Workpiece transfer device

Abstract

To provide a workpiece conveyance device which does not require handling of an air hose for supplying a negative pressure on a suction head according to the conveyance of a workpiece, and which can suppress consumption of the air to be supplied.SOLUTION: A workpiece conveyance device includes: a guide rail 2 forming an endless circulation path; a plurality of moving elements 3 which moves on the guide rail 2; a suction unit 5 disposed at each moving element 3, and having a suction head 7; negative pressure supply means for supplying a negative pressure for sucking the workpiece to the suction head 7; a hollow air rail 12 in which a negative pressure space 11 is formed corresponding to a work conveyance path 9 from a workpiece reception position to a carry-out position in the guide rail 2; a negative pressure supply source for supplying a negative pressure in the negative pressure space 11; and negative pressure communication means 13 arranged in each suction unit 5, and for communicating the negative pressure supply source and each suction head 7 during the movement of each moving element 3 in the workpiece conveyance path.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a work transfer device provided with an air distribution mechanism for efficiently supplying air for adsorbing and detaching a work such as a filling container to and from an adsorption head.

Background Art

[0002] Conventionally, a work transfer device has been used that includes an adsorption head for adsorbing a work with air, transports the work to a desired position while holding the work on the adsorption head, and performs delivery and sorting.

[0003] For example, the work transfer device disclosed in Patent Document 1 includes an endless guide rail, a plurality of adsorption heads that circulate and move along the guide rail and adsorb and hold an article, a lifting mechanism for lifting and lowering each adsorption head, a linear transfer means for individually circulating and moving each adsorption head along the guide rail, and a control device for controlling the operation of the linear transfer means. The adsorption head is moved while following the movement of the article conveyed by the second conveyor, and the article is held by the adsorption head. The adsorption head holding the article is moved to a delivery section on the first conveyor side, and in the delivery section, the holding state of the article by the adsorption head is released in accordance with the movement of the box conveyed by the first conveyor, and a plurality of articles are regularly delivered into one box conveyed by the first conveyor by a plurality of adsorption heads.

[0004] Further, the work transfer device disclosed in Patent Document 2 includes a plurality of moving bodies movable along an endless movement path, an adsorption head attached to each moving body, a negative pressure supply means for supplying negative pressure to the adsorption head, and a guide rail for moving the moving body. The negative pressure supply means includes a perforated plate provided with a large number of negative pressure supply holes arranged from a first position for adsorbing an article to a second position for releasing the adsorption, a cup-shaped member provided on each moving body and having an opening formed on the surface of the perforated plate and communicating with each negative pressure supply hole, and a flexible conduit and a hollow shaft connecting the cup-shaped member and the adsorption head. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2016-56002 [Patent Document 2] Japanese Patent Publication No. 2019-151477 [Overview of the project] [Problems that the invention aims to solve]

[0006] However, in a suction head configuration that uses an air hose to supply negative pressure to the suction head to pick up a workpiece, as described in Patent Document 1, it is necessary to route a long air hose as the suction head moves, and a large space is required for this purpose.

[0007] In the case of the workpiece transfer device described in Patent Document 2, although the routing of a long air hose associated with the movement of the suction head is eliminated, there was a problem in that the amount of air consumed from the open negative pressure supply port was large.

[0008] This invention has been made in view of the above problems, and aims to provide a workpiece transport device that does not require the routing of an air hose to supply negative pressure to the suction head during workpiece transport, and can reduce the consumption of supplied air. [Means for solving the problem]

[0009] To achieve the aforementioned objectives, the present invention provides a workpiece transport device comprising: a guide rail forming an endless circulating path; a plurality of moving elements that move along the guide rail; a suction unit having a suction head disposed on each moving element; and a negative pressure supply means for supplying negative pressure to the suction head for suctioning a workpiece, wherein a workpiece transport path from a workpiece receiving position to a workpiece discharge position is provided within the guide rail, and the negative pressure supply means comprises: a hollow air rail in which a negative pressure space is formed corresponding to the workpiece transport path; and a means for supplying negative pressure into the negative pressure space. The air rail has a negative pressure supply source and negative pressure communication means provided in each suction unit, which includes a piping member that connects the negative pressure supply source and each suction head as each mobile unit moves along the work transport path, and an open groove is formed on the outer wall surface of the air rail through which the open end of the piping member on the non-suction head side passes as each mobile unit moves, and at least in the region where the negative pressure space is formed, a covering member covers the open groove and is arranged to allow the passage of the piping member passing through the open groove.

[0010] The negative pressure communication means is characterized by comprising a first piping section arranged in communication with each suction head, a second piping section with its open end facing into the opening groove of the air rail, and a connecting section that connects the first piping section and the second piping section.

[0011] Furthermore, the air rail is formed in an endless shape similar to the guide rail, and the inside of the air rail can be divided into a negative pressure space and a non-negative pressure space where the negative pressure is released by a partition wall having a notch through which the open end of the second piping section passes.

[0012] According to the workpiece transport device of the present invention, each moving element moves along the workpiece transport path, and the open end of the second piping section of the suction unit disposed on each moving element is inserted into the opening groove section from the joint of the covering member, etc., and faces the negative pressure space in the air rail to which negative pressure is supplied by the drive of the negative pressure supply source, thereby picking up the workpiece by each suction head to which negative pressure is supplied via the air nozzle, and the suction of the workpiece by each suction head can be released when the open end of the second piping section leaves the negative pressure space in the air rail.

[0013] Thus, in the workpiece transport device of the present invention, the negative pressure supply path between the negative pressure supply source and the negative pressure space within the air rail can be permanently installed, eliminating the need to route long air hoses when transporting workpieces. Furthermore, by covering the open portion of the negative pressure space with a covering member, the loss of supplied negative pressure can be minimized.

[0014] Furthermore, according to the workpiece transport device of the present invention, the length and position of the negative pressure space can be appropriately adjusted in accordance with the length and position of the workpiece transport path. [Effects of the Invention]

[0015] Thus, with the workpiece transport device of the present invention, there is no need to run a long air hose to supply negative pressure to the suction head of the moving element, and the supplied negative pressure can be effectively distributed simply by initial setting to provide a negative pressure space corresponding to the workpiece transport path, enabling stable suction transport of the workpiece. [Brief explanation of the drawing]

[0016] [Figure 1] A schematic plan view illustrating the positional relationship between the guide rail and the workpiece transport path, and between the air rail and the negative pressure space in one embodiment. [Figure 2] Cross-sectional view of the main part of the workpiece transfer device according to the present invention [Figure 3] Schematic cross-sectional view illustrating the configuration of the negative pressure supply means of the workpiece transfer device shown in Figure 2. [Figure 4] Cross-sectional view of a main part showing another embodiment of the workpiece transfer device according to the present invention. [Modes for carrying out the invention]

[0017] Hereinafter, one embodiment of the workpiece transport device 1 according to the present invention will be described with reference to Figures 1 to 3.

[0018] The workpiece transfer device 1 of this embodiment employs a linear transfer device with a known configuration. It adsorbs and holds the container B as a workpiece at the workpiece receiving position P1 on the endless circulation path, transfers it to the unloading position P2, and releases the adsorption to send out the container B to the next process (hereinafter, the range from the receiving position P1 to the unloading position P2 of the container B in the circulation path is referred to as the workpiece transfer path 9).

[0019] Specifically, the workpiece transfer device 1 includes a guide rail 2 forming an endless circulation path, a plurality of movers 3 moved along this guide rail 2, an adsorption unit 5 attached to each mover 3, and a linear motor (not shown) for moving the mover 3 along the guide rail 2.

[0020] The linear motor includes a permanent magnet (not shown) fixed to each mover 3 and a large number of electromagnetic coils (not shown) arranged at equal pitches along the longitudinal direction of the guide rail 2. By controlling the supply and stop of current to each electromagnetic coil by a control unit (not shown), the movement and stop of each mover 3 can be individually controlled.

[0021] In this embodiment, as shown in FIG. 1, the guide rail 2 is formed in an oval track shape in plan view. Near the receiving position P1 of the container B, a robot (not shown) is arranged to perform an operation of gripping the container B supplied on a supply conveyor (not shown) and delivering it upright to the adsorption head 3. Also, a transfer conveyor (not shown) is arranged at the unloading position P2 of the container B, and it is configured to stand up the container B that is transferred upright and released from adsorption onto the transfer conveyor and transfer it toward the next process.

[0022] As shown in Figure 2, each mobile element 3 has a suction unit 5 positioned on the outside of the guide rail 2 in a plan view. On the surface of the plate-shaped unit body 6 constituting the suction unit 5 that faces outward from the circulation path of the guide rail 2 (hereinafter, this surface will be described as the workpiece suction surface), two suction heads 7 for suctioning container B are positioned in the axial direction of container B, i.e., in the vertical direction, at a distance that allows the body of container B to be suctioned.

[0023] In this embodiment, the suction head 7 uses a multi-stage bellows pad with a diameter of 30 mm, taking into account the thickness and weight of the body of the container B. However, the type and size of the suction head 7 used are not limited to this, and the number and position of the suction heads can also be changed according to the workpiece.

[0024] Furthermore, the workpiece transport device 1 of this embodiment is equipped with a negative pressure supply means 10 that supplies negative pressure to the suction head 7 for adsorbing the container B. The negative pressure supply means 10 is configured to include a hollow air rail 12 in which a negative pressure space 11 is formed corresponding to the workpiece transport path 9, a negative pressure supply source (not shown) that supplies negative pressure into the negative pressure space 11, and a negative pressure communication means 13 disposed in each suction unit 5 that connects the negative pressure supply source and each suction head 7 while each mobile element 3 is moving along the workpiece transport path 9.

[0025] To further explain the relationship between the negative pressure space 11 within the hollow air rail 12, which is formed in accordance with the workpiece transport path 9, and the container receiving position P1 and the container unloading position P2, as shown in Figure 1, the receiving position P1 is located upstream in the direction of movement of the moving element within the negative pressure space 11, and the unloading position P2 is located directly downstream in the direction of movement of the moving element within the negative pressure space 11.

[0026] In this embodiment, the negative pressure communication means 13 consists of a first piping section 14 arranged in communication with each suction head 7, a second piping section 15 with its open end facing into the opening groove section 20 of the air rail 12 (described later), and a connecting section 16 that connects the first piping section 14 and the second piping section 15.

[0027] As shown in Figure 3, the connection portion 16 has a space 16a for temporarily storing the negative pressure supplied from the negative pressure source via the second piping portion 15, and the base end of a flexible air tube 14, which serves as the first piping portion 14, is connected to this space 16a of the connection portion 16. The tip of the air tube 14 is connected to each suction head 7. In addition, the base end of an air nozzle 15, which serves as the second piping portion 15, is connected to the connection portion 16, with its open end facing into the opening groove portion 20 of the air rail 12. The tip of the air nozzle 15, which is on the side opposite to the suction head, faces into the negative pressure space 11 while each movable element 3 is moving along the workpiece transport path 9, and is supported on the anti-workpiece suction surface that extends above the guide rail 2 of the unit body 6.

[0028] In this embodiment, the air rail 12 is a hollow pipe-like structure formed in an endless shape similar to the track shape of the guide rail 2 in a plan view, and is positioned above the guide rail 2. The inside of the air rail 12 is divided into areas corresponding to the workpiece transport path 9 and other areas by a partition wall 17.

[0029] Furthermore, the bulkhead 17 is assumed to have a notch (not shown) that allows the air nozzle 15 to pass through the air rail 12.

[0030] The air rail 12 is constructed by connecting multiple piping members, and by interposing a partition wall 17 at an appropriate position, it can be configured to partition an area corresponding to the workpiece transport path 9 as a negative pressure space 11. The air rail 12 that constitutes the negative pressure space 11 is provided with a negative pressure supply pipe 18 that connects the negative pressure space 11 to a negative pressure supply source and supplies negative pressure to the negative pressure space 11.

[0031] Furthermore, on the outer wall surface of the air rail 12, an endless opening groove 20 is formed along the workpiece transport path 9, through which the air nozzle 15 passes as each movable element 3 moves.

[0032] The opening groove portion 20 is provided with a covering member 21 that covers its opening, and the air nozzle 15 is configured to lift the covering member 21 and temporarily open the opening as it passes through the opening groove portion 20.

[0033] In this embodiment, the covering member 21 is made of a thin, plate-shaped rubber material, and as shown in Figure 3, it is arranged so that the open ends of the opening groove 20 are joined together in a gable shape from both sides in the width direction.

[0034] The covering member 21 only needs to be provided in the region where the negative pressure space 11 is formed. In other words, in the region without negative pressure, the covering member 21 is not necessarily required, and the opening groove 20 may remain open, allowing the air nozzle 15 to pass through.

[0035] Next, the operation of the workpiece transport device 1 of this embodiment will be explained. In the workpiece transport device 1 of this embodiment, the negative pressure supply source is driven to supply negative pressure to the negative pressure space 11 within the air rail 12 via the negative pressure supply pipe 18.

[0036] In this state, the control unit moves the movable element 3, which is arranged in the workpiece transport path 9, to the receiving position P1 on the upstream side inside the negative pressure space 11, above the guide rail 2. At this time, the air nozzles 15 of the suction units 5, which are arranged on each movable element, move through the opening groove 20 while pushing open the joint of the covering member 21 only when passing through, and pass through the notch in the partition wall 17 to reach the negative pressure space 11.

[0037] In this case, the opening groove of the negative pressure space 11 is covered by the covering member 21, which prevents the negative pressure air from flowing out unnecessarily. In this embodiment, in particular, by making the covering member 21 a thin, plate-shaped rubber member arranged on both sides of the width direction of the opening groove 20 with their open ends joined together in a girdle shape, the negative pressure of the negative pressure space 11 pulls the open ends of the rubber member inward while keeping them in close contact, thereby preventing air leakage from the negative pressure space. It is also desirable to provide a covering member 21 in the notch formed in the partition wall 17, which covers the notched portion and allows the air nozzle 15 to pass through.

[0038] At the receiving position P1 of container B, the robot presses the container B, which is being held by the robot, against the suction head 7 of the suction unit 5, which is supplied with negative pressure via an air nozzle 15, a connecting part 16, and an air tube 14 connected to the negative pressure space 11, and suctions it.

[0039] Next, the movable element 3, which supports the suction unit 5 with container B attached to the suction head 7, is moved toward the container B discharge position P2 on the upstream side outside the negative pressure space 11.

[0040] At the unloading position P2, the negative pressure inside the suction head 7 is released to release the suction of container B, and container B is transferred onto the conveyor belt while remaining in an upright position.

[0041] The moving element 3, having released the suction of container B, travels along the guide rail 2 again and returns to the receiving position P1 of container B.

[0042] With the workpiece transfer device 1 configured in this way, there is no need to supply negative pressure air by running a long air hose along the mover, resulting in quiet operation, suppression of unnecessary release of negative pressure air, stable workpiece suction transfer, and furthermore, it is suitable for driving under conditions such as long transfer distances or complex transfer paths.

[0043] The workpiece transport device of the present invention is not limited to the embodiments described above. Various modifications can be made as long as the features of the present invention are not impaired. Examples of such modifications are given below.

[0044] For example, the workpiece to be adsorbed by the adsorption unit 5 is not limited to container B.

[0045] Furthermore, the workpiece transport device 1 is not limited to the configuration described above. For example, a linear transport device similar to the transport device described above can be adopted, and as shown in Figure 4, a configuration can be used in which a container B, as the workpiece, is tilted and held by a suction unit 5 arranged on the moving element 3 via a stay 4, and then transported. Moreover, it may be a transport device that changes the orientation of the workpiece from a lying position to an upright position. In addition, even in transport using guide rails 2 that are on different floors (heights) or separated by walls, it is possible to perform suction transport of the workpiece by equipping the moving element 3 with a suction unit 5 and providing a negative pressure supply means 10. In any case, it is not necessary to supply negative pressure air while running an air hose that follows the moving element, and it is possible to perform stable suction transport of the workpiece with a compact configuration (see Figure 4).

[0046] Furthermore, the negative pressure supply piping connecting the air rail 12 and the negative pressure supply source is not limited to one pipe; multiple pipes may be provided in advance, and the system may be configured to allow ventilation by keeping only the negative pressure supply piping 18 capable of supplying negative pressure to the negative pressure space 11 open.

[0047] In this embodiment, the guide rail 2 and the air rail 12 are arranged in correspondence, and the container B is transported by suction by aligning the workpiece transport path 9 with the negative pressure space 11. However, the air rail 12 may be placed only at the position corresponding to the workpiece transport path 9, and the entire area inside the air rail 12 may be made into a negative pressure space 11. In that case, notches are formed in the wall surfaces at both ends of the air rail 12 in the transport direction of the container B, allowing the air nozzle 15 to pass through.

[0048] Furthermore, the meaning of arranging the guide rail 2 and the air rail 12 in correspondence is not limited to the case where the air rail 12 is arranged above the guide rail 2, as in this embodiment, but also means that the air rail 12 is arranged along the movement trajectory of the open end of the second piping section (air nozzle) 15, which is installed on the movable element 3 that travels along the guide rail 2.

[0049] The connections and configurations of the first piping section 14 and the second piping section 15 that constitute the negative pressure communication means 13 are not limited to the configuration of this embodiment. For example, it is conceivable that the second piping section (air nozzle) 15 may be configured to extend parallel to the plate-shaped unit body 6 in accordance with the placement position of the air rail 12.

[0050] The covering member 21 is not limited to being arranged in a gable shape by placing two rubber members, each positioned in the width direction of the opening groove 20, as in this embodiment. For example, the ends of the two rubber members may be overlapped or butted together. [Explanation of Symbols]

[0051] 1. Workpiece transfer device 2 Guide rails 3 Mobile 4 Stay 5 Adsorption Units 6 Unit Body 7 Suction head 9. Workpiece transport route 10. Negative pressure supply means 11. Negative pressure space 12 Air Rail 13. Negative pressure communication means 14. First piping section (air tube) 15. Second piping section (air nozzle) 16 Connection part 16a Space 17 Bulkhead 18. Negative pressure supply piping 20 Opening groove 21 Covering member B Container (workpiece) P1 (Workpiece) receiving position P2 (Workpiece) unloading position

Claims

1. A workpiece transport device comprising: a guide rail forming an endless circulating path; a plurality of moving elements that move along the guide rail; a suction unit having a suction head disposed on each moving element; and a negative pressure supply means for supplying negative pressure to the suction head for picking up a workpiece, wherein a workpiece transport path from a workpiece receiving position to a workpiece discharge position is provided within the guide rail, The negative pressure supply means is A hollow air rail in which a negative pressure space is formed corresponding to the workpiece transport path, A negative pressure supply source that supplies negative pressure into the negative pressure space, Each of the aforementioned suction units is provided with a negative pressure communication means that includes a piping member that connects the negative pressure supply source and each suction head during the movement of each mobile element along the workpiece transport path, The outer wall surface of the air rail has an open groove formed therein through which the open end of the piping member on the anti-suction head side passes as each of the moving elements moves. A workpiece conveying device characterized in that, at least in the region where a negative pressure space is formed, the covering member covers the opening groove and is arranged to allow the passage of the piping member passing through the opening groove.

2. The workpiece conveying device according to Claim 1, characterized in that the negative pressure communicating means comprises a first piping section arranged in communication with each suction head, a second piping section with an open end facing into the opening groove of the air rail, and a connecting section that connects the first piping section and the second piping section.

3. The workpiece transport device according to claim 2, characterized in that the air rail is formed in an endless shape similar to the guide rail, and the inside of the air rail can be divided into a negative pressure space and a non-negative pressure space where the negative pressure is released by a partition wall having a notch that allows the open end of the second piping section to pass through.

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