JPH0623400Y2 - Work positioning device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work transfer device, and more particularly to a work positioning transfer device that transfers a work from a predetermined receiving position to a delivery position while rotating the work around its center line. It is a thing.

Conventional technology When transferring work between automatic processing machines and machine tools,
Conventionally, it is common to use a chute etc. to naturally drop the work carried out from the previous process and send it to the next process, but the work is caught in the middle or the posture of the work changes There was such inconvenience. For this reason, for example, (x) a pivot arm arranged to be rotatable about the first axis at the base end, and (y) a relative pivot arm around the second axis parallel to the first axis. A work receiving member that is rotatably attached and that has a work receiving member that faces upward and supports the work; and (z) a work fixing member that is provided near the first shaft And the work receiving member is rotated about the second axis in a direction opposite to the rotation direction of the rotation arm as the rotation arm is rotated about the first axis. And a relative rotation mechanism for mechanically rotating the rotation arm relative to the rotation arm by an angle substantially the same as the rotation angle of the work. Convey the work supported on the receiver in a fixed posture There are things was Unishi. The apparatus described in Japanese Patent Application No. 63-73535 previously filed by the applicant of the present application is one example.

However, since the work transfer device transfers the work received at the receiving position to the delivery position in the posture as it is, the work transfer device is When the posture of the work when it is carried into the process is different, it is necessary to correct the posture of the work before or after the work is conveyed, and it is necessary to separately provide a posture correction device or the like. Therefore, there is a problem that a series of devices for carrying the work and correcting the posture become complicated and large-scale.

The present invention has been made in view of the above circumstances, and its purpose is to correct the posture of a work during its transportation.

Means for Solving the Problems In order to achieve such an object, the first means of the present invention comprises:
A workpiece positioning and conveying device that conveys a workpiece from a predetermined receiving position to a delivering position while rotating the workpiece around its center line, and is (a) rotatably arranged around a first axis at a base end portion. A first rotating arm; (b) a second rotating arm attached to the first rotating arm so as to be relatively rotatable around a second axis parallel to the first axis; and (c) the first rotating arm. It is arranged between a position-fixed member provided near the axis and the second rotating arm, and when the first rotating arm is rotated around the first axis, its second Mechanically with respect to the first rotation arm about the second axis in the direction opposite to the rotation direction of the first rotation arm by an angle substantially the same as the rotation angle of the first rotation arm. A first relative rotation mechanism for relatively rotating the second rotation arm, and (d) the second rotation arm together with the second rotation arm. Together it is pivoted to said centerline comprises an upward work receiving its second
A work receiving member that rotatably supports the work around its center line in a posture parallel to the axis, and (e) the work receiving member of the work receiving member is moved from the receiving position to the delivery position. A drive device for rotating a first rotating arm around the first axis, and (f) the second
The rotation arm is attached so as to be relatively rotatable about a third axis parallel to the second axis, which is located on an extension of the center line of the work supported by the work receiving member, and is not relatively rotatable to the work. And (g) is disposed between the engaging member and a portion of the first rotating arm located in the vicinity of the second axis, and the second rotating arm is A second relative rotation mechanism for mechanically rotating the engaging member relative to the second rotation arm about the third axis as the engagement member is rotated about the second axis. It is characterized by

A second means of the present invention is (a) the first rotating arm, (b) the second rotating arm, (h) the position fixing member provided near the first shaft, and The second rotation arm is disposed between the first rotation arm and the second rotation arm, and the second rotation arm is moved with respect to the first rotation arm as the first rotation arm is rotated about the first axis. A first relative rotation mechanism that mechanically relatively rotates about the second axis, and (i) is attached to the second rotation arm so as to be relatively rotatable about a third axis parallel to the second axis. A holding device for holding the work in a non-rotatable manner about the center line in a posture in which the center line is parallel to the third axis, and (j) a position near the second axis of the first rotating arm. Is disposed between the holding device and the holding device, and the holding device is moved as the second turning arm is turned about the second axis. A second relative rotating mechanism for mechanically rotating the second rotating arm relative to the third axis, and (k) the holding device for moving the holding device from the receiving position to the delivering position. A drive device for rotating the first rotating arm around the first axis.

It should be noted that each of the first means in the first means and the second means
The relative rotation mechanism and the second relative rotation mechanism are configured using, for example, a plurality of gears meshed in series, a timing belt wound around a plurality of pulleys, or a plurality of links.

Operation First, in the work positioning and conveying apparatus according to the first means of the present invention, the work is supported in the predetermined fixed posture on the work receiving member of the work receiving member located at the predetermined receiving position. After that, the first rotating arm is rotated about the first axis by the driving device, so that the work receiving member is attached to the first rotating arm and the first relative rotating mechanism rotates the first rotating arm. It is rotated around the second axis together with the second rotating arm that is rotated relative to the arm, and is moved from the receiving position to the delivery position. The first relative rotation mechanism is configured to relatively rotate the second rotation arm in the direction opposite to the rotation direction of the first rotation arm by an angle substantially the same as the rotation angle of the first rotation arm. Therefore, the work receiving member that is rotated together with the second rotation arm is moved in parallel along the arcuate shape centered on the first axis in a substantially constant posture in which the work receiving surface faces upward. Therefore, the work supported on the work receiving member is conveyed to the delivery position without dropping from the work receiving member.

Even if the work receiving member is configured to be integrally rotated with the second rotating arm by the first relative rotating mechanism, another relative rotating mechanism similar to the first relative rotating mechanism is used. Therefore, it does not matter even if it can be rotated separately from the second rotating arm. Further, the work receiving member does not necessarily have to be precisely translated, and it is sufficient that the work does not fall off from the work receiving during the work transportation in consideration of the shape of the work receiving and the like. The rotation angle of the second rotation arm rotated by the first relative rotation mechanism does not matter even if there is a degree of difference with respect to the rotation angle of the first rotation arm.

The second rotation arm has a third position which is located on an extension of the center line of the work supported by the work receiving member.
An engaging member is provided so as to be rotatable relative to the shaft, and is engaged with the work so as not to rotate relative to it. The engaging member is relatively non-rotatably engaged with the engaging member because the second relative rotating mechanism relatively rotates the engaging member around the third axis as the second rotating arm rotates. The work is rotated about the third axis, that is, about the center line, by a constant angle substantially equal to the relative rotation amount of the engaging member. Therefore, the work supported by the work receiving member in the predetermined fixed posture at the receiving position is moved from the receiving position to the delivering position while being rotated around the center line thereof, and is rotated about the center line by the constant angle. It will be positioned at the delivery position with the posture rotated.

On the other hand, in the work positioning and conveying apparatus according to the second means of the present invention, the work is held in the predetermined fixed posture by the holding device positioned at the predetermined receiving position, and then the work is moved by the driving device. When the first rotating arm is rotated about the first axis, the second rotating arm attached to the first rotating arm is relatively rotated about the second axis by the first relative rotating mechanism. At the same time, the holding device attached to the second rotation arm is relatively rotated about the third axis by the second relative rotation mechanism. As a result, the holding device is moved from the receiving position to the delivering position, and the work held by the holding device is also conveyed from the receiving position to the delivering position.

Further, in this process, since the holding device is relatively rotated around the third axis, the work held non-rotatably by the holding device is the rotation amount of the first rotation arm and the first rotation arm thereof. Is rotated about the third axis by a constant angle determined by the relative rotation amount of the second rotation arm with respect to the second rotation arm and the relative rotation amount of the holding device with respect to the second rotation arm. Therefore, the work held by the holding device in the predetermined fixed posture at the receiving position is moved from the receiving position to the delivering position while being rotated around the center line thereof, and is rotated around the center line by the constant angle. It will be positioned at the delivery position in a rotated posture.

In this case, if the holding device clamps the work irremovably, the rotation direction and the rotation angle of the first rotation arm, the relative rotation mechanism relative to the first rotation arm by the first relative rotation mechanism. Rotation direction and rotation angle of the second rotation arm that is rotated, and further rotation direction and rotation angle of the holding device that is rotated relative to the second rotation arm by the second relative rotation mechanism. Can be set independently of each other, but when the holding device merely mounts and supports the work, the first rotating arm, the second rotating arm, and the rotating direction of the holding device. And the rotation angle are set in relation to each other so that the work does not separate from the holding device when the work is conveyed and the work is rotated about the center line by a desired angle.

As described above, according to the work positioning and conveying apparatus of the present invention, in the process of conveying a work from a predetermined receiving position to a delivering position, the work is rotated around the center line to correct the posture. Therefore, it is not necessary to separately provide a posture correction device and the like as in the conventional case. Moreover, the holding device or the engaging member attached to the second rotating arm is moved to the second relative rotating mechanism by the relative rotation of the second rotating arm with the rotation of the first rotating arm. Since the work is rotated relative to the center line by the relative rotation by the drive device, it is not necessary to provide a separate drive source for rotating the work about the center line, and the first drive device is used. First rotating arm
The work is conveyed and rotated about the center line in parallel simply by rotating the shaft. Therefore, the device can be configured simply and compactly, and its control is simple and the cycle time is short.

Embodiment Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 1, FIG. 2 and FIG. 3 are plan sectional views of an embodiment of a work positioning and conveying apparatus according to the first means of the present invention,
It is the front view which notched one part and the left side sectional view.
In these figures, the drive shaft 10 as the first shaft is supported rotatably around a substantially horizontal axis through a pair of bearings 12 and 14. Bearing 1
2 is disposed on the bracket 16, while the bearing 14 is fixedly mounted on the bracket 18 in the case 2
It is set to 0. An output shaft 24 of a motor 22 with a speed reducer is connected to the rear end of the drive shaft 10 such that the output shaft 24 cannot rotate relative to the drive shaft 10. The drive shaft 10 is rotated by the motor 22 in both forward and backward directions around its axis. . Further, in the vicinity of the rear end portion of the drive shaft 10, as is apparent from FIG. 4 showing the IV-IV cross section in FIG. 1, a positioning member 28 having an engaging projection 26 projecting to the outer peripheral side cannot be relatively rotated. Attached to the case 20
The pair of stoppers 30 and 32 fixedly attached to the above are brought into contact with each other. As a result, the drive shaft 1
0 is reciprocally rotated within a predetermined 180 ° rotation range. A drive unit is configured to include the motor 22 and the stoppers 30 and 32.

The drive shaft 10 is provided with three first rotating arms 34a, 34b, 34c having the same length (hereinafter, simply referred to as the first rotating arm 34 unless otherwise specified). The first rotating arms 34 are fixed to the drive shaft 10 so that they cannot rotate relative to each other at their base ends so as to project at right angles in the same direction around the axis of the drive shaft 10. In addition, the drive shaft 10 has the above-mentioned stopper 30 in the protruding direction.
The drive shaft 10 is designed to project substantially horizontally to the left in the state of being positioned at the turning end in the counterclockwise direction defined by the drive shaft 10 up to the turning end in the clockwise direction defined by the stopper 32. Is rotated clockwise, the first rotation arm 34 also rotates clockwise about the drive shaft 10 by 180 °.
It can be rotated.

At the intermediate portion of the first rotating arms 34a and 34b,
An intermediate shaft 36 is rotatably arranged around an axis parallel to the drive shaft 10 via a pair of bearings. A pair of idle gears 38, 40 are attached to the intermediate shaft 36 so as not to rotate relative to each other, and one idle gear 38 meshes with a fixed gear 42 fixedly mounted on the case 20, while the other idle gear 40. Is engaged with a driven gear 44 arranged at the tip of the first rotating arm 34b. The driven gear 44 includes the first rotating arms 34 a and 34 via a pair of bearings.
It is attached to a tip shaft 46 that is rotatably arranged around an axis parallel to the drive shaft 10 across b and is not rotatable relative to the tip shaft 4.
As shown in FIG. 3, the second rotation arm 48
Also, the work receiving members 50 are both fixed to a relatively non-rotatable state by a pin (not shown) in a posture of protruding upward. The fixed gear 42 and the driven gear 44 have the same number of teeth, and the idle gear 38 and the idle gear 40 have the same number of teeth.

Therefore, the second rotation arm 48 and the work receiving member 50 fixed to the tip shaft 46 are rotated as the first rotation arms 34a and 34b are rotated around the axis thereof together with the drive shaft 10. The tip shaft 46 is moved relative to the first turning arms 34a, 34b by the same angle as the turning angle of the first turning arms 34a, 34b in the direction opposite to the turning direction of the first turning arms 34a, 34b. It is mechanically rotated about the axis. In other words,
The second rotating arm 48 and the work receiving member 50 of these
Drive shaft 10 in a fixed posture protruding upward.
Is translated along an arc shape centered at. In this embodiment, the fixed gear 42 and the idle gears 38 and 4 are used.
0 and the first relative rotation mechanism 52 including the driven gear 44
The case 2 in which the fixed gear 42 is fixedly installed.
0 corresponds to a position-fixed member provided near the first axis. Further, the second rotation arm 48 and the work receiving member 5
The tip shaft 46 having 0 fixed thereto corresponds to the second shaft.

On the other hand, an intermediate shaft 54 is disposed in an intermediate portion of the first rotating arm 34c via a pair of bearings so as to be rotatable about an axis parallel to the drive shaft 10. An idle gear 56 is non-rotatably attached to the intermediate shaft 54, and is meshed with a fixed gear 58 fixed to the bracket 16 and a driven gear 60 provided at the tip of the first rotating arm 34c. There is. The driven gear 60 is non-rotatably attached to a tip shaft 62 that is rotatably disposed around the axis parallel to the drive shaft 10 at the tip of the first rotating arm 34c via a pair of bearings. At the same time, as is apparent from FIG. 3, a work receiving member 64 is fixed to the tip shaft 62 by a pin (not shown) such that the work receiving member 64 protrudes upward so as to be relatively non-rotatable.

The tip shaft 62 is arranged on an extension line of the tip shaft 46, while the idle gear 56, the fixed gear 58, the driven gear 60, and the work receiving member 64 are respectively the idle gears 38, 40 and the fixed gear 42. , The driven gear 44, and the workpiece receiving member 50 are constructed in exactly the same manner. Therefore, the first rotating arms 34a, 3
By rotating 4b and 34c together with the drive shaft 10 around the axis thereof, the work receiving member 64 is moved to the second turning arm 48 and the work receiving member 5.
It is translated along a circular arc centered on the drive shaft 10 in a fixed posture protruding upward together with 0.

A work receiver 66 is provided on the upper end of the work receiving member 64, and a cylindrical shaft portion 70 of the work 68 is placed on the work receiver 66. As is apparent from FIG. 2, the work receiving member 66 has a mountain-shaped projection 72 integrally provided on the upper end of the work receiving member 64 and the work receiving member 6.
4 and a receiving lever 74 that is rotatably provided at the upper end. The receiving lever 74 is provided with a protrusion 76 that forms a V-shaped upward groove with the protrusion 72, and the shaft portion 70 of the work 68 has a center line between the protrusions 72 and 76. It is rotatably supported around.

Further, the receiving lever 74 is rotatably attached around a pin 78 parallel to the tip shaft 62, and the protrusion 76 is always provided in accordance with the urging force of the compression coil spring 80 as shown by the solid line in FIG. The projection 76 is held in a projecting position to project upward, but the projection 76 is pushed down against the biasing force of the compression coil spring 80. This allows the work 68 supported on the work receiver 66 to move substantially horizontally to the right in FIG.

On the other hand, at the upper end of the work receiving member 50, a work receiver 82 having the same structure as the work receiver 66 is provided. Therefore, a pair of these work receivers 6
By placing the shaft portion 70 at two positions on the shafts 6, 82, the center line of the work 68 is the tip shafts 46, 6
It is rotatably supported around its center line in a posture parallel to 2. In addition, these work receivers 66,
82 is positioned at a predetermined receiving position by the first rotation arm 34 being positioned at the rotation end in the counterclockwise direction as shown in FIGS. 1 to 3, while The first rotating arm 34 is located at the rotating end in the clockwise direction, so that the first rotating arm 34 is located at a predetermined delivery position, whereby the workpiece 68 supplied at the delivery position is conveyed to the delivery position. . The rotation end of the drive shaft 10, the disposition positions of the tip shafts 46 and 62, the dimensions of the work receiving members 50 and 64, and the like are set so that the work receivers 66 and 82 can be moved from the receiving position to the delivering position. Has been done.

As shown in FIG. 3, an intermediate shaft 84 is disposed at an intermediate portion of the second rotating arm 48 via a pair of bearings so as to be rotatable about an axis parallel to the tip shaft 46. Has been done. An idle gear 86 is attached to the intermediate shaft 84 such that the idle gear 86 cannot rotate relative to the intermediate shaft 84.
It is meshed with a fixed gear 88 fixed to the tip of the rotating arm 34 a and a driven gear 90 arranged at the tip of the second rotating arm 48. The driven gear 90 is non-rotatably attached to a rotary shaft 92 that is rotatably disposed around the axis parallel to the distal shaft 46 at the distal end of the second rotating arm 48 via a pair of bearings. At the same time, an engaging member 94 is fixed to the rotary shaft 92 so as not to rotate relatively.

The rotary shaft 92 corresponds to the third axis, and the work 6 supported by the pair of work receiving members 50 and 64.
The engaging member 94 fixed to the rotary shaft 92 is disposed on an extension of the center line of the workpiece 8 and has a rectangular groove 98 for accommodating the rectangular portion 96 provided at one end of the work 68. It is provided so that it can be engaged with the rectangular portion 96 so as not to rotate relative to the center line. Also,
The number of teeth of the fixed gear 88 is 1/2 of the number of teeth of the driven gear 90.
Then, with the rotation of the first rotating arm 34, the second relative arm 48 is moved by the first relative rotating mechanism 52.
When the engaging member 94 is rotated relative to the second rotating arm 48, the engaging member 94 moves in a direction opposite to the relative rotating direction of the second rotating arm 48 by half the relative rotating angle of the second rotating arm 48. With respect to the second rotating arm 48, it is mechanically rotated about the axis of the rotating shaft 92, in other words, about the center line of the work 68.

Therefore, when the first rotation arm 34 is rotated 180 ° about the axis of the drive shaft 10, the engagement member 94 is rotated 90 ° about the axis of the rotation shaft 92, and accordingly. The work 68 engaged with the engaging member 94 is also rotated 90 ° around its axis. Further, the engagement member 94 is in a state in which the first rotation arm 34 is positioned at the rotation end in the counterclockwise direction, in other words, the work receivers 82, 66 of the work receiver members 50, 64 are in the receiving position. In this state, the rotation shaft 92 is in a posture in which the rectangular groove 98 faces upward.
The first rotation arm 34 is rotated to the right rotation end so that the work receivers 82, 66 of the work receiver members 50, 64 are positioned at the delivery position. The shape of the rectangular groove 98 is changed to the right. FIG. 5 is a view for explaining the posture change of the engaging member 94. In the state shown by the arrow A on the left side, the first rotating arms 34a and 34b are positioned at the rotating end in the counterclockwise direction. The state indicated by the arrow C on the right side is the state indicated by the arrow B in the center when the first rotating arms 34a and 34b are located at the rotating ends in the clockwise direction. Shows the state in which the first rotating arms 34a and 34b are located at their intermediate positions. In this embodiment, the second relative rotation mechanism 100 is configured to include the fixed gear 88, the idle gear 86, and the driven gear 90.

Then, in the work positioning and conveying apparatus configured as described above, first, in the state where the first rotating arm 34 is positioned at the rotating end in the counterclockwise direction, the workpiece 68 discharged from the previous process is A pair of workpiece receiving members 50,
The shaft portion 70 is supplied from directly above the workpiece receivers 82 and 66 of 64 so that the shaft portion 70 is placed. At this time, the work 68 has its rectangular portion 96, as shown in FIG.
Is positioned in a vertical rotation position around the center line, and the rectangular portion 96 is inserted into the rectangular groove 98 of the engaging member 94.

In this state, the first rotation arm 34 is rotated by 180 ° in the clockwise direction together with the drive shaft 10, so that the work receiving members 50 and 64 are in a fixed posture in which the work receiving members 82 and 66 face upward. The work 68, which is moved in parallel along an arcuate shape around the axis of the drive shaft 10 and supported on the work receivers 82 and 66, is conveyed to the delivery position. The engaging member 94 engaged with the rectangular portion 96 of the work 68 is also moved to the delivery position together with the work 68. The engaging member 94 is attached to the rotary shaft 92 by the second relative rotation mechanism 100. It is rotated by 90 ° around the axis, in other words, the center line of the work 68. Therefore, the engaging member 9
The workpiece 68 engaged with the workpiece 4 in a relatively non-rotatable manner is moved from the receiving position to the delivering position while being rotated about its center line, and is rotated by 90 ° about the center line, that is, the rectangular portion. The 96 is positioned at the delivery position in a substantially horizontal posture.

The work 68 conveyed to the delivery position in this way
Then, as shown by the dashed line in FIG.
It is clamped non-rotatably around the center line by the carry-in device 102 arranged between the first rotating arms 34b and 34c, and is moved substantially horizontally toward the back side of the paper surface of FIG. It is loaded into an automatic processing machine. Loading device 10
2 is arranged in the vicinity of the portion indicated by the arrow C in FIG. 5, and the automatic processing machine and the like in the subsequent process are provided in the right side portion thereof. At this time, the rectangular groove 98 of the engaging member 94 into which the rectangular portion 96 of the work 68 is inserted is opened rightward, and the work receivers 82, 6 are provided.
Since the projection 76 provided on the receiving lever 74 of No. 6 is pushed down against the biasing force of the compression coil spring 80,
The work 68 is automatically taken out from the work positioning and conveying device.

When the work 68 is taken out, the first rotation arm 34 is rotated in the counterclockwise direction by the drive shaft 10, is positioned at the rotation end in the counterclockwise direction, and waits until a new work 68 is supplied. . And the work 68
Is supplied, the same operation as described above is repeated to convey the work 68 to the delivery position while rotating the work 68 around its center line.

As described above, according to the work positioning and transporting apparatus of the present embodiment, in the process of transporting the work 68 from the predetermined receiving position to the delivering position, the work 68 is rotated about the center line by 90 °. Therefore, it is not necessary to separately provide a posture correction device and the like as in the conventional case.

Moreover, the engaging member 94 for rotating the workpiece 68
By the first relative rotation mechanism 52.
Is rotated relative to the first rotation arms 34a and 34b, and is rotated relative to the second rotation arm 48 by the second relative rotation mechanism 100. Therefore, it is not necessary to provide a separate drive source for rotating the work 68 around the center line. Therefore, only by rotating the first rotating arm 34 by the single motor 22, the transfer of the work 68 and the rotation about the center line are performed in parallel, and the device can be configured simply and compactly, and The control is simple and the cycle time is short.

In the above example, the case where the workpiece 68 is rotated by 90 ° has been described, but since the workpiece receiving members 50 and 64 that support the workpiece 68 and the engaging member 94 that rotates the workpiece 68 are configured separately, There is no restriction on the rotation angle of the workpiece 68, and the rotation angle can be arbitrarily set by changing the number of teeth of the fixed gear 88 and the driven gear 90.

Next, another embodiment of the present invention will be described.

FIG. 6 is a view showing a main part of an embodiment of a work positioning and conveying apparatus according to the second means of the present invention, and is a view corresponding to FIG. Compared with the above-described embodiment, this positioning and conveying apparatus holds the work 68 instead of the work receiving members 50 and 64 that support the shaft 70 of the work 68 and the engaging member 94 that engages the rectangular portion 96 of the work 68. The member 110 is arranged on the rotary shaft 92. Holding member 11
Reference numeral 0 denotes a holding device, and like the rectangular groove 98, a rectangular groove 112 for accommodating the rectangular portion 96 of the work 68 in a relatively non-rotatable manner around the center line, and a shaft portion 70 for accommodating the shaft portion 70 of the work 68. Bearing groove 114 having a width dimension substantially equal to the diameter of the rotary shaft 92. The workpiece 68 has a center line parallel to the axis of the rotary shaft 92, and in this embodiment, the rotary shaft 92.
It is held so that it cannot rotate relative to it, in a state where it coincides with the axis of

Therefore, also in this embodiment, the first rotation arm 3
The workpiece 68 held by the holding member 110 is predetermined by rotating the 4a and 34b by 180 ° from the rotation end in the counterclockwise direction to the rotation end in the clockwise direction about the axis of the drive shaft 10. While being conveyed from the received position to the delivery position, the holding member 110 is rotated by 90 ° about the axis of the rotation shaft 92 by the second relative rotation mechanism 100 in this process, and the workpiece 68 is moved.
Is rotated 90 ° about its centerline.

In this embodiment, the work receiving members 50, 64
Since it is unnecessary, there is an advantage that the device can be configured more easily. In addition, a pair of notches 1 is provided on both side walls of the bearing groove 114.
16 is provided, and the work 68 is provided in the notch 116.
When the shaft portion 70 is non-rotatably gripped by the clamp device (not shown), the work 68 is taken out from the holding member 110 in the right direction and carried into the subsequent process.

Although the embodiments of the present invention have been described in detail with reference to the drawings, the present invention can be implemented in other modes.

For example, in the first embodiment, the second rotating arm 48 and the work receiving members 50 and 64 are adapted to be moved in parallel in a fixed posture, but the work receiving opening is U upward.
When it is constituted by a V-shaped groove or the like, it does not matter if it can be swung around the axial center of the tip shafts 46 and 62.

Further, in the first embodiment, the pair of work receiving members 50,
Although 64 is provided, the work receiving member 50 on the engaging member 94 side can be omitted.

Further, in the second embodiment, the holding member 110 that holds the work 68 in a non-rotatable manner is used as a holding device, but a holding device that clamps and holds the work 68 in a non-rotatable manner may be adopted. . The center line of the work 68 does not necessarily have to coincide with the axis of the rotary shaft 92.

In addition, in the workpiece positioning and conveying apparatus of the second embodiment, the shaft portion 70 of the workpiece 68 does not necessarily have to be a columnar shape, and the shape of the holding member 110 can be changed appropriately to convey workpieces of various shapes. Can be applied.

Further, in the above embodiment, the drive shaft 10 is rotated by the motor 22 around the axis, but it goes without saying that another drive device such as a cylinder can be used.

Although not illustrated one by one, the present invention can be implemented in various modified and improved modes based on the knowledge of those skilled in the art.

[Brief description of drawings]

FIG. 1 is a plan sectional view showing an example of a work positioning and conveying apparatus according to the first means of the present invention. FIG. 2 is a front view in which a part of the apparatus shown in FIG. 1 is cut away. FIG. 3 is a left side sectional view of the apparatus of FIG. FIG. 4 is in FIG.
It is a IV-IV sectional view. FIG. 5 is a diagram for explaining the rotating operation of the engaging member in the apparatus of FIG. FIG. 6 is a sectional view showing a main part of an example of the work positioning and conveying apparatus according to the second means of the present invention. 10: Drive shaft (first axis) 20: Case (position fixing member) 22: Motor, 30, 32: Stoppers 34a, 34b, 34c: First rotating arm 46: Tip shaft (second axis) 48: Second 2 rotation arm 50, 64: work receiving member 52: first relative rotation mechanism 66, 82: work receiving 68: work 92: rotating shaft (third shaft) 94: engaging member 100: second relative rotating mechanism 110: Holding member (holding device)

Claims (2)

[Scope of utility model registration request] 1. A work positioning and transporting device for transporting a work from a predetermined receiving position to a delivery position while rotating the work about its center line, the base end being rotatably arranged around a first axis. A first rotating arm, a second rotating arm attached to the first rotating arm so as to be relatively rotatable around a second axis parallel to the first axis, and provided near the first axis. Fixed member and said second
The second rotating arm is disposed between the rotating arm and the first rotating arm, and the second rotating arm is rotated around the second axis as the first rotating arm rotates about the first axis. A first relative rotation mechanism for mechanically rotating relative to the first rotation arm by an angle substantially the same as the rotation angle of the first rotation arm in a direction opposite to the rotation direction of the moving arm; The work can be rotated around the second axis together with the second rotation arm, and the work can be rotated about the center line in a posture in which the work line is provided upward and the center line is parallel to the second axis. A supporting member for supporting the work, a drive device for rotating the first rotating arm around the first axis so that the work receiving member can move the receiving member from the receiving position to the delivering position, 2 Rotating arm supported by the work receiving member The relatively rotatable mounted around the second axis parallel to the third axis which is located on the extension of the center line of the workpiece,
An engaging member that is engaged with the workpiece in a relatively non-rotatable manner, and a portion that is disposed between the engaging member and a portion of the first rotating arm that is located near the second axis. A second relative rotation mechanism that mechanically relatively rotates the engagement member around the third axis with respect to the second rotation arm as the arm is rotated around the second axis. A work positioning and transporting device comprising: 2. A work positioning and transporting device for transporting a work from a predetermined receiving position to a delivery position while rotating the work about its center line, the base end part being rotatably arranged around a first axis. A first rotating arm, a second rotating arm attached to the first rotating arm so as to be relatively rotatable around a second axis parallel to the first axis, and provided near the first axis. Fixed member and said second
The second rotation arm is disposed between the first rotation arm and the second rotation arm as the first rotation arm is rotated about the first axis. A first relative rotation mechanism that mechanically relatively rotates about a second axis; and a second rotation arm attached to the second rotation arm so as to be relatively rotatable about a third axis parallel to the second axis. A holding device that holds the work in a posture in which the work piece is parallel to the third axis so as not to rotate about the center line; and a part of the first rotating arm located near the second axis and the holding device. The holding device is mechanically arranged around the third axis with respect to the second rotation arm as the second rotation arm is rotated about the second axis. A second relative rotation mechanism for relative rotation, and the holding device moving from the receiving position to the delivery position Work positioning conveying apparatus characterized by having a drive device for rotating the first rotating arm about the first axis as sera.