JPH0740266A - Directly acting loader - Google Patents

Abstract

PURPOSE:To eliminate connection of electrical wiring and fluid piping between a moving unit and the outside thereof. CONSTITUTION:A moving unit 2 is movably provided on a traveling rail 1 in the x-axis direction by an x-axis servomotor. A gripper supporting member 15 is movably provided on the moving unit 2 in the z-axis direction by a z-axis servomotor 3, and a hydraulic gripper 18 is rotatably provided on the gripper supporting member 15 by a theta rotational servomotor 16. Electric power supply to the x-axis servomotor is performed by high frequency electromagnetic induction from a high frequency inverter 41 through a first power supplying device 42 in non-contact state. A control signal of the x-axis servomotor is transmitted from an information transmitting part 40 through a first information transmitting device 43 by high frequency electromagnetic induction in the non-contact state. Similarly, power is supplied to the z-axis servomotor 3, the theta rotational servomotor 16 and an oil pressure generating device 20 through a second power supplying device 44, and an information signal is transmitted through a second information transmitting device 45.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a direct drive type loader which grips a work by a gripper and conveys the work along a traveling rail.

[0002]

2. Description of the Related Art Conventionally, as a direct-acting type loader of this type, FIG.
The one shown in 0 is known. A conventional direct-acting loader will be described below with reference to FIG. As shown in FIG. 10, the moving unit 102, which is the main body of the direct-acting loader.
Is the two traveling rails 10 installed in parallel with the x-axis direction.
1 is movably supported and is reciprocated in the x-axis direction by driving an x-axis servomotor (not shown) provided inside the moving unit 102. Further, at the lower end of the moving unit 102, a gripper 118 that is driven by fluid pressure such as hydraulic pressure or air pressure to grip a work is movable in the z-axis direction by a z-axis servo motor 103 and a θ rotation servo motor 116. And rotatably in the θ direction. A power source for supplying electric power to the servo motors 103 and 116, a fluid pressure source for supplying fluid pressure to the gripper 118, and a control device for controlling the servo motors 103 and 116 and the gripper 118 are provided outside the moving unit 102. ing. On the other hand, a cable duct 151 is installed in parallel with each traveling rail 101, and drives various electric wires 155 electrically connected to a power supply and a control device for driving each servo motor 103, 116 and a gripper 118. The fluid pipe 156 connected to the fluid pressure source for performing the operation is placed on the cable duct 151 in a state of being housed in the cable bear 152 in a lump, and supplies power to the servo motors 103 and 116 and transmits information. Also, the fluid pressure is supplied to the gripper 118.

[0003]

However, the above-mentioned conventional direct-acting type loader is connected to various electric wirings connected to the power source and the control device outside the moving unit, and to the fluid pressure source outside the moving unit. Since it is driven through the fluid piping, there are the following problems. (1) Since the moving unit moves along with various electrical wiring and fluid piping, if the length is too long, the weight of the cable bear becomes heavy, and sufficient strength and driving force are required to support and move it. Since it is necessary, the equipment becomes large-scale. (2) Various electric wires and fluid pipes are subjected to bending stress each time the moving unit reciprocates, and the various electric wires and fluid pipes are easily damaged due to fatigue. In particular, high-speed driving of loaders, which has been required in recent years, has increased the frequency of breakage of electrical wiring and fluid piping, and has caused problems of loss due to maintenance and operation stoppage when broken. In order to solve these problems, the use of electrode contact power supply such as a tactor or trolley has been attempted in some cases, but stable power supply or In addition to not being able to transmit information, there was a problem of wear and safety at the contact portion of the electrode.
Further, in particular, if the structure is such that the moving unit is moved using the rack and the pinion mechanism, a plurality of moving units are provided on the same traveling rail, and in principle cooperative control by each moving unit is provided within a range where they do not interfere with each other in operation. It is possible, but in reality, this could not be realized due to problems with wiring and piping to each mobile unit, and problems with the arrangement of cable bears.

Therefore, an object of the present invention is to provide a direct-acting type loader which eliminates electric wiring and fluid piping between the moving unit and the outside thereof, does not require large-scale equipment, and improves reliability. To do. Moreover,
This enables coordinated control by a plurality of mobile units.

[0005]

In order to achieve the above-mentioned object, a direct-acting type loader of the present invention is provided with a moving unit movably provided along a rail, and the moving unit is movable in a direction perpendicular to the rail. And a gripper for gripping a work by a hand portion driven by the supply of pressurized fluid, wherein the moving unit and the gripper are driven by the supply of electric power from the outside and the information signal from the outside is supplied. In a direct drive type loader whose operation is controlled by transmission, a high frequency voltage from a high frequency power source is used to move the mobile unit in order to supply power to a mobile unit moving means for moving the mobile unit. Means for transferring the information signal from the first power supply device and the control information signal generating means to the mobile unit by using high frequency electromagnetic induction. For supplying electric power to the first information transmission device for transmitting to the mobile unit control means for controlling the gripper, the gripper moving means for moving the gripper and the fluid pressure generating device for opening and closing the hand part of the gripper and controlling the operation thereof. A second power feeding device for transmitting a high frequency voltage from the high frequency power source to the gripper moving means and the fluid pressure generating device using high frequency electromagnetic induction; and an information signal from the control information signal generating means, The gripper control means for controlling the driving of the gripper by using high frequency electromagnetic induction and the second information transmission device for transmitting to the fluid pressure generating device are provided, and the hand part of the gripper is provided in the fluid pressure generating device. It is characterized by having a holding means for holding the gripped state of the work by

In the first power feeding device, a primary side transmission part in which a winding connected to the high frequency power source is wound in a loop along the rail, and a primary side transmission part is provided so as to face the primary side transmission part. A secondary side transmission unit in which a winding connected to the moving unit moving unit is wound around a core fixed to the moving unit, and the first information transmitting apparatus includes a control information signal generating unit. A primary side transmission part in which a winding connected to the winding part is wound in a loop along the rail, and a core fixed to the mobile unit facing the primary side transmission part, to the mobile unit control means. First information transmission for transmission to a mobile unit control means for controlling the movement of the mobile unit using high-frequency electromagnetic induction or a secondary side transmission unit around which a connected winding is wound. Instead of the device, use an optical pulse signal It is one obtained by the first information transmission device for transmitting to the mobile unit control means for controlling the movement of the mobile unit may be. In this case, the first information transmission device is connected to the control information signal generating means and is fixed, and an electric / optical conversion element for converting an electric signal into an optical signal,
The photoelectric conversion element is fixed to the moving unit and is connected to the moving unit control means, and receives an optical signal emitted from the electric / optical conversion element and converts the optical signal into an electric signal. Further, the second power feeding device is a primary side in which a winding connected to the high frequency power source is wound around a core fixed at a predetermined position corresponding to a working point of the gripper. A winding connected to the gripper moving means and the fluid pressure generating means is wound around a transmission part and a core fixed to the moving unit so as to face the primary side transmission part when the gripper is at a working point. The second information transmission device is configured with a rotated secondary side transmission unit, and the second information transmission device generates the control information signal on a core fixed at a predetermined position corresponding to a work point of the gripper. The gripper control means is attached to a primary side transmission part around which a winding connected to a stage is wound, and a core fixed to the moving unit so as to face the primary side transmission part when the gripper is at a working point. And a secondary side transmission part around which a winding connected to the fluid pressure generating device is wound.

The moving unit moving means includes a servo motor fixed to the moving unit for rotating a pinion gear which is rotatably provided on the moving unit and meshes with a rack arranged in parallel with the rail. In this case, a plurality of moving units may be provided on the same rail. The fluid pressure generator is a hydraulic pressure generator, the gripper is a hydraulic gripper that opens and closes the hand portion by driving a hydraulic cylinder, and the hydraulic pressure generator is connected via the second power supply device. A hydraulic pump driven by the electric power supplied from the high-frequency power source, provided between the hydraulic pump and the hydraulic cylinder, and transmitted from the control information signal generating means via the second information transmission device. A solenoid valve controlled by an information signal, the holding means is a check valve provided between the solenoid valve and the hydraulic cylinder, and the fluid pressure generator is an air pressure generator. In addition, the gripper is a pneumatic gripper that opens the hand portion by supplying pressurized air from the pneumatic pressure generating device. The air pressure generating device is provided between a compressor driven by electric power supplied from the high frequency power source via the second power supply device, and between the compressor and the air pressure gripper, and the second information is provided. An electromagnetic valve controlled by an information signal transmitted from the control information generating means via a transmission device, and the holding means may be a spring biasing the hand portion in a closing direction. Good

[0008]

In the direct-acting type loader of the present invention constructed as described above, when the mobile unit is moved, electric power is transmitted from the high frequency power source to the mobile unit moving means, and the control information signal generating means is transferred to the mobile unit control means. The information signal is transmitted in a contactless manner by using the high-frequency electromagnetic induction by the first power feeding device and the first information transmitting device, respectively. Also, when moving the gripper provided in the moving unit and driving the hand part, transmission of electric power from the high frequency power source to the gripper moving means or the fluid pressure generating means, and the gripper control means or the fluid pressure generating means from the control information signal generating means. The information signal is transmitted to the means in a contactless manner by the second power supply device and the second information transmission device, respectively. Therefore, electrical wiring or fluid piping is not required between the high frequency power supply or control information signal generating means and the moving unit, so that no large-scale equipment for supporting these electrical wiring or fluid piping is required, and electrical wiring is not required. Also, damage due to bending of the fluid piping is prevented. This is the same even when the first information transmission device is configured to transmit an information signal by an optical pulse signal. Further, since the fluid pressure generating device is provided with the holding means for holding the gripped state of the work by the gripper hand portion, power is supplied to the gripper moving means and the fluid pressure generating means during movement of the moving unit. , And the information signal need not be transmitted to the gripper control means or the fluid pressure generation means.

Further, since electric wiring or fluid piping is not required between the high frequency power source or the control information signal generating means and the moving unit, if the moving unit moving means is a rack and a pinion mechanism, the moving unit moving means is provided on the same rail. A plurality of mobile units can be provided, and cooperative control by these mobile units becomes possible.

[0010]

Embodiments of the present invention will now be described with reference to the drawings. (First Embodiment) FIG. 1 is a schematic perspective view of a first embodiment of the direct-acting loader of the present invention. As shown in FIG. 1, a moving unit 2, which is the main body of a direct-acting loader, is slidably supported by two traveling rails 1 installed in parallel with the x-axis direction, and an x-axis moving mechanism described later. Is reciprocated in the x-axis direction. The front of the moving unit 2 has two guide grooves 2
a is formed along the z-axis direction, and a gripper support member 15 is slidably provided in each of the guide grooves 2a. The gripper support member 15 is provided with a ball nut (not shown) to which a ball screw 5 that is rotatably supported by the moving unit 2 and that is rotated by the z-axis servomotor 3 engages. Driving the gripper support member 15 is guided by each guide groove 2a and reciprocated in the z-axis direction. Further, a θ rotation servomotor 16 is fixed to the gripper support member 15, and a hydraulically driven gripper 18 is provided rotatably in the θ direction. The gripper 18 and the θ rotation servomotor 16 are connected to each other through a reduction gear, and by driving the θ rotation servomotor 16, the gripper 18 is rotated in the θ direction. Then, the hydraulic pressure applied to the gripper 18 is supplied from the hydraulic pressure generator 20 provided in the moving unit 2 through a hydraulic pipe. As is clear from the above description, the z-axis servo motor 3 and the θ rotation servo motor 16 constitute the gripper moving means.

The x-axis moving mechanism will be described with reference to FIG. The x-axis moving mechanism moves the moving unit 2 by rotating an x-axis servo motor as moving unit moving means.
FIG. 2 shows two examples of the x-axis moving mechanism, that is, a ball screw mechanism and a rack and pinion mechanism. In addition, in FIG. 2, the moving unit is illustrated in a simplified manner for the sake of clarity. First, in the ball screw mechanism, as shown in FIG. 2A, a ball screw 8 is arranged in parallel with each traveling rail 1 and fixed at one end of the ball screw 8 between the traveling rails 1. The x-axis servomotor 6 ₁ is connected. On the other hand, the moving unit 2 is provided with a ball nut 9 that is screwed into the ball screw 8. This allows
When the x-axis servomotor 6 is driven to rotate the ball screw 8, the moving unit 2 is moved in the x-axis direction. Also,
With the rack and pinion mechanism, as shown in FIG. 2B, the rack 10 is fixed in parallel with each traveling rail 1. On the other hand, the pinion gear 11 that meshes with the rack 10
An x-axis servomotor 6 for rotating the pinion gear 11 is provided in the moving unit 2. This drives the x-axis servomotor 6 to drive the pinion gear 1
When 1 is rotated, the moving unit 2 is moved in the x-axis direction. In this embodiment, this rack and pinion mechanism is used.

Power supply and information signal transmission to the servo motors 3, 6, 16 and the hydraulic pressure generator 20 described above are performed from outside the mobile unit 2 without contacting the mobile unit 2. The means will be described below with reference to FIGS.
Will be mainly described. Electric power is supplied to the x-axis servomotor 6 from a high frequency inverter 41 as a high frequency power source via a first power supply device 42. The first power feeding device 42, as shown in FIG.
Connected to the primary side transmission part 42a, which is a winding wound in a loop shape along the x-axis direction, and a core 4 fixed to the moving unit 2 (see FIG. 1) and loosely fitting the primary side transmission part 41a.
2c and a secondary side transmission part 42b formed of a winding 42d wound around a core 42c so as to face the primary side transmission part 42a. As a result, the high frequency voltage generated by the high frequency inverter 41 is transmitted to the primary side transmission unit 4 of the first power feeding device 42.
When added to 2a, a high frequency voltage is generated in the winding of the secondary transmission unit 42b by electromagnetic coupling according to the winding ratio with the winding of the secondary transmission unit 42b. That is, the high frequency voltage generated by the high frequency inverter 41 is supplied to the secondary side transmission unit 42b in a contactless manner by the high frequency electromagnetic induction. Then, the high-frequency voltage supplied to the secondary side transmission unit 42b is rectified and smoothed by the rectifying / smoothing circuit 46, and then supplied to the x-axis servo motor 6 via the x-axis controller 47 as the moving unit control means. To be done. A part of the DC voltage generated by the rectifying / smoothing circuit 46 is supplied to the information transmission circuit 48 for controlling the driving of the x-axis servomotor 6.

Information for controlling the driving of the x-axis servomotor 6 is transmitted from the information transmitting section 40 as a control information signal generating means through the first information transmitting device 43. The first information transmission device 43 also includes a primary-side transmission unit 43a and a secondary-side transmission unit 43b, which are similar to the first power feeding device 42, and has the above-described principle of power transmission in the first power feeding device 42. According to the same principle, the information signal generated by the information transmission section 40 is transmitted to the information transmission circuit 48 in a contactless manner by high frequency electromagnetic induction. In the information transmission circuit 48, based on the information signal transmitted from the information transmission unit 40 via the first information transmission device 43 in a contactless manner and the signal from the encoder 7 that detects the rotation of the x-axis servomotor 6. , And sends a signal to the x-axis controller 47 to drive the x-axis servomotor 6. On the other hand, z-axis servo motor 3, θ rotation servo motor 1
6, and a hydraulic pressure generator 20 for driving the gripper 18
Also in the case of, similarly to the x-axis servomotor 6, electric power is contactlessly supplied by the second power supply device 44. However,
Since the z-axis servo motor 3, the θ-rotation servo motor 16, and the gripper 18 are not operated during the movement of the moving unit 2, the gripper 18 in the x-axis direction is not operated.
It suffices to supply the electric power only at the work points. Therefore, the primary transmission unit 44a of the second power feeding device 44 is fixed at a predetermined position corresponding to the work point of the gripper 18, and the secondary transmission unit 44b of the second power feeding device 44 is fixed to the mobile unit 2. Has been done. The second power feeding device 44 is
As shown in FIG. 5, the core 44c and the high frequency inverter 41
Primary side transmission section 44a consisting of winding 44d connected to
The secondary side transmission portion 44b, which is also composed of the core 44e and the winding wire 44f, can pass through the portion facing the winding wire 44d in the x-axis direction.

From the primary transmission unit 44a to the secondary transmission unit 44
b is supplied to the winding 44d of the primary side transmission unit 44a.
And the winding 44f of the secondary side transmission unit 44b are located at positions facing each other, and like the first power feeding device 42, the high frequency voltage generated by the high frequency inverter 41 is not generated by the high frequency electromagnetic induction. It is supplied to the secondary side transmission unit 44b by contact. Then, the high frequency voltage supplied to the secondary side transmission unit 44b is rectified and smoothed by the rectifying and smoothing circuit 49, and then,
It is supplied to the z-axis servomotor 3 via the z-axis controller 50, to the θ-rotation servomotor 16 via the θ controller 52, or to the hydraulic pressure generator 20. A part of the DC voltage generated by the rectifying / smoothing circuit 49 is generated by the z-axis servomotor 3, the θ-rotation servomotor 16,
And an information transmission circuit 51 for controlling the drive of the hydraulic pressure generator 20. As is clear from the above description, the z-axis controller 50 and the θ controller 52
And constitute gripper control means. Further, the transmission of information for controlling the drive of the z-axis servomotor 3, the θ-rotation servomotor 16, and the hydraulic pressure generator 20 may be performed at the work point of the gripper 18 similarly to the power supply. Therefore, the z-axis servomotor 6, θ
As for the transmission of information to the rotary servomotor 16 and the hydraulic pressure generator 20, the primary side transmitter 45a is fixed to a predetermined position corresponding to the work point of the gripper 18 and the secondary side, similarly to the second power feeder 44. The information signal from the information transmission unit 40 is transmitted in a contactless manner via the second information transmission device 45 in which the side transmission unit 45b is fixed to the mobile unit. The second information transmission device 45 is similar to the second power feeding device 44 except that the information transmission unit 40 is connected to the primary transmission unit 45a and the information transmission circuit 51 is connected to the secondary transmission unit 45b. Since it has the above configuration, the description thereof will be omitted.

In the information transmission circuit 51, the information signal transmitted from the information transmission section 40 via the second information transmission device 43 in a contactless manner and the signal from the encoder 4 for detecting the rotation of the z-axis servomotor 3. Based on z-axis controller 5
A signal is sent to 0 to drive the z-axis servomotor 3. Similarly, the θ rotation servo motor 16 is driven based on the information signal transmitted from the information transmission unit 40 and the signal from the encoder 17 that detects the rotation of the θ rotation servo motor 16,
Further, the hydraulic pressure generator 20 is driven. Here, the hydraulic pressure generator 20 will be described with reference to FIG. The hydraulic pressure generator 20 pumps the oil in the oil tank 22 by the hydraulic pump 26 by the driving force from the hydraulic pump drive motor 21 to generate the hydraulic pressure, and the hydraulic pressure causes the rod 18b of the hydraulic cylinder 18a of the gripper 18 to move in the direction of the arrow. The work 30 is gripped and released by moving backward and forward in the direction, and has a solenoid valve 23 for switching the moving direction of the rod 18b. Oil tank 22
In order to follow the volume change due to the change of the oil temperature and the volume change accompanying the movement of the rod 18b, the volume change type (or liquid level open type) is used. Further, in the hydraulic pipe that communicates the solenoid valve 23 with the rod advancing side oil chamber of the hydraulic cylinder 18a (the oil chamber on the right side in the drawing), the check valve 24 and the rod 18b for detecting the completion of the advancing movement are detected. A forward pressure switch 25 is provided. On the other hand, in the hydraulic pipe that connects the solenoid valve 23 and the rod retreating side oil chamber of the hydraulic cylinder 18a (oil chamber on the left side in the drawing), a reversing pressure switch 28 for detecting the completion of the retreating movement of the rod 18b. Is provided. Further, a relief valve 27 is provided in the hydraulic pipe that connects the hydraulic pump 26 and the solenoid valve 23. Here, the forward pressure switch 25 and the backward pressure switch 28 can be replaced by proximity switches each using a micro switch or the like.

The information signal transmitted from the information transmission unit 40 through the second information transmission device 45 in a contactless manner is input to the information transmission circuit 51, and based on this information signal, the information transmission circuit 51 causes the solenoid valve to operate. 23, and the confirmation signals of the pressure switches 25 and 28 are fed back to the information transmission section 40 via the second information transmission device 45. When the number of information signal transmission points is small, the information transmission circuit 51
It is possible to perform parallel communication by providing high-frequency electromagnetic couplings corresponding to the number of signal points, instead of serial communication by.
On the other hand, from the high frequency inverter 41 to the second power feeding device 44
The high-frequency voltage supplied contactlessly via is rectified and smoothed by the rectifying and smoothing circuit 49 to be converted into a DC voltage, and then supplied to the hydraulic pump drive motor 21. Next, the operation of the direct drive loader of this embodiment will be described with reference to FIGS. First, the high frequency inverter 4
1 is supplied to the x-axis servomotor 6 contactlessly via the first power supply device 42, and the gripper 18
At a predetermined position corresponding to the work point of, that is, the secondary transmission unit 44b of the second power feeding device 44 is the primary transmission unit 44.
The secondary side transmission unit 4 of the second information transmission device 45 facing the a
The moving unit 2 is moved in the x-axis direction to a position where 5b faces the primary-side transmission portion 45a. At this time, the rotation amount of the x-axis servomotor 6 is determined based on the information signal transmitted from the information transmission unit 40 and the output from the encoder 7 that detects the rotation of the x-axis servomotor 6. Controlled by 47.

When the moving unit 2 reaches the predetermined position, the high frequency voltage generated by the high frequency inverter 41 is contactlessly passed through the second power feeding device 44 without contacting the z axis servo motor 3 and the θ rotation servo motor 16. Supply to
The information signal from the information transmission unit 40 is transferred to the second information transmission device 4
It is transmitted to each servo motor 3, 16 in a contactless manner via 5 to control the rotation of each servo motor 3, 16, and the gripper 18
To a predetermined position. When the gripper 18 is positioned, the high frequency voltage generated by the high frequency inverter 41 is contactlessly supplied to the hydraulic pressure generating device 20 via the second power feeding device 44, and the information signal from the information transmitting unit 40 is changed to the second information signal. The information is transmitted to the hydraulic pressure generation device 20 through the information transmission device 45 in a contactless manner to drive the gripper 18 to grip the work. When gripping the workpiece, the high frequency voltage generated by the high frequency inverter 41 as shown in FIG.
The contactless power is supplied to the rectifying / smoothing circuit 49 via the power feeding device 44, and is converted into a DC voltage by the rectifying / smoothing circuit 49 to drive the hydraulic pump drive motor 21. By driving the hydraulic pump drive motor 21, the oil in the oil tank 22 is moved to the hydraulic pump 2
6, a hydraulic pressure is generated, and then a signal for turning on the rod retreat side valve of the solenoid valve 23 is contactlessly transmitted from the information transmission unit 40 to the information transmission circuit 51 via the second information transmission device 45. Transmitted in. As a result, pressurized oil is supplied to the rod advancing side oil chamber of the hydraulic cylinder 18a, the rod 18a advances, and the gripper 18 grips the work 30. Completion of the movement of the rod 18a to the forward end is performed by checking the signal of the forward pressure switch 25, and this signal is fed back to the information transmission section 40.

After confirming the completion of the movement of the rod 18a to the forward end, when the signal for turning off the solenoid valve 23 is transmitted from the information transmission section 40 to the information transmission circuit 51, the solenoid valve 23 is turned off. The check valve 24 keeps the hydraulic pressure in the hydraulic cylinder 18a. Therefore, the workpiece 3 is gripped by the gripper 18.
Even if the moving unit 2 is moved while holding 0, the work 30 is still held by the gripper 18. The hydraulic pressure generated here can also be used for braking after positioning of the z-axis servo motor (see FIG. 1) and the θ rotation servo motor (see FIG. 1). on the other hand,
In order to release the grip of the work 30 by the gripper 18, after moving the moving unit 2 to a predetermined position and driving the hydraulic pump drive motor 21 again, the rod retreating side valve of the solenoid valve 23 is turned on and the hydraulic pressure is changed. The rod 18b of the cylinder 18a is retracted. Confirmation of the completion of the backward movement of the rod 18b is performed by transmitting a signal from the backward pressure switch 28 from the information transmission circuit 51 to the information transmission section 40 via the second information transmission device 45. When this signal is sent to the information transmission unit 40, the solenoid valve 2
3 is turned off, then the hydraulic pump drive motor 21 is stopped, and the gripping of the work 30 is released.

As described above, the hydraulic pressure generator 20
Since it is installed in the moving unit 2, the hydraulic piping
Piping on unit 2 is enough. Moreover, each power supply device 42, 44
And each information transmission device 43, 45,
Supply of electric power to the motors 3, 6, 16 and the hydraulic pressure generator 20.
By performing contactless control and control transmission, each servo mode
High-frequency invertor of the motor 3, 6, 16 and the hydraulic pressure generator 20.
Electrical wiring that connects the controller 41 and the information transmission unit 40 is required.
No longer needed. As a result, move hydraulic pipes and electric wiring
It is no longer necessary to connect to the outside of
Large-scale equipment for supporting pipes and electric wiring is also required.
Become In addition, hydraulic piping associated with the movement of the moving unit 2
Since there is no bending of the electric wiring, hydraulic piping and electric wiring
It is possible to prevent damage due to fatigue and improve reliability.
You can In particular, the x-axis moving mechanism is shown in FIG.
When configured with a rack and pinion mechanism like this,
A plurality of moving units 2 are provided on the same traveling rail 1,
As long as the movement units do not interfere with each other,
It is possible to perform coordinated control by the g. The example
The shoes are shown in FIG. The one shown in (a) of FIG.
Two traveling units 2 on one traveling rail 1₁Two₂Set up
One mobile unit 2₂Gripper 18₂Work at
31 is gripped and placed on the workbench 35, and it is transferred to the other.
Motion unit 2₁Gripper 18₁Hold it to another place
It is to be transported (delivery work). Shown in Figure 7 (b)
The one shown here is an example when a large work 32 is transported.
One work 32 and three moving units 2
₁Two ₂Two₃Gripper 18₁, 18₂, 18₃Same as
It is sometimes grasped and transported (shared work). in this case
Each mobile unit 2₁Two₂Two₃The green
Top 18₁, 18₂, 18₃Freely set the position in the z direction
Therefore, the gripping part of the work 32 has an inclined surface.
It is especially effective when The one shown in FIG. 7 (c)
Is one mobile unit 2₁Gripper 18₁With hole shape
Hold one of the workpieces 33a formed and
2₂Gripper 18₂Then, the hole of one work 33a
Hold the other work 33b that is fitted to the
To 2₁Two₂To approach one of the workpieces 33a
The other work 33b is fitted (co-production).
Industry). In this way, multiple moving units can be mounted on the same traveling rail 1.
By providing the knit 2, various works can be performed.

On the other hand, as shown in FIG. 2A, when the x-axis moving mechanism is constituted by a ball screw mechanism, only one moving unit 2 can be provided on the same traveling rail 1. Further, although the length may be limited due to the processing limit of the ball screw 8 or vibration at high speed drive may occur, since the drive source of the moving unit 2 is on the fixed side, the first power supply device 42 and the first power supply device 42 The information transmission device 43 becomes unnecessary. In this embodiment, the example in which the hydraulic pressure generator 20 is provided in the moving unit has been described, but the hydraulic pressure generator 20 may be provided in the gripper support member 15. In this case, the first power supply device 42 and the first information transmission device 43
Third power supply device and information transmission device (not shown) similar to
By using, the electric power can be supplied to the hydraulic pressure generator 20 and the control information can be transmitted in a contactless manner. That is,
The primary side transmission part of the third power feeding device connected to the secondary side transmission part 44b of the second power feeding device 44, and the third side transmission part 45b of the second information transmission device 45 connected to the secondary side transmission part 45b. The windings of the primary transmission unit of the information transmission device are wound in the z-axis direction in a loop shape to be supported by the moving unit 2, while each secondary transmission unit is fixed to the gripper support member 15, so that the gripper is supported. In the entire movement stroke of the member 15,
The hydraulic pressure generator 2 of the electric power supplied to the second power supply device 44 and the information signal transmitted to the second information transmission device 45.
The transmission to 0 is performed contactlessly. By providing the hydraulic pressure generator 20 on the gripper support member 15 in this manner, the hydraulic pipe is not bent when the gripper 18 is moved in the z-axis direction, so that the life of the hydraulic pipe can be extended. This is particularly effective when the stroke of the gripper 18 is large.

Further, the hydraulic pressure generator 20 is attached to the gripper 18
It can also be attached together with. By doing so, when the gripper 18 rotates, the hydraulic pressure generator 20 also rotates integrally with the gripper 18, so that the hydraulic pipe is not twisted and the life of the hydraulic pipe can be further improved. In this case, in addition to the above-described third power supply device and information transmission device, further, a rotation-type fourth power supply device and information transmission device that transmits power and information signals in a contactless manner by using high-frequency electromagnetic induction. Gripper 1 (not shown)
By providing the rotary shaft of No. 8, electric power and information signals can be transmitted to the hydraulic pressure generator without contact. The rotary type power supply device and the information transmission device are those in which the secondary side transmission unit is rotatably provided with respect to the primary side transmission unit fixed to the gripper support member 15. (Second Embodiment) In the first embodiment, the high-frequency electromagnetic induction is used for the transmission of the information signal between the information transmission circuit 48 for controlling the drive of the x-axis servomotor 6 and the information transmission section 40. Although an example of the case of performing the above is shown, this embodiment is performed without contact by an optical coupler. Figure 8
FIG. 6 is a perspective view of a main part for explaining a first information transmission device of a second embodiment of the direct-acting loader of the present invention. Note that FIG.
In FIG. 1, the moving unit is shown in a simplified manner for the sake of clarity.

As shown in FIG. 8, the traveling rail 61 includes:
The fixed side light emitting element 63 and the fixed side light receiving element 65 are fixed, and both are connected to the information transmitting section 68.
On the other hand, to the moving unit 62, a moving side light receiving element 64 on which the light emitted from the fixed side light emitting element 63 is incident and a moving side light emitting element 66 on which the light is incident on the fixed side light receiving element 65 are fixed. . A signal for controlling driving of an x-axis servomotor (not shown) is transmitted to each of the moving-side light receiving element 64 and the moving-side light emitting element 66 via an x-axis controller (not shown). It is connected to an information transmission circuit (not shown) similar to the example. The high-frequency voltage generated by the high-frequency inverter 69 is contactlessly supplied to the rectifying / smoothing circuit 67 via the first power supply device 70.
The DC voltage rectified and smoothed by the rectifying / smoothing circuit 67 is supplied to the moving side light receiving element 64 and the moving side light emitting element 66. Here, the light emitting element is an electric / optical conversion element that converts an electric signal into an optical signal, and the light receiving element is a photoelectric conversion element that converts an optical signal into an electric signal. Further, as the fixed side light emitting element 63 and the moving side light emitting element 66, an infrared light emitting diode, a laser diode or the like can be used. The rest of the configuration may be similar to that of the first embodiment, so its explanation is omitted.

Based on the above configuration, the command information and the sequence information for the x-axis servomotor are sent from the information transmission section 68 to the fixed side light emitting element 63, and the fixed side light emitting element 63 is electrically and electrically operated.
The fixed side light emitting element 6 becomes an optical pulse signal by optical conversion.
It is emitted from 3. The optical pulse signal emitted from the fixed side light emitting element 63 enters the moving side light receiving element 64, where it is converted into an electric signal and sent to the information transmission circuit. On the other hand, x
The feedback information of the axis servo motor is sent from the information transmission circuit to the moving side light emitting element 66, and the moving side light emitting element 66 is fed.
Is converted into an optical pulse signal by the electric-to-optical conversion and is emitted from the moving side light emitting element 66. The optical pulse signal emitted from the moving side light emitting element 66 enters the fixed side light receiving element 65,
Here, it is converted into an electric signal and sent to the information transmission section 68. That is, the transmission of the information signal between the information transmission unit 68 and the information transmission circuit is performed by the optical pulse signal without contact. (Third Embodiment) FIG. 9 is a front view showing the configuration of the essential parts of a third embodiment of the linear loader of the present invention. In the above-mentioned embodiment, the example using the hydraulically driven gripper is shown.
A pneumatically driven gripper can be used if the gripping force is small. Therefore, in this embodiment, the pneumatic gripper 83 is used as the gripper for gripping the work 95, and the pneumatic pressure generating device 90 for driving the pneumatic gripper 83 is attached to the moving unit 82. The air pressure generating device 90 includes a compressor 92 that generates air pressure.
And a compressor motor 91 for driving the compressor 92, a regulator 93, and an electromagnetic valve 94. When the electromagnetic valve 94 is opened, pressurized air is supplied to the pneumatic gripper 83 via the air pipe. . on the other hand,
The pneumatic gripper 83 is biased in the direction in which the hand portion 83a is closed by the spring force of the compression spring 83b, and the compressed air is supplied from the pneumatic pressure generating device 90, whereby the compression spring 8 is compressed.
The hand portion 83a is opened against the spring force of 3b. The high-frequency voltage, which is produced by the high-frequency inverter 81 and is contactlessly supplied through the second power feeding device 84, is rectified and smoothed by the rectifying and smoothing circuit 86 and then supplied to the compressor motor 91. The control of the electromagnetic valve 94 is the second
The information signal is transmitted from the information transmission section 80 to the information transmission circuit 87 via the information transmission device 85 in a contactless manner. The rest of the configuration is similar to that of the first embodiment, so its explanation is omitted.

Based on the above construction, when the moving unit 82 is moved to a predetermined position, the compressor motor 91 is driven to generate air pressure in the compressor 92, and the electromagnetic valve 94 is opened to press the air pressure gripper 83. Air is supplied to open the hand portion 83a. In this state, after moving the pneumatic gripper 83 in the z-axis direction to the position of the work 95, the compressor motor 91 is stopped and the pressurized air supplied to the pneumatic gripper 83 is released. The hand portion 83a is closed by the force and the work 95 is gripped. In this way, work 9
Since 5 is gripped by the spring force of the compression spring 83b, even if the moving unit 82 is moved as it is, the work 9
It is possible to keep the state in which 5 is gripped, and the work 95 can be transported. When releasing the gripped work 95, pressurized air may be supplied to the pneumatic gripper 83 again to open the hand portion 83a. In this embodiment, the compression spring 83
Although the example in which the hand portion 83a of the pneumatic gripper 83 is held in the closed state by b is shown, the invention is not limited to this, and a mechanical lock mechanism may be used, or the vacuum pad may be a gripper.

[0025]

Since the present invention is configured as described above, it has the following effects. By having a power supply device that transmits power using high-frequency electromagnetic induction and an information transmission device that transmits information signals, contactless power supply from the high-frequency power source and transmission of information signals from the control information signal generation means Done. As a result, electrical wiring and fluid piping are not required between the high-frequency power source or control information signal generating means and the moving unit, so that large-scale equipment for supporting these electrical wiring and fluid piping is not required, and electrical Damage due to bending of wiring and fluid piping can also be prevented, and reliability is improved. This is the same even when the first information transmission device is configured to transmit an information signal by an optical pulse signal. Further, since the fluid pressure generating device is provided with the holding means for holding the gripped state of the work by the gripper hand portion, power is supplied to the gripper moving means and the fluid pressure generating means during movement of the moving unit. , And the work can be conveyed without transmitting the information signal to the gripper control means or the fluid pressure generation means.

Further, by using the rack and pinion mechanism as the moving unit moving means, there is no need for electrical wiring or fluid piping between the moving unit and the high frequency power supply or control information signal generating means, so the moving unit moving means By using the rack and the pinion mechanism, it is possible to provide a plurality of moving units on the same rail, and it is possible to perform cooperative control by the plurality of moving units.

[Brief description of drawings]

FIG. 1 is a schematic perspective view of a first embodiment of a direct drive loader according to the present invention.

FIG. 2 is an x diagram of a moving unit of the direct drive loader shown in FIG.
An example of the shaft moving mechanism is shown, FIG. 11A is a schematic perspective view when a ball screw mechanism is used, and FIG. 11B is a schematic perspective view when a rack and pinion mechanism is used.

FIG. 3 is a block diagram showing an electrical configuration of the direct drive type loader shown in FIG.

4 is a schematic perspective view of a first power feeding device of the direct drive loader shown in FIG. 1. FIG.

5 is a schematic perspective view of a second power feeding device of the direct drive loader shown in FIG. 1. FIG.

6 is a configuration diagram of a hydraulic pressure generation device of the direct drive type loader shown in FIG.

FIG. 7 is a diagram showing an example of work in the case where a plurality of moving units are provided in the direct drive loader shown in FIG. 1, where FIG. 7 (a) shows a case of performing delivery work, and FIG. In the case of performing work, FIG. 7C shows the case of performing joint work.

FIG. 8 is a perspective view of a main part for explaining a first information transmission device of a second embodiment of the direct-acting loader of the present invention.

FIG. 9 is a front view showing a main part configuration of a third embodiment of the direct-acting loader of the present invention.

FIG. 10 is a schematic perspective view of a conventional direct-acting loader.

[Explanation of symbols]

 1, 61 Traveling rail 2, 62, 82 Moving unit 2a Guide groove 3 z-axis servo motor 4, 7, 17 Encoder 5, 8 Ball screw 6 x-axis servo motor 9 Ball nut 10 Rack 11 Pinion gear 15 Gripper support member 16 θ rotation Servo motor 18 Gripper 18a Hydraulic cylinder 18b Rod 20 Hydraulic generator 21 Hydraulic pump drive motor 22 Oil tank 23 Solenoid valve 24 Check valve 25 Forward pressure switch 26 Hydraulic pump 27 Relief valve 28 Reverse pressure switch 30, 95 Work 40, 68 , 80 information transmission unit 41, 69, 81 high-frequency inverter 42, 70 first power supply device 42a, 43a, 44a, 45a primary side transmission unit 42b, 43b, 44b, 45b secondary side transmission unit 43 first information transmission device Four 4, 84 Second power feeding device 45, 85 Second information transmission device 46, 49, 67, 86 Rectification smoothing circuit 47 x-axis controller 48, 51, 87 Information transmission circuit 50 z-axis controller 52 θ controller 63 Fixed-side light emission Element 64 Moving side light receiving element 65 Fixed side light receiving element 66 Moving side light emitting element 83 Air pressure gripper 83a Hand part 83b Compression spring 90 Air pressure generating device 91 Compressor motor 92 Compressor 93 Regulator 94 Electromagnetic valve

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Hiroshi Hamamoto, No. 2 Kurosaki Shiroishi, Yawatanishi-ku, Kitakyushu, Fukuoka Prefecture Yasukawa Electric Co., Ltd. No. Yaskawa Denki Co., Ltd. (72) Inventor Yoshio Aoyama 1-65, Fukiage-cho, Showa-ku, Nagoya, Aichi Prefecture 2

Claims (9)

[Claims] 1. A moving unit provided so as to be movable along a rail, and a work unit provided on the moving unit so as to be movable in a direction perpendicular to the rail, and gripping a work by a hand unit driven by supply of a pressurized fluid. And a gripper, wherein the moving unit and the gripper are driven by the supply of electric power from the outside and the operation is controlled by the transmission of an information signal from the outside. A first power feeding device for transmitting a high frequency voltage from a high frequency power source to the mobile unit moving means by using high frequency electromagnetic induction for supplying power to the mobile unit moving means, and information from the control information signal generating means. A first information transmission device for transmitting a signal to mobile unit control means for controlling the movement of the mobile unit using high frequency electromagnetic induction. In order to supply electric power to a gripper moving unit that moves the gripper and a fluid pressure generator that opens and closes the hand unit of the gripper and controls the operation of the gripper, the high-frequency voltage from the high-frequency power source is used by high-frequency electromagnetic induction. Second power feeding device for transmitting to the gripper moving means and the fluid pressure generating device, and a gripper control means for controlling the driving of the gripper by using high frequency electromagnetic induction for the information signal from the control information signal generating means. And a second information transmission device for transmitting the fluid pressure to the fluid pressure generating device, wherein the fluid pressure generating device has a holding means for holding a gripped state of the workpiece by the hand portion of the gripper. Direct acting loader. 2. The first power feeding device, wherein a primary side transmission unit in which a winding connected to the high frequency power supply is wound in a loop along the rail, and a primary side transmission unit facing each other. A secondary side transmission unit in which a winding connected to the moving unit moving unit is wound around a core fixed to the moving unit, and the first information transmitting apparatus includes a control information signal generating unit. A primary side transmission part in which a winding connected to the winding part is wound in a loop along the rail, and a core fixed to the mobile unit facing the primary side transmission part, to the mobile unit control means. The direct-acting loader according to claim 1, comprising a secondary side transmission unit around which a connected winding is wound. 3. The movement of the mobile unit using an optical pulse signal in place of the first information transmission device for transmitting to the mobile unit control means for controlling the movement of the mobile unit using high frequency electromagnetic induction. The direct drive type loader according to claim 1, wherein the direct drive loader is a first information transmission device for transmitting to a mobile unit control means to be controlled. 4. The first information transmission device is connected to and fixed to a control information signal generation means, and an electric / optical conversion element for converting an electric signal into an optical signal, and fixed to the mobile unit and at the same time. Connected to the mobile unit control means,
The direct-acting loader according to claim 3, comprising a photoelectric conversion element that receives an optical signal emitted from the electric-optical conversion element and converts the optical signal into an electric signal. 5. The primary power transmitting unit according to claim 2, wherein the second power feeding device includes a core fixed to a predetermined position corresponding to a work point of the gripper, and a winding connected to the high frequency power source, wound around the core. , A winding connected to the gripper moving means and the fluid pressure generating means is wound around a core fixed to the moving unit so as to face the primary side transmission portion when the gripper is at a working point. A second side information transmission device, wherein the second information transmission device has a core fixed at a predetermined position corresponding to a work point of the gripper, and a winding connected to the control information signal generating means. The wound primary side transmission part and the core fixed to the moving unit so as to face the primary side transmission part when the gripper is at a working point, the gripper control means and the fluid pressure generating device. Direct-acting loader according to any one of constituted claims 1 to 4 in the secondary transmission section connected windings are wound. 6. The moving unit moving means is a servomotor fixed to the moving unit for rotating a pinion gear that is rotatably provided on the moving unit and meshes with a rack arranged in parallel with the rail. A direct acting loader according to any one of claims 1 to 5. 7. The direct drive type loader according to claim 6, wherein a plurality of moving units are provided on the same rail. 8. The fluid pressure generator is a hydraulic pressure generator, the gripper is a hydraulic gripper that opens and closes the hand portion by driving a hydraulic cylinder, and the hydraulic pressure generator is the second power supply device. A hydraulic pump driven by electric power supplied from the high-frequency power source via the control unit, and provided between the hydraulic pump and the hydraulic cylinder, and from the control information signal generating means via the second information transmission device. 2. A solenoid valve controlled by a transmitted information signal, wherein the holding means is a check valve provided between the solenoid valve and the hydraulic cylinder.
8. A direct drive type loader according to any one of items 1 to 7. 9. The fluid pressure generating device is an air pressure generating device, and the gripper is a pneumatic gripper that opens the hand portion when pressurized air is supplied from the air pressure generating device, The air pressure generation device is provided between the compressor driven by the electric power supplied from the high frequency power supply via the second power supply device, and between the compressor and the air pressure gripper, and the second information transmission. An electromagnetic valve controlled by an information signal transmitted from the control information generating means via a device, and the holding means is a spring biasing the hand portion in a closing direction. The direct-acting loader according to any one of 7 above.