JP2891878B2 - Plate transfer device - Google Patents
Plate transfer deviceInfo
- Publication number
- JP2891878B2 JP2891878B2 JP6171147A JP17114794A JP2891878B2 JP 2891878 B2 JP2891878 B2 JP 2891878B2 JP 6171147 A JP6171147 A JP 6171147A JP 17114794 A JP17114794 A JP 17114794A JP 2891878 B2 JP2891878 B2 JP 2891878B2
- Authority
- JP
- Japan
- Prior art keywords
- suction
- plate
- valve ball
- suction port
- box
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
- De-Stacking Of Articles (AREA)
- Specific Conveyance Elements (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、例えば板金加工ライン
で板状体を１枚づつ加工装置に対して搬入・搬出する場
合などに好適に利用できる板状体搬送装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sheet conveying apparatus which can be suitably used, for example, when a sheet is transferred into and out of a processing apparatus one by one in a sheet metal processing line.
【０００２】[0002]
【従来の技術】従来、例えば板金加工ラインにおいて鋼
板やアルミニウム板などの板状体をレーザ加工装置に対
して供給・取出を行う装置においては、板状体を真空吸
着して加工装置のテーブル上に供給し、加工後は板状体
に開口が形成されていて吸着できない場合があるため、
側縁部をクランプして横から取り出すように構成されて
いた。しかし、横から取り出すようにするには加工後の
板状体が連続するように開口部を適宜ミクロジョイント
で接続しておく必要があり、後加工が複雑になる等の問
題があった。2. Description of the Related Art Conventionally, in an apparatus for supplying and removing a plate-like body such as a steel plate or an aluminum plate from a laser processing apparatus in a sheet-metal processing line, for example, the plate-like body is vacuum-adsorbed on a table of the processing apparatus. After processing, there is a case where the opening is formed in the plate-shaped body and it is not possible to adsorb it,
The side edges were clamped and taken out from the side. However, in order to take out from the side, it is necessary to appropriately connect the openings with micro joints so that the plate-like bodies after processing are continuous, and there has been a problem that post-processing becomes complicated.
【０００３】そこで、昇降体から水平に延びる多数の櫛
状部材を設け、この櫛状部材の上に板状体を載置して水
平搬送し、受け渡し時に櫛状部材を昇降動作させるよう
に構成したものが提案されている。In view of this, a large number of comb-like members extending horizontally from the elevating body are provided, and a plate-like body is placed on the comb-like members and horizontally conveyed, and the comb-like members are raised and lowered during delivery. What has been proposed.
【０００４】なお、板状体が鋼板などの磁性体の場合
に、電磁石で吸着して搬送するようにしたものも知られ
ている。[0004] When the plate-like body is a magnetic body such as a steel plate, there is also known a structure in which the plate-like body is attracted and conveyed by an electromagnet.
【０００５】[0005]
【発明が解決しようとする課題】ところが、多数の櫛状
部材を設けたものでは、加工装置側のテーブルにこれら
櫛状部材が没入可能な平行状又は格子状の溝を設ける必
要があり、櫛状部材がテーブルと干渉せずに確実にこの
溝内に入り込むようにその位置精度を高める必要があ
り、そのためにコスト高になるという問題があった。However, in the case where a large number of comb members are provided, it is necessary to provide parallel or lattice-like grooves in which the comb members can be immersed in the table on the processing apparatus side. It is necessary to increase the positional accuracy so that the shaped member does not interfere with the table without fail to enter into the groove, and there is a problem that the cost increases.
【０００６】また、電磁石で吸着して搬送するものは、
非磁性体の板状体に適用できないという問題があり、ま
た電磁石は通常１又は２、３箇所に配設されているの
で、吸着されない部分が自重で変形して原形を保持でき
ない恐れがあるとともに、板状体の全面を確実に吸着す
るような強力な電磁石を用いると、複数枚の板状体を重
なった状態で吸着してしまうという問題があった。[0006] In addition, a device which is attracted and conveyed by an electromagnet is:
There is a problem that it cannot be applied to a non-magnetic plate, and the electromagnet is usually disposed at one, two or three places. However, if a strong electromagnet is used to securely attract the entire surface of the plate, a plurality of plate-like bodies may be attracted in an overlapping state.
【０００７】さらに、従来の真空吸着方式では、数箇所
の吸着口に装着した吸着パッドにて板状体を吸着搬送す
るようにしていたために、開口部を加工した場合に吸着
できなかったり、吸着していない部分が垂れ下がって吸
着搬送中に板状体の原形を保つことができなくなるとい
う問題があったことに鑑み、吸着ボックスの底面全面に
多数の吸着口を分散形成することよって、板状体をその
全面にわたって均一に吸着することにより、板状体を加
工したままの形で吸着搬送することが考えられる。Further, in the conventional vacuum suction system, the plate-like body is suctioned and conveyed by suction pads attached to several suction ports. In consideration of the problem that the parts that did not hang down and could not maintain the original shape of the plate during suction transfer, a large number of suction ports were dispersedly formed on the entire bottom surface of the suction box, By adsorbing the body uniformly over the entire surface, it is conceivable that the plate-like body is adsorbed and conveyed while being processed.
【０００８】ところが、その場合開口部が加工された部
分の吸着口は完全に開放されたままであるために、吸着
ボックス内を必要な真空圧に保って板状体を確実に吸着
搬送するには、大容量の真空ポンプあるいは真空ブロア
が必要になり、コスト高になるとともに装置構成が大掛
かりとなるとともにさらにコスト高となるという問題が
ある。However, in this case, since the suction port at the portion where the opening has been processed is completely open, it is necessary to maintain the inside of the suction box at a required vacuum pressure to reliably suction and transport the plate. In addition, a large-capacity vacuum pump or vacuum blower is required, resulting in a problem that the cost is increased, the apparatus configuration becomes large, and the cost is further increased.
【０００９】本発明は、上記従来の問題点に鑑み、磁性
体・非磁性体の別なく、また任意の加工形状の板状体を
１枚づつ確実に吸着して搬送できる低コストの板状体搬
送装置を提案することを目的とする。SUMMARY OF THE INVENTION In view of the above-mentioned conventional problems, the present invention provides a low-cost plate which can be reliably attracted and conveyed one by one, regardless of whether it is a magnetic or non-magnetic material, and of any shape. An object is to propose a body transport device.
【００１０】[0010]
【課題を解決するための手段】上記目的を達成するため
に本発明は、図中の参照符号を付して示すならば、請求
項１にあっては、レール１に沿って走行可能な走行体３
の下部に昇降可能な昇降枠１０を設け、この昇降枠１０
の下部に、多数の吸着口２０が底面全面に分散形成され
た吸着ボックス１７を取付け、各吸着口２０に、筒状部
２１ａの下端に吸着パッド部２２を形成した吸着筒２１
の下端部を嵌合し、筒状部２１ａ内に吸引流にて上動す
る弁球体３５を配設するとともに上動した弁球体３５に
て閉じる弁座３３を設け、且つ弁球体３５が上動端に位
置した状態で弁座３３の上下の吸引通路３１を互いに連
通する微小通路３７を形成してなる構成を採用するもの
である。In order to achieve the above-mentioned object, the present invention is directed to a driving system capable of running along a rail 1 according to the first aspect of the present invention. Body 3
The lifting frame 10 is provided at the lower part of the frame.
A suction box 17 in which a number of suction ports 20 are dispersedly formed on the entire bottom surface is attached to a lower portion of the suction pipe 21. Each suction port 20 has a suction pad 21 formed with a suction pad 22 at the lower end of a cylindrical portion 21a.
The lower end of the valve is fitted, a valve ball 35 moving upward by the suction flow is disposed in the cylindrical portion 21a, and a valve seat 33 closed by the valve ball 35 moved upward is provided, and the valve ball 35 is moved upward. A configuration is adopted in which a minute passage 37 that connects the suction passages 31 above and below the valve seat 33 to each other is formed in a state where the suction passage 31 is located at the moving end.
【００１１】請求項２にあっては、弁球体３５が下動端
に位置した状態で弁球体３５の上下の吸引通路３１を互
いに連通する連通路３６を形成してなる請求項１記載の
構成を採用するものである。According to a second aspect of the present invention, the communication passage is formed to communicate the upper and lower suction passages of the valve ball with each other in a state where the valve ball is located at the lower end. Is adopted.
【００１２】請求項３にあっては、吸着筒２１の吸着口
２０に対する嵌合部２９の上部に、吸着口２０の周縁部
上面に係合する下向きの段部２９ａを形成してなる請求
項１記載の構成を採用するものである。In a third aspect of the present invention, a downward stepped portion 29a which engages with the upper surface of the peripheral portion of the suction port 20 is formed above the fitting portion 29 of the suction tube 21 with respect to the suction port 20. 1 is adopted.
【００１３】請求項４にあっては、吸着筒２１の吸着口
２０に対する嵌合部２９の下部に、吸着口２０の周縁部
下面に係合する上向きの段部２９ｂを形成するととも
に、この段部２９ｂに吸着口２０の周縁部下面に当接す
る突条３０を形成してなる請求項１記載の構成を採用す
るものである。According to the fourth aspect, an upward stepped portion 29b which engages with the lower surface of the peripheral portion of the suction port 20 is formed below the fitting portion 29 of the suction tube 21 with respect to the suction port 20. The structure according to claim 1, wherein a ridge (30) is formed in the portion (29b) so as to contact the lower surface of the peripheral portion of the suction port (20).
【００１４】請求項５にあっては、レール１に沿って走
行可能な走行体３の下部に昇降可能な昇降枠１０を設
け、この昇降枠１０の下部に、多数の吸着口２０が底面
全面に分散形成された吸着ボックス１７を取付け、各吸
着口２０に、筒状部２１ａの下端に吸着パッド部２２を
形成した吸着筒２１の下端部を嵌合し、筒状部２１ａ内
に吸引流にて上動する弁球体３５を配設するとともに上
動した弁球体３５にて閉じる弁座３３を設け、且つ吸着
ボックス１７の底面上の全面に多数の永久磁石２３を分
散配設するとともにこれら永久磁石２３を上下駆動する
手段１９を設けてなる構成を採用するものである。According to a fifth aspect of the present invention, an elevating frame 10 is provided below the traveling body 3 which can travel along the rail 1, and a large number of suction ports 20 are provided below the elevating frame 10 on the entire bottom surface. The lower end of the suction tube 21 having the suction pad portion 22 formed at the lower end of the cylindrical portion 21a is fitted into each suction port 20, and the suction flow is introduced into the cylindrical portion 21a. And a valve seat 33 closed by the moved valve ball 35 is provided, and a large number of permanent magnets 23 are dispersed and arranged on the entire bottom surface of the suction box 17. This adopts a configuration in which means 19 for vertically driving the permanent magnet 23 is provided.
【００１５】請求項６にあっては、永久磁石２３が異方
性のフェライト磁石である請求項５に記載の構成を採用
するものである。According to a sixth aspect, the configuration according to the fifth aspect is adopted in which the permanent magnet 23 is an anisotropic ferrite magnet.
【００１６】請求項７にあっては、永久磁石２３が筒状
部２１ａに上下動自在に外嵌するドーナツ形で、これら
永久磁石２３を互いに連結する連結枠２４が設けられ、
上下駆動手段１９にて連結枠２４を上下駆動するように
してなる請求項５記載の構成を採用するものである。According to a seventh aspect of the present invention, there is provided a connection frame 24 for connecting the permanent magnets 23 to each other in a donut shape in which the permanent magnets 23 are fitted to the cylindrical portion 21a so as to be vertically movable.
The structure according to claim 5 is adopted in which the connection frame 24 is driven up and down by the up and down drive means 19.
【００１７】請求項８にあっては、昇降枠１０に複数の
ダクト兼用の支持梁１３を適当間隔置きに吊下げ支持
し、各支持梁１３にその長手方向に並列させて複数の吸
着ボックス１７を取付けて吸着ボックス１７を碁盤目状
に配置し、各吸着ボックス１７内と支持梁１３内を連通
してなる請求項１または５記載の構成を採用するもので
ある。According to the present invention, a plurality of duct-supporting beams 13 are suspended and supported on the elevating frame 10 at appropriate intervals, and a plurality of suction boxes 17 are arranged in parallel with each supporting beam 13 in its longitudinal direction. The suction boxes 17 are arranged in a checkerboard shape by attaching a box, and the inside of each suction box 17 and the inside of the support beam 13 are communicated with each other.
【００１８】請求項９にあっては、昇降枠１０に複数の
吊下軸１４を介して支持梁１３を上昇可能に吊下げ支持
するとともに支持梁１３を下方に付勢するばね１５を設
け、この支持梁１３にその長手方向と直交する方向の軸
芯回りに揺動可能に吸着ボックス１７を取付けてなる請
求項８記載の構成を採用するものである。According to a ninth aspect, a spring 15 is provided on the lifting frame 10 for suspending and supporting the support beam 13 via a plurality of suspension shafts 14 so as to be able to ascend, and for urging the support beam 13 downward. The structure according to claim 8, wherein the suction box 17 is attached to the support beam 13 so as to be swingable around an axis in a direction orthogonal to the longitudinal direction.
【００１９】[0019]
【作用】本発明の請求項１にあっては、吸着ボックス１
７内を真空排気することによって全面に分散された吸着
口２０にて板状体の全面を真空吸着することができ、板
状体に開口部が加工された状態でもその全面を確実に吸
着でき、したがって吸着ボックス１７で板状体を吸着し
た状態で昇降枠１０を昇降し、走行体３を走行させるこ
とにより板状体を１枚づつ確実に搬送することができ
る。しかも、加工にて形成された開口部に対向する吸着
口２０にあっては、吸着筒２１の筒状部２１ａ内を流れ
る吸引流にて弁球体３５が上動して弁座３３を閉じ、吸
着口２０が自動的に閉じられるので、吸引流が流れっぱ
なしになることがなく、従って容量の小さい真空ポンプ
やエジェクタを用いても吸着ボックス１７内を必要な真
空圧に保って板状体を確実に吸着搬送することができ、
大幅にコスト低下を図ることができるとともに装置構成
の軽量・コンパクト化を図ることができる。なお、板状
体を吸着した吸着口２０にあっては、弁球体３５の上下
で圧力が等しいので、弁球体３５は自重で下動して弁座
３３から離間し、板状体は確実に吸着される。According to the first aspect of the present invention, the suction box 1 is provided.
By evacuating the inside of the plate 7, the entire surface of the plate-shaped body can be vacuum-sucked by the suction ports 20 dispersed on the entire surface, and the entire surface can be reliably sucked even when the opening is formed in the plate-shaped body. Therefore, the lifting frame 10 is moved up and down while the plate-like body is sucked by the suction box 17 and the traveling body 3 is moved, whereby the plate-like bodies can be transported one by one reliably. In addition, in the suction port 20 facing the opening formed by the processing, the valve ball 35 moves upward by the suction flow flowing through the cylindrical portion 21a of the suction cylinder 21 to close the valve seat 33, Since the suction port 20 is automatically closed, the suction flow does not keep flowing. Therefore, even if a vacuum pump or an ejector having a small capacity is used, the inside of the suction box 17 can be maintained at a necessary vacuum pressure to maintain a plate-like body. Can be reliably transported by suction,
The cost can be significantly reduced, and the weight and size of the device can be reduced. In addition, since the pressure is equal between the upper and lower portions of the valve ball 35 in the suction port 20 that has absorbed the plate-like body, the valve ball 35 moves down by its own weight and separates from the valve seat 33, so that the plate-like body is surely Adsorbed.
【００２０】また請求項１にあっては、弁球体３５が上
動して弁座３３を閉じた状態で弁座３３の上下の吸引通
路３１を互いに連通する微小通路３７を形成しているの
で、板状体を吸着する前に吸着ボックス１７内を真空圧
にすることによって全ての吸着口２０が弁球体３５にて
自動的に閉じられている状態でも、吸着パッド部２２に
板状体が密着すると、板状体が密着した吸着口２０にお
いては微小通路３７を通って弁球体３５と吸着パッド部
２２間の吸引通路３１内が真空排気されて弁球体３５の
上下の圧力差が小さくなり、弁球体３５が自重で下動し
て自動的に吸着口２０が開かれることにより、板状体を
確実に吸着して搬送することができる。かくして、板状
体を密着させてから吸着ボックス１７内を真空排気しな
くても板状体を吸着でき、そのため板状体の吸着解除後
直ちに真空排気を開始することができ、容量の小さい排
気手段を用いても吸着搬送動作時間の短縮化を図ること
ができる。なお、この場合微小通路３７を通って大気が
吸着ボックス１７内に流入するが、その流量が吸引能力
に比して小さくなるような微小な通路とすることによ
り、実質的な影響を受けないようにできる。According to the first aspect of the present invention, since the valve ball 35 moves upward and the valve seat 33 is closed, the minute passage 37 which connects the upper and lower suction passages 31 of the valve seat 33 to each other is formed. Even when all the suction ports 20 are automatically closed by the valve bulb 35 by applying a vacuum pressure to the inside of the suction box 17 before the plate is sucked, the plate is kept on the suction pad portion 22. When the plate-like members are in close contact with each other, the suction passage 31 between the valve ball 35 and the suction pad portion 22 is evacuated through the minute passage 37 in the suction port 20 where the plate-like member is in close contact, so that the pressure difference between the top and bottom of the valve ball 35 is reduced. The valve body 35 is moved down by its own weight and the suction port 20 is automatically opened, so that the plate-shaped body can be reliably sucked and conveyed. Thus, the plate-like body can be sucked without having to evacuate the inside of the suction box 17 after the plate-like body is brought into close contact with the plate-like body. Even if the means is used, it is possible to shorten the suction and transfer operation time. In this case, the atmosphere flows into the adsorption box 17 through the minute passage 37, but by setting the passage to be a minute passage whose flow rate is smaller than the suction capacity, the air is not substantially affected. Can be.
【００２１】請求項２にあっては、弁球体３５の下動端
において連通路３６にて上下の吸引通路３１を互いに連
通しているので、板状体を吸着した状態から吸着ボック
ス１７内を大気に開放して吸着を解除する際に、吸着パ
ッド２２と弁球体３５との間の吸引通路３１が真空状態
のままとなって板状体の吸着解除が確実に行われないと
いう事態を生じる恐れがなく、確実に板状体の吸着解除
動作を確実に行うことができる。According to the second aspect, since the upper and lower suction passages 31 are communicated with each other through the communication passage 36 at the lower end of the valve ball 35, the inside of the suction box 17 is moved from the state in which the plate-like body is sucked. When releasing the suction by releasing to the atmosphere, the suction passage 31 between the suction pad 22 and the valve ball 35 remains in a vacuum state, and the suction of the plate-shaped body is not reliably released. There is no danger, and the operation of releasing the suction of the plate-like body can be reliably performed.
【００２２】請求項３にあっては、吸着筒２１の吸着口
２０に対する嵌合部２９の上部に、吸着口２０の周縁部
上面に係合する下向きの段部２９ａを形成しているの
で、板状体の荷重が吸着筒２１の吸着パッド部２２を介
して筒状部２１ａに作用してもその荷重は段部２９ａに
て吸着ボックス１７の底面に伝達され、吸着筒２１の抜
け出しを確実に防止できる。According to the third aspect of the present invention, a downward stepped portion 29a that engages with the upper surface of the peripheral portion of the suction port 20 is formed above the fitting portion 29 of the suction tube 21 with respect to the suction port 20. Even if the load of the plate-like body acts on the cylindrical portion 21a via the suction pad portion 22 of the suction tube 21, the load is transmitted to the bottom surface of the suction box 17 at the step portion 29a, and the suction tube 21 can be securely removed. Can be prevented.
【００２３】請求項４にあっては、吸着筒２１の吸着口
２０に対する嵌合部２９の下部に、吸着口２０の周縁部
下面に係合する上向きの段部２９ｂを形成しているの
で、吸着筒２１が吸着ボックス１７内に吸引されるのを
防止することができ、かつこの段部２９ｂに吸着口２０
の周縁部下面に当接する突条３０を形成しているので、
嵌合部２９における突条３０と吸着ボックス１７内との
間の空間に吸着ボックス１７内の真空圧が作用し、嵌合
部２９が吸着穴２０とその周縁部に圧着するため、吸着
口２０とその嵌合部２９との間から吸着ボックス１７内
に大気が流入して真空圧が低下するのを防止できるとと
もに吸着筒２１を強固に固着することができる。According to the fourth aspect, an upward stepped portion 29b which engages with the lower surface of the peripheral portion of the suction port 20 is formed below the fitting portion 29 of the suction tube 21 with respect to the suction port 20. The suction tube 21 can be prevented from being sucked into the suction box 17, and the suction port 20 can be inserted into the step portion 29b.
Since the ridge 30 is formed to contact the lower surface of the peripheral edge of
The vacuum pressure in the suction box 17 acts on the space between the ridge 30 and the suction box 17 in the fitting portion 29, and the fitting portion 29 is pressed against the suction hole 20 and its peripheral edge. It is possible to prevent the air from flowing into the suction box 17 from between the space and the fitting portion 29 and to reduce the vacuum pressure, and to firmly fix the suction tube 21.
【００２４】請求項５にあっては、吸着ボックス１７の
底面上の全面に昇降可能に多数の永久磁石２３を分散配
設しているので、板状体が磁性体から成る場合に、永久
磁石２３を吸着ボックス１７底面上に位置させることに
より、板状体をその全面にわたって吸着できるとともに
永久磁石２３を上昇させることによって吸着を解除する
ことができ、磁性体から成る板状体の場合に真空吸着に
依らずに吸着搬送することができる。According to the fifth aspect of the present invention, since a large number of permanent magnets 23 are dispersed and arranged on the entire surface on the bottom surface of the suction box 17, when the plate-like body is made of a magnetic material, the permanent magnet By disposing the plate 23 on the bottom surface of the suction box 17, the plate-like body can be attracted over the entire surface thereof, and the suction can be released by raising the permanent magnet 23. It is possible to carry by suction without depending on the suction.
【００２５】請求項６にあっては、異方性のフェライト
磁石を用いたことにより、磁力線の異方性により板状体
が薄板であっても下方の２枚目の板状体を吸着せず、確
実に１枚づつ吸着して搬送することができる。According to the sixth aspect of the present invention, since the anisotropic ferrite magnet is used, even if the plate is a thin plate, the lower second plate is attracted even if the plate is thin. Therefore, it is possible to reliably suck and convey each sheet one by one.
【００２６】請求項７にあっては、ドーナツ形の永久磁
石２３が筒状部２１ａにて上下動可能にガイドされてい
るので、これら永久磁石２３を簡単な連結枠２４によっ
て連結することができ、かつこの連結枠２４を上下駆動
することにより簡単に吸着と吸着解除の切換を行うこと
ができる。According to the seventh aspect, since the donut-shaped permanent magnets 23 are vertically movably guided by the cylindrical portion 21a, the permanent magnets 23 can be connected by the simple connecting frame 24. By switching the connection frame 24 up and down, it is possible to easily switch between suction and suction release.
【００２７】請求項８にあっては、複数のダクト兼用の
支持梁１３を介して複数の吸着ボックス１７を碁盤目状
に配置しているので、比較的小さな構成の単位体の吸着
ボックス１７を用いることができ、軽量で安価な構成に
て大きな板状体を吸着搬送することができる。According to the eighth aspect, since the plurality of suction boxes 17 are arranged in a grid pattern via the plurality of support beams 13 serving also as ducts, the suction box 17 of a unit having a relatively small configuration can be used. A large plate can be suctioned and conveyed with a lightweight and inexpensive configuration.
【００２８】請求項９にあっては、支持梁１３を複数の
吊下軸１４を介して上昇可能に吊下げ支持し、この支持
梁１３にその長手方向と直交する方向に揺動可能に吸着
ボックス１７を取付けているので、各吸着ボックス１７
が上下変位及び２方向に傾き可能に昇降枠１０に支持さ
れ、それぞれ板状体に確実に沿わせることができて板状
体の全面を確実に吸着することができる。According to the ninth aspect, the support beam 13 is suspended and supported via a plurality of suspension shafts 14 so as to be liftable, and is attracted to the support beam 13 so as to be swingable in a direction perpendicular to the longitudinal direction. Since the box 17 is attached, each suction box 17
Are supported by the elevating frame 10 so as to be vertically displaceable and tiltable in two directions, so that each of them can reliably follow the plate-like body, and the entire surface of the plate-like body can be reliably sucked.
【００２９】[0029]
【実施例】以下、本発明を一実施例の板状態搬送装置に
ついて、図１〜図７を参照しながら説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.
【００３０】図１及び図２において、１は適当間隔置き
に配設された支柱２の上部に架設されたレールであり、
このレール１に沿って走行可能な走行体３が設けられて
いる。走行体３は上部にレール１に対する走行係合部４
が、下部に支持枠部５が設けられ、走行係合部４に走行
駆動モータ６が配設されている。支持枠部５上には４台
の真空吸引用のブロア７が配設されている。また、支持
枠部５の走行方向に面する左右両側面の前後に計４本の
昇降シリンダ８が取付けられるとともに、前後側面の中
央位置に昇降ガイド部９が配設されている。In FIGS. 1 and 2, reference numeral 1 denotes a rail erected on an upper portion of a column 2 disposed at an appropriate interval.
A traveling body 3 that can travel along the rail 1 is provided. The traveling body 3 is provided with a traveling engaging portion 4
However, a support frame portion 5 is provided at a lower portion, and a traveling drive motor 6 is disposed at the traveling engagement portion 4. On the support frame 5, four blowers 7 for vacuum suction are arranged. In addition, a total of four lifting cylinders 8 are attached to the front and rear of the left and right sides facing the traveling direction of the support frame 5, and a lifting guide 9 is disposed at the center of the front and rear sides.
【００３１】走行体３の支持枠部５の下部には、昇降シ
リンダ８のシリンダロッド先端が連結されてこの昇降シ
リンダ８にて昇降駆動される昇降枠１０が配設され、か
つこの昇降枠１０の左右方向中央位置に一端が枢支され
たガイドロッド１１が昇降ガイド部９に挿通されてい
る。また、支持枠部５と昇降枠１０の走行方向両側部に
は、それぞれ前後方向に平行状態を維持して昇降するよ
うにＸ字状連結杆から成る平行移動機構１２が介装され
ている。An elevating frame 10 is connected to the lower end of the supporting frame 5 of the traveling body 3 and is connected to the end of a cylinder rod of an elevating cylinder 8 and is driven up and down by the elevating cylinder 8. A guide rod 11 whose one end is pivotally supported at the center position in the left-right direction is inserted into the elevating guide portion 9. A parallel moving mechanism 12 composed of an X-shaped connecting rod is interposed on both sides of the support frame 5 and the lifting frame 10 in the traveling direction so as to move up and down while maintaining a parallel state in the front-rear direction.
【００３２】昇降枠１０の下部には、左右方向に延びる
４本のダクト兼用の支持梁１３が前後方向に等間隔置き
に配設され、それぞれ４本の吊下軸１４にて上方に持ち
上げ可能に吊り下げ支持されている。吊下軸１４は、図
３に示すように、ボルト軸１４ａから成り、その頭部１
４ｂが昇降枠１０に係合するとともに下端部が支持梁１
３にナット１４ｃにて締結固定されている。また、支持
梁１３を下方に付勢する圧縮コイルばね１５がボルト軸
１４ａの外周に配置されている。各支持梁１３はそれぞ
れ対応するブロア７に吸引ダクト（図示せず）にて接続
されている。In the lower part of the lifting frame 10, four duct-supporting beams 13 extending in the left-right direction are arranged at equal intervals in the front-rear direction, and can be lifted upward by four suspension shafts 14, respectively. It is suspended and supported. The suspension shaft 14 includes a bolt shaft 14a, as shown in FIG.
4b is engaged with the lifting frame 10 and the lower end is
3 is fastened and fixed by a nut 14c. Further, a compression coil spring 15 for urging the support beam 13 downward is arranged on the outer periphery of the bolt shaft 14a. Each support beam 13 is connected to the corresponding blower 7 by a suction duct (not shown).
【００３３】各支持梁１３には、長手方向（左右方向）
に等間隔の４箇所の位置で前後両側に計８つの取付ブラ
ケット１６が取付けられ、各取付ブラケット１６にそれ
ぞれ吸着ボックス１７が取付けられており、かくして昇
降枠１０の下部に４本の支持梁１３を介して３２個の吸
着ボックス１７が碁盤目状に配置されて支持されてい
る。具体的には、各取付ブラケット１６の先端部に枢支
枠１８を介して上下駆動シリンダ１９が支持梁１３の長
手方向と直交する方向の軸芯回りに揺動可能に装着さ
れ、この上下駆動シリンダ１９の先端面に吸着ボックス
１７の天井面１７ａの中央位置が固定されている。Each support beam 13 has a longitudinal direction (lateral direction).
A total of eight mounting brackets 16 are mounted on the front and rear sides at four locations at equal intervals, and suction boxes 17 are mounted on the mounting brackets 16 respectively. Thus, four support beams 13 are provided at the lower portion of the lifting frame 10. , 32 suction boxes 17 are arranged and supported in a grid pattern. Specifically, a vertical drive cylinder 19 is mounted on the distal end of each mounting bracket 16 via a pivot frame 18 so as to be swingable about an axis in a direction orthogonal to the longitudinal direction of the support beam 13. The center position of the ceiling surface 17 a of the suction box 17 is fixed to the tip end surface of the cylinder 19.
【００３４】吸着ボックス１７は、図３、図４に示すよ
うに、平面形状正方形のボックスから成り、その底面１
７ｂ全面にわたって分散させて前後左右方向に１０行、
１０列、計１００個の吸着口２０が形成され、各吸着口
２０に図５に示すように耐熱性のあるシリコンゴム製の
吸着筒２１の下端部外周が嵌合されている。吸着筒２１
は、その筒状部２１ａの下端にラッパ状に広がる吸着パ
ッド部２２が形成され、この吸着パッド部２２が吸着ボ
ックス１７の底面１７ｂから下方に突出し、筒状部２１
ａは吸着ボックス１７内に向けて上方に突出している。As shown in FIGS. 3 and 4, the suction box 17 is formed of a box having a square shape in plan view,
7b dispersed over the entire surface, 10 lines in the front, rear, left and right directions,
A total of 100 suction ports 20 are formed in 10 rows, and the outer periphery of the lower end portion of a heat-resistant silicone rubber suction cylinder 21 is fitted into each suction port 20 as shown in FIG. Suction cylinder 21
The suction pad portion 22 is formed at the lower end of the cylindrical portion 21a in a trumpet shape. The suction pad portion 22 projects downward from the bottom surface 17b of the suction box 17, and
a protrudes upward into the suction box 17.
【００３５】また、図５に示すように、吸着ボックス１
７内には多数の異方性のフェライト磁石から成るドーナ
ツ状の永久磁石２３が、各吸着筒２１の筒状部２１ａに
上下動自在に嵌合させて配設され、かつこれら永久磁石
２３はこれらを上下から挟持する連結枠２４にて互いに
連結されている。そして、この連結枠２４の中央位置が
上下駆動シリンダ１９のピストンロッド１９ａ先端に連
結され、上下駆動シリンダ１９にて永久磁石２３を吸着
ボックス１７の底面１７ｂ上に当接した位置と上方に離
間した位置との間で上下動可能に構成されている。吸着
筒２１の筒状部２１ａの長さはこの上下動距離よりも長
く形成されている。Further, as shown in FIG.
7, a donut-shaped permanent magnet 23 composed of a large number of anisotropic ferrite magnets is disposed so as to be vertically movable and fitted to the cylindrical portions 21a of the attraction cylinders 21. These are connected to each other by a connection frame 24 that holds them from above and below. The center position of the connection frame 24 is connected to the tip of the piston rod 19 a of the vertical drive cylinder 19, and the vertical drive cylinder 19 separates the permanent magnet 23 upward from the position where it abuts on the bottom surface 17 b of the suction box 17. It is configured to be able to move up and down between positions. The length of the cylindrical portion 21a of the suction cylinder 21 is formed longer than the vertical movement distance.
【００３６】図３において、２５は連結枠２４の上昇限
を規制するストッパ、２６は上下動シリンダ１９を作動
制御するために連結枠２４が上昇限に位置したことを検
出するリミットスイッチである。In FIG. 3, reference numeral 25 denotes a stopper for restricting the ascending limit of the connecting frame 24, and reference numeral 26 denotes a limit switch for detecting that the connecting frame 24 is located at the ascending limit in order to control the operation of the vertical movement cylinder 19.
【００３７】また、図４に示すように、各吸着ボックス
１７の天井面１７ａの適所に吸引口２７が形成され、図
２に示すように連通ホース２８にて支持梁１３内に連通
されている。かくして、ブロア７、吸引ダクト（図示せ
ず）、ダクト兼用の支持梁１３、連通ホース２８、吸着
ボックス１７内空間、吸着筒２１の筒状部２１ａを介し
て吸着パッド部２２に至る吸引通路が形成されている。As shown in FIG. 4, a suction port 27 is formed at an appropriate position on the ceiling surface 17a of each suction box 17, and is connected to the inside of the support beam 13 by a communication hose 28 as shown in FIG. . Thus, the suction passage extending to the suction pad portion 22 through the blower 7, the suction duct (not shown), the support beam 13 serving as a duct, the communication hose 28, the space in the suction box 17, and the tubular portion 21a of the suction tube 21 is formed. Is formed.
【００３８】上記吸着筒２１の詳細構成について、図
６、図７を参照して説明すると、筒状部２１ａの下端部
と吸着パッド部２２のとの間の境界部に吸着口２０に対
する嵌合部２９が形成されている。この嵌合部２９は、
図７に示すように、上部に吸着口２０の周縁部上面に係
合する下向きの段部２９ａが形成され、下部に吸着口２
０の周縁部下面に係合する上向きの段部２９ｂが形成さ
れ、さらにこの上向きの段部２９ｂの外周部に吸着口２
０の周縁部下面に当接する突条３０が形成されている。The detailed structure of the suction tube 21 will be described with reference to FIGS. 6 and 7. The suction tube 21 is fitted to the suction port 20 at the boundary between the lower end of the cylindrical portion 21a and the suction pad portion 22. A part 29 is formed. This fitting portion 29
As shown in FIG. 7, a downward step portion 29a is formed at the upper portion to be engaged with the upper surface of the peripheral portion of the suction port 20, and the suction port 2 is formed at the lower portion.
0 is formed on the lower surface of the peripheral portion of the outer peripheral portion of the outer peripheral portion of the suction port 2.
A projecting ridge 30 is formed so as to abut on the lower surface of the peripheral portion of the zero.
【００３９】また、吸着筒２１の筒状部２１ａ内の吸引
通路３１の上部に径大の弁室３２が形成され、その上端
にはテーパ状の弁座３３が形成され、下端にもテーパ状
の受座３４が形成されている。そして、この弁室３２内
に吸引通路３１を流れる吸引流にて上動する弁球体３５
が配置され、この弁球体３５が上動して弁座３４に当接
することによって吸引通路３１が閉じられるように構成
されている。さらに、弁球体３５が自重にて下動して受
座３４に当接した状態で弁球体３５の上下の吸引通路３
１を互いに連通する溝状の連通路３６が受座３４に形成
され、また弁球体３５が吸引流にて上動して弁座３３に
当接した状態で弁座３３の上下を連通する溝状の微小通
路３７が弁座３３に形成されている。なお、連通路３６
及び微小通路３７は、図示例では弁座３３や受座３４に
溝を形成して構成したが、弁座３３や受座３４に突条を
形成してその両側に通路となる空間を形成するようにし
てもよい。A large-diameter valve chamber 32 is formed at the upper part of the suction passage 31 in the cylindrical part 21a of the adsorption cylinder 21, and a tapered valve seat 33 is formed at the upper end thereof, and a tapered lower end is also formed at the lower end. Are formed. The valve ball 35 moving upward by the suction flow flowing through the suction passage 31 into the valve chamber 32.
Is arranged, and the suction passage 31 is closed by the valve ball 35 moving upward and coming into contact with the valve seat 34. Further, the upper and lower suction passages 3 of the valve ball 35 are moved in a state where the valve ball 35 moves down by its own weight and abuts on the seat 34.
1 are formed in the receiving seat 34, and the valve ball 35 is moved upward by the suction flow and communicates with the valve seat 33 in a state where the valve ball 35 contacts the valve seat 33. A small passage 37 is formed in the valve seat 33. The communication path 36
In the illustrated example, the minute passage 37 is formed by forming a groove in the valve seat 33 or the receiving seat 34, but a protrusion is formed in the valve seat 33 or the receiving seat 34 to form a space serving as a passage on both sides thereof. You may do so.
【００４０】以上の構成において、鋼板などの磁性体か
ら成る板状体を搬送する場合には、上下駆動シリンダ１
９を伸展させて連結枠２４を下降させ、吸着ボックス１
７の底面１７ｂ全面に分散配設した永久磁石２３を吸着
ボックス１７の底面１７ｂ上に位置させることにより板
状体を多数の永久磁石２３によって全面にわたって吸着
でき、その状態で昇降枠１０の昇降と走行体３の走行に
よって板状体を所要位置に搬送し、上下駆動シリンダ１
９を収縮させて連結枠２４を介して永久磁石２３を上昇
させることによって板状体の吸着を解除することができ
る。In the above configuration, when a plate made of a magnetic material such as a steel plate is transported, the vertical drive cylinder 1 is used.
9, the connection frame 24 is lowered, and the suction box 1
By disposing the permanent magnets 23 distributed over the entire bottom surface 17b of the base 7 on the bottom surface 17b of the suction box 17, the plate-shaped body can be attracted over the entire surface by the large number of permanent magnets 23, and in this state, the lifting and lowering of the lifting frame The plate-like body is transported to a required position by traveling of the traveling body 3, and the vertical drive cylinder 1 is moved.
By attracting the permanent magnet 23 via the connecting frame 24 by contracting the plate 9, the plate-like body can be released from the attraction.
【００４１】この搬送動作に際して、永久磁石２３とし
て異方性のフェライト磁石を用いているので、磁力線の
異方性により板状体が薄板であっても下方の２枚目の板
状体を吸着せず、確実に１枚づつ吸着して搬送すること
ができる。また、吸着口２０に嵌合させた吸着パッド部
２２から吸着ボックス１７内に筒状部２１ａが突出して
いるので、筒状部２１ａにて金属片が吸着口２０から吸
着ボックス１７内に侵入するのを確実に防止でき、永久
磁石２３に金属片が付着してその磁力が低下するのを防
止できる。さらに、ドーナツ形の永久磁石２３を筒状部
２１ａに上下動可能に嵌合させて上下動時にガイドされ
るようにしているので、これら永久磁石２３を簡単な構
造の連結枠２４によって連結でき、多数の永久磁石２３
を簡単な構成にて一括して上下駆動して吸着と吸着解除
の切換を行うことができる。In this transfer operation, since the anisotropic ferrite magnet is used as the permanent magnet 23, even if the plate is a thin plate, the lower second plate is attracted by the anisotropy of the lines of magnetic force. Instead, it is possible to reliably suck and transport one sheet at a time. Further, since the cylindrical portion 21a projects into the suction box 17 from the suction pad portion 22 fitted to the suction port 20, the metal piece enters the suction box 17 from the suction port 20 at the cylindrical portion 21a. And the magnetic force of the permanent magnet 23 can be prevented from lowering due to the metal piece adhering to the permanent magnet 23. Further, since the donut-shaped permanent magnets 23 are vertically movably fitted to the cylindrical portion 21a so as to be guided during the vertical movement, the permanent magnets 23 can be connected by the connection frame 24 having a simple structure. Many permanent magnets 23
Can be simultaneously driven up and down with a simple configuration to switch between suction and suction release.
【００４２】一方、非磁性体から成る板状体を搬送する
場合には、ブロア７を作動させて吸着ボックス１７内を
真空排気することによってその底面１７ｂ全面に分散配
置された吸着口２０にて板状体の全面を真空吸着するこ
とができ、板状体に開口部が加工された状態でもその全
面を確実に吸着でき、上記と同様に板状体を１枚づつ吸
着して確実に搬送することができる。その際に、加工に
て形成された開口部に対向する吸着口２０にあっては、
吸着筒２１の筒状部２１ａ内を流れる吸引流にて弁球体
３５が図６（ａ）に示すように上動して弁座３３を閉
じ、吸着口２０が自動的に閉じられるので、吸引流が流
れっぱなしになることがなく、従って容量の小さいブロ
ア７やエジェクタを用いても吸着ボックス１７内を必要
な真空圧に保って板状体を確実に吸着搬送することがで
き、大幅にコスト低下を図ることができるとともに装置
構成の軽量・コンパクト化を図ることができる。なお、
板状体を吸着した吸着口２０にあっては、図６（ｂ）に
示すように、弁球体３５の上下で圧力が等しくなるの
で、弁球体３５は自重で下動して弁座３３から離間し、
板状体は確実に吸着される。On the other hand, in the case of transporting a plate made of non-magnetic material, the blower 7 is operated to evacuate the inside of the suction box 17 so that the suction box 20 is distributed over the entire bottom surface 17b. The entire surface of the plate can be sucked in vacuum, and even if the opening has been machined in the plate, the entire surface can be sucked securely. As in the above, the plate is sucked one by one and transported securely. can do. At that time, in the suction port 20 facing the opening formed by processing,
As shown in FIG. 6 (a), the valve ball 35 moves upward by the suction flow flowing through the cylindrical portion 21a of the suction tube 21 to close the valve seat 33, and the suction port 20 is automatically closed. The flow is not kept flowing, so that even if a blower 7 or an ejector having a small capacity is used, the inside of the suction box 17 can be maintained at a necessary vacuum pressure and the plate-like body can be reliably sucked and conveyed. The cost can be reduced, and the device configuration can be reduced in weight and size. In addition,
As shown in FIG. 6B, in the suction port 20 that has absorbed the plate-like body, the pressure becomes equal above and below the valve ball 35, so that the valve ball 35 moves down by its own weight and moves from the valve seat 33. Separated,
The plate is securely adsorbed.
【００４３】このように、本実施例によれば磁性体と非
磁性体のいずれの板状体の場合でも、またその板厚が薄
い場合でも、さらに板状体の加工後に複雑な形状の開口
が形成され、さらにその開口部がミクロジョイントで連
結されていない場合でも、その全面を吸着して板状体の
原型を崩すことなく、また確実に１枚づつ吸着して搬送
することができる。As described above, according to this embodiment, regardless of whether the plate is made of a magnetic material or a non-magnetic material, or even if the plate is thin, the opening having a complicated shape after the plate is processed. Is formed, and even when the openings are not connected by a microjoint, the entire surface can be adsorbed and the original plate-shaped body can be securely adsorbed one by one without being broken.
【００４４】また本実施例では、図６（ｂ）に示すよう
に弁球体３５が下動端に位置する状態においても、連通
路３６にて上下の吸引通路３１を互いに連通しているの
で、板状体を吸着した状態から吸着ボックス１７内を大
気に開放して吸着を解除する際に、吸着パッド２２と弁
球体３５との間の吸引通路３１が真空状態のままとなっ
て板状体の吸着解除が確実に行われないという事態を生
じる恐れがなく、確実に板状体の吸着解除動作を確実に
行うことができる。また、図６（ａ）に示すように弁球
体３５が上動して弁座３３を閉じた状態でも、弁座３３
の上下の吸引通路３１を互いに連通する微小通路３７を
形成しているので、板状体を吸着する前に吸着ボックス
１７内を真空圧にすることによって全ての吸着口２０が
弁球体３５にて自動的に閉じられている状態でも、吸着
パッド部２２に板状体が密着すると、板状体が密着した
吸着口２０においては微小通路３７を通って弁球体３５
と吸着パッド部２２間の吸引通路３１内が真空排気され
て弁球体３５の上下の圧力差が小さくなり、弁球体３５
が自重で下動して自動的に吸着口２０が開かれることに
より、板状体を確実に吸着して搬送することができる。
かくして、板状体を密着させてから吸着ボックス１７内
を真空排気しなくても板状体を吸着でき、そのため板状
体の吸着解除後直ちに真空排気を開始することができ、
容量の小さい排気手段を用いても吸着搬送動作時間の短
縮化を図ることができる。なお、この場合微小通路３７
を通って大気が吸着ボックス１７内に流入するが、その
流量が吸引能力に比して小さくなるような微小な通路と
することにより、実質的な影響を受けないようにでき
る。In this embodiment, the upper and lower suction passages 31 communicate with each other through the communication passage 36 even when the valve ball 35 is located at the lower end as shown in FIG. 6B. When releasing the suction by releasing the inside of the suction box 17 to the atmosphere from the state in which the plate-shaped body is sucked, the suction passage 31 between the suction pad 22 and the valve bulb 35 remains in a vacuum state, and Thus, there is no possibility that the release of the suction of the plate-shaped body will not be reliably performed, and the operation of releasing the suction of the plate-shaped body can be reliably performed. Also, as shown in FIG. 6A, even when the valve ball 35 is moved upward to close the valve seat 33, the valve seat 33 is closed.
Since the minute passages 37 connecting the upper and lower suction passages 31 to each other are formed, all the suction ports 20 are connected to the valve ball 35 by applying a vacuum pressure to the inside of the suction box 17 before sucking the plate-like body. Even when the plate-like body is in close contact with the suction pad section 22 even in the automatically closed state, the valve bulb 35 passes through the minute passage 37 in the suction port 20 where the plate-like body is in close contact.
The inside of the suction passage 31 between the suction pad portion 22 and the suction pad portion 22 is evacuated, and the pressure difference between the upper and lower sides of the valve ball 35 is reduced.
Is moved down by its own weight and the suction port 20 is automatically opened, so that the plate-shaped body can be reliably sucked and conveyed.
Thus, the plate-like body can be sucked without having to evacuate the inside of the suction box 17 after the plate-like body is brought into close contact with the plate-like body.
Even if the exhaust means having a small capacity is used, it is possible to shorten the suction and transfer operation time. In this case, the minute passage 37
Although the atmosphere flows into the adsorption box 17 through the passage, the passage is made small so that its flow rate becomes smaller than the suction capacity, thereby making it possible to substantially eliminate the influence.
【００４５】また、吸着筒２１の吸着口２０に対する嵌
合部２９の上部に、吸着口２０の周縁部上面に係合する
下向きの段部２９ａを形成しているので、板状体の荷重
が吸着筒２１の吸着パッド部２２を介して筒状部２１ａ
に作用してもその荷重は段部２９ａにて吸着ボックス１
７の底面に伝達され、吸着筒２１の抜け出しを確実に防
止でき、また吸着筒２１の吸着口２０に対する嵌合部２
９の下部に、吸着口２０の周縁部下面に係合する上向き
の段部２９ｂを形成しているので、吸着筒２１が吸着ボ
ックス１７内に吸引されるのを防止することができ、か
つこの段部２９ｂに吸着口２０の周縁部下面に当接する
突条３０を形成しているので、図７に示すように、嵌合
部２９における突条３０と吸着ボックス１７内との間の
空間に吸着ボックス１７内の真空圧Ｐ1 が作用してこの
嵌合部２９内の圧力がＰ1 に近い真空圧Ｐ2 となり、大
気圧Ｐ0 によって嵌合部２９が吸着穴２０とその周縁部
に圧着させられるため、吸着口２０とその嵌合部２９と
の間から吸着ボックス１７内に大気が流入して真空圧が
低下するのを防止できるとともに吸着筒２１を強固に固
着することができる。Further, since a downward step 29a which engages with the upper surface of the peripheral edge of the suction port 20 is formed above the fitting portion 29 of the suction tube 21 with respect to the suction port 20, the load of the plate-like body is reduced. A cylindrical portion 21a via the suction pad portion 22 of the suction tube 21;
Is applied to the suction box 1 at the step 29a.
7, the suction tube 21 can be reliably prevented from coming off, and the fitting portion 2 to the suction port 20 of the suction tube 21 can be prevented.
9, an upward stepped portion 29 b engaging with the lower surface of the peripheral portion of the suction port 20 is formed, so that the suction tube 21 can be prevented from being sucked into the suction box 17, and Since the protruding ridge 30 that contacts the lower surface of the peripheral portion of the suction port 20 is formed in the step portion 29b, the space between the protruding ridge 30 in the fitting portion 29 and the inside of the suction box 17 is formed as shown in FIG. vacuum pressure P 2 becomes a pressure close to P 1 of the vacuum pressure P 1 is within the fitting portion 29 by the action of the suction box 17, at its peripheral edge engagement portion 29 and the suction holes 20 by the atmospheric pressure P 0 Due to the pressure bonding, it is possible to prevent the air from flowing into the suction box 17 from between the suction port 20 and the fitting portion 29 and to reduce the vacuum pressure, and to firmly fix the suction tube 21.
【００４６】また本実施例によれば、複数のダクト兼用
の支持梁１３を介して複数の吸着ボックス１７を碁盤目
状に配置しているので、比較的小さな構成の単位体の吸
着ボックス１７を用いることができ、軽量で安価な構成
にて大きな板状体を吸着搬送することができる。また、
支持梁１３を複数の吊下軸１４を介して上昇可能に吊下
げ支持し、この支持梁１３にその長手方向に揺動可能に
吸着ボックス１７を取付けているので、各吸着ボックス
１７は上下変位及び２方向に傾き可能に昇降枠１０に支
持された状態であり、それぞれ板状体に確実に沿わせる
ことができて板状体の全面を確実に吸着することができ
る。Further, according to the present embodiment, since the plurality of suction boxes 17 are arranged in a grid pattern via the plurality of support beams 13 serving also as ducts, the suction box 17 of a unit having a relatively small configuration can be used. A large plate can be suctioned and conveyed with a lightweight and inexpensive configuration. Also,
The support beam 13 is suspended and supported via a plurality of suspension shafts 14 so as to be liftable, and the suction box 17 is attached to the support beam 13 so as to be swingable in the longitudinal direction. And in a state supported by the elevating frame 10 so as to be tiltable in two directions, so that they can be made to follow the plate-like body without fail, and the entire surface of the plate-like body can be reliably sucked.
【００４７】[0047]
【発明の効果】本発明の請求項１によれば、吸着ボック
ス内を真空排気することによって全面に分散された吸着
口にて板状体の全面を真空吸着することができ、板状体
に開口部が加工された状態でもその全面を確実に吸着で
き、したがって吸着ボックスで板状体を吸着した状態で
昇降枠を昇降し、走行体を走行させることにより板状体
を１枚づつ確実に搬送することができる。しかも、加工
にて形成された開口部に対向する吸着口にあっては、吸
着筒の筒状部内を流れる吸引流にて弁球体が上動して弁
座を閉じ、吸着口が自動的に閉じられるので、吸引流が
流れっぱなしになることがなく、従って容量の小さい真
空ポンプやエジェクタを用いても吸着ボックス内を必要
な真空圧に保って板状体を確実に吸着搬送することがで
き、大幅にコスト低下を図ることができるとともに装置
構成の軽量・コンパクト化を図ることができる。According to the first aspect of the present invention, by evacuating the inside of the suction box, the entire surface of the plate can be vacuum-sucked by the suction ports dispersed over the entire surface. Even if the opening is machined, the entire surface can be reliably sucked. Therefore, the lifting frame is moved up and down while the plate-shaped body is sucked by the suction box, and the running body is moved, so that the plate-shaped bodies are reliably placed one by one. Can be transported. In addition, in the suction port facing the opening formed by the processing, the valve ball moves upward by the suction flow flowing through the cylindrical portion of the suction cylinder, the valve seat closes, and the suction port is automatically set. Since the suction box is closed, the suction flow does not remain flowing, so that even if a small-capacity vacuum pump or ejector is used, the inside of the suction box can be maintained at the required vacuum pressure and the plate-shaped body can be reliably sucked and conveyed. Thus, the cost can be significantly reduced, and the weight and size of the device configuration can be reduced.
【００４８】また請求項１によれば、弁球体が上動して
弁座を閉じた状態で弁座の上下の吸引通路を互いに連通
する微小通路を形成しているので、板状体を吸着する前
に吸着ボックス内を真空圧にすることによって全ての吸
着口が弁球体にて自動的に閉じられている状態でも、吸
着パッド部に板状体が密着すると、微小通路を通って弁
球体と吸着パッド部間の吸引通路内が真空排気されて弁
球体の上下の圧力差が小さくなり、弁球体が自重で下動
して自動的に吸着口が開かれることにより、板状体を確
実に吸着して搬送することができる。従って、板状体を
密着させてから吸着ボックス内を真空排気しなくても板
状体を吸着でき、そのため板状体の吸着解除後直ちに真
空排気を開始することができ、容量の小さい排気手段を
用いても吸着搬送動作時間の短縮化を図ることができ
る。According to the first aspect of the present invention, the valve body moves upward to form the minute passage which connects the upper and lower suction passages of the valve seat in a state where the valve seat is closed. Even if all the suction ports are automatically closed by the valve ball by applying a vacuum pressure to the inside of the suction box before performing the process, if the plate-shaped body comes into close contact with the suction pad, the valve ball passes through the minute passage. The suction passage between the suction pad and the suction pad is evacuated to reduce the pressure difference between the top and bottom of the valve ball, the valve ball moves down by its own weight, and the suction port is automatically opened, thereby securing the plate-shaped body. And can be transported. Therefore, the plate-like body can be sucked without having to evacuate the inside of the suction box after the plate-like body is brought into close contact with the plate-like body. Even if is used, it is possible to shorten the suction and transfer operation time.
【００４９】請求項２によれば、弁球体の下動端におい
て連通路にて上下の吸引通路を互いに連通しているの
で、板状体を吸着した状態から吸着ボックス内を大気に
開放して吸着を解除する際に、吸着パッドと弁球体との
間の吸引通路が真空状態のままとなって板状体の吸着解
除が確実に行われないという事態を生じる恐れがなく、
確実に板状体の吸着解除動作を確実に行うことができ
る。According to the second aspect, since the upper and lower suction passages communicate with each other through the communication passage at the lower end of the valve bulb, the inside of the suction box is opened to the atmosphere from the state where the plate-like body is suctioned. When releasing the suction, there is no fear that the suction path between the suction pad and the valve ball remains in a vacuum state and the release of the suction of the plate-shaped body is not reliably performed.
The operation of releasing the suction of the plate-like body can be reliably performed.
【００５０】請求項３によれば、吸着筒の吸着口に対す
る嵌合部の上部に、吸着口の周縁部上面に係合する下向
きの段部を形成しているので、板状体の荷重はこの段部
にて吸着ボックスの底面に伝達され、吸着筒の抜け出し
を確実に防止できる。According to the third aspect of the present invention, since the downward step which engages with the upper surface of the peripheral edge of the suction port is formed above the fitting portion of the suction tube to the suction port, the load of the plate-like body is reduced. At this step, the suction tube is transmitted to the bottom surface of the suction box, and the suction tube can be reliably prevented from coming off.
【００５１】請求項４によれば、吸着筒の吸着口に対す
る嵌合部の下部に、吸着口の周縁部下面に係合する上向
きの段部を形成しているので、吸着筒が吸着ボックス内
に吸引されるのを防止することができ、かつこの段部に
吸着口の周縁部下面に当接する突条を形成しているの
で、嵌合部における突条と吸着ボックス内との間の空間
に吸着ボックス内の真空圧が作用して嵌合部が吸着穴と
その周縁部に圧着するため、吸着口とその嵌合部との間
から吸着ボックス内に大気が流入して真空圧が低下する
のを防止できるとともに吸着筒を強固に固着することが
できる。According to the fourth aspect of the present invention, since the upward step which engages with the lower surface of the peripheral portion of the suction port is formed at the lower portion of the fitting portion for the suction port of the suction cylinder, the suction cylinder is provided inside the suction box. Can be prevented from being sucked into the suction port, and a ridge is formed in this step to abut against the lower surface of the peripheral portion of the suction port. Therefore, the space between the ridge in the fitting portion and the inside of the suction box is formed. The vacuum pressure in the suction box acts on the suction hole, and the fitting part is pressed against the suction hole and its periphery, so that the air flows into the suction box from between the suction port and the fitting part and the vacuum pressure drops. Can be prevented, and the adsorption cylinder can be firmly fixed.
【００５２】請求項５によれば、吸着ボックスの底面上
の全面に昇降可能に多数の永久磁石を分散配設している
ので、板状体が磁性体から成る場合に、永久磁石を吸着
ボックス底面上に位置させることにより、板状体をその
全面にわたって吸着できるとともに永久磁石を上昇させ
ることによって吸着を解除することができ、磁性体から
成る板状体の場合に真空吸着に依らずに吸着搬送するこ
とができる。According to the fifth aspect, since a large number of permanent magnets are dispersedly arranged on the entire bottom surface of the suction box so as to be able to move up and down, when the plate-like body is made of a magnetic material, the permanent magnets are attached to the suction box. By positioning it on the bottom surface, the plate-like body can be attracted over the entire surface and the permanent magnet can be lifted to release the attraction. In the case of a plate made of magnetic material, it can be attracted without relying on vacuum suction Can be transported.
【００５３】請求項６によれば、異方性のフェライト磁
石を用いたことにより、磁力線の異方性により板状体が
薄板であっても下方の２枚目の板状体を吸着せず、確実
に１枚づつ吸着して搬送することができる。According to the sixth aspect, since the anisotropic ferrite magnet is used, even if the plate is thin, the lower second plate is not attracted even if the plate is thin. Thus, it is possible to surely suck and convey one sheet at a time.
【００５４】請求項７によれば、ドーナツ形の永久磁石
が筒状部にて上下動可能にガイドされているので、これ
ら永久磁石を簡単な連結枠によって連結することがで
き、かつこの連結枠を上下駆動することにより簡単に吸
着と吸着解除の切換を行うことができる。According to the seventh aspect, since the donut-shaped permanent magnet is guided by the cylindrical portion so as to be vertically movable, these permanent magnets can be connected by a simple connecting frame, and this connecting frame can be connected. Can be easily switched between suction and release by suction.
【００５５】請求項８によれば、複数のダクト兼用の支
持梁を介して複数の吸着ボックスを碁盤目状に配置して
いるので、比較的小さな構成の単位体の吸着ボックスを
用いて軽量で安価な構成にて大きな板状体を吸着搬送す
ることができる。According to the eighth aspect, since the plurality of suction boxes are arranged in a grid pattern via the plurality of supporting beams serving also as ducts, the suction box having a relatively small unit can be used to reduce the weight. A large plate can be suctioned and conveyed with an inexpensive configuration.
【００５６】請求項９によれば、支持梁を複数の吊下軸
を介して上昇可能に吊下げ支持し、この支持梁にその長
手方向と直交する方向に揺動可能に吸着ボックスを取付
けているので、各吸着ボックスを板状体に沿わせること
ができて板状体の全面を確実に吸着することができる。According to the ninth aspect, the support beam is suspended and supported via a plurality of suspension shafts, and the suction box is attached to the support beam so as to be swingable in a direction orthogonal to the longitudinal direction. Therefore, each suction box can be made to follow the plate-like body, and the entire surface of the plate-like body can be reliably sucked.
【図１】本発明の板状体搬送装置の一実施例の全体側面
図である。FIG. 1 is an overall side view of an embodiment of a plate-shaped object conveying device according to the present invention.
【図２】同実施例の走行体部分の正面図である。FIG. 2 is a front view of a traveling body of the embodiment.
【図３】同実施例の吸着ボックスの縦断側面図である。FIG. 3 is a vertical sectional side view of the suction box of the embodiment.
【図４】同実施例の吸着ボックスの正面図である。FIG. 4 is a front view of the suction box of the embodiment.
【図５】同実施例の吸着ボックスにおける吸着筒配置部
の詳細縦断面図である。FIG. 5 is a detailed vertical cross-sectional view of a suction cylinder disposition portion in the suction box of the embodiment.
【図６】同実施例の吸着筒の構成を示し、（ａ）は弁球
体が上動して吸引通路を閉じた状態の縦断面図、（ｂ）
は弁球体が下動して吸引通路を開いた状態の縦断面図で
ある。6A and 6B show a configuration of the suction cylinder of the embodiment, in which FIG. 6A is a longitudinal sectional view showing a state where a valve ball moves upward and a suction passage is closed, and FIG.
FIG. 4 is a longitudinal sectional view showing a state in which a valve ball moves down to open a suction passage.
【図７】同実施例の吸着筒の要部を拡大して示した部分
拡大断面図である。FIG. 7 is a partially enlarged cross-sectional view showing an enlarged main part of the suction tube of the embodiment.
１ レール ３ 走行体 １０ 昇降枠 １３ ダクト兼用の支持梁 １４ 吊下軸 １５ 圧縮コイルばね １７ 吸着ボックス １９ 上下駆動シリンダ ２０ 吸着口 ２１ 吸着筒 ２１ａ 筒状部 ２２ 吸着パッド部 ２３ 永久磁石 ２４ 連結枠 ２９ 嵌合部 ２９ａ 下向きの段部 ２９ｂ 上向きの段部 ３０ 突条 ３１ 吸引通路 ３３ 弁座 ３５ 弁球体 ３６ 連通路 ３７ 微小通路 DESCRIPTION OF SYMBOLS 1 Rail 3 Traveling body 10 Elevating frame 13 Support beam also serving as duct 14 Suspension shaft 15 Compression coil spring 17 Suction box 19 Vertical drive cylinder 20 Suction port 21 Suction cylinder 21a Tubular part 22 Suction pad part 23 Permanent magnet 24 Connection frame 29 Fitting portion 29a Downward stepped portion 29b Upward stepped portion 30 Ridge 31 Suction passage 33 Valve seat 35 Valve ball 36 Communication passage 37 Micro passage
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.6 識別記号 ＦＩ Ｂ６５Ｇ 47/91 Ｂ６５Ｇ 47/91 Ｂ Ｂ６６Ｃ 1/04 Ｂ６６Ｃ 1/04 (56)参考文献 特開 昭50−15957（ＪＰ，Ａ) 実開 平５−9725（ＪＰ，Ｕ) 実開 昭56−94701（ＪＰ，Ｕ) 実開 昭59−156077（ＪＰ，Ｕ) 実開 昭50−145755（ＪＰ，Ｕ) 実開 昭49−36671（ＪＰ，Ｕ) (58)調査した分野(Int.Cl.6，ＤＢ名) B66C 1/02 - 1/04 B25J 15/06 ──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. 6 Identification symbol FI B65G 47/91 B65G 47/91 B B66C 1/04 B66C 1/04 (56) References JP-A-50-15957 (JP, A 5-9725 (JP, U) 56-94701 (JP, U) 59-156077 (JP, U) 50-145755 (JP, U) 49-49 36671 (JP, U) (58) Field surveyed (Int. Cl. 6 , DB name) B66C 1/02-1/04 B25J 15/06
Claims (9)
に昇降可能な昇降枠を設け、この昇降枠の下部に、多数
の吸着口が底面全面に分散形成された吸着ボックスを取
付け、各吸着口に、筒状部の下端に吸着パッド部を形成
した吸着筒の下端部を嵌合し、筒状部内に吸引流にて上
動する弁球体を配設するとともに上動した弁球体にて閉
じる弁座を設け、且つ弁球体が上動端に位置した状態で
弁座の上下の吸引通路を互いに連通する微小通路を形成
したことを特徴とする板状体搬送装置。An elevating frame is provided at a lower portion of a traveling body that can travel along a rail, and a suction box having a plurality of suction ports dispersedly formed on the entire bottom surface is attached to a lower portion of the elevating frame. The suction port is fitted with the lower end of the suction tube having a suction pad formed at the lower end of the cylindrical portion, and a valve ball moving upward by suction flow is disposed in the cylindrical portion and the valve ball moving upward With the valve seat closed and the valve ball positioned at the upper end
Forming a small passage that connects the suction passages above and below the valve seat
Plate-like body conveying apparatus characterized by the.
の上下の吸引通路を互いに連通する連通路を形成したこ
とを特徴とする請求項１記載の板状体搬送装置。2. The plate-shaped body conveying device according to claim 1, wherein a communication path for communicating the upper and lower suction passages of the valve ball with each other is formed in a state where the valve ball is located at the lower moving end.
に、吸着口の周縁部上面に係合する下向きの段部を形成
したことを特徴とする請求項１記載の板状体搬送装置。3. The plate-like body conveying device according to claim 1, wherein a downward step is formed at an upper portion of the fitting portion of the suction tube with respect to the suction port so as to be engaged with the upper surface of the peripheral edge of the suction port. .
に、吸着口の周縁部下面に係合する上向きの段部を形成
するとともに、この段部に吸着口の周縁部下面に当接す
る突条を形成したことを特徴とする請求項１記載の板状
体搬送装置。4. An upwardly-facing step which is engaged with a lower surface of a peripheral portion of the suction port is formed below a fitting portion of the suction tube with respect to the suction port, and the step contacts the lower surface of the peripheral portion of the suction port. The plate-like body conveying device according to claim 1, wherein a ridge is formed.
に昇降可能な昇降枠を設け、この昇降枠の下部に、多数
の吸着口が底面全面に分散形成された吸着ボックスを取
付け、各吸着口に、筒状部の下端に吸着パッド部を形成
した吸着筒の下端部を嵌合し、筒状部内に吸引流にて上
動する弁球体を配設するとともに上動した弁球体にて閉
じる弁座を設け、且つ吸着ボックスの底面上の全面に多
数の永久磁石を分散配設するとともにこれら永久磁石を
上下駆動する手段を設けたことを特徴とする板状体搬送
装置。5. A lower portion of a traveling body capable of traveling along a rail.
An elevating frame is provided at the lower part of the elevating frame.
Take the suction box with the suction port
At each suction port, a suction pad part is formed at the lower end of the cylindrical part
The lower end of the suction tube is fitted, and the suction
Move the valve ball and close it with the valve ball
And a valve seat on the bottom of the suction box.
Number of permanent magnets are distributed and these permanent magnets are
A plate-shaped object conveying device provided with means for vertically driving .
あることを特徴とする請求項５記載の板状体搬送装置。6. The plate-like body conveying device according to claim 5, wherein the permanent magnet is an anisotropic ferrite magnet.
るドーナツ形で、これら永久磁石を互いに連結する連結
枠が設けられ、上下駆動手段にて連結枠を上下駆動する
ようにしたことを特徴とする請求項５記載の板状体搬送
装置。7. A donut shape in which a permanent magnet is fitted to a cylindrical portion so as to be movable up and down, a connecting frame for connecting the permanent magnets to each other is provided, and the connecting frame is driven up and down by vertical drive means. The plate-shaped object conveying device according to claim 5, wherein:
適当間隔置きに吊下げ支持し、各支持梁にその長手方向
に並列させて複数の吸着ボックスを取付けて吸着ボック
スを碁盤目状に配置し、各吸着ボックス内と支持梁内を
連通させたことを特徴とする請求項１または５記載の板
状体搬送装置。8. A plurality of support beams serving also as ducts are suspended and supported on the elevating frame at appropriate intervals, and a plurality of suction boxes are attached to each support beam in a longitudinal direction thereof so that the suction boxes are in a grid pattern. The plate-shaped object conveying device according to claim 1 or 5, wherein the inside of each suction box and the inside of the support beam are communicated with each other.
上昇可能に吊下げ支持するとともに支持梁を下方に付勢
するばねを設け、この支持梁にその長手方向と直交する
方向の軸芯回りに揺動可能に吸着ボックスを取付けたこ
とを特徴とする請求項８記載の板状体搬送装置。9. A spring which suspends and supports the support beam so as to be able to ascend via a plurality of suspension shafts on the elevating frame and urges the support beam downward, and a direction orthogonal to the longitudinal direction of the support beam. 9. The plate-shaped object conveying device according to claim 8, wherein a suction box is mounted so as to be swingable around the axis of the plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6171147A JP2891878B2 (en) | 1994-07-22 | 1994-07-22 | Plate transfer device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6171147A JP2891878B2 (en) | 1994-07-22 | 1994-07-22 | Plate transfer device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0834587A JPH0834587A (en) | 1996-02-06 |
| JP2891878B2 true JP2891878B2 (en) | 1999-05-17 |
Family
ID=15917865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6171147A Expired - Fee Related JP2891878B2 (en) | 1994-07-22 | 1994-07-22 | Plate transfer device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2891878B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008519742A (en) * | 2004-11-15 | 2008-06-12 | レイヤー テック ホールディングス ピーティーワイ リミテッド | Method and apparatus for handling stacked luggage |
| CN110733886A (en) * | 2019-09-30 | 2020-01-31 | 福州派可吉贸易有限公司 | Novel vacuum suction plate structure |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005263481A (en) * | 2004-02-20 | 2005-09-29 | Aramu Kk | Suction type carrying method |
| JP2006080623A (en) | 2004-09-07 | 2006-03-23 | Canon Inc | Information processing method and apparatus, and computer program and computer-readable storage medium |
| JP4545681B2 (en) * | 2005-12-01 | 2010-09-15 | 日本メクトロン株式会社 | Adsorption conveyance device and conveyance method for plate workpiece |
| CN104925636A (en) * | 2015-06-05 | 2015-09-23 | 柳州金茂机械有限公司 | Glass lifting device |
| CN107934580A (en) * | 2017-12-27 | 2018-04-20 | 浙江龙文精密设备股份有限公司 | Food cans stacking machine catching plate |
| CN108393569A (en) * | 2018-02-01 | 2018-08-14 | 惠州市诚业家具有限公司 | Feeding device and its control method and welding equipment |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4936671U (en) * | 1972-06-30 | 1974-04-01 | ||
| JPS5648426B2 (en) * | 1973-06-18 | 1981-11-16 | ||
| JPS5223556Y2 (en) * | 1974-05-23 | 1977-05-30 | ||
| JPS5694701U (en) * | 1979-12-19 | 1981-07-28 | ||
| JPS59156077U (en) * | 1983-04-04 | 1984-10-19 | 住友金属工業株式会社 | Steel plate hanging tool |
| JPH059725U (en) * | 1991-07-23 | 1993-02-09 | 村田機械株式会社 | Plate loader |
-
1994
- 1994-07-22 JP JP6171147A patent/JP2891878B2/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008519742A (en) * | 2004-11-15 | 2008-06-12 | レイヤー テック ホールディングス ピーティーワイ リミテッド | Method and apparatus for handling stacked luggage |
| CN110733886A (en) * | 2019-09-30 | 2020-01-31 | 福州派可吉贸易有限公司 | Novel vacuum suction plate structure |
| CN110733886B (en) * | 2019-09-30 | 2020-11-24 | 福州派可吉贸易有限公司 | Vacuum suction plate structure |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0834587A (en) | 1996-02-06 |
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