Workpiece transfer device and workpiece transfer method

Abstract

To provide a workpiece transfer device capable of transferring a long workpiece in a desired posture.SOLUTION: A transfer device 3 for transferring a long workpiece W includes: a gripping unit 11 that grips the workpiece W in the horizontal posture from above and below and transfers it from a first delivery position to a second delivery position; a delivery member 50 that has a side wall surface 55 that supports the workpiece W at the second delivery position from below and is rotatably provided about a rotational axis P along a longitudinal direction of the workpiece W so that the side wall surface 55 is displaced downward; and a holding unit 40 that has an inner surface 41a that is arranged on the side opposite to the rotational axis P across the side wall surface 55 and faces the rotational axis P side. The inner surface 41a of the holding unit 40 restricts displacement of the workpiece W on the side wall surface 55 inclined by the rotation of the delivery member 50 from the side opposite to the rotational axis P. The holding unit 40 forms a gap through which the workpiece W passes between the side wall surface 55 and itself when the delivery member 50 rotates.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a work transfer device and a work transfer method.

Background Art

[0002] Conventionally, in a device for processing a work or the like, a transfer device for transferring the work is provided. It is desirable that the work be transferred to the transfer destination in a predetermined posture. When the work is long, the position where the work is held by the transfer device deviates from the center of gravity, so the posture of the work is likely to collapse when the work is transferred between devices. For example, the transfer device may transfer a long work between devices while sandwiching it from above and below. In this case, if the work sandwiched from above and below by the upstream device is simply released when passing it to the downstream device, one end of the work may fall ahead of the other end, and the posture of the work may be disturbed at the falling destination.

[0003] For example, Patent Document 1 discloses a device for supplying a long work to a continuous heat treatment facility, the device including a work dropping means for dropping the long work onto a conveyor belt that is sequentially fed into the continuous heat treatment facility, and a work alignment means for temporarily receiving the work dropped from the work dropping means and then reloading the work onto the conveyor belt after aligning it. The work alignment means includes a trough-shaped hopper body extending in a direction substantially orthogonal to the conveying direction of the conveyor belt, and a turning mechanism for turning the hopper body in the front-rear direction of the conveying direction of the conveyor belt. According to this work supply device, it is said that the work dropped from the work dropping means can be reliably aligned and then reloaded onto the conveyor belt for supply.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the conventional work transfer device, the work must be supplied to the trough-shaped hopper body once, and it cannot be adopted depending on the work transfer method upstream of the hopper body. Therefore, there is still a demand for the development of a technology for transferring a long work in a desired posture.

[0006] Therefore, the present invention provides a work transfer device and a work transfer method capable of transferring a long work in a desired posture.

Means for Solving the Problems

[0007] The work transfer device according to the first aspect of the present invention is a device for transferring a long work, and includes a gripping portion that sandwiches the work in a horizontal posture from both the upper and lower sides and transfers it from a receiving position to a delivery position, a delivery member having a support surface that supports the work at the delivery position from below, and the support surface is rotatably provided around a rotation axis along the longitudinal direction of the work so as to be displaced downward, and a regulating member that is disposed on the opposite side of the rotation axis across the support surface and has a regulating surface facing the rotation axis side, and the regulating surface regulates the displacement of the work on the support surface that inclines as the delivery member rotates from the opposite side of the rotation axis, and forms a gap through which the work passes between the support surface by the rotation of the delivery member.

[0008] According to the first aspect, when the gripping part transfers the workpiece to the transfer member at the transfer position, the workpiece is supported from below by the support surface. Therefore, even if the gripping part moves away from the workpiece on both the upper and lower sides, the workpiece maintains a horizontal posture. Subsequently, when the transfer member rotates so that the support surface is displaced downward, since the longitudinal direction of the workpiece is along the rotation axis, the workpiece can be displaced away from the rotation axis of the transfer member while maintaining the horizontal posture, and the regulating surface of the regulating member regulates the displacement of the workpiece. When the rotation of the transfer member proceeds in this state, a gap is formed between the support surface and the regulating surface, and the workpiece passes through while maintaining the horizontal posture. Therefore, the workpiece can be dropped from the transfer member while maintaining the horizontal posture, and in the downstream device that receives the dropped workpiece, it is possible to suppress the posture of the workpiece from being disturbed, such as by bouncing. As described above, a long workpiece can be conveyed in a desired posture.

[0009] The workpiece transfer device according to the second aspect of the present invention is the workpiece transfer device according to the first aspect, wherein the transfer member is formed in a columnar shape centered on the rotation axis, and a groove defined by the support surface is formed in the transfer member. The groove may open from the outer peripheral surface of the transfer member to one end surface facing the upstream side in the conveyance direction.

[0010] According to the second aspect, the gripping part inserts the workpiece into the groove through the opening on one end surface of the transfer member, and the support surface defining the groove supports the workpiece from below. By rotating the transfer member while the support surface supports the workpiece, the workpiece disposed in the groove falls from the transfer member through the opening of the groove on the outer peripheral surface of the transfer member. Therefore, a configuration having the above-described operational effects can be obtained.

[0011] The workpiece transfer device according to the third aspect of the present invention is the workpiece transfer device according to the second aspect, wherein the regulating member includes a holding recess that rotatably holds the transfer member, and a communication portion that penetrates the regulating member in the vertical direction, communicates the lower portion of the holding recess with the space below the regulating member, and is formed to allow the workpiece to pass through. The inner surface of the holding recess may be the regulating surface.

[0012] According to the third aspect, until the opening of the groove faces downward during the rotation of the transfer member, the workpiece is restricted from falling from the transfer member by the inner surface of the holding recess. When the opening of the groove faces downward and the groove communicates with the communication portion, a gap is formed between the support surface defining the groove and the inner surface of the holding recess, and the workpiece can pass through. Therefore, a configuration having the above-described operational effects can be obtained.

[0013] The workpiece transfer device according to the fourth aspect of the present invention is the workpiece transfer device according to any one of the first to third aspects, wherein the support surface may support the center of gravity of the workpiece from below.

[0014] According to the fourth aspect, the transfer member can support the workpiece on the support surface in a horizontal posture. Therefore, a configuration having the above-described operational effects can be obtained.

[0015] The workpiece transfer device according to the fifth aspect of the present invention is the workpiece transfer device according to any one of the first to fourth aspects, wherein the workpiece that has passed through the gap between the regulating member and the support surface may be dropped onto a conveyor.

[0016] According to the fifth aspect, the workpiece can be delivered to the conveyor in a desired posture.

[0017] The workpiece transfer method according to the sixth aspect of the present invention is a method for transferring a long workpiece, comprising the steps of gripping the workpiece in a horizontal posture from above and below by a gripping portion and transferring it from a receiving position to a delivery position; receiving the workpiece transferred to the delivery position from below by a transfer member and receiving it from the gripping portion; and rotating the transfer member around a rotation axis along the longitudinal direction of the workpiece to drop the workpiece.

[0018] According to the sixth aspect, when the gripping part delivers the workpiece to the delivery member at the delivery position, the workpiece is supported from below by the delivery member. Therefore, even if the gripping part moves away from the workpiece on both the upper and lower sides, the workpiece maintains a horizontal posture. Subsequently, when the delivery member is rotated, since the longitudinal direction of the workpiece is along the rotation axis, the workpiece is displaced away from the rotation axis of the delivery member while maintaining the horizontal posture. Thereafter, since the workpiece falls from the delivery member while maintaining the horizontal posture, it is possible to suppress the posture of the workpiece from being disturbed, such as by bouncing, in the downstream device that receives the fallen workpiece. As described above, it is possible to convey the long workpiece in a desired posture.

Advantages of the Invention

[0019] According to the present invention, it is possible to convey a long workpiece in a desired posture.

Brief Description of the Drawings

[0020]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Modes for Carrying Out the Invention

[0021] Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a plan view showing a schematic configuration of a grinding machine 1 according to the embodiment. As shown in FIG. 1, a transfer device 3 (work transfer device) according to the present embodiment is provided on the grinding machine 1. The grinding machine 1 is a device that receives a work W from an external device on the upstream side, grinds the work W with a grinding wheel T while rotating the work W at a predetermined processing position S, and delivers it to an external device on the downstream side. In the present embodiment, the work W has a rotating body shape and is in a long shape with its axial direction as the longitudinal direction. The work W has a shape in which the dimension in the longitudinal direction is larger than the outer diameter.

[0022] Here, the front-rear direction and the left-right direction are defined as follows. The front-rear direction is the depth direction as viewed from the standing position of the operator, and the +X direction in the figure is the rear (depth side). The left-right direction coincides with the left-right direction as viewed from the standing position of the operator, and the +Z direction in the figure is the right direction. Note that the +Y direction in the figure is the upward direction.

[0023] The grinding machine 1 includes a grinding machine main body 2, a transfer device 3 for transferring the work W, and a bed 4 that supports the grinding machine main body 2 and the transfer device 3. The transfer device 3 is arranged along the front edge of the grinding machine 1.

[0024] The transfer device 3 transfers the work W along the left-right direction. The transfer device 3 receives the work W from an external device on the upstream side arranged on the left side of the grinding machine 1, transfers it to the right side, and delivers it to the grinding machine main body 2. The transfer device 3 receives the work W processed by the grinding machine main body 2, receives it from the grinding machine main body 2, and delivers it to an external device on the downstream side arranged on the right side of the grinding machine 1. Details of the transfer device 3 will be described later.

[0025] The grinding machine main body 2 includes a work holding device 6 and a grinding wheel holding device 8. The work holding device 6 and the grinding wheel holding device 8 are arranged side by side in the left - right direction when viewed from the front - rear direction and are disposed at a position behind the conveying device 3. The work holding device 6 is disposed on the left side with respect to the grinding wheel holding device 8. The work holding device 6 is movable in the front - rear direction with respect to the bed 4. After the work holding device 6 moves forward to receive the work W to be processed from the conveying device 3, it moves backward and conveys the work W toward the processing position S facing the grinding wheel holding device 8. The work holding device 6 rotates the work W around a rotation axis along the left - right direction while holding the work W at the processing position S. The grinding wheel holding device 8 is movable in the left - right direction with respect to the bed 4. The grinding wheel holding device 8 rotates the grinding wheel T around a rotation axis along the left - right direction while holding the grinding wheel T at a position facing the work holding device 6. The grinding wheel holding device 8 grinds the work W by displacing in the left - right direction to bring the grinding wheel T into contact with the work W held by the work holding device 6. The work holding device 6 displaces forward to convey the ground work W from the processing position S toward the conveying device 3 and delivers the work W to the conveying device 3.

[0026] The conveying device 3 will be described in detail. The conveying device 3 includes a conveying device main body 10 that transfers the work W to and from the grinding machine main body 2, a conveyor 20 that conveys the work W toward an external device on the downstream side, and a relay portion 30 that transfers the work W between the conveying device main body 10 and the conveyor 20. The conveying device main body 10 conveys the work W to the right and delivers it to the relay portion 30. The conveyor 20 conveys the work W received from the relay portion 30 to the right and delivers it to the external device. In the following description, the conveying direction of the work W in the conveying device main body 10 is referred to as the first conveying direction, and the conveying direction of the work W in the conveyor 20 is referred to as the second conveying direction. In the present embodiment, both the first conveying direction and the second conveying direction coincide with the left - right direction, and the downstream side of each of the first conveying direction and the second conveying direction is the right side.

[0027] The transfer device main body 10 transfers the workpiece W in a state where its longitudinal direction coincides with the first transfer direction. The transfer device main body 10 includes a gripping portion 11 that holds the workpiece W and a linear motion mechanism 12 that moves the gripping portion 11 in the left - right direction. The linear motion mechanism 12 is, for example, a mechanism using a ball screw or a mechanism using a pulley and a belt. However, the configuration of the linear motion mechanism 12 is not particularly limited. The gripping portion 11 can be displaced in the left - right direction to a position in front of the grinding wheel main body 2 by the operation of the linear motion mechanism 12 while holding the workpiece W.

[0028] Figure 2 is a perspective view of the transfer device 3 of the embodiment. In FIGS. 2 to 9, the illustration of the linear motion mechanism 12 is omitted. As shown in FIG. 2, the gripping portion 11 has a pair of upper and lower claws 13 that grip the workpiece W by relatively displacing in the vertical direction. The pair of claws 13 are displaced in the vertical direction and approach and separate from each other. The pair of claws 13 sandwich the horizontally - oriented workpiece W from both the upper and lower sides. In this embodiment, the gripping portion 11 is an air chuck having a pair of claws 13. The gripping portion 11 is arranged such that the pair of claws 13 protrude rearward. The gripping portion 11 conveys the gripped workpiece W along the longitudinal direction of the workpiece W.

[0029] The conveyor 20 is arranged on the right side of the transfer device main body 10. For example, the end portion on the downstream side in the second transfer direction of the conveyor 20 protrudes outward from the bed 4 in order to transfer the workpiece W to an external device. The conveyor 20 is a belt conveyor. The conveyor 20 includes an endless belt 22 and a frame 21 that rotatably supports the belt 22. The frame 21 is arranged in a non - displaceable manner with respect to the bed 4. The belt 22 has a horizontal upper surface. The workpiece W is placed on the upper surface of the belt 22. The belt 22 rotates and conveys the workpiece W placed on its upper surface. The conveyor 20 conveys the workpiece W in a state where its longitudinal direction coincides with the second transfer direction.

[0030] Figure 3 is a perspective view of the transfer device 3 of the embodiment. As shown in FIGS. 2 and 3, the relay unit 30 is disposed above the conveyor 20. The relay unit 30 receives the workpiece W from the gripping unit 11 while keeping it in a horizontal posture. The relay unit 30 transfers the workpiece W received from the gripping unit 11 to the conveyor 20 with the longitudinal direction of the workpiece W aligned with the second conveyance direction. The relay unit 30 includes a holding unit 40, a transfer member 50, and a drive unit 60.

[0031] The holding unit 40 is disposed so as not to be displaceable relative to the bed 4. The holding unit 40 is fixed to the frame 21 of the conveyor 20. The holding unit 40 is disposed so as to straddle the upper side of the belt 22 in the front-rear direction. The holding unit 40 is formed in a rectangular parallelepiped shape, and six surfaces are arranged facing front, rear, left, right, up, and down.

[0032] FIG. 4 is a cross-sectional view taken along line IV-IV in FIG. 2. As shown in FIGS. 2 and 4, the holding unit 40 includes a holding recess 41 that opens to the left end surface facing the upstream side in the second conveyance direction of the holding unit 40, and a communication portion 42 that communicates the holding recess 41 with the lower space of the holding unit 40. The holding recess 41 extends in the second conveyance direction and has a circular cross-sectional shape. In the present embodiment, the central axis of the holding recess 41 coincides with the central axis of the workpiece W gripped by the gripping unit 11. The holding recess 41 penetrates the holding unit 40 in the second conveyance direction. The holding recess 41 has an inner surface 41a (restricting surface) facing the central axis side of the holding recess 41.

[0033] As shown in Fig. 4, the communication part 42 opens to the inner surface 41a of the holding recess 41 and the lower surface of the holding part 40. Further, the communication part 42 opens from each of the inner surface 41a of the holding recess 41 and the lower surface of the holding part 40 across the left end surface facing the upstream side in the second conveyance direction of the holding part 40 (see Fig. 2). In the present embodiment, the communication part 42 penetrates the holding part 40 in the second conveyance direction and also opens to the right end surface facing the downstream side in the second conveyance direction of the holding part 40 (see Fig. 3). The communication part 42 extends uniformly in the second conveyance direction. The communication part 42 extends in the vertical direction with a constant width as viewed from the second conveyance direction. The center in the front-rear direction of the communication part 42 vertically overlaps the center in the front-rear direction of the holding recess 41. The width in the front-rear direction of the communication part 42 is smaller than the diameter of the holding recess 41. The communication part 42 is located above the belt 22 of the conveyor 20.

[0034] Fig. 5 is a perspective view of the conveying device 3 of the embodiment, showing the holding part 40 by a phantom line. As shown in Fig. 5, the delivery member 50 is formed in a columnar shape coaxial with the holding recess 41. The delivery member 50 is inserted into the holding recess 41. The delivery member 50 includes a large-diameter part 51 provided at the end on the upstream side in the second conveyance direction and an insertion part 52 extending from the large-diameter part 51 to the downstream side in the second conveyance direction. The outer diameter of the large-diameter part 51 is larger than the diameter of the holding recess 41. The large-diameter part 51 faces the opening edge on the upstream side in the second conveyance direction in the holding recess 41 from the outside, restricting the displacement of the delivery member 50 relative to the holding part 40 in the downstream direction in the second conveyance direction. The insertion part 52 projects from the holding part 40 to the downstream side in the second conveyance direction through the holding recess 41. A C-ring is mounted outside the holding part 40 on the insertion part 52. The delivery member 50 is restricted from displacing in the upstream direction in the second conveyance direction relative to the holding part 40 by the C-ring. The outer peripheral surface of the insertion part 52 is in sliding contact with the inner surface 41a of the holding recess 41 (see Fig. 4). Thereby, the delivery member 50 is rotatably held about the rotation axis P that coincides with the central axis of the holding recess 41 by the holding part 40.

[0035] The transfer member 50 is formed with a groove 54 into which the workpiece W is inserted. The groove 54 extends along the second conveyance direction. The groove 54 opens from the outer peripheral surface 50a of the transfer member 50 to the left end surface facing the upstream side in the second conveyance direction. In the present embodiment, the groove 54 extends over the entire length of the transfer member 50 and also opens to the right end surface facing the downstream side in the second conveyance direction of the transfer member 50. The groove 54 is located on the extension of the movement locus of the workpiece W gripped by the gripping portion 11.

[0036] As shown in FIG. 4, the groove 54 is defined by a pair of side wall surfaces 55, 56 and a bottom surface 57. The pair of side wall surfaces 55, 56 extend parallel to each other from the opening edge of the groove 54 on the outer peripheral surface 50a of the transfer member 50. The distance between the pair of side wall surfaces 55, 56 is larger than the outer diameter of the workpiece W. The bottom surface 57 is formed in a semi-cylindrical surface shape coaxial with the rotation axis P. The groove 54 opens horizontally (rearward in the illustrated example) on the outer peripheral surface of the holding portion 40.

[0037] FIG. 6 is a perspective view showing the drive unit 60 and the conveyor 20 of the embodiment, showing a state in which the transfer member 50 is rotated from the state shown in FIG. 3. As shown in FIGS. 3 and 6, the drive unit 60 rotates the transfer member 50 with respect to the holding portion 40. The drive unit 60 includes a lever 61 provided on the transfer member 50, a linkage portion 62 that pushes and pulls the lever 61, and an actuator 63 that drives the linkage portion 62. The lever 61 protrudes radially outward from the transfer member 50 outside the holding portion 40. The lever 61 is a cylindrical pin. The lever 61 penetrates the holding portion 40. One end of the lever 61 is located inside the groove 54. The lever 61 protrudes upward and forward from the transfer member 50.

[0038] The actuator 63 is disposed in front of the holding portion 40. The actuator 63 is disposed so as not to be relatively displaceable with respect to the holding portion 40. The actuator 63 is supported by the holding portion 40. The actuator 63 is an air cylinder. The actuator 63 drives the linkage portion 62 in the front-rear direction.

[0039] The connecting part 62 is fixed to the rod of the actuator 63. An insertion hole 65 through which the lever 61 is inserted is formed in the connecting part 62. The insertion hole 65 penetrates the connecting part 62 in the vertical direction. As the connecting part 62 is displaced rearward along with the operation of the actuator 63, it abuts against the lever 61 inserted into the insertion hole 65 from the front. By being displaced rearward from the state shown in FIG. 3, the connecting part 62 pushes the lever 61 rearward and rotates the transfer member 50 in the first direction to the dropping position shown in FIG. 6. As the connecting part 62 is displaced forward along with the operation of the actuator 63, it abuts against the lever 61 inserted into the insertion hole 65 from the rear. By being displaced forward from the state shown in FIG. 6, the connecting part 62 pulls the lever 61 forward and rotates the transfer member 50 in the second direction opposite to the first direction toward the initial position shown in FIG. 3.

[0040] The operation of the transfer device 3 will be described. As shown in FIG. 2, the transfer device main body 10 receives the workpiece W from an external device on the upstream side. The received workpiece W is gripped by the gripping part 11. At this time, the longitudinal direction of the workpiece W coincides with the left-right direction. The gripping part 11 is displaced to the right by the operation of the linear motion mechanism 12. The gripping part 11 delivers the workpiece W to the workpiece holding device 6 at a predetermined first transfer position P1. At this time, when the workpiece holding device 6 is displaced forward and approaches the gripping part 11 and the workpiece holding device 6 holds the workpiece W, the pair of claws 13 of the gripping part 11 release the workpiece W.

[0041] The workpiece transfer device body 10 receives the workpiece W processed by the grinding machine body 2. The gripping part 11 receives the workpiece W from the workpiece holding device 6 at the first handover position P1 (see Fig. 1). However, the position (receiving position) of the workpiece W when the gripping part 11 receives the workpiece W from the workpiece holding device 6 does not necessarily have to coincide with the position of the workpiece W when the gripping part 11 delivers the workpiece W to the workpiece holding device 6. The gripping part 11 waits with a pair of claws 13 separated from each other. When the workpiece holding device 6 is displaced forward and approaches the gripping part 11, and the workpiece W is placed between the pair of claws 13, the pair of claws 13 approach each other and clamp the workpiece W. The gripping part 11 grips a portion of the workpiece W on the upstream side in the first transfer direction from its center of gravity (see Fig. 1). When the gripping part 11 grips the workpiece W, the workpiece holding device 6 is displaced backward and separated from the gripping part 11. When the transfer device body 10 receives the workpiece W from the grinding machine body 2, the gripping part 11 is displaced to the right by the operation of the linear motion mechanism 12, and the workpiece W is transferred to the downstream side in the first transfer direction.

[0042] Fig. 7 is a left side view of the transfer device 3 of the embodiment. As shown in Figs. 5 and 7, the gripping part 11 delivers the workpiece W to the relay part 30 at a predetermined second handover position P2. The gripping part 11 inserts the workpiece W into the groove 54 of the transfer member 50 through the opening on the left end surface of the transfer member 50 during the process of being displaced to the downstream side in the first transfer direction. The gripping part 11 inserts a portion of the workpiece W including the center of gravity into the groove 54. When the workpiece W is inserted into the groove 54, the pair of claws 13 release the workpiece W. The gripping part 11 moves to the upstream side in the first transfer direction and separates from the workpiece W. When the claws 13 separate from the workpiece W, the workpiece W is supported from below by the lower side wall surface 55 (support surface) of the transfer member 50 that defines the groove 54 from below. Note that the workpiece W may be supported by the side wall surface 55 while being gripped by the gripping part 11, or may be supported by the side wall surface 55 while descending integrally with the lower claw 13 during the process of releasing the grip by the gripping part 11.

[0043] When the transfer member 50 supports the workpiece W, the relay unit 30 activates the drive unit 60. The drive unit 60 rotates the transfer member 50 by activating the actuator 63 to displace the linking portion 62 rearward. The transfer member 50 rotates such that the opening of the groove 54 on its outer peripheral surface 50a gradually faces downward. At this time, the rotation axis P of the transfer member 50 is along the longitudinal direction of the workpiece W. As the transfer member 50 rotates, the lower side wall surface 55 that supports the workpiece W from below inclines so as to be displaced downward, and the workpiece W tends to roll or slide on the side wall surface 55 away from the rotation axis P of the transfer member 50. The inner surface 41a of the holding recess 41 of the holding unit 40 restricts the displacement of the workpiece W from the opposite side of the rotation axis P of the transfer member 50.

[0044] FIG. 8 is a perspective view of the transfer device 3 of the embodiment. FIG. 9 is a left side view of the transfer device 3 of the embodiment. FIGS. 8 and 9 show a state where the transfer member 50 is in the falling position. As shown in FIGS. 8 and 9, as the rotation of the transfer member 50 progresses, the groove 54 faces the communication portion 42 of the holding unit 40 through the opening on the outer peripheral surface 50a of the transfer member 50. Thereby, a gap is formed between the inner surface 41a of the holding recess 41 and the lower side wall surface 55 of the groove 54. When the rotation of the transfer member 50 progresses and the width of the gap becomes larger than the outer diameter of the workpiece W, the workpiece W passes through the gap while maintaining a horizontal posture. The workpiece W falls below the holding unit 40 while maintaining a horizontal posture through the communication portion 42 and lands on the belt 22 of the conveyor 20. The workpiece W is placed on the upper surface of the belt 22 with its longitudinal direction substantially coinciding with the advancing direction of the upper surface of the belt 22. The conveyor 20 rotates the belt 22 while supporting the workpiece W on the belt 22 to convey the workpiece W.

[0045] As described above, the transfer device 3 of the present embodiment is a device that transfers the long workpiece W. The transfer device 3 includes a gripping portion 11 that sandwiches the workpiece W in a horizontal posture from both the upper and lower sides and transfers the workpiece W from the first transfer position P1 to the second transfer position P2, a transfer member 50 that has a side wall surface 55 that supports the workpiece W at the second transfer position P2 from below and is rotatably provided about a rotation axis P along the longitudinal direction of the workpiece W so that the side wall surface 55 is displaced downward, and a holding portion 40 that is disposed on the opposite side of the rotation axis P across the side wall surface 55 and has an inner surface 41a facing the rotation axis P side. The inner surface 41a of the holding portion 40 restricts the displacement of the workpiece W on the inclined side wall surface 55 accompanying the rotation of the transfer member 50 from the opposite side of the rotation axis P. The holding portion 40 (restricting member) forms a gap through which the workpiece W passes between itself and the side wall surface 55 when the transfer member 50 rotates. According to this configuration, when the gripping portion 11 transfers the workpiece W to the transfer member 50 at the second transfer position P2, the workpiece W is supported from below by the side wall surface 55, so that the workpiece W maintains a horizontal posture even when the gripping portion 11 separates from the workpiece W on both the upper and lower sides. Subsequently, when the transfer member 50 rotates so that the side wall surface 55 is displaced downward, since the longitudinal direction of the workpiece W is along the rotation axis P, the workpiece W can be displaced away from the rotation axis P of the transfer member 50 while maintaining a horizontal posture, and the inner surface 41a of the holding portion 40 restricts the displacement of the workpiece W. When the rotation of the transfer member 50 proceeds in this state, a gap is formed between the side wall surface 55 and the inner surface 41a of the holding portion 40, and the workpiece W passes through while maintaining a horizontal posture. Therefore, the workpiece W can be dropped from the transfer member 50 while maintaining a horizontal posture, so that in the conveyor 20 that receives the dropped workpiece W, it is possible to suppress the posture of the workpiece W from being disturbed due to the workpiece W bouncing or the like. As described above, the long workpiece W can be transferred in a desired posture.

[0046] The transfer member 50 is formed in a columnar shape centered on the rotation axis P. A groove 54 defined by the side wall surface 55 is formed in the transfer member 50. The groove 54 opens from the outer peripheral surface 50a of the transfer member 50 to the left end surface facing the upstream side in the second transport direction. According to this configuration, by inserting the gripping portion 11 into the groove 54 through the opening on the left end surface of the transfer member 50, the side wall surface 55 defining the groove 54 supports the workpiece W from below. By rotating the transfer member 50 with the side wall surface 55 supporting the workpiece W, the workpiece W disposed in the groove 54 falls from the transfer member 50 through the opening of the groove 54 on the outer peripheral surface 50a of the transfer member 50. Therefore, a configuration having the above-described operational effects can be obtained.

[0047] The holding portion 40 includes a holding recess 41 that holds the transfer member 50 so as to be relatively rotatable, and a communication portion 42 that penetrates the holding portion 40 in the vertical direction, communicates the lower portion of the holding recess 41 with the space below the holding portion 40, and is formed to allow the workpiece W to pass through. The inner surface of the holding recess 41 is the above-described inner surface 41a. According to this configuration, until the opening of the groove 54 faces downward during the rotation of the transfer member 50, the workpiece W is restricted from falling from the transfer member 50 by the inner surface 41a of the holding recess 41. When the opening of the groove 54 faces downward and the groove 54 communicates with the communication portion 42, a gap is formed between the side wall surface 55 defining the groove 54 and the inner surface 41a of the holding recess 41, and the workpiece W can pass through. Therefore, a configuration having the above-described operational effects can be obtained.

[0048] Further, since the workpiece W passes through the communication portion 42 from the transfer member 50 and falls, the workpiece W can be made to fall while being guided by the pair of side wall surfaces of the communication portion 42. Therefore, it is possible to suppress the posture of the workpiece W from being disturbed during the fall.

[0049] The side wall surface 55 supports the center of gravity of the workpiece W from below. According to this configuration, the transfer member 50 can support the workpiece W on the side wall surface 55 in a horizontal posture. Therefore, a configuration having the above-described operational effects can be obtained.

[0050] The relay unit 30 drops the workpiece W that has passed through the gap between the holding unit 40 and the side wall surface 55 onto the conveyor 20. According to this configuration, the workpiece W can be passed to the conveyor 20 in a desired posture. In particular, in the present embodiment, since the relay unit 30 passes the workpiece W to the conveyor 20 with the longitudinal direction of the workpiece W along the second conveyance direction, it is possible to suppress the long workpiece W from rolling due to inertia on the conveyor 20.

[0051] FIG. 10 is a perspective view of a conveying device according to a modified example of the embodiment. As shown in FIG. 10, a pair of guide members 23 may be provided on the conveyor 20. Hereinafter, a modified example in which the guide members 23 are provided on the conveyor 20 will be described.

[0052] The guide members 23 are fixed to the frame 21 of the conveyor 20. The pair of guide members 23 are arranged at intervals in the width direction (front-rear direction) of the belt 22. The pair of guide members 23 form a gap above the belt 22. The gap between the pair of guide members 23 extends in the second conveyance direction. The gap between the pair of guide members 23 gradually decreases from the upstream end in the second conveyance direction to a predetermined size downstream, and then extends downstream at the predetermined size. The predetermined size is larger than the outer diameter of the workpiece W.

[0053] In this modified example, the workpiece W is conveyed by the conveyor 20 through between the pair of guide members 23. By passing through between the pair of guide members 23, the workpiece W is maintained in a posture in which the longitudinal direction of the workpiece W coincides with the traveling direction of the belt 22. Thereby, the conveyor 20 can pass the workpiece to the downstream external device in a desired posture. When the workpiece W is passed from the relay unit 30 to the conveyor 20, the downstream end of the workpiece W in the second conveyance direction may fall between the pair of guide members 23.

[0054] Note that the present invention is not limited to the above-described embodiments described with reference to the drawings, and various modified examples can be considered within the technical scope thereof. For example, in the above-described embodiment, the relay unit 30 is configured to pass the work W to the conveyor 20. However, the target device to which the relay unit passes the work is not particularly limited. Further, the conveyor does not have to be a belt conveyor, and may be, for example, a roller conveyor or the like.

[0055] With respect to the above-described embodiment, a partition may be provided to surround the upper space of the belt 22 of the conveyor 20 from the outside in the width direction of the belt 22. For example, a pair of partitions are arranged so as to face both sides in the width direction of the belt 22 at the upstream end in the second conveyance direction of the work W that has fallen from the relay unit 30 onto the conveyor 20. Thereby, it is possible to more reliably suppress the work W from falling in an unintended posture from the relay unit 30 onto the belt 22 and the work W from deviating from the belt 22.

[0056] With respect to the above-described embodiment, a member such as a screw may be provided on the receiving member 50 so as to protrude inside the groove 54. Thereby, the dimensions of the effective space in the groove 54 where the work is arranged can be changed, and a work transfer device corresponding to a variety of works can be obtained.

[0057] In the above-described embodiment, the transport device main body 10 includes one gripping portion 11, but the configuration is not limited to this. The transport device may include a plurality of gripping portions. Thereby, it becomes possible to efficiently transport the work.

[0058] In the above-described embodiment, the drive unit 60 includes an air cylinder as its drive source, but the configuration of the drive unit is not particularly limited. For example, the drive unit may be configured to operate electrically or hydraulically. Further, in the drive unit 60 of the above-described embodiment, the receiving member 50 is rotated by a cam mechanism, but the drive unit may be configured such that a drive source such as a motor directly rotates the receiving member.

[0059] In the above-described embodiment, the relay section 30 is constituted by the columnar delivery member 50 in which the groove 54 into which the work W is inserted is formed, and the holding section 40 that rotatably holds the delivery member 50. However, the configuration of the relay section is not particularly limited. The delivery member only needs to have a support surface that supports the work from below. For example, the groove may have a fan-shaped cross-sectional shape when viewed from the second conveyance direction. Further, the relay section is disposed on the opposite side of the rotation axis of the delivery member with the support surface of the delivery member interposed therebetween and has a regulating surface facing the rotation axis side. The regulating surface regulates the displacement of the work on the support surface that inclines as the delivery member rotates, from the opposite side of the rotation axis, and it suffices if the relay section includes a regulating member that forms a gap through which the work passes between the support surface as the delivery member rotates. For example, the regulating member may be disposed adjacent to the delivery member rotatably supported by a member different from the regulating member, and the regulating member may have a regulating surface disposed along the movement locus of the opening of the groove of the delivery member.

[0060] In addition, within a range not departing from the gist of the present invention, it is possible as appropriate to replace the constituent elements in the above-described embodiment with well-known constituent elements, and the above-described embodiment and each modification example may also be combined as appropriate.

Explanation of Reference Numerals

[0061] 3... Conveying device (work conveying device) 11... Gripping section 20... Conveyor 40... Holding section (regulating member) 41... Holding recess 41a... Inner surface (regulating surface) 42... Communication section 50... Delivery member 54... Groove 55... Side wall surface (support surface) P... Rotation axis P2... Second delivery position (delivery position) W... Work

Claims

1. An apparatus for conveying a long workpiece, comprising: a gripping portion that sandwiches the workpiece in a horizontal posture from both upper and lower sides and conveys it from a receiving position to a delivery position; a delivery member having a support surface that supports the workpiece at the delivery position from below, the support surface being rotatably provided about a rotation axis along the longitudinal direction of the workpiece so as to be displaced downward; a regulating member that is disposed on the opposite side of the rotation axis across the support surface and has a regulating surface facing the rotation axis side, the regulating member regulating displacement of the workpiece on the support surface, which is inclined as the delivery member rotates, from the opposite side of the rotation axis, and forming a gap through which the workpiece passes between the delivery member and the support surface when the delivery member rotates; a workpiece conveying apparatus comprising the above.

2. The delivery member is formed in a columnar shape centered on the rotation axis; a groove defined by the support surface is formed in the delivery member; the groove opens from the outer peripheral surface of the delivery member to one end surface facing the upstream side in the conveying direction. The workpiece conveying apparatus according to Claim 1.

3. The regulating member comprises: a holding recess that rotatably holds the delivery member; a communication portion that penetrates the regulating member in the vertical direction, communicates the lower portion of the holding recess with the space below the regulating member, and is formed so as to allow the workpiece to pass through; wherein the inner surface of the holding recess is the regulating surface. The workpiece conveying apparatus according to Claim 2.

4. The support surface supports the center of gravity of the workpiece from below. The workpiece conveying apparatus according to any one of Claims 1 to 3.

5. The workpiece that has passed through the gap between the regulating member and the support surface is dropped onto a conveyor. The workpiece conveying apparatus according to any one of Claims 1 to 3.

6. A method for conveying a long workpiece, comprising: a step of sandwiching the workpiece in a horizontal posture from both upper and lower sides by a gripping portion and conveying it from a receiving position to a delivery position; a step of supporting the workpiece conveyed to the delivery position from below by a delivery member and receiving it from the gripping portion; a step of rotating the delivery member about a rotation axis along the longitudinal direction of the workpiece to drop the workpiece. A workpiece conveying method comprising the above.

Images