JP2000327108A - Picking device for panel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce labor and improve working efficiency in picking work for selectively transferring panels stored by types. SOLUTION: This picking device includes a panel carry-out means 1 disposed in the arrangement of pallets P1-P10 for arranging the plurality of pallets P1-P10 storing glasses G1-G10 as panels by types in an almost annular form and a panel transfer means 2 for transferring the glasses G1-G10 held from the pallets P1-P10 to the panel carry-out means 1. The transfer of the glasses G1-G10 is automated to reduce labor on workers and improve working efficiency.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a panel picking device used for selectively taking out a panel prepared for each type and transferring it to a predetermined position.

[0002]

2. Description of the Related Art A panel picking operation for selectively taking out a panel prepared for each type and transferring the panel to a predetermined position is performed, for example, in an assembly line of an automobile in which a plurality of types of vehicles are mixed, in a glass mounting process in the line. On the other hand, it is performed in a pre-process for loading the front and rear glass. That is, different glasses are stored for each type depending on the vehicle type and specifications, and the glass corresponding to the vehicle body is taken out and transferred to a carry-out carriage in accordance with the transfer order of the vehicle body in the assembly line. Then, when a predetermined number of glasses have been prepared, these glasses are carried out together with the carry-out cart to the glass mounting step.

Conventionally, the above-mentioned glass picking operation has been all manually performed by an operator. Moreover, in the picking work of the glass of an automobile, a sub-work for attaching clips and dam rubber for suppressing adhesive to the glass is performed according to a difference in a vehicle type and a specification. For this reason, in the picking work area, a work table for performing sub-work is installed, and for glasses that require sub-work,
Once they were placed on the worktable and sub-worked, they were transferred to a carry-out cart.

[0004]

However, in the above-mentioned conventional picking operation, heavy glass is carried and transported, and if necessary, passed through a work table. There is a problem that the load on the worker is very large because the user has to go back and forth between the unit and the carry-out cart many times, and solving such a problem has been a problem.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional problems. In picking a panel for selectively taking out a panel prepared for each type and transferring it to a predetermined position, the present invention reduces the labor of an operator. It is an object of the present invention to provide a panel picking device capable of realizing improvement in work efficiency and work efficiency.

[0006]

According to a first aspect of the present invention, there is provided a panel picking apparatus in which a plurality of pallets accommodating panels by type are arranged in a substantially annular shape, and the panels are externally mounted during the arrangement of the pallets. A panel transfer means for holding the panel from the selected pallet and transferring it to the panel discharge means, wherein the panel transfer means comprises a pallet and a panel discharge means. A rail provided annularly along the arrangement of the means and a moving body traveling along the rail are provided, and the moving body is stopped between the rail and the moving body at a position corresponding to each pallet and panel unloading means. In addition to the stop mechanism, the moving body includes a hand mechanism for holding and releasing the panel, and a hand drive mechanism for driving the hand mechanism in three orthogonal directions. A configuration that are, as claimed in claim 3, stop mechanism in the panel transportation means, the rail side, provided with a stopper for projecting and retracting relative to the running space of the moving body,
5. A hand mechanism of a moving body in a panel transfer means, wherein a shock absorber abutting on the protruding stopper and a retraction preventing member engaging in a ratchet manner with the protruding stopper are provided on the moving body side. But,
According to a fifth aspect of the present invention, there is provided a vacuum pad to be attached to the panel, wherein the hand drive mechanism of the moving body in the panel transfer means releases the drive control of the hand mechanism so that the hand mechanism can be moved in three axial directions. Claim 6 is a mechanism having a switching function, wherein a hand drive mechanism of the moving body in the panel transfer means includes a cylinder as a drive source for driving the cylinder rod to expand and contract, a slide member connected to the cylinder rod, A configuration including a guide member fixed to the cylinder and guiding the slide member,
According to a seventh aspect of the present invention, the panel transfer means includes a plurality of moving bodies running in one direction of the rail.
A rotating joint for working fluid circulation rotatable around a vertical axis is provided above the inside of the annular arrangement of each pallet, and a device operated by the working fluid in the moving body of the panel transfer means and the rotating joint are flowed through the working fluid. As a ninth aspect, the moving body of the panel transfer means is connected to
A hose reel biased in the take-up rotation direction is provided, and a hose for circulating a working fluid is wound around the hose reel. According to a tenth aspect, the rotary joint is disposed with the axis thereof being substantially vertical. A central pipe connected to a working fluid distribution source, and a plurality of tubular members rotatably mounted on the central pipe and arranged in the axial direction of the central pipe, between the central pipe and each tubular member. A structure in which an annular space is formed, the flow path of the central pipe communicates with each annular space, and each tubular member is provided with a connecting portion for connecting a hose that communicates from the annular space to the outside. , The central pipe has a plurality of flow passages, and in each tubular member, forms the same number of annular spaces as the flow passages with the central pipe, and individually communicates each flow path with each annular space. And communicate individually with each annular space According to a twelfth aspect of the present invention, the rotary joint includes a central pipe disposed substantially vertically and connected to a flow source of a working fluid, and a cylindrical member rotatably attached to the central pipe. Forming an annular space between the central pipe and the tubular member, communicating the flow passage of the central pipe with the annular space, and providing the tubular member with a plurality of radially extending pipes communicating with the annular space. , At the end of each extension tube,
A connecting portion for connecting a hose communicating from the extension tube to the outside is provided so as to be rotatable around a vertical axis. As a thirteenth embodiment, the central tube has a plurality of flow passages, The same number of annular spaces as the number of flow passages are formed between the pipes, and the respective flow passages and the respective annular spaces are individually communicated with each other, and a plurality of radially extending extension tubes are formed as a set and individually formed in each annular space. A plurality of sets of extension tubes communicating with each other are provided, and a pallet for mounting each pallet is provided, and a pallet mounting seat plate is provided on the gantry, and the pallet is engaged with the seat plate. It is a public company that has a positioning member to be mounted and a plurality of member mounting portions to which the positioning member can be attached and detached, and has the above configuration as means for solving the problems.

[0007]

In the panel picking apparatus according to the first aspect of the present invention, a panel is selected from a plurality of pallets arranged in a substantially annular shape, and the panel is held by the panel transfer means and transferred to the panel discharge means. That is, in the picking device, the transfer of the panels from the pallets to the panel unloading means is automated. At this time, the pallets are arranged in a substantially annular shape, and the panel unloading means is arranged in the arrangement. The moving distance of the panel transfer means is shorter than arranging the pallets in a straight line, and the panel can be easily carried out of the apparatus. Also, when performing a sub-operation to attach components to the selected panel,
The sub-operation is performed while the panel is held by the panel transfer means.

In the panel picking device according to the second aspect of the present invention, the panel transfer means operates as follows.
That is, the moving body travels along rails arranged in parallel to the arrangement of each pallet and panel carrying-out means,
The moving body is stopped by the stop mechanism at a position corresponding to the pallet in which the selected panel is stored. Then, the hand mechanism is driven in the vertical, horizontal, and forward directions by the hand driving mechanism of the moving body, and the pallet panel is held by the hand mechanism. Then, the hand mechanism is retracted by the hand driving mechanism to remove the panel from the pallet. Then, the moving body is caused to run again, and the moving body is stopped by the stopping mechanism at a position corresponding to the panel carrying-out means.
In this manner, the panel is transferred from the pallet to the panel carrying-out means. Thereafter, the hand mechanism is driven in an appropriate direction by the hand drive mechanism, and the panel is released from the hand mechanism and the panel is transferred to the panel carrying-out means.
That is, in the picking device, the running and stopping of the moving body and the operation of the hand mechanism are automated.

In the panel picking device according to the third aspect of the present invention, the stop mechanism in the panel transfer means operates as follows. That is, at the position corresponding to the pallet or panel carrying-out means in which the selected panel is accommodated, the stopper is projected on the rail side into the traveling space of the moving body. On the other hand, on the moving body side, since the shock absorber that comes into contact with the stopper is provided, the stopping operation is gradual, and since the moving body is provided with the retraction preventing member that engages with the stopper in a ratchet manner, The moving body is prevented from retreating due to the elastic force of the shock absorber. Thereby, the moving body stops at the predetermined position.

[0010] In the panel picking device according to claim 4 of the present invention, the hand mechanism of the moving body in the panel transfer means holds the panel on the surface by the vacuum pad.

In the panel picking apparatus according to the fifth aspect of the present invention, when the hand drive mechanism of the moving body in the panel transfer means releases the drive control of the hand mechanism by the switching function, the hand mechanism is moved in three axial directions. Since it is movable, the panel can be moved manually together with the hand mechanism.

In the panel picking device according to claim 6 of the present invention, the hand driving mechanism of the moving body in the panel transfer means includes a cylinder as a driving source, and a slide member connected to a cylinder rod of the cylinder is provided. , Guided by a guide member fixed to the cylinder. Here, the cylinder is provided on the fixed side of the moving body, and the slide member is provided on the movable side, that is, on the hand mechanism side. This hand drive mechanism has a simplified structure by guiding a slide member driven by the cylinder by the cylinder itself.

In the panel picking apparatus according to claim 7 of the present invention, since the panel transfer means includes a plurality of moving bodies traveling in one direction of the rail, the sequentially selected panels are successively moved by each moving body. The panel is transferred, and a predetermined number of panels are transferred to the panel carrying-out means in a short time.

In the panel picking device according to claim 8 of the present invention, the supply and discharge of the working fluid to and from the device operated by the working fluid in the moving body of the panel transfer means is performed via the rotary joint and the hose. . At this time,
Since the rotary joint is rotatable about the vertical axis, the hose freely rotates together with the moving body that moves along the ring, and supply and discharge of the working fluid is performed regardless of the position of the moving body. In addition, since the rotary joint is located above the inside of the annular arrangement of each pallet, the hose is in a state of being stretched upward, so that the hose does not interfere with structures and workers inside the annular arrangement. .

In the panel picking device according to the ninth aspect of the present invention, in the moving body of the panel transfer means, the hose is wound around the hose reel urged in the winding rotation direction. The hose is wound up or pulled out in accordance with the change in the distance of the hose to prevent the hose from hanging down.

In a picking device according to a tenth aspect of the present invention, the rotary joint includes a central pipe and a plurality of rotatable cylindrical members, and particularly supplies and discharges a working fluid between a plurality of moving bodies. The hose connected to the connecting portion of each tubular member is connected to each moving body side. Then, when the moving member moves, the corresponding cylindrical member rotates. For example, when the working fluid is supplied from the distribution source to the moving member side, the working fluid flows from the central passage through the annular passage of each cylindrical member. It flows into the space and is supplied to the respective moving body side via the connection part and the hose. At this time, the rotary joint forms an annular space between the central pipe and each of the tubular members, so that the supply of the working fluid can be satisfactorily continued even if the tubular member rotates at any angle.

According to the panel picking device of the present invention, in the rotary joint in which each cylindrical member individually corresponds to each movable body as in the rotary joint according to the tenth aspect, Thus, a plurality of flow paths formed by the flow path, the annular space, and the connection portion of the central pipe are formed. Therefore, it becomes possible to individually connect hoses to a plurality of devices operated by the working fluid in the moving body, or to separate the supply system and the discharge system of the working fluid.

In a panel picking apparatus according to a twelfth aspect of the present invention, the rotary joint has a central pipe and a rotatable tubular member, and the tubular member has a plurality of radially extending extension pipes and connecting portions. And supplies and discharges a working fluid to and from a plurality of moving bodies, and connects a hose connected to a connection portion of each extension pipe to each moving body side. Therefore, in the rotary joint, the hoses are connected to the rotary joint at substantially the same height, and the lengths of the central pipe and the cylindrical member in the axial direction are small. Then, the cylindrical member rotates with the movement of the moving body, for example, when supplying the working fluid from the distribution source to the moving body side, the working fluid flows into the annular space of the cylindrical member from the flow passage of the central pipe, Each of the extension pipes and the connection portion is supplied to each moving body via a hose. At this time, the rotary joint forms an annular space between the central pipe and the tubular member, so that the supply of the working fluid can be favorably continued even if the tubular member rotates at any angle. In addition, the positional relationship between the plurality of extension tubes provided on the cylindrical member is constant, but since the connection portion provided at the distal end of each extension tube is rotatable about a vertical axis, the extension relationship is in the front-back relationship in the moving direction. Even when two moving bodies approach or largely separate from each other, the connecting portion rotates to prevent the hose from being bent.

According to the panel picking apparatus of the thirteenth aspect of the present invention, in the rotary joint according to the twelfth aspect, wherein one cylindrical member corresponds to each moving body, , A plurality of flow paths formed by the flow path of the central pipe, the annular space, and the connection portion. Therefore, it becomes possible to individually connect hoses to a plurality of devices operated by the working fluid in the moving body, or to separate the supply system and the discharge system of the working fluid.

According to the panel picking device of the present invention, a seat plate is provided on a base on which each pallet is mounted, and a positioning member is provided on the seat plate. By engaging the pallet,
Position the pallet on the gantry. At this time, in the picking device, since the seat plate is provided with a plurality of member mounting portions to which the positioning member is detachable, the position of the positioning member on the seat plate can be changed. In other words, corresponding to different pallet sizes depending on the type of panel, etc.,
Attach the positioning member to the selected member mounting part.

[0021]

According to the panel picking device of the first aspect of the present invention, the panel transfer means is adopted in the picking of the panel for selectively taking out the panel prepared for each type and transferring it to a predetermined position. From this point, the transfer of panels from the pallet to the panel unloading means is automated, and when performing sub-operations such as attaching components to the selected panel, perform the sub-operation while holding the panel with the panel transfer means Therefore, the labor of the worker can be greatly reduced, and the working efficiency can be greatly improved. Further, by arranging the plurality of pallets and the panel carrying-out means in a substantially annular shape, the moving distance of the panel carrying means can be shortened, and the panel transferred to the panel carrying-out means can be quickly carried out of the apparatus. it can.

According to the panel picking device of the second aspect of the present invention, the same effects as those of the first aspect can be obtained, and in particular, a rail, a moving body, a stopping mechanism, a hand mechanism, and a hand driving mechanism. By adopting the panel transfer means provided with the above, all the running and stopping of the moving body, the holding and release of the panel by the hand mechanism, the removal of the panel from the pallet and the transfer of the panel to the panel carrying out means can be automated. . Further, if the moving body is caused to travel in one direction on an annular rail along the arrangement of each pallet, it is possible to use a plurality of moving bodies and to carry out a large number of panels of a specific type. Even if there is no need to rearrange the pallets, it is possible to maintain a substantially constant cycle time for circling the moving body starting from the panel carrying-out means.

According to the panel picking device of the third aspect of the present invention, the same effect as that of the second aspect can be obtained, and in addition, the panel transfer means includes a stopper, a shock absorber, and a retraction preventing member. Since the stop mechanism is employed, the moving body can be gently and reliably stopped at a position corresponding to the predetermined pallet or a position corresponding to the panel carrying-out means.

According to the panel picking device of the fourth aspect of the present invention, the same effects as those of the second and third aspects can be obtained, and in addition, the panel transfer means has a vacuum pad that is adsorbed on the surface of the panel. The use of a hand mechanism provided allows quick and reliable holding and release of the panel, and allows the panel to be moved even if the positional relationship between the pallet panel and the hand mechanism of the stopped moving body is somewhat rough. It can be securely held. In addition, since the panel is held on its surface, sub-operations such as attaching parts to the outer peripheral portion of the panel can be performed in this holding state. For example, when the panel is a window glass of an automobile, the outer peripheral portion is A sub-operation for attaching clips and dam rubber for suppressing adhesive can be performed.

According to the panel picking device of the fifth aspect of the present invention, the same effects as those of the second to fourth aspects can be obtained, and the drive control of the hand mechanism in the hand drive mechanism of the panel transfer means can be obtained. With a switching function that allows the panel to be moved in the three-axis direction by automatically releasing the panel, so that the transfer of panels from the pallet to the panel unloading means is performed automatically, and the transfer of panels to the panel unloading means is performed manually. This makes it very convenient when performing sub-operations such as attaching components to the panel before transferring to the panel carrying-out means.

According to the panel picking device of the sixth aspect of the present invention, the same effects as those of the second to fifth aspects can be obtained. The structure in which the connected slide member is guided by the guide member provided in the cylinder, that is, the structure in which the slide member driven by the cylinder is guided by the cylinder itself, realizes simplification and weight reduction of the structure of the hand drive mechanism. be able to.

According to the panel picking device of the seventh aspect of the present invention, the same effects as those of the second to sixth aspects can be obtained, and a plurality of rails traveling in one direction of the rail in the panel transfer means can be obtained. Since a moving body is employed, a predetermined number of panels can be transferred to the panel carrying-out means in a short time, and further improvement in working efficiency can be realized.

According to the panel picking device of claim 8 of the present invention, the same effects as those of claims 2 to 7 can be obtained, and the panel picking device rotates about the vertical axis inside the annular arrangement of the pallets. The adoption of a flexible rotary joint and hose allows supply and discharge of working fluid to and from a device that operates with working fluid on a moving body that runs along the rail. In this case, the working fluid can be supplied and discharged satisfactorily even when the vehicle travels round. Further, since the hose is stretched upward, the hose does not obstruct structures or workers inside the annular arrangement, and the safety of the workplace can be ensured.

According to the panel picking apparatus of the ninth aspect of the present invention, the same effect as that of the eighth aspect can be obtained, and the hose reel for winding the hose in the moving body of the panel transfer means is employed. Therefore, even if the distance between the rotary joint and the moving body changes, the hose can always be stretched upward to prevent the hose from drooping, preventing the structure and workers from obstructing the hose. It is possible to prevent the failure more reliably and to secure further safety of the work place.

According to the panel picking device of the tenth aspect of the present invention, the same effects as in the eighth and ninth aspects can be obtained, and an annular space is formed between the central pipe and the central pipe. And the use of a rotary joint having a plurality of cylindrical members having a connection portion enables the supply and discharge of the working fluid to a plurality of individually moving bodies to be smoothly performed. Since the cylindrical member corresponding to the moving body is rotatable, the hose does not bend even when two moving bodies in the moving direction approach or largely separate from each other in the moving direction. Supply and discharge of the fluid can be favorably continued.

According to the panel picking device of the eleventh aspect of the present invention, the same effect as that of the tenth aspect can be obtained, and in addition to the rotary joint of the tenth aspect, each moving body has Since a plurality of flow paths of the working fluid are formed for each moving body in the rotary joint corresponding to the cylindrical member individually, hoses are individually connected to a plurality of devices operated by the working fluid in the moving body. In addition, the supply system and the discharge system for the working fluid can be separated from each other, so that the operation reliability can be improved and the control system for the working fluid can be simplified. More specifically, when a device operated by the working fluid in the moving body is a driving source of the moving body, a hand mechanism, and a hand driving mechanism, the working fluid is individually supplied to these devices through independent circulation paths. It is possible to supply and discharge, for example, it is extremely easy to keep the panel held by the hand mechanism regardless of whether the driving source of the moving body is operating or not. The structure for holding the panel can be simplified by eliminating the means for holding the panel.

According to the panel picking apparatus of the twelfth aspect of the present invention, the same effects as in the eighth and ninth aspects can be obtained, and an annular space is formed between the central pipe and the central pipe. By employing a rotary joint having a cylindrical member having a plurality of extension pipes and a connecting portion, the supply and discharge of the working fluid to a plurality of individually moving bodies can be smoothly performed. In addition, since the extension pipes and the connection portions are provided radially with respect to the cylindrical member, the axial lengths of the central pipe and the cylindrical member can be reduced, and the inside of the annular arrangement of each pallet can be reduced. By reducing the size of the protrusion as the rotary joint provided in the above, it is possible to secure a sufficient space below the rotary joint and further improve the safety for workers. Furthermore, while the structure is such that a plurality of hoses are connected to one tubular member, the connecting portion is rotatable around the vertical axis at the tip end of each extension portion. Even when the hose approaches or largely separates, the supply and discharge of the working fluid can be favorably continued without causing the hose to bend.

According to the panel picking device of the thirteenth aspect of the present invention, the same effect as that of the twelfth aspect can be obtained, and in addition to the rotary joint of the twelfth aspect, one movable body is provided. Since a plurality of flow paths of the working fluid are formed for each moving body in the rotary joint corresponding to the two cylindrical members, hoses can be individually connected to a plurality of devices operated by the working fluid in the moving body. In addition, it is possible to separate the supply system and the discharge system of the working fluid, thereby improving the reliability of operation and simplifying the control system of the working fluid. More specifically, when the device operated by the working fluid in the moving body is a driving source of the moving body, a hand mechanism and a hand driving mechanism, for these devices,
It is possible to individually supply and discharge the working fluid through independent circulation paths, and for example, it is possible to continue holding the panel by the hand mechanism regardless of whether the driving source of the moving body is operating or not. This makes it very easy, so that the auxiliary holding means can be eliminated and the structure of the device can be simplified.

According to the panel picking device of the fourteenth aspect of the present invention, the same effects as those of the first to thirteenth aspects can be obtained. The positioning plate that engages with the pallet can be selectively attached to and detached from these member mounting portions, so that it is possible to handle pallets having different sizes depending on the type of panel. In addition, the pallet can be reliably positioned on the gantry.

[0035]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a panel picking device according to the present invention will be described below with reference to the drawings. The picking device in this embodiment handles a front or rear glass of an automobile as a panel. In an assembly line of an automobile in which a plurality of types of vehicles are mixed, a glass mounting process in the line is performed. Is used in the previous step for introducing

In the picking device shown in FIG. 1, a plurality of pallets P1 to P10 accommodating different types of glass G1 to G10 of an automobile depending on the vehicle type and specifications are arranged in a substantially rectangular annular shape with a rectangular work place A at the center. In addition, a panel unloading means 1 for unloading the glass G1 to G10 out of the apparatus in the arrangement is provided, and further, the selected pallets P1 to P10
A panel transfer means 2 for holding the glass G1 to G10 from P10 and transferring it to the panel unloading means 1 is provided.

Each of the pallets P1 to P10 has a plurality of glass plates G1 to G10, each of which is housed in a state of being arranged in an upright position. It is placed. Each pallet P1 to P10
Are loaded into each of the gantry B1 to B3 from the outside of the apparatus in such a manner that the glass arrangement direction is the inside and outside direction of the pallet arrangement.

The panel carrying-out means 1 is, for example, a so-called sync pallet, and is a truck provided with a glass accommodation portion, and accommodates a predetermined number of glass in an upright state, and carries out the glass in an assembly line (not shown). Move toward the mounting process.

The panel transfer means 2 is provided for each of the pallets P1 to P
10 and a rail 3 provided in a rectangular ring along the upper side of the arrangement formed by the panel carrying-out means 1, an auxiliary rail 4 provided in parallel with the outer periphery thereof, and a moving body 5 running along these rails 3, 4 And a stop mechanism for stopping the moving body 5 at a position corresponding to each of the pallets P1 to P10 and the panel carrying-out means 1 between the rail 3 and the moving body 5, and moving the moving body 5 as shown in FIG. The body 5 is made of glass G1
A hand mechanism 6 for holding and releasing the G10 and a hand driving mechanism for driving the hand mechanism 6 in three orthogonal directions are provided.

In this embodiment, four moving bodies 5 having the same configuration are provided, and all of them move in one direction (clockwise in FIG. 1) along the rail 3. Moving object 5
In the traveling direction indicated by the arrow in FIG. 2 (a), there are provided horizontal side frames 7, 7 arranged on the left and right sides thereof, and horizontal front and rear frames 8, 8 arranged on the front and rear. Rails 3 on front and rear frames 8,8
Are provided with a plurality of pulleys 9 that engage with the vehicle, and are suspended from the rail 3 by the front and rear traveling bodies 10. Both traveling bodies 10 include an air motor 11 at least one of which is a driving source. The one side frame 7 is provided with a guide wheel 12 that runs on the auxiliary rail 4.

Two guide shafts 13, 13 are provided horizontally and parallel between the side frames 8, 8 on both sides, and both guide shafts 12 have rod-less cylinders 14, which are operated by air pressure. Is provided as a drive source, a slide body 15 is provided which is reciprocally driven in a direction perpendicular to the rail 3, that is, in the Y direction in FIG. In addition, slide body 1
The upper end of a vertical support frame 16 is connected to 5, and the support frame 16 is provided with a hand lifting / lowering cylinder 18 that is driven to expand and contract with a cylinder rod 17 facing upward. Further, an upper end portion of a vertical slide member 19 arranged in parallel with the upper end portion of the cylinder rod 17 is connected thereto, and the above-described hand mechanism 6 is attached to the slide member 18.

The hand lifting / lowering cylinder 18 is an air cylinder with a brake. Also, the slide member 1
9 is guided in the up-down direction (Z direction) by guide members 20 fixed to the upper and lower two places of the hand elevating cylinder 18. That is, the hand lifting cylinder 18 realizes simplification of the structure and weight reduction by guiding the slide member 19 that is driven up and down by the cylinder 18 itself.

The hand mechanism 6 includes a frame 2 formed in a rectangular shape.
1 is provided with four vacuum pads 22, and at the lower end side of the support frame 16, upper and lower elastic holders 2 are provided.
3 and 23, the traveling direction of the moving body 5, that is, FIG.
It is held floating so as to be able to reciprocate in the X direction. In addition, an air cylinder 24 for suppressing the hand is provided between the frame 21 and the support frame 16. The air cylinder 24 is extended or contracted while the moving body 5 is running, thereby restraining the hand mechanism 6 held in a floating state to one side in the reciprocating direction, so that the glass being transferred is not shaken. . Further, at the lower end of the frame 21, there are provided two clampers 62, 62 which are operated by air pressure and hold the lower ends of the glasses G1 to G10, and hold the glasses G1 to G10 together with the vacuum pad 22 more securely. I can do it.

In the moving body 5 having the above-described structure, the guide shaft 13, the rodless cylinder 14, and the slide body 15 constitute a hand driving mechanism in the Y direction, which is a direction crossing the rail 3, and the hand lifting / lowering cylinder 18 and the slide The member 19 constitutes a hand drive mechanism in the Z direction, which is the vertical direction, and the elastic holder 23 and the air cylinder 24 constitute a hand drive mechanism in the X direction, which is along the rail 3. And the hand mechanism 6
By these hand driving mechanisms, they are driven in three orthogonal directions.

In this embodiment, the slide member 19 and the guide member 20 for realizing the simplified structure are used for the Z direction hand drive mechanism.
Naturally, the present invention can also be applied to a hand drive mechanism in the Y direction.

The above-mentioned hand drive mechanism controls the drive of the hand mechanism 6 in order to transfer the glasses G1 to G10 transferred from the pallets P1 to P10 to the panel unloading means 1 manually. Is released, and the hand mechanism 6 has a switching function to be movable in three axial directions. In this embodiment, the hand mechanism 6 can be freely moved in the X and Y directions by setting the rodless cylinder 14 and the air cylinder 24 that are both operated by air pressure to be free. In order to prevent the held glass from falling, only the hand lifting / lowering cylinder 18 is driven up and down by operating a switch.

For this reason, the frame 21 of the hand mechanism 6
A handle 25 for manual operation, a pad switch 26 for switching between holding and releasing (suction / atmosphere release) by the vacuum pad 22 and a cylinder switch 27 for driving the hand lifting / lowering cylinder 18 are provided. 2
5 can be operated and the switches 26 and 27 can be operated. The frame 21 may be provided with another handle.

As shown in FIGS. 3 and 4, the stop mechanism in the panel transfer means 2 includes a stopper 28A (28B) on the rail 3 side which protrudes and retracts from the traveling space of the moving body 5, and 5A, a protruding stopper 28A
(28B), and a retraction preventing member 30 that engages with the protruding stopper 28A (28B) in a ratchet manner.

That is, each pallet P1
P10 and the positions corresponding to the panel unloading means 1 and the two standby positions before and after the panel unloading means 1 in total of 1
A stopper cylinder 31 for moving the stopper 28A (28B) downward and forward and a bracket 32 at three places;
Are provided respectively. At the positions corresponding to the pallets P1 to P10 and the standby position, the stopper cylinder 31
As shown in FIG. 3, a cylinder 34 for instructing the picking operation and the standby to move the dog 33 forward and backward is provided at the movable portion.

Further, at a position corresponding to the panel carrying-out means 1, as shown in FIG.
A movable portion is provided with a cylinder 36 for driving a dog 35 for instructing an unloading operation forward and backward. Further, each bracket 32 is provided with a limit switch 37 for detecting the presence or absence of the moving body 5 and a proximity switch 38 for detecting the original position of the hand mechanism 6 on the moving body 5. The stopper cylinder 31 and each dog 3
An air cylinder is used for each of the cylinders 34 and 36 for driving the advancing and retreating of the cylinders 3 and 35, respectively.

On the other hand, the moving body 5 has the front frame 8
Through the support plate 39, the shock absorber 29
Are provided, and a bracket 40 is provided on the support plate 39 so as to protrude forward in the traveling direction, and the bracket 40 is provided with limit switches 41A to 41C for performing control such as traveling and stopping. At the tip of the bracket 40, a retreat preventing member 30 is provided. As shown in FIGS. 3 and 4, the retraction preventing member 30 is restricted in rotation at a position protruding above the bracket 40, and is urged to the rotation position by an elastic body (not shown). And can be immersed in the bracket 40. That is, the retreat preventing member 30 is
As the vehicle travels, it comes into contact with the lowered stopper 28A (28B) to be immersed in the bracket 40, protrudes upward beyond the stopper 28A (28B), and engages with the stopper 28A (28B) to move. The body 5 is prevented from moving backward.

In contrast to the stopper 28A shown in FIG. 3 provided at a position corresponding to each of the pallets P1 to P10, the stopper 28B shown in FIG.
Since the transfer of the glass is performed manually as described above, a notch 42 is provided at the lower end thereof to allow movement in the X direction along the rail 3.
The movable body 5 is movable in the range L of 2.

Each moving body 5 of the panel transfer means 2 is provided with a hose reel 43 which is urged in the take-up rotation direction. A working fluid flow hose 44 having one end connected thereto is wound. The device operated by the working fluid in the moving body 5 includes an air motor 11 which is a driving source of the moving body 5, a vacuum pad 22 and a clamper 62 of the hand mechanism 6, a rodless cylinder 14, a hand driving and lowering cylinder 18 of the hand driving mechanism, and air Cylinder 2
4, all of which operate pneumatically. Therefore,
The working fluid in this embodiment is air.

On the other hand, above the inside of the annular arrangement of the pallets P1 to P10, there is provided a rotary joint 45 for working fluid circulation rotatable about a vertical axis. The other end of the hose 44 pulled out from the hose reel 43 of the body 5 against the urging force is connected.

As shown in FIG. 5, for example, the rotary joint 45 has a central pipe 48 whose upper end is fixed to the ceiling R by a flange member 46 and whose lower end is closed by a closing member 47 with its axis line in a vertical state. A plurality of tubular members 49 are rotatably attached to the outside of the central tube 48 and are arranged in the axial direction of the central tube 48. In the case where there are four moving bodies 4 as in this embodiment, four cylindrical members 4 are correspondingly provided.
9 are provided. The central pipe 48 has a flow passage 48 a along its center line, connects the upper end to a working fluid flow source (not shown) constituted by a pump or the like, and has a flow hole at a position corresponding to each tubular member 49. 50.

Each cylindrical member 49 has bearings 51, 51 and oil seal 5
2 and 52, an annular space 53 is formed at a position corresponding to the flow hole 50, and a pipe-shaped connecting portion 54 that communicates from the annular space 53 to the outside protrudes outward. Hose 44 is connected to 54. FIG.
In the above, the rotary joint 45 provided with the four cylindrical members 49 for the four moving bodies 5 is shown. However, a plurality of distribution systems may be provided corresponding to the number of devices requiring the working fluid. It is possible.

Here, the working fluid is circulated between the stop mechanism on the rail 3 side of the panel transfer means 2 and the rotary joint 45 with a common circulating source. As shown in FIG. 8, stopper cylinders 31 and dog driving cylinders 3 provided at a total of 13 positions including the positions of the pallets P1 to P10, the position of the panel carrying-out means 1, and the standby position.
4 and 36 respectively have control valves V1 to V13 and V14.
To V26, and one of two flow paths branched from the distribution source via the regulator 101 is connected to each of the control valves V1 to V1.
3, V14 to V26, and the other end of the flow path is connected to the rotary joint 45. A hand emergency stop valve 102 is provided between the adjuster 101 and the rotary joint 45.
An exhaust valve 103 is provided to immediately stop the flow of the working fluid when a problem occurs on the moving body 5 side, thereby preventing the problem from spreading.

Further, the picking device is provided with pallet-mounting seat plates 55 and 56 as shown in FIG. 6 on mounts B1 to B3 on which pallets P1 to P10 are mounted. Positioning members 57 and 58 as shown in FIG. 7 are detachably attached to 55 and 56.

The seat plates 55 and 56 are arranged so as to correspond to the four corners of the pallets P1 to P10 which form a flat rectangular shape, and three of the seat plates 55 are shown in FIGS. 6 (a) and 6 (b). ), The large screw hole 59a and the large screw hole 59
A member mounting portion 59 comprising two small screw holes 59b, 59b provided on both sides of a is provided at two places. As shown in FIGS. 6C and 6D, the remaining one seat plate 56
A member mounting portion 60 including a large screw hole 60a, two small screw holes 60b, 60b provided on both sides of the large screw hole 60a, and two through holes 60c, 60c provided at positions different from the small screw hole 60b by 90 degrees. In two places.

The positioning members 57 and 58 are formed by downward recesses C1 and C2 formed in the legs of each of the pallets P1 to P10.
Engages. As shown in FIGS. 7A and 7B, the positioning member 57 attached to the three seat plates 55 has a circular plane shape, and has a screw through hole 57 corresponding to the large screw hole 59a.
a and is attached to the seat plate 55 by screws (not shown). On the other hand, the positioning member 5 attached to one seat plate 56
As shown in FIGS. 7 (c) and (d), 8 is a flat rectangular shape and has a screw through hole 58a corresponding to the small screw hole 60b.
A recess 58b for mounting a sensor for detecting the presence or absence of a pallet; and a through hole 6 of the seat plate 56 in the recess 58b.
0c, and is attached to the seat plate 56 with screws (not shown).

The positioning members 57 and 58 may be provided with spacers 61 shown in FIGS. 7E and 7F between the positioning members 57 and 58 and the seat plates 55 and 56, respectively. This spacer 61
Are both seat plates 55 and 56 and positioning members 57 and 58
Large screw holes 59a, 60a, small screw holes 5
9b, 60b and through-hole 61 corresponding to through-hole 60c
a to 61c.

The above positioning members 57 and 58 are formed as shown in FIG.
When pallets Pa and Pb of different sizes are used as indicated by phantom lines in (a), the pallets Pa and Pb are mounted on the member mounting portions 59 (60) selected corresponding to the sizes. The pallets Pa and Pb are positioned on the gantry B1 to B3 by engagement.

The glass (panel) picking device having the above configuration can perform the picking operation by only one worker M shown in FIG.

That is, in the picking device, the moving object 5
2B, the hand mechanism 6 is raised and retracted with respect to the pallets P1 to P10 as shown in FIG. 2B, and this state is set as the original position of the hand mechanism 6, and the moving body 5 is moved clockwise in FIG. Start running. Then, the moving body 5 is stopped by the stop mechanism at a position corresponding to the pallets P1 to P10 in which the selected glasses G1 to G10 are stored. At this time, since the stop mechanism includes the shock absorber 29 that comes into contact with the stopper 28A on the rail 3 side, the moving body 5 is gently stopped, and the retraction preventing member 30 is engaged with the stopper 28A with the stop. Therefore, the retreat of the moving body 5 due to the elastic force of the shock absorber 29 is prevented, and the moving body 5 is stopped at a predetermined correct position.

The moving body 5 stopped as described above
Lowering and moving the hand mechanism 6 forward,
The vacuum pad 22 is held on the surface of the glass G1 to G10 by suction, and the glass G is further held by the clamper 62.
After holding the lower end portions of 1 to G10, the hand mechanism 6 is retracted and raised to take out the glasses G1 to G10 from the pallets P1 to P10. After that, the hand mechanism 6 floating and held in the traveling direction (X direction) of the moving body 5 is restrained by the air cylinder 24 for hand suppression, so that the held glasses G1 to G10 are prevented from swinging. Then, the stopper 28A of the stop mechanism is raised, and the moving body 5 is caused to travel again.

At this time, in the picking device, supply and discharge of working fluid to and from the air motor 11, the hand mechanism 6, and the hand drive mechanism of the moving body 5 are performed by the hose 44 and the rotary joint 45 wound around the hose reel 43 of the moving body 5. It is carried out. That is, when the working fluid is supplied from the distribution source to the moving body 5 side, the working fluid passes through the flow passage 48 a of the central pipe 48, the circulation hole 50, the annular space 53, the connection portion 54, and the hose 44. In this case, the reverse path is used.

As described above, when the working fluid is circulated to the traveling moving body 5 side, in the picking device, each cylindrical member 49 is connected to the central pipe 48 at the rotary joint 45.
Are rotatable about a vertical axis and form an annular space 53 between the central tube 48 and the tubular member 49, so that the movable member 5 moving along the annular shape and the corresponding tubular member 49 and Regardless of the position of the moving body 5 in which the hose 44 is rotated, or when the two moving bodies 5 in the front-back relationship in the traveling direction approach each other or are largely separated from each other, the hose 44 is The supply and discharge of the working fluid are performed smoothly without bending. Moreover,
Since the rotary joint 45 is located at an upper position, the hose 44 is in a state of being stretched upward, and the hose reel 43 of the moving body 5 is urged in the take-up rotation direction. The hose 4 according to the change of the distance from the body 5
4 is taken up or pulled out to prevent the hose 44 from hanging down. For this reason, the hose 44 does not hinder the structure inside the apparatus or the worker M at all.

Then, when the moving body 5 reaches the position corresponding to the panel carrying-out means 1 and the moving body 5 is stopped by the stopping mechanism, the worker M operates the hand mechanism 6 to move the hand mechanism 6 forward and backward (Y direction). Direction) and running direction (X
Direction), and the worker M operates the hand mechanism 6 in the vertical direction (Z direction) with the hand lifting / lowering cylinder 18 and moves the hand mechanism 6 appropriately in the forward direction and the lateral direction. The glass G1 to G10 are accommodated in the panel unloading means 1, and the vacuum pad 22 and the clamper 62
Release the hold by.

Here, in the above-described picking operation of the glass of an automobile, depending on the selected glass, a sub-operation for attaching components such as clips and dam rubber for suppressing adhesive to the outer peripheral portion of the glass is performed. In such a situation, in the picking device, the sub-operation can be performed on the glass held by the hand mechanism 6 in the moving body 5 stopped at the position corresponding to the panel unloading unit 1. At this time, since the hand mechanism 6 holds the glass on its surface by the vacuum pad 22, if the holding by the clamper 62 is released as necessary, the sub work on the outer peripheral portion of the glass is not hindered at all.

Further, since the picking device is provided with four moving bodies 5, following the traveling of the leading moving body 5 as described above, the other moving bodies 5 travel one after another. Each of the selected glasses G1 to G10 is held and transferred to the panel unloading means 1. Therefore, a predetermined number of glasses G1 to G10 are transferred to the panel carrying-out means 1 in a short time. The selection of the glasses G1 to G10 corresponds to the order of transporting the vehicle bodies in an assembly line in which a plurality of types of vehicles are mixed. Therefore, the panel unloading means 1 supplies the glass G7, G2, and G2 in the selection order as shown in FIG. G4 is accommodated.

As described above, the picking device in the above embodiment automates the transfer of the glass G1 to G10 from each pallet P1 to P10 to the panel unloading means 1, and also transfers the glass G1 to G10 to the panel unloading means 1. Since the transfer can be switched to a manual operation, it is very convenient to perform sub-operations such as attaching parts to the selected glass G1 to G10, and the sub-operation is performed while holding the glass G1 to G10 by the hand mechanism 6. Work can be performed, and as a result, the labor of the worker is greatly reduced, and the work efficiency is greatly improved.

In the picking device, the moving distance of the moving body 5 is shortened by arranging the plurality of pallets P1 to P10 and the panel unloading means 1 in a substantially annular shape.
The glass G1 to G10 transferred to the panel unloading means 1 can be quickly unloaded out of the apparatus. If a plurality of pallets are arranged in a straight line, the moving body reciprocates linearly, which makes it difficult to use the plurality of moving bodies and requires a large amount of specific glass due to production fluctuation. In such a case, the cycle time during one reciprocation of the moving body changes, and it is necessary to rearrange the pallets to prevent this. On the other hand, in the picking device, since the moving body 5 travels around, it is possible to use a plurality of moving bodies 5 and to keep the cycle time of the moving body 5 constant even when production fluctuations occur. Therefore, rearrangement of the pallets is not required.

In the above embodiment, the case where the glass of an automobile is handled is exemplified. However, the picking device according to the present invention is naturally applicable to the operation of picking a panel other than glass, and furthermore, the picking apparatus of the present invention can be applied to the processing of the glass of an automobile. When a panel that does not require a sub-operation is handled as described above, it is possible to automate the entire operation including the transfer of the panel to the panel carrying-out means 1. FIG. 9 is a view for explaining a rotary joint in another embodiment of the panel picking device according to the present invention. The overall structure of the picking device is substantially the same as that shown in FIGS. 1 and 2 and includes four moving bodies 5.

The illustrated rotary joint 65 has a central pipe 68 that is disposed with its axis substantially perpendicular to the center of the pipe and is connected to a working fluid distribution source. And four cylindrical members 69 arranged in the axial direction. The central pipe 68 has two flow passages 68a, 68b parallel to the axis, and an upper end is fixed to the ceiling R by a flange member 66, and a closing member that closes the flow passages 68a, 68b at the lower end. 67 are provided. Each cylindrical member 69 is provided with bearings 71 at both ends (upper and lower ends) between the central member 68 and the central member 68.
Two annular spaces 73A of the same number as the flow passages 68a, 68b,
73B are formed at predetermined intervals, and each annular space 73A, 73B is formed.
And a structure in which the upper and lower sides are sealed with three seal members 72.

The central pipe 68 has one flow passage 68.
a that communicates a with one annular space 73A
And a flow hole 70B for communicating the other flow passage 68b with the other annular space 73B. Further, each cylindrical member 69 has one and the other annular spaces 73A, 73B.
Connecting parts 74A and 74B for individually communicating the
Are provided, and a hose 44 for flowing a working fluid is connected to these connection portions 74A and 74B. In FIG. 9, two 74A, 74B in each cylindrical member 69 are shown.
Are integrated, the hose 44 in which the two flow paths are integrated at least at the end is used. And
The hoses 44 from the respective cylindrical members 69 are connected to the respective moving bodies 5.

FIG. 10 is a circuit diagram of the stop mechanism on the rail 3 side of the panel transfer means 2 and the working fluid (air) for the rotary joint 65. That is, the regulator 10
1 is connected to each of the control valves V1 to V13 and V14 to V26, and the second flow path is connected to the rotary joint 65 via the hand emergency stop valve 102 and the exhaust valve 103. And the third flow path is connected to the other flow path 68b of the rotary joint 65.

With the panel picking device using the rotary joint 65 described above, the same operation and effect as those of the above embodiment can be obtained, and the center of the individual tubular member 69 and the moving body 5 can be controlled. Flow passages 68a, 68 of pipe 68
b, annular spaces 73A, 73B and connecting portions 74A, 74
The distribution route constituted by B is formed as two systems. Therefore, it is possible to individually connect the hoses 44 to a plurality of devices operated by the working fluid in the moving body 5 or to separate the supply system and the discharge system of the working fluid.

More specifically, a device operated by a working fluid in the moving body 5, that is, the air motor 11, the vacuum pad 22 and the clamper 62 of the hand mechanism 6, the rodless cylinder 14 of the hand driving mechanism, the hand lifting / lowering cylinder 18 and These can be selectively grouped into the air cylinder 24, and the supply and discharge of the working fluid can be individually performed through independent flow paths for the devices in each group. It is extremely easy to keep the panel held by the vacuum pad 22 irrespective of whether or not the panel is operated, which makes the operation more reliable and means for supporting the panel ( For example, the structure of the device can be simplified by eliminating the clamper 62).

FIG. 11 is a view for explaining a rotary joint in still another embodiment of the panel picking device according to the present invention. The overall structure of the picking device is substantially the same as that shown in FIGS. 1 and 2 and includes four moving bodies 5.

The illustrated rotary joint 85 has a central pipe 88 which is disposed with its axis substantially perpendicular to the pipe and is connected to a working fluid distribution source, and a cylindrical member rotatably mounted on the outer circumference of the central pipe 88. 89 are provided. The central pipe 88 has two flow passages 88a and 88b parallel to the axis, and an upper end portion is fixed to the ceiling R by a flange member 86, and a closing member that closes the flow passages 88a and 88b at a lower end portion. 87 are provided.

The cylindrical member 89 includes an upper portion 89A and a lower portion 8
9B, and both ends (upper and lower ends) and an intermediate portion (upper portion 89A and lower portion 89) between the central tube 88 and the center tube 88.
B and a boundary portion), bearings 91 are provided at three places, and annular spaces 93A and 93B are formed at intermediate portions of the upper portion 89A and the lower portion 89B, respectively.
A structure is provided in which the upper and lower portions of B are sealed with oil seals 92, respectively. That is, in the cylindrical member 89, the upper part 89A and the lower part 89B rotate integrally, and two annular spaces 93A, 93B of the same number as the flow passages 88a, 88b are formed between the upper part 89A and the lower part 89B. I have. On the other hand, in the central pipe 88, one flow passage 88a is connected to the upper annular space 93.
A communication hole 90A is formed to communicate with A, and a communication hole 90B is formed to connect the other flow passage 88b to the lower annular space 93B.

Further, the cylindrical member 89 is attached to the upper step 89A.
Four extension tubes 95A communicating with the upper annular space 93A and having the same length are radially provided at 90 ° intervals, and a connecting portion 94A communicating from the extension tubes 95A to the outside is provided at the distal end of each extension tube 95A. It is provided to be rotatable about a vertical axis.
Further, the cylindrical member 89 is similarly provided with four extension tubes 95B communicating with the lower annular space 93B and having the same length at 90 ° intervals in the lower stage portion 89B in a radial manner at the 90 ° interval. A connecting portion 94B communicating with the outside from the extension tube 95B is provided at the distal end portion so as to be rotatable around a vertical axis. Thus, the cylindrical member 89 includes two sets of extension pipes that individually communicate with the respective annular spaces 93A and 93B, with one set of four extension pipes provided radially.

Further, each of the upper extension tubes 95A and each of the lower extension tubes 95B extend horizontally.
The upper and lower portions are arranged in the same phase, and the lower extension tube 95B is shorter. Each connection part 94A, 94B
Has a rotating portion bent downward from the distal ends of the extension tubes 95A and 95B, and has a laterally opened lower end. Then, a hose 44 for flowing the working fluid is connected to each of the connecting portions 94A and 94B, and two hoses 44 forming a pair at the top and bottom are formed as one set, and each set of hoses 44 is connected to each moving body 5 side. I do.

The stop mechanism on the rail 3 side of the panel transfer means 2 and the circuit of the working fluid (air) to the rotary joint 85 are almost the same as those described in the previous embodiment.
In FIG. 10, only the form of the rotary joint is different.

In the panel picking device using the rotary joint 85 described above, there is one tubular member 89, but the flow passages 88 a, 88 of the central pipe 88 are provided for each moving body 5.
b, two flow paths formed by the annular spaces 93A and 93B, the extension pipes 95A and 95B, and the connecting portions 94A and 94B are formed, and are operated by the working fluid in the moving body 5 as in the previous embodiment. It is possible to connect the hoses 44 individually to a plurality of devices, or to separate the supply system and the discharge system of the working fluid.

Further, in the rotary joint 85, since the four hoses 44 are connected at substantially the same height, as apparent from the comparison with the previous embodiment (see FIGS. 5 and 9), the center pipe is connected. The length of the cylindrical member 88 and the cylindrical member 89 in the axial direction is small, and by reducing the projecting dimension from the ceiling R, it is possible to sufficiently secure a space under the ceiling R and further improve the safety for workers. It is gaining.

Further, in the above-described rotary joint 85,
In the cylindrical member 89, the positional relationship between the four extension pipes 95A and 95B radially arranged in the upper and lower stages is constant, but the connecting portion 9 provided at the distal end of each extension pipe 95A and 95B.
4A and 94B are rotatable around the vertical axis, so that the cylindrical member 89 rotates with the movement of the moving body 5 and the two moving bodies 5 that are in front and rear relation in the moving direction approach each other. Alternatively, if the distance is large, the connecting portion 9
4A and 94B rotate, whereby the hose 44 is reliably prevented from being bent, and a good flow of the working fluid is always ensured. At this time, since the moving body 5 running on the rail 3 does not overtake another moving body 5, the hoses 44 do not become entangled with each other even if the connecting portions 94A and 94B rotate at various angles.

The detailed structure of the rotary joint used in the panel picking device according to the present invention is not limited to the above-described embodiments. It is easy to change the number of flow passages of the central pipe, the number of cylindrical members, the number of connecting portions or extension pipes and the number of connecting portions provided in the cylindrical member, etc. In the embodiment shown in (1), the upper part 89A and the lower part 89B of the cylindrical member 89 can be individually made rotatable as cylindrical members. In addition, the above-described rotary joint is naturally applicable to a case where there is only one moving body. However, when there is only one moving body, an elbow-type rotary joint can be used. It is suitable for adapting to a body, and exhibits more excellent effects in a picking device provided with a plurality of moving bodies.

[Brief description of the drawings]

FIG. 1 is a schematic plan view illustrating an embodiment of a panel picking device according to the present invention.

FIGS. 2A and 2B are a front view illustrating a moving body in a panel transfer unit and a side view viewed from a front side in a traveling direction;

3A is a front view illustrating a stop mechanism at a position corresponding to a pallet, and FIG. 3B is a side view viewed from a front side in a traveling direction.

FIGS. 4A and 4B are a front view illustrating a stop mechanism at a position corresponding to the panel carrying-out means and a side view viewed from a front side in a traveling direction;

FIG. 5 is a plan view (a) and a longitudinal sectional view (b) illustrating a rotary joint.

FIG. 6 is a plan view (a) and a side view (b) illustrating a seat plate, and a plan view (c) and a side view (d) illustrating another seat plate.

FIG. 7 is a plan view (a) and a side sectional view (b) illustrating a positioning member, a plan view (c) and a side view (d) illustrating another positioning member, and a spacer. It is a top view (e) and a side view (f).

8 is a circuit diagram of a working fluid for a stop mechanism on the rail side of the panel transfer means and the rotary joint shown in FIG. 5;

FIG. 9 is a plan view (a) illustrating a rotary joint and a front view (b) partially in a longitudinal section, illustrating a panel picking device according to another embodiment of the present invention.

FIG. 10 shows a stop mechanism on the rail side of the panel transfer means and FIG.
FIG. 4 is a circuit diagram of a working fluid for the rotary joint shown in FIG.

FIG. 11 is a plan view (a) and a longitudinal sectional view (b) illustrating a rotary joint in still another embodiment of the panel picking device according to the present invention.

[Explanation of symbols]

B1 to B3 Mount G1 to G10 Glass (panel) P1 to P10 Pallet 1 Panel unloading means 2 Panel transfer means 3 Rail 5 Moving body 6 Hand mechanism 11 Air motor (Moving body driving source) 17 Cylinder rod (Hand driving mechanism) 18 Hand Lifting cylinder (hand drive mechanism) 19 Slide member (hand drive mechanism) 20 Guide member (hand drive mechanism) 22 Vacuum pad 28A 28B Stopper (stop mechanism) 29 Shock absorber (stop mechanism) 30 Backward prevention member (stop mechanism) 43 Hose reel 44 Hose 45 65 85 Rotary joint 48 68 88 Central pipe 48a 68a 68b 88a 88b Flow passage 49 69 89 Cylindrical member 53 73A 73B 93A 93B Annular space 54 74A 74B 94A 94B Connection part 55 5656 Seat plate 5758 -Decided Me member 59 60 member mounting portion 95A 95B extension tube

Claims (14)

[Claims] A plurality of pallets accommodating panels by type are arranged in a substantially annular shape, and a panel carrying-out means for carrying out the panels to the outside of the apparatus while the pallets are arranged is provided. A panel picking device, comprising a panel transfer means for transferring the panel to a panel carry-out means. 2. A panel transfer means comprising: a rail provided annularly along an array of each pallet and panel unloading means; and a moving body running along the rail. With a stop mechanism for stopping the moving body at a position corresponding to the pallet and panel unloading means,
2. The panel picking device according to claim 1, wherein the moving body includes a hand mechanism for holding and releasing the panel, and a hand driving mechanism for driving the hand mechanism in three orthogonal directions. 3. A stop mechanism in the panel transfer means includes a stopper on the rail side that protrudes and retracts from the traveling space of the moving body, and a shock absorber that contacts the protruding stopper on the moving body side, and a protruding stopper. The panel picking device according to claim 2, further comprising a retraction preventing member that engages in a ratchet manner with the panel. 4. The panel picking device according to claim 2, wherein the hand mechanism of the moving body in the panel transfer means includes a vacuum pad that is attracted to the panel. 5. A hand drive mechanism for a moving body in a panel transfer means, which is a mechanism having a switching function of releasing the drive control of the hand mechanism and making the hand mechanism freely movable in three axial directions. A panel picking device according to claim 2. 6. A hand drive mechanism for a moving body in a panel transfer means, a cylinder as a drive source for driving a cylinder rod to expand and contract, a slide member connected to the cylinder rod, and a guide fixed to the cylinder to guide the slide member. The panel picking device according to any one of claims 2 to 5, further comprising a member. 7. The panel picking device according to claim 2, wherein the panel transfer means includes a plurality of moving bodies running in one direction of the rail. 8. A rotary joint for rotating a working fluid, which is rotatable around a vertical axis, is provided above the inside of the annular arrangement of the pallets, and a device operated by the working fluid in the moving body of the panel transfer means and the rotary joint. The panel picking device according to any one of claims 2 to 7, wherein the panel picking device is connected by a working fluid distribution hose. 9. The moving body of the panel transfer means is provided with a hose reel urged in a take-up rotation direction, and a hose for flowing a working fluid is wound around the hose reel. A panel picking device as described. 10. A rotary pipe, comprising: a central pipe arranged in a state where an axis thereof is substantially vertical and connected to a flow source of a working fluid;
A plurality of tubular members are rotatably mounted on the central pipe and arranged in the axial direction of the central pipe. An annular space is formed between the central pipe and each of the tubular members. 10. The panel picking device according to claim 8, wherein a connection portion for connecting a hose that communicates with the annular space and that communicates from the annular space to the outside is provided in each tubular member. 11. The central pipe has a plurality of flow passages,
In each cylindrical member, a plurality of connections are formed between the central pipe and the central pipe, the same number of annular spaces being formed, and each of the flow passages and each of the annular spaces are individually communicated with each other and individually communicated with each of the annular spaces. The panel picking device according to claim 10, further comprising a part. 12. A rotary joint, comprising: a central pipe arranged substantially vertically and connected to a flow source of a working fluid; and a tubular member rotatably attached to the central pipe. Along with forming an annular space, the flow path of the central pipe and the annular space are communicated with each other, and a plurality of extension tubes communicating with the annular space are radially provided on the cylindrical member, and at the tip of each extension tube 10. The panel picking device according to claim 8, wherein a connecting portion for connecting a hose communicating from the extension pipe to the outside is provided rotatably around a vertical axis. 13. A central tube having a plurality of flow passages,
In the tubular member, the same number of annular spaces as the number of flow passages are formed between the tubular member and the central tube, and the respective flow passages and the respective annular spaces are individually communicated with each other, and a plurality of extension tubes radially provided as one set. 13. The panel picking device according to claim 12, wherein a plurality of sets of extension tubes individually communicating with each annular space are provided. 14. A pallet for mounting each pallet, and a pallet mounting seat plate on the gantry, wherein the seat plate includes:
14. The panel picking device according to claim 1, further comprising a positioning member that engages with the pallet, and a plurality of member mounting portions to which the positioning member can be attached and detached.