Conveying device

Abstract

The present application can inhibit the overall large-scale of the device and realize high speed. The conveying device (1) comprises a fixed base (10), a rotating body (26), two or more servo motors, a conveying arm (50), two or more reducers (40). The rotating body (26) has a large gear (14) which is an external gear. The reducer (40) has: a frame (41) integrated with the fixed base (10); a planet carrier (42) rotatably supported inside the frame; an internal gear (43) arranged on the inside of the frame; a sun gear (44) connected with the output shaft (32) of the servo motor; a plurality of planetary gears (45) arranged around the sun gear and rotatably supported on the planet carrier (42); and an output gear rotatable with the planet carrier (45). The planetary gears (45) are engaged with the sun gear, and are engaged with the internal gear (43). The output gear diameter is smaller than the large gear (14), and is engaged with the large gear (14) outside the large gear (14).

Description

Technical Field

[0001] This invention relates to a conveying device that uses a conveying arm to convey workpieces. Background Technology

[0002] Conventionally, conveying devices that rotate the conveyor arm often employ an eccentric oscillating reducer in the drive mechanism for rotating the conveyor arm (e.g., Patent Document 1). Because this type of eccentric oscillating reducer has a small backlash, it has the advantage of excellent positional accuracy during conveying when used in a conveying device.

[0003] Furthermore, planetary gear reducers are known to be used in drive mechanisms of robot joints, etc. (e.g., Patent Document 2).

[0004] Existing technical documents Patent documents [Patent Document 1] Japanese Patent Publication No. 2011-212839 [Patent Document 2] Japanese Patent Publication No. 2018-202545 Summary of the Invention [The technical problem the invention aims to solve] However, for example, assuming an industrial robot with an eccentric oscillating reducer like that in Patent Document 1 is used as a conveying device for feeding workpieces from a stacker loaded with stamping workpieces into a press, a conveying device for transferring workpieces processed by the press from the press to a storage container, or a conveying device for transferring workpieces from one press to another among multiple presses, in order to improve production efficiency, it is necessary to make the conveyor arm reciprocate (oscillate) at a higher speed within a limited area (space). Therefore, if the rotational speed of the conveyor arm is increased, the reducer will heat up, the components will expand, and a technical problem will arise that limits the speed.

[0005] Furthermore, the reducer in Patent Document 2 can suppress heat generation even when the reciprocating motion of the conveyor arm is at high speed. However, in order to achieve high-speed rotational motion by an inexpensive and lightweight electric motor, the output torque of the motor needs to be increased by using multi-stage gear connections to increase the reduction ratio. This multi-stage gear connection results in an increase in the distance from the rotation axis of the conveyor arm to the center of gravity of the motor. That is, the inertial torque of the rotating part of the conveyor device itself increases. This increase in inertial torque limits the increase in acceleration and deceleration of the conveyor arm, which reciprocates continuously within a limited area, thus hindering the achievement of continuous high-speed conveying.

[0006] Therefore, the present invention provides a conveying device that easily ensures a large reduction ratio of the reducer, thereby enabling the high-speed operation of the conveying arm that repeatedly performs swinging motions.

[0007] means of solving technical problems This invention was developed to solve at least a portion of the above-mentioned technical problems and can be implemented in the following ways or application examples.

[0008] [1] One aspect of the conveying device according to the present invention is characterized by comprising: Fixed base; A rotating body, which is supported on the fixed base by bearings; Two or more servo motors are fixed on the fixed base and cause the rotating body to rotate relative to the fixed base; A conveying arm, which can rotate together with the rotating body to convey the workpiece; and Two or more speed reducers are fixed on the fixed base and respectively connected to the two or more servo motors. The rotating body has a large gear that is an external gear. The reducer includes: a frame integral with the fixed base; a planetary carrier rotatably supported inside the frame; an internal gear disposed inside the frame; a sun gear connected to the output shaft of the servo motor; a plurality of planetary gears disposed around the sun gear and rotatably supported on the planetary carrier; and an output gear that rotates integrally with the planetary carrier. The planetary gear meshes with the sun gear and also with the internal gear. The output gear has a smaller diameter than the large gear and meshes with the large gear on the outside of the large gear.

[0009] One method of using the conveying device employs planetary gears instead of the easily overheated eccentric oscillating reducer as described in Patent Document 1, which can suppress heat generation and increase the rotational speed of the rotating body and the conveying arm. Furthermore, another method of using the aforementioned conveying device, by arranging two or more reducers using planetary gears around the large gear of the external gear, can easily ensure a high reduction ratio.

[0010] [2] In one embodiment of the conveying device, it may also be configured as follows: The two or more servo motors include a first servo motor and a second servo motor. The output gear includes a first output gear rotated by the first servo motor and a second output gear rotated by the second servo motor. The large gear rotates around the first rotation axis. The first output gear is located opposite the second output gear, which is separated from the first axis of rotation.

[0011] In one embodiment of the conveying device, since it is positioned opposite to the large gear, the stress balance of the large gear at the meshing position with the first and second output gears is good, which can extend the gear life.

[0012] [3] In one embodiment of the conveying device The workpiece can also be a metal sheet used for stamping or a product after stamping.

[0013] By employing the aforementioned conveying device, even when conveying workpieces made of metal, it is possible to achieve high-speed workpiece conveying. Attached Figure Description

[0014] Figure 1 This is a perspective view of multiple conveying devices and multiple stamping machines according to this embodiment; Figure 2 This is a perspective view of the conveying device according to this embodiment; Figure 3 yes Figure 2 AA section view; Figure 4 yes Figure 3 BB section view; Figure 5 yes Figure 3 CC section view. Detailed Implementation

[0015] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Furthermore, the embodiments described below do not unduly limit the scope of the invention as defined in the claims. Also, the configurations described below are not all essential components of the present invention.

[0016] 1. Overview of the conveying device Figure 1 This is a perspective view of the plurality of conveying devices 1 and the plurality of presses 3 according to this embodiment. Figure 2 This is a perspective view of the conveying device 1 according to this embodiment. Additionally, Figure 2 The upper part of press 3 is omitted and shown schematically. Furthermore, Figure 2 From and Figure 1 A perspective view of the conveyor 1 as seen from the opposite side.

[0017] like Figure 1 and Figure 2 As shown, the conveying device 1 is, for example, arranged adjacent to the press 3. Furthermore, for example, as... Figure 1As shown, multiple presses 3 can also be arranged side by side, so that the processed workpieces 2 are sequentially conveyed to the production line of adjacent presses 3, and multiple conveying devices 1 are configured. Each press 3 is equipped with a mold 4. For example, it can also be configured such that the conveying device 1 feeds the unprocessed workpieces 2 into the press. Figure 1 The left-hand press 3 and the conveyor 1 sequentially transport the processed workpiece 2 to the right-hand press 3, while the right-hand conveyor 1 sends the processed workpiece 2 out of the right-hand press 3. In this way, by configuring multiple conveyor 1 on a production line with multiple single-punch presses 3 arranged side by side, production efficiency is improved, and the degree of freedom of the production line is increased.

[0018] Conveying device 1 includes: a fixed base 10; and a bearing 16 ( Figure 3 The rotating body 26 is supported on the fixed base 10; two or more servo motors (30, 31) are fixed on the fixed base 10 and rotate the rotating body 26 relative to the fixed base 10; a conveying arm 50 is configured to rotate together with the rotating body 26 and convey the workpiece 2; and two or more reducers 40 are fixed on the fixed base 10 and connected to the two or more servo motors respectively.

[0019] In this embodiment, the first servo motor 30 and the second servo motor 31 are described as two or more servo motors. There may also be three or more servo motors. The first servo motor 30 and the second servo motor 31 are fixed to the fixed base 10 and are capable of rotating the rotating body 26 relative to the fixed base 10. Two or more reducers 40 are fixed to the fixed base 10. The number of reducers 40 may also be three or more in conjunction with the number of servo motors. The conveying device 1 may also have a control device 6 that controls the operation of the conveying device 1, including the servo motors.

[0020] The fixed base 10 is, for example, installed on the floor FL of a factory. The fixed base 10 has a mounting portion 18 that protrudes laterally from the upper part of the fixed base 10. The mounting portion 18 has protruding portions 18a and 18b that protrude significantly from the fixed base 10 at positions opposite to the first rotation axis 24. A reducer 40 is fixed to the mounting portion 18 on the protruding portions 18a and 18b, respectively. The first servo motor 30 and the second servo motor 31 are connected via the frame 41 of the reducer 40 ( Figure 3 The rotating body 26 is fixed to the mounting part 18. The first servo motor 30 and the second servo motor 31 enable the rotating body 26 to rotate relative to the fixed base 10 about the first rotation axis 24. The first rotation axis 24 is, for example, located at the center of the rotating body 26, and is an imaginary line extending in the vertical direction. The second rotation axis 34 and the third rotation axis 35 are set parallel to the first rotation axis 24.

[0021] The conveying arm 50 is configured to rotate together with the rotating body 26 and convey the workpiece 2. The conveying arm 50 is fixed to the rotating body 26. The conveying device 1 can be a so-called multi-joint robot, such as a 6-axis robot. The conveying arm 50 includes multiple elongated components, such as a first arm 51, a second arm 52, and an elongated component 53. The conveying arm 50 may include, for example, a first drive mechanism 61, a second drive mechanism 62, a third drive mechanism 63, a fourth drive mechanism 64, and a fifth drive mechanism 65. The first to fifth drive mechanisms 61 to 65 may each include a servo motor. One end of the first arm 51 is rotatably connected to the rotating body 26 via a fixing part 60. The fixing part 60 is integral with the rotating body 26. The first drive mechanism 61 rotates the first arm 51 up and down, thereby raising and lowering the free end of the first arm 51. The second arm 52 is rotatably connected to the free end of the first arm 51. The second drive mechanism 62 rotates the second arm 52 up and down relative to the free end of the first arm 51, thereby raising and lowering the free end on the side of the elongated component 53. Furthermore, the third drive mechanism 63 rotates the second arm 52 about its central axis. The elongated component 53 is connected to the free end of the second arm 52. The fourth drive mechanism 64 rotates the elongated component 53 up and down, causing the adsorption component 54 to rise and fall. The fifth drive mechanism 65 rotates the elongated component 53 horizontally. Multiple adsorption components 54, for example four, are connected to the free end of the elongated component 53. The multiple adsorption components 54 adsorb onto the surface of the workpiece 2, holding the workpiece 2 in place. Additionally, the conveyor arm 50 can appropriately employ a known multi-joint robot conveyor arm structure. Furthermore, if the workpiece 2 can be held, the adsorption component 54 is not limited to an adsorption mechanism; for example, it could also be a gripping mechanism.

[0022] Workpiece 2 can be a metal sheet for stamping or a stamped product. The conveying device 1 drives the first servo motor 30 and the second servo motor 31 to rotate the rotating body 26 and the conveying arm 50 horizontally around the first rotation axis 24, conveying workpiece 2 onto the press 3. This conveying action, for example, is achieved by rotating the first arm 51, the second arm 52, and the elongated component 53 via the first drive mechanism 61 to the fifth drive mechanism 65, causing the workpiece 2 to rise, fall, and move horizontally, conveying it to the appropriate position on the mold 4 of the adjacent press 3. Stamped products tend to become heavier, and there is a demand for increased productivity in stamping processes. Using the conveying device 1, even when conveying workpiece 2 made of metal for stamping, a high conveying speed for workpiece 2 can be achieved. Furthermore, this embodiment describes an example of conveying workpiece 2 relative to the press 3, but it can also be configured adjacent to devices other than the press 3. For example, in the case of a machine tool, workpiece 2 can be a machined product or material after cutting; in the case of an injection molding machine, workpiece 2 can be a plastic product or an insert.

[0023] The control device 6 is electrically connected to each of the moving parts of the conveying device 1. The control device 6 can also receive signals from sensors (not shown) on the conveying device 1. Furthermore, the control device 6 can also be part of the control device of the press 3. The control device 6 includes, for example, an operation unit, a calculation unit, a storage unit, a display unit, and an output unit. The control device 6 may have, for example, a processor such as a CPU (Central Processing Unit) or GPU (Graphics Processing Unit), a storage medium such as ROM (read-only memory), RAM (Random Access Memory), or HDD (Hard Disk Drive), a communication interface for high-speed data communication, and a user interface such as a display, touch panel, or keyboard. Part or all of the control device 6 can be installed in the cloud via the Internet.

[0024] The conveying action in the conveying device 1 can be preset using the operation unit. The display unit can display the settings and execution status of the conveying action. The calculation unit performs various processes for executing the preset conveying action. Furthermore, the conveying device 1 can operate according to the conveying action stored in the storage unit based on the command signal from the output unit of the control unit 6.

[0025] 2. Description of the speed reduction mechanism use Figures 3-5 The deceleration mechanism of conveying device 1 is described in detail. Figure 3 yes Figure 2 AA section view, Figure 4 yes Figure 3 BB sectional view, Figure 5 yes Figure 3 CC section view.

[0026] A fixed base 10 is disposed on the floor FL and rotatably supports the rotating body 26 and the conveying arm 50. The fixed base 10 is, for example, a generally cylindrical shape extending vertically along a first axis of rotation 24. The inner ring 16a of the bearing 16 is fixed to the upper outer periphery of the fixed base 10. The outer ring 16b of the bearing 16 is fixed to the inner circumferential surface of the annular end 27 of the rotating body 26. The bearing 16 is a rolling bearing with balls or rollers between the outer ring 16b and the inner ring 16a. The bearing 16 is, for example, disposed in a horizontal plane. The bearing 16 is, for example, a crossed roller bearing. The fixed base 10, for example, has a generally annular mounting portion 18 protruding laterally from the upper outer periphery of the fixed base 10, which is lower than the bearing 16.

[0027] Mounting section 18 is integrally formed with fixed base 10. Mounting section 18 extends upward from below large gear 14, covering the outer sides of large gear 14 and first and second output gears 46a and 46b. Viewed from above, mounting section 18 is generally circular along the outer periphery of fixed base 10, but has protruding portions 18a and 18b that protrude significantly to the side, where the first servo motor 30 and the second servo motor 31 are mounted. The lower inner periphery of mounting section 18 extends outward from the outer periphery of fixed base 10 below bearing 16. The upper inner periphery end face of mounting section 18 has a small gap relative to the annular end 27 of rotating body 26. Sealing member S is fixed within this gap to prevent foreign objects from falling into the internal space of mounting section 18. The first servo motor 30 and the second servo motor 31 are fixed to the lower surface of the two protruding portions 18a and 18b of mounting section 18 via the frame 41 of reducer 40.

[0028] The frame 41 and the fixed base 10 are integral. For example, two frames 41 are fixed in opposite positions with the fixed base 10 sandwiched between them. The frames 41 are fixed to the mounting portion 18 by hanging down from the lower surfaces of the protrusions 18a and 18b of the mounting portion 18. The frames 41 are generally cylindrical with openings at the top and bottom. The upper end of the frames 41 extends into the interior of the mounting portion 18, for example. A first servo motor 30 and a second servo motor 31 are fixed to the lower ends of the two frames 41, respectively. The first servo motor 30 and the second servo motor 31 are fixed to the fixed base 10 via the frames 41 and the mounting portion 18, and are always in a fixed position relative to the fixed base 10. During the rotation of the rotating body 26 relative to the fixed base 10 about the first rotation axis, the first servo motor 30 and the second servo motor 31 remain stationary in the fixed position. Therefore, the first servo motor 30 and the second servo motor 31 do not contribute to increasing the inertial torque of the rotating unit 25 during the rotation. The rotating unit 25 is the part that rotates relative to the fixed base 10, and includes a rotating body 26, a fixed part 60, and a conveying arm 50. Furthermore, since the first servo motor 30 and the second servo motor 31 do not contribute to increasing the inertial torque of the rotating unit 25, they can significantly increase the rotational angular acceleration of the rotating unit 25. That is, by employing this reduction mechanism, the acceleration and deceleration of the conveying arm 50 can be increased, enabling the conveying operation of the conveying device 1 to be faster. Moreover, since the first servo motor 30 and the second servo motor 31 are located in fixed positions, even during the rotation of the rotating unit 25, the wiring 36 of the first servo motor 30 and the second servo motor 31 is not easily affected by the rotational movement. Therefore, the risk of wiring 36 breaking can be avoided when the conveying device 1 is operating.

[0029] The rotating body 26 has a large gear 14, which is an external gear. The rotating body 26 has a flat, circular plate-shaped portion that covers the upper end of the fixed base 10; and a cylindrical, annular end 27 hanging from the outer periphery of the circular plate-shaped portion. The annular end 27 is arranged to cover the outer side of the outer periphery of the upper end of the fixed base 10. A fixing part 60 is provided on the upper surface of the rotating body 26, and the base end of the conveying arm 50 is rotatably fixed to the fixing part 60. The conveying arm 50 can be rotated about the first rotation axis 24 by rotating the rotating body 26 relative to the fixed base 10 under the drive of the first servo motor 30 and the second servo motor 31. The large gear 14 is provided on the entire circumference of the outer periphery of the annular end 27. The height of the annular end 27 is the same as that of the large gear 14, and an outer ring 16b is fixed on its inner periphery.

[0030] Alternatively, an opening 22 can be formed along the first rotation axis 24 on the fixed base 10 and the rotating body 26. The conveying device 1 can also be configured such that wiring (not shown) extends from the fixed base 10 through the opening 22 to the servo motors of the first to fifth drive mechanisms 61 to 65. Using the conveying device 1, since the opening 22 can be provided inside the large gear 14, wiring can be carried out using the opening 22. The wiring may also include signal lines to sensors (not shown). Furthermore, the wiring can extend to the lower part of the fixed base 10 and connect to the control device 6.

[0031] The reducer 40 includes a frame 41, a planetary carrier 42, an internal gear 43, a sun gear 44, multiple planetary gears 45, a first output gear 46a or a second output gear 46b. Figure 3 The reducer 40 on the left and the first servo motor 30 rotate around the second rotation axis 34 of the output shaft 32 of the first servo motor 30, the planetary carrier 42 and the first output gear 46a. Figure 3 The reducer 40 on the right and the second servo motor 31 rotate around the third rotation axis 35 of the output shaft 32 of the second servo motor 31, the planetary carrier 42, and the second output gear 46b. The first rotation axis 24, the second rotation axis 34, and the third rotation axis 35 can be parallel to each other. The second rotation axis 34 and the third rotation axis 35 are in a top view (e.g., Figure 5 It is positioned opposite to the first rotation axis 24, which is sandwiched between the second rotation axis 34 and the first rotation axis 24. The distance from the second rotation axis 34 to the first rotation axis 24 is the same as the distance from the third rotation axis 35 to the first rotation axis 24.

[0032] The following description applies to two reducers 40 with essentially the same structure. Figure 3 , Figure 5The description of the reducer 40 shown on the left side is as follows: The planetary carrier 42 is rotatably supported inside the frame 41. The planetary carrier 42 is generally cylindrical and is mounted on the frame 41 via bearings located at the upper and lower points on the outer periphery of the planetary carrier 42. The first output gear 46a is integrally fixed to the upper end of the planetary carrier 42. The axis of rotation of the output shaft 32 is the second axis of rotation 34. Therefore, the planetary carrier 42 rotates around the second axis of rotation 34, thereby causing the first output gear 46a to rotate around the second axis of rotation 34. An annular sealing member S is provided between the upper inner circumferential surface of the frame 41 (above the bearings) and the outer circumferential surface of the planetary carrier 42. The sealing member S is an oil seal, which seals lubricating oil within the narrow frame 41, minimizing the amount of oil used in the planetary reduction mechanism.

[0033] The internal gear 43 is disposed on the inner side of the frame 41. The internal gear 43 is integrally formed on the inner circumferential surface of the cylindrical frame 41 in such a way that it surrounds the outer periphery of the planet carrier 42. The internal gear 43 is formed on a plane orthogonal to the second axis of rotation 34, which is a horizontal plane in this case.

[0034] The sun gear 44 is connected to the output shaft 32 of the first servo motor 30. The sun gear 44 is located on the upper outer periphery of the rod connected to the output shaft 32. This rod extends from the output shaft 32 to the interior of the planet carrier 42 along the second axis of rotation 34. The sun gear 44 is an external gear that transmits the rotation of the output shaft 32 to the reducer 40.

[0035] Multiple planetary gears 45 are arranged around the sun gear 44 and are rotatably supported on the planet carrier 42. In this embodiment, as... Figure 4 As shown, there are three planetary gears 45, but this is not a limitation; there can be four or more. The rotation shaft 45a of the planetary gears 45 is rotatably supported on the planet carrier 42. Alternatively, the rotation shaft 45a can be fixed vertically to the planet carrier 42, and the planetary gears 45 can rotate freely relative to the rotation shaft 45a. The rotation shaft 45a is parallel to the second rotation axis 34. The rotation shaft 45a is arranged around the second rotation axis 34, and a portion of the planetary gears 45 is configured to protrude outward from the outer circumferential surface of the planet carrier 42. Each planetary gear 45 meshes with the sun gear 44 on the central side of the planet carrier 42 and meshes with the internal gear 43 at the position protruding from the planet carrier 42.

[0036] The first output gear 46a rotates integrally with the planet carrier 42. The diameter of the first output gear 46a is smaller than that of the large gear 14, and it meshes with the large gear 14 on the outside. The first output gear 46a is an external gear with a larger outer diameter than the planet carrier 42. The outer and lower sides of the first output gear 46a are covered by a protruding portion 18a.

[0037] Therefore, the conveying device 1 drives the first servo motor 30, such as Figure 4 As shown, the output shaft 32 and the sun gear 44 rotate, causing the three planetary gears 45 meshing with the sun gear 44 to rotate. Each planetary gear 45 meshes with the internal gear 43, thus each planetary gear 45 rotates along the internal gear 43, causing the planet carrier 42 to rotate relative to the frame 41. Furthermore, when the planet carrier 42 rotates, as... Figure 5 As shown, the rotation of the first and second output gears 46a and 46b causes the large gear 14 to rotate, and the rotating body 26 (annular end 27) on which the large gear 14 is provided rotates relative to the fixed base 10 about the first rotation axis 24.

[0038] By employing the conveyor device 1 and utilizing the planetary gear 45, even when the rotational speed of the rotating body 26 and the conveyor arm 50 is increased to a high speed using the first servo motor 30, the heat generation of the reducer 40 can be suppressed. Furthermore, by arranging two or more reducers 40 around the rotating body 26 with the large gear 14 having an external gear using the conveyor device 1, a high reduction ratio can be ensured while suppressing the overall enlargement of the device. Moreover, since the reducers 40 can be positioned opposite each other to the rotational center of the large gear 14, it is easy to control and cancel out the backlash between the large gear 14 and the first and second output gears 46a and 46b. Furthermore, the stress in the tangential direction of the large gear 14 generated between the large gear 14 and the first and second output gears 46a and 46b is exactly in opposite directions, thus extending the gear life. Moreover, by employing the conveyor device 1, the high-speed conveying operation required for the workpiece 2 of the press 3 can be met.

[0039] With conveyor device 1, the backlash is larger than that of the reduction mechanism in Patent Document 1, so even at high speeds, it is less likely to cause malfunctions due to overheating. Furthermore, compared to Patent Document 2, which uses a planetary carrier as the output shaft, conveyor device 1 achieves a high reduction ratio by using a large gear 14 and an output gear 46. Therefore, with the same motor output, it is easier to increase the rotational angular acceleration of the rotating body 26, making it easier to achieve high conveying speeds.

[0040] In this embodiment, the rotation center lines of all gears used in the reducer 40 are parallel to the first rotation axis 24 of the rotating body 26, but it is not limited to this, and a structure that is not parallel can also be adopted by using a known combination of gears.

[0041] Furthermore, the position control of two or more servo motors (30, 31) can be performed via control device 6 to compensate for backlash. By compensating for backlash, high stopping position accuracy can be maintained at the junction of workpieces 2, even at high speeds. Specifically, although there is backlash between the large gear 14 and the two output gears 46, backlash during acceleration can be compensated by controlling the first output gear 46a to generate a large torque while the second output gear 46b generates a small reverse torque. Backlash can also be compensated by performing the opposite control during deceleration.

[0042] Furthermore, as a variation, the reducers 40 can be connected in multiple stages along the second and third rotation axes 34 and 35. By connecting multiple reducers 40 in this way, the reduction ratio can be increased. Therefore, for example, even if the first and second servo motors 30 and 31 are inexpensive and lightweight servo motors with lower output torque, the output torque can be increased by using multiple reducers 40, thus enabling high-speed rotation of the conveyor arm 50. Moreover, since multiple reducers 40 are stacked along the second and third rotation axes 34 and 35 (in a direction perpendicular to the rotation plane of the conveyor arm 50), the increase in the distance between the first rotation axis 24, which serves as the rotation axis of the conveyor arm 50, and the center of gravity of the first and second servo motors 30 and 31 can be suppressed. Therefore, the increase in the inertial torque of the rotating body 26, including the reducers 40, can also be suppressed, and the acceleration and deceleration of the conveyor arm 50 can be increased. Thus, continuous high-speed reciprocating motion of the conveyor arm 50 within a limited area (space) such as between presses can be achieved while suppressing costs.

[0043] This invention is not limited to the embodiments described above, and various modifications can be made, including structures that are substantially the same as those described in the embodiments (structures with the same function, method, and result, or structures with the same purpose and effect). Furthermore, this invention includes structures that replace non-essential parts of the structures described in the embodiments. Furthermore, this invention includes structures capable of achieving the same effect or purpose as the structures described in the embodiments. Furthermore, this invention includes structures incorporating known techniques into the structures described in the embodiments.

[0044] 1. Conveying device; 2. Workpiece; 3. Press; 4. Mold; 6. Control device; 10. Fixed base; 11. Machine base; 14. Large gear; 16. Bearing; 16a. Inner ring; 16b. Outer ring; 18. Mounting part; 18a, 18b. Protruding parts; 22. Opening; 24. First axis of rotation; 25. Rotating unit; 26. Rotating body; 27. Annular end; 30. First servo motor; 31. Second servo motor; 32. Output shaft; 34. Second axis of rotation; 35. Third axis of rotation; 36. Wiring. 40. Reducer; 41. Frame; 42. Planetary carrier; 43. Internal gear; 44, 44a. Sun gear; 45. Planetary gear; 45a. Rotating shaft; 46a. First output gear; 46b. Second output gear; 47. Output shaft; 50. Conveying arm; 51. First arm; 52. Second arm; 53. Long component; 54. Adsorption component; 60. Fixing part; 61. First drive mechanism; 62. Second drive mechanism; 63. Third drive mechanism; 64. Fourth drive mechanism; 65. Fifth drive mechanism; S. Sealing component.

Claims

1. A conveying device, characterized in that: include: Fixed base; A rotating body, which is supported on the fixed base by bearings; Two or more servo motors are fixed on the fixed base and cause the rotating body to rotate relative to the fixed base; A conveyor arm that rotates together with the rotating body and can convey workpieces; and Two or more speed reducers are fixed on the fixed base and respectively connected to the two or more servo motors; The rotating body has a large gear that is an external gear; The reducer includes: a frame integral with the fixed base; and a planetary carrier rotatably supported inside the frame. An internal gear is disposed inside the frame; a sun gear is connected to the output shaft of the servo motor; a plurality of planetary gears are disposed around the sun gear and rotatably supported on the planet carrier; and an output gear rotates integrally with the planet carrier. The planetary gear meshes with the sun gear and also with the internal gear; The output gear has a smaller diameter than the large gear and meshes with the large gear on the outside of the large gear.

2. The conveying device according to claim 1, characterized in that: The two or more servo motors include a first servo motor and a second servo motor; The output gear includes a first output gear rotated by the first servo motor and a second output gear rotated by the second servo motor; The large gear rotates around the first axis of rotation. The first output gear is located opposite the second output gear, which is separated from the first axis of rotation.

3. The conveying device according to claim 1 or claim 2, characterized in that: The workpiece is a metal sheet used for stamping or a product after stamping.

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