is mounted and supported movably along the upper and lower guide rails 9 and 9 which are long in the front and rear direction via a roller 7, and the moving member 1 has a work holding member. A rotary head 15 having 11 is mounted.

The work holding member 11 is of a suction nozzle type having a different thickness, is provided at four positions at intervals of 90 degrees in the radial direction, and has the same posture by a rotary head control mechanism 19 described later. The turning motion is given as it is.

The work holding member 11 communicates with the vacuum pump 21 via a pipe 23 as shown in FIG.
By controlling opening / closing of the opening / closing valve 25 provided in the work holding member 11, suction and release of suction can be performed by the vacuum pressure of the work holding member 11.

The pipe 23 can be moved together with the moving member 1 together with the opening / closing valve 25, and one end of the pipe 23 has a communicating hole 2 of the disk body 27 which contacts the back side of the rotary head 15.
9 is connected. The communication hole 29 is a passage provided on the side of the work holding member 11 when the rotary head 15 is rotated 90 degrees, for example, when the disk body 27 is biased by a biasing means such as a spring 30. It is provided at a position that always faces 31.

The rotary head control mechanism 19 includes a sleeve shaft 3
3, the first shaft 37 and the second shaft 3 that revolve around the sleeve shaft 33 by the link 35.
9, having a third shaft 41. The first shaft 37 serves as a conduction system of the work holding member drive mechanism 42 and is rotatably arranged inside the second shaft 39. One end of the first shaft 37 is connected to the work holding member drive pulley 43 and the other end thereof is connected to the other end. The side gears 45 are mounted respectively, and the side gears 45 are meshed with the pinion gears 47 mounted on the base of the work holding member 11.

Therefore, the work holding member drive pulley 4
3, the work holding member 11 rotates about its axis through the side gear 45 and the pinion gear 47 to correct the θ angle of the work holding member 11, as shown in FIG. The suction posture of the work P in the correct direction with respect to the reference line W is secured.

The second shaft 39 serves as a conduction system for the rotary head drive mechanism 49 and is rotatably arranged inside the third shaft 41. The rotary head 15 is provided at one end and the rotary head 15 is provided at the other end. The rotary head drive pulleys 51 are mounted respectively. Therefore, when the rotary power is input to the rotary head drive pulley 51, the rotary head 15 rotates about its axis, and the work holding members 11 at four positions can be selected.

The third shaft 41 is the rotary head control mechanism 19 described above.
The link 35 is fitted and fixed to one end.

The body of the disk 27 is rotatably mounted on the other side of the third shaft 41, and a pulley 53 is provided on the body of the disk 27. The pulley 53 is secured in a conductive state through a belt 59 and a final pulley 57 fixed to a central fixed shaft 55 penetrating the sleeve shaft 33. The other of the fixed shafts 55 is fixedly supported by a bracket 61 extended from the moving member 1.

The work holding member drive pulley 43 and the rotary head drive pulley 51 are the final pulley 63, which constitutes the second and third conduction paths 70, 71 of the work holding member drive mechanism 42 and the rotary head drive mechanism 49, which will be described later. A conductive state is secured via 65 and the belt 67, respectively. Therefore, when the final pulleys 63 and 65 are stopped, the link 35 is rotated by the power from the first conduction path 69, which will be described later, so that a planetary mechanism in which the rotary head 15 revolves around its own axis is configured.

In this case, each of the pulleys 57, 63, 65 and 43, 51, 53 may be replaced with a belt to have gear conduction, and a planetary gear mechanism by gear conduction may be used.

Incidentally, the rotary head drive pulley 51, the work holding member drive pulley 43, and the pulley 53 of the disc body 27.
And the pulley ratios of the final pulleys 57, 63, 65 are set to have a relationship of 1: 1.

As a result, due to the action of the planetary mechanism, the rotary head 15 can obtain the rotational movement in the same posture with the workpiece holding member 11 for suction operation always facing downward about the sleeve shaft 33. ..

The first conduction path 69 is the power from the first motor M1 mounted on the moving member 1 as shown in FIG.
The power from the rack 73 fixed along the guide rail 9 is a conduction system to which power is simultaneously input via the differential device 75.

The differential device 75 is generally called a harmonic device, and the rack 73 and the transmission gear 79 are engaged with each other to move the motor transmission system for transmitting the power of the first motor M1 to the output pulley 77. When the member 1 moves and the transmission gear 79 rotates by the rack 73, the rack 73 is rotated.
The structure has two transmission mechanisms of a rack transmission system in which the power from is transmitted to the sleeve shaft 33 via the differential device 75.

The output pulley 77 is the differential device 75.
It is mounted on a planetary gear 83 that revolves around the sun gear 81 that constitutes the. The planet gear 83
Engages with a ring gear 84 fixed integrally with the transmission gear 79.

Therefore, when the first motor M1 is off, the moving member 1 moves in the direction of the arrow (direction (a) in FIG. 3) so that the transmission gear 79 rotates while meshing with the rack 73. It is transmitted to the sleeve shaft 33 as a counterclockwise rotational power via the device 75. As a result, the work holding member 11 of the rotary head 15 draws the cycloid curve N shown in FIG.

On the other hand, during the pickup movement, the first
By rotating the output pulley 77 in the same direction as the moving direction of the moving member 1 by controlling the operation of the motor M1, the cycle of the pickup movement can be lengthened or shortened.

To explain this point more concretely, when the output pulley 77 is stopped and the transmission gear 79 makes one rotation, its rotation is in the opposite direction to the sun gear 81 via the planetary gear 83. Is transmitted as a rotation of. At this time, by controlling the operation of the first motor M1 of the planetary gear 83 in the same direction as the rotation of the transmission gear 79, the work holding member 11 can move the one cycle L corresponding to the gear ratio of the transmission gear 79 as shown in FIG. The pickup motion that draws the cycloid curve N of is obtained. In this pick-up movement, the rotation ratio is set so that the speed of the tip of the work holding member 11 due to the movement of the moving member 1 in the direction of arrow A and the speed of the tip of the work holding member 11 coincide with each other. No. 11 has a ground speed close to zero, which enables the suction operation without any trouble. Therefore, by controlling the revolution of the planetary gear 83 by the first motor M1, the cycle L of the cycloid curve N can be lengthened or shortened.

In this case, the rotation control of the planetary gear 83 is further developed so that the revolution of the planetary gear 83 is synchronized with the rotation of the transmission gear 79, so that the rotary head 15 does not rotate.
For example, it becomes possible to perform movement in the same posture at the highest position.

The second conduction path 70 corrects the θ angle of the work holding member 11 in which the power of the second motor M2 supported by the moving member 1 is input to the work holding member drive pulley 43 via the input pulley 85. It is a conduction system for. The input pulley 85 is fixed to the body portion of the final pulley 65, which serves as the fourth shaft, and the conduction state is secured via the motor pulley 87 of the second motor M2 and the conduction belt.

The third conduction path 71 is used for selecting the work holding member 11 in which the power of the third motor M3 supported by the moving member 1 is input to the rotary head drive pulley 51 via the input pulley 89. It is a conduction system. Input pulley 8
9 is fixed to the sleeve shaft 91 of the final pulley 63, which is the third shaft, and is conducted to the motor pulley 92 of the third motor M3 via the conduction belt.

Therefore, the work holding member 11 can be selected by rotating the rotary head 15 by about 90 degrees by controlling the operation of the third motor M3.

On the other hand, SL in FIG. 1 indicates a control unit. Various information such as a visual sensor such as an image recognition device for confirming the holding state of the work or a moving distance sensor is input to the control section SL, and a command signal is output from the output side based on the input information. However, it has a function of controlling the opening / closing time of the opening / closing valve 25 and the on / off times of the first to third motors M1 ... M3.

Next, the operation will be described.

The work holding member 11 facing downward with respect to the movement of the moving member 1 continues to turn while maintaining the same posture. At this time,
The work holding member 1 based on a command signal from the control unit SL
1 moves up and down drawing a cycloid curve N having a long period L from the lowest position to the lowest position. At this time, since the work holding member 11 has a ground speed close to zero at the time of the lowest descent, the work P is adsorbed without any hindrance, and after moving to the installation location along a cycloid locus, the work holding motion is released. Repeat. In this series of operations, if the rotary head 15 is rotated 90 degrees, the work holding member 11 having a thickness corresponding to the work P can be selected. Also,
By rotating the work holding member 11 on its own axis, the work P can be placed in the correct direction and the work holding member 1
No. 1 does not cause a loss time because the operation is performed while continuously moving.

Further, by controlling the length of the cycle L of the cycloid curve N, the work can be correctly placed at the supply place of the assembly line.

Although the suction nozzle type means is used for holding the work in these series of embodiments, the invention is not limited to this means, and other means such as an electromagnet or a chuck can be used. Is.

[0039]

As described above, according to the work transfer device of the present invention, it is possible to easily select the work holding member corresponding to the size of the work. In addition, the work can be placed in the correct direction, and the work holding member that moves up and down while drawing a cycloid curve while continuously moving can hold the work and release the work, eliminating loss time and improving work efficiency. Can be achieved.

[Brief description of drawings]

FIG. 1 is a schematic side view of a work transfer device according to the present invention.

FIG. 2 is a schematic side view similar to FIG. 1 in which the rotary head is rotated 90 degrees.

FIG. 3 is a schematic sectional view of FIG.

FIG. 4 is a schematic side view of the entire work transfer device.

FIG. 5 is an explanatory diagram illustrating a cycloid curve.

FIG. 6 is a schematic plan view showing a mounting state of a rotary head.

[Explanation of symbols]

 1 moving member 9 guide rail (guide member) 11 work holding member 15 rotary head 19 rotary head control mechanism 33 sleeve shaft (mounting shaft portion) 42 work holding member drive mechanism 49 rotary head drive mechanism P work SL control unit

Front page continued (72) Inventor Tadashi Munakata No. 1 in Toshiba Fuchu factory, Fuchu-shi, Tokyo (72) Inventor Yoshinobu Ishikawa No. 1 Toshiba-cho, Fuchu city, Tokyo Inside Fuchu factory, Toshiba (72) Inventor Takatomo Izume 2121 Nawao, Asahi-machi, Mie-gun, Mie Prefecture

Claims (1)

[Claims] 1. A movable member movable along a guide member, a rotary head mounted on the movable member and rotatable about its mounting shaft, and a plurality of radial members provided on the rotary head and extended in a radial direction. A work holding member, a rotary head drive mechanism that gives a rotary motion to the head about the axis of the rotary head, and a work holding member that gives a rotation to the holding member about the axis of the work holding member. A drive mechanism, a rotary head control mechanism that gives a swivel motion to the rotary head in a state where the work holding member is always facing downward, a cycle of a swivel lowermost position of the rotary head, and a work holding member holding the work at the time of the lowermost And a work transfer device including a control unit that controls when the work is released.