Load support device, conveyance system, and load support method

Abstract

The jig tray (40) is provided with a guide member (42) (member to be lifted), and the support part (51) (load receiving unit) is provided with a cam follower (53) (lifting member). Furthermore, the cam follower (53) relatively enters the lower side of the guide member (42) from the X direction (entering direction), and abuts against the guide member (42) from the lower side, thereby raising the guide member (42) (steps S102 to S104). Thus, the cam follower (53) of the support part (51) pushes up the guide member (42) of the jig tray (40), thereby supporting the jig tray (40) in a state in which the jig tray (40) is raised relative to the slider table (21) of the slider (2).

Description

Technical Field

[0001] The present invention relates to a technique for transporting a workpiece using a slider transported by a transport robot, and particularly to a technique for supporting a workpiece to which a high load is applied while reducing the load applied to the transport robot. Background Art

[0002] Conventionally, the following process has been performed: a slider on which a workpiece is placed is transported to a specified work position by a transport robot, and an operation corresponding to the work position is performed on the workpiece. In addition, at this work position, an operation that generates a high load, such as press-fitting, may be performed on the workpiece. In such a case, if the transport robot supports the workpiece by overcoming the high load, high strength is required for the transport robot, resulting in the enlargement of the transport robot.

[0003] In order to address this problem, Non-Patent Document 1 proposes a transport system that includes a load support device disposed at the work position for supporting the load in addition to the transport robot. In this load support device, a jig tray that is supported on the slider in a liftable manner is provided, and the workpiece is placed on the jig tray. Further, in the load support device, a load bearing unit that supports the jig tray by overcoming the load applied to the jig tray is provided. Then, the jig tray transported by the transport robot is placed on the load bearing unit. As a result, the jig tray is supported by the load bearing unit in a state of rising from the slider. As a result, the load applied to the workpiece is applied to the load bearing unit via the jig tray, and is not applied to the slider.

[0004] Prior Art Documents

[0005] Non-Patent Documents

[0006] Non-Patent Document 1: https: / / www.youtube.com / watch?v=EkEuBj_7c8I Summary of the Invention

[0007] Problems to be Solved by the Invention

[0008] However, in the above technique, the load bearing unit that abuts against the lower side of the jig tray transported to the work position pushes up the jig tray, thereby causing the jig tray to rise relative to the slider. At this time, the jig tray and the load bearing unit rub against each other, and there is a problem that they are worn.

[0009] The present invention has been made in view of the above problems, and an object thereof is to suppress a situation in which the jig tray and the load bearing unit are worn due to mutual friction between the jig tray and the load bearing unit in a technique in which the load bearing unit pushes up and supports a jig tray that is supported on a slider in a liftable manner.

[0010] Technical solution for solving the problem

[0011] The load supporting device according to the present invention includes: a jig tray having a lifted member and supported by a slider carried by a handling robot so as to be able to move up and down; and a load bearing unit having a lifting member that relatively enters the lower side of the lifted member from the entering direction and abuts against the lifted member from below, thereby raising the lifted member. The lifting member supports the jig tray in a state where the jig tray is raised relative to the slider by raising the lifted member. One of the lifted member and the lifting member is a guiding member having a guiding surface extending along the entering direction, and the other is a cam follower. The cam follower rotates while abutting against the guiding surface and follows the guiding surface, so as to relatively move in the entering direction with respect to the guiding surface. The guiding surface has: an inclined surface provided from the front end of the guiding member along the entering direction to a specified position and inclined with respect to the horizontal direction; and a horizontal surface provided from the specified position toward the side opposite to the front end of the guiding member along the entering direction and parallel to the horizontal direction. The inclined surface is provided such that as the cam follower relatively moves along the inclined surface from the front end toward the specified position, the lifted member rises.

[0012] The load supporting method according to the present invention includes: a step of relatively entering a lifting member of a load bearing unit from the entering direction into the lower side of a lifted member of a jig tray, the jig tray being supported by a slider carried by a handling robot so as to be able to move up and down; and a step of the lifting member abutting against the lifted member from below and raising the lifted member as the lifting member relatively enters the lower side of the lifted member. The lifting member supports the jig tray in a state where the jig tray is raised relative to the slider by raising the lifted member. One of the lifted member and the lifting member is a guiding member having a guiding surface extending along the entering direction, and the other is a cam follower. The cam follower rotates while abutting against the guiding surface and follows the guiding surface, so as to relatively move in the entering direction with respect to the guiding surface. The guiding surface has: an inclined surface provided from the front end of the guiding member along the entering direction to a specified position and inclined with respect to the horizontal direction; and a horizontal surface provided from the specified position toward the side opposite to the front end of the guiding member along the entering direction and parallel to the horizontal direction. The inclined surface is provided such that as the cam follower relatively moves along the inclined surface from the front end toward the specified position, the lifted member rises.

[0013] In the present invention (load support device and load support method) configured as described above, a lifted member is provided on the jig tray, and a lifting member is provided on the load bearing unit. Further, the lifting member relatively enters from the entry direction below the lifted member and abuts against the lifted member from below, thereby raising the lifted member. Thus, the lifting member of the load bearing unit supports the jig tray in a state where the jig tray is raised relative to the slider by pushing up the lifted member of the jig tray. At this time, one of the lifted member and the lifting member is a guide member having a guide surface extending in the entry direction, and the other is a cam follower. The cam follower rotates while abutting against the guide surface and follows the guide surface, thereby relatively moving in the entry direction with respect to the guide surface. Moreover, the guide surface has: an inclined surface provided from the front end of the guide member in the entry direction to a specified position and inclined with respect to the horizontal direction; and a horizontal surface provided from the specified position in the entry direction toward the side opposite to the front end of the guide member and parallel to the horizontal direction. And as the cam follower relatively moves along the inclined surface from the front end toward the specified position, the lifted member rises. In this structure, mutual friction between the jig tray and the load bearing unit does not occur. As a result, in the technique of supporting the jig tray that is supported on the slider in a liftable manner by the load bearing unit by pushing it up, it is possible to suppress wear caused by mutual friction between the jig tray and the load bearing unit.

[0014] Alternatively, the load support device may be configured such that the transfer robot transfers the slider in the entry direction, the load bearing unit is disposed at a specified work position on the transfer path of the slider transferred in the entry direction by the transfer robot, and the lifting member abuts against the lifted member of the jig tray transferred to the work position by the transfer robot from below to raise the lifted member. In this structure, as the transfer robot transfers the slider to the work position, the lifting member pushes up the lifted member, and supports the jig tray in a state where the jig tray is raised. Therefore, it is possible to quickly start the operation at the work position.

[0015] In addition, the load bearing device can also be configured such that the handling robot carries the sliding member toward a predetermined working position by carrying the sliding member in a handling direction orthogonal to the entry direction, and the load bearing unit has: a support arm, on which a lifting member is installed; and an arm driving unit, which drives the support arm in the entry direction, the arm driving unit drives the support arm between an insertion position and a retreat position, the insertion position is a position where the support arm is inserted into an insertion space between the sliding member and the fixture tray at the working position, and the retreat position is a position where the support arm retreats from the insertion space, and the lifting member that enters the insertion space as the support arm is inserted from the retreat position into the insertion space abuts against the lifted member from the lower side to raise the lifted member. In this structure, the insertion space for the support arm to be inserted is provided between the sliding member and the fixture tray. Therefore, it is possible to suppress the entry of foreign matter between the sliding member and the fixture tray.

[0016] In this case, the load supporting device may also be configured to further include a pair of support arms, which are provided on both sides of the insertion space in the conveying direction and support the fixture tray relative to the slider with the insertion space separated therefrom, and the lifting member abuts against the lifted member from the lower side between the pair of support arms in the conveying direction. In this structure, the fixture tray is supported by the lifting member between the pair of support arms. Therefore, the fixture tray can be stably supported in the center portion while overcoming the high load applied to the fixture tray.

[0017] In addition, the load supporting device may be configured to further include four elastic members respectively provided at the four corners of the fixture tray, and the four elastic members respectively apply elastic forces to the fixture tray, and the elastic forces apply forces to the fixture tray raised by the lifting member toward the lower side. In this configuration, for example, even if the load applied to the fixture tray is biased to one side, the four elastic members respectively provided at the four corners of the fixture tray can be used to suppress the inclination of the fixture tray.

[0018] The transport system of the present invention comprises: a transport robot, a transport slider, and the load supporting device. Therefore, in the technology of supporting the jig tray supported on the slider in a manner that allows it to be lifted and lowered by the load supporting device, it is possible to suppress the jig tray and the load receiving unit from being worn due to mutual friction.

[0019] Effects of the Invention

[0020] According to the present invention, in the technique of supporting a jig pallet supported by a slider in a liftable manner by pushing it up by a load receiving unit, it is possible to suppress the jig pallet and the load receiving unit from being worn due to mutual friction. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1AIt is a perspective view showing a first example of the conveying system according to the present invention locally.

[0022] Figure 1B It is a perspective view showing a first example of the conveying system according to the present invention locally.

[0023] Figure 2 It shows Figure 1A and Figure 1B a front view of the conveying system shown.

[0024] Figure 3A It shows Figure 1A and Figure 1B a perspective view showing the relationship between the workpiece support mechanism and the slider table of the conveying system.

[0025] Figure 3B It shows Figure 1A and Figure 1B a perspective view showing the relationship between the workpiece support mechanism and the slider table of the conveying system.

[0026] Figure 4 It is a view schematically showing the operation of the guide member and the cam follower.

[0027] Figure 5A It is a perspective view showing a second example of the conveying system according to the present invention locally.

[0028] Figure 5B It is a perspective view showing a second example of the conveying system according to the present invention locally.

[0029] Figure 6A It shows Figure 5A and Figure 5B a front view of the conveying system shown.

[0030] Figure 6B It shows Figure 5A and Figure 5B a front view of the conveying system shown.

[0031] Figure 7A It shows Figure 5A and Figure 5B a perspective view showing the relationship between the workpiece support mechanism and the slider table of the conveying system.

[0032] Figure 7B It shows Figure 5A and Figure 5B a perspective view showing the relationship between the workpiece support mechanism and the slider table of the conveying system.

[0033] Figure 8 It is a view schematically showing the operation of the guide member and the cam follower.

[0034] Figure 9 FIG. is a diagram schematically showing the operations of the guide member and the cam follower in a modified example of the first example.

[0035] Figure 10 FIG. is a diagram schematically showing the operations of the guide member and the cam follower in a modified example of the second example. DETAILED DESCRIPTION

[0036] Figure 1A and Figure 1B FIG. is a perspective view partially showing a first example of the transfer system according to the present invention. Figure 2 FIG. shows Figure 1A and Figure 1B a front view of the transfer system shown in FIGS. In these figures and the following figures, the X direction as the horizontal direction, the Y direction as the horizontal direction orthogonal to the X direction, and the Z direction as the vertical direction are appropriately shown. The transfer system 1 includes a slider 2, a single-axis robot 3 that transfers the slider 2 in the X direction (transfer direction), and a workpiece support mechanism 4 mounted on the slider 2.

[0037] As Figure 2 shown, the slider 2 has a flat slider table 21 and a slider body 22 that supports the slider table 21 from below. The slider table 21 is horizontally supported by the slider body 22. When viewed from above in the Z direction, the slider table 21 has a rectangle defined by two sides parallel to the X direction and two sides parallel to the Y direction. The slider body 22 has a main body housing 23, and the upper surface of the main body housing 23 is fixed to the lower surface of the slider table 21. In addition, in the Y direction, both end portions 211 of the slider table 21 protrude laterally from the main body housing 23. Moreover, the slider body 22 has a pair of guided sliders 24 fixed to the main body housing 23, and the pair of guided sliders 24 are arranged at a predetermined interval in the Y direction within the main body housing 23.

[0038] On the other hand, the single-axis robot 3 has a robot housing 31 extending in the X direction and a pair of guide rails 32 mounted on the upper surface of the robot housing 31. The pair of guide rails 32 are arranged at a predetermined interval in the Y direction and extend parallel to the X direction. And, the pair of guided sliders 24 of the slider 2 are engaged with the pair of guide rails 32 of the single-axis robot 3. Therefore, the movement of the slider 2 is guided parallel to the X direction by the pair of guide rails 32. Moreover, the single-axis robot 3 drives the slider 2 in the X direction by a linear motor. In this way, the slider 2 is transferred in the X direction by the single-axis robot 3.

[0039] In addition, a specific example of the drive mechanism for driving the slider 2 by the single-axis robot 3 is not limited to Figure 2For example, a ball screw can also be used as the drive mechanism. In this case, the screw shaft of the ball screw can be provided on the single-axis robot 3, and the nut of the ball screw can be provided on the slider 2. Alternatively, the slider 2 can also be transported in the X direction by a robot different from the single-axis robot 3.

[0040] Figure 3A and Figure 3B represents Figure 1A and Figure 1B FIG. is a perspective view showing the relationship between the workpiece support mechanism and the slider table of the transfer system. The workpiece support mechanism 4 has a jig tray 40. The jig tray 40 has a flat tray table 41 facing the slider table 21 from above, and a workpiece to be processed is placed on the upper surface of the tray table 41. When viewed from below in the Z direction, the tray table 41 has a rectangle defined by two sides parallel to the X direction and two sides parallel to the Y direction. At both ends 411 of the tray table 41 in the Y direction protrude laterally from the slider table 21. In other words, the central portion 412 between the both ends 411 in the Y direction of the tray table 41 faces the slider table 21 from above. In addition, in the X direction, both ends of the tray table 41 coincide with both ends of the slider table 21.

[0041] Furthermore, the jig tray 40 has two guide members 42 fixed to the lower surface of the end portions 411 of the tray table 41, and the guide members 42 extend parallel to the X direction. The guide members 42 are respectively provided at both end portions 411 of the tray table 41 in the Y direction. The lower surface of the guide member 42 is a guide surface 421 extending parallel to the X direction. The guide surface 421 has conical surfaces 422 provided at both ends in the X direction and a horizontal surface 423 provided between the conical surfaces 422 at both ends. The conical surface 422 is a plane extending from a conical start end Ps provided at the end of the guide member 42 (in other words, the guide surface 421) to a conical end Pe provided in the middle of the guide member 42 (in other words, the guide surface 421), and is inclined with respect to the X direction (horizontal direction) so as to descend from the conical start end Ps toward the conical end Pe.

[0042] In addition, the workpiece support mechanism 4 has four biasing support portions 43 respectively corresponding to the four corners of the slider table 21 (in other words, the four corners of the pallet table 41). Each biasing support portion 43 has: a shaft 431 extending downward in the Z direction from the lower surface of the central portion 412 of the pallet table 41; a spring 432 externally fitted on the shaft 431; and a flange 433 provided at the lower end of the shaft 431. In addition, four through holes 213 penetrating the end portions 211 of the slider table 21 in the Z direction are respectively provided corresponding to the four corners of the slider table 21. The shafts 431 of the four biasing support portions 43 respectively penetrate the four through holes 213, and the lower ends of the respective shafts 431 protrude downward from the slider table 21. That is, the flange 433 at the lower end of the shaft 431 is located below the lower surface of the slider table 21, and the spring 432 externally fitted on the shaft 431 is located between the flange 433 and the lower surface of the slider table 21 and is supported by the flange 433.

[0043] In a state where the pallet table 41 is placed on the slider table 21 (in other words, a state of contact), the spring 432 has a natural length. On the other hand, in a state where the pallet table 41 rises relative to the slider table 21 (in other words, a state of separation), the spring 432 between the flange 433 and the slider table 21 contracts in accordance with the rise of the flange 433, and an elastic force biasing the pallet table 41 downward is applied to the pallet table 41.

[0044] In addition, the workpiece support mechanism 4 has one biasing support portion 44 between two biasing support portions 43 arranged in the X direction, and one through hole 214 corresponding to the biasing support portion 44 penetrates the end portion 211 of the slider table 21. These biasing support portion 44 and through hole 214 are configured in the same manner as the above-described biasing support portion 43 and through hole 213.

[0045] Moreover, the workpiece support mechanism 4 has four linear bushings 45 for positioning the pallet table 41 relative to the slider table 21 in the X direction and the Y direction. The four linear bushings 45 are provided corresponding to the four corners of the slider table 21 inside the four biasing support portions 43. Each linear bushing 45 has a shaft 451 extending downward in the Z direction from the lower surface of the central portion 412 of the pallet table 41 and a holder 452 externally fitted on the shaft 451. In addition, four through holes 215 penetrating the end portions 211 of the slider table 21 in the Z direction are respectively provided corresponding to the four corners of the slider table 21. The shafts 451 of the four linear bushings 45 penetrate the four through holes 215. In addition, the holders 452 of the four linear bushings 45 correspond to the four through holes 215 and are fixed to the lower surface of the slider table 21. The shaft 451 penetrates the through hole 215 and the holder 452 and protrudes downward from the lower surface of the slider table 21.

[0046] In this way, the tray table 41 is supported by a lifting support mechanism constituted by a biasing support portion 43, a biasing support portion 44, and a linear bushing 45 so as to be able to move up and down relative to the slider table 21.

[0047] As Figure 1A , Figure 1B and Figure 2 shown, the transfer system 1 further includes a load bearing unit 5, which is disposed at a high-load operation position Lh on the transfer path along which the slider 2 is transferred by the uniaxial robot 3. The load bearing unit 5 has a pair of support portions 51 configured to sandwich the uniaxial robot 3 in the Y direction. Each support portion 51 has a support frame 52 and a cam follower 53 rotatably mounted on the support frame 52. Specifically, a plurality (three) of cam followers 53 arranged in the X direction are respectively mounted on the support portion 51 by fastening members 54 (nuts or screws, etc.), and each cam follower 53 can rotate about a rotation axis parallel to the Y direction.

[0048] The pair of support portions 51 included in the load bearing unit 5 respectively correspond to a pair of guide members 42 mounted on the end portions 411 on both sides of the tray table 41. And each support portion 51 pushes up the corresponding guide member 42 mounted on the tray table 41 located at the high-load operation position Lh. An explanation will be given Figure 4 on this point.

[0049] Figure 4It is a diagram schematically showing the operations of the guide member and the cam follower. In steps S101 to S104, the process in which the pallet table 41 moves toward the high-load operation position Lh and reaches the high-load operation position Lh is schematically shown in time series. In step S101, the guide member 42 is separated from the cam follower 53 in the X direction. In the Z direction, the height of the upper end of the cam follower 53 is lower than the height Hh of the upper end of the conical surface 422 and higher than the height Hl of the lower end of the conical surface 422. When the guide member 42 moves in the X direction toward the cam follower 53, the conical surface 422 comes into contact with the cam follower 53 (step S102). Further, when the guide member 42 moves in the X direction, the cam follower 53 relatively moves along the conical surface 422 with respect to the guide member 42 and pushes up the guide member 42, thereby raising the pallet table 41 (step S103). The raising of the pallet table 41 continues until the cam follower 53 relatively passes through the conical surface 422 and reaches the horizontal surface 423. Then, the cam follower 53 comes into contact with the horizontal surface 423, and in a state where the pallet table 41 has been raised to the upper limit height, the pallet table 41 is supported by the cam follower 53 (step S104). It should be noted that in steps S102 to S104, as the jig pallet 40 rises, the spring 432 of the biasing support portion 43 contracts and applies a downward elastic force to the jig pallet 40. That is, the cam follower 53 pushes up the jig pallet 40 against the elastic force of the spring 432.

[0050] As described above, the two guide members 42 arranged at intervals in the Y direction correspond to the two support portions 51 arranged at intervals in the Y direction, and the cam followers 53 provided on the respective support portions 51 perform Figure 4 the operations.

[0051] In the first example of the conveying system described above, a guiding member 42 (a lifted member) is provided on the jig tray 40, and a cam follower 53 (a lifting member) is provided on the supporting portion 51 (a load-bearing unit). Further, the cam follower 53 relatively enters the lower side of the guiding member 42 from the X direction (the entering direction), and abuts against the guiding member 42 from the lower side, thereby raising the guiding member 42 (Steps S102 to S104). In this way, the cam follower 53 of the supporting portion 51 pushes up the guiding member 42 of the jig tray 40, and thus supports the jig tray 40 in a state where the jig tray 40 is raised relative to the slider table 21 of the slider 2. At this time, the cam follower 53 rotates following the guiding surface 421 while abutting against the guiding surface 421 of the guiding member 42, and thus relatively moves in the X direction with respect to the guiding surface 421 (Steps S102 to S104). Moreover, the guiding surface 421 has: a conical surface 422 (an inclined surface) which is provided from a conical start end Ps at the front end of the guiding member 42 in the X direction to a conical end Pe (a specified position) and is inclined with respect to the X direction (the horizontal direction); and a horizontal surface 423 which is provided from the conical end Pe in the X direction toward the side opposite to the front end of the guiding member 42 and is parallel to the X direction (the horizontal direction). And as the cam follower 53 relatively moves along the conical surface 422 from the conical start end Ps toward the conical end Pe, the guiding member 42 is raised. In this structure, mutual friction between the jig tray 40 and the load-bearing unit 5 does not occur. As a result, when the load-bearing unit 5 pushes up and supports the jig tray 40 which is supported on the slider 2 in a liftable manner, it is possible to suppress a situation where the jig tray 40 and the load-bearing unit 5 are worn due to their mutual friction.

[0052] In addition, the uniaxial robot 3 (a conveying robot) conveys the slider 2 in the X direction, and the supporting portion 51 is disposed at a specified high-load operation position Lh (an operation position) on the conveying path of the slider 2 conveyed in the X direction by the uniaxial robot 3. Further, the cam follower 53 abuts against the guiding member 42 of the jig tray 40 conveyed to the high-load operation position Lh by the uniaxial robot 3 from the lower side, thereby raising the guiding member 42. In this structure, as the uniaxial robot 3 conveys the slider 2 to the high-load operation position Lh, the cam follower 53 pushes up the guiding member 42 and supports the jig tray 40 in a state where the jig tray 40 is raised. Therefore, it is possible to quickly start the operation at the high-load operation position Lh.

[0053] In addition, there are four springs 432 (elastic members) provided corresponding to the four corners of the jig tray 40 (in other words, the tray table 41), and the four springs 432 respectively apply an elastic force to the jig tray 40, and this elastic force applies a force downward to the jig tray 40 that rises through the cam follower 53. In this structure, for example, even when the load applied to the jig tray 40 is biased to one side, it is possible to suppress the inclination of the jig tray 40 by using the four springs 432 provided corresponding to the four corners of the jig tray 40.

[0054] Thus, in the first example of the transfer system 1, the transfer system 1 corresponds to an example of the "transfer system" of the present invention, the jig tray 40 and the load bearing unit 5 constitute an example of the "load supporting device" of the present invention, the slider 2 corresponds to an example of the "slider" of the present invention, the single-axis robot 3 corresponds to an example of the "transfer robot" of the present invention, the cam follower 53 corresponds to an example of the "lifting member" of the present invention, the jig tray 40 corresponds to an example of the "jig tray" of the present invention, the guide member 42 corresponds to an example of the "lifted member" of the present invention, and the load bearing unit 5 corresponds to an example of the "load bearing unit" of the present invention.

[0055] Figure 5A and Figure 5B FIG. is a perspective view partially showing a second example of the transfer system according to the present invention. Figure 6A and Figure 6B FIG. is a front view showing Figure 5A and Figure 5B the transfer system shown in FIG. Figure 7A and Figure 7B FIG. is a perspective view showing the relationship between the workpiece support mechanism and the slider table of the transfer system of Figure 5A and Figure 5B . The difference from the above first example lies in the structures of the workpiece support mechanism and the load bearing unit. Therefore, the description will be centered on the differences from the first example, and the same reference numerals will be used for the common points with the first example and the description will be appropriately omitted.

[0056] The transfer system 1 according to the second example includes a slider 2, a single-axis robot 3, a workpiece support mechanism 6, and a load bearing unit 7. The slider 2 and the single-axis robot 3 have a structure common to the first example. That is, the single-axis robot 3 transfers the slider 2 in the X direction, and a high-load operation position Lh is provided on the transfer path for transferring the slider 2 by the single-axis robot 3.

[0057] The workpiece support mechanism 6 has a jig tray 60. The jig tray 60 has a flat tray table 61 facing the slider table 21 from above, and the workpiece to be processed is placed on the upper surface of the tray table 61. When viewed from below in the Z direction, the tray table 61 has a rectangle defined by two sides parallel to the X direction and two sides parallel to the Y direction. In each of the Y direction and the X direction, the ends of the tray table 61 coincide with the ends of the slider table 21.

[0058] The jig tray 60 has two guide members 62 fixed to the lower surface of the tray table 61. The two guide members 62 are arranged at a predetermined interval in the X direction, and the two guide members 62 extend parallel to the Y direction respectively. In contrast, in the X direction, the tray table 61 can be divided into end portions 611 on both outer sides relative to the two guide members 62 and a central portion 612 including the two guide members 62. That is, the guide members 62 are respectively located at both ends of the central portion 612 in the X direction. The lower surface of the guide member 62 is a guide surface 621 extending parallel to the Y direction. The guide surface 621 has conical surfaces 622 provided at both ends in the Y direction and a horizontal surface 623 provided between the conical surfaces 622 at both ends. The conical surface 622 is a plane set from a conical start end Ps provided at the end of the guide member 62 (in other words, the guide surface 621) to a conical end Pe provided in the middle of the guide member 62 (in other words, the guide surface 621), and is inclined with respect to the Y direction (horizontal direction) so as to descend from the conical start end Ps toward the conical end Pe.

[0059] In addition, the workpiece support mechanism 6 has four biasing support portions 63 provided corresponding to the four corners of the slider table 21 (in other words, the four corners of the tray table 61) respectively. The biasing support portion 63 has: a shaft 631 extending downward along the Z direction from the lower surface of the end portion 611 of the tray table 61; a spring 632 externally fitted on the shaft 631; and a flange 633 provided at the lower end of the shaft 631. In addition, four through holes 213 penetrating the end portions 211 of the slider table 21 in the Z direction are provided corresponding to the four corners of the slider table 21 respectively. And the shafts 631 of the four biasing support portions 63 respectively penetrate the four through holes 213, and the lower ends of the respective shafts 631 protrude downward from the slider table 21. That is, the flange 633 at the lower end of the shaft 631 is located below the lower surface of the slider table 21, and the spring 632 externally fitted on the shaft 631 is located between the flange 633 and the lower surface of the slider table 21 and is supported by the flange 633.

[0060] In addition, each force-applying support portion 63 has an upper spacer 634 and a lower spacer 635. The upper spacer 634 is mounted on the lower surface of the pallet table 61 and has an annular shape surrounding the upper end portion of the shaft 631. The upper spacer 634 projects downward from the lower surface of the pallet table 61. The lower spacer 635 is mounted on the upper surface of the slider table 21 and has a cylindrical shape with a through hole penetrating in the Z direction. The lower spacer 635 is provided corresponding to the through hole 213 of the slider table 21, and the through hole of the lower spacer 635 communicates with the through hole 213 of the slider table 21. The lower spacer 635 projects upward from the upper surface of the slider table 21 and is externally fitted to the shaft 631. These upper spacer 634 and lower spacer 635 are located between the slider table 21 and the pallet table 61 in a state of being opposed to each other in the Z direction. In this structure, the approach of the slider table 21 and the pallet table 61 is restricted by the abutment of the upper spacer 634 and the lower spacer 635. Therefore, a gap C is ensured between the slider table 21 and the pallet table 61 by the upper spacer 634 and the lower spacer 635. In particular, the range of the gap C that faces the central portion 612 of the pallet table 61 functions as an insertion space S for inserting a support arm 74 described later.

[0061] In a state where the upper spacer 634 and the lower spacer 635 are in contact with each other and the pallet table 61 is placed on the slider table 21 with the upper spacer 634 and the lower spacer 635 interposed therebetween, the spring 432 has a natural length. On the other hand, in a state where the pallet table 61 rises relative to the slider table 21 and the upper spacer 634 and the lower spacer 635 are separated from each other, the spring 632 between the flange 633 and the slider table 21 contracts in accordance with the rise of the flange 633, and an elastic force that applies the pallet table 61 downward is applied to the pallet table 61.

[0062] Moreover, the workpiece support mechanism 6 has four linear bushings 65 that position the pallet table 61 relative to the slider table 21 in the X direction and the Y direction. The four linear bushings 65 are provided corresponding to the four corners of the slider table 21 inside the four force-applying support portions 63. The linear bushing 65 has a shaft 651 extending downward in the Z direction from the lower surface of the end portion 611 of the pallet table 61 and a holder 652 externally fitted to the shaft 651, and the holder 652 is fixed to the upper surface of the slider table 21. And in each of the four linear bushings 45, the lower end portion of the shaft 651 is inserted into the holder 652 from above.

[0063] In this way, the pallet table 61 is supported by the lifting support mechanism composed of the force-applying support portion 63 and the linear bushing 65 so as to be able to lift relative to the slider table 21.

[0064] As Figure 5A 、 Figure 5B 、 Figure 6A and Figure 6BAs shown, the handling system 1 further includes a load bearing unit 7, which is arranged corresponding to a high-load operation position Lh on the handling path where the single-axis robot 3 handles the slider 2. The load bearing unit 7 has an arm support portion 71 and an arm drive portion 72 configured to clamp the single-axis robot 3 and the workpiece support mechanism 6 from the Y direction. The arm support portion 71 has a support frame 711 and two cam receiving rails 712 provided on the upper surface of the support frame 711. The two cam receiving rails 712 are arranged at a predetermined interval in the X direction, and the two cam receiving rails 712 extend parallel to the Y direction respectively.

[0065] The arm drive portion 72 is arranged on the opposite side of the arm support portion 71 in the Y direction with respect to the single-axis robot 3 and the workpiece support mechanism 6, and has a drive table 721 and a single-axis robot 722 that drives the drive table 721 in the Y direction. In the example here, the single-axis robot 722 drives the lead screw of the ball screw by using a motor, thereby moving the drive table 721 mounted on the nut of the ball screw in the Y direction. However, the specific example of the drive mechanism for driving the drive table 721 by the single-axis robot 722 is not limited to Figure 5A and Figure 5B the example of, for example, it may also be a linear motor.

[0066] In addition, the load bearing unit 7 has a flat support arm 74 fixed to the drive table 721. The support arm 74 is horizontally supported by the drive table 721 and protrudes from the drive table 721 toward the arm support portion 71 in the Y direction. Specifically, the support arm 74 has a fixing portion 741 that faces the drive table 721 from above and abuts against the upper surface of the drive table 721, and an extending portion 742 that extends in the Y direction from the fixing portion 741 toward the arm support portion 71. The fixing portion 741 is fastened to the drive table 721 by fastening members such as screws, and the extending portion 742 protrudes from the fixing portion 741 toward the arm support portion 71. The extending portion 742 is located inside the guide surfaces 621 of the two guide members 62 respectively in the X direction, and the end faces 743 on both sides of the extending portion 742 in the X direction are planes that extend parallel to the Y direction and are orthogonal to the X direction.

[0067] In addition, the load bearing unit 7 has a cam follower 75 rotatably mounted on the end face 743 in the X direction of the extending portion 742 of the support arm 74. That is, a plurality (four) of cam followers 75 arranged in the Y direction are mounted on the end face 743 of the extending portion 742, and each cam follower 75 can rotate about a rotation axis parallel to the X direction. The plurality of cam followers 75 are respectively provided on the end faces 743 on both sides of the extending portion 742 in the X direction.

[0068] Further, the arm driving unit 72 drives the support arm 74 in the Y direction. In particular, the arm driving unit 72 drives the support arm 74 between the insertion position L1 ( Figure 5B , Figure 6B ) and the retracted position L2 ( Figure 5A , Figure 6A ). The insertion position L1 is the position where the extended portion 742 of the support arm 74 is inserted into the insertion space S between the slider table 21 and the tray table 61, and the retracted position L2 is the position where the extended portion 742 of the support arm 74 retracts from the insertion space S in the Y direction (opposite side of the arm support portion 71).

[0069] The cam followers 75 on both end faces 743 of the extended portion 742 of the support arm 74 respectively correspond to the two guide members 62 of the jig tray 60. And each cam follower 75 pushes up the corresponding guide member 62 of the jig tray 60 located at the high-load operation position Lh. Use Figure 8 to illustrate this point.

[0070] Figure 8 is a diagram schematically showing the operations of the guide member and the cam follower. In steps S201 to S204, the following process is schematically shown in time series: as the arm driving unit 72 moves the support arm 74 from the retracted position L2 to the insertion position L1, the extended portion 742 of the support arm 74 moves toward the insertion space S between the tray table 61 and the slider table 21 that stops at the high-load operation position Lh and is inserted into the insertion space S. In addition, along with the support arm 74, each cam follower 75 supported by the support arm 74 also moves in the Y direction and is inserted into the insertion space S.

[0071] In step S201, the cam follower 75 is separated from the guide member 62 in the Y direction. In the Z direction, the height of the upper end of the cam follower 75 is lower than the height Hh of the upper end of the tapered surface 622 and higher than the height Hl of the lower end of the tapered surface 622. When the cam follower 75 moves in the Y direction toward the guide member 62, the cam follower 75 abuts against the tapered surface 622 (step S202). Further, when the cam follower 75 moves in the Y direction, the cam follower 75 moves along the tapered surface 622 relative to the guide member 62 and pushes up the guide member 62, thereby raising the tray table 61 (step S203). The raising of the tray table 61 continues until the cam follower 75 reaches the horizontal surface 623 through the tapered surface 622. Then, the cam follower 75 abuts against the horizontal surface 623, and in a state where the tray table 61 has been raised to the upper limit height, the tray table 61 is supported by the cam follower 75 (step S204). It should be noted that in steps S202 to S204, as the jig tray 60 rises, the spring 632 of the biasing support portion 63 contracts and applies a downward elastic force to the jig tray 60. That is, the cam follower 75 pushes up the jig tray 60 against the elastic force of the spring 632.

[0072] Thus, corresponding to the support arm 74 reaching the insertion position L1, the front end portion of the extended portion 742 of the support arm 74 inserted into the insertion space S protrudes from the insertion space S toward the arm support portion 71 side. Therefore, the cam follower 75 provided at the front end portion of the extended portion 742 of the support arm 74 rides on the cam receiving track 712 of the arm support portion 71 and is supported by the cam receiving track 712.

[0073] In the second example of the conveying system described above, a guide member 62 (a member to be lifted) is provided on the jig tray 60, and a cam follower 75 (a lifting member) is provided on the load bearing unit 7. Further, the cam follower 75 enters from the Y direction (the entering direction) below the guide member 62 and abuts against the guide member 62 from below, thereby raising the guide member 62 (Steps S202 to S204). In this way, the cam follower 75 of the load bearing unit 7 supports the jig tray 60 in a state where the jig tray 60 is raised relative to the slider table 21 of the slider 2 by pushing up the guide member 62 of the jig tray 60. At this time, the cam follower 75 rotates following the guide surface 621 while abutting against the guide surface 621 of the guide member 62, and thus moves in the Y direction relative to the guide surface 621 (Steps S202 to S204). Moreover, the guide surface 621 has: a conical surface 622 (an inclined surface) which is provided along the X direction from a conical start end Ps at the front end of the guide member 62 to a conical end Pe (a specified position) and is inclined with respect to the X direction (the horizontal direction); and a horizontal surface 623 which is provided along the Y direction from the conical end Pe toward the side opposite to the front end of the guide member 62 and is parallel to the X direction (the horizontal direction). And as the cam follower 75 moves along the conical surface 622 from the conical start end Ps toward the conical end Pe, the guide member 62 rises. In this structure, mutual friction between the jig tray 60 and the load bearing unit 7 does not occur. As a result, in the technique of pushing up and supporting the jig tray 60 which is supported on the slider table 21 of the slider 2 in a liftable manner by the load bearing unit 7, it is possible to suppress the wear caused by the mutual friction between the jig tray 60 and the load bearing unit 7.

[0074] In addition, the single-axis robot 3 (a conveying robot) conveys the slider 2 in the X direction (the conveying direction) orthogonal to the Y direction, thereby conveying the slider 2 toward the high-load operation position Lh (the operation position). In contrast, the load bearing unit 7 has a support arm 74 on which the cam follower 75 is mounted and an arm driving unit 72 that drives the support arm 74 in the Y direction. The arm driving unit 72 drives the support arm 74 between an insertion position L1 and a retracted position L2. The insertion position L1 is a position where the support arm 74 is inserted into an insertion space S between the slider 2 located at the high-load operation position Lh and the jig tray 60, and the retracted position L2 is a position where the support arm 74 retracts from the insertion position L1. In contrast, as the support arm 74 is inserted from the retracted position L2 into the insertion position L1 and enters the insertion space S, the cam follower 75 abuts against the guide member 62 from below and raises the guide member 62. In this structure, the insertion space S into which the support arm 74 is inserted is provided between the slider 2 and the jig tray 60. Therefore, it is possible to suppress the entrapment of foreign matter between the slider 2 and the jig tray 60.

[0075] At this time, there are a pair of force - applying support portions 63 (support arms), and this pair of force - applying support portions 63 are provided on both sides of the insertion space S in the X - direction, and support the jig tray 60 with respect to the slider 2 while separating the insertion space S. Further, between the pair of force - applying support portions 63 in the X - direction, the cam follower 75 abuts against the guide member 62 from below. In this structure, the jig tray 60 is supported by the cam follower 75 between the pair of force - applying support portions 63. Therefore, it is possible to stably support the jig tray 60 at the central portion 612 in the X - direction against the high load applied to the jig tray 60.

[0076] In addition, four springs 632 (elastic members) are provided corresponding to the four corners of the jig tray 60 respectively, and the four springs 632 respectively apply an elastic force to the jig tray 60, and this elastic force applies a force to the jig tray 60 that has risen through the cam follower 75 downward. In this structure, for example, even when the load applied to the jig tray 60 is biased to one side, it is possible to suppress the inclination of the jig tray 60 by using the four springs 632 provided corresponding to the four corners of the jig tray 60 respectively.

[0077] Thus, in the second example of the transfer system 1, the transfer system 1 corresponds to an example of the "transfer system" of the present invention, the jig tray 60 and the load - bearing unit 7 constitute an example of the "load - supporting device" of the present invention, the slider 2 corresponds to an example of the "slider" of the present invention, the single - axis robot 3 corresponds to an example of the "transfer robot" of the present invention, the cam follower 75 corresponds to an example of the "lifting member" of the present invention, the jig tray 60 corresponds to an example of the "jig tray" of the present invention, the guide member 62 corresponds to an example of the "member to be lifted" of the present invention, and the load - bearing unit 7 corresponds to an example of the "load - bearing unit" of the present invention.

[0078] In addition, the present invention is not limited to the above - described embodiments, and various changes can be made to the above - described embodiments as long as the gist thereof is not deviated from. For example, in the above - described first example, the guide member 42 is provided on the jig tray 40, and the cam follower 53 is provided on the load - bearing unit 5. However, as Figure 9 shown, it is also possible to provide the cam follower 47 on the jig tray 40 and the guide member 55 on the load - bearing unit 5.

[0079] Figure 9 is a diagram schematically showing the operations of the guide member and the cam follower in a modified example of the first example. In Figure 9In the example, the workpiece support mechanism 4 includes: a support plate 46 mounted at both ends in the Y direction of the tray table 41 of the jig tray 40; and a cam follower 47 rotatably mounted on each support plate 46. In contrast, the load-bearing unit 5 includes a guide member 55 mounted on each support portion 51. The guide member 55 extends parallel to the X direction, and the upper surface of the guide member 55 is a guide surface 551 extending parallel to the X direction. The guide surface 551 has tapered surfaces 552 provided at both ends in the X direction (only one end of the tapered surface 552 is shown in Figure 9 ) and a horizontal surface 553 provided between the tapered surfaces 552 at both ends. The tapered surface 552 is a plane extending from a tapered start end Ps provided at the end of the guide member 55 (in other words, the guide surface 551) to a tapered end Pe provided in the middle of the guide member 55 (in other words, the guide surface 551), and is inclined with respect to the X direction (horizontal direction) so as to rise from the tapered start end Ps toward the tapered end Pe.

[0080] In steps S301 to S304, the process of the tray table 41 moving toward the high-load operation position Lh and reaching the high-load operation position Lh is schematically shown in time series. In step S301, the cam follower 47 (the lifted member) separates from the guide member 55 (the lifting member) in the X direction. In the Z direction, the height of the lower end of the cam follower 47 is lower than the height Hh of the upper end of the tapered surface 552 and higher than the height Hl of the lower end of the tapered surface 552. When the cam follower 47 moves in the Y direction toward the guide member 55, the cam follower 47 abuts against the tapered surface 552 (step S302). Further, when the cam follower 47 moves in the X direction, the cam follower 47 moves along the tapered surface 552 relative to the guide member 55 and is pushed up by the guide member 55, whereby the tray table 41 rises (step S303). The rise of the tray table 41 continues until the cam follower 47 passes through the tapered surface 552 and reaches the horizontal surface 553. Then, the cam follower 47 abuts against the horizontal surface 553, and the tray table 41 is supported by the guide member 55 in a state where the tray table 41 has risen to the upper limit height (step S304).

[0081] Figure 10 is a diagram schematically showing the operations of the guide member and the cam follower in a modified example of the second example. In Figure 10In the example, the workpiece support mechanism 6 has: a support plate 66 mounted at both ends in the X direction of a tray table 61 of a jig tray 60; and cam followers 67 rotatably mounted on each support plate 66. In contrast, the load-bearing unit 7 has guide members 76 respectively mounted on end faces 743 on both sides in the X direction of a support arm 74. The guide members 76 extend parallel to the Y direction, and the upper surface of the guide member 76 is a guide surface 761 extending parallel to the Y direction. The guide surface 761 has tapered surfaces 762 provided at both ends in the Y direction (only one end of the tapered surface 762 is shown in Figure 10 ), and a horizontal surface 763 provided between the tapered surfaces 762 at both ends. The tapered surface 762 is a plane set from a taper start end Ps provided at an end of the guide member 76 (in other words, the guide surface 761) to a taper end Pe in the middle of the guide member 76 (in other words, the guide surface 761), and is inclined with respect to the Y direction (horizontal direction) so as to rise from the taper start end Ps toward the taper end Pe.

[0082] In steps S401 to S404, the following process is schematically shown in time series: as the arm driving unit 72 moves the support arm 74 from the retracted position L2 to the inserted position L1, the extended portion 742 of the support arm 74 moves toward an insertion space S between the tray table 61 stopped at the high-load operation position Lh and the slider table 21 and is inserted into the insertion space S. Further, along with the support arm 74, each guide member 76 mounted on the support arm 74 also moves in the Y direction and is inserted into the insertion space S.

[0083] In step S401, the guide member 76 is separated from the cam follower 67 in the Y direction. In the Z direction, the height of the lower end of the cam follower 67 is lower than the height Hh of the upper end of the tapered surface 762 and higher than the height Hl of the lower end of the tapered surface 762. When the guide member 76 moves in the Y direction toward the cam follower 67, the tapered surface 762 of the guide member 76 abuts against the cam follower 67 (step S402). Further, when the guide member 76 moves in the Y direction, the cam follower 67 relatively moves along the tapered surface 762 with respect to the guide member 76 and is pushed up by the guide member 76, whereby the tray table 61 rises (step S403). The rising of the tray table 61 continues until the cam follower 67 relatively passes through the tapered surface 762 and reaches the horizontal surface 763. Then, the cam follower 67 abuts against the horizontal surface 763, and in a state where the tray table 61 has risen to the upper limit height, the tray table 61 is supported by the guide member 76 (step S404).

[0084] In addition, in the first example of the transfer system 1, the cam follower 53 is fastened to the support frame 52 by the fastening member 54. Therefore, the number of cam followers 53 mounted on the support frame 52 can be appropriately changed according to the load applied to the pallet table 41. Thus, similarly, a structure capable of changing the number of cam followers 75 can also be applied to the load-bearing unit 7 of the second example of the transfer system 1. In addition, the structure for changing the cam follower 53 may not depend on the structure for changing the number of cam followers 53 mounted on the support portion 51, but instead prepare a plurality of support portions 51 having different numbers of cam followers 53 and select the support portion 51 to be used from among them. The same applies to the structure for changing the number of cam followers 75.

[0085] Reference Numeral Explanation

[0086] 1…Transfer system;

[0087] 2…Slider;

[0088] 3…Uniaxial robot (transfer robot);

[0089] 40…Fixture pallet (load support device);

[0090] 42…Guide member (lifted member);

[0091] 53…Cam follower (lifted member);

[0092] 60…Fixture pallet (load support device);

[0093] 62…Guide member (lifted member);

[0094] 75…Cam follower (lifted member);

[0095] U…Load-bearing unit (load support device).

Claims

1. A load supporting device, comprising: A jig tray having a lifted member and supported by a slider carried by a handling robot in a vertically movable manner; and A load bearing unit having a lifting member that enters the lower side of the lifted member relatively from the entry direction and abuts against the lifted member from below, thereby raising the lifted member. The lifting member supports the jig tray in a state where the jig tray is raised relative to the slider by raising the lifted member. One of the lifted member and the lifting member is a guiding member having a guiding surface extending along the entry direction, and the other is a cam follower. The cam follower rotates while abutting against the guiding surface and follows the guiding surface, thereby relatively moving in the entry direction with respect to the guiding surface. The guiding surface has: an inclined surface provided from the front end of the guiding member along the entry direction to a specified position and inclined with respect to the horizontal direction; and a horizontal surface provided from the specified position toward the side opposite to the front end of the guiding member along the entry direction and parallel to the horizontal direction. The inclined surface is provided such that the lifted member rises as the cam follower relatively moves along the inclined surface from the front end toward the specified position.

2. The load supporting device according to claim 1, wherein The handling robot transports the slider in the entry direction. The load bearing unit is disposed at a specified working position on the transport path of the slider transported by the handling robot in the entry direction. The lifting member raises the lifted member by abutting against the lifted member of the jig tray transported to the working position by the handling robot from below.

3. The load supporting device according to claim 1, wherein The handling robot transports the slider toward a specified working position by transporting the slider in a transport direction orthogonal to the entry direction. The load bearing unit has: a support arm on which the lifting member is mounted; and an arm driving unit that drives the support arm in the entry direction. The arm driving unit drives the support arm between an insertion position and a retracted position. The insertion position is a position where the support arm is inserted into an insertion space between the slider and the jig tray located at the working position, and the retracted position is a position where the support arm retracts from the insertion space. As the support arm is inserted from the retracted position into the insertion space, the lifting member that enters the insertion space abuts against the lifted member from below to raise the lifted member.

4. The load supporting device according to claim 3, wherein The load supporting device further includes a pair of support arms provided on both sides of the insertion space in the transport direction and supporting the jig tray with respect to the slider with the insertion space therebetween. Between the pair of support arms in the transport direction, the lifting member abuts against the lifted member from below.

5. The load supporting device according to any one of claims 1 to 4, wherein, the load supporting device further includes four elastic members respectively corresponding to four corners of the jig tray, the four elastic members respectively apply an elastic force to the jig tray, and the elastic force applies a force downward to the jig tray lifted by the lifting member.

6. A handling system, comprising: a handling robot for handling a slider; and the load supporting device according to any one of claims 1 to 5.

7. A load supporting method, including: a step of relatively entering a lifting member of a load bearing unit from an entering direction to the lower side of a lifted member of a jig tray, the jig tray being supported in a liftable manner by a slider handled by a handling robot; and a step of, as the lifting member relatively enters the lower side of the lifted member, the lifting member abuts against the lifted member from below to lift the lifted member, the lifting member supports the jig tray in a state where the jig tray is lifted relative to the slider by lifting the lifted member, one of the lifted member and the lifting member is a guiding member having a guiding surface extending along the entering direction, and the other is a cam follower, the cam follower rotates while abutting against the guiding surface and follows the guiding surface to relatively move in the entering direction with respect to the guiding surface, the guiding surface has: an inclined surface provided from the front end of the guiding member along the entering direction to a specified position and inclined with respect to the horizontal direction; and a horizontal surface provided from the specified position toward the side opposite to the front end of the guiding member along the entering direction and parallel to the horizontal direction, the inclined surface is provided such that as the cam follower relatively moves along the inclined surface from the front end toward the specified position, the lifted member rises.

Images