Workpiece transfer device
The workpiece transfer device addresses structural complexity and component inefficiencies by enabling simultaneous fixation of multiple workpieces with a vertically movable clamping mechanism, enhancing stability and transport efficiency.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- TOYOTA JIDOSHA KK
- Filing Date
- 2024-11-13
- Publication Date
- 2026-05-25
AI Technical Summary
Existing work transfer devices complicate the structure and increase the number of components due to individual support mechanisms like partitions or spring-biased clamps, leading to inefficiencies.
A workpiece transfer device with a chuck portion on each step, featuring a clamping member movable vertically, a spring-biased chuck drive block, and a mechanism to open and close the chuck, allowing multiple workpieces to be stacked and fixed simultaneously using fewer parts.
The device stabilizes and transports multiple workpieces efficiently with fewer parts, preventing damage and incorrect orientation, reducing the need for multiple motors, and enhancing transport stability.
Smart Images
Figure 2026085370000001_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to a work transfer device.
Background Art
[0002] There is known a work transfer device that transfers a work (cable) supported by a simple partition, support, or spring-biased clamp (see, for example, Patent Document 1).
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0004] However, in Patent Document 1, since the work is supported one by one by a simple partition, support, or spring-biased clamp, there is a problem that the structure becomes complicated and the number of used members increases.
[0005] This disclosure has been made to solve such problems, and provides a work transfer device that can collectively fix (hold) a plurality of works, thereby stabilizing and transferring the works with fewer parts.
Means for Solving the Problems
[0006] The workpiece transfer device according to this disclosure comprises a chuck portion provided on each of a plurality of steps arranged in the vertical direction, and a chuck opening and closing mechanism for opening and closing the chuck portion, wherein the chuck portion comprises a base on which a plurality of prism-shaped workpieces are stacked in parallel, and a clamping member positioned above the base so as to be movable in the vertical direction, and the chuck opening and closing mechanism comprises a spring that biases the clamping member downward, a chuck drive block provided so as to be movable in the vertical direction, a push-up portion provided on the chuck drive block and moving vertically together with the chuck drive block, and a mechanism for moving the chuck drive block vertically. The chuck drive block is provided to be configured such that when it moves upward, the clamping member is pushed upward by the push-up section and moves away from the base, causing the chuck to open, and when it moves downward, the spring is compressed and deformed, causing the clamping member to be pushed downward by the elastic force of the spring and moves towards the base, causing the chuck to close, and when the chuck drive block moves downward, the clamping member is pushed downward by the elastic force of the spring and moves towards the base, causing the chuck to close, and when the chuck is open, the distance between the base and the clamping member of the chuck section provided on each of the plurality of steps is set to be different from each other. [Effects of the Invention]
[0007] This disclosure provides a workpiece transport device that can fix (clamp) multiple workpieces at once, thereby stabilizing and transporting workpieces with fewer parts. [Brief explanation of the drawing]
[0008] [Figure 1] This is a diagram showing the configuration of the workpiece transport device 1 (stocker unit 20) when a workpiece is loaded. [Figure 2] This is a diagram showing the configuration of the workpiece transport device 1 (stocker unit 20) when no workpieces are loaded. [Figure 3] This is a side view of the workpiece transfer device 1 (stocker unit 20). [Figure 4]This is a rear view of the workpiece transfer device 1 (stocker unit 20). [Figure 5] (a) to (d) are diagrams showing how the zippers 21 of stepped section A1, A2, A3, and A4 change from an open state to a closed state in this order. [Modes for carrying out the invention]
[0009] The workpiece transport device 1 according to the embodiment will be described below with reference to the attached drawings. In each figure, corresponding components are denoted by the same reference numerals, and redundant explanations are omitted.
[0010] Figure 1 is a diagram of the workpiece transport device 1 (stocker unit 20) when a workpiece is loaded. Figure 2 is a diagram of the workpiece transport device 1 (stocker unit 20) when no workpiece is loaded.
[0011] As shown in Figure 1, the workpiece transport device 1 includes a stocker unit 20 that grips (chucks) multiple workpieces W. The stocker unit 20 is fixed to a block B1 (e.g., an LM block) that is mounted on a device body 10 that is movable in the Z direction and is movable in the vertical direction (Y direction). Therefore, the stocker unit 20 can transport the multiple workpieces W it grips in at least the Y and Z directions. In Figure 1, the X-axis is a horizontal line, the Y-axis is a vertical line, and the Z-axis is a horizontal line perpendicular to the XY plane.
[0012] The workpiece W is, for example, a prismatic coil wire extending in the X direction (e.g., an SC stator coil, or another stator coil). The coil wire is, for example, a strip coil cut in a process of stripping and cutting a coil wire. The workpiece W may be a plurality of workpieces with different centers of gravity (different lengths in the X direction). In this disclosure, it is assumed that a first workpiece and a second workpiece are used, with centers of gravity G1 and G2 (see Figure 1) set between bases 22 and 22A.
[0013] According to the workpiece transfer device 1, multiple workpieces W can be fixed (clamped) at once (eliminating the need to fix each one individually), thereby stabilizing and transporting the workpieces W with fewer parts.
[0014] As shown in Figure 1, the workpiece transfer device 1 comprises a device body 10 that is movable in the Z direction, and a stocker unit 20 fixed to a block B1 (for example, an LM block) that is mounted on the device body 10 so as to be movable in the vertical direction (Y direction).
[0015] The storage unit 20 includes a chuck section 21 (two on each section, eight in total) provided on each of the four steps A1 to A4 (four steps in total) arranged in the vertical direction (Y direction), and a chuck opening and closing mechanism 40 (see Figure 4) for opening and closing the chuck sections 21.
[0016] The chuck section 21 includes a base 22 on which multiple prism-shaped workpieces W are stacked in parallel, a guide member 23 (coil guide) positioned above the base 22 to guide the workpieces W when they are stacked, and a clamping member 24 (drive chuck) positioned above the base 22 so as to be movable in the vertical direction (Y direction).
[0017] The base 22 is fixed to the plate 25 (front) in a cantilevered manner. Specifically, the base 22 comprises a fixed end fixed to the plate 25 (front) and a base body extending from this fixed end in a cantilevered manner in the +Z direction. In Figure 1, reference numeral 22A represents a base that is narrower in the X direction than the base 22. The base 22 and base 22A have the same configuration except for the difference in width in the X direction. In addition, to prevent damage during chucking, the upper surface of the base 22 (base body) on which the workpiece W is loaded is coated with Bulcolan (rubber). A guide member 23 and a clamping member 24 are positioned above the base 22.
[0018] The guide member 23 is fixed to the plate 25 (front) above the pedestal 22 in a cantilever beam shape. Specifically, the guide member 23 includes a fixed end fixed to the plate 25 (front) above the pedestal 22, and a guide member main body extending in a cantilever beam shape in the +Z direction from this fixed end.
[0019] FIG. 3 is a side view of the work transfer device 1 (stock unit 20).
[0020] As shown in FIG. 3, the distance L1 (distance in the Y direction) between the pedestal 22 and the guide member 23 is shorter than the diagonal length L2 of the cross-section of the work W. Thereby, since the work W cannot rotate between the pedestal 22 and the guide member 23, it is possible to prevent the work W from being conveyed to the subsequent process in an incorrect posture. The distance L1 is, for example, 3.845 mm, and the distance L2 is, for example, 3.899 mm or 4.312 mm. In addition, for preventing damage during chucking, etc., the lower surface of the guide member 23 (guide member main body) is subjected to bullkoran (rubber) baking.
[0021] The clamping member 24 is arranged above the pedestal 22 so as to be movable in the vertical direction (Y direction). Specifically, as shown in FIGS. 2 and 4, the clamping member 24 is fixed to a movable block 28 that is slidably attached in the Y direction to a guide rod 27 extending in the Y direction and fixed to a support column 26 in a cantilever beam shape. FIG. 4 is a rear view of the work transfer device 1 (stock unit 20). More specifically, the clamping member 24 includes a fixed end fixed to the movable block 28, and a clamping member main body extending in a cantilever beam shape in the +Z direction from this fixed end through a through hole H1 (see FIG. 2) formed in the plate 25. In addition, for preventing damage during chucking, the lower surface of the clamping member 24 (clamping member main body) is subjected to bullkoran (rubber) baking. In FIG. 4, the left support column 26 is fixed to the block B1. On the other hand, the right support column 26 is fixed to the plate 25. Further, the plate 25 is fixed to the block B1 (or the left support column 26).
[0022] The chuck opening and closing mechanism 40 includes a spring 35 that biases the clamping member 24 downward (-Y direction), a chuck drive block 41 that is movable in the vertical direction (Y direction), a push-up part 42 provided on the chuck drive block 41 that moves vertically together with the chuck drive block 41, and a mechanism that moves the chuck drive block 41 in the vertical direction (Y direction).
[0023] As shown in Figure 4, the chuck drive block 41 (e.g., LM block) is mounted on the plate 25 (back surface) so as to be slidable in the vertical direction (Y direction).
[0024] The chuck drive block 41 is provided with a push-up section 42 (see Figure 3) and a rack 43 (see Figure 4). Multiple push-up sections 42 are provided, corresponding to the clamping members 24 of the chuck section 21 in each of the A1 to A4 stages (see Figure 3).
[0025] The mechanism for moving the chuck drive block 41 in the vertical direction (Y direction) is as shown in Figure 4 and includes, for example, a motor 44 (e.g., a servo motor) controlled by a control device (not shown), a pinion 45 fixed to the rotation axis of the motor 44, and a rack 43 fixed to the chuck drive block 41 via block B2, with which the pinion 45 meshes. The motor 44 is fixed to the support column 26 (or plate 25) on the right side in Figure 4.
[0026] The chuck drive block 41 (and the push-up section 42) slides vertically (in the Y direction) due to the driving force of the motor 44 transmitted via the pinion 45 and rack 43. As the chuck drive block 41 (and the push-up section 42) slides vertically (in the Y direction) in this way, the chuck sections 21 of each section A1 to A4 can be in an open or closed state.
[0027] For example, when the chuck drive block 41 moves upward (+Y direction), the clamping member 24 (and the movable block 28) is pushed upward by the push-up part 42 and moves away from the base 22 (sliding upward along the guide rod 27), causing the chuck part 21 to open, and the spring 35 (see Figure 4), which is compressed and positioned between the flange part 34 fixed to the support column 26 and the movable block 28, is further compressed and deformed (elastically deformed). With the chuck part 21 open in this way, the workpiece W is loaded onto the base 22 via the gap between the base 22 and the clamping member 24 (and the guide member 23).
[0028] On the other hand, when the chuck drive block 41 moves downward (-Y direction), the clamping member 24 (and movable block 28) are pushed downward by the elastic force of the spring 35 and move toward the base 22, causing the chuck portion 21 to close. In this closed state, the chuck portion 21 clamps multiple workpieces W, which are stacked in parallel on the base 22, between the clamping member 24, which is pushed downward (-Y direction) by the elastic force of the spring 35, and the base 22.
[0029] Here, with each of the chuck sections 21 of A1 to A4 open (see Figure 3), the distances between the base 22 of the chuck section 21 and the clamping member 24 provided on each of the multiple sections (see pitches p1 to p4 shown in Figure 3) are set to be different from each other.
[0030] Specifically, as shown in Figure 3, the pitches are set such that p1 of the first stage chuck portion 21 < p2 of the second stage chuck portion 21 < p3 of the third stage chuck portion 21 < p4 of the fourth stage chuck portion 21. This is achieved, for example, by setting the distance L3 between the first stage push-up portion 42 and the second stage push-up portion 42 < L4 between the second stage push-up portion 42 and the third stage push-up portion 42 < L5 between the third stage push-up portion 42 and the fourth stage push-up portion 42.
[0031] As described above, by setting the pitch p1 to p4 for each chuck portion 21 of each step A1 to A4 and sliding the chuck drive block 41 downward (-Y direction), the chuck portion 21 of step A1, step A2, step A3, and step A4 can be moved from an open state (see Figure 3) to a closed state (see Figures 5(a) to 5(d)) in this order. Figures 5(a) to 5(d) show how the chuck portion 21 of step A1, step A2, step A3, and step A4 moves from an open state to a closed state in this order.
[0032] An example of the operation of the workpiece transfer device 1 with the above configuration will be described.
[0033] Workpieces W are loaded one by one onto the bases 22 of each section A1 to A4 by a separate device (not shown) (e.g., an unloading hand unit).
[0034] First, the workpieces W are loaded onto the base 22 of the stepped section A1. In some cases, the workpieces W may also be loaded onto the bases 22 and 22A of the stepped section A1. The workpieces W pass through the gap between the base 22 of the stepped section A1 and the guide member 23 one by one and are loaded onto the base 22 of the stepped section A1 in a parallel manner. When a predetermined number of workpieces W are loaded, the chuck drive block 41 (and the push-up section 42) slides a predetermined distance downward (-Y direction). This is achieved by a control device (not shown) controlling the motor 44. As a result, the clamping member 24 (and the movable block 28) of the stepped section A1 is pushed downward (-Y direction) by the elastic force of the spring 35 and slides along the guide rod 27 in the -Y direction (towards the base 22 of the stepped section A1). As a result, the workpieces W (multiple) stacked in parallel on the base 22 of the stepped section A1 are clamped (chucked) between the clamping member 24 of the stepped section A1 and the base 22, which are pushed downward (-Y direction) by the elastic force of the spring 35 (see Figure 5(a)).
[0035] Next, the workpieces W are loaded onto the base 22 of the stepped section A2. In some cases, the workpieces W may be loaded onto the bases 22 and 22A of the stepped section A2. The workpieces W pass through the gap between the base 22 of the stepped section A2 and the guide member 23 one by one and are loaded onto the base 22 of the stepped section A2 in a parallel manner. When a predetermined number of workpieces W are loaded, the chuck drive block 41 (and the push-up section 42) slides a predetermined distance further downward (-Y direction). This is achieved by a control device (not shown) controlling the motor 44. As a result, the clamping member 24 (and the movable block 28) of the stepped section A2 is pushed further downward (-Y direction) by the elastic force of the spring 35 and slides along the guide rod 27 in the -Y direction (towards the base 22 of the stepped section A2). As a result, the workpieces W (multiple) stacked in parallel on the base 22 of the stepped section A2 are clamped (chucked) between the clamping member 24 of the stepped section A2 and the base 22, which are pushed downward (-Y direction) by the elastic force of the spring 35 (see Figure 5(b)).
[0036] Next, the workpieces W are loaded onto the base 22 of the stepped section A3. In some cases, the workpieces W may also be loaded onto the bases 22 and 22A of the stepped section A3. The workpieces W pass through the gap between the base 22 of the stepped section A3 and the guide member 23 one by one and are loaded onto the base 22 of the stepped section A3 in a parallel manner. Once a predetermined number of workpieces W are loaded, the chuck drive block 41 (and the push-up section 42) slides a predetermined distance further downward (-Y direction). This is achieved by a control device (not shown) controlling the motor 44. As a result, the clamping member 24 (and the movable block 28) of the stepped section A3 is pushed further downward (-Y direction) by the elastic force of the spring 35 and slides along the guide rod 27 in the -Y direction (towards the base 22 of the stepped section A2). As a result, the workpieces W (multiple) stacked in parallel on the base 22 of the stepped section A3 are clamped (chucked) between the clamping member 24 of the stepped section A3 and the base 22, which are pushed downward (-Y direction) by the elastic force of the spring 35 (see Figure 5(c)).
[0037] Next, the workpieces W are loaded onto the base 22 of the stepped section A4. In some cases, the workpieces W may be loaded onto the bases 22 and 22A of the stepped section A4. The workpieces W pass through the gap between the base 22 of the stepped section A4 and the guide member 23 one by one and are loaded onto the base 22 of the stepped section A4 in a parallel manner. When a predetermined number of workpieces W are loaded, the chuck drive block 41 (and the push-up section 42) slides a predetermined distance further downward (-Y direction). This is achieved by a control device (not shown) controlling the motor 44. As a result, the clamping member 24 (and the movable block 28) of the stepped section A4 is pushed further downward (-Y direction) by the elastic force of the spring 35 and slides along the guide rod 27 in the -Y direction (towards the base 22 of the stepped section A4). As a result, the workpieces W (multiple) stacked in parallel on the base 22 of the stepped section A4 are clamped (chucked) between the clamping member 24 of the stepped section A4 and the base 22, which are pushed downward (-Y direction) by the elastic force of the spring 35 (see Figure 5(d)).
[0038] As described above, the stocker unit 20, which holds (chucks) multiple workpieces W in each of the A1 to A4 sections, moves, for example, in the -Y direction and +Z direction, and transfers the held workpieces W to another device (not shown) (for example, a shuttle).
[0039] According to this disclosure, the following effects can be achieved.
[0040] Firstly, the motors required for opening and closing the chuck sections of each A1 to A4 stage (a total of four motors) become unnecessary. This is because one motor 44 moves the chuck drive block 41 (and the push-up section 42) vertically, thereby opening and closing the chuck sections 21 of each A1 to A4 stage. As a result, the stocker unit 20 can be made smaller.
[0041] Secondly, when the stocker unit 20, which holds (chucks) multiple workpieces W in each of the A1 to A4 stages, moves, for example, in the -Y direction and +Z direction, and transfers the held workpieces W to another device (not shown) (e.g., a shuttle), it is possible to prevent the positions of the multiple workpieces W from shifting due to the inertial force during the movement. This is because the workpieces W (multiple) stacked in parallel on the base 22 of each of the A1 to A4 stages are held (chucked) between the clamping members 24 of each of the A1 to A4 stages, which are pushed down in the -Y direction by the elastic force of the spring 35, and the base 22.
[0042] Thirdly, damage to the workpiece W during chucking can be prevented. This is because the upper surface of the base 22 (base body) on which the workpiece W is placed, the lower surface of the guide member 23 (guide member body), and the lower surface of the clamping member 24 (clamping member body) are each coated with Bulcolan (rubber).
[0043] Fourth, it is possible to prevent the workpiece W from being transported to the next process in an incorrect orientation. This is because the distance L1 (distance in the Y direction) between the base 22 and the guide member 23 is set to < the diagonal length L2 of the cross-section of the workpiece W (see Figure 3), so the workpiece W cannot rotate between the base 22 and the guide member 23.
[0044] Fifth, by arranging the bases 22 and 22A such that the center of gravity G1 and G2 of the workpiece W are located between the bases 22 and 22A (see Figure 1), the workpiece W can be transported in a stable position without tilting.
[0045] Sixth, by further extending the Z-direction lengths of the bases 22, 22A and the clamping members 24, even more workpieces W can be loaded. Also, by adding more stepped sections (chuck sections 21) similar to those of A1 to A4, even more workpieces W can be loaded.
[0046] Furthermore, by designing the system to be versatile enough to accommodate both thick and thin workpieces (W), the changeover time can be reduced.
[0047] As described above, according to this embodiment, multiple workpieces W can be fixed (clamped) at once (eliminating the need to fix each one individually), thereby providing a workpiece transport device 1 that can stabilize and transport workpieces W with fewer parts. Furthermore, according to this embodiment, multiple workpieces W can be transported together to a subsequent process. In addition, according to this embodiment, the load rate of the motor 44 (servo motor) is reduced, and transport can be performed with a motor 44 with a smaller capacity.
[0048] All numerical values shown in the above embodiments are illustrative, and it goes without saying that other appropriate numerical values can be used. The above embodiments are merely illustrative in every respect. The present invention is not to be interpreted as being limited by the above descriptions of embodiments. The present invention can be carried out in various other ways without departing from its spirit or main features. [Explanation of symbols]
[0049] 1...Workpiece transfer device, 10...Device body, 20...Stocker unit, 21...Chuck section, 22, 22A...Base, 23...Guide member, 24...Clamping member, 25...Plate, 26...Support column, 27...Guide rod, 28...Movable block, 35...Spring, 34...Flange section, 40...Chuck opening / closing mechanism, 41...Chuck drive block, 42...Push-up section, 43...Rack, 44...Motor, 45...Pinion, A1~A4...Step section, B1, B2...Block, G1, G2...Center of gravity, H1...Through hole, W...Workpiece, p1~p4...Pitch
Claims
1. Each of the multiple stepped sections arranged in the vertical direction has a chuck section, It comprises a chuck opening and closing mechanism for opening and closing the chuck portion, The aforementioned chuck portion is, A base on which multiple prism-shaped workpieces are stacked in parallel, A clamping member is positioned above the base so as to be movable in the vertical direction, The chuck opening and closing mechanism is, A spring that biases the clamping member downwards, A chuck drive block is provided to be movable in the vertical direction, A push-up section is provided on the chuck drive block and moves vertically together with the chuck drive block, The chuck drive block is provided with a mechanism for moving it vertically, When the chuck drive block moves upward, the clamping member is pushed upward by the push-up portion and moves away from the base, causing the chuck portion to open and the spring to be compressed and deformed. When the chuck drive block moves downward, the clamping member is pushed downward by the elastic force of the spring and moves toward the base, causing the chuck to close. A workpiece transport device in which, when the chuck portion is open, the distance between the base of the chuck portion and the clamping member provided on each of the plurality of stepped portions is set to be different from one another.
2. The base further includes a guide member for guiding the workpiece when it is loaded onto the base, The workpiece transport device according to claim 1, wherein the distance between the base and the guide member is shorter than the diagonal length of the cross-section of the workpiece.
3. The workpiece transport device according to claim 1, wherein the upper surface of the base and the lower surface of the clamping member are each coated with Bulcolan.
4. The workpiece transport device according to claim 1, wherein each of the plurality of stepped sections comprises two chuck sections and one base.
5. The workpiece transfer device according to claim 1, wherein the mechanism includes one motor, a pinion fixed to the rotation shaft of the motor, and a rack fixed to the chuck drive block with which the pinion meshes.