Load supporting device, conveyance system, and load supporting 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

LOAD SUPPORT DEVICE, TRANSPORT SYSTEM, AND LOAD SUPPORT METHOD

[0001] The present invention relates to a technique for transporting a workpiece using a slider transported by a transport robot, and more particularly to a technique for supporting a workpiece subjected to a heavy load while reducing the load applied to the transport robot.

[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. Furthermore, at the work position, work that generates a high load, such as press-fitting, may be performed on the workpiece. In such cases, if the transport robot is to support the workpiece against the high load, the transport robot must be highly strong, which results in an increase in size.

[0003] To address this problem, Non-Patent Document 1 proposes a transport system that includes a load support device, separate from the transport robot, located at the work position to support the load. This load support device includes a jig pallet supported by a slider that can be raised and lowered, and a workpiece is placed on the jig pallet. The load support device also includes a load-receiving unit that supports the jig pallet against the load applied to the jig pallet. The jig pallet, transported to the work position by the transport robot, climbs onto the load-receiving unit. This allows the jig pallet to be supported by the load-receiving unit while elevated from the slider. As a result, the load applied to the workpiece is applied to the load-receiving unit via the jig pallet, and not to the slider.

[0004] https: / / www.youtube.com / watch?v=EkEuBj_7c8I

[0005] In the above technology, the load-receiving unit contacts the underside of the jig pallet that has been transported to the work position and pushes up the jig pallet relative to the slider, causing the jig pallet and the load-receiving unit to rub against each other, resulting in wear.

[0006] This invention has been developed in consideration of the above-mentioned problems, and aims to prevent wear on the jig pallet and the load-receiving unit due to friction between them in a technology in which a jig pallet supported on a slider that can be raised and lowered is pushed up and supported by a load-receiving unit.

[0007] The load support device of the present invention comprises a jig pallet having a lifted member and supported so as to be able to rise and fall by a slider transported by a transport robot, and a load-receiving unit having a lift member that enters the lower side of the lifted member from an entry direction relative to the lifted member and abuts against the lifted member from below, thereby raising the lifted member. The lift member supports the jig pallet in a state in which the jig pallet is raised relative to the slider by raising the lifted member. One of the lifted member and the lift member is a guide member having a guide surface extending in the entry direction, and the other is a cam follower. The cam follower moves relative to the guide surface in the entry direction by abutting against the guide surface and rotating in accordance with 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 predetermined position toward the opposite side of the tip of the guide member, and the inclined surface is provided so that the lifted member rises as the cam follower moves relatively along the inclined surface from the tip to the predetermined position.

[0008] The load support method according to the present invention includes a step of relatively moving a lift member of a load receiving unit from an approach direction below a lifted member held by a jig pallet that is supported by a slider transported by a transport robot so as to be able to rise and fall, and a step of causing the lift member to abut against the lifted member from below as the lift member moves relatively below the lifted member, thereby raising the lifted member, wherein the lift member raises the lifted member, thereby supporting the jig pallet in a state in which the jig pallet is raised relative to the slider, and one of the lifted member and the lift member is in the approach direction. one is a guide member having a guide surface extending from the tip to the predetermined position, and the other is a cam follower, which moves relative to the guide surface in the approach direction by rotating in response to the guide surface while abutting against 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 approach 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 approach direction from the predetermined position toward the opposite side from the tip of the guide member, and the inclined surface is provided so that the lifted member rises as the cam follower moves relatively along the inclined surface from the tip to the predetermined position.

[0009] In the load support device and load support method of the present invention configured as described above, a lifted member is provided on the jig pallet, and a lifting member is provided on the load-receiving unit. The lifting member advances relative to the underside of the lifted member from the approach direction while abutting against the lifted member from below, thereby lifting the lifted member. In this way, the lifting member of the load-receiving unit pushes up the lifted member on the jig pallet, thereby supporting the jig pallet in a state where it is elevated relative to the slider. One of the lifted member and the lifting member is a guide member having a guide surface extending in the approach direction, and the other is a cam follower. The cam follower rotates in response to the guide surface while abutting against the guide surface, thereby moving relative to the guide surface in the approach direction. Furthermore, the guide surface has an inclined surface extending from the tip of the guide member to a predetermined position in the approach direction, inclined relative to the horizontal direction, and a horizontal surface extending from the predetermined position toward the opposite side of the tip of the guide member in the approach direction, parallel to the horizontal direction. The lifted member rises as the cam follower moves relatively from the tip to the predetermined position along the inclined surface. This configuration prevents friction between the jig pallet and the load-receiving unit. As a result, in a technology in which the jig pallet, which is supported by a slider so that it can be raised and lowered, is pushed up and supported by the load-receiving unit, it is possible to prevent wear on the jig pallet and the load-receiving unit due to friction between them.

[0010] The load support device may also be configured so that the transport robot transports the slider in the approach direction, the load-receiving unit is disposed at a predetermined work position on the transport path of the slider transported in the approach direction by the transport robot, and the lift member raises the lifted member by abutting from below against the lifted member of the jig pallet transported to the work position by the transport robot. In this configuration, as the transport robot transports the slider to the work position, the lift member pushes up the lifted member and supports the jig pallet in an elevated state. This allows work at the work position to begin quickly.

[0011] The load support device may also be configured such that the transport robot transports the slider toward a predetermined work position by transporting the slider in a transport direction perpendicular to the entry direction, the load receiving unit includes a support arm to which a lifting member is attached and an arm drive unit that drives the support arm in the entry direction, the arm drive unit drives the support arm between an insertion position where the support arm is inserted into an insertion space between the slider located at the work position and the jig pallet, and a retraction position where the support arm retracts from the insertion space, and the lifting member that enters the insertion space as the support arm is inserted from the retraction position into the insertion space abuts against the lifted member from below, thereby lifting the lifted member. In this configuration, an insertion space for inserting the support arm is provided between the slider and the jig pallet. This prevents foreign objects from getting caught between the slider and the jig pallet.

[0012] In this case, the load support device may further include a pair of support arms provided on both sides of the insertion space in the conveying direction to support the jig pallet on the slider with the insertion space therebetween, and the lifting member may be configured to abut the lifted member from below between the pair of support arms in the conveying direction. In this configuration, the jig pallet is supported by the lifting member between the pair of support arms. Therefore, the jig pallet can be firmly supported at its center against a high load applied to the jig pallet.

[0013] The load support device may also be configured to further include four elastic members provided corresponding to the four corners of the jig pallet, each of which applies an elastic force to the jig pallet that urges the jig pallet downward as it is raised by the lift member. In this configuration, even if the load applied to the jig pallet is biased to one side, the four elastic members provided corresponding to the four corners of the jig pallet can prevent the jig pallet from tilting.

[0014] The transport system according to the present invention includes a transport robot that transports sliders and the load support device described above. Therefore, in a technology in which a jig pallet supported by a slider that can be raised and lowered is pushed up and supported by the load support device, it is possible to suppress wear between the jig pallet and the load-receiving unit due to friction between them.

[0015] According to the present invention, in a technology in which a jig pallet supported on a slider that can be raised and lowered is pushed up and supported by a load-receiving unit, it is possible to prevent wear on the jig pallet and the load-receiving unit due to friction between them.

[0016] 1A and 1B. A perspective view showing a portion of a first example of a conveying system according to the present invention. A perspective view showing a portion of a first example of a conveying system according to the present invention. A front view showing the conveying system shown in FIGS. 1A and 1B. A perspective view showing a relationship between a work support mechanism and a slider table provided in the conveying system of FIGS. 1A and 1B. A perspective view showing a relationship between a work support mechanism and a slider table provided in the conveying system of FIGS. 1A and 1B. A diagram schematically showing the operation of a guide member and a cam follower. A perspective view showing a portion of a second example of a conveying system according to the present invention. A perspective view showing a portion of a second example of a conveying system according to the present invention. A front view showing the conveying system shown in FIGS. 5A and 5B. A front view showing the conveying system shown in FIGS. 5A and 5B. A perspective view showing a relationship between a work support mechanism and a slider table provided in the conveying system of FIGS. 5A and 5B. A perspective view showing a relationship between a work support mechanism and a slider table provided in the conveying system of FIGS. 5A and 5B. A diagram schematically showing the operation of a guide member and a cam follower. 10A and 10B are diagrams illustrating the operation of the guide member and the cam follower in a modified example of the first example, and the operation of the guide member and the cam follower in a modified example of the second example.

[0017] 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 Fig. 1A and 1B. In these figures and the following figures, the horizontal X direction, the horizontal Y direction perpendicular to the X direction, and the vertical Z direction are indicated as appropriate. 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 workpiece support mechanism 4 attached to the slider 2.

[0018] As shown in FIG. 2 , the slider 2 has a flat slider table 21 and a slider body 22 that supports the slider table 21 from below, and the slider table 21 is supported horizontally by the slider body 22. When viewed from above in the Z direction, the slider table 21 has a rectangular shape defined by two sides parallel to the X direction and two sides parallel to the Y direction. The slider body 22 has a main body housing 23, and the top surface of the main body housing 23 is fixed to the bottom surface of the slider table 21. In addition, in the Y direction, both end portions 211 of the slider table 21 protrude laterally from the main body housing 23. Furthermore, the slider body 22 has a pair of guided sliders 24 fixed to the main body housing 23, and the pair of guided sliders 24 are arranged at a predetermined interval in the Y direction within the main body housing 23.

[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 interval 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 using a linear motor. In this way, the slider 2 is transported in the X direction by the single-axis robot 3.

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

[0021] 3A and 3B are perspective views showing the relationship between the workpiece support mechanism and the slider table provided in the conveyance system of FIGS. 1A and 1B. The workpiece support mechanism 4 has a jig pallet 40. The jig pallet 40 has a flat pallet table 41 facing the slider table 21 from above, and the workpiece to be worked on is placed on the upper surface of the pallet table 41. When viewed from the bottom in the Z direction, the pallet table 41 has a rectangular shape defined by two sides parallel to the X direction and two sides parallel to the Y direction, and both end portions 411 of the pallet table 41 in the Y direction protrude laterally from the slider table 21. In other words, a central portion 412 of the pallet table 41 between the both end portions 411 in the Y direction faces the slider table 21 from above. Furthermore, both ends of the pallet table 41 and both ends of the slider table 21 are aligned in the X direction.

[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. A guide member 42 is provided for each of the end portions 411 on both sides of the pallet table 41. The underside of the guide member 42 is a guide surface 421 extending 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 that extends from a taper start point Ps provided at the end of the guide member 42 (in other words, the guide surface 421) to a taper end point Pe provided midway along 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 taper start point Ps toward the taper end point Pe.

[0023] The workpiece support mechanism 4 also has four biasing support parts 43 provided corresponding to 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 underside 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. Four through holes 213 are provided corresponding to the four corners of the slider table 21, penetrating the end part 211 of the slider table 21 in the Z direction. The shafts 431 of the four biasing support parts 43 respectively pass through the four through holes 213, and the lower ends of the shafts 431 protrude 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), the spring 432 has its natural length, whereas when the pallet table 41 is raised relative to the slider table 21 (in other words, separated), the spring 432 between the flange 433 and the slider table 21 contracts in response to the rise of the flange 433, applying an elastic force to the pallet table 41 that urges the pallet table 41 downward.

[0025] The work support mechanism 4 also has one biasing support portion 44 between two biasing support portions 43 aligned in the X direction, and one through-hole 214 corresponding to the biasing support portion 44 penetrates the end portion 211 of the slider table 21. The biasing support portion 44 and the through-hole 214 are configured in the same manner as the biasing support portion 43 and the through-hole 213 described above.

[0026] Furthermore, the workpiece 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 portions 43, corresponding to the four corners of the slider table 21. Each linear bushing 45 has a shaft 451 that extends downward in the Z direction from the underside of the center portion 412 of the pallet table 41, and a retainer 452 that is fitted onto the shaft 451. Four through holes 215 that penetrate the end portion 211 of the slider table 21 in the Z direction are provided, corresponding to the four corners of the slider table 21. 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 underside of the slider table 21, corresponding to the four through holes 215. The shaft 451 passes through the through-hole 215 and the retainer 452 and protrudes downward from the lower surface of the slider table 21 .

[0027] In this way, the pallet table 41 is supported by the lift support mechanism, which is made up of the biasing support portion 43 , the biasing support portion 44 and the linear bushing 45 , so that the pallet table 41 can be raised and lowered relative to the slider table 21 .

[0028] 1A, 1B, and 2, the transport system 1 further includes a load-receiving unit 5 disposed at a high-load operation position Lh provided on a transport path of the slider 2 by the single-axis robot 3. The load-receiving unit 5 has a pair of support parts 51 disposed to sandwich the single-axis robot 3 in the Y direction. Each support part 51 has a support frame 52 and a cam follower 53 rotatably attached to the support frame 52. Specifically, each of the multiple (three) cam followers 53 aligned in the X direction is attached to the support part 51 by a fastening member 54 (nut, screw, or the like), and each cam follower 53 is rotatable around a rotation axis parallel to the Y direction.

[0029] The pair of support portions 51 provided in this load-receiving unit 5 correspond to the pair of guide members 42 attached to the end portions 411 on both sides of the pallet table 41. Each support portion 51 pushes up the corresponding guide member 42 attached to the pallet table 41 located at the high-load work position Lh. This point will be explained using FIG. 4.

[0030] FIG. 4 is a diagram illustrating the operation of the guide member and the cam follower. Steps S101 to S104 chronologically show the process in which the pallet table 41 moves toward and reaches the high-load operation position Lh. In step S101, the guide member 42 is spaced apart from the cam follower 53 in the X direction. 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. When the guide member 42 moves in the X direction toward the cam follower 53, the tapered surface 422 abuts against the cam follower 53 (step S102). Furthermore, when the guide member 42 moves in the X direction, the cam follower 53 moves along the tapered surface 422 relative to the guide member 42, pushing up the guide member 42 and raising the pallet table 41 (step S103). The rise of the pallet table 41 continues until the cam followers 53 pass relatively the tapered surface 422 and reach the horizontal surface 423. Then, when the cam followers 53 abut against 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 followers 53 (step S104). As the jig pallet 40 rises in steps S102 to S104, the springs 432 of the biasing support portions 43 contract and apply a lower elastic force to the jig pallet 40. In other words, the cam followers 53 push up the jig pallet 40 against the elastic force of the springs 432.

[0031] As described above, two guide members 42 spaced apart in the Y direction correspond to two support portions 51 spaced apart in the Y direction, and the cam followers 53 provided on each support portion 51 perform the operation shown in Figure 4 on the corresponding guide member 42.

[0032] In the first example of the conveying system described above, the jig pallet 40 is provided with guide members 42 (lifted members), and the support section 51 (load-receiving unit) is provided with cam followers 53 (lifting members). The cam followers 53 enter the lower side of the guide members 42 from the X direction (entry direction) relative to the guide members 42, and abut against the guide members 42 from below, thereby lifting the guide members 42 (steps S102 to S104). In this way, the cam followers 53 of the support section 51 push up the guide members 42 of the jig pallet 40, thereby supporting the jig pallet 40 in a state in which the jig pallet 40 is elevated relative to the slider table 21 of the slider 2. At this time, the cam followers 53 abut against the guide surfaces 421 of the guide members 42 and rotate in response to the guide surfaces 421, thereby moving relative to the guide surfaces 421 in the X direction (steps S102 to S104). Furthermore, the guide surface 421 includes a tapered surface 422 (inclined surface) extending in the X direction from the taper start point Ps at the tip of the guide member 42 to the taper end point Pe (predetermined position) and inclined with respect to the X direction (horizontal direction), and a horizontal surface 423 extending in the X direction from the taper end point Pe toward the opposite side of the tip of the guide member 42 and parallel to the X direction (horizontal direction). The guide member 42 rises as the cam follower 53 moves relatively along the tapered surface 422 from the taper start point Ps toward the taper end point Pe. This configuration prevents friction between the jig pallet 40 and the load-receiving unit 5. As a result, when the load-receiving unit 5 pushes up and supports the jig pallet 40, which is supported by the slider 2 so as to be able to rise and fall, it is possible to suppress wear of the jig pallet 40 and the load-receiving unit 5 due to friction between them.

[0033] Furthermore, the single-axis robot 3 (transport robot) transports the slider 2 in the X direction, and the support part 51 is disposed 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 abuts from below against the guide member 42 of the jig pallet 40 transported to the high-load work position Lh by the single-axis robot 3, thereby lifting 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 a lifted state. Therefore, work at the high-load work position Lh can be started promptly.

[0034] Furthermore, four springs 432 (elastic members) are provided corresponding to the four corners of the jig pallet 40 (in other words, the pallet table 41), and each of the four springs 432 applies an elastic force to the jig pallet 40 that urges the jig pallet 40 downward as it is raised by the cam follower 53. With this configuration, even if the load applied to the jig pallet 40 is biased to one side, for example, the four springs 432 provided corresponding to the four corners of the jig pallet 40 can prevent the jig pallet 40 from tilting.

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

[0036] Figures 5A and 5B are perspective views partially showing a second example of a conveying system according to the present invention, Figures 6A and 6B are front views showing the conveying system shown in Figures 5A and 5B, and Figures 7A and 7B are perspective views showing the relationship between the work support mechanism and slider table provided in the conveying system of Figures 5A and 5B. Since the differences from the above-mentioned first example lie in the configurations of the work support mechanism and load receiving unit, the differences from the first example will be mainly explained here, and the points in common with the first example will be assigned the same reference numerals and explanations thereof will be omitted as appropriate.

[0037] The transfer system 1 according to the second example includes 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 those in the first example. That is, the single-axis robot 3 transfers the slider 2 in the X direction, and a high-load work position Lh is provided on the transfer 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 facing the slider table 21 from above, and a workpiece to be worked on is placed on the upper surface of the pallet table 61. When viewed from the bottom in the Z direction, the pallet table 61 has a rectangular shape 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 in the Y direction and the X direction, respectively, are aligned.

[0039] The jig pallet 60 has two guide members 62 fixed to the underside of a pallet table 61. The two guide members 62 are arranged at a predetermined distance 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 divided into end portions 611 on both sides of the two guide members 62, and a central portion 612 including the two guide members 62. In other words, a guide member 62 is located at each end of the central portion 612 in the X direction. The underside of the guide member 62 is a guide surface 621 extending 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 extending from a tapered start point Ps at the end of the guide member 62 (in other words, the guide surface 621) to a tapered end point Pe located midway along the guide member 62 (in other words, the guide surface 621), and is inclined relative to the Y direction (horizontal direction) so as to descend from the tapered start point Ps toward the tapered end point Pe.

[0040] The workpiece support mechanism 6 also has four biasing support parts 63 provided corresponding to 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 underside of the end part 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. Four through holes 213 penetrating the end part 211 of the slider table 21 in the Z direction are also provided corresponding to the four corners of the slider table 21. The shafts 631 of the four biasing support parts 63 respectively pass through the four through holes 213, and the lower ends of the shafts 631 protrude 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 portion 63 also has an upper spacer 634 and a lower spacer 635. The upper spacer 634 is attached to the underside of the pallet table 61 and has an annular shape that surrounds the upper end of the shaft 631. The upper spacer 634 protrudes downward from the underside 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 to correspond to the through hole 213 of the slider table 21, and the through hole of the lower spacer 635 communicates with the through hole 213 of the slider table 21. The lower spacer 635 protrudes upward from the upper surface of the slider table 21 and fits onto the shaft 631. The upper spacer 634 and the lower spacer 635 are positioned between the slider table 21 and the pallet table 61, facing each other in the Z direction. In this configuration, the upper spacer 634 and the lower spacer 635 come into contact with each other, thereby restricting 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 range of the clearance C that faces the center 612 of the pallet table 61 functions as an insertion space S into which a support arm 74, which will be 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, whereas when the pallet table 61 rises relative to the slider table 21 and the upper spacer 634 and the lower spacer 635 are separated, the spring 632 between the flange 633 and the slider table 21 contracts in response to the rise of the flange 633, and applies an elastic force to the pallet table 61 that urges the pallet table 61 downward.

[0043] Furthermore, the workpiece 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 portions 63, corresponding to the four corners of the slider table 21. Each linear bushing 65 has a shaft 651 that extends downward in the Z direction from the lower surface of the end portion 611 of the pallet table 61, and a retainer 652 that is fitted onto the shaft 651, and the retainer 652 is 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] In this way, the pallet table 61 is supported by a lift support mechanism formed by the biasing support portion 63 and the linear bushing 65 so as to be able to move up and down relative to the slider table 21 .

[0045] 5A, 5B, 6A, and 6B, the transport system 1 further includes a load receiving unit 7 disposed corresponding to a high-load work position Lh provided on the transport path of the slider 2 by the single-axis robot 3. The load receiving unit 7 has an arm support section 71 and an arm drive section 72 disposed to sandwich the single-axis robot 3 and the workpiece 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 disposed at a predetermined interval in the X direction, and each of the two cam receiving rails 712 extends parallel to the Y direction.

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

[0047] The load-receiving unit 7 also has a flat support arm 74 fixed to the drive table 721. The support arm 74 is supported horizontally by the drive table 721 and protrudes from the drive table 721 toward the arm support section 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 extension portion 742 that extends from the fixed portion 741 toward the arm support section 71 in the Y direction. The fixed portion 741 is fastened to the drive table 721 with a fastening member such as a screw, and the extension portion 742 protrudes from the fixed portion 741 toward the arm support section 71. The extension portion 742 is located inside the guide surfaces 621 of the two guide members 62 in the X direction, and end faces 743 on both sides of the extension portion 742 in the X direction extend parallel to the Y direction and are flat surfaces perpendicular to the X direction.

[0048] The load-receiving unit 7 also has cam followers 75 rotatably attached to the X-direction end face 743 of the extension portion 742 of the support arm 74. That is, a plurality of (four) cam followers 75 aligned in the Y direction are attached to the end face 743 of the extension portion 742, and each cam follower 75 is rotatable around a rotation axis parallel to the X direction. These multiple cam followers 75 are provided on each of the end faces 743 on both sides of the X direction of the extension portion 742.

[0049] The arm driver 72 drives the support arm 74 in the Y direction. In particular, the arm driver 72 drives the support arm 74 between an insertion position L1 ( FIGS. 5B and 6B ) where the extension 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 ( FIGS. 5A and 6A ) where the extension portion 742 of the support arm 74 retracts from the insertion space S in the Y direction (the opposite side of the arm support portion 71).

[0050] The cam followers 75 on the end faces 743 on both sides of the extension portion 742 respectively correspond to the two guide members 62 of the jig pallet 60. 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 using FIG. 8.

[0051] 8 is a diagram schematically illustrating the operation of the guide member and the cam follower. Steps S201 to S204 show a chronological sequence of steps in which, as the arm driver 72 moves the support arm 74 from the retracted position L2 to the insertion position L1, the extension 742 of the support arm 74 moves toward the insertion space S between the slider table 21 and the pallet table 61, which stops at the high-load operation position Lh, and is inserted into the insertion space S. Additionally, as the support arm 74 moves, 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 the height of the upper end of the cam follower 75 in the Z direction 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. When the cam follower 75 moves in the Y direction toward the guide member 62, the cam follower 75 abuts against the tapered surface 622 (step S202). When the cam follower 75 further moves in the Y direction, the cam follower 75 moves along the tapered surface 622 relative to the guide member 62, pushing up the guide member 62 and raising the pallet table 61 (step S203). The rise of the pallet table 61 continues until the cam follower 75 passes the tapered surface 622 and reaches the horizontal plane 623. Then, the cam followers 75 come into contact with the horizontal surface 623, and with the pallet table 61 raised to its upper limit height, the pallet table 61 is supported by the cam followers 75 (step S204). As the jig pallet 60 rises in steps S202 to S204, the springs 632 of the biasing support portions 63 contract and apply a lower elastic force to the jig pallet 60. In other words, the cam followers 75 push up the jig pallet 60 against the elastic force of the springs 632.

[0053] As the support arm 74 reaches the insertion position L1 in this manner, the tip of the extension portion 742 of the support arm 74 inserted into the insertion space S protrudes from the insertion space S toward the arm support portion 71. Therefore, the cam follower 75 attached to the tip of the extension portion 742 of the support arm 74 rides up 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 conveying system described above, the jig pallet 60 is provided with guide members 62 (lifted members), and the load-receiving unit 7 is provided with cam followers 75 (lifting members). The cam followers 75 enter the lower side of the guide members 62 from the Y direction (entry direction) and abut against the guide members 62 from below, thereby lifting the guide members 62 (steps S202 to S204). In this manner, the cam followers 75 of the load-receiving unit 7 push up the guide members 62 of the jig pallet 60, thereby supporting the jig pallet 60 in a state in which the jig pallet 60 is elevated relative to the slider table 21 of the slider 2. At this time, the cam followers 75 abut against the guide surfaces 621 of the guide members 62 and rotate in accordance with the guide surfaces 621, thereby moving in the Y direction relative to the guide surfaces 621 (steps S202 to S204). Furthermore, the guide surface 621 includes a tapered surface 622 (inclined surface) extending in the X direction from the taper start point Ps at the tip of the guide member 62 to the taper end point Pe (predetermined position) and inclined with respect to the X direction (horizontal direction), and a horizontal surface 623 extending in the Y direction from the taper end point Pe toward the opposite side of the tip of the guide member 62 and parallel to the X direction (horizontal direction). The guide member 62 rises as the cam follower 75 moves along the tapered surface 622 from the taper start point Ps toward the taper end point Pe. This configuration prevents friction between the jig pallet 60 and the load-receiving unit 7. As a result, in a technology in which the jig pallet 60, which is supported on the slider table 21 of the slider 2 and can be raised and lowered, is pushed up and supported by the load-receiving unit 7, it is possible to suppress wear of the jig pallet 60 and the load-receiving unit 7 due to friction between them.

[0055] Furthermore, the single-axis robot 3 (transport robot) transports the slider 2 in the X direction (transport direction) perpendicular to the Y direction, thereby transporting the slider 2 toward the high-load work position Lh (work position). The load-receiving unit 7 has a support arm 74 to which a cam follower 75 is attached and an arm driver 72 that drives the support arm 74 in the Y direction. The arm driver 72 drives the support arm 74 between an insertion position L1 where the support arm 74 is inserted into an insertion space S between the slider 2 positioned at the high-load work position Lh and the jig pallet 60, and a retracted position L2 where the support arm 74 retracts from the insertion position L1. As the support arm 74 is inserted from the retracted position L2 to the insertion position L1, the cam follower 75 enters the insertion space S and abuts against the guide member 62 from below, thereby lifting the guide member 62. 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 prevent foreign matter from being caught between the slider 2 and the jig pallet 60.

[0056] In this case, a pair of biasing support portions 63 (support arms) are provided on both sides of the insertion space S in the X direction and support the jig pallet 60 against the slider 2, leaving the insertion space S open. In addition, the cam follower 75 abuts against the guide member 62 from below between the pair of biasing support portions 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 portions 63. Therefore, the jig pallet 60 can be firmly supported at the center portion 612 in the X direction against a high load applied to the jig pallet 60.

[0057] Furthermore, four springs 632 (elastic members) are provided corresponding to the four corners of the jig pallet 60, and each of the four springs 632 applies an elastic force to the jig pallet 60 that urges the jig pallet 60 downward as it is raised by the cam followers 75. With this configuration, even if the load applied to the jig pallet 60 is biased to one side, for example, the four springs 632 provided corresponding to the four corners of the jig pallet 60 can prevent the jig pallet 60 from tilting.

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

[0059] The present invention is not limited to the above-described embodiment, and various modifications can be made to the above-described embodiment without departing from the spirit of the present invention. For example, in the first example, the jig pallet 40 is provided with the guide member 42, and the load-receiving unit 5 is provided with the cam follower 53. However, as shown in FIG. 9, the jig pallet 40 may be provided with the cam follower 47, and the load-receiving unit 5 may be provided with the guide member 55.

[0060] FIG. 9 is a diagram schematically illustrating the operation of the guide members and cam followers in a modified example of the first example. In the example of FIG. 9, the workpiece 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 portion 51. The guide members 55 extend parallel to the X direction, and the upper surface of the guide member 55 is a guide surface 551 extending parallel to the X direction. The guide surface 551 has tapered surfaces 552 provided at both ends in the X direction (only the tapered surface 552 at one end is shown in FIG. 9) and a horizontal surface 553 provided between the tapered surfaces 552 at both ends. The tapered surface 552 is a plane extending from a tapered start point Ps at the end of the guide member 55 (in other words, the guide surface 551) to a tapered end point Pe midway along the guide member 55 (in other words, the guide surface 551), and is inclined relative to the X direction (horizontal direction) so as to rise from the tapered start point Ps toward the tapered end point Pe.

[0061] Steps S301 to S304 schematically show, in chronological order, the process by which pallet table 41 moves toward and reaches high-load operation position Lh. In step S301, cam follower 47 (lifted member) is spaced apart from guide member 55 (lifting member) in the X direction, and the height of the lower end of cam follower 47 in the Z direction is lower than the height Hh of the upper end of tapered surface 552 and higher than the height Hl of the lower end of tapered surface 552. When cam follower 47 moves in the Y direction toward guide member 55, cam follower 47 abuts tapered surface 552 (step S302). Furthermore, when cam follower 47 moves in the X direction, cam follower 47 moves along tapered surface 552 relative to guide member 55 and is pushed up by guide member 55, causing pallet table 41 to rise (step S303). The rise of the pallet table 41 continues until the cam followers 47 pass the tapered surface 552 and reach the horizontal surface 553. Then, when the cam followers 47 come into contact with 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 members 55 (step S304).

[0062] FIG. 10 is a diagram schematically illustrating the operation of the guide members and cam followers in a modified example of the second example. In the example of FIG. 10, the workpiece 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 both end faces 743 of the support arm 74 in the X direction. The guide members 76 extend parallel to the Y direction, and the upper surface of the guide member 76 is a guide surface 761 extending parallel to the Y direction. The guide surface 761 has tapered surfaces 762 provided at both ends in the Y direction (only the tapered surface 762 at one end is shown in FIG. 10) and a horizontal surface 763 provided between the tapered surfaces 762 at both ends. The tapered surface 762 is a plane extending from a tapered start point Ps at the end of the guide member 76 (in other words, the guide surface 761) to a tapered end point Pe located midway along the guide member 76 (in other words, the guide surface 761), and is inclined relative to the Y direction (horizontal direction) so as to rise from the tapered start point Ps toward the tapered end point Pe.

[0063] Steps S401 to S404 show a process in which, as the arm driving unit 72 moves the support arm 74 from the retracted position L2 to the insertion position L1, the extension portion 742 of the support arm 74 moves toward the insertion space S between the pallet table 61, which stops at the high-load work position Lh, and the slider table 21, and is inserted into the insertion space S. Additionally, as the support arm 74 moves, 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 the height of the lower end of the cam follower 67 in the Z direction 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. When the guide member 76 moves in the Y direction toward the cam follower 67, the tapered surface 762 of the guide member 76 abuts against the cam follower 67 (step S402). When the guide member 76 further moves in the Y direction, the cam follower 67 moves along the tapered surface 762 relative to the guide member 76 and is pushed up by the guide member 76, causing the pallet table 61 to rise (step S403). The rise of the pallet table 61 continues until the cam follower 67 passes the tapered surface 762 and reaches the horizontal plane 763. Then, the cam followers 67 come into contact with the horizontal surface 763, and the pallet table 61 is raised to the upper limit height, and in this state, the pallet table 61 is supported by the guide members 76 (step S404).

[0065] In the first example of the conveying 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 changed appropriately depending on the load applied to the pallet table 41. Similarly, a configuration in which the number of cam followers 75 can be changed may be applied to the load receiving unit 7 in the second example of the conveying system 1. Furthermore, the configuration in which the cam followers 53 are changed does not necessarily have to be a configuration in which the number of cam followers 53 attached to the support part 51 is changed, but rather multiple types of support part 51 to which different numbers of cam followers 53 are attached may be prepared and the support part 51 to be used may be selected from these. The same applies to the configuration in which the number of cam followers 75 is changed.

[0066] REFERENCE SIGNS LIST 1...Transport system 2...Slider 3...Single-axis robot (transport robot) 40...Jig pallet (load support device) 42...Guide member (lifted member) 53...Cam follower (lifting member) 60...Jig pallet (load support device) 62...Guide member (lifted member) 75...Cam follower (lifting member) U...Load-receiving unit (load support device)

Claims

1. a jig pallet having a member to be lifted and supported by a slider transported by a transport robot so as to be capable of ascending and descending; a load-receiving unit having a lift member that advances relatively to the lower side of the lifted member from an approach direction and abuts against the lifted member from below, thereby lifting the lifted member; Equipped with The lift member supports the jig pallet in a state in which the jig pallet is elevated relative to the slider by raising the lifted member, one of the lifted member and the lifting member is a guide member having a guide surface extending in the entry direction, and the other is a cam follower; the cam follower rotates in response to the guide surface while contacting the guide surface, thereby moving relatively to the guide surface in the approach direction; The guide surface has an inclined surface inclined with respect to the horizontal direction provided in the approach direction from the tip of the guide member to a predetermined position, and a horizontal surface parallel to the horizontal direction provided in the approach direction from the predetermined position toward the opposite side to the tip of the guide member, A load support device, wherein the inclined surface is provided so that the lifted member rises as the cam follower moves relatively along the inclined surface from the tip toward the predetermined position.

2. The transport robot transports the slider in the approach direction, the load-receiving unit is disposed at a predetermined work position on a transport path of the slider transported in the approach direction by the transport robot, The load support device according to claim 1 , wherein the lift member raises the lifted member of the jig pallet transported to the work position by the transport robot by abutting the lift member from below.

3. the transport robot transports the slider in a transport direction perpendicular to the entry direction, thereby transporting the slider toward a predetermined work position; the load-receiving unit includes a support arm to which the lift member is attached and an arm drive unit that drives the support arm in the insertion direction, the arm driving unit drives the support arm between an insertion position where the support arm is inserted into an insertion space between the slider located at the work position and the jig pallet, and a retraction position where the support arm retracts from the insertion space, 2. A load support device as described in claim 1, wherein the lift member entering the insertion space as the support arm is inserted from the retracted position into the insertion space contacts the lifted member from below to lift the lifted member.

4. a pair of support arms are provided on both sides of the insertion space in the conveying direction, the pair of support arms supporting the jig pallet relative to the slider, leaving the insertion space open; The load support device according to claim 3 , wherein the lift member abuts against the lifted member from below between the pair of support arms in the conveying direction.

5. The jig pallet further includes four elastic members provided corresponding to the four corners of the jig pallet, 5. A load support device according to claim 1, wherein each of the four elastic members applies an elastic force to the jig pallet, which urges the jig pallet downward as it is raised by the lift member.

6. A transport robot that transports the slider; A load support device according to any one of claims 1 to 5. A transport system comprising:

7. A step of relatively moving a lift member of a load-receiving unit from an approach direction below a lifted member of a jig pallet supported by a slider transported by a transport robot so as to be lifted and lowered; a step of lifting the lifted member by the lift member contacting the lifted member from below as the lift member relatively advances below the lifted member; Equipped with The lift member supports the jig pallet in a state in which the jig pallet is elevated relative to the slider by raising the lifted member, one of the lifted member and the lifting member is a guide member having a guide surface extending in the entry direction, and the other is a cam follower; the cam follower rotates in response to the guide surface while contacting the guide surface, thereby moving relatively to the guide surface in the approach direction; The guide surface has an inclined surface inclined with respect to the horizontal direction provided in the approach direction from the tip of the guide member to a predetermined position, and a horizontal surface parallel to the horizontal direction provided in the approach direction from the predetermined position toward the opposite side to the tip of the guide member, A load support method, wherein 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.

8. The slider has a flat slider table, 6. The load support device according to claim 1, wherein the lift member supports the jig pallet in a state in which the jig pallet is elevated relative to the slider table by lifting the lifted member.

9. The slider has a flat slider table, A load support device as described in any one of claims 1 to 5, wherein the lift member raises the lifted member, so that the jig pallet placed on the slider table is separated from the slider table and supported by the lift member.

10. The lifted members are provided at both ends of the jig pallet, 6. The load support device according to claim 1, wherein the load-receiving unit is provided with a pair of the lifting members corresponding to the pair of the lifted members, respectively.