JP2513952B2 - Vacuum lift for transferring plates - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vacuum lift for transferring a plate-like body for adsorbing and holding a plate-like body, particularly a glass plate, particularly a large-area glass plate, and suspending and transferring the plate-like body. Useful when tilting plates from a horizontal carrier such as a table onto a pallet (loading horse), or conversely when loading a plate that is tilted horizontally from a pallet onto a horizontal carrier. The present invention provides a vacuum lift for transferring a flat plate.

[0002]

2. Description of the Related Art Conventionally, as a transfer device for a large area plate, for example, a so-called large glass plate, a manual or semi-automatic operation is performed by simply combining a hoist crane and a vacuum lift. Also, various transfer devices have been proposed.

For example, Japanese Examined Patent Publication No. 40-14501 discloses a stacking hoist of a glass plate or a plate-like body, and a glass frame is adsorbed by descending a chuck frame having a large number of vacuum chucks from above. Then, the chuck frame lifting device should not operate until the inside of the vacuum chuck reaches a certain degree of vacuum, and after moving the lifting device, the chuck frame is rotated in the required direction to rotate the glass plate diagonally. There is disclosed a stacking device that operates by making full use of several motors and limit switches.

Further, for example, Japanese Patent Application Laid-Open No. 2-43143 discloses a plate material suction hand and a plate transfer apparatus using the plate material suction hand. The hand base attached to the robot arm and the hand base are separated from each other. A two-system suction member arranged, and a two-system drive lock means for independently advancing and retracting the two-system suction member and stopping at an appropriate position based on a predetermined stop signal, Alternatively, in addition to this, there is provided position detection means for detecting that the relative distance between the suction members of the two systems in the initial position and the plate material to be sucked reaches a reference set distance and driving the drive lock means. It is a thing.

Further, a large number of plate materials inclined on the pallet are sucked and held one by one and transferred to a predetermined set stage. The above-mentioned plate material suction hand and this plate material suction hand are appropriately moved. The robot main body is provided with a plate material suction hand, and a control means for driving and controlling the plate material suction hand and the robot main body.The control means temporarily positions the plate material suction hand at a standby position separated from the pallet area and then directs the plate material on the pallet. The plate body suction hand is gradually moved closer to the robot body or the robot body or the plate material suction hand position detecting means detects that the plate material suction hand has reached the reference set distance, and then the robot body is temporarily stopped. When the processing unit and the robot main body are temporarily stopped, the two-system drive lock means of the plate suction hand is driven to drive the two systems. Hold the plate material holding processing section that stops the operation of the drive lock means by sending a stop signal when the two members attract the plate material to be attracted and held by the two members. The plate material held by the plate material suction hand is adjusted to the normal position by moving the plate material held by the plate material suction hand to the initial position during that time, and then moved to the position corresponding to the set stage. When the plate material is positioned, the plate material transfer processing unit that releases the suction operation of the plate material suction hand and mounts the plate material on the set stage, and the robot body to the initial position after the plate material mounting operation on the set stage is completed. It is disclosed that a post-processing unit for returning to.

[0006]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention As described above, in the case where the hoist crane and the vacuum lift are simply combined, when the glass plate is transferred, a shake or a twist is likely to occur and is unstable, and For example, it is difficult to reliably carry out the traverse stop shift control or the horse control during loading. In addition, for example, in the plate hoist described in Japanese Patent Publication No. 40-14501, a large number of motors are required, and the equipment is inevitably large, heavy and complicated. When the glass plate is placed, for example, rubbing may occur on the lower side of the glass, and minute scratches may appear. Further, for example, JP-A-2-431
In the plate transfer apparatus using the plate material suction hand described in Japanese Patent Publication No. 43-43, the fixed robot body is basically related to the transfer of 90 °, and the hand body is also quite complicated. The drive control is not always easy.

[0007]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an inverter hoist portion and a bellows-shaped pantograph are combined together to adsorb and desorb a plate-shaped body. The vacuum lift main body that adjusts the holding angle is moved up and down with the former, and the latter is used so as to expand and contract smoothly following the vertical movement and to prevent swing and twist of the vacuum lift main body, and with the inverter hoist and vacuum. By providing the load cell part with the lift body part interposed, it is possible to instantly and accurately mount and desorb the plate-like body with a simpler structure, and without degrading quality such as damage. A plate-shaped body transfer that can automatically transfer a large area and a heavy glass plate with stability, reliability, high efficiency, and safety. It is to provide a use vacuum lift.

That is, according to the present invention, a ceiling transition section traversing a support rail, a suspension section provided with an inverter hoist section and a bellows-shaped pantograph attached to the transition section, and a suspension section on the lower side of the suspension section. In a vacuum lift for transferring a plate-like body composed of a suspended vacuum lift main body, in the corresponding same side of the bellows-shaped pantograph, the transitional part mounting location on the upper side and the vacuum lift main body mounting location on the lower side. , Provided with a linear guide that slides by the lifting operation,
Moreover, the pantograph is engaged with the vacuum lift body at a location different from the inverter hoist,
In addition, a load cell portion is interposed between the inverter hoist portion and the vacuum lift main body portion to hang it, and a plate-shaped body is provided with a control means for adsorbing and desorbing the plate-shaped body and drivingly controlling the respective parts. A vacuum lift for body transfer is provided.

Here, as described above, the inverter hoist portion fixed to the transition portion and the bellows-shaped pantograph are combined to form a suspension portion, and the vacuum lift body is attached to the pantograph and the inverter hoist portion. The parts are individually engaged because the mechanism for lifting and lowering and the mechanism for preventing swinging and twisting during lifting, shifting and placing are separate and have a simplified structure. This is because the prevention can be achieved as desired, and the two can be operated so as to work smoothly in cooperation with each other.

Further, of the mounting portion of the transitional portion on the upper side of the bellows-shaped pantograph and the mounting portion of the vacuum lift main body portion on the lower side, the ascending / descending operation is performed on the same side on the other side corresponding to the fixed side. The linear guide that is slid by is designed to move up and down freely and instantaneously with interlocking movements of the vacuum lift body due to the lifting and lowering operation of the inverter hoist. This is because.

Further, the reason why the load cell portion is interposed and hung between the inverter hoist portion and the vacuum lift body portion is that it is not affected by the thickness or size of a plate-like body such as a glass plate. This is because even if there is some misalignment, the load and mounting state can be detected reliably, the detection accuracy is high, and the cost is low, and the plate-like body is sucked by the suction / desorption pad of the vacuum lift body. Alternatively, a large number of sensors can be detected instantaneously and reliably by detecting the state of the load applied to the vacuum lift body by releasing it, that is, the load when the plate-like body is hung or the load is placed on the pallet when loaded. Can be installed without complicated selection control such as unnecessary and compact without modification of other devices, and can achieve the intended purpose. Door because there is such as it can be.

[0012]

As described above, the vacuum lift for transferring the plate-like object of the present invention is a suspending section in which the lifting and lowering inverter hoist section fixed to the ceiling transition section and the bellows-shaped pantograph are combined together, and the linear guide is used. It has a bellows-shaped pantograph that follows lifting and lowering, and the vacuum lift body is individually engaged with the pantograph and the inverter hoist section at the bottom of the hanging section, and the load cell is placed between the inverter hoist section and the vacuum lift body section. In addition to the structure in which the parts are interposed and hung, and the control means is provided to drive and control each of these departments, etc., the bellows-shaped pantograph smoothly follows when the plate-shaped body is moved up and down, and Even when the above-mentioned parts are driven, the vacuum lift main body, that is, the plate-shaped body It is possible to prevent the occurrence of twisting or twisting, and to suspend and plate the plate-shaped body or place the plate-shaped body on the ground instantly, reliably and accurately, without causing any damage or damage to the plate-shaped body. Smooth transfer operation can be automated without human labor, and it is possible to perform transfer work with high safety and efficiency, and simplify the device configuration. It is a useful vacuum lift for plate-like body transfer that can be widely adopted in.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be specifically described below based on the embodiments shown in the drawings. However, the present invention is not limited to the embodiment.

In FIG. 1, at the end of the air table for transportation, the load cell portion is partially incised in a state where the vacuum lift body is lowered to the position just before the adsorption / desorption pad of the vacuum lift body adsorbs the positioned glass plate. FIG. 2 is an overall front view of the vacuum lift for plate-like body transfer according to the present invention, showing a state, and FIG. 2 is a state in which the vacuum lift for plate-like body transfer according to the present invention sucks a glass plate from the state shown in FIG. After being lifted and half-inverted to a tilted posture closer to the vertical than the horizontal posture, and after moving in the horizontal direction, it reaches the traverse stop position on the pallet and shows a state just before placing the glass plate on the pallet, FIG. 3 is an overall front view of the vacuum lift for transferring plate-like objects according to the present invention. FIG. 3 is a bellows-shaped pantograph and a vacuum lift main body part in the vacuum lift for transferring plate-like objects according to the present invention. Engagement, and engagement of an inverter hoist unit and the vacuum lifting body portion interposed the load cell unit, and is a left side view of a partially enlarged showing an arrangement of the load cell unit with the indicator.

[0015] 1 in FIG. 1 is a plate-like body transfer for vacuum lift in accordance with the present invention, the vacuum lift 1 for placing transfer plate-like body ceiling transition portion 7 which traverses the support rail 11,
An inverter hoist portion 2 and a bellows-shaped pantograph 3 each having an upper side attached to the transition portion 7 are provided, and bellows-shaped pantographs 3 are provided at two positions apart from each other in the front and rear of the drawing so that the inverter hoist portion 2 is arranged in the central region thereof. And a vacuum lift for arranging a suspending portion which is provided in a separate location and a mounting portion 14 of the ceiling transition portion 7 on the upper side of the bellows-shaped pantograph 3 and a plurality of adsorption / desorption pads 6 on the lower side of the suspending portion. Of the lower attachment points 15 that engage with the body section 5, the fixed same-side points 14,
A linear guide 10 which is slid by an ascending / descending operation is provided at the other side of the same side corresponding to 15, and the bellows-shaped pantograph 3 is different from the engaging point 16 of the inverter hoist portion 2. Point 1
7 is engaged with the frame 13 extending from the vacuum lift main body 5, and the load cell 4 is interposed between the inverter hoist 2 and the vacuum lift main body 5 and suspended. The wire rope 12 of the inverter hoist unit 2 is in a state where the vacuum lift body 5 is lowered by the rotation of the motor until just before the glass plate 9 that has reached the end of the transport air table 8 is adsorbed by the adsorption / desorption pad 6. It is a thing.

Before the state shown in FIG. 2 is reached, the vacuum lift 1 for transferring a plate-shaped body according to the present invention is changed from the state shown in FIG.
Further, the motor of the inverter hoist unit 2 (not shown)
The wire rope 12 is lengthened by the rotation of the vacuum lift main body 5 until the adsorption / desorption pad 6 of the vacuum lift main body 5 comes in contact with the upper surface of the glass plate 9 and is stopped. Then, the vacuum lift body 5 is lifted by the rise of the inverter hoist unit 2 by the reverse rotation of the motor, and at the same time, the bellows-shaped pantograph 3 is also contracted and contracted, and the glass plate 9 is lifted from the air table. Then, the load value is instantly applied to the load cell section 4 to confirm the lifting of the glass plate 9, and halfway after the middle of the lifting, the glass plate 9 is half-inverted from the horizontal position to the tilted position close to the vertical position, and the inverter hoist is held. Stop raising Part 2. Then, the ceiling transition section 7 is moved laterally along the support rails 11, and for example, the pallet 1
With the first plate-shaped member placed on No. 8 serving as a reference, the support rail 11 has a thickness of about 20 depending on the plate thickness and the number of sheets to be loaded.
Proximity switches (not shown) are provided at about 8 positions at a pitch of mm, and are arranged as traverse stop positions. As a selection method for shifting the stop positions, when the traverse stop position on the pallet 18 is reached, the transfer is stopped.

In FIG. 2, the first traverse stop position (a reference point directly above the pallet) at which the vehicle is moved is stopped, and at the traverse stop position, the vacuum hoist portion 5 is moved in the inverter hoist portion 2 by the forward rotation of the motor. In the present invention, the bellows-shaped pantograph 3 is slid by the linear guide 10 and is extended at the same time as the first glass plate 9 is just placed on the pallet 18 while descending at a low speed. Vacuum lift for transferring such plate
1 is an overall front view of FIG. 1 , after which the vacuum lift body portion 5 is further lowered at a low speed to adjust the position by a small amount, and then the first glass plate 9 is placed on the pallet 18 and the load value of the load cell portion 4 is zero. After confirming that it has been placed, the adsorption / desorption pad 6 is released from the glass plate 9 to complete the placement. Thereafter, the inverter hoist portion 2 raises the vacuum lift body portion 5 at a low speed by the rotation of the motor, and at the same time, the bellows-shaped pantograph 3 also slides with the linear guide 10 to follow and contract. The ceiling transition part 7 starts to move toward a standby point which is a starting point on the air table 8, and the vacuum lift main body 5 is half-inverted and held from a tilted posture close to vertical to a horizontal posture, and at the standby point. The traverse low speed of the ceiling transition portion 7 is stopped, the vacuum lift main body portion 5 is lowered at a low speed by the inverter hoist portion 2 by the rotation of the motor, and at the same time, the bellows-shaped pantograph 3
Also slides with the linear guide 10 to follow and extend, and the low speed descent is stopped at the standby position of the vacuum lift body 5 to complete the origin standby return.

Further, for the second and subsequent sheets, in principle, the above-mentioned transfer operation is repeated, and the plate-shaped body is sucked by the suction / desorption pad of the vacuum lift, and the plate-shaped body is sucked. When the horizontal state is changed from the horizontal state to the vertical state, the acting force for returning to the horizontal state tends to increase as the plate thickness of the plate body increases, and the plate body to be loaded while selecting and confirming the traverse stop position. And the upper edge of the plate-shaped body already loaded is set to a gap of, for example, about 20 to 40 mm, while the lower edge of the loaded plate-shaped body is appropriately spaced from the floor cross section of the pallet, and the plate-shaped The extension angle of the lower edge of the body is set to the inclination angle of the plate-shaped body so that it is the lower edge of the plate-shaped body already loaded, and then the lower edge of the plate-shaped body has already arrived at the floor cross section. It touches the lower edge of the loaded plates And the gap is 10~20mm
It is more preferable to release the adsorption / desorption pad at this point to complete the placement of the plate-shaped body on the pallet. For the second and subsequent sheets, the paper feeder 1
The interleaving paper is automatically supplied so as to cover almost the entire front surface of the placed glass plate 9 each time from 9.

FIG. 3 shows the engagement 15 between the bellows-shaped pantograph 3 and the vacuum lift main body 5, the inverter hoist portion 2 and the vacuum lift main body 5 in the vacuum lift 1 for transferring the plate-like body according to the present invention. FIG. 4 is a partially enlarged left side view showing in order to further clarify the engagement 16 with the load cell portion 4 interposed and the arrangement of the load cell portion 4 and the indicator 20, and the load cell portion 4 and the indicator 20 are It is separated and connected via a lead wire 21. Needless to say, the control means for controlling the driving operation of each part can automatically perform the operation, or can perform the semi-automatic operation or the manual operation by switching.

[0020]

As described above, according to the present invention, a transverse ceiling transition section, an elevator hoist section for advancing and descending, and a hanging section made of a bellows-shaped pantograph that follows the elevating and lowering, and the hanging section are provided. The vacuum lift body is individually engaged with the pantograph and the inverter hoist section on the lower side, and a linear guide is provided at the same mounting position on the upper and lower sides of the bellows-shaped pantograph, and the inverter hoist section hangs with the load cell section interposed. By skillfully deploying the vacuum lift body and the control means to drive and control each of these parts,
Plates, especially glass plates, especially large-area and heavy-weight glass plates, can be placed instantly, reliably and accurately without causing shake or twist, and scratches on the plate There is no occurrence of damage, damage, etc., and it can be automated with a smooth moving and placing operation without troublesome human beings, highly safe and highly efficient transfer operation can be performed, and the device configuration can be simplified. It is intended to provide a useful vacuum lift for transferring a plate-like body that can be widely adopted in.

[Brief description of drawings]

FIG. 1 is a plate-like body transfer according to the present invention showing a state in which a part of a load cell is incised at the end of a transport air table, just before a suction / desorption pad of a vacuum lift body is adsorbed to a glass plate. The whole front view of the mounting vacuum lift.

FIG. 2 is a view showing a state in which a glass plate is hung in a tilted posture close to vertical in the sky above a pallet, reaches a traverse stop position on the pallet, and is about to be placed on the pallet; The whole front view of the vacuum lift for the plate-like body transfer which concerns.

FIG. 3 is a view showing engagement between a bellows-shaped pantograph and a vacuum lift main body, and an engagement between an inverter hoist portion and a vacuum lift main body with a load cell portion interposed therebetween in a vacuum lift for transferring a plate-like body according to the present invention. And a partially enlarged left side view showing the arrangement of the load cell unit and the indicator.

[Explanation of reference signs] 1 Vacuum lift for transferring plate-like object 2 Inverter hoist part 3 Bellows pantograph 4 Load cell part 5 Vacuum lift body part 6 Adsorption / desorption pad 7 Ceiling transfer part 8 Air table 9 Glass plate 18 Pallet

Claims (1)

(57) [Claims] 1. A ceiling transition section traversing a support rail, a suspension section provided with an inverter hoist section and a bellows-shaped pantograph attached to the transition section, and a vacuum suspended on a lower side of the suspension section. In a vacuum lift for transferring a plate-like body composed of a lift main body part, by the ascending / descending operation to the same side corresponding to the transition part mounting part on the upper side of the bellows-shaped pantograph and the vacuum lift main body part mounting part on the lower side. A linear guide adapted to slide is provided, and the pantograph is engaged with the vacuum lift main body at a location different from the inverter hoist portion, and the load cell is provided between the inverter hoist portion and the vacuum lift main body. It is suspended with the interposition of a part, and at the same time A vacuum lift for transferring a plate-like body, comprising a control means for controlling the drive operation of each part.