JP2901782B2 - Hand holding packing material - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic apparatus for collectively packing fiber product cheeses.

[0002]

2. Description of the Related Art Conventionally, a collective packaging automation technique is to place an upwardly open case on a wooden pallet and load products into the case. Place a divider with a pad between the eyes and the second tier to prevent collapse, load the products in the second tier, repeat this process and load the top tier product, then A plate with a pad was placed only on the lower side to prevent the cargo from collapsing, and a case with a downward opening was placed on top of it (Japanese Patent Publication No. Sho 5).
9-9406).

In such an automatic apparatus, the loading operation is performed by two types of hands, a hand for gripping and loading the product and a hand for gripping and inserting the partition plate, and is covered with a case opened downward. The work is performed in the next process.

[0004] In such a system, a work space is required to cover a case opened downward. In addition, it is necessary to position the entire case in which the products are loaded in order to cover the case opened downward, so that low-speed transport is also required for positioning, which increases the transport time and the transport tact time. . Further, there is a problem in that two types of apparatus main bodies are required, and capital investment is required for two apparatuses.

[0005]

As described above, the conventional collective packing automatic apparatus has drawbacks in terms of work efficiency, transfer efficiency, and cost. The present invention solves the above-mentioned problems of the prior art, and a packing material gripping hand capable of performing a work of covering a partition plate with a pad, a plate with a pad only on the lower side, and a case opened downward with a single composite hand. The purpose is to provide.

[0006]

That is, according to the present invention, in order to stack products in several stages in a case, an intermediate material is incorporated for each number of stages and an upper packing material and an upper case are supplied at the uppermost stage. In the apparatus, a frame or a substrate is connected to the tip of an articulated robot arm capable of performing three-dimensional movement, and a slider capable of moving in the same direction is provided on the substrate in a quadrilateral shape. The gripping claw is mounted so as to be rotatable by 90 degrees about its bent portion, and an auxiliary claw is provided at the upper end of the gripping claw to protrude at a right angle. And a pusher for separating the intermediate material and the like from the adsorber.
This is a gripping hand for packing material, characterized in that a hanging hand is provided.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. FIG.
2 is a side view showing an embodiment of the present invention, FIG. 2 is a partial plan view of FIG. 1, and FIG. 3 is a detailed explanatory view of a portion A in FIG.

In FIG. 1, reference numeral 1 denotes a frame formed in an H-shape, and the center of the frame is connected to the tip of a multi-joint robot arm 30 capable of three-dimensional movement. At the intermediate portion of the frame 1, four wrap-shaped suction pads (adsorbers) 2 connected to a vacuum source (not shown) via a suction pipe 2 'so that the mounting position forms a quadrilateral so as to be vertically movable. It is provided at the tip of a hydraulic cylinder 24 attached to the body 1.

3 is a pusher for releasing the suction of the pad 2.
Then, the extruding plate 5 at the tip is advanced by the operation of the fluid pressure cylinder 4, and the partition plate 42 and the like supported by suction are pushed out to eliminate the suction function.

At each of the four ends of the frame 1, a fluid pressure cylinder 6 having a slider 7 connected to the end thereof is provided. The slider 7 is further provided with a bracket 8 via a bracket 8. An article gripper 10 is positioned below the tip.
The slider 7 (bracket 8) moves forward and backward along the guide groove 9 cut in the frame 1 by the operation of the fluid pressure cylinder 6, and the distance between the two grippers 10 at the opposing positions is widened. It is made to fall and narrow.

The gripper 10 includes a rack 12 connected to a hydraulic cylinder 11, a pinion 13 meshing with the rack 12,
Timing board fixed to the support shaft 14 of the pinion 13
A timing pulley 17 on the other side connected to a position below the timing pulley 15 via a timing belt 16, a gripping claw 19 fixed to a support shaft 18 of the timing pulley 17, and the like. Is done. These may use a similar known mechanism such as a gear. The gripping claw 19 is fixed to the support shaft 18 at the bent portion 21 so that the gripping claw 19 faces the other gripping claw 19 ′ at the position where the claw body 20 is formed. It protrudes upward. 23 is a pinion 13 or a pulley 1
This is a transmission box which incorporates support shafts 14 and 18 such as pulleys and has built-in 5, 17 and the like.

In an apparatus having such a configuration,
As shown in FIGS. 1 to 4 , the lower case 41 placed on the pallet 40 and transported to a predetermined position is attached to the padded partition plate 42.
To excisional together when reducing the distance between them by moving the gripping claws 19, 19 'inwardly by hydraulic fluid pressure cylinder -6 and 24, a state in which lower the suction pads 2 downward.

Next, when the robot arm 30 is actuated, the frame plate 1 moves above the partition plate supply table (not shown) and descends, and when the suction pad 2 contacts the partition plate 42, the suction pad 2 is detected by a detector such as a limit switch. Is switched to a vacuum state, and a suction action occurs, so that the partition plate 42 is sucked by the suction pad 2. In this state, the partition plate 42 is lifted and moved, lowered to the lower case 41, and set on the full bobbin P of the product.

When the suction pad 2 is lowered to the predetermined position, the detector is activated. When the lowering is stopped and the suction operation is interrupted, the fluid pressure cylinder 4 is activated as shown in FIG. The pusher extrusion plate 5 projects downward and the partition plate 4
2 is separated from the suction pad 2 and set at a predetermined position on the product (full bobbin P). Next, when the full bobbin P is set on the partition plate 42, the same operation as described above is performed again, and the partition plate 42 is put on the full bobbin.

When the above operation is repeated and the product is loaded to the uppermost stage, the partition plate 42 'having a downward pad and the plywood 43 located thereon are set simultaneously at the same time (these two sheets). Are set in advance as a set of two sheets).
It is necessary to cover. For this reason, the fluid pressure cylinder-6,
24 operates to spread the two grippers 19 and 19 'opposed to each other via the bracket 8 to a position where a predetermined interval is reached, and at the same time raises the suction pad 2 to the uppermost position.

Next, the rack 12 is moved by the fluid pressure cylinder 11 and the auxiliary pawl 22 is rotated by the rotation of the pinion 13.
When the pawl main body 20 is rotated until the horizontal position becomes the horizontal position, the hydraulic cylinder 6 reversely moves, and the gripping claws 19 and 19 'move inward each other to reduce the gap therebetween, as shown in FIG. Thus, the two plates 42 and 43 described above are gripped. Thereafter, the grasped plate is placed on the product by the same operation as described above.

Next, the robot hand 30 moves to the position of the upper case 44 and shifts to a gripping state. In this case, the fluid pressure cylinder 11 is actuated to return the pawl 20 to its original state so that the claw 20 has a Г-shape, and the mutual distance is widened.
Lower to position 4. When the suction pad 2 comes in contact with (approaches) the upper surface of the upper case 44, the detector operates to be in a suction state, and the fluid pressure cylinder 6 operates to operate the upper case 4.
4 until it touches the side surface, and as shown in FIG. In this case, the nail 20
And the lower surface of the suction pad 2 are located at substantially the same height. In this case, the suction pad 2 need not always be used.

Thus, the upper case 44 is gripped by the suction pad 2 and the claws 20, and in this state, the upper case 44 is carried to a predetermined position of the lower case 41 on which the product is loaded, and is opened here. You. That is, the signal from the detector activates the fluid pressure cylinder 6 to extend the distance between the claws to release the upper four corners of the upper case 44, which is opened downward, and at the same time, stop the suction action of the suction pad 2. As a result, the upper case 44 stops being attracted to the upper surface of the upper case 44, and the pushing plate 5 of the pusher projects downward to separate the upper case 44 from the robot arm 30 so as to be positioned at a predetermined position and mounted. The package loaded with the product is sent to the next step, and the next lower case or the like is moved and entered instead, and the same operation is sequentially repeated.

The packaging members having different shapes in this way are
It is efficiently processed by one gripping hand.

[0020]

As described above, according to the present invention, packing materials can be quickly and reliably supplied in a small space at the time of packing, and the supply of all the packing materials can be efficiently performed by one apparatus. It has a remarkable effect that it becomes possible to perform

[Brief description of the drawings]

FIG. 1 is a side view showing an embodiment of the present invention.

FIG. 2 is a partial plan view of FIG.

FIG. 3 is a detailed explanatory view of a portion A in FIG. 1;

FIG. 4 (a) is an operation explanatory view of the present invention. (B) It is operation | movement explanatory drawing of this invention. (C) It is operation explanatory drawing of this invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Frame 2 Suction pad 3 Pusher 7 Slider 10 Gripping device 12 Rack 13 Pinion 19 Gripping claw 22 Auxiliary claw

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁶ , DB name) B65B 5/00-5/12 B25J 15/06 B25J 15/08 B65G 57/03

Claims (1)

(57) [Claims] An apparatus for assembling an intermediate material for each number of stages and supplying an upper packaging material and an upper case to the uppermost stage in order to stack products in several stages in a case. A frame or a board is connected to the tip of a multi-joint robot arm, and a slider capable of moving back and forth in the same direction is provided on the board in a quadrilateral shape. A fluid pressure cylinder that is rotatably mounted as a center position at 90 degrees and has an auxiliary claw protruding at a right angle at the upper end position of the gripping claw, and an adsorber mounted at an inner position corresponding to the gripping claw. A gripping hand for packing material, wherein a pusher for separating a material or the like from an adsorber is vertically provided.