JP2021172473A - Transfer/transport apparatus - Google Patents

Abstract

To provide a transfer/transport apparatus capable of efficiently transferring and transporting a bundle of flat objects.SOLUTION: A transfer/transport apparatus 1 comprises a first conveyor unit 210 that transports a carton bundle B in a stack direction, two chuck units 112 that are put under the carton bundle B and clamp and raise ends of an extended wrapper band O respectively, and load it on the first conveyor unit 210 so as to position upstream of the immediate neighborhood of the most upstream carton K of a last loaded bundle while directing the stack direction of the carton bundle B in a transport direction, a control unit 120 that releases a downstream-sided chuck unit 112 immediately after loading and controls an upstream-sided chuck unit 112 to pull out the wrapper band O from upstream side of the bundle, and a regulation body that regulates the most upstream carton K from moving in a pull-out direction during pulling out and after a release from regulation, prevents the relevant carton K from falling toward upstream.SELECTED DRAWING: Figure 4

Description

The present invention relates to a transfer transfer device for transferring a bundle of flat objects such as an undeveloped paper box that has been laid on its side from the original storage place to a conveyor and then transferring the flat objects to a deployment mechanism or the like. The present invention relates to a transfer transfer device that can sequentially add bundles without lying down on the upstream side.

Conventionally, in a boxing line or a box-making line, the four side surfaces are effectively crushed into two front and back surfaces before being developed into a square cylinder. Specifically, the undeveloped flat paper boxes are bundled in a flat direction, and are delivered in a corrugated cardboard box in a state of being stored in a plurality of bundles, for example, two rows. At this time, a band-wrapped cardboard, that is, a band-shaped cardboard having a predetermined width is wrapped around the bundle so that it can be easily taken out as a bundle. It is location.

However, the conventional technique has the following problems.
There is a problem that the supply of the bundle to the transfer device is not efficient to be performed manually because there is a certain amount of time between the supply and the supply.
In addition, on the transfer device, there is a prevention plate so that the end of the bundle placed last time does not fall toward you, and it is necessary to reinsert and remove it every time to add a new bundle, which is also a problem from the viewpoint of work efficiency. Was there.

JP-A-2017-20830 JP 2016-036905 JP 2015-199525

The present invention has been made in view of the above, and an object of the present invention is to make it possible to efficiently transfer and transfer a bundle of flat objects.

The transfer transfer device according to claim 1 is a bundle of undeveloped paper boxes stacked horizontally with the crushed direction facing horizontally, and other flat objects stacked in the thin direction horizontally. A group of flat objects in which the bundle is placed in a transfer transfer device that is a bundle and is applied from below in the relevant direction and at both ends of the bundle allows the bundle to move in the air via a band extending upward. The first endless conveyor that transfers the stacking direction and the end of the strip are sandwiched, and the bundle is lifted from the storage area and moved so that the stacking direction is the transfer direction, and the poorest in the transfer direction. Two holding means to be placed on the first endless conveyor so that the flat object in the above position is located on the first endless conveyor so that the flat object in the above position is located at the nearest best position of the bundle placed last time, and the bundle is placed on the first endless conveyor. Immediately after, the lower holding means is released, and the control means for controlling the upper holding means to pull out the band from the upper side of the bundle and the movement in the pulling direction of the flat object which is the best when the control means pulls out. The feature is that the flat object is provided with a regulator that does not cause the flat object to fall to the upper side after the regulation is released.

That is, in the invention according to claim 1, the entire bundle is transferred by using a band winding that bundles flat objects, and the bundle is butted against the already placed bundle so as not to fall toward the front (upper side). , It is possible to replenish with virtually no gap.

The group of flat objects is a set of flat objects in a row including not only the bundle of flat objects placed this time but also the flat objects placed up to the previous time. In principle, flat objects shall have the same shape.
In addition to simply pinching and picking up the band from above, pinching means holding the bundle through the band, such as by pinching it from the side, or by rotating the shaft from the side and winding it up to increase the locking force. It is not particularly limited as long as it can be lifted.
The storage place is the place where the bundle is placed before the transfer. For example, when two bundles of undeveloped paper boxes are stored in two rows in a cardboard box, the place where the cardboard box is placed corresponds to this.
It can be said that the poor side is the downstream side and the good side is the upstream side.
The pulling direction when pulling out from the upper side is the direction opposite to the transfer direction. However, it does not prevent it from being pulled out diagonally upward.
Release refers to a state in which the regulator loses contact with a flat object. In addition, not causing the lodging to the upper side means that the group of flat objects is in a state of standing upright or leaning on the lower side. It is assumed that the flat object at the bottom (top) of the endless conveyor is held in a predetermined posture for the next processing such as feeding.

The transfer transfer device according to claim 2 is the transfer transfer device according to claim 1, wherein the regulator is a lower holding means, and the control means releases the lower holding means and then the holding means. It is characterized in that it wraps around well and controls the application to the flat object which is the best.

That is, in the invention according to claim 2, a pinching means capable of complex movements that can be pinched or transferred can be used as a regulator.

The transfer transfer device according to claim 3 is the transfer transfer device according to claim 1 or 2, which connects to the first endless conveyor in the same transfer direction, takes over a flat object, and transfers the flat object downstream. It is characterized in that the transfer speed of the first endless conveyor is faster than the transfer speed of the second endless conveyor.

That is, the invention according to claim 3 is in a state where a force is always applied to the traveling direction side so that the flat object does not fall down to the good side, whereby the replenishment without a gap is performed when the bundle is placed next time. It will be possible.

If the speed difference is large, the lower side (lower surface) of the flat object is pushed in depending on the friction coefficient of the conveyor and the swelling or contraction of the flat object, and the flat object tends to fall down on the better side. Therefore, the speed difference should be such that the actual standing state is maintained.
The first endless conveyor and the second endless conveyor may have an intersection where a flat object is on both conveyors. Further, in any of the conveyors, a plurality of conveyors may be arranged in parallel.

The transfer transfer device according to claim 4 extends along the left and right sides of the transfer direction of the first endless conveyor in the transfer transfer device according to claim 1, 2, or 3, and the first endless conveyor is extended by a holding means. The temporary body for temporarily placing the bundle placed on the conveyor and the temporary body are made to stand by at a position higher than the mounting surface of the first endless conveyor, and are lower than the mounting surface after the band is pulled out. It is characterized by being provided with an elevating means for lowering to a position.

That is, the invention according to claim 4 can pull out the band without interfering with the flat object, does not cause posture collapse, and realizes more stable transfer and transfer.

The temporary body may be, for example, two parallel round bars, but it goes without saying that the temporary body may be a temporary body having a certain width.
Left and right in the transfer direction means parallel to the transfer direction and on both sides of the conveyor. When there are a plurality of conveyors (belts), the left and right means the left and right with respect to the center line of transfer (≈ the center line of stacking bundles or the line penetrating the center of gravity of each carton K). There may be three or more temporary bodies.
The control means may control the elevating timing or order of the elevating means. In any case, the band should be pulled out before the temporary body descends.

According to the present invention, a bundle of flat objects can be efficiently transferred and transferred.

It is a schematic plan view of a transfer transfer device. It is a top view a and a side view b when a carton bundle is taken out from a cardboard box. It is a plan view a which showed the outline of the transfer part, and the side view b which showed the state of raising and lowering a temporary stand. It is a side view which showed the state of the transfer and the extraction of the strip.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Here, an example of handling a bundle of crushed paper boxes in which the two side portions having four side surfaces are one side and the other two side portions are opposite surfaces before being developed into a square cylinder will be described. Hereinafter, the paper box will be referred to as carton K, and the bundle thereof will be referred to as carton bundle B as appropriate. Since the crushed carton K is thin, it is counted as one or two, and here, it is assumed that 300 carton K are bundled with the strip O.

FIG. 1 is a schematic plan view of the transfer transfer device of the present invention. FIG. 2 is a plan view a and a side view b when the carton bundle is taken out from the cardboard box. FIG. 3 is a plan view a showing an outline of the transfer unit and a side view b showing a state of raising and lowering the temporary stand. FIG. 4 is a side view showing a state of transfer and removal of the strip. For convenience of explanation, only the main components are drawn.

The transfer transfer device 1 mainly includes a transfer unit 100 and a transfer unit 200.
The transfer unit 100 lifts and moves the carton bundle B from the first storage place, and transfers the carton bundle B to the transfer unit 200 so as to be connected to the previously placed carton bundle (so as to be connected as it is).
The transfer unit 200 takes on the carton bundle B from the transfer unit 100, translates the group of carton K at a predetermined speed, and supplies the carton K one by one to the downstream deployment mechanism (not shown).

In addition, 300 cartons K are stacked in the crushed direction, and the strip O is wound in a state where the stacking direction is laid down, and the carton K is stored in two rows (two bundles) in the corrugated cardboard box D. When the transfer unit 100 lifts the carton bundle B, it is assumed that the lid of the corrugated cardboard box D is opened and the tongue pieces OZ at both ends of the band paper O are extended upward. That is, it is assumed that the strip O passes under the carton bundle B and the tongue piece OZ extends upward.

Next, the transfer unit 100 and the transfer unit 200 will be described in detail.
The transfer unit 100 has two robot arms 110, each of which includes an arm unit 111 and a chuck unit 112 attached to the tip of the arm unit 111. The arm portion 111 is an articulated robot, and can freely control the position and orientation of the chuck portion 112 at the tip.
The chuck portion 112 is composed of two opposing flat plates 113, can be opened and closed, and is particularly suitable for tightly sandwiching a thin object such as a tongue piece OZ. There is. The flat plate 113 is covered with a rubber member having a high coefficient of friction, which substantially enhances the holding strength.

The transfer unit 100 also has a control unit 120 that controls the drive of the robot arm 110. The control is as follows. First, the arm portion 111 is controlled to bring the chuck portion 112 closer to the carton bundle B, the chuck portions 112 are opened, and the chuck portion 112 is lowered toward each tongue piece OZ from above. When it reaches a predetermined depth, the chuck portion 112 is closed to sandwich the two tongue pieces OZ. The arm portion 111 is controlled and raised with the chuck portion 112 directed in the vertical direction as it is, and the carton bundle B is pulled out from the cardboard box D.
The carton bundle B is placed on the transfer unit 200 so as to be connected to the carton bundle previously placed. After mounting, the chuck portion 112 on the lower transfer side of the transfer portion 200 is opened to release the tongue piece OZ, and the chuck portion 112 is further wrapped around to the upper side and applied so as to come into contact with the best carton K. NS. Next, the other side, that is, the chuck portion 112 on the upper side is controlled to pull out the strip O. The pulled-out chuck portion 112 is also opened, and the arm portion 111 is made to stand by near the storage place of the carton bundle B, which is the standby position, in order to transfer the next carton bundle B.

Two bundles of carton bundles B are housed in the cardboard box D, and the positions of the tongue pieces OZ to be picked up differ between the first bundle and the second bundle. Further, since the strip O is made of cardboard or the like and is flexible, and the tongue piece OZ is an open end, the position is not fixed. Therefore, the transfer unit 100 is appropriately provided with a sensor (not shown), and the control unit 120 grasps the proper set of the tongue piece OZ and the upward state of the tongue piece OZ at the time of pickup and chucks. The unit 112 and the like are controlled.

Further, the application of the chuck portion 112 to the carton K and the pulling out of the strip O are conditioned on the condition that the carton K on the good side does not fall down to the good side at the end of the application. This is done by appropriately adjusting the angle of application to the carton K, the pushing depth, and the pulling speed and pulling angle of the strip O.
In addition, the group of Carton K that was on the front is basically in a aligned posture that is standing straight or slightly leaning (leaning) on the lower side, and is not leaning on the better side, so it is moved. The mounting portion 100 can add the carton bundle B as it is without performing a special standing process.
Further, the added carton bundle B is still in an upright posture or leaning against the lower side even after the strip O is pulled out, so that the added carton bundle B is added every time from the transfer portion 100. Achieves simplification of the joining process (no pre-judgment such as standing process is required).

The transfer unit 200 includes a first conveyor unit 210, a second conveyor unit 220, and a lifter unit 230.
The first conveyor unit 210 includes a pair of endless band belts 211 having the same predetermined width, a drive roller 212 for rotating the band belt 211, and a driven roller 213 which is driven by the drive roller 212 via the band belt 211. And have.
The drive roller 212 and the driven roller 213 are arranged in parallel with each other, and both belt belts 211 are stretched with a predetermined tension. The height of the belt is the same (equal to the same). The spacing between the band belts 211 is set so as not to interfere with the band paper O.
The carton bundle B from the transfer portion 100 is temporarily placed on the lifter portion 230 at a position slightly higher than the belt belt 211, but the carton bundle is placed on the belt belt 211 as it is due to its lowering. It becomes. The carton bundle B is placed in a direction in which the stacking direction (flat direction of the carton K) is the traveling direction of the belt belt 211.

The second conveyor unit 220 includes a set of three sets of the same endless band belt 221 having a predetermined width, a drive roller 222 for rotating the band belt 221 and a driven roller 223 that follows the drive roller 222 via the band belt 221. And have.
The drive roller 222 and the driven roller 223 are arranged in parallel with each other, and all three belt belts 221 are stretched with a predetermined tension. The height of the belt is the same as that of the belt belt 211 (equal to the same surface). Further, the band belt 221 is arranged alternately with the band belt 211 and has a common portion in the transfer direction. This is to smoothly undertake the group of cartons K with the first conveyor unit 210.

Here, the transfer speed v1 of the band belt 211 by the drive roller 212 and the transfer speed v2 of the band belt 221 by the drive roller 222 are set to v1> v2, and the carton K on the band belt 211 is from behind, that is, the first conveyor section. It is pushed from the 210 side. As a result, a leaning posture toward the front side (lower side) of the carton K is formed, and the leaning posture of the entire group of carton K is always maintained not only when the carton bundle B is transferred to the first conveyor portion 210. It will be. However, when v2> v1, the slippage on the first conveyor section 210 is particularly remarkable, which in turn induces a backward fall, so the speed difference is set to an appropriate level.

The lifter portion 230 has three temporary storage bases 231 arranged between the two belt belts 211 and on the left and right sides having a flat upper surface, and an elevating part 232 for raising and lowering the temporary placement base 231.
The temporary stand 231 is longer than the carton bundle B and is arranged so as to abut against the three belt belts 221. The carton bundle B from the transfer unit 100 is transferred to the temporary storage table 231.
The elevating part 232 raises and lowers all at once by matching the heights of the three temporary standing tables 231. First, the elevating part 232 is made to stand by at a position slightly higher than the belt belt 211. As a result, a gap is created between the carton bundle B and the band belt 211, and the control unit 120 immediately after mounting facilitates the pulling out of the band paper O. That is, it is possible to avoid interference in which the carton K is tilted to the pulling side, that is, to the better side at the time of pulling out.
After pulling out, the elevating part 232 sets the temporary stand 231 at a position lower than the belt belt 211. As a result, the transfer of the carton bundle B starts.

As described above, in the transfer transfer device 1 of the present invention, the carton bundle B is taken out from the delivered state as it is by using the strip O and transferred, and the carton K is sequentially leaned forward while maintaining the leaning posture. It can be easily added and supplied downstream.

According to the present invention, the transfer target is not limited to a carton, but may be a bundle of flat objects, and can be used, for example, as a transfer transfer device for a coaster. It may be an electronic board or the like.

1 Transfer transfer device 100 Transfer section 110 Robot arm 111 Arm section 112 Chuck section 113 Flat plate body 120 Control section 200 Transfer section 210 First conveyor section 211 Band belt 212 Drive roller 220 Second conveyor section 221 Band belt 222 Drive roller 230 Lifter part 231 Temporary stand 232 Lifting part B Carton bundle D Cardboard box K Carton O Belt paper OZ Tongue piece

Claims (4)

A bundle of undeveloped paper boxes stacked horizontally with the crushed direction facing horizontally, and other bundles of flat objects stacked horizontally with the thin direction facing horizontally, and applied from below in that direction. In a transfer transfer device that enables the bundle to move in the air via an upwardly extending band at both ends of the bundle.
The first endless conveyor on which the bundle is placed and the group of flat objects is transferred in the stacking direction,
Hold each end of the band, lift the bundle from the storage area, move it so that the stacking direction is the transfer direction, and the flat object at the bottom of the transfer direction is the most of the bundle that was placed last time. Two pinching means to be placed on the first endless conveyor so as to be located in the immediate vicinity of a well-made flat object,
Immediately after placing the bundle on the first endless conveyor, the lower holding means is released, and the upper holding means is controlled to pull out the band from the upper side of the bundle.
A regulator that regulates the movement of the flat object in the pulling direction, which is the best when pulling out by the control means, and does not cause the flat object to fall down to the upper side after the regulation is released.
A transfer transfer device characterized by being equipped with. The regulator is a poor pinch,
The transfer transfer device according to claim 1, wherein the control means releases the lower holding means, then wraps around the holding means well, and controls the flat object which is the best. It is equipped with a second endless conveyor that connects to the first endless conveyor in the same transfer direction, takes over flat objects, and transfers them downstream.
The transfer transfer device according to claim 1 or 2, wherein the transfer speed of the first endless conveyor is made faster than the transfer speed of the second endless conveyor. A temporary body that extends along the left and right in the transfer direction of the first endless conveyor and temporarily places a bundle that is placed on the first endless conveyor by a holding means.
An elevating means that allows the temporary body to stand by at a position higher than the mounting surface of the first endless conveyor, and then lowers the temporary body to a position lower than the mounting surface after the strip is pulled out.
The transfer transfer device according to claim 1, 2, or 3, wherein the transfer transfer device is provided.

Images