JP2002145448A - Reversal piling up device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently carry out a reversal piling up work of works in a short time. SOLUTION: A work 3 is placed on a horizontal placing surface of a feed means 17 extending toward a taking out side of the work 3 and is clamped between a first fork means 30 and a second fork means 31 of a hand 19. The hand 19 is attached to a wrist 21 of a robot 20 and the wrist 21 can be displaced by an angle of at least 180 deg. around a wrist axis J6. A lower arm 50, an upper arm 51 and the wrist 21 of the robot 20 can be angularly displaced around a second axis J2, a third axis J3, a fourth axis J4 and a fifth axis J5 respectively. Thereby, the work 3 can be conveyed from the feed means 17 to a receiving means 18 while shortening a movement distance by an angular displacement motion and the work 3 can be piled up on the receiving means 18 while alternately reversing upper and lower ends of the work 3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a reversing stacking device for alternately reversing and stacking objects.

[0002]

2. Description of the Related Art A conventional reversing stacking apparatus of this kind is disclosed, for example, in Japanese Patent No. 2632759. This prior art discloses a reversing pile device in which a long product conveyed on a conveyor is taken out in a lateral direction of the conveyor perpendicular to the conveying direction of the conveyor, and is alternately turned upside down and stacked. . This reversing pile device is disposed on the side opposite to the product take-out side of the conveyor, and has a movable table that can move in the horizontal direction of the conveyor and can move up and down, and a vertical surface parallel to the horizontal direction of the conveyor at the tip of the movable table. It has a suction arm that is rotatably mounted at 180 ° and that can take a posture that extends horizontally in the horizontal direction from the tip of the movable table and a posture that is horizontally turned to the opposite side from the tip of the movable table.

[0003] In this way, the suction arm is lowered from above the transport conveyor to suck the product, then raised, then advanced in the lateral direction of the conveyor, and then lowered to place the product in a normal posture. , Raise the suction arm, which is folded horizontally, from below the conveyor,
Suction the product on the conveyor, then set the suction arm to 1
It is possible to alternately perform an inversion stacking operation in which the product is inverted by 80 ° and then lowered to place the product in the inverted posture.

[0004]

The prior art has the following problems.

(1) Since the forward and backward movements and the up and down movements are performed by linear movements, the movement distance to reach the target position becomes long and it takes time. In addition, the installation space becomes large. (2) Since the product is taken out by suction, only products that can be sucked are applicable, and cannot be applied to all products. Further, since the product may be suctioned from above or from below, the structure of the suction arm is complicated. (3) In the case of performing reverse stacking, since the number of operation steps is large, work time is long and efficiency is low. (4) Since the take-out position and the receiving position are limited to the same side with respect to the reversing pile device, the take-out position and the receiving position cannot be freely selected.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems and to provide an inverting and stacking apparatus capable of efficiently performing an inverting and stacking operation in a short time and capable of taking a large operating range in a small space. is there.

[0007]

SUMMARY OF THE INVENTION The present invention comprises: (a) a plurality of supply fork members extending toward an object removal side and spaced apart from each other; Supply means for placing an object at a predetermined take-out position on a suitable placement surface; and (b) a predetermined receiving means disposed at a distance from the supply means and having a horizontal placement surface and having a horizontal placement surface. Receiving means for placing an object at a position; (c)
Gripping means for gripping an object, comprising: a first fork means having a flat first gripping surface and capable of passing through a gap between supply fork members; and a second gripping surface parallel to the first gripping surface. A second fork disposed opposite to the first fork, a first fork and a second fork arranged close to each other to grip an object, and the first fork and the second fork are separated from each other (D) an axis interposed between the supply means and the receiving means, the axis being parallel to the first and second gripping surfaces with the gripping means mounted thereon; A reversing and stacking device comprising: a reversing / conveying means which is angularly displaced around and about a horizontal axis, conveys an object from a supply means to a receiving means, and reverses the object up and down.

According to the present invention, the object disposed at the take-out position on the horizontal placing surface of the supply means is gripped between the first fork means and the second fork means, and is rotated about an axis parallel to the gripping surface. And angularly displaced about the horizontal axis. As a result, the objects are turned upside down and transported from the supply means to the receiving means to be stacked. As described above, since the object can be moved by the angular displacement motion, the moving distance can be shortened as compared with the case where the object is moved in combination with the linear motion, and the reversal stacking work can be efficiently performed in a short time. Can be.

Further, according to the present invention, there is provided a robot wherein the plurality of arms are connected to each other by a joint, wherein the wrist is provided at the tip of the arm so as to be able to be displaced by at least 180 ° around its axis. The base end of the arm can be angularly displaced about an axis perpendicular to a vertical plane including the wrist axis.

According to the present invention, a robot in which a plurality of arms are connected by a joint is provided with an angularly displaceable wrist at the distal end of the arm, and the base end of the arm is perpendicular to a vertical plane including the wrist axis. Since it can be angularly displaced around a suitable axis, a large operation range can be obtained in a small space.

Further, the present invention is characterized in that the first fork means of the gripping means is disposed on both sides of the wrist axis in a first gripping plane parallel to the wrist axis and spaced apart in a direction perpendicular to the wrist axis. A plurality of first fork members extending elongated along the first fork member; and a first connecting member provided at a base end of the first fork member and interconnecting the first fork members. , A second parallel to the first gripping surface
A plurality of second fork members which are arranged on both sides of the wrist axis at a distance perpendicular to the wrist axis in the gripping surface so as to face the first fork member and extend elongated along the wrist axis; A second connecting member provided at the base end and connecting the second fork members to each other.

According to the present invention, the first fork means having the first gripping surface parallel to the wrist axis comprises a plurality of elongated first fork members arranged at intervals in a direction perpendicular to the wrist axis, and a base member thereof. A first connecting member interconnecting the first fork members at the ends, and a second fork means having a second gripping surface parallel to the first gripping surface is disposed opposite the first fork member. Since it includes the second fork member and the second connecting member that connects the second fork member to each other, the object can be reliably held between the first fork means and the second fork means.

In the present invention, positioning means for positioning the position of the object at a predetermined receiving position is provided on a side of the receiving means on the side of the supply means, and the positioning means is provided on the side of the object supplying means. A positioning piece that abuts an end surface of the positioning piece at a predetermined receiving position to prevent the movement of the object, and a pair of columns that are erected at fixed positions on the floor with an interval therebetween to support the positioning piece, and that a gap between the columns is provided. And a column set to be longer than the length of the gripping means in a direction perpendicular to the wrist axis and shorter than the length of the object in the same direction.

According to the present invention, the gripping of the object gripped by the gripping means is released, and in this state, the gripping means is pulled out toward the supply means along a path passing between the columns, and the object is placed on the receiving means. At this time, since the movement of the object to be moved to the supply means side together with the gripping means can be prevented by the positioning piece disposed at the predetermined receiving position, the object can be accurately placed at the predetermined receiving position. it can.

According to the present invention, the gripping means is provided with positioning means for positioning the position of the object so as to be a predetermined receiving position, and the positioning means is provided at a predetermined receiving position with an end face of the object supplying means. A positioning piece that abuts at the position and prevents the movement of the object; and a moving means for moving the positioning piece, wherein the positioning piece is moved while the contact state between the positioning piece and the object is maintained at the receiving position of the object. Moving means for synchronously moving at the same speed in a direction opposite to the direction.

According to the present invention, when the gripping means releases the gripping of the object gripped by the gripping means and pulls the gripping means toward the supply means side and places the object on the receiving means, the gripping means is provided on the gripping means. The positioning piece of the positioning means comes into contact with the end face on the object supply means side at a predetermined receiving position, and the positioning piece moving means of the positioning means holds the positioning piece while holding the contact state at the receiving position between the positioning piece and the object. It moves synchronously at the same speed in the direction opposite to the pulling direction of
It is possible to prevent the movement of the object to be moved to the supply means together with the gripping means by the positioning piece,
The object can be accurately placed at a predetermined receiving position. Further, since the positioning means is provided on the gripping means, even if the length of the object in the direction perpendicular to the wrist axis is shorter than the length of the gripping means in the same direction, the movement of the object can be reliably prevented.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a simplified front view showing the structure of a reversing stacking apparatus 1 according to an embodiment of the present invention. The reversing and stacking device 1 is a device for alternately reversing and stacking the objects 3, and the objects 3 are, for example, front facing cardboard cases in which a plurality of sheets are bundled. The front cardboard case is a case having a printed front surface and a plain back surface. FIG. 2 is a simplified front view showing the configuration of a slip sheet machine 4 for manufacturing a front cardboard case, and FIG.
FIG. 4 is a view showing a manufacturing process of the front cardboard case. The reversing stacking device 1 is disposed on the exit side of the slip sheet machine 4. In the slip sheet machine 4, a front cardboard case is manufactured as follows.

(A) As shown in FIG. 4A, a paperboard 5 which is printed and mounted thereon, and a so-called single-stage cardboard case 6 in which paperboard is attached to one side of a corrugated paperboard are prepared. (B) The one-stage cardboard case 6 is sent from the lower part of the paper feeding unit 9 to the main body 10 of the interleaving machine, and the paperboard 5 on the surface is sent from the air feeder 11 to the main body 10 of the interleaving machine via the upper part of the paper feeding unit 9. The mounted paperboard 5 is overlaid on the upper part of the one-stage cardboard case 6. (C) In the slipping machine main body 10, as shown in FIG. 4 (2), the paperboard 5 mounted on the upper part of the one-stage cardboard case 6 is glued to form the two-stage cardboard case 7. (D) The two-stage corrugated cardboard cases 7 that have been glued are sent to the crimping conveyor 13 and crimped. Thereby, a front cardboard case is manufactured.

In the interleaf- ler 4, the front cardboard case further includes a fast-forward conveyor 14 and a separate conveyor 15;
Are supplied in this order in a bundle of a plurality of sheets, for example, in units of 50 sheets, and supplied to the reversing stacking apparatus 1. Since the outer cardboard case is glued to one side, as the glue dries, a downwardly convex arc-shaped warp occurs as shown in FIG. 4 (3). In the reversing stacking device 1, the bundle of the cardboard boxes on which the warp has occurred is alternately reversed and stacked. Thereby, the outer cardboard is loaded with its own weight so as not to be warped, so that a flat surfaced cardboard without warpage can be obtained.

The reversing stacking device 1 comprises a supply means 17 and
The receiving means 18, the gripping means 19, and the reversing and conveying means 20 are included. The supply unit 17 places a bundle of cardboard cases for mounting, which is the object 3 conveyed from the slipping machine 4 (hereinafter abbreviated as a work), at a predetermined take-out position, and supplies the bundle to the gripping unit 19 and the reversing conveyance unit 20. Supply.
The receiving means 18 is provided at an interval from the supply means 17, and stacks the works 3, which are alternately turned upside down, and places them at a predetermined receiving position. The gripping means 19 (hereinafter abbreviated as a hand) grips the workpiece 3 in the up-down direction.
The reverse transporting means 20 is realized by, for example, an articulated robot (hereinafter, simply referred to as a robot) in which a plurality of arms are connected by joints, and a hand 19 is attached to a wrist 21 provided at the tip of the arm of the robot 20. Is done. The robot 20 transports the work 3 and the hand 19 from the supply means 17 to the receiving means 18 and
Upside down.

FIG. 5 is a simplified front view showing the structure of the supply means 17 shown in FIG. 1, and FIG. 6 is a plan view of FIG. The supply means 17 is a supply table provided at a predetermined take-out position of the work 3, and includes a plurality of supply fork members 24 which are elongated in the transport direction 23 of the work 3.
Is provided. The supply fork members 24 are provided at equal intervals L1 in a direction parallel to each other and perpendicular to the transport direction 23. A plurality of rollers 2 are provided above the supply fork member 24.
5 are provided at intervals in the transport direction 23, and the roller 25 is rotatable about an axis extending in a direction perpendicular to the transport direction 23. The roller 25 forms a horizontal mounting surface. In another embodiment of the present invention, a drive belt may be provided instead of the plurality of rollers 25. The base end of each supply fork member 24 is fixed to the gantry 26 of the slip sheet machine 4, and the distal end of each supply fork member 24 protrudes from the gantry 26 downstream in the transport direction. Supply fork member 2
A stopper member 27 is provided at the distal end of 4.
Therefore, the tip of each supply fork member 24 exists in one virtual vertical plane perpendicular to the horizontal mounting surface.

A work detector 47 is provided on the gantry 26 near the base end of the supply fork member 24. The work detector 47 is realized by, for example, a photoelectric tube, and detects that the work 3 has passed, that is, detects that the work 3 exists at the removal position. In the present embodiment, the work 3
And the take-out direction of the work 3 are the same direction. The work 3 conveyed by the separate conveyor 15 of the slipping machine 4 advances on the roller 25 and hits the stopper member 27 and stops. Thus, the work 3 is placed on the roller 25 at a predetermined take-out position in a substantially horizontal state.

FIG. 7 is a simplified front view showing the structure of the hand 19 shown in FIG. 1, and FIG. 8 is a plan view of FIG.
The hand 19 is attached to the wrist 21 of the robot 20, and includes a first fork means 30 and a second fork means 31. The first fork means 30 has a first gripping surface 30a parallel to the axis J6 of the wrist 21 (hereinafter, referred to as the wrist axis J6), and extends elongated along the wrist axis J6 in the first gripping surface 30a. A plurality of first fork members 33 are provided.
The first fork members 33 are arranged on both sides of the wrist axis J6 in the first gripping surface 30a at equal intervals in a direction perpendicular to the wrist axis J6 and parallel to each other. The length L2 of the first fork member 33 in the direction perpendicular to the wrist axis J6 is equal to
Is set to be smaller than the interval L1 of the supply fork means 24.

The first fork member 33 is provided with a plurality of rollers 34, and the rollers 34 are rotatable about an axis extending in a direction perpendicular to the wrist axis J6. The roller 34 smoothly moves the work 3 along the wrist axis J6. At the base end of the first fork member 33,
A connecting member 35 is provided, and the first connecting member 35 connects the first fork members 33 to each other. A pair of support bars 36 extending in a direction perpendicular to the first holding surface 30a are provided upright on the first connecting member 35. The pair of support rods 36 are opposed to each other with the wrist axis J6 interposed therebetween and are provided at equal intervals from the wrist axis J6. The support bar 36 has a rectangular cross-section perpendicular to the axis, and a guide rail 36 a extending along the support bar 36 is laid on the surface opposite to the wrist 21. The cross section of the guide rail 36a perpendicular to the axis is substantially T-shaped. The first connecting member 35 is fixed to the wrist 21 via the connecting member 37.

The second fork means 31 is provided to face the first fork means 30, and has a second gripping surface 31a parallel to the first gripping surface 30a. The second fork means 31
A plurality of second fork members 38 extending elongated along the wrist axis J6 in the second gripping surface 31a are provided. The second fork members 38 are arranged at equal intervals in a direction perpendicular to the wrist axis line J6 in the second gripping surface and opposed to the first fork members 33 in parallel with each other. The length L3 of the second fork member 33 in the direction perpendicular to the wrist axis J6 is the first fork member 33
Is set smaller than the corresponding length L2. At the base end of the second fork member 38, a second connecting member 39 is provided, and the second connecting member 39 connects the second fork members 38 to each other.

On the surface of the second connecting member 39 on the wrist 21 side,
The guide member 40 is provided at a position facing the guide rail 36a. The guide member 40 extends in a direction perpendicular to the second grip surface 31a, and a guide groove 41 is formed on a surface facing the guide rail 36a. The guide groove 41 has a substantially T-shaped cross section perpendicular to the axis, and the guide groove 41 is slidably fitted to the guide rail 36a in a direction perpendicular to the first and second gripping surfaces 30a and 31a. . The connecting member 37 is provided with an air cylinder 43 serving as a grip driving means. The air cylinder 43 includes the first and second gripping surfaces 3.
Rod 43 which expands and contracts in a direction perpendicular to 0a and 31a
a, and the rod 43a is connected to the second
It is connected to the second connecting member 39 of the fork means 31. The connection arm 44 is provided at the center in the length direction of the second connection member 39. A soft protection member 45 is provided on a surface of the second fork member 38 facing the first fork member 33.

By retracting the rod 43a of the air cylinder 43, the workpiece 3 can be gripped by bringing the second fork member 38 close to the first fork member 33. When the first fork member 33 is extended, the second fork member 38 is connected to the first fork member 33.
To release the grip of the work 3. Further, since the second fork member 38 is provided with the protection member 45, the work 3 can be firmly gripped without flaws.

Referring again to FIG. 1, the robot 20, which is the reverse transport means, is, for example, a six-axis vertical articulated robot in which a plurality of arms are connected by joints. Robot 2
Reference numeral 0 denotes a base 49, a lower arm 50 and an upper arm 5 which are provided between the supply means 17 and the receiving means 18 and are fixed to the floor.
1 and a wrist 21. The lower arm 50 is attached to the base 49 so as to be rotatable about a first axis J1 whose lower end is vertical, and a second axis J that is horizontal (perpendicular to the plane of FIG. 1).
It is provided on the base 49 so as to be angularly displaceable around 2. The upper arm 51 attached to the upper end of the lower arm 50 is mounted so that its base end can be angularly displaced around a third axis J3 parallel to the second axis J2, and a fourth axis J4 perpendicular to the third axis J3. Mounted to be angularly displaceable around. Upper arm 5
The wrist 21 attached to the distal end of the first wrist 21 is angularly displaceable about a fifth axis J5 perpendicular to the fourth axis J4, and is at least 180 ° angular displaceable about a wrist axis J6 perpendicular to the fifth axis J5. Attached to The hand 19 is attached to the wrist 21 as described above.

FIG. 9 is a simplified front view showing the structure of the receiving means 18 shown in FIG. 1, and FIG. 10 is a plan view of FIG. 9 and 10 show the work 3 transported to a predetermined receiving position of the receiving means 18 and the gripping means 19 in a state where the gripping of the work 3 is released. The receiving means 18 includes a loading truck 53, a pallet 54 mounted on an upper portion thereof, and a positioning means 55. The loading cart 53 carries the pallet 54 to a predetermined receiving position, and unloads the works 3 stacked on the pallet. The pallet 54 has a horizontal mounting surface on the upper part, and stacks and mounts the alternately inverted works 3 at a receiving position.

The positioning means 55 is provided on the side of the pallet 54 on the side of the supply means 17 and includes a pair of positioning pieces 56.
And a pair of columns 5 supporting each positioning piece 56 respectively.
7 is included. The positioning piece 56 is a rod-like body that is elongated in the vertical direction, and has a rectangular cross-section perpendicular to the axis. The positioning position of the positioning piece 56 is set such that the end face of the workpiece 3 placed on the pallet 54 on the supply means 17 side and the end face of the positioning piece 56 on the pallet 54 contact at a predetermined receiving position.

A pair of struts 57 are fixed to the floor on the side of the supply means 17 side of the pallet 54 at the wrist axis J.
6 are erected at an interval in a direction perpendicular to 6. The interval between the pair of columns 57 is set to be longer than the length of the hand 19 in the direction perpendicular to the wrist axis J6 and shorter than the length of the work 3 in the same direction. More precisely, the interval between the pair of positioning pieces 56 is the wrist axis J6.
Is set so as to be shorter than the length of the work 3 in the direction perpendicular to.

FIG. 11 is a block diagram showing an electrical configuration of the reversing stacking apparatus 1 shown in FIG. The reverse stacking apparatus 1 further includes a processing circuit 46. The processing circuit 46
For example, it is realized by a microcomputer, and controls the operation of the reversing stacking device 1. The work detector 4
7 detects that the work 3 is present at the unloading position and derives a signal indicating the detection. The processing circuit 46 responds to the output of the work detector 47,
Nine air cylinders 43 are driven and controlled to alternately invert and stack the workpieces 3 as described later.

FIG. 12 is a flowchart for explaining the operation of the processing circuit 46 shown in FIG. 11, and FIG. 13 is a diagram showing the operation of stacking the works 3 upside down.
In step a1, an operation of gripping the work 3 at the removal position is performed. This operation is performed in a state in which the hand 19 is turned upside down as shown in FIG. 13A, that is, a state in which the first fork member 33 is disposed above the second fork member 38 (hereinafter, referred to as an inverted state). The work 3 is gripped between the first and second fork members 33 and 38.

In step a2, an operation of transporting the work 3 is performed. This operation is performed by moving the lower arm 50, the upper arm 51, and the wrist 21 to the second axis J2, the third axis J3, and the fourth axis J3.
This is performed by angular displacement around the axis J4 and the fifth axis J5. As a result, the work 3 gripped by the hand 19 is angularly displaced in the direction of the arrow 58 from the take-out position as shown in FIG. 13B, and is conveyed to the receiving position as shown in FIG. The work 3 and the hand 19 transported to the receiving position are turned upside down. Therefore, the first fork member 33 of the hand 19 is disposed below the second fork member 38. This state is hereinafter referred to as a non-inversion state. In step a3, an operation of stacking the works 3 is performed. That is, the operation of stacking the works 3 on the pallet 54 at the receiving position is performed. This operation is performed as follows after the grip of the work 3 is released, as shown in FIGS. 13 (c), 9 and 10.

FIG. 14 is a view showing the situation when the workpieces 3 are stacked in the receiving means 18, and FIG. 15 is a plan view of FIG. The operation of stacking the work 3 at the receiving position
This is performed by pulling the hand 19 in the direction of the arrow 59, that is, in the direction toward the supply means 17 away from the pallet 54, and dropping the work 3 downward. FIG.
Although the work 3 is shown as being directly dropped on the pallet 54, the same operation can be performed when the work 3 is present on the pallet 54. Hand 19
, The work 3 also moves with the hand 19. However, the movement of the work 3 is caused by the positioning pieces 5
6, the workpiece 3 can be accurately dropped and placed at a predetermined receiving position. Further, as described above, the distance between the columns 57 is longer than the length of the hand 19 in the direction perpendicular to the wrist axis J6, so that the hand 19 can be pulled out through the columns.

At step a4, the hand 19 is moved and inverted. FIG. 16 is a diagram showing the movement and reversal operation of the hand 19. As shown in FIG. 16D, the hand 19 pulled out is angularly displaced in the direction of the arrow 60 opposite to that of FIG. The hand 19 in this state is in an inverted state as shown in FIG. Further, the hand 19 in the inverted state is shown in FIG.
As shown in FIG. 6 (f), it is displaced by 180 ° around the wrist axis J6 and returned to the non-inverted state.

In step a5, an operation of gripping the work 3 to be stacked next is performed. 17 is a diagram showing a gripping operation of the work 3, FIG. 18 is a plan view of FIG. 17, and FIG. 19 is a diagram showing an operation of stacking the work 3 without inverting the work 3. In this operation, the first fork member 33 of the hand 19 in the non-inverted state is inserted between the supply fork members 24 of the supply means 17 as shown in FIG. As described above, the distance L1 between the supply fork members 24
Is a first fork member 33 in a direction perpendicular to the wrist axis J6.
Since the length is longer than the length L2, this operation can be performed without any trouble. Further, the second fork member 38 is driven so as to approach the first fork member 33. As a result, the first inserted between the supply fork members 24
Between the fork member 33 and the second fork member 38,
The work 3 is gripped as shown in FIG.

In step a6, an operation of reversing and transporting the work 3 is performed. In this operation, the hand 19 in the non-inverted state gripping the workpiece 3 is angularly displaced around the second axis J2 and the third axis J3 in the direction of the arrow 58 in the same direction as FIG. 13, and FIGS. As shown in (i), the wrist axis J6 is vertically displaced around the fifth axis J5 at an intermediate position on the side of the supply means 17 and further vertically displaced 180 ° around the wrist axis J6 in that state. Arrow 58
This is carried out in the procedure of angular displacement in the direction and transporting again to the receiving position as shown in FIG. As a result, the hand 19 is transported to the receiving position in the non-inverted state, so that the work 3 is transported to the receiving position in the same state as the unloading position, that is, without being inverted. Further, since the hand 19 is displaced by 180 ° around the wrist axis J6 with the wrist axis J6 being vertical, it is possible to reliably prevent the work 3 from dropping.

In step a7, the operation of stacking the works 3 is performed. This operation releases the gripping of the work 3 that is not inverted as shown in FIG.
15, the hand 19 is pulled in the direction of the arrow 59, that is, by pulling the hand 19 toward the supply means. As a result, the work 3 which is not inverted is shown in FIG.
As shown in (2), they are stacked on the work 3 placed on the pallet 54 in the already inverted state. Therefore, the workpieces 3 are alternately turned upside down and stacked at the receiving position.

In step a8, an operation of moving the hand 19 is performed. In this operation, the hand 19 is moved as shown in FIG.
As shown in FIG. 16 (d) and FIG. 16 (e), the angular displacement is performed in the direction of the arrow 60 to move toward the supply means side, and is maintained in an inverted state. That is, in this operation, 180 ° around the wrist axis J6 as shown in FIG.
Is not performed. After the operation in step a8 is completed, the process returns to step a1 again, and the workpiece 3 is gripped by the hand 19 in the inverted state as shown in FIG. 16 (e) as shown in FIG. 13 (a). Thereafter, the operation after step a2 is similarly repeated.

As described above, in this embodiment, the robot 20 is capable of displacing the hand 19 at least 180 ° around the wrist axis J6, and the second axis J2, the third axis J3, and the fourth axis J4. Since the angular displacement can be made around the axis J4 and the fifth axis J5, the workpieces 3 can be alternately turned upside down and stacked at the receiving position. Since the workpiece 3 can be transported by the angular displacement motion in this manner, the moving distance can be shortened as compared with the case where the workpiece 3 is transported in combination with the linear motion, and the work 3 can be efficiently inverted and stacked in a short time. It can be performed. Further, since the angular displacement about the wrist axis J6 can be simultaneously performed during the movement, the working time can be further reduced. Further, since the movement is angular displacement, a narrow space can be effectively used, and space can be saved. Further, if the turning motion is performed using the first axis J1, the take-out position and the receiving position of the work 3 can be freely selected.

FIG. 20 shows a gripping means 64 and a receiving means 65 of a reversing stacking device 63 according to another embodiment of the present invention.
FIG. 21 is a simplified front view showing the configuration of FIG.
FIG. Reverse stacking device 63 of the present embodiment
Are similar to the reversing and stacking apparatus 1 shown in FIG. 1, and corresponding parts are denoted by the same reference numerals. It should be noted that the receiving means 65 of the reversing stacking device 63 of the present embodiment is not provided with the positioning means 55 unlike the receiving means 18 of the reversing stacking device 1, and the positioning means corresponding to the positioning means 55 is provided. 66 is a gripping means (hereinafter referred to as a hand) 6
4 is provided. That is, receiving means 65
Is configured to include a loading truck 53 and a pallet 54, and the positioning piece 56 and the support column 57 are not provided.

The hand 64 is similar to the hand 19,
The difference is that the positioning means 66 is provided,
Also, the first and second fork members 33 and 38 at the longitudinal center positions of the second connecting members 35 and 39 are omitted. The positioning means 66 includes a positioning piece 67
And an air cylinder 68 as a moving means. The positioning means 67 exists in a vertical plane including the wrist axis J6.
The positioning piece 67 is disposed closer to the first fork member 33 than the first connecting member 35, and
It extends in a direction perpendicular to the grip surface 30a. The tip of the positioning piece 67 is moved from the first gripping surface 30a to the second fork member 38.
And the base end of the positioning piece 67 is fixed to a rod 68 a of the air cylinder 68. The positioning piece 67 is in contact with the end face of the work 3 on the supply means 17 side. Air cylinder 68
Is provided at the longitudinal center position of the first connecting member 35,
And the axis is in a vertical plane including the wrist axis J6,
It is parallel to the wrist axis J6 in that plane. The hand 64 is in a state in which the rod 68a of the air cylinder 68 is retracted most,
That is, the work 3 is gripped in a state where the positioning piece 67 is closest to the first connecting member 35.

The reversal stacking operation of the work 3 in the present embodiment is performed as follows. FIG. 22 is a view showing a situation when the workpieces 3 are stacked in the receiving means 65, and FIG. 23 is a plan view of FIG. When the hand 64 reaches the receiving means 65, the position of the hand 64 is adjusted so that the contact position between the positioning piece 67 and the end face on the supply means side of the work 3 becomes a predetermined receiving position as shown in FIGS. You. After adjusting the position of the hand 64, the hand 64 is pulled out in the direction of the arrow 59 toward the supply means 17 side. At this time, as shown in FIGS. 22 and 23, the rod 68 of the air cylinder 68 is synchronized with the withdrawal of the hand 64.
a extends in the direction opposite to the drawing direction 59 (arrow 69) at the same speed as the drawing speed. As a result, the hand 64 is pulled out while the contact position is kept at the same position, that is, while the end face of the work 3 on the supply means 17 side is kept at a predetermined receiving position.
It is possible to prevent the movement of the work 3 due to the drawing of the work 3, and the work 3 can be accurately stacked at the predetermined receiving position. Reverse stacking device 63 of the present embodiment
The other operations in are the same as the operations shown in FIG.

In this embodiment, since the positioning piece 67 is provided at the center of the hand 64 in the direction perpendicular to the wrist axis J6, the length of the workpiece 3 in the same direction is longer than the length of the hand 64 in the same direction. It is possible to reliably position the work 3 not only in the case but also in a short case. On the other hand, in the embodiment shown in FIG. 1, when the length of the work 3 in the same direction is shorter than the length of the hand 19 in the same direction, the movement of the work 3 is controlled by the positioning piece 56 attached to the support 57. Since it cannot be blocked, the applicable dimensional range of the work 3 is limited. The other configuration of the present embodiment is the same as the configuration of the embodiment shown in FIG. Further, the present embodiment can provide the same effects as the embodiment shown in FIG.

The constructions of the supplying means, the receiving means, the gripping means and the reversing and conveying means of the reversing stacking apparatus of the present invention are not limited to the constructions described above, but may be other constructions.

[0047]

As described above, according to the first aspect of the present invention, the object disposed at the take-out position on the horizontal mounting surface of the supply means is located between the first fork means and the second fork means. And angularly displaced about an axis parallel to the gripping surface and angularly displaced about a horizontal axis. by this,
The objects are turned upside down and transported from the supply means to the receiving means to be stacked. As described above, since the object can be moved by the angular displacement motion, the moving distance can be shortened as compared with the case where the object is moved in combination with the linear motion, and the reversal stacking work can be efficiently performed in a short time. Can be.

According to the second aspect of the present invention, there is provided a robot in which a plurality of arms are connected by joints.
The distal end of the arm is provided with an angularly displaceable wrist, and the base end of the arm is angularly displaceable about an axis perpendicular to a vertical plane including the wrist axis, so that a large operating range can be obtained in a small space. .

According to the third aspect of the present invention, the first fork means having the first grip surface parallel to the wrist axis,
A plurality of elongated first fork members arranged at intervals in a direction perpendicular to the wrist axis, and a first connecting member interconnecting the first fork members at a base end thereof, the first connecting member being parallel to the first gripping surface; The second fork means having a suitable second gripping surface is
Since the second fork member includes a second fork member arranged to face the fork member and a second connecting member for connecting the second fork member to each other, an object can be reliably held between the first fork means and the second fork means. Can be grasped.

According to the present invention, the object gripped by the gripping means is released from gripping, and in this state, the gripping means is pulled out toward the supply means along a path passing between the columns to receive the object. When placed on the means, the movement of the object to be moved to the supply means side together with the gripping means can be prevented by the positioning piece disposed at the predetermined receiving position, so that the object can be accurately positioned at the predetermined receiving position. Can be placed on

According to the fifth aspect of the present invention, when the gripping of the object gripped by the gripping means is released, and the gripping means is pulled out toward the supply means and the object is placed on the receiving means in that state. The positioning piece of the positioning means provided on the gripping means abuts on the end face on the object supply means side at a predetermined receiving position, and the moving means of the positioning means keeps the contact state between the positioning piece and the object, and the positioning piece Is moved at the same speed in the direction opposite to the pulling-out direction of the gripping means, so that the movement of the object to be moved to the supply means side together with the gripping means can be prevented by the positioning piece, and the object can be moved in advance. It can be accurately placed at a predetermined receiving position. Further, since the positioning means is provided on the gripping means, even if the length of the object in the direction perpendicular to the wrist axis is shorter than the length of the gripping means in the same direction, the movement of the object can be reliably prevented.

[Brief description of the drawings]

FIG. 1 is a simplified front view showing a configuration of a reversing stacking apparatus 1 according to an embodiment of the present invention.

FIG. 2 is a simplified front view showing a configuration of an interleaf- ler 4 for manufacturing a front cardboard case.

FIG. 3 is a plan view of FIG. 2;

FIG. 4 is a diagram showing a manufacturing process of the front cardboard case.

FIG. 5 is a front view showing a simplified configuration of a supply unit 17 shown in FIG. 1;

FIG. 6 is a plan view of FIG. 5;

FIG. 7 is a simplified front view showing a configuration of a hand 19 shown in FIG. 1;

FIG. 8 is a plan view of FIG. 7;

9 is a simplified front view showing a configuration of a receiving means 18 shown in FIG. 1. FIG.

FIG. 10 is a plan view of FIG. 9;

11 is a block diagram showing an electrical configuration of the reversing stacking device 1 shown in FIG.

FIG. 12 is a flowchart for explaining the operation of the processing circuit shown in FIG. 11;

FIG. 13 is a view showing an operation of stacking the works 3 by turning them upside down.

FIG. 14 is a diagram showing a situation when the workpieces 3 are stacked in the receiving means 18;

FIG. 15 is a plan view of FIG.

FIG. 16 is a diagram showing the movement and reversal operation of the hand 19;

FIG. 17 is a diagram illustrating a gripping operation of the work 3;

18 is a plan view of FIG.

FIG. 19 is a diagram illustrating an operation of stacking works 3 without turning them upside down.

FIG. 20 is a front view showing a simplified configuration of gripping means 64 and receiving means 65 of a reversing stacking device 63 according to another embodiment of the present invention.

21 is a plan view of FIG.

FIG. 22 is a diagram showing a state when the workpieces 3 are stacked in the receiving means 65.

FIG. 23 is a plan view of FIG. 22;

DESCRIPTION OF SYMBOLS 1,63 Reverse stacking device 3 Work 17 Supply means 18 Receiving means 19,64 Hand 20 Robot 21 Wrist 30 First fork means 31 Second fork means 33 First fork member 35 First connection member 37 Connection member 38 second fork member 39 second connection member 50 lower arm 51 upper arm 53 loading cart 54 pallet

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Sadami Deriba 1-1, Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries, Ltd. Inside Akashi Plant (72) Inventor Tadayoshi Seto 1-1, Kawasaki-cho, Akashi-shi, Hyogo F-term (reference) at Akashi Plant of Kawasaki Heavy Industries, Ltd.

Claims (5)

[Claims] (A) a plurality of supply fork members extending toward an object take-out side and provided at a distance from each other, and predetermined on a horizontal mounting surface formed by the supply fork members; Supply means for placing an object at the take-out position; and (b) a receiver arranged at a distance from the supply means, having a horizontal placement surface, and placing the object at a predetermined receiving position on the placement surface. (C) gripping means for gripping an object, the first fork means having a flat first gripping surface and capable of passing through a gap between the supply fork members; A second fork having a gripping surface and disposed opposite to the first fork; an object being gripped by bringing the first fork and the second fork close to each other; Grasping drive for releasing the gripping of the object by separating from the two fork means A gripping means comprising: a step; and (d) an angle about an axis parallel to the first and second gripping surfaces, with the gripping means mounted, interposed between the supply means and the receiving means, and about a transverse axis. A reversing transporting means for displacing and transporting the object from the supply means to the receiving means and reversing the object up and down. 2. The robot according to claim 1, wherein the reversing conveyance means is a robot having a plurality of arms connected by a joint, wherein the robot has a wrist provided at a tip end of the arm so as to be able to be displaced at least 180 ° around its axis. 2. The reversing stacking device according to claim 1, wherein a base end of the stacking device is capable of angular displacement about an axis perpendicular to a vertical plane including a wrist axis. 3. The first fork means of the gripping means is disposed on both sides of the wrist axis at a distance perpendicular to the wrist axis in a first gripping plane parallel to the wrist axis, and is elongated along the wrist axis. A plurality of first fork members extending; a first connecting member provided at a base end of the first fork member and connecting the first fork members to each other; A plurality of second fork members disposed opposite to the first fork member on both sides of the wrist axis and spaced apart in a direction perpendicular to the wrist axis in a second gripping surface parallel to the gripping surface and extending elongated along the wrist axis; The reverse stacking device according to claim 2, further comprising: a second connecting member provided at a base end of the second fork member and connecting the second fork members to each other. 4. The side of the receiving means on the supply means side,
Positioning means for positioning the position of the object so as to be a predetermined receiving position is provided, and the positioning means abuts on an end surface of the object on the side of the supply means at a predetermined receiving position to prevent movement of the object, A pair of struts that are erected at fixed positions on the floor with an interval therebetween and support the positioning piece, the interval between the struts being longer than the length of the gripping means in a direction perpendicular to the wrist axis,
And a support set to be shorter than the length of the object in the same direction.
The reversal stacking device according to any one of the above. 5. The gripping means is provided with positioning means for positioning an object at a predetermined receiving position, wherein the positioning means abuts on an end face of the object supplying means at a predetermined receiving position. A positioning piece for preventing the movement of the object; and a moving means for moving the positioning piece, wherein the positioning piece is opposed to the moving direction of the gripping means while maintaining the contact state between the positioning piece and the object at the receiving position of the object. 4. A reversing stacking device according to claim 1, further comprising: a moving unit that moves in the same direction at the same speed in synchronization.