JP3443398B2 - Reverse stacking device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inversion stacking device for alternately inverting and stacking objects.

[0002]

2. Description of the Related Art A conventional inversion stacking apparatus of this type is shown, for example, in Japanese Patent No. 2632759. This prior art discloses a reversing piling device that takes out a long product conveyed on a conveyance conveyor in a lateral direction of the conveyor that is perpendicular to the conveyance direction of the conveyance conveyor and alternately inverts the front and back to stack them. . This inversion piling device is located on the side opposite to the product take-out side of the conveyor, and is a movable base that can move in the horizontal direction of the conveyor and that can move up and down, and a vertical surface parallel to the horizontal direction of the conveyor at the tip of the movable base. The suction arm is attached so as to be rotatable by 180 ° and has a posture in which it horizontally extends from the front end of the movable table in a horizontal direction and a posture in which it is horizontally folded back to the opposite side from the front end of the movable table.

With this, a normal stacking operation is performed in which the suction arm is lowered from above the transfer conveyor to suck up the products, and then the products are lifted, then moved forward in the lateral direction of the conveyor and then lowered to place the products in a normal posture. , Raise the suction arm in the horizontal folded position from below the transport conveyor,
Adsorb the product on the transfer conveyor, then set the adsorption arm to 1
It is possible to invert with 80 ° inversion and then descend, alternating with the inversion stacking action, which places the product in the inverted orientation.

[0004]

The above-mentioned prior art has the following problems.

(1) Since the back and forth movement and the up and down movement are performed by a linear movement, the movement distance to reach the target position becomes long and it takes time. Moreover, the installation space becomes large. (2) Since the products are taken out by adsorption, only the products that can be adsorbed are applicable and cannot be applied to all products. Further, since the product may be sucked from above or from below, the structure of the suction arm becomes complicated. (3) When the reverse stacking is performed, since the number of operation steps is large, the working time is long and the efficiency is low. (4) Since the take-out position and the receiving position are limited to the same side with respect to the reversing piling device, the take-out position and the receiving position cannot be freely selected.

An object of the present invention is to solve the above-mentioned problems and to provide an inversion stacking device capable of efficiently performing the inversion stacking work in a short time and capable of operating in a large space in a narrow space. is there.

[0007]

According to the present invention, there is provided (a) a plurality of supply fork members which extend toward the take-out side of an object and which are provided at intervals from each other, and which are formed by the supply fork members. Supply means for mounting an object at a predetermined take-out position on a mounting surface, and (b) a receiving surface which is arranged at a distance from the supply means and has a horizontal mounting surface and which is predetermined on the mounting surface. A receiving means for placing an object at a position, and (c) a gripping means for gripping an object, the first fork means having a flat first gripping surface and capable of passing through a gap between the supply fork members, A second fork means having a second gripping surface parallel to the first gripping surface and arranged to face the first fork means, and the first fork means and the second fork means are brought close to each other to grip an object. Then, the first fork means and the second fork means are separated from each other A gripping means provided with gripping driving means for releasing gripping, and (d) interposed between the supply means and the receiving means, mounted with the gripping means, about an axis parallel to the first and second gripping surfaces, and It includes a reversing / conveying unit that is angularly displaced about a horizontal axis, conveys the object from the supplying unit to the receiving unit, and reverses the object upside down. Positioning means for positioning to a predetermined receiving position is provided, and the positioning means contacts the end surface of the object on the supply means side at the predetermined receiving position to prevent the movement of the object, and a fixed position on the floor. A pair of struts that stand upright with a space between them to support the positioning piece, the spacing between the struts being longer than the length of the gripping means in the direction perpendicular to the wrist axis, and the length of the object in the same direction. An inverting stacking apparatus characterized by comprising a post which is set to the remote shorter.

According to the invention, the object placed at the take-out position on the horizontal mounting surface of the supply means is gripped between the first fork means and the second fork means, and the object is rotated about the axis parallel to the grip surface. It is angularly displaced along with the horizontal axis. As a result, the objects are turned upside down and conveyed from the supply means to the receiving means to be stacked. In this way, the objects can be moved by the angular displacement movement, so the movement distance can be shortened compared to the case of moving by combining linear movements, and the reverse stacking work can be performed efficiently in a short time. You can When the object grasped by the grasping means is released, and in that state, the grasping means is pulled out to the supply means side along the path passing between the columns to place the object on the receiving means, the grasping means and the supply means side Since the movement of the object to be moved can be blocked by the positioning piece arranged at the predetermined receiving position, the object can be accurately placed at the predetermined receiving position.

Further, the present invention is a robot in which a plurality of arms are connected by joints, and the wrist is provided at the tip of the arms such that the wrist is displaceable by at least 180 ° around its axis. The base end portion of the arm is angularly displaceable around an axis perpendicular to a vertical plane including the wrist axis.

According to the present invention, a robot having a plurality of arms connected by joints is provided with a wrist capable of angular displacement at the tip of the arm, and the base end of the arm is perpendicular to a vertical plane including the wrist axis. Since it can be angularly displaced around a large axis, a large operating range can be achieved in a narrow space.

Further, according to the present invention, the first fork means of the gripping means is arranged on both sides of the wrist axis line in the first gripping plane parallel to the wrist axis line with a space in the direction perpendicular to the wrist axis line. The second fork means of the gripping means includes a plurality of first fork members extending slenderly along the first fork member, and a first connecting member provided at a base end portion of the first fork member and connecting the first fork members to each other. , Second parallel to the first gripping surface
A plurality of second fork members, which are arranged on both sides of the wrist axis and are opposed to the first fork member at intervals in the gripping surface in a direction perpendicular to the wrist axis, and which are elongated along the wrist axis, and a second fork member. A second connecting member that is provided at the base end portion and that connects the second fork members to each other is included.

According to the invention, the first fork means having the first gripping surface parallel to the wrist axis is a plurality of elongated first fork members arranged at intervals in the direction perpendicular to the wrist axis, and its base. Second fork means including a first connecting member for connecting the first fork members to each other at an end portion and having a second gripping surface parallel to the first gripping surface is arranged to face the first fork member. Since the second fork member and the second connecting member for connecting the second fork member to each other are included, the object can be reliably gripped between the first fork means and the second fork means.

[0013]

[0014]

[0015]

[0016]

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a front view showing a simplified structure of an inversion stacking apparatus 1 according to an embodiment of the present invention. The reversal stacking device 1 is a device for alternately reversing and stacking the objects 3, and the objects 3 are, for example, a plurality of mounted corrugated cardboard cases bundled together. An outer corrugated cardboard case is a case having a printed front surface and a plain back surface. FIG. 2 is a front view showing a simplified configuration of a slipper 4 for manufacturing a coverboard cardboard case, and FIG.
Fig. 4 is a plan view of Fig. 4, and Fig. 4 is a view showing a manufacturing process of the coverboard cardboard case. The reversing stacking device 1 is arranged on the exit side of the interleaving paper machine 4. In the interleaving machine 4, the coverboard cardboard case is manufactured as follows.

(A) As shown in FIG. 4 (1), a paperboard 5 printed and mounted and a so-called single-stage cardboard case 6 in which a paperboard is attached to one surface of a corrugated paperboard are prepared. (B) The single-stage cardboard case 6 is sent from the lower part of the paper feed unit 9 to the main body 10 of the interleaf paper machine, and the mounted board 5 is sent from the air feeder 11 to the main body 10 of the interleaf paper machine via the upper part of the paper feed unit 9. The mounted board 5 is superposed on the upper part of the one-stage cardboard case 6. (C) In the main body 10 of the interleaving paper machine, as shown in FIG. 4B, the paperboard 5 mounted on the upper part of the corrugated cardboard case 6 on one stage is glued to form the corrugated cardboard case 7 on both stages. (D) The glued corrugated cardboard cases 7 are sent to the crimping conveyor 13 and crimped. As a result, a coverboard cardboard case is manufactured.

In the interleaving paper machine 4, the outer corrugated cardboard case is further provided with a fast feed conveyor 14 and a separate conveyor 15.
Are passed through in this order, bundled into a plurality of sheets, for example, in units of 50 sheets, and supplied to the reversal stacking apparatus 1. Since the outer corrugated cardboard case is glued to one side, as the glue dries, a downward arcuate warp occurs as shown in FIG. 4 (3). In the reversing stacking device 1, the bundle of surface mounted corrugated cardboard thus warped is alternately reversed and stacked. As a result, the surface mounted cardboard is loaded with its own weight so that the cardboard is not warped, so that it is possible to obtain a flat surface mounted cardboard without warping.

The inversion stacking apparatus 1 comprises a supply means 17 and
The receiving unit 18, the gripping unit 19, and the reversal conveying unit 20 are included. The supply unit 17 places a bundle of corrugated cardboard cases (hereinafter, abbreviated as a work), which is the object 3 conveyed from the slipper 4, at a predetermined take-out position, and causes the grasping unit 19 and the reversing conveyance unit 20 to perform the operation. Supply.
The receiving means 18 is provided at a distance from the supply means 17, and stacks the works 3 which are alternately turned upside down and places them at a predetermined receiving position. The gripping means 19 (hereinafter abbreviated as a hand) grips the work 3 in the vertical direction.
The reversing conveyance means 20 is realized by, for example, a multi-joint robot (hereinafter simply referred to as a robot) in which a plurality of arms are connected by joints, and a hand 19 is attached to a wrist 21 provided at the tip of the arm of the robot 20. To be done. The robot 20 conveys the work 3 and the hand 19 from the supply means 17 to the receiving means 18, and at the same time, the work 3
Upside down.

FIG. 5 is a front view showing a simplified structure of the supply means 17 shown in FIG. 1, and FIG. 6 is a plan view of FIG. The supply means 17 is a supply table provided at a predetermined take-out position of the work 3, and a plurality of supply fork members 24 elongated in the conveyance direction 23 of the work 3.
Equipped with. The supply fork members 24 are provided in parallel to each other at equal intervals L1 in the direction perpendicular to the transport direction 23. A plurality of rollers 2 are provided above the supply fork member 24.
5 are provided at intervals in the transport direction 23, and the roller 25 can be driven and rotated around an axis extending in the direction perpendicular to the transport direction 23. The roller 25 forms a horizontal mounting surface. In another embodiment of the present invention, a drive belt may be provided instead of the plurality of rollers 25. A base end portion of each supply fork member 24 is fixed to a pedestal 26 of the interleaf paper machine 4, and a tip end portion of each supply fork member 24 projects from the pedestal 26 to the downstream side in the transport direction. Supply fork member 2
A stopper member 27 is provided at the front end portion of 4.
Therefore, the tip of each supply fork member 24 exists within a virtual vertical plane that is perpendicular to the horizontal mounting surface.

A work detector 47 is provided on the frame 26 near the base end of the supply fork member 24. The work detector 47 is realized by, for example, a photoelectric tube, and detects that the work 3 has passed, that is, the work 3 is present at the take-out position. In the present embodiment, the work 3
The conveying direction 23 and the take-out direction of the work 3 are the same direction. The work 3 conveyed by the separate conveyor 15 of the slipper 4 travels on the roller 25, hits the stopper member 27, and stops. As a result, the work 3 is placed on the roller 25 at a predetermined take-out position in a substantially horizontal state.

FIG. 7 is a front view showing a simplified structure of the hand 19 shown in FIG. 1, and FIG. 8 is a plan view of FIG.
The hand 19 is attached to the wrist 21 of the robot 20, and includes a first fork means 30 and a second fork means 31. The first fork means 30 has a first gripping surface 30a parallel to the axis J6 of the wrist 21 (hereinafter referred to as wrist axis J6), and extends slenderly along the wrist axis J6 in the first gripping surface 30a. A plurality of first fork members 33 are provided.
The first fork members 33 are arranged on both sides of the wrist axis J6 in the first gripping surface 30a in parallel with each other at equal intervals in the vertical direction to the wrist axis J6. The length L2 of the first fork member 33 in the direction perpendicular to the wrist axis J6 is the supply means 17 described above.
It is set to be smaller than the interval L1 of the supply fork means 24.

The first fork member 33 is provided with a plurality of rollers 34, and the rollers 34 can be driven and rotated about an axis extending in a direction perpendicular to the wrist axis J6. The roller 34 moves the work 3 smoothly along the wrist axis J6. At the base end of the first fork member 33, a first
A connecting member 35 is provided, and the first connecting member 35 connects the first fork members 33 to each other. The first connecting member 35 is provided with a pair of support rods 36 extending upright in a direction perpendicular to the first gripping surface 30a. The pair of support rods 36 are provided so as to face each other with the wrist axis line J6 in between and to be equidistant from the wrist axis line J6. The support rod 36 has a rectangular cross section perpendicular to the axis, and a guide rail 36 a extending along the support rod 36 is laid on the surface of the support rod 36 opposite to the wrist 21. The cross-sectional shape of the guide rail 36a perpendicular to the axis is substantially T-shaped. The first connecting member 35 is fixed to the wrist 21 via a connecting member 37.

The second fork means 31 is provided so as to face the first fork means 30, and has a second gripping surface 31a parallel to the first gripping surface 30a. The second fork means 31 is
A plurality of second fork members 38 extending in a slender manner along the wrist axis J6 are provided in the second gripping surface 31a. The second fork members 38 are arranged in parallel with each other in the direction perpendicular to the wrist axis J6 in the second gripping surface at equal intervals so as to face the first fork member 33. The length L3 of the second fork member 33 in the direction perpendicular to the wrist axis J6 is determined by the first fork member 33.
Is set smaller than the corresponding length L2. A second connecting member 39 is provided at the base end of the second fork member 38, and the second connecting member 39 connects the second fork members 38 to each other.

On the surface of the second connecting member 39 on the wrist 21 side,
The guide member 40 is provided at a position facing the guide rail 36a. The guide member 40 extends in a direction perpendicular to the second gripping surface 31a, and a guide groove 41 is formed on the surface facing the guide rail 36a. The guide groove 41 has a substantially T-shaped cross section perpendicular to the axis, and the guide groove 41 is slidably fitted to the guide rail 36a in a direction perpendicular to the first and second gripping surfaces 30a and 31a. . The connecting member 37 is provided with an air cylinder 43 which is a gripping driving means. The air cylinder 43 has the first and second gripping surfaces 3
Rod 43 that expands and contracts in a direction perpendicular to 0a and 31a
a, the rod 43a is connected to the second arm via the connecting arm 44.
It is connected to the second connecting member 39 of the fork means 31. The connecting arm 44 is provided at the center of the second connecting member 39 in the length direction. A soft protection member 45 is provided on the surface of the second fork member 38 facing the first fork member 33.

Thus, by retracting the rod 43a of the air cylinder 43, the second fork member 38 can be brought close to the first fork member 33 to grip the work 3, and the rod of the air cylinder 43 can be held. If 43a is extended, the second fork member 38 will move to the first fork member 33.
The work 3 can be released by separating the work 3 from the grip. Further, since the second fork member 38 is provided with the protection member 45, the work 3 can be firmly gripped without being scratched.

Referring again to FIG. 1, the robot 20 which is the reversing transfer means is, for example, a 6-axis vertical multi-joint robot in which a plurality of arms are connected by joints. Robot 2
0 is provided between the supply means 17 and the receiving means 18, and is fixed to the floor by a base 49, a lower arm 50 and an upper arm 5.
1 and a wrist 21. The lower arm 50 is attached to the base 49 so that the lower end thereof can be swiveled around a vertical first axis J1 and also has a horizontal (vertical to the plane of FIG. 1) second axis J1.
It is provided on the base 49 so as to be angularly displaceable around two. The upper arm 51 attached to the upper end portion of the lower arm 50 is attached such that the base end portion is angularly displaceable around a third axis J3 parallel to the second axis J2 and the fourth axis J4 perpendicular to the third axis J3. It is mounted so that it can be angularly displaced. Upper arm 5
The wrist 21 attached to the tip end of No. 1 is angularly displaceable around a fifth axis J5 perpendicular to the fourth axis J4 and at least 180 ° angularly displaceable around a wrist axis J6 perpendicular to the fifth axis J5. Mounted on. As described above, the hand 19 is attached to the wrist 21.

FIG. 9 is a front view showing a simplified structure of the receiving means 18 shown in FIG. 1, and FIG. 10 is a plan view of FIG. 9 and 10 show the work 3 conveyed to the predetermined receiving position of the receiving means 18 and the holding means 19 in a state where the work 3 is released from the holding state. The receiving means 18 is configured to include a loading carriage 53, a pallet 54 attached to the upper portion thereof, and a positioning means 55. The loading cart 53 carries in the pallet 54 to a predetermined receiving position, and carries out the works 3 stacked on the pallet. The pallet 54 has a horizontal placement surface on the upper part, and stacks and places the works 3, which are alternately inverted, at the receiving position.

The positioning means 55 is provided on the side of the pallet 54 on the side of the supply means 17, and has a pair of positioning pieces 56.
And a pair of struts 5 that respectively support the positioning pieces 56.
Including 7 and. The positioning piece 56 is a rod-shaped body that extends in a slender shape in the up-down direction, and has a rectangular cross-sectional shape perpendicular to the axis. The installation position of the positioning piece 56 is set so that the end surface of the work 3 placed on the pallet 54 on the side of the supply means 17 and the end surface of the positioning piece 56 on the pallet 54 side contact at a predetermined receiving position.

The pair of struts 57 is provided at a fixed position on the floor on the side of the supply means 17 side of the pallet 54, and the wrist axis J.
6 are erected at intervals in the direction perpendicular to 6. The distance between the pair of support columns 57 is set to be longer than the length of the hand 19 in the direction perpendicular to the wrist axis J6 and shorter than the length of the work 3 in the same direction. More precisely, the distance between the pair of positioning pieces 56 is determined by the wrist axis J6.
It is set to be shorter than the length of the work 3 in the direction perpendicular to.

FIG. 11 is a block diagram showing the electrical construction of the inversion stacking apparatus 1 shown in FIG. The inversion stacking device 1 further includes a processing circuit 46. The processing circuit 46 is
For example, it is realized by a microcomputer and controls the operation of the inversion stacking device 1. The work detector 4
7 detects that the work 3 is present at the take-out position and derives a signal indicating that. The processing circuit 46 responds to the output of the work detector 47 and responds to the robot 20 and the hand 1.
The air cylinders 43 of 9 are driven and controlled, and the works 3 are alternately inverted and stacked as described later.

FIG. 12 is a flow chart for explaining the operation of the processing circuit 46 shown in FIG. 11, and FIG. 13 is a view showing an operation of inverting and stacking the works 3 upside down.
At step a1, the operation of gripping the work 3 at the take-out position is performed. This operation is a state in which the hand 19 is turned upside down as shown in FIG. 13A, that is, a state in which the first fork member 33 is arranged above the second fork member 38 (hereinafter, referred to as an inverted state). The work 3 is gripped between the first and second fork members 33 and 38.

At step a2, the work 3 is conveyed. In this operation, the lower arm 50, the upper arm 51 and the wrist 21 are moved to the second axis J2, the third axis J3 and the fourth axis J2.
This is performed by angularly displacing the shaft J4 and the fifth shaft J5. As a result, the work 3 gripped by the hand 19 is angularly displaced from the take-out position in the arrow 58 direction as shown in FIG. 13B, and is conveyed to the receiving position as shown in FIG. 13C. The work 3 and the hand 19 conveyed to the receiving position are turned upside down. Therefore, the first fork member 33 of the hand 19 is arranged below the second fork member 38. Hereinafter, this state is called a non-inversion state. At step a3, the work 3 is stacked. That is, the work 3 is stacked on the pallet 54 at the receiving position. This operation is performed as follows after the grip of the work 3 is released, as shown in FIGS. 13 (c), 9 and 10.

FIG. 14 is a view showing a situation when the works 3 are stacked on the receiving means 18, and FIG. 15 is a plan view of FIG. The operation of stacking the work 3 at the receiving position is
This is performed by pulling the hand 19 in the direction of the arrow 59, that is, away from the pallet 54, toward the supply means 17, and dropping the work 3 downward. 14
Although it is shown that the work 3 is dropped directly onto the pallet 54, it can be similarly performed when the work 3 is present on the pallet 54. Hand 19
When pulling out, the work 3 also moves with the hand 19. However, the movement of the work 3 is caused by the positioning piece 5
Since it is blocked by 6, the work 3 can be accurately dropped and placed at a predetermined receiving position. Further, as described above, since the distance between the columns 57 is longer than the length of the hand 19 in the direction perpendicular to the wrist axis J6, the hand 19 can be pulled out by passing between the columns.

At step a4, the hand 19 is moved and reversed. FIG. 16 is a diagram showing the movement and reversal operation of the hand 19. As shown in FIG. 16D, the pulled-out hand 19 is angularly displaced in the direction of arrow 60, which is the opposite direction of FIG. 13, in the non-inverted state, and moves to the supply means 17 side. The hand 19 in this state is in the inverted state as shown in FIG. Further, the hand 19 in the inverted state is shown in FIG.
As shown in FIG. 6 (f), it is angularly displaced by 180 ° around the wrist axis J6 and is returned to the non-inverted state.

At step a5, the operation of gripping the works 3 to be stacked next is performed. FIG. 17 is a diagram showing a gripping operation of the works 3, FIG. 18 is a plan view of FIG. 17, and FIG. 19 is a diagram showing an operation of stacking the works 3 without turning them upside down. In this operation, the first fork member 33 of the hand 19 in the non-inverted state is inserted between the supply fork members 24 of the supply means 17, as shown in FIG. As described above, the distance L1 between the supply fork members 24
Is the first fork member 33 in the direction perpendicular to the wrist axis J6.
Since the length is longer than the length L2, the operation can be performed without any trouble. Further, the second fork member 38 is driven so as to approach the first fork member 33. As a result, the first fork inserted between the supply fork members 24
Between the fork member 33 and the second fork member 38,
The work 3 is gripped as shown in FIG.

At step a6, the work 3 is reversed and conveyed. This operation angularly displaces the non-inverted hand 19 holding the work 3 around the second axis J2 and the third axis J3 in the direction of arrow 58, which is the same direction as in FIG. As shown in (i), the wrist axis J6 is vertically arranged by angularly displacing about the fifth axis J5 at an intermediate position on the side of the supplying means 17, and further in that state, after being angularly displaced by 180 ° about the wrist axis J6, Arrow 58
It is angularly displaced in the direction, and is again conveyed to the receiving position as shown in FIG. 19 (j). As a result, the hand 19 is conveyed to the receiving position in the non-inverted state, so that the work 3 is conveyed to the receiving position in the same state as the take-out position, that is, in the state not inverted. Further, since the hand 19 is vertically displaced by 180 ° around the wrist axis J6 with the wrist axis J6 being vertical, it is possible to reliably prevent the work 3 from dropping.

At step a7, the operation of stacking the works 3 is performed. This operation releases the grip of the work 3 in the state that it is not inverted as shown in FIG.
As in FIG. 15, the hand 19 is pulled out in the direction of arrow 59, that is, toward the supply means. As a result, the work 3 that is not inverted is shown in FIG.
As shown in FIG. 3, the work pieces 3 are stacked on the pallet 54 in the inverted state. Therefore, the works 3 are alternately turned upside down and stacked at the receiving position.

At step a8, the operation of moving the hand 19 is performed. This operation is performed with the hand 19 shown in FIG.
As shown in (d) and FIG. 16 (e), it is carried out by angularly displacing in the direction of arrow 60, moving to the supply means side, and holding it in the inverted state. That is, in this operation, 180 ° around the wrist axis J6 as shown in FIG.
No angular displacement of is performed. After the operation of step a8 is completed, the process returns to step a1 again, and the hand 3 in the inverted state as shown in FIG. 16E holds the work 3 as shown in FIG. 13A. Further, thereafter, the operations after step a2 are similarly repeated.

As described above, in the present embodiment, the robot 20 is capable of displacing the hand 19 by at least 180 ° around the wrist axis J6, and also the second axis J2, the third axis J3, and the fourth axis J3. Since it is possible to perform angular displacement around the axis J4 and the fifth axis J5, the works 3 can be alternately inverted and stacked at the receiving position. Since the workpieces 3 can be conveyed by the angular displacement motion as described above, the moving distance can be shortened as compared with the case where the linear movements are combined and conveyed, and the work 3 can be inverted and stacked efficiently in a short time. It can be performed. Further, since the angular displacement about the wrist axis J6 can be performed at the same time during the movement, the working time can be further shortened. In addition, since the movement is angular displacement, it is possible to effectively utilize a narrow space, and it is possible to save space. Further, if the turning motion is performed using the first axis J1, the pick-up position and the receiving position of the work 3 can be freely selected.

FIG. 20 shows a gripping means 64 and a receiving means 65 of an inversion stacking device 63 which is another embodiment of the present invention.
21 is a simplified front view showing the configuration of FIG.
FIG. Inversion stacking device 63 of the present embodiment
Is similar to the inversion stacking device 1 shown in FIG. 1, and corresponding parts are designated by the same reference numerals. It should be noted that the receiving means 65 of the reversing stacking device 63 of the present embodiment is not provided with the positioning means 55 unlike the receiving means 18 of the reversing stacking device 1, and the positioning means corresponding to the positioning means 55. 66 is a gripping means (hereinafter referred to as a hand) 6
4 is the point provided. That is, the receiving means 65
Is configured to include a loading carriage 53 and a pallet 54, and the positioning piece 56 and the pillar 57 are not provided.

The hand 64 is similar to the hand 19 described above,
The difference is that the positioning means 66 is provided, and
Also, the first and second fork members 33, 38 at the center position in the longitudinal direction of the second connecting members 35, 39 are omitted. The positioning means 66 includes a positioning piece 67.
And an air cylinder 68 which is a moving means. The positioning means 67 exists in the vertical plane including the wrist axis line J6.
The positioning piece 67 is arranged closer to the first fork member 33 than the first connecting member 35, and is located on the first fork means 30 side.
It extends in a direction perpendicular to the grip surface 30a. The tip end of the positioning piece 67 extends from the first grip surface 30a to the second fork member 38.
The base end portion of the positioning piece 67 is fixed to the rod 68a of the air cylinder 68. The positioning piece 67 contacts the end surface of the work 3 on the side of the supply means 17. Air cylinder 68
Is provided at the center position in the length direction of the first connecting member 35,
And its axis lies in the vertical plane including the wrist axis J6,
In the plane, it is parallel to the wrist axis J6. The hand 64 is in a state where the rod 68a of the air cylinder 68 is most retracted,
That is, the work piece 3 is gripped with the positioning piece 67 closest to the first connecting member 35.

The reverse stacking operation of the works 3 in the present embodiment is performed as follows. 22 is a view showing a situation when the works 3 are stacked in the receiving means 65, and FIG. 23 is a plan view of FIG. When the hand 64 reaches the receiving means 65, the position of the hand 64 is adjusted so that the contact position between the positioning piece 67 and the end surface of the work 3 on the side of the supplying means becomes a predetermined receiving position as shown in FIGS. It After adjusting the position of the hand 64, the hand 64 is pulled out in the direction of the arrow 59 toward the supply means 17 side. At this time, as shown in FIGS. 22 and 23, the rod 68 of the air cylinder 68 is synchronized with the withdrawal of the hand 64.
a extends in the direction opposite to the drawing direction 59 (arrow 69) at the same speed as the drawing speed. As a result, the hand 64 is pulled out while the contact position is kept at the same position, that is, the end face of the work 3 on the side of the supplying means 17 is kept at the predetermined receiving position.
It is possible to prevent the movement of the works 3 associated with the pulling out of the works 3, and the works 3 can be accurately stacked at the predetermined receiving position. Inversion stacking device 63 of the present embodiment
Other operations in are the same as the operations shown in FIG.

In this embodiment, since the positioning piece 67 is provided at the center of the hand 64 in the direction perpendicular to the wrist axis J6, the length of the work 3 in the same direction is longer than the length of the hand 64 in the same direction. Not only in the case but also in the case of a short time, the work 3 can be surely positioned. On the other hand, in the embodiment shown in FIG. 1, when the length of the work 3 in the same direction is shorter than the length of the hand 19 in the same direction, the movement of the work 3 is moved by the positioning piece 56 attached to the column 57. Since it cannot be blocked, the applicable size range of the work 3 is limited. The other structure of this embodiment is the same as that of the embodiment shown in FIG. Further, this embodiment can achieve the same effect as that of the embodiment shown in FIG.

The configurations of the supply means, the receiving means, the gripping means, and the reversing / conveying means of the reversal stacking device of the present invention are not limited to the above-mentioned constitutions, but may have other constitutions.

[0047]

As described above, according to the present invention, the object arranged at the take-out position on the horizontal mounting surface of the supply means is the first object.
It is gripped between the fork means and the second fork means, and is angularly displaced about an axis parallel to the gripping surface and is angularly displaced about a lateral axis. As a result, the objects are turned upside down and conveyed from the supply means to the receiving means to be stacked. In this way, the objects can be moved by the angular displacement movement, so the movement distance can be shortened compared to the case of moving by combining linear movements, and the reverse stacking work can be performed efficiently in a short time. You can Further, when the object held by the gripping means is released, and in that state, the gripping means is pulled out to the supply means side along the path passing between the columns and placed on the receiving means, together with the gripping means, the supply means Since the positioning piece arranged at the predetermined receiving position can prevent the movement of the object that is about to move to the side, the object can be accurately placed at the predetermined receiving position.

Further, according to the present invention, a robot in which a plurality of arms are connected by joints is provided with a wrist capable of angular displacement at the tip of the arm, and the base end of the arm has a vertical plane including the wrist axis. Since it can be angularly displaced about an axis perpendicular to, a large operating range can be achieved in a narrow space.

According to the present invention, the first fork means having the first gripping surface parallel to the wrist axis is a plurality of elongated first fork members arranged at intervals in the direction perpendicular to the wrist axis. Second fork means including a first connecting member for connecting the first fork members to each other at a base end thereof and having a second gripping surface parallel to the first gripping surface is arranged to face the first fork member. The second fork member and the second connecting member for connecting the second fork member to each other.
An object can be reliably gripped between the fork means and the second fork means.

[0050]

[0051]

[Brief description of drawings]

FIG. 1 is a front view showing a simplified configuration of an inversion stacking device 1 according to an embodiment of the present invention.

FIG. 2 is a front view showing a simplified configuration of an interleaving paper machine 4 for manufacturing a coverboard cardboard case.

FIG. 3 is a plan view of FIG.

FIG. 4 is a diagram showing a manufacturing process of a coverboard cardboard case.

5 is a front view showing a simplified configuration of a supply means 17 shown in FIG.

FIG. 6 is a plan view of FIG.

FIG. 7 is a front view showing a simplified configuration of a hand 19 shown in FIG.

FIG. 8 is a plan view of FIG.

9 is a front view showing a simplified structure of the receiving means 18 shown in FIG. 1. FIG.

FIG. 10 is a plan view of FIG.

11 is a block diagram showing an electrical configuration of the inversion stacking device 1 shown in FIG.

12 is a flowchart for explaining the operation of the processing circuit 46 shown in FIG.

FIG. 13 is a diagram showing an operation of inverting and stacking the works 3 upside down.

FIG. 14 is a diagram showing a situation at the time of stacking the works 3 on the receiving means 18.

FIG. 15 is a plan view of FIG.

FIG. 16 is a diagram showing movement and reversal operation of the hand 19.

FIG. 17 is a diagram showing a gripping operation of the work 3.

FIG. 18 is a plan view of FIG.

FIG. 19 is a view showing an operation of stacking the works 3 without turning them upside down.

FIG. 20 is a front view showing a simplified configuration of a gripping means 64 and a receiving means 65 of an inversion stacking device 63 according to another embodiment of the present invention.

21 is a plan view of FIG. 20. FIG.

FIG. 22 is a diagram showing a situation when the works 3 are stacked in the receiving means 65.

FIG. 23 is a plan view of FIG. 22.

[Explanation of symbols]

1,63 Reverse stacking device 3 work 17 Supplying means 18 Receiving means 19,64 hands 20 robots 21 wrist 30 First fork means 31 Second Fork Means 33 First Fork Member 35 First Connection Member 37 Connection member 38 Second Fork Member 39 Second connection member 50 lower arm 51 upper arm 53 loading cart 54 pallets

─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Tadayoshi Seto 1-1 Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries, Ltd. Inside Akashi factory (56) Reference JP-A-10-25029 (JP, A) Flat 9-142662 (JP, A) Actual Open Flat 1-174089 (JP, U) (58) Fields surveyed (Int.Cl. ⁷ , DB name) B65G 57/081 B25J 15/08 B65G 47/90 B65G 61 / 00

Claims (3)

(57) [Claims] 1. (a) A plurality of supply fork members that extend toward the object take-out side and are provided at intervals from each other, and are predetermined on a horizontal mounting surface formed by the supply fork members. Supply means for placing an object at the take-out position; and (b) a receiver arranged at a distance from the supply means and having a horizontal placing surface for placing the object at a predetermined receiving position on the placing surface. And (c) gripping means for gripping an object, the first fork means having a flat first gripping surface and capable of passing through the gap between the supply fork members, and the first fork means parallel to the first gripping surface. The second fork means having two gripping surfaces and arranged to face the first fork means, the first fork means and the second fork means are brought close to each other to grip an object, and the first fork means and the first fork means 2 Grip drive that separates from the fork means and releases the grip of the object A gripping means having a step, and (d) a gripping means, which is interposed between the supplying means and the receiving means, has an angle about an axis parallel to the first and second gripping surfaces and about a lateral axis. And a reversing and conveying means for displacing and conveying the object from the supplying means to the receiving means and inverting the object upside down. The positioning means contact the end surface of the object on the supply means side at a predetermined receiving position to prevent the object from moving, and the positioning means stands at a fixed position on the floor with a space. A pair of struts provided to support the positioning piece, wherein the distance between the struts is longer than the length of the gripping means in the direction perpendicular to the wrist axis,
And a column that is set to be shorter than the length of the object in the same direction. 2. The reversing transfer means is a robot in which a plurality of arms are connected by joints, wherein a wrist is provided at the tip of the arm so as to be displaceable by at least 180 ° around its axis. The inversion stacking device according to claim 1, wherein a base end portion of the device is angularly displaceable about an axis perpendicular to a vertical plane including the wrist axis. 3. The first fork means of the grip means is arranged on both sides of the wrist axis at intervals in a direction perpendicular to the wrist axis in a first grip plane parallel to the wrist axis, and elongated along the wrist axis. A plurality of first fork members that extend and a first connecting member that is provided at a base end portion of the first fork member and that connects the first fork members to each other; A plurality of second fork members which are arranged on both sides of the wrist axis and are opposed to the first fork member at intervals in the direction perpendicular to the wrist axis in the second gripping surface parallel to the gripping surface, and which are elongated along the wrist axis. The reverse stacking device according to claim 2, further comprising: a second connecting member that is provided at a base end portion of the second fork member and connects the second fork member to each other.