Load support device, conveying system, and load support method

Abstract

In the present invention, a jig pallet 40 is provided with a guide member 42 (lifted member), and a support section 51 (loaded unit) is provided with a cam follower 53 (lifting member). The cam follower 53 causes the guide member 42 to rise by coming into contact with the guide member 42 from below while advancing, relative to the lower side of the guide member 42, from an X-direction (direction of advancement) (steps S102–S104). Thus, the cam follower 53 of the support section 51, by pushing the guide member 42 of the jig pallet 40 upward, supports the jig pallet 40 in a state in which the jig pallet 40 has been raised with respect to a slider table 21 of a slider 2.

Description

Technical Field

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

Background Art

[0002] Conventionally, a slider on which a workpiece is placed is transported to a predetermined work position by a transport robot, and work corresponding to the work position is performed on the workpiece. Further, at the work position, work that generates a high load such as press-fitting may be performed on the workpiece. In such a case, when the transport robot supports the workpiece against a high load, a high strength is required for the transport robot, and the transport robot becomes large-sized.

[0003] In order to address such a problem, in Patent Document 1, a transport system is proposed that includes a load support device arranged at the work position to support the load separately from the transport robot. In this load support device, a jig pallet supported by the slider so as to be movable up and down is provided, and the workpiece is placed on this jig pallet. Further, in the load support device, a load receiving unit is provided that supports the jig pallet against the load applied to the jig pallet. Then, the jig pallet transported to the work position by the transport robot rides on the load receiving unit. As a result, the jig pallet is supported by the load receiving unit in a state of being lifted from the slider. As a result, the load applied to the workpiece is applied to the load receiving unit via the jig pallet and does not apply to the slider.

Prior Art Documents

Non-Patent Documents

[0004]

Non-Patent Document 1

Summary of the Invention

[0005] However, in the above technology, a load-bearing unit that contacts the underside of the jig pallet as it is transported to the work position pushes the jig pallet upward, thereby raising it relative to the slider. At this time, there was a problem in that the jig pallet and the load-bearing unit rubbed against each other, causing wear on both.

[0006] This invention has been made in view of the above problems, and aims to suppress wear between the jig pallet and the load-bearing unit due to friction in a technology in which a jig pallet supported by a slider so as to be able to move up and down is pushed up and supported by a load-bearing unit. [Means for solving the problem]

[0007] The load support device according to the present invention comprises a jig pallet having a lifted member and being supported so as to be able to move up and down by a slider transported by a transport robot, and a load receiving unit having a lift member that enters from the direction of entry relative to the lifted member and contacts the lifted member from below to raise the lifted member. The lift member supports the jig pallet in a state where the jig pallet is raised relative to the slider by raising the lifted member. Of the lifted member and the lift member, one is a guide member having a guide surface extending in the direction of entry, and the other is a cam follower. The cam follower moves relative to the guide surface in the direction of entry by rotating while contacting the guide surface and following the guide surface. The guide surface has an inclined surface that is inclined with respect to the horizontal direction and is provided in the direction of entry from the tip of the guide member to a predetermined position, and a horizontal surface that is parallel to the horizontal direction and is provided in the direction of entry from the predetermined position toward the side opposite to the tip of the guide member. The inclined surface is provided so that the lifted member rises as the cam follower moves relative to it along the inclined surface from the tip toward the predetermined position.

[0008] The load support method according to the present invention comprises the steps of: moving a lift member of a load receiving unit relative to the underside of a lifted member of a jig pallet supported so as to be raised and lowered by a slider transported by a transport robot, from the direction of entry; and as the lift member moves relative to the underside of the lifted member, the lift member contacts the lifted member from below and raises the lifted member, and the lift member supports the jig pallet in a state where the jig pallet is raised relative to the slider by raising the lifted member, and one of the lifted member and the lift member is in the direction of entry. The other is a guide member having an extended guide surface, and the other is a cam follower, which moves relative to the guide surface in the entry direction by rotating in contact with the guide surface and following the guide surface, and the guide surface has an inclined surface that is inclined with respect to the horizontal direction and is provided in the entry direction from the tip of the guide member to a predetermined position, and a horizontal surface that is parallel to the horizontal direction and is provided in the entry direction from the predetermined position toward the side opposite to the tip of the guide member, and the inclined surface is provided so that the lifted member rises as the cam follower moves relative to it along the inclined surface from the tip toward the predetermined position.

[0009] In the present invention (load support device and load support method) configured as described above, a lifted member is provided on the jig pallet, and a lift member is provided on the load receiving unit. The lift member raises the lifted member by approaching from the direction of entry relatively to the underside of the lifted member and contacting the lifted member from below. In this way, the lift member of the load receiving unit supports the jig pallet in a raised state relative to the slider by pushing up the lifted member of the jig pallet. At this time, one of the lifted member and the lift member is a guide member having a guide surface extending in the direction of entry, and the other is a cam follower, and the cam follower moves relative to the guide surface in the direction of entry by rotating while contacting the guide surface and following the guide surface. Furthermore, the guide surface has an inclined surface that is inclined with respect to the horizontal direction and is provided in the direction of entry from the tip of the guide member to a predetermined position, and a horizontal surface that is parallel to the horizontal direction and is provided in the direction of entry from the predetermined position toward the side opposite to the tip of the guide member. Then, as the cam follower moves relative to the lifted member along the inclined surface from the tip toward a predetermined position, the lifted member rises. In this configuration, friction between the jig pallet and the load-bearing unit does not occur. As a result, in a technology in which a jig pallet supported by a slider so as to be able to move up and down is pushed up and supported by a load-bearing unit, it is possible to suppress wear between the jig pallet and the load-bearing unit due to friction.

[0010] Alternatively, the load support device may be configured such that the transport robot transports the slider in the entry direction, the load receiving unit is positioned at a predetermined work position on the transport path of the slider transported in the entry direction by the transport robot, and the lifting member contacts the lifted member of the jig pallet being transported to the work position by the transport robot from below, thereby raising the lifted member. In this configuration, as the transport robot transports the slider to the work position, the lifting member pushes up the lifted member, supporting the jig pallet in an elevated position. Therefore, work at the work position can be started quickly.

[0011] Furthermore, the transport robot transports the slider toward a predetermined work position by transporting it in a transport direction perpendicular to the direction of entry. The load-bearing unit includes a support arm to which a lift member is attached, and an arm drive unit that drives the support arm in the direction of entry. The arm drive unit drives the support arm between an insertion position where the support arm is inserted into the insertion space between the slider and the jig pallet located at the work position, and a retraction position where the support arm retracts from the insertion space. As the support arm is inserted into the insertion space from the retraction position, the lift member enters the insertion space and contacts the lifted member from below, thereby raising the lifted member. In this configuration, an insertion space for inserting the support arm is provided between the slider and the jig pallet. Therefore, it is possible to suppress the pinching of foreign objects between the slider and the jig pallet.

[0012] In this configuration, a pair of support arms may be provided on both sides of the insertion space in the transport direction to support the jig pallet relative to the slider while leaving the insertion space open. The load support device may be configured such that the lift member contacts the lifted member from below between the pair of support arms in the transport direction. In this configuration, the jig pallet is supported by the lift member between the pair of support arms. Therefore, the jig pallet can be firmly supported in the center against high loads applied to it.

[0013] Furthermore, the load support device may be configured to include four elastic members, each corresponding to one of the four corners of the jig pallet, with each of the four elastic members applying an elastic force to the jig pallet that biases it downward as it is lifted by the lift member. In such a configuration, even if the load applied to the jig pallet is biased to one side, the tilt of the jig pallet can be suppressed by the four elastic members, each corresponding to one of the four corners of the jig pallet.

[0014] The transport system according to the present invention comprises a transport robot for transporting a slider and the load support device described above. Therefore, in a technology for supporting a jig pallet supported by a slider so as to be able to move up and down using the load support device, it is possible to suppress wear on the jig pallet and the load receiving unit due to friction between them. [Effects of the Invention]

[0015] According to the present invention, in a technology for supporting a jig pallet, which is supported by a slider so as to be able to move up and down, by pushing it up with a load-bearing unit, it is possible to suppress wear on the jig pallet and the load-bearing unit due to friction between them. [Brief explanation of the drawing]

[0016] [Figure 1A] A partial perspective view showing a first example of the transport system according to the present invention. [Figure 1B] A partial perspective view showing a first example of the transport system according to the present invention. [Figure 2] Front view showing the transport system shown in Figures 1A and 1B. [Figure 3A] Figures 1A and 1B are perspective views showing the relationship between the workpiece support mechanism and the slider table in the transport system. [Figure 3B] Figures 1A and 1B are perspective views showing the relationship between the workpiece support mechanism and the slider table in the transport system. [Figure 4] A schematic diagram illustrating the operation of the guide member and the cam follower. [Figure 5A] A partial perspective view showing a second example of the transport system according to the present invention. [Figure 5B] A partial perspective view showing a second example of the transport system according to the present invention. [Figure 6A] Front view showing the transport system shown in Figures 5A and 5B. [Figure 6B] Front view showing the transport system shown in Figures 5A and 5B. [Figure 7A]Perspective view showing the relationship between the work support mechanism and the slider table included in the transfer system of FIGS. 5A and 5B. [Figure 7B] Perspective view showing the relationship between the work support mechanism and the slider table included in the transfer system of FIGS. 5A and 5B. [Figure 8] Diagram schematically showing the operation of the guide member and the cam follower. [Figure 9] Diagram schematically showing the operation of the guide member and the cam follower in a modification of the first example. [Figure 10] Diagram schematically showing the operation of the guide member and the cam follower in a modification of the second example.

Mode for Carrying Out the Invention

[0017] FIGS. 1A and 1B are perspective views partially showing a first example of a transfer system according to the present invention, and FIG. 2 is a front view showing the transfer system shown in FIGS. 1A and 1B. In these figures and the following figures, the X direction, which is the horizontal direction, the Y direction, which is the horizontal direction orthogonal to the X direction, and the Z direction, which is the vertical direction, are appropriately shown. The transfer system 1 includes a slider 2, a single-axis robot 3 that transfers the slider 2 in the X direction (transfer direction), and a work support mechanism 4 attached to the slider 2.

[0018] As shown in FIG. 2, the slider 2 has a flat plate-shaped slider table 21 and a slider body 22 that supports the slider table 21 from below. The slider table 21 is horizontally supported by the slider body 22. The slider table 21 has a rectangle defined by two sides parallel to the X direction and two sides parallel to the Y direction in a plan view from the Z direction. The slider body 22 has a body housing 23, and the upper surface of the body housing 23 is fixed to the lower surface of the slider table 21. Also, in the Y direction, both end portions 211 of the slider table 21 project laterally from the body housing 23. Further, the slider body 22 has a pair of guided sliders 24 fixed to the body housing 23, and the pair of guided sliders 24 are arranged in the body housing 23 at a predetermined interval in the Y direction.

[0019] In contrast, the single-axis robot 3 has a robot housing 31 extending in the X direction and a pair of guide rails 32 attached to the upper surface of the robot housing 31. The pair of guide rails 32 are arranged at a predetermined distance in the Y direction and extend parallel to the X direction. The pair of guided sliders 24 of the slider 2 engage with the pair of guide rails 32 of the single-axis robot 3. Therefore, the movement of the slider 2 is guided parallel to the X direction by the pair of guide rails 32. Furthermore, the single-axis robot 3 drives the slider 2 in the X direction by a linear motor. In this way, the slider 2 is transported in the X direction by the single-axis robot 3.

[0020] Incidentally, the specific example of a drive mechanism for driving the slider 2 with the single-axis robot 3 is not limited to the example in Figure 2. Therefore, a ball screw may be used as the drive mechanism, for example. In this case, the screw shaft of the ball screw can be provided on the single-axis robot 3, and the nut of the ball screw can be provided on the slider 2. Alternatively, the slider 2 can be transported in the X direction by a robot other than the single-axis robot 3.

[0021] Figures 3A and 3B are perspective views showing the relationship between the workpiece support mechanism and the slider table in the transport system of Figures 1A and 1B. The workpiece support mechanism 4 has a jig pallet 40. This jig pallet 40 has a flat pallet table 41 that faces the slider table 21 from above, and the workpiece to be worked on is placed on the upper surface of the pallet table 41. In a bottom view from the Z direction, the pallet table 41 has a rectangle defined by two sides parallel to the X direction and two sides parallel to the Y direction, and in the Y direction, both ends 411 of the pallet table 41 protrude laterally from the slider table 21. In other words, the central part 412 of the pallet table 41 between the ends 411 on both sides in the Y direction faces the slider table 21 from above. Also, in the X direction, both ends of the pallet table 41 and both ends of the slider table 21 coincide.

[0022] Furthermore, the jig pallet 40 has two guide members 42 fixed to the underside of the end 411 of the pallet table 41, and the guide members 42 extend parallel to the X direction. These guide members 42 are provided for each of the end 411 on both sides of the pallet table 41. The underside of the guide members 42 is a guide surface 421 that extends parallel to the X direction. The guide surface 421 has tapered surfaces 422 provided at both ends in the X direction and a horizontal surface 423 provided between the tapered surfaces 422 at both ends. The tapered surface 422 is a plane provided from the tapered start end Ps provided at the end of the guide member 42 (in other words, the guide surface 421) to the tapered end end Pe provided in the middle of the guide member 42 (in other words, the guide surface 421), and is inclined with respect to the X direction (horizontal direction) so as to descend from the tapered start end Ps to the tapered end end Pe.

[0023] Furthermore, the work support mechanism 4 has four biasing support parts 43, each corresponding to one of the four corners of the slider table 21 (in other words, the four corners of the pallet table 41). Each biasing support part 43 has a shaft 431 extending downward in the Z direction from the lower surface of the central part 412 of the pallet table 41, a spring 432 fitted onto the shaft 431, and a flange 433 provided at the lower end of the shaft 431. Also, four through holes 213 are provided, each corresponding to one of the four corners of the slider table 21, penetrating the end 211 of the slider table 21 in the Z direction. The shafts 431 of the four biasing support parts 43 each pass through the four through holes 213, and the lower end of each shaft 431 protrudes downward from the slider table 21. In other words, the flange 433 at the lower end of the shaft 431 is located below the lower surface of the slider table 21, and the spring 432 fitted onto the shaft 431 is located between the flange 433 and the lower surface of the slider table 21 and is supported by the flange 433.

[0024] When the pallet table 41 is placed on the slider table 21 (in other words, in contact with it), the spring 432 has its natural length. However, when the pallet table 41 is raised relative to the slider table 21 (in other words, separated from it), the spring 432 between the flange 433 and the slider table 21 compresses in accordance with the rise of the flange 433, applying an elastic force to the pallet table 41 that biases it downwards.

[0025] Furthermore, the workpiece support mechanism 4 has one biasing support portion 44 between two biasing support portions 43 aligned in the X direction, and a through hole 214 corresponding to the biasing support portion 44 penetrates the end portion 211 of the slider table 21. These biasing support portions 44 and through holes 214 are configured in the same way as the biasing support portions 43 and through holes 213 described above.

[0026] Furthermore, the work support mechanism 4 has four linear bushings 45 that position the pallet table 41 relative to the slider table 21 in the X and Y directions. The four linear bushings 45 are provided inside the four biasing support parts 43, corresponding to the four corners of the slider table 21. Each linear bushing 45 has a shaft 451 extending downward in the Z direction from the lower surface of the central part 412 of the pallet table 41, and a retainer 452 fitted onto the shaft 451. Also, four through holes 215 are provided corresponding to the four corners of the slider table 21, penetrating the end 211 of the slider table 21 in the Z direction. The shafts 451 of the four linear bushings 45 pass through the four through holes 215. The retainers 452 of the four linear bushings 45 are fixed to the lower surface of the slider table 21, corresponding to the four through holes 215. The shaft 451 then passes through the through hole 215 and the retainer 452 and protrudes below the lower surface of the slider table 21.

[0027] Thus, the pallet table 41 is supported so as to be able to move up and down relative to the slider table 21 by a lifting support mechanism consisting of a biasing support section 43, a biasing support section 44, and a linear bush 45.

[0028] As shown in Figures 1A, 1B, and 2, the transport system 1 further includes a load-bearing unit 5 positioned at a high-load work position Lh on the transport path of the slider 2 by the single-axis robot 3. The load-bearing unit 5 has a pair of support sections 51 positioned to sandwich the single-axis robot 3 in the Y direction. Each support section 51 has a support frame 52 and a cam follower 53 rotatably attached to the support frame 52. Specifically, each of the multiple (3) cam followers 53 arranged in the X direction is attached to the support section 51 by a fastening member 54 (nut or screw, etc.), and each cam follower 53 is rotatable about a rotation axis parallel to the Y direction.

[0029] The pair of support sections 51 provided by this load-bearing unit 5 correspond to a pair of guide members 42 attached to the ends 411 on both sides of the pallet table 41. Each support section 51 then pushes up the corresponding guide member 42 attached to the pallet table 41 at the high-load work position Lh. This point will be explained with reference to Figure 4.

[0030] Figure 4 schematically illustrates the operation of the guide member and the cam follower. Steps S101 to S104 schematically show the process by which the pallet table 41 moves toward the high-load work position Lh and reaches that high-load work position Lh in chronological order. In step S101, the guide member 42 is spaced apart from the cam follower 53 in the X direction, and in the Z direction, the height of the upper end of the cam follower 53 is lower than the height Hh of the upper end of the tapered surface 422 and higher than the height Hl of the lower end of the tapered surface 422. As the guide member 42 moves toward the cam follower 53 in the X direction, the tapered surface 422 comes into contact with the cam follower 53 (step S102). Furthermore, as the guide member 42 moves in the X direction, the cam follower 53 moves relative to the guide member 42 along the tapered surface 422, pushing up the guide member 42 and raising the pallet table 41 (step S103). The rise of the pallet table 41 continues as the cam follower 53 passes relatively across the tapered surface 422 until it reaches the horizontal surface 423. When the cam follower 53 contacts the horizontal surface 423 and the pallet table 41 has risen to its upper limit height, the pallet table 41 is supported by the cam follower 53 (step S104). As the jig pallet 40 rises in steps S102 to S104, the spring 432 of the biasing support part 43 compresses, applying an elastic force to the jig pallet 40 from below. In other words, the cam follower 53 pushes up the jig pallet 40 against the elastic force of the spring 432.

[0031] As described above, the two guide members 42 and two support parts 51, which are spaced apart in the Y direction, correspond to each other, and the cam follower 53 provided on each support part 51 performs the operation shown in Figure 4 for the corresponding guide member 42.

[0032] In the first example of the transport system described above, the jig pallet 40 is provided with a guide member 42 (lifted member), and the support unit 51 (load receiving unit) is provided with a cam follower 53 (lifting member). The cam follower 53 enters the guide member 42 from the X direction (incoming direction) relative to the underside of the guide member 42 and contacts the guide member 42 from below, thereby raising the guide member 42 (steps S102 to S104). In this way, the cam follower 53 of the support unit 51 pushes up the guide member 42 of the jig pallet 40, supporting the jig pallet 40 in a raised position relative to the slider table 21 of the slider 2. At this time, the cam follower 53 contacts the guide surface 421 of the guide member 42 and rotates following the guide surface 421, thereby moving relative to the guide surface 421 in the X direction (steps S102 to S104). Furthermore, the guide surface 421 has a tapered surface 422 (inclined surface) that is inclined with respect to the X direction (horizontal direction) and is provided in the X direction from the tapered start end Ps to the tapered end end Pe (predetermined position) of the tip of the guide member 42, and a horizontal surface 423 that is parallel to the X direction (horizontal direction) and is provided in the X direction from the tapered end end Pe toward the opposite side of the tip of the guide member 42. As the cam follower 53 moves relatively along the tapered surface 422 from the tapered start end Ps to the tapered end end Pe, the guide member 42 rises. With this configuration, friction between the jig pallet 40 and the load-bearing unit 5 does not occur. As a result, when the jig pallet 40, which is supported by the slider 2 so as to be able to move up and down, is pushed up and supported by the load-bearing unit 5, it is possible to suppress wear between the jig pallet 40 and the load-bearing unit 5 due to friction.

[0033] Furthermore, the single-axis robot 3 (transport robot) transports the slider 2 in the X direction, and the support unit 51 is positioned at a predetermined high-load work position Lh (work position) on the transport path of the slider 2 transported in the X direction by the single-axis robot 3. The cam follower 53 then contacts the guide member 42 of the jig pallet 40, which is being transported to the high-load work position Lh by the single-axis robot 3, from below, thereby raising the guide member 42. In this configuration, as the single-axis robot 3 transports the slider 2 to the high-load work position Lh, the cam follower 53 pushes up the guide member 42, supporting the jig pallet 40 in an elevated position. Therefore, work at the high-load work position Lh can be started quickly.

[0034] Furthermore, the jig pallet 40 (in other words, the pallet table 41) is equipped with four springs 432 (elastic members) corresponding to each of its four corners. Each of the four springs 432 applies an elastic force to the jig pallet 40, biasing it downwards as it is raised by the cam follower 53. In this configuration, even if the load applied to the jig pallet 40 is biased to one side, the tilt of the jig pallet 40 can be suppressed by the four springs 432, which are provided corresponding to each of its four corners.

[0035] Thus, in this first example of the transport system 1, the transport system 1 corresponds to an example of the "transport system" of the present invention, the jig pallet 40 and the load receiving unit 5 constitute an example of the "load support device" of the present invention, the slider 2 corresponds to an example of the "slider" of the present invention, the single-axis robot 3 corresponds to an example of the "transport robot" of the present invention, the cam follower 53 corresponds to an example of the "lift member" of the present invention, the jig pallet 40 corresponds to an example of the "jig pallet" of the present invention, the guide member 42 corresponds to an example of the "lifted member" of the present invention, and the load receiving unit 5 corresponds to an example of the "load receiving unit" of the present invention.

[0036] Figures 5A and 5B are perspective views partially showing a second example of the transport system according to the present invention, Figures 6A and 6B are front views showing the transport system shown in Figures 5A and 5B, and Figures 7A and 7B are perspective views showing the relationship between the workpiece support mechanism and the slider table of the transport system in Figures 5A and 5B. The differences from the first example described above lie in the configuration of the workpiece support mechanism and the load-bearing unit, so here we will focus on explaining the differences from the first example, and commonalities with the first example will be denoted by corresponding reference numerals and explained as appropriate.

[0037] The transport system 1 according to the second example comprises a slider 2, a single-axis robot 3, a workpiece support mechanism 6, and a load receiving unit 7. The slider 2 and the single-axis robot 3 have the same configuration as in the first example. That is, the single-axis robot 3 transports the slider 2 in the X direction, and a high-load work position Lh is provided on the transport path of the slider 2 by the single-axis robot 3.

[0038] The workpiece support mechanism 6 has a jig pallet 60. This jig pallet 60 has a flat pallet table 61 that faces the slider table 21 from above, and the workpiece to be worked on is placed on the upper surface of the pallet table 61. When viewed from below in the Z direction, the pallet table 61 has a rectangle defined by two sides parallel to the X direction and two sides parallel to the Y direction, and both ends of the pallet table 61 and both ends of the slider table 21 coincide in the Y direction and the X direction, respectively.

[0039] The jig pallet 60 has two guide members 62 fixed to the underside of the pallet table 61. The two guide members 62 are arranged at a predetermined distance apart in the X direction, and each of the two guide members 62 extends parallel to the Y direction. In contrast, in the X direction, the pallet table 61 can be distinguished into two parts: the outer ends 611 beyond the two guide members 62, and the central part 612 which includes the two guide members 62. That is, in the X direction, guide members 62 are located at each end of the central part 612. The underside of the guide members 62 is a guide surface 621 that extends parallel to the Y direction. The guide surface 621 has tapered surfaces 622 provided at both ends in the Y direction, and a horizontal surface 623 provided between the tapered surfaces 622 at both ends. The tapered surface 622 is a plane that extends from the tapered start end Ps, which is located at the end of the guide member 62 (in other words, the guide surface 621), to the tapered end end Pe, which is located midway along the guide member 62 (in other words, the guide surface 621), and is inclined with respect to the Y direction (horizontal direction) so as to descend from the tapered start end Ps towards the tapered end end Pe.

[0040] Furthermore, the work support mechanism 6 has four biasing support parts 63, each corresponding to one of the four corners of the slider table 21 (in other words, the four corners of the pallet table 61). Each biasing support part 63 has a shaft 631 extending downward in the Z direction from the lower surface of the end 611 of the pallet table 61, a spring 632 fitted onto the shaft 631, and a flange 633 provided at the lower end of the shaft 631. Also, four through holes 213 are provided, each corresponding to one of the four corners of the slider table 21, penetrating the end 211 of the slider table 21 in the Z direction. The shafts 631 of the four biasing support parts 63 each pass through the four through holes 213, and the lower end of each shaft 631 protrudes downward from the slider table 21. In other words, the flange 633 at the lower end of the shaft 631 is located below the lower surface of the slider table 21, and the spring 632 fitted onto the shaft 631 is located between the flange 633 and the lower surface of the slider table 21 and is supported by the flange 633.

[0041] Each biasing support section 63 also has an upper spacer 634 and a lower spacer 635. The upper spacer 634 is attached to the lower surface of the pallet table 61 and has an annular shape that surrounds the upper end of the shaft 631. This upper spacer 634 protrudes downward from the lower surface of the pallet table 61. The lower spacer 635 is attached to the upper surface of the slider table 21 and has a cylindrical shape with a through hole that penetrates in the Z direction. The lower spacer 635 is provided corresponding to the through hole 213 of the slider table 21, and the through hole of the lower spacer 635 and the through hole 213 of the slider table 21 are in communication. This lower spacer 635 protrudes upward from the upper surface of the slider table 21 and fits onto the shaft 631. These upper spacers 634 and lower spacers 635 are positioned between the slider table 21 and the pallet table 61, facing each other in the Z direction. In this configuration, the contact between the upper spacer 634 and the lower spacer 635 limits the proximity of the slider table 21 and the pallet table 61. Therefore, a clearance C is secured between the slider table 21 and the pallet table 61 by the upper spacer 634 and the lower spacer 635. In particular, the portion of the clearance C facing the central part 612 of the pallet table 61 functions as an insertion space S into which the support arm 74, described later, is inserted.

[0042] When the upper spacer 634 and the lower spacer 635 are in contact and the pallet table 61 is placed on the slider table 21 via the upper spacer 634 and the lower spacer 635, the spring 432 has its natural length. However, when the pallet table 61 rises relative to the slider table 21 and the upper spacer 634 and the lower spacer 635 separate, the spring 632 between the flange 633 and the slider table 21 compresses in accordance with the rise of the flange 633, applying an elastic force to the pallet table 61 that biases it downwards.

[0043] Furthermore, the work support mechanism 6 has four linear bushings 65 that position the pallet table 61 in the X and Y directions relative to the slider table 21. The four linear bushings 65 are provided inside the four biasing support parts 63, corresponding to the four corners of the slider table 21. Each linear bushing 65 has a shaft 651 extending downward in the Z direction from the lower surface of the end 611 of the pallet table 61, and a retainer 652 fitted onto the shaft 651, with the retainer 652 fixed to the upper surface of the slider table 21. In each of the four linear bushings 45, the lower end of the shaft 651 is inserted into the retainer 652 from above.

[0044] Thus, the pallet table 61 is supported so as to be able to move up and down relative to the slider table 21 by a lifting support mechanism consisting of a biasing support section 63 and a linear bush 65.

[0045] As shown in Figures 5A, 5B, 6A, and 6B, the transport system 1 further includes a load-bearing unit 7 positioned to correspond to a high-load work position Lh located on the transport path of the slider 2 by the single-axis robot 3. The load-bearing unit 7 has an arm support section 71 and an arm drive section 72 positioned to sandwich the single-axis robot 3 and the work support mechanism 6 from the Y direction. The arm support section 71 has a support frame 711 and two cam receiving rails 712 provided on the upper surface of the support frame 711. The two cam receiving rails 712 are positioned at a predetermined distance apart in the X direction, and each of the two cam receiving rails 712 extends parallel to the Y direction.

[0046] The arm drive unit 72 is positioned on the opposite side of the arm support unit 71 in the Y direction from the single-axis robot 3 and the workpiece support mechanism 6, and includes a drive table 721 and a single-axis robot 722 that drives the drive table 721 in the Y direction. In this example, the single-axis robot 722 moves the drive table 721, which is attached to the nut of a ball screw, in the Y direction by driving the screw shaft of the ball screw with a motor. However, the specific example of the drive mechanism for driving the drive table 721 by the single-axis robot 722 is not limited to the examples in Figures 5A and 5B, and a linear motor may also be used, for example.

[0047] Furthermore, the load-bearing unit 7 has a flat support arm 74 fixed to the drive table 721. The support arm 74 is horizontally supported by the drive table 721 and protrudes from the drive table 721 toward the arm support portion 71 in the Y direction. Specifically, the support arm 74 has a fixed portion 741 that faces the drive table 721 from above and abuts against the upper surface of the drive table 721, and an extended portion 742 that extends from the fixed portion 741 toward the arm support portion 71 in the Y direction. The fixed portion 741 is fastened to the drive table 721 by fastening members such as screws, and the extended portion 742 protrudes from the fixed portion 741 toward the arm support portion 71. In the X direction, the extended portion 742 is located inside the guide surfaces 621 of each of the two guide members 62, and the end faces 743 on both sides of the extended portion 742 in the X direction extend parallel to the Y direction and are planes perpendicular to the X direction.

[0048] Furthermore, the load-bearing unit 7 has a cam follower 75 rotatably mounted on the X-direction end face 743 of the extension portion 742 of the support arm 74. In other words, a plurality (4) of cam followers 75 are mounted on the end face 743 of the extension portion 742, arranged in the Y direction, and each cam follower 75 is rotatable about an axis of rotation parallel to the X direction. These plurality of cam followers 75 are provided on each of the X-direction end faces 743 of the extension portion 742.

[0049] The arm drive unit 72 then drives the support arm 74 in the Y direction. In particular, the arm drive unit 72 drives the support arm 74 between an insertion position L1 (Figures 5B and 6B) where the extended portion 742 of the support arm 74 is inserted into the insertion space S between the slider table 21 and the pallet table 61, and a retracted position L2 (Figures 5A and 6A) where the extended portion 742 of the support arm 74 is retracted from the insertion space S in the Y direction (opposite side of the arm support portion 71).

[0050] The cam followers 75 on both end faces 743 of the extended portion 742 correspond to the two guide members 62 of the jig pallet 60, respectively. Each cam follower 75 pushes up the corresponding guide member 62 of the jig pallet 60 located at the high-load work position Lh. This point will be explained with reference to Figure 8.

[0051] Figure 8 schematically illustrates the operation of the guide member and the cam follower. In steps S201 to S204, as the arm drive unit 72 moves the support arm 74 from the retracted position L2 to the insertion position L1, the extended portion 742 of the support arm 74 moves toward the insertion space S between the pallet table 61 and the slider table 21, where it stops at the high-load work position Lh, and is inserted into the insertion space S. This process is schematically shown in chronological order. In addition, along with the support arm 74, each cam follower 75 supported by the support arm 74 also moves in the Y direction and is inserted into the insertion space S.

[0052] In step S201, the cam follower 75 is spaced apart from the guide member 62 in the Y direction, and in the Z direction, the height of the upper end of the cam follower 75 is lower than the height Hh of the upper end of the tapered surface 622 and higher than the height Hl of the lower end of the tapered surface 622. As the cam follower 75 moves toward the guide member 62 in the Y direction, the cam follower 75 comes into contact with the tapered surface 622 (step S202). Further movement of the cam follower 75 in the Y direction causes it to move along the tapered surface 622 relative to the guide member 62, pushing the guide member 62 upward and raising the pallet table 61 (step S203). The raising of the pallet table 61 continues as the cam follower 75 passes the tapered surface 622 until it reaches the horizontal plane 623. Then, the cam follower 75 contacts the horizontal plane 623, and with the pallet table 61 raised to its upper limit height, the pallet table 61 is supported by the cam follower 75 (step S204). As the jig pallet 60 rises in steps S202 to S204, the spring 632 of the biasing support part 63 compresses, applying an elastic force to the jig pallet 60 from below. In other words, the cam follower 75 pushes up the jig pallet 60 against the elastic force of the spring 632.

[0053] As the support arm 74 reaches the insertion position L1, the tip of the extension portion 742 of the support arm 74, which has been inserted into the insertion space S, protrudes from the insertion space S toward the arm support portion 71. Consequently, the cam follower 75 attached to the tip of the extension portion 742 of the support arm 74 rides onto the cam receiving rail 712 of the arm support portion 71 and is supported by the cam receiving rail 712.

[0054] In the second example of the transport system described above, the jig pallet 60 is provided with a guide member 62 (lifted member), and the load receiving unit 7 is provided with a cam follower 75 (lifting member). The cam follower 75 enters below the guide member 62 from the Y direction (incoming direction) and contacts the guide member 62 from below, thereby raising the guide member 62 (steps S202 to S204). In this way, the cam follower 75 of the load receiving unit 7 pushes up the guide member 62 of the jig pallet 60, supporting the jig pallet 60 in a raised position relative to the slider table 21 of the slider 2. At this time, the cam follower 75 moves in the Y direction relative to the guide surface 621 by rotating while contacting the guide surface 621 of the guide member 62 (steps S202 to S204). Furthermore, the guide surface 621 has a tapered surface 622 (inclined surface) that is inclined with respect to the X direction (horizontal direction) and is provided in the X direction from the tapered start end Ps to the tapered end end Pe (predetermined position) of the tip of the guide member 62, and a horizontal surface 623 that is parallel to the X direction (horizontal direction) and is provided in the Y direction from the tapered end end Pe toward the opposite side of the tip of the guide member 62. As the cam follower 75 moves along the tapered surface 622 from the tapered start end Ps to the tapered end end Pe, the guide member 62 rises. In this configuration, friction between the jig pallet 60 and the load-bearing unit 7 does not occur. As a result, in a technology in which a jig pallet 60 supported on the slider table 21 of the slider 2 is pushed up and supported by the load-bearing unit 7 so as to be able to move up and down, it is possible to suppress wear between the jig pallet 60 and the load-bearing unit 7 due to friction.

[0055] Furthermore, the single-axis robot 3 (transport robot) transports the slider 2 toward the high-load work position Lh (work position) by transporting it in the X direction (transport direction) perpendicular to the Y direction. In contrast, the load-receiving unit 7 has a support arm 74 to which a cam follower 75 is attached, and an arm drive unit 72 that drives the support arm 74 in the Y direction. This arm drive unit 72 drives the support arm 74 between an insertion position L1, where the support arm 74 is inserted into the insertion space S between the slider 2 located at the high-load work position Lh and the jig pallet 60, and a retraction position L2, where the support arm 74 is retracted from the insertion position L1. In contrast, as the support arm 74 is inserted from the retraction position L2 to the insertion position L1, the cam follower 75 enters the insertion space S and contacts the guide member 62 from below, causing the guide member 62 to rise. In this configuration, an insertion space S for inserting the support arm 74 is provided between the slider 2 and the jig pallet 60. Therefore, it is possible to suppress the pinching of foreign objects between the slider 2 and the jig pallet 60.

[0056] In this configuration, a pair of biasing support parts 63 (support arms) are provided on both sides of the insertion space S in the X direction, leaving the insertion space S open and supporting the jig pallet 60 relative to the slider 2. Furthermore, the cam follower 75 abuts against the guide member 62 from below between the pair of biasing support parts 63 in the X direction. In this configuration, the jig pallet 60 is supported by the cam follower 75 between the pair of biasing support parts 63. Therefore, the jig pallet 60 can be firmly supported at its central part 612 in the X direction, even against high loads applied to it.

[0057] Furthermore, four springs 632 (elastic members) are provided, each corresponding to one of the four corners of the jig pallet 60. Each of the four springs 632 applies an elastic force to the jig pallet 60, biasing it downwards as it is raised by the cam follower 75. In this configuration, even if the load applied to the jig pallet 60 is biased to one side, the tilt of the jig pallet 60 can be suppressed by the four springs 632 provided, each corresponding to one of the four corners of the jig pallet 60.

[0058] Thus, in this second example of the transport system 1, the transport system 1 corresponds to an example of the "transport system" of the present invention, the jig pallet 60 and the load receiving unit 7 constitute an example of the "load support device" of the present invention, the slider 2 corresponds to an example of the "slider" of the present invention, the single-axis robot 3 corresponds to an example of the "transport robot" of the present invention, the cam follower 75 corresponds to an example of the "lift member" of the present invention, the jig pallet 60 corresponds to an example of the "jig pallet" of the present invention, the guide member 62 corresponds to an example of the "lifted member" of the present invention, and the load receiving unit 7 corresponds to an example of the "load receiving unit" of the present invention.

[0059] It should be noted that the present invention is not limited to the embodiments described above, and various modifications can be made to those described above without departing from the spirit of the invention. For example, in the first example described above, a guide member 42 is provided on the jig pallet 40, and a cam follower 53 is provided on the load-bearing unit 5. However, as shown in Figure 9, a cam follower 47 may be provided on the jig pallet 40, and a guide member 55 may be provided on the load-bearing unit 5.

[0060] Figure 9 is a schematic diagram showing the operation of the guide member and cam follower in a modified example of the first example. In the example of Figure 9, the work support mechanism 4 has support plates 46 attached to both ends in the Y direction of the pallet table 41 of the jig pallet 40, and cam followers 47 rotatably attached to each support plate 46. In contrast, the load receiving unit 5 has guide members 55 attached to each support part 51. These guide members 55 extend parallel to the X direction, and the upper surface of the guide member 55 is a guide surface 551 that extends parallel to the X direction. The guide surface 551 has tapered surfaces 552 provided at both ends in the X direction (only one end of the tapered surface 552 is shown in Figure 9) and a horizontal surface 553 provided between the tapered surfaces 552 at both ends. The tapered surface 552 is a plane that extends from the tapered start end Ps, which is located at the end of the guide member 55 (in other words, the guide surface 551), to the tapered end end Pe, which is located midway along the guide member 55 (in other words, the guide surface 551), and is inclined with respect to the X direction (horizontal direction) so as to rise from the tapered start end Ps to the tapered end end Pe.

[0061] Steps S301 to S304 schematically illustrate the process by which the pallet table 41 moves toward the high-load work position Lh and reaches that high-load work position Lh. In step S301, the cam follower 47 (lifted member) is spaced apart from the guide member 55 (lifting member) in the X direction, and in the Z direction, the height of the lower end of the cam follower 47 is lower than the height Hh of the upper end of the tapered surface 552 and higher than the height Hl of the lower end of the tapered surface 552. When the cam follower 47 moves toward the guide member 55 in the Y direction, the cam follower 47 comes into contact with the tapered surface 552 (step S302). Furthermore, when the cam follower 47 moves toward the X direction, the cam follower 47 moves along the tapered surface 552 toward the guide member 55 and is pushed up by the guide member 55, causing the pallet table 41 to rise (step S303). The rise of the pallet table 41 continues as the cam follower 47 passes over the tapered surface 552 and reaches the horizontal surface 553. When the cam follower 47 contacts the horizontal surface 553 and the pallet table 41 has risen to its upper limit height, the pallet table 41 is supported by the guide member 55 (step S304).

[0062] Figure 10 is a schematic diagram showing the operation of the guide member and cam follower in a modified example of the second example. In the example of Figure 10, the work support mechanism 6 has support plates 66 attached to both ends in the X direction of the pallet table 61 of the jig pallet 60, and cam followers 67 rotatably attached to each support plate 66. In contrast, the load receiving unit 7 has guide members 76 attached to each end face 743 on both sides in the X direction of the support arm 74. These guide members 76 extend parallel to the Y direction, and the upper surface of the guide member 76 is a guide surface 761 that extends parallel to the Y direction. The guide surface 761 has tapered surfaces 762 provided at both ends in the Y direction (only one end of the tapered surface 762 is shown in Figure 10) and a horizontal surface 763 provided between the tapered surfaces 762 at both ends. The tapered surface 762 is a plane that extends from the tapered start end Ps, which is located at the end of the guide member 76 (in other words, the guide surface 761), to the tapered end end Pe, which is located midway along the guide member 76 (in other words, the guide surface 761), and is inclined with respect to the Y direction (horizontal direction) so as to rise from the tapered start end Ps to the tapered end end Pe.

[0063] Steps S401 to S404 schematically illustrate, in chronological order, the process by which the arm drive unit 72 moves the support arm 74 from the retracted position L2 to the insertion position L1, and as a result, the extended portion 742 of the support arm 74 moves toward the insertion space S between the pallet table 61 and the slider table 21, where it stops at the high-load work position Lh, and is inserted into the insertion space S. In addition, along with the support arm 74, each guide member 76 attached to the support arm 74 also moves in the Y direction and is inserted into the insertion space S.

[0064] In step S401, the guide member 76 is spaced apart from the cam follower 67 in the Y direction, and in the Z direction, the height of the lower end of the cam follower 67 is lower than the height Hh of the upper end of the tapered surface 762 and higher than the height Hl of the lower end of the tapered surface 762. As the guide member 76 moves toward the cam follower 67 in the Y direction, the tapered surface 762 of the guide member 76 comes into contact with the cam follower 67 (step S402). As the guide member 76 moves further toward the Y direction, the cam follower 67 moves relative to the guide member 76 along the tapered surface 762 and is pushed up by the guide member 76, causing the pallet table 61 to rise (step S403). The rising of the pallet table 61 continues until the cam follower 67 passes the tapered surface 762 relative to the horizontal plane 763. Then, when the cam follower 67 contacts the horizontal plane 763 and the pallet table 61 has risen to its upper limit height, the pallet table 61 is supported by the guide member 76 (step S404).

[0065] Incidentally, in the first example of the transport system 1, the cam followers 53 are fastened to the support frame 52 by fastening members 54. Therefore, the number of cam followers 53 attached to the support frame 52 can be appropriately changed according to the load applied to the pallet table 41. Similarly, a configuration that allows the number of cam followers 75 to be changed may be applied to the load receiving unit 7 of the second example of the transport system 1. Furthermore, the configuration for changing the cam followers 53 does not have to be a configuration that changes the number of cam followers 53 attached to the support section 51, but rather a configuration in which multiple types of support sections 51 with different numbers of cam followers 53 attached are prepared and the support section 51 to be used is selected from among them. The same applies to the configuration for changing the number of cam followers 75. [Explanation of Symbols]

[0066] 1…Conveyor system 2... Slider 3… Single-axis robot (transport robot) 40... Jig pallet (load support device) 42... Guide member (lifted member) 53... Cam follower (lift component) 60... Jig pallet (load support device) 62... Guide member (lifted member) 75... Cam follower (lift component) U... Load-bearing unit (load support device)

Claims

1. A jig pallet having a liftable member and supported so as to be able to be raised and lowered by a slider transported by a transport robot, A load-receiving unit having a lifting member that moves relative to the lifted member from the direction of entry and contacts the lifted member from below to raise the lifted member, Equipped with, The lifting member supports the jig pallet in a state where the jig pallet is raised relative to the slider by raising the lifted member. Of the lifted member and the lifting member, one is a guide member having a guide surface extending in the direction of entry, and the other is a cam follower. The cam follower moves relative to the guide surface in the entry direction by rotating in contact with the guide surface and following the guide surface. The guide surface has an inclined surface that is inclined with respect to the horizontal direction and is provided in the entry direction from the tip of the guide member to a predetermined position, and a horizontal surface that is parallel to the horizontal direction and is provided in the entry direction from the predetermined position toward the side opposite to the tip of the guide member. The inclined surface is provided such that the lifted member rises as the cam follower moves relatively along the inclined surface from the tip toward the predetermined position. The transport robot transports the slider toward a predetermined work position by transporting it in a transport direction perpendicular to the entry direction. The load-receiving unit comprises a support arm to which the lift member is attached, and an arm drive unit that drives the support arm in the direction of entry. The arm drive unit drives the support arm between an insertion position in which the support arm is inserted into the insertion space between the slider and the jig pallet located at the work position, and a retracted position in which the support arm is retracted from the insertion space. A load support device in which, as the support arm is inserted into the insertion space from the retracted position, the lift member enters the insertion space and contacts the lifted member from below, thereby raising the lifted member.

2. The system further comprises a pair of support arms provided on both sides of the insertion space in the transport direction, which leave the insertion space open and support the jig pallet relative to the slider, The load support device according to claim 1, wherein, in the transport direction, the lift member abuts the lifted member from below between the pair of support arms.

3. The jig pallet is further provided with four elastic members corresponding to each of its four corners, The load support device according to claim 1, wherein each of the four elastic members applies an elastic force to the jig pallet that biases the jig pallet, which is raised by the lift member, downward.

4. The slider has a flat slider table, The load support device according to any one of claims 1 to 3, wherein the lifting member raises the lifted member, thereby supporting the jig pallet in a state where the jig pallet is raised relative to the slider table.

5. The slider has a flat slider table, The load support device according to any one of claims 1 to 3, wherein the lifting member raises the lifted member, causing the jig pallet placed on the slider table to move away from the slider table and be supported by the lifting member.

6. The jig pallet is provided with a pair of the lifted members, The load support device according to any one of claims 1 to 3, wherein the load receiving unit is provided with a pair of lift members corresponding to each of the pair of lifted members.

7. A transport robot that transports sliders, A load support device according to any one of claims 1 to 3 and A transport system equipped with a transport system.

8. A process of inserting the lifting member of a load-receiving unit relative to the lifting member of a jig pallet, which is supported so as to be raised and lowered by a slider transported by a transport robot, from the direction of entry, The process involves the lifting member making relative entry of the lifted member below the lifted member, causing the lifting member to contact the lifted member from below and raise the lifted member. Equipped with, The lifting member supports the jig pallet in a state where the jig pallet is raised relative to the slider by raising the lifted member. Of the lifted member and the lifting member, one is a guide member having a guide surface extending in the direction of entry, and the other is a cam follower. The cam follower moves relative to the guide surface in the entry direction by rotating in contact with the guide surface and following the guide surface. The guide surface has an inclined surface that is inclined with respect to the horizontal direction and is provided in the entry direction from the tip of the guide member to a predetermined position, and a horizontal surface that is parallel to the horizontal direction and is provided in the entry direction from the predetermined position toward the side opposite to the tip of the guide member. The inclined surface is provided such that the lifted member rises as the cam follower moves relatively along the inclined surface from the tip toward the predetermined position. The transport robot transports the slider toward a predetermined work position by transporting it in a transport direction perpendicular to the entry direction. The load-receiving unit comprises a support arm to which the lift member is attached, and an arm drive unit that drives the support arm in the direction of entry. The arm drive unit drives the support arm between an insertion position in which the support arm is inserted into the insertion space between the slider and the jig pallet located at the work position, and a retracted position in which the support arm is retracted from the insertion space. A load support method in which, as the support arm is inserted into the insertion space from the retracted position, the lift member enters the insertion space and contacts the lifted member from below, thereby raising the lifted member.

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