JP2772536B2 - Loading / unloading device for sheet-like members - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for picking up a sheet-like member such as a rubber sheet placed on a flat surface and conveying it to a required place.

2. Description of the Related Art In general, it is difficult to pick up a thin sheet placed on a flat surface by a machine. For example, in a tire molding process, an operation of transferring a tread placed on a booking cart to a tread server has been performed manually.

Problems to be Solved Therefore, in a series of operations involving the transfer of the sheet-like members, it is difficult to completely automate the operations, and it requires labor on the way, so that production efficiency cannot be improved and the burden on the operator is large.

In addition, there is a method of sucking and picking up the sheet by vacuum, but if a soft material such as a thin rubber sheet is sucked and lifted, the peripheral part of the sheet falls down and a gap is formed in the sucked portion due to the deformation, and the gap once formed Since the vacuum is not maintained, the suction force may be lost and the rubber sheet may be dropped.

In addition, the use is extremely limited because the use is not made unless the surface of the sheet is smooth.

Further, when an adhesive sheet is placed on a smooth surface, there is a drawback such that an extremely large suction force is required to lift the sheet by suction.

Means for Solving the Problems and Action The present invention has been made in view of the above point, and an object thereof is to provide a loading / unloading device capable of automatically transferring a sheet-like member.

That is, the present invention provides an insertion plate that enters a lower surface of a sheet-shaped member placed on a stacking plate and raises a side, and a support plate that projects to a lower surface of the sheet-shaped member whose side is raised and supports the sheet-shaped member. Holding means having a pressing member for pressing the sheet-like member from above when the insertion plate enters the lower surface of the sheet-like member, elevating means for vertically moving the holding means, and moving the holding means back and forth. A longitudinal movement means for moving, and a control means for controlling the drive of the elevating means and the longitudinal movement means,
The control means controls the lowering of the holding means to bring the leading end of the insertion plate into contact with the loading plate at an angle, and advances the holding means to insert the insertion plate into the lower surface of the sheet-like member. This is an apparatus for loading and unloading sheet-shaped members.

The holding means has an insertion plate, a support plate, and a pressing member and moves integrally. The holding means is lowered to bring the leading end of the insertion plate into contact with the loading plate at an angle, and the holding means is advanced. The insertion plate is inserted into the lower surface of the sheet-shaped member. At this time, the insertion rate is securely inserted by pressing the sheet-shaped member with the pressing member, and the supporting plate is projected from the lower surface of the insertion plate and supported from below via the insertion plate to hold the holding means. Can reliably pick up the sheet-like member and scoop up the sheet-like member so that the sheet-like member can be picked up and moved to another place.

Therefore, the sheet-like member can be efficiently sandwiched and loaded with a simple structure with a small number of members to perform the work.

Since the transfer of the sheet-like members can be automatically performed, the burden on the operator can be reduced, and the efficiency of a series of operations can be improved.

Reliable transfer is possible regardless of the type and properties of the sheet-like member.

Further, the insertion plate has a flexibility in which a tip is bent along an upper surface of the loading plate, and the tip of the insertion plate is an upper surface of the loading plate. , And is reliably inserted into the lower surface of the sheet-shaped member, so that the sheet-shaped member can be more reliably prevented from being damaged.

Furthermore, the said support plate slides along the lower surface of the said insertion plate, The loading / unloading apparatus of the sheet-like member of Claim 1 or 2 enables a support plate to smoothly fall below a sheet-like member. You can get in.

Further, the apparatus for loading and unloading sheet-like members according to claim 1, further comprising a rotating means for rotating the holding means around a horizontal direction as a central axis, whereby the posture of the holding means can be controlled, and the insertion angle can be reduced. Can be adjusted properly.

Embodiment An embodiment according to the present invention shown in FIGS. 1 to 22 will be described below.

1 to 3 are an overall plan view, side view and front view of the loading / unloading device according to the present embodiment.

A horizontal support member 4 is fixed to the upper end of the left and right integrated pillar 3 planted on the floor 2 so as to be oriented in the front-rear horizontal direction in a T-shape, and the horizontal support member 4 is reinforced and supported by a reinforcing material 5. ing.

A connecting member 6 is erected between the parallel horizontal support members 4 at front and rear positions, and a traveling support member 7 is erected and supported so as to be able to travel in the front and rear direction.

At both end portions of the traveling support member 7 inside the horizontal support member 4, a pair of lifting arms 8 suspended vertically and vertically movable in the vertical direction are provided symmetrically.
A turning beam 9 is provided between the lower ends of the turning beams 9 so as to be directed in the left-right horizontal direction and turn about the left-right horizontal axis.

On the rotating beam 9, three holding devices 10 are arranged side by side.

The schematic configuration of the loading / unloading device 1 is as described above.
The holding devices 10 move back and forth as the traveling support member 7 travels, and move up and down as the lifting arm 8 moves up and down.
Turns.

Between the left and right horizontal support members 4, a booking trolley 11 stops at a position forward of the columns 3, and a roller conveyor 12 is laid below the horizontal support members 4 at a position behind the columns 3.

Therefore, the sheet-like tread member 13 loaded on the booking cart 11 is carried to a predetermined position of the main loading / unloading device 1, and is picked up one by one by the holding device 10 which can be moved up and down and up and down as described above. It is transported and lowered onto the roller conveyor 12 behind.

 The loading / unloading apparatus 1 automatically performs the above steps.

 Hereinafter, the drive mechanism of each member will be described in detail.

First, the traveling mechanism of the traveling support member 7 in the front-rear direction will be described with reference to FIGS.

FIGS. 4 and 5 are partially omitted plan views showing a drive mechanism disposed on one of the left and right horizontal support members 4 of the horizontal support member 4 which is a long member having an H-shaped cross section. FIG. 4 is a side view, in which the horizontal support member 4 has a portion 4 a extending forward from the other horizontal support member 4, and a servo motor 21 and a speed reducer 22 are fixed on an upper surface of the portion 4 a via a fixing plate 20. Have been.

Timing pulley 23 fitted on the drive shaft of servo motor 21 and timing pulley fitted on the input shaft of reducer 22
A timing belt 25 is bridged between the timing belt 25 and the timing belt 25.

On the other hand, bearings 28 are fixed to both ends and the center of the upper surface of the front connecting member 6, and a rotating shaft 29 is rotatably supported by each bearing 28.

A sprocket 30 is fitted to one end of the rotating shaft 29, and a chain 27 is bridged between the rotating shaft 29 and the sprocket 26 fitted to the output shaft of the speed reducer 22.

Timing pulleys 31 are fitted to the rotating shaft 29 at positions above the left and right horizontal support members 4, and bearings 33 are provided at both ends of the other connecting member 6 corresponding to each of the timing pulleys 31.
A timing pulley 32 is provided rotatably via a rotary shaft 34. A pair of timing pulleys on each side is provided.
A timing belt 35 is stretched between 31, 32.

Therefore, the rotational motion is transmitted to the speed reducer 22 via the timing belt 25 driven by the servo motor 21, and the speed reducer 22
And is further transmitted to the rotating shaft 29 via the chain 27, and the left and right timing belts 35 are rotated by the rotation of the rotating shaft.
Rotates.

Rails 36 are respectively laid on the upper surfaces of the left and right horizontal support members 4, and wheels 37 provided at both ends of the traveling support member 7 are mounted on the rails 36. Both ends are mounted on wheels 36 via wheels 37, and can run back and forth.

A pair of wheels 37 is provided at the front and rear, and the cam follower 38 is provided on the front and rear brackets 39 so as to stably support the traveling support member 7 and sandwich the rail 36 from both right and left sides, thereby performing positioning in the left and right direction (sixth embodiment). FIG. 7 and FIG. 7).

A bracket projecting below the bracket 39
A cam follower 41 is rotatably supported by 40, and is contacted from below with an upper portion of the horizontal support member 4 having an H-shaped cross section so that the traveling support member 7
To prevent floating.

The lower belt of the timing belt 35 is the front and rear wheels
A belt fixing member 42 protrudes outward from both ends of the traveling support member 7 between the two wheels 37, and both ends of the traveling support member 7 are attached to the same belt fixing member. It is fixed to a part of the timing belt 35 by 42.

Therefore, the traveling support member 7 is mounted on the left and right rails 36 by wheels.
The servo motor 21 drives the servo motor 21 so that the servo belt 21 rotates forward and backward.

Next, a lifting mechanism of the lifting arm 8 supported by the traveling support member 7 will be described with reference to FIGS.

Referring to FIG. 8, which is a rear view of the loading / unloading device 1, there is a drive source for raising and lowering the lifting arm 8 in the center of the traveling support member 7, and as shown in FIG. A motor 50 is fixed to the front side of the traveling support member 7, and a speed reducer is
A traveling support member 7 is provided between a pulley 52 fixed to a drive shaft 50a projecting upward from the motor 50 and a pulley 53 fitted to an input shaft 51a also projecting upward from the speed reducer 51. A belt 54 is laid across the upper part of the vehicle.

The speed reducer 51 has a long rotating shaft 55 oriented in the left-right horizontal direction perpendicular to the input shaft as an output shaft.

The rotating shaft 55 extends to the left and right from the speed reducer 51 in parallel with the traveling support member 7, and the both ends are rotatably supported by bearings provided on the side surfaces of the traveling support member 7 via mounting mounts 56. I have.

On the other hand, at positions near both ends of the traveling support member 7, a bracket 61 projects upward from the upper surface of the traveling support member 7 via a reinforcing member 60, and a reinforcing member 62 is provided below the lower surface of the traveling supporting member 7. An inverted trapezoidal bracket 63 is vertically provided downward through the bracket.

Guide members 64, 65 having vertically oriented guide grooves are fixed to the front surfaces of both brackets 61, 63.

The elevating arm 8 is positioned facing the guide members 64 and 65 in the up and down direction, and the guide rail 66 laid on the facing surface in the up and down direction is fitted in the guide groove of the guide members 64 and 65. The lift arm 8 is moved up and down by being guided by the guide members 64 and 65.

A bracket 67 projects from the front of the traveling support member 7 inside the lifting arm 8, and a rodless cylinder 69 is connected to the lifting arm 8 by a fixing member 68 provided on a surface of the bracket 67 facing the lifting arm 8. They are suspended vertically in parallel (see Fig. 11).

The operation part of the rodless cylinder 69 is fixed to the elevating arm 8 and plays a role of assisting the elevating arm 8 to elevate.

A pair of left and right bearing plates 70 are erected on the rear surface of the bracket 63 suspended by the traveling support member 7 so as to be rotatable between the two bearing plates 70. 72,
Sprockets 74, 75, and 76 are respectively fitted to the 73 so that the right and left positions are aligned vertically (see FIG. 8).

The upper and lower sprockets 74 and 76 have the same shape, and a part thereof is fitted into a hole formed in the bracket 63 and protrudes forward (see FIG. 10).

The center sprocket 75 is located behind the sprockets 74 and 76, and its rotating shaft 72 protrudes through the inner bearing plate 70, and a pulley 77 is fitted to its tip.

A belt 78 is stretched between the pulley 77 and a pulley 58 fitted to both ends of the rotating shaft 55 rotatably supported by the left and right bearings 57 and protruding outward from the bearing 57.

In the above-described configuration, a hook 79 protrudes from the rear surface of the lifting arm 8 near the upper end (see FIG. 11).
A chain 80, whose upper end is fixed to 79, extends downward and
As shown in the figure, the sprocket 74 meshes with the upper sprocket 74 that partially protrudes from the bracket 63 and turns backward.Then, it is wound around the center sprocket 75 for half a turn and turns forward. The lower end is fixed to a fixing member 81 which is attached to the elevating arm 8 and whose vertical position can be adjusted as shown in FIG.

Therefore, when the center sprocket 75 rotates, the chain 80 wound around the sprockets 74, 75, 76 moves up and down, and the elevating arm 8 to which the upper and lower ends of the chain 80 are fixed can move up and down together with the chain 80.

The movement of the central sprocket 75 is transmitted through the belt 54, the speed reducer 51, the rotating shaft 55, and the belt 78 in this order by the drive of the motor 50, and the center sprocket 75 is rotated. It can be raised and lowered to a predetermined height with the aid of the cylinder 69.

As shown in FIG. 11, the height of the lifting arm 8 can be detected by detecting the actuator 83 projecting from the lifting arm 8 by a sensor 82 provided on the bracket 61.

Next, a turning mechanism of the turning beam 9 will be described with reference to FIGS. 8, 12, and 13. FIG.

A bracket 90 is provided near the lower end of the lifting arm 8, the rear end of which is fixed to the outer surface of the lifting arm 8 and is projected forward. A reduction gear 92 is provided on the inner surface of the bracket 90 via a reinforcing plate 91. A motor 94 is fixed to a support plate 93 fixed at a right angle to a reinforcing plate 91 at a drive shaft side, and is arranged in parallel with the bracket 90.

A pulley 95 is fitted on a drive shaft 94a of a motor 94 protruding forward from the support plate 94, a pulley 96 is fitted on an input shaft 92a also protruding forward of the speed reducer 92, and a belt is provided between the pulleys 95 and 96. 97 have been bridged.

The output shaft 92b of the speed reducer 92 changes its direction at right angles to the input shaft 92a and projects inward, and a sprocket 98 is fitted to the output shaft 92b.

On the other hand, sprockets 99 are provided at both ends of the rotating beam 9, and a chain 100 is bridged between the sprocket 98 and the sprocket 98 fitted on the output shaft 92 b of the speed reducer 92.

Accordingly, the drive of the motor 94 is transmitted to the reduction gear 92 via the belt 97, and the output shaft 92b of the reduction gear 92
, The turning beam 9 can be turned.

A proximity switch 102 is provided on a bracket 101 protruding inward from the front side surface of the lifting arm 8, and a chain
The actuator 103 provided on the outer surface of the rotation beam 100 can be detected, and the turning state of the rotating beam 9 can be detected.

As described above, the three holding devices 10 are attached to the rotating beam 9, and thus the holding devices 10 are moved back and forth by the driving of the servomotor 21 as described above.
Can be moved up and down by the drive of, and can be turned by the drive of the motor 94.

Next, the holding device 10 will be described with reference to FIGS.

Since the holding device 10 turns, the description will be made in the posture illustrated in FIG.

The pivoting beam 9 is a hollow support rod having a rectangular cross section. A flexible plate 115 is clamped at its base end by clamping plates 113 and 114 at two locations on the left and right sides of the lower surface of the pivoting beam 9. It is held in a form projecting in a right angle direction.

The flexible plate 115 has a certain rigidity, and can maintain a flat shape in a horizontal posture when no force other than gravity is applied.

The front lower holding plate 114 has a shallow groove formed in the lower surface thereof in the front-rear direction with a constant width.

A receiving member 116 is provided on the lower surface of the holding plate 114 from below.
The receiving member 116 is applied to the support member 117 having a U-shaped cross section.
Is supported from below.

Grooves are formed on the upper surface of the receiving member 116 so as to match the grooves formed on the lower surface of the holding plate 114 above it, and a through-hole having a rectangular cross section penetrating in the front-rear direction is formed by both upper and lower grooves. ing.

A support plate 119 is slidably fitted through the through hole in the front-rear direction.

Therefore, the support plate 119 can slide in the vicinity of the lower surface of the flexible plate 115 so as to be slightly narrower so as to be able to come and go back and forth.

This structure has the same structure on both the left and right sides, so that the rear ends of the left and right support plates 119 projecting rearward from the support members 117 are connected to the connecting plate 120 so that they can slide integrally.

Left and right flexible plates 11 on the lower surface of the rotating beam 9
Flat cylinder parallel to flexible plate 115 at the center of 5
121 is fixed, and the tip of a cylinder rod 121a that can protrude rearward of the flat cylinder 121 is connected to the connecting plate.
120 is fixed to the lower surface.

Therefore, when the cylinder rod 121a projects rearward by driving the flat cylinder 121, the left and right support plates 119 slide rearward via the connecting plate 120, and the front ends thereof are retracted rearward. When pulled forward, the support plate 119 slides forward, protruding its front end forward, and can be moved to a position somewhat rearward from the distal end of the flexible plate 115 as shown in FIG.

Three pairs of brackets are provided on the front side of the rotating beam 9.
The left and right brackets 130 are located above the flexible plate 115, and the middle bracket 131
Is located at its center.

A pivot 132 is rotatably supported through the three pairs of brackets 130 and 131 in the horizontal direction.

The two pairs of left and right brackets 130 have an appropriate space between the opposing brackets, between which the base end of the swing arm 133 is fitted to the pivot 132, and the tip of the swing arm 133 with the rotation of the pivot 132. Can be swung up and down.

When the swing arm 133 swings downward, the tip thereof contacts the flexible plate 115 and further the flexible plate 115
Can press the support plate 119 projecting downward therethrough, so that the sheet-like tread member 13 can be sandwiched between the distal end portion of the swing arm 133 and the flexible plate 115. .

The pivot 132 protrudes outward by one bracket 130, and one end of a connecting rod 134 is fitted to its end.

An L-shaped bracket 135 is provided on the rear side of the rotating beam 9 at a position behind the connecting rod 134,
A rear end is fixed by a bracket 135 and is supported at a position above the rotating beam 9.

Cylinder rod 136a protruding forward of cylinder 136
Is rotatably engaged with the upper end of the connecting rod 134.

Therefore, when the cylinder 136 is driven and the cylinder rod 136a is retracted, the connecting rod 134 swings backward, and the connecting rod 134
The pivot arm 132, which is integral with the pivot arm 132, and a pair of pivot arms 133 pivot, and the pivot arm 133 pivots upward so that the distal end thereof can be separated from the flexible plate 115 and opened.

Conversely, when the cylinder rod 136a is protruded forward, the pair of swing arms 133 swing downward via the connecting rod 134 and the pivot 132, and their distal ends can be pressed against the flexible plate 115. .

A proximity sensor 142 is fixed to the tip of one of the swing arms 133 so that a state in which an object approaches can be detected.

In addition, the center 1 provided on the front side surface of the rotating beam 9
As shown in FIG. 16, an L-shaped rocking member 137 is provided between the pair of brackets 131 such that its bent portion is rotatably supported by a pivot 132.

Then, a cylinder 138 fixed to the upper surface of the rotating beam 9
The end of the cylinder rod 138a protruding forward of the
137 is pivotally engaged with one upwardly-facing side body end, and is pivoted about a pivot 132 by driving a cylinder 138.
137 can swing.

An extensible pressing rod 139 having a base end fixed to the upper surface of the other side body of the swinging member 137 is provided to protrude forward.

The pressing rod 139 has a pressing member 140 fixed to the distal end thereof, and a compression spring 141 interposed between the pressing rod 140 and the proximal end thereof.
When no external force is applied to 40, it is urged in the extension direction by a compression spring 141 and is in the extended state shown in FIGS. 14 to 16, but a pressing force in the proximal direction acts on the teaching member 140. And shrink to a shortened state.

The presser bar 139 swings up and down by driving the cylinder 138.

The three holding devices 10 as described above are provided in the same posture side by side on the rotating beam 9.

Further, a base end portion is fixed to the upper surface of the rotating beam 9 adjacent to the center holding device 10, and a rising plate 14 protruding backward.
Three are provided.

The jumping plate 143 has a notch at the lower end thereof, and a proximity sensor 144 fixed to an end to detect the proximity of an object.

The loading / unloading device 1 is configured as described above, and the computer drives and controls various motors 21, 50, 94 and various cylinders 121, 136, 138, etc. according to a predetermined program based on signals from various sensors and switches. , Tread 1
The transfer operation can be automatically performed from the third booking cart 11 to the roller conveyor 12.

Hereinafter, the operation procedure will be described with reference to FIGS. 18 to 22.

FIG. 18 shows a state in which the holding device 10 has taken out the tread member 13 loaded on the booking cart 11.

The booking trolley 11 has a stack of support plates 151 erected on one side of the base 150 and a plurality of stacking plates 152 whose base ends are pivotally supported.The stacking plates 152 are held horizontally. At the same time, it is urged upward by the spring 153 and can jump upward from a horizontal state with a slight force.

On each loading plate 152, four to six tread members 13 are stacked side by side in parallel in the left-right direction.

As shown in FIG. 18, the tread members 13 loaded on the upper loading plate 152 are sequentially transferred, and the loading plate 152 to which all the tread members 13 are transferred is jumped upward.

Now, as shown in FIG. 18, the holding device 10 moves forward at a predetermined height, and the third stage loading plate 152
The operation from picking up the tread member 13 loaded on the tread member to picking up the tread member 13 will be described in order with reference to FIG.

First, the holding device 10 descends in an oblique direction, and the tip of the flexible plate 115 is bent in contact with the upper surface of the stacking plate 152 and partially along the upper surface (FIG. 20 (a)).

The computer is a loading plate 152 for each stage of the booking cart 11
20 (a), the holding device 10 is moved to the state shown in FIG. 20 (a).

Then, when the holding device 10 is moved forward while sliding the tip of the flexible plate 115 against the upper surface of the loading plate 152, the tip of the flexible plate 115 enters the lower surface of the tread member 13 and The side is separated from the loading plate 152 and slightly rises along the flexible plate 115.

When the forward movement is made a little further, the proximity sensor 144 provided at the tip of the swing arm 133 detects the lower tread member 13, and the pressing rod 139 is swung downward based on the detection signal, and the pressing member 140 at the tip moves to the tread member 13. Is pressed down from above (Fig. 20 (b)).

When the tread member 13 is pressed against the stacking plate 152 by the pressing member 140 to prevent the misalignment, the holding plate 10 further moves obliquely downward and the flexible plate 115
Enters the lower surface of the tread member 13 to the inside, and at this time, the presser bar 139 shortens and maintains the press of the tread member 13 (FIG. 20 (c)).

When the support plate 119 provided below the flexible plate 115 is protruded forward in this state, the support plate 119
The tread member 13 is partially supported via a flexible plate 115.

In this state, when the presser bar 139 is swung upward (FIG. 20 (d)) and the swing arm 133 is swung downward, the tread member 13 is sandwiched between the support plate 119 and the swing arm 133 (FIG. 20). (E)).

When the holding device 10 is raised while rotating, the tread member 13 is picked up by being held by the support plate 119 and the swing arm 133 (FIG. 20 (f)).

As described above, the tread member 13 on the loading plate 152
After the tread members 13 on the loading plate 152 are all picked up one by one, the loading plate 152 is jumped up by the jumping plate 143 attached to the rotating beam 9.

That is, as shown in FIG. 19, the holding device 10 rotates the posture when picking up the tread member 13 half a
Turn 143 forward.

Then, it moves to the position shown by the two-dot chain line in FIG. 19, and thereafter, the proximity sensor 144 attached to the tip of the jumping plate 143.
After that, the tip of the lifting plate 143 moves to a position below the hook 152a, bypassing the hook 152a at the tip of the loading plate 152 (a state shown by a solid line in FIG. 19).

When the lifting plate 143 is raised from this state, the tip of the lifting plate 143 contacts the lower surface of the hook 152a, and thereafter the loading plate 152 is swung upward.

When the loading plate 152 is swung upward to some extent, the spring 153
Jumped up by.

Thus, the preparation for picking up the tread member 13 of the loading plate 152 at the next stage is made.

Next, the procedure for placing the tread member 13 held by the holding device 10 as described above on the rear roller conveyor 12 will be described with reference to FIGS. 21 and 22.

As shown in FIG. 20 (f), the tread member 13 is
When picked up from 2, the holding device 10 moves rearward and is set at a predetermined position along the roller conveyor 12.

Then, when the tread member 13 held by the holding device 10 is rotated halfway so as to turn upward, FIGS. 21 and 22
As shown in the figure, the tread member 13 is a roller conveyor 12
Be placed on

At this time, the swing arm 133 holding the tread member 13
And the presser bar 139 does not get in the way between the rollers of the roller conveyor 12.

When the tread member 13 is placed on the holding device 10 in this manner, the swing arm 133 is swung downward, the tread member 13 is opened by retracting the support plate 119, and the holding device 10 moves forward and Then, the tread member 13 placed on the roller conveyor 12 is transported by the roller conveyor 12 to a subsequent process.

As described above, the loading / unloading device 1 according to the present embodiment can completely automatically transfer the tread member 13 of the roller conveyor 12 from the booking cart 11, so that the tire molding operation can be fully automated and the operation efficiency can be further improved. Can be improved.

Since the tread member 13 is transferred by being held by the holding device, the transfer operation can be performed irrespective of the type and properties of the tread member.

Effect of the Invention The present invention has an insertion plate, a support plate, and a holding member, and the holding means can move up and down and up and down to scoop the sheet-like member from the stacking plate. The sheet-like member can be efficiently held and the transfer of the sheet-like member can be automatically performed.

Therefore, the burden on the worker can be reduced and the working efficiency can be improved.

Since the loading and unloading is carried out without fail by the holding means, it can be applied to a wide variety of sheet-shaped members in terms of the material, shape and size of the sheet-shaped members, and has versatility.

[Brief description of the drawings]

1 is an overall plan view of a loading / unloading device according to an embodiment of the present invention, FIG. 2 is a side view thereof, FIG. 3 is a front view thereof, FIG. 5 is a view taken in the direction of the arrow V in FIG. 1, FIG. 6 is a view taken in the direction of the arrow VI in FIG. 1, FIG. 7 is a view taken in the direction of the arrow VII in FIG.
The figure is a rear view of the same device, FIG. 9 is a sectional view taken along the line IX-IX of FIG.
10 is a sectional view taken along line XX of FIG. 8, FIG. 11 is a sectional view taken along arrow XI of FIG. 8, FIG. 12 is a sectional view taken along line XII-XII of FIG. 8, and FIG.
XIII-XIII sectional view of the figure, FIG. 14 is a plan view of the clamping device, FIG.
15 is a cross-sectional view taken along the line XV-XV in FIG. 14, and FIG. 16 is a cross-sectional view taken along the line XVI-X in FIG.
VI sectional view, FIG. 17 is a front view of the holding device as a partial cross section,
FIG. 18 is a side view of the booking trolley and the clamping device, FIG. 19 is a side view of the same part, FIG. 20 is a diagram showing the operation of picking up the tread member by the clamping device over time, and FIG. FIG. 22 is a plan view showing a state where the members are placed on a roller conveyor, and FIG. 22 is a side view of the same. DESCRIPTION OF SYMBOLS 1 ... Unloading apparatus, 2 ... Floor, 3 ... Prop, 4 ... Horizontal support member, 5 ... Reinforcement, 6 ... Connection member, 7 ... Travel support member, 8 ... Lifting arm, Reference numeral 9: rotating beam, 10: clamping device, 11: booking carriage, 12: roller conveyor, 13: tread member, 20: fixed plate, 21: servo motor, 22: reduction gear, 23 ,
24 ... Timing pulley, 25 ... Timing belt, 26
…… Sprocket, 27 …… Chain, 28 …… Bearing, 29…
... Rotating shaft, 30 ... Sprocket, 31 ..., 32 ... Timing pulley, 33 ... Bearing, 34 ... Rotating shaft, 35 ... Timing belt, 36 ... Rail, 37 ... Wheel, 38 ... Cam follower , 39,40 …… bracket, 41 …… cam follower,
42 ... belt fixing member, 50 ... motor, 51 ... reduction gear, 52, 53 ... pulley, 54 ...
... belt, 55 ... rotating shaft, 56 ... mounting base, 57 ... bearing,
58 ... pulley, 60 ... reinforcement, 61 ... bracket, 62 ...
… Reinforcing material, 63 …… Bracket, 64,65 …… Guide member, 6
6 …… Guide rail, 67 …… Bracket, 68 …… Fixing member, 69 …… Rodless cylinder, 70 …… Bearing plate, 71,72,
73 ... rotating shaft, 74, 75, 76 ... sprocket, 77 ... pulley, 78 ... belt, 79 ... hook, 80 ... chain, 81
…… Fixing member, 82 …… Sensor, 83 …… Actuator, 90 …… Bracket, 91 …… Reinforcement plate, 92 …… Reducer, 93…
... Support plate, 94 ... Motor, 95,96 ... Pulley, 97 ... Belt, 98,99 ... Sprocket, 100 ... Chain, 101
… Bracket, 102… Proximity switch, 103… Actuator, 113, 114… Clamping plate, 115… Flexible plate, 116…
Receiving member, 117 ... Support member, 119 ... Support plate, 12
0: Connection plate, 121: Flat cylinder, 130, 131: Bracket, 132: Axis, 133: Swing arm, 134: Connection rod, 135: Bracket, 136: Cylinder, 137: Swing Member, 138 …… Cylinder, 139 ……
Pressing rod, 140 ... Pressing member, 141 ... Compression spring, 142 ...
Proximity sensor, 143: Jump plate, 144: Proximity sensor, 150: Base, 151: Support member, 152: Loading plate, 153 ...
…Spring.

Claims (4)

(57) [Claims] An insertion plate that enters a lower surface of a sheet-like member placed on a stacking plate and raises a side edge, and a support plate that projects to a lower surface of the sheet-like member whose side edge is raised and supports the sheet-like member. Holding means for pressing the sheet-like member from above when the insertion plate enters the lower surface of the sheet-like member; elevating means for vertically moving the holding means; and A forward / backward moving means for moving; and a control means for drivingly controlling the elevating / lowering means and the forward / backward moving means, wherein the control means lowers the holding means so that the tip of the insertion plate has an angle on the loading plate. A sheet-like member loading / unloading device, wherein the insertion plate is inserted into the lower surface of the sheet-like member so as to insert the insertion plate into the lower surface of the sheet-like member. 2. The apparatus according to claim 1, wherein the insertion plate is a flexible plate having a tip bent along an upper surface of the loading plate. 3. The apparatus according to claim 1, wherein said support plate slides along a lower surface of said insertion plate. 4. The sheet loading / unloading device according to claim 1, further comprising a rotating means for rotating the holding means about a horizontal direction as a center axis.