WO2009110072A1 - ワーク移載装置 - Google Patents
ワーク移載装置 Download PDFInfo
- Publication number
- WO2009110072A1 WO2009110072A1 PCT/JP2008/053921 JP2008053921W WO2009110072A1 WO 2009110072 A1 WO2009110072 A1 WO 2009110072A1 JP 2008053921 W JP2008053921 W JP 2008053921W WO 2009110072 A1 WO2009110072 A1 WO 2009110072A1
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- WIPO (PCT)
- Prior art keywords
- workpiece
- unit
- holding
- holding unit
- processing table
- Prior art date
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/02—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of drums or rotating tables or discs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q39/00—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation
- B23Q39/04—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being arranged to operate simultaneously at different stations, e.g. with an annular work-table moved in steps
- B23Q39/042—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being arranged to operate simultaneously at different stations, e.g. with an annular work-table moved in steps with circular arrangement of the sub-assemblies
- B23Q39/044—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being arranged to operate simultaneously at different stations, e.g. with an annular work-table moved in steps with circular arrangement of the sub-assemblies having at least one tool station cooperating with each work holder, e.g. multi-spindle lathes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/005—Lifting devices
Definitions
- the present invention relates to a workpiece transfer device that moves a workpiece such as a mechanical component or an electronic component up and down, and in particular, a workpiece transferred stepwise by a transfer mechanism such as a rotary table is arranged in a predetermined processing area.
- the present invention relates to a workpiece transfer device that can be transferred onto a processing table.
- a rotating table that has a plurality of recesses for accommodating a workpiece (chip parts) in a peripheral region and is driven to rotate at a predetermined angular interval, a carrier tape disposed adjacent to the rotating table, It is equipped with an actuator etc. that is arranged in a cantilever shape above the carrier tape and rotary table and moves the suction head in the vertical direction.
- the workpiece is sucked by the suction head while the suction head is moved by the actuator, and the carrier from the rotary table
- Patent Document 1 One that transfers a workpiece onto a tape is known (for example, see Patent Document 1).
- a rotary table having a plurality of suction holders in the peripheral area for sucking and holding a workpiece (chip) and being driven to rotate at a predetermined angular increment, and the rotary table at a predetermined angular position
- a chip base disposed so as to face the suction holder, a lifting device for moving the chip base up and down, and the like are provided.
- the chip table is driven up and down by the lifting device and the rotary table is appropriately rotated.
- a work is known in which a work on a chip table is sucked and held by a suction holder and transferred to a predetermined area (see, for example, Patent Document 2).
- a plurality of rotary tables that can carry a workpiece and are driven to rotate at predetermined angular increments are arranged adjacent to the plurality of rotary tables, respectively.
- the turntable since the work is performed on the turntable by each work unit, when work that applies a load (pressurization, press-fitting, etc.) is performed, the turntable is robust to withstand the load. Need to be formed.
- the workpiece transfer operation is performed by a rotary arm that requires the operations of raising / lowering ⁇ rotation ⁇ elevating / lowering, it cannot be performed smoothly. When the workpiece is heavy, it is necessary to form the rotation arm firmly. In other words, the apparatus is increased in size and cost.
- JP 2004-18054 A Japanese Patent Laid-Open No. 10-4132 JP 2006-347717 A
- the present invention has been made in view of the circumstances of the above prior art, and its object is to simplify the structure, reduce the size of the apparatus, reduce the cost, shorten the time required for transfer, and the like.
- the present invention relates to a workpiece transfer device that moves a workpiece such as a mechanical component or an electronic component up and down, and in particular, a workpiece conveyed at a predetermined angular interval by a rotary table on a processing table arranged in a predetermined processing area. It is an object of the present invention to provide a workpiece transfer device that can transfer a workpiece that has been transferred and processed from the processing table to the rotary table side.
- the workpiece transfer apparatus of the present invention that achieves the above object is a workpiece transfer device capable of transferring a workpiece intermittently conveyed in a predetermined conveyance direction by a conveyance mechanism onto a processing table disposed along the conveyance direction.
- the apparatus is a device that is attached to the transport mechanism and can hold the workpiece, and the holding unit is driven downward and held on the processing table to transfer the workpiece held on the holding unit onto the processing table.
- a lifting / lowering drive unit that drives the holding unit up to transfer the work onto the holding unit, and a fixing unit that can fix the work held on the holding unit and release the work when it is transferred onto the processing table. And including.
- the workpiece in a state where the workpiece is held by the holding unit, the workpiece is fixed by the fixing unit and is fixed (held so as not to move) at a predetermined holding position on the holding unit.
- the transport mechanism intermittently performs a transport operation and stops at a predetermined position
- the holding unit is driven downward by the lifting drive unit, and the work is released from the fixed unit and transferred onto the processing table.
- the holding unit is driven up, and the workpiece is lifted from the processing table and held on the holding unit, and is fixed (held so as not to move) to a predetermined holding position by the fixing unit.
- the workpiece is transferred from the holding unit to the processing table by only the lifting and lowering operation of the holding unit and the fixing and releasing operation of the fixing unit, and the processed workpiece is lifted from the processing table and then moved onto the holding unit. Therefore, simplification of the structure, size reduction of the apparatus, reduction of time required for transfer, and the like can be achieved.
- the transport mechanism can be simplified as compared with the case where the process is performed on the transport mechanism.
- the transport mechanism includes a rotary table that is intermittently driven to rotate, the processing table is arranged around the rotary table, and the holding units are arranged in a plurality of circumferential directions of the rotary table.
- maintenance units can be employ
- the rotary table in a state where a plurality of processing tables are arranged around the rotary table, the rotary table is rotationally driven at predetermined angular increments, and the holding unit is driven up and down and the workpiece is fixed by the fixed unit. And by performing the releasing operation, a plurality of processes can be performed on a plurality of workpieces.
- the transport mechanism includes a conveyor unit that is intermittently driven and driven along a predetermined track, the processing table is disposed along one side of the conveyor unit, and the holding unit is the conveyor unit. It is possible to adopt a configuration that includes a plurality of holding units arranged along one side, and the lifting drive unit and the fixing unit are provided corresponding to the plurality of holding units, respectively. According to this configuration, in a state where a plurality of processing tables are arranged along the conveyor unit, the conveyor unit is driven to feed at a predetermined feed amount, and the holding unit is driven up and down and the workpiece is fixed by the fixing unit. A plurality of processes can be applied to a plurality of workpieces by performing the releasing operation.
- the holding unit includes a lifting frame supported so as to be movable up and down with respect to the transport mechanism, a holding portion that can hold the workpiece, and a holding frame that is formed to have an opening that allows the processing table to pass through.
- the processing table lifts the work from the holding part through the opening of the holding frame, and the processing table The transfer to the top is completed.
- the structure can be further simplified, and the time required for the transfer can be further reduced.
- the said structure WHEREIN The structure currently formed so that attachment or detachment with respect to the raising / lowering frame is detachable is employable. According to this configuration, it is possible to handle various workpieces by replacing with holding frames according to the type of workpiece (workpieces with different sizes, outlines, etc.), and only the holding frame can be used as a lifting frame. Since replacement is sufficient, replacement work can be easily performed.
- the elevating drive unit includes a guide rail that is fixed to the transport mechanism and guides the elevating frame so as to be movable up and down, and a drive mechanism that is disposed in the transport mechanism and exerts a driving force for elevating the elevating frame.
- a guide rail that is fixed to the transport mechanism and guides the elevating frame so as to be movable up and down
- a drive mechanism that is disposed in the transport mechanism and exerts a driving force for elevating the elevating frame.
- the holding unit the raising / lowering frame
- the driving mechanism that exerts a driving force is arranged inside the transport mechanism. Frames and holding frames) can be removed from the lifting area, so that interference with the drive mechanism and the like can be reliably prevented to ensure a smooth lifting action. it can.
- the fixed unit includes a contact member that is movably supported so as to be able to contact and disengage from the workpiece, and presses the contact member against the workpiece in conjunction with the ascending operation of the holding unit. It is possible to adopt a configuration including an interlocking mechanism that releases the pressing of the abutting member in conjunction with the lowering operation. According to this configuration, since the work is pressed and released by the contact member by the interlocking mechanism that is interlocked with the raising and lowering operation of the holding unit, the structure can be simplified without employing special detection means. On the other hand, the timing of pressing and releasing the workpiece can be set with high accuracy at a predetermined timing.
- the interlocking mechanism is supported movably in an urging member that urges the abutting member in a direction in which the abutting member is detached from the workpiece, a pressing direction that presses the abutting member against the workpiece, and a releasing direction that releases the pressing
- the pressing member is fixed to the transport mechanism and has a cam action that moves the pressing member in the pressing direction in conjunction with the raising operation of the holding unit and moves the pressing member in the releasing direction in conjunction with the lowering operation of the holding unit.
- a configuration including a cam member can be employed.
- the cam member exerts a cam action on the pressing member by the lifting and lowering operation of the holding unit, so that the pressing member presses the contact member to fix the workpiece, and the pressing member releases the pressing of the contact member.
- the workpiece can be released, and the timing of pressing and releasing the workpiece can be set with high accuracy at a predetermined timing while achieving simplification of the structure without employing special detection means.
- the workpiece such as a mechanical component or an electronic component can be lifted and lowered while achieving simplification of the structure, miniaturization of the device, cost reduction, shortening of the time required for transfer, and the like.
- a workpiece that is intermittently conveyed by the conveyance mechanism is transferred onto a processing table arranged in the conveyance direction, subjected to predetermined processing, and then again processed. Can be transferred to the holding unit and transported to the next processing area (processing table).
- work transfer apparatus It is a partial side view which shows the raising / lowering frame and holding
- the processing system includes a base 10 having a substantially rectangular shape, a rotary table 20 as a transport mechanism having a substantially hexagonal column shape disposed on the base 10, and equal intervals in the circumferential direction of the rotary table 20.
- the six work transfer devices M provided in the rotary table 20 and six processing areas A1 arranged in a ring around the rotary table 20 so as to correspond to the six workpiece transfer devices M.
- A6 six processing tables 30 arranged in each of the processing areas A1 to A6, a plurality of processing units (not shown) arranged in each of the processing areas A1 to A6, and the workpiece W that has been all processed. Is provided with an unloading line 40 and the like.
- the rotary table 20 rotates integrally with a rotary shaft 21 having an axis L extending in the vertical direction Z, a motor 22 that drives the rotary shaft 21 to rotate at predetermined angle increments, and the rotary shaft 21.
- the upper board 23 and the side wall 24 etc. which were formed in this way are provided.
- the upper board 23 and the side wall 24 are formed so as to define an outer contour of a substantially hexagonal column as a whole.
- six workpiece transfer devices M are provided on the side wall 24 so as to be arranged at equal intervals in the circumferential direction of the turntable 20. That is, the rotary table 20 is integrally provided with six workpiece transfer devices M, and is rotated around the axis L at a predetermined angle (here, approximately 60 degrees).
- the processing table 30 is formed in a columnar shape having a predetermined outer diameter, and the mounting unit 31 on which the work W can be mounted, and the mounting unit 31 at a predetermined height position.
- a leg portion 32 for holding, a base portion 33 for supporting the leg portion 32, and the like are provided.
- the placement portion 31 is formed in a shape that can pass through an opening 122 of the holding frame 120 described later.
- the mounting portion 31 is formed to have a circular cross section. However, if the outline of the workpiece W is rectangular, the mounting portion 31 is formed to have a rectangular cross section accordingly.
- the processing table 30 may be formed so as to be movable in the horizontal direction and the mounting portion 31 to be rotatable as required.
- the workpiece transfer device M includes a holding unit 100 that is provided on the side wall 24 of the rotary table 20 and can hold the workpiece W, a lifting drive unit 200 that drives the holding unit 100 to move up and down, When the work W held on the unit 100 is fixed and transferred onto the processing table 30 (the mounting portion 31), a fixing unit 300 or the like that can be released is provided.
- the holding unit 100 includes a lifting frame 110 that is supported so as to be movable up and down with respect to the side wall 24 of the rotary table 20, a holding frame 120 that is detachably formed with respect to the lifting frame 110, and the like. It has.
- the elevating frame 110 is formed so that the cross-section is bent in a substantially L shape, and the slider portion 111 guided by a guide rail 210 to be described later, from the upper end of the slider portion 111.
- a flat plate-shaped holder portion 112 that is formed by bending in the horizontal direction and that holds the holding frame 120 connected thereto, two connection mechanisms 113 provided on the holder portion 112, and the like are provided.
- the slider portion 111 is formed in a region sandwiched between two guided portions 111 a and two guided portions 111 a that are movably fitted to a guide rail 210 described later. And a substantially rectangular opening 111b. As shown in FIGS.
- the holder portion 112 includes a substantially rectangular opening 112 a through which a cam member 340 described later passes, a long hole 112 b through which a pressing pin 331 of a pressing member 330 described later passes, and a connection mechanism 113 described later. It has two slits 112c for passing the rod 113a, two positioning pins 112d for positioning the holding frame 120, a holding portion 112e for holding a pressing member 330 described later, and the like.
- the coupling mechanism 113 includes a rod 113a that is swingably supported so as to enter the slit 112c, and a biasing portion that is movably fitted to the rod 113a. 113b, and an arm portion 113c having a cam portion 113c ′ that is rotatably connected to the upper end of the rod 113a and can press the urging portion 113b by a cam action.
- the urging portion 113b is attached to the holding frame 120 while resisting the urging force of the spring S1 and the spring S1 assembled on the outer periphery of the rod 113a in order from the swing fulcrum side of the rod 113a.
- the ring member R1, the spring S2, and the ring member R2 that are urged by the spring S2 and come into contact with the cam portion 113c ′ of the arm portion 113c are configured by the ring member R1, the spring S2, and the ring member R2.
- the holding frame 120 is formed inside an annular holding portion 121 that can hold the workpiece W and the holding portion 121, and the placement portion 31 of the processing table 30 passes therethrough.
- a circular opening 122 that allows the rod 113a to enter, a long hole 124 through which the pressing pin 331 of the pressing member 330 passes, two fitting holes 125 for fitting the positioning pin 112d, etc.
- the holding frame 120 is provided with a contact member 310 and a biasing member 320 of the fixed unit 300 described later.
- the holding frame 120 corresponding to the workpiece W is prepared, and as shown by the two-dot chain line in FIG.
- the holding pin 120 of the lifting frame 110 is moved by passing the pressing pin 331 of the pressing member 330 through the long hole 124 and fitting the positioning pin 112d into the fitting hole 125. Joined to the holder portion 112.
- the holding frame 120 is detachably formed with respect to the lifting frame 110, by replacing with the holding frame 120 corresponding to the type of workpiece W (a workpiece having a different size, outline, etc.), Various workpieces W can be handled, and since only the holding frame 120 needs to be replaced using the lifting frame 110, the replacement work can be easily performed.
- the elevating drive unit 200 is disposed in the inside of the rotary table 20, two guide rails 210 that are fixed to the side wall 24 of the rotary table 20 and extend in the vertical direction Z.
- a ball screw 220 extending in the vertical direction Z, a motor 230 for rotationally driving the ball screw 220, screwed into the ball screw 220, and connected to the lifting frame 110 of the holding unit 100 through the slit 24a (see FIG. 6) of the side wall 24.
- Nut member 240 and the like.
- the ball screw 220, the motor 230, and the nut member 240 constitute a driving mechanism that exerts a driving force for moving the lifting frame 110 up and down.
- the drive mechanism a pneumatic or hydraulic cylinder or other mechanism can be adopted.
- the lifting frame 110 (that is, the holding unit 100) is lowered via the nut member 240, while the ball screw 220 rotates in the other direction. Then, the elevating frame 110 (that is, the holding unit 100) is raised through the nut member 240. As described above, since the drive mechanism (a part of the ball screw 220, the motor 230, and the nut member 240) is disposed inside the rotary table 20, the holding unit 100 (the elevating frame 110 thereof) extends along the guide rail 210.
- the obstacles to the lifting operation of the holding unit 100 can be excluded from the lifting region. Can be reliably prevented from interfering with the like, and a smooth raising and lowering operation can be ensured.
- the fixing unit 300 is movably supported so as to be able to abut against and disengage from the workpiece W, and the direction in which the abutting member 310 is detached from the workpiece W.
- Urging member 320 that exerts an urging force (a tensile force in this case)
- a pressing member 330 that is movably supported in a pressing direction in which the abutting member 310 is pressed against the workpiece W and a releasing direction in which the pressing is released, and the rotary table 20
- a cam action that moves the pressing member 330 in the pressing direction in conjunction with the raising operation of the holding unit 100 and moves the pressing member 330 in the releasing direction in conjunction with the lowering operation of the holding unit 100.
- An effect cam member 340 and the like are provided.
- the abutting member 310 is provided on the holding frame 120, and passes through the center of the opening 122 so that the abutting member 310 can abut and detach from the workpiece W held by the holding portion 121. It is supported so as to be movable in the linear direction.
- the urging member 320 is provided on the holding frame 120, and exerts an urging force (tensile force) in a direction in which the abutting member 125 is detached from the work W held by the holding portion 121. Is formed. As shown in FIGS.
- the pressing member 330 is movably held by the holding portion 112e on the lower surface of the elevating frame 110 and extends upward on one end side thereof to penetrate the long hole 112b.
- the pin 331 has a follower pin 332 that extends in the horizontal direction on the other end side and is inserted into a cam groove 343 of a cam member 340 described later.
- the cam member 340 has a lower end 341 passing through an opening 111b formed in the elevating frame 110 (slider portion 111) and being fixed to the side wall 24 of the turntable 20, and an upper end portion. 342 is formed as a free end so that it can pass through the opening 112a formed in the lifting frame 110 (the holder portion 112), and defines a cam groove 343 extending obliquely upward from below.
- the cam groove 343 receives the follower pin 332 of the pressing member 330, moves the pressing member 330 in the pressing direction (the direction in which the contact member 310 is pressed against the workpiece W) in conjunction with the ascending operation of the holding unit 100, and the holding unit.
- the pressing member 330 is formed to exert a cam action to move in the releasing direction (the direction in which the pressing of the contact member 310 against the workpiece W is released).
- the abutting member 320, the pressing member 330, and the cam member 340 are used to press the contact member 310 against the workpiece W in conjunction with the upward movement of the holding unit 100 and in conjunction with the downward movement of the holding unit 100.
- An interlocking mechanism that releases the pressing of the workpiece W by the contact member 310 is configured.
- the cam member 340 exerts a cam action on the pressing member 330 by the raising and lowering operation of the holding unit 100, whereby the pressing member 330 presses the contact member 310 to fix the workpiece W, and the pressing member 330 comes into contact.
- the workpiece W can be released by releasing the pressing of the member 310. Therefore, it is possible to set the timing of pressing and releasing the workpiece W with high accuracy at a predetermined timing while achieving simplification of the structure without employing special detection means.
- the contact member 310 and the biasing member 320 are supported by the holding frame 120, when the holding frame 120 is prepared according to the type of the work W, the contact member 310 having an optimum shape according to the work W is used. Can be adopted.
- the workpiece transfer apparatus M having the above configuration will be described with reference to FIGS. 9A and 9B.
- the holding unit 100 is in the raised predetermined height position
- the workpiece W is held by the holding portion 121 of the holding unit 100 and pressed by the contact member 310 of the fixed unit 300 as shown in FIG. 9A. And fixed at a predetermined holding position (held so as not to move).
- the holding unit 100 starts to descend by the descending drive of the ascending / descending drive unit 200
- the fixing by the fixing unit 300 (the contact member 310 thereof) is released in conjunction with the descending operation.
- the holding unit 100 When the holding unit 100 is further lowered and reaches a predetermined height position, as shown in FIG. 9B, the workpiece W is held on the mounting portion 31 of the processing table 30, and the holding frame 100 (the holding portion 121) is It stops from the workpiece W and stops at a further lowered position. As a result, the workpiece W is detached from the holding unit 100 and transferred onto the processing table 30. Thereafter, predetermined processing is performed on the workpiece W on the processing table 30.
- the workpiece W for which the predetermined processing is completed is transferred from the processing table 30 to the holding unit 100. That is, when the holding unit 100 starts to rise and reaches a predetermined height position by the ascending drive of the lifting drive unit 200, the holding unit 100 (the holding part 121) holds the workpiece W and the processing table 30 (the mounting part) 31), and then, in conjunction with the ascending operation, the fixing unit 300 (the contact member 310 thereof) presses and fixes the workpiece W held on the holding portion 121. Then, as shown in FIG. 9A, the holding unit 100 further rises and stops at the original height position.
- the workpiece W is transferred from the holding unit 100 onto the processing table 30 only by the raising / lowering operation of the holding unit 100 and the fixing and releasing operations of the fixing unit 300, and the processed workpiece W is transferred to the processing table 30. Since it can be lifted from above and transferred onto the holding unit 100, the structure can be simplified, the apparatus can be downsized, and the time required for transfer can be shortened. In addition, since the predetermined processing can be performed on the workpiece W on the processing table 30 provided separately from the rotating table 20, the rotating table 20 can be simplified compared to the case where the processing is performed on the rotating table 20. Can do.
- the processing operation of the processing system employing the workpiece transfer device M will be described with reference to FIGS. 1, 9A and 9B.
- the work W is set on the processing table 30 (the mounting portion 31) by the operator.
- the holding unit 100 is raised to a predetermined height position, as shown in FIG. 9A
- the workpiece W is lifted from the processing table 30 and held by the holding unit 100 (the holding portion 121 thereof), and the raising operation is performed.
- the fixing unit 300 performs a fixing operation, and the workpiece W is fixed to the holding position.
- the turntable 20 is rotated by a predetermined angle (approximately 60 degrees)
- the workpiece W is transported to the next processing area A2.
- the fixing unit 300 performs the fixing releasing operation in conjunction with the lowering operation, and the workpiece W is processed as shown in FIG. 9B. It is transferred onto the table 30 (the mounting part 31). Then, a predetermined process is performed on the workpiece W by a predetermined processing unit (not shown) arranged in the processing area A2.
- a predetermined processing unit not shown
- the holding unit 100 is raised to a predetermined height position, and as shown in FIG. 9A, the workpiece W is lifted from the processing table 30 and held by the holding unit 100 (the holding unit 121 thereof).
- the fixing unit 300 performs the fixing operation, and the workpiece W is fixed at the holding position. Thereafter, when the turntable 20 is rotated by a predetermined angle (approximately 60 degrees), the workpiece W is transferred to the next processing area A3.
- the workpiece W is transferred from the holding unit 100 onto the processing table 30 and the workpiece transferred onto the processing table 30 by the lifting / lowering operation of the holding unit 100.
- the workpiece W is sequentially transferred by the predetermined processing for W, the transfer of the processed workpiece W from the processing table 30 to the holding unit 100, and the rotation of the rotary table 20.
- the product is separated into an acceptable product (OK product) and an unacceptable product (NG product) and is carried out from the transport line 40.
- the holding frame 120 and the placement unit 31 corresponding to the type (size, shape, etc.) of the workpiece W are prepared in advance so that the workpiece W to be processed can be of different types.
- the holding frame 120 and the placement unit 31 are also replaced with ones corresponding to the workpiece W.
- the rotary table 20 includes a plurality (six) of the holding units 100 arranged in the circumferential direction, the lifting drive unit 200 and the fixed unit 300 corresponding to each holding unit 100. Therefore, in a state where a plurality of processing tables 30 are arranged around the rotary table 20, the rotary table 20 is driven to rotate at a predetermined angle unit, and the holding unit 100 is driven up and down and a fixed unit. By performing the fixing operation and the releasing operation of the workpiece W by 300, a plurality of processes can be simultaneously performed on the plurality of workpieces W.
- the workpiece W is transferred from the holding unit 100 onto the processing table 30 only by the raising / lowering operation of the holding unit 100 and the fixing and releasing operations of the fixing unit 300, and the processed workpiece W is transferred from the processing table 30. Since it can be lifted and transferred onto the holding unit 100, the structure can be simplified, the apparatus can be downsized, the time required for transfer can be shortened, and the like, and further off the rotary table 20. Since a predetermined process can be performed on the workpiece W on the processing table 30, the rotary table 20 can be simplified as compared with the case where the process is performed on the rotary table 20.
- FIG. 10A shows another embodiment of the processing system including the workpiece transfer apparatus according to the present invention.
- a conveyor unit 400 that is intermittently fed and driven along a track suspended from the ceiling is employed as a transport mechanism.
- the conveyor unit 400 hangs at a predetermined interval with respect to the track 401 disposed in the upper area of the processing area, the movable conveyor 402 moving along the track 401, and the movable conveyor 402.
- the hanging frame 403 and the like are connected to each other.
- a holding unit 100 is attached to each of the hanging frames 403.
- a lifting drive unit 200 and a fixed unit 300 are provided corresponding to each holding unit 100.
- the elevating drive unit 200 is provided for the hanging frame 403.
- the plurality of holding units 100 are arranged along one side of the conveyor unit 400, and the plurality of processing tables 30 are arranged along one side of the conveyor unit 400.
- the trajectory 401 a curved trajectory, an elliptical trajectory, or the like can be employed in addition to the linear trajectory as shown in FIG. 10A.
- the workpiece W is transferred from the holding unit 100 onto the processing table 30 only by the raising / lowering operation of the holding unit 100 and the fixing and releasing operations of the fixing unit 300, and the processing is completed. Since the workpiece W can be lifted from the processing table 30 and transferred onto the holding unit 200, the structure can be simplified, the apparatus can be downsized, and the time required for transfer can be shortened. Since the predetermined processing can be performed on the workpiece W on the processing table 30 provided separately from the conveyor unit 400, the conveyor unit 400 can be simplified as compared with the case where the processing is performed on the conveyor unit 400.
- FIG. 10B shows still another embodiment of a processing system including a workpiece transfer apparatus according to the present invention.
- a conveyor unit 400 ′ that is intermittently driven and driven along a track installed on the floor surface is employed as the transport mechanism.
- the conveyor unit 400 ′ includes a track 401 ′ disposed on the floor surface of the processing area, a movable conveyor 402 ′ that moves along the track 401 ′, a movable conveyor 402 ′, and the like.
- a plurality of holding units 100 are attached to the side wall of the movable conveyer 402 ′ at a predetermined interval. Further, an elevation drive unit 200 and a fixed unit 300 are provided corresponding to each holding unit 100.
- the elevating drive unit 200 is provided on the side wall of the movable conveyor 402 ′. That is, the plurality of holding units 100 are disposed along one side of the conveyor unit 400 ′, and the plurality of processing tables 30 are disposed along one side of the conveyor unit 400 ′.
- the trajectory 401 ′ a curved trajectory, an elliptical trajectory, or the like can be adopted in addition to the linear trajectory as shown in FIG. 10B.
- the workpiece W is transferred from the holding unit 100 onto the processing table 30 only by the raising / lowering operation of the holding unit 100 and the fixing and releasing operations of the fixing unit 300, and the processing is completed. Since the workpiece W can be lifted from the processing table 30 and transferred onto the holding unit 200, the structure can be simplified, the apparatus can be downsized, and the time required for transfer can be shortened. Since the workpiece W can be subjected to predetermined processing on the processing table 30 provided separately from the conveyor unit 400 ′, the conveyor unit 400 ′ is simplified as compared with the case where the processing is performed on the conveyor unit 400 ′. it can.
- the holding unit 100 in which the holding frame 120 can be attached to and detached from the lifting frame 110 is shown as the holding unit that holds the workpiece W.
- the holding frame 120 may be integrally formed.
- the fixed unit is one that performs the fixing operation and the releasing operation of the workpiece W in conjunction with the lifting and lowering operation of the holding unit 100, but is not limited to this, and other than the holding unit 100. You may be comprised so that it may link with operation
- the workpiece transfer apparatus is intermittently transferred by the transfer mechanism while achieving simplification of the structure, downsizing of the apparatus, cost reduction, reduction of time required for transfer, and the like. Since the workpiece to be transferred can be transferred to and received from a processing table arranged along the conveyance direction, it can be applied in the field of machinery that handles relatively heavy objects as a workpiece. It is also useful in the field of electronic equipment that handles relatively light objects, and is also useful in the field that handles other workpieces.
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Abstract
Description
この構成によれば、ワークが保持ユニットに保持された状態で、ワークは固定ユニットにより固定されて保持ユニット上の所定の保持位置に固定(移動しないように保持)されている。そして、搬送機構が間欠的に搬送動作を行って所定位置に停止すると、昇降駆動ユニットにより保持ユニットが下降駆動され、ワークは、固定ユニットによる固定が解除されて処理テーブル上に移載され、又、処理が終了すると、保持ユニットが上昇駆動されて、ワークは処理テーブルから持ち上げて保持ユニット上に保持されると共に固定ユニットにより所定の保持位置に固定(移動しないように保持)される。
このように、保持ユニットの昇降動作及び固定ユニットの固定及び解除動作だけで、ワークを保持ユニットから処理テーブル上に移載し、又、処理が済んだワークを処理テーブル上から持ち上げて保持ユニット上に移載することができるため、構造の簡素化、装置の小型化、移載に要する時間の短縮化等を達成することができる。また、搬送機構とは別個に設けられた処理テーブル上でワークに所定の処理を施すことができるため、搬送機構上で処理を施す場合に比べて搬送機構を簡素化できる。
この構成によれば、回転テーブルの周りに複数の処理テーブルが配置される状態で、回転テーブルを所定の角度刻みで回転駆動し、又、保持ユニットを昇降駆動すると共に固定ユニットによるワークの固定動作及びその解除動作を行うことで、複数のワークに対して複数の処理を施すことができる。
この構成によれば、コンベアユニットに沿って複数の処理テーブルが配置される状態で、コンベアユニットを所定の送り量で送り駆動し、又、保持ユニットを昇降駆動すると共に固定ユニットによるワークの固定動作及びその解除動作を行うことで、複数のワークに対して複数の処理を施すことができる。
この構成によれば、搬送機構に隣接して配置された処理テーブルに対して、保持ユニットとの間でワークの受け渡し及び受け取りを行うことができ、又、搬送機構に対して昇降フレームが下降すると、保持フレームの保持部に保持されたワークが処理テーブルの上面に接触し、さらに昇降フレームが下降すると、処理テーブルが保持フレームの開口部を通してワークを保持部から離脱させるように持ち上げて、処理テーブル上への移載が完了する。このように、保持フレームと処理テーブルとの相対的な移動のみにより、ワークを移載することができるため、構造をより一層簡素化することができ、又、移載に要する時間をより一層短縮化することができる。
この構成によれば、ワークの種類(大きさ、輪郭等の異なるワーク)に応じた保持フレームと交換することで、種々のワークを取り扱うことができ、又、昇降フレームを兼用して保持フレームのみ交換すればよいため、交換作業も簡単に行うことができる。
この構成によれば、保持ユニット(の昇降フレーム)がガイドレールに沿って昇降自在にガイドされる際に、駆動力を及ぼす駆動機構が搬送機構の内部に配置されているため、保持ユニット(昇降フレーム及び保持フレーム)の昇降動作に対して障害となるものを昇降領域から排除することができ、それ故に、駆動機構等との干渉を確実に防止して、円滑な昇降動作を保証することができる。
この構成によれば、保持ユニットの昇降動作に連動する連動機構により、当接部材によるワークの押し付けとその解除が行われるため、特別な検出手段を採用することなく、構造の簡素化を達成しつつ、ワークの押し付けと解除のタイミングを所定のタイミングで高精度に設定することができる。
この構成によれば、保持ユニットの昇降動作により、カム部材が押付部材にカム作用を及ぼすことで、押付部材が当接部材を押し付けてワークを固定し又押付部材が当接部材の押し付けを解除してワークを解放することができ、特別な検出手段を採用することなく、構造の簡素化を達成しつつ、ワークの押し付けと解除のタイミングを所定のタイミングで高精度に設定することができる。
この構成によれば、当接部材及び付勢部材が保持フレームに支持されるため、ワークの種類に応じて保持フレームを用意する場合に、ワークに応じた最適な形状の当接部材を採用することができる。
A1,A2,A3,A4,A5,A6 処理エリア
10 ベース
20 回転テーブル(搬送機構)
21 回転軸
22 モータ
23 上盤
24 側壁
24a スリット
30 処理テーブル
31 載置部
32 脚部
33 ベース部
40 搬出ライン
M ワーク移載装置
100 保持ユニット
110 昇降フレーム
111 スライダ部
111a 被ガイド部
111b 開口部
112 ホルダ部
112a 開口部
112b 長孔
112c スリット
112d 位置決めピン
112e 保持部
113 連結機構
113a ロッド
113b 付勢部
R1,R2 リング部材
S1,S2 スプリング
113c アーム部
120 保持フレーム
121 保持部
122 開口部
123 スリット
124 長孔
125 嵌合穴
200 昇降駆動ユニット
210 ガイドレール
220 ボールねじ(駆動機構)
230 モータ(駆動機構)
240 ナット部材(駆動機構)
300 固定ユニット
310 当接部材
320 付勢部材(連動機構)
330 押付部材(連動機構)
331 押付ピン
332 フォロワピン
340 カム部材(連動機構)
341 下端部
342 上端部
343 カム溝
400,400´ コンベアユニット(搬送機構)
401,401´ 軌道
402,402´ 可動コンベア
403 垂下フレーム
この処理システムは、図1に示すように、略矩形をなすベース10、ベース10上に配置された略六角柱の形状をなす搬送機構としての回転テーブル20、回転テーブル20の周方向に等間隔で配置されて回転テーブル20に設けられた6個のワーク移載装置M、6個のワーク移載装置Mに対応するように回転テーブル20の周りに環状に配列された6箇所の処理エリアA1~A6、各々の処理エリアA1~A6内に配置された6個の処理テーブル30、各々の処理エリアA1~A6に配置された複数の処理ユニット(不図示)、全ての処理が済んだワークWを搬出する搬出ライン40等を備えている。
そして、側壁24には、回転テーブル20の周方向に等間隔で配置されるように、6個のワーク移載装置Mが設けられている。
すなわち、回転テーブル20は、6個のワーク移載装置Mを一体的に備えて、軸線L回りに所定の角度(ここでは、略60度)刻みで回転駆動されるようになっている。
載置部31は、後述する保持フレーム120の開口部122を通過し得る形状に形成されている。ここでは、載置部31は、円形断面をなすように形成されているが、ワークWの輪郭が矩形であれば、それに合わせて矩形断面をなすように形成される。
尚、処理テーブル30は、必要に応じて、水平方向に移動可能に又載置部31が回転可能に形成されていてもよい。
スライダ部111は、図3ないし図6に示すように、後述するガイドレール210に対して移動自在に嵌合される2つの被ガイド部111a、2つの被ガイド部111aに挟まれる領域に形成された略矩形の開口部111b等を有する。
ホルダ部112は、図3ないし図7に示すように、後述するカム部材340を通す略矩形の開口部112a、後述する押付部材330の押付ピン331を通す長孔112b、連結機構113の後述するロッド113aを通す2つのスリット112c、保持フレーム120を位置決めする2つの位置決めピン112d、後述する押付部材330を保持する保持部112e等を有する。
付勢部113bは、図8A及び図8Bに示すように、ロッド113aの揺動支点側から順にロッド113aの外周に組付けられたスプリングS1、スプリングS1の付勢力に抗しつつ保持フレーム120に当接し得るリング部材R1、スプリングS2、スプリングS2により付勢されてアーム部113cのカム部113c´に当接するリング部材R2のうち、リング部材R1、スプリングS2、リング部材R2により構成されている。
また、保持フレーム120には、後述する固定ユニット300の当接部材310及び付勢部材320が設けられている。
その後、図8A及び図8Bの実線で示すように、ロッド113aをスリット112c,123に嵌め込むように上向きに移動させた後、アーム部113cを所定の角度位置まで回転させ、アーム部113c(のカム部113c´)のカム作用により付勢部113b(リング部材R1,R2)をそれぞれ下側に押圧する。これにより、保持フレーム120は昇降フレーム110に連結されて堅固に固定される。
このように、保持フレーム120は、昇降フレーム110に対して着脱自在に形成されているため、ワークWの種類(大きさ、輪郭等の異なるワーク)に応じた保持フレーム120と交換することで、種々のワークWを取り扱うことができ、又、昇降フレーム110を兼用して保持フレーム120のみ交換すればよいため、交換作業も簡単に行うことができる。
このように、駆動機構(ボールねじ220、モータ230、ナット部材240の一部)が回転テーブル20の内部に配置されているため、保持ユニット100(の昇降フレーム110)がガイドレール210に沿って昇降自在にガイドされる際に、保持ユニット100(昇降フレーム110及び保持フレーム120)の昇降動作に対して障害となるものを昇降領域から排除することができ、それ故に、保持ユニット100が駆動機構等と干渉するのを確実に防止して、円滑な昇降動作を保証することができる。
付勢部材320は、図6に示すように、保持フレーム120に設けられており、保持部121に保持されたワークWから当接部材125を離脱させる方向に付勢力(引張り力)を及ぼすように形成されている。
押付部材330は、図3、図4、図6に示すように、昇降フレーム110の下面において保持部112eにより移動自在に保持され、その一端側において上方に伸長して長孔112bを貫通する押付ピン331、その他端側において水平方向に伸長して後述するカム部材340のカム溝343に挿入されるフォロワピン332等を有する。
カム溝343は、押付部材330のフォロワピン332を受け入れ、保持ユニット100の上昇動作に連動して押付部材330を押付方向(当接部材310をワークWに押し付ける方向)に移動させ、かつ、保持ユニット100の下降動作に連動して押付部材330を解除方向(当接部材310をワークWに押し付けるのを解除する方向)に移動させるカム作用を及ぼすように形成されている。
上記構成においては、付勢部材320、押付部材330、及びカム部材340により、保持ユニット100の上昇動作に連動して当接部材310をワークWに押し付けかつ保持ユニット100の下降動作に連動して当接部材310によるワークWの押し付けを解除する連動機構が構成されている。
先ず、保持ユニット100が上昇した所定高さ位置にあるとき、図9Aに示すように、ワークWは保持ユニット100の保持部121に保持され、かつ、固定ユニット300の当接部材310により押し付けられて所定の保持位置に固定(移動しないように保持)されている。
続いて、昇降駆動ユニット200の下降駆動により、保持ユニット100が下降し始めると、その下降動作に連動して、固定ユニット300(の当接部材310)による固定が解除される。
その後、処理テーブル30上において、ワークWに対して所定の処理が施される。
そして、保持ユニット100は、図9Aに示すように、さらに上昇して元の高さ位置に停止する。
また、回転テーブル20とは別個に設けられた処理テーブル30上でワークWに所定の処理を施すことができるため、回転テーブル20上で処理を施す場合に比べて回転テーブル20を簡素化することができる。
先ず、処理エリアA1において、保持ユニット100が所定高さ位置まで下降した状態において、作業者により、図9Bに示すように、ワークWが処理テーブル30(の載置部31)上にセットされる。
その後、保持ユニット100が所定高さ位置まで上昇すると、図9Aに示すように、ワークWは処理テーブル30から持ち上げられて保持ユニット100(の保持部121)に保持されると共に、その上昇動作に連動して、固定ユニット300が固定動作を行い、ワークWがその保持位置に固定される。
その後、回転テーブル20が所定の角度(略60度)だけ回転すると、ワークWは次の処理エリアA2に搬送される。
そして、処理エリアA2に配置された所定の処理ユニット(不図示)により、ワークWに対して所定の処理が施される。
処理が終了すると、保持ユニット100が所定高さ位置まで上昇し、図9Aに示すように、ワークWは処理テーブル30から持ち上げられて保持ユニット100(の保持部121)に保持されると共に、その上昇動作に連動して、固定ユニット300が固定動作を行い、ワークWがその保持位置に固定される。
その後、回転テーブル20が所定の角度(略60度)だけ回転すると、ワークWは次の処理エリアA3に搬送される。
また、保持ユニット100の昇降動作及び固定ユニット300の固定及び解除動作だけで、ワークWを保持ユニット100から処理テーブル30上に移載し、又、処理が済んだワークWを処理テーブル30上から持ち上げて保持ユニット100上に移載することができるため、構造の簡素化、装置の小型化、移載に要する時間の短縮化等を達成することができ、さらに、回転テーブル20上から外れた処理テーブル30上でワークWに所定の処理を施すことができるため、回転テーブル20上で処理を施す場合に比べて回転テーブル20を簡素化することができる。
上記実施形態においては、回転テーブル20に対して6個のワーク移載装置Mを設け、その個数に対応して6個の処理テーブル30(及び処理エリアA1~A6)を配置した場合を示したが、これに限定されるものではなく、5個以下あるいは7個以上のワーク移載装置M及び処理テーブル30を配置してもよい。
コンベアユニット400は、図10Aに示すように、処理エリアの上方領域に配設された軌道401、軌道401に沿って移動する可動コンベア402、可動コンベア402に対して所定間隔をおいて垂下するように連結された垂下フレーム403等を備えている。
垂下フレーム403には、それぞれ、保持ユニット100が取り付けられている。そして、それぞれの保持ユニット100に対応して、昇降駆動ユニット200及び固定ユニット300が設けられている。
昇降駆動ユニット200は、垂下フレーム403に対して設けられている。
すなわち、複数の保持ユニット100が、コンベアユニット400の一側部に沿うように配置され、又、複数の処理テーブル30が、コンベアユニット400の一側部に沿うように配置されている。
ここで、軌道401としては、図10Aに示すような直線軌道の他に、曲線軌道、楕円軌道等を採用することができる。
コンベアユニット400´は、図10Bに示すように、処理エリアの床面に配設された軌道401´、軌道401´に沿って移動する可動コンベア402´、可動コンベア402´等を備えている。
可動コンベア402´の側壁には、所定の間隔をおいて複数の保持ユニット100が取り付けられている。また、それぞれの保持ユニット100に対応して昇降駆動ユニット200及び固定ユニット300が設けられている。
昇降駆動ユニット200は、可動コンベア402´の側壁に設けられている。
すなわち、複数の保持ユニット100が、コンベアユニット400´の一側部に沿うように配置され、又、複数の処理テーブル30が、コンベアユニット400´の一側部に沿うように配置されている。
ここで、軌道401´としては、図10Bに示すような直線軌道の他に、曲線軌道、楕円軌道等を採用することができる。
上記実施形態においては、固定ユニットとして、保持ユニット100の昇降動作に連動してワークWの固定動作及び解除動作を行うものを示したが、これに限定されるものではなく、保持ユニット100以外の動作に連動するように構成されてもよい。
Claims (9)
- 搬送機構により所定の搬送方向に間欠的に搬送されるワークを、前記搬送方向に沿って配置された処理テーブル上に移載し得るワーク移載装置であって、
前記搬送機構に取り付けられると共にワークを保持し得る保持ユニットと、
前記保持ユニットに保持されたワークを前記処理テーブル上に移載するべく前記保持ユニットを下降駆動しかつ前記処理テーブル上に保持されたワークを前記保持ユニット上に移載するべく前記保持ユニットを上昇駆動する昇降駆動ユニットと、
前記保持ユニットに保持されたワークを固定しかつ前記処理テーブル上にワークを移載する際にワークの固定を解除し得る固定ユニットと、
を含む、ワーク移載装置。 - 前記搬送機構は、間欠的に回転駆動される回転テーブルを含み、
前記処理テーブルは、前記回転テーブルの周りに配置され、
前記保持ユニットは、前記回転テーブルの周方向に配列して設けられた複数の保持ユニットからなり、
前記昇降駆動ユニット及び固定ユニットは、前記複数の保持ユニットにそれぞれ対応して設けられている、
ことを特徴とする請求の範囲第1項に記載のワーク移載装置。 - 前記搬送機構は、所定の軌道に沿って間欠的に送り駆動されるコンベアユニットを含み、
前記処理テーブルは、前記コンベアユニットの一側部に沿うように配置され、
前記保持ユニットは、前記コンベアユニットの一側部に沿って配列して設けられた複数の保持ユニットからなり、
前記昇降駆動ユニット及び固定ユニットは、前記複数の保持ユニットにそれぞれ対応して設けられている、
ことを特徴とする請求の範囲第1項に記載のワーク移載装置。 - 前記保持ユニットは、前記搬送機構に対して昇降自在に支持された昇降フレームと、ワークを保持し得る保持部及び前記処理テーブルの通過を許容する開口部を有するように形成された保持フレームとを含む、
ことを特徴とする請求の範囲第1項ないし第3項いずれか一つに記載のワーク移載装置。 - 前記保持フレームは、前記昇降フレームに対して着脱自在に形成されている、
ことを特徴とする請求の範囲第4項に記載のワーク移載装置。 - 前記昇降駆動ユニットは、前記搬送機構に固定されて前記昇降フレームを昇降自在にガイドするガイドレールと、前記搬送機構内に配置されて前記昇降フレームを昇降させる駆動力を及ぼす駆動機構とを含む、
ことを特徴とする請求の範囲第1項ないし第5項いずれか一つに記載のワーク移載装置。 - 前記固定ユニットは、ワークに対して当接及び離脱し得るように移動自在に支持された当接部材と、前記保持ユニットの上昇動作に連動して前記当接部材をワークに押し付けかつ前記保持ユニットの下降動作に連動して前記当接部材の押し付けを解除する連動機構とを含む、
ことを特徴とする請求の範囲第1項ないし第6項いずれか一つに記載のワーク移載装置。 - 前記連動機構は、前記当接部材をワークから離脱させる方向に付勢する付勢部材と、前記当接部材をワークに押し付ける押付方向及びその押し付けを解除する解除方向に移動自在に支持された押付部材と、前記搬送機構に固定されると共に前記保持ユニットの上昇動作に連動して前記押付部材を前記押付方向に移動させかつ前記保持ユニットの下降動作に連動して前記押付部材を前記解除方向に移動させるカム作用を及ぼすカム部材とを含む、
ことを特徴とする請求の範囲第7項に記載のワーク移載装置。 - 前記当接部材及び付勢部材は、前記保持フレームに支持され、
前記押付部材は、前記昇降フレームに支持されている、
ことを特徴とする請求の範囲第8項に記載のワーク移載装置。
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CN2008801278765A CN101959643B (zh) | 2008-03-05 | 2008-03-05 | 工件移送装置 |
JP2010501717A JP5259693B2 (ja) | 2008-03-05 | 2008-03-05 | ワーク移載装置 |
KR1020107018522A KR101188244B1 (ko) | 2008-03-05 | 2008-03-05 | 워크이재장치 |
US12/920,675 US8430226B2 (en) | 2008-03-05 | 2008-03-05 | Work transfer apparatus |
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JP (1) | JP5259693B2 (ja) |
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JP5259693B2 (ja) | 2013-08-07 |
KR101188244B1 (ko) | 2012-10-05 |
CN101959643A (zh) | 2011-01-26 |
CN101959643B (zh) | 2013-04-17 |
KR20100105891A (ko) | 2010-09-30 |
JPWO2009110072A1 (ja) | 2011-07-14 |
US20110024264A1 (en) | 2011-02-03 |
US8430226B2 (en) | 2013-04-30 |
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