CN100560287C - Conveying operation method and device thereof - Google Patents
Conveying operation method and device thereof Download PDFInfo
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- CN100560287C CN100560287C CNB2007101386150A CN200710138615A CN100560287C CN 100560287 C CN100560287 C CN 100560287C CN B2007101386150 A CNB2007101386150 A CN B2007101386150A CN 200710138615 A CN200710138615 A CN 200710138615A CN 100560287 C CN100560287 C CN 100560287C
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Abstract
A workpiece conveying mechanism (3) conveys a workpiece, a movable stand (9) and the conveying mechanism are moved synchronously in operation areas (A-H) provided on a conveying path (1), and the workpiece is subjected to a predetermined operation by the operation mechanism provided on the movable stand. When the movement of the workpiece conveying mechanism (3) is stopped, the movable stand (9) and the workpiece conveying mechanism (3) are stopped synchronously in the operation areas (A-H) to continue the prescribed operation on the workpiece, and the operation of one cycle is completed. When performing other operations different from the normal operations on the workpiece, the workpiece is retreated to a position different from the conveying path (1) and waits while being supported by the movable stand (9). Thus, even if an event occurs in which the work conveyance is stopped during the work of the work by the working mechanism, the work for the work can be continued with high precision, and a reduction in production efficiency can be suppressed.
Description
Technical field
The present invention relates to conveyance operational method and device thereof that a kind of one side conveyance workpiece carries out the regulation operation to workpiece on one side.
Background technology
In the past, known have a kind of as the spy open clear 61-146690 communique disclosed, workpiece is remained in chassis carry out conveyance, make along the conveyance path of chassis and the loading that is provided with the movable table and the same moved further of chassis of Working mechanisms such as manipulator, the conveyance apparatus for work that the workpiece in the conveyance is carried out the regulation operation.In this device, both sides, conveyance path at chassis are provided with a pair of movable table, when two movable table and chassis during with moved further, the receiving device that possesses respectively based on two movable table, accept the also both sides of holding workpieces by two movable table, after finishing, workpiece is moved conveyance to original chassis based on the operation of each Working mechanism.
Generally speaking, this conveyance apparatus for work is separately positioned in the manufacturing line of workpiece along the conveyance path of chassis and a plurality of operating areas that are provided with.Thus, at by chassis conveyance and the workpiece by each operating area, can utilize the Working mechanism that is arranged at each operating area to carry out the regulation operation.
But, in this conveyance apparatus for work, when the incident that chassis stops to have taken place in the process of conveyance workpiece when, Working mechanism to the still uncompleted situation of the operation of workpiece under, Working mechanism is interrupted till the conveyance of chassis restarts the operation of workpiece.Thus, owing to the operation in each operating area of workpiece manufacturing line is interrupted, so cause the significantly reduced unfavorable condition of production efficiency.
And, in this conveyance apparatus for work, if be defined as by Working mechanisms such as manipulators and carry out situation to the common operation of workpiece, workpiece is moved efficiently to carry out operation, but since in synchronous moving process with work mounting s in a pair of movable table, so, can't make workpiece move to other position from the conveyance path of chassis, other operation different with common operation such as the teaching operation of Working mechanisms such as manipulator or operation trials also must be carried out under workpiece is positioned at state on the conveyance path.Therefore, carry out at workpiece with other usually different operations during, for example other workpiece can't be put into this Working mechanism the operating area, continue common operation by handwork, make that the common operation in the operating area of this Working mechanism stops, causing production efficiency to reduce.
Summary of the invention
The present invention is in view of this unfavorable condition, its purpose is to provide a kind of conveyance operational method and device thereof, thereby, even the incident that the conveyance of workpiece is stopped has taken place in the operation process of Working mechanism to workpiece, also can proceed high accuracy operation, suppress production efficiency and reduce workpiece, and, when carrying out, also can access and carry out the same high efficiency of common operation with other usually different operations.
First invention is the conveyance operational method that a kind of one side conveyance workpiece carries out the regulation operation to workpiece on one side, comprise: operating area conveyance operation, by workpiece being remained in work transporting mechanism this workpiece of conveyance of assigned position, operating area in that the conveyance path along this work transporting mechanism conveyance workpiece is provided with makes movable table and this same moved further of work transporting mechanism; The work mounting s operation, in this operating area conveyance operation, by being arranged at the work mounting s mechanism of described movable table, holding workpieces makes this workpiece break away from from work transporting mechanism; And flow chart, by being loaded into the Working mechanism of described movable table, to being carried out the regulation operation by the workpiece of described work mounting s mechanism supporting, this flow chart comprises: flow chart during conveyance, finish regulation operation under the synchronization-moving state of work transporting mechanism in making movable table and operating area to workpiece; Flow chart when stopping, when flow chart interrupts when making this conveyance when stop to move of described work transporting mechanism in the operating area, movable table and described work transporting mechanism are stopped synchronously, before stopping period work transporting mechanism in the operating area of work transporting mechanism restores, by Working mechanism workpiece is continued to finish remaining operation in the regulation operation, described movable table comprises and is used for the bindiny mechanism that is connected with work transporting mechanism, utilize bindiny mechanism, carry out the speed control of movable table according to the difference of the conveyance speed of the translational speed of movable table and work transporting mechanism.
According to first invention, in operating area conveyance operation, carry out work mounting s operation and flow chart.In the work mounting s operation, because the workpiece that the work mounting s mechanism supporting with work transporting mechanism synchronization-moving movable table is kept by work transporting mechanism, so, the workpiece of work mounting s mechanism and the relevant position of Working mechanism can be kept accurately, thereby the operation of Working mechanism can be carried out accurately.In flow chart, flow chart and flow chart when stopping in the time of can optionally carrying out conveyance according to situation.That is, flow chart is finished the regulation operation (for example common operation such as assembling operation) along the workpiece of the conveyance path movement of operating area during conveyance.By the work mounting s mechanism of movable table supporting and finished the workpiece of regulation operation, join the work transporting mechanism that moves to end side in the operating area, movable table turns back to the top side of operating area.When this conveyance in the flow chart, because described movable table and work transporting mechanism is mobile synchronous, so, during work transporting mechanism is by the operating area, can finish the regulation operation, thereby can access extremely high production efficiency workpiece.
In addition, when stop the mechanism of work transporting described in the operating area mobile, when flow chart is interrupted during this conveyance, flow chart when carrying out described stopping.Taking place under the situation such as unusual, described work transporting mechanism is stopped by the operator sometimes.At this moment, flow chart is stopped during described conveyance, and the regulation operation of workpiece also is interrupted.Therefore, flow chart when the present invention stops when mobile the stopping of work transporting mechanism makes the operation of workpiece is proceeded to finish the regulation operation.Like this, when work transporting mechanism the operating area stop during, can finish operation, and the work delivery that can will finish operation from the work mounting s mechanism of movable table is given the work transporting mechanism stopping to workpiece.
Thus, owing to operation to workpiece is finished in the recovery that can not wait for work transporting mechanism, make movable table turn back to the top side of operating area, so, flow chart in the time of when work transporting mechanism restores, can carrying out conveyance rapidly, thus can prevent to follow stopping of work transporting mechanism and the reduction of the production efficiency brought.
Second invention proposes according to described first invention, it is characterized in that, described movable table possesses the mobile drive motor that drives in the operating area in the described operating area conveyance operation, control the torque of this drive motor, the flow chart and the translational speed of the work transporting mechanism in the flow chart when stopping when making its torque corresponding to conveyance.
According to second invention, control by torque in the operating area the drive motor of movable table, make consistently with the translational speed of work transporting mechanism, that can carry out top, operating area side accurately joins workpiece from work mounting s mechanism to work transporting mechanism to work mounting s mechanism handing-over workpiece and operating area end side from work transporting mechanism.
And, for example when the shut-down operation by the operator stops work transporting mechanism, work transporting mechanism when mobile inertia and underspeed gradually and stop.At this moment, because the torque of the drive motor of movable table is controlled, makes the translational speed of its torque corresponding to work transporting mechanism, so, the speed of the work transporting mechanism when stopping to reduce synchronously makes movable table slow down, and can stop synchronously with work transporting mechanism.Thus, can prevent sharply stopping of movable table, workpiece not applied impact etc. and movable table is stopped, so, the regulation operation in the time of can proceeding to stop swimmingly in the flow chart.
The 3rd invention proposes according to described first invention or described second invention, it is characterized in that, described work transporting mechanism circulates in forming the described conveyance path of ring-type and moves, be provided with a plurality of operating areas different to the job content of workpiece along this conveyance path, described flow chart carries out independently by each operating area.
According to the 3rd the invention, work transporting mechanism move with ring-type and by each operating area during, can carry out each flow chart, enhance productivity.And, in each operating area, owing to possess when stopping flow chart respectively, so, even the incident that work transporting mechanism stops to take place, also can carry out each flow chart in each operating area, thereby can prevent to follow stopping of work transporting mechanism and the reduction of the production efficiency brought.
During the 4th invention is invented according to described first～the 3rd any one, it is characterized in that, be provided with the back-off wait operation, in described operating area, keep under the state of relevant position of described work mounting s mechanism and described Working mechanism, the work mounting s mechanism that makes holding workpieces keeps out of the way other position from the conveyance path of described work transporting mechanism conveyance workpiece and waits for, also be provided with other flow chart, wait and bide one's time making work mounting s mechanism keep out of the way described other position by this back-off wait operation, by described Working mechanism to being carried out other regulation operation by the workpiece of this work mounting s mechanism supporting.
According to the 4th invention, can make the work mounting s mechanism of holding workpieces keep out of the way other position from the conveyance path of work transporting mechanism conveyance workpiece by described back-off wait operation waits for, carry out other regulation operation (for example, the teaching operation of Working mechanism and operation trials etc. and other different operation usually) by Working mechanism.At this moment, because (promptly in the position of carrying out the regulation operation by Working mechanism, on the conveyance path of work transporting mechanism conveyance workpiece) locate to come other workpiece by the conveyance of work transporting mechanism, so, undertaken by Working mechanism other regulation operation during, can for example proceed the regulation operation that Working mechanism should carry out, thereby can prevent to follow other regulation operation of Working mechanism and the reduction of the production efficiency brought by operator's manual working.
In addition, the 5th invention is the conveyance operational method that a kind of one side conveyance workpiece carries out the regulation operation to workpiece on one side, it is characterized in that, comprise: operating area conveyance operation, by workpiece being remained in work transporting mechanism this workpiece of conveyance of assigned position, operating area in that the conveyance path along this work transporting mechanism conveyance workpiece is provided with makes movable table and this same moved further of work transporting mechanism; The work mounting s operation, in this operating area conveyance operation, by being arranged at the work mounting s mechanism of described movable table, holding workpieces makes this workpiece break away from from work transporting mechanism; Flow chart is by being loaded into the Working mechanism of described movable table, to being carried out the regulation operation by the workpiece of described work mounting s mechanism supporting; The back-off wait operation, under the state of the relevant position of keeping described work mounting s mechanism and described Working mechanism, the work mounting s mechanism that makes holding workpieces keeps out of the way other position from the conveyance path of described work transporting mechanism conveyance workpiece and waits for; With other flow chart, wait and bide one's time making work mounting s mechanism keep out of the way described other position by this back-off wait operation, by described Working mechanism to being carried out other regulation operation by the workpiece of this work mounting s mechanism supporting.
According to the 5th invention, same with described first invention, in operating area conveyance operation, carry out work mounting s operation and flow chart.At this moment, as mentioned above, owing in the work mounting s operation, can keep the workpiece of work mounting s mechanism and the relevant position between the Working mechanism accurately, so, can carry out the regulation operation common operations such as (for example) assembling operations of Working mechanism accurately.
And, in the regulation operation of being undertaken other by Working mechanism (for example, the teaching operation of Working mechanism and operation trials etc. and other different operation usually) time, wait for the position that makes the work mounting s mechanism of holding workpieces keep out of the way other from the conveyance path of work transporting mechanism conveyance workpiece by described back-off wait operation.At this moment, owing to the state that can keep by work mounting s mechanism holding workpieces, so, can high accuracy carry out other regulation operation of Working mechanism.And, because by described back-off wait operation, workpiece with the conveyance path of work transporting mechanism conveyance workpiece on different other position supported by work mounting s mechanism, so, (that is, on the conveyance path of work transporting mechanism conveyance workpiece) locates to come by the conveyance of work transporting mechanism other workpiece in the position of carrying out the regulation operation by Working mechanism.Thus, undertaken by Working mechanism other regulation operation during, can proceed the regulation operation that Working mechanism should carry out by for example operator's handwork, thereby can prevent to follow other regulation operation of Working mechanism and the reduction of the production efficiency brought.
The 6th invention proposes according to described the 5th invention, it is characterized in that described flow chart comprises: flow chart during conveyance, finish regulation operation under the synchronization-moving state of work transporting mechanism in making movable table and operating area to workpiece; Flow chart when stopping when flow chart interrupts when making this conveyance when stop to move of described work transporting mechanism in the operating area, stops movable table and described work transporting mechanism synchronously, and workpiece is finished the regulation operation.
According to the 6th invention, same with above-mentioned first invention, flow chart and flow chart when stopping in the time of can in flow chart, according to circumstances optionally carrying out conveyance.Promptly, when conveyance, finish in the flow chart regulation operation along the workpiece of the conveyance path movement of operating area, when stopping in the flow chart, when flow chart is interrupted when stopping, making this conveyance the mechanism of work transporting described in the operating area mobile, proceed operation, finish the regulation operation workpiece.Thus, even work transporting mechanism stops in the operating area, also can be in the operation of during this period finishing workpiece, thus can prevent to follow stopping of work transporting mechanism and the reduction of the production efficiency brought.
The 7th invention proposes according to described the 6th invention, it is characterized in that, described movable table possesses the mobile drive motor that drives in the operating area in the described operating area conveyance operation, control the torque of this drive motor, the flow chart and the translational speed of the work transporting mechanism in the flow chart when stopping when making its torque corresponding to conveyance.
According to the 7th invention, same with above-mentioned second invention, not only can carry out the work delivery between work transporting mechanism and the work mounting s mechanism accurately, even speed is reduced and under the situation about stopping, also can movable table and work transporting mechanism be stopped synchronously by the torque control of drive motor in work transporting mechanism.Thus, can prevent sharply stopping of movable table, can workpiece not applied impact etc. and movable table is stopped.
The 8th invention proposes according to above-mentioned the 6th invention or above-mentioned the 7th invention, it is characterized in that, described work transporting mechanism circulates in forming the described conveyance path of ring-type and moves, be provided with a plurality of operating areas different to the job content of workpiece along this conveyance path, described flow chart carries out independently by each operating area.
According to the 8th invention, same with described the 3rd invention, work transporting mechanism move with ring-type and by each operating area during, can carry out each flow chart, enhance productivity.And, in each operating area, owing to possess when stopping flow chart respectively, so, even the incident that work transporting mechanism stops to take place, also can carry out each flow chart in each operating area, thereby can prevent to follow stopping of work transporting mechanism and the reduction of the production efficiency brought.
In addition, the 9th invention is a kind of conveyance apparatus for work, is the conveyance workpiece conveyance apparatus for work that workpiece carried out the regulation operation on one side on one side, it is characterized in that, comprising: the work transporting mechanism that workpiece is remained in assigned position and carries out conveyance; The operating area that keeps predetermined distance along the conveyance path of this work transporting mechanism conveyance workpiece and be provided with; In this operating area along the conveyance path of described work transporting mechanism conveyance workpiece and with this synchronization-moving movable table of work transporting mechanism; Be arranged at described movable table, the work mounting s mechanism that holding workpieces makes this workpiece break away from from described work transporting mechanism; Be arranged at described movable table, to the Working mechanism that is carried out the regulation operation by the workpiece of described work mounting s mechanism supporting; The movable table driving mechanism that this movable table is moved in described operating area; Control movable table driving mechanism makes the translational speed movable table consistent with the translational speed of work transporting mechanism of this movable table drive mechanism movable table drive controlling organization; With when described movable table during along the conveyance path movement of described work transporting mechanism conveyance workpiece, finish in described operating area Working mechanism to the operation controlling organization of the regulation operation of workpiece, in the operation of described Working mechanism, when the moving half-way and stop of described work transporting mechanism in described operating area, described movable table drives controlling organization stops movable table and work transporting mechanism synchronously, before stopping period work transporting mechanism in the operating area of work transporting mechanism restores, described operation controlling organization continues to finish remaining operation during Working mechanism carried out in this operating area to the regulation operation of workpiece, described movable table comprises and is used for the bindiny mechanism that is connected with work transporting mechanism, utilize bindiny mechanism, carry out the speed control of movable table according to the difference of the conveyance speed of the translational speed of movable table and work transporting mechanism.
According to the 9th invention, if work transporting mechanism conveyance workpiece enters into the operating area, then receive workpiece in the work mounting s mechanism of the top of operating area side movable table from work transporting mechanism, the control Working mechanism by the operation controlling organization carries out the regulation operation to workpiece.During this period, the same moved further of work transporting mechanism and movable table, during work transporting mechanism is by the operating area, the fulfil assignment regulation operation of mechanism of the control by the operation controlling organization.Then, give work transporting mechanism in the end side of operating area with the work delivery of the work mounting s mechanism of movable table, movable table turns back to the top side of operating area by the driving of movable table driving mechanism.
On the other hand, when moving of described transport mechanism stopped in the operation process at Working mechanism, movable table drove controlling organization the movable table driving mechanism is controlled, and when making the translational speed of movable table and work transporting mechanism consistent, it was stopped.Thus, the inertia when stopping in work transporting mechanism when mobile and when speed is reduced gradually, also can as one man reduce the speed of movable table with it not only can prevent sharply stopping of travelling carriage, can also stop synchronously with work transporting mechanism.Thus, movable table is stopped owing to can not giving ground such as impact to workpiece, so, the regulation operation after can proceeding movable table swimmingly and stopping.And under the state that work transporting mechanism and movable table stop, the operation controlling organization also can be finished the regulation operation that Working mechanism carried out in the operating area.Thereby, owing to the workpiece of having finished the regulation operation can be joined to work transporting mechanism from work mounting s mechanism immediately, make movable table turn back to the top portion of operating area, so, when mobile the restarting of work transporting mechanism, can be to proceeding operation by the workpiece of work transporting mechanism conveyance.Like this, even, also can finish the regulation operation that Working mechanism carried out in the operating area because work transporting mechanism stops, so, can prevent to follow stopping of work transporting mechanism and the reduction of the production efficiency brought.
The tenth invention proposes according to described the 9th invention, it is characterized in that, described movable table driving mechanism is a drive motor, and described movable table drives controlling organization and controls by the torque to this drive motor, and controls moving of movable table corresponding to the translational speed of work transporting mechanism.
According to the tenth invention, because when mobile being stopped of described work transporting mechanism, the drive motor that drives movable table drives the torque control of controlling organization by movable table, make movable table corresponding to the translational speed of work transporting mechanism and stop, so, can carry out stopping synchronously of work transporting mechanism and movable table accurately.
The 11 invention proposes according to described the 9th invention or described the tenth invention, it is characterized in that, described work transporting mechanism circulates in forming the described conveyance path of ring-type and moves, be provided with a plurality of operating areas different to the job content of workpiece along this conveyance path, described movable table is provided with independently by each operating area.
According to the 11 the invention, work transporting mechanism move through with ring-type each operating area during, can carry out the operation of each Working mechanism efficiently, enhance productivity.And, owing in each operating area, possess the operation controlling organization respectively, so, even the incident that work transporting mechanism stops to have taken place, also can proceed the regulation operation of each Working mechanism in each operating area, thereby suppress to follow the reduction that stops the production efficiency to be brought of work transporting mechanism.
The 12 invention is according to any one proposes in described the 9th～the 11 invention, it is characterized in that, described movable table is provided with back-off wait mechanism, this back-off wait mechanism is under the state of the relevant position of keeping described work mounting s mechanism and described Working mechanism, the work mounting s mechanism that makes holding workpieces keeps out of the way other position from the conveyance path of described work transporting mechanism conveyance workpiece and waits for, described operation controlling organization waits and bides one's time making work mounting s mechanism keep out of the way described other position by described back-off wait mechanism, to being carried out other regulation operation by the workpiece of this work mounting s mechanism supporting.
According to the 12 invention, can make workpiece keep out of the way other position by described back-off wait mechanism and wait for from the conveyance path, by described operation controlling organization the workpiece of keeping out of the way other position and waiting for is carried out other regulation operation.Thus, can by work transporting mechanism with other work transporting to the position of carrying out the regulation operation by Working mechanism (promptly, on the conveyance path of work transporting mechanism conveyance workpiece), because during the regulation operation of being undertaken other by Working mechanism, for example can proceed the regulation operation that Working mechanism should carry out by operator's handwork, so, can prevent to follow other regulation operation of Working mechanism and the reduction of the production efficiency brought.
In addition, the 13 invention is a kind of conveyance apparatus for work, is the conveyance workpiece conveyance apparatus for work that workpiece carried out the regulation operation on one side on one side, it is characterized in that, comprising: the work transporting mechanism that workpiece is remained in assigned position and carries out conveyance; The operating area that keeps predetermined distance along the conveyance path of this work transporting mechanism conveyance workpiece and be provided with; In this operating area along the conveyance path movement movable table freely of described work transporting mechanism conveyance workpiece; The movable table driving mechanism that this movable table is moved in described operating area; Control movable table driving mechanism makes the translational speed movable table consistent with the translational speed of work transporting mechanism of this movable table drive mechanism movable table drive controlling organization; Be arranged at described movable table, the work mounting s mechanism that holding workpieces makes this workpiece break away from from described work transporting mechanism; Be arranged at described movable table, to the Working mechanism that is carried out the regulation operation by the workpiece of described work mounting s mechanism supporting; Finish in described operating area Working mechanism to the operation controlling organization of the regulation operation of workpiece; With back-off wait mechanism, it is arranged at described movable table, under the state of the relevant position of keeping described work mounting s mechanism and described Working mechanism, the work mounting s mechanism that makes holding workpieces keeps out of the way other position from the conveyance path of described work transporting mechanism conveyance workpiece and waits for, described operation controlling organization waits and bides one's time making work mounting s mechanism keep out of the way described other position by described back-off wait mechanism, to being carried out other regulation operation by the workpiece of this work mounting s mechanism supporting.
According to the 13 invention, by with the work mounting s mechanism of work transporting mechanism synchronization-moving movable table to keeping by this work transporting mechanism and the workpiece of conveyance supports, by Working mechanism the workpiece by the supporting of work mounting s mechanism is carried out the regulation operation.Since undertaken by Working mechanism the regulation operation during, the same moved further of movable table and work transporting mechanism, so, after having finished the regulation operation by Working mechanism, can give the work transporting mechanism that moves with the work delivery of work mounting s mechanism, carry out operation efficiently thereby can not stop work transporting mechanism ground.
And, by described back-off wait mechanism is set, can makes the work mounting s mechanism of holding workpieces keep out of the way other position and wait for from the conveyance path of work transporting mechanism conveyance workpiece.And, because described operation controlling organization is according to controlling Working mechanism to keep out of the way the mode that the workpiece of waiting for other position different with work transporting mechanism carries out other regulation operation by work mounting s mechanism, so, under the state that breaks away from from work transporting mechanism, can carry out other regulation operation to workpiece.Thus, can by work transporting mechanism with other work transporting to the position of carrying out the regulation operation by Working mechanism (promptly, on the conveyance path of work transporting mechanism conveyance workpiece), undertaken by Working mechanism other regulation operation during, for example can proceed the regulation operation that Working mechanism should carry out by operator's handwork, so, can prevent to follow other regulation operation of Working mechanism and the reduction of the production efficiency brought.
The 14 invention proposes according to described the 13 invention, it is characterized in that, in the operation of described Working mechanism, when the moving half-way and stop of described work transporting mechanism in described operating area, described movable table drives controlling organization stops movable table and work transporting mechanism synchronously, and described operation controlling organization is finished the regulation operation that Working mechanism carried out in this operating area.
According to the 14 invention, same with described the 9th invention, even under the state that work transporting mechanism and movable table stop, also can the fulfil assignment regulation operation of the Working mechanism in the zone of operation controlling organization, therefore, can suppress to follow stopping of work transporting mechanism and the reduction of the production efficiency brought.
The 15 invention proposes according to described the 14 invention, it is characterized in that, described movable table driving mechanism is a drive motor, described movable table drives controlling organization and controls by the torque to this drive motor, and controls moving of movable table corresponding to the translational speed of work transporting mechanism.
According to the 15 invention, same with described the tenth invention, because when stopping in work transporting mechanism, the drive motor that drives movable table makes the translational speed of the speed of movable table corresponding to work transporting mechanism by the torque control that movable table drives controlling organization, so, can carry out stopping synchronously of work transporting mechanism and movable table accurately.
The 16 invention proposes according to described the 14 invention or described the 15 invention, it is characterized in that, described work transporting mechanism circulates in forming the described conveyance path of ring-type and moves, be provided with a plurality of operating areas different to the job content of workpiece along this conveyance path, described movable table is provided with independently by each operating area.
According to the 16 invention, same with described the 11 invention, work transporting mechanism move with ring-type and by each operating area during, can carry out the operation of each Working mechanism efficiently, enhance productivity.And, owing in each operating area, possess the operation controlling organization respectively, so, even the incident that work transporting mechanism stops to have taken place, also can proceed the regulation operation of each Working mechanism in each operating area, the reduction of the production efficiency of bringing thereby stopping of work transporting mechanism followed in inhibition.
Description of drawings
Fig. 1 is a key diagram of schematically representing to possess the manufacturing line of conveyance apparatus for work of the present invention.
Fig. 2 is the approximate vertical view of the conveyance apparatus for work of one embodiment of the present invention.
Fig. 3 is the summary side elevation of the conveyance apparatus for work of present embodiment.
Fig. 4 is the illustrative vertical view of work mounting s mechanism.
Fig. 5 is the illustrative front view of work mounting s mechanism.
Fig. 6 is the illustrative vertical view of bindiny mechanism.
Fig. 7 (a) is the action specification figure of bindiny mechanism.
Fig. 7 (b) is the action specification figure of bindiny mechanism.
Fig. 8 is the line chart of the action of expression work transporting mechanism of present embodiment and movable table.
The specific embodiment
The conveyance apparatus for work of present embodiment as shown in Figure 1, possesses the annular work piece transport mechanism 3 that 1 pair of workpiece 2 as arrangements for automotive doors (with reference to Fig. 2 and Fig. 3) carries out conveyance along elliptoid conveyance path as the car door manufacturing line of automobile and be provided with.Work transporting mechanism 3 is by a plurality of movable plates 4 are connected the conveyer (conveyer) forms conveyance face with ring-type, and movable plate 4 is based on the driving of not shown driving mechanism and mobile along the circulation of ellipticity conveyance path.Workpiece 2 is held in work transporting mechanism 3 across predetermined distance.More specifically, as shown in Figures 2 and 3, the maintenance of the workpiece 2 in the work transporting mechanism 3 is undertaken by separate a plurality of workpiece maintaining parts 5 that predetermined distance is provided with on each movable plate 4.Workpiece 2 remains in workpiece maintaining part 5 under the state that is supported by supporting plate 6, supporting plate 6 dismounting remain in workpiece maintaining part 5 freely.
And, as shown in Figure 1, in the part in conveyance path 1, be provided with: workpiece 2 is put into the throw-in part 7 of workpiece maintaining part 5 of work transporting mechanism 3 and the discharge portion 8 that the workpiece 2 of workpiece maintaining part 5 is discharged.In addition, work transporting mechanism 3 can be as required or when on conveyance path 1 certain unfavorable condition having taken place, operation by the operator stops, in the present embodiment, around conveyance path 1, be provided with a plurality of not shown emergency stop push buttons that are used to stop work transporting mechanism 3.
And, as shown in Figure 1, in the conveyance path 1 of work transporting mechanism 3, be from upstream to the downstream and dispose a plurality of operating area A～H, in each operating area A～H, the workpiece 2 on the workpiece maintaining part of being passed through by 3 conveyances of work transporting mechanism 5 is carried out different regulation operations respectively.In each operating area A～H, as shown in Figure 2, be provided with conveyance path movement movable table 9 freely along work transporting mechanism 3.Movable table 9 possesses Working mechanisms 10 such as manipulator, moves freely on the approximate whole length of corresponding operating area.
With reference to Fig. 1, work transporting mechanism 3 is along a direction conveyance workpiece 2.On the other hand, when the workpiece 2 that is passed through by 3 conveyances of work transporting mechanism was put rules into practice operation, movable table 9 was along the direction same moved further identical with the conveyance direction of work transporting mechanism 3.And, before moving to the terminal part of corresponding operating area, finish regulation operation to workpiece 2.Then, before the workpiece 2 that comes in next conveyance entered into corresponding operating area, movable table 9 moved the initial end standby in corresponding operating area in the opposite direction to the conveyance side with work transporting mechanism 3.Like this, put into a plurality of workpiece 2 of work transporting mechanism 3 in turn continuously from throw-in part 7, operating area H from the operating area A of upstream to downstream keeping the state that is moved by conveyance and entering various operations, passed through the workpiece 2 of downstream operation zone H and discharged continuously from work transporting mechanism 3 with the discharge portion 8 of throw-in part 7 adjacency.
The movable plate 4 of the work transporting mechanism 3 in the present embodiment as shown in Figure 3, both sides possess a plurality of carrying rollers 11 in its lower section, central portion possesses guide roller 12 below.Carrying roller 11 rolls on the conveyance track of laying along carrying channel footpath 1 (with reference to Fig. 1) on the ground 13 14, and guide roller 12 is extended guide rail 15 clampings that are provided with along carrying channel footpath 1 on the ground 13, and is directed in the conveyance direction.The movable plate 4 of work transporting mechanism 2 is recycled mobile by not shown driving mechanism.
And, workpiece maintaining part 5 has been omitted detailed formation in Fig. 2 and Fig. 3, but as shown in Figure 4, possesses along the periphery of supporting plate 6 and the 5a of restriction portion, the 5b that erect, when keeping supporting plate 6 from its all around direction limit, prevent the position skew of supporting plate 6 in the conveyance process.
Movable table 9 in the present embodiment as shown in Figure 3, both sides possess pair of sliding members 16 in its lower section, each sliding component 16 is limited to the track 18 that is arranged on base station 17 sliding freely.Track 18 is along the moving direction of movable plate 4, spreads all over the entire job zone that is provided with this movable table 9 and extends and be provided with.
In addition, movable table 9 portion in its back-end possesses drive motor 19 as the movable table driving mechanism, possesses pinion 21 at the front end of the rotating shaft 20 of drive motor 19.And, pinion 21 and tooth bar 22 engagements of extending setting at the side of base station 17 along the conveyance direction.Drive motor 19 drives controlling organization 23 by movable table shown in Figure 2 and carries out its driving control.
And movable table 9 possesses the rotary table 24 as back-off wait mechanism.Rotary table 24 among Fig. 2 shown in imaginary line, be configured to rotation and be fixed in desirable position of rotation (that is, different other position) freely with work transporting mechanism 2.And, as shown in Figure 3, be mounted with described Working mechanism 10 via pedestal frame 25 on the top of rotary table 24.Working mechanism 10 is controlled by operation controlling organization shown in Figure 2 26 according to the regulation operation of carrying out in corresponding operating area.And as shown in Figure 3, pedestal frame 25 is provided with and makes the supporting plate 6 that is supporting workpiece 2 from workpiece maintaining part 5 disengagings of work transporting mechanism 3 and the work mounting s mechanism 27 of supporting.
Work mounting s mechanism 27 possesses as shown in Figure 3: be fixed in the driving cylinder 28 of pedestal frame 25, the bar 29 that is installed on driving cylinder 28 and dismounting and connect the supporting plate connector 30 of supporting plate 6 freely, be laid on the following pair of tracks 31 of supporting plate connector 30 abreast with bar 29 and be limited to the rail support member 32 of these tracks 31 sliding freely.Rail support member 32 is fixed in pedestal frame 25.Driving cylinder 28 makes workpiece maintaining part 5 forward motion of supporting plate connector 30 towards work transporting mechanism 3 by the elongation of bar 29, or the contraction by bar 29 makes supporting plate connector 30 from work transporting mechanism 3 backward movement round about.
Supporting plate connector 30 possesses the chassis 33 that is connected with the bar 29 of driving cylinder 28 as shown in Figure 4, possesses described track 31 below chassis 33.Chassis 33 is provided with lifting lifting frame 34 freely, and lifting frame 34 is provided with a pair of clamp jaw 34a, a pair of card and ends roller 34b and the supporting plate portion 35 that falls.
Lifting frame 34 as shown in Figure 5, the lifting by a pair of driving cylinder 36 that is arranged at chassis 33.Thus, bar 29 elongations by driving cylinder 28 make chassis 33 enter to supporting plate 6 bottoms of workpiece maintaining part 5, by driving cylinder 36 lifting frame 34 are risen, thereby fall in the portion 35, supporting plate 6 is broken away from from workpiece maintaining part 5 making supporting plate 6 fall to being positioned at supporting plate.
Each clamp jaw 34a clamps supporting plate 6 via the handle part 6a of supporting plate 6 base plate inner edges.And each card ends roller 34b rotation and is arranged at sliding stand 39 freely, is limited to the recess 6b of supporting plate 6 base plate inner edges by advancing of sliding stand 39.And, when connecting supporting plate connector 30 and supporting plate 6, at first supporting plate 6 is risen and break away from from workpiece maintaining part 5, then, sliding stand 39 is advanced by lifting frame 34, make each card end the recess 6b that roller 34b is limited to supporting plate 6 base plate inner edges.Then, make each clamp jaw 34a swing, control the handle part 6a of supporting plate 6 base plate inner edges, like this, the card that ends roller 34b by each card ends and the clamping of clamp jaw 34a is connected in supporting plate connector 30 with supporting plate 6, moving and coming off unintentionally of supporting plate 6 horizontal directions that in work mounting s mechanism 27, are supported can be prevented thus reliably, thereby the relevant position between the workpiece 2 on Working mechanism 10 and the supporting plate 6 can be kept accurately.
In addition, movable table 9 possesses the bindiny mechanism 42 that is used for movable plate 4 mechanical connections of work transporting mechanism 3 as shown in Figures 2 and 3.Bindiny mechanism 42 possesses: the driving cylinder 44 that is arranged at the lateral margin of movable table 9 via installation component 43 shown in Fig. 6, Fig. 7 (a) and Fig. 7 (b); With axle 47 is the locking pawl 48 that the center rotation is installed on locking pawl installation component 46 freely, and described locking pawl installation component 46 is installed on the bar 45 of driving cylinder 44; And be installed between locking pawl 48 and the locking pawl installation component 46, become the spring 49 that the mode of lockup state is shunk according to locking pawl 48.And, in locking pawl 48, be formed with engaging recessed part 50, in the movable plate 4 of work transporting mechanism 3, be formed with the engagement pin 51 that engages with engaging recessed part 50.In addition, the 52nd, the ways of driving cylinder 44.And, though not shown, in bindiny mechanism 42, be provided with load detection mechanism, it detects from engagement pin 51 to engaging recessed part 50 load transmitted under engagement pin 51 and state that engaging recessed part 50 engages.That load detection mechanism detects is corresponding with the difference of the conveyance speed of the translational speed of movable table 9 and work transporting mechanism 3, from the variation of engagement pin 51 to engaging recessed part 50 load transmitted.
If the action to bindiny mechanism 42 describes, then when the movable plate that possesses workpiece maintaining part 54 of work transporting mechanism 3 enters corresponding operating area, shown in Fig. 7 (a), at first, in rake 53 butts of the engagement pin 51 of movable plate 4 and locking pawl 48, the convergent force that further overcomes spring 49 is pushed locking pawl 48 downwards.Then, if locking pawl 48 is that rotate at the center with axle 47, make engagement pin 51 engage with engaging recessed part 50, then locking pawl 48 becomes original state by the convergent force of spring 49.Like this, movable table 9 becomes the state that is connected with the movable plate that possesses workpiece maintaining part 54 of work transporting mechanism 3.In addition, during the connection status that realizes, the bar 45 of driving cylinder 44 is shunk removing based on bindiny mechanism 42.Thus, shown in Fig. 7 (b), locking pawl 48 and locking pawl installation component 46 move downwards, make engagement pin 51 break away from from engaging recessed part 50, and engagement pin 51 is released from restrained condition.
Below, the action of the conveyance apparatus for work of present embodiment is described.The job content of Working mechanism 10 is different in each operating area A～H, but the driving control that is arranged at each movable table 9 of each operating area A～H is carried out roughly the samely.Given this, describe at one among each operating area A～H.
With reference to Fig. 2 and Fig. 3, the movable plate 4 of work transporting mechanism 3 is with speed (being approximately 86mm/sec in the present embodiment) the conveyance workpiece 2 of approximately constant.Initial end in corresponding operating area, movable table 9 is with the halted state standby.
If the movable plate 4 that workpiece 2 is remained in workpiece maintaining part 5 is near corresponding working regions, then movable table 9 begins to move by the driving of its drive motor 19.At this moment, with respect to the drive motor 19 of movable table 9, make the translational speed of movable table 9 rise to the speed control of fixing speed (being approximately 40mm/sec in the present embodiment) by movable table driving mechanism 23.Then, slower by the translational speed that makes movable table 9 when the movable plate 4 that keeps workpiece 2 enters corresponding operating area than the translational speed of movable plate 4, make movable plate 4 catch up with movable table 9, movable table 9 is connected with movable plate 4 by bindiny mechanism 42.From this moment, the drive motor 19 of movable table 9 is carried out driving based on movable table the torque control of controlling organization 23, make movable table 9 and movable plate 4 same moved further.
This torque control is according to being undertaken by the detected load variations of described load detection mechanism that possesses in the bindiny mechanism 42, thus, can not apply excessive load, can make movable table 9 and work transporting mechanism 3 synchronous accurately the work transporting mechanism 3 that has connected movable table 9.And, because as mentioned above before connection based on bindiny mechanism 42, movable table driving controlling organization 23 carries out the speed control to the drive motor 19 of movable table 9, so, this becomes the run-up of movable table 9, be accompanied by connection, can fully relax the impact that work transporting mechanism 3 is born based on bindiny mechanism 42.
Then, with reference to Fig. 3, the supporting plate connector 30 that makes the work mounting s mechanism 27 that the pedestal frame 24 in movable table 9 is provided with enters below the supporting plate 6 of workpiece maintaining part 5, connects supporting plates 6 and supporting plate 6 is risen by supporting plate connector 30.Thus, position directly over workpiece maintaining part 5, workpiece 2 is supported in the work mounting s mechanism 27 of movable table 9, with the movable table 9 of the movable plate 4 synchronous mobile status of work transporting mechanism 3, the workpiece 2 that is supported on supporting plate 6 is carried out conveyance (operating area conveyance operation).
Then, keep the movable plate 4 synchronization-moving states of movable table 9 and work transporting mechanism 3, control by described operation controlling organization 25 is controlled the Working mechanism 10 of movable table 9, and workpiece 2 is carried out the regulation operation, makes this operation finish (flow chart during conveyance) in this operating area.At this moment, because workpiece 2 is supported in the work mounting s mechanism of movable table 9, so, the relevant position of Working mechanism 10 and workpiece 2 can be kept accurately, thereby the operation of 10 pairs of workpiece 2 of Working mechanism can be carried out with high accuracy.
When the regulation operation of 10 pairs of workpiece 2 of operation mechanism is finished, terminal part in corresponding operating area, the workpiece maintaining part 5 that the work mounting s mechanism 27 of movable table 9 gives movable plate 4 with 6 handing-over of workpiece 2 and supporting plate retreats the below of the supporting plate 6 of supporting plate connector 30 on the workpiece maintaining part 5.Then, remove being connected of the movable table 9 that realizes by bindiny mechanism 42 and movable plate 4, make movable table 9 turn back to the top side of corresponding operating area, and standby to next workpiece 2 by conveyance and till.
Then, with reference to Fig. 8, the situation of the interrupted incident of flow chart described when described operating area conveyance operation had been stopped, having produced conveyance.At first as mentioned above, kept the movable plate 4 of workpiece 2 to enter into corresponding operating area, movable table 9 receives workpiece 2 and carries out the regulation operation of Working mechanism 10.In Fig. 8, the translational speed of the movable plate 4 of line a (solid line) expression work transporting mechanism 3, the translational speed of line b (dotted line) expression movable table 9.In corresponding operating area, movable table 9 is connected with movable plate 4 by bindiny mechanism 42, and afterwards, movable table 9 is controlled by the torque that movable table drives 23 pairs of drive motors 19 of controlling organization, with movable plate 4 same moved further.
Here, certain unfavorable condition has been as required or when having taken place in work transporting mechanism 3 on comprising the conveyance path 1 of each operating area A～H, operates situation that emergency stop push button can stop as mentioned above by the operator.In the process of flow chart, if operated emergency stop push button by the operator, then work transporting mechanism 3 stops when carrying out conveyance in corresponding operating area, and the operation during conveyance in the flow chart also stops.Then, described operation controlling organization 26 is controlled Working mechanism 10 immediately, so that remaining operation continues to finish (flow chart when stopping) in the interrupted regulation operation.At this moment, as shown in Figure 8, the movable plate 4 of work transporting mechanism 3 is disengaged the driving that its driving mechanism is implemented, though the time is short, speed is reduced and stops.On the other hand, movable table 9 is connected with movable plate 4 based on bindiny mechanism 42, the drive motor 19 that drives 23 pairs of movable table 9 of controlling organization by described movable table carries out torque control, following the speed that the inertia because of movable plate 4 causes thus reduces, make the speed of movable table 9 reduce, stop synchronously.Thus, do not produce the impact of the speed reduction of following movable plate 4 in movable table 9, even when the speed of movable table 9 reduces, Working mechanism 10 also can be kept high precision and continue remaining operation, and the regulation operation is finished.Then, to finish the workpiece maintaining part 5 of workpiece 2 handing-over of regulation operation from the work mounting s mechanism 27 of movable table 9 to movable plate 4, then, remove by the movable table 9 of bindiny mechanism's 42 realizations and being connected of movable plate 4, movable table 9 turns back to the top side of corresponding operating area.In addition, flow chart carries out under the state that work transporting mechanism 3 has stopped when stopping, even but flow chart restarts moving of work transporting mechanism 3 in the regulation operation continuation process of Working mechanism 10 when stopping, also can carry out torque control by the drive motor 19 of 23 pairs of movable table 9 of described movable table driving controlling organization, make movable table 9 follow moving of work transporting mechanism 3, restart same moved further, the regulation operation of the mechanism 10 that can fulfil assignment without barrier.
In addition, because when work transporting mechanism 3 stops, regulation operation is separately finished, so, when mobile the restarting of work transporting mechanism 3, distribute to each one-period operation of each operating area A～H and finish.Therefore, according to the present invention, the stopping of work transporting mechanism 3 carries out can not causing bad influence to the operation between each operating area A～H, the workpiece 2 to conveyance in the conveyance path of ring-type carries out independently operation in a plurality of flow chart A～H manufacturing line can be suitable for being applied in, thereby stopping of conveyance work transporting mechanism 3 can be suppressed reliably and the production efficiency brought reduces.
Then, other action in the conveyance apparatus for work of present embodiment is described.In each operating area A～H, at the regulation operation that realizes by Working mechanism 10 that is assigned with respectively common operations such as (for example) assembling operations, as mentioned above.
On the other hand, exist the situation that the workpiece 2 that is moved workpiece maintaining part 5 conveyances of plate 4 by 10 pairs of Working mechanisms carries out other regulation operation (for example, as other operations different with common operation such as the teaching operation of the manipulator of Working mechanism 10 or operation trials).At this moment, 27 pairs of workpiece of work mounting s mechanism 2 when position directly over workpiece maintaining part 5 by movable table 9 have carried out after the supporting, work mounting s mechanism 27 is based on the contraction of the bar 29 of driving cylinder 28 and retreat, supporting plate connector 30 connections in work mounting s mechanism 27 have kept under the state of supporting plate 6, as shown in Figure 2, make rotary table 24 rotations (back-off wait operation).
If the rotation of rotary table 24 stops, then work mounting s mechanism 27 is based on the elongation of the bar 29 of driving cylinder 28 and advance, and is identical in the time of the relevant position of Working mechanism 10 and workpiece 2 and described Working mechanism.Thus, the work mounting s mechanism 27 of holding workpieces 2 is in the state that back-off wait is carried out in the position different with workpiece maintaining part 5.At this moment, clamp jaw 34a in the supporting plate connector 30 of work mounting s mechanism 27 clamps supporting plate 6 and firmly connects, and, card ends roller 34b and limits the action of supporting plate 6 about forwards, backwards reliably, thus, can be reliably and keep relevant position between the workpiece 2 on Working mechanism 10 and the supporting plate 6 accurately.
Then, if carry out back-off wait operation based on the rotation of rotary table 24, then by described operation controlling organization 26,10 pairs of workpiece of Working mechanism 2 carry out and different other operation (other flow chart) of operation usually such as teaching operation and operation trials.At this moment, can remove by the movable table 9 of described bindiny mechanism 42 realizations and the connection status of movable plate 4, and, can make movable table 9 move to original position by the driving of drive motor 19, carry out other flow chart.In addition, when carrying out other flow chart, also can remove connection based on bindiny mechanism 42, do not carry out the same moved further of movable table 9 and movable plate 4, for example, can be by operator's manual working, proceed the regulation operation that other workpiece 2 of 4 conveyances of movable plate of 10 pairs of work transporting mechanisms 3 of Working mechanism should carry out.
Thus, long-time even teaching operation and operation trials etc. and different usually other operation need, the movable plate 4 of work transporting mechanism 3 also can not stop circulation and move, thereby can prevent to follow the reduction of the production efficiency of miscellaneous stipulations operation.
In addition, in the present embodiment, represented by bindiny mechanism 42 situation of movable table 9 with movable plate 4 mechanical connections, but because movable table 9 possesses drive motor 19, so, can not carry out making the actuating speed Synchronization Control consistent of drive motor 19 with the conveyance speed of movable plate 4 based on the mechanical connection ground of bindiny mechanism 42.
Claims (6)
1, a kind of conveyance operational method is the conveyance operational method that the workpiece of conveyance on one side carries out the regulation operation to workpiece on one side, it is characterized in that, comprising:
Operating area conveyance operation, by workpiece being remained in work transporting mechanism this workpiece of conveyance of assigned position, the operating area in that the conveyance path along this work transporting mechanism conveyance workpiece is provided with makes movable table and this same moved further of work transporting mechanism;
The work mounting s operation, in this operating area conveyance operation, by being arranged at the work mounting s mechanism of described movable table, holding workpieces makes this workpiece break away from from work transporting mechanism; With
Flow chart, by being loaded into the Working mechanism of described movable table, to being carried out the regulation operation by the workpiece of described work mounting s mechanism supporting,
This flow chart comprises:
Flow chart during conveyance is finished the regulation operation to workpiece under the synchronization-moving state of work transporting mechanism in making movable table and operating area; With
Flow chart when stopping, when and when flow chart is interrupted when causing this conveyance mobile being stopped of the mechanism of work transporting described in the operating area, movable table and described work transporting mechanism are stopped synchronously, before stopping period work transporting mechanism in the operating area of work transporting mechanism restores, by Working mechanism workpiece is continued to finish remaining operation in the regulation operation
Described movable table comprises and is used for the bindiny mechanism that is connected with work transporting mechanism, utilizes bindiny mechanism, carries out the speed control of movable table according to the difference of the conveyance speed of the translational speed of movable table and work transporting mechanism.
2, conveyance operational method according to claim 1 is characterized in that,
Described movable table possesses the mobile drive motor that drives in the operating area in the described operating area conveyance operation,
Control the torque of this drive motor, the flow chart and the translational speed of the work transporting mechanism in the flow chart when stopping when making its torque corresponding to conveyance.
3, conveyance operational method according to claim 1 is characterized in that,
Described work transporting mechanism circulates in forming the described conveyance path of ring-type and moves,
Be provided with a plurality of operating areas different to the job content of workpiece along this conveyance path,
Described flow chart carries out independently by each operating area.
4, a kind of conveyance apparatus for work is the conveyance apparatus for work that the workpiece of conveyance on one side carries out the regulation operation to workpiece on one side, it is characterized in that, comprising:
Workpiece is remained in the work transporting mechanism that assigned position carries out conveyance;
The operating area that keeps predetermined distance along the conveyance path of this work transporting mechanism conveyance workpiece and be provided with;
In this operating area along conveyance path and this synchronization-moving movable table of work transporting mechanism of described work transporting mechanism conveyance workpiece;
Be arranged at described movable table, the work mounting s mechanism that holding workpieces makes this workpiece break away from from described work transporting mechanism;
Be arranged at described movable table, to the Working mechanism that is carried out the regulation operation by the workpiece of described work mounting s mechanism supporting;
The movable table driving mechanism that this movable table is moved in described operating area;
Control movable table driving mechanism makes the translational speed movable table consistent with the translational speed of work transporting mechanism of this movable table drive mechanism movable table drive controlling organization; With
When described movable table during along the conveyance path movement of described work transporting mechanism conveyance workpiece, finish in described operating area Working mechanism to the operation controlling organization of the regulation operation of workpiece,
In the operation of described Working mechanism, when the moving half-way and stop of described work transporting mechanism in described operating area, described movable table drives controlling organization stops movable table and work transporting mechanism synchronously, before stopping period work transporting mechanism in the operating area of work transporting mechanism restores, described operation controlling organization continues to finish remaining operation during Working mechanism carried out in this operating area to the regulation operation of workpiece
Described movable table comprises and is used for the bindiny mechanism that is connected with work transporting mechanism, utilizes bindiny mechanism, carries out the speed control of movable table according to the difference of the conveyance speed of the translational speed of movable table and work transporting mechanism.
5, conveyance apparatus for work according to claim 4 is characterized in that,
Described movable table driving mechanism is a drive motor,
Movable table drives controlling organization and controls by the torque to this drive motor, and controls moving of movable table corresponding to the translational speed of work transporting mechanism.
6, conveyance apparatus for work according to claim 4 is characterized in that,
Described work transporting mechanism circulates in forming the described conveyance path of ring-type and moves,
Be provided with a plurality of operating areas different to the job content of workpiece along this conveyance path,
Described movable table is provided with independently by each operating area.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006201844 | 2006-07-25 | ||
| JP2006201844A JP4607067B2 (en) | 2006-07-25 | 2006-07-25 | Conveying method and apparatus |
| JP2006213076 | 2006-08-04 |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101733663A Division CN101407279B (en) | 2006-07-25 | 2007-07-24 | Conveying method and conveying device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101112746A CN101112746A (en) | 2008-01-30 |
| CN100560287C true CN100560287C (en) | 2009-11-18 |
Family
ID=39021359
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101733663A Expired - Fee Related CN101407279B (en) | 2006-07-25 | 2007-07-24 | Conveying method and conveying device |
| CNB2007101386150A Expired - Fee Related CN100560287C (en) | 2006-07-25 | 2007-07-24 | Conveying operation method and device thereof |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101733663A Expired - Fee Related CN101407279B (en) | 2006-07-25 | 2007-07-24 | Conveying method and conveying device |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP4607067B2 (en) |
| CN (2) | CN101407279B (en) |
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| CN106363460A (en) * | 2015-07-24 | 2017-02-01 | 发那科株式会社 | Workpiece positioning device for positioning workpiece |
| CN110127567A (en) * | 2018-02-09 | 2019-08-16 | 本田技研工业株式会社 | Handling equipment |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP4607067B2 (en) | 2011-01-05 |
| JP2008023689A (en) | 2008-02-07 |
| CN101407279B (en) | 2011-10-12 |
| CN101407279A (en) | 2009-04-15 |
| CN101112746A (en) | 2008-01-30 |
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